CN104197926B - A kind of robot navigation device of use active vision mode - Google Patents

Abstract

The invention provides a mobile robot navigation device, which mainly includes a binocular image sensor module, a scanning laser line projection module, a three-way adjustable light source module, and a control circuit module. The device is based on binocular active vision and can be used for autonomous obstacle avoidance navigation tasks for mobile robots in narrow unstructured spaces. The power supply and control signals of all equipment in the device are controlled by the control circuit module, which is simple and efficient. This mobile robot navigation device is small, lightweight and based on active vision, which is especially suitable for use in narrow unstructured space robot navigation tasks. The device can obtain high-density three-dimensional reconstruction point cloud, and adopts binocular vision with high positioning accuracy. In addition, the device has the advantages of stable structure, simple and efficient control.

Description

A robot navigation device using active vision

technical field

The invention relates to a robot navigation device, in particular to an active vision-based robot navigation device for narrow unstructured spaces.

Background technique

Generally, autonomous navigation, as one of the core research contents in the field of mobile robots, is a key technology to realize the intelligence and practicality of robots. Among the many navigation methods, binocular vision navigation is the closest to human binocular vision. Obtaining environmental information through visual sensors and further obtaining spatial depth information has the advantages of rich information, non-contact, and wide application fields. It is becoming more and more popular in the field of mobile robots. People value.

Visual navigation relies on the extraction and matching of feature points in visual images corresponding to environmental features. Due to the reasons such as illumination changes, occlusion, and inconspicuous texture features in natural features in narrow unstructured spaces, passive visual navigation based on natural features can obtain The feature points are sparse and the reliability is not high. The active vision method uses the projection device as an auxiliary to project a light template with a certain shape to the target, which has the characteristics of high reconstruction accuracy and strong controllability. Existing active vision devices mainly rely on projectors to project light templates such as point arrays, speckles, line-structured light, and surface-structured light to the target. The projection device has the disadvantages of large volume and heavy weight, and cannot be used for mobile robot navigation in narrow spaces. on task.

Therefore, there is a need for an active vision-based robot navigation device that can effectively solve the above problems, that is, can be used in narrow unstructured spaces.

Contents of the invention

The purpose of the present invention is to provide a small navigation device based on binocular active vision, which can project and scan laser lines as artificial features to assist the binocular vision system to perform tasks such as feature extraction, matching, and three-dimensional reconstruction, so as to realize mobile robots in unknown narrow areas. Autonomous navigation in unstructured spaces. The device has the characteristics of small size, light weight, simple installation, strong controllability, and dense 3D reconstruction point cloud.

The active vision-based binocular robot navigation device for narrow unstructured spaces of the present invention includes: a binocular image sensor module, the binocular image sensor module includes the first high-precision miniature head-separated industrial camera and the second Two high-precision miniature head-separated industrial cameras, the first high-precision miniature head-separated industrial camera and the second high-precision miniature head-separated industrial camera are installed on the camera support frame, and the axial axis of the imaging element Set to be parallel to each other; scanning laser line projection module, the scanning laser line projection module includes a motor, a gear box, an absolute encoder, a rectangular prism and a prism fixture, a micro-semiconductor laser and a laser fixture, and the motor is used as a power output device , the output shaft is used as the input shaft of the reduction box, the absolute encoder is installed at one end of the output shaft of the reduction box, and the other end passes through the first high-precision miniature head-separated industrial camera and the second high-precision A prism fixture is installed above the precision micro-head separation industrial cameras, the right-angle prism is installed on the prism fixture in an interference fit manner, and the laser fixture is installed on the prism fixture in a clearance fit manner. On the reduction box, the micro-semiconductor laser is installed on the laser fixture; the adjustable lighting source module is arranged on the first high-precision micro-head separation industrial camera and the second high-precision micro-computer The front end of the head-separated industrial camera includes a "∞"-shaped substrate and a plurality of light sources arranged on the substrate; a control circuit module, which includes the binocular image sensor module, the scanning laser line projection The module and the adjustable lighting source module each drive a circuit.

Preferably, the camera support frame is fixed with two sleeves, and the heads of the first high-precision miniature head-separated industrial camera and the second high-precision miniature head-separated industrial camera are installed on the two sleeves respectively. , fasten with the set screw.

Preferably, the motor shaft of the motor performs forward and reverse rotation at a certain angular velocity.

Preferably, the overall size of the navigation device does not exceed 90x90x100mm.

Preferably, the navigation device is installed on the flange of the corresponding robot through a flange.

Preferably, the micro-semiconductor laser is a micro-tunable line laser, and the cross-section of the light emitted by it is a line-shaped laser bar.

Preferably, the motor is a stepper motor or a servo motor, which is used to control the rotation speed and direction of the motor shaft.

Preferably, the substrate in the adjustable lighting source module is made of aluminum.

Preferably, the absolute encoder includes a photoelectric code disk and a photoelectric pair tube, and the photoelectric code disk passes through a middle gap of the photoelectric pair tube.

Preferably, the reduction box includes a gear set, the gear set includes 2 sets of dual gears, the large wheel in the first set of dual gears is a worm gear, the small wheel is a spur gear, and the large wheel in the second set of dual gears And steamboat all are spur gears. It should be understood that both the foregoing general description and the following detailed description are exemplary illustrations and explanations, and should not be used as limitations on the claimed content of the present invention.

Description of drawings

With reference to the accompanying drawings, more objects, functions and advantages of the present invention will be clarified through the following description of the embodiments of the present invention, wherein:

Fig. 1a schematically shows the structure of an active vision-based robot navigation device that can be used in narrow unstructured spaces according to the present invention.

Fig. 1b schematically shows a structure diagram of a reduction box in a scanning laser line projection module according to an embodiment of the present invention.

Fig. 2 schematically shows the structural diagram of the binocular vision sensor module of the robot navigation device of the present invention.

Fig. 3a schematically shows the overall structure of the scanning laser line projection module of the present invention.

Fig. 3b schematically shows the specific structure inside the motor and the reduction box of the scanning laser line projection module of the present invention.

Fig. 3c schematically shows the specific structure diagram of the motor, reduction box and absolute encoder of the scanning laser line projection module of the present invention.

Fig. 3d schematically shows a schematic diagram of the working principle of the absolute encoder of the present invention.

Fig. 4 schematically shows an enlarged partial structure of the concave track of the reduction box of the scanning laser line projection module of the present invention.

Fig. 5 schematically shows the structure diagram of the laser card of the robot navigation device of the present invention.

Fig. 6a schematically shows a schematic top view of the scanning laser line projection module of the robot navigation device of the present invention.

Fig. 6b schematically shows a calculation method of the angle β between the centerline of the micro-tunable linear laser and the centerline of the gear box.

Fig. 7 schematically shows the structure diagram of the adjustable illumination light source module of the robot navigation device of the present invention.

detailed description

The objects and functions of the present invention and methods for achieving the objects and functions will be clarified by referring to the exemplary embodiments. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in various forms. The essence of the description is only to help those skilled in the relevant art comprehensively understand the specific details of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

Fig. 1a schematically shows the structure of an active vision-based robot navigation device 100 that can be used in narrow unstructured spaces according to the present invention. A binocular robot navigation device 100 based on active vision in a narrow unstructured space according to the present invention includes a binocular image sensor module for sensing images, a scanning laser line projection module for imaging by emitting laser light, and a projection module for projecting An adjustable light source module and a control circuit module for lighting sources.

Specifically, as shown in FIG. 1a, the robot navigation device 100 according to the present invention is installed on a corresponding flange of the robot (not shown in FIG. 1 ) by using a flange 1050 on one side of the navigation device as a connecting piece. The bracket 1060 is installed on the flange 1050 through bolts, and plays a role of supporting the above-mentioned active vision-based robot navigation device 100 . Preferably, the overall size of the robot navigation device 100 does not exceed 90×90×100 mm.

The binocular robot navigation device 100 includes a binocular image sensor module for sensing the position of the robot through the sensor, specifically, judging the position of the robot by sensing specific imaging in the direction of travel of the robot. According to an embodiment of the present invention, the binocular image sensor module includes two high-precision miniature head-separated industrial cameras and a camera support frame connecting them. The two high-precision micro-head detachable industrial cameras are the first high-precision micro-head detachable industrial camera 1011 and the second high-precision micro-head detachable industrial camera 1012 . Preferably, the performance parameters of the first high-precision micro-head detachable industrial camera 1011 and the second high-precision micro-head detachable industrial camera 1012 are selected to be identical, and the axial axes of their imaging elements are set to be parallel to each other. Each of the two cameras is mounted on a camera support frame 1070 , and the camera support frame 1070 is mounted on the bracket 1060 . The two cameras can collect environmental images in real time and transmit the image information to the processing system.

The binocular robot navigation device 100 also includes a scanning laser line projection module, which is used to project laser light in the direction of the robot's travel to form an image, so as to be sensed by the above binocular image sensor module. According to an embodiment of the present invention, the scanning laser line projection module is located at the bottom and between the first high-precision micro-head detachable industrial camera 1011 and the second high-precision micro-head detachable industrial camera 1012, including a motor 1021, Gearbox 1022, absolute encoder 1023 (see Figure 1b), rectangular prism 1024 and prism fixture 1025, micro-semiconductor laser 1026 (projection line laser) and laser fixture 1027. The reduction box 1022 is installed on the bracket 1060, and the motor 1021 is installed on the reduction box 1022 as a power source. The above-mentioned motor 1021 is used as a power output device, and its motor shaft rotates forward and reverse at a certain angular velocity. The input shaft of the reduction box 1022 is the output shaft of the motor 1021 .

Preferably, the motor 1021 in this embodiment can be a stepper motor or a servo motor, which can control the rotation speed and rotation direction of the motor shaft. The motor of the device is driven by a motor driver, and the movement of the motor shaft is controlled by a single-chip microcomputer or a motion control board.

Fig. 1b schematically shows a structure diagram of a reduction box in a scanning laser line projection module according to an embodiment of the present invention. As shown in Figure 1b, an absolute encoder 1023 is installed at one end of the output shaft 3070 of the reduction box 1022, and the other end passes through the first high-precision micro-head detachable industrial camera 1011 and the second high-precision micro-head detachable industrial camera 1011. A prism fixture 1025 is installed above the cameras 1012, and the rectangular prism 1024 is mounted on the prism fixture 1025 in an interference fit manner.

As shown in FIG. 1 a , the laser fixture 1027 is installed on the double-sided concave guide rail 3100 (see FIG. 3 a ) of the above-mentioned reduction box 1022 in a loose fit manner, and is fastened by fastening bolts. The micro-semiconductor laser 1026 is installed on the laser fixture 1027 and fastened with fastening screws.

During the operation of the scanning laser line projection module, the rotational motion of the motor shaft of the motor 1021 is used as an input, which is converted into the deflection motion of the output shaft of the gear box and the right-angle prism 1024 held by the gear box 1022 through the gear box 1022 . The linear light projected by the micro-semiconductor laser 1026 is refracted and reflected by the rectangular prism 1024 to form a laser line that scans back and forth within a certain angle range. The first high-precision micro-head detachable industrial camera 1011 and the second high-precision micro-head detachable industrial camera 1012 respectively collect the images formed by the laser line, and send the images to the control unit for analysis, so as to sense the robot location.

Preferably, the micro-semiconductor laser 1026 selected in this embodiment is a miniature adjustable-focus inline laser, and the cross-section of the light emitted by it is an inline-shaped laser bar. The laser light bar is the thinnest and the brightness is the most uniform. The position adjustment of the laser should maintain a required angle with the central axis of the active vision-based robot navigation device 100 in this embodiment.

Preferably, the in-line laser bar in this embodiment adopts the three-dimensional reconstruction point cloud technology, specifically, when the laser light bar projecting device is working, it projects and scans the light bar, and the binocular camera continuously collects images (about 400~ 800 frame images). The software algorithm processes each picture, extracts the center line of the laser light bar of each 2D picture, and then performs matching and three-dimensional reconstruction on the left and right cameras corresponding to the processed images to obtain the three-dimensional space coordinates of the center line of the laser light bar (hundreds of points), and the above algorithm is performed on 400-800 pairs of images to obtain the three-dimensional coordinates of a point cloud (tens of thousands of points) in a spatial area.

The robot navigation device 100 also includes an adjustable light source module for projecting a lighting source. According to an embodiment of the present invention, the adjustable light source module is arranged at the front end of the first high-precision miniature head-separated industrial camera 1011 and the second high-precision miniature head-separated industrial camera 1012, and is a "∞"-shaped 3-way Adjustable light source module, the module substrate 7020 is a "∞"-shaped aluminum substrate, which is clamped on the front ends of the first high-precision micro-head detachable industrial camera 1011 and the second high-precision micro-head detachable industrial camera 1012. A light source 7010 is respectively distributed around the lenses of the first high-precision miniature head-separated industrial camera 1011 and the second high-precision miniature head-separated industrial camera 1012 .

The robot navigation device 100 also includes a control circuit module, the control circuit module includes a binocular image sensor module, a scanning laser line projection module, and the respective driving circuits of the adjustable light source module, and the user can control the driving circuits of each driving circuit through a host computer. powered by.

Fig. 2 is a schematic structural diagram of a binocular vision sensor module in a binocular robot navigation device according to the present invention.

As shown in Figure 2, the binocular vision sensor module includes two high-precision miniature head-separated industrial cameras 1011 and 1012 and a camera support frame connecting the two. The camera support frame includes a sleeve 2010 and a sleeve 2020 for respectively accommodating the high-precision micro-head detachable industrial cameras 1011 and 1012, and a "concave"-shaped connection part 2030 connecting the two sleeves. The sleeve 2010 and the sleeve 2020 are symmetrically distributed, and the high-precision micro-head detachable industrial camera 1011 and the high-precision micro-head detachable industrial camera 1012 are installed in the sleeve 2010 and the sleeve 2020 respectively, and are tightened by the fastening screw. 2041 and 2042 are fastened.

Preferably, the installation positions of the two high-precision miniature head-separated industrial cameras in this embodiment are kept parallel on the same horizontal plane, and the positions of the two cameras pass the centerline of the active vision-based robot navigation device in this embodiment. The vertical plane is symmetrical to the plane of symmetry.

3a-3d are schematic structural diagrams of the scanning laser line projection module in the binocular robot navigation device according to the present invention. Among them, Fig. 3a is a schematic diagram of the overall structure of the scanning laser line projection module, Fig. 3b is a schematic diagram of the specific structure inside the motor and the gearbox of the scanning laser line projection module, and Fig. 3c is a schematic diagram of the motor, gearbox and absolute encoder of the scanning laser line projection module A schematic diagram of the specific structure, and Fig. 3d shows a schematic diagram of the working principle of the absolute encoder.

As shown in Figure 3a, the scanning laser line projection module according to the present invention includes a motor 1021, a reduction box 1022, an absolute encoder 1023 (see Figure 1b), a rectangular prism 1024, a prism fixture 1025, and a micro semiconductor laser 1026 (for projection linear laser) and laser fixture 1027.

The motor 1021 is used as a power output device, and its motor shaft rotates forward and reverse at a certain angular velocity. The output shaft 3010 of the motor 1021 and the worm 3020 are assembled together through interference fit as a power shaft.

The reduction box housing 3080 of the reduction box 1022 plays a role of support and protection. The output shaft 3070 of the reduction box 1022 is installed on the reduction box casing 3080 through the bearing 3090, so as to avoid the large frictional force due to direct contact with the reduction box casing 3080. The other end of the output shaft 3070 of the reduction box is connected to an absolute encoder (not shown in FIG. 3 a ), and the output code value of the absolute encoder is fed back to the controller to realize closed-loop control of the rotation angle of the prism fixture 1025 and the right-angle prism 1024. The micro-semiconductor laser 1026 is installed on the laser fixture 1027, and the laser fixture 1027 is installed on the concave track 1080, and is fastened by fastening bolts.

As shown in FIG. 3 b , it shows a schematic diagram of the specific structure inside the motor and the reduction box of the scanning laser line projection module. The gear in the reduction box 1022 is a gear set, and the gear set includes 2 sets of double gears, the first set of double gears has a worm gear 3030 as its large wheel and a spur gear 3040 as its small wheel. The second group of double gear bull wheel 3050 and the small wheel 3060 are all spur gears.

The transmission process of the gear set is: the motor shaft 3010 drives the worm 3020 to rotate, the rotation of the worm drives the worm wheel 3030 of the first set of double gears to rotate, and at the same time the small wheel 3040 (spur gear) of the first set of double gears drives the second set of cascade The bull wheel 3050 of the gear rotates. The second group of dual gears is connected with the output shaft 3070 by a pin key, so the rotation of the second group of dual gears drives the output shaft 3070 of the reduction box to rotate.

The input shaft of the reduction box is the output shaft 3010 of the above-mentioned motor, an absolute encoder is installed at one end of the output shaft 3070 of the above-mentioned reduction box, and a prism fixture 1025 (referring to Fig. 3a) is installed at the other end. It is installed on the prism fixture in a coordinated manner.

As shown in Fig. 3c, it shows the specific structure of the motor, reduction box and absolute encoder in the scanning laser line projection module. The absolute encoder includes a photoelectric code disc 3100 and a photoelectric pair tube 3110 , and the photoelectric code disc 3100 passes through a middle gap of the photoelectric pair tube 3110 . The photoelectric code disc is fixed on the output shaft 3070 by composite glue. According to a preferred embodiment of the present invention, the photoelectric code disc 3100 has 100 lines, that is, the encoder outputs a total of 100 pulses in one revolution, and the positioning accuracy is 3.6 degrees.

When the scanning laser line projection module is running, the rotation of the motor shaft 3010 is used as an input, which is transformed into the offset motion of the output shaft 3070 of the reduction box and the right-angle prism held by the reduction box through the reduction box. The line shape projected by the micro-semiconductor laser is refracted by a right-angle prism to form a laser line that scans back and forth within a certain angle range.

Preferably, the advantage of adopting the transmission mode of worm gear in this embodiment is that it can not only obtain a larger transmission ratio, but also have the function of position self-locking, preventing the position deviation due to inertia or external force during the swinging process of the rectangular prism. shift.

Fig. 3d shows a schematic diagram of the working principle of the absolute encoder.

As shown in Fig. 3d, according to a preferred embodiment of the present invention, the photoelectric code disc 3100 has 100 lines, that is, the encoder outputs 100 pulses in total for one rotation. That is, the positioning accuracy is 3.6 degrees. The photoelectric code disc 3100 rotates in the middle gap of the photoelectric pair tube 3110 along with the output shaft, and the photoelectric pair tube 3110 directly outputs digital pulse signals, so these pulse signals can be directly connected to the controller. When the photoelectric pair tube 3110 outputs two pulse signals, they have the same waveform and a phase difference of 90 degrees. If the output shaft is rotating forward, the second pulse lags by 90°; if it is rotating reversely, the second pulse leads by 90°. Through this relationship, it can be judged whether the output shaft is forward or reverse.

Fig. 4 is an enlarged schematic diagram of a partial structure of the concave track of the reduction box of the scanning laser line projection module according to the present invention as shown in Fig. 3a. Fig. 5 is a schematic structural view of the laser fixture of the scanning laser line projection module according to the present invention.

As shown in FIG. 3 a , the laser fixture 1027 is installed on the double-sided concave guide rail 1080 of the above-mentioned reduction box in a loose fit manner, and is fastened by fastening bolts. Fig. 4 shows an enlarged schematic view of the local structure of the concave track of the reduction box. As shown in FIG. 4 , a baffle plate 4010 is disposed on the double-sided concave guide rail 1080 for positioning the laser fixture 1027 . As shown in Figure 5, there is a collar 5030 above the laser fixture 1027 for accommodating the laser, and a support frame 5040 below the collar 5030. Cooperate, screw hole 5020 is used for installing fastening bolt.

Fig. 6a is a top structural schematic diagram of a scanning laser line projection module according to the present invention to illustrate its working principle.

As shown in Figure 6a, Figure 6a shows that the angle between the centerline of the micro-semiconductor laser 1026 and the centerline of the reduction box 1022 is β, and the angle β is used to ensure that the scanning range of the laser scanning line emitted by the rectangular prism is less than or equal to The deceleration center line is the center line. The calculation method of the specific included angle β will be described in detail below.

Fig. 6b is a schematic diagram of the optical verification of the calculation method of the included angle β. As shown in 6b, FIG. 6b shows the calculation method of the included angle β, and the calculation process of the included angle β between the centerline of the micro-semiconductor laser 1026 and the centerline of the reduction box 1022.

The angle range between the micro-semiconductor laser 1026 and the outgoing light is roughly determined by the refraction theorem of light and the total reflection theorem (the actual situation is that the position of the micro-semiconductor laser 1026 is fixed, and the prism rotates, and the outgoing light will also rotate, so that the micro-semiconductor laser is produced. 1026 and an angle range of the outgoing light), where the angle between the line marked 2 and the line marked 6 are the two boundary values of the angle range, and then select a suitable angle within this range , the selected appropriate angle should be near the middle of these two boundary values as far as possible.

In the present invention, the position of the miniature semiconductor laser 1026 is fixed, and the rectangular prism 1024 rotates. For the convenience of calculation, the right-angled prism 1024 is fixed, and the micro-semiconductor laser 1026 rotates around the right-angled prism 1024 with the center of gravity of the prism as the center, and then the theoretical path of laser propagation is obtained according to the law of refraction and total reflection of light.

The laser is refracted on the rectangular surface (incident surface) of the rectangular prism: the refraction formula is:

n _glass /n _air = sinθ1/sinθ2

Where θ1 is the angle between the incident light at the incident surface and the normal line, and θ2 is the angle between the refracted light at the incident surface and the normal line.

When a certain angle requirement is met, sinθ=1/n where the angle θ is the critical angle of total reflection, and n is the ratio of the refractive index of the prism glass to air. The laser beam is totally reflected at the hypotenuse of the right-angle prism: at this time, the incident angle and the outgoing angle are symmetrical about the normal.

The laser light is also refracted on the other side (exit surface) of the rectangular prism, and the refraction formula is the same as above.

When calculating the included angle β, first calculate the critical position of the laser relative to the prism (to satisfy the law of total reflection).

Mark 2 is the critical position, and the included angle of the angle relative to the normal of the incident surface is -5.6758 degrees. Because the laser rotates relative to the center of gravity of the prism, it is necessary to ensure that the incident laser light is irradiated on the incident surface. Mark 6 is another critical position where the angle relative to the normal of the incident surface is -63 degrees.

Considering that the public field of view angle of the binocular camera is about 45 degrees, and considering the impact of laser placement on the space volume of the entire system (the angle is 7 hours larger than the label, it occupies more horizontal space; when the angle is larger than the label 7, it occupies the vertical space. will increase), select the position marked 7 as the laser installation position, which is the direction of the center line of the gear box at the point 7 of the outgoing light.

Fig. 7 is a schematic structural diagram of an adjustable lighting source module of a robot navigation device according to the present invention.

As shown in FIG. 7 , according to an embodiment of the present invention, the 3-way adjustable lighting source module of the robot navigation device is in the shape of "∞", and the module includes 24 white LEDs 7010 and a substrate 7020 in the shape of "∞". 24 white light LEDs 7010 are distributed on the "∞" shaped light source substrate 7020, respectively located at both ends of the "∞" shaped light source substrate 7020, evenly arranged in a circular manner, with 12 LEDs arranged at each end. The white light LEDs are preferably divided into three paths, and the three paths of LEDs are alternately distributed on the substrate 7020 .

The arrangement order of the LEDs is as follows: the first LED (1-1) of the first road, the first LED (2-1) of the second road, the first LED (3-1) of the third road, and the first LED (3-1) of the first road. The second LED(1-2) of the road, the second LED of the second road(2-2), the second LED of the third road(3-2),...the eighth LED of the first road, the Eight LEDs, the eighth LED in the third way. The number in front of the words in the brackets is the number of the road, and the number after it is the Nth LED of the road. . The beneficial effect of the above arrangement is that each LED can be evenly distributed on the "∞" shaped light source aluminum substrate 37, so that the illumination is uniform. Users can freely choose the on and off of each LED power supply, and can freely control the brightness of each LED to obtain suitable lighting conditions, and then obtain high-quality, high-contrast images.

Preferably, the "∞" shaped light source aluminum substrate 7020 in the adjustable lighting source module is made of aluminum material, which is beneficial for heat dissipation.

The advantages of the robot navigation device according to the present invention are at least:

1. Small in size and light in weight, compared with other equipment using projectors or similar equipment, it is more suitable for navigation and obstacle avoidance tasks of mobile robots in narrow spaces.

2. The 3D reconstruction point cloud obtained during the navigation of the device in this embodiment is denser than the 3D reconstruction obtained by the device projecting crosshairs or point arrays, which provides the robot with richer information for understanding the surrounding environment.

3. The user's control of the camera, laser, motor and light source is completely controlled by the host computer, which is simple and convenient.

Other embodiments of the invention will be apparent to and understood by those skilled in the art from consideration of the specification and practice of the invention disclosed herein. The description and examples are considered exemplary only, with the true scope and spirit of the invention defined by the claims.

Claims (10)

1. a kind of Binocular robot guider based on active vision for narrow unstructured space, including：

Binocular image sensor assembly, the binocular image sensor assembly includes the industry of the first high-precision micro frame head separating Camera and the second high-precision micro frame head separating industrial camera, the first high-precision micro frame head separating industrial camera and Second high-precision micro frame head separating industrial camera is arranged on camera tripod, and the axial axis of its image-forming component is set to It is parallel to each other；

Scanning laser line projection module, the scanning laser line projection module includes motor, reduction box, absolute encoder, right angle Prism and prism fixture, micro semiconductor laser device and laser fixture, the motor are used as PTO, its output shaft As the input shaft of the reduction box, output shaft one end of the reduction box is provided with the absolute encoder, and the other end is passed through Between the first high-precision micro frame head separating industrial camera and the second high-precision micro frame head separating industrial camera Its top is provided with prism fixture, and the right-angle prism is arranged on the prism fixture in an interference fit, described to swash Light device fixture is arranged on the reduction box in the way of gap coordinates, and the micro semiconductor laser device is arranged on the laser On device fixture；

Wherein, the angle of the center line of the center line of micro semiconductor laser device and reduction box is set to make to project through right-angle prism Laser scanning line scanning range centered on reduction box center line line；

Adjustable luminous source module, is arranged on the first high-precision micro frame head separating industrial camera and described second high-precision Spend the front end of miniature frame head separating industrial camera, including " ∞ " font substrate and multiple light on the substrate are set Source；

Control circuit module, the control circuit module includes the binocular image sensor assembly, the scanning laser line and thrown Penetrate module and each driving circuit of adjustable luminous source module.

2. the Binocular robot guider according to claim 1 based on active vision, wherein, the camera tripod It is fixed with two sleeves, the first high-precision micro frame head separating industrial camera and the second high-precision micro frame head separating The head of industrial camera is separately mounted in two sleeves, is fastened by fastening screw.

3. the Binocular robot guider according to claim 1 based on active vision, wherein, the motor of the motor Axle makees positive, counter rotational movement with a fixed angular speed.

4. the Binocular robot guider according to claim 1 based on active vision, wherein, the guider Overall dimensions are no more than 90x90x100mm.

5. the Binocular robot guider according to claim 1 based on active vision, wherein, the guider leads to Ring flange is crossed to be arranged on the ring flange of correspondence robot.

6. the Binocular robot guider according to claim 1 based on active vision, wherein, the micro semiconductor Laser is miniature adjustable a wordline laser device, and its light cross section launched is yi word pattern laser strip.

7. the Binocular robot guider according to claim 1 based on active vision, wherein, the motor is stepping Motor or servomotor, velocity of rotation and rotation direction for controlled motor axle.

8. the Binocular robot guider according to claim 1 based on active vision, wherein, the adjustable illumination light Substrate in source module is aluminum material.

9. the Binocular robot guider according to claim 1 based on active vision, wherein, the absolute encoder Including photoelectric code disk and photoelectric tube, the photoelectric code disk passes through in the intermediate gap of the photoelectric tube.

10. the Binocular robot guider according to claim 1 based on active vision, wherein, the deceleration case and bag A gear train is included, it is worm gear that the gear train, which includes bull wheel in 2 groups of duplicate gears, first group of duplicate gear, and steamboat is spur gear, Bull wheel and steamboat are all spur gear in second group of duplicate gear.