CN112711007A - Laser radar and unmanned aerial vehicle - Google Patents
Laser radar and unmanned aerial vehicle Download PDFInfo
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- CN112711007A CN112711007A CN202110074676.5A CN202110074676A CN112711007A CN 112711007 A CN112711007 A CN 112711007A CN 202110074676 A CN202110074676 A CN 202110074676A CN 112711007 A CN112711007 A CN 112711007A
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- 238000001514 detection method Methods 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
-
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- 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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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar and an unmanned aerial vehicle, comprising: the rotary scanning mirror is driven by a first motor to rotate and comprises at least 2 continuous reflecting surfaces, and the reflecting surfaces are parallel to a rotating shaft of the rotary scanning mirror; the laser scanning device comprises a first transmitting unit, a first receiving unit, a second transmitting unit and a second receiving unit, wherein the first transmitting unit and the second transmitting unit emit laser rays to the rotary scanning mirror in different directions, the laser rays are emitted to a target object after being reflected by the reflecting surface, and the laser rays reflected by the target object are respectively received by the first receiving unit and the second receiving unit after being reflected by the reflecting surface. After the technical scheme is adopted, the radar is simple in structure, and target detection in two directions can be achieved.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a laser radar and an unmanned aerial vehicle.
Background
In the prior art, the unmanned aerial vehicle adopts laser radar to keep away the barrier more. Referring to fig. 1, a schematic structural diagram of a conventional drone radar in the prior art is shown, which includes a 16-line radar and an obstacle avoidance radar. The existing 16-line radar generally adopts 16 groups of transmitting tubes and 16 groups of receiving tubes, the transmitting and receiving systems are respectively formed by two groups of optical systems, a +/-15-degree fixed vertical field angle is formed, lateral 360-degree scanning is realized by a rotating shaft (a lateral point cloud expansion diagram is shown in figure 2), but a field blind spot cannot be scanned in the advancing direction of the unmanned aerial vehicle (the top direction of the unmanned aerial vehicle), therefore, an obstacle avoidance radar needs to be additionally arranged and is a single-line ranging radar for measuring whether an obstacle exists in the safe distance of the advancing direction of the unmanned aerial vehicle. The 16-line radar and the obstacle avoidance radar are installed separately.
The prior art has the defects that the detection of target objects in different directions needs to be realized by two independent radars, and the cost and the weight are high.
Disclosure of Invention
In order to overcome the technical defects, the invention aims to provide the laser radar which is low in cost and light in weight and can detect target objects in different directions, and the unmanned aerial vehicle with the laser radar.
The invention discloses a laser radar, comprising:
the rotary scanning mirror is driven by a first motor to rotate and comprises at least 2 continuous reflecting surfaces, and the reflecting surfaces are parallel to a rotating shaft of the rotary scanning mirror;
the first laser light is reflected by the reflecting surface and then emitted to a first target object, and the first laser light reflected from the first target object is reflected by the reflecting surface and then received by the first receiving unit;
the second transmitting unit transmits second laser light to the rotary scanning mirror in a second direction, the second laser light is emitted to a second target object after being reflected by the reflecting surface, and the second laser light reflected by the second target object is received by the first receiving unit after being reflected by the reflecting surface.
Preferably, the lidar comprises a vertical scanning system and a horizontal scanning system;
the vertical scanning system comprises the rotary scanning mirror, a first transmitting unit, a first receiving unit, a second transmitting unit and a second receiving unit;
the horizontal scanning system comprises a second motor and a fixed part, the vertical scanning system is fixed on the fixed part, the second motor drives the fixed part to rotate, and a rotating shaft of the fixed part is perpendicular to a rotating shaft of the rotary scanning mirror.
Preferably, the first direction is perpendicular to the second direction.
Preferably, the vertical scanning system further includes a third emitting unit and a third receiving unit, the third emitting unit emits a third laser beam to the rotary scanning mirror in a third direction, the third laser beam is reflected by the reflecting surface and then emitted to a third target object, and the third laser beam reflected by the third target object is reflected by the reflecting surface and then received by the third receiving unit.
Preferably, the first direction is perpendicular to the second direction;
the first direction is perpendicular to the third direction;
the second direction is the same as the third direction, and the direction of the second laser ray in the second direction after being reflected by the reflecting surface is opposite to the direction of the third laser ray in the third direction after being reflected by the reflecting surface.
Preferably, the rotating scan mirror comprises at least 2 consecutive and perpendicular reflective surfaces.
Preferably, the rotating scan mirror comprises 4 consecutive and perpendicular reflective surfaces;
the cross section of the 4 continuous and vertical reflecting surfaces on a plane perpendicular to the rotating shaft of the rotating scanning mirror is a square, and the rotating shaft of the rotating scanning mirror is positioned at the center of the square.
Preferably, the rotation of the rotating scan mirror is a circular rotation or a reciprocating rotation.
The invention also discloses an unmanned aerial vehicle which comprises the laser radar.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. through the matching of the two transmitting and receiving units and the rotary scanning mirror, the target objects in different directions can be detected by one radar, and the structure is simple;
2. the horizontal scanning system drives the two transmitting units and the receiving unit to integrally rotate with the rotary scanning mirror, and target object detection in circumferential directions of 360 degrees and top directions can be achieved, so that a 16-line radar and an obstacle avoidance radar in the prior art can be replaced, the technical scheme of the obstacle avoidance radar is added to the 16-line radar, the number of the radars is reduced, cost and weight are reduced, and a larger field angle and higher detection precision can be achieved.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle radar in the prior art;
FIG. 2 is an expanded view of the 16-line radar lateral point cloud of FIG. 1;
FIG. 3 is a schematic structural diagram of a lidar in accordance with an embodiment of the present invention;
FIG. 4 is a point cloud view of the laser radar of FIG. 3 in the direction of the top;
fig. 5 is an expanded view of the lidar lateral point cloud of fig. 3.
Reference numerals:
100-vertical scanning system, 110-rotating scanning mirror, 111-rotating scanning mirror's axis of rotation, 120-first transmitting unit, 130-first receiving unit, 140-second transmitting unit, 150-second receiving unit, 160-third transmitting unit, 170-third receiving unit, 200-horizontal scanning system, 210-stationary part.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Referring to fig. 3, a schematic structural diagram of a lidar including a vertical scanning system 100 and a horizontal scanning system 200 according to an embodiment of the present invention is shown.
The vertical scanning system 100 includes a rotating scanning mirror 110, a first transmitting unit 120, a first receiving unit 130, a second transmitting unit 140, a second receiving unit 150, a third transmitting unit 160, and a third receiving unit 170.
The rotating scanning mirror 110 includes 4 continuous and vertical reflecting surfaces, the cross section of the 4 continuous and vertical reflecting surfaces on the plane perpendicular to the rotating shaft 111 of the rotating scanning mirror 110 is square, the rotating shaft 111 of the rotating scanning mirror 110 is located at the center of the square, and the reflecting surfaces are all perpendicular to the rotating shaft 111. The vertical scanning system 100 further includes a first motor, and the rotating scanning mirror 110 is driven by the first motor to rotate around a rotating shaft 111. In the present embodiment, the rotation of the rotating scan mirror 110 is a circular rotation, i.e., a 360 ° rotation in one direction (clockwise in the figure) about the rotation axis 111. In other embodiments, the rotation of the rotating scan mirror 110 can also be a reciprocating rotation, i.e., a reciprocating rotation about the rotation axis 111 by a predetermined angle. The side of the rotating scan mirror 110 away from the rotation axis 111 is a reflective surface.
As shown in fig. 3, the first emitting unit 120 emits a first laser beam to the rotary scanning mirror 110 in a first direction, the first laser beam is reflected by the reflecting surface and then emitted to a first target object, and the first laser beam reflected from the first target object is reflected by the reflecting surface and then received by the first receiving unit 130; the second emitting unit 140 emits a second laser beam to the rotary scanning mirror 110 in a second direction, the second laser beam is reflected by the reflecting surface and then emitted to a second target object, and the second laser beam reflected from the second target object is reflected by the reflecting surface and then received by the second receiving unit 150; the third emitting unit 160 emits a third laser beam to the rotary scanning mirror 110 in a third direction, the third laser beam is reflected by the reflecting surface and then emitted to a third target object, and the third laser beam reflected by the third target object is reflected by the reflecting surface and then received by the third receiving unit 170. The first direction is perpendicular to the second direction; the first direction is perpendicular to the third direction; the second direction is the same as the third direction, and the direction of the second laser ray in the second direction after being reflected by the reflecting surface is opposite to the direction of the third laser ray in the third direction after being reflected by the reflecting surface. With the rotation of the rotary scanning mirror 110, the laser beam emitted by the first emitting unit 120 realizes target detection within a certain angle range in the upper side of the figure, the laser beam emitted by the second emitting unit 140 realizes target detection within a certain angle range in the right side of the figure, and the laser beam emitted by the third emitting unit 160 realizes target detection within a certain angle range in the left side of the figure. Specifically, a fixed vertical field of view of both left and right directions of ± 20 ° can be achieved, plus a top horizontal field of view of ± 20 °. The first, second and third emitting units 120, 140 and 160 are laser emitters; the first receiving unit 130, the second receiving unit 150, and the third receiving unit 170 include avalanche photodiodes. The first target object, the second target object and the third target object are objects on which laser light is incident and reflected, and are used for illustration only, and do not refer to specific objects.
The horizontal scanning system 200 includes a second motor and a fixing portion 210, the vertical scanning system 100 is fixed to the fixing portion 210, the fixing portion 210 is only illustrated in the figure, and the fixing portion 210 may be a housing, and a mounting and fixing structure for each component of the vertical scanning system 100 is disposed on the housing. The second motor drives the fixing portion 210 to rotate, and a rotation axis of the fixing portion 210 is perpendicular to the rotation axis 111 of the rotating scanning mirror 110. In this embodiment, the second motor drives the vertical scanning system 100 to rotate by 360 ° integrally, so that the laser beam emitted by the first emitting unit 120 can realize target detection in a certain area range (i.e. in the top direction of the laser radar), and a point cloud view in the top direction is shown in fig. 4; the laser beams emitted by the second emitting unit 140 and the third emitting unit 160 can realize the detection of the target object in the lateral direction of 360 °, and the expanded view of the lateral point cloud is shown in fig. 5. The technical scheme of this application drives vertical scanning system 100 through horizontal scanning system 200 and wholly rotates, can realize that the target object of 360 degrees of side directions and top direction is surveyed to 16 line radars and obstacle avoidance radar among the prior art can be replaced, its technical scheme for 16 line radars add obstacle avoidance radar has reduced radar quantity, the cost is reduced and weight, the angle of vision is bigger, and the point cloud precision is more dense. And the density of the point cloud can be adjusted by adjusting the rotation frequency of the rotary scanning mirror 110 and the fixed part 210, thereby meeting the detection requirements of different precisions. The laser radar of this embodiment also includes a processing unit, which is connected with the transmitting unit and the receiving unit, and is used for judging the orientation and the distance of the target object relative to the laser radar according to the transmitting and receiving of the laser and the rotating frequency of the rotating scanning mirror and the fixing part.
In some other embodiments, the third transmitting unit 160 and the third receiving unit 170 may not be provided in the vertical scanning system 100, and the detection of the target object in the 360 ° lateral direction and the top part is achieved only by rotating the scanning mirror 110, the first transmitting unit 120, the first receiving unit 130, the second transmitting unit 140, the second receiving unit 150, and the horizontal scanning system 200.
In other embodiments, the rotating scanning mirror 110 may only include 2 consecutive reflective surfaces, and 2 reflective surfaces are vertical or approximately vertical, and as the rotating scanning mirror 110 rotates, the two reflective surfaces cooperate with the transmitting and receiving unit to sequentially reflect the laser beam to the lateral direction and the top, and then cooperate with the rotation of the horizontal scanning system 200 to achieve the detection of the target object in the lateral direction and the top by 360 °. The number of the reflecting surfaces can be flexibly set according to actual design requirements.
In other embodiments, the horizontal scanning system 200 may not be provided, and the target object detection in a fixed direction may be realized only by the vertical scanning system 100, and accordingly, in this embodiment, the laser emitting unit may be a multi-line laser emitting unit.
The invention also discloses an unmanned aerial vehicle which comprises the laser radar in the embodiment, and the target object detection in the lateral direction and the top direction is realized through the laser radar.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (9)
1. A lidar, comprising:
the rotary scanning mirror is driven by a first motor to rotate and comprises at least 2 continuous reflecting surfaces, and the reflecting surfaces are parallel to a rotating shaft of the rotary scanning mirror;
the first laser light is reflected by the reflecting surface and then emitted to a first target object, and the first laser light reflected from the first target object is reflected by the reflecting surface and then received by the first receiving unit;
the second transmitting unit transmits second laser light to the rotary scanning mirror in a second direction, the second laser light is emitted to a second target object after being reflected by the reflecting surface, and the second laser light reflected by the second target object is received by the first receiving unit after being reflected by the reflecting surface.
2. Lidar according to claim 1,
the laser radar comprises a vertical scanning system and a horizontal scanning system;
the vertical scanning system comprises the rotary scanning mirror, a first transmitting unit, a first receiving unit, a second transmitting unit and a second receiving unit;
the horizontal scanning system comprises a second motor and a fixed part, the vertical scanning system is fixed on the fixed part, the second motor drives the fixed part to rotate, and a rotating shaft of the fixed part is perpendicular to a rotating shaft of the rotary scanning mirror.
3. Lidar according to claim 2,
the first direction is perpendicular to the second direction.
4. Lidar according to claim 2,
the vertical scanning system further comprises a third transmitting unit and a third receiving unit, the third transmitting unit transmits third laser light to the rotary scanning mirror in a third direction, the third laser light is emitted to a third target object after being reflected by the reflecting surface, and the third laser light reflected by the third target object is received by the third receiving unit after being reflected by the reflecting surface.
5. Lidar according to claim 4,
the first direction is perpendicular to the second direction;
the first direction is perpendicular to the third direction;
the second direction is the same as the third direction, and the direction of the second laser ray in the second direction after being reflected by the reflecting surface is opposite to the direction of the third laser ray in the third direction after being reflected by the reflecting surface.
6. Lidar according to claim 1,
the rotating scan mirror includes at least 2 consecutive and perpendicular reflective surfaces.
7. Lidar according to claim 6,
the rotating scanning mirror comprises 4 continuous and vertical reflecting surfaces;
the cross section of the 4 continuous and vertical reflecting surfaces on a plane perpendicular to the rotating shaft of the rotating scanning mirror is a square, and the rotating shaft of the rotating scanning mirror is positioned at the center of the square.
8. Lidar according to claim 1,
the rotation of the rotary scanning mirror is circular rotation or reciprocating rotation.
9. An unmanned aerial vehicle is characterized in that,
comprising a lidar according to any of claims 1-8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110074676.5A CN112711007A (en) | 2021-01-20 | 2021-01-20 | Laser radar and unmanned aerial vehicle |
| PCT/CN2021/131880 WO2022156344A1 (en) | 2021-01-20 | 2021-11-19 | Laser radar and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110074676.5A CN112711007A (en) | 2021-01-20 | 2021-01-20 | Laser radar and unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN112711007A true CN112711007A (en) | 2021-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110074676.5A Pending CN112711007A (en) | 2021-01-20 | 2021-01-20 | Laser radar and unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022156344A1 (en) * | 2021-01-20 | 2022-07-28 | 杭州欧镭激光技术有限公司 | Laser radar and unmanned aerial vehicle |
| CN118011362A (en) * | 2023-10-30 | 2024-05-10 | 北京北科天绘科技有限公司 | Laser radar |
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