WO2011108210A1 - Dispositif de mesure de distance tridimensionnelle et robot mobile - Google Patents

Dispositif de mesure de distance tridimensionnelle et robot mobile Download PDF

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Publication number
WO2011108210A1
WO2011108210A1 PCT/JP2011/000914 JP2011000914W WO2011108210A1 WO 2011108210 A1 WO2011108210 A1 WO 2011108210A1 JP 2011000914 W JP2011000914 W JP 2011000914W WO 2011108210 A1 WO2011108210 A1 WO 2011108210A1
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WO
WIPO (PCT)
Prior art keywords
unit
laser light
polygon mirror
optical unit
optical
Prior art date
Application number
PCT/JP2011/000914
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English (en)
Japanese (ja)
Inventor
豊 高岡
敬介 菅
整 山田
佳昭 朝原
森　利宏
Original Assignee
トヨタ自動車株式会社
北陽電機株式会社
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Application filed by トヨタ自動車株式会社, 北陽電機株式会社 filed Critical トヨタ自動車株式会社
Publication of WO2011108210A1 publication Critical patent/WO2011108210A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • the present invention relates to, for example, a three-dimensional distance measuring device and a mobile robot that acquire distance information to an object in the outside world.
  • a laser range sensor As a sensor used for three-dimensional measurement, a laser range sensor, a stereo camera, a depth imager, and the like are known.
  • Patent Document 1 discloses a technique for measuring a three-dimensional space using a laser range sensor.
  • a laser range sensor that scans a laser beam in the left-right direction is mounted on a mobile robot, and the mounted sensor is swung in a vertical direction (pitch direction), so that the environment in front of the mobile robot is 3D measurement is possible.
  • Patent Documents 2 to 5 disclose that a horizontal direction is scanned using a polygon mirror, and the entire polygon mirror and other mirrors are rotationally driven and controlled by a motor. A laser distance measuring device for scanning is disclosed.
  • JP 2009-175066 A Japanese Patent Laying-Open No. 2005-069975 JP 2008-298520 A Japanese Patent Laid-Open No. 10-73434 JP 2006-323765 A
  • the method using the laser range sensor has the advantage of being resistant to distance accuracy and disturbance light as compared with the method using other types of sensors, the outer shape of the sensor itself is large. There's a problem.
  • Patent Document 1 since the method disclosed in Patent Document 1 is configured to swing the laser range sensor itself having a large outer shape, a mechanism required for three-dimensional measurement becomes large.
  • Patent Documents 2 to 5 According to the laser distance measuring devices described in Patent Documents 2 to 5, a vertical mirror that uses a polygon mirror for horizontal scanning that requires a relatively high scanning speed and may use a relatively slow scanning speed.
  • the three-dimensional distance image signal can be acquired by controlling the rotation of the entire polygon mirror and other mirrors with a motor.
  • the techniques described in Patent Documents 2 to 5 have the problems described below.
  • a laser light emitting part and a light receiving part are arranged so as to face each other on the optical axis, and the polygon mirror that is driven to rotate is irradiated with the laser light, and the laser light is emitted from one of the mirror surfaces of the polygon mirror.
  • a laser distance measuring device that reflects and irradiates an object and reflects the reflection of laser light by the object on different mirror surfaces and guides it to a light receiving unit.
  • the laser distance measuring device disclosed in Patent Document 2 uses different mirror surfaces to enter and reflect laser light incident from the light emitting portion and laser light reflected and guided to the light receiving portion. There is a restriction on downsizing due to the arrangement of the light receiving part and the light emitting part. Further, in the laser distance measuring device disclosed in Patent Document 2, the gripper itself having only the polygon mirror is only reciprocally swung within a predetermined angle range, and the entire configuration including the light emitting unit is swung. It is not disclosed. For this reason, the configuration of the three-dimensional distance measuring device is reduced in size and cannot be easily mounted in a limited space for mounting a mobile robot.
  • Patent Documents 4 and 5 require another mirror in addition to the polygon mirror, and the mirror reflection is required four times in the light projecting / receiving optical system.
  • Laser distance meters generally use invisible infrared light in the wavelength range of 800 to 1000 nm in order not to make the user uncomfortable. If an inexpensive mirror is used, only a reflectivity of about 95% can be realized, and the efficiency is reduced to 80% by four reflections. On the other hand, if a gold mirror with a reflectivity of 99% is used, it becomes expensive.
  • the structure for scanning the laser beam and the shape of the mirror are not optimal, and the optical part and the signal processing part are integrally formed. For this reason, it is difficult to mount all the mechanisms required for three-dimensional measurement inside the mobile robot. There is also a strong demand for a three-dimensional distance measuring device that can be housed inside the outer cover of a mobile robot.
  • a three-dimensional distance measuring device is a three-dimensional distance measuring device that acquires distance information to an object in the outside world, and includes an optical unit, a signal processing unit connected to the optical unit via a wiring,
  • the optical unit includes a laser light receiving and emitting unit that receives and emits laser light, and a plurality of mirror surfaces, and an axis orthogonal to the optical axis of the laser light emitted from the laser light receiving and emitting unit is a rotation axis
  • the laser light emitted from the laser light receiving and emitting unit is reflected by the mirror surface and applied to the object, and the laser light reflected from the object is reflected and guided to the laser receiving and emitting unit.
  • a polygon mirror, and the signal processing unit controls the rotation of the polygon mirror and the irradiation timing of the laser beam from the laser receiving and emitting unit, and the distance from the laser beam receiving timing to the object Play information And, wherein the optical unit, as a rotation axis an axis perpendicular to the rotation axis of the polygon mirror, characterized in that it is oscillating or rotary motion with an external driving device.
  • the three-dimensional distance measuring device is configured to be separated into an optical unit and a signal processing unit connected to the optical unit via wiring, and the signal processing unit controls the optical unit and calculates distance information.
  • the optical unit includes a laser light receiving / emitting unit that receives and emits laser light, and the polygon mirror is rotationally driven about an axis orthogonal to the optical axis of the laser light emitted from the laser light receiving / emitting unit.
  • the configuration of the three-dimensional distance measuring device is configured such that the optical unit itself is oscillated or rotated about an axis orthogonal to the rotation axis of the polygon mirror by using an external drive device. It is possible to reduce the size and easily mount it in a limited mobile robot mounting space.
  • the laser light receiving / emitting unit and the polygon mirror may be arranged on the rotation axis of the optical unit. Thereby, when the optical part is swung or rotated, the rotation diameter of the optical part can be further reduced.
  • the optical unit is an axis orthogonal to the rotation axis of the polygon mirror, and the axis that passes through the approximate center of gravity of the optical unit is used as a rotation axis to swing or rotate using the external drive device. You may be made to do. As a result, when the optical unit is swung or rotated, it can be swung or rotated with less driving force.
  • the polygon mirror may have three or four mirror surfaces. Thereby, while reducing the external shape of an optical part, a measurement range and a measurement period can be maximized.
  • the optical unit is a support unit that is rotatably supported by the external driving device, and includes a support unit formed in a hollow shape on a side surface, and wiring from the optical unit is provided in the support unit. You may make it connect to the said signal processing part through. Thereby, infinite rotation is realizable, without worrying about the wiring from an optical part.
  • the optical unit is a support unit that is rotatably supported by the external driving device, and includes a support unit provided on a side surface with a slip ring provided on an end thereof, and the wiring from the optical unit is configured as described above. You may make it electrically connect to the said signal processing part via a slip ring. Thereby, infinite rotation is realizable, without worrying about the wiring from an optical part.
  • the signal processing unit may include an AD converter that converts an analog signal detected by the laser light emitting / receiving unit into a digital signal.
  • AD converter converts an analog signal detected by the laser light emitting / receiving unit into a digital signal.
  • the optical unit may include an AD converter that converts an analog signal detected by the laser light emitting / receiving unit into a digital signal.
  • the polygon mirror may include a drive unit that rotates the polygon mirror. Thereby, size reduction can be achieved.
  • a mobile robot is a mobile robot that acquires distance information to an object in the outside world, and includes an optical unit, a signal processing unit connected to the optical unit via wiring, and the optical unit.
  • a driving unit that moves or rotates, and the optical unit receives and emits laser light, and has a plurality of mirror surfaces, and the light of the laser light emitted from the laser receiving and emitting unit. It is driven to rotate about an axis orthogonal to the axis, and the laser beam emitted from the laser light receiving and emitting unit is reflected on the mirror surface to irradiate the object, and the laser beam reflected from the object is reflected.
  • a three-dimensional distance measuring device that can be miniaturized and can be easily mounted in a limited space for mounting a mobile robot, and a mobile robot equipped with the configuration.
  • FIG. 4 is a perspective view showing an optical unit of the three-dimensional distance measuring device according to Embodiment 1.
  • FIG. 3 is a top view illustrating a configuration of an optical unit according to Embodiment 1.
  • FIG. 2 is a cross-sectional view showing a configuration of an optical unit according to Embodiment 1.
  • FIG. 3 is a top configuration diagram of a polygon mirror of the optical unit according to the first embodiment.
  • 3 is a cross-sectional configuration diagram of a polygon mirror of the optical unit according to Embodiment 1.
  • FIG. 6 is a side view for explaining the rotation operation of the optical unit according to Embodiment 1.
  • FIG. 1 is an external configuration diagram of a three-dimensional distance measuring device according to Embodiment 1.
  • FIG. 2 is a functional configuration diagram of the three-dimensional distance measuring apparatus according to Embodiment 1.
  • FIG. 5 is a diagram for explaining a cable configuration for connecting the optical unit and the signal processing unit according to Embodiment 1.
  • FIG. 6 is a diagram for explaining another cable configuration according to Embodiment 1.
  • FIG. It is a figure for demonstrating the measurement condition at the time of using the trihedral polygon mirror which concerns on Embodiment 1.
  • FIG. It is a figure for demonstrating the measurement condition at the time of using the trihedral polygon mirror which concerns on Embodiment 1.
  • FIG. It is a figure for demonstrating the measurement condition at the time of using the double-sided polygon mirror which concerns on Embodiment 1.
  • FIG. 6 is a diagram for explaining the arrangement and measurement status of the optical unit according to the first embodiment.
  • FIG. 6 is a diagram for explaining the arrangement and measurement status of the optical unit according to the first embodiment.
  • FIG. 6 is a diagram for explaining the arrangement and measurement status of the optical unit according to the first embodiment.
  • FIG. 6 is a diagram for explaining the arrangement and measurement status of the optical unit according to the first embodiment.
  • FIG. 6 is a diagram for explaining the arrangement and measurement status of the optical unit according to the first embodiment.
  • FIG. 1 is a perspective view showing an optical unit of the three-dimensional distance measuring device according to the present embodiment.
  • the three-dimensional distance measuring device 1 includes an optical unit 20 and a signal processing unit 30, and each function of the optical unit 20 is realized by each element provided in the housing 10.
  • Support portions 11 are provided on the left and right side portions of the housing 10.
  • the housing 10 is rotatably attached to an external drive device (not shown) such as a motor via the support portion 11.
  • the casing 10 swings or rotates within a predetermined range with C2 as a rotation axis by driving of an external driving device.
  • a window for entering and exiting the optical unit 20 is formed on the front surface of the housing 10.
  • a laser transmitting member using an optical element such as flat glass is fixed to the window portion.
  • the housing 10 includes a laser receiving / emitting unit 2 and a polygon mirror 3 inside.
  • the laser light emitting / receiving unit 2 and the polygon mirror 3 are arranged so that the optical axis of the laser light receiving / emitting unit 2 and the rotation axis of the polygon mirror 3 are orthogonal to each other.
  • the laser light receiving and emitting unit 2 irradiates the polygon mirror 3 with laser light and receives the laser light reflected from the polygon mirror 3. Details of the laser light receiving and emitting unit 2 will be described later.
  • Polygon mirror 3 is a rotating polygon mirror with a built-in motor (not shown).
  • the polygon mirror 3 rotates about C1 as a rotation axis.
  • the polygon mirror 3 has a plurality of mirror surfaces positioned at a predetermined angle with respect to the rotation axis C1.
  • the polygon mirror 3 is described as a four-sided mirror. However, as will be described later, a polygon mirror other than the four-sided mirror may be used. In FIG. explain.
  • the laser light emitted from the laser light emitting / receiving unit 2 is reflected by the polygon mirror 3, passes through the window on the front surface of the housing 10, and is emitted to the outside.
  • the laser light reflected by the external measurement object passes through the window on the front surface of the housing 10 and enters the polygon mirror 3, and the laser light reflected by the polygon mirror 3 enters the laser receiving / emitting unit 2.
  • the mirror surface of the polygon mirror 3 on which the laser light from the laser light receiving and emitting unit 2 is incident and the mirror surface of the polygon mirror 3 on which the laser light reflected from the external object is incident are the same mirror surface. .
  • the polygon mirror 3 is rotated about C1 as a rotation axis, so that the laser beam from the laser light receiving and emitting unit 2 is scanned in the left and right direction of the front surface of the housing 10. Further, the housing 10 swings or rotates about C2 as a rotation axis, whereby the laser light from the laser light receiving and emitting unit 2 is scanned in the vertical direction (pitch direction) of the front surface of the housing 10.
  • the polygon mirror 3 is arranged in the optical unit 20, and the optical unit 20 is swung or rotated in the pitch direction, so that the laser receiving / emitting unit 2 covers the predetermined three-dimensional area on the front surface of the housing 10.
  • the laser beam can be scanned.
  • the three-dimensional distance measuring device 1 can be realized using the optical unit 20 that is small and has a small turning radius.
  • FIG. 2 is a top view showing the configuration of the optical unit.
  • the polygon mirror 3 and the laser light emitting / receiving unit 2 are arranged along the direction of the rotation axis C2.
  • the rotation axis C ⁇ b> 1 of the polygon mirror 3 and the case including the laser light emitting / receiving unit 2 are arranged on the rotation axis C ⁇ b> 2 of the housing 10.
  • an optical system around the rotation axis C2 is used.
  • the turning radius of the portion 20 can be reduced.
  • the laser beam emitted from the laser light emitting / receiving unit 2 and emitted to the outside of the optical unit 20 is indicated by a broken line. Further, since the laser light incident from the outside to the inside of the optical unit 20 has a spread, the laser light is indicated by hatching.
  • FIG. 3 is a cross-sectional view showing the configuration of the optical unit.
  • the cable 4 for transmitting the signal from the optical unit to the outside is pulled out via the support portion 11 provided on the left side surface portion of the housing 10. It is good also as arrangement
  • Each surface of the polygon mirror 3 is divided into two regions by a light projecting / receiving optical partition plate 5 provided on the mirror surface.
  • the light receiving optical path through which the laser light reflected by the external measurement object reaches the light receiving lens 51 and the light receiving element 52 is the upper side of the divided mirror surface area. Located in the area.
  • the light projecting optical path through which the laser light emitted from the laser 53 is incident on the polygon mirror 3 is located in the lower region of the divided mirror surface regions.
  • the laser light receiving / emitting unit 2 includes a light receiving lens 51, a light receiving element 52, a laser 53, and a light projecting lens 54.
  • the laser 53 and the light projecting lens 54 constituting the light projecting optical system are arranged above the light receiving lens 51 and the light receiving element 52 constituting the light receiving optical system.
  • the laser beam projected from the laser 53 is irradiated to the polygon mirror 3 through the projection lens 54.
  • Laser light reflected from the polygon mirror 3 enters the light receiving lens 51.
  • the light receiving lens 51 condenses laser light incident from the outside.
  • the light receiving element 52 receives the condensed laser light.
  • the light receiving element 52 for example, an avalanche photodiode (APD) can be used.
  • the laser 53 for example, a laser diode (LD) can be used.
  • FIGS. 4A and 4B An encoder 22 is provided above the polygon mirror 3.
  • the encoder 22 measures the rotation angle (angular velocity) of the polygon mirror 3.
  • the polygon mirror includes a motor 6 therein.
  • FIG. 4A is a top view of the polygon mirror 3.
  • FIG. 4B is a cross-sectional view of the polygon mirror 3.
  • FIG. 5 is a side view for explaining the rotation operation of the optical unit.
  • the housing 10 the optical unit 20 swings or rotates about C2 as a rotation axis.
  • the measurement range is shown when rotating 45 degrees upward and downward (that is, rotating 90 degrees up and down).
  • the rotation axis C2 when the casing 10 swings or rotates may be disposed so as to pass near the position of the center of gravity of the casing 10 (the optical unit 20). Further, for example, when viewed from the side view of FIG. Thereby, when the housing 10 is driven by the external driving device, the swinging or rotating operation can be realized with a smaller driving force.
  • FIG. 6 is an external configuration diagram of the three-dimensional distance measuring device.
  • the three-dimensional distance measuring device 1 includes an optical unit 20 that swings or rotates about C2 as a rotation axis, and a signal processing unit 30 that is connected to the optical unit 20 via a cable. ing.
  • the optical unit 20 and the signal processing unit 30 are configured as separate types, so the optical unit 20 that is a rotating body only needs to be equipped with necessary elements, so the outer shape of the optical unit 20 of the three-dimensional distance measuring device 1 can be reduced. It can be made smaller.
  • FIG. 7 is a functional configuration diagram of the three-dimensional distance measuring device.
  • the optical unit 20 includes a pulse output unit 21, an encoder 22, a light emitting unit 23, and a light receiving unit 24.
  • the signal processing unit 30 includes a control unit 31, a light emission timing control unit 32, a distance calculation unit 33, and an AD converter 34. The elements of the optical unit 20 and the signal processing unit 30 are connected to each other by signal lines included in the cable.
  • the pulse output unit 21 outputs a motor pulse corresponding to the motor command value transmitted from the control unit 31 to a motor built in the polygon mirror 3.
  • the encoder 22 measures the rotation angle (angular velocity) of the polygon mirror 3.
  • the control unit 31 is configured using a CPU.
  • the control unit 31 controls the rotation operation of the polygon mirror 3 and controls the light emission of the laser light from the light emitting unit 23.
  • the light emission timing control unit 32 determines the rotation angle (angular velocity) of the motor of the polygon mirror 3 from the output of the encoder 22 and controls the light emission timing of the laser light according to the rotation angle (angular velocity) of the motor.
  • the distance calculation unit 33 determines the distance to the target object from the timing at which the laser beam is emitted from the light emitting unit 23 and the timing at which the laser beam is received by the light receiving unit 24 based on the principle of time of flight (TOF) of the laser beam. Compute information. Thereby, the three-dimensional distance measuring device 1 acquires the distance image data regarding the measurement object.
  • the distance image data is a set of distance data of a plurality of points obtained by two-dimensional scanning in the laser light irradiation direction.
  • the AD converter 34 converts the analog signal detected by the light receiving unit 24 into a digital signal.
  • the cable configuration between the optical unit 20 and the signal processing unit 30 can be further simplified.
  • the configuration in which the AD converter 34 is disposed on the signal processing unit 30 side is illustrated, but the AD converter 34 may be disposed on the optical unit 20 side.
  • the AD converter 34 is arranged on the optical unit 20 side, it is possible to reduce the influence of noise generated when passing through the cable.
  • FIG. 8 is a diagram for explaining a cable configuration for connecting the optical unit and the signal processing unit.
  • Various configurations can be adopted as the configuration of the cable taken out from the optical unit 20 that is a rotating body.
  • the inside of the support portion 11 may be formed in a hollow structure, and the cable 40 may be taken out along the rotation axis C ⁇ b> 2 of the housing 10.
  • an electrical connection is made between the signal line of the cable 41 from the signal processing unit 30 and each element of the optical unit 20 using a slip ring mechanism 42 provided at the end of the support unit 11. It is good also as a structure to connect. Thereby, infinite rotation can be realized without worrying about the wiring from the optical unit 20.
  • the relationship of the shape of a polygon mirror, a measurement range, etc. is demonstrated.
  • the polygon mirror 3 when it has a four-sided mirror shape, it can have a relatively small outer shape, and each has a measurement range of 30 degrees in the left and right directions in front of the polygon mirror 3 ( That is, the measurement range is 60 degrees to the left and right), and scanning from the right direction to the left direction is one scan, and four scans are possible for each rotation of the polygon mirror 3.
  • FIGS. 10A and 10B are diagrams for explaining a measurement situation when a three-sided polygon mirror is used.
  • the polygon mirror 3 when the polygon mirror 3 has a three-surface mirror shape, it can have a relatively small outer shape, and each has a measurement range of 45 degrees in the left and right directions in front of the polygon mirror 3. Thus, three scans are possible for each rotation of the polygon mirror 3. Further, as the polygon mirror 3 rotates counterclockwise, the scanning direction of the laser light changes from the state shown in FIG. 10A to the state shown in FIG. 10B.
  • FIGS. 11A and 11B are diagrams for explaining a measurement situation when a two-sided polygon mirror is used.
  • the polygon mirror 3 when the polygon mirror 3 has a two-sided mirror shape, the polygon mirror 3 can have a relatively small outer shape, and can measure 50 degrees in the left and right directions in front of the polygon mirror 3 respectively. This is a range and can be scanned twice for each rotation of the polygon mirror 3. Further, when the polygon mirror 3 rotates counterclockwise, the scanning direction of the laser light changes from the state shown in FIG. 11A to the state shown in FIG. 11B.
  • FIGS. 12A and 12B are diagrams for explaining a measurement situation when a large two-sided polygon mirror is used.
  • the measurement range is 75 degrees in the left direction and right direction in front of the mirror 3, and two scans are possible for each rotation of the polygon mirror 3. Further, as the polygon mirror 3 rotates counterclockwise, the scanning direction of the laser light changes from the state shown in FIG. 12A to the state shown in FIG. 12B.
  • a double-sided polygon mirror has a small measurement cycle and a large external shape.
  • a trihedral polygon mirror has a balanced measurement range and measurement cycle, and a tetrahedral polygon mirror may be used according to the application.
  • the shape of the polygon mirror 3 is not limited. However, for example, when a three-surface or four-surface polygon mirror is employed, the outer shape of the optical unit 20 can be reduced, and the measurement range and the measurement cycle can be maximized.
  • the optimal scanning angle is 60 degrees for a four-sided shape and 90 degrees for a three-sided shape. there were.
  • the relationship between the polygon mirror and the scanning angle is theoretically up to 120 degrees for the six-face shape, 180 degrees for the four-face shape, and 240 degrees for the three-face shape. However, if a compact design is taken into account, only about 1/3 of the theoretical value can be scanned. A larger scanning angle can be secured by enlarging the polygon mirror and expanding the space of the optical system, but it is too large to be mounted on a small robot.
  • the size can be further reduced.
  • a motor that rotates at a higher speed is required.
  • the scanning speed is 10 ms, it is 2000 rpm for the three-surface shape and 3000 rpm for the two-surface shape.
  • the life becomes longer if the rotation speed is low. Therefore, it is preferable to use a trihedral polygon from the necessary scanning angle, the number of rotations of the motor, and the space factor.
  • an optical unit 20 of the three-dimensional distance measuring device 1 is mounted on the trunk or waist of a legged humanoid robot 100 (hereinafter simply referred to as the robot 100) as an example of a mobile robot.
  • the robot 100 is a leg-walking type mobile robot, and has a leg link and an actuator (not shown) for driving the leg link as a moving mechanism.
  • the optical unit 20 of the three-dimensional distance measuring device 1 is attached to the waist of the robot 100.
  • the front of the robot 100 can be scanned by the optical unit 20 swinging or rotating in the vertical direction with C2 as the rotation axis.
  • the optical unit 20 is shown on the outside of the outer cover of the robot 100 for explanation.
  • the optical unit 20 can be housed inside the outer cover of the robot 100.
  • the optical unit 20 of the three-dimensional distance measuring device 1 is rotatably supported by the trunk of the robot 100 via the support unit 11.
  • a motor (not shown) as a drive unit that rotates the optical unit 20 is fixed to the robot 100 such that the rotation axis C2 is in the horizontal direction.
  • the optical unit 20 is arranged from the waist to the trunk along the vertical direction, and the optical unit 20 is swung or rotated in the left-right direction with C3 as a rotation axis. You may make it scan ahead.
  • the three-dimensional distance measuring device 1 can be used for road surface recognition for the robot 100 to move autonomously.
  • the optical unit 20 in a state where the optical unit 20 is not oscillated or rotated, the optical unit 20 has a predetermined inclination angle so that the laser beam is emitted toward the road surface below the front of the robot 100. Located on the waist.
  • the distance information of the road surface (each detection point) is acquired for the detection points on the line segment L.
  • the three-dimensional distance measuring device 1 when the optical unit 20 is swung or rotated, the three-dimensional distance measuring device 1 is 45 in the vertical direction with the front diagonally downward direction as the reference direction. Oscillate or rotate at a certain degree. Thereby, in the example shown in the figure, a 90-degree measurement range can be realized from the lower direction of the robot 100 in the vertical direction to the horizontal direction.
  • FIG. 17 is a diagram illustrating detection points acquired by the three-dimensional distance measuring device 1.
  • the distance information to the detection points on the object is acquired for the detection points on the road surface ahead of the robot 100 and the detection points on the obstacle existing on the road surface.
  • the three-dimensional distance measuring device 1 is configured to be separated into the optical unit 20 and the signal processing unit 30 connected to the optical unit 20 via wiring.
  • the signal processing unit 30 controls the optical unit 20 and calculates distance information.
  • the optical unit 20 includes a laser receiving / emitting unit 2 that receives and emits laser light, and the polygon mirror 3 is rotationally driven with an axis orthogonal to the optical axis of the laser light emitted from the laser receiving / emitting unit 2 as a rotation axis.
  • the optical unit 20 itself is oscillated or rotated about an axis orthogonal to the rotation axis of the polygon mirror 3 by using an external drive device.
  • the configuration of the three-dimensional distance measuring device 1 can be reduced in size, and can be easily mounted in a limited mobile robot mounting space.
  • a necessary signal processing circuit is arranged outside the optical unit 20 (sensor), and only the laser light receiving / emitting unit 2 and the polygon mirror 3 are accommodated in the optical unit 20. Further, the projector and the light receiver of the laser light receiving and emitting unit 2 are arranged in the vertical direction with respect to the rotation direction C ⁇ b> 1 of the polygon mirror 3. With such a configuration, it is possible to reduce the number of components to be mounted in the optical unit 20, and it is possible to realize a lightweight and compact three-dimensional distance measuring device 1.
  • the three-dimensional distance measuring device 1 can be rotated by a small and inexpensive motor having a low rotational torque. Further, the optical unit 20 can be configured to be thick in the vertical direction, and there is no useless space as a configuration for rotating the optical unit 20, and the three-dimensional distance measuring device 1 having high performance versus space factor can be realized.
  • the configuration is such that the polygon mirror 3 in the housing 10, the light receiving element 52 and the laser 53 in the laser light receiving and emitting unit 2 are arranged, and thus the wiring
  • the laser receiving / emitting unit 2 and the polygon mirror 3 can be arranged on the same member without complicating the handling of the laser beam.
  • a legged mobile robot has been described as an example of the robot.
  • the configuration of the mobile robot is not particularly limited as long as a three-dimensional distance measuring device can be mounted. Absent.
  • a robot having a configuration that moves by driving wheels may be used.
  • the present invention can be used for, for example, a three-dimensional distance measuring device and a mobile robot that acquire distance information to an object in the outside world.
  • 1 3D ranging device 2 Laser receiving and emitting unit, 3 Polygon mirror, 4 cables, 5 Transmitter / receiver optical divider, 6 motor, 11 Support part, C1, C2, C3 rotation axis, 20 Optics, 21 Pulse output section, 22 Encoder, 23 Light emitting part, 24 light receiving unit, 30 signal processor, 31 control unit, 32 light emission timing controller, 33 Distance calculator, 34 AD converter, 40, 41 cable, 42 slip ring mechanism, 51 light receiving lens, 52 light receiving element, 53 laser, 54 Projection lens 100 robot

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

L'invention concerne un dispositif de mesure de distance tridimensionnelle pouvant être facilement installé dans un robot mobile compact. Un dispositif (1) de mesure de distance tridimensionnelle selon l'invention est muni d'un élément optique (20) et d'un processeur (30) de signaux. L'élément optique (20) est doté d'un élément (2) de réception / émission laser qui reçoit et émet des faisceaux laser, et d'une pluralité de surfaces de miroirs. L'élément optique (20) est également doté d'un miroir polygonal (3), entraîné en rotation avec pour axe de rotation un axe (C1) qui est orthogonal à l'axe d'un faisceau laser émis par l'élément (2) de réception / émission laser. Le miroir polygonal (3) rayonne en direction d'un sujet des faisceaux laser émis par l'élément (2) de réception / émission laser et réfléchis par une surface de miroir, et réfléchit également des faisceaux laser réfléchis par le sujet, dirigeant lesdits faisceaux laser sur l'élément (2) de réception / émission laser. Le processeur (30) de signaux commande la rotation du miroir polygonal (3) et la chronologie de rayonnement des faisceaux laser émis par l'élément (2) de réception / émission laser, et calcule également des informations à partir du moment où les faisceaux laser sont reçus sur le sujet. L'élément optique (20) est animé d'une oscillation et d'une rotation à l'aide d'une unité externe d'entraînement dont l'axe de rotation (C2) est orthogonal à l'axe de rotation (C1) susmentionné.
PCT/JP2011/000914 2010-03-04 2011-02-18 Dispositif de mesure de distance tridimensionnelle et robot mobile WO2011108210A1 (fr)

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JP2010047473A JP2011180103A (ja) 2010-03-04 2010-03-04 三次元測距装置及び移動ロボット
JP2010-047473 2010-03-04

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EP3063585A1 (fr) * 2013-11-01 2016-09-07 iRobot Corporation Télémètre à balayage
WO2019181300A1 (fr) * 2018-03-20 2019-09-26 日本電産コパル電子株式会社 Dispositif de balayage optique

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KR101374802B1 (ko) 2013-03-29 2014-03-13 이철희 농업용 로봇시스템
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JP2017138301A (ja) 2016-01-28 2017-08-10 株式会社デンソー レーザレーダ装置
WO2020072547A1 (fr) * 2018-10-02 2020-04-09 Blackmore Sensors & Analytics, Llc Procédé et système d'optimisation de balayage de lidar cohérent
JP7176364B2 (ja) * 2018-11-13 2022-11-22 株式会社リコー 距離情報取得装置および距離情報取得方法

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