CN111045018B - Optical device and positioning system of robot - Google Patents
Optical device and positioning system of robot Download PDFInfo
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- CN111045018B CN111045018B CN201911381760.0A CN201911381760A CN111045018B CN 111045018 B CN111045018 B CN 111045018B CN 201911381760 A CN201911381760 A CN 201911381760A CN 111045018 B CN111045018 B CN 111045018B
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- 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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an optical device and a positioning system of a robot, wherein the device comprises: a transmitting optical component for transmitting a detection signal; and the receiving optical assembly is arranged in a manner of not being coaxial with the transmitting optical assembly and comprises a first receiving mirror and a second receiving mirror which are different in focal length and a detector, so that the positioning information of the robot can be determined according to the reflected signals and the detection signals of the target object detected by the first receiving mirror and the target object detected by the second receiving mirror. Therefore, the problems that no matter the off-axis mode that the co-optical axis mode and the receiving and transmitting optical path are not coaxial is adopted, the use requirements of the measurement precision and the whole structure cannot be met simultaneously, the complex and variable environment cannot be timely and effectively coped with, the use performance of the robot is reduced, and the like are solved.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to an optical device and a positioning system of a robot.
Background
At present, if the laser radar is applied to a two-dimensional laser radar of an indoor building robot, like human eyes, the functions of positioning and obstacle avoidance of the robot indoors are achieved, however, the near-field detection blind areas of the laser radar are too many, and the laser radar cannot timely and effectively deal with complex and changeable indoor environments, so that the service performance of the indoor building robot is reduced.
In the related art, the optical path of the two-dimensional laser radar mainly adopts a common optical axis mode of a transmitting and receiving same path and an off-axis mode that the transmitting and receiving optical path is not coaxial. The range of a blind area of the laser radar in the coaxial axis mode is small, but the problem exists that the overall structure is difficult to be small and exquisite due to the fact that the caliber of an adopted optical element is large, in addition, the laser radar is easy to cause distortion of a first echo signal due to the fact that reflected light directly irradiates a receiving light path, and detection and measurement accuracy is reduced; the off-axis laser radar has an inherent large blind area, and the current commonly used method for reducing the blind area comprises the following steps: one is that the receiving and dispatching optical element is processed into a D-shaped mirror, and the receiving and dispatching optical element is made to approach as close as possible, but the precision requirement of the optical-mechanical adjusting process of the receiving and dispatching optical element is higher, and the two receiving and dispatching optical paths have stray light interference; the other type is that the receiving optical system adopts two receiving mirrors, one receiving mirror is parallel to the optical axis of the transmitting optical system, the other receiving mirror forms a certain angle with the optical axis of the transmitting optical system, the size of the optical-mechanical structure is relatively large, and the difficulty in assembling and adjusting the optical machine is large.
Therefore, no matter the off-axis mode that the co-optical axis mode and the receiving and transmitting optical path are not coaxial is adopted, the use requirements of the measurement precision and the whole structure cannot be met at the same time, and improvement is urgently needed.
Disclosure of Invention
The invention provides an optical device and a positioning system of a robot, which aim to solve the problems that no matter an off-axis mode that a common optical axis mode and a receiving and transmitting optical path are not coaxial is adopted, the use requirements of measurement precision and an integral structure cannot be met simultaneously, complicated and variable environments cannot be timely and effectively coped with, the use performance of the robot is reduced, and the like.
An embodiment of the first aspect of the present invention provides an optical apparatus of a robot, including: a transmitting optical component for transmitting a detection signal; and the receiving optical assembly is arranged in a manner of not being coaxial with the transmitting optical assembly and comprises a detector, a first receiving mirror and a second receiving mirror which have different focal lengths, so that the positioning information of the robot can be determined according to the detection signals and the reflection signals of the target object detected by the first receiving mirror and the target object detected by the second receiving mirror.
An embodiment of the first aspect of the present invention provides a positioning system for a robot, including: the optical device of the robot.
When the receiving optical assembly and the transmitting optical assembly are arranged in a non-coaxial mode, the combined lens group of the long-focus receiving lens and the short-focus receiving lens is used, the purpose that a far-field target object is detected through the long-focus lens and a near-field target object is detected through the short-focus lens is achieved, the blind area of the laser radar is effectively eliminated, the technical defect that the transmitting and receiving are not coaxial and the detection blind area exists is overcome, the use requirements of the measurement precision and the overall structure are effectively met, the complex and variable environment is timely and effectively met, and the use performance of the robot is improved. Therefore, the problems that no matter the off-axis mode that the co-optical axis mode and the receiving and transmitting optical path are not coaxial is adopted, the use requirements of the measurement precision and the whole structure cannot be met simultaneously, the complex and variable environment cannot be timely and effectively coped with, the use performance of the robot is reduced, and the like are solved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an optical apparatus of a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an optical device of a robot according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
An optical device and a positioning system of a robot according to an embodiment of the present invention will be described with reference to the drawings. The invention provides an optical device of a robot, aiming at solving the problem that no matter the off-axis mode that the optical axis is shared and the transceiving optical path is not shared, the use requirements of the measurement precision and the whole structure can not be met simultaneously. Therefore, the problems that no matter the off-axis mode that the co-optical axis mode and the receiving and transmitting optical path are not coaxial is adopted, the use requirements of the measurement precision and the whole structure cannot be met simultaneously, the complex and variable environment cannot be timely and effectively coped with, the use performance of the robot is reduced, and the like are solved.
Specifically, fig. 1 is a block diagram of an optical apparatus of a robot according to an embodiment of the present invention.
As shown in fig. 1, the optical device of the robot includes: a transmitting optical component and a receiving optical component.
Wherein, the emission optical component is used for emitting a detection signal.
The receiving optical assembly and the transmitting optical assembly are arranged in a non-coaxial mode and comprise a detector 1, a first receiving mirror 2 and a second receiving mirror 3, wherein the first receiving mirror 2 and the second receiving mirror 3 are different from each other in focal length, and therefore the positioning information of the robot can be determined according to the reflection signals and the detection signals of the target object detected by the first receiving mirror 2 and the target object detected by the second receiving mirror 3.
For example, the first receiving mirror 2 and the second receiving mirror 3 are two positive focal power lenses with different focal lengths, the first receiving mirror 2 is taken as a long-focus receiving mirror, and the second receiving mirror 3 is taken as a short-focus receiving mirror, for example, the long-focus receiving mirror and the short-focus receiving mirror are confocal, so that a target object in a far field is detected by the long-focus lens, and a target object in a near field is detected by the short-focus lens, thereby effectively eliminating a blind area of the laser radar, and overcoming the technical defect that a detection blind area exists due to non-coaxial transmission and reception.
Optionally, in an embodiment of the present invention, the apparatus of the embodiment of the present invention further includes: a plane mirror 4.
Wherein, the plane mirror 4 is arranged between the second receiving mirror 3 eccentric to the first receiving mirror 2 and the detector 1, so that the first receiving mirror 2 and the second receiving mirror 3 are confocal.
It can be understood that, under the condition that the optical axis of the transmitting optical component and the optical component is determined not to be coaxial, and the combined lens group of the long-focus receiving lens and the short-focus receiving lens is used in the optical component, a plane reflecting mirror 4 is arranged between the short-focus receiving lens eccentric to the long-focus receiving lens and the detector 1, so that the long-focus receiving lens and the short-focus receiving lens are confocal, the distortion of a first echo signal caused by the direct projection of reflected light of the laser radar in a coaxial mode is avoided, and the optical path structure is simple and compact, convenient to install and adjust, small in size and capable of meeting the use requirements.
Among others, in one embodiment of the invention, as shown in fig. 1, a transmitting optical assembly includes: a laser 5 and a laser collimator 6.
Specifically, the transmitting optical assembly of the embodiment of the present invention includes a laser 5 and a laser collimating mirror 6, and the receiving optical assembly includes a receiving mirror (including a first receiving mirror 2 and a second receiving mirror 3) and a detector 1, it should be noted that the transmitting optical assembly and the receiving optical assembly are not coaxial.
It should be noted that, according to the formula (1) for calculating the blind area of the off-axis laser radar optical system:
wherein L is the size of the blind zone of the laser radar, h is the closest distance between the laser collimating mirror 6 and the edge of the lens in the receiving mirror, phi is the diameter of the target surface of the detector 1, W is the spot size of the laser beam emitted by the laser 5, and f1' is the focal length of the laser collimating mirror 6, f2' is the focal length of the receiving mirror, and theta is the included angle between the optical axis of the laser radar transmitting optical assembly and the optical axis of the laser radar receiving optical assembly.
Therefore, the method for reducing the blind area in the embodiment of the present invention is mainly reflected in that the distance between the optical axis of the transmitting optical assembly and the optical axis of the receiving optical assembly is reduced, the focal length of the receiving mirror is reduced, the focal length of the laser collimating mirror 6 is reduced, and the size of the target surface of the detector 1 and the size of the light spot of the laser beam are increased when the 3 parameters are reduced and the 2 parameters are increased. The size of the target surface of the detector 1 and the size of the light spot of the laser beam are restricted by the current component process, and the reduction of the focal length of the laser collimating mirror 6 can increase the divergence angle of the emergent laser beam and directly influence the angular resolution of detection.
As shown in fig. 2, the size of h is limited by the laser collimator 6 and the mechanical housing 7 of the receiving mirror, and the laser collimator 6 with the mechanical housing 8 and the receiving mirror with the mechanical housing 7 are as close as possible without interfering with each other.
Alternatively, in one embodiment of the present invention, the first receiving mirror 2 and the second receiving mirror 3 are disposed rotationally symmetrically about the corresponding optical axes. That is, two receiving mirrors that are rotationally symmetric about respective optical axes are provided in the receiving optical assembly.
Optionally, in an embodiment of the present invention, the focal length of the first receiving mirror 2 is greater than or equal to the focal length of the second receiving mirror 3 by a first preset multiple.
For example, the focal length of the first receiving mirror 2 may take, but is not limited to, more than 135mm and less than 500, and the focal length of the second receiving mirror 3 may take, but is not limited to, less than 40mm and more than 18 mm.
Optionally, in an embodiment of the present invention, the clear aperture of the first receiving mirror 2 is greater than or equal to a second preset multiple of the clear aperture of the second receiving mirror 3.
Note that, the focal length f 'of one receiving mirror'21Longer, focal length f 'of tele and other receiving mirrors'22Short, short-focus receiving mirror, long-focus receiving mirror and short-focus receiving mirror are all positive power lenses, f'21≥3f′22，D21Is the clear aperture of the tele receiving lens, D22Is the clear aperture of the short-focus receiving lens, D21≥2D22。
Alternatively, in one embodiment of the present invention, the second receiving mirror 3 is disposed on one side close to the emission optical component, and the first receiving mirror 2 is disposed on the other side relatively close to the one side of the emission optical component.
It will be appreciated that the optical axis of the tele receiver is not coincident with the optical axis of the short receiver, the short receiver is offset with respect to the tele receiver, and the short receiver is located on the side of the transmit optical assembly
Alternatively, in one embodiment of the invention, the aperture edges of the first receiving mirror 2 and the second receiving mirror 3 are aligned.
That is, located in the hairOn one side of the optical component, the aperture edge of the long-focus receiving mirror is aligned with the aperture edge of the short-focus receiving mirror, and the position coordinate of the short-focus receiving mirror relative to the working surface center of the long-focus receiving mirror on one side close to the detector 1 is
In addition, in an embodiment of the present invention, wherein the center of the target surface of the detector 1 is located on the optical axis of the first receiving mirror 2 and on the image-side paraxial focal point of the first receiving mirror 2, the target surface of the detector 1 is located on the image-side focal plane of the first receiving mirror 2, the optical axis of the second receiving mirror 3 is offset from the target surface of the detector 1, and the image-side paraxial focal point of the second receiving mirror 3 is located outside the target surface of the detector 1.
Specifically, the center of the target surface of the detector 1 is located on the optical axis of the tele receiving mirror and is located on the image-side paraxial focal point of the tele receiving mirror, and the target surface of the detector 1 is located on the image-side focal plane of the tele receiving mirror. The optical axis of the short-focus receiving mirror deviates from the target surface of the detector 1, and the image-side paraxial focus of the short-focus receiving mirror is positioned outside the target surface of the detector 1.
In the embodiment of the present invention, in order to make the image space focal plane of the short focus receiving mirror fall on the target surface of the detector 1, the above-mentioned planar reflecting mirror 4 plated with a metal film is arranged between the short focus receiving mirror and the detector 1, an included angle α between the planar reflecting mirror 4 and the optical axis of the long focus receiving mirror is an arrangement angle of the planar reflecting mirror, and the constraint condition of the included angle α is as follows:
l is the linear distance from the short-focus receiver to the plane mirror, and H is the vertical distance from the optical axis of the long-focus receiver to the center of the plane mirror 4.
The position of the plane reflector 4 relative to the long-focus receiving mirror near the center of the working surface on one side of the detector 1The coordinates and angular directions are: (0, H, f'21-f′22+ l, α, 0, 0), the size of the plane mirror 4
So that the optical axis of the short-focus receiving mirror is deflected by the plane mirror and reaches the target surface of the detector 4, and at the moment, the focal plane of the short-focus receiving mirror is coplanar with the focal plane of the long-focus receiving mirror and shares one unique detector 1.
In summary, according to the light direction of the receiving optical assembly, the far-field target reflects or scatters the laser beam and directly focuses on the target surface of the detector 1 through the first receiving mirror 2 (long-focus receiving mirror), and the near-field target reflects or scatters the laser beam and refracts through the working surface at the edge of the first receiving mirror 2 (long-focus receiving mirror), and then passes through the second receiving mirror 3 (short-focus receiving mirror), and then is deflected by the plane reflecting mirror 4 to reach the target surface of the detector 1.
The working principle of the embodiment of the present invention is described below by way of example with reference to fig. 2.
As shown in FIG. 2, "X", "Y", "Z" are indicated as horizontal, vertical and along the light propagation direction based on the light path shown in the drawing, and are for convenience of description only, and do not indicate or imply that the light path indicated must have a specific orientation, and therefore should not be construed as limiting the invention
The apparatus of an embodiment of the present invention includes a transmitting optical assembly and a receiving optical assembly. Wherein, the transmitting optical assembly comprises a laser 5 and a laser collimating mirror 6, and the receiving optical assembly comprises receiving mirrors (a first receiving mirror 2 and a second receiving mirror 3) and a detector 1. The transmit optical assembly and the receive optical assembly are not co-axial.
The figure shows a schematic diagram of laser radar blind area calculation, and according to a blind area calculation formula (1) of a laser radar optical system in an off-axis mode:
wherein L is the size of the blind area of the laser radarH is the closest distance between the laser collimating mirror 6 and the edge of the lens in the receiving mirror, phi is the diameter of the target surface of the detector 1, W is the spot size of the laser beam emitted by the laser 5, and f1' is the focal length of the laser collimating mirror 6, f2' is the focal length of the receiving mirror, and theta is the included angle between the optical axis of the laser collimating mirror 6 and the optical axis of the laser radar receiving optical assembly. The method for reducing the blind area is mainly characterized in that 3 references are reduced and 2 references are increased, the distance between the optical axis of the transmitting optical assembly and the optical axis of the receiving optical assembly is reduced, the focal length of the receiving mirror is reduced, the focal length of the laser collimating mirror 6 is reduced, the target surface size of the detector 1 and the spot size of a laser beam are increased, wherein the target surface size of the detector 1 and the spot size of the laser beam emitted by the laser 5 are restricted by the current component process, the divergence angle of the emitted laser beam can be increased by reducing the focal length of the laser collimating mirror 6, and the angular resolution of detection is directly influenced.
As shown in fig. 2, the size of h is limited by the mechanical outer frame 8 of the laser collimating mirror 6 and the mechanical outer frame 7 of the receiving mirror, the distance between the laser collimating mirror 6 with the mechanical outer frame 8 and the receiving mirror with the mechanical outer frame 7 is d, d is greater than 0 and d is less than or equal to 0.5, mainly, the laser collimating mirror 6 with the mechanical outer frame 8 and the receiving mirror with the mechanical outer frame 7 are as close as possible and do not interfere with each other, which is convenient for the adjustment of the optical mechanical structures of the two.
Further, two receiving mirrors which are rotationally symmetric about respective optical axes are provided in the receiving optical assembly, wherein the focal length f 'of one receiving mirror'21Longer, focal length f 'of tele receiving mirror 2, the other receiving mirror'22Short, short-focus receiver mirror 3, telephoto receiver mirror 2 and short-focus receiver mirror 3 are all positive power lenses, f'21≥3f′22，D21Is the clear aperture of the tele receiving lens 2, D22Is the clear aperture of the short-focus receiving mirror 3, D21≥2D22(ii) a The optical axis of the long-focus receiving lens 2 is not coincident with the optical axis of the short-focus receiving lens 3, namely the short-focus receiving lens 3 generates an eccentric amount relative to the long-focus receiving lens 2, and the short-focus receiving lens 3 is positioned at one side B close to the transmitting optical component; on the side B of the transmitting optical assembly, the aperture edge of the tele receiving mirror 2 is aligned with the aperture edge of the short-focus receiving mirror 3, the short focusThe position coordinate of the receiving mirror 3 relative to the working surface center of the long-focus receiving mirror 2 close to one side of the detector 1 is
Further, the center of the target surface of the detector 1 is located on the optical axis of the tele receiving mirror 2 and is located on the image-side paraxial focus of the tele receiving mirror 2, and the target surface of the detector 1 is located on the image-side focal plane of the tele receiving mirror 2; the optical axis of the short-focus receiving mirror 3 deviates from the target surface of the detector 1, and the image-side paraxial focus of the short-focus receiving mirror 3 is positioned outside the target surface of the detector 1; in order to make the image space focal plane of the short-focus receiving mirror 3 fall on the target surface of the detector 1, a plane reflecting mirror 4 plated with a metal film is arranged between the short-focus receiving mirror 3 and the detector 1, an included angle alpha formed by clockwise rotating the connecting line A to the plane reflecting mirror 4 is an acute angle, the included angle alpha is a set angle of the plane reflecting mirror 4, and the constraint condition of the included angle alpha is as follows:
l is the straight-line distance from the short-focus receiving mirror 3 to the plane mirror 4, and H is the vertical distance from the optical axis of the long-focus receiving mirror 2 to the center of the plane mirror 4.
The position coordinates and the angular directions of the plane mirror 4 relative to the working surface center of the long-focus receiving mirror 2 on the side close to the detector 1 are as follows: (0, H, f'21-f′22+ l, α, 0, 0), the size of the plane mirror 4
So that the optical axis of the short-focus receiving mirror 3 is deflected by the plane mirror 4 and reaches the target surface of the detector 1, and at this time, the focal plane of the short-focus receiving mirror 3 is coplanar with the focal plane of the long-focus receiving mirror 2 and shares a unique detector 1.
According to the light direction of the receiving optical assembly, the laser beam reflected or scattered by the far-field target object is directly focused on the target surface of the detector 1 through the long-focus receiving mirror 2, the laser beam reflected or scattered by the near-field target object is refracted through the working surface at the edge of the long-focus receiving mirror 2, and is refracted through the short-focus receiving mirror 3 and then is reflected to the target surface of the detector 1 through the plane reflecting mirror 4.
According to the positioning device of the robot provided by the embodiment of the invention, the long-focus receiving lens and the short-focus receiving lens are used while the receiving optical assembly and the transmitting optical assembly are not arranged in a coaxial manner, so that the purpose of detecting a far-field target object through the long-focus lens and a near-field target object through the short-focus lens is realized, the blind area of a laser radar is effectively eliminated, the technical defect that the transmitting and receiving are not coaxial and a detection blind area exists is overcome, the use requirements of the measurement precision and the overall structure are effectively met, the complex and variable environment is timely and effectively coped with, and the use performance of the robot is improved.
In addition, the embodiment of the invention also provides a positioning system of the robot, which comprises the optical device of the robot in the embodiment. This positioning system can be with receiving optical assembly and transmitting optical assembly not in the same time of the optical axis setting, use the combination lens group of long focus receiving mirror and short focus receiving mirror, realize the purpose of detecting far-field target object and short focus lens detection near field target object through long focus lens, eliminate laser radar's blind area effectively, overcome the transmission and receive not coaxial the technical defect who has the detection blind area, effectively satisfy measuring accuracy and overall structure's user demand, in time, deal with complicated changeable environment effectively, improve the performance of robot.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (9)
1. An optical apparatus of a robot, comprising:
a transmitting optical component for transmitting a detection signal; and
the receiving optical assembly is arranged in a manner of not being coaxial with the transmitting optical assembly and comprises a detector, a first receiving mirror and a second receiving mirror which have different focal lengths, wherein the first receiving mirror and the second receiving mirror which have different focal lengths are respectively used for detecting far-field and near-field targets so as to determine the positioning information of the robot according to the reflected signals of the targets detected by the first receiving mirror and the targets detected by the second receiving mirror and the detection signals; the target surface center of the detector is positioned on the optical axis of the first receiving mirror and is positioned on the image space paraxial focus of the first receiving mirror, the target surface of the detector is positioned on the image space focal plane of the first receiving mirror, the optical axis of the second receiving mirror deviates from the target surface of the detector, and the image space paraxial focus of the second receiving mirror is positioned outside the target surface of the detector.
2. The apparatus of claim 1, further comprising:
the plane reflector is arranged between a second receiving mirror which is eccentric to the first receiving mirror and the detector so as to enable the first receiving mirror and the second receiving mirror to be confocal.
3. The apparatus of claim 1, wherein the emission optics assembly comprises: a laser and a laser collimating mirror.
4. The apparatus of claim 1, wherein the focal length of the first receiving mirror is greater than or equal to a first preset multiple of the focal length of the second receiving mirror.
5. The apparatus of claim 1, wherein the clear aperture of the first receiving mirror is greater than or equal to a second preset multiple of the clear aperture of the second receiving mirror.
6. The apparatus of claim 1, wherein the second receiving mirror is disposed on a side adjacent to the transmitting optical assembly, and the first receiving mirror is disposed on another side relatively adjacent to the side of the transmitting optical assembly.
7. The apparatus of claim 1, wherein the aperture edges of the first and second receiving mirrors are aligned.
8. The apparatus of claim 1, wherein the first receiving mirror and the second receiving mirror are rotationally symmetric about the corresponding optical axis.
9. A positioning system for a robot, comprising: an optical arrangement of a robot as claimed in any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911381760.0A CN111045018B (en) | 2019-12-27 | 2019-12-27 | Optical device and positioning system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911381760.0A CN111045018B (en) | 2019-12-27 | 2019-12-27 | Optical device and positioning system of robot |
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