CN107356937A - A kind of walking robot collision warning device based on Laser Detection Technique - Google Patents
A kind of walking robot collision warning device based on Laser Detection Technique Download PDFInfo
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- CN107356937A CN107356937A CN201710743582.6A CN201710743582A CN107356937A CN 107356937 A CN107356937 A CN 107356937A CN 201710743582 A CN201710743582 A CN 201710743582A CN 107356937 A CN107356937 A CN 107356937A
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- 230000003287 optical effect Effects 0.000 claims abstract description 28
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- 239000004065 semiconductor Substances 0.000 claims description 47
- 239000005357 flat glass Substances 0.000 claims description 14
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000002834 transmittance Methods 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
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- 230000009466 transformation Effects 0.000 description 2
- 241000931526 Acer campestre Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 230000013011 mating Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of walking robot collision warning device based on Laser Detection Technique, belong to field of optical detection, including exploring laser light driver element, detection optical transmitting system, detection receiving optics, detection control unit, microprocessor and communication unit, wherein microprocessor connection communication unit and detection control unit；Detect control unit connection exploring laser light driver element, detection optical transmitting system and detection receiving optics, and exploring laser light driver element driving detection optical transmitting system emission pulse laser；Communication unit communicates to connect with robot ambulation control unit；The present invention is irradiated using pulse laser to object space, by launching laser signal and receiving the time interval of laser signal, is calculated in object space and be whether there is barrier and Obstacle Position；Robot travel distance and timely avoiding operation are determined according to obstacle information, avoids robot from colliding, topple over and damages, reaches the purpose of robot traveling safety.
Description
Technical field
The invention belongs to field of optical detection, is collided more particularly to a kind of walking robot based on Laser Detection Technique
Prior-warning device.
Background technology
In recent years, with the development of science and technology, domestic robot is popular therewith.Needed during family expenses robot ambulation
To find that peripheral obstacle is hidden in time, it is in obstacle avoidance module at present to use ultrasonic listening module but existing super more
The problems such as acoustic detection module has the ability that measurement accuracy is low, scope is small, finds peripheral obstacle, and error rate is high, machine
People always collides in walking process, easily causes robot damage.
The content of the invention
The technical problems to be solved by the invention：A kind of walking robot anti-collision warning based on Laser Detection Technique is provided
Device, peripheral obstacle information is detected for walking robot, avoids robot ambulation process from always colliding, topple over and damage
It is bad, reach the purpose of robot ambulation safety.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows：
A kind of walking robot collision warning device based on Laser Detection Technique, it is characterized in that：Driven including exploring laser light
Moving cell, detection optical transmitting system, detection receiving optics, detection control unit, microprocessor and communication unit, wherein
Microprocessor connection communication unit and detection control unit；Detect control unit connection exploring laser light driver element, detection transmitting
Optical system and detection receiving optics, and the driving detection optical transmitting system transmitting pulse of exploring laser light driver element swashs
Light；Communication unit communicates to connect with robot ambulation control unit；
Wherein exploring laser light driver element includes flyback power supply controller, the first metal-oxide-semiconductor, transformer, diode, filtering
Circuit, pulse laser, the second metal-oxide-semiconductor, logical device, delay line and metal-oxide-semiconductor driver, first metal-oxide-semiconductor connect flyback
Formula power-supply controller of electric and transformer；The diode connection transformer and filter circuit；The pulse laser respectively with filtering
Circuit, flyback power supply controller and the connection of the second metal-oxide-semiconductor；The delay line connection logical device and metal-oxide-semiconductor driver；It is described
Metal-oxide-semiconductor driver is connected with the second metal-oxide-semiconductor；
Wherein detecting optical transmitting system includes impulse semiconductor laser, plate glass, convex lens I, PIN photodetections
Device and photoelectric switching circuit I, the plate glass are located on the route of impulse semiconductor laser emission pulse laser；It is described convex
Lens I are located on the transmitted light path of plate glass；The PIN photoelectric detector is located on the reflected light path of plate glass, PIN light
Electric explorer is connected with photoelectric switching circuit I；
Wherein detect receiving optics include APD photodetectors, narrow band pass filter, convex lens II, convex lens III and
Photoelectric switching circuit II, the convex lens III, convex lens II, narrow band pass filter and APD photodetectors reflect along from barrier
Laser optical path direction be sequentially arranged, wherein APD photodetectors are connected with photoelectric switching circuit II；
Wherein detection control unit includes the first differential converter, the second differential converter and digital logic chip, described
First differential converter one end is connected with detection optical transmitting system, and the other end is connected with digital logic chip；Described second is poor
Converter one end is divided to be connected with detection receiving optics, the other end is connected with digital logic chip.
Further, the exploring laser light driver element uses burst pulse high voltage driving pulses laser, and driving voltage is
100V~500V, pulse width are 10ns~100ns, driving current is 0~30A.
Further, the impulse semiconductor laser to produce wavelength be 850nm~950nm, pulse width be 0~
100ns, the pulse laser that peak power is 0~50W.
Further, the photoelectric switching circuit and photoelectric switching circuit include impedance amplifier, limiting amplifier and
PECL change-over circuits, and impedance amplifier, limiting amplifier and PECL change-over circuits are sequentially connected with.
Further, the narrow band pass filter only has height to the pulse laser wavelength of impulse semiconductor laser transmitting
Transmitance is low to other wavelength pulsed laser transmitances.
By above-mentioned design, the present invention can bring following beneficial effect：The present invention uses modularized design, structure
It is compact, small volume, it is readily integrated into whole walking robot, is advantageous to the structure design of total system.Precision of the present invention is high,
By multiple high-frequency detection, obstacle information is found in time, there is the features such as safe, stability is good, and the present invention uses sharp
Target illuminated scope receives optical signal by detecting, and carries out the detection of barrier.Compared with traditional ultrasonic listening, laser
Have the characteristics that measurement accuracy is high, scope is big, error rate is low, compared with ultrasonic listening module, improve peripheral obstacle hair
Existing ability.
To sum up, the present invention proposes a kind of walking robot collision warning device based on Laser Detection Technique, for going
Robot walking detects peripheral obstacle information, avoids robot ambulation process from always colliding, and reaches robot ambulation safety
Purpose.
Brief description of the drawings
Below in conjunction with brief description of the drawings, the invention will be further described with embodiment：
Fig. 1 is a kind of walking robot collision warning device structural representation based on Laser Detection Technique of the present invention.
Fig. 2 is exploring laser light driver element circuit diagram.
Fig. 3 is laser acquisition optical transmitting system structural representation.
Fig. 4 is laser acquisition receiving optics structural representation.
Fig. 5 is photoelectric switching circuit figure.
Fig. 6 is detection control unit circuit diagram.
In figure：1- exploring laser lights driver element, 101- flyback power supplies controller, the metal-oxide-semiconductors of 102- first, 103- transformations
Device, 104- diodes, 105- filter circuits, 106- pulse lasers, the metal-oxide-semiconductors of 107- second, 108- logical devices, 109- delays
Line, 110-MOS pipes driver, 2- detections optical transmitting system, 201- impulse semiconductor lasers, 202- plate glass, 203-
Convex lens I, 204-PIN photodetectors, 205- photoelectric switching circuits I, 3- detections receiving optics, 301-APD photoelectricity are visited
Survey device, 302- narrow band pass filters, 303- convex lens II, 304- convex lens III, 305- photoelectric switching circuits II, 4- detection control lists
Member, the differential converters of 401- first, the differential converters of 402- second, 403- digital logic chips, 5- microprocessors, 6- communication units
Member.
Embodiment
As shown in figure 1, the present invention proposes a kind of walking robot collision warning device based on Laser Detection Technique, adopt
With Laser Detection Technique, irradiated and received by laser, judge peripheral obstacle information, for walking robot real-time judge week
Enclose barrier situation and timely avoided, walking robot collision warning device includes exploring laser light driver element 1, detection
Optical transmitting system 2, detection receiving optics 3, detection control unit 4, microprocessor 5 and communication unit 6, wherein microprocessor
The connection communication unit 6 of device 5 and detection control unit 4；Detect control unit 4 and connect exploring laser light driver element 1, detection transmitting light
System 2 and detection receiving optics 3, and the driving detection optical transmitting system 2 of exploring laser light driver element 1 is launched pulse and swashed
Light；Communication unit 6 communicates to connect with robot ambulation control unit；
As shown in Fig. 2 exploring laser light driver element 1 includes flyback power supply controller 101, the first metal-oxide-semiconductor 102, transformation
Device 103, diode 104, filter circuit 105, pulse laser 106, the second metal-oxide-semiconductor 107, logical device 108, delay line 109
And metal-oxide-semiconductor driver 110, first metal-oxide-semiconductor 102 connect flyback power supply controller 101 and transformer 103；Two pole
Pipe 104 connects transformer 103 and filter circuit 105；The pulse laser 106 respectively with filter circuit 105, flyback power supply
The metal-oxide-semiconductor 107 of controller 101 and second connects；The delay line 109 connects logical device 108 and metal-oxide-semiconductor driver 110；It is described
Metal-oxide-semiconductor driver 110 is connected with the second metal-oxide-semiconductor 107；Flyback power supply controller 101 controls the first metal-oxide-semiconductor 102 to switch, and passes through
The boosting output of transformer 103；The diode 104 connects transformer 103 and filter circuit 105, and circuit 105 obtains after filtering
100V~500V high direct voltages.Narrow pulse signal is obtained by logical device 108 and delay line 109, passes through metal-oxide-semiconductor driver
110 the second metal-oxide-semiconductors of driving 107, which are quickly opened, to discharge pulse laser 106, obtains burst pulse high pressure, overcomes lead electric
Sense, obtain 10ns~100ns pulse currents and be used for driving impulse semiconductor laser 201 in detection optical transmitting system 2, it is comprehensive
On, exploring laser light driver element 1 overcomes lead induction reactance to produce big driving electricity using burst pulse high voltage driving pulses laser 106
Stream, driving voltage is 100V~500V, pulse width is 10ns~100ns, driving current is 0~30A, and the present invention uses flyback
Formula power supply generates 100V~500V high direct voltages, and accumulation of energy is carried out to high-voltage capacitance, drives high pressure high by metal-oxide-semiconductor driver 110
Fast metal-oxide-semiconductor carries out quick open and pulse laser 106 is discharged, and wherein high-voltage high-speed metal-oxide-semiconductor is the second metal-oxide-semiconductor 107, from
And overcoming lead-in inductance to export 10ns~100ns pulse spike electric currents, peak point current is 0~30A.
As depicted in figs. 3 and 5, detect optical transmitting system 2 include impulse semiconductor laser 201, plate glass 202,
Convex lens I 203, PIN photoelectric detector 204 and photoelectric switching circuit I 205, the plate glass 202 swash positioned at impulse semiconductor
On the route of the emission pulse laser of light device 201；The convex lens I 203 are located on the transmitted light path of plate glass 202；The PIN
Photodetector 204 is located on the reflected light path of plate glass 202, and PIN photoelectric detector 204 connects with photoelectric switching circuit I 205
Connect；The impulse semiconductor laser 201 to produce wavelength is 850nm~950nm, pulse width is 0~100ns, peak value
Power is 0~50W pulse laser, and impulse semiconductor laser 201 launches 850nm under the control of exploring laser light driver element 1
~950nm wavelength pulsed lasers, by plate glass 202, fraction reflexes to PIN photoelectric detector 204, most of through excess convexity
Lens I 203 expand output detection light, reflex to PIN photoelectric detector 204 and carry out opto-electronic conversion through photoelectric switching circuit I 205,
The photoelectric switching circuit 205 includes impedance amplifier, limiting amplifier and PECL change-over circuits, and impedance amplifier, limit
Width amplifier and PECL change-over circuits are sequentially connected with, and electric signal obtains difference number after impedance amplifier and limiting amplifier
Word signal.
As shown in Figures 4 and 5, detecting receiving optics 3 includes APD photodetectors 301, narrow band pass filter 302, convex
Lens II 303, convex lens III 304 and photoelectric switching circuit II 305, the convex lens III 304, convex lens II 303, narrow-band-filter
Piece 302 and APD photodetectors 301 are sequentially arranged along the laser optical path direction reflected from barrier, wherein APD photodetectors
301 are connected with photoelectric switching circuit II 305；Converge by two-stage convex lens from the laser of barrier reflection, and filtered by arrowband
After mating plate 302 filters, focus on APD photodetectors 301 and carry out opto-electronic conversion, electric signal warp through photoelectric switching circuit II 305
Differential digital signal is obtained after crossing impedance amplifier and limiting amplifier, wherein narrow band pass filter 302 is only partly led to the pulse
Body laser 201, which sends optical maser wavelength, to be had compared with high transmittance, relatively low to other wavelength laser transmitances.
As shown in fig. 6, detection control unit 4 includes the first differential converter 401, the second differential converter 402 and numeral
Logic chip 403, described one end of first differential converter 401 are connected with detection optical transmitting system 2, the other end and Digital Logic
Chip 403 connects；Described one end of second differential converter 402 is connected with detection receiving optics 3, the other end and Digital Logic
Chip 403 connects, and two groups of differential converters connect digital logic chip 403, pass through the numeral to Laser emission and laser pick-off
Signal carries out timing, judges whether barrier, and calculate obstacle position information.
The microcontroller 5 detects the obstacle information of object space by detecting control unit 4, true by repeatedly detection
Recognize barrier state, microcontroller 5 controls communication unit 6 to send obstacle information and gives robot ambulation control unit, carries in time
Awake peripheral obstacle state, avoids colliding, is easy to robot planning walking along the street line.
To sum up, the present invention is irradiated using pulse laser to object space, by launching laser signal and receiving laser
The time interval of signal, calculate in object space and whether there is barrier and Obstacle Position；Determined according to obstacle information
Robot travel distance and timely avoiding operation, avoid robot from colliding, topple over and damage, and reach robot traveling safety
Purpose.
Above-described embodiment is only the method and beneficial effect of the illustrative present invention, not for the limitation present invention.Appoint
The personage what is familiar with the method can modify under the spirit and scope without prejudice to the present invention to above-described embodiment.Therefore
The scope of the present invention, should be as listed by claim.
Claims (5)
1. a kind of walking robot collision warning device based on Laser Detection Technique, it is characterized in that：Driven including exploring laser light
Unit (1), detection optical transmitting system (2), detection receiving optics (3), detection control unit (4), microprocessor (5) and
Communication unit (6), wherein microprocessor (5) connection communication unit (6) and detection control unit (4)；Detect control unit (4) even
Exploring laser light driver element (1), detection optical transmitting system (2) and detection receiving optics (3) are connect, and exploring laser light drives
Unit (1) driving detection optical transmitting system (2) emission pulse laser；Communication unit (6) leads to robot ambulation control unit
Letter connection；
Wherein exploring laser light driver element (1) includes flyback power supply controller (101), the first metal-oxide-semiconductor (102), transformer
(103), diode (104), filter circuit (105), pulse laser (106), the second metal-oxide-semiconductor (107), logical device (108),
Delay line (109) and metal-oxide-semiconductor driver (110), the first metal-oxide-semiconductor (102) connection flyback power supply controller (101) and change
Depressor (103)；Diode (104) the connection transformer (103) and filter circuit (105)；The pulse laser (106) point
It is not connected with filter circuit (105), flyback power supply controller (101) and the second metal-oxide-semiconductor (107)；The delay line (109) is even
Connect logical device (108) and metal-oxide-semiconductor driver (110)；The metal-oxide-semiconductor driver (110) is connected with the second metal-oxide-semiconductor (107)；
Wherein detecting optical transmitting system (2) includes impulse semiconductor laser (201), plate glass (202), convex lens I
(203), PIN photoelectric detector (204) and photoelectric switching circuit I (205), the plate glass (202) are located at impulse semiconductor
On the route of laser (201) emission pulse laser；The convex lens I (203) are located at the transmitted light path of plate glass (202)
On；The PIN photoelectric detector (204) is located on the reflected light path of plate glass (202), PIN photoelectric detector (204) and light
Power conversion circuit I (205) connects；
Wherein detecting receiving optics (3) includes APD photodetectors (301), narrow band pass filter (302), convex lens II
(303), convex lens III (304) and photoelectric switching circuit II (305), the convex lens III (304), convex lens II (303), arrowband
Optical filter (302) and APD photodetectors (301) are sequentially arranged along from the laser optical path direction of barrier reflection, wherein APD light
Electric explorer (301) is connected with photoelectric switching circuit II (305)；
Wherein detecting control unit (4) includes the first differential converter (401), the second differential converter (402) and Digital Logic
Chip (403), described first differential converter (401) one end are connected with detection optical transmitting system (2), and the other end is patrolled with numeral
Collect chip (403) connection；Described second differential converter (402) one end with detection receiving optics (3) be connected, the other end and
Digital logic chip (403) connects.
2. the walking robot collision warning device according to claim 1 based on Laser Detection Technique, it is characterized in that：Institute
State exploring laser light driver element (1) and use burst pulse high voltage driving pulses laser (106), driving voltage be 100V~500V,
Pulse width is 10ns~100ns, driving current is 0~30A.
3. the walking robot collision warning device according to claim 1 based on Laser Detection Technique, it is characterized in that：Institute
It is 850nm~950nm that impulse semiconductor laser (201), which is stated, to produce wavelength, pulse width is 0~100ns, peak power
For 0~50W pulse laser.
4. the walking robot collision warning device according to claim 1 based on Laser Detection Technique, it is characterized in that：Institute
Stating photoelectric switching circuit (205) and photoelectric switching circuit (305) includes impedance amplifier, limiting amplifier and PECL conversions
Circuit, and impedance amplifier, limiting amplifier and PECL change-over circuits are sequentially connected with.
5. the walking robot collision warning device according to claim 1 based on Laser Detection Technique, it is characterized in that：Institute
State narrow band pass filter (302) only has high transmittance to the pulse laser wavelength of the impulse semiconductor laser (201) transmitting,
It is low to other wavelength pulsed laser transmitances.
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| CN201710743582.6A CN107356937A (en) | 2017-08-25 | 2017-08-25 | A kind of walking robot collision warning device based on Laser Detection Technique |
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| CN201710743582.6A CN107356937A (en) | 2017-08-25 | 2017-08-25 | A kind of walking robot collision warning device based on Laser Detection Technique |
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