CN106595646A - Spot detection module and spot detection based laser positioning system - Google Patents
Spot detection module and spot detection based laser positioning system Download PDFInfo
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- CN106595646A CN106595646A CN201710003719.4A CN201710003719A CN106595646A CN 106595646 A CN106595646 A CN 106595646A CN 201710003719 A CN201710003719 A CN 201710003719A CN 106595646 A CN106595646 A CN 106595646A
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- 238000001514 detection method Methods 0.000 title claims abstract description 107
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims abstract description 98
- 229910052710 silicon Inorganic materials 0.000 claims abstract description 98
- 239000010703 silicon Substances 0.000 claims abstract description 98
- 230000008859 change Effects 0.000 claims abstract description 22
- 238000003491 array Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 12
- 238000005286 illumination Methods 0.000 claims description 9
- 230000006978 adaptation Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000005538 encapsulation Methods 0.000 claims description 4
- 238000013401 experimental design Methods 0.000 claims description 4
- 230000005622 photoelectricity Effects 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 239000011347 resin Substances 0.000 claims description 2
- 229920005989 resin Polymers 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 238000002474 experimental method Methods 0.000 abstract description 2
- 230000003044 adaptive effect Effects 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 10
- 230000003287 optical effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 2
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- 238000002360 preparation method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 230000015572 biosynthetic process Effects 0.000 description 1
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- 235000013399 edible fruits Nutrition 0.000 description 1
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- 230000003760 hair shine Effects 0.000 description 1
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- 238000002955 isolation Methods 0.000 description 1
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- 238000005303 weighing Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a spot detection module and a spot detection based laser positioning system and belongs to the field of laser positioning of moving targets. The spot detection module adopts a solar silicon photocell as a basic photosensitive element and judges whether laser irradiation exists according to change of output open-circuit voltage. The laser positioning system comprises a spot detection plate, an adaptive spot detection module, a laser range finder and a positioning module, wherein the spot detection plate is a spot detection module or is formed by splicing multiple spot detection modules; the adaptive spot detection module is used for detecting spots according to a threshold value table designed through experiments; the positioning module is used for controlling attitudes of a moving vehicle (industrial robot) according to ranged distance and spot position. The spot detection module can realize spot detection in different environments and has higher robustness; the laser positioning system has higher positioning precision, can be used for medium-precision positioning of larger vehicles and is applicable to occasions with narrow destination space and requirement for low cost.
Description
Technical field
The invention belongs to dynamic object laser positioning field, is related to spot detection module, and swashing based on spot detection
Light-seeking system.
Background technology
Laser positioning technology has in fields such as Industry Control, change in location detection, weapons guiding and trackings widely should
With.The problem of existing laser positioning technology generally existing high cost, it is difficult to meet the requirement of inexpensive occasion.As shown in Figure 1
Situation, moving vehicle (industrial robot) needs to rest in destination, but due to the restriction of application scenario, destination space is narrow
It is little, so needing higher positioning precision, 100mm or so.Using laser scanning alignment system, although be well positioned to meet precision
Require, but the cost of the system is also higher than moving vehicle itself, it is difficult to promote on a large scale.
Spot detection is the basic technology of non-scanning type laser positioning.At present conventional spot detection device has PSD
(Position Sensitive Detector) position sensor, CCD camera etc..Wherein PSD belongs to semiconductor devices, has
The advantages of high sensitivity, high-resolution, fast response time and simple configuration circuit.But its sensitive area is minimum, is mainly used in
Highly sophisticated device.CCD camera falls within semiconductor devices, the same with PSD, although positioning precision is very high, nevertheless suffers from sensitive area
Long-pending restriction, it is impossible to suitable for the occasion shown in Fig. 1.
The content of the invention
Limited for existing spot detection device high cost, by sensitive area, it is impossible to narrow suitable for destination space
Problem that is little, requiring inexpensive occasion, the invention provides a kind of novel spot detection module and based on spot detection
Laser orientation system.
Present invention firstly provides a kind of novel spot detection module, including liner plate, silicon photocell chip arrays and dividing plate.
Each silicon photoelectric cell slice in described silicon photocell chip arrays it is equivalently-sized.Described dividing plate is used to isolate each silicon photocell
Piece.Described liner plate is used to encapsulate silicon photoelectric cell slice and signals collecting.Different intensities of illumination is radiated at silicon photocell chip arrays
On, described liner plate will export different open-circuit voltages, according to the change of the open-circuit voltage of output, determine whether that laser shines
Penetrate.
The size of each silicon photoelectric cell slice in silicon photocell chip arrays, determines according to expectation accuracy of detection.Preferably, silicon light
Cell piece is the no more than rectangle of 10mm × 10mm.
Described spot detection module is spliced according to actual needs, forms spot detection plate, expands the detection of hot spot
Scope.
Based on above-mentioned spot detection module, present invention also offers a kind of laser orientation system based on spot detection, bag
Include spot detection plate, self adaptation hot spot detection module, laser range finder and locating module.Each side install in moving vehicle
One piece has mutually isostructural spot detection plate, and in destination both sides a laser range finder is respectively arranged.
Described spot detection plate is a spot detection module, or two or more spot detection module is spliced.
Described self adaptation hot spot detection module is detected using the good threshold value table of Jing experimental designs to hot spot.Described threshold value token
Record under the conditions of different grades of natural light, different types of silicon photoelectric cell slice be irradiated with a laser after open-circuit voltage increment.
Described laser range finder is used to finding range and launching laser beam.Distance that described locating module is measured according to laser range finder and
The facula position detected on spot detection plate, adjusts position of the moving vehicle with respect to destination.The change reflection of the distance of measurement
The direction of motion of moving vehicle, the change of facula position reflects position of the moving vehicle with respect to destination.Described locating module
The yaw angle of moving vehicle is controlled according to measurement distance, the yaw direction according to the change of facula position to moving vehicle
It is adjusted.
Described locating module changes the attitude to moving vehicle and is adjusted according to facula position, if detecting left and right two
Facula position is constant or moving direction is inconsistent, then car body is just moved to destination, if detecting two facula position courts of left and right
Same direction movement, then adjust car body direct of travel.Described locating module is by surveying the distance that laser range finder is measured
Advantages of the present invention and good effect are：
(1) the spot detection module that the present invention is provided, with solar silicon photovoltaic cell as basic photo-sensitive cell, to it one is passed through
Fixed encapsulation technology and software control method, realize spot detection under various circumstances, and then complete Large-scale Mobile target
It is accurately positioned, with stronger robustness, other photosensitive occasions can also be independently used for, is only used as light sensor；
(2) the invention provides a kind of simple, with low cost nude film preparation method, can guarantee that positioning precision
Under the premise of, the deficiency of existing spot detection device high cost is made up, with higher economic worth.
(3) spot detection module of the invention can according to actual needs carry out the splicing of different situations, form hot spot inspection
Drafting board, expands the detection range of hot spot, overcomes the shortcoming of the equipment such as PSD, CCD camera.
(4) laser orientation system that the present invention is provided, using a kind of based on the self-adapting detecting method tabled look-up, a large amount of real
On the basis of testing, silicon photoelectric cell slice is classified, is the output characteristics table under the conditions of the different natural lights of each class battery foundation,
By tabling look-up facula position detection of quickly carry out.
(5) laser orientation system that the present invention is provided, according to spot detection position and the distance of measurement, realizes to sport(s) car
Operation pose adjustment, spot detection plate used is spliced by spot detection module, expands laser pick-off area, can
Medium accuracy for relatively large vehicle (industrial robot) is positioned, it is adaptable to destination narrow space, the field of requirement low cost
Close.
Description of the drawings
Fig. 1 is the application scenario schematic diagram of the laser orientation system of the present invention；
Fig. 2 is spot detection module diagram of the present invention；
Fig. 3 is the nude film Making programme figure of the present invention；
Fig. 4 is the baffle dimensions figure designed in the embodiment of the present invention；
Fig. 5 is the connection diagram of the liner plate with information collection function circuit board of the spot detection module of the present invention；
Fig. 6 is the schematic diagram of the metal framework of embodiment of the present invention splicing spot detection module；
Fig. 7 is the spot detection flow chart of the present invention；
Fig. 8 is the laser positioning principle schematic of the present invention；
Fig. 9 is the relative position relation schematic diagram of the moving vehicle of the present invention and destination；
Figure 10 is the simplified model schematic diagram of the relative position resolving of the moving vehicle of the present invention and destination；
Figure 11 is the asymmetric schematic diagram of installation site of laser range finder of the present invention；
Figure 12 is the schematic diagram that the present invention carries out yaw angle resolving by range finding；
Figure 13 is the schematic diagram that the present invention solves fix error angle；
Figure 14 is the orientation principle figure that the present invention judges yaw angle by hot spot change；
Figure 15 is the schematic flow sheet that the present invention is positioned.
Specific embodiment
With reference to the accompanying drawings and examples illustrating technical scheme.
Present invention firstly provides a kind of novel spot detection module, is then based on the spot detection module there is provided one
Plant based on the laser orientation system of spot detection.
The spot detection module of the present invention is using silicon photoelectric cell slice as basic photo-sensitive cell, different intensity of illumination output
Different open-circuit voltages, according to the change of open-circuit voltage, determines whether that laser irradiates.As shown in Fig. 2 described spot detection
Module includes liner plate, silicon photocell array and dividing plate.Liner plate is circuit board, for encapsulating the collection of silicon photoelectric cell slice and signal.
The electric interfaces being attached with other circuits are provided with liner plate, the detection to spot signal is exported with collection.Silicon photocell
In array, equivalently-sized, the size of each silicon photoelectric cell slice in silicon photocell chip arrays of each silicon photoelectric cell slice, according to expectation
Accuracy of detection determines.In the embodiment of the present invention cut each silicon photoelectric cell slice size be 10mm × 10mm, silicon photocell battle array
It is classified as 8 × 8 arrays.Silicon photoelectric cell slice uses square 100mm2The spot location precision of 1cm is capable of achieving during area.Dividing plate is used for
By the isolation of each silicon photoelectric cell slice, with the incident ray error detection for preventing from being caused because of reasons such as scatterings.
Industrially, undersized silicon photoelectric cell slice is referred to as nude film, and nude film price is higher on market, and being unsatisfactory for low cost will
Ask.The invention provides a kind of simple, with low cost nude film preparation method, by by the bulk silicon photoelectricity of low cost
Pond carries out cutting and is made, and flow chart is as shown in Figure 3：Large-sized silicon photoelectric cell slice is selected first, the silicon light selected herein
Cell piece is greater than the cell piece of each little silicon photocell chip size in array；Then cut according to actual needs,
Acquisition meets the silicon photoelectric cell slice of specification in silicon photocell chip arrays, embodiment of the present invention cut lengths be 10mm ×
10mm；The little silicon photoelectric cell slice of well cutting is welded with welding afterwards, so as to draw both positive and negative polarity, obtains nude film；It is last to set
Certain intensity of illumination under measure the nude film of shaping, the nude film that output requires will not met and screened out.Conformed in screening
After the nude film asked, the encapsulation of silicon photocell chip arrays is carried out.Nude film is lined up into 8 × 8 arrays, implementation method in the embodiment of the present invention
It is as described below.
Design liner plate first, there is the welding hole of nude film on liner plate, nude film spacing 2.5mm, liner plate size be 100mm ×
100mm；Dividing plate is pasted after nude film is welded, as shown in Fig. 2 black lattice frame is dividing plate, embodiment of the present invention correspondence
Baffle dimensions as shown in figure 4, thickness be 10mm, can play a part of every light, shading.In the embodiment of the present invention, each silicon
Spacing is 0.5mm between photocell piece and adjacent dividing plate.Finally by dividing plate, silicon photocell chip arrays resin carry out encapsulating,
Sealing is processed.
Packaged battery liner plate needs to be connected with information acquisition circuit plate, for gathering the open circuit of 64 silicon photoelectric cell slices
Voltage signal.As shown in figure 5, being connected with contact pin between information gathering plate and liner plate, electrical connection can be played and be mechanically fixed
Double action.In the embodiment of the present invention, it is attached using the double contact pin of two 1.27mm, contact pin size is 2 × 17, its
In include 2 ground wires, 32 holding wires.Whole plate is altogether comprising 4 ground wires and 64 holding wires.
In order to expand the sensitive area of spot detection, the shortcoming of the equipment such as PSD, CCD camera is overcome, can be by spot detection
Module is arbitrarily spliced, and formation is adapted to the spot detection plate being actually needed.In the embodiment of the present invention, by 16 spot detection moulds
Block is fixed on a metal framework with 4 × 4 arrays, and metal framework size is as shown in Figure 6.It is provided with some above metal framework to consolidate
Hole is determined for fixing spot detection module, also have some standby vias to be used to fix metal framework itself and some instructions in addition
The display of lamp, can according to actual needs carry out choice process.The unit of data is mm in Fig. 6.
The laser orientation system based on spot detection that the present invention is provided, including spot detection plate, self adaptation spot detection
Module, laser range finder and locating module.Spot detection plate is a spot detection module, or with multiple spot detection modules
It is spliced.
Although cutting out the silicon photoelectric cell slice low cost come, the output characteristics of open-circuit voltage is inconsistent, and silicon light
The linearity of the output characteristics of cell piece itself is also very poor.So under the conditions of same natural light, different silicon photoelectric cell slice output
Inconsistent, under the conditions of different natural lights, the output of same silicon photoelectric cell slice there is also non-linear.
It is located at certain natural optical condition PiUnder, silicon photoelectric cell slice NkOpen-circuit voltage be Vk,i, when there is laser to irradiate, open
The increment of road voltage is Δ Vk,i, there is certain functional relation between this tittle in theory：ΔVk,i=f (Pi,Nk), but modeling
It is extremely complex.The invention provides a kind of based on the self-adapting detecting method tabled look-up.On the basis of lot of experiments, by silicon photoelectricity
Pond piece is classified, and is that each class cell piece sets up the threshold value table for representing the output characteristics under the conditions of different natural lights.Herein
I, k are positive integer.
Silicon photoelectric cell slice is classified first.Under identical natural optical condition P, output voltage highest is designated as VmaxSilicon
Photocell piece, electricity conversion is higher, more sensitive to illumination variation, with VmaxIt is to refer to divide interval, will be all of
Silicon photoelectric cell slice is classified.Silicon photoelectric cell slice is divided into into 4 classes in the embodiment of the present invention, wherein all not having in any illumination condition
The silicon photoelectric cell slice of output is bad point, is designated as A classes；Open-circuit voltage meets interval (0.1Vmax, 0.5Vmax] silicon photoelectric cell slice note
For B classes；Open-circuit voltage meets interval (0.5Vmax, 0.75Vmax] silicon photoelectric cell slice be designated as C classes；Open-circuit voltage meets interval
(0.75Vmax, Vmax] silicon photoelectric cell slice be designated as D classes.Under the conditions of different grades of natural light, obtain right according to sorting technique
The cell piece classification answered.
Then set up threshold value table.So-called threshold value table, is exactly in different grades of natural optical condition PiUnder, it is irradiated with a laser
Increment Delta V of silicon photoelectric cell slice open-circuit voltagek,iThe mapping table of composition.The output characteristics of the silicon photoelectric cell slice of identical category is similar,
Identical threshold value table can be set up.In the embodiment of the present invention, with maximum output voltage V in silicon photoelectric cell slicemaxWork as weighing
The scale of front light levels.According to VmaxValue, natural light intensity is divided into into different grades, it is different classes of under each grade
The silicon photocell different Δ V of correspondencek,i。
The self adaptation hot spot detection module of the present invention is detected using the good threshold value table of Jing experimental designs to hot spot.It is described
Threshold value table record in different grades of natural optical condition PiUnder, different types of silicon photoelectric cell slice be irradiated with a laser after open circuit
Increment Delta V of voltagek,i.P hereiniRepresent the natural optical condition of i-th grade, Δ Vk,iRepresent in natural optical condition PiLower kth
The silicon photoelectric cell slice of individual type be irradiated with a laser after open-circuit voltage increment, i, k are positive integer.
Self adaptation hot spot detection module specifically carry out the flow process of spot detection as shown in fig. 7, system initialization when, by Jing
In the Flash of the good threshold value table write single-chip microcomputer of experimental design；Nature light collection is carried out, before spot detection, correspondence etc. is obtained
The classification of each silicon photoelectric cell slice under the conditions of the natural light of level, if having Y silicon photoelectric cell slice；Within each sampling period, meter
The changing value of each silicon photoelectric cell slice open-circuit voltage is calculated, and compares threshold value table and inquired about, screen silicon of the variable quantity higher than threshold value
Photocell piece, threshold value herein is exactly corresponding increment Delta V described in threshold value tablek,i.If the amount of being not changed in is higher than the silicon of threshold value
Photocell piece, then illustrate to be irradiated without laser, carries out entering the next sampling period after data renewal.If it is high to screen variable quantity
In the silicon photoelectric cell slice of threshold value, whether the number of these silicon photoelectric cell slices is judged more than the 45% of Y, if it is, explanation illumination ring
Border there occurs change, now silicon photoelectric cell slice is grouped again under new environment；When the number of these silicon photoelectric cell slices
It is less, when number is not greater than the 45% of Y, facula position judgement is carried out, specifically adjacency is carried out to these silicon photoelectric cell slices
Judge, adjacent silicon photoelectric cell slice is the position that is irradiated with a laser, so as to the spot detection of irradiating laser out.
The present invention uses laser range finder as generating laser, on the one hand can produce hot spot, on the other hand can survey
Away from can more accurately determine the relative position of moving vehicle.
The facula position detected in distance that described locating module is measured according to laser range finder and spot detection plate, adjusts
Position of the whole moving vehicle with respect to destination.The motion side of change reflection moving vehicle (industrial robot) of the distance of measurement
To.If moving vehicle (industrial robot) is moved towards front, the variable quantity of ranging information is identical；If moving vehicle
(industrial robot) is deflected to the left, then the direction that left side detection plate is moved forward is less than right side, and then causes the change of ranging information
Change amount is different.The position of the relative destination of change reflection moving vehicle (industrial robot) of facula position.If two cars
Just right, then the hot spot that laser beam is produced should be located at the center of detection plate, if there is deviation in two cars, hot spot relatively in
Also there is certain deviation heart position.By above-mentioned both sides information, can be with the accurate relative position for calculating two cars
Control system provides location information.
As shown in figure 8, the laser positioning principle of the present invention is, one piece is each side installed with identical in moving vehicle
The spot detection plate of structure, in destination both sides a laser range finder is respectively arranged.Laser range finder produces hot spot, by hot spot
Detection plate detects hot spot, so as to realize laser positioning.
Set up motion model.As shown in figure 9, the headstock of moving vehicle with respect to destination travel, marker motion vehicle it is right
Face is called G1, the plane of symmetry for marking destination is G2, G1With G2During coincidence, the travel direction of moving vehicle is just to destination.As schemed
Shown in 9, mark point O1The midpoint of the line at the spot detection plate center arranged for moving vehicle both sides, mark point O2For destination
The midpoint of the line at the laser range finder center that both sides are arranged.In view of the relative road surface of moving vehicle the angle of pitch to location algorithm
Without coupled relation, problem can be further simplified as two dimensional model as shown in Figure 10：Line segment A, B represent respectively moving vehicle
With destination, if S1、S2The respectively perpendicular bisector of line segment A, B.Line segment A, B just pair when, the perpendicular bisector S of two line segments1、S2Overlap；Line
During section A, B anon-normal pair, mark ψ is perpendicular bisector S2To perpendicular bisector S1Angle, this angle is called yaw angle, set to right avertence as
Just, the midpoint O of line segment A is marked1The midpoint O of opposed segment B2Skew be δ, δ is called eccentric throw, if to left avertence be just.
The relative position of two laser range finders has a significant effect to resolving.As shown in figure 11, left side laser range finder is installed
In the bottom of destination, the installation site of right side laser range finder then has certain deviation with bottom, and this will cause left and right range finding
The range finding benchmark of instrument is inconsistent so that the laser ranging of left and right does not have comparativity.
As shown in figure 12, the schematic diagram of the resolving of yaw angle is carried out.Two laser range finder spacing M, left laser range finder phase
Actual distance away from left spot detection plate is L1, right laser range finder is L at a distance of the actual distance of right spot detection plate2, it is actual left
Laser range finder detect apart from left spot detection plate distance be L1', detection range is L1'、L2'.Defining angle Ψ is：
Work as L1<L2When, vehicle gantry right avertence, yaw angle be on the occasion of, otherwise for negative value.
And fix error angle ε1With ε2All very little, so there is L1≈L'1,L2≈L'2, obtain：
Wherein,For the estimate of yaw angle Ψ.
Estimation to fix error angle ε.The present invention needs to solve eccentric throw according to the position of hot spot, and the position of hot spot is received
The impact of laser range finder fix error angle is larger, it is therefore necessary to estimating the error angle of two laser range finders.Should
This is clear and definite, and error angle is all important with vertical in the horizontal direction, and in the case of known to yaw angle, this error angle is can
With what is estimated.As shown in figure 13：It is the direction of advance of moving vehicle and the ideal of laser beam on the basis of 0 in yaw angle
Direction is parallel, and change in location of the hot spot in detection plate is caused by the fix error angle of laser range finder.As shown in figure 13,
If the parallel direction with ground is y-axis, the direction perpendicular with ground is x-axis.
If the changing coordinates of hot spot are (q, t), previous coordinate is (p, s), then changes in coordinates amount Δ x and Δ y are：
Δ x=p-q, Δ y=s-t (3)
If the changing value of laser range finder measurement is Δ L in measuring twice in front and back, the fix error angle of horizontal direction is εx,
The fix error angle of short transverse is εy, then it is not difficult to find out by geometrical relationship, fix error angle
All fix error angle can be determined by formula (3)～(5) to the laser range finder of every side.
Estimation to eccentric throw δ.The initial stage that moving vehicle is approached towards destination, accurate eccentric throw is solved for most terminating
What significance fruit is without.Only when will arriving at, just there is higher wanting to the precision of eccentric throw
Ask.So in the starting stage of motion, as long as ensure that laser can be beaten carries out rough estimate i.e. on spot detection plate to eccentric throw
Can.By taking left side as an example, yaw angle is 0, if abscissa of the current hot spot on spot detection plate is x, laser ranging is L', is calculated
Be horizontally mounted error angle for εx, then left side eccentric throw
δL=x-L'sin εx (6)
In the same manner, it is possible to obtain right side eccentric throw δR.The mean value of left and right is taken, it is as follows so as to calculate eccentric throw δ：
δ=0.5 (δL+δR) (7)
As long as can be seen that direction that yaw angle is 0 can be found and to the installation of laser range finder from analysis above
Error angle is estimated, you can gantry is accurately positioned.In the case of shown in Figure 11, the ranging information of two-laser does not have
There is comparativity, driftage angle information can not be directly obtained.Need to estimate the yaw angle at gantry using different methods.
Know in analysis above, after laser range finder is well placed, ensure that two laser has certain journey
The depth of parallelism of degree.In this case, different yaw angles will cause facula position that different changes occur.So can be by inspection
The change in location of light-metering spot is judging whether driftage, and judgment rule is as follows：
Car body along current pose translate (change without attitude angle) forward when, if yaw angle be 0, two facula positions are not
Become or moving direction is inconsistent, if yaw angle is not 0, two hot spots are towards the regular movement in same direction.
As shown in figure 14, after car body translates a segment distance forward, due to the presence of yaw angle, the position of two hot spots is caused
Put and all offset to the left.Thus can determine whether, car body has yaw angle to the right.Conversely, if the position of two hot spots all offsets to the right,
Then there is yaw angle to the left.According to above-mentioned phenomenon, moving vehicle is adjusted repeatedly so as to which yaw angle gradually tends to 0.
As shown in figure 14, the reference for installation of two laser range finders is inconsistent, and the position deviation of the two is Δ, is needed inclined to this
Residual quantity is estimated, so as to realize the compensation to laser ranging.
When yaw angle is 0, the difference of two ranging informations is caused by fix error angle and the position deviation Δ of the two, wherein
Fix error angle can be ignored, so there is following formula to set up
Δ≈(L2-L1)|Ψ=0 (8)
After estimating Δ, fix error angle can be further calculated, solve yaw angle and eccentric throw.
Locating module realizes the control to moving vehicle, as shown in figure 15：First pass through facula position to change to vehicle gantry
Yaw direction be adjusted, being repeated several times makes yaw angle close 0, and Δ is estimated afterwards, then solves laser range finder
Fix error angle；The position of two laser rangings can be compensated on this basis, according still further to above method to traveling later
In yaw angle and eccentric throw estimated, so as to carry out gesture stability to vehicle.
Claims (10)
1. a kind of spot detection module, it is characterised in that including liner plate, silicon photocell chip arrays and dividing plate；Described silicon photoelectricity
Each silicon photoelectric cell slice in the chip arrays of pond it is equivalently-sized；Described dividing plate is used to isolate each silicon photoelectric cell slice；Described lining
Plate is used to encapsulate silicon photoelectric cell slice and signals collecting, described when different intensities of illumination is radiated on silicon photocell chip arrays
Liner plate will export different open-circuit voltages, according to the change of the open-circuit voltage of output, determine whether that laser irradiates.
2. spot detection module according to claim 1, it is characterised in that described silicon photoelectric cell slice is no more than 10mm
The rectangle of × 10mm.
3. spot detection module according to claim 1, it is characterised in that described liner plate, is adopted by contact pin with information
Collector plate is connected, and gathers the open circuit voltage signal of each silicon photoelectric cell slice.
4. a kind of method of spot detection module of the making as described in claim 1 or 3, it is characterised in that cut silicon photocell
Piece, acquisition meets the silicon photoelectric cell slice of the specification in silicon photocell chip arrays；Silicon photoelectric cell slice welding to well cutting
Welding, draws both positive and negative polarity, obtains the nude film being molded；Filter out and meet the nude film that requirement is exported under setting intensity of illumination, carry out
The encapsulation of silicon photocell chip arrays；In encapsulation, dividing plate is pasted after being welded nude film on liner plate, finally by dividing plate, silicon photoelectricity
Chip arrays resin in pond carries out encapsulating and sealing is processed.
5. a kind of laser orientation system of the spot detection module based on described in claim 1, it is characterised in that including hot spot inspection
Drafting board, self adaptation hot spot detection module, laser range finder and locating module；One piece is each side installed in moving vehicle to have
Mutually isostructural spot detection plate, in destination both sides a laser range finder is respectively arranged；
Described spot detection plate is a spot detection module, or two or more spot detection module is spliced；
Described self adaptation hot spot detection module is detected using the good threshold value table of Jing experimental designs to hot spot；Described threshold value
Table record under the conditions of different grades of natural light, different types of silicon photoelectric cell slice be irradiated with a laser after open-circuit voltage increasing
Amount；
Described laser range finder is used to finding range and launching laser beam；
The facula position detected in distance that described locating module is measured according to laser range finder and spot detection plate, adjustment fortune
The position of the relative destination of motor-car, is controlled, according to facula position according to measurement distance to the yaw angle of moving vehicle
Change the yaw direction to moving vehicle to be adjusted.
6. laser orientation system according to claim 5, it is characterised in that the method for building up of described threshold value table is：
First, silicon photoelectric cell slice is classified；Highest output under the conditions of being located at identical natural light, in all silicon photoelectric cell slices
Voltage is Vmax, with VmaxIt is, with reference to division interval, all of silicon photoelectric cell slice to be classified；
Then, threshold value table is set up；The value of the maximum output voltage in silicon photoelectric cell slice, by natural light strength grading, record
Under the conditions of the natural light of each grade, the increment of the open-circuit voltage of the silicon photoelectric cell slice being irradiated with a laser.
7. laser orientation system according to claim 6, it is characterised in that described classifies to silicon photoelectric cell slice,
Under the conditions of a certain natural light, according to VmaxSilicon photoelectric cell slice is divided into into 4 classes；In the silicon light that any illumination condition is not all exported
Cell piece is bad point, is designated as A classes；Open-circuit voltage meets interval [0.1Vmax, 0.5Vmax] silicon photoelectric cell slice be designated as B classes；Open circuit
Voltage meets interval (0.5Vmax, 0.75Vmax] silicon photoelectric cell slice be designated as C classes；Open-circuit voltage meets interval (0.75Vmax, Vmax]
Silicon photoelectric cell slice be designated as D classes.
8. laser orientation system according to claim 5, it is characterised in that described self adaptation hot spot detection module, it is real
Now the method for spot detection is：Nature light collection is carried out, each silicon photoelectric cell slice divides under the conditions of the natural light of acquisition corresponding grade
Class, if having Y silicon photoelectric cell slice；Within a sampling period, the variable quantity of each silicon photoelectric cell slice open-circuit voltage is calculated, it is right
Inquired about according to threshold value table, screened silicon photoelectric cell slice of the variable quantity higher than threshold value, if do not screened, illustrate to be shone without laser
Penetrate；If screened, whether number of the variable quantity higher than the silicon photoelectric cell slice of threshold value is judged more than the 45% of Y, if it is, explanation
Photoenvironment there occurs change, need to re-start nature light collection, if it is not, detecting hot spot position by adjacency judgement
Put.
9. laser orientation system according to claim 5, it is characterised in that described locating module is realized to moving vehicle
Positioning, including：
(1) yaw angle of moving vehicle is estimated；
If it is L that left laser range finder detects the distance of left spot detection plate1', right laser range finder detects right spot detection plate
Distance be L2', two laser range finder spacing are M, then the estimate of yaw angle
(2) fix error angle of laser range finder is estimated；
Laser range finder to every side, the changes in coordinates amount of hot spot in measuring twice according to before and after calculates laser range finder and exists
The fix error angle ε of horizontal directionxWith the fix error angle ε in short transversey；
Wherein, the changes in coordinates amount of hot spot in measuring twice before and after Δ x and Δ y are, Δ L laser rangings in measurement twice for before and after
The distance change value of instrument measurement；
(3) eccentric throw is estimated；
Obtain the eccentricity δ of the laser range finder of left and right sideLAnd δR, eccentric throw δ is δLAnd δRMean value；
When yaw angle is 0, the eccentricity of side laser range finder is obtained, if now abscissa of the hot spot on spot detection plate
For x, laser ranging is L', then the eccentric throw of the side laser range finder is x-L'sin εx；
(4) position deviation of two laser range finders is estimated；
When yaw angle is 0, the position deviation Δ ≈ (L of two laser range finders are estimated2-L1)|Ψ=0, L1For left laser range finder phase
Away from the actual distance of left spot detection plate, L2For right laser range finder at a distance of right spot detection plate actual distance.
10. the laser orientation system according to claim 5 or 9, it is characterised in that described locating module, to sport(s) car
Carry out motion control, including two stages：
(1) coarse positioning, refers to：By the situation of change of facula position, the yaw direction of moving vehicle is adjusted, makes vehicle
Yaw angle be 0；
(2) fine positioning, refers to：The fix error angle and position deviation of laser range finder are solved, the position of two laser rangings is entered
Row compensation, calculates yaw angle and eccentric throw of the moving vehicle in traveling, and to vehicle gesture stability is carried out.
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