CN106526579A - Obstacle detection sensor for robot - Google Patents
Obstacle detection sensor for robot Download PDFInfo
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- CN106526579A CN106526579A CN201610930497.6A CN201610930497A CN106526579A CN 106526579 A CN106526579 A CN 106526579A CN 201610930497 A CN201610930497 A CN 201610930497A CN 106526579 A CN106526579 A CN 106526579A
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- 238000003384 imaging method Methods 0.000 abstract description 11
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- 210000000695 crystalline len Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 239000011521 glass Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- CIWBSHSKHKDKBQ-JLAZNSOCSA-N Ascorbic acid Chemical compound OC[C@H](O)[C@H]1OC(=O)C(O)=C1O CIWBSHSKHKDKBQ-JLAZNSOCSA-N 0.000 description 1
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- MOVRNJGDXREIBM-UHFFFAOYSA-N aid-1 Chemical compound O=C1NC(=O)C(C)=CN1C1OC(COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C(NC(=O)C(C)=C2)=O)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C(NC(=O)C(C)=C2)=O)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C(NC(=O)C(C)=C2)=O)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)COP(O)(=O)OC2C(OC(C2)N2C3=C(C(NC(N)=N3)=O)N=C2)CO)C(O)C1 MOVRNJGDXREIBM-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention relates to an obstacle detection sensor for a robot. The obstacle detection sensor is characterized in that the robot is provided with at least one linear laser emitting device facing ground ahead; positions at the front portion of the robot, which are lower or higher than the linear laser emitting devices, are provided with at least one digital imaging module; the digital imaging modules are mainly used for capturing projection lines of linear laser beams at projection positions in front of the robot onto the CCD or CMOS photosensitive elements of the imaging modules; whether the projection lines of the linear laser beams on the ground are blocked by an obstacle can be judged according to the positions and shapes of the laser beams on the photosensitive elements; and the linear laser emitting devices are a plurality of small-field angle linear laser emitting heads which are arranged side by side on the same plane. With the plurality of linear laser emitting heads adopted, a coverage range in front of the body of the linear leaving robot can be extended, and therefore, the obstacle detection sensor is advantageous in larger coverage range compared with an obstacle detection sensor adopting a single linear laser emitting head.
Description
Technical field
The present invention relates to a kind of obstacle detecting sensor for robot, is mainly used in robot and examines in moving process
Survey the barrier that front is likely to be encountered.
Background technology
The moving direction of robot detection at present（In front of usually）The non-contact sensor of upper barrier mainly has photoelectricity anti-
Penetrate and two kinds of ultrasound detection, limited coverage area, can not detect the barrier being likely to be encountered on the whole perspective plane in front, and
Photoelectricity runs into dark color（Especially black）Material（Such as black skirting）, or when having dust on photocell, ultrasound wave runs into
Low density material, or thin chair legs or the inclined barrier of reflecting surface, reflection detection are just unreliable.
The content of the invention
What the present invention was designed so as to：
A kind of obstacle detecting sensor for robot, is characterized in that arranging at least one in robot towards front ground
Linear laser discharger, robot it is anterior below or above linear laser discharger at arrange at least one numeral into
As module, digital image module is mainly used in the projection line intake by linear laser line in front projection of robot position and is imaged mould
On CCD the or CMOS photo-sensitive cells of block, the position shape according to the laser rays on photo-sensitive cell can just differentiate laser rays on ground
The projection line in face is either with or without by other objects（Barrier）Shelter from, except laser rays（Cooperative target）, other objects（Non- cooperation
Target）Imaging on photo-sensitive cell can be ignored.Because general barrier all lands, can be detected on the ground of front
Arrive, then barrier also there is.
Described linear laser discharger is at least two a wordline lasers transmitting being set up in parallel at grade
Head, in the same direction, these a wordline laser emitting heads arranged side by side are arranged on one to a wordline subtended angle of each a wordline laser emitting head
The both sides of casing or framework（Two are arranged on both sides, and remaining is uniformly distributed between both sides）, the length of a casing or framework
It is close to the width of robot.
Described linear laser discharger has multiple, and each is towards the different level angle in front.
Described linear laser discharger also carries upper and lower angular deflection mechanism, by linear laser when deflection mechanism is rotated
The linear laser of device transmitting is towards the different level angle in front.
The position that digital image module is substantially arranged is the half high position of robot, can take into account the visual angle of image-forming module.
General linear laser discharger 1 is arranged at the top of robot, and the linear laser for being sent is front lower towards robot
Side, the plane that projection surface is located perpendicular to the axis of robot.
One wordline can be left with multiple a wordline laser emitting heads and extend before robot body, than single a wordline laser
Emitting head has bigger coverage.
Description of the drawings
Fig. 1（a、b）Schematic diagram is differentiated for preceding object thing（Wherein b is imaging schematic diagram）.
Fig. 2 is preceding object thing of the present invention apart from schematic diagram calculation.
Fig. 3 is mounting structure schematic diagram of the obstacle detecting device of the present invention in robot, and wherein Fig. 3 a are structure side
Face figure, Fig. 3 b, 3c are two kinds of structure top views.
Embodiment：
A kind of obstacle detecting sensor for robot, is characterized in that arranging at least one in robot towards front ground
Linear laser discharger 1, robot it is anterior below or above linear laser discharger to arrange at least one digital
Image-forming module 2, digital image module 2 are mainly used in the projection line by linear laser line 1 in front projection of robot position and take in
On CCD the or CMOS photo-sensitive cells of image-forming module, the position shape according to the laser rays on photo-sensitive cell can just differentiate laser
Line ground projection line either with or without by other objects（Barrier）Shelter from, except laser rays（Cooperative target）, other objects
（Noncooperative target）Imaging on photo-sensitive cell can be ignored.Because general barrier all lands, the energy on the ground of front
It is detected, then barrier also there is.
Described linear laser discharger 1 is launched at least two a wordline lasers being set up in parallel at grade
11, a wordline subtended angle of each a wordline laser emitting head 11 is in the same direction（Subtended angle is in approximately the same plane）, these arranged side by side one
Wordline laser beam emitting head 11 is arranged on the both sides of a casing 10 or framework（Two are arranged on both sides, and remaining is equal between both sides
Even distribution）, the length of a casing 10 or framework is close to the width of robot.
Described linear laser discharger 1 has multiple, and each is towards the different level angle in front.
Described linear laser discharger 1 also carries upper and lower angular deflection mechanism 5, by wire when deflection mechanism 5 is rotated
The linear laser of the transmitting of laser aid 1 is towards the different level angle in front.
The position that digital image module 2 is substantially arranged is the half high position of robot, can take into account the visual angle of image-forming module.
General linear laser discharger 1 is arranged at the top of robot, and the linear laser for being sent is front lower towards robot
Side, the plane that projection surface is located perpendicular to the axis of robot.
Such as Fig. 3.
When accessible, in fixed position, such as Fig. 1, when having obstacle raised, a part swashs the laser rays stable projection on ground
Light is impinged upon on the obstacle of projection, and its projection on image-forming module will be shifted up, and according to the side-play amount of upper shifting, can calculate obstacle
The distance of thing, and according to robot translational speed, can calculating robot how long can run into the obstacle, robot should be how
Action, if there is hole in road ahead（Step）, then in desired location, due laser rays will be moved down or be seen not
See, such case also indicates that there is obstacle in front, it is impossible to cross over（Also can be determined by calculating the side-play amount for moving down based on experience value
This drop robot can pass through）.
Further, according to linear laser emitting head the linear laser line projection position on angle obliquely, photo-sensitive cell
Put, or even barrier can be calculated from the position of robot, such as going out at light for Fig. 2 linear lasers discharger is A（Liftoff height
Spend for AB）, the light of injection shines D points on road surface, once run into the barrier on road（Such as one roadblock）, part light can quilt
Block, bright spot occur at L（Line segment）, the camera lens E central points of imaging device are O, and the terrain clearance is OG；Photo-sensitive cell C
（CCD）It is Q points at horizontal direction correspondence O points, D points are R points at the imaging on C, and L points are P points at the imaging on C
（D, L, N, R, P point not in one plane, is the perspective plane of these points in figure in fact）, DR and barrier LM（Take its height）
N points are intersected at, AD is α with the angle on ground, and DR is β with the angle on ground.Putting for gained is calculated with amplification according to focal length
Vast scale is k, wherein AB, OG, GB, OQ for known（Fixed value）, the density of RQ, PQ according to pixel（And pixel interval
Distance）, can calculate in the coabsolute length of C and learn, physical length（When substituting into formula）Magnification ratio will be also multiplied by
K, regards as and understands（It is known）, it is assumed that barrier LM with a distance from D for x, i.e. DM length be x then, it is convenient in figure for the sake of give tacit consent to and put
Vast scale k is 1：
∵ tgβ=MN/DM= RQ/OQ= OG/DG
∴ DG= OG*OQ/RQ
∵ tg α=AB/DB is tg α=AB/（DG+GB）= AB/（OG*OQ/RQ +GB）
∵ LN=LM-MN= x*（tgα- tgβ）
∵（DG-DM）/ OQ=LN/RP is（DG-x）/OQ=LN/RP
∴（DG-x）/OQ= x*（tgα- tgβ）/RP
I.e.（DG-x）/OQ= x*（AB/（DG +GB）- RQ/OQ）/RP
x=(RP*DG/ ((AB*OQ/(DG+GB))-(RQ-RP))
Wherein RQ-RP=PQ, so after simplifying：
x=RP*DG/ (AB*OQ/(DG+GB)-PQ); DG=OG*OQ/RQ
∴x=RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ))
It is barrier from robot front end that DG-x is OG*OQ/RQ-RP*OG*OQ/ (RQ* (AB*OQ/ (OG*OQ/RQ+GB)-PQ))
（Camera lens）Distance.
According to speed and the braking distance of robot at that time, calculate how long robot can also move ahead（Or how many distances）
It is accomplished by changing direction, and is determined toward left and right or which direction movement of rear according to the situation of the barrier left and right sides, or
Moving direction is changed for behind the left back or right side according to mobile trend.
The position that digital image module 2 is substantially arranged is the half high position of robot, can be by linear laser discharger 1
The top of robot is arranged on, the visual angle of image-forming module can be taken into account.
Also can be in Different Plane（In the diverse location of robot）It is upper that multiple a wordline laser emitting heads 11, a wordline are set
Laser beam emitting head 11 is in the same direction or in the same direction, is emitted directly toward the front lower place of robot, and this setup is on image-forming module is processed
Data when, amount of calculation is larger；A wordline, such as sphere of movements for the elephants line, " three " wordline can also be not necessarily（Three layer of one wordline）
Deng irradiation or low-angle obliquely are rotated back and forth.
Linear laser discharger 1 is by least one of which multiple a wordline laser emitting heads 11 arranged side by side and installs these words
The strip casing 10 of line laser emitting head 11 is constituted, one layer be a casing 10, or layering be superimposed on one from high to low
In casing 10.
Can open wide or arrange at the casing 10 of the laser beam emitting device 1 of each or 11 direction of whole piece a wordline laser emitting head
The panel of printing opacity（Such as glass or resin）, it is attractive in appearance or can be dust-proof.
Linear laser discharger 1, can arrange upper and lower angular deflection mechanism 5, be generally located on the lower section of casing 10（Top
Also may be used）, the linear laser that linear laser device 1 is launched when rotating by deflection mechanism 5 is towards front difference angle.According to robot
（Robot）Speed, automatically control this linear laser discharger 1（Between ground）Horizontal sextant angle, this angle are inclined
Rotation mechanism can rotate upwardly and downwardly mechanism 5 or swing mechanism.Drive deflection（Rotation）Drive shaft can be by with or without reductor
The motor or servomotor of structure（Steering wheel）Drive.Angular deflection mechanism can also one end（Or middle part）Circular rotatable manner
It is fixed, the other end（Or middle part）With a screw mandrel lifting driven by nut, this mode can be raised the price disk with common DC motor
Control or step motor drive.Linear laser can be rotated some angles by rotating mechanism or swing mechanism 5, by rotating, by line
Shape laser transfer is to front horizontal direction difference angle, this turn（Pendulum）Dynamic direction is to turn upwards（Pendulum）Move to can be by linear laser
Scope contour in front of robot is exposed to, this turn can be passed through（Pendulum）Dynamic detection road ahead is either with or without less than robot
The obstacle such as crossbeam.
Certainly linear laser discharger 1 can also be not provided with upper and lower angular deflection mechanism 5, and linear laser transmitting apparatus are towards admittedly
Determine angle, a wordline laser transmitting 11 of the multilamellar towards different directions can be set, such as set gradually four layers, be respectively facing front on the upper side
（Whether detection robot peak can collide front crossbeam）, front, front on the lower side, front lower place.
The drive part of rotary shaft 5 can also be provided at the one end in the left and right two ends of linear laser discharger 1, the other end
The support shaft of rotation is fixed with bearing.
So-called digital image module predominantly includes photographic head, digital image components and parts（CCD or CMOS array）, be input into it is defeated
Go out circuit, digital signal processing module（DSP）It is Deng the camera system that part is integrated, typical to apply such as camera, optics Mus
Target is imaged and processing system, the camera system of mobile phone etc., photographic head preferably with wide-angle camera, before image-forming module
End can also arrange filter lenss, polaroid, also filter lenss, polaroid can be integrated in image-forming module certainly（After photographic head）, this
Individual digital image-forming module also can arrange multiple at grade, and such as left and right is each one, to extend visual angle.Digital image module
It is not necessarily positioned in robot shells, also can the perforate on shell（Window）, imaging device is to one section of robot interior indentation
Distance.Camera lens can arrange the good glass of light transmission in order to dust-proof（Or resin）Piece is blocked, or grey with filter lenss, polaroid gear.
The laser line length that the linear laser of the same transmitting of linear laser discharger 1 is projected in different distances is not
Together, the longer laser rays of distance are also longer, can arrange a virtual frame in imaging original paper, to represent the width model of robot
Enclose, similar to the trapezoidal frame for showing width of the carbody on present backsight back-up video, deformation of the laser rays outside this frame
Can ignore, it is of course possible to measure the trend of laser rays deformation outside frame whether directed edge inframe movement, if it has, explanation
Barrier is possible to collide with robot.
Claims (4)
1. a kind of obstacle detecting sensor for robot, is characterized in that arranging at least one in robot towards front ground
The linear laser discharger (1) in face, it is anterior below or above linear laser discharger (1) place setting at least in robot
Individual digital image-forming module (2), digital image module (2) are mainly used in linear laser line (1) in front projection of robot position
On projection line intake image-forming module CCD or CMOS photo-sensitive cells on, described linear laser discharger (1) is same
The little a wordline laser emitting head (11) of at least two subtended angles that arrange in plane, the one of each a wordline laser emitting head (11)
In approximately the same plane, these a wordline laser emitting heads (11) arranged side by side are arranged on a casing (10) or framework to wordline subtended angle
On.
2. a kind of obstacle detecting sensor for robot according to claim 1, is characterized in that described wire swashs
Light emitting devices (1) have multiple, and each is towards the different level angle in front.
3. a kind of obstacle detecting sensor for robot according to claim 2, is characterized in that described multiple lines
Shape laser beam emitting device (1) is in a casing (10).
4. a kind of obstacle detecting sensor for robot according to claim 1, is characterized in that described wire swashs
Light emitting devices 1 also carry upper and lower angular deflection mechanism (5), what linear laser device (1) was launched when rotating by deflection mechanism (5)
Linear laser is towards the different level angle in front.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610930497.6A CN106526579A (en) | 2016-10-31 | 2016-10-31 | Obstacle detection sensor for robot |
| PCT/CN2017/108443 WO2018077289A1 (en) | 2016-10-31 | 2017-10-30 | Obstacle detection sensor for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610930497.6A CN106526579A (en) | 2016-10-31 | 2016-10-31 | Obstacle detection sensor for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106526579A true CN106526579A (en) | 2017-03-22 |
Family
ID=58292010
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610930497.6A Withdrawn CN106526579A (en) | 2016-10-31 | 2016-10-31 | Obstacle detection sensor for robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106526579A (en) |
| WO (1) | WO2018077289A1 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018077289A1 (en) * | 2016-10-31 | 2018-05-03 | 张舒怡 | Obstacle detection sensor for robot |
| CN108089203A (en) * | 2018-02-05 | 2018-05-29 | 弗徕威智能机器人科技（上海）有限公司 | A kind of special obstacle object detecting method |
| CN109814555A (en) * | 2019-01-18 | 2019-05-28 | 浙江大华机器人技术有限公司 | A kind of method and device that the dropproof reaction distance of robot is adjusted |
| CN109940612A (en) * | 2019-03-04 | 2019-06-28 | 东北师范大学 | Intelligent obstacle avoidance robot based on one-line laser and its obstacle avoidance method |
| CN110162030A (en) * | 2018-02-12 | 2019-08-23 | 北京欣奕华科技有限公司 | A kind of mobile robot and its obstacle detection method |
| WO2019183741A1 (en) * | 2018-03-25 | 2019-10-03 | 张舒怡 | Sensor for obstacle detection of robot |
| KR20190130177A (en) * | 2018-04-13 | 2019-11-22 | 엘지전자 주식회사 | Robot cleaner |
| CN110794831A (en) * | 2019-10-16 | 2020-02-14 | 深圳乐动机器人有限公司 | Method for controlling robot to work and robot |
| CN111157012A (en) * | 2019-12-31 | 2020-05-15 | 深圳市优必选科技股份有限公司 | Robot navigation method and device, readable storage medium and robot |
| CN111670066A (en) * | 2019-08-23 | 2020-09-15 | 尤中乾 | Toy car |
| CN112747723A (en) * | 2019-10-29 | 2021-05-04 | 珠海市一微半导体有限公司 | Auxiliary light vision detection device based on indoor environment and mobile robot |
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