CN113558523A - Laser radar obstacle detection device, equipment and detection method - Google Patents

Laser radar obstacle detection device, equipment and detection method Download PDF

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Publication number
CN113558523A
CN113558523A CN202110689066.6A CN202110689066A CN113558523A CN 113558523 A CN113558523 A CN 113558523A CN 202110689066 A CN202110689066 A CN 202110689066A CN 113558523 A CN113558523 A CN 113558523A
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CN
China
Prior art keywords
laser
laser beam
detection device
obstacle detection
horizontal
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Pending
Application number
CN202110689066.6A
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Chinese (zh)
Inventor
龙杰
杨毅
王品
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Shenzhen Eai Technology Co ltd
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Huizhou Yuedeng Intelligent Technology Co ltd
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Application filed by Huizhou Yuedeng Intelligent Technology Co ltd filed Critical Huizhou Yuedeng Intelligent Technology Co ltd
Priority to CN202110689066.6A priority Critical patent/CN113558523A/en
Publication of CN113558523A publication Critical patent/CN113558523A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4008—Arrangements of switches, indicators or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0616—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of coating
    • G01B11/0625—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of coating with measurement of absorption or reflection
    • 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
    • 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
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The invention discloses a laser radar obstacle detection device, equipment with an obstacle detection function and a detection method, wherein the device comprises: the module support frame, and with the fixed circuit board of module support frame, the circuit board is connected with photosensitive camera and two laser pipes, and wherein first laser pipe is used for launching horizontal laser beam, and the second laser pipe is used for launching vertical laser beam, horizontal laser beam with vertical laser beam is keeping away from intersect in the direction of module support frame. In the technical scheme provided by the invention, the horizontal laser beam is used for judging whether the front pavement is flat or not and whether the front pavement meets the obstacle crossing design or not, and the vertical laser beam is used for judging whether the passing height meets the structural design of a machine or not and whether the passing can be smooth or not; can achieve good obstacle avoidance effect.

Description

Laser radar obstacle detection device, equipment and detection method
Technical Field
The invention relates to the field of intelligent equipment, in particular to a laser radar obstacle detection device, equipment with an obstacle detection function and a detection method.
Background
The traditional intelligent floor sweeping robot adopts a two-dimensional laser radar mode to navigate and avoid obstacles, the navigation mode is convenient and fast, and the obstacle avoiding function is also considered while navigation is carried out. Specifically, the obstacle avoidance method is based on a laser radar, and determines the surrounding environment by generating pulse laser through a transmitting laser tube of the laser radar and rotating the transmitting laser tube, but the method can only look around the obstacle (namely, a two-dimensional plane) on the same plane of the radar, and cannot scan objects below the plane or above the plane. Therefore, when the sweeper cannot sweep special positions through the conventional laser radar, such as a lower bed bottom (an area above a two-dimensional plane) or a gully in the ground in front (below the two-dimensional plane), the sweeper is extremely easy to be locked to prevent movement or continuously try to collide, and is not intelligent. Meanwhile, the sweeper needs a larger working range including some sanitary dead corners, so that the sweeper is mostly designed in a flat mode, and the sweeper is more difficult to install other sensors.
The prior art is therefore still subject to further development.
Disclosure of Invention
In order to solve the technical problems, the invention provides a laser radar obstacle detection device, equipment with an obstacle detection function and a detection method.
In a first aspect of the embodiments of the present invention, there is provided a laser radar obstacle detection apparatus, including: the module support frame, and with the fixed circuit board of module support frame, the circuit board is connected with photosensitive camera and two laser pipes, and wherein first laser pipe is used for launching horizontal laser beam, and the second laser pipe is used for launching vertical laser beam, horizontal laser beam with vertical laser beam is keeping away from intersect in the direction of module support frame.
Optionally, the laser emitting direction of the first laser tube is slightly inclined downwards.
Optionally, the module support frame includes a first mounting surface and a second mounting surface, the first mounting surface is used for mounting the first laser tube, and the second mounting surface is used for mounting the second laser tube.
Optionally, the photo-sensor is located between the first mounting surface and the second mounting surface.
Optionally, an optical filter is additionally installed on the photosensitive camera and used for enhancing laser beam reception of the photosensitive camera.
Optionally, the laser beams emitted by the first laser tube and the second laser tube are crossed.
Optionally, one of them laser pipe of two laser pipes is located the upper portion of sensitization camera, another the laser pipe is located the lower part of sensitization camera, just first laser pipe, sensitization camera, second laser pipe are arranged according to predetermineeing the angle and are set up on the module support frame.
In a second aspect of the embodiments of the present invention, there is provided a laser radar obstacle detection apparatus, including: the circuit board is connected with a photosensitive camera and a laser tube, the laser tube can emit a cross-shaped laser beam, and the cross-shaped laser beam is formed at a distance from the laser radar obstacle detection device; the horizontal laser beam and the vertical laser beam are respectively used for detecting the front obstacle and the passing height obstacle of the moving path.
Optionally, wherein the photo-sensor camera comprises: the first photo-sensitive camera is used for receiving the horizontal laser beams, and the second photo-sensitive camera is used for receiving the vertical laser beams.
Optionally, the module support frame includes a first mounting surface and a second mounting surface, the first mounting surface is used for mounting the first photosensitive camera, and the second mounting surface is used for mounting the second photosensitive camera; the laser tube is located between the first installation surface and the second installation surface.
Optionally, the photosensitive camera is provided with one photosensitive camera which can receive a cross-shaped laser beam.
In a third aspect of the embodiments of the present invention, an apparatus with an obstacle detection function is provided, including a movable mechanism and an obstacle detection device cooperating with the movable mechanism, where the obstacle detection device is the above-mentioned laser radar obstacle detection device.
Optionally, the first laser tube and the second laser tube emit laser beams according to a preset emission control time sequence, so that the emitted laser beams are laser beams with different wavelengths.
Optionally, the apparatus is a sweeping robot or a transporting robot.
In a third aspect of the embodiments of the present invention, a method for detecting an obstacle is provided, which is applied to a device with an obstacle detection function, where the device is provided with a laser radar that can emit a vertical laser beam and a horizontal laser beam;
the vertical laser beam is emitted out and is intersected with the horizontal laser beam; monitoring data of all vertical laser beams, which are positioned above the horizontal laser beam and have a monitoring distance less than or equal to the horizontal laser beam; when the horizontal laser beam is not flat, judging that the horizontal laser beam meets an obstacle; when the distance is smaller than or equal to the horizontal laser beam and the data of all the vertical laser beams are positioned above the horizontal laser beam and are lower than a preset threshold value, judging that the obstacle is encountered;
when equipment meets the barrier, the control equipment rotates, so that the laser radar rotates to find a position which can meet the requirement of passing and avoid the barrier.
In the technical scheme provided by the invention, a cross-shaped laser beam is emitted by using a structured light ranging principle, a horizontal laser beam is used for judging whether a front road surface is flat or not and whether an obstacle crossing design is met or not, and a vertical laser beam is used for judging whether a passing height meets a machine structure design or not and whether the passing can be smoothly carried out or not; can achieve good obstacle avoidance effect.
Drawings
Fig. 1 is a schematic structural diagram of a laser radar obstacle detection apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an obstacle detection apparatus for lidar in another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lidar obstacle detection apparatus according to yet another embodiment of the present invention.
Circuit boards 1, 10; first mounting surfaces 2, 30; second mounting surfaces 3, 20; a second laser tube 4; a photo-sensing camera 5; a first laser tube 6; module support frames 7, 70; a laser tube 50; a first photo-sensing camera 40; a second photo-sensitive camera 60; a photo camera 80.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a laser radar obstacle detection apparatus according to an embodiment of the present invention. The lidar obstacle detection device includes: module support frame 7, circuit board 1, photosensitive camera 5, two laser pipes. Different from the prior art, the technical scheme provided by the invention has the function of detecting the height of the obstacle, and the specific detection modes are different, for example, the laser beams emitted by the two laser tubes are in a cross shape. It will be understood that the two laser beams intersect each other at an angle, in a plane, approximately horizontal and vertical, including, of course, at an oblique angle to each other.
Specifically, the invention provides a laser radar obstacle detection device, which comprises a module support frame 7 and a circuit board 1 fixed with the module support frame 7, wherein necessary electronic parts for processing laser signals such as a necessary processor, a necessary memory and the like can be arranged on the circuit board 1. In order to realize the function of avoiding barriers by laser, the laser obstacle avoidance device further comprises a photosensitive camera 5 and two laser tubes, wherein the photosensitive camera 5 is connected with the circuit board 1 and is used for receiving laser beams emitted by the two laser tubes and reflected by the obstacles.
And one of the laser tubes is positioned at the upper part of the photosensitive camera 5, and the other laser tube is positioned at the lower part of the photosensitive camera 5. Except that the laser tube located at the upper part is used to emit a horizontal laser beam, being the first laser tube 6. The laser tube located at the lower part is used for emitting vertical laser beams, and is the second laser tube 4. The first laser tube 6, the photosensitive camera 5 and the second laser tube 4 are arranged on the module supporting frame 7 according to a preset angle; the arrangement is such that the two laser tubes can emit laser beams at a certain inclination angle, so that the laser beams can detect obstacles at different positions, such as obstacles in the horizontal direction and obstacles above the horizontal direction with a traffic height limit.
In this embodiment, the horizontal laser beam intersects the vertical laser beam in a direction away from the module support frame 7. In an application example, for example, a sweeping robot, one laser tube emits a horizontal laser beam, one laser tube emits a vertical laser beam, and two laser tubes and three laser tube cameras are arranged at a specific angle. The light beams emitted by the two laser tubes are vertically intersected to form a cross light beam emitted to the right front of the laser radar.
The invention can judge the height of the barrier by detecting the height of the moving object through the laser tube, and simultaneously, the horizontal laser beam can judge the barrier passing ahead. The horizontal laser beam is used for judging whether the front pavement is flat or not and whether the front pavement meets the obstacle crossing design or not, and the vertical laser beam is used for judging whether the passing height meets the structural design of the machine or not and whether the passing can be smoothly carried out or not. The scheme of the invention adopts the principle of structured light ranging, and emits cross laser beams to finish the judgment of the passing road and the passing space height without adding redundant sensors. The mobile object can be configured only by updating the software version, and can be adapted to any type of mobile object without changing any structure.
Further, as shown in fig. 1, the laser emitting direction of the first laser tube 6 is slightly inclined downwards, and the laser emitting direction of the second laser tube 4 is slightly inclined upwards. The laser beams emitted by the two laser tubes intersect at a certain position at a distance, and accordingly the photosensitive camera 5 can acquire the reflected light (reflection stripes) of the laser beams emitted by the two laser tubes. It can be understood that the first laser tube 6 and the second laser tube 4 are arranged with the angle of the emitted laser light inclined, i.e. the first laser tube 6 and the second laser tube 4 are inclined. It can also be understood that the mounting positions of the first laser tube 6 and the second laser tube 4 are inclined, for example, the mounting surface of the module support frame 7 is inclined.
In an optional embodiment, the laser beams emitted by the first laser tube 6 and the second laser tube 4 are crossed. During production, adaptation does not need to be carried out for specific users, the sweeper of different manufacturers or other equipment using the laser radar are different in appearance and height, and the sweeper is compatible with the sweepers of different manufacturers.
In an optional embodiment, the module support frame 7 comprises a first mounting surface 2 and a second mounting surface 3, wherein the first mounting surface 2 is inclined downwards, the first laser tube 6 is mounted on the first mounting surface 2, and the second laser tube 4 is mounted on the second mounting surface 3. Thereby realizing that the laser beams emitted by the two laser tubes can intersect. As a preferred embodiment, the second mounting surface 3 is an upwardly inclined mounting surface.
The partial module supporting frame 7 for installing the laser tube does not need to be arranged obliquely. The horizontal or upward laser tube is inclined downwards like the upward laser tube, so that the intersection point of the light beams emitted by the first laser tube 6 and the second laser tube 4 is ensured to be positioned on the ground in front of the photosensitive camera 5.
Inclination angle scope between two laser pipes depends on the inclined plane angle on the module support frame 7 that sets up the laser pipe, sets up the laser pipe that possesses certain inclination, can ensure that laser radar equipment obtains bigger field of vision scope.
Correspondingly, the photosensitive camera 5 is positioned between the first mounting surface 2 and the second mounting surface 3. In order to better adapt to different application scenes or laser beam acquisition requirements, the first mounting surface 2 and the second mounting surface 3 can be provided with sliding grooves, so that the effect that the first laser tube 6 and the second laser tube 4 can move is achieved. For example, the first laser tube 6 and the second laser tube 4 can move left and right on the module supporting frame 7.
Furthermore, an optical filter is additionally arranged on the photosensitive camera 5 and used for enhancing the laser beam receiving of the photosensitive camera 5. Preferably, the optical filter has the function of passing the specified waveform light, so that the laser tube camera with the special optical filter can only receive the reflected laser with a specific wavelength, noise interference is reduced, and detection accuracy is provided.
Fig. 2 is a schematic structural diagram of another lidar obstacle detection apparatus according to an embodiment of the present invention. The lidar obstacle detection device includes: the circuit board 10 is connected with two photosensitive cameras and a laser tube 50, the laser tube 50 can emit a cross-shaped laser beam, and the cross-shaped laser beam is formed at a distance from the laser radar obstacle detection device; the first photosensitive camera 40 is used for receiving horizontal laser beams, the second photosensitive camera 60 is used for receiving vertical laser beams, and the horizontal laser beams and the vertical laser beams are respectively used for detecting obstacles in front of a moving path and obstacles at passing height.
In contrast to the above-described embodiment, the lidar action is performed by a laser tube 50 emitting a cross-shaped laser beam, which can be understood as two laser beams whose emission paths intersect; and the two photosensitive cameras receive the horizontal and vertical laser beams. Accordingly, the shape of the module support bracket 70 is also changed.
The module support bracket 70 includes two mounting surfaces, a first mounting surface 30 and a second mounting surface 20, which are left and right inclined mounting surfaces. The first mounting surface 30 is inclined to the left for mounting the first photosensitive camera 40, and the second mounting surface 20 is inclined to the right for mounting the second photosensitive camera 60; the laser tube 50 is located between the first mounting surface 30 and the second mounting surface 20.
The first photosensitive camera 40 and the second photosensitive camera 60 are provided with optical filters for enhancing the laser beam reception of the photosensitive cameras. Preferably, since the optical filter has the function of passing through the specified waveform light, the camera of the laser tube 50 with the special optical filter can only receive the reflected laser with a specific wavelength, so that noise interference is reduced, and the detection accuracy is provided.
As shown in fig. 3, the present invention also provides another lidar obstacle detection apparatus including: the circuit board is connected with a photosensitive camera 80 and a laser tube 70, the laser tube 70 can emit cross laser beams, and the cross laser beams are formed at a distance of the laser radar obstacle detection device; the horizontal laser beam and the vertical laser beam are respectively used for detecting the front obstacle and the passing height obstacle of the moving path. The photo camera 80 can receive the cross laser beam and determine whether there is an obstacle in front of the cross laser beam according to the received cross laser beam.
In a possible embodiment, the photosensitive camera 80 is located at the lower part of the laser tube 70, and the photosensitive camera 80 may be a camera module or two camera modules.
Of course, the photo-sensor 80 may be located at the upper part, the side part, or other position of the laser tube 70, which is not limited in the invention, and is sufficient to receive laser light.
The corresponding obstacle detection method is that the device is installed on the mobile equipment, and when the horizontal laser beam irradiation target to the ground is a plane, the reflection stripe is a continuous bright stripe, so that the passable ground with a smooth advancing direction can be judged. When the light source irradiates on an uneven plane, the reflection stripes are separated and offset, meanwhile, dark stripes are formed in the low-lying positions due to the fact that light cannot be totally reflected, the protrusions are bright stripes, therefore, whether the front terrain meets the obstacle crossing requirement of the equipment or not can be judged, in the same way, whether the passing height meets the requirement or not can be judged according to data received back by the vertical stripes, then the advancing mode is selected, and in addition, whether obstacles exist in the middle view of the mobile equipment or not can be judged according to the data received back by the vertical stripes.
Vertical laser beam treatment process: the vertical laser beam is emitted out and is intersected with the horizontal laser beam; monitoring data of all vertical laser beams which are less than or equal to the horizontal laser beams (reflection stripes) and are positioned above the horizontal laser beams (reflection stripes); when the horizontal laser beam is uneven, the horizontal laser beam is indicated to encounter an obstacle; when the distance is less than or equal to the data of the horizontal laser beam (reflection stripe) and all the vertical laser beams above the horizontal laser beam (reflection stripe) and the data is lower than a certain preset threshold (the preset threshold can be set in advance according to the current height of the mobile equipment), the obstacle is met.
The cross light beam that the laser radar equipment of mobile device sent does not detect the barrier, and when the distance did not change in a certain time (the data that accessible laser tube camera was accepted did not change for taking place to change preliminary judgement apart from), the mobile device is rotatory self, and then makes laser radar rotate, real time monitoring. The mobile device judges that an obstacle exists through moving and rotating, then moves and rotates, finds a direction which can meet the passing requirement, and advances, so that the obstacle is avoided. The operation state of the sweeping robot can be understood in a specific mode.
In addition, the invention also provides equipment with an obstacle detection function, which comprises a movable mechanism and an obstacle detection device matched with the movable mechanism, wherein the obstacle detection device is the laser radar obstacle detection device shown in figure 1, figure 2 or figure 3. The equipment is a sweeping robot or a transporting robot; it will be appreciated that the illustrated devices may also be other mobile or non-mobile devices. When the mobile device is not a mobile device, the detection of the obstacle can carry out alarm early warning.
Furthermore, the first laser tube and the second laser tube emit laser beams according to a preset emission control time sequence, so that the emitted laser beams are laser beams with different wavelengths. In this way, the problem of crosstalk of the laser beam can be solved.
Specifically, in the apparatus shown in fig. 1, two laser tubes are controlled by a control command, and the laser is controlled to emit light according to a preset emission control time sequence, so as to ensure that the two emitted laser tubes can emit laser beams with different wavelengths. And then controlling the laser tube camera to receive incident light matched with the wavelengths of the two corresponding laser tubes. And distinguishing two corresponding laser tubes according to the incident light receiving different wavelengths.
When the device shown in fig. 2 or fig. 3 is used, two laser beams can be emitted through the emission control time sequence, for example, a vertical laser beam is emitted within an extreme time after the horizontal laser beam is emitted for one time, so as to ensure that the two emitted laser tubes can emit laser beams with different wavelengths. And then controlling the two laser tube cameras to receive incident light matched with the wavelengths of the two corresponding laser tubes. And distinguishing two corresponding laser tubes according to the incident light receiving different wavelengths.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system and method can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (15)

1. A laser radar obstacle detection device, comprising: the module support frame, and with the fixed circuit board of module support frame, the circuit board is connected with photosensitive camera and two laser pipes, and wherein first laser pipe is used for launching horizontal laser beam, and the second laser pipe is used for launching vertical laser beam, horizontal laser beam with vertical laser beam is keeping away from intersect in the direction of module support frame.
2. The lidar obstruction detection device of claim 1, wherein the first laser tube lasing direction is slightly tilted downward.
3. The lidar obstruction detection device of claim 1, wherein the module support bracket includes a first mounting surface that is inclined downward for mounting the first laser tube, and a second mounting surface for mounting the second laser tube.
4. The lidar obstruction detection device of claim 3, wherein the photosensor is located between the first mounting surface and the second mounting surface.
5. The lidar obstacle detection device of claim 1, wherein an optical filter is added to the photosensitive camera for enhancing laser beam reception of the photosensitive camera.
6. The lidar obstacle detection device of claim 1, wherein the laser beams emitted from the first laser tube and the second laser tube intersect to form a cross-shaped laser beam.
7. The lidar obstacle detection device of claim 1, wherein one of the two laser tubes is located at an upper portion of the photosensitive camera, the other laser tube is located at a lower portion of the photosensitive camera, and the first laser tube, the photosensitive camera, and the second laser tube are arranged at a predetermined angle on the module support frame.
8. A laser radar obstacle detection device, comprising: the circuit board is connected with a photosensitive camera and a laser tube, the laser tube can emit a cross-shaped laser beam, and the cross-shaped laser beam is formed at a distance from the laser radar obstacle detection device; the horizontal laser beam and the vertical laser beam are respectively used for detecting the front obstacle and the passing height obstacle of the moving path.
9. The lidar obstruction detection apparatus of claim 8, wherein the photosensitive camera comprises: the first photo-sensitive camera is used for receiving the horizontal laser beams, and the second photo-sensitive camera is used for receiving the vertical laser beams.
10. The lidar obstruction detection device of claim 9, wherein the module support bracket includes a first mounting surface for mounting the first photosensor camera and a second mounting surface for mounting the second photosensor camera; the laser tube is located between the first installation surface and the second installation surface.
11. The lidar obstacle detection device of claim 8, wherein the photo-sensor head is provided with one photo-sensor head that receives a cross-shaped laser beam.
12. An apparatus with obstacle detection function, comprising a movable mechanism and an obstacle detection device cooperating with the movable mechanism, the obstacle detection device being the lidar obstacle detection device of any one of claims 1 to 7 or claims 8 to 11.
13. The apparatus with obstacle detection function according to claim 12, wherein the first laser tube and the second laser tube emit laser beams at a preset emission control timing such that the emitted laser beams are laser beams of different wavelengths.
14. The apparatus with obstacle detection function according to claim 12, wherein the apparatus is a sweeping robot or a transporting robot.
15. A method for detecting obstacles is applied to equipment with an obstacle detection function, and is characterized in that the equipment is provided with a laser radar which can emit vertical laser beams and horizontal laser beams;
the vertical laser beam is emitted out and is intersected with the horizontal laser beam; monitoring data of all vertical laser beams, which are positioned above the horizontal laser beam and have a monitoring distance less than or equal to the horizontal laser beam; when the horizontal laser beam is not flat, judging that the horizontal laser beam meets an obstacle; when the distance is smaller than or equal to the horizontal laser beam and the data of all the vertical laser beams are positioned above the horizontal laser beam and are lower than a preset threshold value, judging that the obstacle is encountered;
when equipment meets the barrier, the control equipment rotates, so that the laser radar rotates to find a position which can meet the requirement of passing and avoid the barrier.
CN202110689066.6A 2021-06-22 2021-06-22 Laser radar obstacle detection device, equipment and detection method Pending CN113558523A (en)

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CN212471510U (en) * 2020-04-30 2021-02-05 深圳市杉川机器人有限公司 Mobile robot

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CN104597902A (en) * 2013-10-31 2015-05-06 Lg电子株式会社 Mobile robot
CN105286729A (en) * 2015-09-25 2016-02-03 江苏美的清洁电器股份有限公司 Sweeping robot
KR20180058511A (en) * 2016-11-24 2018-06-01 엘지전자 주식회사 Moving robot and control method thereof
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