CN214011515U - Laser radar, detection system and intelligent terminal - Google Patents

Abstract

The embodiment of the utility model relates to radar technical field discloses a laser radar, detecting system and intelligent terminal, laser radar includes casing and a plurality of sensor, a plurality of sensor install in the casing, a plurality of sensor divide into multiunit, multiunit the sensor along the y axle arrange in proper order in the casing, and same group the launch point of sensor is in the coplanar, each group the plane at the launch point place of sensor is parallel to each other. Through the setting, make laser radar fixed mounting on the carrier, relative carrier has fixed and great detection angle of vision, can realize surveying the target that awaits measuring in the great scope, has reduced laser radar's cost, and this laser radar simple structure, simple to operate have higher suitability.

Description

Laser radar, detection system and intelligent terminal

Technical Field

The utility model discloses embodiment relates to radar technical field, especially relates to a laser radar, detecting system and intelligent terminal.

Background

The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal, and after appropriate processing, relevant information of the target, such as target distance, direction, height, speed, attitude, even shape and other parameters, can be obtained, so that the target is detected, tracked and identified.

As lidar technology matures and hardware costs gradually decrease, more and more unmanned ground mobile systems start to use lidar as a key primary sensor. However, the existing laser radar has a complex structure and high cost.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the main technical problem who solves of embodiment provides a laser radar, detecting system and intelligent terminal that simple structure, cost are lower.

In order to solve the above technical problem, the utility model discloses a technical scheme that embodiment adopted is:

in one aspect, a lidar is provided, the lidar comprising:

a housing;

the sensors are arranged in the shell in sequence along the y axis, the emitting points of the sensors in the same group are on the same plane, and the planes where the emitting points of the sensors are located are parallel to each other.

In some embodiments, the angle between the optical axis of the laser beam of the sensor and the y-axis decreases with increasing y, and the angle between the optical axis of the laser beam of the sensor and the x-axis decreases with increasing x.

In some embodiments, the included angle of the optical axes of the laser beams of two adjacent sensors in the same group is a preset included angle.

In some embodiments, the preset included angle is greater than or equal to the field angle of the laser beam emitted by the sensor.

In some embodiments, the emission points of the sensors in the same group are located on the same circular arc line, and in the sensors in the same group, the arc lengths of the emission points of two adjacent sensors or the chord lengths formed by the connection lines of the emission points are equal.

In some embodiments, in the sensors of the same group, the arc length of the emission point or the chord length formed by the emission point connecting line of two adjacent sensors is equal to the arc length of the emission point or the chord length formed by the emission point connecting line of the other group.

In some embodiments, the housing has a spherical structure, the plurality of sensors are distributed on the spherical structure of the housing, and the opposite extensions of the optical axes of the laser beams of the plurality of sensors all pass through the spherical center of the spherical structure of the housing.

In some embodiments, the shell is hemispherical or 1/8 spherical.

In some embodiments, the housing is semi-ellipsoidal, and opposite extensions of optical axes of the laser beams of the sensors of the same group intersect at the same point.

In another aspect, there is provided a detection system, comprising:

the lidar as described above.

In another aspect, an intelligent terminal is further provided, where the intelligent terminal includes:

a detection system as described above.

Compared with the prior art, the embodiment of the utility model provides a laser radar, laser radar includes casing and a plurality of sensor, a plurality of sensor install in the casing, a plurality of sensor divide into multiunit, multiunit the sensor along the y axle arrange in proper order in the casing, and same group the launch point of sensor is in the coplanar, each group the plane at the launch point place of sensor is parallel to each other. Through the setting, make laser radar fixed mounting on the carrier, relative carrier has fixed and great detection angle of vision, can realize surveying the target that awaits measuring in the great scope, has reduced laser radar's cost, and this laser radar simple structure, simple to operate have higher suitability.

Drawings

One or more embodiments are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which elements having the same reference numeral designations represent like elements and in which the figures are not to scale unless specifically stated.

Fig. 1 is a perspective view of a laser radar according to an embodiment of the present invention;

FIG. 2 is a front view of the lidar of FIG. 1;

FIG. 3 is a side view of the lidar of FIG. 1 in a first orientation;

FIG. 4 is a side view of the lidar of FIG. 1 in a second orientation;

FIG. 5 is an exploded view of the lidar of FIG. 1;

FIG. 6 is a schematic diagram of the operation of the sensor of the lidar of FIG. 1 in emitting a laser beam;

FIG. 7 is a schematic view of the lidar of FIG. 1 in an operating condition in which the laser beam is outwardly diverging;

fig. 8 is a perspective view of a laser radar according to another embodiment of the present invention;

fig. 9 is a perspective view of a laser radar according to another embodiment of the present invention;

fig. 10 is a perspective view of a laser radar according to another embodiment of the present invention;

FIG. 11 is a schematic view of the lidar of FIG. 10 in an operating condition in which the laser beam is outwardly diverging;

FIG. 12 is another angular perspective view of the lidar of FIG. 11;

fig. 13 is a perspective view of a laser radar according to another embodiment of the present invention.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It is noted that when an element is referred to as being "secured to"/"mounted to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "upper", "lower", "outer", "vertical", "horizontal", and the like used in this specification indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

The embodiment of the utility model provides a laser radar 100, laser radar 100 is used for to the target transmission laser signal that awaits measuring, and the receipt is by the laser signal that the target that awaits measuring reflects back, and the laser signal who sends and reflect back to its self carries out comparison, processing back, obtains the information data of the target that awaits measuring, for example, target distance, position, height, speed, gesture, shape isoparametric even to survey, trail and discernment the target.

Referring to fig. 1, fig. 1 is a perspective view illustrating a laser radar 100 according to an embodiment of the present invention. The laser radar 100 comprises a shell 10 and a plurality of sensors 20, the plurality of sensors 20 are mounted on the shell 10, the emission directions of the laser beams of the sensors 20 are different and do not intersect, and each sensor 20 can emit the laser beams towards different directions respectively, so that the laser radar 100 has a large view field to form a large sensing area, and a target to be detected in a large range can be detected.

Compare in traditional, need scan the radar structure who surveys through motor drive rotation, the embodiment of the utility model provides a laser radar 100 fixed mounting has fixed and great detection visual field on the carrier relatively, need not to rotate through device drives such as motors, can realize surveying the target that awaits measuring of great within range, has reduced laser radar 100's cost, and this laser radar 100 simple structure, simple to operate have higher suitability. Wherein, the carrier can be an unmanned automobile and the like.

The plurality of sensors 20 are divided into a plurality of groups, the plurality of groups of sensors 20 are sequentially arranged on the casing 10 along the y-axis, the emitting points of the sensors 20 in the same group are in the same plane, and the planes where the emitting points of the sensors 20 in each group are located are parallel to each other.

The number of the groups of the sensors 20 can be selected according to actual needs, and only two groups are needed; in each group, the number of the sensors 20 can be selected according to actual needs, and it is only necessary that the number of the at least two groups of sensors 20 is at least two.

Referring to fig. 2-4 together, fig. 2 is a front view of the laser radar 100, fig. 3 is a side view of the laser radar 100 in a first direction, fig. 4 is a side view of the laser radar 100 in a second direction, and specifically, an xyz three-dimensional rectangular coordinate system is taken as a reference, where an xoy plane is an elevation projection plane of the laser radar 100, an zoy plane is a side view of the laser radar 100 in the first direction, and a xoz plane is a side view of the laser radar in the second direction. The front view positions of the sensors 20 on the housing 10 coincide with the positions of the sensors 20 projected onto the xoy plane, the centers of the sensors 20 projected onto the xoy plane coincide with the center of the xoy plane, the side view positions of the sensors 20 in the first direction of the housing 10 coincide with the positions of the sensors 20 projected onto the zoy plane, and the side view positions of the sensors 20 in the second direction of the housing 10 coincide with the positions of the sensors 20 projected onto the xoz plane. The housing 10 has a first central axial plane, which coincides with the y-axis of the xoy plane, and the plurality of sets of sensors 20 are sequentially arranged in the housing 10 along the y-axis. As indicated by the dashed lines in FIG. 2, the projection of the emission points of the sensors 20 of the same group onto the xoy plane is connected to a line parallel to the x-axis, i.e., the emission points of the sensors 20 of the same group are in the same plane. The planes in which the emission points of the sets of sensors 20 lie are parallel to each other, and the plane in which the emission points of the sets of sensors 20 lie is perpendicular to the y-axis.

Referring to fig. 5, fig. 5 shows an exploded view of the laser radar 100, wherein the housing 10 is a three-dimensional half-sectional view, the housing 10 is a hollow structure, the inner side wall of the housing 10 is provided with a plurality of mounting grooves 11, the groove bottoms of the mounting grooves 11 penetrate through the side wall of the housing 10, the sensors 20 are mounted in the mounting grooves 11, one mounting groove 11 corresponds to one sensor 20, the arrangement rule of the mounting grooves 11 is consistent with the arrangement rule of the sensors 20, and the sensors 20 emit laser beams to the outside of the housing 10 through the portions of the mounting grooves 11 penetrating through the side wall of the housing 10.

Referring to fig. 6, fig. 6 shows a schematic diagram of the operation of the sensor 20 emitting the laser beam, for the sensor 20, the laser beam emitted by the sensor 20 is a sensing area in a shape of a frustum of a pyramid, the laser beam emitted by the sensor 20 has a certain angle of view α, and the angle of view α of a single sensor 20 is an included angle formed by two edges of the maximum range through which the object image of the target can pass by the laser beam, with the emitting point of the sensor 20 being a vertex. The larger the angle of view α of the laser beam emitted by the sensor 20, the wider the detection range of the sensor 20.

In the present embodiment, the angle of view α of the sensor 20 is 20 degrees.

Alternatively, the sensor 20 employs a VL53L1X sensor 20, the field angle α of the sensor 20 is 20 degrees, and the sensor 20 can be programmed to pass through a sequential range of 13 overlapping regions of interest. The VL53L1X sensor 20 may achieve optimal ranging performance under a variety of ambient lighting conditions, allowing absolute distance measurements to be made regardless of the color and reflectivity of the target under investigation, and therefore may be mounted behind a variety of overlay windows so that it may be easily integrated into the housing 10 itself. Since VL53L1X sensor 20 is relatively low in cost, the production cost of laser radar 100 can be greatly reduced by using VL53L1X sensor 20.

Referring to fig. 7, fig. 7 is a schematic diagram of a working state of the laser radar emitting the outward diverging laser beams, for convenience of understanding, a sensing area formed by the laser beams emitted by the sensors 20 in the same group is referred to as a group sensing area 201, sensing areas formed by the laser beams emitted by all the sensors 20 are referred to as a total sensing area 202, and the total sensing area 202 is a detection range of the entire laser radar 100.

In the same group of sensors 20, the size of the group sensing area 201 depends on the size of the field angle α of a single sensor 20, the number of sensors 20, and the distribution rule between the sensors 20 of the same group, wherein the distribution rule between the sensors 20 of the same group refers to a first relative position of the emission points of two adjacent sensors 20 on the housing 10, and the first relative position affects the size and the distance of the included angle between the optical axes of two adjacent sensors 20. Generally, the larger the field angle α of the individual sensor 20, the larger the group sensing area 201; the greater the number of sensors 20, the larger the group sensing area 201; the smaller the included angle and/or the smaller the distance between the optical axes of the laser beams of the two adjacent sensors 20, the larger area of interference will occur between the laser beams of the two sensors 20, and the smaller the group sensing area 201, the larger detection range can be obtained by increasing the number of the sensors 20; the larger the included angle and/or the distance between the optical axes of the laser beams of two adjacent sensors 20 is, the larger the group sensing area 201 is, but a blind area with a larger area may occur between the laser beams of the two sensors 20, which is not favorable for the detection work of the laser radar 100.

In the whole laser radar 100, the size of the total sensing area 202 depends on the size of each group of sensing areas 201, the number of the group of sensing areas 201, and the distribution rule between two adjacent groups of sensors 20, where the distribution rule between two adjacent groups of sensors 20 refers to a second relative position of two lines formed by connecting the emission points of two adjacent groups of sensors 20 on the housing 10, and the second relative position affects the size of the included angle and the size of the distance between the two adjacent groups of sensing areas 201. Generally, the larger the single group sensing area 201, the larger the total sensing area 202; the greater the number of group sensing zones 201, the greater the total sensing zone 202; the smaller the included angle and/or the smaller the distance between the group sensing areas 201 of the two adjacent groups of sensors 20, the larger area of interference will occur between the group sensing areas 201 of the two groups of sensors 20, and the smaller the total sensing area 202, the larger detection range can be obtained by increasing the number of the groups of sensors 20; the larger the included angle and/or the larger the distance between the group sensing areas 201 of the two adjacent groups of sensors 20, the larger the total sensing area 202 is, but a blind area with a larger area may occur between the group sensing areas 201 of the two groups of sensors 20, which is not favorable for the detection work of the laser radar 100.

To ensure that each sensor 20 emits a laser beam in different directions, respectively, so that the overall lidar 100 has a larger total sensing area 202, the angle between the optical axis of the laser beam of the sensor 20 and the y-axis decreases with increasing y-axis, and the angle between the optical axis of the laser beam of the sensor 20 and the x-axis decreases with increasing x-axis. Through the arrangement, the arrangement mode of all the sensors 20 on the shell 10 is reasonably planned, the emission directions of the laser beams of all the sensors 20 are different and are not intersected, and each sensor 20 can emit the laser beams towards different directions respectively, so that the laser radar 100 has a larger view angle to form a larger sensing area as a whole, and a target to be detected in a larger range can be detected; meanwhile, the area size of interference and/or blind areas between two adjacent laser beams can be reduced.

Specifically, referring back to fig. 3 and 4, on the zoy plane, taking the sensor 20 far from the o point and located on the outer ring as an example, the optical axis of the sensor 20 is extended reversely to the y axis, and it can be seen that the included angle between the optical axis of the laser beam of the sensor 20 and the y axis decreases as the y axis increases. In the xoz plane, taking the sensor 20 far from the o point and located on the outer ring as an example, the optical axis of the sensor 20 is extended to the x axis, and it can be seen that the angle between the optical axis of the laser beam of the sensor 20 and the x axis decreases as the x axis increases.

In order to enable the sensors 20 in the same group to uniformly emit laser beams outwards to form a uniform group sensing region 201, the included angle between the optical axes of the laser beams of two adjacent sensors 20 is a preset included angle, that is, the included angle between the optical axes of the laser beams of two adjacent sensors 20 is equal.

Wherein the preset included angle is greater than or equal to the size of the field angle α of the laser beam emitted by the single sensor 20. In the present embodiment, the angle of view of the sensor 20 is 20 degrees, and the preset included angle is greater than or equal to 20 degrees. Through the above arrangement, the area of the interference and/or the dead zone between two adjacent sensors 20 in the same group is further reduced, and in the same group of sensing regions 201, two adjacent laser beams are balanced between the interference and the dead zone, that is, the preset included angle between the optical axes of two adjacent laser beams is not too large and a dead zone with a large area is not generated, and is not too small and an interference with a large area is generated, as shown in fig. 7.

It is understood that in some other embodiments, the size of the field angle α of the sensor 20 can be selected according to actual needs, for example, 30 degrees, and then the preset included angle is greater than or equal to 30 degrees.

In order to avoid the phenomenon that the laser beams emitted by the sensors 20 in the same group are uneven relative to the housing 10, so that the ends, far away from the emission points, of the laser beams of the two adjacent sensors 20 have large interference and/or blind areas, the emission points of the sensors 20 in the same group are located on the same circular arc line, and the arc length formed by the connection lines of the emission points of the two adjacent sensors 20 or the chord length of the emission points are equal. Through the arrangement, after the laser beams emitted by the sensors 20 in the same group are in smooth connection with one end surface far away from the emitting point, an arc curved surface can be formed, as shown in fig. 7; meanwhile, the area size of interference and/or blind areas between two adjacent laser beams is reduced.

Furthermore, in order to reduce the interference and/or dead zone area of the group sensing regions 201 of two adjacent groups of sensors 20, so that the overall laser radar 100 has a larger total sensing region 202, in the sensors 20 of the same group, the arc length of the emission points or the chord length formed by the connection line of the emission points of two adjacent sensors 20 is equal to the arc length of the emission points or the chord length formed by the connection line of the emission points of the other group of sensors 20. Through the arrangement, the laser radar 100 has a larger detection range, and the interference between two adjacent laser beams and/or the area size of a blind area are further reduced.

For the above-mentioned housing 10, the housing 10 has a spherical structure, the plurality of sensors 20 are distributed on the spherical structure of the housing 10, and the opposite extensions of the optical axes of the laser beams of the plurality of sensors 20 all pass through the spherical center of the spherical structure of the housing 10.

Referring to fig. 1-4, in one embodiment of the present invention, the housing 10 is in a semi-spherical shape, and the spherical structure of the housing 10 is formed by connecting a plurality of circular surfaces smoothly. The housing 10 has a second central axis surface and the first central axis surface, and the plurality of sets of sensors 20 are sequentially arranged on the housing 10 along the y-axis. The plurality of sensors 20 are symmetrically distributed around the first central axis plane and also symmetrically distributed around the second central axis plane of the housing 10. The first middle axial plane is perpendicular to the second middle axial plane, the first middle axial plane is overlapped with the zoy plane, the second middle axial plane is overlapped with the xoz plane, and in the specific implementation process, the first middle axial plane is perpendicular to the ground, and the second middle axial plane is parallel to the ground.

Specifically, the sensors 20 are arranged in the housing 10 in nine groups along the y-axis, one end of the sensor 20 points to the other end of the y-axis, the nine groups of sensors 20 are sequentially grouped into a first group, a second group, a third group, a fourth group, a fifth group, a sixth group, a seventh group, an eighth group and a ninth group, and the number of the first group, the second group, the third group, the fourth group, the fifth group, the sixth group, the seventh group, the eighth group and the ninth group of sensors 20 is 1,5,7,9, 9, 9, 7, 5, 1 respectively. The fifth group of sensors 20 is located on the second medial axis plane, the first, second, third and fourth groups of sensors 20 and the sixth, seventh, eighth and ninth groups of sensors 20 are symmetrically distributed around the second medial axis plane, one of the sensors 20 of each group is located on the first medial axis plane, that is, the first medial axis plane and the second medial axis plane have nine sensors 20, respectively, so that the laser radar 100 has 180 ° fields of view on the first medial axis plane and the second medial axis plane, respectively. In the second, third, fourth, fifth, sixth, seventh and eighth groups, the planes on which the emission points of the sensors 20 of the respective groups are located are parallel to each other.

The area to be detected corresponding to the fifth group of sensors 20 is a key detection target, and the arc line corresponding to the position of the housing 10 where the fifth group of sensors 20 is located is the longest, so that the laser radar 100 obtains a better group sensing area 201 at the position of the fifth group of sensors 20, so that 9 sensors 20 are correspondingly arranged in the fifth group, and the group sensing area 201 of the fifth group of sensors 20 is approximately formed into a semicircular shape, so that the fifth group of sensors 20 can obtain the largest detection range; the number of the sensors 20 in the fourth and sixth groups is also 9, although the arc length corresponding to the position of the housing 10 where the sensors 20 in the fourth and sixth groups are respectively located is smaller than that of the fifth group, the regions to be detected corresponding to the sensors 20 in the fourth and sixth groups are also key detection targets, and a better group induction region 201 is obtained for the laser radar 100 at the position of the housing 10 where the sensors 20 in the fourth and sixth groups are located, so that the two groups are respectively provided with 9 sensors 20; with the decreasing of the arc length corresponding to the position of the shell 10 where each of the remaining groups of sensors 20 is located, the number of the sensors 20 decreases, which decreases from the third group to the first group to 7, 5, 1, and decreases from the seventh group to the ninth group to 7, 5, 1. In practical application, the first and the ninth groups are respectively located at two ends of the first middle axial plane intersected with the housing 10, and since the two ends respectively face and back to the ground, and the regions to be detected corresponding to the two ends are unnecessary detection targets, the first and the ninth groups are respectively provided with only one sensor 20, and the above-mentioned important detection target is the region to be detected, in which the laser radar 100 is most likely to detect an obstacle in practical application.

In addition, in combination with the distribution rule of the plurality of sensors 20 on the housing 10, the laser beam emitted by the laser radar 100 generally forms a hemisphere, so that the laser radar 100 can detect a large region to be detected corresponding to the hemisphere housing 10, as shown in fig. 7.

In some other embodiments, the first and ninth sets of sensors 20 may be omitted.

In some other embodiments, the spherical structure of the housing 10 may be set according to actual needs, for example, as shown in fig. 8, the spherical structure of the housing 10 is a smooth spherical surface; as shown in fig. 9, the spherical structure of the housing 10 is formed by splicing a plurality of planes.

Referring to fig. 10, in another embodiment of the present invention, the housing 10 is shaped like 1/8 sphere. The spherical structure of the casing 10 is formed by smoothly connecting a plurality of circular surfaces, the casing 10 has a first central axial surface, a plurality of sets of sensors 20 are sequentially arranged on the casing 10 along a y-axis, the y-axis coincides with the first central axial surface of the casing 10, and the plurality of sensors 20 are symmetrically distributed by taking the first central axial surface as a center. In a specific implementation process, the first middle axial plane is arranged perpendicular to the ground.

Specifically, the sensors 20 are arranged in the housing 10 in four groups along the y-axis, one end of the sensor 20 points to the other end of the y-axis along the y-axis, the four groups of sensors 20 are sequentially grouped into a first group, a second group, a third group and a fourth group, and the number of the sensors 20 in the first group, the second group, the third group and the fourth group is 1,3,4 or 4 respectively. In the second, third and fourth groups, the planes of the emission points of the sensors 20 in each group are parallel to each other.

The areas to be detected corresponding to the third and fourth groups of sensors 20 are key detection targets, and the arcs corresponding to the positions of the housing 10 where the third and fourth groups of sensors 20 are located are relatively long, so that the laser radar 100 obtains the superior group sensing areas 201 at the positions of the third and fourth groups of sensors 20, respectively, and 4 sensors 20 are correspondingly arranged in the third and fourth groups of sensors 20, so that the third and fourth groups of sensors 20 obtain the maximum detection range; with the decreasing arc length corresponding to the position of the shell 10 where each group of the rest sensors 20 are located, the number of the sensors 20 decreases, and decreases from the second group to the first group to 3 and 1 in sequence. In practical application, the first end of the housing 10, which is far away from or close to the ground and intersects with the first middle axial plane, is toward or away from the ground, and the corresponding region to be detected is an unnecessary detection target, so that only one sensor 20 is arranged in the first group.

In addition, in combination with the distribution rule of the plurality of sensors 20 in the housing 10, the laser beam emitted by the laser radar 100 generally forms an 1/8 spherical shape, so that the laser radar 100 can detect 1/8 large areas to be measured corresponding to the spherical housing 10, specifically referring to fig. 11, where fig. 11 shows a schematic diagram of a working state in which the laser radar 100 in the embodiment shown in fig. 10 emits a laser beam outwards.

In some other embodiments, the first set of sensors 20 may be omitted.

Please refer to fig. 12, fig. 12 is another perspective view of the lidar shown in fig. 10, the housing 10 is further provided with a connecting structure 11, the connecting structure 11 is used for connecting another lidar 100, so that the lidars 100 can be spliced into other shapes as required, for example, two lidars 100 are spliced into 1/4 spherical shape, four lidars 100 are spliced into hemispherical shape, and the like. Through the arrangement, the applicability of the laser radar 100 is greatly improved, and a user can splice the laser radar according to needs to meet different detection range requirements.

Referring to fig. 13, in another embodiment of the present invention, the housing 10 is in a semi-elliptical sphere shape, and different from the embodiment shown in fig. 1, opposite extension lines of the optical axes of the laser beams of the sensors 20 in the same group intersect at the same point. By combining the distribution rule of the plurality of sensors 20 in the housing 10, the laser beam emitted by the laser radar 100 generally forms a semi-elliptical sphere, so that the laser radar 100 can detect a larger region to be detected corresponding to the semi-elliptical sphere housing 10.

It is understood that in other embodiments of the present invention, the shape of the housing 10 is not limited to the above-mentioned semi-spherical shape, 1/8 spherical shape and semi-elliptical shape, and the housing 10 may have other shapes, such as semi-circular ring shape.

The embodiment of the present invention further provides a detection system, which includes the laser radar 100 as described above.

The embodiment of the utility model provides a still provide an intelligent terminal, intelligent terminal specifically are intelligent delivery vehicles such as unmanned automobile, unmanned vehicles or unmanned ship, intelligent terminal includes as above detection system.

It is above only that the utility model discloses an embodiment is not consequently the restriction the utility model discloses a patent range, all utilize the utility model discloses the equivalent structure or the equivalent flow transform that the specification and the drawing were held and are done, or direct or indirect application is in other relevant technical field, all including on the same reason the utility model discloses a patent protection scope.

Claims (11)

1. A lidar, comprising:

a housing;

the sensors are arranged in the shell in sequence along the y axis, the emitting points of the sensors in the same group are on the same plane, and the planes where the emitting points of the sensors are located are parallel to each other.

2. The lidar of claim 1, wherein an angle between an optical axis of the laser beam of the sensor and the y-axis decreases with increasing y, and an angle between the optical axis of the laser beam of the sensor and the x-axis decreases with increasing x.

3. The lidar of claim 2, wherein the included angle between the optical axes of the laser beams of two adjacent sensors in the same group is a predetermined included angle.

4. Lidar according to claim 3, wherein the predetermined angle is greater than or equal to a field angle of the laser beam emitted by the sensor.

5. The lidar of claim 2, wherein the emission points of the sensors in the same group are located on the same circular arc line, and the arc length of the emission points of two adjacent sensors or the chord length formed by the connection line of the emission points in the sensors in the same group are equal.

6. The lidar of claim 5, wherein in the sensors of the same group, the arc length of the emission point or the chord length formed by the connection line of the emission points of two adjacent sensors is equal to the arc length of the emission point or the chord length formed by the connection line of the emission points of the other group.

7. The lidar according to any of claims 1 to 6, wherein the housing has a spherical structure, the plurality of sensors are distributed on the spherical structure of the housing, and opposite extensions of optical axes of laser beams of the plurality of sensors each pass through a center of the spherical structure of the housing.

8. The lidar of claim 7, wherein the housing is hemispherical or 1/8 spherical.

9. Lidar according to any of claims 1 to 6, wherein said housing has a semi-ellipsoidal shape, and wherein opposite extensions of the optical axes of the laser beams of said sensors of a same group intersect at a same point.

10. A detection system, comprising:

the lidar of any of claims 1-9.

11. An intelligent terminal, comprising:

the detection system of claim 10.

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