CN108656150A

CN108656150A - A kind of sensor of robot detection obstacle

Info

Publication number: CN108656150A
Application number: CN201710187092.2A
Authority: CN
Inventors: 张舒怡
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-03-27
Filing date: 2017-03-27
Publication date: 2018-10-16

Abstract

A kind of sensor of robot detection obstacle, it includes at least one digital imagery module, one linear laser emitter, and it is at least one there are the speculum of reflecting surface or reflecting prism or light pipe, linear laser emitter emits laser signal to reflecting surface, one or more reflectings surface by light path before leaving a whole set of sensor signal emitter of linear laser that linear laser emitter emits by reflect extend it is one or many, the reflecting surface is the speculum or reflecting prism or light pipe of the strip consistent with the subtended angle of linear laser, reflecting surface strip direction is in plane or curved surface, digital imagery module is mainly used for the CCD of the projection line intake image-forming module in front of robot by linear laser（Or CMOS）On photosensitive element, according to position shape of the laser rays on photosensitive element, can differentiate laser rays ground projection line either with or without by other objects（Barrier）It shelters from.

Description

A kind of sensor of robot detection obstacle

Technical field

The present invention relates to the sensor that a kind of robot detects obstacle, it is mainly used for before robot detects in moving process The barrier being likely to be encountered on the entire perspective plane in side.

Background technology

Robot is in detection moving direction（Generally front）On barrier when, the preferably entire surface of moving direction （Perspective plane of the robot in front）It can detect, otherwise, a corner of that I guess robot may all knock barrier, If it is this device for automatically moving in this way with regard to unreliable, thus robot before detection square obstacle when sensed preferably with face Device.It can or can not be blocked by tea table, sofa lower edge for example, robot needs to detect（Or break furniture）, front ground raised machine Whether device people can cross, whether the corner of robot can thrust into, and commonly detect the sensor of obstacle in robot at present Have infrared ray or ultrasonic wave, need to install multiple, and entire perspective plane cannot be covered, but if in order to expand covering surface and This kind of sensor is all installed, first cost is higher, and second signal covering is just spread, and the machine robot is equivalent in entire surface Body range is exaggerated, and the channel that can enter originally also becomes can not be into.

Invention content

The present invention is exactly that robot can be allowed in the entire surface of moving direction in order to solve the covering problem of this sensor On detect barrier, provide this covering surface wide sensor emission device.

What the present invention was designed so as to：

A kind of sensor of robot detection obstacle, it is characterised in that the sensor includes at least one digital imagery mould Block, a linear laser emitter and at least one there are the speculum of reflecting surface or reflecting prism or light pipe, it is linear Laser beam emitting device emits laser signal to reflecting surface, the line that one or more reflectings surface emit linear laser emitter Light path of the shape laser before leaving a whole set of sensor signal emitter extends one or many, described reflectings surface by reflecting It is the speculum or reflecting prism or light pipe of the strip consistent with the subtended angle of linear laser, reflecting surface strip direction is in plane Or curved surface, digital imagery module are mainly used for the CCD of the projection line intake image-forming module in front of robot by linear laser（Or CMOS）On photosensitive element, according to position shape of the linear laser on photosensitive element, linear laser can be differentiated on ground Projection line is either with or without by other objects（Barrier）It shelters from, in addition to linear laser（Cooperative target）, other objects（Non- cooperative target Mark）Imaging on photosensitive element can be ignored.

The linear laser emitter is an a wordline laser emitting head.

The linear laser emitter is at least two a wordline laser emitting heads of the subtended angle in a plane.

A reflecting surface generally face at sensor signal emitter light extraction.

Reflecting surface at sensor signal emitter light extraction is multiple faces, and multiple faces are by signal reflex to multiple directions； Linear laser emitter can also have it is multiple, each towards one of multiple reflectings surface face；Or linear laser transmitting dress It is set to one, this linear laser emitter includes that multiple a wordline lasers towards the one of face of multiple reflectings surface emit Head.

Linear laser emitter also incidentally rotates upwardly and downwardly mechanism or swing mechanism, and rotating mechanism or swing mechanism can be by lines Shape laser carrys out back rotation some angles, by rotation by linear laser towards the different location of reflecting surface.

Reflecting surface at sensor signal emitter light extraction also incidentally rotates upwardly and downwardly mechanism or swing mechanism, linear laser The linear laser that emitter is sent out is parallel to robot wheel shaft, and rotating mechanism or swing mechanism can carry out the reflecting surface at light extraction Some angles of back rotation, by rotation, the linear laser of the reflective surface at light extraction is transmitted to front horizontal direction difference angle Degree.

Reflection unit at sensor signal emitter light extraction is also attached to left-right rotation or swing mechanism, linear laser hair The linear laser of reflective surface at light extraction can be transmitted to by the linear laser that injection device is sent out perpendicular to ground, rotating mechanism Front vertical direction different angle.

Although not by reflection, the big a wordline laser emitting head of light extraction subtended angle also can be elongated at once by laser rays, Its brightness also decays rapidly, and an object of the present invention also resides in the subtended angle for wanting constrained line shape laser beam emitting device, increases linear The brightness of laser, and before allowing linear laser to leave robot body essential estensions to corresponding length.

Description of the drawings

Fig. 1（a、b）Differentiate schematic diagram for front obstacle（Wherein b is the front imaging schematic diagram of a）.

Fig. 2 is front obstacle of the present invention apart from schematic diagram calculation.

Fig. 3 is another example of the present invention（Vertical scan direction）Obstacle distance differentiates schematic diagram.

Fig. 4 is to cover schematic diagram for humanoid robot sensor signal emitter signal（Wherein a, b are unused The robot of invention, c, d are the robot provided with sensor of the invention）.

Fig. 5（a、b、c）For the robot car of the present invention（Such as sweeping robot）Sensor mounting means schematic diagram.

Fig. 6（a、b、c）For inventive sensor sender unit structural schematic diagram（Wherein a is side sectional view, b a Front cross-sectional view, c is another cross-sectional view of the structure）.

Fig. 7（a、b）For two multiple linear laser sensor signal emitter mounting structure signals arranged side by side of the present invention Figure.

Fig. 8（a、b、c、d）Another two of the present invention（Vertical scan direction）Sensor signal emitter structural schematic diagram.

Fig. 9 is the sensor signal emitter mounting means schematic diagram of the robot car band rotation of the present invention（Wherein A, b is vertical view, and c is the side view of b）.

Figure 10（a、b、c）For the operating diagram of the sensor signal emitter with rotation（It is partial enlargement in circle Figure）.

Figure 11（a、b、c、d、e、f）For rotating mechanism schematic diagram.

Figure 12 is the sensor signal emitter structural representation of all directionally movable robot trolley band rotation of the present invention Figure.

Embodiment：

A kind of sensor of robot detection obstacle, it is characterised in that the sensor includes at least one digital imagery module 2, one towards front ground linear laser emitter 1 and it is at least one there are the speculum 31 of reflecting surface 3 or reflection Prism 32 or light pipe 33, linear laser emitter 1 emit laser signal to reflecting surface 3, and one or more reflectings surface 3 will Light path of the linear laser that linear laser emitter 1 emits before leaving a whole set of sensor signal emitter is prolonged by reflection Length is one or many, and the reflecting surface 3 is the speculum 31 or reflecting prism of the strip consistent with the subtended angle of linear laser 1 32 or light pipe 33,3 strip direction of reflecting surface is in plane or curved surface.

At least one digital imagery module 2, which is arranged near robot front panel, is below or above linear laser emitter At 1, the position being substantially arranged is usually the half-height position of robot, can take into account the visual angle of image-forming module, digital imagery module It is mainly used for the CCD of the projection line intake image-forming module by linear laser in front of robot（Or CMOS）On photosensitive element, root According to position shape of the linear laser on photosensitive element, can differentiate linear laser ground projection line either with or without by other Object（Barrier）It shelters from, in addition to linear laser（Cooperative target）, other objects（Noncooperative target）On photosensitive element Imaging can be ignored.

When accessible, the linear laser stable projection on ground is in fixed position, and when having obstacle protrusion, a part is linear to swash On the obstacle of protrusion, the projection on image-forming module will be shifted up for illumination（Record the time moved up for the first time）, such as Fig. 1（a、 b）, according to the offset moved up, the distance of barrier can be calculated, and according to robot movement speed, can calculating robot it is more The obstacle can be encountered for a long time, how robot should act, if there is hole in road ahead（Step）, then in desired location A upper linear laser having will be moved down or not seen, and such case also indicates that there is obstacle in front, not across（Also can lead to The offset for calculating and moving down is crossed, determines that this drop robot can pass through based on experience value）.

Further, according to the linear laser projected position on the angle obliquely of linear laser emitting head, photosensitive element, Even position of the barrier from robot can be calculated, as Fig. 2 linear laser emitters light extraction at be A（Terrain clearance For AB）, the light of injection shines D points on road surface, once encounter the barrier of road（A such as roadblock）, part light can be kept off Firmly, occurs bright spot at L（Line segment）, the camera lens E central points of imaging device are O, which is OG；Photosensitive element C （CCD）It is Q points that horizontal direction, which corresponds at O points, and D points are R points at the imaging on C, and L points are P points at the imaging on C （D, L, N, R, P point are not in one plane, in figure the perspective plane of these points in fact）, DR and barrier LM（Take its height） Intersect at N points, the angle on AD and ground is α, and the angle on DR and ground is β.Putting for gained is calculated according to focal length and amplification factor Large scale is k, wherein AB, OG, GB, OQ be known（Fixed value）, RQ, PQ are according to the density of pixel（And pixel interval Distance）, it can calculate and learn in the coabsolute length of C, physical length（When substituting into formula）Also to be multiplied by magnification ratio K regards as and understands（It is known）, it is assumed that barrier LM is x with a distance from D, i.e. the length of DM then, in figure is given tacit consent to for the sake of convenience for x and put Large scale k is 1：

∵ tgβ=MN/DM= RQ/OQ= OG/DG

∴ DG= OG*OQ/RQ

∵ tg α=AB/DB, that is, tg α=AB/（DG+GB）= AB/（OG*OQ/RQ +GB）

∵ LN=LM-MN= x*（tgα- tgβ）

∵（DG-DM）/ OQ=LN/RP is（DG-x）/OQ=LN/RP

∴（DG-x）/OQ= x*（tgα- tgβ）/RP

I.e.（DG-x）/OQ= x*（AB/（DG +GB）- RQ/OQ）/RP

x=(RP*DG/ ((AB*OQ/(DG+GB))-(RQ-RP))

Wherein RQ-RP=PQ, so after simplifying：

x=RP*DG/ (AB*OQ/(DG+GB)-PQ);DG=OG*OQ/RQ

∴x=RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ))

DG-x, that is, OG*OQ/RQ-RP*OG*OQ/ (RQ* (AB*OQ/ (OG*OQ/RQ+GB)-PQ)) is barrier from robot front end （Camera lens）Distance.

According to the speed and braking distance of robot at that time, calculate how long robot can also move ahead（Or how many distance） Just need to change direction, and according at left and right sides of barrier the case where determine toward left and right either which direction movement of rear or Moving direction is changed as behind the left back or right side according to mobile trend.

Linear laser emitter 1 can also be provided at the side of robot, substantially half-height position, and linear laser is substantially vertical In ground, towards robot front, digital imagery module 2 is arranged in the other side of robot or the other side to robot central axes （The vertical line in centre position）Neighbouring substantially half-height position.Under this setup, need to differentiate is exactly that linear laser is curved The position of folding and the direction of bending.If there is tetra- sections of lines of A, B, C, D in Fig. 3, wherein A, D is the bending at skirting, A, D sections upper Side is bent again, shows to protrude wall at A, D;The B sections of cabinet protrusions to be put by wall；The C sections of carpet protrusions for ground, It is located at the horizontal position on image-forming module according to C sections of lower sections and top projection portion, it can be by looking into empirical value（Store in advance at As the corresponding distance value from robot in horizontal position everywhere in module）Mode can obtain barrier with a distance from robot, Protrusion（Or recess）Height（It is not critically important, can be used as and differentiate that can robot climb up（It crosses）Barrier（Carpet）'s Foundation）Also it can be obtained by looking into empirical value.

Because the line segment length that the linear laser that sensor signal emitter is sent out is projected in each distance in front is Fixed, also a kind of calculation is to determine linear laser according to the length computation of the linear laser taken in image-forming module With a distance from robot it is how many at projection；According to each section（If linear laser sender unit has multiple）Or one whole section Corresponding position of the linear laser on image-forming module（And the level inclination of current robot car body）With the side for calculating or tabling look-up Formula can also be calculated at linear laser projection（Or）With a distance from robot.

Such as Fig. 4（a、b）If a linear laser emitter 1 towards front lower place, root is arranged at the top of robot According to the subtended angle of this linear laser emitter, a line, launch point to the linear of ground are left on the smooth ground in front At an isosceles triangle, that is, the sensor signal emitter range of signal be exactly this triangle model It encloses, it is clear that the top of robot（Such as the dash area of Fig. 4 b）Entire robot can not be completely covered on the perspective plane in front, If only leaning on this sensor, robot upper part may can knock barrier, and the present invention is exactly in order to by a point on top It is extended at least with robot top with width, and robot the widest part can be extended to（Equal height）With a wide line, such as Fig. 4（c、d）, will be moved behind the position of a linear laser emitter or a linear laser emitter 1 be arranged in machine Inside device people, the laser beam emitting head of linear laser emitter 1 is reflected by least one reflecting surface 3 and is extended towards reflecting surface 3 It expands.There are the speculum 31 of reflecting surface 3 or reflecting prisms 32 if there is multiple, generally in last 3 light extraction of block reflecting surface When, linear laser can be extended to close to the wide length of robot（Or it is wide）, or before approaching robot When vertical plane where face, or when arriving at the extended line at top greatest optical visual angle of imaging device 2, linear laser can be prolonged For length to close to the wide length of robot, wide purpose is to ensure all objects into wide scopes such as robots in front（All It is possible that the robot with movement bumps against）It will be shone by linear laser, can there is projection on imaging device.

Linear laser emitter 1 can be an a wordline laser emitting head, particularly with the robot of indoor moving For, an a wordline laser emitting head is nearby（It is related with robot movement speed, also regard with digital imagery module 2 Angle is related）The brightness of the projection line on ground is enough, and an a wordline laser emitter is by least one reflecting surface 3 by a word The laser rays of line laser emitting head transmitting extends, this reflecting surface can be the speculum 31 or reflecting prism 32 of strip, whole The generally multiple strip-shaped surfaces of reflecting surface at linear laser emitter light extraction are covered, this face can be plane or concave surface（Light extraction When refocusing it is primary）, remaining reflecting surface（Second down to more）Can be the speculum 31 or reflecting prism 32 in one face of strip, Speculum 31 is mirror（The glass of surface polishing metal device and plating metallic reflective coating with regular reflection performance（It can prevent Dirt, surface anticorrosive）Or metal, plastic products（It is lighter））, generally glass（Or resin）Mirror.

Linear laser emitter 1 can be can also be arranged in the same plane it is multiple（At least two）Subtended angle is smaller A wordline laser emitting head, a wordline laser emitting head is in the same direction, i.e., the subtended angle of each a wordline laser emitting head is same side To（The side of subtended angle is in the same plane）, one wordline is extended with multiple emitting heads and constrains each a wordline laser emitting head Subtended angle is extended by the laser rays that at least one reflecting surface 3 emits a wordline laser emitting head, and each section of threadiness can be improved and swash The brightness of light, remotely or ambient brightness can also see linear laser compared with strength in digital imagery module 2.

One reflecting surface 3 can also be a cylindricality reflecting prism 32（I.e. reflecting surface 3 is present in cylindricality reflecting prism 32 On one strip face）, the laser rays for the linear laser that this prism can send out linear laser emitting head 1 is on the one hand by anti- It penetrates before leaving robot and transmits longer distance extension（Expansion）The front lower place of directive robot, on the one hand further through prism 32 The oblique upper of refraction learning robot sends out the combination unit of linear laser, such as Fig. 5（b、c）, Fig. 6（c）, this oblique top One wordline is to indicate whether robot can show one plus between the height of linear laser emitter on imaging device Word line segments, if so, indicating that there is barrier in top.Of course for the limit for height of detection top, can also be separately provided towards oblique upper Linear laser emitting head without passing through prism.

At least one reflecting surface 3 can also be a reflecting prism 32 plus at least one speculum 31 or total reflection prism 32, reflection rib of the incident laser that linear laser emitter 1 is sent out from 32 directive light extraction of speculum 31 or total reflection prism Mirror 32, finally from light extraction from reflecting prism 32；Or from anti-after 31 directive of speculum another speculum 31, multiple reflections Penetrate 32 light extraction at prism, such as Fig. 6（c）.

At least one reflecting surface 3 can also be that multiple speculums 31 or total reflection prism 32, incident laser are reflected from one Mirror 31 or another speculum 31 of 32 directive of total reflection prism or total reflection prism 32, from the last one speculum after multiple reflections Light extraction at 31, such as Fig. 5（a）, Fig. 6（a、b）.

Multiple reflectings surface 3 can also be bending by the narrow cylindricality light pipe 33 to broaden, light pipe 33 by narrow in being broadened（Refer to Linear laser emitter 1 emit line dimension and the thicker direction of non-diverging broadens）Bending cylindricality, broadened by narrow The subtended angle for the linear laser that amplitude is emitted by linear laser emitter determines, linear laser is generally constrained in cylindricality light pipe In 33, bending can be discontinuously bent（Part straight tube, part curved pipe, such as Fig. 8 (a, b)）Or continuous bend, such as Fig. 8（c、d）, The cylindricality light pipe 33 of bending is equivalent to optical fiber and laser with linear laser（It is dotted）Relationship, laser signal can be allowed to lead It constantly changes direction in light pipe, the meaning for linear laser is exactly to allow its extended line while changing direction in light pipe The length of shape laser can also save installation space for the light pipe of continuous bend, and the light pipe of bending not only can be with Transmission of one line linear laser can also transmit the linear laser of multichannel, can same position different angle, also different location same angular Degree（It is parallel）, can also different location different angle incidence linear laser.

At sensor signal emitter light extraction（The last one speculum 31 or reflecting prism 32）Reflecting surface 3 generally One face（Plane or curved surface（The section line of curved-surface reflection side 3 seamlessly transits））, this reflecting surface 3 emits a linear laser The linear laser that device 1 emits reflexes in front of robot, or multiple linear lasers from different directions are reflexed to machine Different angle in front of device people.

Reflecting surface 3 at sensor signal emitter light extraction is multiple faces（The rough multiple planes of transition（Section is in Broken line）Or multiple curved surfaces）, linear laser emitter 1 is also multiple（Generally it is arranged in parallel）, each reflective surface one The linear laser that linear laser emitter is sent out, multiple faces are by the signal reflex of multiple linear laser emitters 1 to front Multiple distances, such as Fig. 7 on road（b）；If the reflecting surface 3 at light extraction is the reflecting prism in multiple faces（Polygon prism）32, in addition to It will be multiple（Generally it is arranged in parallel）The linear laser that linear laser emitter 1 emits（a、b、c）Reflection（a’、b’、c’）Outside, also Can by it is therein all the way（a）Refraction（a”）Forward upward projects, such as Fig. 7（a）.

Or linear laser emitter is one, this linear laser emitter includes multiple towards multiple reflectings surface The a wordline laser emitting head in 3 one of faces, i.e., multiple a wordline laser emitting heads synthesize a linear laser emitter 1, this multiple a wordline laser emitting head is according to towards different layerings, every layer of a wordline laser emitting head or two every layer （Or more, a wordline subtended angle of every layer of multiple a wordline laser emitting heads is in approximately the same plane）.

In order to it is remote, in, nearly three distances obtain linear laser, multilayer threadiness laser beam emitting device 1 can be set, one layer The one or more a wordline laser emitting heads of setting（It is evenly spaced on, a wordline subtended angle of each a wordline laser emitting head In approximately the same plane）, every layer parallel to beat on different reflectings surface, or intersects and beat on the same reflecting surface, Huo Zheping Row is beaten on the same reflecting surface, and there are the speculums of different reflectings surface by least one again after reflection（Or reflecting prism）It will Linear laser reflexes to multiple directions.

After reflection towards remote, middle distance, be closely respectively set three（Or it is multiple）Different level angle The laser color of linear laser emitting head can be different.

Reflecting surface 3 at sensor signal emitter light extraction also incidentally rotates upwardly and downwardly mechanism or swing mechanism 5, and threadiness swashs The linear laser that light emitting devices is sent out is parallel to the wheel shaft of robot, and rotating mechanism or swing mechanism 5 can will be anti-at light extraction The face of penetrating rotates some angles, and by rotation, the linear laser that the reflecting surface 3 at light extraction reflects is transmitted to front horizontal direction difference Angle, such as Fig. 9,10,11, this turn（Pendulum）Dynamic direction is by linear laser by closely passing through this to remote rotation or robot A turn（Pendulum）The detection of motivation structure has the barrier for being seated ground within sweep of the eye either with or without in image processing module, such as husky Send out side, bedstead etc., this turn（Pendulum）Dynamic direction is to turn upwards（Pendulum）Move to reflecting surface at least can reflex to machine by linear laser Contour range, such as Figure 10 in front of device people（a、b、c）In, the linear laser for being incident to reflecting surface at light extraction slightly favours level Face, the reflecting surface front end at light extraction are slightly in camber line（Incident ray is expanded to the angle of bigger）, reflecting surface at entire light extraction The rotary shaft 30 of reflection unit is located at the middle rear end or rear end of reflection unit, and when rotary shaft 30 rotates, linear laser is projected to Nearby it is slightly above the projection line in front of the highest point of robot close to 90 degree to barrier remotely（Can be incident Linear laser completely beating on the reflecting surface, be emitted directly toward in front of）.

Reflecting surface 3 at sensor signal emitter light extraction is also attached to left-right rotation or swing mechanism 5, linear laser hair The linear laser that injection device is sent out can transmit the linear laser that the reflecting surface 3 at light extraction reflects perpendicular to ground, rotating mechanism To front vertical direction different angle, such as Fig. 8（a、b、c、d）, for Fig. 8（a、b）Reflecting prism 31 for, in addition to reflect light Outside line, in some rotation angles, there is also the reflected rays of refracted light.

The both ends of the reflection unit of reflecting surface 3 at entire light extraction（Or at least one end）Rotary shaft 50 be supported arm 59 clamping （It can be clamped by copper sheathing or bearing）, centre position（Or another section）Rotary shaft 50 on gear is set, pass through a transition Gear 52 is engaged with the gear in drive shaft 51, such as Figure 11（a）, drive shaft is by servo motor, stepper motor or with reduction gearing Direct current generator raise the price dish driving（It can be the motor shaft of stepper motor）；The rotation of the reflection unit of reflecting surface 3 at entire light extraction Shaft can also be exactly the output shaft of motor, or between only there are one gear.

The tail portion of reflecting surface 3 may also set up arc line shaped rack 53 at entire light extraction, and the gear driven with drive shaft 51 engages, It is driven and is rotated by a certain angle in a manner of rack-and-pinion, such as Figure 11（b）；Tail portion may also set up arc line shaped volute tooth, with a motor The turbine of driving engages, and is driven and is rotated by a certain angle in a manner of worm and gear, the benefit of worm and gear is self-locking and big retarding Than.

Reflecting surface 3 can also pass through cam 54 at entire light extraction（Eccentric wheel）The mode of rotation plus 55 extension recovery of spring is made past It is multiple（It swings）Movement, such as Figure 11（c）.

Reflecting surface 31 can also be driven reciprocating by way of 56 connecting rod 57 of crank at entire light extraction, such as Figure 11（d）, Reflecting surface 31 is depicted in figure passes through two positions after reciprocating motion.

Reflecting surface is reciprocal at entire light extraction（It swings）Movement can also be controlled by the break-make of electromagnet 58, such as Figure 11（e）, Electromagnet 58 be arranged at left and right sides of the bottom of reflecting surface in side（Or both sides are all arranged）, electromagnet 58 is attracted anti-when energization Penetrate the iron block of face bottom, reflecting surface is retracted by spring 55 when power-off；Or electromagnet 58 is arranged in the top of reflecting surface, such as scheme 11（f）, the iron block being attracted when electromagnet 58 is powered above reflecting surface, since gravity reflecting surface rotates when electromagnet 58 powers off It falls after rise.

Rotating mechanism or reciprocating motion（Swing mechanism）5 have many schemes, this is some simple exemplary scenarios, and one A rotating mechanism or swing mechanism can design many schemes for the technical staff of machinery industry, should not be by rotating machine The variation of structure or swing mechanism is considered as the new improvement of the present invention.

Reflecting surface 3 can also be plane at light extraction, and the rotary shaft of reflecting surface 3 is located at the line that linear laser is projeced into reflecting surface 3 Near（Or it overlaps）, the drive part of rotary shaft is in the left and right ends of reflecting plate（If it is the installation of such as Figure 11 rotated upwardly and downwardly Mode）In one end, the other end with bearing fix rotation support shaft；For the mounting means of left-right rotation, such as Fig. 8, rotation The one end of the drive part of axis in the upper and lower ends of reflecting plate.

Linear laser emitter 1 also incidentally rotates upwardly and downwardly mechanism or swing mechanism 5,5 energy of rotating mechanism or swing mechanism Linear laser is carried out into back rotation some angles, by rotating linear laser towards the different location of reflecting surface 3, and before reflexing to Square different angle.

Sensor signal emitter can also be that linear laser emitter 1 is got on a convex mirror 35 or concavees lens It is expanded（It is required that the angle of flare of line becomes larger, i.e. the length of linear laser, line itself do not need it is thicker, it is used preferably to adopt With strip convex mirror 35, i.e., it is camber line face that the narrow direction of convex mirror 35, which is flat, long direction,）, it is then departed from a whole set of sensor That reflecting surface 3 before sender unit is processed into concave mirror 34 or convex lens prism is focused, and focusing includes the expansion of line Angle becomes smaller, linear laser attenuates（Curved surface is spherical）, naturally it is also possible to only the angle of flare becomes smaller, i.e. the narrow direction of concave mirror 34 is Flat, long direction is camber line face, such as Figure 12.

Sensor signal emitter can also be that a point-like laser transmitter is got on a cylindrical lens and formed Thick line is become filament by one thick linear laser then by a concave mirror or convex lens focus.

There is a kind of all-around mobile in robot（Also known as Three Degree Of Freedom moves）Robot, can not turn to moment directly to appoint Anticipating direction movement can be in the half-height position or top of robot, as a rotation is arranged in Figure 12 for this robot car A digital imagery module 2 is arranged on turntable 6 in turntable 6（The center of circle of the direction of image-forming module 2 and turntable 6 is in a straight line）, and At least one linear laser emitter 1（If multiple, the plane where the subtended angle of this multiple linear laser emitter 1 is hung down Directly in the direction of image-forming module 2, if one, the linear laser that this single linear laser emitter 1 is sent out is perpendicular to imaging The direction of module 2）, 6 center of turntable（Circle centre position）A pillar 61 is set up, 61 top of pillar is arranged parallel to ground（Water Plane）Reflecting surface 3, the linear laser that linear laser emitter 1 is sent out is radiated at instead towards reflecting surface 3 and whole or big portion Penetrate on face 3, reflecting surface 3 also can band be rotated up and down or pendulous device 5, one or more notches or circular hole can be also set on turntable 6 62, a photoelectric tube, the position for detecting current turntable 6 and image-forming module 2 is arranged in the position upper and lower of corresponding turntable 6 And direction, certain position detecting device can also use Hall element（Anti-gray）；2 image to be treated of digital imagery module is exactly to turn Linear laser when disk 6 drives linear laser emitter 1 to need mobile direction towards robot.

So-called digital imagery module 2 includes predominantly camera, digital imagery component（CCD or CMOS array）, input Output circuit, digital signal processing module（DSP）The camera system that equal components integrate, it is typical to apply such as camera, optics The camera system etc. of the imaging of mouse and processing system, mobile phone, camera is preferably with wide-angle camera, in image-forming module Optical filtering, polarizing film can be also arranged in front end, and also optical filtering, polarizing film can be integrated in image-forming module certainly（After camera）, Multiple, such as each one of left and right can be also arranged in this digital imagery module in the same plane, to extend visual angle.Digital imagery mould Block is not necessarily positioned in robot shells, also can trepanning on the shell（Window）, imaging device to robot interior retraction one Segment distance.The good glass of translucency can be arranged in order to dust-proof in camera lens（Or resin）Piece blocks, or keeps off ash with optical filtering, polarizing film, Imaging device 2 can be arranged multiple.Such as each one near both sides.

If because of the compact design of robot, it is necessary to front surface in robot is arranged（Or it invaginates slightly）, because For the limited viewing angle of imaging device 2, the projection line of linear laser nearby cannot be shot to complete, the method either setting of processing Multiple imaging devices 2 expand visual angle, or a rotating mechanism will be also provided on imaging device 2, this rotating mechanism can be with With the reflecting surface 3 at linear laser emitter 1 or sensor signal emitter light extraction synchronize come back rotation, the side of rotation Formula can be the same device of rotation driving（Motor or electromagnet）It is rotated together by connecting rod connection or the same chassis, or Person is individually driven by the motor with code-disc, and when ensureing that linear laser is irradiated to nearby, imaging device is also towards nearby（Or Linear laser vertically object side when, imaging device 2 is also towards the same side）If imaging device 2 with tumbler, Imaging device 2 can be arranged in the bottom of robot.

It can be arranged in image-forming component one or more（From large to small --- nearby at a distance）Virtual frame（Similar to existing Backsight back-up video on show the trapezoidal frame of width of the carbody）, virtual frame can be two lines（Similar road is forward The extended line in side, but it is narrower than road, by extending among the wide forward upward in the both sides of robot）, to indicate robot Width or even virtual frame are a rectangle (projection of anthropomorphic robot is exactly " humanoid "), rectangular high marking machine The height of device people, rectangular bottom（Offset）The height that identified machine people can cross, change of the linear laser outside this frame Shape can be ignored, it is of course possible to measure whether the deformation of the linear laser outside frame has the tendency that the movement into frame, if so, Illustrate that barrier is possible to collide with robot.

Claims

1. a kind of sensor of robot detection obstacle, it is characterised in that the sensor includes at least one digital imagery mould Block (2), a linear laser emitter (1) and at least one there are the speculum of reflecting surface (3) (31) or reflecting prisms (32) or light pipe (33), linear laser emitter (1) emit laser signal to reflecting surface (3), one or more reflection Light path of the face (3) by linear laser that linear laser emitter (1) emits before leaving a whole set of sensor signal emitter One or many by reflecting extension, the reflecting surface (3) is the speculum of the strip consistent with the subtended angle of linear laser (31) or reflecting prism (32) or light pipe (33), reflecting surface (3) strip direction are in plane or curved surface, digital imagery module (2) CCD/CMOS photosensitive elements for projection line of the linear laser on robot moving direction to be taken in image-forming module, according to Position shape of the linear laser on photosensitive element differentiates that projection line of the linear laser on ground is blocked either with or without by barrier Firmly, in addition to linear laser, imaging of other objects on photosensitive element can be ignored.

2. the sensor of a kind of robot detection obstacle according to claim 1, it is characterized in that the linear laser hair Injection device (1) is an a wordline laser emitting head.

3. the sensor of a kind of robot detection obstacle according to claim 1, it is characterized in that the linear laser hair Injection device (1) is at least two a wordline laser emitting heads of the subtended angle in a plane.

4. the sensor of a kind of robot detection obstacle according to claim 1, it is characterized in that sensor signal transmitting dress Set reflecting surface (3) the generally face at light extraction.

5. the sensor of a kind of robot detection obstacle according to claim 1, it is characterized in that sensor signal transmitting dress It is multiple faces to set the reflecting surface (3) at light extraction.

6. the sensor of a kind of robot detection obstacle according to claim 5, it is characterized in that linear laser emitter (1) have it is multiple, each towards one of multiple reflectings surface (3) face.

7. the sensor of a kind of robot detection obstacle according to claim 5, it is characterized in that linear laser emitter (1) it is one, this linear laser emitter (1) includes multiple wordline towards multiple reflectings surface (3) one of face Laser beam emitting head.

8. the sensor of a kind of robot detection obstacle according to claim 1, it is characterized in that sensor signal transmitting dress It sets the reflecting surface (3) at light extraction and also incidentally rotates upwardly and downwardly mechanism or swing mechanism (5), linear laser emitter (1) is sent out Linear laser is parallel to robot wheel shaft, and the reflecting surface (3) at light extraction can be carried out back rotation one by rotating mechanism or swing mechanism (5) A little angles, by rotation, the linear laser of reflecting surface (3) reflection at light extraction is transmitted to front horizontal direction different angle.

9. the sensor of a kind of robot detection obstacle according to claim 1, it is characterized in that sensor signal transmitting dress It sets the reflecting surface (3) at light extraction and is also attached to left-right rotation or swing mechanism (5), the linear laser that linear laser emitter is sent out Perpendicular to ground, the linear laser that the reflecting surface (3) at light extraction reflects can be transmitted to front by rotating mechanism or swing mechanism (5) Vertical direction different angle.

10. the sensor of a kind of robot detection obstacle according to claim 1, it is characterized in that linear laser emitter Mechanism or swing mechanism (5) are incidentally rotated upwardly and downwardly, linear laser can be come some angles of back rotation by rotating mechanism or swing mechanism (5) Degree, by rotation by linear laser towards the different location of reflecting surface (3).