CN108776344A - A kind of low cost can slant laser radar - Google Patents
A kind of low cost can slant laser radar Download PDFInfo
- Publication number
- CN108776344A CN108776344A CN201810415557.XA CN201810415557A CN108776344A CN 108776344 A CN108776344 A CN 108776344A CN 201810415557 A CN201810415557 A CN 201810415557A CN 108776344 A CN108776344 A CN 108776344A
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- laser
- steering engine
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to one kind can slanting laser radar.Including laser emission element, the scanning laser for emitting certain power；Laser pick-off unit, the echo-signal for collecting target obtain target information and target information are conveyed to master control system after processing；Horizontal steering engine, the scanning angle for adjusting scanning laser orientation；Longitudinal steering engine, for adjust scanning laser pitching to scanning angle；Scanning laser pitching to scanning angle be more than zero degree；Horizontal steering engine carrying chassis carries out 360 degree and rotates freely in the horizontal direction；Longitudinal steering engine carries laser emission element and laser pick-off unit arbitrarily adjusts within the scope of pitching orientation 0-81 degree.Indoor positioning flexibility of the present invention and positioning accuracy are high, and the versatility of positioning is stronger.
Description
Technical field
The invention belongs to robot navigation's technical fields, and in particular to a kind of low cost can slant laser radar.
Background technology
With answering for the extensive use of robot, smart machine in life, production, the especially robot of intelligent mobile
With increasingly extensive, and it is mobile robot basic demand and core technology to realize autonomous positioning and navigation.Wherein orientation problem one
It is directly the key points and difficulties of robot research, especially indoors, since no positioning mode uses GPS, exists simultaneously unstructured
The features such as environmental characteristic, positioning accuracy request is higher and limitation, to robot localization, more stringent requirements are proposed.
Traditional laser radar rotating radar can only be scanned in the horizontal direction, and in face of larger dynamic of flow of personnel
State environment cannot then handle the interference that sport people brings target identification very well, and stability and reliability are relatively low, there is mistake
The possibility matched.Thus, prior art location technology is difficult to realize stable, accurate, high-precision positioning.
Invention content
The present invention proposes that a kind of low cost can slant laser radar, and indoor positioning flexibility and positioning accuracy are high, positioning
Versatility is stronger.
In order to solve the above technical problem, the present invention provides one kind can slanting laser radar, including：Laser emission element,
Scanning laser for emitting certain power；Laser pick-off unit, the echo-signal for collecting target obtain target after processing
Target information is simultaneously conveyed to master control system by information；Horizontal steering engine, the scanning angle for adjusting scanning laser orientation；It is longitudinal
Steering engine, for adjust scanning laser pitching to scanning angle；Scanning laser pitching to scanning angle be more than zero degree.
Further, further include chassis, chassis is for carrying laser emission element, laser pick-off unit, horizontal steering engine, longitudinal direction
Steering engine；Horizontal steering engine carrying chassis carries out 360 degree and rotates freely in the horizontal direction.
Further, longitudinal steering engine carries laser emission element and laser pick-off unit and appoints within the scope of pitching orientation 0-81 degree
Meaning adjustment.
Further, the laser emission element includes laser, modulator, amplifier, transmitting collimating optical system and light
Learn antenna；The laser emits scanning laser light beam, and the modulated device of scanning laser light beam carries out amplitude modulation, frequency modulation and adjusts Q, obtains
Laser modulation signal；Laser modulation signal is amplified to required power by amplifier, by emitting collimating optical system by laser
The light beam of diameter and the angle of divergence, most launches through optical antenna afterwards needed for Shu Biancheng.
Further, the laser pick-off unit includes photodetector and postposition message handler；Laser pick-off unit is logical
The echo-signal that optical antenna collects target is crossed, electric signal is converted by photodetector, is amplified through postposition message handler
And signal processing, obtain the distance, orientation or speed of target.
Further, further include industrial personal computer, the industrial personal computer calculate scanning laser pitching to angle, master control system according to
The pitching to the longitudinal steering engine of angle control rotate to specified angle.
Further, laser emission element is installed on chassis, is connected with longitudinal steering engine, and the right side of laser pick-off unit is located at
Side；Laser pick-off unit is installed on chassis, is connected with longitudinal steering engine, and the left side of laser emission element is located at；Master control system is pacified
On chassis, it is located at the dead astern of laser emission element and laser pick-off unit, industrial personal computer is connected to by USB interface；Water
Flat steering engine is installed on the center of pedestal, and the axis of horizontal steering engine is connected with chassis circle centre position；Longitudinal steering engine is installed on chassis, longitudinal
The axis of steering engine is connected with laser emission element and laser pick-off unit；Chassis is installed on pedestal, circle centre position and horizontal steering engine
Axis is connected；Shell is installed on chassis；Horizontal steering engine and bearing chassis are placed on pedestal.
Further, it is assumed that angle of the scanning laser of laser transmitter projects in pitching orientation and ground is θ, then by laser
The robot that sensor measures between the walls at a distance from be multiplied by cos θ and obtain robot and actual range between the walls；According to
Robot completes robot indoor positioning with actual range between the walls.
Further, it is assumed that avoidance distance is d, indoor wall height is h1, the maximum height of moving obstacle is h2, laser
The ranging distance of sensor is d2, then the mounting height x of laser sensor is obtained by solving following equation group,
Avoidance distance d refer to when the actual range between the mobile object and robot that laser sensor measures be less than d when,
Then think that the object is barrier.
Further, it will be greater than d and be less than d2Ranging data as effective ranging data, reject other ranging datas, will
Effective ranging data is multiplied by cos θ and obtains robot and actual range between the walls；Laser sensor ranging data is converted to
After plan range, robot localization is carried out using HectorSLAM methods.
Compared with prior art, the present invention its remarkable advantage is：
(1) of the present invention to increase additional expensive hardware, only it need to increase steering engine, therefore cost is relatively low, is easy to
It realizes, versatility is stronger, flexibility higher；
(2) traditional laser radar is typically only capable to realize the positioning under static environment., and low cost of the present invention can slant it is sharp
Optical radar can carry out laser oblique fire by structure design, dynamic disturbance of the short mobile object such as people to radar be avoided, into one
Step is filtered laser ranging data, and the orientation problem of indoor intelligent service robot is converted under static environment
Orientation problem can also realize autonomous positioning so that under man-machine co-melting dynamic environment.
Description of the drawings
Fig. 1, which is the low cost described in the embodiment of the present invention, can slant laser radar composition frame chart；
Fig. 2, which is the low cost described in the embodiment of the present invention, can slant laser radar overall schematic；
Fig. 3 is that laser radar slants irradiation model figure in the present invention.
Reference sign：
1- laser radar transmitter units, 2- laser radar receiving units, 3- master control systems, the horizontal steering engines of 4-, the longitudinal directions 5- rudder
Machine, the chassis 6-, 7- shells, 8- pedestals, 9- industrial personal computers；11- lasers；12- modulators；13- amplifiers；14- emits collimated light
System；15- optical antennas；21- photodetectors；22- postposition message handlers.
Specific implementation mode
It is readily appreciated that, technical solution according to the present invention, in the case where not changing the connotation of the present invention, this field
Those skilled in the art can imagine the present invention and can slant the numerous embodiments of laser radar.Therefore, implement in detail below
Mode and attached drawing are only the exemplary illustrations to technical scheme of the present invention, and are not to be construed as the whole of the present invention or are considered as
Limitation or restriction to technical solution of the present invention.
As shown in Figure 1, low cost of the present invention can slant laser radar, including：
Laser emission element 1, the scanning laser for emitting certain power；
Laser pick-off unit 2, the echo-signal for collecting target obtain the letters such as distance, orientation and velocity by processing
Breath, completes certain arbitration functions, is transported to control system 3；
Master control system 3 is powered for all parts in addition to master control system 3 to Laser emission radar, and is sent out laser
It penetrates unit 1, laser pick-off unit 2, horizontal steering engine 4 and longitudinal steering engine 5 and implements control；
Horizontal steering engine 4, for adjusting scanning angle, carrying chassis 6 carries out 360 degree in the horizontal direction and rotates freely；
Longitudinal steering engine 5 slants angle for adjusting scanning laser, carries laser emission element 1 and laser pick-off unit 2 exists
It is arbitrarily adjusted within the scope of pitching orientation 0-81 degree；
Chassis 6, for carrying laser emission element 1, laser pick-off unit 2, horizontal steering engine 3, longitudinal steering engine 4 and shell 7；
Shell 7, for protecting laser emission element 1, laser pick-off unit 2, horizontal steering engine 3, longitudinal steering engine 4 etc. internal single
Member, meanwhile, play certain beauty function；
Pedestal 8 is for placing horizontal steering engine 4 and bearing chassis 6；
The laser emission element 1 includes laser 11, modulator 12, amplifier 13,14 and of transmitting collimating optical system
Optical antenna 15.
The laser 11 emits the scanning laser light beam of wavelength, power, beamwidth and pattern needed for laser radar, and scanning swashs
Light light beam, which can pass through modulator 12, to carry out amplitude modulation, frequency modulation and adjusts Q, obtains laser modulation signal.As needed, amplifier can be used
Laser modulation signal is amplified to higher power by 13, and laser beam is become diameter and diverging by emitting collimating optical system 14
The all satisfactory light beam in angle most emits through optical antenna 15 afterwards.
The laser pick-off unit 2 includes photodetector 21 and postposition message handler 22.Laser pick-off unit 2 passes through
Optical antenna 15 collects the echo-signal of target, and electric signal is converted by photodetector 21, is passing through postposition information processing
Device 22 obtains the information such as distance, orientation, speed by amplification and signal processing.
The industrial personal computer 9 according to actual needs, satisfaction avoid minimum avoidance apart from when highest barrier under conditions of,
Minimum oblique fire angle is calculated, choose a certain oblique fire angle within this range and is sent to master control system 3, master control system 3 will be controlled
The longitudinal steering engine 5 of system rotates specified angle.
As shown in Fig. 2, laser emission element 1 is installed on chassis 6, it is connected with longitudinal steering engine 5, is located at laser pick-off unit
2 right side；Laser pick-off unit 2 is installed on chassis 6, is connected with longitudinal steering engine 5, and the left side of laser emission element 1 is located at；It is main
Control system 3 is mounted on chassis 6, is located at the dead astern of laser emission element 1 and laser pick-off unit 2, is connected by USB interface
To industrial personal computer 9；Horizontal steering engine 4 is installed on the center of pedestal 8, and axis is connected with 6 circle centre position of chassis；Longitudinal steering engine 5 is installed on chassis 6
On, axis is connected with laser emission element 1 and laser pick-off unit 2；Chassis 6 is installed on pedestal 8, circle centre position and horizontal steering engine 4
Axis be connected；Shell 7 is installed on chassis 6；Horizontal steering engine 4 and bearing chassis 6 are placed on pedestal 8.
In the present invention, using laser sensor robot measurement and wall apart from when, in conjunction with indoor half hitch
Structure environment, make laser slant upwards rather than flat fire so that scanning laser is skimmed over the moving obstacles such as mobile people and is moved
Dynamic barrier blocks, and laser scanning point, which can go directly, metope and to be obtained and reach higher scanning element position, to reduce pedestrian etc.
The interference of barrier with behavioral characteristics；At this point, the scanning laser of laser transmitter projects and the angle on ground are laser
Angle, θ is slanted, since scanning laser and ground are horizontal there are angle theta, therefore the present invention is referred to as laser oblique fire.
Laser sensor is mounted in robot, in laser ranging, it is contemplated that indoor wall is on different height
It is characterized in that the projector distance of the ranging data identical, i.e., that laser scanning point is obtained in different height is identical, so can
To project on a two dimensional surface.Assuming that robot obstacle-avoiding distance is d, indoor wall height is h1, pedestrian or other movement
The maximum height of object is h2, the maximum measure distance distance of laser sensor is d2, then following Simultaneous Equations can be obtained：
It should be noted that avoidance distance d refers to when the horizontal direction distance between indoor object and robot is less than d,
Then think that the object is barrier.
According to above-mentioned Simultaneous Equations, avoidance distance d, indoor wall height h are being known1, pedestrian or other mobile objects
Maximum height h2, laser sensor effective distance measuring distance be d2Under the premise of (i.e. maximum measure distance distance), laser can be obtained
The mounting height x and laser of sensor slant angle, θ.
Laser is slanted the lower robot obtained that measures to project on horizontal plane with ranging data between the walls, you can with
Robot is obtained to the true horizon distance of metope, i.e. actual range, so as to the positioning for completing Indoor Robot.?
The robot that measurement obtains under laser is slanted is multiplied by cos θ with ranging data between the walls and can be obtained robot and wall
Actual range between wall.
In order to improve accuracy, needs the ranging data under being slanted to laser to be filtered, reject invalid data.Specifically
To will be greater than dsin θ and be less than laser sensor ranging distance d2Ranging data as effective ranging data, other ranging numbers
According to rejecting.By being filtered, laser slant when, by laser scanning point by it is higher than general pedestrian level but be no more than roof
The ranging data of (wall) height is as effective ranging data.In the present invention, laser oblique fire data are filtered and are handled, it will
Oblique fire ranging data is converted to planar laser ranging data, i.e., the orientation problem of indoor intelligent service robot is converted to static state
Orientation problem under environment.
After oblique fire ranging distance is converted to plan range, using existing two dimensional surface laser positioning method, such as
Indoor Robot positioning can be realized in HectorSLAM methods.At this point, in the case where only relying on laser data, obtain higher
Positioning and pattern accuracy, then by being merged with what mileage counted, it is possible to reduce error hiding and behavioral characteristics interference, enhancing are fixed
The robustness of position.
Claims (10)
1. laser radar can be slanted, which is characterized in that including：
Laser emission element (1), the scanning laser for emitting certain power；
Laser pick-off unit (2), the echo-signal for collecting target obtain target information and convey target information after processing
Give master control system (3)；
Horizontal steering engine (4), the scanning angle for adjusting scanning laser orientation；
Longitudinal steering engine (5), for adjust scanning laser pitching to scanning angle；
Scanning laser pitching to scanning angle be more than zero degree.
2. laser radar can be slanted as described in claim 1, which is characterized in that further include chassis (6), chassis (6) are for carrying
Laser emission element (1), laser pick-off unit (2), horizontal steering engine (3), longitudinal steering engine (4)；Horizontal steering engine (4) carries chassis
(6) 360 degree are carried out in the horizontal direction to rotate freely.
3. laser radar can be slanted as claimed in claim 2, which is characterized in that longitudinal steering engine (5) carries laser emission element (1)
It is arbitrarily adjusted within the scope of pitching orientation 0-81 degree with laser pick-off unit (2).
4. laser radar can be slanted as described in claim 1, which is characterized in that the laser emission element (1) includes laser
(11), modulator (12), amplifier (13), transmitting collimating optical system (14) and optical antenna (15)；
The laser (11) emits scanning laser light beam, and the modulated device of scanning laser light beam (12) carries out amplitude modulation, frequency modulation and tune
Q obtains laser modulation signal；Laser modulation signal is amplified to required power by amplifier (13), by emitting collimating optics
Laser beam is become required diameter and the light beam of the angle of divergence by system (14), is most launched afterwards through optical antenna (15).
5. laser radar can be slanted as described in claim 1, which is characterized in that the laser pick-off unit (2) includes that photoelectricity is visited
Survey device (21) and postposition message handler (22)；The echo that laser pick-off unit (2) collects target by optical antenna (15) is believed
Number, it is converted into electric signal by photodetector (21), through postposition message handler (22) amplification and signal processing, obtains target
Distance, orientation or speed.
6. laser radar can be slanted as described in claim 1, which is characterized in that further include industrial personal computer (9), the industrial personal computer (9)
Calculate scanning laser pitching to angle, master control system (3) according to the pitching to the longitudinal steering engine (5) of angle control rotate
To specified angle.
7. laser radar can be slanted as claimed in claim 6, which is characterized in that laser emission element (1) is installed on chassis (6)
On, it is connected with longitudinal steering engine (5), is located at the right side of laser pick-off unit (2)；Laser pick-off unit (2) is installed on chassis (6)
On, it is connected with longitudinal steering engine (5), is located at the left side of laser emission element (1)；Master control system (3) is mounted on chassis (6), position
In laser emission element (1) and the dead astern of laser pick-off unit (2), industrial personal computer (9) is connected to by USB interface；Hydroplane
Machine (4) is installed on the center of pedestal (8), and the axis of horizontal steering engine (4) is connected with chassis (6) circle centre position；Longitudinal steering engine (5) is installed on
On chassis (6), the axis of longitudinal steering engine (5) is connected with laser emission element (1) and laser pick-off unit (2)；Chassis (6) is installed on
On pedestal (8), circle centre position is connected with the axis of horizontal steering engine (4)；Shell (7) is installed on chassis (6)；Pedestal places water on (8)
Flat steering engine (4) and bearing chassis (6).
8. laser radar can be slanted as claimed in claim 6, which is characterized in that assuming that the scanning laser of laser transmitter projects exists
The angle on pitching orientation and ground is θ, then by robot that laser sensor measures between the walls at a distance from be multiplied by cos θ and obtain
Obtain robot and actual range between the walls；It is default according to robot and actual range completion robot chamber between the walls
Position.
9. laser radar can be slanted as claimed in claim 8, which is characterized in that assuming that avoidance distance is d, indoor wall height is
h1, the maximum height of moving obstacle is h2, the ranging distance of laser sensor is d2, then obtained by solving following equation group
The mounting height x of laser sensor is obtained,
Avoidance distance d refers to then recognizing when the actual range between the mobile object and robot that laser sensor measures is less than d
It is barrier for the object.
10. laser radar can be slanted as claimed in claim 8, which is characterized in that will be greater than d and be less than d2Ranging data conduct
Effective ranging data rejects other ranging datas, and effective ranging data, which is multiplied by cos θ, obtains robot and reality between the walls
Border distance；After laser sensor ranging data is converted to plan range, robot localization is carried out using HectorSLAM methods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415557.XA CN108776344A (en) | 2018-05-03 | 2018-05-03 | A kind of low cost can slant laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810415557.XA CN108776344A (en) | 2018-05-03 | 2018-05-03 | A kind of low cost can slant laser radar |
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| CN108776344A true CN108776344A (en) | 2018-11-09 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110487191A (en) * | 2019-08-15 | 2019-11-22 | 中水淮河规划设计研究有限公司 | A kind of dam sack of rubber dam elevation carrection structure and method |
| CN110488249A (en) * | 2019-09-06 | 2019-11-22 | 深圳市银星智能科技股份有限公司 | A kind of laser radar apparatus and mobile robot |
| CN111060919A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Intelligent robot-based measuring method and intelligent robot |
| WO2020135433A1 (en) * | 2018-12-29 | 2020-07-02 | 同方威视技术股份有限公司 | Scanning angle adjusting device, laser radar system, vehicle, and automatic correction method |
| CN112394359A (en) * | 2019-08-15 | 2021-02-23 | 北醒（北京）光子科技有限公司 | Laser radar and one-dimensional scanning method thereof |
| CN113625243A (en) * | 2021-07-28 | 2021-11-09 | 山东浪潮科学研究院有限公司 | Method and device for improving image signal-to-noise ratio of laser radar in severe weather |
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| CN110487191A (en) * | 2019-08-15 | 2019-11-22 | 中水淮河规划设计研究有限公司 | A kind of dam sack of rubber dam elevation carrection structure and method |
| CN112394359A (en) * | 2019-08-15 | 2021-02-23 | 北醒（北京）光子科技有限公司 | Laser radar and one-dimensional scanning method thereof |
| CN110488249A (en) * | 2019-09-06 | 2019-11-22 | 深圳市银星智能科技股份有限公司 | A kind of laser radar apparatus and mobile robot |
| CN111060919A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Intelligent robot-based measuring method and intelligent robot |
| CN113625243A (en) * | 2021-07-28 | 2021-11-09 | 山东浪潮科学研究院有限公司 | Method and device for improving image signal-to-noise ratio of laser radar in severe weather |
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Application publication date: 20181109 |