CN110109147A - A kind of laser locating apparatus and the laser positioning method using it - Google Patents
A kind of laser locating apparatus and the laser positioning method using it Download PDFInfo
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- CN110109147A CN110109147A CN201910484448.8A CN201910484448A CN110109147A CN 110109147 A CN110109147 A CN 110109147A CN 201910484448 A CN201910484448 A CN 201910484448A CN 110109147 A CN110109147 A CN 110109147A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000004888 barrier function Effects 0.000 claims abstract description 41
- 239000011521 glass Substances 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000004807 localization Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000010408 sweeping Methods 0.000 abstract description 3
- 238000009792 diffusion process Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 239000004411 aluminium Substances 0.000 description 2
- 238000001459 lithography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001228 spectrum 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
-
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
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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)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of laser locating apparatus and using its laser positioning method, it belongs to laser radar field, device is equipped with multiple laser emission elements, each laser emission element successively emits forward two-dimensional surface laser net, laser generates diffusing reflection after encountering barrier, diffusing reflection laser projection is to laser pick-off unit, then successively to progress image procossing, successively obtain multiple two-dimensional plane coordinate information of barrier, converse the three-dimensional coordinate information of barrier, the multidimensional coordinate information for just obtaining spatial obstacle object can effectively take precautions against collision accident, it can apply in sweeping robot, the robot obstacle-avoidings such as intelligent robot and AGV trolley；And the apparatus structure is simple, is easily assembled, and device cost is low, reduces positioning cost.
Description
Technical field
The present invention relates to robot localization fields, more particularly to a kind of laser locating apparatus and using its laser positioning
Method.
Background technique
With the high speed development of AI, more and more sweeping robots, AGV trolley and intelligent robot apply factory,
Market and family replace the work of people；These robots need to carry out its front obstacle during traveling to identify fixed
Position, current localization method rely primarily on infrared inductor, ultrasonic sensing device and laser distance rangefinder etc. progress；They
Single dimension direction barrier can only all be positioned, multidimensional coordinate positioning cannot be carried out to robot front obstacle, this
When sample barrier shape is more complicated or there is multiple barriers robot at front to be easy to encounter barrier, although at present
Two-dimensional laser radar the barrier in one two-dimensional surface can be positioned, but can't be as needed to preceding object
The multiple latitude coordinates of object are positioned, and need to install three-dimensional laser radar or multiple two-dimensional laser thunders if realizing
Up to being positioned respectively, at high cost, production assembly complexity also high to hardware and software processing requirement is positioned.
Summary of the invention
To solve the problem above-mentioned, the present invention provides a kind of laser locating apparatus and application its laser positioning method,
It can according to need and multidimensional coordinate positioning is carried out to complex-shaped barrier.
The technical solution used in the present invention is: a kind of laser locating apparatus, including laser emission element, laser pick-off list
Member and image processor, laser emission element and laser pick-off unit are all electrically connected with image processor, to related data
Carry out localization process；Laser emission element has the laser formation three-dimensional laser net multiple, multiple laser emission elements are launched.
In the above-mentioned technical solutions, the laser net the same face that the receiving plane and laser emission element of laser pick-off unit are formed
To guarantee accurately to receive the laser of diffusion back.
In the above-mentioned technical solutions, the receiving plane of laser pick-off unit is equipped with limit unthreaded hole, is connect with limiting laser pick-off unit
Receiving diffused laser light is that front enters laser.
In the above-mentioned technical solutions, limit unthreaded hole is equipped with filter glass group, and extra light is filtered out, in order to avoid influence positioning effect
Fruit.
In the above-mentioned technical solutions, filter glass group includes optical lens and filter glass, and ensure that can collect diffusion
Laser and filter out extra light.
In the above-mentioned technical solutions, laser pick-off unit is photoelectric sensor or camera, accurately to obtain.
The present invention also takes a kind of laser positioning method, and step includes:
A, a two-dimensional surface laser net is first emitted by one of laser emission element；
B, laser encounters barrier, is diffused into laser pick-off unit；
C, a two-dimensional plane coordinate information of barrier is calculated by image processor for the data of laser pick-off unit；
D, other laser emission elements successively launch two-dimensional surface laser net, and repeat step B and step C, acquired disturbance object
Multiple two-dimensional plane coordinate information, to converse the three-dimensional coordinate information of barrier.
In the above-mentioned methods, in step B, laser pick-off unit only receives positive diffused laser light.
In the above-mentioned methods, it is space line and two-dimensional surface phase that image processor, which calculates the mode of barrier coordinate information,
Friendship method.
In the above-mentioned methods, in step B, when laser pick-off unit is photoelectric sensor, laser pick-off unit believes light
It number is converted into electric signal, output is calculated to image processor；When laser pick-off unit is camera, laser pick-off unit
By diffused laser light shooting at image, output is calculated to image processor.
The beneficial effects of the present invention are: a kind of laser locating apparatus and the laser positioning method using it, device are equipped with more
A laser emission element can measure multiple two-dimensional plane coordinate information of all barriers in front, finally converse barrier
Three-dimensional coordinate information, can effectively take precautions against collision accident, can apply in sweeping robot, intelligent robot and AGV trolley
Equal robot obstacle-avoidings；And the apparatus structure is simple, is easily assembled, and device cost is low, reduces positioning cost.
Detailed description of the invention
Fig. 1 is laser locating apparatus overall schematic of the invention；
Fig. 2 is laser route schematic diagram of the invention；
Fig. 3 is laser emission element schematic diagram of the invention；
Fig. 4 is laser pick-off unit schematic diagram of the invention.
Specific embodiment
The invention will now be described in further detail with reference to the accompanying drawings.
Implementation column one:
Fig. 1 to Fig. 4 schematically shows a kind of a kind of laser locating apparatus of embodiment according to the present invention and using it
Laser positioning method.
A kind of laser locating apparatus, including four image procossings of laser pick-off unit 2, one of laser emission element 1, one
Device (not regarded out in figure) and shell 4.
Laser emission element 1, including laser tube 11, convex lens 12 and lens group 13, laser tube 11, convex lens 12 and lens
Successively radial distribution is fixed on shell 4 group 13.Lens group 13 be cylindrical lenses group, therefore, laser tube 11, convex lens 12 and thoroughly
The fixed space of microscope group 13 is cylindrical space；The laser net that laser emission element 1 is formed is perpendicular to horizontal plane and top clip angle is
45 ° of triangle two-dimensional surface laser net 5, generation type are as follows: laser tube 11 emits laser, is focused by convex lens 12, then
It is mapped in lens group 13, and lens group 13 is parallel to horizontal plane, forms the triangle two that perpendicular to horizontal plane and top clip angle is 45 °
Dimensional plane laser net 5.
Four laser emission elements are equidistant, etc. height and wait plane earths to be fixed on shell 4 fixed plate 41 on, fixed plate
41 be bar shaped aluminium sheet.
Laser pick-off unit 2 is photoelectric sensor, what the receiving plane and laser emission element 1 of laser pick-off unit 2 were formed
Planar laser net 5 is same towards to guarantee accurately to receive the laser of diffusion back；The laser that laser emission element 2 emits
Light encounters the diffusing reflection that can be generated after barrier, and laser pick-off unit 2 can receive these diffusing reflection laser, optical signal is converted
At electric signal, location data is exported, location data includes coordinate, brightness and spectrum etc..
The receiving plane of laser pick-off unit 2, which is equipped with, limits unthreaded hole 21, in the center line and limit unthreaded hole 21 of laser pick-off unit 2
Heart line is that front enters laser to limit laser pick-off unit 2 to receive diffused laser light all on same center line.Limit unthreaded hole
21 are equipped with filter glass group 22, and filter glass group includes optical lens 23 and filter glass 24, and ensure that, which can collect diffusion, swashs
Light and filter out extra light.
Image processor is electrically connected laser pick-off unit 2, realizes that the data obtained to laser pick-off unit 2 are counted
The two-dimensional coordinate for calculating barrier, is combined into three-dimensional coordinate coordinate, obtains the coordinate of barrier, realizes three-dimensional laser positioning.
A kind of laser positioning method, applies this kind of laser locating apparatus, and step includes:
A, a two-dimensional surface laser net 5 is first emitted by one of laser emission element 1, two-dimensional surface laser net 5 is vertical
In horizontal plane and triangle two-dimensional surface laser net 5 that top clip angle is 45 °；
B, laser encounters barrier, is diffused into laser pick-off unit 2, and laser pick-off unit 2 receive positive diffused laser light；Swash
Light receiving unit 2 converts optical signals into electric signal, and output is calculated to image processor；
C, a two-dimensional plane coordinate information of barrier is calculated by image processor 2 for the data of laser pick-off unit 2；
D, other laser emission elements 1 successively launch two-dimensional surface laser net 5, and repeat step B and step C, acquired disturbance
Multiple two-dimensional plane coordinate information of object, to converse the three-dimensional coordinate information of barrier.
Above-mentioned, image processor calculates the mode of barrier coordinate information and intersects method with two-dimensional surface for space line,
Calculation is as follows:
One rectangular coordinate system in space is set, and using the center of laser pick-off unit 2 as coordinate origin, laser pick-off unit 2 is photosensitive
Plane is X/Y plane, and horizontal direction is X-axis, and vertical direction is Y-axis, is Z axis side perpendicular to 2 sensitized lithography of laser pick-off unit
To setting 2 axial line of laser pick-off unit is overlapped with Z axis, and 2 receiving plane of laser pick-off unit is directed toward Z axis positive direction, laser pick-off
2 centre coordinate of unit be M(0,0, k)
Setting some laser emission element 1 is A, and transmitting is that planar laser equation is x=f, and laser meets barrier in its plane
P generates diffusing reflection, a part of diffusing reflection laser to laser pick-off unit 2, and laser pick-off unit 2 converts optical signals into telecommunications
Number, it is transmitted to image processor, electric signal carries out the available barrier of calculation processing by image processor and connects in laser
Receive unit coordinate position W(c, d, 0), 2 centre coordinate position of laser pick-off unit be W (0,0, s), M with it is W-shaped straight at a space
Line MW extends MW and intersects with laser plane A to get barrier is arrived in the coordinate position of two-dimensional surface A.
Other Laser emission lists are successively emitted laser for 1 yuan, are successively worked according to above chatting mode, so that it may obtain different barriers
Hinder object in other two-dimensional plane coordinate positions.
Implementation column two:
Fig. 1 to Fig. 4 schematically shows another laser locating apparatus and the application of a kind of embodiment according to the present invention
Its laser positioning method.
A kind of laser locating apparatus, including four image procossings of laser pick-off unit 2, one of laser emission element 1, one
Device (not regarded out in figure) and shell 4.
Laser emission element 1, including laser tube 11, convex lens 12 and lens group 13, laser tube 11, convex lens 12 and lens
Successively radial distribution is fixed on shell 4 group 13.Lens group 13 be cylindrical lenses group, therefore, laser tube 11, convex lens 12 and thoroughly
The fixed space of microscope group 13 is cylindrical space；The laser net that laser emission element 1 is formed is perpendicular to horizontal plane and top clip angle is
45 ° of triangle two-dimensional surface laser net 5, generation type are as follows: laser tube 11 emits laser, is focused by convex lens 12, then
It is mapped in lens group 13, and lens group 13 is parallel to horizontal plane, forms the triangle two that perpendicular to horizontal plane and top clip angle is 45 °
Dimensional plane laser net 5.
Four laser emission elements are equidistant, etc. height and wait plane earths to be fixed on shell 4 fixed plate 41 on, fixed plate
41 be bar shaped aluminium sheet.
Laser pick-off unit 2 is camera, the plane that the receiving plane and laser emission element 1 of laser pick-off unit 2 are formed
Laser net 5 is same towards to guarantee accurately to receive the laser of diffusion back；The laser light that laser emission element 2 emits is touched
The diffusing reflection that can be generated after to barrier, laser pick-off unit 2 can receive these diffusing reflection laser, and laser pick-off unit 2 is right
It is taken pictures, and picture signal is transmitted to image processor.
The receiving plane of laser pick-off unit 2, which is equipped with, limits unthreaded hole 21, in the center line and limit unthreaded hole 21 of laser pick-off unit 2
Heart line is that front enters laser to limit laser pick-off unit 2 to receive diffused laser light all on same center line.Limit unthreaded hole
21 are equipped with filter glass group 22, and filter glass group includes optical lens 23 and filter glass 24, and ensure that, which can collect diffusion, swashs
Light and filter out extra light.
Image processor is electrically connected laser pick-off unit 2, realizes that the data obtained to laser pick-off unit 2 are counted
The two-dimensional coordinate for calculating barrier, is combined into three-dimensional coordinate coordinate, obtains the coordinate of barrier, realizes three-dimensional laser positioning.
A kind of laser positioning method, applies this kind of laser locating apparatus, and step includes:
A, a two-dimensional surface laser net 5 is first emitted by one of laser emission element 1, two-dimensional surface laser net 5 is vertical
In horizontal plane and triangle two-dimensional surface laser net 5 that top clip angle is 45 °；
B, laser encounters barrier, is diffused into laser pick-off unit 2, and laser pick-off unit 2 receive positive diffused laser light；Swash
Light receiving unit 2 converts optical signals into electric signal, and output is calculated to image processor；
C, a two-dimensional plane coordinate information of barrier is calculated by image processor 2 for the data of laser pick-off unit 2；
D, other laser emission elements 1 successively launch two-dimensional surface laser net 5, and repeat step B and step C, acquired disturbance
Multiple two-dimensional plane coordinate information of object, to converse the three-dimensional coordinate information of barrier.
Above-mentioned, image processor calculates the mode of barrier coordinate information and intersects method with two-dimensional surface for space line,
Calculation is as follows:
One rectangular coordinate system in space is set, and using the center of laser pick-off unit 2 as coordinate origin, laser pick-off unit 2 is photosensitive
Plane is X/Y plane, and horizontal direction is X-axis, and vertical direction is Y-axis, is Z axis side perpendicular to 2 sensitized lithography of laser pick-off unit
To setting 2 axial line of laser pick-off unit is overlapped with Z axis, and 2 receiving plane of laser pick-off unit is directed toward Z axis positive direction, laser pick-off
2 centre coordinate of unit be M(0,0, k)
Setting some laser emission element 1 is A, and transmitting is that planar laser equation is x=f, and laser meets barrier in its plane
P generates diffusing reflection, a part of diffusing reflection laser to laser pick-off unit 2, and laser pick-off unit 2 passes diffusing reflection laser shooting
To image processor, picture signal carries out the available barrier of calculation processing in laser pick-off list by image processor
First coordinate position W(c, d, 0), 2 centre coordinate position of laser pick-off unit is W (0,0, s), M and W-shaped at a space line
MW extends MW and intersects with laser plane A to get barrier is arrived in the coordinate position of two-dimensional surface A.
Other Laser emission lists are successively emitted laser for 1 yuan, are successively worked in the manner described above, so that it may obtain different barriers
Hinder object in other two-dimensional plane coordinate positions.
The above embodiments are merely illustrative and not limiting of the invention, and it is single that a transmitting can be used in above scheme
Multiple transmitting units also can be used in member, and transmitting unit and receiving unit setting angle can also change, these are different also at this
Within patent protection, therefore all equivalent change or modifications done according to method described in present patent application range, it is included in
Within the scope of present patent application.
Claims (10)
1. a kind of laser locating apparatus, which is characterized in that including laser emission element, laser pick-off unit and image processor,
Laser emission element and laser pick-off unit are all electrically connected with image processor, to carry out localization process to related data；Swash
Light emitting unit has the laser formation three-dimensional laser net multiple, multiple laser emission elements are launched.
2. a kind of laser locating apparatus according to claim 1, it is characterised in that: the receiving plane of laser pick-off unit and swash
Light emitting unit formed laser net it is same towards.
3. a kind of laser locating apparatus according to claim 1 or 2, it is characterised in that: the receiving plane of light receiving unit is set
Limited unthreaded hole.
4. a kind of laser locating apparatus according to claim 3, it is characterised in that: limit unthreaded hole is equipped with filter glass group.
5. a kind of laser locating apparatus according to claim 4, it is characterised in that: filter glass group include optical lens and
Filter glass.
6. a kind of laser locating apparatus according to claim 1, it is characterised in that: laser pick-off unit is photoelectric sensor
Or camera.
7. a kind of laser positioning method, step include:
A, a two-dimensional surface laser net is first emitted by one of laser emission element；
B, laser encounters barrier, is diffused into laser pick-off unit；
C, a two-dimensional plane coordinate information of barrier is calculated by image processor for the data of laser pick-off unit；
D, other laser emission elements successively launch two-dimensional surface laser net, and repeat step B and step C, acquired disturbance object
Multiple two-dimensional plane coordinate information, to converse the three-dimensional coordinate information of barrier.
8. a kind of laser positioning method according to claim 7, it is characterised in that: laser pick-off unit only receives positive
Diffused laser light.
9. a kind of laser positioning method according to claim 7, it is characterised in that: in step B, when laser pick-off unit is
When photoelectric sensor, laser pick-off unit converts optical signals into electric signal, and output is calculated to image processor；Work as laser
When receiving unit is camera, laser pick-off unit shoots diffused laser light at image, and output is calculated to image processor.
10. a kind of laser positioning method according to claim 7 or 9, it is characterised in that: image processor calculates barrier
The mode of coordinate information intersects method with two-dimensional surface for space line.
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| CN201910484448.8A CN110109147A (en) | 2019-06-05 | 2019-06-05 | A kind of laser locating apparatus and the laser positioning method using it |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910484448.8A CN110109147A (en) | 2019-06-05 | 2019-06-05 | A kind of laser locating apparatus and the laser positioning method using it |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111203899A (en) * | 2020-03-13 | 2020-05-29 | 佛山科学技术学院 | Education robot and control system thereof |
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