CN112902958A - Mobile robot based on laser visual information obstacle avoidance navigation - Google Patents
Mobile robot based on laser visual information obstacle avoidance navigation Download PDFInfo
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Abstract
The invention discloses a mobile robot based on laser visual information obstacle avoidance navigation, which comprises a first camera, a second camera and at least one infrared laser emitter, wherein an infrared filter or an infrared coating film is covered on a lens of the first camera or a photosensitive area inside the first camera, and an optical axis of the first camera is matched with the emission direction of the infrared laser emitter, so that the infrared laser reflection condition in an effective detection area at the front lower part of the mobile robot is shot; the second camera is not provided with an infrared filter and an infrared coating film, and is arranged around the first camera and used for executing visual positioning; the infrared filter or the infrared coating is used for filtering visible light in the optical signals reflected in the effective detection area; and a laser signal emitted by the infrared laser emitter is intersected with the visual angle of the first camera to form an effective detection area.
Description
Technical Field
The invention relates to the technical field of positioning and obstacle avoidance, in particular to a mobile robot based on laser visual information obstacle avoidance navigation.
Background
Chinese patent 201420865149.1 discloses a novel obstacle recognition device, which is composed of a laser light source and a matched light curtain modulation device, used for emitting a light curtain parallel to the ground to mark the barrier, and is also provided with a camera matched with the emitting direction of the light curtain emitting device, when the horizontal light curtain irradiates the barrier in the advancing direction, a bright strip-shaped light spot is formed on the barrier, a scene picture containing the reflection light spot is shot by the camera, then the light spot detection device can judge the distribution situation of the obstacles on the advancing path according to the light spot distribution situation on the picture, when the obstacle recognition device detects an object with strong direct light (such as a wall surface full of straight lines), the misjudgment interference is caused by the existence of other visible light with strong reflectivity, therefore, the technical solution of determining whether there is an obstacle ahead or not according to the reflected light spot captured by the camera is inaccurate.
Disclosure of Invention
Aiming at the technical problems existing in the prior art, the conventional camera and the infrared camera are used in the technical scheme to complete the obstacle avoidance navigation work of the anti-strong visible light in the environment under the infrared laser scanning, so that the interference of the ambient light on the obstacle detection stability can be overcome, and the obstacle can be conveniently and quickly detected.
In order to achieve the above object, the technical scheme provides a mobile robot based on laser visual information obstacle avoidance navigation, the mobile robot comprises a first camera, a second camera and at least one infrared laser emitter, an infrared filter or an infrared coating is covered on a lens of the first camera or a photosensitive area inside the first camera, and an optical axis of the first camera is matched with an emission direction of the infrared laser emitter, so that the infrared laser reflection condition in an effective detection area in the front lower part of the mobile robot is shot; the second camera is not provided with an infrared filter and an infrared coating and is arranged around the first camera and used for collecting image information around the mobile robot to realize visual positioning; the infrared filter or the infrared coating is used for filtering visible light in the optical signals reflected in the effective detection area; and a laser signal emitted by the infrared laser emitter is intersected with the visual angle of the first camera to form an effective detection area.
According to the technical scheme, the photosensitive area of the first camera is completely covered with the infrared filter or the infrared coating, so that the first camera is specially used for shooting recognizable infrared light spots reflected by obstacles in an effective detection area, and the interference of strong visible light is prevented; and the second camera gathers the image information around the mobile robot in order to realize the vision location, compare the vision laser information control mobile robot that uses a camera to gather alone, two cameras collaborative work that this technical scheme provided, make full use of vision information and the respective advantage of reflection facula information, get together the drawing real-time of building of vision information and the accuracy nature of laser information, realize the detection position of the real-time correction barrier of realization and planning and keep away the barrier route, be favorable to overcoming the interference of ambient light to barrier detection stability.
Further, the infrared laser transmitter is arranged on a body shell panel of the mobile robot around the first camera; the number of the infrared laser transmitters is more than one, the infrared laser transmitters are bilaterally symmetrical relative to the first camera and keep the same vertical distance with the optical axis of the first camera, and therefore barrier reflection light spots at different distances of the effective detection area are distributed at different positions of an imaging picture of the first camera. The infrared laser transmitter provided by the technical scheme has a structure of left-right correlation, the coverage area of laser signals emitted by the laser transmitter is increased, and the effective detection area is enlarged.
Further, the emission direction of the infrared laser emitter is horizontally inclined downwards and is used for emitting laser points for scanning the ground; infrared laser emitter installs around first camera, infrared laser emitter's transmitting direction with the optical axis of first camera is a preset acute angle, makes infrared laser of infrared laser emitter transmission be in the distance range is predetermine in the place ahead of mobile robot with the crossing formation in visual angle of first camera effective detection area. In the technical scheme, the emission direction of the infrared laser emitter horizontally inclines downwards, and the laser point can be emitted to the ground, so that the infrared laser emitter can sweep more effective detection points as much as possible.
Furthermore, the infrared laser transmitter is installed above the first camera, and a preset height difference exists between the infrared laser transmitter and the first camera in the vertical direction, so that distances of obstacle reflection light spots at different distances of the effective detection area deviating from the optical axis of the first camera are different; on the premise that the transmitting direction of the infrared laser transmitter and the optical axis direction of the first camera are not changed, the larger the preset height difference value is, the larger the effective detection area is. The technical scheme limits an effective area for detecting the obstacle within a controllable distance from the mobile robot, and estimates the distance of the obstacle according to the distance difference of the reflection light spot deviating from the optical axis.
Further, the second camera is installed above the first camera, and the view angles of the second camera and the first camera face the advancing direction of the mobile robot; the optical axis direction of the second camera is horizontally inclined upwards, so that the second camera can shoot images in areas outside the effective detection area; the optical axis direction of the first camera is horizontally arranged in a downward inclined mode, so that the first camera can shoot laser spots reflected by ground obstacles. In the process of horizontal downward inclined scanning of the emission direction of the infrared laser emitter, a laser point can scan the ground, and under the condition, if laser information acquired by the first camera is used for positioning at the same time, positioning drift can be caused, so that the second camera is arranged above the first camera to replace the first camera to perform a visual positioning function, and the mobile robot is prevented from losing a normal positioning function due to obstacle avoidance.
Furthermore, the second camera is installed above the first camera, a lens of the second camera faces an indoor ceiling, and the optical axis direction of the first camera is horizontally inclined downwards so as to shoot laser spots reflected back by ground obstacles. The second camera is not affected to execute the visual positioning function.
Furthermore, the second camera is installed above the first camera, the visual angle of the second camera faces to the reverse direction of the advancing direction of the mobile robot, the optical axis direction of the second camera horizontally inclines upwards, and the transmitting direction of the optical axis of the first camera horizontally inclines downwards, so that the second camera shoots the laser spot reflected by the ground obstacle. According to the technical scheme, the second camera is controlled to be positioned by collecting the image behind the mobile robot, so that positioning drift caused by collecting reflected laser spots is avoided, and visual camera dead angles are not formed between the second camera and the first camera.
Further, the infrared laser emitter is an infrared laser emitting tube, a laser light source signal emitted by the infrared laser emitting tube is represented by a linear near-infrared laser, and the wavelength of the infrared laser is 800nm to 920 nm. Thereby enabling the first camera to receive more effective laser reflection points.
Drawings
Fig. 1 is a schematic view of an assembly structure of a mobile robot based on laser visual information obstacle avoidance navigation and an effective detection area formed by the assembly structure (the infrared laser emitter is installed above the first camera, and the emission direction of the infrared laser emitter is obliquely downward relative to a horizontal plane).
Fig. 2 is a schematic view of light spot images respectively displayed on imaging frames corresponding to the first camera by two obstacles with different heights according to an embodiment of the present invention.
Fig. 3 is a schematic view of an assembly structure of a mobile robot based on laser visual information obstacle avoidance navigation and an effective detection area formed by the assembly structure (the infrared laser transmitters are installed on the left and right sides of a housing of the mobile robot) according to an embodiment of the present invention.
Fig. 4 is a top view of a mobile robot based on laser visual information obstacle avoidance navigation and a schematic diagram of an effective detection area formed by the mobile robot according to an embodiment of the present invention (the infrared laser transmitters are installed on the left and right sides of the first camera, and are in a left-right opposite-emission assembly state).
Fig. 5 is a schematic internal assembly diagram of a first camera according to an embodiment of the present invention.
Reference numerals:
101: a body of the mobile robot; 102: a drive wheel; 1031: first camera, 1032: a second camera; 104: a laser transmitter; 1041: a right infrared laser transmitter; 1042: a left infrared laser transmitter; 105: a laser light source; 106: a viewing angle of the first camera 1031; 107: an effective detection area;
201: a light spot image with the center A and the height h; 202:201 on the image sensing chip; 203: spot images with center a1 height h 1; 204: 203.
51: a light-sensing surface of the image sensor; 52: an infrared filter; 53: an optical lens.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The embodiment of the invention provides a mobile robot based on laser visual information obstacle avoidance navigation, as shown in fig. 1 and 3, two cameras and at least one infrared laser emitter are assembled at the front end of a shell of a machine body 101 of the mobile robot, and the number of the infrared laser emitters arranged in the embodiment is preferably multiple and the infrared laser emitters are arranged according to a certain shape. The bottom of the body 101 of the mobile robot is equipped with a driving wheel 102, the two cameras are divided into a first camera 1031 and a second camera 1032 in this embodiment, the first camera 1031 includes an optical lens and an image sensor which are connected in sequence according to a conventional camera, the first camera 1031 further includes an infrared filter, the whole photosensitive area of the image sensor is covered with the infrared filter or an infrared coating film in this embodiment, the infrared filter or the coating film lens can be additionally arranged on the first camera in this embodiment, and the lens of the first camera 1031 is the optical lens. Therefore, the infrared filter is fixed in the first camera 1031, compared with a manufacturing and designing process of only covering the infrared filter on a part of the photosensitive area of the image sensor, the manufacturing and designing process of covering the infrared filter or the infrared coating on the whole photosensitive area of the image sensor is simpler, the manufacturing difficulty of the infrared camera is reduced, and because the infrared filter or the infrared coating is used for filtering visible light in optical signals reflected in the effective detection area 107, the assembly of the first camera 1031 reduces the influence of ambient light on the mobile robot to detect obstacles according to reflected light spot images, particularly strong visible light reflected by a wall surface full of straight lines. The optical axis of the first camera 1031 is matched with the emitting direction of the infrared laser emitter, so that the infrared laser reflection condition in the effective detection area 107 in the front lower part of the mobile robot is shot, wherein the light curtain emitted by the infrared laser emitter is intersected with the ground and approximates to a straight line. The first camera 1031 is specially used for shooting recognizable infrared light spots reflected by obstacles in the effective detection area 107, the emission direction of the infrared laser emitter and the optical axis of the first camera 1031 are both set to be towards the advancing direction of the mobile robot, obviously, the places where the light spots appear in the picture shot by the first camera 1031 represent that the mobile robot detects the obstacles appearing in the front, and the recognition rule is far simpler than the prior art for recognizing the appearance of the object. Wherein, a laser signal 105 emitted by the infrared laser emitter intersects with a visual angle 106 of the first camera 1031 to form an effective detection area 107, and the effective detection area 107 is positioned in front of and below the mobile robot; the laser transmitter is matched with an infrared filter of the first camera 1031 to detect the obstacles in a close range, and light spots formed by reflection of invisible light are used for identifying the obstacles in the effective detection area 107, so that misjudgment of the image sensor on an imaging plane due to interference of visible light is avoided.
In this embodiment, the second camera 1032 is not equipped with an infrared filter and an infrared coating, the second camera 1032 is installed around the first camera 1031, and the second camera 1032 faces the front of the mobile robot, and is used for collecting image information in front of the mobile robot, and synchronously constructing a map according to the image collected in real time, so as to keep executing the visual positioning navigation function in real time without considering the interference of ambient light, because the map construction information under the interference of strong light can be provided by the reflected light spot image collected by the first camera 1031, thereby ensuring the normal execution of the visual positioning navigation function, and certainly, under necessary circumstances, the image information collected in real time by the second camera 1032 can be used for correcting the reflected light spot image collected by the first camera 1031, so as to correct the result of obstacle detection. In this embodiment, the photosensitive area of the first camera 1031 is completely covered with an infrared filter or an infrared coating, so that the first camera 1031 is dedicated to shooting recognizable infrared light spots reflected by obstacles in an effective detection area, and interference of strong visible light is prevented; the second camera 1032 collects image information in front of the mobile robot to achieve visual positioning, and compared with the method that the mobile robot is controlled by using visual laser information collected by one camera alone, the two cameras provided by the embodiment of the invention work cooperatively, so that respective advantages of the visual information and reflected light spot information are fully utilized, the real-time drawing establishment performance of the visual information and the accuracy of the laser information are combined, the detection position of the obstacle is corrected in real time, the obstacle avoidance path is planned, and the interference of ambient light on the obstacle detection stability is favorably overcome. Therefore, the mobile robot provided by the embodiment can not only avoid misjudgment of the image sensor on the imaging plane due to visible light interference, but also keep executing a normal navigation positioning function. The difficulty of the camera in detecting the obstacle through the shot light spot image is further reduced, and meanwhile, the operation resources matched with the image library are also reduced.
As shown in fig. 1 and 3, the second camera 1032 is installed above the first camera 1031, the emission direction of the optical axis of the second camera 1032 is horizontally inclined upward, and the second camera 1032 is not inclined at a large angle with respect to the horizontal upward inclination, but can capture an image of a region other than the effective detection region 107. The emitting direction of the optical axis of the first camera 1031 is inclined downwards horizontally, and the angle of the first camera 1031 inclined downwards relative to the horizontal direction is not large, but the first camera 1031 can shoot laser spots reflected by ground obstacles. It is noted that the viewing angles of the second camera 1032 and the first camera 1031 are both oriented in the forward direction of the mobile robot. In the process of scanning by horizontally tilting the emitting direction of the infrared laser emitter downwards, if no obstacle is in the effective detection area 107, the laser spot will scan the ground, and in this case, positioning still using the laser information collected by the first camera 1031 will cause positioning drift, so this embodiment installs the second camera 1032 above the first camera 1031 instead of performing the function of visual positioning, thereby ensuring that the mobile robot will not lose the normal positioning function because of performing the obstacle avoidance function.
Since the second camera is installed around the first camera for collecting image information around the mobile robot to realize visual positioning, the following preferred examples also exist for relative assembly positions of the first camera and the second camera on the mobile robot:
preferably, the second camera is installed above the first camera, and a lens of the second camera faces an indoor ceiling; the optical axis direction of the first camera is horizontally arranged in a downward inclined mode, so that the first camera can shoot laser spots reflected by ground obstacles. The embodiment expands the visual angle of the mobile robot for executing the visual positioning, so that the visual positioning of the second camera is more accurate and comprehensive.
Preferably, the second camera is installed above the first camera, the viewing angle of the second camera faces to the reverse direction of the advancing direction of the mobile robot, and the optical axis direction of the second camera is horizontally inclined upwards, that is, the second camera faces to the rear of the mobile robot; the emission direction of the optical axis of the first camera is horizontally arranged in a downward inclined mode, so that the first camera can shoot laser spots reflected by ground obstacles. The second camera is controlled to be positioned by collecting the image behind the mobile robot, so that positioning drift caused by collecting reflected laser spots is avoided, and visual camera dead angles cannot be formed between the second camera and the first camera. Therefore, the mobile robot can normally execute the positioning and navigation functions.
It should be noted that, in this embodiment, the detection and identification of the reflected light spot image on the imaging screen of the first camera 1031 can be completed by using common algorithms such as the most common color edge detection algorithm, so that the calculation workload of the mobile robot is greatly reduced, and more resource spaces are better provided for the real-time positioning and navigation work.
In the foregoing embodiment, the emitting direction of the infrared laser emitter is horizontally inclined downward for emitting laser spots for scanning the ground, the collection of the laser spots is a straight infrared laser beam, and before no obstacle is detected, a red straight light beam is emitted on the ground; the infrared laser transmitter is installed around the first camera 1031, and a preset acute angle is formed between the transmitting direction of the infrared laser transmitter and the optical axis of the first camera 1031, so that the infrared laser transmitted by the infrared laser transmitter intersects with the visual angle of the first camera 1031 within a preset distance range in front of the mobile robot to form the effective detection area 107. In this embodiment, the emission direction of the infrared laser emitter horizontally inclines downwards, and the laser point can be emitted to the ground, so that the infrared laser emitter can sweep more effective detection points as much as possible, and the effect of detecting the obstacle protruding from the ground is improved.
As an embodiment, as shown in fig. 1, the infrared laser emitter 104 is installed above the first camera 1031 and the second camera 1032, and the emitting direction of the infrared laser emitter 104 is set obliquely downward with respect to a horizontal plane, the optical axis L of the first camera 1031 is set obliquely upward with respect to the horizontal plane, the emitting direction of the infrared laser emitter 104 and the optical axis L of the first camera 1031 form a preset acute angle, so that the laser light source 105 emitted from the infrared laser emitter 104 intersects with the view angle 106 of the first camera 1031 to form an effective detection area 107, the emitting direction of the infrared laser emitter horizontally inclines downward, the laser points will be emitted toward the ground, the infrared laser emitter will sweep to as many effective detection points as possible, and the effective detection view angle range of the first camera 1031 is also covered and intersected by the laser light source 105 from top to bottom, then, after visible light is removed by using an infrared filter arranged inside the first camera 1031, an area for detecting obstacles is limited to an area close to the front lower part of the mobile robot, the influence of reflected light of a distant indoor obstacle is removed, the detection of raised obstacles in an effective detection area 107 is assisted, and reflected light spot information of the obstacles is supplemented to image information acquired by the second camera 1032, so that real-time visual positioning and map construction in synchronization are realized in a strong visible light environment.
Specifically, the emitting direction of the infrared laser emitter 104 and the optical axis L of the first camera 1031 form a preset acute angle between 40 degrees and 50 degrees, the emitting end of the infrared laser emitter 104 and the lens of the first camera 1031 face the front of the first camera 1031, so as to assist in detecting a protruding obstacle on the ground plane in front of the first camera 1031, the emitting direction of the infrared laser emitter 104 and the horizontal direction form a preset emitting angle, the emitting direction of the infrared laser emitter 104 is inclined horizontally downward, a laser point can be emitted to the ground, and the infrared laser emitter can sweep more effective detection points as much as possible. So that the laser light source 105 emitted by the infrared laser transmitter 104 intersects the view angle of the first camera 1031 within a preset distance range in front of the mobile robot to form an effective detection area 107. In this embodiment, the first camera 1031 is installed in a manner that the region for detecting the obstacle is limited to a region close to the mobile robot, that is, the effective detection region 107, and after the filter of the first camera 1031 eliminates visible light, interference of reflected light of a distant indoor obstacle or external strong visible light reflection can be eliminated, false obstacles caused by strong light spots can be eliminated, and the method is suitable for various indoor complex environments. It is noted that the predetermined exit angle ranges from 40 degrees to 80 degrees. The emission direction of the infrared laser emitter relative to the horizontal plane is accurately limited, and the effective detection visual angle range of the camera is covered and crossed.
As an example, referring to fig. 3 and 4, the laser light source transmitter 104 includes a left ir laser transmitter 1042 and a right ir laser transmitter 1041, which are symmetrically installed at the left and right sides of the first camera 1031, as shown in fig. 4, and correspondingly installed on the left and right side housings of the body 101 of the mobile robot, that is, on the body housing panel of the mobile robot around the first camera 1031, and both the left ir laser transmitter 1042 and the right ir laser transmitter 1041 maintain the same vertical distance with the optical axis of the first camera 1031. The emitting direction of the left infrared laser emitter 1042 is inclined to the right lower side relative to the horizontal plane, the emitting direction of the right infrared laser emitter 1041 is inclined to the left lower side relative to the horizontal plane, the laser light source 105 emitted by the left infrared laser emitter 1042, the laser light source 105 emitted by the right infrared laser emitter 1041 and the view angle 106 of the first camera 1031 intersect to form an effective detection area 107 located in the front lower side of the mobile robot, light spots formed by obstacles in the effective detection area 107 by the laser light source 105 emitted by the left infrared laser emitter 1042 and the laser light source 105 emitted by the right infrared laser emitter 1041 are isosceles triangles, and a regular pattern is formed after the light spots are reflected to the light sensing surface of the first camera 1031, so that the light spots can be identified conveniently, and the interference caused by bright spots formed by external light (for example, strong light) on the obstacles can be reduced. Compared with the structure that the infrared laser transmitter 104 is installed above the first camera 1031 provided in the foregoing embodiment, the left-right correlation structure of the left infrared laser transmitter 1042 and the right infrared laser transmitter 1041 provided in this embodiment increases the coverage area of the laser light source signal emitted by the infrared laser transmitter 104, and expands the effective detection area.
Specifically, the infrared laser transmitter 1042 and the right infrared laser transmitter 1041 are both preferably single line laser radars, and laser source signals 105 emitted by the infrared laser transmitters and the right infrared laser transmitters are all single lines and used for scanning a plane, so that the mobile robot can be helped to avoid obstacles, and the mobile robot is high in scanning speed, high in resolution and high in reliability. In this embodiment, the infrared laser emitters 1042 and the right infrared laser emitter 1041 are arranged on the left and right sides of the first camera 1031 according to a certain shape, and their emitting directions are all intersected with the optical axis of the first camera 1031, and form a certain angle with each other, and are arranged obliquely downward relative to the horizontal plane, so as to greatly enhance the linear concentration degree of the laser light source 105. In the preferred embodiment, a preset number of left infrared laser emitters and right infrared laser emitters may be further provided, and the left and right infrared laser emitters are correspondingly installed on the left and right sides of the first camera 1031 to be arranged in a regular shape, so that light spots formed by the infrared laser emitters on the reflecting surface of the obstacle have a certain shape, and the light spots form a pattern which is easy to recognize in the imaging plane of the first camera 1031, thereby being beneficial to recognizing the obstacle through the light spots; the laser emitted by the infrared laser emitters can form a plurality of light spots on the obstacle, and the light spots are particularly used for forming a pattern which can be conveniently identified, so that the interference caused by bright spots formed by the obstacle by external light (such as strong light) is further reduced. And is also advantageous to detect the obstacles protruding around the ground plane in front of the first camera 1031 from multiple directions, as shown in fig. 4, the obstacle on the right ground surface of the moving robot body 101 in the forward direction is detected by the light spot formed by the left infrared laser transmitter 1042, and the obstacle on the left ground surface of the moving robot body 101 in the forward direction is detected by the light spot formed by the right infrared laser transmitter 1041.
Preferably, the infrared laser transmitter is preferably an infrared laser transmitting tube, a laser light source signal transmitted by the infrared laser transmitter is represented by a straight line of infrared laser, the wavelength of the infrared laser is 800nm to 920nm, or the infrared laser is a combination of one or a preset number of infrared light sources within the wavelength range, the infrared laser is a near-infrared light source, since the infrared laser is invisible light, and the human eye feels weak or even does not feel infrared, the infrared laser does not disturb people, the infrared laser is applied in the process of imperceptibility of people, and the camera system can avoid obstacles in the dark by using the infrared laser. The embodiment adopts the infrared laser light source, fully utilizes the characteristics of high directivity and low scattering of the infrared laser, ensures that the divergence angle of the irradiated laser is extremely small, almost no scattered light exists, and simultaneously weakens the interference of visible light. As shown in the laser light source 105 of fig. 1, the spot reflected by the ground can be captured by the first camera 1031 only when the spot enters the effective detection area 107. When the laser light source 105 irradiates an object, a bright strip-shaped light spot is projected on the object. As shown in fig. 1, when the laser light source 105 intersects with the road surface and irradiates obliquely downward at the preset exit angle, if there is an obstacle on the road surface, a light spot formed by a laser spot beam is reflected on the surface of the obstacle, and enters the effective detection area 107 to be captured by the first camera 1031.
Therefore, the infrared filter is preferably an infrared band-pass filter or an infrared low-pass filter, and is configured to suppress or filter visible light and spectral signals in a high frequency band, and only allow infrared light signals to pass through, and in a specific application, the infrared filter is a low-pass type, a band-pass type, a long-pass cut-off type or a cut-off type infrared filter, for example, when the infrared laser emitter emits 850nm infrared laser light to perform obstacle identification, an infrared band-pass filter with a central wavelength of 850nm may be used in cooperation, so that 850nm infrared reflected laser light passes through, and reflected light rays with other wavelengths are filtered out. The infrared band-pass filter or the infrared low-pass filter adopted in this embodiment may be an infrared filter that suppresses or filters visible light, or a coating film that is attached to the photosensitive surface of the image sensor, and they are used to filter out the infrared laser, thereby blocking visible light from entering the photosensitive surface 301 of the image sensor, so that the light spot imaging in the photosensitive surface 301 may not be interfered by the visible light, improving the infrared light imaging quality, thereby realizing that the image sensor receives the infrared laser, and completing the infrared light spot imaging on the photosensitive surface 301. According to the embodiment, infrared light is used for identifying obstacles, interference caused by ambient light is reduced, meanwhile, the second camera 1032 can also perform visual navigation positioning by utilizing visible light, the obstacle avoidance function and the synchronous positioning function are borne by image sensors in different positions and types, the processing speed of the mobile robot is increased, and the reliability of obstacle avoidance positioning of the mobile robot is also improved.
As shown in fig. 5, the infrared filter 52 is attached to the photosensitive surface 51 by a specific material, and the area of the infrared filter 52 is equal to the area of the photosensitive surface 51, such as the area 52 covered by black oblique lines in fig. 5, which is simple relative to the manufacturing process of the partial area covering the photosensitive surface 51. The photosensitive surface 51 is formed by regularly arranging a plurality of three-primary-color (R, G, B) photosensitive components according to a specific sequence, and in the embodiment, the photosensitive components in the photosensitive surface 51 are set to be covered by an infrared light imaging area and used for outputting infrared light imaging data. The infrared filter 52 is configured to filter out infrared laser in the optical signal incident to the optical lens 53 in a manner of absorbing or reflecting visible light, so that the infrared laser is incident to the photosensitive surface 51 of the image sensor, as shown in a dotted line with an arrow in fig. 5, the dotted line with an arrow on the right side of the optical lens 53 represents an external incident optical signal of the first camera 1031, the optical signal first enters the optical lens 53, then is refracted to become a dotted line with an arrow on the left side of the optical lens 53, and enters the photosensitive surface 51 of the image sensor, that is, enters the infrared filter 52 to filter out visible light.
In fig. 5, the ir filter 52 may be adhered to the light-sensitive surface 51 of the image sensor by a special glue, so as to fix the ir filter 52 inside the first camera 1031, wherein the image sensor may be fixed to a bracket in any feasible manner in a specific application, and further fixed to a circuit board by the bracket, so that the optical lens 53 is disposed opposite to the light-sensitive surface 51 of the image sensor, for example, the image sensor is fixed to the bracket by a snap-fit fixing, a glue adhering, or a threaded fastener fastening. The optical lens 53 faces the infrared filter 52 at a preset working distance. Similarly, the optical lens 53 is fixed on one side of the photosensitive surface 51 far away from the image sensor by the lens holder inside the first camera 1031, and is used for focusing the optical signal reflected in the effective detection area 107 on the infrared filter 52 attached to the photosensitive surface 51, wherein the optical lens 53 is fixed on the conventional lens holder by means of fastening by a fastener, glue or a threaded fastener. In this embodiment, the infrared filter 52 is configured to filter visible light in the reflected optical signal before the laser source signal is focused on the photosensitive surface 51, so that a predetermined photosensitive area of the photosensitive surface 51 only receives the infrared spectrum emitted by the infrared laser emitter 104. In this embodiment, the fixing structure of the infrared filter 52 on the image sensor is relatively simple, which is beneficial to guiding the incident infrared laser signal to perform infrared imaging in the photosensitive surface 51 and filtering out visible light.
Preferably, a preset distance value exists between the installation position of the infrared laser transmitter 104 and the installation position of the first camera 1031, so that distances of infrared spots reflected by obstacles at different distances deviating from an optical center of the optical lens are different, and positions of an imaging picture distributed on the first camera 1031 are also different, wherein a position of a lens optical axis of the first camera 1031 is fixed. On the premise of keeping the preset acute angle and the optical axis of the optical lens 53 unchanged, when the preset distance value is set to be larger, the area of the viewing angle 106 covered and intersected by the laser light source 105 is larger, and the effective detection area 107 is formed to be larger. The relative distance between the infrared laser emitter and the first camera can be adjusted according to the distribution situation of the indoor environment, so that the infrared filter filters visible light more effectively, more infrared laser signals from the infrared laser emitter are emitted, and the detection effect of the barrier is improved.
As can be seen from fig. 1 and fig. 2, the first camera 1031 captures the light spot reflected by the obstacle at a first preset position in the effective detection area 107, and forms a light spot image 201 on the image sensing sheet 202 at the position of the imaging screen of the first camera 1031, where the height of the center position a of the light spot image 201 on the image sensing sheet 202 is h; when the obstacle is closer to the first preset position than to the first camera 1031, the first camera 1031 captures the obstacle reflection light spot at the second preset position in the effective detection region 107, and forms a light spot image 203 on the image sensing sheet 204 at the imaging picture position of the first camera 1031, the height of the center position a1 of the light spot image 203 on the image sensing sheet 204 is h1, wherein the height h1 is significantly greater than the height h, and the horizontal distance between the first preset position and the first camera 1031 is greater than the horizontal distance between the second preset position and the first camera 1031. Therefore, the present embodiment can determine how far and how close the first camera 1031 is to the obstacle in the effective detection area 107 according to the reflected infrared spot image on the imaging screen of the first camera. It should be noted that after the mobile robot recognizes the obstacle, the distance of the obstacle can be estimated according to the height difference of the light spots distributed in the imaging picture of the first camera 1031, which is based on the convex lens imaging principle in the geometric optics of the middle school textbook, and the principle is applied to many optical distance measuring instruments, which belongs to the known technology and is not described in detail. Similarly, the light spot image with the rule shown in fig. 2 may appear in the embodiment corresponding to fig. 3, but the light spot image relatively rotates by 90 degrees, but the embodiment corresponding to fig. 3 may still determine the distance between the reflected infrared light spot image on the imaging picture of the first camera 1031 and the obstacle in the effective detection area 107 according to the reflected infrared light spot image.
As can be seen from fig. 1, 2 and 3, when a front obstacle is outside the effective detection area 107 during the moving process of the mobile robot, there is no light spot image reflected by the front obstacle on the imaging plane of the first camera 1031, and this embodiment may regard the imaging plane of the first camera 1031 as the light sensing surface 51 of the image sensor; in the moving robot advancing process, when the obstacle in front is relatively far, the laser light source 105 and the visual angle of the first camera 1031 do not intersect, the first camera 1031 cannot shoot the laser light source, the obstacle gradually approaches to the front, and the laser light source 105 and the intersection point area of the visual angle 106 of the first camera 1031 start to enter, the obstacle in front appears in the effective detection area 107, the infrared speckle image reflected by the obstacle in front appears on the photosensitive surface 51 of the image sensor, and in the effective detection area 107, the obstacle in front approaches to the moving robot, and the position of the speckle image on the photosensitive surface 51 of the image sensor deviates by a larger distance from the optical center of the optical lens. Therefore, the mobile robot can determine the distance between the mobile robot and the obstacle in the effective detection area 107 according to the reflected light spot image on the imaging picture of the first camera 1031, and then make a corresponding obstacle avoidance path plan. According to the distribution condition of the indoor environment, the relative distance between the infrared laser transmitter 104 and the first camera 1031 is adjusted on the body 101 of the mobile robot, so that the detection effect of the obstacles is improved as much as possible.
The foregoing embodiments are merely illustrative of the technical concepts and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. A mobile robot based on laser visual information obstacle avoidance navigation comprises a first camera, a second camera and at least one infrared laser emitter, and is characterized in that an infrared filter or an infrared coating film covers the whole of a lens of the first camera or a photosensitive area inside the first camera, and the optical axis of the first camera is matched with the emission direction of the infrared laser emitter, so that the infrared laser reflection condition in an effective detection area in the front lower part of the mobile robot is shot;
the second camera is not provided with an infrared filter and an infrared coating and is arranged around the first camera and used for collecting image information around the mobile robot to realize visual positioning;
the infrared filter or the infrared coating is used for filtering visible light in the optical signals reflected in the effective detection area; the laser signal emitted by the infrared laser emitter intersects with the visual angle of the first camera to form an effective detection area in front of the mobile robot.
2. The mobile robot as claimed in claim 1, wherein the emitting direction of the infrared laser emitter is horizontally inclined downwards for emitting laser points for scanning the ground; infrared laser emitter installs around first camera, infrared laser emitter's transmitting direction with the optical axis of first camera is a preset acute angle, makes infrared laser of infrared laser emitter transmission be in the distance range is predetermine in the place ahead of mobile robot with the crossing formation in visual angle of first camera effective detection area.
3. The mobile robot according to claim 2, wherein the infrared laser transmitter is installed above the first camera, and there is a preset height difference in the vertical direction between the two positions, so that the distances of the obstacle reflection light spots at different distances of the effective detection area from the optical axis of the first camera are different;
on the premise that the transmitting direction of the infrared laser transmitter and the optical axis direction of the first camera are not changed, the larger the preset height difference value is, the larger the effective detection area is.
4. The mobile robot of claim 2, wherein the infrared laser transmitter is disposed on a body housing panel of the mobile robot around the first camera;
the number of the infrared laser transmitters is more than one, the infrared laser transmitters are bilaterally symmetrical relative to the first camera and keep the same vertical distance with the optical axis of the first camera, and therefore barrier reflection light spots at different distances of the effective detection area are distributed at different positions of an imaging picture of the first camera.
5. The mobile robot according to any one of claims 2 to 4, wherein the second camera is mounted above the first camera with their view angles both directed in the forward direction of the mobile robot; the optical axis direction of the second camera is horizontally inclined upwards, so that the second camera can shoot images in areas outside the effective detection area; the optical axis direction of the first camera is horizontally arranged in a downward inclined mode, so that the first camera can shoot laser spots reflected by ground obstacles.
6. The mobile robot according to any one of claims 2 to 4, wherein the second camera is mounted above the first camera, and a lens of the second camera faces an indoor ceiling; the optical axis direction of the first camera is horizontally arranged in a downward inclined mode, so that the first camera can shoot laser spots reflected by ground obstacles.
7. The mobile robot according to any one of claims 2 to 4, wherein the second camera is mounted above the first camera, a viewing angle of the second camera is directed in a direction opposite to a forward direction of the mobile robot, and an optical axis direction of the second camera is horizontally inclined upward; the emission direction of the optical axis of the first camera is horizontally arranged in a downward inclined mode, so that the first camera can shoot laser spots reflected by ground obstacles.
8. The mobile robot as claimed in any one of claims 1 to 4, wherein the infrared laser transmitter is an infrared laser transmitter tube which transmits a laser light source signal representing a straight line of near-infrared laser light having a wavelength of 800nm to 920 nm.
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