WO2019183743A1 - Moving objects obstacle detection sensor - Google Patents

Abstract

Provided is a sensor for obstacle detection of moving objects, comprising at least one digital imaging module (2), a linear laser emission device (1), and at least one reflector (31) or a reflecting prism (32) or a light guiding tube (33) having a reflecting surface (3), wherein, the linear laser emission device (1) sends a laser signal to the reflecting surface (3), one or more reflecting surfaces (3) extend an optical path of a linear laser emitted by the linear laser emission device (1) one or more times through reflection before the linear laser leaves the entire set of sensor signal emission device, the reflecting surface (3) is a long strip-shaped reflector (31) or a reflecting prism (32) or a light guiding tube (33) which is consistent with an opening angle of the linear laser, the reflecting surface (3) is a plane surface or a curved surface in a long strip direction, the digital imaging module (2) is mainly used for taking the projection line of the linear laser in front of a moving object into a CCD or CMOS photosensitive element of the digital imaging module (2), according to the position and shape of the laser on the photosensitive element, it can be judged whether the projection line of the laser on the ground is shielded by other objects or not.

Description

A sensor for detecting obstacles in moving objects Technical field

It is mainly used for autonomous mobile devices such as robots to detect obstacles that may be encountered on the entire projection surface in the process of moving, and is also suitable for automatic driving or assisted driving of vehicles such as automobiles and ships.

Background technique

When the robot detects obstacles in the moving direction (usually in front), it is best to detect the entire surface of the moving direction (the projection surface of the robot in front). Otherwise, even a corner of the robot may hit. If the obstacle is unreliable, it is better to use a surface sensor when detecting obstacles in front. For example, the robot needs to detect whether it will be stuck by the coffee table, the bottom edge of the sofa (or crash the furniture), whether the raised robot on the front ground can pass, whether the corner of the robot will hit people, etc. The sensor has infrared or ultrasonic waves and needs to be installed multiple times and cannot cover the entire projection surface. However, if such a sensor is installed on the entire surface in order to enlarge the coverage surface, one cost is high, and the second signal coverage is spread. In order to enlarge the scope of the robot, the passage that can be entered is also inaccessible; the same vehicle with automatic driving or assisted driving is best to detect obstacles on the road in the direction of movement (usually in front). It is the entire surface of the moving direction (the projection surface of the robot/vehicle in front) can be detected. Otherwise, even a corner of the car may hit an obstacle (or a person).

technical problem

The present invention is to solve the problem of covering the sensor, and it is possible to detect the obstacle on the entire surface of the moving object in the moving direction, and provide the sensor with such a wide coverage.

Technical solution

The invention is designed in such a way that:

A sensor for detecting an obstacle of a moving object, characterized in that the sensor comprises at least one digital imaging module, a linear laser emitting device, and at least one reflecting mirror or reflecting prism or light guiding tube having a reflecting surface, and a line The laser emitting device emits the laser signal to the reflecting surface, and the one or more reflecting surfaces extend the linear laser light emitted by the linear laser emitting device one or more times by reflection before leaving the entire sensor signal transmitting device. The reflecting surface is a long-shaped mirror or a reflecting prism or a light guiding tube which is consistent with the opening angle of the linear laser, and the longitudinal direction of the reflecting surface is a plane or a curved surface, and the digital imaging module is mainly used for moving the linear laser line on the moving object. The projection line in front is taken into the CCD (or CMOS) photosensitive element of the imaging module, and 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). Living, except for the laser line (cooperative target), imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored.

The linear laser emitting device is at least one word line laser emitting head, and if more than one word line laser emitting head, the opening angles of the plurality of word line laser emitting heads are on a plane.

The reflecting surface at the light exiting of the sensor signal emitting device is a single face.

The reflecting surface of the sensor signal emitting device is a plurality of faces, and the plurality of faces reflect the signal to a plurality of directions; the linear laser emitting device may have a plurality of faces, each facing one of the plurality of reflecting faces; or a line shape There is one laser emitting device, and the linear laser emitting device comprises a plurality of word line laser emitting heads facing one of the plurality of reflecting surfaces.

The linear laser emitting device also has an up-and-down rotating mechanism or a swinging mechanism, and the rotating mechanism or the swinging mechanism can rotate the linear laser to some angles, and rotate the linear laser toward different positions of the reflecting surface.

The reflecting surface of the sensor signal emitting device is also provided with an up-and-down rotating mechanism or a swinging mechanism. The laser line emitted by the linear laser emitting device is parallel to the wheel axis of the moving object (such as a car), and the rotating mechanism or the swinging mechanism can reflect the reflecting surface at the light emitting portion. Rotating some angles back and forth, by rotating, the linear laser reflected by the reflecting surface at the light exiting is transmitted to different angles in the front horizontal direction.

The reflection device at the light exiting of the sensor signal emitting device also has a left-right rotation or swing mechanism. The laser beam emitted by the linear laser emitting device is perpendicular to the ground, and the rotating mechanism can transmit the linear laser reflected by the reflecting surface at the light exiting to the front vertical direction. angle.

The linear laser emitting device can also be mounted at a fixed height on a moving object. A general linear laser emitting device is disposed on the top of a moving object, and the linear laser light emitted is generally directed toward the front and the bottom of the moving object.

The sensor signal transmitting device has a lifting mechanism, and the lifting mechanism raises or lowers the reflecting surface at the light exiting portion.

Beneficial effect

Although the one-line laser emitting head with a large exit angle can immediately lengthen the laser line, its brightness is also rapidly attenuated. One of the objects of the present invention is to restrain the opening angle of the linear laser emitting device and ensure the linear laser. The brightness and the linear laser are substantially expanded to the corresponding length before moving away from the moving object body.

DRAWINGS

Figure 1 ( a , b , c , d Taking the car as an example of the obstacles in front of the obstacles a ’, b ’, c ’, d ‘ a , b , c , d Imaging diagram).

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

Figure 3 It is a schematic diagram of the obstacle distance discrimination of another example (vertical direction scanning) of the present invention.

Figure 4 Schematic diagram of signal coverage for a humanoid robot sensor signal transmitter (where a , b For the robot not using the invention, c , d A robot for setting the sensor of the present invention).

Figure 5 ( a , b , c It is a schematic diagram of the installation method of the sensor of the robot car (such as a sweeping robot) of the present invention.

Figure 6 ( a , b , c Is a schematic structural diagram of the sensor signal transmitting device of the present invention (wherein a For the side profile view, b for a Front profile view, c For another structural profile).

Figure 7 ( a , b It is a schematic diagram of a parallel installation structure of two kinds of linear laser sensor signal transmitting devices of the present invention.

Figure 8 ( a , b , c , d A schematic diagram of the structure of two other (vertical direction scanning) sensor signal transmitting devices of the present invention.

Figure 9 A schematic diagram of a mounting manner of a sensor signal transmitting device with a rotating robot cart of the present invention (wherein a , b For the top view, c for b Side view).

Figure 10 ( a , b , c ) is a schematic diagram of the operation of the sensor signal transmitting device with rotation (a partial enlarged view inside the circle).

Figure 11 ( a , b , c , d , e , f ) is a schematic diagram of the rotating mechanism.

Figure 12 A schematic diagram of a self-driving car sensor installation.

Figure 13 ( a , b ) is a schematic diagram of the operation of a linear laser emitting device with a lifting rod on a car ( 13a Inside the circle is a partial enlargement).

Figure 14 ( a , b , c ) is another schematic diagram of the working principle of the lifting rod installed on the car ( 14c For partial enlargement).

Figure 15 It is a schematic diagram of a lifting frame.

Example:

A sensor for detecting obstacles in a moving object, characterized in that the sensor comprises at least one digital imaging module 2 a linear laser emitting device facing the front ground 1 And at least one reflective surface 3 Mirror 31 Reflective prism 32 Or light pipe, linear laser emitting device 1 Transmitting the laser signal to the reflective surface 3 One or more reflective surfaces 3 Linear laser emitting device 1 The emitted linear laser is extended one or more times by reflection before leaving the entire set of sensor signal transmitting devices, said reflecting surface 3 Is with linear laser 1 Long angled mirror 31 Reflective prism 32 Or light pipe, reflective surface 3 The strip direction is flat or curved.

At least one digital imaging module 2 Set lower or higher than the linear laser emitting device near the front panel of the moving object 1 Whereas, the generally set position is generally the half-height position of the moving object, which can take into account the viewing angle of the imaging module, and the digital imaging module is mainly used to take the projection line of the linear laser line in front of the moving object into the imaging module. CCD (or CMOS On the photosensitive element, according to the positional shape of the linear laser (the line connecting the laser or the line segment laser or the line segment of the line laser) on the photosensitive element, it can be determined whether the projection line of the linear laser on the ground has been Other objects (obstacle) block, except for linear lasers (cooperative targets), imaging of other objects (non-cooperative targets) on the photosensitive element can be ignored, because the general obstacles are landing (with feet), especially for cars. Wheels can be detected on the ground in front, and obstacles are there.

When it is barrier-free, the laser line on the ground is stably projected at a fixed position (because, for example, the road has a certain slope, the projected laser line is not necessarily a straight line), as shown in the figure. 1a/1a When there is an obstacle, a part of the laser line shines on the convex obstacle, and its projection on the imaging module will move up (recording the time of the first upward movement), as shown in the figure 1b/1b ’, 1c/1c ', according to the offset of the upward movement, the distance of the obstacle can be calculated, and according to the moving speed of the moving object, it can be calculated how long the moving object will encounter the obstacle, how the moving object should move, if there is a pit on the road ahead Then, in the expected position, a laser line will move down or be invisible, as shown in the figure. 1d/1d This situation also indicates that there are obstacles in front and cannot be crossed (it can also be determined by calculating the offset of the downward movement based on empirical values).

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 moving object, as shown in the figure. 2 The light exit of the linear laser emitting device is A (the height from the ground is AB ), the light that shines on the road D Point, once you encounter an obstacle on the road (such as a roadblock), part of the light will be blocked, in L Bright spots (line segments) appear, the lens of the imaging device E Center point is O , the height from the ground is OG Photosensitive element C ( CCD ) horizontal direction O Point is Q point, D The image at the point on C is the R point. L Point the image on C to point P (actually D , L , N , R , P The points are not on a plane, the projection plane of these points in the figure), DR With obstacles LM (take its height) intersect at N point, AD The angle with the ground is α, DR The angle with the ground is β. The magnification ratio calculated based on the focal length and the magnification is k Of which AB , OG , GB , OQ Is known (fixed value), RQ , PQ According to the density of pixels (and the distance between pixel points), C The absolute length can be calculated, and the actual length (when substituting the formula) is also multiplied by the magnification ratio. k See what you know (known), assume obstacles LM from D The distance is x , which is DM The length is x Then, the default magnification ratio is convenient for the figure. k for 1 :

∵  Tg β =MN/DM= RQ/OQ= OG/DG

∴  DG= OG*OQ/RQ

∵  Tg α = AB/DB which is Tg α =AB/ ( DG+GB ) = AB/ ( OG*OQ/RQ +GB )

∵  LN=LM-MN= x* ( Tg α - tg β)

∵( DG-DM ) /OQ=LN/RP which is ( DG-x ) /OQ=LN/RP

∴( DG-x ) /OQ= x* ( Tg α - tg β) /RP

which is( DG-x ) /OQ= x* ( AB/ ( DG +GB ) - RQ/OQ ) /RP

among them RQ-RP=PQ So after simplification:

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

which is OG*OQ/RQ-RP*OG*OQ/(RQ*(AB*OQ/(OG*OQ/RQ+GB)-PQ)) The distance from the obstacle to the front end (lens) of the moving object.

According to the speed of the moving object and the braking distance at that time, it is calculated how long (or how many distances) the moving object can move forward, and it is necessary to change the direction according to the situation of the left and right sides of the obstacle, or according to which direction to the left or the right or the rear, or according to The movement trend changes the movement direction to the left or the right.

Linear laser emitting device 1 It can also be placed on one side of the robot, roughly half-height position, the linear laser is roughly perpendicular to the ground, facing the front of the robot, digital imaging module 2 A substantially half-height position disposed near the other side or the other side of the robot to the central axis of the robot (the vertical line of the intermediate position). In this setting mode, it is necessary to discriminate the position where the laser line is bent and the direction of the bending. As shown 3 In A , B , C , D Four-segment line, of which A , D Is the bend at the siding, A , D The top of the segment is bent again, indicating A , D Everywhere protrudes from the wall ;B The segment is a cabinet that is placed against the wall; C The paragraph is a raised carpet on the ground, according to C The convex portion below and above the segment is located at the horizontal position on the imaging module, and the distance of the obstacle from the robot can be obtained by checking the empirical value (the distance from the robot corresponding to the horizontal position of each image module stored in advance). The height of the bulge (or depression) (not very important, can be used as a basis for determining whether the robot can climb (over) the obstacle (carpet)) can also be obtained by checking the empirical value.

Because the linear laser beam emitted by the sensor signal transmitting device is fixed at the distance of the line segment projected at each distance in the front, another calculation method is to determine the linear laser projection position according to the length of the linear laser light captured in the imaging module. What is the distance of the robot; according to each segment (if there are multiple linear laser signal transmitting devices) or a full length of linear laser on the imaging module (and the horizontal tilt of the current robot body) to calculate or look up the table The way to measure the distance from the linear laser projection (or) to the robot.

As shown 4 ( a , b ) if a linear laser emitting device facing the front lower side is provided at the top of the robot 1 According to the opening angle of the linear laser emitting device, a line is left on the ground level in front, and the line from the transmitting point to the ground forms an isosceles triangle, that is, the signal range of the sensor signal transmitting device is the triangle. The scope, obviously, the top of the robot (as shown 4b The shaded part does not completely cover the projection surface of the entire robot in front. If only this sensor is used, the upper part of the robot may hit an obstacle. The present invention is to expand a point on the top end to at least the same width as the top end of the robot. And can be extended to a line with the same width at the widest point (equivalent height) of the robot, as shown in the figure 4 ( c , d ), moving the position of a linear laser emitting device back or placing a linear laser emitting device 1 Set inside the robot, linear laser emitting device 1 Laser emitting head facing the reflecting surface 3 Through at least one reflective surface 3 The reflection is extended to expand the beam. If there are multiple reflective surfaces 3 Mirror 31 Or reflective prism 32 , generally at the last reflective surface 3 When the light is emitted, the linear laser can be extended to a length equal to the proximity of the robot (or the same width), or to the vertical plane where the front face of the robot is located, or to the imaging device. 2 The extension of the maximum optical viewing angle above can extend the linear laser to a length equal to the width of the robot. The purpose of the equal width is to ensure that all objects in front of the robot enter a wide range of objects (both likely to collide with the moving robot) It will be illuminated by a linear laser and can have a projection on the imaging device.

a reflective surface 3 Can also be a cylindrical reflecting prism 32 Reflective surface 3 Prismatic prism 32 a strip-shaped surface), this prism can be a linear laser emitting head 1 The laser line of the emitted linear laser is transmitted on the one hand by a longer distance (expanded) before being moved away from the moving object, and is directed toward the front and the bottom of the moving object, and on the other hand through the prism. 32 A combination device that emits a linear laser obliquely above the obliquely moving object, as shown in the figure 5 ( b , c ), map 6 ( c ), the diagonally upward line is to indicate whether a line segment is displayed on the imaging device between the height of the moving object plus the linear laser emitting device, and if there is an obstacle above the marking, it can also be in the vehicle. Check whether it can pass safely when passing bridges, height limit poles, etc. Of course, in order to detect the upper limit height, a linear laser emitting head oriented obliquely upward may be separately provided without passing through the prism.

At least one reflective surface 3 Can also be a reflective prism 32 Add at least one mirror 31 Total reflection prism 32 Linear laser emitting device 1 Emitted incident laser from the mirror 31 Total reflection prism 32 a reflective prism that is directed toward the exit 32 Finally from the reflective prism 32 Light out; or from a mirror 31 Shot at another mirror 31 , after multiple reflections from the reflective prism 32 Light out, as shown 6 ( c ).

At least one reflective surface 3 Can also be multiple mirrors 31 Total reflection prism 32 , incident laser from a mirror 31 Total reflection prism 32 Shot at another mirror 31 Total reflection prism 32 , after multiple reflections from the last mirror 31 Out of the light, as shown 5 ( a ), map 6 ( a , b ).

Multiple reflective surfaces 3 It can also be a curved narrowed-width cylindrical light guide tube 33 Light pipe 33 Narrow and wide (refer to linear laser emitting device) 1 The curved column shape of the emitted line expanding direction instead of the divergence and coarsening direction (equivalent to rolling an isosceles triangular light-transmissive plate from the top corner from the inside to the outside), from the width of the narrow width ( That is, the apex angle of the isosceles triangle is determined by the opening angle of the linear laser emitted by the linear laser emitting device, and the linear laser is generally confined to the cylindrical light guide. 33 Inside, the bending can be intermittent bending (partial straight tube, partial curved tube) , As shown 8 ( a , b )) or continuous bending, as shown 8 ( c , d The curved cylindrical light guide tube and the linear laser are equivalent to the relationship between the optical fiber and the laser (point shape), so that the laser signal can continuously change direction in the light guide tube, and the meaning of the linear laser is to be in the light guide tube. Extending the length of the linear laser while changing the direction, the installation space can be saved for the continuously curved light guide tube, and the curved light guide tube can not only transmit a line laser but also transmit multiple linear lasers. Linear lasers that can be incident at different angles at the same position, at the same angle (parallel) at different positions, and at different angles from different positions.

Sensor signal emitting device exit (last mirror) 31 Reflective prism 32 Reflective surface 3 The whole surface is a plane (surface or surface (surface reflection surface) 3 Smooth cross section line)), this reflective surface 3 a linear laser emitting device 1 The emitted linear laser is reflected to the front of the moving object, or a plurality of linear lasers from different directions are reflected to different angles in front of the moving object.

Reflective surface at the exit of the sensor signal emitting device 3 Linear laser emitting device for multiple faces (multiple planes with transitions that are not smooth (cross-section lines) or multiple curved surfaces) 1 There are also a plurality of (generally arranged in parallel), each reflecting surface reflects a laser line emitted by a linear laser emitting device, and a plurality of faces will be a plurality of linear laser emitting devices 1 The signal is reflected to multiple distances on the road ahead, as shown 7 ( b ); if the reflection surface at the exit 3 Reflective prism (multiple prism) for multiple faces 32 In addition to multiple (generally parallel) linear laser emitters 1 Launched linear laser ( a , b , c )reflection( a ’, b ’, c ‘), but also one of them ( a )refraction( a ") shot forward and upward, as shown 7 ( a ).

Reflective surface at the exit of the sensor signal emitting device 3 Also includes an up and down rotation mechanism or a swing mechanism 5 The laser line emitted by the linear laser emitting device is parallel to the axle of the moving object, the rotating mechanism or the swinging mechanism 5 It can rotate the reflection surface at the exiting light to some angle, and by rotating, the reflecting surface at the exiting light 3 The reflected linear laser is transmitted to different angles in the front horizontal direction, as shown in the figure. 9 , 10 , 11 For example, autonomous driving (or with assisted driving) vehicles need to detect distances based on speed and safe braking distance (eg 100 Mi Kai) or medium distance ( 30~50 M), near ( 10 Within the meter, different obstacles, this turning (pendulum) moving direction is to rotate the laser line from near to far, or the moving object passes through this turning (pendulum) moving mechanism to detect whether there is a view in the field of view of the image processing module. For obstacles on the ground, the direction of the turning (pendulum) is upward (swinging) to the reflecting surface to at least reflect the linear laser to the front of the moving object, and the vehicle is automatically driven (or with the assisting device). Also through this turn (pendulum) motion to detect obstacles such as beams and branches below the height of the vehicle, as shown in the figure 10 ( a , b , c Wherein, the linear laser light incident on the reflecting surface of the light exiting portion is slightly inclined to the horizontal plane, and the front end of the reflecting surface at the light exiting portion is slightly curved (expanding the incident light to a larger angle), and the rotation of the reflecting means of the reflecting surface at the entire light exiting portion axis 30 Located at the middle or rear end of the reflector, the axis of rotation 30 When rotating, the linear laser is projected close to the vicinity 90 The obstacle to the farther is slightly higher than the front projection line at the highest point of the moving object (it may be that the incident linear laser does not hit the reflective surface at all, directly to the front).

Reflective surface at the exit of the sensor signal emitting device 3 Also includes a left and right rotation or swing mechanism 5 The laser line emitted by the linear laser emitting device is perpendicular to the ground, and the rotating mechanism can reflect the reflecting surface at the light emitting portion 3 The reflected linear laser is transmitted to different angles in the front vertical direction, as shown in the figure. 8 ( a , b , c , d ), for the map 8 ( a , b Reflective prism 31 In addition to refracting light, there are reflection lines that refract light at some angles of rotation.

Reflective surface at the entire exit 3 Rotation axis of both ends (or at least one end) of the reflecting device 50 Supported arm 59 Clamping (can be clamped by a copper sleeve or bearing), the rotation axis of the middle position (or another section) 50 Set gears on a transition gear 52 Drive shaft 51 The gears on the mesh, as shown 11 ( a ), the drive shaft is driven by a servo motor, a stepping motor or a DC motor with a reduction gear plus a code wheel (may be the motor shaft of the stepper motor); the entire exit surface is reflected 3 The rotating shaft of the reflecting device can also be the output shaft of the motor, or there is only one gear between them.

Reflective surface at the entire exit 3 Curved racks can also be set at the tail 53 And drive shaft 51 The driven gear meshes and is driven to rotate by a certain angle in the manner of a rack and pinion, as shown in the figure. 11 ( b ); the tail can also be provided with an arc-shaped scroll tooth, which meshes with a motor-driven turbine and is driven to rotate by a certain angle by a worm gear. The advantage of the worm gear is self-locking and large reduction ratio.

Reflective surface at the entire exit 3 Also available through cam 54 (eccentric wheel) rotation plus spring 55 Stretching and returning in a reciprocating (swinging) motion, as shown in the figure 11 ( c ).

Reflective surface at the entire exit 31 Also available through the crank 56 link 57 The way to drive reciprocating motion, as shown 11 ( d ), the reflection surface is drawn in the figure 31 Pass the two positions after reciprocating.

The reciprocating (oscillating) motion of the reflecting surface at the entire exit can also be passed through the electromagnet 58 On/off control , As shown 11 ( e ), electromagnet 58 Set on one side (or both sides) of the bottom left and right sides of the reflective surface, and the electromagnet when energized 58 Pulling the iron block at the bottom of the reflecting surface, the reflecting surface is spring when the power is off 55 Pull back; or put an electromagnet 58 Set above the reflective surface, as shown 11 ( f ), electromagnet 58 Ignite the iron block above the reflecting surface when energized, the electromagnet 58 When the power is off, the reflecting surface rotates back due to gravity.

Rotating mechanism or reciprocating motion (swinging mechanism) 5 There are many solutions. These are just a few simple examples. A rotating mechanism or a swinging mechanism can be designed for the technicians in the mechanical industry. The change of the rotating mechanism or the swinging mechanism should not be regarded as a new improvement of the present invention. .

Reflecting surface at the light exit 3 Can also be flat, reflective surface 3 The rotation axis is located on the reflective surface of the linear laser 3 Near the line (or coincident), the driving part of the rotating shaft is at the left and right ends of the reflector (if it is as shown 11 One end of the up-and-down rotation mounting method, and the other end is fixed by a bearing to rotate the support shaft; for the left-right rotation installation mode, as shown 8 The driving portion of the rotating shaft is at one end of the upper and lower ends of the reflecting plate.

Linear laser emitting device 1 Also includes an up and down rotation mechanism or a swing mechanism 5 , rotating mechanism or swinging mechanism 5 The linear laser can be rotated back and forth at some angle, and the linear laser is directed to the reflecting surface by rotation 3 Different positions and reflect to different angles in front.

The sensor signal transmitting device can also be a linear laser emitting device 1 Hit a convex mirror 35 Or expanding the concave lens (requires that the expansion angle of the line becomes larger, that is, the length of the laser line becomes longer, and the line itself does not need to be thickened, and it is preferable to use a strip convex mirror 35 Convex mirror 35 The narrow direction is flat, the long direction is the arc surface), and then the reflection surface before the entire sensor signal transmitter 3 Processing into a concave mirror 34 Or the convex prism is used for focusing, the focus includes the expansion angle of the line becomes smaller, the laser line becomes thinner (the curved surface is spherical), and of course, the expansion angle becomes small, that is, the concave mirror 34 The narrow direction is flat, and the long direction is the arc surface. 12 .

Linear laser emitting device 1 Can be at least one word line laser emitting head, especially for moving objects moving at a slower speed, a word line laser emitting head is not far away (related to the moving speed of the moving object, also with the digital imaging module 2 The viewing angle of the ground) is sufficient for the brightness of the projection line of the ground, and a one-line laser emitting device passes through at least one reflecting surface 3 Extending the laser line emitted by a word line laser emitting head, which may be a long strip of mirror 31 Reflective prism 32 The reflecting surface of the entire linear laser emitting device has a plurality of strip faces, which may be flat or concave (refocusing once when light is emitted), and the remaining reflecting surfaces (second or more) may be strips One side mirror 31 Reflective prism 32 ,Reflector 31 It is a mirror (a surface-polished metal device with regular reflection properties and a metal-plated reflective film (dust-proof, surface anti-corrosion) or metal, plastic (lighter)), typically a glass (or resin) mirror.

Linear laser emitting device 1 A plurality of (at least two) word line laser emitting heads having a smaller opening angle may be disposed on the same plane, and a word line laser emitting head is in the same direction, that is, an opening angle of each of the word line laser emitting heads The sides are on the same plane, and a plurality of emitters are used to extend a word line and constrain the opening angle of each of the word line laser emitting heads through at least one reflecting surface 3 Extending the laser line emitted by a word line laser emitting head can improve the brightness of each line of linear laser, and can also be in the digital imaging module at a remote location or where the ambient brightness is strong. 2 See the laser line in it. These juxtaposed line laser heads are placed on a box or frame.

Linear laser emitting device 1 a plurality of point laser emitting heads arranged in a circular shape on a turntable, each of the point laser emitting heads is disposed away from the center of the circle, and is disposed in a box or a casing, and the front part of the box or the casing has The light-transmissive window, the turntable is driven by a motor. That is, a plurality of point laser emitting heads (or a single-line laser emitting head with a small opening angle) are arranged in a ring shape on a rotatable disk, by rotating and reflecting and adding a reflecting surface. 3 The reflection forms an arc resembling a straight line on the road. Not all discs 360 The light needs to be lighted out, or there may be no window, and the power contact lens is set at some angles of the rotating slip ring to illuminate the laser. The rotatable disk may be arranged in a plurality of layers of a plurality of spot laser emitting heads (or a line-shaped laser emitting head having a small opening angle in the same direction), each layer rotating synchronously in one direction).

The linear laser emitting device comprises a bottom plate capable of rotating back and forth around a rotating axis at an angle, and the bottom plate is arranged in parallel or radially at least one layer of a plurality of spot laser emitting heads or a small angle laser emitting head with a small opening angle. Rotating back and forth, point laser head or small-line laser head with small angle and reflective surface 3 The reflection projects a laser line composed of a discontinuous point or a short line segment on the front projection surface, and the electromagnet (one or both sides of one side) or the front and back of the electromagnet (one on one side or two sides) that repeatedly drives the bottom plate to rotate back and forth A motor that is continuously powered (ie, continuously powered, periodically changing direction). It is also possible to provide a plurality of multi-point laser emitting heads (or a single-line laser emitting head in the same direction) on this panel, and each layer is synchronously oscillated.

The linear laser emitting device may further be at least one spot laser emitting head or a small-line laser emitting head for driving the laser signal on a multi-column or multi-cone mirror capable of rotating at a high speed, through the multi-column Rotating reflection of a faceted or multi-cone mirror plus a reflective surface 3 The reflection forms an arc resembling a straight line on the road. The cross-section of the cylindrical mirror may be a regular polygon or a non-normal polygon, each cylindrical or tapered reflecting surface may have at least one plane or at least one curved surface, and a plurality of parallel point-shaped laser emitting heads (or corners may be used) The small one-line laser emitting head) is struck on the same cylinder. A plurality of juxtaposed point-like laser emitting heads may be parallel to each other at different points (lines), or a plurality of juxtaposed point-like laser emitting heads may be struck at the same point (line) in different directions.

The linear laser emitting device is at least one spot laser emitting head or a small-line laser emitting head that rotates the laser signal on a mirror that oscillates back and forth around a rotating axis at a certain angle, through a certain angle of the mirror Back and forth swing and reflection plus reflection surface 3 The reflection, the laser line formed by the discontinuous point or the short line segment is projected on the front projection surface, and the reflection surface of the mirror that swings back and forth is located on the front surface of the mirror (toward the side of the laser emitting head), which may be a plane or Multiple strip planes or surfaces. It is also possible to use a plurality of parallel point-shaped laser emitting heads (or a word line laser emitting head with a small opening angle) to be placed on the oscillating mirror, and the mirrors that swing left and right can be driven by a motor (continuous power supply in the forward and reverse directions). It can be driven by an electromagnet (one on one side or two on both sides), and there is a special piezoelectric yaw mirror in the oscillating mirror, which can also be used here.

Or a linear laser emitting device, the linear laser emitting device comprising a plurality of reflecting surfaces 3 One-line laser emitting head of one surface, that is, a plurality of one-line laser emitting heads combined to form a linear laser emitting device 1 The plurality of word line laser emitting heads are oriented according to different orientations, one word line laser emitting head per layer or two layers per layer (or more, one word line of each of the plurality of word line laser emitting heads per layer) The corners are in the same plane).

In order to obtain laser lines at distances of three, one, and three, a multi-layer linear laser emitting device can be provided. 1 One layer or more of a word line laser emitting head (evenly spaced, one word line opening angle of each word line laser emitting head is in the same plane), each layer is paralleled on different reflecting surfaces Or cross-hitting on the same reflective surface, or parallel on the same reflective surface, and then reflecting the linear laser light into multiple directions through at least one mirror (or reflective prism) with different reflective surfaces.

The laser color of the linear laser emitting heads of three (or more) different horizontal angles respectively disposed at a long distance, a medium distance, and a close distance after reflection is preferably different.

Reflective surface 3 A fixed height that can be mounted on a moving object.

Reflective surface 3 It can be placed on the top cover of a moving object, or it can be supported by a fixing bracket (top rod), or it can also contain a reflecting surface. 3 Lifting mechanism (adjustable reflective surface) 3 The height on the moving object). For the reflective surface loaded on the lifting mechanism 3 The horizontal inclination to be oriented before and after the lifting can be adjusted by the level and motor-driven angular rotation adjustment device or by mechanical gyroscope, regardless of the angle at which the top of the lifting rod is tilted or lifted, the reflecting surface 3 Both are fixed to the front lower position.

The lift bar can be placed in the car A Column (or B , C Inside the column, it can be placed in one column on one side, and the lifting rod itself is inverted. L Shape, or set in two columns on both sides (lifting mechanism) 9 The drive shaft extends from one side to the other side, or a drive motor that rotates synchronously on both sides), and the lift rod itself is " n "Shape, can also be single shot" T "shape, lifting from the generator box or the trunk (this pole can be as thin as possible, minimally does not affect the horizon), or " T Shaped separately on one side A Column (or B , C In the column), the lifting rod itself has teeth or threads, and the lifting mechanism 9 A linear laser generator can be lifted by a motor-driven gear or screw as a microscope stage (or lens) 1 Height, as shown 13 Linear laser emitting device 1 It can be placed above the compartment cover of the car body or in the engine compartment (or the tail box). The face of the linear laser is located parallel to the direction in which the lifting bar moves up and down, and finally hits the reflecting surface at the top of the lifting rod. 3 on.

If the lifting mechanism is supported by a bracket (top rod), the bracket can also be set as an electric (or hydraulic or pneumatic) lifting bracket, such as an electric lifting antenna or a lifting mast, when the car is driving at a high speed, in order to play the laser signal very well. far( 100 When the meter is around, clearly distinguish the point on the road or the point on the obstacle in the imaging module, in order to enlarge LN The distance between the points can greatly increase and decrease the reflection surface at the light exiting point. Electric lifting antennas or lifting masts have mature technology, but it is better to use a code wheel or a hole type (counting with photoelectric pair tube or mechanical switch) to make a space-saving way to know the reflection when the motor is driven up and down. surface 3 The height can be raised or lowered directly to the maximum height (fixed value) by the detection switch, and the drop is also detected by the switch. The mast can be lowered and lowered on the roof at low and medium speeds (to reduce driving resistance, lower the height of the car and easy to enter the garage, etc.). At high speed, the mast passes through one or two (one on each side) top. 92 Jack up 92 It can be electric or pneumatic or hydraulic, or as shown 14 Drive the gear at the bottom of the mast with a gear with a large reduction ratio 91 (local tooth), there is a bump at the bottom of the mast 95 To withstand the (small) car at the extreme height of the mast C Column or rear top beam, the mast no longer falls backwards. The mast can be a ( " T "shape ) , but also " n "Two shapes (in order not to obstruct the skylight), linear laser emitting device 1 The root of the lifting mast can be arranged on the compartment cover of the vehicle body, and the surface of the linear laser is located parallel to the lifting mast and rotates synchronously with the lifting mast to ensure the linear laser emitting device 1 The reflection surface that finally hits the top of the lifting mast 3 on.

It is also possible to provide a platform-type overall ascending or descending lifting platform (frame) on the top of the moving object, the reflecting surface 3 Set on the top of the lifting platform (or under the top), as shown 15 , lift drive motor (with housing) 96 Drive a screw 93 Screw 93 The distal end is a polished rod, through the bearing 97 One side of the fixed value lifting platform, the proximal end is driven by a nut disposed on the other side of the lifting platform 94 Push the lifting platform (rack) to rise or fall (the lifting frame has various forms of driving, and the "lifting platform" search network can find a lot), the driving rod (including the screw nut) can also be inclined, the lifting platform is generally left and right Side symmetrical distribution, for simultaneous drive, can also be pneumatically or hydraulically loaded on both sides); linear laser emitter 1 It can be placed between the two fixed support frames at the bottom of the lifting platform. The plane of the angular angle of the linear laser is parallel to the movable bracket of the lifting frame (the rotating shaft fixed at the bottom of the movable bracket) 98/99 Upper (on one of the two), with the active axis of rotation at the bottom of the movable bracket 98 Synchronous movement and rotation or fixed rotation axis 99 Synchronous rotation), on the screw 93 Nut on 94 Or bearing 97 a vertical reflector with a mirror nearby 31 The linear laser is finally reflected by the reflection of the reflector to the reflective surface at the top of the crane 3 on. Or, a linear laser is emitted vertically upward at the bottom of the rear portion of the lifting platform, and the upper portion of the rear portion of the lifting platform has 45 a reflecting plate having a right angle, the reflecting plate reflecting the linear laser light emitted from below to the reflecting surface of the front upper portion of the lifting platform 3 Above; if the reflection process of the linear laser is to be made longer, the linear laser emitting device can be used 1 Set at the bottom of the front of the lift, and at the bottom of the rear of the lift 45 a reflective plate on a degree angle; if the reflection process of the linear laser is to be shortened, the linear laser emitting device can be used 1 It is disposed at the bottom of the front part of the lifting platform, and is perpendicularly directed to the reflecting surface of the upper part of the front part of the lifting platform; or horizontally emits a linear laser light at the bottom of the rear part of the lifting platform, and the front part of the lifting platform has a bottom portion. 45 a reflecting plate having a right angle, the reflecting plate vertically reflecting the linear laser beam emitted rearward to the reflecting surface of the front upper portion of the lifting platform 3 on.

If the object is compact, it must be placed on the front surface of the object (or slightly indented) because the imaging device 2 The viewing angle is limited, and it is impossible to take a full line of the linear laser projection line, and the processing method is to set a plurality of imaging devices. 2 Expand the viewing angle, or the imaging device 2 Also provided is a rotating mechanism, which can be combined with a linear laser emitting device 1 Or the reflective surface of the sensor signal emitting device at the exit 3 Synchronously rotating back and forth, the rotation can be performed by the same rotating drive (motor or electromagnet) connected through the connecting rod or rotating together with the same chassis, or separately driven by the motor with the code wheel to ensure that the linear laser is irradiated to the vicinity When the imaging device is also approaching (or the linear laser is directed toward the object side, the imaging device 2 Also facing the same side) if the imaging device 2 With a rotating device, the imaging device can also be used 2 Set at the bottom of the object (generally for robotic objects).

Claims (10)

1. A sensor for detecting obstacles in moving objects, characterized in that the sensor comprises at least one digital imaging module (2), a linear laser emitting device (1), and at least one mirror having a reflecting surface (3) (31) or a reflecting prism (32) or a light guiding tube (33), the linear laser emitting device (1) emits a laser signal to the reflecting surface (3), and the one or more reflecting surfaces (3) emit the linear laser light The linear laser emitted by the device (1) is extended one or more times by reflection before leaving the entire sensor signal transmitting device, and the reflecting surface (3) is a long reflection corresponding to the opening angle of the linear laser. The mirror (31) or the reflecting prism (32) or the light guiding tube (33), the reflecting surface (3) is in a plane or a curved surface, and the digital imaging module (2) is used for projecting the linear laser in the moving direction of the robot. On the CCD/CMOS photosensitive element of the line ingestion imaging module, according to the position shape of the linear laser on the photosensitive element, it is discriminated whether the projection line of the linear laser on the ground is blocked by an obstacle, except for the linear laser, other objects Imaging on the photosensitive element can be ignored.
2. A sensor for detecting obstacles in a moving object according to claim 1, wherein said linear laser emitting device (1) is at least one word line laser emitting head, and if a word line laser emitting head When there is more than one, the opening angles of the plurality of word line laser emitting heads are on a plane .
3. A sensor for detecting obstacles in a moving object according to claim 1, wherein the reflecting surface (3) at the light exiting portion of the sensor signal emitting device is a single face .
4. A sensor for detecting obstacles in a moving object according to claim 1, wherein the reflecting surface (3) at the exit of the sensor signal emitting device is a plurality of faces .
5. A mobile object detection sensor for barriers according to claim 4, characterized in that the linear laser emitting device (1) has a plurality of, toward each of a plurality of reflection surfaces (3) of one of the faces.
6. A sensor for detecting obstacles in a moving object according to claim 4, wherein the linear laser emitting device (1) is one, and the linear laser emitting device (1) comprises a plurality of reflecting surfaces facing the plurality of reflecting surfaces ( 1). 3) A word line laser emitting head on one of the faces .
7. A sensor for detecting obstacles in a moving object according to claim 1, wherein the reflecting surface (3) at the light exiting portion of the sensor signal transmitting device is further provided with an up-and-down turning mechanism or a swinging mechanism (5) , and the linear laser emitting device (1) The emitted laser line is parallel to the robot wheel axle, and the rotating mechanism or the swinging mechanism (5) can rotate the reflecting surface (3) at the light exiting angle by a certain angle, and by rotating, the reflecting surface (3) of the light exiting is linearly reflected. The laser is transmitted to different angles in the front horizontal direction .
8. A sensor for detecting obstacles in a moving object according to claim 1, wherein the reflecting surface (3) at the light exiting portion of the sensor signal emitting device is further provided with a left-right turning or swinging mechanism (5) , and the linear laser emitting device emits The laser line is perpendicular to the ground, and the rotating mechanism or the swinging mechanism (5) can transmit the linear laser light reflected by the reflecting surface (3) at the light exiting to different angles in the front vertical direction .
9. A sensor for detecting obstacles in a moving object according to claim 1, wherein the linear laser emitting device is provided with an up-and-down turning mechanism or a swinging mechanism (5) , and the rotating mechanism or the swinging mechanism (5) can apply a linear laser Rotate some angles back and forth, and rotate the linear laser toward different positions of the reflecting surface (3) .
10. A sensor for detecting obstacles in a moving object according to claim 1, wherein the sensor signal transmitting device has a lifting mechanism (9), and the lifting mechanism (9) raises or lowers the reflecting surface (3) at the light exiting portion.