Hollow protective cover laser radar, obstacle avoidance method and application thereof

Abstract

The application discloses a hollow protective cover laser radar, an obstacle avoidance method and application thereof, and comprises a laser generating component and a laser receiving component which are both mounted on a robot body, characterized in that the laser generating component emits a ring laser net L which surrounds the robot body, the laser receiving component comprises a mirror surface one and a mirror surface two which are arranged in parallel, a camera is mounted between the mirror surface one and the mirror surface two, the camera is located on the central axis of the robot body, and the area of the mirror surface two is smaller than that of the mirror surface one.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser radar, and particularly relates to a hollow protective cover laser radar, an obstacle avoidance method and application thereof. BACKGROUND

[0002] Currently, meal delivery robots, service robots, industrial AGVs and machine tool human protectors generally adopt ultrasonic waves, infrared rays and laser radars to detect obstacles. These technologies have detection blind spots and dead angles in the close range of the robot, and cannot perform omnidirectional up-and-down protection. In particular, the meal delivery robots, service robots and warehouse robots are high and thin in shape and have small moving space. Currently, obstacle detection can only be performed in a partial height range, and omnidirectional up-and-down protection cannot be performed. Even if a 360-degree laser radar is used, the downward viewing angle is small, and the vision is easily blocked by the mechanical structure itself, and it is impossible to detect obstacles in all directions in a small space. SUMMARY

[0003] The application aims to provide a hollow protective cover laser radar, an obstacle avoidance method and application thereof to solve the problems in the background.

[0004] To achieve the above-mentioned purpose, the application provides the following technical scheme.

[0005] A hollow protective cover laser radar comprises a laser generating assembly and a laser receiving assembly which are both mounted on a robot body, characterized in that the laser generating assembly emits a ring-shaped laser net L around the robot body, the laser receiving assembly comprises mirror surface one and mirror surface two which are arranged in parallel, a camera is mounted between the mirror surface one and the mirror surface two, the camera is located on the central axis of the robot body, and the area of the mirror surface two is smaller than that of the mirror surface one.

[0006] In a further technical scheme, the laser generating assembly is located above or below the laser receiving assembly.

[0007] In a further technical scheme, the laser generating assembly comprises a plurality of linear laser emitters which are uniformly distributed around the robot body, and the laser emitted by the plurality of linear laser emitters in a downward direction collectively forms the ring-shaped laser net L.

[0008] In a further technical scheme, the laser generating assembly comprises a point laser emitter which is located on the central axis of the robot body, a reflecting cover is arranged above the point laser emitter, the reflecting cover is provided with a reflecting cone corresponding to the position of the point laser emitter, the point laser emitter emits point laser to the reflecting cone, the point laser is reflected by the reflecting cone to form a ring-shaped laser net L', and the ring-shaped laser net L' is reflected by the reflecting cover to form the ring-shaped laser net L around the robot body.

[0009] Further technical solutions, the mirror surface one area is greater than the robot body upper end area.

[0010] Further technical solutions, the angle between the annular laser net L and the ground is 60-80 degrees.

[0011] A laser radar obstacle avoidance method, comprising the above laser radar, and the specific steps are as follows:

[0012] Firstly, the annular laser net L for detecting obstacles is emitted obliquely downward by the laser generating assembly;

[0013] Secondly, after the annular laser net L is irradiated to the obstacle, laser points A and diffuse reflection laser L1 are formed on the surface of the obstacle;

[0014] Thirdly, the diffuse reflection laser L1 is first irradiated to the mirror surface one, and then forms reflection light paths L2, L3, L4,..., Ln through multiple reflections of the mirror surface one and the mirror surface two, and finally the reflected laser Ln is captured by the camera to form a pixel coordinate B in the camera;

[0015] Fourthly, the coordinate X1 and Y1 of the point B can be calculated by the image processor, and the azimuth angle K1 of the point B can also be calculated, and according to the mirror reflection principle, the reflected laser L1 is parallel to the reflected laser Ln and in the same plane, so the azimuth angle K2 of the point A is equal to the azimuth angle K1 of the point B, and thus the horizontal azimuth of the point A is obtained.

[0016] Fifthly, after the azimuth of the point A is obtained, the controller sends an obstacle avoidance instruction to make the robot body bypass the obstacle.

[0017] Further technical solutions, the camera center focal point coordinate F is known, so the space coordinate straight line equation BF of the point B and the focal point F, that is, the space coordinate straight line equation of the reflected laser Ln, can be obtained, and according to the mirror reflection principle, the reflected laser L1 is parallel to the reflected laser Ln, and the space straight line equation of the mirror surface one and the mirror surface two can be used to calculate the space coordinate straight line equation of the reflected laser L1, and thus the vertical distance height H from the intersection point A of the reflected laser L1 and the reflected laser L to the camera sensor can be obtained.

[0018] The beneficial effects of the present application are as follows:

[0019] The present application provides a new detection and obstacle avoidance method, which uses the reflection principle of light and cooperates with the mirror surface one and the mirror surface two, effectively solves the problems of small downward viewing angle of the laser radar and detection failure caused by the blocking of the robot structure, truly realizes 360° dead angle-free detection, is suitable for detecting obstacles in all directions in a narrow space of a mobile robot, and has simple structure and low cost.

[0020] The laser radar application comprises the laser radar, and is installed on a security system on an upper part of a protected object, emits a ring laser net L from top to bottom to wrap the object, and can protect the protected object in a narrow space range.

[0021] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 Principle structure of the present application Figure 1 .

[0023] Figure 2 Principle structure of the present application Figure 2 .

[0024] Figure 3 B point K1 calculation schematic diagram of the present application

[0025] Figure 4 Laser radar of the present application is installed on the lower part of the robot body Figure 1 .

[0026] Figure 5 Laser radar of the present application is installed on the lower part of the robot body Figure 2 . DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0028] Please refer to Figures 1-3 ;

[0029] The robot body 2 in the present application can be a meal delivery robot or a transport robot, and the like, which has a service property, and the biggest feature is that it does not need manual operation and can deliver the goods to the designated place, and different obstacles will be encountered in the transportation process, and how to avoid the obstacles will be another difficulty of the service robot, and the laser radar 1 and the service robot will be combined for specific description below.

[0030] The laser radar 1 in the present application comprises a laser generating assembly 11 and a laser receiving assembly 12, and usually the laser receiving assembly 12 is installed on the top end of the robot body 2, and the laser generating assembly 11 is installed on the robot body 2, and four specific installation modes are as follows:

[0031] The first mode is to install above the laser receiving assembly 12;

[0032] Second: installed below the laser receiving assembly 12;

[0033] Third: the laser radar 1 also has a shell, so the laser generating assembly 11 can also be installed on the shell, on the same vertical line with the laser receiving assembly 12;

[0034] Fourth: an extension of the second, the laser generating assembly 11 can be installed on the upper outer periphery of the robot body 2;

[0035] In special cases, the laser receiving assembly 12 can be installed inside the robot body 2, for example Figure 4 and Figure 5 It is also possible to install it on the lower part, as shown, Figure 4 The common installation method is shown, while Figure 5 The laser radar 1 is installed upside down, and the specific detection principle is the same, and the installation method can be selected according to the actual situation, but the principle of realizing obstacle avoidance is the same, which will not be described one by one in this invention. Further explained in the first way; When in use, the laser radar 1 located on the robot body 2 is started synchronously with the operation, and the specific detection steps are as follows:

[0036] First, the laser generating assembly 11 emits a ring-shaped laser net L for detecting obstacles obliquely downward;

[0037] Second, when the ring-shaped laser net L is irradiated to the obstacle, it will form a laser point A and a diffuse reflection laser L1 on the surface of the obstacle;

[0038] Third, because the area of mirror one 121 is larger than that of mirror two 122, the diffuse reflection laser L1 will not be blocked and will be irradiated to mirror one 121, and then will form reflection light paths L2, L3, L4, …, Ln after multiple reflections of mirror one 121 and mirror two 122. The final reflected laser Ln will be captured by the camera 123, and a pixel coordinate B will be formed in the camera 123;

[0039] Fourth, the coordinates X1 and Y1 of point B can be calculated by the image processor, and the azimuth angle K1 of point B can be calculated by TgK = X1 / Y1. According to the principle of mirror reflection, the reflected laser L1 and Ln are parallel, so the azimuth angle K2 of point A is equal to the azimuth angle K1 of point B, and thus the azimuth of point A is obtained.

[0040] In addition, the camera 123 center focal point coordinate F is known, thus the space coordinate straight line equation BF of the B point and the focal point F can be obtained, that is, the space coordinate straight line equation of Ln, and the reflected laser L1 and Ln are in parallel relation by using the mirror reflection principle, and the space coordinate straight line equation of L1 can be deduced through the space straight line equation of the mirror one 121 and the mirror two 122, and the space straight line equation of a point laser in the annular laser net L can be obtained through internal pre-setting, that is, the vertical distance height H from the intersection A of L1 and L to the camera 123 sensor can be obtained; the space straight line equation of L1 is calculated as follows: the reflection angle of Ln on the mirror two 122 and the reflection point on the mirror two 122 can be calculated through the space straight line equation of Ln and the straight line equation of the mirror two 122, thus the space straight line equation of L4 can be calculated, and the space straight line equation relation of Ln and L1 is similar or mirror image by using the mirror reflection symmetry principle, and the space straight line equation of L3, L2 and L1 can be obtained through analogy;

[0041] Fifthly, after the position of the A point is obtained, the controller sends an obstacle avoidance instruction to make the robot body 2 bypass the obstacle.

[0042] It is to be explained that, generally, the area of the mirror one 121 is equal to or greater than the area of the upper end of the robot body 2, so as to ensure that the reflected laser can be received, but in the case of not considering the extreme situation, the area of the mirror one 121 can be smaller than the area of the upper end of the robot body 2, but at the same time, the emission angle of the laser generator needs to be adjusted, that is, the emission angle is increased, so that the range of the annular laser net L is increased, and the detection range is wide, so as to ensure that the reflected laser has enough space to avoid the upper end corner of the robot body 2, that is, it is explained that, for example, under the normal condition, the robot body 2 is 20 cm away from the robot body 2, and the obstacle avoidance instruction is sent, but the area of the mirror one 121 can be smaller than the area of the upper end of the robot body 2, and the emission angle needs to be increased, and the robot body 2 is 21 cm away from the robot body 2, and the obstacle avoidance instruction is sent.

[0043] The application provides a novel detection and obstacle avoidance mode, which utilizes the reflection principle of light, and cooperates with the mirror one 121 and the mirror two 122, so as to effectively solve the detection failure caused by the object blocking, and truly realize 360° dead angle free detection, and the structure principle is simple, and the cost is low.

[0044] In the embodiment, the laser generating assembly 11 has two setting modes, which are as follows:

[0045] 1. The laser generating assembly 11 comprises a plurality of linear laser emitters which are uniformly distributed around the robot body 2, and the laser emitted by the linear laser emitters is downward and forms the annular laser net L.

[0046] 2. The laser generating component 11 includes a point laser emitter 111 located on the central axis of the robot body 2. A reflector 112 is provided above the point laser emitter 111. A reflector cone 113 is provided on the reflector 112 corresponding to the position of the point laser emitter 111. When in use, the point laser emitter 111 emits a point laser to the reflector cone 113. After the endpoint of the reflector cone 113 comes into contact with the point laser, it will reflect a 360° horizontal laser net L'. The horizontal laser net L' irradiates the inner side of the reflector 112 and will be reflected again to form a ring laser net L around the robot body 2. The reflector 112 is injection molded or made of aluminum material. Its interior is a mirror. The bending angle of the reflector 112 around its perimeter causes the reflected ring to be emitted at a certain angle after passing through the net. The angle between the ring laser net L and the ground is 60°-80°.

[0047] Another application is to use the aforementioned lidar 1 in a security system. In use, lidar 1 is installed above the protected object and connected to the alarm system. Lidar 1 emits a ring-shaped laser net L from top to bottom. When a person comes into contact with the ring-shaped laser net L, the system determines that they have entered the object according to the above implementation method and triggers the alarm system. This lidar can provide 360° all-round protection for the protected item in a small space. It is small in size, low in cost, and simple in structure, making it suitable for places such as museum anti-theft alarms.

[0048] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0049] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims

1. A hollow protective cover lidar, comprising a laser generating assembly (11) and a laser receiving assembly (12) both mounted on the robot body, characterized in that: The laser generating component (11) emits a ring laser network L around the robot body (2). The laser receiving component (12) includes a mirror surface one (121) and a mirror surface two (122) arranged in parallel. A camera (123) is installed between the mirror surface one (121) and the mirror surface two (122). The camera (123) is located on the central axis of the robot body (2). The area of ​​the mirror surface two (122) is smaller than that of the mirror surface one (121). The laser generating component (11) is located above or below the laser receiving component (12); The laser generating component (11) includes a point laser emitter (111) located on the central axis of the robot body (2). A reflector (112) is provided above the point laser emitter (111). A reflector cone (113) is provided on the reflector (112) corresponding to the position of the point laser emitter (111). The point laser emitter (111) emits a point laser towards the reflector cone (113). After being reflected by the reflector cone (113), a ring laser network L' is formed. The ring laser network L' is then reflected by the reflector (112) to form a ring laser network L surrounding the robot body (2). The bend angle of the reflector (112) makes the reflected ring laser network shoot out at a certain angle, and the angle between the ring laser network L and the ground is 60°-80°.

2. The hollow protective cover lidar according to claim 1, characterized in that: The laser generating component (11) includes several line laser emitters, which are evenly distributed around the robot body (2). The lasers emitted by the several line laser emitters at an angle downwards together form a ring laser network L.

3. A hollow protective cover lidar according to claim 1, characterized in that: The area of ​​the mirror (121) is larger than the area of ​​the upper part of the robot body (2).

4. A lidar obstacle avoidance method, characterized in that: Including the lidar as described in any one of claims 1-3, the specific steps are as follows; The first step is to emit a ring-shaped laser grid L diagonally downwards through the laser generating component (11) to detect obstacles; In the second step, after the ring laser net L irradiates the obstacle, it will form a laser point A and a diffuse reflection laser L1 on the surface of the obstacle. In the third step, the diffuse reflection laser L1 will first illuminate the mirror (121), and then be reflected multiple times by the mirror (121) and the mirror (122) to form the reflected light path L2, L3, L4 ... Ln. Finally, the reflected laser Ln will be captured by the camera (123), and a pixel coordinate B will be formed in the camera (123). The fourth step is to calculate the coordinates X1 and Y1 of point B using an image processor, and at the same time calculate the azimuth angle K1 of point B. According to the principle of mirror reflection, the reflected laser L1 and Ln are parallel and on the same plane. Therefore, the azimuth angle K2 of point A is equal to the azimuth angle K1 of point B, thus obtaining the horizontal orientation of point A. Fifth step: After obtaining the location of point A, the controller issues an obstacle avoidance command, causing the robot body (2) to bypass the obstacle.

5. The lidar obstacle avoidance method according to claim 4, characterized in that: The coordinates F of the center focus of the camera (123) are known. From this, the spatial coordinate line equation BF between point B and focus F is obtained, which is the spatial coordinate line equation of Ln. Using the principle of mirror reflection, it can be known that the reflected laser L1 and Ln are parallel. At the same time, through the spatial line equations of mirror one (121) and mirror two (122), the spatial coordinate line equation of L1 is calculated, that is, the vertical distance H from the intersection point A of L1 and L to the sensor of the camera (123) is obtained.

6. A lidar application, characterized in that: The system includes the lidar as described in claim 5, which is used in a security system and is installed on the upper part of the protected object, emitting a ring-shaped laser net L from top to bottom to surround the object.

Images