CN212364571U - Roadside laser radar with large field of view - Google Patents
Roadside laser radar with large field of view Download PDFInfo
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- CN212364571U CN212364571U CN201921801130.XU CN201921801130U CN212364571U CN 212364571 U CN212364571 U CN 212364571U CN 201921801130 U CN201921801130 U CN 201921801130U CN 212364571 U CN212364571 U CN 212364571U
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Abstract
The utility model discloses a trackside laser radar of big visual field, laser radar include first ranging module, second ranging module, control module, power module and communication module. The first ranging module is used for measuring the space environment in a far range from the roadside laser radar, and the second ranging module is used for measuring the space environment in a near range from the roadside laser radar. By adopting the mode that two different ranging modules are respectively used for space environments with different characteristics, the detection capability of the roadside laser radar is improved.
Description
Technical Field
The patent of the utility model relates to a laser radar technical field, concretely relates to trackside roadside laser radar of big visual field.
Background
The intelligent vehicle-road cooperative system is one of basic key technologies of the ITS of future intelligent traffic, realizes the integrated integration of traffic elements by sensing, knowing and using of the intelligent traffic, and is an important guarantee for the orderly operation of the road traffic. With the continuous progress of the automatic driving technology and the communication technology, the development of vehicles from driving assistance to autonomous intelligence and cooperative intelligence has become a trend, and the vehicle-road cooperation technology is increasingly concerned by academia and industry as an important technical means for solving the problems of automatic driving and traffic safety and improving traffic efficiency. LiDAR systems utilize laser beams for remote detection and object analysis. Thus, LiDAR sensors may be installed above roads or highways, such as on traffic lights or on buildings near the roads, to detect and analyze vehicles in and out, and transmit the detection and analysis data to the vehicles to achieve vehicle-to-vehicle coordination.
The existing laser radar is generally designed for a vehicle end, the angle of view of the existing laser radar in the vertical direction is generally about 30 degrees, and for the application requirement, a certain angle is formed above the horizontal, for example, the angle of view of the Velodyne HDL-64 laser radar in the vertical direction is 26.9 ° (+2 ° to-24.9 °); the field angle of the Velodyne VLP-16 laser radar in the vertical direction is 30 degrees (+15 degrees to-15 degrees); the field angle in the vertical direction of the Velodyne VLP-32C lidar is 40 ° (+15 ° to-25 °), etc. Taking the installation height of 5M and the angle of view of 40 degrees (+15 degrees to-25 degrees) as an example, the blind area at the near end of the laser radar is 10.7 meters, and the blind area exists in the range of 21.4 meters of the diameter of the laser radar, so the existing laser radar can not meet the use requirement of roadside installation. It is therefore desirable to provide a roadside lidar with a large field of view.
SUMMERY OF THE UTILITY MODEL
To the defect among the prior art, the utility model provides a trackside laser radar of big visual field, the utility model discloses a design and the reasonable visual field angular distribution of big visual field have realized laser radar in the trackside is used, the effect of non-blind area in the detection area.
The utility model discloses can realize through following mode:
a large field-of-view roadside lidar comprising: the system comprises a first ranging module, a second ranging module, a main control module, a power supply module and a communication module;
the first ranging module is used for detecting the environment in a space far away from the roadside laser radar;
the second distance measurement module is used for detecting the environment in a space close to the roadside laser radar;
it should be noted that the far space or the near space is determined according to the actual scene and the requirement of the user, and is not fixed, in the actual scene, the user can determine a dividing point, such as 30 meters or 40 meters, beyond which the user is far, otherwise the user is near.
The first distance measuring module and the second distance measuring module are connected through a mechanical structure so as to ensure the relative position between the two distance measuring modules;
the main control module is respectively connected with the first ranging module and the second ranging module and is used for controlling the first module and the second module to carry out ranging;
the power supply module is connected with the main control module and supplies power to the main control module;
the communication module is connected with the main control module and is used for transmitting the information processed by the main control module;
furthermore, the roadside lidar is characterized in that the first ranging module has a long detection distance and a high resolution, and preferably, the angular resolution theta of the first ranging module is1≤0.6°；
Further, the roadside lidar is characterized in that the second distance measuring module has a low beam resolution, and preferably, the second distance measuring module has an angular resolution θ1≥2°；
Furthermore, the roadside lidar is characterized in that an included angle between the uppermost path of detection signal of the first ranging module and the horizontal direction is negative, namely all light beams of the roadside lidar are positioned on and below the horizontal plane;
further, the roadside lidar is characterized in that the overall field of view of the roadside lidar with the large field of view is W, preferably, W is greater than or equal to 75 degrees and less than or equal to 90 degrees;
the utility model discloses an advantage and beneficial effect do:
1. the utility model provides a roadside lidar with a large field of view, the topmost path of laser horizontally emits, the utilization rate of lidar data can be effectively improved, and the roadside lidar is more suitable for the application scene of the lidar in the roadside direction;
2. the utility model provides a roadside laser radar with large field of view, the angle of view is more than 75 degrees, the included angle between the lowest end light and the horizontal direction is more than 75 degrees, the blind area of the field of view of the laser radar can be effectively reduced, and the identification effect of the laser radar is improved;
3. the utility model provides a pair of trackside laser radar of big visual field adopts the mode realization of two range finding module concatenations, and is different to the requirement of data according to near-end visual field and distal end visual field, can adopt different forms of range finding module, can effectual improvement laser radar's recognition effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. In the drawings:
FIG. 1 is a block diagram of a large field-of-view roadside lidar provided by the present invention;
FIG. 2 is a schematic structural view of a roadside lidar with a large field of view provided by the present invention;
fig. 3 is a view field distribution diagram in the vertical direction of the large view field laser radar provided by the present invention;
description of reference numerals:
100-roadside lidar, 110-a first ranging module, 120-a second ranging module, 130-a control module, 140-a power supply module, 150-a communication module, 131-a main control circuit board, 141-a power supply and motor driver board, 151-a wireless power supply and communication module, 161-a lidar housing, 162-a lidar filter housing, 163-a motor, 164-a rotary table, 211-first ranging module topmost light, 212-first ranging module bottommost light, 221-second ranging module topmost light, 222-second ranging module bottommost light, 301-a horizontal reference, 302-a vertical reference;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
For solving the problem that laser radar exists among the prior art, fig. 1 shows the utility model provides a large visual field roadside laser radar's block diagram. The roadside lidar 100 includes a first ranging module 110, a second ranging module 120, a control module 130, a power supply module 140, and a communication module 150.
The first ranging module 110 mainly measures and detects the far-end area; the second ranging module 120 is mainly responsible for detecting spatial information of a near-end area; the distance and the near are determined according to actual requirements and scenes, and in the embodiment, the distance is less than 30 meters as a near-end region and more than 30 meters as a far-end region. The first ranging module 110 and the second ranging module 120 are spliced in view field, so that the detection range of a large view field is realized; the control module 130 mainly controls the first ranging module 110 and the second ranging module 120 to perform ranging; the power supply module 140 is used for supplying power to the control module 130; the communication module 150 is configured to transmit the distance information obtained by the control module 130.
Fig. 2 is the utility model provides a big viewing field roadside laser radar schematic structure. The roadside lidar includes a housing 161, a filter cover 162, a motor 163, a rotary stage 164, a first ranging module 110, a second ranging module 120, a main control circuit board 131, a power supply and motor driver board 141, and a wireless power supply and communication module 151.
The housing 161 is made of metal, and the filter mask 162 is made of black PC. The housing 161 and the filter mask 162 are connected in a sealing manner, so that the waterproof and dustproof effects of the device can be achieved. The motor 163 is divided into two parts, a stator and a rotor, the stator part is installed on the housing, and the rotor part is installed on the rotating platform 164 to drive the rotating platform 164 to rotate. The power supply and motor driving board 141 is installed on the housing 161, supplies power to the device, and drives the motor 163 to rotate. The first distance measuring module 110, the second distance measuring module 120 and the main control circuit board 131 are installed on the rotating platform 164, so that the scanning distance measurement of the distance measuring module is realized. The main control circuit board 131 and the power supply and motor driving board 141 are powered and data transmitted through the wireless power supply and communication module 151.
The roadside lidar 100 has a horizontal reference 301 and a vertical reference 302. The vertical field angle of the first distance measuring module 110 is α, the uppermost light ray 211 exits along the horizontal direction, the included angle between the lower light ray 212 of the first distance measuring module and the horizontal reference 301 is α, the vertical field angle of the second distance measuring module 120 is β, and the included angle between the uppermost light ray 221 and the horizontal reference 301 is β ', wherein β' is greater than α. The angle between the lower light 222 of the second distance measuring module and the horizontal reference 301 is β + β'. That is, the angle of view W in the vertical direction of the laser radar 100 is β + β'. Preferably, W is 60 DEG to 90 deg.
Fig. 3 is the utility model provides a view field distribution diagram in the vertical direction of big visual field roadside lidar. The laser radar 110 is installed at a height H, the vertical field angle of the first ranging module 110 is alpha, the number of ranging beams is N, and the resolution is theta1α/(N-1). Lidar at the far end D1Line resolution h of the position1＝D1×tan(θ1). Preferably, when D1>Line resolution h at the far end at 100 m1<0.3 m. The distance D from the light 212 at the lower end of the first distance measuring module 120 to the road surface2＝H/tan(α)。
The second distance measuring module 120 has a vertical field angle of beta, M distance measuring beams and a resolution of theta2β/(M-1). The included angle between the upper light 221 of the second distance measuring module 120 and the horizontal direction is beta', and the first distance measuring module and the second distance measuring module perform visionField splicing, beta' satisfies:
β′-α＝θ2。
the distance D from the light 221 of the second distance measuring module 120 to the road surface3H/tan (β'). The distance D that the light 222 hits the road surface under the second distance measuring module 1204＝H/tan(β+β′)。
Since D3 is much closer than D1, the vertical resolution theta of the second distance measurement module is ensured to be sufficient under the condition that the detection information is ensured to be enough2The light beam density distribution is much larger, so that the utilization of point cloud is more facilitated, the equipment cost is reduced, and the data efficiency is improved.
The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
The present invention has been explained by using specific embodiments, and the explanation of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (5)
1. A roadside lidar of large field of view, comprising: the system comprises a first ranging module, a second ranging module, a main control module, a power supply module and a communication module;
the first ranging module is used for detecting the environment in a space far away from the roadside laser radar;
the second distance measurement module is used for detecting the environment in a space close to the roadside laser radar;
the first distance measuring module and the second distance measuring module are fixedly connected through a mechanical structure so as to ensure the relative position between the two distance measuring modules;
the first ranging module detection field of view is positioned above the second ranging module detection field of view;
the master control module is respectively connected with the first ranging module and the second ranging module and is used for controlling the first ranging module and the second ranging module to carry out ranging;
the power supply module is connected with the main control module and supplies power to the main control module;
the communication module is connected with the main control module and is used for transmitting the information processed by the main control module.
2. The roadside lidar of claim 1, wherein the first ranging module has a beam angular resolution greater than the angular resolution of the second ranging module.
3. The roadside lidar of claim 1, wherein the first ranging module has an angular resolution of θ1Less than or equal to 0.6 degrees, and the angular resolution theta of the light beam of the second ranging module1≥2°。
4. The roadside lidar of claim 1, wherein an angle between an uppermost path of the detection signal of the first ranging module and a horizontal direction is negative, that is, all light beams of the roadside lidar are located at and below a horizontal plane.
5. The roadside lidar of claim 1, wherein the wide field roadside lidar has an overall field of view W of 60 ° W90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921801130.XU CN212364571U (en) | 2019-10-25 | 2019-10-25 | Roadside laser radar with large field of view |
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| CN201921801130.XU CN212364571U (en) | 2019-10-25 | 2019-10-25 | Roadside laser radar with large field of view |
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| CN212364571U true CN212364571U (en) | 2021-01-15 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113296109A (en) * | 2021-05-31 | 2021-08-24 | 阿波罗智联(北京)科技有限公司 | Base, roadside sensing equipment and intelligent transportation system |
| EP4053590A3 (en) * | 2021-05-31 | 2022-10-19 | Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. | Roadside sensing apparatus and intelligent transportation system |
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2019
- 2019-10-25 CN CN201921801130.XU patent/CN212364571U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113296109A (en) * | 2021-05-31 | 2021-08-24 | 阿波罗智联(北京)科技有限公司 | Base, roadside sensing equipment and intelligent transportation system |
| JP2022091922A (en) * | 2021-05-31 | 2022-06-21 | 阿波▲羅▼智▲聯▼（北京）科技有限公司 | Road side sensing facility and intelligent traffic system |
| US20220284806A1 (en) * | 2021-05-31 | 2022-09-08 | Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. | Roadside sensing apparatus and intelligent transportation system |
| EP4053590A3 (en) * | 2021-05-31 | 2022-10-19 | Apollo Intelligent Connectivity (Beijing) Technology Co., Ltd. | Roadside sensing apparatus and intelligent transportation system |
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Effective date of registration: 20231206 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Wuhan Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: Wanji space, building 12, Zhongguancun Software Park, yard 8, Dongbei Wangxi Road, Haidian District, Beijing 100193 Patentee before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |
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