阅读说明：本技术 车载激光雷达刚柔混连自适应装置 (Rigid-flexible hybrid connection self-adaptive device for vehicle-mounted laser radar ) 是由 石欣 范智瑞 张杰毅 翟马强 徐淑源 朱家庆 田文彬 冷正立 周文博 李文昌 廖 于 2019-09-27 设计创作，主要内容包括：本发明公开了车载激光雷达刚柔混连自适应装置,主要包括车载雷达、监控探头、通讯模块、连动装置、电机和柔性稳定装置。本发明可以有效防止雷达镜头的抖动。同时,本发明可以有效监测出周围环境的障碍物,从而提高雷达监测的精确性。(The invention discloses a rigid-flexible hybrid connection self-adaptive device for a vehicle-mounted laser radar, which mainly comprises the vehicle-mounted radar, a monitoring probe, a communication module, a linkage device, a motor and a flexible stabilizing device. The invention can effectively prevent the jitter of the radar lens. Meanwhile, the invention can effectively monitor the obstacles in the surrounding environment, thereby improving the accuracy of radar monitoring.)

1. The vehicle-mounted laser radar rigid-flexible hybrid connection self-adaptive device is characterized by mainly comprising a vehicle-mounted radar, a monitoring probe, a communication module, a linkage device (1), a motor (2) and a flexible stabilizing device (3).

The vehicle-mounted laser radar is provided with a reflecting mirror (4) and a Fresnel lens (54);

the monitoring probe monitors an environment image of a radar detection area and sends the environment image to the processing module through the communication module;

the processing module carries out image processing and recognition on the environment image of the radar detection area, and if an obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periods_t＝θ_t+ a, until the single line laser emitted by the vehicle-mounted laser radar irradiates the obstacle; a is a vehicle-mounted laser radar reflector rotation angle signal adjustment value; t ═ 1,2, …; theta_tThe initial value is 0;

if no obstacle is identified in the environment image of the radar detection area, the processing module generates a vehicle-mounted laser radar reflector rotation angle signal theta every t periods_t'＝θ_t' + b, until the single line laser level that vehicle carried laser radar sends; b is vehicle laser radar reflectorAdjusting the signal adjustment value of the rotation angle of the reflector; t ═ 1,2, …; theta_t' initial value is 0;

every t periods, the processing module rotates the angle signal theta according to the vehicle-mounted laser radar reflector_tOr vehicle-mounted laser radar reflector rotation angle signal theta_t' generating a motor drive signal; the processing module sends a motor driving signal to the motor (2);

the motor (2) drives the linkage device (1) to adjust the angle of the reflector (4) after receiving a motor driving signal;

one end of the linkage device (1) is connected with the motor (2), and the other end of the linkage device is connected with the reflector (4);

one end of the flexible stabilizing device (3) is fixed on the linkage device (1), and the other end of the flexible stabilizing device is connected with a reflector (4) of the vehicle-mounted radar.

2. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the device also comprises a power supply;

the power supply supplies power to the communication module, the motor (2) and the monitoring probe.

3. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1 or 2, characterized in that: the communication module is a wireless network.

4. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the linkage device (1) is formed by sleeving a plurality of linkage rods.

5. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the flexible stabilizing device (3) is made of a piano steel wire material.

6. The vehicle-mounted laser radar rigid-flexible hybrid self-adaptive device according to claim 1, characterized in that: the primary mirror (4) reflects ambient light to the Fresnel lens (54).

Technical Field

The invention relates to the field of laser communication, in particular to a rigid-flexible hybrid connection self-adaptive device for a vehicle-mounted laser radar.

Background

Unmanned development to date, several enterprises around the world have examined and released unmanned vehicles around 2020. The forecast shows that the global market share of the automatic driving automobile needs to take 15-20 years to reach 25%, and the automobile with the road and traffic jam automatic driving function is applied to the road first; by 2022, cars with city automatic driving mode went on the road; after 2025, fully unmanned cars were seen in large numbers.

In 2017, Chinese automotive engineering will release an energy-saving and new energy automobile technical route map, wherein the automobile industry scale will reach 3000 thousands of automobiles and the market share of driving assistance/partial automatic driving vehicles will reach 50% in 2020; striving for highly or fully autonomous cars to be available on the market in 2021 to 2025; in 2026 to 2030 years, each vehicle should adopt an unmanned or auxiliary driving system, and the number of domestic unmanned vehicles will steadily increase.

The laser radar is applied to the field of unmanned driving, and compared with a camera image recognition system, the laser radar has a natural depth advantage, and emits laser beams to detect characteristic quantities such as the position and the speed of a target. The vehicle-mounted laser radar adopts a plurality of laser transmitters and receivers to establish a three-dimensional point cloud picture, so that the purpose of real-time environment perception is achieved. The laser radar has the advantages of three-dimensional modeling, wide detection range and high detection precision.

And on-vehicle laser radar because receive the influence that the car rocked, precision loss can appear, therefore how to solve laser radar shake is a problem that awaits a moment to solve.

Disclosure of Invention

The present invention is directed to solving the problems of the prior art.

The technical scheme adopted for achieving the purpose of the invention is that the rigid-flexible hybrid connection self-adaptive device of the vehicle-mounted laser radar mainly comprises the vehicle-mounted radar, a monitoring probe, a communication module, a linkage device, a direct current motor, a flexible stabilizing device and a power supply.

The vehicle-mounted laser radar has a mirror.

The monitoring probe monitors the environment image of the radar detection area and sends the environment image to the processing module through the communication module.

The communication module is a wireless network.

The processing module carries out image processing and recognition on the environment image of the radar detection area, and if an obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periods_t＝θ_tAnd + a, until the single line laser emitted by the vehicle-mounted laser radar irradiates the obstacle. and a is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. Theta_tThe initial value is 0.

The processing module carries out image processing and recognition on the environment image of the radar detection area, and if no obstacle is recognized in the environment image of the radar detection area, a vehicle-mounted laser radar reflector rotation angle signal theta is generated every t periods_t'＝θ_t' + b, up to the level of the single line laser emitted by the vehicle lidar. And b is a vehicle-mounted laser radar reflector rotation angle signal adjustment value. t is 1,2, …. Theta_t' initial value is 0.

Every t periods, the processing module rotates the angle signal theta according to the vehicle-mounted laser radar reflector_tOr vehicle-mounted laser radar reflector rotation angle signal theta_t' generating a motor drive signal. The processing module sends a motor to the direct current motorA drive signal.

And after receiving the motor driving signal, the direct current motor drives the linkage device to finely adjust the angle of the radar reflector.

One end of the linkage device is connected with the direct current motor, and the other end of the linkage device is connected with a reflector of the vehicle-mounted radar.

The linkage device is formed by sleeving a plurality of linkage rods.

One end of the flexible stabilizing device is fixed on the linkage device, and the other end of the flexible stabilizing device is connected with a reflector of the vehicle-mounted radar.

The flexible stabilizing device is made of piano steel wire materials.

The primary mirror reflects ambient light to the fresnel lens.

The power supply supplies power to the communication module, the direct current motor and the monitoring probe.

The technical effect of the present invention is undoubted. The invention can effectively prevent the jitter of the radar lens. Meanwhile, the invention can effectively monitor the obstacles in the surrounding environment, thereby improving the accuracy of radar monitoring.

Drawings

FIG. 1 is a schematic diagram of a radar structure;

FIG. 2 is a schematic view of a linkage device;

in the figure, a linkage device 1, a direct current motor 2, a flexible stabilizing device 3, a reflecting mirror 4, a radar fixing and supporting frame 51, a secondary reflecting mirror 52, a transmitting light source 53, a Fresnel lens 54, a receiving APD55, a heat sink weight module 56, a code disc 57, a decoder 58 and a bevel window 59.

Detailed Description

The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.