CN110658527A - LiDAR, Autonomous Mobile Robots and Smart Vehicles - Google Patents
LiDAR, Autonomous Mobile Robots and Smart VehiclesDownload PDFInfo
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01S17/08—Systems determining position data of a target for measuring distance only
- G—PHYSICS
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及检测技术领域，尤其是涉及一种激光雷达、自主移动机器人及智能车辆。The invention relates to the technical field of detection, in particular to a laser radar, an autonomous mobile robot and an intelligent vehicle.
背景技术Background technique
对于测量范围较近(例如数米以内)的低价距离传感器，目前常见的解决方案包括超声波测距和红外LED(Light Emitting Diode，发光二极管)三角法测距。超声波测距是通过测量超声波脉冲从发射到经过待测目标反射后返回所需的时间，利用空气声速解算出所测距离。超声波距离传感器低价可靠，技术成熟，但受超声波物理特性限制，它能提供的采样速率较慢，而且角分辨率极低，所得测量结果无法用于点云成像及后续智能处理。常见的低价红外LED三角法通过测量目标点与固定基准线的已知端点的角度来获得目标距离。受光源强度和光电器件尺寸的限制，这种测距方案的测量范围和精度都很有限，也难以用于点云成像。For low-cost distance sensors with a relatively short measurement range (eg, within a few meters), common solutions at present include ultrasonic ranging and infrared LED (Light Emitting Diode, light-emitting diode) triangulation ranging. Ultrasonic ranging is by measuring the time it takes for the ultrasonic pulse to return from the launch to the reflection of the target to be measured, and to calculate the measured distance by using the speed of sound in the air. Ultrasonic distance sensors are low-cost, reliable, and mature in technology. However, limited by the physical characteristics of ultrasonic waves, they can provide a slow sampling rate and extremely low angular resolution. The measurement results obtained cannot be used for point cloud imaging and subsequent intelligent processing. A common low-cost infrared LED triangulation method obtains the target distance by measuring the angle of the target point with a known endpoint of a fixed reference line. Limited by the intensity of the light source and the size of optoelectronic devices, the measurement range and accuracy of this ranging scheme are limited, and it is also difficult to use for point cloud imaging.
要获得高空间分辨率点云成像，最佳方案是基于激光测距的激光雷达。目前市场上常见的近距激光雷达都采用分立的光电子元件组装制造，例如分立的激光源、光电检测器、信号处理电路等等，存在成本高昂和制造过程复杂等问题。To obtain high spatial resolution point cloud imaging, the best solution is lidar based on laser ranging. At present, the common short-range lidars on the market are assembled and manufactured with discrete optoelectronic components, such as discrete laser sources, photoelectric detectors, signal processing circuits, etc., which have problems such as high cost and complex manufacturing process.
发明内容SUMMARY OF THE INVENTION
有鉴于此，本发明的目的在于提供一种激光雷达、自主移动机器人及智能车辆，以提高测距时的角分辨率，降低激光雷达的成本和制造难度。In view of this, the purpose of the present invention is to provide a laser radar, an autonomous mobile robot and an intelligent vehicle, so as to improve the angular resolution during ranging and reduce the cost and manufacturing difficulty of the laser radar.
第一方面，本发明实施例提供了一种激光雷达，包括测距单元；所述测距单元包括光电式接近传感器芯片和准直聚焦元件，所述准直聚焦元件设置在所述测距单元的测距光路中；其中，所述测距光路包括所述光电式接近传感器芯片的发射窗口与待测物之间的发射光路和待测物与所述光电式接近传感器芯片的接收窗口之间的接收光路；In a first aspect, an embodiment of the present invention provides a lidar, including a ranging unit; the ranging unit includes an optoelectronic proximity sensor chip and a collimation focusing element, and the collimating focusing element is disposed on the ranging unit In the distance measuring optical path; wherein, the ranging optical path includes the emission optical path between the emission window of the photoelectric proximity sensor chip and the object to be measured and the distance between the object to be measured and the receiving window of the photoelectric proximity sensor chip the receiving optical path;
所述测距单元通过所述发射窗口发出激光光束，所述激光光束经所述准直聚焦元件的准直或聚焦以及待测物的反射后由所述接收窗口接收，以实现对待测物的距离测量。The ranging unit emits a laser beam through the emission window, and the laser beam is collimated or focused by the collimating focusing element and reflected by the object to be measured and then received by the receiving window, so as to realize the detection of the object to be measured. distance measurement.
结合第一方面，本发明实施例提供了第一方面的第一种可能的实施方式，其中，所述准直聚焦元件包括准直元件，所述准直元件设置在所述发射光路中，用于对从所述发射窗口发出的激光光束进行准直；With reference to the first aspect, the embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the collimating and focusing element includes a collimating element, and the collimating element is arranged in the emission light path, using for collimating the laser beam emitted from the emission window;
从所述发射窗口发出的激光光束射入到所述准直元件，经所述准直元件准直后变为准直光束射向待测物。The laser beam emitted from the emission window is incident on the collimating element, and after being collimated by the collimating element, it becomes a collimated beam and radiates to the object to be measured.
结合第一方面或其第一种可能的实施方式，本发明实施例提供了第一方面的第二种可能的实施方式，其中，所述准直聚焦元件还包括聚焦元件，所述聚焦元件设置在所述接收光路中，用于将待测物反射的反射光束聚焦到所述接收窗口。In combination with the first aspect or the first possible implementation manner thereof, the embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein the collimating focusing element further includes a focusing element, and the focusing element is provided with In the receiving optical path, the reflected light beam reflected by the object to be tested is focused on the receiving window.
结合第一方面，本发明实施例提供了第一方面的第三种可能的实施方式，其中，所述激光雷达还包括光束偏转装置，所述光束偏转装置用于对所述测距单元发出的激光光束进行设定范围内的偏转。In conjunction with the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the lidar further includes a beam deflection device, and the beam deflection device is used to detect the light emitted by the ranging unit. The laser beam is deflected within a set range.
结合第一方面的第三种可能的实施方式，本发明实施例提供了第一方面的第四种可能的实施方式，其中，所述光束偏转装置包括偏转平台；所述测距单元设置在所述偏转平台上；In conjunction with the third possible implementation manner of the first aspect, the embodiment of the present invention provides the fourth possible implementation manner of the first aspect, wherein the beam deflection device includes a deflection platform; the ranging unit is arranged at the on the deflection platform;
所述偏转平台用于带动所述测距单元进行偏转。The deflection platform is used for driving the ranging unit to deflect.
结合第一方面的第三种可能的实施方式，本发明实施例提供了第一方面的第五种可能的实施方式，其中，所述光束偏转装置包括偏转反射镜或旋转双棱镜；所述偏转反射镜或所述旋转双棱镜设置在所述发射光路中；In conjunction with the third possible implementation manner of the first aspect, the embodiment of the present invention provides the fifth possible implementation manner of the first aspect, wherein the beam deflection device includes a deflection mirror or a rotating double prism; the deflection A reflector or the rotating biprism is arranged in the emission light path;
所述偏转反射镜用于对所述激光光束进行反射偏转；所述旋转双棱镜用于对所述激光光束进行折射偏转。The deflection mirror is used for reflecting and deflecting the laser beam; the rotating biprism is used for refraction and deflection of the laser beam.
结合第一方面的第三种可能的实施方式，本发明实施例提供了第一方面的第六种可能的实施方式，其中，所述光束偏转装置包括平移电机，所述平移电机与所述准直聚焦元件连接；In conjunction with the third possible implementation manner of the first aspect, the embodiment of the present invention provides the sixth possible implementation manner of the first aspect, wherein the beam deflection device includes a translation motor, and the translation motor is connected to the aligner Straight focus element connection;
所述平移电机用于带动所述准直聚焦元件在与所述光电式接近传感器芯片平行的平面上进行平移。The translation motor is used to drive the collimation and focus element to translate on a plane parallel to the photoelectric proximity sensor chip.
结合第一方面，本发明实施例提供了第一方面的第七种可能的实施方式，其中，所述准直聚焦元件包括准直透镜、凹面反射镜或微透镜阵列。In conjunction with the first aspect, the embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the collimating focusing element includes a collimating lens, a concave mirror or a microlens array.
第二方面，本发明实施例还提供一种自主移动机器人，包括如上述第一方面或其任一种可能的实施方式所述的激光雷达。In a second aspect, an embodiment of the present invention further provides an autonomous mobile robot, including the lidar as described in the first aspect or any possible implementation manner thereof.
第三方面，本发明实施例还提供一种智能车辆，包括如上述第一方面或其任一种可能的实施方式所述的激光雷达。In a third aspect, an embodiment of the present invention further provides an intelligent vehicle, including the lidar as described in the first aspect or any possible implementation manner thereof.
本发明实施例带来了以下有益效果：The embodiments of the present invention have brought the following beneficial effects:
本发明实施例中，激光雷达包括测距单元；测距单元包括光电式接近传感器芯片和准直聚焦元件，准直聚焦元件设置在测距单元的测距光路中；其中，测距光路包括光电式接近传感器芯片的发射窗口与待测物之间的发射光路和待测物与光电式接近传感器芯片的接收窗口之间的接收光路；测距单元通过发射窗口发出激光光束，激光光束经准直聚焦元件的准直或聚焦以及待测物的反射后由接收窗口接收，以实现对待测物的距离测量。相较于由分立元件组装的其它激光雷达产品方案，由于该激光雷达使用的光电式接近传感器芯片可以是已量产的高度集成的芯片，因此该激光雷达具有低成本、小体积、低功耗的优点，结构简单，制造难度低；与超声波和红外LED方案相比，该激光雷达通过准直聚焦元件聚焦了探测激光束，可以获得常规尺寸的超声波传感器无法获得的极高的角分辨率。因此，本发明实施例提供的激光雷达、自主移动机器人及智能车辆，提高了测距时的角分辨率，降低了激光雷达的成本和制造难度。In the embodiment of the present invention, the laser radar includes a ranging unit; the ranging unit includes an optoelectronic proximity sensor chip and a collimating focusing element, and the collimating focusing element is arranged in the ranging optical path of the ranging unit; wherein, the ranging optical path includes an optoelectronic The transmitting optical path between the transmitting window of the proximity sensor chip and the object to be measured and the receiving optical path between the object to be measured and the receiving window of the photoelectric proximity sensor chip; the ranging unit emits a laser beam through the transmitting window, and the laser beam is collimated The collimation or focusing of the focusing element and the reflection of the object to be measured are received by the receiving window to realize the distance measurement of the object to be measured. Compared with other lidar product solutions assembled by discrete components, since the photoelectric proximity sensor chip used in this lidar can be a highly integrated chip that has been mass-produced, the lidar has low cost, small size, and low power consumption. Compared with ultrasonic and infrared LED solutions, this lidar focuses the detection laser beam through a collimating focusing element, and can obtain extremely high angular resolution that cannot be obtained by conventional-sized ultrasonic sensors. Therefore, the laser radar, the autonomous mobile robot, and the intelligent vehicle provided by the embodiments of the present invention improve the angular resolution during ranging, and reduce the cost and manufacturing difficulty of the laser radar.
本发明的其他特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点在说明书以及附图中所特别指出的结构来实现和获得。Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the description and drawings.
为使本发明的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below, and are described in detail as follows in conjunction with the accompanying drawings.
附图说明Description of drawings
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description The drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.
图1为现有技术中光电式接近传感器芯片的工作原理示意图；1 is a schematic diagram of the working principle of a photoelectric proximity sensor chip in the prior art;
图2为本发明实施例提供的一种激光雷达的工作原理示意图；FIG. 2 is a schematic diagram of the working principle of a laser radar according to an embodiment of the present invention;
图3为本发明实施例提供的另一种激光雷达的工作原理示意图；FIG. 3 is a schematic diagram of the working principle of another laser radar according to an embodiment of the present invention;
图4为本发明实施例提供的另一种激光雷达的工作原理示意图；FIG. 4 is a schematic diagram of the working principle of another laser radar according to an embodiment of the present invention;
图5为本发明实施例提供的一种带有偏转平台的激光雷达的结构示意图；5 is a schematic structural diagram of a lidar with a deflection platform provided by an embodiment of the present invention;
图6为本发明实施例提供的一种带有偏转反射镜的激光雷达的结构示意图；6 is a schematic structural diagram of a lidar with a deflection mirror provided by an embodiment of the present invention;
图7为本发明实施例提供的一种带有旋转双棱镜的激光雷达的结构示意图；7 is a schematic structural diagram of a lidar with a rotating biprism provided by an embodiment of the present invention;
图8为本发明实施例提供的一种带有平移电机的激光雷达的结构示意图。FIG. 8 is a schematic structural diagram of a laser radar with a translation motor according to an embodiment of the present invention.
图标：icon:
100-光电式接近传感器芯片；101-发射窗口；102-接收窗口；201-准直元件；202-聚焦元件；301-偏转平台；302-偏转反射镜；303-旋转双棱镜；304-平移电机。100-photoelectric proximity sensor chip; 101-transmitting window; 102-receiving window; 201-collimating element; 202-focusing element; 301-deflection platform; 302-deflection mirror; 303-rotating double prism; 304-translation motor .
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
光电式接近传感器芯片已经将激光源、光敏器件、控制电路和信号处理电路高度集成在一块面积体积都很小的芯片上。图1为现有技术中光电式接近传感器芯片的工作原理示意图，如图1所示，光电式接近传感器芯片(简称为芯片)发射窗口处的激光源(图1中未示出)发射一束发散角较大的激光束(例如，VL53L1X芯片对应的发散角达30度)，该发射光束通过发射窗口射向待测物，经待测物漫反射之后返回，由芯片上接收窗口处的光敏器件接收后经解算得到距离值。The photoelectric proximity sensor chip has highly integrated laser source, photosensitive device, control circuit and signal processing circuit on a chip with very small area and volume. FIG. 1 is a schematic diagram of the working principle of a photoelectric proximity sensor chip in the prior art. As shown in FIG. 1 , a laser source (not shown in FIG. 1 ) at the emission window of the photoelectric proximity sensor chip (referred to as chip) emits a beam of The laser beam with a large divergence angle (for example, the divergence angle corresponding to the VL53L1X chip is up to 30 degrees), the emission beam is directed to the object to be tested through the emission window, and then returns after diffuse reflection by the object to be tested. After the device receives it, the distance value is obtained through calculation.
图1中示出了发射光束的范围和光敏器件的光信号探测范围，如图1所示，由于该芯片具有较大的激光束发散角，因此该芯片无法分辨距离较近的相邻待测物，如图1中的待测物A和B，即该芯片本身无法提供点云成像所需的较高的角分辨率。基于此，本发明实施例提供的一种激光雷达、自主移动机器人及智能车辆，可以提高测距时的角分辨率，降低激光雷达的成本和制造难度。Figure 1 shows the range of the emitted beam and the detection range of the optical signal of the photosensitive device. As shown in Figure 1, because the chip has a large laser beam divergence angle, the chip cannot distinguish the adjacent objects to be tested that are close to each other. objects, such as objects A and B in Figure 1, that is, the chip itself cannot provide the high angular resolution required for point cloud imaging. Based on this, the embodiments of the present invention provide a laser radar, an autonomous mobile robot, and an intelligent vehicle, which can improve the angular resolution during ranging, and reduce the cost and manufacturing difficulty of the laser radar.
为便于对本实施例进行理解，首先对本发明实施例所公开的一种激光雷达进行详细介绍。In order to facilitate the understanding of this embodiment, a laser radar disclosed in the embodiment of the present invention is first introduced in detail.
实施例一：Example 1:
本发明实施例提供了一种激光雷达，包括测距单元；测距单元包括光电式接近传感器芯片和准直聚焦元件，准直聚焦元件设置在测距单元的测距光路中；其中，测距光路包括光电式接近传感器芯片的发射窗口与待测物之间的发射光路和待测物与光电式接近传感器芯片的接收窗口之间的接收光路。该激光雷达的工作原理如下：测距单元通过发射窗口发出激光光束，激光光束经准直聚焦元件的准直或聚焦以及待测物的反射后由接收窗口接收，以实现对待测物的距离测量。An embodiment of the present invention provides a laser radar, including a ranging unit; the ranging unit includes a photoelectric proximity sensor chip and a collimation focusing element, and the collimating focusing element is arranged in a ranging optical path of the ranging unit; wherein, the ranging unit The optical path includes an emission optical path between the emission window of the photoelectric proximity sensor chip and the object to be measured, and a reception optical path between the object to be measured and the reception window of the photoelectric proximity sensor chip. The working principle of the lidar is as follows: the ranging unit emits a laser beam through the emission window, and the laser beam is collimated or focused by the collimating focusing element and reflected by the object to be measured and then received by the receiving window to realize the distance measurement of the object to be measured. .
具体地，上述光电式接近传感器芯片采用成熟工艺制造的集成光电子芯片，可以但不限于为VL6180X芯片、VL53L0X芯片或VL53L1X芯片。这些芯片均为已量产的低成本接近传感器芯片。Specifically, the above-mentioned photoelectric proximity sensor chip is an integrated optoelectronic chip manufactured by a mature technology, which may be, but is not limited to, a VL6180X chip, a VL53L0X chip or a VL53L1X chip. These chips are low-cost proximity sensor chips that have been mass-produced.
上述准直聚焦元件为任意具有准直聚焦功能的光学器件，可以但不限于为准直透镜或凹面反射镜。准直透镜可以为以下中的任一种：单片平凸透镜、单片双凸透镜、双片平凸透镜(如双胶合透镜)。考虑到光电式接近传感器芯片的激光源可以是半导体激光阵列(例如VCSEL(Vertical Cavity Surface Emitting Laser，垂直腔面发射激光器)阵列)，因此准直聚焦元件还可以是微透镜阵列；进一步地，微透镜阵列的微透镜之间的间距与激光阵列的激光之间的间距相同时准直效果会更好。准直聚焦元件还可以由多个透镜组成，例如，准直聚焦元件包括一个凹透镜和一个凸透镜，沿输入光的传播方向，依次为凹透镜、凸透镜。又如，准直聚焦元件采用望远镜结构，包括一个弯月镜和一个凸透镜，沿输入光的传播方向，依次为弯月镜、凸透镜，这样设置能较好地矫正像差，得到准直光束。The above-mentioned collimating and focusing element is any optical device with collimating and focusing function, which may be, but not limited to, a collimating lens or a concave mirror. The collimating lens can be any of the following: a single-piece plano-convex lens, a single-piece biconvex lens, and a double-piece plano-convex lens (eg, a doublet). Considering that the laser source of the photoelectric proximity sensor chip can be a semiconductor laser array (for example, a VCSEL (Vertical Cavity Surface Emitting Laser, Vertical Cavity Surface Emitting Laser) array), the collimating focusing element can also be a microlens array; When the spacing between the microlenses of the lens array is the same as the spacing between the lasers of the laser array, the collimation effect will be better. The collimating and focusing element can also be composed of a plurality of lenses. For example, the collimating and focusing element includes a concave lens and a convex lens, and along the propagation direction of the input light, there are a concave lens and a convex lens in sequence. For another example, the collimating focusing element adopts a telescope structure, including a meniscus mirror and a convex lens. Along the propagation direction of the input light, there are a meniscus mirror and a convex lens in sequence. This arrangement can better correct aberrations and obtain a collimated beam.
本发明实施例中，激光雷达包括测距单元；测距单元包括光电式接近传感器芯片和准直聚焦元件，准直聚焦元件设置在测距单元的测距光路中；其中，测距光路包括光电式接近传感器芯片的发射窗口与待测物之间的发射光路和待测物与光电式接近传感器芯片的接收窗口之间的接收光路；测距单元通过发射窗口发出激光光束，激光光束经准直聚焦元件的准直或聚焦以及待测物的反射后由接收窗口接收，以实现对待测物的距离测量。相较于由分立元件组装的其它激光雷达产品方案，由于该激光雷达使用的光电式接近传感器芯片可以是已量产的高度集成的芯片，因此该激光雷达具有低成本、小体积、低功耗的优点，结构简单，制造难度低；与超声波和红外LED方案相比，该激光雷达通过准直聚焦元件聚焦了探测激光束，可以获得常规尺寸的超声波传感器无法获得的极高的角分辨率。因此，本发明实施例提供的激光雷达，提高了测距时的角分辨率，降低了激光雷达的成本和制造难度。In the embodiment of the present invention, the laser radar includes a ranging unit; the ranging unit includes an optoelectronic proximity sensor chip and a collimating focusing element, and the collimating focusing element is arranged in the ranging optical path of the ranging unit; wherein, the ranging optical path includes an optoelectronic The transmitting optical path between the transmitting window of the proximity sensor chip and the object to be measured and the receiving optical path between the object to be measured and the receiving window of the photoelectric proximity sensor chip; the ranging unit emits a laser beam through the transmitting window, and the laser beam is collimated The collimation or focusing of the focusing element and the reflection of the object to be measured are received by the receiving window to realize the distance measurement of the object to be measured. Compared with other lidar product solutions assembled by discrete components, since the photoelectric proximity sensor chip used in this lidar can be a highly integrated chip that has been mass-produced, the lidar has low cost, small size, and low power consumption. Compared with ultrasonic and infrared LED solutions, this lidar focuses the detection laser beam through a collimating focusing element, and can obtain extremely high angular resolution that cannot be obtained by conventional-sized ultrasonic sensors. Therefore, the laser radar provided by the embodiment of the present invention improves the angular resolution during ranging, and reduces the cost and manufacturing difficulty of the laser radar.
本实施例提供了上述激光雷达的三种具体实现方式，下面分别参照图2至图4进行具体说明。This embodiment provides three specific implementation manners of the above-mentioned laser radar, which are described in detail below with reference to FIG. 2 to FIG. 4 respectively.
图2为本发明实施例提供的一种激光雷达的工作原理示意图，如图2所示，准直聚焦元件包括准直元件201，准直元件201设置在发射光路中，用于对从发射窗口101发出的激光光束进行准直；即从发射窗口101发出的激光光束射入到准直元件201，经准直元件201准直后变为准直光束射向待测物。具体地，测距单元包括光电式接近传感器芯片100和准直元件201；光电式接近传感器芯片100包括激光源、发射窗口101和接收窗口102；在沿着光的传播方向上，激光源、发射窗口101和准直元件201依次设置。FIG. 2 is a schematic diagram of the working principle of a laser radar according to an embodiment of the present invention. As shown in FIG. 2 , the collimating and focusing element includes a
图2中的激光雷达的工作原理如下：测距单元通过激光源发出激光光束；激光光束穿过发射窗口101射入到准直元件201，经准直元件201准直聚焦后变为准直光束射向待测物；测距单元通过接收窗口102接收经待测物反射回来的反射光束，以实现对待测物的距离测量。即该激光雷达是基于光电式接近传感器芯片100，在它的激光源外加装一个准直元件201，使激光光束聚焦为一束很窄的准直光束，因此如图2所示，该激光雷达可以分辨待测物A和B，即可以在测距的同时提供很高的角分辨率，得到的点云数据可用于进一步的模式识别等数据处理和分析，满足了点云成像需求。The working principle of the lidar in FIG. 2 is as follows: the ranging unit emits a laser beam through the laser source; the laser beam passes through the
在一些可能的实施例中，为了获得较好的角分辨率，可以将激光源设置在准直元件201的焦平面上或焦平面附近。In some possible embodiments, in order to obtain better angular resolution, the laser source can be arranged on or near the focal plane of the
图3为本发明实施例提供的另一种激光雷达的工作原理示意图，如图3所示，上述准直聚焦元件还包括聚焦元件202，聚焦元件202设置在接收光路中，用于将待测物反射的反射光束聚焦到接收窗口102。FIG. 3 is a schematic diagram of the working principle of another laser radar according to an embodiment of the present invention. As shown in FIG. 3 , the above-mentioned collimating and focusing element further includes a focusing
图3中的激光雷达的工作原理如下：不同待测物的反射光束射入到聚焦元件202的方向不同，因此导致了反射光束所聚焦在光电式接近传感器芯片100上的位置不同，从而能够分辨相邻待测物。图3的接收光路中虚线示出了待测物A的反射光束，实线示出了待测物B的反射光束，如图3所示，待测物B的反射光束能够聚焦在接收窗口102处，而待测物A的反射光束无法聚焦在接收窗口102处，因此该激光雷达可以分辨待测物A和B，即可以在测距的同时提供很高的角分辨率。The working principle of the lidar in FIG. 3 is as follows: the reflected beams of different objects to be measured enter the focusing
图4为本发明实施例提供的另一种激光雷达的工作原理示意图，如图4所示，上述准直聚焦元件包括准直元件201和聚焦元件202，准直元件201设置在发射光路中，聚焦元件202设置在接收光路中，准直元件201和聚焦元件202对准同一个方向。FIG. 4 is a schematic diagram of the working principle of another laser radar provided by an embodiment of the present invention. As shown in FIG. 4 , the above-mentioned collimating and focusing element includes a
图4为上述图2和图3的结合，图4中的激光雷达的具体工作原理同上述图2和图3中的描述，这里不再赘述。显然图4所示的激光雷达进一步提高了测距时的角分辨率。FIG. 4 is a combination of the above-mentioned FIG. 2 and FIG. 3 . The specific working principle of the lidar in FIG. 4 is the same as that described in the above-mentioned FIG. 2 and FIG. 3 , and details are not repeated here. Obviously, the lidar shown in Figure 4 further improves the angular resolution during ranging.
为了提供高分辨的2D或3D点云成像功能，上述激光雷达还包括光束偏转装置，光束偏转装置用于对测距单元发出的激光光束(准直光束或反射光束)进行设定范围内的偏转。该激光雷达通过将激光光束进行水平和/或垂直方向的一维或二维扫描，提供了高分辨的2D或3D点云成像。另外，还可以通过移动待测目标的方式实现点云扫描。In order to provide high-resolution 2D or 3D point cloud imaging, the above-mentioned lidar also includes a beam deflection device, which is used to deflect the laser beam (collimated beam or reflected beam) emitted by the ranging unit within a set range . The lidar provides high-resolution 2D or 3D point cloud imaging by scanning the laser beam in one or two dimensions horizontally and/or vertically. In addition, point cloud scanning can also be achieved by moving the target to be measured.
由于测距单元具有较小的体积和功耗，因此可以灵活结合不同的光束偏转装置，组合成为多种低成本、可快速生产的小体积近距激光雷达。下面以图2所示的测距单元为例，分别参照图5至图8对光束偏转装置的具体扫描实现方式进行详细介绍。需要说明的是，这些光束偏转装置同样适用于图3和图4的测距单元结构。Due to the small size and power consumption of the ranging unit, different beam deflection devices can be flexibly combined to form a variety of low-cost, fast-producing small-volume short-range lidars. Taking the ranging unit shown in FIG. 2 as an example, the specific scanning implementation manner of the beam deflection device will be described in detail below with reference to FIGS. 5 to 8 respectively. It should be noted that these beam deflection devices are also applicable to the structure of the ranging unit in FIG. 3 and FIG. 4 .
图5为本发明实施例提供的一种带有偏转平台的激光雷达的结构示意图，如图5所示，上述光束偏转装置包括偏转平台301；测距单元设置在偏转平台301上；偏转平台301用于带动测距单元进行偏转，以实现准直光束的偏转，从而实现对待测目标的一维或二维扫描。FIG. 5 is a schematic structural diagram of a lidar with a deflection platform provided by an embodiment of the present invention. As shown in FIG. 5 , the above-mentioned beam deflection device includes a
具体地，偏转平台301可偏转或可平移，如偏转平台301为云台。云台根据其回转的特点可分为只能左右旋转的水平旋转云台和既能左右旋转又能上下旋转的全方位云台，其中，图3中示出的偏转平台301为全方位云台。可以人工远程控制云台转动以及移动的方向，云台的具体结构可以参照现有技术，这里不再赘述。Specifically, the
由于上述测距单元具有极小的质量，因此安装在偏转平台301上可获得较高的扫描速率。在一些可能的实施例中，为了无遗漏地测量整个扫描角度范围内的可能待测物，激光源和准直元件201之间的距离可以通过可控的设置来达到指定的出射光发散角度(准直光束的发散角度)。例如，如果设定偏转平台301每偏转2°测量一次，那么出射光发散角设定为2°是合适的，因此可以控制激光源和准直元件201之间的距离使得准直元件201的出射光发散角为2°。Since the above-mentioned distance measuring unit has a very small mass, it can be installed on the
图6为本发明实施例提供的一种带有偏转反射镜的激光雷达的结构示意图，如图6所示，上述光束偏转装置包括偏转反射镜302；偏转反射镜302设置在发射光路中准直元件201的远离激光源的一侧；偏转反射镜302用于对上述准直光束进行反射偏转，从而实现对待测目标的一维或二维的可控扫描。FIG. 6 is a schematic structural diagram of a laser radar with a deflecting mirror provided by an embodiment of the present invention. As shown in FIG. 6 , the above-mentioned beam deflecting device includes a deflecting
具体地，偏转反射镜302可以采用双反射镜二维光束控制系统。该系统包括两个反射镜，并可在正交的方向上独立的运动。在一些可能的实施例中，该系统的反射镜由压电马达驱动，可提供高达±40°的光束偏转角度，偏转速度可达到5760°/S。双反射镜光束控制系统拥有两个角度传感器，角度分辨率可达到0.04°，运动精度可达到0.1°。Specifically, the deflecting
偏转反射镜302还可以采用单反射镜二维光束控制系统。在一些可能的实施例中，该系统包含一个反射镜、两个压电马达、两个角度传感器、IC(integrated circuit，集成电路)驱动和控制器。压电马达直接作用于反射镜的边缘，调节Z方向的高低，可提供光束偏转的角度达到±19°。相比于双反射镜光束控制系统，该系统拥有更快的响应速度，光束偏转1度只需要0.63毫秒。在每个运动轴上，都有一个角度传感器，该控制系统的角度分辨率可达到0.04°，运动精度可达到0.1°。由于使用单反射镜，因此拥有更紧凑的体积，可接受的最大激光光斑可达到3mm。The deflecting
图7为本发明实施例提供的一种带有旋转双棱镜的激光雷达的结构示意图，如图7所示，上述光束偏转装置包括旋转双棱镜303；旋转双棱镜303设置在发射光路中准直元件201的远离激光源的一侧；旋转双棱镜303用于对准直光束进行折射偏转，从而实现对待测目标的一维或二维的可控扫描。FIG. 7 is a schematic structural diagram of a lidar with a rotating biprism provided by an embodiment of the present invention. As shown in FIG. 7 , the above-mentioned beam deflecting device includes a rotating
具体地，旋转双棱镜303可以采用超紧凑里斯利(Risley)棱镜光束控制系统。该系统包含两个可绕着光轴独立运动的楔形的棱镜，通过连续的控制棱镜的方向来改变光束的方向，光束的偏转角度可达到±6°。在一些可能的实施例中，该系统采用微轴承导向，使每个棱镜拥有极低的抖动和摩擦；压电马达通过摩擦棱镜的外侧驱动棱镜，并且无伺服抖动；内置控制器和位置传感器，使该控制器的分辨率可达到0.1°，运动精度可达到0.6°。该系统可接受高功率的激光，可接受的最大激光光斑可达到6mm。Specifically, the
图8为本发明实施例提供的一种带有平移电机的激光雷达的结构示意图，如图8所示，上述光束偏转装置包括平移电机304，平移电机304与准直元件201连接；平移电机304用于带动准直元件201在与光电式接近传感器芯片100平行的平面(即与准直光束相垂直的平面)上进行平移，通过使激光源和准直元件201进行相对平移实现了准直光束的偏转，从而实现了对待测目标的一维或二维的可控扫描。FIG. 8 is a schematic structural diagram of a laser radar with a translation motor provided by an embodiment of the present invention. As shown in FIG. 8 , the above-mentioned beam deflection device includes a
具体地，平移电机304可以但不限于为步进电机。光束的偏转角度范围与激光源的发散角和准直元件201的接收角度有关。以准直元件201为准直透镜为例，当激光源位于准直透镜的焦平面上时，准直透镜的接收角度为准直透镜的直径除以焦距。当激光源与准直元件201之间的距离越近，准直透镜的接收角度越大时，光束的偏转角度范围越大。例如激光源的发散角为30°，准直透镜的接收角度为60°时，光束的偏转角度可达到±15°Specifically, the
(该范围内损耗较小)。然而激光源与准直元件201之间的距离越近，准直元件201的聚焦效果越差，因此，可以根据实际情况设置激光源与准直元件201之间的距离。(The loss is small in this range). However, the closer the distance between the laser source and the
综上可知，本发明实施例通过安装一个准直聚焦元件，使原本设计用于感测障碍物的已大量生产销售的接近传感器芯片具有了获取高分辨点云数据的功能，同时也继承了原芯片低成本小体积低功耗的优点，因而得到的测距单元可以与各种不同偏转扫描方式灵活组合成为各种适应不同应用场景的激光雷达产品。To sum up, in the embodiment of the present invention, by installing a collimating focusing element, the mass-produced and sold proximity sensor chip originally designed to sense obstacles has the function of acquiring high-resolution point cloud data, and also inherits the original design. The chip has the advantages of low cost, small volume and low power consumption, so the obtained ranging unit can be flexibly combined with various deflection scanning methods to form various lidar products suitable for different application scenarios.
本发明实施例提供的激光雷达可以用于工业机器手对工件位置和环境的精确识别，自主移动机器人(例如扫地机器人)和智能车辆的局部路标检测和地图匹配、行进中地形图的建立、障碍物检测，以及汽车自动泊车系统的侧视或后视测距传感、高精度手势识别等。该激光雷达的测量视场可达任意角度，大大降低了使用于机器人和智能车辆的激光雷达的成本、体积和功耗，并具有开拓更为广泛的应用场景的潜力。The lidar provided by the embodiments of the present invention can be used for industrial robots to accurately identify the position and environment of workpieces, local road sign detection and map matching of autonomous mobile robots (such as sweeping robots) and intelligent vehicles, establishment of terrain maps during travel, and obstacles object detection, as well as side-view or rear-view ranging sensing, high-precision gesture recognition, etc. The measurement field of view of the lidar can reach any angle, which greatly reduces the cost, volume and power consumption of lidar used in robots and smart vehicles, and has the potential to open up a wider range of application scenarios.
实施例二：Embodiment 2:
本发明实施例提供了一种自主移动机器人，包括如上述实施例一的激光雷达。具体地，自主移动机器人可以但不限于为扫地机器人。该激光雷达可以用于自主移动机器人的局部路标检测和地图匹配、行进中地形图的建立、障碍物检测。An embodiment of the present invention provides an autonomous mobile robot, including the lidar as described in the first embodiment. Specifically, the autonomous mobile robot may be, but not limited to, a sweeping robot. The lidar can be used for local road sign detection and map matching of autonomous mobile robots, establishment of terrain maps during travel, and obstacle detection.
本发明实施例中，激光雷达包括测距单元；测距单元包括光电式接近传感器芯片和准直聚焦元件，准直聚焦元件设置在测距单元的测距光路中；其中，测距光路包括光电式接近传感器芯片的发射窗口与待测物之间的发射光路和待测物与光电式接近传感器芯片的接收窗口之间的接收光路；测距单元通过发射窗口发出激光光束，激光光束经准直聚焦元件的准直或聚焦以及待测物的反射后由接收窗口接收，以实现对待测物的距离测量。相较于由分立元件组装的其它激光雷达产品方案，由于该激光雷达使用的光电式接近传感器芯片可以是已量产的高度集成的芯片，因此该激光雷达具有低成本、小体积、低功耗的优点，结构简单，制造难度低；与超声波和红外LED方案相比，该激光雷达通过准直聚焦元件聚焦了探测激光束，可以获得常规尺寸的超声波传感器无法获得的极高的角分辨率。因此，本发明实施例提供的包括激光雷达的自主移动机器人，提高了测距时的角分辨率，降低了激光雷达的成本和制造难度。In the embodiment of the present invention, the laser radar includes a ranging unit; the ranging unit includes an optoelectronic proximity sensor chip and a collimating focusing element, and the collimating focusing element is arranged in the ranging optical path of the ranging unit; wherein, the ranging optical path includes an optoelectronic The transmitting optical path between the transmitting window of the proximity sensor chip and the object to be measured and the receiving optical path between the object to be measured and the receiving window of the photoelectric proximity sensor chip; the ranging unit emits a laser beam through the transmitting window, and the laser beam is collimated The collimation or focusing of the focusing element and the reflection of the object to be measured are received by the receiving window to realize the distance measurement of the object to be measured. Compared with other lidar product solutions assembled by discrete components, since the photoelectric proximity sensor chip used in this lidar can be a highly integrated chip that has been mass-produced, the lidar has low cost, small size, and low power consumption. Compared with ultrasonic and infrared LED solutions, this lidar focuses the detection laser beam through a collimating focusing element, and can obtain extremely high angular resolution that cannot be obtained by conventional-sized ultrasonic sensors. Therefore, the autonomous mobile robot including the laser radar provided by the embodiment of the present invention improves the angular resolution during ranging, and reduces the cost and manufacturing difficulty of the laser radar.
实施例三：Embodiment three:
本发明实施例提供了一种智能车辆，包括如上述实施例一的激光雷达。该激光雷达可以用于智能车辆的局部路标检测和地图匹配、行进中地形图的建立、障碍物检测，以及汽车自动泊车系统的侧视或后视测距传感、高精度手势识别等。An embodiment of the present invention provides an intelligent vehicle, including the lidar as described in the first embodiment. The LiDAR can be used for local road sign detection and map matching of intelligent vehicles, establishment of terrain maps during travel, obstacle detection, as well as side-view or rear-view ranging sensing of automotive automatic parking systems, and high-precision gesture recognition.
本发明实施例中，激光雷达包括测距单元；测距单元包括光电式接近传感器芯片和准直聚焦元件，准直聚焦元件设置在测距单元的测距光路中；其中，测距光路包括光电式接近传感器芯片的发射窗口与待测物之间的发射光路和待测物与光电式接近传感器芯片的接收窗口之间的接收光路；测距单元通过发射窗口发出激光光束，激光光束经准直聚焦元件的准直或聚焦以及待测物的反射后由接收窗口接收，以实现对待测物的距离测量。相较于由分立元件组装的其它激光雷达产品方案，由于该激光雷达使用的光电式接近传感器芯片可以是已量产的高度集成的芯片，因此该激光雷达具有低成本、小体积、低功耗的优点，结构简单，制造难度低；与超声波和红外LED方案相比，该激光雷达通过准直聚焦元件聚焦了探测激光束，可以获得常规尺寸的超声波传感器无法获得的极高的角分辨率。因此，本发明实施例提供的包括激光雷达的智能车辆，提高了测距时的角分辨率，降低了激光雷达的成本和制造难度。In the embodiment of the present invention, the laser radar includes a ranging unit; the ranging unit includes an optoelectronic proximity sensor chip and a collimating focusing element, and the collimating focusing element is arranged in the ranging optical path of the ranging unit; wherein, the ranging optical path includes an optoelectronic The transmitting optical path between the transmitting window of the proximity sensor chip and the object to be measured and the receiving optical path between the object to be measured and the receiving window of the photoelectric proximity sensor chip; the ranging unit emits a laser beam through the transmitting window, and the laser beam is collimated The collimation or focusing of the focusing element and the reflection of the object to be measured are received by the receiving window to realize the distance measurement of the object to be measured. Compared with other lidar product solutions assembled by discrete components, since the photoelectric proximity sensor chip used in this lidar can be a highly integrated chip that has been mass-produced, the lidar has low cost, small size, and low power consumption. Compared with ultrasonic and infrared LED solutions, this lidar focuses the detection laser beam through a collimating focusing element, and can obtain extremely high angular resolution that cannot be obtained by conventional-sized ultrasonic sensors. Therefore, the smart vehicle including the lidar provided by the embodiments of the present invention improves the angular resolution during ranging, and reduces the cost and manufacturing difficulty of the lidar.
本发明实施例提供的自主移动机器人及智能车辆，与上述实施例提供的激光雷达具有相同的技术特征，所以也能解决相同的技术问题，达到相同的技术效果。The autonomous mobile robot and the intelligent vehicle provided by the embodiments of the present invention have the same technical features as the lidar provided by the above-mentioned embodiments, so they can also solve the same technical problems and achieve the same technical effects.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的自主移动机器人及智能车辆的具体工作过程，可以参考前述激光雷达实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the autonomous mobile robot and the intelligent vehicle described above can refer to the corresponding process in the foregoing lidar embodiment, and will not be repeated here.
在这里示出和描述的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制，因此，示例性实施例的其他示例可以具有不同的值。In all examples shown and described herein, any specific value should be construed as merely exemplary and not as limiting, as other examples of exemplary embodiments may have different values.
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.
另外，在本发明实施例的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In addition, in the description of the embodiments of the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.
在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation or a specific orientation. construction and operation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first", "second", and "third" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.
最后应说明的是：以上所述实施例，仅为本发明的具体实施方式，用以说明本发明的技术方案，而非对其限制，本发明的保护范围并不局限于此，尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。Finally, it should be noted that the above-mentioned embodiments are only specific implementations of the present invention, and are used to illustrate the technical solutions of the present invention, but not to limit them. The protection scope of the present invention is not limited thereto, although referring to the foregoing The embodiment has been described in detail the present invention, those of ordinary skill in the art should understand: any person skilled in the art who is familiar with the technical field within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments. Or can easily think of changes, or equivalently replace some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered in the present invention. within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
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