CN109940612A - Intelligent barrier avoiding robot and its barrier-avoiding method based on a wordline laser - Google Patents
Intelligent barrier avoiding robot and its barrier-avoiding method based on a wordline laser Download PDFInfo
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- CN109940612A CN109940612A CN201910161609.XA CN201910161609A CN109940612A CN 109940612 A CN109940612 A CN 109940612A CN 201910161609 A CN201910161609 A CN 201910161609A CN 109940612 A CN109940612 A CN 109940612A
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Abstract
The invention discloses a kind of intelligent barrier avoiding robot and its barrier-avoiding method based on a wordline laser, on the basis of mobile robot existing camera, only needing to be added a wordline laser device can be completed avoidance, and avoidance information relative to ultrasound and infrared distance measurement barrier-avoiding method information more fully, it is lower relative to laser radar cost, effectively balance accuracy and cost.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of intelligent barrier avoiding based on a wordline laser
Robot and its barrier-avoiding method.
Background technique
With the continuous improvement of modern science and technology level, more and more robots are entered in people's lives, are mentioned significantly
High people's production and life efficiency.Wherein, barrier avoiding function is a pith of Mobile Intelligent Robot.
Currently, existing barrier-avoiding method is unable to active balance in accuracy and cost.Based on ultrasound and infrared distance measurement
Although cost is relatively low for barrier-avoiding method, measurement range is limited, is mostly spot measurement.Barrier-avoiding method packet based on laser radar
It is comprehensive containing information, but cost can be made to greatly increase again.
Therefore, how to provide a kind of Obstacle Avoidance for capableing of active balance accuracy and cost is art technology
The problem of personnel's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of intelligent barrier avoiding robot and its barrier-avoiding method based on a wordline laser,
It being capable of active balance accuracy and cost.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of intelligent barrier avoiding robot based on a wordline laser, camera is provided in the robot and a wordline swashs
Light device, a wordline laser device are arranged in above the robot, and have downward inclination angle or a wordline laser device
It is arranged in the lower part of the robot, and there is upward inclination angle.
Preferably, the laser that a wordline laser device issues has stable wavelength, and its colour component is fixed.
Preferably, the plane angle of divergence of a wordline laser device is 110 °.
A kind of barrier-avoiding method of the intelligent barrier avoiding robot based on a wordline laser is swashed suitable for above-mentioned based on a wordline
The intelligent barrier avoiding robot of light, the barrier-avoiding method include:
A wordline laser robot march forward direction projection line laser；
It is online sharp to extract object according to acquired image for the image of each object after camera acquisition projection line laser
The height L of light projection line-spacing from the ground, wherein L=OAtan θ, θ are line laser plane and the ground of wordline robot transmitting
Angle, O be line laser reverse extending line and ground intersection point, A be object and ground intersection point；
According to the distance of the height L judgment object of the incident line, and carry out avoidance.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides one kind to be based on a wordline
The intelligent barrier avoiding robot and its barrier-avoiding method of laser, on the basis of mobile robot existing camera, it is only necessary to be added
Avoidance can be completed in a wordline laser device, and avoidance information is more complete relative to the barrier-avoiding method information of ultrasound and infrared distance measurement
Face, it is lower relative to laser radar cost.
Therefore, the intelligent barrier avoiding robot and its barrier-avoiding method provided by the invention based on a wordline laser effectively balances
Accuracy and cost.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the barrier-avoiding method schematic diagram of the intelligent barrier avoiding robot provided by the invention based on a wordline laser；
Fig. 2 is the schematic diagram of the barrier-avoiding method of the intelligent barrier avoiding robot provided by the invention based on a wordline laser.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to attached drawing 1 and attached drawing 2, the embodiment of the invention discloses a kind of intelligent barrier avoiding machine based on a wordline laser
People is provided with camera and a wordline laser device in robot, and a wordline laser device is arranged in above robot, and has downward
Inclination angle or a wordline laser device be arranged in the lower part of robot, and there is upward inclination angle.More specifically, camera is single
Mesh camera.
In actual use, the angle of a wordline laser device and camera can according to the actual situation and specific requirements
It is adjusted.Preferably, the elevation angle or the angle of depression of a wordline laser device are less than the visual angle of camera.
By taking 80 degree of visual angles of camera as an example, when the angle on laser extended line and ground is 30 degree, laser reverse extending line with
Ground intersection point and camera center are located at same point on top view, can judge the barrier that distance is greater than outside 14.1cm in this case
Hinder object, for small scale robot system, general barrier safe distance at least 20cm is met the requirements.It is smaller to judgement distance,
The angle of camera can slightly be tilted down.It calculates to intermediate barrier apart from more accurate, then can increase upward inclination
Angle.The angle of line laser and camera can adjust according to the demand of practical situation.
When a wordline laser device emits line laser upwards, the smooth surface angle of a wordline laser device is slightly less than camera visual angle,
The distance that can distinguish far barrier in this way, as long as angle does not inject human eye properly.In the case of angle is downward, by one
Word line laser device is placed in robot upper end, looks down, and such case generally can allow angle very big, so soon in order to accurate
It shines on the ground, avoidance range is relatively restricted.Laser from top to bottom the case where, laser rays and object intersection are lower in the visual field
Barrier is closer.Laser from top to bottom the case where, the higher intersection the closer.
In order to further optimize the above technical scheme, the laser that a wordline laser device issues has stable wavelength, and its
Colour component is fixed.
As soon as after reading frame image, it can be easy to extract the position of the incident line by the difference of color in image, into
And calculate the distance that its height carrys out cognitive disorders object.
In order to further optimize the above technical scheme, the plane angle of divergence of a wordline laser device is 110 °.One wordline is swashed
The plane angle of divergence of light device is arranged to the field-of-view angle slightly larger than camera.
In addition, the avoidance side of the embodiment of the invention also discloses a kind of intelligent barrier avoiding robot based on a wordline laser
Method, suitable for the above-mentioned intelligent barrier avoiding robot based on a wordline laser, barrier-avoiding method includes:
A wordline laser robot march forward direction projection line laser；
Image after camera acquisition projection line laser, extracts the online laser projection line-spacing of object according to acquired image
Height L from the ground, wherein L=OAtan θ, θ are the line laser plane of wordline robot transmitting and the angle on ground, and O is
The reverse extending line of line laser and the intersection point on ground, A are the intersection point of object and ground；
According to the distance of the height L judgment object of the incident line, and carry out avoidance.
With reference to the accompanying drawing 1 and attached drawing 2, technical solution of the present invention is further elaborated.
A wordline laser device can project the laser rays of a transverse direction.Since optical maser wavelength is fixed, color is also just fixed
, when encountering barrier, the laser of projection can show the light trace of one of fixed color on barrier.The laser of laser is flat
Face angle degree is 110 °, and a wordline laser device is presented that certain angle tilt is upward, can obtain difference according to the distance of barrier
The incident line of height.As shown in Figure 1, ground object 1 is closer apart from a wordline laser device, ground object 2 is apart from a wordline laser
Farther out, the incident line that the closer object 1 of distance lasers obtains is L1 to device, and the incident line that object 2 obtains is L2, by inclined surface
Principle is it is found that the height of L2 is significantly greater than L1.After addition has a wordline laser of certain angle, the friendship of laser rays and object
The height of line directly reflects the distance of object and light source.Since laser is the light beam of wavelength stabilization, colour component is fixed,
Camera converts three-dimensional information to after reading in the height of two-dimensional laser line.In a frame image, by color threshold
The position of light can be extracted.
Referring to attached drawing 2, O point is the intersection point on line laser reverse extending line and ground, a wordline laser plane and ground angle
For θ, it is OA with O point distance that ground object 1 and ground intersection point, which are A,；Ground object 2 and the intersection point on ground are at a distance from B, with B point
For OB.A wordline laser projects on ground object 1, will form a parallel to the ground light.It is easy to get by Fig. 2, it should
Intersection and ground distance AA1=OAtan θ.Similarly, height BB1=OBtan θ of the incident line of ground object apart from ground.?
System starting before, a wordline laser device has fixed, then the angle θ has been fixed, and be known parameters, a wordline laser plane with
The height (i.e. the height of the incident line) of ground object intersection and object distance light source line reverse extending line and the intersection point on ground away from
From proportional.It being read in and is imaged by camera later, intersection is higher, for processing can not had to temporarily apart from farther away barrier, away from
From the complaint message for being relatively closely then needs processing at once.The left and right information of barrier is also left-right relation in image, more
It is easy to get.Barrier then needs right turn on the left side, and barrier on the right, then needs left steering.
On the whole, barrier-avoiding method provided by the present invention, equipment is simple, existing robot already provided with camera,
It only needs that line laser transmitter is added to complete avoidance.And the present invention, in cognitive disorders object, what is utilized is to project object
The line laser incident line on body, i.e. projection light trace, can be very by extracting the height L of the online laser projection line-spacing of object from the ground
The distance of distance between object and robot is judged fastly, and a frame image can obtain the location information of barrier, greatly reduce
Calculation amount, and the image information that camera captures can also use in other algorithms in robot work, to adopting
The image collected makes full use of, and does not waste.
Method provided by the invention is a kind of more flexible range of triangle method, and primary projection can understand at one
Distribution of obstacles on scarf, due to its continuity, can satisfy direction of advance avoidance if using on Intelligent mobile equipment
Function.
If a wordline laser is changed to infrared light supply, camera is changed to the visible infrared camera of corresponding wavelength, this method
It is equally applicable.
In addition it is also necessary to explanation, the prior art mostly uses ultrasound and infrared distance measurement to measure, but ultrasound and
Infrared distance measurement is all typical single-point ranging, i.e., only can measure in the special angle for arranging sensor.If using above-mentioned
Method improves precision generally by number of sensors is increased, cannot cover all angles, often exist biggish blind
Area is not easy to hide these little barriers of table leg.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (4)
1. a kind of intelligent barrier avoiding robot based on a wordline laser, which is characterized in that be provided with camera in the robot
With a wordline laser device, a wordline laser device is arranged in above the robot, and has downward inclination angle or described one
Word line laser device is arranged in the lower part of the robot, and has upward inclination angle.
2. the intelligent barrier avoiding robot according to claim 1 based on a wordline laser, which is characterized in that a wordline
The laser that laser issues has stable wavelength, and its colour component is fixed.
3. the intelligent barrier avoiding robot according to claim 1 based on a wordline laser, which is characterized in that a wordline
The plane angle of divergence of laser is 110 °.
4. a kind of barrier-avoiding method of the intelligent barrier avoiding robot based on a wordline laser, which is characterized in that be suitable for claim 1
Intelligent barrier avoiding robot described in~3 any one based on a wordline laser, the barrier-avoiding method include:
A wordline laser robot march forward direction projection line laser；
The image of each object after camera acquisition projection line laser, extracts the online laser of object according to acquired image and throws
The height L of raydist from the ground, wherein L=OAtan θ, θ are the line laser plane of wordline robot transmitting and the folder on ground
Angle, O are the reverse extending line of line laser and the intersection point on ground, and A is the intersection point of object and ground；
According to the distance of the height L judgment object of the incident line, and carry out avoidance.
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Cited By (3)
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| CN110789941A (en) * | 2019-11-01 | 2020-02-14 | 浙江中力机械有限公司 | Method for indicating obstacle avoidance area of logistics carrying robot by using straight warning lamp |
| CN112747723A (en) * | 2019-10-29 | 2021-05-04 | 珠海市一微半导体有限公司 | Auxiliary light vision detection device based on indoor environment and mobile robot |
| CN113486836A (en) * | 2021-07-19 | 2021-10-08 | 安徽江淮汽车集团股份有限公司 | Automatic driving control method for low-pass obstacle |
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Application publication date: 20190628 |