WO2018039987A1 - Three-dimensional laser radar system - Google Patents

Abstract

A three-dimensional laser radar system (10), comprising: multiple three-dimensional laser radars (100) spaced apart from one another, respectively being used for detecting different directions of an ambient environment of a target object so as to obtain initial coordinate system position information about a corresponding detected object, wherein the sum of the detection azimuths of the multiple three-dimensional laser radars (100) is greater than or equal to 360 degrees; a fixing device (200) for keeping the relative positional relationship among the multiple three-dimensional laser radars (100) unchanged and keeping the relative positional relationship between the multiple three-dimensional laser radars (100) and a target position unchanged; and a control device (300) for unifying, according to the relative positional relationship between the multiple three-dimensional laser radars (100) and the target position, the initial coordinate system position information in a coordinate system taking the target position as a coordinate origin, so as to obtain test data in a single coordinate system.

Description

3D laser radar system

[Technical Field]

The invention relates to the field of laser detection technology, and in particular to a three-dimensional laser radar system.

【Background technique】

The traditional 3D laser radar is mostly laser radar based on laser phased array technology, which is expensive. Moreover, the laser phased array technology can only adjust the exit angle of the laser within a limited angle range, so that the surrounding environment of the target object cannot be fully detected.

[Summary of the Invention]

Based on this, it is necessary to provide a three-dimensional laser radar system that is low-cost and capable of 360-degree detection of the surrounding environment of the target object.

A three-dimensional laser radar system includes: a plurality of three-dimensional laser radars; the plurality of three-dimensional laser radars are spaced apart from each other; the plurality of three-dimensional laser radars are respectively used for detecting different orientations of a surrounding environment of the target object to obtain corresponding Detecting initial coordinate system position information of the object; the sum of the detected azimuth angles of the plurality of three-dimensional laser radars is greater than or equal to 360 degrees; and fixing means connected to the plurality of three-dimensional laser radars for maintaining the plurality of three-dimensional lasers The relative positional relationship between the radars remains unchanged, and the relative positional relationship between the plurality of three-dimensional lidars and the target position is maintained; and control means are respectively connected to the plurality of three-dimensional laser radars for receiving the Initial coordinate system position information and acquiring a relative positional relationship between the plurality of three-dimensional laser radars and a target position; the control device is further configured to use the initial coordinate system according to a relative positional relationship between the plurality of three-dimensional laser radars and a target position Position information is unified into a coordinate system with the target position as a coordinate origin to obtain a single coordinate system Test Data.

The above three-dimensional laser radar system is provided with a plurality of three-dimensional laser radars to respectively detect different orientations of the surrounding environment of the target object to obtain an initial coordinate system position of the corresponding detected object. The sum of the detected azimuth angles of the plurality of three-dimensional laser radars is greater than or equal to 360 degrees, so that 360-degree detection of the surrounding environment of the target object can be performed. The fixing device is used to ensure that the relative positional relationship of the plurality of three-dimensional laser radars remains unchanged and maintain the relative positional relationship between the plurality of three-dimensional laser radars and the target position. Therefore, the control device can unify the initial coordinate system position information of each detected object to the coordinate system with the target position as the origin according to the relative positional relationship between the three-dimensional lidar and the target position, to obtain test data in a single coordinate system, and complete Comprehensive coverage of the surrounding environment of the target object. With the above-mentioned three-dimensional laser radar system, the requirements for the three-dimensional laser radar are low, thereby greatly reducing the cost.

[Description of the 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 embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and those skilled in the art can obtain drawings of other embodiments according to the drawings without any creative work.

1 is a block diagram showing the structure of a three-dimensional laser radar system in an embodiment;

2 is a structural block diagram of a three-dimensional laser radar in an embodiment;

3 is a perspective exploded view of a three-dimensional laser radar in an embodiment;

4 is a schematic view showing the arrangement of a plurality of three-dimensional laser radars in an embodiment;

Figure 5 is a front elevational view of the fixing device in an embodiment;

Figure 6 is a side view of the fixing device of Figure 5;

Figure 7 is a top plan view of the fixture of Figure 5.

 【detailed description】

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

1 is a block diagram showing the structure of a three-dimensional laser radar system 10 in an embodiment. The three-dimensional lidar system 10 is used to achieve 360-degree detection of the surrounding environment of the target object. The target object can be a static object or an object in motion, such as a drone, a car, a mobile robot, etc., thereby performing a 360-degree scanning perception on the surrounding environment of the target object to ensure that the target object can be avoided in time during the movement. Open obstacles in the surrounding environment. Referring to FIG. 1, the three-dimensional laser radar system 10 includes a three-dimensional laser radar 100, a fixture 100, and a control device 300.

There are a plurality of three-dimensional laser radars 100. The plurality of three-dimensional laser radars 100 are independently arranged from each other. And the plurality of three-dimensional lidars 100 respectively detect different orientations of the environment surrounding the target object to obtain initial coordinate system position information of the detected object in the detection area. The detected object, that is, the object detected by the three-dimensional lidar 100, is capable of occluding the laser light emitted by the three-dimensional laser radar 100, thereby forming the reflected laser light to be received by the three-dimensional laser radar 100. The three-dimensional laser radar 100 can determine the relative distance relationship between the detected object and the three-dimensional laser radar 100 according to the reflected laser light, and obtain the corresponding initial coordinate system position information according to the relative distance relationship. The initial coordinate system of the positional relationship of the initial coordinate system may adopt the world coordinates uniformly, or may establish an independent coordinate system according to the respective positional relationships. The sum of the detected azimuth angles of the plurality of three-dimensional lidars 100 is greater than or equal to 360 degrees, thereby achieving 360-degree detection of the environment around the target object. By 360-degree detection of the surrounding environment of the target object by a plurality of three-dimensional laser radars 100, the performance requirements for the three-dimensional laser radar can be reduced. Therefore, the three-dimensional laser radar 100 can be implemented by using the currently used laser radar 100, thereby achieving low cost.

2 is a structural block diagram of a three-dimensional laser radar 100 in an embodiment, and FIG. 3 is a perspective exploded view of the three-dimensional laser radar 100 in an embodiment. The three-dimensional laser radar 100 is a phase-type three-dimensional laser radar based on an area array optical detector. The three-dimensional laser radar 100 includes a laser emission driving circuit 110, a laser emitter array 120, a laser emission collimating array 130, a laser receiving collimating device 140, a laser ranging unit array 150, a control circuit 160, a temperature sensor 170, and an output device 180. And a power supply device 190. The laser emission driving circuit 110, the laser emitter array 120, and the laser ranging unit array 150 are all disposed on the first circuit board 102; the control circuit 160, the temperature sensor 170, the output device 180, and the power supply device 190 are all disposed in the second On the circuit board 104. By arranging the optical system and the control circuit system on different circuit boards, it is easy to reduce mutual interference and improve system stability.

The laser emission driving circuit 110 is for generating a laser signal. In the present embodiment, the laser emission driving circuit 110 also modulates the generated laser signal to output the modulated laser signal.

The laser emitter array 120 is for receiving a laser signal output from the laser emission driving circuit 110 and emitting the laser signal outward. The laser emitter array 120 includes a plurality of laser emitters 122. Multiple laser emitters are placed at different locations on the same plane. Each laser emitter emits a laser signal outward. In the present embodiment, a plurality of laser emitters 122 are circumferentially distributed at the periphery of the laser ranging unit array 150. The laser ranging unit array 150 then includes a plurality of laser ranging units (not shown). The laser ranging unit array 150 is chip level integrated. The number of laser emitters 122 and the number of laser ranging units in the laser ranging unit array 150 can be adjusted as needed. In the present embodiment, the laser emitter array 120 is provided with eight laser emitters 122. The number of the laser emitters 122 and the laser ranging unit located in the plane of the first circuit board 102 is adjustable, so that the measured point cloud density is controllable, and thus different settings can be made according to different situations and different precision requirements.

A laser emission collimating array 130 is disposed on the exiting light side of the laser emitter array 120 for collimating the laser signals emitted by the laser emitter array 120. The laser emission collimation array 130 includes a plurality of independent emission collimation units 132. Each of the emission collimation units 132 is disposed corresponding to one of the laser emitters 122 to collimate the laser signals emitted by the laser emitters 122. In this embodiment, the emission collimation unit 132 can be a collimating wafer. The collimating wafer is parallel to the plane in which the laser emitter array 120 is located. In other embodiments, the plurality of emission collimating units 132 may also be fixed by a fixing device according to a preset relative positional relationship to form a whole for installation.

The laser receiving collimating device 140 is disposed on the incident light side of the laser ranging unit array 150 for focusing the laser signal reflected by the detecting object to be sent to the laser ranging unit array 150 for sampling. The laser receiving collimating device 140 includes a lens barrel 142 and a collimating wafer 144. A collimating wafer 144 is secured within the barrel 142 for focusing the reflected laser signal. The collimating wafer 144 may be plural and spaced apart in the direction of the incident light. In the present embodiment, the lens barrel 142 is tapered in the direction of the incident light. The collimating wafer 144 is disposed at the shoulder position of the lens barrel 142. By setting the laser receiving collimating device 140 to be tapered, it is advantageous to collect the reflected laser signal.

The laser ranging unit array 150 is used for independently sampling the laser signal reflected by the detecting object. The laser ranging unit array 150 includes a plurality of laser ranging units. A plurality of laser ranging units are also disposed at different positions on one plane. In this embodiment, the laser ranging unit array 150 and the laser emitter array 120 are disposed on the same plane. In other embodiments, the laser ranging unit array 150 and the laser emitter array 120 may also be respectively disposed in two parallel on flat surface. The laser ranging unit can determine the relative distance information between the detecting object and the laser ranging unit according to the received laser signal, and output the information to the control circuit 160. The laser ranging unit array 150 can also control the laser emission driving circuit 110 to control its output target laser signal.

The control circuit 160 receives the relative distance information output by the laser ranging unit array 150, and unifies the relative distance information into the world coordinate system to obtain the initial coordinate system position information of the target measurement object, thereby completing the ranging process. The process in which the control circuit 160 unifies the obtained relative distance information to the world coordinate system can be implemented by using an existing control technique, which is not described herein. In this embodiment, the control circuit 160 can also control the sampling process of the laser ranging unit array 150 so that it is sampled according to the setting of the control circuit 160, and the ranging operation is sequentially collected and completed. The control circuit 160 unifies the received relative distance information to the world coordinate system to obtain initial coordinate system position information, and fuses the obtained data information into one data set. Control circuit 160 through ICP (Iterative Closest Point, Near Point Search Method) Calculates the initial coordinate system position information measured by the 3D laser radar 100.

In the present embodiment, the three-dimensional laser radar 100 further includes a temperature sensor 170. The temperature sensor 170 is used to sample the temperature of the three-dimensional laser radar 100 and obtain a temperature signal, which is then output to the control circuit 160. The control circuit 160 corrects the obtained initial coordinate system position information based on the temperature signal. Specifically, a storage unit is provided in the control circuit 160. The storage unit is used to store a temperature correction table. The correction parameters corresponding to different temperatures are stored in the temperature correction table. Therefore, the control circuit 160 searches the temperature correction table for the corresponding correction parameter according to the temperature signal collected by the temperature sensor 170, thereby correcting the initial coordinate system position information.

The control circuit 160 outputs the corrected initial coordinate system position information to the control device 300 and other external devices through the output device 180. The output device 180 may be a wireless communication module or a wired output port, or may be configured with a wireless communication module and a wired output port at the same time. For example, the output device 180 can be a USB interface (USB 2.0 and USB 3.0, etc.), WIFI module, Bluetooth module, 2.4G wireless module, 5G wireless module and Ethernet port.

The power supply unit 190 is for supplying operating power to the three-dimensional laser radar 100. The power supply device 190 can be a built-in independently replaceable power supply module, or can be a power supply module including a rechargeable medium.

The three-dimensional laser radar 100 described above can measure the distribution of obstacles in the space without rotation. Compared with the traditional 3D laser radar, it does not need to provide rotating parts, the structure is relatively simple and not easy to wear, and the product stability is good, so that the stability of the three-dimensional laser radar system 10 can be improved and the service life thereof can be prolonged.

The fixing device 200 is connected to the plurality of three-dimensional laser radars 100 for maintaining the phase positional relationship between the plurality of three-dimensional laser radars 100 unchanged, and maintaining the relative positional relationship between the three-dimensional laser radar 100 and the target position. By ensuring that the relative positional relationship between the three-dimensional laser radar 100 and between the three-dimensional laser radar 100 and the target position remains unchanged, the control device 200 is facilitated to perform data processing to improve the data processing speed and improve the detection result output efficiency. In the present embodiment, the target position is the center position of the plurality of three-dimensional laser radars 100. Moreover, the relative positional relationship between the center position and the target object remains unchanged. In other embodiments, the target location can be adjusted as needed. In an embodiment, the fixture 200 includes a plurality of stationary units. Each fixed unit is used to fix a three-dimensional laser radar 100, and a plurality of three-dimensional laser radars 100 are fixed on the same horizontal plane. 4 is a schematic view showing the arrangement of a plurality of three-dimensional laser radars 100 in an embodiment. In order to facilitate the arrangement of the arrangement of the plurality of three-dimensional laser radars 100, the plurality of three-dimensional laser radars 100 are separated from the target object, that is, the automobile, and thus a schematic diagram of the fixing device 200 is not shown. The plurality of three-dimensional laser radars 100 can be dispersed and fixed around the target object by a plurality of fixing units to detect different orientations.

The plurality of three-dimensional laser radars 100 may also be combined by the fixing device 200 and fixed as a whole at a position (such as a top) on the target object where the surrounding environment is easily detected. 5 is a front view of the fixing device 200 in an embodiment, FIG. 6 is a side view of FIG. 5, and FIG. 7 is a plan view of FIG. The fixing device 200 includes a housing 210 and a fixing unit (not shown). The fixed unit and the plurality of three-dimensional laser radars 100 are both disposed inside the housing 210. The fixed unit is used to fix the three-dimensional laser radar 100 and maintain the relative positional relationship between the plurality of three-dimensional laser radars 100. An opening 220 is provided in the housing 210 at a position corresponding to the three-dimensional laser radar 100 for the entrance and exit of the laser. In the present embodiment, the housing 210 is a cylinder. In other embodiments, the housing 210 can also be a sphere or other regular multi-faceted cylinder.

The control device 300 is used to connect to a plurality of three-dimensional laser radars 100. The control device 300 is configured to receive initial coordinate system position information output by each of the three-dimensional laser radars 100. The control device 300 also acquires the relative positional relationship between each of the three-dimensional laser radars 100 and the target position. The control device 300 can unify the obtained initial coordinate system position information into a coordinate system with the target position as the coordinate origin according to the relative positional relationship, to obtain test data in a single coordinate system, and complete comprehensive coverage of the surrounding environment of the target object. probe. In an embodiment, the control device 300 further includes a compensation unit for compensating for overlapping regions in the test data to improve the accuracy of the test. The control device 300 can be fixed to the target object, and can be set to a remote control terminal that is set independently of the target object.

The three-dimensional laser radar system 10 is provided with a plurality of three-dimensional laser radars 100 for respectively detecting different orientations of the surrounding environment of the target object to obtain an initial coordinate system position of the corresponding probe. The sum of the detected azimuth angles of the plurality of three-dimensional laser radars 100 is greater than or equal to 360 degrees, thereby performing 360-degree detection on the surrounding environment of the target object. The fixing device 200 is used to ensure that the relative positional relationship of the plurality of three-dimensional laser radars 100 remains unchanged and maintain the relative positional relationship between the plurality of three-dimensional laser radars 100 and the target position. Therefore, the control device 300 can unify the initial coordinate system position information of each probe to the coordinate system with the target position as the origin according to the relative positional relationship between the three-dimensional lidar 100 and the target position, to obtain test data in a single coordinate system. , complete the full coverage detection of the surrounding environment of the target object. With the above-described three-dimensional laser radar system 10, the requirement for the three-dimensional laser radar is lower, thereby greatly reducing the cost.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims (20)

A three-dimensional lidar system comprising: a plurality of three-dimensional laser radars; the plurality of three-dimensional laser radars are arranged at intervals; the plurality of three-dimensional laser radars are respectively used for detecting different orientations of the surrounding environment of the target object to obtain initial coordinate system position information of the corresponding detected object; The sum of the detected azimuth angles of the plurality of three-dimensional lidars is greater than or equal to 360 degrees; a fixing device connected to the plurality of three-dimensional laser radars for maintaining a relative positional relationship between the plurality of three-dimensional laser radars and maintaining a relative positional relationship between the plurality of three-dimensional laser radars and a target position Change; Control means respectively connected to the plurality of three-dimensional laser radars for receiving the initial coordinate system position information and acquiring a relative positional relationship between the plurality of three-dimensional laser radars and a target position; the control device is further configured to The relative positional relationship between the plurality of three-dimensional lidars and the target position is unified into the coordinate system with the target position as the coordinate origin to obtain test data in a single coordinate system. The three-dimensional laser radar system according to claim 1, wherein said control means further comprises a compensation unit for compensating for an overlapping area of the test data. The three-dimensional laser radar system according to claim 1, wherein said fixing means comprises a plurality of fixing units; each fixing unit is for fixing a three-dimensional laser radar; said plurality of fixing units are for The plurality of three-dimensional laser radars are fixed on the same horizontal plane. The three-dimensional laser radar system according to claim 1, wherein said fixing means comprises a housing and a fixing unit; said fixing unit and said plurality of three-dimensional laser radars are disposed in said housing; said fixing The unit is configured to fix the plurality of three-dimensional laser radars and maintain a relative positional relationship between the plurality of three-dimensional laser radars; an opening is provided on the casing corresponding to the three-dimensional laser radar for the laser The difference. The three-dimensional laser radar system according to claim 4, wherein the housing is a sphere, a cylinder or a multi-faceted cylinder. The three-dimensional laser radar system according to claim 1, wherein the plurality of three-dimensional laser radars are phase three-dimensional laser radars based on area array optical detectors. The three-dimensional laser radar system according to claim 6, wherein the three-dimensional laser radar comprises: a laser emission driving circuit for generating a laser signal; a laser emitter array coupled to the laser emission drive circuit; the laser emitter array comprising a plurality of laser emitters for transmitting a plurality of the laser signals to different orientations; the plurality of laser emitters being disposed in the same on flat surface; The laser ranging unit array includes a plurality of laser ranging units for independently sampling laser signals reflected by the detecting objects in the detecting orientation; the plurality of laser ranging units are disposed on the same plane; The distance unit is further configured to determine relative distance information between the detecting object and the laser ranging unit according to the sampled laser signal; a control circuit coupled to the array of laser ranging units to receive relative distance information output by each of the laser ranging units; the control circuit configured to unify the relative distance information into a world coordinate system to obtain the The initial coordinate system position information of the detected object. The three-dimensional laser radar system according to claim 7, wherein said plurality of laser emitters and said plurality of laser ranging units are disposed on a same plane. The three-dimensional laser radar system according to claim 8, wherein said plurality of laser emitters are spaced apart from each other at a periphery of said plurality of laser ranging units; said plurality of laser emitters being disposed at equal intervals in a ring shape. The three-dimensional laser radar system according to claim 7, wherein the three-dimensional laser radar further comprises: a laser emission collimating array disposed on an exiting light side of the laser emitter array for collimating a laser signal emitted by the laser emitter array; A laser receiving collimating device is disposed on an incident light side of the laser ranging unit array for focusing a laser signal reflected by the detecting object. The three-dimensional laser radar system according to claim 10, wherein said laser emission collimating array comprises a plurality of independent emission collimating units; each of said transmitting collimating units is disposed corresponding to one of said laser emitters . The three-dimensional laser radar system of claim 11 wherein said emission collimation unit comprises a collimating wafer parallel to a plane of said laser emitter array. The three-dimensional laser radar system according to claim 10, wherein said laser receiving collimating means comprises a lens barrel and a collimating wafer fixed to said lens barrel for focusing the reflected laser signal. The three-dimensional laser radar system according to claim 13, wherein said collimating wafers are plural and spaced apart in the direction of incident light. The three-dimensional laser radar system according to claim 14, wherein said lens barrel is tapered in a direction of said incident light, and said collimating wafer is disposed at a shoulder position of said lens barrel. A three-dimensional laser radar system according to claim 7, wherein said three-dimensional laser radar further comprises a first circuit board and a second circuit board; said laser emission driving circuit, said laser emitter array and said laser The ranging unit arrays are each disposed on the first circuit board; the control circuit is disposed on the second circuit board. A three-dimensional laser radar system according to claim 16, further comprising a temperature sensor coupled to said control circuit; said temperature sensor for collecting a temperature signal of said three-dimensional laser radar; said control circuit further After correcting the initial coordinate system position information according to the temperature signal, the corrected initial coordinate system position information is output. A three-dimensional laser radar system according to claim 17, wherein said control circuit further comprises a storage unit; said storage unit is operative to store a temperature correction table; said control circuit is operative to use said temperature signal from said The corresponding correction parameters are searched in the temperature correction table to correct the initial coordinate system position information. The three-dimensional laser radar system according to claim 7, wherein said three-dimensional laser radar further comprises an output device; said output device being connected to said control circuit and for connecting to said control device; said output device The initial coordinate system position information is output to the control device under the control of the control circuit. The three-dimensional laser radar system according to claim 7, wherein said laser radar further comprises a power supply device for supplying operating power to said three-dimensional laser radar.