CN109917420A - A kind of automatic travelling device and robot - Google Patents
A kind of automatic travelling device and robot Download PDFInfo
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- CN109917420A CN109917420A CN201910147427.7A CN201910147427A CN109917420A CN 109917420 A CN109917420 A CN 109917420A CN 201910147427 A CN201910147427 A CN 201910147427A CN 109917420 A CN109917420 A CN 109917420A
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Abstract
The application discloses a kind of automatic travelling device, comprising: the control processing unit inside automatic travelling device is arranged in, and the image visual transducer and multi-line laser radar of automatic travelling device direction of advance side is arranged in；Wherein, multi-line laser radar emits multi beam exploring laser light beam according to predetermined angle, and the characteristic information of barrier is determined according to the reflection signal of exploring laser light beam；Image visual transducer is used to obtain the image information of automatic travelling device direction of advance；The image information for the direction of advance that the barrier characteristic information and image visual transducer that control processing unit is obtained according to multi-line laser radar obtain, calculates and executes automatic travelling device Motion.The application discloses a kind of robot simultaneously.The barrier with certain altitude can be detected by this programme, and small size barrier will not be ignored, makes to be not in blind area in detection process, decreases the installation of camera, to reduce algorithm difficulty and manufacturing cost.
Description
Technical Field
The application relates to the technical field of laser scanning, in particular to an automatic walking device and a robot.
Background
With the development of laser technology, laser scanning technology is widely applied to the fields of measurement, traffic, unmanned driving, mobile robots and the like.
The laser radar is a radar working in an optical wave band (special wave band), belongs to active detection, does not depend on external illumination conditions or the radiation characteristics of a target, only needs to emit a laser beam of the laser radar, and acquires target information by detecting an echo signal of the emitted laser beam. The laser detector can emit laser beams with very small divergence angles, has small multipath effect, and can detect low-altitude/ultra-low-altitude targets.
At present, most mobile robots are configured to realize obstacle avoidance in a mode of combining a single line laser radar and a plurality of cameras, that is, the single line laser radar emits a laser beam and forms a light spot on a detected object, and the cameras acquire whether the single line laser radar has an obstacle or not and determine the position of the obstacle when the obstacle exists, so that the mobile robots are adjusted to avoid the obstacle.
However, the prior art solutions have the following drawbacks:
1) the data acquired by the single-line laser radar are 2D data, information such as the height of a target cannot be distinguished, and small objects can be ignored and finally become obstacles to influence the operation of the mobile robot;
2) the single-line laser radar cannot acquire the road surface information, and the ground information needs to be read and judged by matching with a camera, so that the algorithm difficulty and the manufacturing cost are increased;
3) the single-line laser radar can only acquire one plane information of an object, the coverage area is small, and therefore the acquired obstacle information is not complete; when the positioning device works in a specific working environment, quick and accurate positioning is difficult to realize.
Disclosure of Invention
The application provides an automatic running gear, include: the control processing device is arranged in the automatic walking device, and the visual image sensor and the multi-line laser radar are arranged on one side of the advancing direction of the automatic walking device; wherein,
the multi-line laser radar emits a plurality of detection laser beams according to a preset angle, and determines the characteristic information of an obstacle according to the reflected signals of the detection laser beams;
the visual image sensor is used for acquiring image information of the advancing direction of the automatic walking device;
and the control processing device calculates and executes the motion strategy of the automatic walking device according to the obstacle characteristic information acquired by the multi-line laser radar and the image information of the advancing direction acquired by the visual image sensor.
Optionally, the multiline laser radar is a four-line laser radar, and the preset angles include a first preset angle, a second preset angle, a third preset angle and a fourth preset angle;
the transmitting, by the multiline lidar, a plurality of detection laser beams according to a preset angle includes: emitting a first detection laser beam according to a first preset angle; and emitting a second detection laser beam according to a second preset angle, emitting a third detection laser beam according to a third preset angle, and emitting a fourth detection laser beam according to a fourth preset angle.
Optionally, the first preset angle is inclined obliquely upwards along a horizontal plane, and the included angle ranges from 10 degrees to 30 degrees; the second preset angle is inclined downwards along the horizontal plane, and the included angle range of the second preset angle is 15-30 degrees; the third preset angle is inclined downwards along the horizontal plane, and the included angle range of the third preset angle is 10-15 degrees; the fourth preset angle is inclined downwards along the horizontal plane, and the included angle range of the fourth preset angle is 30-60 degrees.
Optionally, the multi-line laser radar system further comprises an adjusting device, wherein the adjusting device is connected with the multi-line laser radar; the adjusting device is used for adjusting the emission angles of the multiple detection laser beams in the respective corresponding preset included angle ranges.
Optionally, the adjusting device includes a lens structure disposed on the rotating shaft.
Optionally, the multi-line laser radar simultaneously transmits the detection laser beams corresponding to the preset angles.
Optionally, the multi-line laser radar includes four lasers, and the preset angles include a first preset angle, a second preset angle, a third preset angle, and a fourth preset angle; each laser corresponds to each preset angle one by one and emits a detection laser beam.
Optionally, the laser device further comprises a driving device, wherein the driving device is connected to each laser device and is used for respectively adjusting the emission angles of the multiple detection laser beams within the respective corresponding preset included angle ranges.
Optionally, the driving device is a servo motor.
The present application further provides a robot, comprising: the control processing device is arranged in the robot, and the visual image sensor and the multi-line laser radar are arranged on one side of the advancing direction of the robot; wherein,
the multi-line laser radar emits a plurality of detection laser beams according to a preset angle, and determines the characteristic information of an obstacle according to the reflected signals of the detection laser beams;
the visual image sensor is used for acquiring image information of the advancing direction of the automatic walking device;
and the control processing device calculates and executes the robot motion strategy according to the obstacle characteristic information acquired by the multi-line laser radar and the image information of the advancing direction acquired by the visual image sensor.
Compared with the prior art, the method has the following advantages: the application provides an automatic running gear, include: the control processing device is arranged in the automatic walking device, and the visual image sensor and the multi-line laser radar are arranged on one side of the advancing direction of the automatic walking device; the multi-line laser radar emits a plurality of detection laser beams according to a preset angle, and determines the characteristic information of an obstacle according to the reflected signals of the detection laser beams; the visual image sensor is used for acquiring image information of the advancing direction of the automatic walking device; and the control processing device calculates and executes the motion strategy of the automatic walking device according to the obstacle characteristic information acquired by the multi-line laser radar and the image information of the advancing direction acquired by the visual image sensor. The self-walking device can detect the obstacles with a certain height, and the obstacles with small volume cannot be ignored, so that a blind area cannot appear in the detection process, and normal operation is ensured; the installation of the camera is also reduced, thereby reducing the algorithm difficulty and the manufacturing cost. In addition, this scheme is through using multi-thread laser radar, can also realize the three-dimensional perception to peripheral space environment, realizes the space orientation under the specific environment that the precision is higher, speed is faster.
Drawings
Fig. 1 is a schematic structural diagram of an automatic walking device provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present application.
The robot walking device comprises an automatic walking device 100, a multi-line laser radar 20, a robot 200, a control processing device 201 and a visual image sensor 202.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
An automatic walking device 100 is provided in the embodiment of the present application, and fig. 1 is a schematic structural diagram of the automatic walking device 100 provided in the embodiment of the present application.
Referring to fig. 1, the automatic walking device 100 according to the embodiment of the present invention includes a control processing device (not shown) disposed inside the automatic walking device 100, and a vision image sensor (not shown) and a multiline lidar 20 disposed on one side of the automatic walking device 100 in the forward direction.
In the present embodiment, in order to detect an obstacle from multiple angles, the multiline lidar 20 may emit a plurality of probe laser beams according to a predetermined angle, and determine a distance to the obstacle according to a reflected signal of the probe laser beams. The multiline lidar 20 of the embodiment is configured as a four-line lidar such that a plurality of detection laser beams to be emitted are specifically a first detection laser beam, a second detection laser beam, a third detection laser beam, and a fourth detection laser beam; and each detection laser beam has a respective preset angle to detect the obstacle in multiple angles. In the working process of each line of laser radar, 360-degree plane rotation can be carried out at a preset angle, and the distance information of the obstacle encountered after the laser beam at the angle is transmitted is collected and obtained at any time.
Further, the preset angles include a first preset angle, a second preset angle, a third preset angle and a fourth preset angle; the multiline laser radar 20 emits a plurality of detection laser beams according to a preset angle including: the multi-line laser radar 20 emits a first detection laser beam according to a first preset angle; the multi-line laser radar 20 emits a second detection laser beam according to a second preset angle, the multi-line laser radar 20 emits a third detection laser beam according to a third preset angle, and the multi-line laser radar 20 emits a fourth detection laser beam according to a fourth preset angle. Specifically, on the basis of the horizontal direction of the multi-line laser radar 20, a first preset angle is inclined obliquely upwards along a horizontal plane, and the included angle range is 10-30 degrees; the second preset angle is inclined downwards along the horizontal plane, and the included angle range is 15-30 degrees; the third preset angle is inclined downwards along the horizontal plane, and the included angle range is 10-15 degrees; the fourth preset angle is inclined downwards along the horizontal plane, and the included angle range is 30-60 degrees.
As shown in fig. 1, the first preset angle is α, the second preset angle is β, the third preset angle is γ, the fourth preset angle is δ, and the fourth preset angle δ is larger than the second preset angle β and larger than the third preset angle γ, it can be understood that the ground distance detected by the multi-line laser radar 20 is shorter as the preset angle is larger, wherein the ground distance detected can be the distance from the central axis in the vertical direction of the multi-line laser radar 20 to the position where the detection laser beam strikes the ground, in this embodiment, the ground distance corresponding to the fourth preset angle δ is d1 and smaller than 0.5m, so that the multi-line laser radar 20 can detect short and short obstacles at a short distance, the ground distance corresponding to the second preset angle γ is d2 and 0.5m to 1m, so that the sensor information zone between the plate and the expansion radius can be supplemented, the foot pressure foot and short obstacles can be prevented, the ground distance corresponding to the third preset angle γ is d2 and d 1.594 m, the ground distance can be further improved, the ground movement of the multi-line radar can be smoothly planned, and the device can be used for further, and the device for smoothly moving of a new obstacle can be further, and the device can be used for detecting short and can be.
Similarly, since the first preset angle is inclined upward, the first preset angle α may correspond to a distance for detecting an obstacle located at a high position, where the distance is a suspension distance, i.e., a distance from a central axis of the multiline lidar 20 in the vertical direction to a position where the detection laser beam is emitted to a space, for example, the suspension distance detectable by the first preset angle α is d ═ 0.9-3.0 m.
In this embodiment, in order to adjust the emitting directions of the first detection laser beam, the second detection laser beam, the third detection laser beam, and the fourth detection laser beam within the corresponding preset angle ranges to change the size of the corresponding preset angle ranges, the present embodiment further includes an adjusting device, and the adjusting device is connected to the multi-line laser radar 20; the adjusting device is used for respectively adjusting the emission angles of the multiple detection laser beams within the respective corresponding preset included angle ranges; wherein, adjusting device sets up in multi-thread laser thunder direction of launching, and adjusting device is including the epaxial lens structure of pivot that sets up, and when the pivot rotated, the detection laser beam took place the circuit through lens structure and changes to make the detection laser beam angle of launching change. For example, the height of the autonomous walking apparatus 100 of the present embodiment is H-0.8 m, the height of the multiline lidar 20 from the ground is H-0.28 m (the height is not limited thereto), and when the apparatus is applied to a factory working environment, the first predetermined angle formed by the first detection laser beam (and the horizontal plane) of the multiline lidar 20 is adjusted to 20 degrees when the obstacle is mainly an adult with a height of about 1.65-1.75 m; when the device is applied to a children's activity environment, such as a kindergarten and a primary school, the obstacle is mainly a child about 1m high, and the first preset angle formed by the first detection laser beam (and the horizontal plane) of the multi-line laser radar 20 is adjusted to 10 degrees; that is, when different objects are detected, the first preset angle of the multiline lidar 20 may be adjusted accordingly, so that the emitted first detection laser beam detects different ranges. The same applies to the other detection laser beams and the predetermined angle of the multiline lidar 20, and therefore, the description thereof will not be repeated.
For another example, when the automatic walking device 100 enters a certain working environment for the first time, the inspection working mode may be started, at this time, the multiline laser radar 20 can fully scan the environment by changing the emission angle of each laser beam within a predetermined range, and 3D modeling of a new environment is realized by using the obtained information, so as to obtain a 3D model of a related object in the environment; according to the modeling result, the automatic walking device 100 can analyze and obtain the obstacle situation of the new environment, so as to select and determine the working angle of each laser beam, and when entering the normal working mode, each laser beam of the multi-line laser radar 20 works at the selected fixed angle.
It should be noted that the four-line lidar may simultaneously emit a first detection laser beam, a second detection laser beam, a third detection laser beam, and a fourth detection laser beam; and corresponding detection laser beams can be correspondingly emitted according to specific actual requirements. For example, when the obstacles in the detected environment are mostly higher than the height of the automatic walking device 100, in order to detect more comprehensively, the first preset angle, the second preset angle, the third preset angle and the fourth preset angle are all covered on the running route, so that the detection range is not missed. For another example, when the detected environment only needs to detect an environment lower than the height of the automatic walking device 100, the second preset angle, the third preset angle, and the fourth preset angle need to be covered on the operation route, and the first detection laser beam at the first preset angle can be turned off, so that the complexity of calculation of the control processing device can be reduced, the detection rate can be increased, the power consumption can be reduced, and the service life can be prolonged on the premise of not affecting the detection.
In particular, the detection laser beams corresponding to the preset angles can rotate within the preset angles, so that when the plurality of detection laser beams scan the obstacle (or other objects), the multi-line laser radar can obtain the characteristic information of the three-dimensional obstacle; for example, if the obstacle is a chair, the multiline lidar may obtain information such as the complete shape and size of the chair through four preset angles. Specifically, when the automatic walking device 100 is located in an indoor environment, the control processing device may pre-store information of the indoor environment, the information is obtained through the aforementioned patrol inspection operation mode, that is, the multiline laser radar 20 swings and scans within the angle adjustment range, so as to fully collect the spatial information of the indoor environment, and generate a data model on the basis of the collected spatial information, where the data model includes an indoor map environment, objects located on the indoor map environment, three-dimensional coordinates corresponding to each object, and the like, and in short, modeling of an overall three-dimensional model of the spatial information of the indoor environment is achieved. When the multi-line laser radar 20 works in the indoor environment, feature information of an object in the indoor environment is obtained, a SLAM operation module (an instant positioning and mapping module) in the control processing device finds a three-dimensional model corresponding to the indoor environment according to the feature information, analyzes and obtains three-dimensional coordinate information of each object in a virtual three-dimensional scene, analyzes and obtains a relationship between current three-dimensional coordinate information and the pre-stored three-dimensional model through information of detection laser beams at each preset angle acquired by the multi-line laser radar 20 in real time, and obtains position information of the automatic walking device 100 in the indoor environment rapidly. In the present embodiment, because the scanning is based on multiple angles, the obtained object feature information can be more comprehensive, and the detection accuracy of the automatic walking device 100 is further improved, and the comparison speed with the modeled three-dimensional scene is increased.
In this embodiment, the multi-line lidar may be configured as a three-line lidar, such that the emitted multiple detection laser beams are specifically a first detection laser beam, a second detection laser beam, and a third detection laser beam, and such that each detection laser beam has a preset angle to perform multi-angle obstacle detection. Specifically, the preset angle includes a first preset angle, a second preset angle and a third preset angle, and the multi-line laser radar 20 emits a plurality of detection laser beams according to the preset angle, including: the multi-line laser radar 20 emits a first detection laser beam according to a first preset angle; the multiline laser radar 20 emits a second detection laser beam at a second preset angle, and the multiline laser radar 20 emits a third detection laser beam at a third preset angle. Wherein, the horizontal direction of the multi-line laser radar 20 is taken as a reference, the first preset angle is inclined upwards along the horizontal plane, and the included angle range is 10-30 degrees; the second preset angle is inclined downwards along the horizontal plane, and the included angle range is 15-30 degrees; the third preset angle is inclined downwards along the horizontal plane, and the included angle range is 10-15 degrees.
Further, as can be seen from fig. 1, the first preset angle is set to α, the second preset angle is set to β, the third preset angle is set to γ, and the second preset angle β is greater than the third preset angle γ, it can be understood that the ground distance detected by the multi-line laser radar 20 is shorter as the preset angle is larger, wherein the detected ground distance may be the distance from the central axis in the vertical direction of the multi-line laser radar 20 to the ground position of the detection laser beam, in this embodiment, the ground distance corresponding to the second preset angle β is d 2-0.5 m-1 m, which can supplement the blank sensor information between the collision plate and the expansion radius and prevent the pressure foot from pressing the short obstacle, and the ground distance corresponding to the third preset angle γ is d 3-1.0 m-1.4 m, so that the multi-line laser radar 20 can expand the detection range of the short obstacle, further improve the obstacle information, and further make the walking of the new path smooth 100.
Similarly, since the first predetermined angle is inclined upward, the first predetermined angle α may correspond to a distance between an obstacle located at a high position and the distance is a suspension distance, i.e., a distance between a central axis of the multi-line laser radar 20 in the vertical direction and a spatial position to which the detection laser beam is emitted, for example, the suspension distance detectable by the first predetermined angle α is d equal to 0.9-3.0 m.
The three-line laser radar is adopted, one laser emitting device can be saved, the cost is saved, and the same effect as the four-line laser radar is basically achieved.
In this embodiment, the multiline lidar 20 may further include four lasers, i.e., a first laser, a second laser, a third laser, and a fourth laser; each laser corresponds to a preset angle, namely corresponds to a first preset angle, a second preset angle, a third preset angle and a fourth preset angle respectively, and emits a detection laser beam. Specifically, a first laser is arranged along a first preset angle, a second laser is arranged along a second preset angle, a third laser is arranged along a third preset angle, and a fourth laser is arranged along a fourth preset angle; the first laser thus emits a first detection laser beam, the second laser emits a second detection laser beam, the third laser emits a third detection laser beam, and the fourth laser emits a fourth detection laser beam. Wherein, the horizontal direction of the multi-line laser radar 20 is taken as a reference, the first preset angle is inclined upwards along the horizontal plane, and the included angle range is 10-30 degrees; the second preset angle is inclined downwards along the horizontal plane, and the included angle range is 15-30 degrees; the third preset angle is inclined downwards along the horizontal plane, and the included angle range is 10-15 degrees; the fourth preset angle is inclined downwards along the horizontal plane, and the included angle range is 30-60 degrees.
As shown in fig. 1, the first preset angle is α, the second preset angle is β, the third preset angle is γ, the fourth preset angle is δ, and the fourth preset angle δ is larger than the second preset angle β and larger than the third preset angle γ, it can be understood that the ground distance detected by the multi-line laser radar 20 is shorter as the preset angle is larger, wherein the ground distance detected can be the distance from the central axis in the vertical direction of the multi-line laser radar 20 to the position where the detection laser beam strikes the ground, in this embodiment, the ground distance corresponding to the fourth preset angle δ is d1 and smaller than 0.5m, so that the multi-line laser radar 20 can detect short and short obstacles at a short distance, the ground distance corresponding to the second preset angle γ is d2 and 0.5m to 1m, so that the sensor information zone between the plate and the expansion radius can be supplemented, the foot pressure foot and short obstacles can be prevented, the ground distance corresponding to the third preset angle γ is d2 and d 1.594 m, the ground distance can be further improved, the ground movement of the multi-line radar can be smoothly planned, and the device can be used for further, and the device for smoothly moving of a new obstacle can be further, and the device can be used for detecting short and can be.
Similarly, since the first preset angle is inclined upward, the first preset angle α may correspond to a distance for detecting a suspended obstacle, the suspended distance is located above the automatic walking device 100, and a distance from a central axis of the multi-line lidar 20 in the vertical direction to a position where the detection laser beam is emitted to a space, for example, the first preset angle α may detect a suspended distance d being 0.9-3.0 m.
In this embodiment, in order to adjust the emitting directions of the first detection laser beam, the second detection laser beam, the third detection laser beam, and the fourth detection laser beam within the corresponding preset angle ranges to change the size of the corresponding preset angle ranges, the present embodiment further includes a driving device, wherein the driving device is preferably, but not limited to, a servo motor; the driving device is connected with each laser and is used for respectively adjusting the emission angles of the multiple detection laser beams in the respective corresponding preset included angle ranges; thereby allowing the angles detected by the multiline lidar 20 to be more extensive.
Further, in order to make the motion strategy of the automatic walking device 100 more optimal, the present embodiment is further provided with a visual image sensor, and the visual image sensor is used for acquiring image information of the advancing direction of the automatic walking device 100; wherein, the visual image sensor is a camera; the control processing device calculates and executes the motion strategy of the automatic walking device 100 according to the obstacle characteristic information acquired by the multi-line laser radar 20 and the image information of the advancing direction acquired by the visual image sensor. The feature information of the obstacle includes, but is not limited to, the shape, size, etc. of the obstacle.
The control processing device has the functions of information analysis and operation, and is used for receiving the detection information of each detection laser beam returned by the multi-line laser radar and analyzing and calculating the detection information of each detection laser beam so as to obtain the characteristic information of the obstacles in the surrounding environment; the control processing device can further receive image information returned by the visual image sensor, perform distortion correction and/or filtering sharpening on the obtained image information to obtain an image with laser spots, further clarify information such as positions and distances of obstacles according to the obtained image with the laser spots, establish three-dimensional coordinates of the obstacles, further calculate and reconstruct the three-dimensional coordinates through an algorithm to determine the positions of the automatic walking device 100 and the relative environment and avoid the obstacles, and obtain information of the positions of the automatic walking device 100 in the environment through comparison with a three-dimensional model established for the surrounding environment, so that a motion strategy and obstacle avoidance of the automatic walking device 100 are implemented.
The present application provides an automatic walking device 100, comprising: a control processing device arranged inside the automatic walking device 100, and a visual image sensor and a multi-line laser radar 20 arranged on one side of the advancing direction of the automatic walking device 100; the multiline laser radar 20 emits a plurality of rotating detection laser beams according to a plurality of preset angle directions, and determines the space characteristic information of the obstacle according to the reflected signals of the detection laser beams; the visual image sensor is used for acquiring image information of the advancing direction of the automatic walking device 100; the control processing device calculates and executes the motion strategy of the automatic walking device 100 according to the obstacle characteristic information acquired by the multi-line laser radar 20 and the image information of the advancing direction acquired by the visual image sensor. According to the scheme, the preset angle is adjusted according to different environments, so that the obstacle with a certain height can be detected, the obstacle with a small volume cannot be ignored, and a blind area cannot occur in the detection process, so that normal operation is ensured; the installation of the camera is also reduced, thereby reducing the algorithm difficulty and the manufacturing cost. In the scheme, the multiline laser radar 20 is adopted, so that the obtained spatial information is more three-dimensional, and higher-precision and faster spatial positioning can be realized; the method is particularly suitable for dynamic scenes with a plurality of moving objects working together.
The present application also provides a robot 200, as shown in fig. 2, the robot 200 being used for public services; the method comprises the following steps: a control processing device 201 arranged inside the robot 200, and a visual image sensor 202 and a multiline laser radar 20 arranged on one side of the forward direction of the robot 200; the multi-line laser radar 20 emits a plurality of detection laser beams according to a preset angle, and determines the characteristic information of the obstacle according to the reflected signals of the detection laser beams; the visual image sensor 202 is used for acquiring image information of the advancing direction of the automatic walking device 100; the control processing device 201 calculates and executes the robot 200 motion strategy based on the obstacle feature information acquired by the multi-line laser radar 20 and the image information of the forward direction acquired by the visual image sensor 202. According to the scheme, the preset angle is adjusted according to different environments, so that the obstacle with a certain height can be detected, the obstacle with a small volume cannot be ignored, and a blind area cannot occur in the detection process, so that normal operation is ensured; the installation of the camera is also reduced, thereby reducing the algorithm difficulty and the manufacturing cost. The robot adopts the multi-line laser radar 20, so that the obtained spatial information is more three-dimensional, and higher-precision and faster spatial positioning can be realized; the method is particularly suitable for dynamic scenes with a plurality of moving objects working together.
Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, therefore, the scope of the present application should be determined by the claims that follow.
Claims (10)
1. An automated walking device, comprising: the control processing device is arranged in the automatic walking device, and the visual image sensor and the multi-line laser radar are arranged on one side of the advancing direction of the automatic walking device; wherein,
the multi-line laser radar emits a plurality of detection laser beams according to a preset angle, and determines the characteristic information of an obstacle according to the reflected signals of the detection laser beams;
the visual image sensor is used for acquiring image information of the advancing direction of the automatic walking device;
and the control processing device calculates and executes the motion strategy of the automatic walking device according to the obstacle characteristic information acquired by the multi-line laser radar and the image information of the advancing direction acquired by the visual image sensor.
2. The autonomous walking apparatus of claim 1, wherein the multiline lidar is configured as a four-line lidar, and the preset angles include a first preset angle, a second preset angle, a third preset angle, and a fourth preset angle;
the transmitting, by the multiline lidar, a plurality of detection laser beams according to a preset angle includes: emitting a first detection laser beam according to a first preset angle; and emitting a second detection laser beam according to a second preset angle, emitting a third detection laser beam according to a third preset angle, and emitting a fourth detection laser beam according to a fourth preset angle.
3. The automatic walking device according to claim 2, wherein said first predetermined angle is inclined obliquely upward along a horizontal plane, and the included angle thereof is in the range of 10 ° to 30 °; the second preset angle is inclined downwards along the horizontal plane, and the included angle range of the second preset angle is 15-30 degrees; the third preset angle is inclined downwards along the horizontal plane, and the included angle range of the third preset angle is 10-15 degrees; the fourth preset angle is inclined downwards along the horizontal plane, and the included angle range of the fourth preset angle is 30-60 degrees.
4. The autonomous walking apparatus of claim 3, further comprising an adjustment device connected to the multiline lidar; the adjusting device is used for adjusting the emission angles of the multiple detection laser beams in the respective corresponding preset included angle ranges.
5. The device of claim 4, wherein the adjustment device comprises a lens structure disposed on the shaft.
6. The autonomous walking apparatus of claim 2, wherein the multiline lidar transmits the detection laser beams corresponding to the respective preset angles at the same time.
7. The autonomous walking apparatus of claim 1, wherein the multiline lidar includes four lasers, and the preset angles include a first preset angle, a second preset angle, and a third preset angle, and a fourth preset angle; each laser corresponds to each preset angle one by one and emits a detection laser beam.
8. The automatic walking device according to claim 7, further comprising a driving device connected to each of the lasers for adjusting the emission angles of the multiple probing laser beams within the respective predetermined angle ranges.
9. The automated walking apparatus of claim 1, wherein the driving means is a servo motor.
10. A robot, comprising: the control processing device is arranged in the robot, and the visual image sensor and the multi-line laser radar are arranged on one side of the advancing direction of the robot; wherein,
the multi-line laser radar emits a plurality of detection laser beams according to a preset angle, and determines the characteristic information of an obstacle according to the reflected signals of the detection laser beams;
the visual image sensor is used for acquiring image information of the advancing direction of the automatic walking device;
and the control processing device calculates and executes the robot motion strategy according to the obstacle characteristic information acquired by the multi-line laser radar and the image information of the advancing direction acquired by the visual image sensor.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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