WO2018077289A1

WO2018077289A1 - Obstacle detection sensor for robot

Info

Publication number: WO2018077289A1
Application number: PCT/CN2017/108443
Authority: WO
Inventors: 张舒怡
Original assignee: 张舒怡
Priority date: 2016-10-31
Filing date: 2017-10-30
Publication date: 2018-05-03
Also published as: CN106526579A

Abstract

An obstacle detection sensor for a robot. The robot is provided with at least one linear laser emitting device (1) facing the ground in front of the robot; at least one digital imaging module (2) is provided in the front of the robot at a position lower or higher than the linear laser emitting device (1); the digital imaging module (2) is mainly used for feeding projection lines of linear laser rays at a projection position in front of the robot into a CCD or CMOS photosensitive elements of the imaging module (2); whether the projection lines of the laser rays on the ground are blocked by obstacles can be determined according to positions and shapes of the laser rays on the photosensitive elements; the linear laser emitting device (1) is a plurality of "一"-shaped linear laser emitters (11) that have small field angles and are arranged side by side on the same plane. The plurality of "一"-shaped linear laser emitters (11) can extend a "一"-shaped line before leaving a robot body, so as to have a larger coverage range than a single "一"-shaped linear laser emitter.

Description

An obstacle detecting sensor for a robot

Technical field

[0001] The present invention relates to an obstacle detecting sensor for a robot, which is mainly used for detecting an obstacle that may be encountered in front of a robot during moving.

Background technique

[0002] At present, the robot detects the moving direction (usually the front). The non-contact sensor of the upper obstacle mainly has two kinds of photoelectric reflection and ultrasonic detection, and the coverage is limited, and it is impossible to detect an obstacle that may be encountered on the entire front projection surface, and Photoelectricity encounters dark (especially black) materials (such as black siding), or dust on the photocell, ultrasonic waves encounter low-density materials, or thin chair legs, or obstacles with reflective surfaces, reflection detection It is not reliable.

technical problem

The present invention proposes an obstacle detecting sensor having a wide coverage, which is capable of detecting an obstacle of the entire front projection surface.

Problem solution

Technical solution

The present invention is designed in such a way that:

[0005] An obstacle detecting sensor for a robot, characterized in that at least one linear laser emitting device facing the front ground is disposed on the robot, and at least one is disposed at a position lower or higher than the linear laser emitting device at the front of the robot The digital imaging module is mainly used for taking the projection line of the linear laser line at the projection position in front of the robot into the CCD or CMOS photosensitive element of the imaging module, and can determine according to the position shape of the laser line on the photosensitive element. Whether the projection line of the laser line on the ground is blocked by other objects (obstacle), except for the laser line (cooperative target), imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored. Because the general obstacles are grounded and can be detected on the front ground, then obstacles exist.

[0006] The linear laser emitting device is at least two word line laser emitting heads arranged side by side on the same plane, and a word line opening angle of each of the word line laser emitting heads is in the same direction, and these juxtaposed ones Word line laser emitting head Set on either side of a box or frame (two on both sides and the rest evenly on both sides), the length of a box or frame is close to the width of the robot.

[0007] There are a plurality of linear laser emitting devices, each having a different horizontal angle toward the front.

[0008] The linear laser emitting device further includes an up-and-down angle deflecting mechanism, and the deflecting mechanism rotates to direct the linear laser light emitted by the linear laser device to different horizontal angles in front.

[0009] The position of the digital imaging module is roughly set at the half-height position of the robot, which can take into account the angle of view of the imaging module.

[0010] A general linear laser emitting device 1 is disposed on the top of the robot, and the emitted linear laser is directed toward the front and the bottom of the robot, and the projection surface is perpendicular to the plane of the central axis of the robot.

Advantageous effects of the invention

Beneficial effect

[0011] A plurality of word line laser emitting heads can extend a word line from the front of the robot body, and have a larger coverage than a single word line laser emitting head.

Brief description of the drawing

DRAWINGS

[0012] FIG. 1 (a, b) is a schematic diagram of the front obstacle discrimination (where b is an imaging schematic).

2 is a schematic diagram of the distance calculation of the front obstacle in the present invention.

3 is a schematic view showing the mounting structure of the obstacle detecting device of the present invention on the robot, wherein FIG. 3a is a side view of the structure, and FIGS. 3b and 3c are top views of the two structures.

[0015] Embodiments:

[0016] An obstacle detecting sensor for a robot, characterized in that at least one linear laser emitting device 1 facing the front ground is disposed on the robot, and at least a front portion of the robot is disposed at a lower or higher position than the linear laser emitting device a digital imaging module 2, the digital imaging module 2 is mainly used for taking the projection line of the linear laser line 1 at a projection position in front of the robot into the CCD or CMOS photosensitive element of the imaging module, according to the position shape of the laser line on the photosensitive element It can be discriminated whether the projection line of the laser line on the ground is blocked by other objects (obstacle). In addition to the laser line (cooperative target), imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored. Because the general obstacles are grounded and can be detected on the front ground, then obstacles exist. [0017] The linear laser emitting device 1 is at least two in-line laser emitting heads 11 arranged side by side on the same plane, and each word line laser emitting head 11 has the same angle of the word line (Zhang) The corners are on the same plane.) These juxtaposed line laser heads 11 are arranged on one side of the box 10 or the frame (two are arranged on both sides, and the rest are evenly distributed on both sides), one box 10 or the length of the frame is close to the width of the robot.

[0018] There are a plurality of linear laser emitting devices 1 each having a different horizontal angle toward the front.

[0019] The linear laser emitting device 1 further includes an up-and-down angle deflecting mechanism 5, and the deflecting mechanism 5 rotates to direct the linear laser light emitted from the linear laser device 1 to a different horizontal angle in front.

[0020] The position of the digital imaging module 2 is roughly set to the half-height position of the robot, which can take into account the viewing angle of the imaging module.

[0021] A general linear laser emitting device 1 is disposed on the top of the robot, and the emitted linear laser is directed toward the front and the bottom of the robot, and the projection surface is perpendicular to the plane of the central axis of the robot, as shown in FIG.

[0022] Unobstructed, the laser line on the ground is stably projected at a fixed position, as shown in FIG. 1, with an obstacle 吋, a part of the laser line is illuminated on the convex obstacle, and its projection on the imaging module moves up, According to the offset of the upward movement, the distance of the obstacle can be calculated, and according to the moving speed of the robot, it can be calculated how long the robot will encounter the obstacle, how the robot should move, if there is a pit (step) on the road ahead, Then the laser line that should be in the expected position will move down or be invisible. This situation also indicates that there is an obstacle in front and cannot be crossed (it can also be calculated by calculating the offset of the downward movement. ).

[0023] Further, according to the oblique downward angle of the linear laser emitting head and the linear laser line projection position on the photosensitive element, it is even possible to calculate the position of the obstacle from the robot, as shown in FIG. 2, the light output of the linear laser emitting device The position is A (the height from the ground is AB), and the emitted light shines on the road at point D. Once it encounters an obstacle on the road (such as a roadblock), part of the light will be blocked, and a bright spot (line segment) appears at L, imaging The center point of the lens E of the device is 0, the height of the point from the ground is OG; the horizontal direction of the photosensitive element C (CCD) corresponds to the Q point at 0 o'clock, the imaging point of the D point on C is the R point, and the L point is on the C point. The image is at point P (in fact, D, L, N, R, and P are not on one plane, the projection plane of these points in the figure), and DR intersects obstacle LM (takes its height) at point N, AD The angle with the ground is α, and the angle between DR and the ground is . The magnification ratio calculated according to the focal length and the magnification is k, where AB, OG, GB, OQ are known (fixed value) ), RQ, PQ according to the density of the pixel points (and the distance between the pixel points), the absolute length of C can be calculated, the actual length (substituting the formula 吋) is also multiplied by the magnification ratio k, as can be seen ( It is known that, assuming that the distance of the obstacle LM from D is x, that is, the length of the DM is X, the default magnification ratio k is 1 for convenience:

[0025] DG= OG*OQ/RQ

[0026] . tg = AB/DB ie tga=AB/ (DG+GB) = AB/ (OG*OQ/RQ +GB)

[0027] ··· LN=LM-MN= x* (tga-tgp)

[0028] ··· (DG-DM) /OQ=LN/RP is (DG-x) /OQ=LN/RP

(DG-x) /OQ= x* (tga-tgp) /RP

[0030] ie (DG-x) /OQ= x* (AB/ (DG +GB) - RQ/OQ) /RP

[0031] x=(RP*DG/((AB*OQ/(DG+GB))-(RQ-RP))

[0032] where RQ-RP=PQ, so after simplification:

x=RP*DG/ (AB*OQ/(DG+GB)-PQ); DG=OG*OQ/RQ

[0034] .-.x=RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ))

[0035] DG-x is OG*OQ/RQ-RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ)) is an obstacle from the front end of the robot (lens) distance.

[0036] According to the speed and braking distance of the robot, it is necessary to change the direction (or how many distances) the robot can move forward, and determine which direction to move to the left or the right or the rear according to the situation of the left and right sides of the obstacle. Or change the direction of movement to the left or right after the movement trend.

[0037] The position where the digital imaging module 2 is substantially set is the half-height position of the robot, and the linear laser emitting device 1 can be disposed at the top of the robot, which can take into consideration the viewing angle of the imaging module.

[0038] A plurality of word line laser emitting heads 11 may also be disposed on different planes (at different positions of the robot), and the word line laser emitting heads 11 are directed in the same direction or different directions, directly toward the front and the bottom of the robot. The setting method is used to process the data on the imaging module, and the calculation amount is large; it may not necessarily be a word line, such as "田" word line, "three" word line (three-layer one-word line), etc., oblique downward Irradiate or rotate at a small angle.

[0039] The linear laser emitting device 1 is composed of at least one layer of a plurality of word line laser emitting heads 11 and a long strip-shaped housing 10 on which the one-line laser emitting head 11 is mounted, and one layer is a case 10 , or layering from high to The low stack is in a box 10.

[0040] Each of the entire line of laser emitting heads 11 facing the laser emitting device 1 may be open or provided with a light transmissive panel (such as glass or resin), which is aesthetically pleasing or dustproof.

[0041] The linear laser emitting device 1 may be provided with an up-and-down angle deflecting mechanism 5, which is generally disposed below the casing 10 (above), and the deflecting mechanism 5 rotates to direct the linear laser light emitted from the linear laser device 1 toward the front. different angle. The horizontal angle of the linear laser emitting device 1 (between the ground) is automatically controlled according to the speed of the robot (robot), and the angular deflecting mechanism may be an up-and-down rotating mechanism 5 or a swinging mechanism. The drive shaft that drives the deflection (rotation) can be driven by a stepper motor or servo motor (steering gear) with or without a speed reduction mechanism. The angle deflecting mechanism can also be fixed in a circular (one-way) circular rotation, and the other end (or middle) can be lifted and lowered by a screw driven by a nut. This method can be driven by a common DC motor plus a disc control or a stepper motor. The rotating mechanism or the swinging mechanism 5 can rotate the linear laser to some angle, and by rotating, the linear laser is transmitted to different angles in the front horizontal direction, and the turning direction is upward.

(Swing) Move to the range where the linear laser can be irradiated to the front of the robot. This turn (pendulum) can be used to detect obstacles such as beams on the road ahead that are lower than the height of the robot.

[0042] Of course, the linear laser emitting device 1 may not be provided with the upper and lower angle deflection mechanism 5, and the linear laser emitting device faces a fixed angle, and a plurality of layers of laser light emission 11 directed to different directions may be disposed, for example, four layers are sequentially disposed, respectively. It is facing forward (detecting whether the highest point of the robot will hit the front beam), front, front, and front.

[0043] The driving portion of the rotary shaft 5 may also be provided with one end of the left and right ends of the linear laser emitting device 1, and the other end is fixed with a bearing shaft for rotation.

[0044] The so-called digital imaging module is mainly a camera system including a camera, a digital imaging component (CCD or CMOS array), an input and output circuit, a digital processing module (DSP) and the like, and a typical application such as a camera, an optical mouse. The imaging and processing system, the camera system of the mobile phone, etc., the camera preferably uses a wide-angle camera, and a filter or a polarizing plate can be disposed at the front end of the imaging module. Of course, the filter and the polarizing plate can be integrated into the imaging module ( After the camera), this digital imaging module can also be set on the same plane, such as one on each side to expand the angle of view. The digital imaging module is not necessarily placed on the robot housing, but can also be bored (window) on the housing, and the imaging device is retracted to the inside of the robot for a distance. In order to prevent dust, the lens can be shielded with light transmissive glass (or resin) or filtered. The mirror and polarizer are grayed out.

The linear laser beams emitted by the same linear laser emitting device 1 have different lengths of laser lines projected at different distances, and the longer the distance, the longer the laser lines are, and a virtual border can be set in the imaging original to indicate the width range of the robot. Similar to the trapezoidal frame showing the width of the car body on the rear view reversing video, the deformation of the laser line outside the frame can be neglected. Of course, it can measure whether the deformation of the laser line outside the frame has a tendency to move inside the frame. , indicating that the obstacle may collide with the robot.

Claims

Claim

[Attachment 1] An obstacle detecting sensor for a robot, characterized in that at least one linear laser emitting device (1) facing the front ground is provided on the robot, and the laser emitting is lower or higher than the linear laser light at the front of the robot At least one digital imaging module (2) is disposed at the device (1), and the digital imaging module (2) is mainly used for taking the projection line of the linear laser line (1) at the projection position in front of the robot into the CCD or CMOS sensing of the imaging module. In the element, the linear laser emitting device (1) is at least two word line laser emitting heads (11) disposed on the same plane, each of the word line laser emitting heads (11) The corners of a word line are on the same plane, and these juxtaposed line-shaped laser emitting heads (11) are disposed on a casing (10) or frame.

[Claim 2] An obstacle detecting sensor for a robot according to claim 1, wherein said linear laser emitting device (1) has a plurality of horizontal angles each facing forward.

[Claim 3] An obstacle detecting sensor for a robot according to claim 2, wherein said plurality of linear laser emitting devices (1) are located in a casing (10).

[Attachment 4] A barrier detecting sensor for a robot according to claim 1, wherein said linear laser emitting device 1 further has an up-and-down angle deflecting mechanism (5), and a deflecting mechanism (5) Rotating the 线 to direct the linear laser emitted by the linear laser device (1) to different horizontal angles in front