CN105699985A - Single-line laser radar device - Google Patents

Abstract

The invention discloses a single-line laser radar device, which includes a radar installation device, a single-line laser radar and a carrier frame. The single-line laser radar is installed on the carrier frame through the radar installation device. The carrier frame has a preset thickness and is flat and rectangular. The carrier frame At least 3 single-line lidars are evenly distributed on one side, namely the first single-line lidar, the second single-line lidar and the third single-line lidar, and the middle of each side perpendicular to the side where the first single-line lidar is located is at least A single-line laser radar, respectively the fourth single-line laser radar and the fifth single-line laser radar; the installation position and pitch angle of the radar installation device are adjustable; after the above-mentioned radar is set, the scanning range can realize full coverage around the carrier frame, and the The above-mentioned laser radar device is used on the unmanned vehicle to complete the real-time detection of the surrounding environment of the unmanned vehicle.

Description

A single-line laser radar device

technical field

The invention belongs to the field of radar scanning detection, in particular to a single-line laser radar device.

Background technique

Unmanned vehicles rely on the sensors carried in unknown environments to collect and identify environmental data. As a new type of distance measurement method, laser radar has the advantages of fast measurement speed, high data accuracy and strong real-time performance. It can adapt to complex weather conditions such as light, rain and snow, and is widely used in the field of autonomous navigation of mobile robots. . The perception of the road environment by unmanned vehicles based on lidar is the basis for advanced tasks such as local path planning and autonomous navigation; whether obstacles, feasible areas, road signs, etc. Whether it can correctly identify the current road environment, whether it can make local path planning correctly, and whether it can correctly carry out autonomous navigation, etc.

The perception of the surrounding environment of the vehicle is a key part of unmanned vehicle driving. At present, a lot of research has been done on environment perception in the unmanned vehicle driving system. The methods mainly include environment perception using stereo vision, environment perception using laser radar and Environmental perception using multi-sensor fusion.

The principle of lidar is relatively simple. First, the laser is emitted by the laser transmitter, and then the reflected light after the laser hits the surface of the object is received, and the distance is measured by measuring the time difference between emission and reception. Due to the narrow beam, short wavelength and extremely high resolution of the laser, various information such as the emission characteristics, distance and speed of the target can be obtained. Therefore, lidar is widely used in the fields of robots and intelligent vehicles.

Compared with other detection and perception methods, the environment perception using lidar can obtain high-precision surrounding environment-related information in real time, making unmanned vehicles more effective and reliable in judging pedestrians and obstacles in the surrounding unknown environment. . Single-line laser radar can quickly and accurately obtain the environmental information on the two-dimensional horizontal plane in front of the unmanned vehicle. LiDAR detection technology.

In recent years, many people have used lidar to do a lot of related research on unmanned driving environment recognition. Most of them use 64-line lidar to measure the three-dimensional information in the environment in front of unmanned vehicles. For example: In the document "ANovelSetupMethod of 3DLIDAR for Negative Obstacle Detection in Field Environment", one 64-line lidar and two 32-line lidars are used to complete the recognition of the environment and concave obstacles on the road ahead. This method greatly reduces the blind spot of the vehicle, and the lidar scan line More detailed, but the 32-line and 64-line lidars used in this method are expensive and the cost is too high.

Contents of the invention

Aiming at the high cost, large size, and height constraints of radar installation of 64-line laser radar or two 32-line laser radars, the present invention adopts a method of rationally arranging multiple single-line laser radars to achieve real-time, accurate and comprehensive perception The surrounding environment and the pitching platform adopted make the installation of the radar not restricted by the height difference caused by different vehicle bodies. The invention provides guarantee for the environment perception and autonomous navigation of the unmanned vehicle under the premise of greatly reducing the cost.

To achieve the above object, the present invention provides the following scheme:

A single-line laser radar device, including a radar mounting device, a single-line laser radar and a carrier frame; the single-line laser radar is installed on the carrier frame through the radar mounting device, and the carrier frame is a flat rectangular shape with a preset thickness, and one side of the carrier frame is evenly distributed At least 3 single-line lidars, namely the first single-line lidar, the second single-line lidar and the third single-line lidar, and at least one single-line is distributed in the middle of each side of the two sides perpendicular to the side where the first single-line lidar is located The laser radar is the fourth single-line laser radar and the fifth single-line laser radar; the installation position and pitch angle of the radar installation device are adjustable; after the above-mentioned radar is installed, the scanning range can achieve full coverage around the carrier frame.

Optionally, the second single-line lidar and the third single-line lidar are located on the same horizontal line, the distance between the horizontal line where the first single-line lidar is located and the horizontal line where the second single-line lidar is located is greater than a set value, and the first single-line lidar The lidar is located on one side of the car body in the direction of travel.

Optionally, the single-line lidar also includes a sixth single-line lidar and a seventh single-line lidar, the sixth single-line lidar is located at the front of the vehicle body, and the seventh single-line lidar is located at the rear of the vehicle body.

Optionally, the radar installation device includes a base, a plug and a base, and the plug is hinged to the base and the base to adjust the pitch angle of the single-line lidar.

Optionally, the set value is at least 50mm.

A radar device for unmanned vehicles, including a radar installation device, a single-line laser radar and a carrier frame; the single-line laser radar is installed on the radar installation device; the single-line laser radar is installed on the carrier frame, and the radar installation device adjusts the installation position and pitch angle The single-line laser radar is realized to complete the real-time detection of the surrounding environment, and the device is applied to the unmanned vehicle.

The present invention completes the real-time detection of the surrounding environment of unmanned driving by adjusting the installation position and pitch angle of each laser radar. The cost and volume of multiple single-line laser radars used are significantly lower than those of three-dimensional laser radars (32 lines and 64 lines). reduce, and at the same time, the pitching platform adopted in the present invention makes the installation of the radar not restricted by the height difference caused by different vehicle bodies. The invention provides guarantee for the environment perception and autonomous navigation of the unmanned vehicle under the premise of greatly reducing the cost.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is the overall installation schematic diagram of the present invention;

Fig. 2 is the overall detection area rendering of the present invention;

Fig. 3 is a schematic diagram of carrier frame and front side installation of the present invention;

Fig. 4 is a schematic diagram of carrier frame and rear side installation of the present invention;

Fig. 5 is a split schematic diagram of the lidar and the pitching platform of the present invention;

Fig. 6 is a schematic diagram of the dimensions of the laser radar and pitching platform of the present invention;

Fig. 7 is a schematic diagram of the roof carrier frame of the present invention and the radar and pitching platform fixed thereon.

Figure number:

1. The sixth single-line lidar 2. The first single-line lidar 3. The third single-line lidar

4. The second single-line lidar 5. The fifth single-line lidar 6. The fourth single-line lidar

7. The seventh single-line laser radar 8. Carrier frame 9. Unmanned vehicle body

10. Single-line laser radar 11. Base 12. Plug 13. Base

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The purpose of the present invention is to provide a single-line laser radar device, including a radar mounting device, a single-line laser radar and a carrier frame as shown in Figure 1; the single-line laser radar is installed on the carrier frame by the radar mounting device, and the carrier frame has a preset thickness In the flat rectangular shape, at least three single-line lidars are evenly distributed on one side of the carrier frame, namely the first single-line lidar, the second single-line lidar and the third single-line lidar, perpendicular to the side where the first single-line lidar is located At least one single-line laser radar is distributed in the middle of each side on both sides of the grid, which are the fourth single-line laser radar and the fifth single-line laser radar; the installation position and pitch angle of the radar installation device are adjustable; after the above-mentioned radar is set, the scanning range can be realized. The four sides of the carrier frame are fully covered, and the effect achieved is shown in Figure 2, which is an overall detection area effect diagram of the present invention.

Optionally, the carrier frame 8 is a flat rectangular shape with a preset thickness, and at least three single-line laser radars are evenly distributed on one end of the carrier frame, which are respectively the first single-line laser radar 2, the second single-line laser radar 4 and the third single-line laser radar The radar 3 has at least one single-line lidar distributed between the two ends perpendicular to the end where the first single-line lidar 2 is located, which are the fourth single-line lidar 6 and the fifth single-line lidar 5 respectively.

Optionally, the second single-line laser radar 4 and the third single-line laser radar 3 are located on the same horizontal line, and the distance between the horizontal line where the first single-line laser radar 2 is located and the horizontal line where the second single-line laser radar 4 is located is greater than a set value , the first single-line laser radar 2 is located on one side of the traveling direction of the vehicle body.

Optionally, the single-line laser radar also includes a sixth single-line laser radar 1 and a seventh single-line laser radar 7. As shown in FIG. rear of the body.

Among them, the first single-line laser radar 2 of the device on the roof carrier frame is located in the middle of the front side, and is used to detect the short-distance field of view environmental information in front of the car body. The direction is fixed at the front left and front right corners of the carrier frame at a certain angle, and is used to detect the close-range field of view environmental information near the left front and right front of the car body. The fifth single-line laser radar 5 and the fourth single-line laser radar 6 are installed. They are respectively used to detect the environmental information of the right and left field of view in a certain range near the vehicle body. The sixth single-line laser radar fixed at the front of the car body is placed horizontally to detect the environmental information of the long-distance front view field of the car body, and the seventh single-line laser radar is placed horizontally to detect the environmental information of the long-distance rear view field of the car body. The sixth single-line laser radar 1 and the seventh single-line laser radar 7 are placed horizontally, and are used to detect the environmental information in front of and behind the vehicle in the horizontal direction. Carry out overall path planning.

Optionally, the radar mounting device includes a base 11, a plug 12 and a base 13 as shown in FIG. The axis is rotated to adjust the pitch angle of the lidar. The size of the radar installation device in this application is shown in Figure 6. It can be seen that the radar installation device in this application can be set with a radar inclination angle, which can be operated according to the installation height of the radar and the target distance.

Assuming that the height of the radar from the ground is h, and the angle between the radar and the direction perpendicular to the vehicle body is θ, then the distance L that the radar can scan is:

Optionally, as shown in FIG. 7 , the set value of the first single-line lidar is at least 50 mm.

A radar device for unmanned vehicles, including a radar installation device, a single-line laser radar and a carrier frame; the single-line laser radar is installed on the radar installation device; the single-line laser radar is installed on the carrier frame, and the radar installation device adjusts the installation position and pitch angle The single-line laser radar is realized to complete the real-time detection of the surrounding environment, and the device is applied to the unmanned vehicle.

The first single-line laser radar, the second single-line laser radar, the third single-line laser radar, the fourth single-line laser radar, and the fifth single-line laser radar are placed obliquely to detect the environmental information in front of the vehicle and within a certain range on the left and right sides. Although the oblique placement of the radar reduces the field of view, more effective environmental information can be obtained within its visible range. The fourth single-line laser radar and the fifth single-line laser radar are installed at a certain angle to the front of the car body, making them It can better detect the environmental information of the left and right front side fields of view of the car body. The four devices of the first single-line laser radar, the second single-line laser radar, the third single-line laser radar and the sixth single-line laser radar cover the front of the car body. In a large area, it can well detect the information in front of the car body, improve the detection of target information such as pedestrians and obstacles within the visible range, and the assisted driving system completes obstacle avoidance processing.

When carrying out specific installation, first install the roof carrier frame above the vehicle, and the installed roof carrier frame meets the following requirements:

1) The size matches the top of the vehicle where the carrier frame needs to be installed;

2) The surrounding edges of the roof carrier frame should have a certain width to facilitate the fixed installation of the pitching platform;

3) The roof carrier frame needs to be adjusted to level.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent replacements without departing from the spirit and scope of the technical solutions of the present invention shall be covered by the claims of the present invention.

Claims (6)

1. a single line laser radar installations, it is characterised in that include radar erecting device, single line laser radar and carrier rack；Described single line laser radar is arranged on described carrier rack by described radar erecting device, described carrier rack has preset thickness and is flattened rectangular shape, described carrier rack while being uniformly distributed at least 3 single line laser radars, respectively the first single line laser radar, the second single line laser radar and the 3rd single line laser radar, at least one single line laser radar of each edge intermediate distribution on the both sides vertical with the one side residing for described first single line laser radar, respectively the 4th single line laser radar and the 5th single line laser radar；Installation site and the angle of pitch of described radar erecting device are adjustable；Above-mentioned radar after arranging, sweep limits can realize carrier rack surrounding all standing。

2. laser radar apparatus according to claim 1, it is characterized in that, described second single line laser radar and described 3rd single line laser radar are positioned at same level line, distance between horizontal line residing for described first single line laser radar and the horizontal line residing for described second single line laser radar is more than setting value, and described first single line laser radar is positioned at car body direct of travel side。

3. laser radar apparatus according to claim 1, it is characterized in that, single line laser radar also includes the 6th single line laser radar and the 7th single line laser radar, and described 6th single line laser radar is positioned at Vehicular body front, and described 7th single line laser radar is positioned at rear vehicle。

4. laser radar apparatus according to claim 1, it is characterised in that described radar erecting device includes pedestal, plug and base, described plug and described pedestal, described base are hinged, to regulate the single line laser radar angle of pitch。

5. laser radar apparatus according to claim 3, it is characterised in that described setting value is at least 50mm。

6. a unmanned vehicle, it is characterised in that described unmanned vehicle includes: single line laser radar installations, described single line laser radar installations includes radar erecting device, single line laser radar and carrier rack；Described single line laser radar is arranged on described carrier rack by described radar erecting device, described carrier rack is the flattened rectangular shape with preset thickness, described carrier rack while being uniformly distributed at least 3 single line laser radars, respectively the first single line laser radar, the second single line laser radar and the 3rd single line laser radar, at least one single line laser radar of each edge intermediate distribution on the both sides vertical with the one side residing for described first single line laser radar, respectively the 4th single line laser radar and the 5th single line laser radar；Installation site and the angle of pitch of described radar erecting device are adjustable；Above-mentioned radar after arranging, sweep limits can realize carrier rack surrounding all standing。