CN110794423A - Rigid-flexible hybrid connection self-adaptive device for vehicle-mounted laser radar - Google Patents
Rigid-flexible hybrid connection self-adaptive device for vehicle-mounted laser radar Download PDFInfo
- Publication number
- CN110794423A CN110794423A CN201910923008.8A CN201910923008A CN110794423A CN 110794423 A CN110794423 A CN 110794423A CN 201910923008 A CN201910923008 A CN 201910923008A CN 110794423 A CN110794423 A CN 110794423A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- laser radar
- radar
- mounted laser
- reflector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a rigid-flexible hybrid connection self-adaptive device for a vehicle-mounted laser radar, which mainly comprises the vehicle-mounted radar, a monitoring probe, a communication module, a linkage device, a motor and a flexible stabilizing device. The invention can effectively prevent the jitter of the radar lens. Meanwhile, the invention can effectively monitor the obstacles in the surrounding environment, thereby improving the accuracy of radar monitoring.
Description
Technical Field
The invention relates to the field of laser communication, in particular to a rigid-flexible hybrid connection self-adaptive device for a vehicle-mounted laser radar.
Background
Unmanned development to date, several enterprises around the world have examined and released unmanned vehicles around 2020. The forecast shows that the global market share of the automatic driving automobile needs to take 15-20 years to reach 25%, and the automobile with the road and traffic jam automatic driving function is applied to the road first; by 2022, cars with city automatic driving mode went on the road; after 2025, fully unmanned cars were seen in large numbers.
In 2017, Chinese automotive engineering will release an energy-saving and new energy automobile technical route map, wherein the automobile industry scale will reach 3000 thousands of automobiles and the market share of driving assistance/partial automatic driving vehicles will reach 50% in 2020; striving for highly or fully autonomous cars to be available on the market in 2021 to 2025; in 2026 to 2030 years, each vehicle should adopt an unmanned or auxiliary driving system, and the number of domestic unmanned vehicles will steadily increase.
The laser radar is applied to the field of unmanned driving, and compared with a camera image recognition system, the laser radar has a natural depth advantage, and emits laser beams to detect characteristic quantities such as the position and the speed of a target. The vehicle-mounted laser radar adopts a plurality of laser transmitters and receivers to establish a three-dimensional point cloud picture, so that the purpose of real-time environment perception is achieved. The laser radar has the advantages of three-dimensional modeling, wide detection range and high detection precision.
And on-vehicle laser radar because receive the influence that the car rocked, precision loss can appear, therefore how to solve laser radar shake is a problem that awaits a moment to solve.
Disclosure of Invention
The present invention is directed to solving the problems of the prior art.
The technical scheme adopted for achieving the purpose of the invention is that the rigid-flexible hybrid connection self-adaptive device of the vehicle-mounted laser radar mainly comprises the vehicle-mounted radar, a monitoring probe, a communication module, a linkage device, a direct current motor, a flexible stabilizing device and a power supply.
The vehicle-mounted laser radar has a mirror.
The monitoring probe monitors the environment image of the radar detection area and sends the environment image to the processing module through the communication module.
The communication module is a wireless network.
The processing module carries out image processing and recognition on the environment image of the radar detection area, and if an obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periodst＝θtAnd + a, until the single line laser emitted by the vehicle-mounted laser radar irradiates the obstacle. and a is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. ThetatThe initial value is 0.
The processing module carries out image processing and recognition on the environment image of the radar detection area, and if no obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periodst'＝θt' + b, up to the level of the single line laser emitted by the vehicle lidar. And b is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. Thetat' initial value is 0.
Every t periods, the processing module rotates the angle signal theta according to the vehicle-mounted laser radar reflectortOr vehicle-mounted laser radar reflector rotation angle signal thetat' generating a motor drive signal. The processing module sends a motor to the direct current motorA drive signal.
And after receiving the motor driving signal, the direct current motor drives the linkage device to finely adjust the angle of the radar reflector.
One end of the linkage device is connected with the direct current motor, and the other end of the linkage device is connected with a reflector of the vehicle-mounted radar.
The linkage device is formed by sleeving a plurality of linkage rods.
One end of the flexible stabilizing device is fixed on the linkage device, and the other end of the flexible stabilizing device is connected with a reflector of the vehicle-mounted radar.
The flexible stabilizing device is made of piano steel wire materials.
The primary mirror reflects ambient light to the fresnel lens.
The power supply supplies power to the communication module, the direct current motor and the monitoring probe.
The technical effect of the present invention is undoubted. The invention can effectively prevent the jitter of the radar lens. Meanwhile, the invention can effectively monitor the obstacles in the surrounding environment, thereby improving the accuracy of radar monitoring.
Drawings
FIG. 1 is a schematic diagram of a radar structure;
FIG. 2 is a schematic view of a linkage device;
in the figure, a linkage device 1, a direct current motor 2, a flexible stabilizing device 3, a reflecting mirror 4, a radar fixing and supporting frame 51, a secondary reflecting mirror 52, a transmitting light source 53, a Fresnel lens 54, a receiving APD55, a heat sink weight module 56, a code disc 57, a decoder 58 and a bevel window 59.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 and 2, the rigid-flexible hybrid connection adaptive device for the vehicle-mounted laser radar mainly comprises the vehicle-mounted radar, a monitoring probe, a communication module, a linkage device 1, a direct current motor 2, a flexible stabilizing device 3 and a power supply;
the vehicle-mounted lidar has a mirror 4. The mirror 4 is a main mirror.
Further, the vehicle-mounted laser radar further includes a laser radar, a radar fixing support frame 51, a secondary reflecting mirror 52, a transmitting light source 53, a fresnel lens 54, a receiving APD (photo diode) 55, a heat sink weight module 56, a code wheel 57, a decoder 58, and a slope window 59.
The radar fixing and supporting frame 51 is used for supporting and fixing the vehicle-mounted laser radar.
The emission light source 53 emits a laser light source to the sub-mirror 52. The reflected light of the secondary mirror 52 is received by the primary mirror 4.
The sides of the radar fixed support frame 51 have a beveled window 59 through which ambient light passes to the primary mirror 4 and is reflected to the fresnel lens 54. The fresnel lens 54 is disposed below the primary mirror 4, and receives reflected light from the primary mirror 4.
Preferably, the Fresnel lens 54 is horizontally disposed.
The reflected light reaches a receiving APD (array laser imaging) 55 through a fresnel lens 54, and is imaged, that is, an environment image of the radar detection area is obtained.
Coded disc 57 monitoring vehicle-mounted laser radar rotation angle thetatOr thetat', and decoded by a decoder.
The heatsink weight module 56 fixes the bottom of the radar fixing support frame 51 for balancing the movement of the vehicle-mounted laser radar.
The detection angle range of the vehicle-mounted laser radar is [0o,300o ].
The monitoring probe monitors the environment image of the radar detection area and sends the environment image to the processing module through the communication module.
The communication module is a wireless network.
The processing module carries out image processing and recognition on the environment image of the radar detection area, and if an obstacle is recognized in the environment image of the radar detection area, the vehicle-mounted laser radar reflector is rotated every t periodsAngle signal thetat＝θtAnd + a, until the single line laser emitted by the vehicle-mounted laser radar irradiates the obstacle. and a is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. ThetatThe initial value is 0.
The processing module carries out image processing and recognition on the environment image of the radar detection area, and if no obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periodst'＝θt' + b, up to the level of the single line laser emitted by the vehicle lidar. And b is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. Thetat' initial value is 0.
Every t periods, the processing module rotates the angle signal theta according to the vehicle-mounted laser radar reflectortOr vehicle-mounted laser radar reflector rotation angle signal thetat' generating a motor drive signal. The processing module sends a motor driving signal to the dc motor 2.
And after receiving the motor driving signal, the direct current motor 2 drives the linkage device 1 to finely adjust the angle of the radar reflecting mirror 4.
One end of the linkage device 1 is connected with the direct current motor 2, and the other end of the linkage device is connected with a reflector 4 of the vehicle-mounted radar.
The linkage device 1 is formed by sleeving a plurality of linkage rods.
One end of the flexible stabilizing device 3 is fixed on the linkage device 1, and the other end is connected with a reflector 4 of the vehicle-mounted radar.
The flexible stabilizing device 3 is made of piano steel wire materials.
The power supply supplies power to the communication module, the direct current motor 2 and the monitoring probe.
Example 2:
a rigid-flexible hybrid connection self-adaptive device of a vehicle-mounted laser radar mainly comprises the vehicle-mounted radar, a monitoring probe, a communication module, a linkage device 1, a direct current motor 2 and a flexible stabilizing device 3.
The vehicle-mounted lidar has a mirror 4.
The monitoring probe monitors the environment image of the radar detection area and sends the environment image to the processing module through the communication module.
The processing module carries out image processing and recognition on the environment image of the radar detection area, and if an obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periodst＝θtAnd + a, until the single line laser emitted by the vehicle-mounted laser radar irradiates the obstacle. and a is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. ThetatThe initial value is 0.
The processing module carries out image processing and recognition on the environment image of the radar detection area, and if no obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periodst'＝θt' + b, up to the level of the single line laser emitted by the vehicle lidar. And b is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. Thetat' initial value is 0.
Every t periods, the processing module rotates the angle signal theta according to the vehicle-mounted laser radar reflectortOr vehicle-mounted laser radar reflector rotation angle signal thetat' generating a motor drive signal. The processing module sends a motor driving signal to the dc motor 2.
And after receiving the motor driving signal, the direct current motor 2 drives the linkage device 1 to finely adjust the angle of the radar reflecting mirror 4.
One end of the linkage device 1 is connected with the direct current motor 2, and the other end of the linkage device is connected with a reflector 4 of the vehicle-mounted radar.
One end of the flexible stabilizing device 3 is fixed on the linkage device 1, and the other end is connected with a reflector 4 of the vehicle-mounted radar.
Example 3:
the rigid-flexible hybrid connection self-adaptive device for the vehicle-mounted laser radar has a main structure shown in embodiment 2, and further comprises a power supply.
The power supply supplies power to the communication module, the direct current motor 2 and the monitoring probe.
Example 4:
rigid-flexible hybrid connection of vehicle-mounted laser radarThe main structure of the self-adaptive device is shown in an embodiment 2, wherein the flexible stabilizing device 3 is made of piano steel wire materials, the length is 2mm, the wire diameter is 0.15mm, and the elastic coefficient is 8000kg/mm2. The main function of the flexible stabilizing means 3 is passive anti-shaking. When the vehicle-mounted laser radar collides and jolts in the movement process, the flexible stabilizing device 3 can effectively ensure that the laser radar lens cannot shake violently.
Example 5:
see embodiment 2 for the main structure of a rigid-flexible hybrid connection self-adaptive device of a vehicle-mounted laser radar, wherein the communication module is a wireless network.
Example 6:
the rigid-flexible hybrid connection self-adaptive device for the vehicle-mounted laser radar has the main structure shown in the embodiment 2, wherein the linkage device 1 is formed by sleeving a plurality of linkage rods.
Claims (6)
1. The vehicle-mounted laser radar rigid-flexible hybrid connection self-adaptive device is characterized by mainly comprising a vehicle-mounted radar, a monitoring probe, a communication module, a linkage device (1), a motor (2) and a flexible stabilizing device (3).
The vehicle-mounted laser radar is provided with a reflecting mirror (4) and a Fresnel lens (54);
the monitoring probe monitors an environment image of a radar detection area and sends the environment image to the processing module through the communication module;
the processing module carries out image processing and recognition on the environment image of the radar detection area, and if an obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periodst＝θt+ a, until the single line laser emitted by the vehicle-mounted laser radar irradiates the obstacle; a is a vehicle-mounted laser radar reflector rotation angle signal adjustment value; t ═ 1,2, …; thetatThe initial value is 0;
if no obstacle is identified in the environment image of the radar detection area, the processing module generates a vehicle-mounted laser radar reflector rotation angle signal theta every t periodst'＝θt' + b, until the single line laser level that vehicle carried laser radar sends; b is vehicle laser radar reflectorAdjusting the signal adjustment value of the rotation angle of the reflector; t ═ 1,2, …; thetat' initial value is 0;
every t periods, the processing module rotates the angle signal theta according to the vehicle-mounted laser radar reflectortOr vehicle-mounted laser radar reflector rotation angle signal thetat' generating a motor drive signal; the processing module sends a motor driving signal to the motor (2);
the motor (2) drives the linkage device (1) to adjust the angle of the reflector (4) after receiving a motor driving signal;
one end of the linkage device (1) is connected with the motor (2), and the other end of the linkage device is connected with the reflector (4);
one end of the flexible stabilizing device (3) is fixed on the linkage device (1), and the other end of the flexible stabilizing device is connected with a reflector (4) of the vehicle-mounted radar.
2. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the device also comprises a power supply;
the power supply supplies power to the communication module, the motor (2) and the monitoring probe.
3. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1 or 2, characterized in that: the communication module is a wireless network.
4. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the linkage device (1) is formed by sleeving a plurality of linkage rods.
5. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the flexible stabilizing device (3) is made of a piano steel wire material.
6. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the primary mirror (4) reflects ambient light to the Fresnel lens (54).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910923008.8A CN110794423A (en) | 2019-09-27 | 2019-09-27 | Rigid-flexible hybrid connection self-adaptive device for vehicle-mounted laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910923008.8A CN110794423A (en) | 2019-09-27 | 2019-09-27 | Rigid-flexible hybrid connection self-adaptive device for vehicle-mounted laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110794423A true CN110794423A (en) | 2020-02-14 |
Family
ID=69439921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910923008.8A Pending CN110794423A (en) | 2019-09-27 | 2019-09-27 | Rigid-flexible hybrid connection self-adaptive device for vehicle-mounted laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110794423A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0511052A (en) * | 1991-06-28 | 1993-01-19 | Nec Corp | Vehicle mounted type obstacle detecting apparatus |
| CN107678012A (en) * | 2017-11-10 | 2018-02-09 | 深圳市速腾聚创科技有限公司 | Laser radar closed-loop control system, laser radar and laser radar control method |
| CN108169730A (en) * | 2016-12-07 | 2018-06-15 | 岭纬公司 | Laser radar variable density scanning system and method based on region |
| CN109184765A (en) * | 2018-08-03 | 2019-01-11 | 中南大学 | A kind of stable state allow pressure release can detachable hydraulic anchor pole and its method for protecting support |
| RU2679923C1 (en) * | 2017-10-05 | 2019-02-14 | Акционерное общество "Лазерные системы" (АО "Лазерные системы") | Method for obtaining spatial model of environment in real time on basis of laser location and device for implementation thereof |
| CN110133618A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar and detection method |
-
2019
- 2019-09-27 CN CN201910923008.8A patent/CN110794423A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0511052A (en) * | 1991-06-28 | 1993-01-19 | Nec Corp | Vehicle mounted type obstacle detecting apparatus |
| CN108169730A (en) * | 2016-12-07 | 2018-06-15 | 岭纬公司 | Laser radar variable density scanning system and method based on region |
| RU2679923C1 (en) * | 2017-10-05 | 2019-02-14 | Акционерное общество "Лазерные системы" (АО "Лазерные системы") | Method for obtaining spatial model of environment in real time on basis of laser location and device for implementation thereof |
| CN107678012A (en) * | 2017-11-10 | 2018-02-09 | 深圳市速腾聚创科技有限公司 | Laser radar closed-loop control system, laser radar and laser radar control method |
| CN109184765A (en) * | 2018-08-03 | 2019-01-11 | 中南大学 | A kind of stable state allow pressure release can detachable hydraulic anchor pole and its method for protecting support |
| CN110133618A (en) * | 2019-04-19 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | Laser radar and detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11397250B2 (en) | Distance measurement device and distance measurement method | |
| JP7226440B2 (en) | Information processing device, information processing method, photographing device, lighting device, and moving body | |
| JP7160045B2 (en) | Semiconductor laser drive circuit, distance measuring device and electronic device | |
| US20200011998A1 (en) | Distance measurement apparatus and vehicle | |
| US20220066038A1 (en) | Distance measuring device, vehicle-mounted system, and distance measuring method | |
| US20210389448A1 (en) | Control device, control method and sensor control system | |
| WO2021138202A1 (en) | Identification of proxy calibration targets for a fleet of vehicles | |
| US20230184955A1 (en) | Methods and Systems to Determine a Strategy for a Drop Process Associated with a Light Detection and Ranging (LIDAR) Device | |
| US20240040225A1 (en) | Camera Module with IR LEDs for Uniform Illumination | |
| CN115461260A (en) | Glass mirror attached to rotating metal motor frame | |
| JP2021128084A (en) | Ranging device and ranging method | |
| WO2020137754A1 (en) | Distance measuring device and distance measuring method | |
| WO2019163315A1 (en) | Information processing device, imaging device, and imaging system | |
| US20220082660A1 (en) | Light Detection and Ranging (Lidar) Device having a Light-Guide Manifold | |
| CN110794423A (en) | Rigid-flexible hybrid connection self-adaptive device for vehicle-mounted laser radar | |
| JP2014182536A (en) | Inter-vehicle optical communication device | |
| US20240006850A1 (en) | Semiconductor laser driving apparatus, lidar including semiconductor laser driving apparatus, and vehicle including semiconductor laser driving apparatus | |
| WO2021161858A1 (en) | Rangefinder and rangefinding method | |
| WO2021085048A1 (en) | Information processing device, information processing system, and information processing method | |
| WO2021053958A1 (en) | Light reception device, distance measurement device, and distance measurement device control method | |
| WO2023162734A1 (en) | Distance measurement device | |
| WO2023189917A1 (en) | Ranging device and ranging method | |
| WO2023162733A1 (en) | Distance measuring device and distance measuring method | |
| WO2023281825A1 (en) | Light source device, distance measurement device, and distance measurement method | |
| US20220163675A1 (en) | Methods of Using Background Images from a Light Detection and Ranging (LIDAR) Device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |