CN112379670A - Laser radar visual angle expanding device for robot and robot - Google Patents

Laser radar visual angle expanding device for robot and robot Download PDF

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Publication number
CN112379670A
CN112379670A CN202011247635.3A CN202011247635A CN112379670A CN 112379670 A CN112379670 A CN 112379670A CN 202011247635 A CN202011247635 A CN 202011247635A CN 112379670 A CN112379670 A CN 112379670A
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laser radar
reflector
line
intersection line
lidar
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CN112379670B (en
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许哲涛
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Jingdong Shuke Haiyi Information Technology Co Ltd
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Jingdong Shuke Haiyi Information Technology Co Ltd
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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
    • 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
    • G01S7/4817—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)

Abstract

The invention relates to the technical field of robots, in particular to a laser radar visual angle expanding device for a robot and the robot comprising the laser radar visual angle expanding device. The laser radar visual angle expanding device comprises a laser radar, a first reflection piece and a second reflection piece, wherein laser emitted by the laser radar in a first horizontal plane is reflected by the first reflection piece and the second reflection piece in sequence and then is emitted out of the second horizontal plane through the second reflection piece. In the laser radar visual angle expanding device, the direction of the laser reflected by the second reflector is the same as or opposite to the direction of the laser emitted by the laser radar. This laser radar visual angle extension device can be surveyed the barrier that is in the second horizontal plane through the laser radar that is located first horizontal plane, can realize carrying out the detection of barrier simultaneously in first horizontal plane and second horizontal plane, shifts the partial detection visual angle that laser radar was sheltered from to other high planes in, reduces laser radar's blind area, improves laser radar availability factor.

Description

Laser radar visual angle expanding device for robot and robot
Technical Field
The invention relates to the technical field of robots, in particular to a laser radar visual angle expanding device for a robot and the robot comprising the laser radar visual angle expanding device.
Background
With the development of artificial intelligence, robots are also widely applied, and self-positioning and navigation in the robot technology are one of the core technologies of the robots. The current robot navigation usually adopts a laser radar slam, a visual slam or a mode of fusing the laser slam and the visual slam. Due to the characteristic of high precision, the laser radar is widely applied to high-precision navigation scenes.
The lidar is actually a radar working in an optical band (special band), belongs to active detection, does not depend on external illumination conditions or the radiation characteristic of a target, only needs to emit a laser beam of the lidar, and acquires target information by detecting an echo signal of the emitted laser beam. The laser wavelength is short, the laser beam with very small divergence angle can be emitted, the multipath effect is small, and the low-altitude/ultra-low-altitude target can be detected. The single-line laser radar is one of the laser radars, and has relatively simple structure and convenient use because only one path of emission and one path of reception are provided; the single-line laser radar has the advantages of short scanning period, high scanning speed on the environment in the advancing direction, high angular resolution, small volume of the radar, relatively light weight, low power consumption, high reliability and relatively low cost; the single-line laser radar has a relatively wide detection range, can provide a large amount of environment scanning point distance information, can provide great convenience for control decision, and has the advantages that the single-line laser radar becomes a preferred choice for a robot to perceive an unknown environment.
Because of the limitation of the installation position of the single line laser radar, the single line laser radar capable of scanning 360 degrees has an effective visual angle of only 180 degrees, namely the shielding of the robot per se enables the visual angle of the single line laser radar not to be completely utilized, the service efficiency of the laser radar is reduced, the blind area is increased, the current single line laser radar can only detect the obstacles on a certain height plane, and the obstacles on other height planes can not be detected.
Disclosure of Invention
An object of this application is to provide a laser radar visual angle extension device for robot to solve among the prior art laser radar availability factor low and can only survey the problem of the barrier on certain high plane.
Technical scheme (I)
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a lidar viewing angle extension apparatus for a robot.
The laser radar visual angle expanding device for the robot comprises a laser radar, a first reflector and a second reflector, wherein laser emitted by the laser radar in a first horizontal plane is reflected by the first reflector and the second reflector in sequence and then is emitted out of the second horizontal plane by the second reflector.
Further, in the laser radar visual angle expanding device, the direction of the laser reflected by the second reflector is opposite to the direction of the laser emitted by the laser radar.
Furthermore, in the laser radar visual angle expanding device, the first reflector intersects with the first horizontal plane to form a first intersection line, and the included angle between the first reflector and the first horizontal plane is 45 degrees;
the second reflector and the second horizontal plane are intersected to form a second intersection line, the included angle between the second reflector and the second horizontal plane is 45 degrees, the first intersection line and the second intersection line are located in the same vertical plane, and the reflecting surface of the first reflector and the reflecting surface of the second reflector are arranged oppositely.
Further, in the lidar viewing angle extension device, a midpoint of the first intersecting line and a midpoint of the second intersecting line are located on the same vertical straight line.
Further, in the lidar viewing angle extension device, a connection line between the lidar and a midpoint of the first intersection line is perpendicular to the first intersection line.
Further, the maximum scanning angle of the laser radar in the first horizontal plane in the laser radar visual angle expanding device is 2 gamma,
γ＝arctan(W1/L)，
wherein:
W1is the length of the first intersection line, in m;
l is the distance between the laser radar and the first intersection line, in m.
Further, in the lidar viewing angle extension apparatus, in a case where midpoints of the first intersection line and the second intersection line are located on the same vertical straight line, a length W of the second intersection line2The following requirements are met:
W2≥W1+2Htanγ，
wherein, H is the distance between the first intersecting line and the second intersecting line, and the unit is m.
Further, in the laser radar visual angle expanding device, the position of the second reflector can be adjusted up and down along the vertical direction.
Further, in the device for expanding the view angle of the laser radar, a first channel is arranged between the laser radar and the first reflector, a second channel is arranged between the first reflector and the second reflector, and a third channel is arranged at a position facing the first channel in the second horizontal plane.
Further, in the device for expanding the view angle of the laser radar, the first reflector and the second reflector are both plane reflectors.
Furthermore, in the laser radar visual angle expanding device, the connecting line distance between the incident point of the scanning light on the obstacle and the projection point of the emission point of the laser radar in the second horizontal plane is D, and D satisfies the condition that
D＝[0.25(cΔtsinα)2+(0.5cΔtcosα-2L-H)2]0.5，
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
and delta t is the time difference between the scanning light emitted by the laser radar and the scanning light received after returning, and the unit is s.
Furthermore, in the laser radar visual angle expanding device, an included angle between a scanning light ray emitted by the second reflector in the second horizontal plane and a perpendicular line of the second intersecting line (5) is beta, and beta satisfies the condition that
β＝arctan[(cΔtsinα)/(cΔtcosα-4L-2H)]；
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
and delta t is the time difference between the scanning light emitted by the laser radar and the scanning light received after returning, and the unit is s.
To achieve the above object, a second aspect of an embodiment of the present invention provides a robot.
According to the embodiment of the invention, the robot comprises the laser radar visual angle expanding device provided by the first aspect of the embodiment of the invention.
Further, in the robot, the laser radar is installed at a head position of the robot, and an extending direction from the laser radar to the first reflector is opposite to a forward direction of the robot.
Further, in the robot, the laser radar is installed at the center of the robot in the width direction, and the width of the robot is not more than [4c Δ tL/(4L)2+W1 2)-4L-2H]tan(βm/2), wherein:
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
at is the time difference between the scanning light emitted by the laser radar and the returned scanning light received, and the unit is s,
βmthe preset maximum scanning range of the robot for the right front is obtained.
(II) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a laser radar visual angle expanding device for a robot, which comprises a laser radar, a first reflector and a second reflector. This laser radar visual angle extension device can be surveyed the barrier that is in the second horizontal plane through the laser radar that is located first horizontal plane, can realize carrying out the detection of barrier simultaneously in first horizontal plane and second horizontal plane, shifts the partial detection visual angle that laser radar was sheltered from to other high planes in, reduces laser radar's blind area, improves laser radar availability factor.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a front view of a lidar view angle extension device provided in an embodiment of the present application;
fig. 2 is a light path diagram in a first horizontal plane in a laser radar view angle expanding apparatus provided in an embodiment of the present application;
fig. 3 is a light path diagram in a vertical plane in the laser radar view angle expanding apparatus provided in the embodiment of the present application;
fig. 4 is a light path diagram in a third horizontal plane in the view angle expanding apparatus for a laser radar according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of a robot with a laser radar installed in the prior art.
In the figure:
1. a laser radar; 2. a first light-reflecting sheet; 3. a second light-reflecting sheet; 4. a first intersection line; 5. a second intersection line; 6. a first channel; 7. a second channel; 8. a third channel.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The laser radar visual angle expanding device for the robot comprises a laser radar 1, a first reflector 2 and a second reflector 3, wherein laser emitted by the laser radar 1 in a first horizontal plane is reflected by the first reflector 2 and the second reflector 3 in sequence and then emitted out of the second horizontal plane through the second reflector 3, and the first horizontal plane and the second horizontal plane are parallel to each other. Can survey the barrier that is in the second horizontal plane through laser radar 1 that is located first horizontal plane through this laser radar visual angle extension device, can realize carrying out the detection of barrier simultaneously in first horizontal plane and second horizontal plane to reduce laser radar 1's blind area, improve laser radar 1's availability factor.
In the above embodiment, in the lidar viewing angle extension apparatus, the direction of the laser light reflected by the second reflector 3 may be the same as the direction of the laser light emitted by the lidar 1 to the first reflector 2, so that the lidar 1 may detect an obstacle in one direction in a first horizontal plane, and detect an obstacle in another direction in a second horizontal plane, and the detection of 360 ° may be achieved by the first horizontal plane and the second horizontal plane. When the laser radar visual angle expanding device is applied to a robot, an obstacle in front of the robot can be detected by the laser radar in a first horizontal plane, and an obstacle behind the robot can be detected by the laser radar in a second horizontal plane.
Of course, in the above embodiment, in the lidar viewing angle extension apparatus, the direction of the laser light reflected by the second reflector 3 may be opposite to the direction of the laser light emitted by the lidar 1 to the first reflector 2, so that the obstacle in one direction may be detected in the first horizontal plane by the lidar 1, and the obstacle in the direction may be detected in the second horizontal plane at the same time, and the detection of the obstacles in the space with different heights in one direction may be realized in the first horizontal plane and the second horizontal plane, respectively. When the lidar viewing angle extension device is applied to a robot, an obstacle in front of the robot can be detected by the lidar in a first horizontal plane, and simultaneously the obstacle in front of the robot can be detected by the lidar in a second horizontal plane.
In order to ensure that the light emitted from the second reflector 3 is still located in the second horizontal plane, the angle and the position relationship between the first reflector and the second reflector are mainly used to determine the light. As a preferred implementation manner, as shown in fig. 1 to 4, a lidar view angle extension device for a robot according to an embodiment of the present invention includes a lidar 1, a first reflector 2, and a second reflector 3, in the lidar view angle extension device, the lidar 1 emits laser light in a first horizontal plane, the first reflector 2 intersects the first horizontal plane to form a first intersection line 4, and an included angle between the first reflector 2 and the first horizontal plane is 45 °; the second reflector 3 intersects with the second horizontal plane to form a second intersection line 5, the included angle between the second reflector 3 and the second horizontal plane is 45 degrees, the first intersection line 4 and the second intersection line 5 are located in the same vertical plane, and the reflecting surface of the first reflector 2 and the reflecting surface of the second reflector 3 are arranged oppositely.
In the above structural arrangement, laser radar 1 emits laser towards first reflector 2 in a first horizontal plane, the incident point of the laser on first reflector 2 is located on a first intersection line 4, because the included angle between first reflector 2 and the first horizontal plane is 45 degrees, the reflection light of the laser on first reflector 2 is located in a vertical plane, irradiate on a second intersection line 5 of second reflector 3, because the included angle between second reflector 3 and a second horizontal plane is 45 degrees, after the reflection of second reflector 3, the laser can be emitted in the second horizontal plane until the surface of an obstacle is irradiated. In many cases, through this device, can shift laser radar 1 in the partial detection visual angle of first horizontal plane to in the second horizontal plane to can realize carrying out the detection of barrier simultaneously in first horizontal plane and second horizontal plane, thereby reduce laser radar 1's blind area, improve laser radar 1's availability factor.
In some embodiments, the midpoint of the first intersection line 4 and the midpoint of the second intersection line 5 in the lidar view angle extension apparatus are located on the same vertical straight line. This structure setting mode can be so that the extension angle on first reflector panel 2 and second reflector panel 3 uses this vertical straight line to be the symmetric distribution as the central line, and the width that can make full use of first reflector panel 2 and second reflector panel 3 does benefit to sparingly space.
Similarly, in some embodiments, a connection line between the lidar 1 and a midpoint of the first intersection line 4 in the lidar viewing angle expansion device is perpendicular to the first intersection line 4, and laser light provided by the lidar 1 may scan towards both sides with the perpendicular line as a center line, so that expansion angles on the first reflector 2 and the second reflector 3 are symmetrically distributed with the perpendicular line as a center, which is beneficial to saving space.
On the basis of the above embodiments, as shown in fig. 2 to 4, the maximum scanning angle of the lidar 1 in the lidar view angle extension apparatus is 2 γ, that is, two sides of a connecting line of the lidar 1 and a midpoint of the first intersecting line 4 in the first horizontal plane respectively form a scanning range of γ angle,
γ＝arctan(W1/L)，
wherein:
W1is the length of the first intersection 4 in m;
l is the distance between the lidar 1 and the first intersection line 4 in m.
In the lidar viewing angle extension apparatus, when the midpoints of the first intersection line 4 and the second intersection line 5 are located on the same vertical straight line, the length W2 of the second intersection line 5 satisfies:
W2≥W1+2Htanγ，
where H is the distance between the first intersection line 4 and the second intersection line 5, in m.
When laser emitted by the laser radar 1 is emitted to the first reflector 2 at an arbitrary angle α (an included angle between a connecting line of the laser radar 1 and a midpoint of the first intersection line 4 and the laser) in a first horizontal plane, reflected light is formed in a vertical plane after being reflected by the first reflector 2, and the included angle between the reflected light and the vertical direction is also α. After laser emitted by the laser radar 1 irradiates to the first reflector 2 at the maximum scanning angle gamma in the first horizontal plane, reflected light can be formed in the vertical plane after being reflected by the first reflector 2, and the included angle between the reflected light and the vertical direction is gamma, so that the W reflector 3 can receive the reflected light, and the W reflector is required to be made2≥W1+2Htanγ。
In some embodiments, the position of the second reflector 3 in the lidar viewing angle extension apparatus can be adjusted up and down in the vertical direction, so that the detection range can be adjusted to horizontal planes with different heights.
In some embodiments, in the lidar viewing angle extension apparatus, a first channel 6 is disposed between the lidar 1 and the first reflector 2, a second channel 7 is disposed between the first reflector 2 and the second reflector 3, and a third channel 8 is disposed at a position facing the first channel 6 in the second horizontal plane. The first channel 6, the second channel 7 and the third channel 8 are physically isolated channels, and can prevent foreign matters from appearing in the space to cause interference on a light path or cause interference in other types of light source. The dimensions of the first, second and third channels 6, 7, 8 should be such as to accommodate the light path over an extended angular range.
Preferably, in the lidar viewing angle extension apparatus provided by the embodiment of the present invention, the first reflector 2 and the second reflector 3 are both planar reflectors.
In the above embodiment, as shown in fig. 2 to 4, when the scanning angle of the laser radar 1 (the included angle between the perpendicular line of the first intersection line 4 and the scanning light line, specifically, the included angle between the connecting line of the laser radar 1 and the midpoint of the first intersection line 4 and the scanning light line in fig. 2 to 4) is α, the stroke of the optical path is calculated by referring to the following:
as shown in FIG. 2, the scanning light has a travel distance L in the first horizontal plane1，L1＝L/cosα；
As shown in FIG. 3, the scanning light has a travel L in the vertical plane2，L2＝H/cosα；
As shown in FIG. 4, the scanning light has a travel distance L in the second horizontal plane3According to the working principle of the laser radar,
2(L1+L2+L3)＝cΔt，
where c is the speed of light and Δ t is the time difference between the laser radar emitting the scanning light and receiving the reflected light.
From the above formula, L3＝0.5cΔt-L1-L2I.e. by
L3＝0.5cΔt-L/cosα-H/cosα。
The incident point of the scanning light on the obstacle is P, the projection point of the emission point of the laser radar in the second horizontal plane is O, the distance of the OP is D, and the angle of the OP relative to the advancing direction of the robot is beta.
As shown in FIG. 4, the OP component in the direction parallel to the second intersection line 5 is D1The component of OP in the direction perpendicular to the second intersection line 5 is D2From the geometrical relationships in fig. 2-4, it can be derived:
D1＝(L1+L2+L3)sinα＝0.5cΔtsinα；
D2＝L3cosα-L＝0.5cΔtcosα-2L-H。
further, it is found that the distance D of OP is (D)1 2+D2 2)0.5The angle β of OP with respect to the direction of advance of the robot is arctan (D)1/D2)。
According to the calculation, in the laser radar visual angle expanding device, the connecting line distance between the incident point of the scanning light on the obstacle and the projection point of the emission point of the laser radar in the second horizontal plane is D, which meets the requirement that
D＝[0.25(cΔtsinα)2+(0.5cΔtcosα-2L-H)2]0.5，
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
and delta t is the time difference between the scanning light emitted by the laser radar and the scanning light received after returning, and the unit is s.
It can be further found from the above calculation that, in the lidar viewing angle extension apparatus, an included angle between the scanning light emitted by the second reflector in the second horizontal plane and the perpendicular of the second intersecting line 5 is β, which satisfies the requirement that
β＝arctan[(cΔtsinα)/(cΔtcosα-4L-2H)]；
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
and delta t is the time difference between the scanning light emitted by the laser radar and the scanning light received after returning, and the unit is s.
Based on above deduction process, can also further determine the distance d between scanning light incident point P on the barrier and laser radar's emission point O ', in the space, OPO ' constitutes right angled triangle, and wherein OO ' and OP are the right-angle side, and PO ' is the hypotenuse, according to the pythagorean theorem, can derive: d2＝D2+H2。
The calculation shows that in the laser radar visual angle expanding device, the connecting line distance d between the incident point of the scanning light on the obstacle and the emitting point of the laser radar meets the requirement
d＝[0.25(cΔtsinα)2+(0.5cΔtcosα-2L-H)2+H2]0.5，
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
and delta t is the time difference between the scanning light emitted by the laser radar and the scanning light received after returning, and the unit is s.
An included angle between a connecting line of an incident point of the scanning light on the obstacle and an emitting point of the laser radar and a horizontal plane is represented as delta, and tan delta is H/D (H/D) according to a function of a right triangle.
The calculation can also be used for obtaining that in the laser radar visual angle expanding device, an included angle delta between a connecting line of an incident point of scanning light on an obstacle and an emitting point of the laser radar and a horizontal plane is satisfied,
δ＝arctan{H/[0.25(cΔtsinα)2+(0.5cΔtcosα-2L-H)2]0.5}，
wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
and delta t is the time difference between the scanning light emitted by the laser radar and the scanning light received after returning, and the unit is s.
In the lidar viewing angle extension device provided by the embodiment of the present invention, the lidar is preferably a single line lidar. The single-line laser radar has only one path of transmission and one path of reception, so the structure is relatively simple and the use is relatively convenient; the single-line laser radar has the advantages of short scanning period, high scanning speed on the environment in the advancing direction, high angular resolution, small volume of the radar, relatively light weight, low power consumption, high reliability and relatively low cost; the single-line laser radar has a relatively wide detection range, can provide a large amount of distance information of environmental scanning points, and can provide great convenience for control decision. The structure of the single line lidar generally includes a laser, a receiver, a signal processing unit, and a rotating device. The laser is a laser emitting mechanism in the laser radar, and can be lightened in a pulse mode and continuously emits laser outwards in the working process. The laser emitted by the laser irradiates to the barrier after being reflected by the first reflector and the second reflector, and through the diffuse reflection of the barrier, the reflected light can reversely return through the second reflector and the first reflector according to the original path and is received by the receiver. The signal processing unit is responsible for controlling the emission of the laser and the processing of the signal received by the receiver, and the distance information and the angle information of the target object are calculated according to the information. The laser, the receiver and the signal processing unit form a core component for measurement, and the rotating mechanism is responsible for rotating the core component at a stable rotating speed, so that the plane on which the core component is positioned is scanned, and real-time plane map information is generated. The specific structure and principle of the specific single-line laser radar device can be obtained by referring to the prior art, and the detailed description is not applied and not provided.
The lidar viewing angle extension device according to the above embodiment may further include other necessary components or structures, and the corresponding arrangement positions and connection relationships may refer to the structure of the related device in the prior art, and the connection relationships, operation and working principles of each un-mentioned structure are known to those skilled in the art, and will not be described in detail herein.
The embodiment of the invention also provides a robot, which comprises the laser radar visual angle expansion device for the robot provided by the embodiment of the invention, namely the robot is provided with the laser radar visual angle expansion device, the laser radar visual angle expansion device comprises a laser radar 1, a first reflector 2 and a second reflector 3, in the laser radar visual angle expansion device, the laser radar 1 emits laser in a first horizontal plane, the first reflector 2 and the first horizontal plane are intersected to form a first intersection line 4, and the included angle between the first reflector 2 and the first horizontal plane is 45 degrees; the second reflector 3 intersects with the second horizontal plane to form a second intersection line 5, the included angle between the second reflector 3 and the second horizontal plane is 45 degrees, the first intersection line 4 and the second intersection line 5 are located in the same vertical plane, and the reflecting surface of the first reflector 2 and the reflecting surface of the second reflector 3 are arranged oppositely.
Specifically, the laser radar 1 is installed at a head position of the robot, and an extending direction from the laser radar 1 to the first reflector 2 is opposite to a forward direction of the robot. Laser radar in this embodiment installs on the robot, and the robot is at the in-process of traveling, and laser radar who arranges in on the robot can be to the preset scanning range internal transmission laser around the robot, and laser can be reflected back laser radar when detecting the object of presetting scanning range internal, through laser rangefinder principle, can calculate laser radar to the distance information and the angle information of presetting scanning range internal object. The laser radar can continuously scan the preset scanning range around the robot, so that the contour information of objects in the preset scanning range is obtained, and point cloud is formed.
As shown in fig. 5, the lidar of the general robot can only scan the obstacle in the forward direction due to the shielding of the installation position, and the lidar is lost due to the shielding of the structure of the lidar. Moreover, due to the reason of the single-line laser radar, only the obstacle on the horizontal plane where the laser radar is located can be scanned, and the laser radar cannot acquire the obstacle when the obstacle is not on the horizontal plane where the laser radar is located. After the lidar visual angle expanding device is applied to a robot, when the robot runs, as shown in fig. 1, the lidar 1 is assumed to emit scanning light opposite to the advancing direction, namely the scanning light emits to the middle point of a first intersection line 4, the scanning light is perpendicular to the first intersection line 4, the scanning light can be reflected by a first reflector 2 after passing through the distance L in a first horizontal plane, and travels the distance H along the vertical direction to reach a second reflector plane, then the scanning light can be reflected to the same direction as the advancing direction of the robot, when the scanning light encounters an obstacle, the scanning light can generate reflecting light, and the reflecting light can be received by the lidar 1 by sequentially passing through the second reflector 3 and the first reflector 2 against the light path of the scanning light. Laser radar 1 originally can only scan first horizontal plane, can partially expand the scanning angle that laser radar 1 lost originally to the second horizontal plane through this device, has increased laser radar 1's field of vision scope.
In general, a robot needs to determine an obstacle existing right in front of the robot during traveling preferentially, and when the obstacle is located on both sides of the forward direction of the robot, the robot does not interfere with straight traveling, and in this case, a measurement angle range of the obstacle right in front of the robot needs to be determined, the measurement angle range being related to the width W of the robot when the lidar is mounted at a middle position in the left-right direction of the robot, and in fig. 4, when α takes a maximum value αmAnd the component of OP in the direction parallel to the second intersection line 5 is D1At W/2, which is half the width of the robot, the robot has the maximum measurement angle for the obstacle directly in front of it, which is denoted as βmTan (beta) according to trigonometric relationshipsm/2)＝D1/D2I.e. betam＝2arctan(0.5W/D2)。
As can be seen from the above calculation, in the robot provided in the embodiment of the present invention, the robot has the maximum measurement angle β for the obstacle right in front of the robotmSatisfy the followings that
βm＝2arctan[W/(cΔtcosαm-4L-2H)]，
Since cos alpham＝L/L1＝4L/(4L2+W1 2) Therefore, it is
βm＝2arctan{W/[4cΔtL/(4L2+W1 2)-4L-2H]}，
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
αmthe maximum value of an included angle between the vertical line of the first intersecting line and the scanning light is represented by an angle;
Δ t is a time difference between the scanning light emitted by the laser radar and the returned scanning light received, and the unit is s;
w is the width of the robot and the unit is m;
W1is the length of the first intersection in m.
In some specific use environments, due to the structural limitation of the robot and the influence of the environment, the maximum measurement angle β of the robot for scanning an obstacle right in front of the robot is presetmIn order to make full use of this maximum measurement angle β for the robotmThe width of the robot can be controlled during its design and manufacture. The conversion can be obtained by the above formula,
W＝[4cΔtL/(4L2+W1 2)-4L-2H]tan(βm/2)，
i.e. the width of the robot should not be more than [4c Δ tL/(4L)2+W1 2)-4L-2H]tan(βmAnd/2) so that the preset maximum measurement angle can be fully utilized, and the obstacle in front of the robot is in the detection range and can be detected.
The laser radar visual angle expanding device provided by the embodiment of the invention can be applied to various robots in the prior art. From a structural perspective, the robot includes, but is not limited to, a single axis robot, a four axis robot, or a six axis robot; in terms of usage, the robot includes, but is not limited to, a family accompanying mobile robot, a cleaning robot, a patrol mobile robot, a glass wiping robot, etc.; from the intelligent perspective, the robots include, but are not limited to, weak artificial intelligence or dedicated artificial intelligence robots with narrow usage, strong artificial intelligence robots with high self-learning and adaptability, or super artificial intelligence robots.
The robot disclosed in the embodiment of the present application includes the lidar viewing angle extension device provided in the above embodiment, and therefore the robot having the lidar viewing angle extension device also has all the above technical effects, which are not described in detail herein. Other configurations and operations of the robot will be known to those of ordinary skill in the art and will not be described in detail herein.
Some embodiments in this specification are described in a progressive or parallel manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (15)

1. The utility model provides a laser radar visual angle extension device for robot, its characterized in that includes laser radar (1), first reflector panel (2) and second reflector panel (3), the laser of laser radar (1) transmission in first horizontal plane passes through in proper order first reflector panel (2) with second reflector panel (3) reflection back, by second reflector panel (3) jets out in the second horizontal plane.
2. The lidar viewing angle extension device according to claim 1, wherein a direction of the laser light reflected by the second reflector (3) is opposite to a direction of the laser light emitted from the lidar (1).
3. The lidar view angle extension apparatus according to claim 1,
the first reflector (2) and the first horizontal plane are intersected to form a first intersection line (4), and the included angle between the first reflector (2) and the first horizontal plane is 45 degrees;
the second reflector (3) and the second horizontal plane are intersected to form a second intersection line (5), the second reflector (3) and the included angle of the second horizontal plane are 45 degrees, the first intersection line (4) and the second intersection line (5) are located in the same vertical plane, and the reflecting surface of the first reflector (2) and the reflecting surface of the second reflector (3) are arranged oppositely.
4. Lidar view extension device according to claim 3, wherein the midpoint of the first intersection line (4) and the midpoint of the second intersection line (5) are located on the same vertical line.
5. Lidar view extension device according to claim 3, wherein a line connecting the lidar (1) and a midpoint of the first intersection line (4) is perpendicular to the first intersection line (4).
6. The lidar view extension apparatus of claim 5, wherein a maximum scan angle of the lidar in the first horizontal plane is 2 γ,
γ＝arctan(W1/L)，
wherein:
W1is the length of the first intersection line (4) in m;
l is the distance between the laser radar (1) and the first intersection line (4) in m.
7. The lidar view extension apparatus of claim 6, wherein the first lens is disposed at the first positionThe length W of the second intersection line (5) is equal to the length W of the second intersection line (5) when the midpoints of the intersection line (4) and the second intersection line (5) are located on the same vertical straight line2The following requirements are met:
W2≥W1+2Htanγ，
wherein H is the distance between the first intersection line (4) and the second intersection line (5), and the unit is m.
8. The lidar viewing angle extension device according to claim 3, wherein the position of the second reflector (3) is vertically adjustable up and down.
9. The lidar viewing angle extension device according to claim 3, wherein a first channel (6) is provided between the lidar (1) and the first reflector (2), a second channel (7) is provided between the first reflector (2) and the second reflector (3), and a third channel (8) is provided at a position facing the first channel (6) in the second horizontal plane.
10. The lidar viewing angle extension device according to claim 3, wherein the first reflector (2) and the second reflector (3) are both planar reflectors.
11. The lidar view angle extender of claim 3, wherein a connecting line distance between an incident point of a scanning ray on an obstacle and a projection point of an emission point of the lidar (1) in the second horizontal plane is D, and D is satisfied
D＝[0.25(cΔtsinα)2+(0.5cΔtcosα-2L-H)2]0.5，
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar (1) and the first intersection line (4) and has the unit of m;
h is the distance between the first intersection line (4) and the second intersection line (5) in m;
alpha is an included angle between the vertical line of the first intersecting line (4) and the scanning light, and the unit is DEG;
and delta t is the time difference between the scanning light emitted by the laser radar (1) and the returned scanning light received, and the unit is s.
12. The lidar viewing angle extension device according to claim 3, wherein an angle β between a scanning light ray emitted from the second reflector (3) in a second horizontal plane and a perpendicular line of the second intersection line (5) is satisfied
β＝arctan[(cΔtsinα)/(cΔtcosα-4L-2H)]；
Wherein,
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar (1) and the first intersection line (4) and has the unit of m;
h is the distance between the first intersection line (4) and the second intersection line (5) in m;
alpha is an included angle between the vertical line of the first intersecting line (4) and the scanning light, and the unit is DEG;
and delta t is the time difference between the scanning light emitted by the laser radar (1) and the returned scanning light received, and the unit is s.
13. A robot comprising the lidar view angle extension apparatus according to any one of claims 1 to 12.
14. A robot according to claim 13, characterized in that the lidar (1) is mounted at the head position of the robot, the extension direction from the lidar (1) to the first reflector (2) being opposite to the advancing direction of the robot.
15. A robot according to claim 14, characterized in that the lidar (1) is mounted at the center of the robot in the width direction, and the width of the robot is not more than [4c Δ tL/(4L)2+W1 2)-4L-2H]tan(βm/2), wherein:
c is the speed of light, and the unit is m/s;
l is the distance between the laser radar and the first intersection line, and the unit is m;
h is the distance between the first intersection line and the second intersection line, and the unit is m;
alpha is an included angle between the perpendicular line of the first intersecting line and the scanning light line, and the unit is an angle;
at is the time difference between the scanning light emitted by the laser radar and the returned scanning light received, and the unit is s,
βmthe preset maximum scanning range of the robot for the right front is obtained.
CN202011247635.3A 2020-11-10 Laser radar visual angle expanding device for robot and robot Active CN112379670B (en)

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