Lidar equipment

Abstract

To provide a lidar device which can be easily retrofitted to a vehicle.SOLUTION: A lidar device 100 comprises a bearing member 110 attached to a movable body, a lidar 130 attached to the bearing member 110, a first adjustment mechanism 170 for adjusting a direction and / or a position of the lidar 130 with respect to the bearing member 110, and a second adjustment mechanism 180 for adjusting a direction and / or a position of the bearing member 110 with respect to the movable body.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a lidar device. [Background technology]

[0002] Autonomous driving of a vehicle uses a three-dimensional map of the area around the road on which the vehicle is traveling, but the conditions around the road are constantly changing, such as the construction of new buildings. For this reason, it is necessary to frequently update the three-dimensional map and keep it up to date. For example, Patent Document 1 discloses a method of using data collected by a camera or LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) mounted on a vehicle to update the three-dimensional map. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-156973 Summary of the Invention [Problem to be solved by the invention]

[0004] There is a limit to the amount of data that can be collected by a single vehicle. Therefore, in order to keep the 3D map up to date using the method disclosed in Patent Document 1, it is necessary to collect data from as many vehicles as possible. However, currently, there are few vehicles equipped with LIDAR.

[0005] One example of a problem to be solved by the present invention is to provide a lidar device that can be easily retrofitted to a vehicle. [Means for solving the problem]

[0006] In order to solve the above problem, the invention described in claim 1 comprises a support member attached to a moving body, a lidar attached to the support member, a first adjustment mechanism that adjusts the orientation and / or position of the lidar relative to the support member, and a second adjustment mechanism that adjusts the orientation and / or position of the support member relative to the moving body. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a diagram illustrating a lidar device 100 according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing the lidar device 100 with the cover 120 removed. [Figure 3] 1 is a diagram showing a state in which a lidar device 100 is attached to a vehicle AM. [Figure 4] 10A and 10B are diagrams illustrating adjustment by a first adjustment mechanism 170. FIG. [Figure 5] 10A and 10B are diagrams illustrating adjustment by a first adjustment mechanism 170. FIG. [Figure 6] 10A and 10B are diagrams illustrating adjustment by a first adjustment mechanism 170. FIG. [Figure 7] 10A and 10B are diagrams illustrating adjustment by a second adjustment mechanism 180. FIG. [Figure 8] FIG. 1 is a diagram showing an example of a lidar device 100 equipped with four lidars 130. DETAILED DESCRIPTION OF THE INVENTION

[0008] A lidar device according to one embodiment of the present invention includes a support member attached to a vehicle, a lidar attached to the support member, a first adjustment mechanism that adjusts the orientation and / or position of the lidar relative to the support member, and a second adjustment mechanism that adjusts the orientation and / or position of the support member relative to the vehicle. This allows for adjustment by the second adjustment mechanism in addition to adjustment by the first adjustment mechanism. For example, after adjusting the orientation and / or position of the lidar to match the vehicle model to which the lidar device is attached using the first adjustment mechanism, further fine adjustments can be made using the second adjustment mechanism. Therefore, in this embodiment, the orientation and / or position of the lidar can be adjusted to match the vehicle model before the lidar device is attached to the vehicle. Therefore, when attaching the lidar device to the vehicle, only fine adjustments are required, making it easy to attach the lidar device to the vehicle.

[0009] Alternatively, multiple LIDARs may be attached to the support member. This allows the fields of view of multiple LIDARs to be combined, thereby expanding the field of view for obtaining three-dimensional data. Furthermore, since this embodiment has a first adjustment mechanism and a second adjustment mechanism, it is possible to align the fields of view between LIDARs and align the position of the LIDAR's field of view with the measurement target using different adjustment mechanisms. Therefore, this embodiment allows the field of view alignment between LIDARs, which requires more precise work, to be performed before the LIDAR device is attached to the vehicle. When attaching the LIDAR device to the vehicle, it is only necessary to align the position of the LIDAR's field of view with the measurement target, making it easy to attach the LIDAR device to the vehicle.

[0010] The lidar device may further include a cover that covers the lidar and the first adjustment mechanism, thereby making it possible to protect the lidar and the first adjustment mechanism from rain, wind, and the like.

[0011] The second adjustment mechanism may be provided so as to be operable from outside the cover, thereby making it possible to perform adjustments using the second adjustment mechanism without removing the cover.

[0012] The lidar device may further include a camera attached to the support member or the cover, which makes it possible to obtain color information about the surroundings of the moving object that cannot be obtained by a lidar.

[0013] The LIDAR device may further include a GNSS antenna attached to the cover and a self-location estimation device that estimates its own location based on positioning information obtained by the GNSS antenna, thereby making it possible to collect information about the surroundings of the moving object while estimating its own location. [Example]

[0014] <LIDAR device 100> 1A and 1B are diagrams illustrating a lidar device 100 according to an embodiment of the present invention. Fig. 1A is a front view of the lidar device 100, Fig. 1B is a side view of the lidar device 100, and Fig. 1C is a plan view of the lidar device 100.

[0015] The lidar device 100 includes a support member 110, a cover 120, two lidars 130, a camera 140, and a GNSS antenna 150.

[0016] The support member 110 is plate-shaped, and in this embodiment, the direction perpendicular to the plate surface of the support member 110 is defined as the up-down direction of the support member 110.

[0017] The cover 120 covers the lidar 130 and the camera 140, and as shown in Fig. 1(A), the cover 120 is provided with a window W so as not to obstruct the field of view of the lidar 130 and the camera 140. The size of the window W is determined appropriately based on the field of view of the lidar 130 and the camera 140. The number of windows W may be one, as shown in Fig. 1, or may be two or more.

[0018] The lidar 130 has a predetermined field of view, and in this embodiment, the center direction of the field of view of the lidar 130 is set to be in front of the lidar 130. That is, in this embodiment, the direction parallel to the center direction of the field of view of the lidar 130 is set to be the forward / backward direction of the lidar 130.

[0019] The camera 140 is attached to the inside of the cover 120. The camera 140 may be attached to the top surface of the cover 120 depending on its field of view. For example, if the horizontal viewing angle of the camera 140 is 360 degrees, it is recommended that the camera 140 be attached to the top surface of the cover 120. The camera 140 may also be attached to the support member 110 instead of the cover 120. The camera 120 may also be attached to the support member 110 or the cover 120 via an adjustment mechanism that adjusts the orientation and / or position of the camera 120 relative to the support member 110.

[0020] The GNSS antenna 150 is an antenna that receives radio waves transmitted from satellites that make up the GNSS (Global Navigation Satellite System), which includes the GPS (Global Positioning System), and is attached to the upper surface of the cover 120. Note that the location where the GNSS antenna 150 is attached is not limited to the upper surface of the cover 120. For example, the GNSS antenna 150 may be attached to the support member 110 and covered by the cover 120.

[0021] Fig. 2 is a diagram showing the lidar device 100 with the cover 120 removed. Fig. 2(A) is a front view of the lidar device 100 in this state, Fig. 2(B) is a side view of the lidar device 100 in this state, and Fig. 2(C) is a plan view of the lidar device 100 in this state. In Fig. 2, the shape of the lidar 130 is a rectangular parallelepiped, but the shape of the lidar 130 is not limited to a rectangular parallelepiped and may be another shape, such as a cylinder.

[0022] 2, the lidar device 100 has two first adjustment mechanisms to pair with the two lidars 130. Each of the lidars 130 is attached to the support member 110 via a corresponding first adjustment mechanism 170, and the orientation and / or position of the lidar 130 relative to the support member 110 is adjusted by this corresponding first adjustment mechanism 170.

[0023] The LIDAR device 100 further includes a hardware unit 160 connected to the LIDAR 130 and other devices via a cord (not shown). The hardware unit 160 includes a power source that supplies electricity to the LIDAR 130 and other devices, a self-position estimation device that estimates its own position based on positioning information obtained by the GNSS antenna 150, and a storage device that stores information obtained by the LIDAR 130.

[0024] The lidar device 100 further has a second adjustment mechanism 180, and the lidar device 100 (support member 110) is attached to the roof of a vehicle AM ​​(mobile body) via the second adjustment mechanism 180, as shown in FIG. 3. In this embodiment, the direction that coincides with the width direction of the vehicle AM ​​when the lidar device 100 is attached to the vehicle AM ​​is defined as the width direction of the support member 110. The direction perpendicular to the up-down direction of the support member 110 and the width direction of the support member 110 is defined as the front-rear direction. In this embodiment, two second adjustment mechanisms 180 are provided on the left and right sides of the support member 110, respectively.

[0025] The orientation of the support member 110 (lidar device 100) relative to the vehicle AM ​​is adjusted by a second adjustment mechanism 180. The second adjustment mechanism 180 is provided so that a user can perform adjustments using the second adjustment mechanism 180 from outside the cover 120. For example, as shown in FIGS. 1 and 3 , it is preferable that at least a portion of the second adjustment mechanism 180 is not covered by the cover 120 so that a user can perform adjustments using the second adjustment mechanism 180 from outside the cover 120.

[0026] In FIG. 3, the lidar device 100 is mounted on a carrier base CB provided on the roof of the vehicle AM, but the lidar device 100 may be mounted on the vehicle via a roof rail provided on the roof of the vehicle, or may be mounted directly on the vehicle.

[0027] The lidar device 100 attached to a vehicle estimates its own position while the vehicle is traveling and collects information about the surroundings of the vehicle (three-dimensional data (point cloud data) and image data). The information collected in this way can be used to update the three-dimensional map.

[0028] <Adjustment by the first adjustment mechanism 170> For example, as shown in FIG. 4, the orientation of the rider 130 relative to the support member 110 may be adjusted by rotating the rider 130 around two axes (RA1, RA2) using the first adjustment mechanism 170.

[0029] FIG. 4(A) is a view of the LIDAR 130 attached to the support member 110, viewed from above the support member 110. As shown in FIG. 4(A), it is preferable that the first adjustment mechanism 170 allows the LIDAR 130 to rotate about an axis RA1 extending parallel to the up-down direction of the support member 110 (perpendicular to the plane of the paper in FIG. 4(A)). As shown in FIG. 4(A), the horizontal field of view angle HVA of the LIDAR 130 may be limited to a predetermined angle. In such a case, by rotating the LIDAR 130 about the axis RA1, it is possible to adjust the orientation of the LIDAR 130 relative to the support member 110 so that the target to be imaged is within the field of view of the LIDAR 130.

[0030] FIG. 4(B) is a view of the LIDAR 130 attached to the support member 110, viewed from a direction perpendicular to the up-down direction of the support member 110 and the front-to-rear direction of the LIDAR 130. As shown in FIG. 4(B), it is preferable that the first adjustment mechanism 170 allows the LIDAR 130 to rotate around an axis RA2 extending parallel to a direction perpendicular to the up-down direction of the support member 110 and the front-to-rear direction of the LIDAR 130 (perpendicular to the plane of the paper in FIG. 4(B)). The vertical field of view angle VVA of the LIDAR may be limited to a predetermined angle, as shown in FIG. 4(B). In such a case, by rotating the LIDAR 130 around the axis RA2, it is possible to adjust the orientation of the LIDAR 130 relative to the support member 110 so that the target to be imaged is within the field of view of the LIDAR 130.

[0031] Also, for example, as shown in FIG. 5, the position of the rider 130 relative to the support member 110 may be adjusted by moving the rider 130 in three directions (front-to-back, up-down, and width directions of the support member 110) using the first adjustment mechanism 170.

[0032] FIG. 5(A) is a view of the lidar 130 attached to the support member 110, viewed from the side of the support member 110. As shown in FIG. 5(A), it is preferable that the first adjustment mechanism 170 allows the lidar 130 to slide relative to the support member 110 in the front-to-rear direction of the support member 110. Depending on the type of vehicle to which the lidar 130 is attached, the field of view of the lidar 130 may be obstructed by the roof of the vehicle. Furthermore, for example, when the orientation of the lidar 130 is adjusted downward by rotating the lidar 130 around the axis RA2 (see FIG. 4(B)), the field of view of the lidar 130 may be obstructed by the cover 120. In such a case, by sliding the lidar 130 forward, it is possible to adjust the position of the lidar 130 relative to the support member 110 so that the field of view of the lidar 130 is not obstructed by the roof of the vehicle or the cover 120.

[0033] FIG. 5(B) is a view of the lidar 130 attached to the support member 110, viewed from the side of the support member 110. As shown in FIG. 5(B), it is preferable that the first adjustment mechanism 170 be able to move the lidar 130 in the up and down directions of the support member 110. Depending on the type of vehicle to which the lidar 130 is attached, the field of view of the lidar 130 may be obstructed by the roof of the vehicle. Furthermore, for example, when the orientation of the lidar 130 is adjusted downward by rotating the lidar 130 around the axis RA2 (see FIG. 4(B)), the field of view of the lidar 130 may be obstructed by the cover 120. In such a case, by sliding the lidar 130 upward, it is possible to adjust the position of the lidar 130 relative to the support member 110 so that the field of view of the lidar 130 is not obstructed by the roof of the vehicle or the cover 120.

[0034] 5(C) is a view of the rider 130 attached to the support member 110 as viewed from above the support member 110. As shown in FIG. 5(C), a first adjustment mechanism 170 may be used to allow the rider 130 to slide relative to the support member 110 in the width direction of the support member 110.

[0035] As described above, in this embodiment, the LIDAR 130 can rotate around two axes RA1 and RA2, and can also move in three directions (front-rear, up-down, and widthwise) relative to the support member 110. This makes it possible to align the fields of view between each LIDAR 130 and the camera 140. It is also possible to align the fields of view between two LIDARs 130. In this embodiment, since two LIDARs 130 are provided, it is possible to widen the horizontal field of view for acquiring three-dimensional data by aligning the fields of view of the two LIDARs 130. Such field of view alignment can also be performed by the first adjustment mechanism 170.

[0036] The orientation of the lidar 130 relative to the support member 110 may be adjusted by a first adjustment mechanism 170, as shown in FIG. 6. FIG. 6 is a view of the lidar 130 attached to the support member 110 as seen from the front of the lidar 130. As shown in FIG. 6, the first adjustment mechanism 170 may be configured to allow the lidar 130 to rotate around an axis RA3 extending parallel to the front-to-rear direction of the lidar 130 (perpendicular to the plane of the paper in FIG. 4(C)). The lidar 130 may have a rectangular field of view determined by the horizontal and vertical field of view angles. In such a case, this rotation makes it possible to tilt the rectangular field of view of the lidar 130 relative to the support member 110.

[0037] While the above describes one example of the configuration of the first adjustment mechanism 170 that adjusts the orientation and / or position of the rider 130 relative to the support member 110, the first adjustment mechanism 170 may have any configuration as long as it can adjust the orientation and / or position of the rider 130 relative to the support member 110. For example, the first adjustment mechanism 170 for sliding the rider 130 relative to the support member 110 may be configured to include a guide rail that extends in the sliding direction (the front-to-rear direction or width direction of the support member 110) and a slider that moves on this guide rail. In this case, for example, by attaching the guide rail to the support member 110 and the slider to the rider 130, the rider 130 can slide relative to the support member 110. Another possible configuration of the first adjustment mechanism 170 for sliding the rider 130 relative to the support member 110 is a configuration consisting of a long hole extending in the sliding direction (the front-to-rear or width direction of the support member 110) and a bolt passed through this long hole.

[0038] <Adjustment by second adjustment mechanism 180> The orientation of the support member 110 relative to the vehicle AM ​​may be adjusted by a second adjustment mechanism 180 as shown in FIG. 7. FIG. 7 is a view of the lidar device 100 (support member 110) attached to the vehicle AM ​​as seen from the side of the vehicle AM. In the embodiment shown in FIG. 7, the second adjustment mechanism 180 allows the lidar 130 to rotate around an axis RA4 extending parallel to the width direction of the vehicle AM ​​(perpendicular to the plane of the paper in FIG. 3(C)). In this way, it is possible to adjust the orientation of the support member 110 relative to the vehicle AM, i.e., the orientation of the lidar 130 and the camera 140 relative to the vehicle AM, so that the target to be imaged falls within the field of view of the lidar 130 and the camera 140.

[0039] Although the second adjustment mechanism 180 according to this embodiment only has a configuration for adjusting the orientation of the lidar device 100 (support member 110) relative to the vehicle AM ​​by rotation about one axis (RA4), the second adjustment mechanism 180 may also have a configuration for adjusting the orientation of the support member 110 relative to the vehicle AM ​​by rotation about two other axes perpendicular to axis RA4. Furthermore, the second adjustment mechanism 180 may also have a configuration for adjusting the position of the lidar device 100 relative to the vehicle AM ​​by moving the lidar device 100 in all three directions (forward / backward, widthwise, and up / down directions of the vehicle AM).

[0040] After the rider 130 is covered by the cover 120, the user cannot access the first adjustment mechanism 170 unless he or she removes the cover 120. For this reason, adjustment using the first adjustment mechanism 170 cannot be performed without removing the cover 120. Therefore, the rider device 100 according to this embodiment has, in addition to the first adjustment mechanism 170, a second adjustment mechanism 180 that adjusts the orientation and / or position of the support member 110 to which the rider 130 is attached. For this reason, in this embodiment, it is possible to adjust the orientation and / or position of the rider 130 without removing the cover 120.

[0041] Furthermore, when multiple sensors (lidars 130, cameras 140) are used, as in this embodiment, it is necessary to align the fields of view between the multiple sensors. Furthermore, if the field of view angle of the sensors is limited, it is also necessary to align the field of view of the sensors (lidars 130, cameras 140) with the measurement target. For example, when measuring a measurement target below, such as a road, it is necessary to orient the field of view of the sensor downward, and when measuring a measurement target, such as a building in front, it is necessary to orient the field of view of the sensor forward. Therefore, the lidar device 100 according to this embodiment has two adjustment mechanisms: a first adjustment mechanism 170 that adjusts the orientation and / or position of each lidar 130, and a second adjustment mechanism 180 that adjusts the orientation and / or position of the support member 110 to which the lidar 130 is attached. Therefore, in this embodiment, it is possible to align the fields of view between the sensors using the first adjustment mechanism 170, and to align the field of view of the sensor with the measurement target using the second adjustment mechanism. As a result, in this embodiment, for example, after the fields of view between the sensors have been aligned, it is possible to align the fields of view of the sensors with the measurement object in accordance with the measurement object without affecting the relationship between the fields of view of the sensors.

[0042] As described above, in this embodiment, the alignment of the fields of view between the sensors and the alignment of the field of view of the sensor with the measurement target can be performed using different adjustment mechanisms. Therefore, in this embodiment, the alignment of the fields of view between the sensors, which requires more precise work, can be performed before the LIDAR device 100 is attached to the vehicle. When attaching the LIDAR device 100 to the vehicle, it is only necessary to align the field of view of the sensor with the measurement target, making it easy to attach the LIDAR device 100 to the vehicle.

[0043] <Number of riders: 130> In the example described above, there are two pairs of the LIDAR 130 and the first position adjustment mechanism 170, but there may be one pair of the LIDAR 130 and the first position adjustment mechanism 170, or there may be three or more pairs of the LIDAR 130 and the first position adjustment mechanism 170. The number of the LIDAR 130 may be determined, for example, so that the field of view of the LIDAR 130 matches the desired field of view.

[0044] For example, if the horizontal field of view of the LIDAR 130 is 60 degrees, the combined horizontal field of view of two LIDARs 130 is less than 120 degrees. Therefore, when it is desired to acquire three-dimensional data of not only a target in front but also a target on the side, two LIDARs 130 do not have a sufficient field of view. Therefore, for example, as shown in FIG. 8, the LIDAR device 100 may have four LIDARs 140. Here, FIG. 8 is a plan view of the LIDAR device 100 with the cover 120 removed. In this way, it becomes possible to acquire three-dimensional data of not only a target in front but also a target on the side.

[0045] The present invention has been described above in terms of preferred embodiments thereof. While the present invention has been described herein with reference to specific examples, various modifications and variations can be made to these examples without departing from the spirit and scope of the present invention as set forth in the claims. [Explanation of symbols]

[0046] 100 Lidar device 110 Support member 120 Cover 130 Rider 140 Camera 150 GNSS antenna 160 hardware units 170 First Adjustment Mechanism 180 Second Adjustment Mechanism

Claims

1. a support member attached to the moving body; a rider attached to the support member; a first adjustment mechanism that adjusts the orientation and / or position of the rider relative to the support member; a second adjustment mechanism that adjusts the orientation and position of the support member relative to the movable body, the support member is attached to the movable body via the second adjustment mechanism, The second adjustment mechanism adjusts the orientation of the support member by rotating the support member around an axis extending in a predetermined direction.

2. The lidar device of claim 1 , wherein a plurality of the lidars are attached to the support member.

3. The lidar device according to claim 1 or 2, further comprising a cover that covers the lidar and the first adjustment mechanism.

4. The lidar device according to claim 3 , wherein the second adjustment mechanism is provided so as to be operable from outside the cover.

5. The lidar device according to claim 3 or 4, further comprising a camera attached to the support member or the cover.

6. a GNSS antenna attached to the cover; The lidar device according to claim 3 , further comprising: a self-position estimation device that estimates a self-position based on positioning information obtained by the GNSS antenna.

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