WO2022188185A1

WO2022188185A1 - Detection system and movable platform

Info

Publication number: WO2022188185A1
Application number: PCT/CN2021/080627
Authority: WO
Inventors: 吴敬阳; 陈瑞
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2022-09-15

Abstract

A detection system capable of being mounted on a movable platform (110), and the movable platform (110), the detection system comprising a main laser radar (210) and an auxiliary laser radar (421), wherein both a positive vertical viewing angle and a negative vertical viewing angle of the main laser radar (210) are less than a positive vertical viewing angle of the auxiliary laser radar (421), and/or both a positive vertical viewing angle and a negative vertical viewing angle of the main laser radar (210) are less than a negative vertical viewing angle of the auxiliary laser radar (421); and when both the main laser radar (210) and the auxiliary laser radar (421) are mounted on the movable platform (110), an area on the ground that is detected by at least one auxiliary laser radar (421) is closer to the movable platform (110) than an area on the ground that is detected by the main laser radar (210). The movable platform (110) comprises a body and the detection system, wherein the detection system is mounted on the body.

Description

Detection systems and movable platforms

technical field

The present application relates to the technical field of lidar, and in particular, to a detection system and a movable platform.

Background technique

At present, most mobile platforms can be equipped with detection systems, which enable mobile platforms to realize applications such as mapping, perception and obstacle avoidance, or autonomous driving. Therefore, it is an urgent technical problem to provide a detection system with better detection effect.

SUMMARY OF THE INVENTION

In view of this, the present application provides a detection system and a movable platform to solve the problem of poor detection effect of the detection system in the related art.

In a first aspect, a detection system is provided for being mounted on a movable platform, the detection system comprising:

a main lidar, the vertical field of view of the main lidar includes a positive vertical field of view and a negative vertical field of view;

Auxiliary laser radar, the vertical field of view angle of the auxiliary laser radar includes a positive vertical field of view angle and a negative vertical field of view angle, wherein the positive vertical field of view angle and the negative direction of the main laser radar are The vertical field of view angle is both smaller than the positive vertical field of view angle of the auxiliary laser radar; and/or, the positive vertical field of view angle and the negative vertical field of view angle of the main laser radar are both smaller than the The negative vertical field of view of the secondary lidar;

Wherein, when both the main laser radar and the auxiliary laser radar are mounted on the movable platform, at least one of the auxiliary laser radars has a detection area on the ground that is larger than the detection area on the ground by the main laser radar. closer to the movable platform.

In a second aspect, a movable platform is provided, the movable platform includes a body and the detection system according to the first aspect, and the detection system is mounted on the body.

The detection system of the embodiment of the present application adopts two types of lidars to solve the problem of poor detection effect of the detection system. Since the detection instrument used in the detection system is lidar, it has higher accuracy, lower false detection rate and lower false detection rate than other sensors. The advantage of low missed detection rate; at the same time, the cooperation of the two types of lidar can also solve the problem of blind spots. Lidar. Among them, the main lidar can detect areas far away from the movable platform, and the auxiliary lidar is used to detect the blind area of the main lidar, that is, the secondary lidar can supplement the main lidar's field of view. In order to realize the cooperation of the two to solve the blind spot problem, this embodiment proposes a solution from the perspective of the field of view of the lidar.

Compared with the main laser radar, the auxiliary laser radar of the present application has a larger positive vertical field of view or negative vertical field of view, and the larger field of view can be used to achieve better visibility of the surrounding ground of the movable platform. Moreover, based on the cooperation of the detection area between the main lidar and the secondary lidar, the detection area of the secondary lidar on the ground is closer to the movable platform than the detection area of the primary lidar on the ground, so the secondary lidar is closer to the movable platform. The lidar can obtain a large detection area on the ground near the periphery of the movable platform, thus realizing the supplement of the blind area of the main lidar, the detection area of the auxiliary lidar on the ground and the detection of the main lidar on the ground. The blind area of the area has overlapping parts, and the detection system as a whole has a small blind area and even achieves the effect of no blind area.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

FIG. 1 is a schematic diagram of a robot according to an embodiment of the present application.

2A1 to 2A3 are schematic diagrams of a first main lidar according to an embodiment of the present application.

2B1 to 2B2 are schematic diagrams of a first main lidar mounted on a movable platform according to an embodiment of the present application.

3A1 to 3A3 are schematic diagrams of a second main lidar according to an embodiment of the present application.

3B1 to 3B4 are schematic diagrams of a second main lidar mounted on a movable platform according to an embodiment of the present application.

3C1 to 3C4 are schematic diagrams of two second main lidars mounted on a movable platform according to an embodiment of the present application.

3D1 to 3D4 are schematic diagrams of three second main lidars mounted on a movable platform according to an embodiment of the present application.

3E1 to 3E4 are schematic diagrams of four second main lidars mounted on a movable platform according to an embodiment of the present application.

4A1 to 4A3 are schematic diagrams of a first auxiliary laser radar according to an embodiment of the present application.

4B1 to 4B4 are schematic diagrams of a first auxiliary laser radar mounted on a movable platform according to an embodiment of the present application.

4C1 to 4C4 are schematic diagrams of two first auxiliary laser radars mounted on a movable platform according to an embodiment of the present application.

4D1 to 4D4 are schematic diagrams of three first auxiliary laser radars mounted on a movable platform according to an embodiment of the present application.

4E1 to 4E4 are schematic diagrams of four first auxiliary laser radars mounted on a movable platform according to an embodiment of the present application.

4F1 to 4F7 are schematic diagrams of six first auxiliary laser radars mounted on a movable platform according to an embodiment of the present application.

5A1 to 5A3 are schematic diagrams of a third auxiliary laser radar according to an embodiment of the present application.

5B1 to 5B11 are schematic diagrams of three third auxiliary laser radars mounted on a movable platform according to an embodiment of the present application.

5C1 to 5C12 are schematic diagrams of three third auxiliary laser radars mounted on a movable platform according to another embodiment of the present application.

5D1 to 5D11 are schematic diagrams of three third auxiliary laser radars mounted on a movable platform according to another embodiment of the present application.

5E1 to 5E12 are schematic diagrams illustrating that the movable platform according to another embodiment of the present application is equipped with four third auxiliary laser radars.

5F1 to 5F14 are schematic diagrams of six third auxiliary laser radars mounted on a movable platform according to another embodiment of the present application.

FIG. 6A shows a schematic diagram of the combination of the two second main laser radars shown in FIG. 3C1 and the six first auxiliary laser radars shown in FIG. 4F1 .

FIG. 6B shows a schematic diagram of the combination of the three second main laser radars shown in FIG. 3D1 and the three first auxiliary laser radars shown in FIG. 4D1 .

FIG. 6C shows a schematic diagram of the combination of the four second main laser radars shown in FIG. 3E1 and the four first auxiliary laser radars shown in FIG. 4E1 .

FIG. 6D shows a schematic diagram of the combination of the four second main laser radars shown in FIG. 3E1 and the three third auxiliary laser radars shown in FIG. 5B1 .

FIG. 6E shows a schematic diagram of the combination of the four second main laser radars shown in FIG. 3E1 and the three third auxiliary laser radars shown in FIG. 5C1 .

FIG. 6F shows a schematic diagram of the combination of the four second main laser radars shown in FIG. 3E1 and the three third auxiliary laser radars shown in FIG. 5D1 .

FIG. 6G shows a schematic diagram of the combination of the four second main laser radars shown in FIG. 3E1 and the four third auxiliary laser radars shown in FIG. 5E1 .

FIG. 6H shows a schematic diagram of the combination of the four second main lidars shown in FIG. 3E1 and the six third auxiliary lidars shown in FIG. 5F1 .

FIG. 6I shows a schematic diagram of a combination of a first main laser radar shown in FIG. 2B1 and a first auxiliary laser radar shown in FIG. 4B1 .

FIG. 6J shows a schematic diagram of the combination of one first main laser radar shown in FIG. 2B1 and two first auxiliary laser radars shown in FIG. 4C1 .

FIG. 6K shows a schematic diagram of the combination of one first main laser radar shown in FIG. 2B1 and three first auxiliary laser radars shown in FIG. 4D1 .

FIG. 7 is a schematic diagram of a circuit structure of a lidar in an embodiment of the present application.

FIG. 8 is a schematic diagram of an embodiment in which a laser radar adopts a coaxial optical path in an embodiment of the present application.

FIG. 9 is a schematic diagram of a scanning pattern of a laser radar in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments.

At present, mobile platforms such as robots or vehicles need to be equipped with detection systems. Mobile platforms equipped with detection systems can realize various applications such as surveying, mapping, perception and obstacle avoidance or automatic movement. Among them, the detection system is used to detect the surrounding area of the movable platform to obtain detection data. The detection system may include one or more detection instruments, such as lidar, millimeter-wave radar, ultrasonic radar, binocular camera or infrared sensor, etc. How the detection instruments are designed, combined and mounted on the movable platform will affect the detection effect of the detection system.

Among them, lidar is an optical instrument that uses lasers to measure distances. It usually emits lasers actively, and uses the reflected light of the laser to calculate the distance between the instrument and the object.

The lidar may include a mechanical 360° lidar, and an optional implementation of the detection system is to use a mechanical 360° lidar. However, mechanical 360° lidars are bulky and expensive. In addition, the mechanical 360° lidar has a single configuration, which severely limits the expansion of the perceptual field of view of the movable platform. Specifically, the mechanical 360° lidar focuses on long-distance detection, and often cannot effectively perceive obstacles below itself. After being installed on a movable platform, a triangular blind spot will be formed, which is the so-called "black under the lights" phenomenon, which is serious It limits the realization of autonomous obstacle avoidance and autonomous navigation functions of mobile platforms on congested roads or on roads with pedestrians.

Another optional implementation of the detection system is to use lidar combined with other low-cost sensors, such as millimeter-wave radar, ultrasonic radar, binocular cameras, infrared sensors, etc. Indicators such as false detection rate and missed detection rate are not as good as lidar, so the perception effect in actual use still needs to be optimized.

This embodiment provides a detection system that can be mounted on a movable platform, wherein the movable platform in this embodiment may include a vehicle or a robot, which can be equipped with a detection system and has a mobile capability.

In order to facilitate the example, in the following examples, the mobile platform adopts a robot configuration as an example, which can be applied to various functional scenarios such as navigation map establishment, park patrol, or intelligent logistics distribution, as shown in Figure 1, which is shown in this embodiment. A schematic diagram of a robot, in some scenarios, the length of the robot can range from 1 to 3 meters, the width can range from 0.6 to 2.5 meters, and the height can range from 1.2 to 2 meters; "Between" in the Examples does not limit whether the numerical value of the endpoint is included or not.

It can be understood that the robot in this embodiment is only an illustration. In practical application, this embodiment does not limit the shape or structure of the movable platform. The detection system in this embodiment can be mounted on any movable platform, such as an unmanned aerial vehicle. , unmanned vehicles, unmanned ships, etc., so that when the movable platform moves, the detection system can detect the surrounding of the movable platform.

The detection system of this embodiment can use two types of lidar to solve the problem of poor detection effect of the detection system. Since the detection instrument used in the detection system is lidar, it has higher accuracy, lower false detection rate and lower false detection rate than other sensors. The advantage of low missed detection rate; at the same time, the cooperation of the two types of laser radars can also solve the problem of blind spots. In this embodiment, according to the differences in the detection areas of the two types of laser radars, the two types of laser radars are called main lasers Radar and secondary lidar. Among them, the main lidar can detect areas far away from the movable platform, and the auxiliary lidar is used to detect the blind area of the main lidar, that is, the secondary lidar can supplement the main lidar's field of view. In order to realize the cooperation of the two to solve the blind spot problem, this embodiment proposes a solution from the perspective of the field of view of the lidar.

The detection system includes a main laser radar, and the vertical field of view of the main laser radar includes a positive vertical field of view and a negative vertical field of view.

The detection system further includes an auxiliary laser radar, and the vertical viewing angle of the auxiliary laser radar includes a positive vertical viewing angle and a negative vertical viewing angle.

In this embodiment, both the positive vertical field of view angle and the negative vertical field of view angle of the main laser radar are smaller than the positive vertical field of view angle of the auxiliary laser radar; and/or, the main laser radar Both the positive vertical field angle and the negative vertical field angle of the radar are smaller than the negative vertical field angle of the auxiliary lidar.

The field of view of the lidar includes the field of view in two directions: the horizontal field of view (horizontal FOV) and the vertical field of view (vertical FOV). Angle, the vertical field of view is the angle that the lidar scans in the vertical direction. The horizontal FOV and vertical FOV of the lidar can be the same or different. In the case that the field of view in the two directions is different, in general, based on the detection requirements of the surrounding of the movable platform, the larger angle of view can be set at In the horizontal direction, a smaller angle of view can be set in the vertical direction.

In this embodiment, the vertical field of view includes a positive vertical field of view and a negative vertical field of view. The positive vertical field of view refers to the angle at which the lidar scans upward in the horizontal direction, and the negative vertical field of view The direct field of view refers to the angle at which the lidar scans downward in the horizontal direction. For example, if the vertical field of view of the lidar ranges from -15° to 25°, the vertical field of view is 40°, the positive vertical field of view is 25°, and the negative vertical field of view is 25°. is 15°.

Compared with the main laser radar, the auxiliary laser radar in this embodiment has a larger positive vertical field of view or negative vertical field of view, and the larger field of view is used to realize the detection of the ground around the movable platform. A larger scanning angle; and, based on the cooperation of the detection area between the main lidar and the secondary lidar, the detection area of the secondary lidar on the ground is closer to the movable platform than the detection area of the primary lidar on the ground, so The auxiliary laser radar can obtain a large detection area on the ground near the periphery of the movable platform, thus realizing the supplement of the blind area of the main laser radar. The detection area of the auxiliary laser radar on the ground is the same as that of the main laser radar on the ground The blind area of the detection area has overlapping parts, and the blind area of the detection system as a whole is small or even achieves the effect of no blind area.

In this embodiment, the main lidar is used to detect an area farther away from the movable platform than the auxiliary lidar. In order to enable the main lidar to detect the far area, in some examples, the main lidar The horizontal field of view is greater than or equal to the horizontal field of view of the secondary lidar. In other examples, the horizontal field of view of the main lidar is larger than the vertical field of view of the main lidar, so that the main lidar can detect a farther area. Through the design of the horizontal field of view, the larger the horizontal field of view, the farther the detection distance of the main lidar is relative to its own distance.

In some examples, the maximum detection distance of the main lidar is greater than the braking distance of the movable platform, so that when the movable platform is moving, the main lidar can detect the target within the braking range of the movable platform, ensuring that the movable platform can be detected. Safe movement and braking of mobile platforms.

In order for the main lidar to detect a larger area, in some examples, when the main lidar is mounted on the movable platform, at least one of the primary lidars is arranged on the top of the movable platform The main lidar is set on the top surface to detect a longer distance, reducing the probability that the lidar field of view is blocked.

In some examples, when the main lidar is mounted on the movable platform, at least one of the main lidars is arranged in the middle of the top surface of the movable platform, and the main lidar is arranged on the top surface It can detect longer distances and reduce the probability that the lidar field of view is blocked. Setting it in the middle position can balance the perception of the surrounding environment of the movable platform.

In some examples, when the main lidar is mounted on the movable platform, at least one of the primary lidars is arranged in the middle of the target edge on the top surface of the movable platform, and the target edge is: the target side is the side of all sides of the top surface that is relatively close to the moving direction of the movable platform; for example, in the robot as shown in FIG. 1 , the side where the top surface of the robot and the front of the robot intersect That is, the target side, and the front side refers to the side of the robot facing the moving direction. In this embodiment, the main lidar is set in the middle of the target side on the top surface, which can detect a longer distance, reduce the probability that the lidar field of view is blocked, and can also take into account the perception of the surrounding environment of the movable platform in a balanced manner .

It can be understood that there is at least one main laser radar in this embodiment. In practical applications, the number of main laser radars mounted on the movable platform can be flexibly set as required, which is not limited in this embodiment. The setting of the main laser radar on the movable platform may be flexibly set according to factors such as the shape of the movable platform and detection requirements, which is not limited in this embodiment.

The main laser radar in this embodiment may include: a first main laser radar, the cross-section of the field of view of the first main laser radar parallel to the first axis is substantially annular, and the first axis is the first main laser radar The central axis of the vertical field of view of the first main lidar; the range of the horizontal field of view of the first main lidar is between 180° and 360°, and the vertical field of view of the first main lidar is less than 120° . The configuration of the first main laser radar in this embodiment can have a larger horizontal field of view, so that the first main laser radar can detect a longer distance. For example, taking the first main lidar with a horizontal field of view of 360° as an example, a first main lidar can cover a 360° horizontal field of view and is suitable for being placed on the top of the movable platform as the main detection sensor of the detection system. Because the vertical FOV is small and cannot sense nearby ground obstacles, it can be used for medium and long-distance sensing, and can be applied to detection in various scenarios, such as outdoor scenes, including but not limited to industrial parks or communities, urban areas Scenes such as roads or highways.

As an example, as shown in FIG. 2A1 , it is a schematic diagram of a first main lidar shown in this embodiment, FIG. 2A2 is a schematic diagram of a horizontal field of view of a first main lidar in this embodiment, and FIG. 2A3 is a schematic diagram of the first main lidar in this embodiment. Embodiment A schematic diagram of a vertical field of view of a first main lidar, where the first main lidar includes: a lidar with a 360° horizontal field of view. In some examples, the horizontal field of view of the first main lidar is 360°, and the vertical field of view of the first main lidar ranges from -25° to +25°. In practical applications, the first main lidar may also have other options, which are not limited in this embodiment.

As shown in FIG. 2B1, it is a schematic diagram of the field of view in the horizontal direction when a first main lidar 210 is mounted on the movable platform 110 in this embodiment; as shown in FIG. 2B2, it is a When the first main laser radar 210 is mounted on the movable platform 110, a schematic diagram of its field of view in the vertical direction, the first main laser radar 210 can take into account the surrounding environment perception, and can be installed on the top of the robot, which is far from the robot. The ground height can be set differently depending on the size of the movable platform, as an example, it can be between 1.5 meters and 3 meters.

In other examples, the main laser radar in this embodiment may further include: a second main laser radar, wherein a field of view section of the second main laser radar perpendicular to the second axis is substantially rectangular, and the second axis is The central axis of the vertical field of view of the first main lidar. The horizontal FOV and vertical FOV of such a lidar may be unequal. As an example, the horizontal field of view of the second main lidar ranges from 40° to 150°. The vertical field of view of the radar ranges from 10° to 90°. As an example, as shown in FIGS. 3A1 to 3A3 , schematic diagrams of the field of view of the second main lidar are shown from different angles. The horizontal FOV of the second main lidar in FIGS. 3A1 to 3A3 FOV takes -15° to 15° as an example. The second main lidar of this embodiment has a wide horizontal FOV. In some scenarios, if the movable platform is required to have a relatively strong perception requirement for a specific direction (such as forward and backward, etc.), it can The second main lidar is used as the main detection sensor of the detection system, so that the movable platform can detect left and right obstacles when turning in the forward process (or when turning backward), which is convenient for early avoidance. In addition, two or more second main lidars are combined to achieve a 360° horizontal field of view coverage, which can be applied to detection in various scenarios, such as outdoor scenarios, including but not limited to industrial parks or communities , urban roads or highways.

In practical application scenarios, there is usually a strong demand for forward perception of the movable platform. In some examples, the main lidar includes: at least one second device for detecting the forward area in the moving direction of the movable platform. The main lidar, based on this, can use the second main lidar to detect the forward area in the moving direction of the movable platform, so as to realize the forward perception of the movable platform.

When the main lidar in the detection scheme of this embodiment is mounted on a movable platform, taking a second main lidar as an example, as shown in FIGS. 3B1 to 3B4 , the orientation of the second main lidar 310 is the same as that of the second main lidar 310 . The moving direction of the movable platform 110 is consistent and can be installed on the top surface of the movable platform 110, such as the front top of the movable platform. The height of the second main lidar 310 from the ground can be set differently according to the size of the movable platform. , as an example, can be between 1 meter and 2 meters. The second main lidar 310 can be installed at the front to provide a forward view, and installed at the top can reduce the probability of the radar view being blocked.

Moreover, since the movable platform 110 has different information requirements for the forward environment, as shown in FIG. 3B4 , the second main lidar 310 can be set with a pitch angle θ, wherein, if the requirement for the forward environment is to be reduced as much as possible In the blind area near the movable platform, a pitch angle lower than 0° can be set so that the radar has a depression angle. If the requirement for the forward environment is that the second main lidar can detect a longer distance, a pitch angle greater than 0° can be set. The pitch angle thus enables the radar to have an elevation angle. As an example, the second pitch angle may range from -30° to 30° as required.

In some examples, there may also be multiple second main lidars, so that a wider detection area can be achieved. As an example, on the basis that the main laser radar includes the second main laser radar for detecting the forward area in the moving direction of the movable platform, the main laser radar may further include: for detecting the movable platform At least one second main lidar in the rear area in the moving direction of the mobile platform, so that the detection system can also detect the rear area in the moving direction of the movable platform; wherein, the detection system is used to detect the movement of the movable platform The second main lidar in the front area in the direction and the second main lidar in the rear area in the moving direction of the movable platform can be flexibly configured according to the number and location of the second main lidar. The embodiment does not limit this.

In some examples, the second main lidar for detecting the forward area in the direction of movement of the movable platform and the second main lidar for detecting the rear area in the direction of movement of the movable platform The lidars are all arranged on the top surface of the movable platform. In this embodiment, the lidars are arranged on the top surface to detect a longer distance, reducing the probability that the lidar field of view is blocked.

In other examples, the second main lidar for detecting the forward area in the direction of movement of the movable platform and the second main lidar for detecting the rear area in the direction of movement of the movable platform The main lidars are respectively arranged on opposite sides of the top surface of the movable platform, that is, arranged in tandem on the top surface of the movable platform, so that both the front and the rear of the movable platform can be sensed by the main lidar.

Taking two second main lidars as an example, in addition to forward sensing, there is also a need for backward sensing capability in many scenarios. Therefore, in this embodiment, in addition to the second main lidar for detecting the forward area in the moving direction of the movable platform, the In addition to the main lidar, a second main lidar for detecting the rear area in the moving direction of the movable platform is also arranged.

As shown in FIGS. 3C1 to 3C4 , the second main lidar 3101 is used as a forward radar to detect the front area in the moving direction of the movable platform, and the second main lidar 3101 can be installed on the front top of the robot; the second The main laser radar 3102 is used as a rearward radar to detect the rear area in the moving direction of the movable platform, and the second main laser radar 3102 can be installed on the rear top of the robot. The height of the second main laser radar 3101 and the second main laser radar 3102 can be set differently according to the size of the robot, for example, it can be between 1 meter and 2 meters. The second main laser radar 3101 and the second main laser radar 3102 Installed in the front and rear respectively, it can provide forward vision and rearward vision, and installed on the top can reduce the probability of radar vision being blocked. Moreover, because the robot has different information requirements for the surrounding environment, optionally, the second main lidar 3101 and the second main lidar 3102 can set a certain pitch angle θ, where the range of the pitch angle can be between -30 ° to 30°.

In other scenarios, not only the perception of the front and rear of the movable platform is required, but also the detection of obstacles in front of the left and right when the movable platform is moving and turning can be considered. As an example, there may be two second main lidars for detecting the front area in the moving direction of the movable platform, so as to expand the perception capability of the left front and the right front.

As an example, the main laser radar includes at least three second main laser radars, and among the three second main laser radars, two of the second main laser radars are used to detect the movement of the movable platform in the moving direction. In the front area, one of the second main lidars is used to detect the rear area in the moving direction of the movable platform, that is, there are two second main lidars used to provide the forward vision of the movable platform, There is a second main lidar to provide the rear view of the movable platform. Based on this, through the cooperation of the three second main lidars, in addition to the perception of the front and rear of the movable platform, the movable platform can also be detected. Detection of the front left and front right of the platform.

In some examples, the two second main lidars for detecting the forward area in the moving direction of the movable platform are respectively arranged at the top corner positions of the movable platform, so that the two main lidars The detection of the left front and right front of the movable platform can be realized.

In some examples, one of the second primary lidars for detecting the rear area in the direction of movement of the movable platform is disposed in the top surface of the movable platform and for detecting the movable platform The middle position of the opposite side of the second main lidar in the front area of the platform in the moving direction, that is, the middle of the rear side of the top surface of the mobile platform. Based on this, the second main lidar can detect movable The area directly behind the platform.

In some examples, the detection areas of the two second main lidars used to detect the front area in the moving direction of the movable platform have overlapping portions, thereby preventing blind spots or missed detections directly in front of the movable platform , Based on this, the detection areas of the two second main lidars cooperate together to realize the detection of the front, left front and right front of the movable platform.

In some examples, the two second main lidars used to detect the front area in the moving direction of the movable platform are respectively set with a first yaw angle, and the setting of the first yaw angle makes the The two second main lidars can achieve a wider range of detection at the front left and front right of the movable platform, respectively. In practical applications, the angle of the first yaw angle can be flexibly configured as required.

In some examples, the first yaw angles of the two second main lidars for detecting the forward area in the moving direction of the movable platform are symmetrically arranged, and based on this, the two second main lidars The detection area is more balanced on the front left and front right of the movable platform.

In some examples, the first yaw angle is determined based on the horizontal field of view of the second main lidar used to detect the forward area in the moving direction of the movable platform. A suitable first yaw angle can be set for the horizontal field of view of the second main lidar.

In some examples, the first yaw angle is less than or equal to a second target angle based on the second primary laser used to detect a forward area in the direction of movement of the movable platform The half of the horizontal field of view of the radar is determined. Based on this, the two second main lidars can be made to achieve the maximum angle on the left and right sides of the movable platform within the limited range of their horizontal field of view. probe.

As shown in FIG. 3D1 to FIG. 3D4 , this embodiment is described by taking three second main laser radars as an example. Among the three second main laser radars, there are three second main laser radars used to detect the front in the moving direction of the movable platform. Two second main laser radars 3101 in the area, these two second main laser radars 3101 can be installed on the top of the front of the robot 110; among the three second main laser radars, there are also used for detecting the movement of the movable platform A second main lidar 3102 in the rear area in the direction, the second main lidar 3102 can be installed on the top behind the robot 110. The heights of the three second main lidars from the ground can be set differently according to the size of the robot 110 , for example, can be between 1 meter and 2 meters. Among them, the installation on the top can reduce the probability that the radar field of view is blocked. Moreover, because the robot has different information requirements for the surrounding environment, the three second main lidars can be set to a certain pitch angle θ, and the range of θ can be between -30° and 30°.

In this embodiment, for the two second main laser radars 3101 in the forward direction, in order to combine a larger forward field of view, a first yaw angle α can be set respectively, and the two second main laser radars 3101 The yaw angle can be set symmetrically. As shown in Figure 3D2, the two second main lidars 3101 set the yaw angle α symmetrically to the left and right respectively, and the two second main lidars 3101 need to have overlapping parts in the field of view In order to prevent the blind area of the field of view caused by the yaw angle setting, as an example, the value range of α can be greater than or equal to 0°, less than or equal to half of the horizontal field of view of the second main lidar, for example:

In many scenarios, the autonomous driving robot has a perception requirement in a 360° range of the surrounding, front, rear, left and right. In some examples, the main lidar can also include: four second main lidars, so as to complete the full range of the surrounding area of the robot. to perception.

In some examples, when the four second main laser radars are mounted on the movable platform, the four second main laser radars combine to form a 360° horizontal field of view, thus, it is possible to realize the Omnidirectional awareness of the area around the movable platform.

In some examples, the four second main laser radars are respectively arranged in the middle of the four sides of the top surface of the movable platform, that is, the four second main laser radars are arranged at the front, rear, left and right sides of the top surface of the movable platform. position, so that the detection area of each second main lidar can cover the area around the movable platform.

As shown in Figures 3E1 to 3E4, four second main lidars 3101 to 3104 are respectively arranged in the middle of the four sides of the top surface of the movable platform, respectively providing the movable platform with front, rear, left, and right directions of vision; The height of the second main lidar from the ground can be set differently according to the robot, for example, it can be between 1 meter and 2 meters. Mounting on the top can reduce the probability of the radar field of view being blocked. Moreover, because the robot has different information requirements for the surrounding environment, optionally, any of the four second main lidars can be set to a certain pitch angle θ, and the range of θ can be between -30° to between 30°.

Next, the secondary lidar will be described. The auxiliary laser radar in this embodiment has a larger positive vertical field of view or negative vertical field of view, so that the auxiliary laser radar can scan the ground with a larger angle close to the movable platform. Thereby a larger detection area to the ground is obtained. In practical applications, most of the configurations of the auxiliary laser radar are that the horizontal field of view angle is greater than the vertical field of view angle. In some examples, the auxiliary laser radar in this embodiment may include: a horizontal field of view angle and a vertical field of view angle Basically equal lidar, the lidar of this configuration, due to the design of the horizontal field of view and the vertical field of view are basically equal, so that the shape formed by the lidar scan can be more concentrated close to the near of the movable platform, so that it can be Nice complement to the main lidar field of view.

In order to make the detection area of the auxiliary laser radar on the ground closer to the movable platform, in some examples, when the auxiliary laser radar is mounted on the movable platform, at least one of the auxiliary laser radar is set with a first depression angle . In this embodiment, a depression angle can be set for the auxiliary laser radar, so that the field of view of the auxiliary laser radar is more toward the ground and closer to the movable platform, so as to achieve the effect of compensating the blindness near the movable platform.

In practical applications, the depression angle can be flexibly set according to various factors such as the structure, height, and auxiliary lidar parameters of the movable platform. As an example, the angle of the first depression angle can be determined based on the vertical field of view angle of the auxiliary laser radar, and a more reasonable first depression angle can be determined through the vertical field of view angle of the auxiliary laser radar, so that the auxiliary laser radar can determine a more reasonable first depression angle. Lidar can detect both facing the ground and, to some extent, in front of a movable platform. In some examples, the first depression angle is less than or equal to a first target angle, and the first target angle is determined based on a complementary angle of half of the vertical field of view of the auxiliary laser radar. The complementary angle of half of the vertical field of view can determine a more reasonable first depression angle, so that the angle of the auxiliary lidar towards the ground and the angle towards the front of the movable platform are more balanced.

In order to make the detection area of the auxiliary lidar on the ground closer to the movable platform, in some examples, when both the primary lidar and the secondary lidar are mounted on the movable platform, at least one of the secondary lidars is mounted on the movable platform. The setting height of the lidar on the movable platform is lower than the setting height of the main lidar on the movable platform. In this embodiment, the height of the auxiliary laser radar can be set so that the height of the auxiliary laser radar relative to the ground on the movable platform is lower than the height of the main laser radar, so that the field of view of the auxiliary laser radar is more toward the ground, It is closer to the movable platform, so as to realize the blinding effect of the close part of the movable platform.

In practical applications, the setting height can be flexibly set according to various factors such as the structure, height, and parameters of the auxiliary lidar of the movable platform. In some examples, the range of the height of the auxiliary lidar at the setting position of the movable platform may be between 0.1 meter and 1 meter.

In order to make the detection area of the auxiliary lidar on the ground closer to the movable platform, in this embodiment, considering that the configuration of the traditional lidar is generally larger in the horizontal field of view, and smaller in the vertical field of view, and the auxiliary lidar The lidar hopes that the detection area on the ground is closer to the movable platform. Based on this, in some examples, when the secondary lidar is mounted on the movable platform, at least one of the secondary lidars is vertically positioned. The scanning angle in the direction is greater than or equal to the scanning angle of the auxiliary laser radar in the horizontal direction, so that the field of view of the auxiliary laser radar to the ground is larger, and the field of view of the auxiliary laser radar is more towards the ground and closer to the ground. Move the platform, so as to realize the blinding effect of the close part of the movable platform.

In some examples, considering that the conventional configuration of the lidar is generally larger in the horizontal field of view and smaller in the vertical field of view, when the auxiliary lidar is mounted on the movable platform, at least one The auxiliary laser radar is provided with a roll angle, so that the scanning angle of the auxiliary laser radar in the vertical direction is greater than or equal to the scanning angle of the auxiliary laser radar in the horizontal direction. The radar's field of view is more towards the ground and closer to the movable platform.

As mentioned above, in order to make the detection area of the auxiliary lidar on the ground closer to the movable platform, the above-mentioned embodiments respectively illustrate the setting of the depression angle, the setting of the height and the setting of the scanning angle. For example, based on the consideration of various factors such as the structure of the movable platform, the height of the movable platform, the configuration of the auxiliary laser radar, and the field of view parameters of the auxiliary laser radar, any one of the above embodiments is selected, or two of them are combined. or three implementation manners, of course, other implementation manners may also be used in practical applications, which are not limited in this embodiment.

For the configuration and setting of the auxiliary laser radar, this embodiment also provides some optional implementation manners.

In some examples, the auxiliary laser radar includes: a first auxiliary laser radar, and a field of view cross section of the first auxiliary laser radar perpendicular to a third axis is substantially circular, and the third axis is the first auxiliary laser radar. The central axis of the vertical field of view of the secondary lidar. In some examples, the range of the horizontal field of view and the range of the vertical field of view of the first auxiliary lidar are both between 10° and 150°. The advantage of the first auxiliary lidar in this embodiment is that the FOVs in all directions are approximately equal. Therefore, when mounted on a movable platform, it can be mounted on a front, flip or side mounted. The installation method is more flexible and can be compared It is good to supplement the blind spot for other lidars, so it is suitable for close-range perception of movable platforms. In addition, because its field of view section perpendicular to the third axis is basically circular, it also has unique detection advantages in subways, railway tunnels and other pipeline scenarios.

The first auxiliary lidar of this embodiment has a circular or approximately circular FOV, and its horizontal FOV and vertical FOV are equal or approximately equal; its horizontal and vertical FOVs can generally range from 10° to 150° between. As an example, FIG. 4A1 is a schematic diagram of a first auxiliary laser radar shown in this embodiment, FIG. 4A2 is a schematic diagram of a horizontal field of view of a first auxiliary laser radar in this embodiment, and FIG. 4A3 is the first embodiment of the present. A schematic diagram of the vertical field of view of the first auxiliary laser radar. In this embodiment, the horizontal FOV of the first auxiliary laser radar is 70°, the vertical FOV is 70°, and the vertical FOV is -35° to 35° .

Similar to the first auxiliary laser radar, in some examples, the auxiliary laser radar includes: a second auxiliary laser radar, a field of view cross section of the second auxiliary laser radar perpendicular to the fourth axis is substantially square, and the first auxiliary laser radar is substantially square. The four axes are the central axes of the vertical field of view of the second auxiliary lidar. In some examples, the range of the horizontal field of view and the range of the vertical field of view of the second auxiliary lidar are both between 10° and 150°. The main features of the second auxiliary laser radar in this embodiment are similar to those of the first auxiliary laser radar. It can be installed, and the installation method is more flexible, which can better supplement the blind spot for other lidars, so it is suitable for close-range perception of movable platforms. In addition, the area detected by the second auxiliary lidar is more regular than the first auxiliary lidar, which is more in line with human cognition.

In the second auxiliary lidar of this embodiment, its FOV configuration is not necessarily a strict square, its horizontal FOV and vertical FOV are equal or approximately equal, and the range of the horizontal field of view and the vertical field of view are equal. The range is between 10° and 150°.

Since the first auxiliary laser radar and the second auxiliary laser radar are similar in view angle and configuration, based on this, in some examples, the auxiliary laser radar may include the above-mentioned first auxiliary laser radar and second auxiliary laser radar. That is, in this embodiment, the auxiliary laser radar may adopt a combination of the first auxiliary laser radar and the second auxiliary laser radar, so that the implementation manner of the detection system is more flexible, and more optional methods are provided for the user. Wherein, when a combination of the first auxiliary laser radar and the second auxiliary laser radar is used, the number of the two is not limited.

Next, the first auxiliary laser radar is used as an example to illustrate how the auxiliary laser radar is arranged on the movable platform. Since the configuration of the second auxiliary laser radar is similar to that of the first auxiliary laser radar, its layout is equivalent to the layout example of the first auxiliary laser radar.

In some cases, the need for forward sensing is usually stronger in practical application scenarios, while the need for surrounding sensing and blind fill is weaker. As an example, when the auxiliary laser radar is mounted on a movable platform, at least one of the auxiliary laser radars is used to detect the front area in the moving direction of the movable platform. As an example, when the auxiliary laser radar is mounted on the movable platform, the auxiliary laser radar for detecting the forward area in the moving direction of the movable platform perceives the forward area of the movable platform, so as to meet the requirements of large The requirement for forward perception in some application scenarios.

When the auxiliary laser radar in the detection scheme of this embodiment is mounted on a movable platform, a first auxiliary laser radar is taken as an example, as shown in FIG. 4B1 to FIG. 4B4 , the auxiliary laser radar 421 is used to detect the For the front area in the moving direction of the mobile platform, the auxiliary lidar 421 can be installed on the top of the robot 110. The height from the ground can be set differently according to the size of the mobile platform. For example, it can be between 1 meter and 2 meters. between. The auxiliary lidar 421 scans toward the front of the moving direction of the movable platform, which can provide a forward vision for the movable platform, and can be installed on the top to expand the detection area on the ground.

In practical applications, since the movable platform has different information requirements for the forward environment, the auxiliary laser radar 421 can set a first depression angle θ, that is, the auxiliary laser radar and the horizontal direction have an angle toward the ground, and the first depression angle can be required. For flexible configuration, as described above, as an example, the angle of the first depression angle may be determined based on the vertical field of view of the auxiliary lidar. In some examples, the first depression angle is less than or equal to a first target angle, and the first target angle is determined based on a complementary half angle of the vertical field of view of the secondary lidar.

As an example, the value range of the first depression angle θ may be greater than or equal to 0° and less than or equal to the complementary angle of half of the vertical field of view of the auxiliary lidar, for example:

In other examples, to further enhance the mobile platform's ability to sense forward and near distances, the number of auxiliary lidars can be increased, for example, two or more. As an example, in the detection system of this embodiment, the number of the auxiliary laser radars used to detect the front area in the moving direction of the movable platform is two. In this embodiment, the two auxiliary laser radars can enhance the The ability of the mobile platform to perceive the forward proximity can also control the cost of the detection system as much as possible.

In some examples, the detection areas of the two auxiliary laser radars used to detect the forward area in the moving direction of the movable platform have overlapping portions, thereby preventing at least two first target auxiliary laser radars from being on the movable platform. There is a blind spot directly in front of the .

In some examples, the two auxiliary laser radars used to detect the front area in the moving direction of the movable platform are arranged symmetrically, so that the detection areas of the two auxiliary laser radars in front of the movable platform are more balanced.

In some examples, the two auxiliary laser radars arranged symmetrically for detecting the front area in the moving direction of the movable platform are respectively set with a second yaw angle, and through the setting of the second yaw angle, the The two second auxiliary lidars can achieve a wider range of detection at the front left and front right of the movable platform, respectively. In practical applications, the angle of the second yaw angle can be flexibly configured as required.

In some examples, the angles of the second yaw angles of the two auxiliary laser radars arranged symmetrically for detecting the front area in the moving direction of the movable platform are equal, so that the two auxiliary laser radars are in the movable The detection area in front of the platform is more balanced.

In some examples, the second yaw angle is determined based on the horizontal field of view of the auxiliary laser radar. In this embodiment, an appropriate first yaw angle can be set by using the horizontal field of view of the auxiliary laser radar.

In some examples, the second yaw angle is less than or equal to a third target angle, and the third target angle is determined based on half of the horizontal field of view of the auxiliary lidar. Based on this, the two can be made Within the limited range of its horizontal field of view, the second main lidar can detect the maximum angle on the left and right sides of the movable platform, respectively.

In this embodiment, taking two auxiliary laser radars as an example, as shown in FIG. 4C1 to FIG. 4C4 , the two auxiliary laser radars in this embodiment are the auxiliary laser radar 422 and the auxiliary laser radar 423 shown in FIG. 4C3 . Two auxiliary lidars can be installed on the top of the robot to detect the forward area in the moving direction of the robot, that is, to scan forward. The height of the two auxiliary lidars from the ground can be set differently according to the size of the robot, for example, it can be between 1 meter and 2 meters. The two auxiliary lidars face forward, which can provide forward vision for the movable platform, and can be installed on the top of the movable platform to expand the detection area on the ground.

In practical applications, the placement positions of the two auxiliary lidars can be flexibly configured as needed. As an example, the two auxiliary lidars can be arranged one left and one right on the top of the movable platform; in some examples, in order to realize the complementarity of the near field of view of the movable platform, the detection area of the two auxiliary lidars on the ground is There are overlapping parts. Optionally, the two auxiliary lidars are arranged crosswise from the field of view, for example, a symmetrical arrangement can be adopted. As an example, the two auxiliary lidars are respectively set with a second yaw angle. Optionally, the yaw angles of the two can be equal. The radar 422 is inclined to the right by an equal yaw angle α, and the value range of the yaw angle α can be greater than or equal to 0° and less than or equal to half of the horizontal field of view of the auxiliary lidar, for example:

In practical applications, since the movable platform has different information requirements for the forward environment, the two

auxiliary laser radars

422 and 423 can also be set with a first depression angle θ, that is, the auxiliary laser radar and the horizontal direction have an angle toward the ground, The first depression angle θ may be flexibly configured as required. As mentioned above, as an example, the angle of the first depression angle may be determined based on the vertical field of view angle of the auxiliary laser radar. In some examples, the first depression angle is less than or equal to a first target angle, and the first target angle is determined based on a complementary half angle of the vertical field of view of the secondary lidar.

In other examples, in order to enhance the perception of the surrounding environment of the movable platform, in this embodiment, the number of the auxiliary laser radars used to detect the front area in the moving direction of the movable platform is three. If considering the environment perception of the movable platform in the front and left and right directions when turning, especially, such as the perception of obstacles in the left and right directions of the front wheels of the movable platform, in this embodiment, all three auxiliary lidars can be used to detect the movable platform. For the front area in the moving direction of the mobile platform, through the design of three auxiliary lidars, a wider range of detection can be achieved, and the cost requirements can also be met.

In some examples, among the three auxiliary laser radars used for detecting the forward area in the moving direction of the movable platform, one of the auxiliary laser radars is arranged on the target side of the top surface of the movable platform above; the target edge is the edge relatively close to the moving direction of the movable platform among all the edges of the top surface, based on this, the auxiliary lidar can detect the area directly in front of the movable platform. As an example, one of the auxiliary lidars used to detect the front area in the moving direction of the movable platform is arranged in the middle of the target side of the top surface of the movable platform. Based on this, the laser can be reduced The probability that the radar field of view is blocked.

In addition to one auxiliary laser radar on the front side of the movable platform, two additional auxiliary laser radars can be added on the rear side of the movable platform. As an example, among the three auxiliary laser radars used to detect the front area in the moving direction of the movable platform, two of the auxiliary laser radars are arranged in the top surface of the movable platform and the On the opposite side of the target side, based on this, two auxiliary lidars installed on the back side of the movable platform can detect forward, which can realize a wider range of perception around the movable platform.

In some examples, the two auxiliary laser radars for detecting the forward area in the moving direction of the movable platform are respectively arranged on the other side of the top surface of the movable platform opposite to the target side. Top corner position, the area around the sides of the movable platform can be detected.

In some examples, the two auxiliary laser radars used to detect the front area in the moving direction of the movable platform are symmetrically arranged, so that the two auxiliary laser radars are arranged symmetrically to the surrounding area of the movable platform. The detection area is more balanced.

In some examples, the two auxiliary laser radars used to detect the forward area in the moving direction of the movable platform are respectively set with a third yaw angle, and through the setting of the third yaw angle, the two auxiliary laser radars are set The second auxiliary lidar can respectively achieve a wider range of detection on the side of the movable platform. In practical applications, the angle of the third yaw angle may be flexibly configured as required. In some examples, the range of the third yaw angle may be between 0° and 90°.

In some examples, the angles of the third yaw angles of the two auxiliary laser radars used to detect the forward area in the moving direction of the movable platform are equal, so that the two auxiliary laser radars are movable in pairs. The detection area around the platform is more balanced.

In some examples, the second depression angle of any one of the two auxiliary laser radars used to detect the forward area in the moving direction of the movable platform is smaller than the second depression angle of the other auxiliary laser radar. The depression angle, that is, the second depression angle of the auxiliary laser radar on the front side of the movable platform is relatively small, so that the detection area of the auxiliary laser radar on the ground is closer to the front side of the movable platform, while the auxiliary laser radar on the rear side of the movable platform has a relatively small depression angle. The second depression angle is relatively large, so that the two auxiliary laser radars can detect the periphery of the side of the movable plane in a wider range, so that the three auxiliary laser radars work together to achieve a more comprehensive detection effect.

Taking three auxiliary laser radars as an example for illustration, the auxiliary laser radars in the detection system of this embodiment use three first auxiliary laser radars or second auxiliary laser radars to fill the blindness of the forward and left and right areas of the movable platform.

As shown in FIGS. 4D1 to 4D4 , in this embodiment, taking the first auxiliary laser radar as an example, a first auxiliary laser radar 421 is installed on the front side of the top of the robot 110 , and the other first auxiliary laser radar 424 and the first auxiliary laser radar 421 are installed on the front side of the top of the robot 110 . The first auxiliary laser radar 425 is installed on the rear side of the top of the robot 110 respectively, and the field of view of the three auxiliary laser radars is the same as the moving direction of the movable platform, that is, the field of view is all forward. The height of each auxiliary lidar from the ground can be set differently, for example, it can be between 1m and 2m, and it can be installed on the top to expand the detection area on the ground.

In practical applications, since the movable platform has different information requirements for the forward environment, as shown in Figure 4D2, the first auxiliary laser radar 424 and the first auxiliary laser radar 425 on the rear side of the robot have a yaw angle α to both sides respectively. , the depression angle θ2 of the first auxiliary laser radar 424 is not necessarily equal to the depression angle θ1 of the first auxiliary laser radar 421 in front.

As an example, the first auxiliary laser radar 424 and the first auxiliary laser radar 425 are respectively set with a yaw angle α, and the value range may be:

0°≤α≤90°

The value range of the depression angle θ1 of the first auxiliary lidar 421 may be:

The first auxiliary laser radar 424 and the first auxiliary laser radar 425 are respectively provided with depression angles, and the value range of the depression angle θ2 may be:

In some examples, if the rear secondary lidar has the same field of view as the front secondary lidar, since the rear secondary lidar usually needs to see a larger range forward, as an example, the depression angle can be set as follows:

0≤θ2≤θ1

In addition to the detection in front of the movable platform, in other examples, there is also a detection requirement behind the movable platform. Based on this, in the detection system of this embodiment, the auxiliary lidar further includes: for detecting the movable platform At least one auxiliary laser radar in the rear area in the moving direction, so as to realize the detection of the rear area of the movable platform.

In some examples, one of the auxiliary lidars for detecting the rear area in the moving direction of the movable platform is arranged on the other side of the top surface of the movable platform opposite to the target side, That is, an auxiliary laser radar may also be provided on the top surface of the rear side of the movable platform, so that the auxiliary laser radar can detect the area directly behind the movable platform. One of the auxiliary lidars in the rear area in the moving direction is arranged in the middle position of the other side opposite to the target side in the top surface of the movable platform, so that the auxiliary lidar can detect the movable platform in a balanced manner the rear area.

The embodiments shown in Fig. 4E1 to Fig. 4E4 are described based on the embodiment shown in Fig. 4D3 by adding an auxiliary laser radar as an example. As shown in Fig. 4E3, there are three forward-facing laser radars in this embodiment. The first auxiliary laser radar, namely the first auxiliary laser radar 421, the first auxiliary laser radar 424 and the first auxiliary laser radar 425, and a first auxiliary laser radar 426 for detecting the area behind the movable platform. The first auxiliary lidar 426 is installed on the rear side of the top surface of the robot, and its field of view faces backward. The height from the ground can be set differently according to the size of the robot, for example, it can be between 1 meter and 2 meters. The detection area of the ground.

In this embodiment, as shown in FIG. 4E2 , the first auxiliary laser radar 424 and the first auxiliary laser radar 425 on the rear side of the robot respectively have a yaw angle α to both sides, and the second auxiliary laser radar 426 is set with a depression angle θ2, The depression angle θ2 thereof and the depression angle θ1 of the first auxiliary laser radar 421 on the front side are not necessarily equal.

0°≤α≤90°

The value range of the depression angle θ3 of the second auxiliary lidar 426 is generally as follows:

In some examples, if the rear secondary lidar has the same field of view as the front secondary lidar, since the rear secondary lidar usually needs to see a larger range forward, the depression angle can be set as follows:

0≤θ2≤θ1

In the layout scheme of the auxiliary laser radar in the foregoing embodiment, it can be applied to any automatic moving scene of the movable platform. Under the condition of controlling the cost, 4 or less auxiliary laser radars can be used to conduct partial azimuth areas around the robot. Blindness. However, in many scenarios, these blind-filling methods still have certain blind spots, which still cannot meet the needs of automatic movement in heavy traffic.

Based on this, in some examples, the number of auxiliary lidars can also be increased to fill the blind spot in the area behind the movable platform.

In some examples, the number of the auxiliary laser radars used to detect the rear area in the moving direction of the movable platform is three, so as to control the cost on the basis of realizing a more comprehensive detection area. Among these three auxiliary lidars, except for the aforementioned one provided on the other side of the top surface of the movable platform opposite to the target side and used to detect the rear area in the moving direction of the movable platform One of the auxiliary laser radars, and the other two auxiliary laser radars, that is, the two auxiliary laser radars used to detect the rear area in the moving direction of the movable platform are arranged on the back of the movable platform. On the edge of the target on the top surface, the two auxiliary lidars can detect backwards and forwards on the front side of the movable platform, which can realize a wider range of perception around the movable platform.

In some examples, the two auxiliary lidars used to detect the rear area of the movable platform in the moving direction are arranged at the top corners of the top surface of the movable platform, and can detect both sides of the movable platform surrounding area.

In some examples, the two auxiliary laser radars used to detect the rear area in the moving direction of the movable platform are symmetrically arranged, so that the two auxiliary laser radars are arranged symmetrically to the surrounding area of the movable platform. The detection area is more balanced.

In some examples, the two auxiliary laser radars used for detecting the rear area in the moving direction of the movable platform are respectively set with a fourth yaw angle. The second auxiliary lidar can respectively achieve a wider range of detection on the side of the movable platform. In practical applications, the angle of the fourth yaw angle may be flexibly configured as required, and in some examples, the range of the fourth yaw angle may be between 0° and 90°. In some examples, the angles of the fourth yaw angles of the two auxiliary laser radars used to detect the rear area in the moving direction of the movable platform are equal, so that the two auxiliary laser radar pairs are movable The detection area around the platform is more balanced.

Through the above-mentioned embodiments, the blind area around the movable platform can be filled in all directions. The all-round blind area can be understood as basically no blind area on the movable platform. In some examples, at least two additional blind areas can be added to the embodiment shown in FIG. 4E. The second target auxiliary lidar is used to make up for the blind spot of vision behind the movable platform.

In this embodiment, the first auxiliary laser radar is used as an example, and six first auxiliary laser radars are used to fill blindness in all directions. As shown in FIGS. 4F1 to 4F7 , this embodiment can be understood as adding a first auxiliary laser radar 427 and a first auxiliary laser radar 428 to the embodiment in FIG. 4E , or it can also be understood that on the basis of the embodiment in FIG. 4D , There are three more backward-facing first auxiliary lidars set symmetrically.

In the auxiliary lidar embodiment of this embodiment, its overall field of view covers most of the area around the entire movable platform within a short and medium distance. As shown in Figure 4F7, only when the distance from the robot d1 is far away, the leakage angle is δ The gap here is far away from the robot's travel trajectory, which has little impact on the operation of the robot's automatic movement system. This gap can also be covered by the robot's main lidar. In addition, the gaps between d2, d3, and d4 near the robot are very small, and most obstacles cannot hide there. Therefore, this solution can meet the perception requirements of most mobile platforms in automatic movement scenarios.

As shown in FIGS. 4F1 to 4F6 , the layout of the three forward first auxiliary lidars in this embodiment is consistent with the layout of the embodiment shown in FIGS. 4D1 to 4D4 , while the three backward first auxiliary lidars The layout of the first auxiliary lidar is symmetrical with the three forward first auxiliary lidars relative to the center of the robot.

In this embodiment, the first auxiliary laser radar 427 and the first auxiliary laser radar 428 are respectively set with a yaw angle α; in addition, the depression angle θ2 of the rear first auxiliary laser radar is different from the depression angle θ1 of the front first auxiliary laser radar. not necessarily equal.

As an example, as shown in FIG. 4F4 , the first auxiliary laser radar 427 and the first auxiliary laser radar 428 are respectively set with a yaw angle α, and the value range is usually as follows:

0°≤α≤90°

The first auxiliary laser radar 427 and the first auxiliary laser radar 428 are respectively set with a depression angle θ2, and the value range may be:

Due to the symmetrical layout, the depression angle of the two first

auxiliary laser radars

427 and 428 arranged in the front is different from the depression angle θ2 of the two first

auxiliary laser radars

424 and 425 arranged in the rear. can be equal; the depression angle of a first auxiliary laser radar 426 arranged in the front and the depression angle θ1 of the first auxiliary laser radar 421 arranged in the rear can also be equal.

In some examples, if the first auxiliary laser radar in the rear has the same field of view as the first auxiliary laser radar in the front, since the first auxiliary laser radar in the rear usually needs to look forward to a larger range, there is usually the following relationship :

0≤θ2≤θ1

For the auxiliary laser radar, this embodiment further provides another optional implementation manner.

In some examples, the auxiliary laser radar includes: a third auxiliary laser radar, and a field of view section of the third auxiliary laser radar parallel to a fifth axis is substantially annular, and the fifth axis is the third auxiliary laser radar. The central axis of the vertical field of view of the lidar; the horizontal field of view of the third auxiliary lidar is between 180° and 360°, and the vertical angle of view of the third secondary lidar is less than 120°. Different from the aforementioned first main lidar, the third secondary lidar of this embodiment has a larger positive or negative vertical field of view. The third auxiliary lidar in this embodiment has the advantage that a single radar can cover a 360° horizontal field of view, and because the vertical FOV is large, it can also sense nearby ground obstacles, so it can be used for close-range sensing. Since indoor and outdoor scenes have perception requirements for nearby obstacles, the third auxiliary lidar has a very wide range of applications and can be used on almost any movable platform.

In some examples, the horizontal field of view of the third auxiliary laser radar is 360°. As an example, FIG. 5A1 is a schematic diagram of a third auxiliary laser radar shown in this embodiment, and FIG. 5A2 is a first embodiment of the present invention. A schematic diagram of a horizontal field of view of a third auxiliary laser radar, FIG. 5A3 is a schematic diagram of a vertical field of view of a third auxiliary laser radar in this embodiment, and the third auxiliary laser radar includes: a 360° horizontal field of view The vertical field of view of the lidar is -8° to 40°, the negative vertical field of view is 8°, and the positive vertical field of view is 40°.

Due to the large horizontal field of view of the third auxiliary lidar, it has a natural advantage in the configuration of the field of view. Therefore, the use of the third auxiliary lidar can achieve a better blindness compensation effect with a smaller number of radars. Of course, in practical applications, the number of third auxiliary laser radars can be flexibly configured as required, which is not limited in this embodiment.

Based on the detection requirement for the area behind the movable platform, in some examples, the auxiliary lidar includes: the third auxiliary lidar for detecting the rear area in the moving direction of the movable platform, so as to realize the detection of the movable platform. Backward perception of mobile platforms. The number of the third auxiliary laser radars used to detect the rear area in the moving direction of the movable platform is not limited in this embodiment.

In some examples, the third auxiliary lidar for detecting the rear area in the moving direction of the movable platform is disposed on the rear side of the movable platform, and the rear side is opposite to the movable platform The opposite side of the moving direction, so the third auxiliary lidar can better detect the area behind the movable platform.

The rear side of the movable platform includes a first protrusion, such as a movable platform such as a car, and the third auxiliary laser radar for detecting the rear area in the moving direction of the movable platform can be arranged on the first A protruding part, so the third auxiliary lidar can detect the area around the first protruding part. In some examples, the two third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are arranged at both ends of the first protrusion, and the two third auxiliary laser radars are used to detect the rear area of the movable platform. With the cooperation, the detection of the left and right sides behind the movable platform can be realized.

In some examples, such as the embodiment shown in FIG. 1 , the movable platform is a robot or the like, the shape of the body of the movable platform is substantially a rectangular parallelepiped, and the rear side of the movable platform is substantially flat. This embodiment does not limit the setting height of the third auxiliary laser radar on the rear side of the movable platform. In some examples, the third auxiliary laser radar used to detect the rear area in the moving direction of the movable platform The setting position includes any of the following: the bottom of the rear side, the middle of the rear side, or the top of the rear side, and an appropriate setting height can be used as required, so that the auxiliary lidar can achieve better blindness compensation effect.

In some examples, there are two third auxiliary lidars for detecting the rear area in the moving direction of the movable platform, and two third auxiliary lidars for detecting the rear area in the moving direction of the movable platform. The setting positions of the auxiliary laser radars include one of the following: the two ends of the bottom of the rear side, the two ends of the middle part of the rear side, or the two ends of the top of the rear side, through the two third auxiliary laser radars. In cooperation, the detection of the left side and the right side behind the movable platform can be realized.

In some examples, the two third auxiliary laser radars used to detect the rear area in the moving direction of the movable platform are arranged in a horizontal direction, and based on the configuration of the third auxiliary laser radar, the horizontal setting makes The third auxiliary LiDAR can detect a large range in the horizontal direction, and can achieve better blind-filling effect with a smaller number of radars.

In some examples, the two third auxiliary lidars used to detect the rear area in the moving direction of the movable platform are arranged at both ends of the middle of the rear side, and are respectively arranged with a roll of 180° angle, so that the direction with a larger vertical field of view of the third auxiliary lidar faces the ground, so as to obtain a relatively large near field of view.

Based on the detection requirement for the area in front of the movable platform, in some examples, the auxiliary laser radar includes: a third auxiliary laser radar for detecting the forward area in the moving direction of the movable platform, so that the auxiliary laser radar can detect the area in front of the movable platform. Forward sensing of movable platforms. The number of the third auxiliary laser radars used to detect the forward area in the moving direction of the movable platform is not limited in this embodiment.

In some examples, the third auxiliary lidar for detecting the front area in the moving direction of the movable platform is disposed on the front side of the movable platform, and the front side is connected to the movable platform The side with the same moving direction, by being arranged on the front side, can reduce the probability of the third auxiliary lidar being blocked during detection.

In some examples, the front side of the movable platform includes a second protrusion, such as a movable platform such as a car, for detecting the third auxiliary lidar in the front area in the moving direction of the movable platform It is arranged on the second protruding part, so the third auxiliary lidar can detect the area around the second protruding part. In some examples, there are two third auxiliary lidars used to detect the forward area in the moving direction of the movable platform, and are arranged at both ends of the second protruding part, through the two third auxiliary lidars. The cooperation of the three auxiliary lidars can realize the detection of the left and right sides in front of the movable platform.

In some examples, such as the embodiment shown in FIG. 1 , the movable platform is a robot, etc., the shape of the body of the movable platform is basically a rectangular parallelepiped, and the front side of the movable platform is basically a plane, which is used for detecting all The third auxiliary lidar of the front area in the moving direction of the movable platform is arranged in front of the movable platform. In some examples, the setting position of the third auxiliary lidar for detecting the front area in the moving direction of the movable platform includes any one of the following: the bottom of the front side, the middle of the front side, or The top of the front side can be set at an appropriate height according to needs, so that the auxiliary lidar can achieve a better blind-filling effect.

In some examples, the setting positions of the two third auxiliary lidars for detecting the front area in the moving direction of the movable platform include one of the following: two ends of the bottom of the front side, the The two ends of the middle part of the front side or the two ends of the top part of the front side can detect the left and right sides in front of the movable platform through the cooperation of the two third auxiliary lidars.

In some examples, the two third auxiliary laser radars used to detect the front area in the moving direction of the movable platform are arranged in a horizontal direction, and based on the configuration of the third auxiliary laser radar, the horizontal setting, This enables the third auxiliary lidar to detect a larger range in the horizontal direction, and can achieve better blind-filling effect with a smaller number of radars.

In some examples, the auxiliary lidar further includes: a top of the front side of the movable platform, a detection angle in a vertical direction is greater than a detection angle in a horizontal direction, and used for detecting all A first target laser radar in the front area in the moving direction of the movable platform, and the first target laser radar is the third auxiliary laser radar. In this embodiment, based on this setting, the first target laser radar can be A larger angle scan is performed in the vertical direction in front of the movable platform, and detection of a smaller blind area can be realized for the area in front of the movable platform.

In some examples, the auxiliary lidar further includes: a top of the rear side of the movable platform, a detection angle in a vertical direction is greater than a detection angle in a horizontal direction, and used for detecting all A second target laser radar in the rear area in the moving direction of the movable platform, the second target laser radar is the third auxiliary laser radar, in this embodiment, based on this setting, the third The two-target lidar can scan at a larger angle in the vertical direction behind the movable platform, and can detect a smaller blind spot in the area behind the movable platform.

In some examples, the first target lidar is set with a roll angle or a pitch angle. In this embodiment, by setting the roll angle or the pitch angle, the angle of view of the first target lidar with a larger angle is more narrow. Biased to the ground, the detection blind spot on the ground in front of the movable platform is smaller.

In some examples, the second target lidar is set with a roll angle or a pitch angle. In this embodiment, by setting the roll angle or the pitch angle, the field of view angle of the second target lidar with a larger angle is more narrow. Biased to the ground, the detection blind spot on the ground behind the movable platform is smaller.

In some examples, the roll angle of the second target lidar is 90°. In this embodiment, by setting a roll angle of 90°, the originally large horizontal field of view of the third auxiliary lidar can be scanned in the vertical direction, thereby realizing detection of a smaller blind area near the movable platform.

In some examples, the pitch angle of the second target lidar is 90°. In this embodiment, by setting a pitch angle of 90°, the originally large horizontal field of view of the third auxiliary lidar can be scanned in the vertical direction, thereby realizing detection of a smaller blind area near the movable platform.

In some examples, the first target lidar is flipped 90° left or right in the horizontal direction, so that the first target lidar has a roll angle of 90°. In this embodiment, the setting of the roll angle of 90° can be realized by turning 90° to the left or right along the horizontal direction. In practical applications, the implementation method can be flexibly selected according to needs, so as to achieve a smaller movable platform in the vicinity. Blind spot detection.

In some examples, the second target lidar is flipped 90° to the left or right in the horizontal direction, so that the second target lidar has a roll angle of 90°, so that the first target lidar has a roll angle of 90°. Has a roll angle of 90°. In this embodiment, the setting of the roll angle of 90° can be realized by turning 90° to the left or right along the horizontal direction. In practical applications, the implementation method can be flexibly selected according to needs, so as to achieve a smaller movable platform in the vicinity. Blind spot detection.

In some examples, the second target lidar is flipped forward or backward by 90° in the horizontal direction, so that the second target lidar has an elevation angle of 90°, in this embodiment, the elevation angle of 90° The setting can be realized by flipping 90° forward or backward in the horizontal direction. In practical applications, the realization method can be flexibly selected according to the needs, so as to realize the detection of a smaller blind area in the vicinity of the movable platform.

In some examples, the first target lidar has a set distance from the width center axis of the movable platform. In this embodiment, the size of the positive vertical field of view and the negative vertical field of view of the third auxiliary laser radar may be different, and the third auxiliary laser radar is offset from the width center axis of the movable platform by a certain distance , so that the detection on the left and right sides of the third auxiliary lidar is more balanced, and the blind spot near the movable platform can also be reduced.

In some examples, the set distance is set based on the smaller one of the positive vertical field angle and the negative vertical field angle of the first target lidar. In this embodiment, the third auxiliary laser radar is offset by a certain distance from the width center axis of the movable platform to the smaller direction of the vertical field of view, so that the detection on the left and right sides of the third auxiliary laser radar is more accurate. Balanced, it can also reduce the blind spot near the movable platform.

This embodiment does not limit the number of the third auxiliary laser radars, which can be flexibly configured as needed in practical applications.

Next, three third auxiliary lidars are used as an example to illustrate. In this embodiment, the auxiliary laser radar includes: a third auxiliary laser radar for detecting the forward area in the moving direction of the movable platform, and a third auxiliary laser radar for detecting the moving direction of the movable platform Two of the third auxiliary lidars in the rear area of At the bottom of the front side, the two third auxiliary lidars for detecting the rear area in the moving direction of the movable platform are arranged horizontally at the bottom of the rear side of the movable platform. Through the above layout, three third auxiliary laser radars can be used to achieve better near blindness. The three third auxiliary laser radars work together, and the overall blind area in the vicinity of the movable platform is small, which can meet the detection of most scenes. need.

As shown in Fig. 5B1 to Fig. 5B11, an embodiment of three third auxiliary lidars is shown; Figs. 5B1 and 5B2 are respectively schematic diagrams of the field of view formed after the movable platform is equipped with three third auxiliary lidars; Figs. Figures 5B3 to 5B5 are schematic diagrams of the field of view of each third auxiliary laser radar; Figures 5B6 to 5B9 are schematic diagrams of three third auxiliary laser radars mounted on the robot; Figures 5B10 and 5B11 are three third auxiliary lasers. Schematic diagram of the blind spot of the radar.

As shown in FIGS. 5B6 to 5B9 , in the detection system of this embodiment, each third auxiliary laser radar is set horizontally. The horizontal setting in this embodiment means that the third auxiliary laser radar is in a horizontal state, and the third auxiliary laser radar is The field of view with a larger angle in the lidar is the horizontal field of view. In this embodiment, when each third auxiliary laser radar is mounted on the movable platform, the setting height may be the same, which is h.

In this embodiment, a third auxiliary lidar 511 is used to detect the front area in the moving direction of the movable platform, and the lidar is arranged on the head of the movable platform. Optionally, as shown in FIG. 5B6 , It can be the middle position of the head. As shown in FIG. 5B3 , the first auxiliary laser radar 511 is horizontally arranged on the robot, and the first auxiliary laser radar 511 itself has a 360° horizontal field of view in the horizontal direction. The radar is embedded and installed on the robot, and the first auxiliary lidar can provide a horizontal field of view of about 180° when scanning in the horizontal direction.

In this embodiment, two third auxiliary laser radars are used to detect the rear area in the moving direction of the movable platform, and the two third auxiliary laser radars are arranged on the rear side of the movable platform. Optional, as shown in Figure 5B6 As shown in the figure, the robot is a square robot, the rear side of the movable platform is a plane, and the second annular auxiliary lidar is arranged behind the movable platform, which is the side opposite to the moving direction of the movable platform , the two third

auxiliary lidars

512 and 513 are arranged at the bottom of the rear side, for example, at the two corners of the outer contour of the robot. As shown in Figure 5B4 and Figure 5B5, the two third auxiliary lidars can provide a horizontal field of view of about 270°.

It can be seen from FIGS. 5B1 to 5B5 that the third auxiliary lidar of this embodiment can cover the perception in a 360° area around the entire robot. As shown in Figure 5B10, it shows a schematic view of the third auxiliary lidar on the horizontal plane at the bottom of the robot, in which the blank area between the oblique line and the robot is the blind area, due to the negative vertical field of view of the third auxiliary lidar With smaller corners, there is still a large portion of the ground around the robot that cannot be detected. As shown in Figure 5B11, it is a schematic view of the third auxiliary lidar on a horizontal plane with a height of h. Since h is low, the detection field of view of the horizontal plane at the height h from the ground is greatly increased. The only thing that forms a field of view is the The third auxiliary lidar itself has a blind area with a radius of R. The R value is determined by the functional characteristics of the lidar, and its range is usually less than or equal to 1 meter. Therefore, in this embodiment, the lower the installation height h of the third auxiliary laser radar, the better, and the value range of h may be: 0.1m≤h≤1m.

It can be seen from the foregoing embodiment that there is still a semi-circular blind spot directly in front of the robot. In this embodiment, the installation position and angle of the front third auxiliary lidar 511 in the foregoing embodiment can also be changed to completely eliminate the front blind spot. Blind spot on the ground.

In this embodiment, the auxiliary laser radar includes: a third auxiliary laser radar for detecting the forward area in the moving direction of the movable platform, and a third auxiliary laser radar for detecting the moving direction of the movable platform Two of the third auxiliary lidars in the rear area on the

Wherein, the third auxiliary laser radar for detecting the front area in the moving direction of the movable platform is arranged on the top of the front side of the movable platform, and is set with a roll angle of 90°, and is connected with The width central axis of the movable platform has a set distance;

The two third auxiliary lidars for detecting the rear area in the moving direction of the movable platform are horizontally arranged at the bottom of the rear side of the movable platform.

Through the above layout, three third auxiliary laser radars can be used to achieve better close blindness. The three third auxiliary laser radars cooperate together, so that the overall blind spot near the movable platform is small, and there is no blind spot directly in front of the movable platform. The blind spot can meet the detection needs of most scenarios.

Compared with the aforementioned embodiments shown in FIGS. 5B1 to 5B11 , as shown in FIGS. 5C1 to 5C12 , the arrangement of the third auxiliary laser radar 514 and the third auxiliary laser radar 511 in this embodiment is different:

The setting position of the third auxiliary laser radar 514 moves from the bottom of the robot to the top of the robot, and its height relative to the ground is h1; relative to the horizontal setting of the third auxiliary laser radar 511, the third auxiliary laser radar 514 is set at 90°. Roll angle; it can be understood that the third auxiliary lidar 514 in this embodiment, with the original 360° horizontal field of view, is set to scan in the vertical direction. The third auxiliary lidar 514 can be turned left or right by 90° in the horizontal direction, so that it has a roll angle of 90°.

In some examples, if the positive vertical field angle of the third auxiliary lidar is equal to the negative vertical field angle, it can be set in the middle position of the top. On the other hand, in the third auxiliary lidar 514 in this embodiment, the positive vertical field angle and the negative vertical field angle are not equal. Therefore, the positive vertical field angle and the negative vertical field angle can be based on The size relationship of the third auxiliary laser radar 514 is offset from the width center axis of the movable platform to the smaller direction of the vertical field of view by a certain distance, that is, the third auxiliary laser radar 514 and the movable platform are offset by a certain distance. The width central axis of the platform has a set distance d;

Based on this setting, compared with the embodiment shown in FIG. 5B6 , as shown in FIGS. 5C11 and 5C12 , in this embodiment, the field of view setting of the third auxiliary lidar 514 not only completely eliminates the front blind spot, but also makes the third auxiliary laser radar 514 The lidar 514 is placed at a high position, and the field of view is less likely to be blocked by low obstacles.

It can be seen from the aforementioned FIG. 5B10 and FIG. 5C11 that there is still a certain blind spot in the detection of the robot on the ground. Based on this, this specification also provides another optional implementation manner. The auxiliary laser radar includes: One of the third auxiliary laser radars in the front area in the moving direction of the movable platform, and two third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform;

Wherein, a first annular auxiliary laser radar for detecting the front area in the moving direction of the movable platform is arranged on the top of the front side of the movable platform, and is arranged with a roll angle of 90° , and has a set distance from the width center axis of the movable platform;

The two third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are arranged in the middle of the rear side of the movable platform, and are respectively arranged with a roll angle of 180°.

Through the above layout, three third auxiliary laser radars can be used to achieve better near blindness. The three third auxiliary laser radars work together, and the overall blind area in the vicinity of the movable platform is small, which can meet the detection of most scenes. need.

The difference between this embodiment and the embodiment shown in FIG. 5C6 is that the third auxiliary laser radar 515 and the third auxiliary laser radar 516 behind the robot are different from the third auxiliary laser radar 512 and the third auxiliary laser radar 512 and the third auxiliary laser radar behind the robot in FIG. 5C6 . The lidar 513 has different setting heights and angles.

In FIG. 5C6 , the third auxiliary laser radar 512 and the third auxiliary laser radar 513 at the rear of the robot are arranged horizontally, and are arranged at the bottom of the robot, and are arranged at a lower height on the robot.

In this embodiment, the third auxiliary laser radar 515 and the third auxiliary laser radar 516 at the rear of the robot are arranged in the middle of the rear of the robot, and the setting height H2 thereof is increased; It can be rotated 180° so that the larger vertical field of view is directed towards the ground, resulting in a relatively larger near field of view. Comparing FIG. 5C11 and FIG. 5D11 , it can be seen that the solution of this embodiment has a smaller blind area on the ground.

It can be seen from FIG. 5D11 that there is still a certain blind spot in the detection of the robot on the ground. Based on this, this specification also provides another optional implementation manner. This embodiment can be based on the embodiment shown in FIG. 5D6 , A third auxiliary laser radar is added behind the robot, and the auxiliary laser radar further includes: a top disposed behind the movable platform, a 90° pitch angle, and used for detecting the movable platform One of the third auxiliary lidars in the rear area in the direction of movement. Through the above layout, four third auxiliary laser radars can be used to achieve better near blindness. When the four third auxiliary laser radars cooperate together, the overall blind area in the vicinity of the movable platform is small, and the rear of the movable platform can realize There is no blind spot, which can meet the detection needs of most scenarios.

5E1 to 5E12, this embodiment adds a third auxiliary laser radar 517 on the basis of FIG. 5D6, the third auxiliary laser radar 517 is arranged behind the robot, and the height above the ground is H3. H3 can be greater than H2. Optionally, the third auxiliary laser radar 517 has an elevation angle, and the elevation angle can be 90°. When the third auxiliary laser radar 517 is mounted on the movable platform, the third auxiliary laser radar 517 can be placed horizontally. , turn 90° forward or backward in the horizontal direction, so that the third auxiliary lidar 517 has an elevation angle of 90°, and the third auxiliary lidar set in this way can be understood as follows, the third auxiliary lidar of this embodiment The three-auxiliary lidar 517, the original 360° horizontal field of view, is set to scan in the vertical direction.

It can be seen from FIG. 5E12 that, compared with FIG. 5D11 , the blind spot of the auxiliary laser radar in this embodiment is further reduced, there is no blind spot directly behind the robot, and only the left and right of the rear wheels have blind spots with a radius of R1.

It can be seen from FIG. 5E12 that there is still a certain blind area in the blind area of the auxiliary laser radar. Based on this, this specification also provides another optional implementation manner. The auxiliary laser radar includes: a sensor for detecting the movable platform. The three third auxiliary laser radars in the front area in the moving direction, and the three third auxiliary laser radars used for detecting the rear area in the moving direction of the movable platform; wherein:

Among the three third auxiliary laser radars used to detect the front area in the moving direction of the movable platform, one of the third auxiliary laser radars is provided on the top of the front of the movable platform and is provided with roll angle or pitch angle, and the other two third auxiliary lidars are horizontally arranged at both ends of the front side of the movable platform;

Among the three third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform, one of the third auxiliary laser radars is provided on the top of the rear side of the movable platform and A roll angle or a pitch angle is provided, and the other two third auxiliary laser radars are horizontally arranged at both ends of the rear side of the movable platform.

Through the above layout, six third auxiliary laser radars can be used to achieve better close blindness, and the six third auxiliary laser radars work together to achieve the effect of no blind spots in the near vicinity.

As shown in FIG. 5F1 , the third auxiliary laser radar in this embodiment includes at least six annular auxiliary laser radars 521 to 526 , and the six third auxiliary laser radars include: three forward third

auxiliary laser radars

521 and 522 and 523, and three rear-facing third

secondary lidars

524, 525, and 526.

As shown in FIGS. 5F1 to 5F2 , consistent with the third auxiliary laser radar 515 and the third auxiliary laser radar 516 shown in the aforementioned FIG. 5D6 or FIG. 5E6 , the third auxiliary laser radar 525 and the third auxiliary laser radar 526 are arranged horizontally at Both ends of the back of the robot. The third

auxiliary laser radars

522 and 523 are arranged horizontally at both ends of the front of the robot, and other setting methods are the same as the third auxiliary laser radar 525 and the third auxiliary laser radar 526 .

The third auxiliary laser radar 521 and the third auxiliary laser radar 526 are respectively arranged in front of or behind the robot, and their setting methods can be flexibly configured as required. For example, the third auxiliary laser radar 521 can be the third auxiliary laser radar 511 in the aforementioned FIG. 5B6 . The setting method of the third auxiliary laser radar 514 in FIG. 5C6 may also be the setting method of the third auxiliary laser radar 514 ; the setting method of the third auxiliary laser radar 526 may adopt the setting method of the third auxiliary laser radar 517 in FIG. 5E6 .

As shown in FIG. 5F14 , the auxiliary laser radar of this embodiment can achieve the effect of no blind spot through the arrangement of the above-mentioned six third auxiliary laser radars and the cooperation of each third auxiliary laser radar.

In the above embodiment, various optional implementations are shown for the arrangement of the main lidar; for the secondary lidar, various optional implementations are also shown; while the main detection system included in this embodiment includes The lidar and the secondary lidar may include any combination of the various arrangements of the main lidar and the various arrangements of the secondary lidar. As an example, from Fig. 2B1 to Fig. 3E4, five main lidar arrangements are shown, and from Fig. 4B1 to Fig. 5F14, ten secondary lidar arrangements are shown, and the two can be combined into fifty kinds Implementation of the detection system.

As an example, FIG. 6A shows a schematic diagram of the combination of the two second main laser radars shown in FIG. 3C1 and the six first auxiliary laser radars shown in FIG. 4F1 .

It can be seen from the above embodiments that the detection system of the embodiment of the present application adopts two types of lidars to solve the problem of blind spots. Among them, the main lidar can detect the area far away from the movable platform, and the secondary lidar is used to detect the main lidar. In other words, the auxiliary lidar can supplement the field of view of the main lidar. In order to realize the cooperation of the two to solve the blind spot problem, this embodiment proposes a solution from the perspective of the field of view of the lidar.

In some examples, according to different application scenarios and requirements, only the main lidar or only the secondary lidar may be arranged on the movable platform. For the specific arrangement, please refer to the foregoing description. For example, the movable platform shown in FIG. 2B1 The embodiment of carrying the first main laser radar; or the embodiment of the movable platform carrying the second main laser radar shown in Figure 3B1, Figure 3C1, Figure 3D1 or Figure 3E1 respectively, or Figure 4B1, Figure 4C1, Figure 4D1 , FIG. 4E1 or FIG. 4F1 respectively show the embodiment of the movable platform equipped with the first auxiliary lidar, or the movable platform shown in FIG. 5B1, FIG. 5C1, FIG. 5D1, FIG. 5E1 or FIG. 5F1 respectively. Example of lidar.

In one embodiment, the lidar is used to sense external environmental information, such as distance information, orientation information, reflection intensity information, speed information, etc. of environmental objects. In one implementation, the lidar can detect the distance from the detected object to the lidar by measuring the time of light travel between the lidar and the detected object, that is, Time-of-Flight (TOF). Alternatively, the lidar can also detect the distance from the detected object to the lidar through other techniques, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement, which is not described here. make restrictions.

For ease of understanding, the working process of ranging will be described by way of example in conjunction with the lidar 700 shown in FIG. 7 .

As shown in FIG. 7 , the lidar 700 may include a transmitting circuit 710 , a receiving circuit 720 , a sampling circuit 730 and an arithmetic circuit 740 .

The transmit circuit 710 may transmit a sequence of optical pulses (eg, a sequence of laser pulses). The receiving circuit 720 can receive the optical pulse sequence reflected by the detected object, and perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 730 after processing the electrical signal. The sampling circuit 730 can sample the electrical signal to obtain a sampling result. The arithmetic circuit 740 may determine the distance between the lidar 700 and the detected object based on the sampling result of the sampling circuit 730 .

Optionally, the lidar 700 may further include a control circuit 750, which may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit, and the like.

It should be understood that although the lidar shown in FIG. 7 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a beam of light for detection, the embodiment of the present application is not limited to this, the transmitting circuit, The number of any one of the receiving circuits, sampling circuits, and arithmetic circuits may also be at least two, for emitting at least two light beams in the same direction or in different directions respectively; wherein, the at least two light beam paths may be emitted simultaneously , or they can be emitted at different times. In one example, the light-emitting chips in the at least two emission circuits are packaged in the same module. For example, each emitting circuit includes one laser emitting chip, and the dies in the laser emitting chips in the at least two emitting circuits are packaged together and accommodated in the same packaging space.

In some implementations, in addition to the circuit shown in FIG. 7 , the lidar 700 may further include a scanning module 760 (not shown in FIG. 7 ) for changing the propagation direction of at least one laser pulse sequence emitted from the transmitting circuit.

Wherein, the module including the transmitting circuit 710, the receiving circuit 720, the sampling circuit 730 and the operation circuit 740, or the module including the transmitting circuit 710, the receiving circuit 720, the sampling circuit 730, the operation circuit 740 and the control circuit 750 may be referred to as the measuring circuit The ranging module 750 can be independent of other modules, for example, the scanning module 760 .

A coaxial optical path can be used in the lidar, that is, the beam emitted by the lidar and the reflected beam share at least part of the optical path in the lidar. For example, after at least one laser pulse sequence emitted by the transmitting circuit changes its propagation direction through the scanning module, the laser pulse sequence reflected by the detection object passes through the scanning module and then enters the receiving circuit. Alternatively, the laser radar can also use an off-axis optical path, that is, the light beam emitted by the laser radar and the reflected light beam are transmitted along different optical paths in the laser radar. FIG. 8 shows a schematic diagram of an embodiment in which the laser radar of the present invention adopts a coaxial optical path.

The lidar 800 includes a ranging module 801, and the ranging module 801 includes a transmitter 803 (which may include the above-mentioned transmitting circuit), a collimating element 804, a detector 805 (which may include the above-mentioned receiving circuit, sampling circuit and arithmetic circuit) and an optical circuit Change element 806. The ranging module 801 is used for emitting a light beam, receiving the returning light, and converting the returning light into an electrical signal. Among them, the transmitter 803 can be used to transmit a sequence of optical pulses. In one embodiment, transmitter 803 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the transmitter 803 is a narrow bandwidth beam with a wavelength outside the visible light range. The collimating element 804 is disposed on the outgoing light path of the transmitter, and is used for collimating the light beam emitted from the transmitter 803, and collimating the light beam emitted by the transmitter 803 into parallel light and outputting to the scanning module. The collimating element also serves to converge at least a portion of the return light reflected by the probe. The collimating element 804 may be a collimating lens or other elements capable of collimating light beams.

In the embodiment shown in FIG. 8 , the transmitting optical path and the receiving optical path in the lidar are combined by the optical path changing element 806 before the collimating element 804, so that the transmitting optical path and the receiving optical path can share the same collimating element, which makes the optical path more compact. In some other implementations, the emitter 803 and the detector 805 may use respective collimating elements, and the optical path changing element 806 may be arranged on the optical path behind the collimating element.

In the embodiment shown in FIG. 8 , since the beam aperture of the beam emitted by the transmitter 803 is small, and the beam aperture of the return light received by the lidar is relatively large, the optical path changing element can use a small-area reflective mirror to transmit the beam. The optical path and the receiving optical path are combined. In some other implementations, the optical path changing element can also use a reflector with a through hole, wherein the through hole is used to transmit the outgoing light of the emitter 803 , and the reflector is used to reflect the return light to the detector 805 . In this way, in the case of using a small reflector, the occlusion of the return light by the support of the small reflector can be reduced.

In the embodiment shown in FIG. 8 , the optical path altering element is offset from the optical axis of the collimating element 804 . In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 804 .

The lidar 800 also includes a scanning module 802 . The scanning module 802 is placed on the outgoing light path of the ranging module 801 , the scanning module 802 is used to change the transmission direction of the collimated beam 817 emitted by the collimating element 804 and project it to the external environment, and project the return light to the collimating element 804 . The returned light is focused on the detector 805 via the collimating element 804 .

In one embodiment, the scanning module 802 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the light beam propagation path by reflecting, refracting, diffracting the light beam, or the like. For example, the scanning module 802 includes a lens, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements. In one example, at least part of the optical elements are moving, for example, the at least part of the optical elements are driven to move by a driving module, and the moving optical elements can reflect, refract or diffract the light beam to different directions at different times. In some embodiments, the plurality of optical elements of the scanning module 802 may be rotated or vibrated about a common axis 807, each rotating or vibrating optical element being used to continuously change the propagation direction of the incident beam. In one embodiment, the plurality of optical elements of the scanning module 802 may rotate at different rotational speeds, or vibrate at different speeds. In another embodiment, at least some of the optical elements of scan module 802 may rotate at substantially the same rotational speed. In some embodiments, the plurality of optical elements of the scanning module may also be rotated about different axes. In some embodiments, the plurality of optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which are not limited herein.

In one embodiment, the scanning module 802 includes a first optical element 812 and a driver 814 connected to the first optical element 812, and the driver 814 is used to drive the first optical element 814 to rotate around the rotation axis 209, so that the first optical element 814 changes The direction of the collimated beam 817. The first optical element 814 projects the collimated beam 817 in different directions. In one embodiment, the angle between the direction of the collimated light beam 817 changed by the first optical element and the rotation axis 109 changes with the rotation of the first optical element 814 . In one embodiment, the first optical element 814 includes a pair of opposing non-parallel surfaces through which the collimated beam 817 passes. In one embodiment, the first optical element 814 includes a prism with a thickness that varies along at least one radial direction. In one embodiment, the first optical element 114 includes a wedge prism that refracts the collimated light beam 817 .

In one embodiment, the scanning module 802 further includes a second optical element 813 , the second optical element 813 rotates around the rotation axis 209 , and the rotation speed of the second optical element 813 is different from the rotation speed of the first optical element 812 . The second optical element 813 is used to change the direction of the light beam projected by the first optical element 812 . In one embodiment, the second optical element 813 is connected to another driver 815, and the driver 817 drives the second optical element 813 to rotate. The first optical element 812 and the second optical element 813 may be driven by the same or different drivers, so that the rotational speed and/or steering of the first optical element 812 and the second optical element 813 are different, so as to project the collimated light beam 817 into the external space Different directions can scan a larger spatial range. In one embodiment, the controller 816 controls the

drivers

814 and 815 to drive the first optical element 812 and the second optical element 813, respectively. The rotational speeds of the first optical element 812 and the second optical element 813 may be determined according to the expected scanning area and pattern in practical applications.

Drives

814 and 815 may include motors or other drives.

In one embodiment, the second optical element 813 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 813 comprises a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 813 includes a wedge prism.

In one embodiment, the scanning module 802 further includes a third optical element (not shown) and a driver for driving the movement of the third optical element. Optionally, the third optical element includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism of varying thickness along at least one radial direction. In one embodiment, the third optical element comprises a wedge prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotations.

The rotation of each optical element in the scanning module 802 can project light in different directions, such as the direction 811 , thus scanning the space around the lidar 800 . As shown in FIG. 9 , FIG. 9 is a schematic diagram of a scanning pattern of the lidar 800 . It can be understood that when the speed of the optical element in the scanning module changes, the scanning pattern also changes accordingly.

When the light 811 projected by the scanning module 802 hits the detection object 808 , a part of the light is reflected by the detection object 801 to the lidar 800 in a direction opposite to the projected light 809 . The return light 810 reflected by the probe 808 passes through the scanning module 802 and then enters the collimating element 804 .

A detector 805 is placed on the same side of the collimating element 804 as the emitter 803, and the detector 805 is used to convert at least part of the return light passing through the collimating element 804 into an electrical signal.

In one embodiment, each optical element is coated with an anti-reflection coating. Optionally, the thickness of the anti-reflection film is equal to or close to the wavelength of the light beam emitted by the emitter 803, which can increase the intensity of the transmitted light beam.

In one embodiment, a filter layer is coated on the surface of an element located on the beam propagation path in the lidar, or a filter is provided on the beam propagation path, which is used to transmit at least the wavelength band of the beam emitted by the transmitter and reflect Other bands to reduce the noise that ambient light brings to the receiver.

In some embodiments, the transmitter 803 may comprise a laser diode through which laser pulses are emitted on the nanosecond scale. Further, the laser pulse receiving time can be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse to determine the laser pulse receiving time. In this way, the lidar 800 can use the pulse reception time information and the pulse emission time information to calculate the TOF to determine the distance of the probe 808 to the lidar 800 .

The distance and orientation detected by the LiDAR 800 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the lidar of the embodiment of the present invention can be applied to a mobile platform, and the lidar can be installed on the platform body of the mobile platform. The mobile platform with lidar can measure the external environment, for example, measure the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and perform two-dimensional or three-dimensional mapping of the external environment. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera. When the lidar is applied to the unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. When the lidar is applied to the car, the platform body is the body of the car. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, which is not limited here. When the lidar is applied to the RC car, the platform body is the body of the RC car. When the lidar is applied to the robot, the platform body is the robot. When the lidar is applied to the camera, the platform body is the camera itself. In some examples, different configurations of lidars can be realized by designing the number of optical elements, the size of the rotational speed, and the direction of the rotational speed. For example, in the biprism scheme, a FOV with a circular field of view can be generated; in the triangular prism scheme A rectangular FOV is generated by the ratio of the speed.

The detection system of the embodiment of the present application can be mounted on any movable platform, and can be applied to any mobile scene, such as a scene where a car is driving at high speed, such as a scene where a robot or a logistics vehicle is driving at a low speed, etc. In a low-speed driving scene, The detection system of this embodiment has great advantages in terms of cost and detection blind area. In the above-mentioned embodiment of the detection system, considering the actual situation of low-cost mass production and volume optimization of some types of lidars, the number of lidars used by a single robot/vehicle is increased, and lidars with different fields of view are selected. The method of combined configuration solves the long-standing triangular blind spot problem of the mobile platform, and also better meets the core perception requirements in different functional scenarios, and ensures the core perception of various functional scenarios under the premise of controlling costs. purpose of demand.

Since the detection system of this embodiment adopts the combination of the main laser radar and the auxiliary laser radar, and optimizes the angular relationship and the installation position relationship between the main laser radar and the auxiliary laser radar, it solves the problem of blind spots, and can provide robots and small vehicles in the Autonomous obstacle avoidance and walking in crowded traffic and people provide the necessary technical prerequisites, which greatly expands the range of activities of robots and small vehicles.

Correspondingly, this embodiment also provides a movable platform, and the movable platform includes:

ontology;

And the detection system described in the foregoing embodiment, the detection system is mounted on the main body.

For the embodiments of the movable platform in this embodiment, reference may be made to the aforementioned embodiments, which will not be repeated here.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. The terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also other not expressly listed elements, or also include elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The methods and devices provided by the embodiments of the present invention have been described in detail above. The principles and implementations of the present invention are described with specific examples in this paper. The descriptions of the above embodiments are only used to help understand the methods of the present invention and its implementation. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. To sum up, the content of this description should not be construed as a limitation to the present invention. .

Claims

A detection system for being mounted on a movable platform, characterized in that the detection system comprises:

a main lidar, the vertical field of view of the main lidar includes a positive vertical field of view and a negative vertical field of view;

Auxiliary laser radar, the vertical field of view angle of the auxiliary laser radar includes a positive vertical field of view angle and a negative vertical field of view angle, wherein the positive vertical field of view angle and the negative direction of the main laser radar are The vertical field of view angle is both smaller than the positive vertical field of view angle of the auxiliary lidar, and/or the positive vertical field of view angle and the negative vertical field of view angle of the main lidar are both smaller than the The negative vertical field of view of the secondary lidar;

Wherein, when both the main laser radar and the auxiliary laser radar are mounted on the movable platform, at least one of the auxiliary laser radars has a detection area on the ground that is larger than the detection area on the ground by the main laser radar. closer to the movable platform.
The detection system according to claim 1, wherein the detection area of the auxiliary laser radar on the ground has an overlapping part with the blind area of the detection area of the main laser radar on the ground.
The detection system according to claim 1, wherein the maximum detection distance of the main lidar is greater than the braking distance of the movable platform.
The detection system according to claim 1, wherein when the auxiliary laser radar is mounted on the movable platform, at least one of the auxiliary laser radar is provided with a first depression angle.
The detection system according to claim 4, wherein the angle of the first depression angle is determined based on the vertical field of view of the auxiliary laser radar.
The detection system according to claim 5, wherein the first depression angle is less than or equal to a first target angle, and the first target angle is based on the remainder of half of the vertical field of view of the auxiliary lidar angle is determined.
The detection system according to claim 1, wherein when both the main laser radar and the auxiliary laser radar are mounted on the movable platform, at least one of the auxiliary laser radars is installed on the movable platform. The setting height on the platform is lower than the setting height of the main lidar on the movable platform.
The detection system according to claim 7, wherein the setting height of the auxiliary laser radar on the movable platform ranges from 0.1 meter to 1 meter.
The detection system according to claim 1, wherein when the auxiliary laser radar is mounted on the movable platform, the scanning angle of at least one of the auxiliary laser radar in the vertical direction is greater than or equal to The scanning angle of the secondary lidar in the horizontal direction.
The detection system according to claim 9, wherein when the auxiliary laser radar is mounted on the movable platform, at least one of the auxiliary laser radar is set with a roll angle, so that the auxiliary laser radar can be The scanning angle in the vertical direction is greater than or equal to the scanning angle in the horizontal direction of the auxiliary lidar.
The detection system according to claim 1, wherein the horizontal field of view of the main laser radar is greater than or equal to the horizontal field of view of the auxiliary laser radar.
The detection system according to claim 1, wherein the horizontal field of view of the main lidar is larger than the vertical field of view.
The detection system according to any one of claims 1 to 12, wherein when the main lidar is mounted on a movable platform, at least one of the primary lidars is arranged on the top surface of the movable platform .
The detection system according to claim 13, wherein when the main lidar is mounted on a movable platform, at least one of the primary lidars is arranged in the middle of the top surface of the movable platform.
The detection system according to claim 13, wherein when the main laser radar is mounted on a movable platform, at least one of the main laser radars is arranged on the top surface of the movable platform on the side of the target. central position;

The target edge is an edge relatively close to the moving direction of the movable platform among all the edges of the top surface.
The detection system according to claim 1, wherein the main laser radar comprises: a first main laser radar, a field of view section of the first main laser radar parallel to the first axis is substantially annular, and the The first axis is the central axis of the vertical field of view of the first main lidar;

The range of the horizontal field of view of the first main lidar is between 180° and 360°, and the vertical field of view of the first main lidar is less than 120°.
The detection system according to claim 16, wherein the horizontal field of view of the first main lidar is 360°, and the vertical field of view of the first main lidar is in the range of -25° to +25°.
The detection system according to claim 1, wherein the main laser radar comprises: a second main laser radar, a field of view section of the second main laser radar perpendicular to the second axis is substantially rectangular, and the The second axis is the central axis of the vertical field of view of the first main lidar.
The detection system according to claim 18, wherein the horizontal field of view of the second main lidar ranges from 40° to 150°, and the vertical field of view of the second main lidar is between 40° and 150°. The angle ranges from 10° to 90°.
19. The detection system of claim 18, wherein the primary lidar comprises: at least one secondary primary lidar for detecting a forward area in the moving direction of the movable platform.
The detection system according to claim 20, wherein when the second main laser radar is mounted on the movable platform, at least one of the second main laser radar is provided with an elevation angle.
The detection system according to claim 21, wherein the pitch angle set by the second main lidar is between -30° and 30°.
The detection system according to claim 20, wherein the main lidar further comprises: at least one second primary lidar for detecting the rear area in the moving direction of the movable platform.
The detection system according to claim 23, wherein the second main lidar for detecting the forward area in the moving direction of the movable platform and the second main lidar for detecting the forward area in the moving direction of the movable platform The second main lidars in the rear area of are all arranged on the top surface of the movable platform.
The detection system according to claim 24, wherein the second main lidar for detecting the forward area in the moving direction of the movable platform and the second main lidar for detecting the forward area in the moving direction of the movable platform The second main lidars in the rear area of the movable platform are respectively arranged on opposite sides of the top surface of the movable platform.
The detection system according to claim 23, wherein the number of the second main lidar is three.
The detection system according to claim 26, wherein among the three second main lidars, two of the second main lidars are used to detect the front area in the moving direction of the movable platform , a second main lidar is used to detect the rear area in the moving direction of the movable platform.
The detection system according to claim 27, wherein the two second main lidars for detecting the front area in the moving direction of the movable platform are respectively arranged at the top corners of the movable platform Location.
The detection system according to claim 27, wherein one of the second main lidars for detecting the rear area of the movable platform in the moving direction is arranged on: the top surface of the movable platform The middle position of the other side opposite to the second main lidar for detecting the forward area in the moving direction of the movable platform.
The detection system according to claim 27, wherein the detection areas of the two second main laser radars for detecting the forward area in the moving direction of the movable platform have overlapping parts.
The detection system according to claim 30, wherein the two second main lidars for detecting the forward area in the moving direction of the movable platform are respectively provided with a first yaw angle.
The detection system according to claim 31, wherein the first yaw angles of the two second main laser radars for detecting the forward area in the moving direction of the movable platform are symmetrically arranged.
32. The detection system of claim 32, wherein the first yaw angle is based on a horizontal field of view of the second primary lidar used to detect a forward area in the direction of movement of the movable platform angle is determined.
33. The detection system of claim 33, wherein the first yaw angle is less than or equal to a second target angle based on a direction of movement used to detect the movable platform The front area is determined by half of the horizontal field of view of the second main lidar.
The detection system according to claim 23, wherein the number of the second main lidars is four.
The detection system according to claim 35, wherein when the four second main laser radars are mounted on the movable platform, the four second main laser radars combine to form a 360° horizontal view. field angle.
The detection system according to claim 36, wherein the four second main lidars are respectively arranged in the middle of the four sides of the top surface of the movable platform.
The detection system according to any one of claims 1 to 12, wherein the horizontal field of view and the vertical field of view of the auxiliary lidar are substantially equal.
The detection system according to claim 38, wherein the auxiliary laser radar comprises: a first auxiliary laser radar, and the cross-section of the field of view of the first auxiliary laser radar perpendicular to the third axis is substantially circular, so The third axis is the central axis of the vertical field of view of the first auxiliary lidar.
The detection system according to claim 38, wherein the auxiliary laser radar comprises: a second auxiliary laser radar, a field of view section of the second auxiliary laser radar perpendicular to the fourth axis is substantially square, and the The fourth axis is the central axis of the vertical field of view of the second auxiliary lidar.
The detection system according to claim 38, wherein the auxiliary laser radar comprises a first auxiliary laser radar and a second auxiliary laser radar;

The cross-section of the field of view of the first auxiliary laser radar perpendicular to the third axis is substantially conical, and the third axis is the central axis of the vertical field of view of the first auxiliary laser radar;

The cross section of the field of view of the second auxiliary laser radar perpendicular to the fourth axis is substantially square, and the fourth axis is the central axis of the vertical field of view of the second auxiliary laser radar.
The detection system according to claim 39 or 41, wherein the range of the horizontal field of view and the range of the vertical field of view of the first auxiliary lidar are both between 10° and 150°.
The detection system according to claim 40 or 41, wherein the range of the horizontal field of view and the range of the vertical field of view of the second auxiliary lidar are both between 10° and 150°.
The detection system according to any one of claims 39 to 41, characterized in that, when the auxiliary laser radar is mounted on a movable platform, at least one of the auxiliary laser radars is used to detect the movement of the movable platform. The forward area in the direction of movement.
The detection system according to claim 44, wherein when the auxiliary laser radar is mounted on a movable platform, the auxiliary laser radar for detecting the front area in the moving direction of the movable platform is provided. on the top surface of the movable platform.
The detection system according to claim 45, wherein the number of the auxiliary laser radars used for detecting the forward area in the moving direction of the movable platform is two.
The detection system according to claim 46, wherein the detection areas of the two auxiliary laser radars for detecting the forward area in the moving direction of the movable platform have overlapping parts.
The detection system according to claim 46, wherein the two auxiliary laser radars for detecting the forward area in the moving direction of the movable platform are arranged symmetrically.
The detection system according to claim 48, wherein the two auxiliary laser radars arranged symmetrically for detecting the forward area in the moving direction of the movable platform are respectively provided with a second yaw angle.
The detection system according to claim 49, wherein the angles of the second yaw angles of the two auxiliary laser radars arranged symmetrically for detecting the forward area in the moving direction of the movable platform are equal.
The detection system of claim 50, wherein the second yaw angle is determined based on a horizontal field of view of the secondary lidar.
The detection system according to claim 51, wherein the second yaw angle is less than or equal to a third target angle, and the third target angle is determined based on half of the horizontal field of view of the auxiliary lidar of.
The detection system according to claim 45, wherein the number of the auxiliary laser radars used to detect the forward area in the moving direction of the movable platform is three.
The detection system according to claim 53, wherein among the three auxiliary laser radars used to detect the forward area in the moving direction of the movable platform, one of the auxiliary laser radars is arranged in the on the target edge of the top surface of the movable platform;

The target edge is an edge relatively close to the moving direction of the movable platform among all the edges of the top surface.
The detection system according to claim 54, wherein one of the auxiliary laser radars for detecting the forward area in the moving direction of the movable platform is arranged on the target side of the top surface of the movable platform central position.
The detection system according to claim 54, characterized in that, among the three auxiliary laser radars used to detect the forward area in the moving direction of the movable platform, two auxiliary laser radars are arranged in each of the three auxiliary laser radars. on the other side of the top surface of the movable platform that is opposite to the target side.
The detection system according to claim 56, wherein the two auxiliary laser radars for detecting the forward area in the moving direction of the movable platform are respectively arranged in the top surface of the movable platform and The vertex position of the opposite side of the target side.
The detection system according to claim 57, wherein the two auxiliary laser radars for detecting the front area in the moving direction of the movable platform are arranged symmetrically.
The detection system according to claim 58, wherein the two auxiliary laser radars used for detecting the forward area in the moving direction of the movable platform are respectively provided with a third yaw angle.
The detection system according to claim 59, wherein the angles of the third yaw angles of the two auxiliary laser radars for detecting the forward area in the moving direction of the movable platform are equal.
The detection system of claim 60, wherein the third yaw angle ranges from 0° to 90°.
The detection system according to claim 56, wherein the second depression angle of any one of the two auxiliary laser radars used to detect the forward area in the moving direction of the movable platform is smaller than that of the other one The second depression angle of the auxiliary lidar of the station.
The detection system according to claim 54, wherein the auxiliary laser radar further comprises: at least one auxiliary laser radar for detecting the rear area in the moving direction of the movable platform.
The detection system according to claim 63, wherein one of the auxiliary laser radars for detecting the rear area in the moving direction of the movable platform is arranged in the top surface of the movable platform and on the opposite side of the target side.
The detection system according to claim 64, wherein one of the auxiliary laser radars for detecting the rear area in the moving direction of the movable platform is arranged in the top surface of the movable platform and The middle position of the opposite side of the target side.
The detection system according to claim 65, wherein the number of the auxiliary laser radars used to detect the rear area in the moving direction of the movable platform is three.
The detection system according to claim 65, wherein the two auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are arranged on the target side of the top surface of the movable platform superior.
The detection system according to claim 66, wherein the two auxiliary laser radars for detecting the rear area of the movable platform in the moving direction are arranged at the top corners of the top surface of the movable platform .
The detection system according to claim 68, wherein the two auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are arranged symmetrically.
The detection system according to claim 69, wherein the two auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are respectively provided with a fourth yaw angle.
The detection system according to claim 70, wherein the angles of the fourth yaw angles of the two auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are equal.
The detection system of claim 71, wherein the fourth yaw angle is less than or equal to 90°.
The detection system according to any one of claims 1 to 12, wherein the auxiliary laser radar comprises: a third auxiliary laser radar, and a field of view section of the third auxiliary laser radar parallel to the fifth axis is substantially Ring shape, the fifth axis is the central axis of the vertical field of view of the third auxiliary lidar;

The horizontal field of view of the third auxiliary laser radar is between 180 and 360°, and the vertical field of view of the third auxiliary laser radar is less than 120°.
The detection system according to claim 73, wherein the number of the third auxiliary lidar is three.
The detection system according to claim 73, wherein the auxiliary laser radar comprises: the third auxiliary laser radar for detecting the rear area in the moving direction of the movable platform.
The detection system according to claim 75, wherein the third auxiliary laser radar for detecting the rear area in the moving direction of the movable platform is arranged on the rear side of the movable platform, and the rear The side is the side opposite to the direction of movement of the movable platform.
The detection system according to claim 76, wherein the rear side of the movable platform includes a first protrusion for detecting the third auxiliary laser light in the rear area in the moving direction of the movable platform The radar is arranged on the first protrusion.
The detection system according to claim 77, wherein the two third auxiliary laser radars for detecting the rear area of the movable platform in the moving direction are arranged at both ends of the first protruding part .
76. The detection system of claim 76, wherein the rear side of the movable platform is substantially planar.
The detection system according to claim 79, wherein the setting position of the third auxiliary lidar for detecting the rear area in the moving direction of the movable platform includes any one of the following: the bottom of the rear side , the middle of the rear side or the top of the rear side.
The detection system according to claim 80, wherein the setting positions of the two third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform include one of the following: the rear side Both ends of the bottom of the rear side, both ends of the middle of the rear side or both ends of the top of the rear side.
The detection system according to claim 78 or 81, wherein the two third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are arranged in a horizontal direction.
The detection system according to claim 81, wherein the two third auxiliary lidars for detecting the rear area in the moving direction of the movable platform are arranged at both ends of the middle part of the rear side, And they are respectively provided with a roll angle of 180°.
The detection system according to claim 75, wherein the auxiliary laser radar further comprises: a third auxiliary laser radar for detecting the forward area in the moving direction of the movable platform.
The detection system according to claim 84, wherein the third auxiliary lidar for detecting the front area in the moving direction of the movable platform is arranged on the front side of the movable platform, and the The front side is the side in the same direction of movement of the movable platform.
85. The detection system of claim 85, wherein the front side of the movable platform includes a second protrusion for detecting the third auxiliary portion of the forward area in the direction of movement of the movable platform The lidar is arranged on the second protrusion.
The detection system according to claim 86, wherein there are two third auxiliary laser radars for detecting the forward area in the moving direction of the movable platform, and are arranged on the second protrusion both ends of the part.
83. The detection system of claim 83, wherein the front side of the movable platform is substantially flat, and the third auxiliary lidar arrangement for detecting the front area in the moving direction of the movable platform is arranged in front of the movable platform.
The detection system according to claim 88, wherein the setting position of the third auxiliary lidar for detecting the front area in the moving direction of the movable platform includes any one of the following: The bottom, the middle of the front side, or the top of the front side.
The detection system according to claim 89, wherein the setting positions of the two third auxiliary laser radars for detecting the front area in the moving direction of the movable platform include one of the following: the front Both ends of the bottom of the side, both ends of the middle of the front side, or both ends of the top of the front side.
The detection system according to claim 87 or 90, wherein the two third auxiliary laser radars for detecting the forward area in the moving direction of the movable platform are arranged in a horizontal direction.
The detection system according to claim 87 or 90, wherein the auxiliary lidar further comprises: a top of the front side of the movable platform, and the detection angle in the vertical direction is greater than that in the horizontal direction. The detection angle in the direction and a first target laser radar used to detect the front area in the moving direction of the movable platform, the first target laser radar is the third auxiliary laser radar.
The detection system according to claim 92, wherein the auxiliary lidar further comprises: a detection angle in the vertical direction is larger than that in the horizontal direction, which is disposed on the top of the rear side of the movable platform A second target laser radar is used to detect the rear area in the moving direction of the movable platform, and the second target laser radar is the third auxiliary laser radar.
The detection system according to claim 92, wherein the first target lidar is provided with a roll angle or a pitch angle.
The detection system according to claim 93, wherein the second target lidar is provided with a roll angle or a pitch angle.
The detection system of claim 94 or 95, wherein the roll angle is 90°.
The detection system according to claim 94 or 95, wherein the pitch angle is 90°.
The detection system according to claim 94, wherein the first target lidar is turned left or right by 90° in a horizontal direction, so that the first target lidar has a roll angle of 90°.
The detection system according to claim 95, wherein the second target lidar is turned left or right by 90° in a horizontal direction, so that the second target lidar has a roll angle of 90°.
The detection system according to claim 95, wherein the second target lidar is turned forward or backward by 90° in a horizontal direction, so that the second target lidar has an elevation angle of 90°.
The detection system of claim 93, wherein the first target lidar has a set distance from the width center axis of the movable platform.
The detection system according to claim 99, wherein the set distance is based on the smaller one of the positive vertical field angle and the negative vertical field angle of the first target lidar set.
The detection system according to any one of claims 73 to 102, wherein the auxiliary laser radar comprises: a third auxiliary laser radar for detecting the forward area in the moving direction of the movable platform , and the two third auxiliary lidars used to detect the rear area in the moving direction of the movable platform;

Wherein, one of the third auxiliary laser radars used to detect the front area in the moving direction of the movable platform is horizontally arranged at the bottom of the front side of the movable platform, and used to detect the front area of the movable platform. The two third auxiliary lidars in the rear area in the moving direction are arranged horizontally at the bottom of the rear side of the movable platform.
The detection system according to any one of claims 73 to 102, wherein the auxiliary laser radar comprises: a third auxiliary laser radar for detecting the forward area in the moving direction of the movable platform , and the two third auxiliary lidars used to detect the rear area in the moving direction of the movable platform;

Wherein, the third auxiliary laser radar for detecting the front area in the moving direction of the movable platform is arranged on the top of the front side of the movable platform, and is set with a roll angle of 90°, and is connected with The width central axis of the movable platform has a set distance;

The two third auxiliary lidars for detecting the rear area in the moving direction of the movable platform are horizontally arranged at the bottom of the rear side of the movable platform.
The detection system according to any one of claims 73 to 102, wherein the auxiliary laser radar comprises: a third auxiliary laser radar for detecting the forward area in the moving direction of the movable platform , and the two third auxiliary lidars used to detect the rear area in the moving direction of the movable platform;

Wherein, a first annular auxiliary laser radar for detecting the front area in the moving direction of the movable platform is arranged on the top of the front side of the movable platform, and is arranged with a roll angle of 90° , and has a set distance from the width center axis of the movable platform;

The two third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform are arranged in the middle of the rear side of the movable platform, and are respectively arranged with a roll angle of 180°.
The detection system according to any one of claims 73 to 105, wherein the auxiliary lidar further comprises: a top arranged behind the movable platform, with an elevation angle of 90°, and used for detecting all One of the third auxiliary lidars in the rear area in the moving direction of the movable platform.
The detection system according to any one of claims 73 to 102, wherein the auxiliary laser radar comprises: three third auxiliary laser radars for detecting the forward area in the moving direction of the movable platform , and the three third auxiliary lidars used to detect the rear area in the moving direction of the movable platform; wherein:

Among the three third auxiliary laser radars used to detect the front area in the moving direction of the movable platform, one of the third auxiliary laser radars is provided on the top of the front of the movable platform and is provided with roll angle or pitch angle, and the other two third auxiliary lidars are horizontally arranged at both ends of the front side of the movable platform;

Among the three third auxiliary laser radars for detecting the rear area in the moving direction of the movable platform, one of the third auxiliary laser radars is provided on the top of the rear side of the movable platform and A roll angle or a pitch angle is provided, and the other two third auxiliary laser radars are horizontally arranged at both ends of the rear side of the movable platform.
The detection system according to claim 1, wherein the movable platform comprises: a vehicle or a robot.
A movable platform, characterized in that the movable platform comprises:

ontology;

The detection system according to any one of claims 1 to 108, which is mounted on the body.