CN116381720A - Multi-line laser radar and driving method thereof - Google Patents
Multi-line laser radar and driving method thereof Download PDFInfo
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- CN116381720A CN116381720A CN202310054874.4A CN202310054874A CN116381720A CN 116381720 A CN116381720 A CN 116381720A CN 202310054874 A CN202310054874 A CN 202310054874A CN 116381720 A CN116381720 A CN 116381720A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention relates to a laser radar technology, in particular to a multi-line laser radar and a driving method thereof. The multi-line laser radar comprises at least one rotary table and at least one group of laser receiving and transmitting units positioned on the rotary table, wherein the laser receiving and transmitting units comprise: the system comprises an array laser emitter, two array laser detectors, an optical emergent structure and an optical receiving structure, wherein a plurality of laser beams emitted by the plurality of laser emitters irradiate the outside through the optical emergent structure; the plurality of laser beams emitted by the plurality of laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams can be incident to the plurality of laser detectors in the two array laser detectors in a one-to-one correspondence manner through the optical receiving structure. The invention solves the problem that the detection precision of the multi-line laser radar is limited by the volume, ensures the detection precision, simultaneously has smaller volume, and can reduce the angle debugging difficulty of the laser transmitter and the laser detector.
Description
The present application is a divisional application of an invention patent application with the name of a multi-line laser radar and a driving method thereof, which is filed on the 2019, 07, 19 days and is named 201910656386.4.
Technical Field
The embodiment of the invention relates to a laser radar technology, in particular to a multi-line laser radar and a driving method thereof.
Background
The multi-line laser radar is a kind of laser radar, and features such as position and speed of target are detected by emitting laser from multiple lasers.
In the field of autopilot, lidar has become a focus of attention due to its wide application. For multi-line lidar, the higher the number of lines, the higher the detection accuracy, but the number of wire harnesses may be limited in volume. Specifically, when the number of lines is required to be increased, the existing multi-line laser radar generally increases the number of laser transmitters on a transmitting plate or increases the number of the transmitting plate, so that the volume of a product is not well controlled; meanwhile, the number of the laser transmitters is increased, the placement of the laser transmitters becomes dense, so that the design difficulty of the transmitting plate is increased, and the angle debugging difficulty of the laser transmitters is correspondingly increased; in addition, the aperture of the optical structure including the lens needs to be correspondingly enlarged, thereby increasing the volume of the entire lidar.
Disclosure of Invention
The invention provides a multi-line laser radar and a driving method thereof, which are used for ensuring that the multi-line laser radar has smaller volume, and reducing the number of laser transmitters and the angle debugging difficulty while ensuring the number of lines.
In a first aspect, an embodiment of the present invention provides a multi-line laser radar, including at least one rotary table and at least one group of laser transceiver units located on the rotary table, where the laser transceiver units include:
an array laser transmitter comprising a plurality of laser transmitters arranged in an array;
two array laser detectors, each of which comprises a plurality of laser detectors arranged in an array;
the optical emergent structure is positioned on emergent light paths of the plurality of laser transmitters, and a plurality of laser beams emitted by the plurality of laser transmitters irradiate the outside through the optical emergent structure;
the optical receiving structure is positioned on the receiving light paths of the laser detectors, a plurality of laser beams emitted by the laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the reflected beams can be incident into the laser detectors in the two array laser detectors in a one-to-one correspondence manner through the optical receiving structure.
Optionally, in each set of the laser transceiver units, the number of the laser transmitters is equal to the number of the laser detectors in each of the array laser detectors, or the number of the laser transmitters is equal to the sum of the numbers of the laser detectors in two of the array laser detectors.
Optionally, the device comprises one rotary table and a group of laser transceiver units positioned on the rotary table;
the array laser transmitters further comprise a transmitting plate, and a plurality of laser transmitters arranged in an array are arranged on the transmitting plate; each array laser detector further comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate;
the optical emergent structure comprises an emission collimation lens group, and laser beams emitted by a plurality of laser emitters of the array laser emitters are irradiated to the outside through the emission collimation lens group;
the optical receiving structure comprises two receiving reflector groups and two receiving collimating lens groups, wherein a plurality of laser beams emitted by the laser transmitters in the array laser transmitters are reflected by the outside to form a plurality of reflected beams, and the reflected beams are respectively incident into a plurality of laser detectors in each array laser detector in a one-to-one correspondence manner through one receiving reflector group and one receiving collimating lens group.
Optionally, the device comprises one rotary table and two groups of laser transceiver units positioned on the rotary table;
the laser transmitting directions of the two groups of laser transmitting and receiving units are mutually deviated.
Optionally, the array laser transmitter further comprises a transmitting plate, and the plurality of laser transmitters arranged in an array are arranged on the transmitting plate; the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate.
Optionally, the array laser transmitter includes one transmitting plate, and two transmitting plates in the two groups of laser receiving and transmitting units are located at two sides of the rotating shaft of the rotating platform, where the rotating shaft is away from each other;
each array laser detector comprises a receiving plate, four receiving plates in two groups of laser receiving and transmitting units are arranged in parallel, and two array laser detectors in the same group of laser receiving and transmitting units are respectively positioned at one side of each receiving plate, which is away from the receiving plate in the other group of laser receiving and transmitting units.
Optionally, the device further comprises two receiving plates, wherein each array laser detector and one array laser detector in the other group of laser transceiver units share one receiving plate, and the two array laser detectors sharing one receiving plate are respectively arranged on two side surfaces of the receiving plate, which are away from each other;
each array laser transmitter comprises a transmitting plate, and two transmitting plates in the two groups of laser receiving and transmitting units are positioned at two sides of the rotating shaft of the rotating table, which are away from each other.
Optionally, the plurality of laser transmitters in the same laser transceiver unit are distributed in a direction perpendicular to the rotating table, and the plurality of laser transmitters in different laser transceiver units are alternately staggered one by one or alternately staggered in groups in the direction perpendicular to the rotating table;
the plurality of laser detectors in the same laser receiving and transmitting unit are distributed in the direction perpendicular to the rotating table, and the plurality of laser detectors in different laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups in the direction perpendicular to the rotating table.
In a second aspect, an embodiment of the present invention further provides a method for driving a multi-line laser radar according to any one of the first aspect, where the driving method includes:
driving an array laser emitter in each group of laser receiving and transmitting units, so that a plurality of laser emitters arranged in an array in the array laser emitters emit laser beams through an optical emergent structure respectively;
and receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in two array laser detectors in a one-to-one correspondence manner.
Optionally, in each group of the laser transceiver units, the number of the laser transmitters is equal to the number of the laser detectors in each array laser detector;
the array laser transmitters in each group of laser transceiver units are driven to enable a plurality of laser transmitters arranged in an array in the array laser transmitters to emit laser beams through an optical emergent structure respectively, and the device comprises:
driving the array laser transmitters in each group of laser receiving and transmitting units to enable a plurality of laser transmitters arranged in an array in the array laser transmitters to sequentially transmit the laser beams through the optical emergent structure;
the receiving the plurality of reflected light beams formed by the laser light beams after external reflection through the optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in two array laser detectors in a one-to-one correspondence manner comprises the following steps:
and through an optical receiving structure in the corresponding laser receiving and transmitting unit, the reflected light beams formed after the laser light beams are reflected by the outside are sequentially received, and the reflected light beams are made to sequentially enter a plurality of laser detectors in the two array laser detectors in a one-to-one correspondence manner.
According to the multi-line laser radar and the driving method thereof provided by the embodiment of the invention, at least one rotary table is arranged, and at least one group of laser receiving and transmitting units are arranged on the rotary table, wherein each group of laser receiving and transmitting units is provided with one array laser emitter, two array laser detectors, an optical emergent structure and an optical receiving structure, and the laser beams are received and transmitted by utilizing the one array laser emitter and the two array laser detectors, so that the environment is detected. Meanwhile, as the two array laser detectors are provided with a plurality of laser detectors, each group of laser transceiver units can form two groups of laser detection groups by using the two array laser detectors, so that the detection precision of the multi-line laser radar can be increased; further, the arrangement density of the laser detectors in each group of laser receiving and transmitting units can be relatively smaller, so that the debugging difficulty of the laser detectors is reduced. The multi-line laser radar provided by the embodiment of the invention can ensure that the multi-line laser radar has smaller volume and reduce the angle debugging difficulty of the laser emitter and the laser detector in the multi-line laser radar while increasing the number of laser lines, namely improving the laser detection precision.
Drawings
Fig. 1 is a schematic structural diagram of a multi-line lidar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another multi-line lidar according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an arrangement of laser transmitters of the multi-line lidar shown in FIG. 2;
FIG. 4 is a schematic diagram of an arrangement of a laser detector of the multi-line lidar shown in FIG. 2;
FIG. 5 is a schematic diagram of an arrangement of laser transmitters of the multi-line lidar shown in FIG. 2;
FIG. 6 is a schematic diagram of an arrangement of a laser detector of the multi-line lidar shown in FIG. 2;
FIG. 7 is a schematic diagram of a structure of yet another multi-line lidar according to an embodiment of the present invention;
fig. 8 is a flowchart of a driving method of a multi-line laser radar according to an embodiment of the present invention;
fig. 9 is a flowchart of another driving method of a multi-line lidar according to an embodiment of the present invention.
The device comprises a 10-rotary table, a 20-laser receiving and transmitting unit, a 21-array laser emitter, a 210-transmitting plate, a 211-laser emitter, a 22-array laser detector, a 220-receiving plate, a 221-laser detector, a 23-optical emergent structure, a 231-emission collimating lens group, a 24-optical receiving structure, a 241-receiving reflecting mirror group and a 242-receiving collimating lens group.
Description of the embodiments
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
The existing multi-line laser radar is generally provided with a plurality of laser transmitters and a plurality of laser detectors on a transmitting plate and a receiving plate respectively, and the laser transmitters transmit laser beams and the laser detectors receive reflected beams, so that environment detection is carried out, and multi-line laser detection is realized. The number of lines of the multi-line laser radar determines the detection precision of the laser radar, the mode of increasing the number of lines is usually just to correspondingly increase the number of laser transmitters and laser detectors on a transmitting plate and a receiving plate, and the number of the laser transmitters and the laser detectors is increased to increase the volumes of the transmitting plate, the receiving plate and the corresponding optical structures, so that the volume of the laser radar is increased, or the setting density of the laser transmitters and the laser detectors is increased, and the angle debugging difficulty of the laser transmitters or the laser detectors is increased. Therefore, the mode of simply increasing the number of the laser transmitters and the laser detectors to increase the number of lines is limited by the size of the whole laser radar and the angle debugging difficulty of the laser radar, and the detection precision of the laser radar is difficult to improve.
In view of this, an embodiment of the present invention provides a multi-line laser radar including at least one rotation stage and at least one set of laser transceiving units located on the rotation stage, the laser transceiving units including: an array laser transmitter comprising a plurality of laser transmitters arranged in an array; two array laser detectors, each array laser detector comprising a plurality of laser detectors arranged in an array; the optical emergent structure is positioned on emergent light paths of the plurality of laser transmitters, and a plurality of laser beams emitted by the plurality of laser transmitters irradiate the outside through the optical emergent structure; the optical receiving structure is positioned on the receiving light paths of the plurality of laser detectors, a plurality of laser beams emitted by the plurality of laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams can be incident into the plurality of laser detectors in the two array laser detectors in a one-to-one correspondence manner through the optical receiving structure.
In at least one group of laser receiving and transmitting units, as one array laser emitter, two array laser detectors, an optical emergent structure and an optical receiving structure are arranged, the array laser emitter can emit multi-line detection laser beams by utilizing a plurality of laser emitters arranged on the array laser emitter, emergent of the multi-line detection laser beams can be realized by the optical emergent structure, each array laser detector can utilize a plurality of laser detectors arranged on the array laser emitter, and reflected beams formed by reflecting the laser detection beams from the outside are correspondingly received one by the optical receiving structure, so that environment detection is carried out. The rotary table is used for bearing the laser receiving and transmitting units and driving the laser receiving and transmitting units to rotate in the horizontal direction, so that each group of laser receiving and transmitting units can realize scanning detection in the horizontal direction. It should be noted that, a plurality of laser transmitters that array was arranged in the laser receiving and transmitting unit can distribute in the different positions of vertical orientation, therefore the detection laser beam that a plurality of laser transmitters sent can diverge and propagate on a vertical plane, and the detection face of every laser receiving and transmitting unit in fixed moment is a vertical plane promptly, realizes the rotation of every group laser receiving and transmitting unit on the horizontal plane through the drive of revolving stage simultaneously to realize the three-dimensional detection of laser radar to space.
Because the array laser transmitters and the two array laser detectors are arranged in each group of laser receiving and transmitting units, the array laser transmitters can adopt time-sharing driving, wavelength-division driving or a mode of setting twice the number of the laser transmitters, so that each array laser detector and each array laser transmitter form a group of laser detection groups, namely a plurality of laser transmitters in the array laser transmitters scan on a vertical plane, and a plurality of laser detectors on the corresponding array laser transmitters receive reflected light beams for detection. Obviously, each group of laser receiving and transmitting units can be increased by two times of lines, so that the detection precision of the whole laser radar can be increased. The single array laser transmitters transmit laser beams, so that the occupied space of the array laser transmitters can be reduced, and the space of the rotary table can be fully utilized by reasonably arranging each array laser transmitter, each array laser detector, each optical emergent structure and each optical receiving structure in each group of laser receiving and transmitting units, so that the volume of the whole multi-line laser radar is reduced. In addition, under the condition of the same line number, the number of the laser detectors in each array laser detector can be set relatively less, so that the debugging difficulty of the laser detectors can be reduced.
According to the multi-line laser radar provided by the embodiment of the invention, at least one rotary table is arranged, and at least one group of laser receiving and transmitting units are arranged on the rotary table, wherein each group of laser receiving and transmitting units is provided with one array laser emitter, two array laser detectors, an optical emergent structure and an optical receiving structure, and the laser beams are received and transmitted by utilizing the one array laser emitter and the two array laser detectors, so that the detection of the environment is realized. Meanwhile, as the two array laser detectors are provided with a plurality of laser detectors, each group of laser transceiver units can form two groups of laser detection groups by using the two array laser detectors, so that the detection precision of the multi-line laser radar can be increased; further, the arrangement density of the laser detectors in each group of laser receiving and transmitting units can be relatively smaller, so that the debugging difficulty of the laser detectors is reduced. The multi-line laser radar provided by the embodiment of the invention can ensure that the multi-line laser radar has smaller volume and reduce the angle debugging difficulty of the laser emitter and the laser detector in the multi-line laser radar while increasing the number of laser lines, namely improving the laser detection precision.
The foregoing is the core idea of the present invention, and the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without making any inventive effort are intended to fall within the scope of the present invention.
Fig. 1 is a schematic structural diagram of a multi-line laser radar according to an embodiment of the present invention, and referring to fig. 1, the multi-line laser radar includes a rotary table 10 and a set of laser transceiver units 20 located on the rotary table 10, where the laser transceiver units 20 include: an array laser transmitter 21, the array laser transmitter 21 comprising a plurality of laser transmitters 211 arranged in an array; two array laser detectors 22, each array laser detector 22 comprising a plurality of laser detectors 221 arranged in an array; an optical emergent structure 23, which is located on the emergent light path of the plurality of laser emitters 211, and the plurality of laser beams emitted by the plurality of laser emitters 211 are irradiated to the outside through the optical emergent structure 23; the optical receiving structure 24 is located on the receiving light paths of the plurality of laser detectors 221, and the plurality of laser beams emitted by the plurality of laser emitters 221 in each array laser emitter 22 are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams can be incident into the plurality of laser detectors 221 in the two array laser detectors 22 in a one-to-one correspondence manner through the optical receiving structure 24.
Wherein, the array laser transmitter 21 further comprises a transmitting plate 210, and a plurality of laser transmitters 211 arranged in an array are arranged on the transmitting plate 210; each of the array laser detectors 22 further includes a receiving plate 220, and a plurality of laser detectors 221 arranged in an array are disposed on the receiving plate 220; the optical outgoing structure 23 includes an emission collimating lens group 231, and laser beams emitted from the plurality of laser emitters 221 of the array laser emitter 21 are irradiated to the outside through the emission collimating lens group 231; the optical receiving structure 24 includes two receiving mirror groups 241 and two receiving collimating lens groups 242, and a plurality of laser beams emitted by a plurality of laser transmitters 221 in the array laser transmitters 22 are reflected by the outside to form a plurality of reflected beams, and the plurality of reflected beams are respectively incident into a plurality of laser detectors 221 in each array laser detector 22 in a one-to-one correspondence manner through one receiving mirror group 241 and one receiving collimating lens group 242.
In the laser transceiver unit as shown in the figure, two array laser detectors need to form a laser detection group with the array laser transmitters respectively, so that when the array laser detectors and the array laser transmitters are arranged, the whole volume and the driving mode of the array laser transmitters are considered to be taken into consideration to set the number of the laser transmitters and the laser detectors. Optionally, in each group of laser transceiver units, the number of the laser transmitters is equal to the sum of the numbers of the laser detectors in the two array laser detectors, that is, the laser transmitters in the array laser transmitters are in one-to-one correspondence with all the laser detectors in the two array laser transmitters, and the laser detectors are in one-to-one correspondence with the reflected light beams reflected back by the laser beams emitted by the laser transmitters, so that laser detection is realized. In order to realize the distinction of the reflected light beams by the two array laser detectors, the laser detection can be performed in a wavelength division mode. The laser detectors in each array laser detector can receive the reflected light beams with corresponding wavelengths, so that environment detection is realized.
Or, the number of the laser transmitters is equal to the number of the laser detectors in each array laser detector, that is, the reflected light beam formed by the laser beams emitted by each laser transmitter after being reflected by the outside can be received by each of the two array laser detectors, that is, the laser detection is performed in a mode shared by the laser transmitters. The sharing mode of the laser transmitters is carried out in a time-sharing detection mode, wherein the time-sharing detection refers to the time-sharing emission of laser beams by the shared laser transmitters, the corresponding two laser detectors receive reflected beams at different moments, and the positions of external objects are determined according to the reflected beams acquired at different moments and the correspondingly emitted laser beams, so that the laser detection is realized.
When the laser transmitter and the laser detector detect laser, the laser transmitter transmits laser beams first, the laser detector receives reflected beams within preset time, and the external object is positioned and detected by analyzing the receiving time of the reflected beams or the phase of the reflected beams. In the actual driving process of the array laser transmitters, the plurality of laser transmitters do not emit laser beams at the same time, and the laser beams of each laser transmitter are emitted in a time-sharing driving mode, namely, each group of laser transmitters and each laser receiver realize the emission of the laser beams and the receiving of the reflected beams in a detection period. In the next detection period, the laser emitters and the laser receivers of the lower group detect laser light. In the above embodiment, since one array laser transmitter and two array laser detectors are disposed in each group of laser transceiver units, each group of laser transceiver units may be considered to include two groups of laser detection groups. When the number of laser transmitters is set equal to the sum of the numbers of laser detectors in the two array laser detectors, the number of laser transmitters is twice the number of laser transmitters in the single laser detection group, so that the number of detection lines can be increased, and the detection accuracy can be improved. And, because two sets of laser detection groups share an array laser emitter and an emitting plate, the volume of the laser receiving and transmitting unit is reduced to a certain extent. In the embodiment shared by the laser transmitters, each laser transmitter corresponds to one laser detector in the two groups of array laser detectors, and two laser detectors sharing the same laser transmitter can alternately receive the reflected light beam formed by the two laser beams emitted by the laser transmitters. It can be understood that setting two laser detectors corresponding to one laser emitter can increase the scanning frequency of the laser to the external environment, in other words, can also realize the improvement of the detection precision. In addition, the number of the laser transmitters is relatively small in the embodiment, so that the setting density of the laser transmitters on the transmitting plate and the setting density of the laser detectors on the receiving plate are small, and the angle debugging difficulty of the laser transmitters and the laser detectors is reduced.
Fig. 2 is a schematic structural diagram of another multi-line laser radar according to an embodiment of the present invention, referring to fig. 2, including a rotary table 10 and two sets of laser transceiver units 20 located on the rotary table 10; the laser emission directions of the two sets of laser transceiver units 20 are away from each other.
The two sets of laser receiving and transmitting units 20 opposite to each other are arranged in the multi-line laser radar, so that the space on the rotary table 10 can be fully utilized, and the space waste caused by arranging a single set of laser receiving and transmitting units is avoided. Meanwhile, the laser emission directions of the two groups of laser receiving and transmitting units deviate from each other, so that objects in the two mutually deviating directions on the horizontal plane can be detected simultaneously, the detection area at a single moment is ensured, and the overall detection frequency is increased.
Further, referring to fig. 2, the array laser transmitter 21 further includes a transmitting plate 210, and a plurality of laser transmitters 211 arranged in an array are disposed on the transmitting plate 210; the array laser detector 22 further includes a receiving plate 220, and a plurality of laser detectors 221 arranged in an array are disposed on the receiving plate 220. Optionally, the array laser transmitter 21 includes one transmitting plate 210, and two transmitting plates 210 in the two sets of laser transceiver units 20 are located at two sides of the rotating shaft of the rotating table, where the rotating shaft is away from each other; each of the array laser detectors 22 includes a receiving plate 220, four receiving plates 220 of two groups of laser transceiver units 20 are disposed parallel to each other, and two array laser detectors 22 of the same group of laser transceiver units 20 are respectively located at a side of the two receiving plates 220 facing away from the receiving plate 220 of the other group of laser transceiver units 20.
Fig. 3 is a schematic diagram of an arrangement of one laser transmitter of the multi-line laser radar shown in fig. 2, and fig. 4 is a schematic diagram of an arrangement of one laser detector of the multi-line laser radar shown in fig. 2, referring to fig. 2 and 3, the plurality of laser transmitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the turntable 10, and the plurality of laser transmitters 211 in different laser transceiver units 20 are alternately staggered one by one in the direction perpendicular to the turntable 10. Referring to fig. 2 and 4, the plurality of laser detectors 221 in the same laser transceiving unit 20 are distributed in a direction perpendicular to the turntable 10, and the plurality of laser detectors 221 in different laser transceiving units 20 are alternately shifted one by one in the direction perpendicular to the turntable 10.
Fig. 5 is a schematic diagram of an arrangement of one laser transmitter of the multi-line laser radar shown in fig. 2, and fig. 6 is a schematic diagram of an arrangement of one laser detector of the multi-line laser radar shown in fig. 2, referring to fig. 2 and 5, alternatively, a plurality of laser transmitters 211 in the same laser transceiver unit 20 are distributed in a direction perpendicular to the turntable 10, and a plurality of laser transmitters 211 in different laser transceiver units 20 are alternately staggered in groups in a direction perpendicular to the turntable 10. Referring to fig. 2 and 6, the plurality of laser detectors 221 in the same laser transceiving unit 20 are distributed in a direction perpendicular to the rotary table 10, and the plurality of laser detectors 221 in different laser transceiving units 20 are alternately staggered by groups in the direction perpendicular to the rotary table 10.
In the multi-line laser radar, the laser transmitters 211 in the same group of laser receiving and transmitting units can be ensured to be positioned at different positions in the direction vertical to the rotary table 10 by means of one-to-one alternate dislocation or group alternate dislocation, and the laser transmitters 211 in different groups of laser receiving and transmitting units are also positioned at different positions in the direction vertical to the rotary table 10, so that the laser transmitters in the multi-line laser radar can obtain more detection points in the vertical direction of the detection surface, and the detection precision is increased.
Fig. 7 is a schematic structural diagram of still another multi-line laser radar according to an embodiment of the present invention, and referring to fig. 7, optionally, the multi-line laser radar further includes two receiving boards 220, each of the array laser detectors 22 and one of the array laser detectors 22 in the other group of laser transceiver units 20 share one receiving board 220, and the two array laser detectors 22 sharing one receiving board 220 are respectively disposed on two side surfaces of the receiving board 220 facing away from each other; each of the array laser transmitters 21 includes one transmitting plate 210, and two transmitting plates 210 of the two sets of laser transceiving units 20 are located at both sides of the rotation axis of the rotation table 10 facing away from each other.
At this time, the positions of the laser transmitters 211 in each group of the laser transceiver units 20 in the vertical direction are different, and after the emission angle of each laser transmitter 211 is adjusted, it is ensured that the emission directions of the laser beams emitted from each laser transmitter 211 are different. In the rotation process of the rotary table 10, the projection point positions of the plurality of laser transmitters 211 in each group of laser transceiver units 20 on the scanning surface are different, so that the scanning points on the scanning surface can be increased, the object information on the scanning surface can be acquired more precisely, and the detection precision can be increased.
Similar to the multi-line laser radar shown in fig. 2, the multi-line laser radar shown in fig. 7 may also have a plurality of laser transmitters disposed in the same laser transceiver unit and distributed in a direction perpendicular to the turntable, where the plurality of laser transmitters in different laser transceiver units are alternately staggered one by one or alternately staggered in groups; the plurality of laser detectors in the same laser transceiver unit are distributed in the direction perpendicular to the rotary table, and in the direction perpendicular to the rotary table, the plurality of laser detectors in different laser transceiver units are alternately staggered one by one or alternately staggered in groups, and are not repeated here.
The invention also provides a driving method of the multi-line laser radar in real time, which is used for driving any multi-line laser radar provided by the embodiment of the invention. Fig. 8 is a flowchart of a driving method of a multi-line laser radar according to an embodiment of the present invention, and referring to fig. 1 and 8, the driving method includes:
s110, driving the array laser transmitters in each group of laser receiving and transmitting units, so that a plurality of laser transmitters arranged in an array in the array laser transmitters respectively transmit laser beams through an optical emergent structure;
the laser transmitters in the array laser transmitters are distributed at different positions in the direction perpendicular to the rotary table due to the array arrangement, and the laser transmitting directions of the laser transmitters are different at the moment, so that objects on a vertical surface can be scanned and detected.
S120, receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in the two array laser detectors in a one-to-one correspondence manner.
When the laser beam is emitted to an external object, reflection is generated, and the reflected beam formed at the moment is incident into the multi-line laser radar through the optical receiving structure. And through reasonable arrangement of the optical receiving structure, a plurality of reflected light beams can be correspondingly incident into a plurality of laser detectors in the two array laser detectors one by one, and the information of the detected object is acquired by the laser detectors. And the information such as the position and the distance of the detected object can be judged by comparing and analyzing the emitted laser beam and the reflected beam, so that the detection of the environment is realized. The multi-line laser radar provided by the embodiment of the invention has the beneficial effects.
In the actual multi-line radar driving process, the driving method needs to be adapted and adjusted according to the quantity proportion of the laser transmitters and the laser detectors in each group of laser receiving and transmitting units. When the number of laser transmitters in each set of laser transceiving units is equal to the number of laser detectors in each array of laser detectors, it is necessary that both laser detectors share one laser transmitter. Aiming at the problem, the embodiment of the invention also provides a driving method of the multi-line laser radar. Fig. 9 is a flowchart of another driving method of a multi-line laser radar according to an embodiment of the present invention, and referring to fig. 1 and 9, the driving method includes:
s210, driving an array laser emitter in each group of laser receiving and transmitting units, so that a plurality of laser emitters arranged in an array in the array laser emitters sequentially emit laser beams through an optical emergent structure;
the laser transmitters in the array of laser transmitters do not emit laser beams at the same time, but are provided with a detection period for each set of laser transmitters and laser detectors. The set of laser emitters and laser detectors perform laser detection during a detection period. In the next period, the next group of laser transmitters and laser detectors perform laser detection. Thus, sequentially emitting laser beams means that the plurality of laser emitters emit laser beams in corresponding detection periods. It should be noted that, the sequential emission of the laser beams is not performed according to the position sequence of the laser transmitters, so that in order to avoid interference of the laser transmitters adjacent to each other, the laser transmitters and the laser detectors with different detection periods may be set, and the positions of the laser transmitters are not adjacent to each other.
S220, sequentially receiving a plurality of reflected light beams formed by the laser light beams after external reflection through the optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to sequentially enter a plurality of laser detectors in the two array laser detectors in a one-to-one correspondence manner.
The method comprises the steps of sequentially receiving a plurality of reflected light beams, namely, each laser detector in the two array laser detectors receives the reflected light beams through an optical receiving structure in a corresponding detection period, and the reflected light beams and the emitted light beams are compared, so that information such as the position of an external object can be determined. And because two groups of laser detection groups can be considered to be arranged in each group of laser receiving and transmitting units, the detection precision can be provided, and the three-dimensional scanning detection of the environment can be realized by matching with the rotation of the rotary table.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements, combinations, and substitutions can be made by those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A multi-line lidar comprising at least one rotation stage and at least one set of laser transceiving units located on the rotation stage, the laser transceiving units comprising:
an array laser transmitter comprising a plurality of laser transmitters arranged in an array;
two array laser detectors, each of which comprises a plurality of laser detectors arranged in an array;
the optical emergent structure is positioned on emergent light paths of the plurality of laser transmitters, and a plurality of laser beams emitted by the plurality of laser transmitters irradiate the outside through the optical emergent structure;
the optical receiving structure is positioned on the receiving light paths of the plurality of laser detectors, a plurality of laser beams emitted by the plurality of laser transmitters in each array laser transmitter are reflected by the outside to form a plurality of reflected beams, and the reflected beams can be incident into the plurality of laser detectors in the two array laser detectors in a one-to-one correspondence manner through the optical receiving structure;
the number of laser emitters is equal to the sum of the number of laser detectors in both of the array laser detectors.
2. The multi-line lidar of claim 1, wherein the laser transmitters of the two array laser detectors emit different laser wavelengths.
3. The multi-line lidar of claim 1, comprising one of the rotation stages and a set of the laser transceiving units on the rotation stage;
the array laser transmitters further comprise a transmitting plate, and a plurality of laser transmitters arranged in an array are arranged on the transmitting plate; each array laser detector further comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate;
the optical emergent structure comprises an emission collimation lens group, and laser beams emitted by a plurality of laser emitters of the array laser emitters are irradiated to the outside through the emission collimation lens group;
the optical receiving structure comprises two receiving reflector groups and two receiving collimating lens groups, wherein a plurality of laser beams emitted by the laser transmitters in the array laser transmitters are reflected by the outside to form a plurality of reflected beams, and the reflected beams are respectively incident into a plurality of laser detectors in each array laser detector in a one-to-one correspondence manner through one receiving reflector group and one receiving collimating lens group.
4. A multi-line lidar according to any of claims 1 to 3, comprising one of the rotation stages and two sets of the laser transceiving units located on the rotation stage;
the laser transmitting directions of the two groups of laser transmitting and receiving units are mutually deviated.
5. The multi-line lidar of claim 4, wherein the multi-line lidar is further configured to,
the array laser transmitters further comprise a transmitting plate, and a plurality of laser transmitters arranged in an array are arranged on the transmitting plate; the array laser detector also comprises a receiving plate, and a plurality of laser detectors arranged in an array are arranged on the receiving plate.
6. The multi-line lidar of claim 5, wherein the multi-line lidar is further configured to,
the array laser transmitter comprises one transmitting plate, and two transmitting plates in the two groups of laser receiving and transmitting units are positioned at two sides of the rotating shaft of the rotating platform, which are away from each other;
each array laser detector comprises a receiving plate, four receiving plates in two groups of laser receiving and transmitting units are arranged in parallel, and two array laser detectors in the same group of laser receiving and transmitting units are respectively positioned at one side of each receiving plate, which is away from the receiving plate in the other group of laser receiving and transmitting units.
7. The multi-line lidar of claim 5, further comprising two receiving plates, wherein each of the array laser detectors shares one of the receiving plates with one of the array laser detectors in the other group of the laser transceiving units, and two of the array laser detectors sharing one of the receiving plates are respectively disposed on both side surfaces of the receiving plates facing away from each other;
each array laser transmitter comprises a transmitting plate, and two transmitting plates in the two groups of laser receiving and transmitting units are positioned at two sides of the rotating shaft of the rotating table, which are away from each other.
8. The multi-line lidar of claim 6 or 7, wherein the multi-line lidar is further characterized by,
the plurality of laser transmitters in the same laser receiving and transmitting unit are distributed in the direction vertical to the rotating table, and the plurality of laser transmitters in different laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups in the direction vertical to the rotating table;
the plurality of laser detectors in the same laser receiving and transmitting unit are distributed in the direction perpendicular to the rotating table, and the plurality of laser detectors in different laser receiving and transmitting units are alternately staggered one by one or alternately staggered in groups in the direction perpendicular to the rotating table.
9. A driving method of a multi-line lidar, characterized by being used for driving the multi-line lidar according to any of claims 1 to 8, the driving method comprising:
driving an array laser emitter in each group of laser receiving and transmitting units, so that a plurality of laser emitters arranged in an array in the array laser emitters emit laser beams through an optical emergent structure respectively;
and receiving a plurality of reflected light beams formed by the laser light beams after external reflection through an optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in two array laser detectors in a one-to-one correspondence manner.
10. The driving method according to claim 9, wherein in each set of the laser transmitter-receiver units, the number of the laser transmitters is equal to the number of the laser detectors in each of the array laser detectors;
the array laser transmitters in each group of laser transceiver units are driven to enable a plurality of laser transmitters arranged in an array in the array laser transmitters to emit laser beams through an optical emergent structure respectively, and the device comprises:
driving the array laser transmitters in each group of laser receiving and transmitting units to enable a plurality of laser transmitters arranged in an array in the array laser transmitters to sequentially transmit the laser beams through the optical emergent structure;
the receiving the plurality of reflected light beams formed by the laser light beams after external reflection through the optical receiving structure in the corresponding laser receiving and transmitting unit, and enabling the plurality of reflected light beams to be incident into a plurality of laser detectors in two array laser detectors in a one-to-one correspondence manner comprises the following steps:
and through an optical receiving structure in the corresponding laser receiving and transmitting unit, the reflected light beams formed after the laser light beams are reflected by the outside are sequentially received, and the reflected light beams are made to sequentially enter a plurality of laser detectors in the two array laser detectors in a one-to-one correspondence manner.
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| WO2022006752A1 (en) * | 2020-07-07 | 2022-01-13 | 深圳市速腾聚创科技有限公司 | Laser receiving apparatus, laser radar, and smart sensing device |
| CN111856429B (en) * | 2020-07-13 | 2023-07-25 | 武汉万集信息技术有限公司 | Multi-line laser radar and control method thereof |
| CN113567956B (en) * | 2021-04-09 | 2023-01-13 | 华为技术有限公司 | Detection device and control method thereof |
| CN115436959A (en) * | 2021-06-02 | 2022-12-06 | Oppo广东移动通信有限公司 | Measurement module, electronic equipment and control method |
| CN115840203B (en) * | 2021-12-28 | 2024-09-27 | 深圳市速腾聚创科技有限公司 | Laser emission device, laser radar and intelligent device |
| CN118191789A (en) * | 2022-12-12 | 2024-06-14 | 上海禾赛科技有限公司 | Signal processing circuit and chip of laser radar and laser radar |
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| CN206223978U (en) * | 2016-11-08 | 2017-06-06 | 上海禾赛光电科技有限公司 | Vehicle-mounted multi-line laser radar and vehicle |
| CN106707297B (en) * | 2016-11-08 | 2023-09-01 | 上海禾赛科技有限公司 | Large-view-field vehicle-mounted laser radar and vehicle |
| CN206773188U (en) * | 2017-06-19 | 2017-12-19 | 上海禾赛光电科技有限公司 | Multi-line laser radar based on array laser device and detector |
| CN108061904B (en) * | 2017-12-29 | 2020-12-22 | 华为技术有限公司 | Multi-line LiDAR |
| CN208224485U (en) * | 2018-06-14 | 2018-12-11 | 武汉煜炜光学科技有限公司 | A kind of multi-line laser radar |
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