CN212965418U - Mobile robot - Google Patents
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- CN212965418U CN212965418U CN202021734136.2U CN202021734136U CN212965418U CN 212965418 U CN212965418 U CN 212965418U CN 202021734136 U CN202021734136 U CN 202021734136U CN 212965418 U CN212965418 U CN 212965418U
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Abstract
The utility model discloses a mobile robot, which comprises a robot main body, a light source, a reflector, a sensor and an imaging mirror; the light source is arranged on the front end of the robot main body; the reflector is arranged on the light emitting side of the light source and used for enabling the emitting light emitted by the light source to form a circular-vision line laser line with a preset angle and reflecting the circular-vision line laser line to a target object; the sensor is arranged on the robot main body; the imaging mirror is arranged on the light incident side of the sensor and used for reflecting the reflected light of the ring sight laser line reflected by the target object and projecting the reflected light to the sensor; the sensor is used for receiving the reflected light projected by the imaging mirror so as to measure the distance of the target object. The utility model discloses improved mobile robot range sensor's structure, improved mobile robot's detectability, and then promoted and kept away the barrier performance.
Description
Technical Field
The utility model relates to a range sensor technical field especially relates to a mobile robot.
Background
The triangulation ranging method is a common ranging method and has been widely applied in application scenes such as industry, electronics, robots and the like. As shown in fig. 1, the ranging scheme based on the linear light source and the area array sensor mainly includes a light source for generating the linear light source or the area array light source and a sensor for receiving a reflected light signal, and the sensor can measure depth information of a target in a plane where the linear light source is located.
However, in the existing line light source scheme, both the emission angle of the light source and the view field angle of the sensor are relatively limited, and a large measurement blind area exists in application scenes such as a mobile robot. As shown in fig. 2, the gray area in the drawing is the detectable range of the mobile robot, the parts on both sides of the viewing angle are blind areas, and the mobile robot cannot detect the object in the area.
Therefore, how to improve the detection capability of the mobile robot becomes an urgent problem to be solved.
SUMMERY OF THE UTILITY MODEL
A primary object of the present invention is to provide a mobile robot, which can improve the detection capability of the mobile robot to improve the obstacle avoidance performance.
In order to achieve the above object, the present invention provides a mobile robot, the mobile robot includes:
a robot main body;
a light source mounted on a front end of the robot main body;
the reflector is arranged on the light emitting side of the light source and is used for enabling the emitting light emitted by the light source to form a circular-viewing-line laser line with a preset angle and reflecting the circular-viewing-line laser line to a target object;
a sensor provided on the robot main body; and
the imaging mirror is arranged on the light incidence side of the sensor and used for reflecting the reflected light of the circular line-of-sight laser line reflected by the target object and projecting the reflected light to the sensor;
the sensor is used for receiving the reflected light projected by the imaging mirror so as to measure the distance of the target object.
In one embodiment, the reflector is disposed in a conical or curved shape.
In one embodiment, the imaging mirror is disposed in a curved shape.
In one embodiment, the preset angle is 360 degrees; the light source is an edge-emitting laser.
In one embodiment, the light source has a wavelength of 400 to 1100 nm.
In one embodiment, the power of the sensor is 0.1mW to 10W.
In one embodiment, the sensor has a resolution of 100 pixels to 1000 ten thousand pixels.
In one embodiment, the sensor is a CCD area array sensor or a CMOS area array sensor.
In one embodiment, the sensor comprises a body and a lens arranged on one side of the body, wherein the lens is used for acquiring an image signal;
the angle of view of the lens is 30 to 120 degrees.
In an embodiment, the sensor further includes an optical filter disposed between the body and the lens, and the optical filter is configured to filter an interference light signal.
The utility model discloses an install this mobile robot's light source on the front end of robot main part, the speculum is installed in the light-emitting side of light source and is used for forming the all-round sight line laser line of presetting the angle with the transmitted light that the light source jetted out and reflects to the target object, the sensor sets up in the robot main part, the income light side that the sensor was located to the formation of image mirror is used for reflecting the reflection light reflection and projection to the sensor of all-round sight line laser line through the target object reflection, the sensor is used for receiving the projected reflected light of formation of image mirror, with the distance that records the target object, mobile robot's detectability has been improved, and then obstacle avoidance performance has been promoted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a range diagram of a range sensor in an exemplary technique;
FIG. 2 is a schematic diagram (top view) of a mobile robot detection in an exemplary technique;
fig. 3 is a distance measuring schematic diagram of an embodiment of the mobile robot of the present invention;
fig. 4 is a schematic structural diagram of the mobile robot according to an embodiment of the present invention when the distance measuring sensor is horizontally installed;
fig. 5 is a schematic structural diagram of the mobile robot in another embodiment of the present invention when the distance measuring sensor is installed obliquely.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | Robot |
400 | Sensor with a |
| 200 | |
500 | |
| 300 | Reflecting |
10 | Target object |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The triangulation ranging method is a common ranging method and has been widely applied in application scenes such as industry, electronics, robots and the like. As shown in fig. 1, fig. 1 is a distance measurement schematic diagram of a distance measurement sensor in an exemplary technology, and a distance measurement scheme based on a linear light source and an area array sensor mainly includes a light source for generating the linear light source or the area array light source and a sensor for receiving a reflected light signal, and the sensor can measure depth information of a target in a plane where the linear light source is located.
In a scheme applying the above distance measuring principle, as shown in fig. 2, fig. 2 is a schematic detection diagram (top view) of a mobile robot in an exemplary technology, where a gray area is a detectable range of the mobile robot, an emission angle of a light source of a distance measuring sensor of the mobile robot and a view field angle of the sensor are both relatively limited, a large measurement blind area exists in a portion on both sides of a view angle, and the mobile robot cannot detect an object in the area.
In order to improve mobile robot's detectability to promote it and keep away barrier performance, the utility model provides a mobile robot, especially the robot of sweeping the floor, here is not limited.
Referring to fig. 3 to 5, in an embodiment of the present invention, the mobile robot includes a robot main body 100, a light source 200, a reflecting mirror 300, a sensor 400, and an imaging mirror 500; the light source 200 is installed on the front end of the robot main body 100; the reflector 300 is installed at the light emitting side of the light source 200 and is used for forming a circular line of sight laser line with a preset angle from the emitted light emitted by the light source 200 and reflecting the circular line of sight laser line to the target object 10; the sensor 400 is provided on the robot main body 100; the imaging mirror 500 is disposed on the light incident side of the sensor 400 and used for reflecting the reflected light of the ring-sight laser line reflected by the target 10 and projecting the reflected light to the sensor 400; the sensor 400 is used for receiving the reflected light projected by the imaging mirror 500 to measure the distance of the target 10.
The robot main body 100 may be provided in a disc shape; the light source 200, the reflector 300, the sensor 400 and the imaging mirror 500 may be a distance measurement assembly or a distance measurement sensor assembled as a whole, or may be installed on the robot body 100 in sequence by a single component, and the distance measurement assembly has different installation inclination angles and different detection ranges, so that the detection of the short-distance target 10 can be realized by adjusting the installation angles, and the measurement blind area of the mobile robot can be reduced. In some embodiments, the control system and the driving mechanism can be further arranged to drive the inclination angle of the ranging assembly, so that the function of adjusting the detection range of the mobile robot is realized.
During production and assembly, the light source 200, the reflector 300, the sensor 400 and the imaging mirror 500 can be sequentially mounted on a mounting position at the front end of the robot main body 100 in a bonding, clamping or threaded manner; the light source 200, the reflector 300, the sensor 400, and the imaging mirror 500 may be assembled into an integral ranging module, and then the ranging module may be mounted on the front end of the robot body 100.
In this embodiment, the reflector 300 may be disposed in a conical shape or a curved shape to form the emitted light emitted from the light source 200 into a circular line laser line with a predetermined angle, which may be up to 360 degrees; imaging mirror 500 also can be the curved surface shape setting to the transmitted emission reflection and the projection that come with each angle transmission to sensor 400, detect with the peripheral barrier of omnidirectional to mobile robot, reduced the detection blind area, promoted and kept away the barrier performance, also reduced range sensor 400's quantity simultaneously, reduced the cost of manufacturing.
In this embodiment, the imaging mirror 500 may be a curved mirror for reflecting light, and the form of the curved mirror may be a plane, a paraboloid, an ellipsoid, a hyperboloid, or the like, the curved surface is arranged to project a three-dimensional point in space onto a two-dimensional plane where the pixels of the sensor 400 are located, and the form of the curved surface is different, and the image captured by the sensor 400 has different distortions. Therefore, in actual use, the distorted image needs to be corrected again by software. The parameters of the curved surface are related to the type of curved surface, as follows is the curved surface equation of the hyperboloid (rotating two-sheet hyperboloid)
Where a is half the length of the imaginary axis of the hyperbola and b is half the length of the real axis of the hyperbola. The imaginary length has no practical physical significance and the real length is the distance from the hyperboloid apex to the origin. The a and b in the formula can be adjusted according to the actual field angle requirement, if a larger longitudinal field angle range is obtained, the a and b can be adjusted, the curvature of the hyperboloid is increased, different values of the a and b correspond to different curved surface shapes, and then different light deflection angles exist, and the imaging distortion condition and the field size are influenced. In addition, the distance d from the focal point of the hyperboloid to the projection center of the sensor 400 also needs to be adjusted according to actual requirements, and the distance d is usually 2 times of the focal distance of the hyperboloid.
It can be understood that, in the technical scheme of the utility model, because this mobile robot's light source 200 is installed on the front end of robot main part 100, speculum 300 is installed in light source 200's light-emitting side and is used for forming the all-round sight line laser line of preset angle and reflects to target object 10 with the transmitted light that light source 200 jetted out, sensor 400 sets up on robot main part 100, imaging mirror 500 locates sensor 400's income light side and is used for reflecting and projecting the projected reflected light of all-round sight line laser line through target object 10 reflection to sensor 400, sensor 400 is used for receiving imaging mirror 500 projected reflected light, in order to record the distance of target object 10, mobile robot's detectability has been improved, and then obstacle avoidance performance has been promoted.
Referring mainly to fig. 3, in order to reduce the detection blind area and determine the depth information of the target object 10, in an embodiment, the light source 200 may employ an edge emitting laser or the like, and the wavelength of the light source 200 may be set to 400 to 1100nm, which is not limited herein. The sensor 400 may be a CCD area array sensor 400 or a CMOS area array sensor 400, etc., and the power of the sensor is preferably 0.1 milliwatt (mW) to 10 watt (W), and the resolution is preferably 100 pixels to 1000 ten thousand pixels, although in some other embodiments, the sensor 400 with other parameters may be selected according to the requirement, which is not limited herein.
It is worth mentioning that semiconductor lasers can be classified into two types according to the laser projection direction: edge Emitting Lasers (EELs) and Vertical Cavity Surface Emitting Lasers (VCSELs). At present, two types of edge emitting laser diodes, namely Continuous Wave (CW) laser diode and Pulse laser diode, are widely used in distance measurement sensing, wherein a Continuous Wave (CW) modulated laser tube is generally adopted as a light source device based on a triangular distance measurement principle, and the instantaneous power of the laser tube is relatively small (from several milliwatts to several watts); the light source device based on the time-flight principle generally adopts a Pulse (Pulse) modulated laser tube, the instantaneous power of which is relatively large (up to tens of watts), but the duty ratio is small, so the average power is only between a few milliwatts and a few watts.
CCD image sensor CCD (charge Coupled device) is made of semiconductor material with high light sensitivity, and can convert light into electric charge, and convert the electric charge into digital signal by means of A/D converter chip, and the digital signal is compressed and stored in flash memory or hard disc card inside camera, so that the data can be easily transmitted to computer and the image can be modified according to need and imagination by means of computer processing.
The CMOS (Complementary Metal-Oxide-Semiconductor), known as CMOS in chinese science, is an important chip in computer systems and stores the most basic data for system booting. The CMOS manufacturing technology is not different from that of a common computer chip, mainly a semiconductor made of two elements, namely silicon and germanium, is used, N (band-electric) and P (band + electric) level semiconductors coexist on the CMOS, and currents generated by the two complementary effects can be recorded and interpreted into images by a processing chip. Later, CMOS has been developed as an image Sensor in digital photography, and the CMOS Sensor can be subdivided into Passive Pixel Sensor (Passive Pixel Sensor CMOS) and Active Pixel Sensor (Active Pixel Sensor CMOS).
In one embodiment, in order to filter the interference signal and improve the detection accuracy of the mobile robot, the sensor 400 of the mobile robot may include a body and a lens disposed at one side of the body, the lens being used for acquiring an image signal; the angle of view of the lens may be 30 to 120 degrees. In this embodiment, the sensor 400 may further include a filter disposed between the body and the lens, wherein the filter is used for filtering the interference light signal. Therefore, the interference signal is filtered while a large detection range is obtained, and the detection precision of the mobile robot is improved.
The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.
Claims (10)
1. A mobile robot, characterized in that the mobile robot comprises:
a robot main body;
a light source mounted on a front end of the robot main body;
the reflector is arranged on the light emitting side of the light source and is used for enabling the emitting light emitted by the light source to form a circular-viewing-line laser line with a preset angle and reflecting the circular-viewing-line laser line to a target object;
a sensor provided on the robot main body; and
the imaging mirror is arranged on the light incidence side of the sensor and used for reflecting the reflected light of the circular line-of-sight laser line reflected by the target object and projecting the reflected light to the sensor;
the sensor is used for receiving the reflected light projected by the imaging mirror so as to measure the distance of the target object.
2. The mobile robot of claim 1, wherein the mirror is disposed in a tapered or curved shape.
3. The mobile robot of claim 1, wherein the imaging mirror is disposed in a curved shape.
4. The mobile robot of claim 1, wherein the preset angle is 360 degrees; the light source is an edge-emitting laser.
5. The mobile robot of claim 1, wherein the light source has a wavelength of 400 to 1100 nm.
6. The mobile robot of claim 1, wherein the sensor has a power of 0.1mW to 10W.
7. The mobile robot of claim 1, wherein the sensor has a resolution of 100 pixels to 1000 ten thousand pixels.
8. The mobile robot of claim 1, wherein the sensor is a CCD area array sensor or a CMOS area array sensor.
9. The mobile robot as claimed in claim 1, wherein the sensor includes a body and a lens disposed at one side of the body, the lens being for acquiring an image signal;
the angle of view of the lens is 30 to 120 degrees.
10. The mobile robot as claimed in claim 9, wherein the sensor further comprises a filter disposed between the body and the lens, the filter being configured to filter an interference light signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021734136.2U CN212965418U (en) | 2020-08-17 | 2020-08-17 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021734136.2U CN212965418U (en) | 2020-08-17 | 2020-08-17 | Mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN212965418U true CN212965418U (en) | 2021-04-13 |
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| CN202021734136.2U Active CN212965418U (en) | 2020-08-17 | 2020-08-17 | Mobile robot |
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| CN (1) | CN212965418U (en) |
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- 2020-08-17 CN CN202021734136.2U patent/CN212965418U/en active Active
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