Solid-state laser radar system

Abstract

The utility model relates to a solid state laser radar system, which comprises a shell and a rear cover, the rear cover is connected with the shell, a first all-solid-state laser radar module and a second all-solid-state laser radar module are installed in the shell, the first laser radar module is located at the upper part of the interior of the shell, and the second laser radar module is located at the lower part of the interior of the shell. The second laser radar module is located at the lower part in the shell, the first laser radar module is provided with a first medium-distance lens and a first long-distance lens, and the second laser radar module is provided with a second medium-distance lens and a second long-distance lens; field angles formed by the first medium-distance lens and the first long-distance lens are subjected to point cloud splicing mutually, and field angles formed by the second medium-distance lens and the second long-distance lens are subjected to point cloud splicing mutually. The utility model has the beneficial effects of high reliability, long measurable distance and wide field angle range.

Description

Technical Field

[0001] This utility model relates to the field of lidar technology, specifically to a solid-state lidar system. Background Technology

[0002] Currently, in the field of traffic lidar, there are commonly mechanical lidars that perform 360° rotating scans. These lidars use an internal motor to drive the entire lidar transceiver component to rotate. Due to their overall weight and long-term rotating scans, their reliability is poor, and components need to be replaced on average every 12-24 months, resulting in high usage and maintenance costs. Hybrid solid-state lidars use one-dimensional rotating mirrors or MEMS galvanometers for scanning. However, since these scanning components cannot obtain relevant automotive-grade certifications, their reliability is questionable, making it difficult to meet the high-intensity use (continuous operation >30,000 hours) required for year-round applications in the transportation sector.

[0003] Furthermore, while mechanical and hybrid solid-state LiDARs achieve a large horizontal field of view through their scanning mechanisms, their vertical field of view is relatively small, failing to meet the demands of 3D spatial modeling in the transportation sector. In summary, the current application of LiDAR in the transportation field faces numerous limitations due to technological constraints, necessitating the introduction of new technologies to better integrate LiDAR into this field. Utility Model Content

[0004] The purpose of this invention is to provide a solid-state lidar system that is highly reliable, capable of measuring long distances, and has a wide field of view.

[0005] A solid-state lidar system includes a housing and a rear cover, the rear cover being connected to the housing. A first and second all-solid-state lidar module are installed inside the housing. The first lidar module is located in the upper part of the housing, and the second lidar module is located in the lower part of the housing. The first lidar module has a first mid-range lens and a first long-range lens, and the second lidar module has a second mid-range lens and a second long-range lens. The field of view formed by the first mid-range lens and the first long-range lens are stitched together using point cloud mapping, and the field of view formed by the second mid-range lens and the second long-range lens are also stitched together using point cloud mapping.

[0006] In the above scheme, the first lidar module is equipped with a first mid-range lens and a first long-range lens, and the second lidar module is equipped with a second mid-range lens and a second long-range lens. The first mid-range lens and the second mid-range lens detect within a medium distance range and have a wide field of view within this range. The first long-range lens and the second long-range lens have a narrower field of view within the medium distance range, but can detect objects at greater distances. By stitching together the point clouds of the field of view formed by the first mid-range lens and the first long-range lens, and by stitching together the point clouds of the field of view formed by the second mid-range lens and the second long-range lens, high-resolution detection of near-distance objects can be maintained while effective monitoring of distant objects can be achieved. This means that the first lidar module and the second lidar module have long detection distances and wide field of view ranges. The first lidar module and the second lidar module are located in the upper and lower parts of the housing, respectively, which allows for the detection of a wider spatial range. Since all-solid-state lidar modules are used, mechanical rotating parts are eliminated, thereby reducing failures caused by mechanical wear and improving the stability and reliability of the system.

[0007] Furthermore, the bottom of the housing is provided with several support seats, the second lidar module abuts against the support seats, and forms an angle of less than 90 degrees with the horizontal support seats.

[0008] In the above scheme, the support base provides an additional support point for the second lidar module, which enhances the stability and vibration resistance of the overall structure. The second lidar module forms an angle of less than 90 degrees with the horizontal support base, which allows the second lidar module to emit and receive lasers downward or diagonally downward, thereby forming a vertical field of view. This helps to more accurately detect and identify ground conditions, including road markings, obstacles or other traffic participants.

[0009] Furthermore, the first lidar module is provided with two first transmitting units and a first receiving unit, and the second lidar module is provided with two second transmitting units and a second receiving unit.

[0010] In the above scheme, the two first transmitting units and the first receiving unit are respectively matched with the first medium-range lens and the first long-range lens, and the two second transmitting units and the second receiving unit are respectively matched with the second medium-range lens and the second long-range lens. This can be optimized for different detection distances and improve the measurement accuracy of the overall system.

[0011] Furthermore, the scanning methods of the first and second lidar modules can be Flash solid-state scanning or OPA scanning.

[0012] In the above scheme, both Flash and OPA scanning technologies are all solid-state, with no moving parts, which can improve the durability and reliability of the LiDAR.

[0013] Furthermore, the housing is provided with a first window and a second window, with the first lidar module facing the first window and the second lidar module facing the second window.

[0014] In the above scheme, each module works through an independent window, which reduces interference between different modules and improves the stability and reliability of the system. The first lidar module faces the first window, and the second lidar module faces the second window, achieving more precise spatial coverage.

[0015] Furthermore, both the first and second windows are transparent windows.

[0016] In the above scheme, the transparent window can be a glass window or a transparent plastic window. The transparent window allows the laser to pass through directly with minimal loss, maintaining the intensity of the emitted and received beams and ensuring the reliability of the detection. The transparent window also provides physical protection to prevent dust, moisture, impacts, etc. from damaging the internal components of the housing.

[0017] Furthermore, the rear cover is provided with a first external mesh seat and a second external mesh seat. The first lidar module is connected to the first external mesh seat through a first internal mesh cable, and the second lidar module is connected to the second external mesh seat through a second internal mesh cable.

[0018] In the above scheme, the first lidar module and the first external network socket are connected by a first internal network cable. The first external network socket enables the first lidar module to connect with external devices. The second lidar module and the second external network socket are connected by a second internal network cable. The second external network socket enables the second lidar module to connect with external devices, thereby realizing the transmission of signals between the first lidar module, the second lidar module and the external devices.

[0019] Furthermore, an input power socket is also installed on the rear cover. The first lidar module is connected to the input power socket via a first internal power cable, and the second lidar module is connected to the input power socket via a second internal power cable.

[0020] In the above scheme, centralized power supply through the input power socket on the rear cover simplifies power management and improves the cleanliness and reliability of the system. The first internal power cable and the second internal power cable reduce wiring complexity and avoid cable clutter.

[0021] Furthermore, the housing has multiple threaded connectors on the side near the rear cover, which can be used to connect the rear cover and the threaded connectors via fasteners.

[0022] In the above solution, the back cover and the threaded connector are connected by fasteners such as nuts, which makes the back cover and the housing detachable. This simplifies the assembly and disassembly process of the solid-state lidar system, making it easier to produce and maintain. When it is necessary to maintain or replace the internal components, the back cover can be quickly disassembled.

[0023] Furthermore, it also includes a host computer, and the first and second lidar modules are electrically connected to the host computer.

[0024] In the above scheme, the point cloud data of the first and second lidar modules are aligned and stitched together on the host computer to form the required field of view point cloud display, and the processed point cloud data is stored for subsequent analysis and use.

[0025] The solid-state lidar system of this invention has the advantages of high reliability, long measurement distance, and wide field of view. The first lidar module is equipped with a first mid-range lens and a first long-range lens, while the second lidar module is equipped with a second mid-range lens and a second long-range lens. The first and second mid-range lenses detect objects within a medium range and have a wide field of view within this range. The first and second long-range lenses have a narrower field of view within the medium range but can detect objects at greater distances. By stitching together the point clouds of the field of view formed by the first mid-range and first long-range lenses, and the point clouds of the field of view formed by the second mid-range and second long-range lenses, high-resolution detection of nearby objects can be maintained while effective monitoring of distant objects can be achieved. This means that both the first and second lidar modules have long detection ranges and wide field of view. The first and second lidar modules are located in the upper and lower parts of the housing, respectively, allowing for the detection of a wider spatial range. Because all-solid-state lidar modules are used, mechanical rotating parts are eliminated, reducing failures caused by mechanical wear and improving the stability and reliability of the system. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a solid-state lidar system according to one embodiment.

[0027] Figure 2 This is a schematic diagram of the housing and back cover structure of one embodiment.

[0028] Figure 3 This is a schematic diagram of the structure of a first external network socket, a second external network socket, and an input power socket according to one embodiment.

[0029] Figure 4 This is a schematic diagram of the detection of a first lidar module and a second lidar module according to an embodiment.

[0030] Explanation of reference numerals: 100, housing; 101, first window; 102, second window; 200, back cover; 1, first mid-range lens; 2, first telephoto lens; 3, first lidar module; 4, second mid-range lens; 5, second telephoto lens; 6, second lidar module; 7, first internal network cable; 8, first external network connector; 9, second internal network cable; 10, second external network connector; 11, first internal power cable; 12, second internal power cable; 13, input power connector. Detailed Implementation

[0031] The following will describe in further detail a solid-state lidar system of the present invention with reference to specific embodiments and accompanying drawings.

[0032] like Figure 1 and Figure 2 As shown in a preferred embodiment, a solid-state lidar system of the present invention includes a housing 100 and a rear cover 200. The rear cover 200 is connected to the housing 100. A first solid-state lidar module 3 and a second lidar module 6 are installed inside the housing 100. The first lidar module 3 is located in the upper part of the housing 100, and the second lidar module 6 is located in the lower part of the housing 100. The first lidar module 3 is provided with a first mid-range lens 1 and a first long-range lens 2. The second lidar module 6 is provided with a second mid-range lens 4 and a second long-range lens 5. The field of view formed by the first mid-range lens 1 and the first long-range lens 2 are stitched together with each other. The field of view formed by the second mid-range lens 4 and the second long-range lens 5 are also stitched together with each other.

[0033] The first lidar module 3 is equipped with a first mid-range lens 1 and a first long-range lens 2, and the second lidar module 6 is equipped with a second mid-range lens 4 and a second long-range lens 5. The first mid-range lens 1 and the second mid-range lens 4 perform detection within a medium range and have a wide field of view within this range. The first long-range lens 2 and the second long-range lens 5 have a narrower field of view within a medium range, but can detect farther distances. By stitching together the point clouds of the field of view formed by the first mid-range lens 1 and the first long-range lens 2, the second mid-range lens 4 and the second long-range lens 5 can be detected. The point cloud stitching of the field of view formed by 5 can maintain high-resolution detection of near objects while effectively monitoring far objects. This means that the first lidar module 3 and the second lidar module 6 have a long detection range and a wide field of view. The first lidar module 3 and the second lidar module 6 are located in the upper and lower parts of the housing 100, respectively, which can detect a wider spatial range. Since all solid-state lidar modules are used, mechanical rotating parts are eliminated, thereby reducing failures caused by mechanical wear and improving the stability and reliability of the system.

[0034] Reference Figure 4 When the second lidar module 6 is installed at a certain height above the ground, its second mid-range lens 4 and second long-range lens 5 form vertical field of view (FOV1) and vertical field of view (FOV2) respectively. By stitching together the data covered by vertical field of view (FOV1) and vertical field of view (FOV2) through point cloud stitching, the vertical field of view of the second lidar module 6 is wider and the coverage distance is farther. The first mid-range lens 1 and the first long-range lens 2 of the first lidar module 3 form horizontal field of view (FOV3) and horizontal field of view (FOV4) respectively. By stitching together the data covered by horizontal field of view (FOV3) and horizontal field of view (FOV4) through point cloud stitching, the horizontal field of view of the first lidar module 3 is wider and the coverage distance is farther.

[0035] Assuming the second lidar module 6 is installed at a distance of 4.5-6.5m from the ground, the second mid-range lens 4 can detect the vertical field of view between 20m and the mid-range distance, and the second long-range lens 5 can detect the vertical field of view between the mid-range distance and 100m. After point cloud stitching, the second lidar module 6 can detect the vertical field of view between 20m and 100m. The first lidar module 3 at a position of 20m, the first mid-range lens 1 can cover four lanes, the first long-range lens 2 at the mid-range distance can cover four lanes, and the first lidar module 3 after point cloud stitching can cover four lanes in the detection range between 20m and 100m. The range between the horizontal dashed lines in the figure represents the lanes.

[0036] like Figure 1As shown, in some embodiments, the bottom of the housing 100 is provided with several support bases, and the second lidar module 6 abuts against the support bases, forming an angle of less than 90 degrees with the horizontal support bases. The support bases are for the second lidar...

[0037] Radar module 6 provides additional support points, enhancing the overall structural stability and vibration resistance. The second lidar module 6 forms an angle of less than 90 degrees with the horizontal support base, allowing the second lidar module 6 to emit and receive lasers downwards or diagonally downwards, thereby forming a vertical field of view. This helps to more accurately detect and identify ground conditions, including road markings, obstacles, or other traffic participants.

[0038] like Figure 1 As shown, in some embodiments, the first lidar module 3 is provided with two first transmitting units and a first receiving unit, and the second lidar module 6 is provided with two second transmitting units and a second receiving unit. The two first transmitting units and the first receiving units cooperate with the first mid-range lens 1 and the first long-range lens 2, respectively, and the two second transmitting units and the second receiving units cooperate with the second mid-range lens 4 and the second long-range lens 5, respectively. This allows for optimization for different detection distances and improves the measurement accuracy of the overall system.

[0039] In some embodiments, the scanning method of the first lidar module 3 and the second lidar module 6 can be Flash solid-state scanning or OPA scanning. Both Flash and OPA scanning technologies are all solid-state, with no moving parts, which can improve the durability and reliability of the lidar.

[0040] like Figure 1 and Figure 2 As shown, in some embodiments, the housing 100 is provided with a first window 101 and a second window 102, with the first lidar module 3 facing the first window 101 and the second lidar module 6 facing the second window 102. Each module...

[0041] By operating through independent windows, interference between different modules is reduced, and the stability and reliability of the system are improved. The first lidar module 3 faces the first window 101, and the second lidar module 6 faces the second window 102, achieving more precise spatial coverage.

[0042] like Figure 1 and Figure 2As shown, in some embodiments, both the first window 101 and the second window 102 are transparent windows. The transparent window can be a glass window or a transparent plastic window. The transparent window allows the laser to pass through directly with minimal loss, maintaining the intensity of the emitted and received beams and ensuring the reliability of the detection. The transparent window also provides physical protection to prevent dust, moisture, impacts, etc., from damaging the components inside the housing 100.

[0043] like Figure 1 and Figure 3 As shown, in some embodiments, the back cover 200 is provided with a first external network socket 8 and a second external network socket 10. The first lidar module 3 is connected to the first external network socket 8 via a first internal network cable 7, and the second lidar module 6 is connected to the second external network socket 10 via a second internal network cable 9. The first internal network cable 7 connects the first lidar module 3 and the first external network socket 8, enabling the first lidar module 3 to connect to external devices. The second internal network cable 9 connects the second lidar module 6 and the second external network socket 10, enabling the second lidar module 6 to connect to external devices. This achieves signal transmission between the first lidar module 3, the second lidar module 6, and external devices.

[0044] like Figure 1 and Figure 3 As shown, in some embodiments, an input power socket 13 is also installed on the back cover 200. The first lidar module 3 is connected to the input power socket 13 via a first internal power cable 11, and the second lidar module 6 is connected to the input power socket 13 via a second internal power cable 12. Centralized power supply via the input power socket 13 on the back cover 200 simplifies power management and improves system neatness and reliability. The first internal power cable 11 and the second internal power cable 12 reduce wiring complexity and avoid cable clutter.

[0045] like Figure 1 and Figure 3 In some embodiments, the housing 100 has multiple threaded connectors on the side near the rear cover 200, which can be connected to the rear cover 200 and the threaded connectors by fasteners. Connecting the rear cover 200 and the threaded connectors by fasteners such as nuts makes the rear cover 200 detachably connected to the housing 100, which simplifies the assembly and disassembly process of the solid-state lidar system, facilitates production and maintenance, and allows the rear cover 200 to be quickly disassembled when internal components need to be maintained or replaced.

[0046] In some embodiments, a host computer is also included, and the first lidar module 3 and the second lidar module 6 are electrically connected to the host computer. The point cloud data of the first lidar module 3 and the second lidar module 6 are processed by the data processing unit and then transmitted to the host computer. The host computer aligns and stitches the point cloud data of the first lidar module 3 and the second lidar module 6 to form the required field of view point cloud display, and stores the processed point cloud data for subsequent analysis and use.

[0047] This utility model discloses the working principle and process of a solid-state lidar system. A first lidar module 3 and a second lidar module 6 are integrated within a housing 100. The laser beams from the two first emitting units of the first lidar module 3 are emitted into the external environment through a first mid-range lens 1 and a first long-range lens 2. When the emitted laser beams encounter objects, they are reflected, and part of the reflected light returns to the first receiving unit. The first lidar module 3 automatically measures the distance and angle of the emitted laser beams and converts them into point cloud data through a data processing unit. The point cloud data is then stitched together on a host computer. Similarly, the laser beams from the two second emitting units of the second lidar module 6 are emitted into the external environment through a second mid-range lens 4 and a second long-range lens 5. When the emitted laser beams encounter objects, they are reflected, and part of the reflected light returns to the second receiving unit. The second lidar module 6 automatically measures the distance and angle of the emitted laser beams and converts them into point cloud data through a data processing unit. The point cloud data is then stitched together on a host computer.

[0048] In the description of this utility model, it should be understood that terms such as "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0051] Although the description of this utility model has been given in conjunction with the specific embodiments described above, it is obvious to those skilled in the art that many substitutions, modifications, and variations can be made based on the above description. Therefore, all such substitutions, modifications, and variations are included within the spirit and scope of the appended claims.

Claims

1. A solid-state lidar system, characterized in that, The device includes a housing and a rear cover, the rear cover being connected to the housing. A first and second all-solid-state lidar module are installed inside the housing. The first lidar module is located in the upper part of the housing, and the second lidar module is located in the lower part of the housing. The first lidar module has a first mid-range lens and a first long-range lens, and the second lidar module has a second mid-range lens and a second long-range lens. The field of view formed by the first mid-range lens and the first long-range lens are stitched together using point cloud mapping, and the field of view formed by the second mid-range lens and the second long-range lens are also stitched together using point cloud mapping.

2. The solid-state lidar system according to claim 1, characterized in that, The bottom of the housing is provided with several support seats, and the second lidar module abuts against the support seats and forms an angle of less than 90 degrees with the horizontal support seats.

3. The solid-state lidar system according to claim 1, characterized in that, The first lidar module is provided with two first transmitting units and a first receiving unit, and the second lidar module is provided with two second transmitting units and a second receiving unit.

4. The solid-state lidar system according to claim 1, characterized in that, The scanning methods of the first and second lidar modules can be Flash solid-state scanning or OPA scanning.

5. The solid-state lidar system according to claim 1, characterized in that, The housing is provided with a first window and a second window, with the first lidar module facing the first window and the second lidar module facing the second window.

6. The solid-state lidar system according to claim 5, characterized in that, Both the first window and the second window are transparent windows.

7. The solid-state lidar system according to claim 1, characterized in that, The rear cover is provided with a first external mesh seat and a second external mesh seat. The first lidar module is connected to the first external mesh seat through a first internal mesh cable, and the second lidar module is connected to the second external mesh seat through a second internal mesh cable.

8. The solid-state lidar system according to claim 1, characterized in that, An input power socket is also installed on the rear cover. The first lidar module is connected to the input power socket via a first internal power cable, and the second lidar module is connected to the input power socket via a second internal power cable.

9. The solid-state lidar system according to claim 4, characterized in that, The housing has multiple threaded connectors on the side near the rear cover, which can be connected to the rear cover and the threaded connectors via fasteners.

10. The solid-state lidar system according to claim 1, characterized in that, It also includes a host computer, and the first and second lidar modules are electrically connected to the host computer.

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