CN112630800A - Self-moving equipment - Google Patents
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- CN112630800A CN112630800A CN201910954987.3A CN201910954987A CN112630800A CN 112630800 A CN112630800 A CN 112630800A CN 201910954987 A CN201910954987 A CN 201910954987A CN 112630800 A CN112630800 A CN 112630800A
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- 238000009434 installation Methods 0.000 claims description 24
- 238000010408 sweeping Methods 0.000 description 18
- 238000003384 imaging method Methods 0.000 description 14
- 238000005259 measurement Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
An autonomous mobile device comprising: equipment main part, setting are in first line laser emission receiving arrangement and the second line laser emission receiving arrangement of equipment main part front end, wherein: the first line laser transmitting and receiving device comprises a first line laser transmitter and a first receiver, the first line laser transmitter is arranged in a first area of the front end of the equipment body, and the first receiver is arranged in a second area of the front end of the equipment body; the second line laser emitting and receiving device comprises a second line laser emitter and a second receiver, the second line laser emitter is arranged in a second area of the front end of the equipment body, and the second receiver is arranged in a first area of the front end of the equipment body. Above-mentioned scheme can improve from mobile device range finding precision, reduces the area of range finding blind area.
Description
Technical Field
The embodiment of the invention relates to the field of robots, in particular to self-moving equipment.
Background
Along with the high-speed development of science and technology, more and more intelligent life electrical appliances enter the lives of people, and the comfort and the convenience of the lives are greatly improved.
Currently, self-moving equipment, such as a sweeping robot, is widely used in daily life of people. In some self-moving devices, a line laser ranging scheme is used to measure the distance between the self-moving device and an obstacle. The principle of the line laser ranging scheme is that a triangular ranging method is utilized, a line laser transmitter is used for transmitting laser beams, a receiver receives imaging positions of the reflected laser beams on a Complementary Metal-Oxide-Semiconductor (CMOS), and the distance between the mobile device and an obstacle is calculated.
Disclosure of Invention
The embodiment of the invention solves the problem of lower ranging precision of the self-moving equipment.
To solve the foregoing technical problem, an embodiment of the present invention provides a self-moving device, including: an apparatus main body; set up the first line laser emission receiving arrangement at equipment main part front end, wherein: the first line laser transmitting and receiving device comprises a first line laser transmitter and a first receiver, the first line laser transmitter is arranged in a first area of the front end of the equipment body, and the first receiver is arranged in a second area of the front end of the equipment body; the first region of the front end of the device body and the second region of the front end of the device body are symmetrically arranged in the advancing direction of the device body.
Optionally, the first line laser transmitter and the first receiver are symmetrically arranged in the advancing direction of the device body.
Optionally, the self-moving device further includes: a second line laser emitting and receiving device; the second line laser emitting and receiving device comprises a second line laser emitter and a second receiver, the second line laser emitter is arranged in a second area of the front end of the equipment body, and the second receiver is arranged in a first area of the front end of the equipment body.
Optionally, the second line laser transmitter and the second receiver are symmetrically arranged in the advancing direction of the apparatus body.
Optionally, in a direction in which the upper end surface of the apparatus main body is directed to the lower end surface, the first line laser transmitter is vertically disposed above the second receiver; the first receiver is vertically disposed above the second line laser transmitter.
Optionally, in a direction in which the upper end surface of the apparatus main body is directed to the lower end surface, the first line laser transmitter is vertically disposed above the second receiver; the second line laser transmitter is vertically arranged above the first receiver.
Optionally, any one of the first receiver and the second receiver satisfies the following condition: the range of the receiving horizontal view field angle is 10-150 degrees, the range of the receiving horizontal installation angle is-60-80 degrees, the range of the receiving vertical view field angle is 10-150 degrees, and the range of the receiving vertical installation angle is 20-160 degrees; any one of the first line laser transmitter and the second line laser transmitter satisfies the following condition: the range of the emission vertical angle is 10-150 degrees, the range of the emission vertical installation angle is 20-160 degrees, and the range of the horizontal installation angle is 5-80 degrees.
Optionally, when the first line laser transmitter transmits the laser beam, the second line laser transmitter stops transmitting the laser beam, and the first receiver receives the laser beam reflected by the obstacle, and the second line laser transmitter stops receiving the laser beam reflected by the obstacle.
Optionally, when the first line laser transmitter transmits a laser beam, the second line laser transmitter stops transmitting the laser beam, and the first receiver and the second receiver both receive the laser beam reflected by the obstacle.
Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:
the self-moving equipment comprises an equipment main body and a first line laser transmitting and receiving device, a first line laser transmitter and a first receiver of the first line laser transmitting and receiving device are respectively arranged in a first area and a second area at the front end of the equipment main body, the distance between the first line laser transmitter and the first receiver is increased, the length of a base line of the first line laser transmitting and receiving device is increased, and then the distance measuring precision of the self-moving equipment can be improved. In addition, the first line laser transmitter and the first receiver are arranged in two areas at the front end of the equipment body, so that the distance between the first line laser transmitter and the first receiver can be flexibly set. In addition, only one line laser transmitter and one receiver can be used for realizing the distance measurement, and the cost of the self-moving equipment can be reduced.
Further, the self-moving equipment further comprises a second line laser transmitting and receiving device, and a line laser transmitter and a receiver in the second line laser transmitting and receiving device are also respectively arranged in different areas of the front end of the equipment main body. Therefore, the base line corresponding to each group of line laser transmitting and receiving devices is longer, the length of the base line can be flexibly set, and the ranging precision of the mobile equipment is further improved. Moreover, by increasing the base line corresponding to each group of line laser transmitting and receiving devices, when the line laser transmitting and receiving devices deform, the error caused by the line laser transmitting and receiving devices also decreases.
Further, the first line laser emitter and the second line laser emitter emit laser beams in a time-sharing manner. When the first line laser transmitter transmits laser beams or the second line laser transmitter transmits laser beams, the first receiver and the second receiver simultaneously receive the laser beams reflected by the obstacles, and the area of the ranging blind area can be reduced.
Drawings
FIG. 1 is a top view of a robot body in an embodiment of the invention;
fig. 2 is a detailed schematic diagram of a top view of the robot body corresponding to fig. 1;
fig. 3 is a front view of a sweeping robot according to an embodiment of the present invention;
fig. 4 is a front view of another sweeping robot in an embodiment of the invention;
FIG. 5 is a schematic diagram of a line laser ranging in an embodiment of the present invention;
FIG. 6 is a schematic illustration of a comparison of long baseline and short baseline imaging in an embodiment of the invention;
fig. 7 is a schematic diagram illustrating comparison of imaging of baselines with different lengths when the line laser transmitter-receiver device deforms in the embodiment of the present invention.
Detailed Description
In the prior art, a self-moving device is generally provided with two groups of line laser transmitters and a group of receivers, and the receivers are arranged between the two groups of line laser transmitters. The two groups of line laser transmitters transmit laser beams in a time-sharing mode, and the receiver receives the laser beams transmitted by the two groups of line laser transmitters so as to measure the distance between the receiver and the obstacle.
The existing self-moving equipment has the technical problem of low ranging precision.
In the embodiment of the invention, the self-moving equipment comprises an equipment main body and a first line laser transmitting and receiving device, wherein a first line laser transmitter and a first receiver of the first line laser transmitting and receiving device are respectively arranged in a first area and a second area at the front end of the equipment main body, and the distance between the first line laser transmitter and the first receiver is increased, so that the length of a base line of the first line laser transmitting and receiving device is increased, and the distance measurement precision of the self-moving equipment can be further improved. In addition, the first line laser transmitter and the first receiver are arranged in two areas at the front end of the equipment body, so that the distance between the first line laser transmitter and the first receiver can be flexibly set. In addition, only one line laser transmitter and one receiver can be used for realizing the distance measurement, and the cost of the self-moving equipment can be reduced.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
The embodiment of the invention provides self-moving equipment which comprises an equipment main body and a first line laser transmitting and receiving device arranged at the front end of the equipment main body. In the embodiment of the present invention, the apparatus body front end is with respect to the apparatus body rear end, and when the apparatus body advances, the apparatus body front end is located in front of the apparatus body rear end in the advancing direction.
In specific implementation, the self-moving device may be a sweeping robot, or may be other intelligent devices capable of moving by themselves.
The following describes the self-moving device provided by the embodiment of the present invention in detail by taking the self-moving device as a sweeping robot as an example. When the self-moving equipment is a sweeping robot, the equipment main body is the robot main body.
Referring to fig. 1, a top view of a robot body in an embodiment of the invention is given. In fig. 1, the direction of travel of the robot main body 3 is the direction of the arrow in fig. 1. The area 1 in the robot main body 3 is the front end of the robot main body, and the area 2 is the rear end of the robot main body.
It is to be understood that the example in fig. 1 is merely an illustrative explanation of the relative positional relationship of the front end of the robot main body and the rear end of the robot main body. In practical applications, the areas corresponding to the front end of the robot main body and the rear end of the robot main body are not limited to those shown in fig. 1. The shape of the robot main body 3 shown in fig. 1 is also merely an exemplary illustration.
In a specific implementation, the first line laser emitting and receiving device may include a first line laser emitter and a first receiver, wherein: the first line laser transmitter may be disposed at a first region of the front end of the robot body, and the first receiver may be disposed at a second region of the front end of the robot body.
In a specific implementation, the first region of the front end of the robot main body and the second region of the front end of the robot main body may be symmetrically arranged in the advancing direction of the robot main body.
Fig. 2 is a detailed schematic diagram of a top view of the robot main body corresponding to fig. 1. In fig. 2, a region 11 is a first region of the front end of the robot main body, a region 12 is a second region of the front end of the robot main body, and the regions 11 and 12 are symmetrically arranged along a line 13, and the line 13 is parallel to the advancing direction of the robot main body 3.
In a specific implementation, the first line laser transmitter is disposed at a position in the first region that may be symmetrical to a position at which the first receiver is disposed in the second region. That is, the first line laser transmitter and the first receiver may be symmetrically disposed with respect to the advancing direction of the robot body.
The line laser transmitter and the receiver are symmetrically arranged, so that the laser beam can be transmitted and received, and the hardware layout in the robot main body and the appearance of the robot main body are attractive.
It will be appreciated that the first line laser transmitter and the first receiver may also be arranged asymmetrically. In practical application, the positions of the first line laser transmitter and the first receiver can be correspondingly arranged according to specific application requirements and the space inside the robot main body.
Referring to fig. 3, a front view of a sweeping robot according to an embodiment of the present invention is shown. The first line laser transmitter 31 is disposed at a first region of the front end of the robot body, the first receiver 32 is disposed at a second region of the front end of the robot body, and the first line laser transmitter 31 and the first receiver 32 are symmetrically disposed in the advancing direction of the robot body.
In a specific implementation, the self-moving device can further comprise a second line laser transmitting and receiving device. In an embodiment of the present invention, the second line laser transmitter-receiver device may include a second line laser transmitter and a second receiver, wherein: the second line laser transmitter may be provided at a second region of the front end of the apparatus body, and the second receiver may be provided at a first region of the front end of the apparatus body.
In a specific implementation, the second line laser transmitter is arranged in the second area, and the position of the second line laser transmitter is symmetrical to the position of the second receiver in the first area. That is, the second line laser transmitter and the second receiver may be disposed symmetrically with respect to the advancing direction of the apparatus body.
It will be appreciated that the second line laser transmitter and the second receiver may also be arranged asymmetrically. In practical application, the positions of the second line laser transmitter and the second receiver can be correspondingly arranged according to specific application requirements and the space inside the device body.
When the self-moving device comprises a first line laser transmitting and receiving device and a second line laser transmitting and receiving device, the position relation between the first line laser transmitter and the second receiver in the first area can be various; accordingly, there may be a plurality of positional relationships between the second line laser transmitter and the first receiver in the second area.
The description is continued by taking the self-moving device as a sweeping robot as an example.
In an embodiment of the invention, the first line laser transmitter is vertically arranged above the second receiver, and the first receiver is vertically arranged above the second line laser transmitter in a direction in which the upper end face of the robot body is directed to the lower end face.
In another embodiment of the invention, the first line laser transmitter is arranged vertically above the second receiver and the second line laser transmitter is arranged above the first receiver in a direction in which the upper end face of the robot body is directed to the lower end face.
In specific implementation, in the direction that the upper end face of the robot main body points to the lower end face, the positions between the first line laser transmitter and the second receiver are relatively vertical, and the positions between the second line laser transmitter and the first receiver are relatively vertical, so that the space occupied by the two groups of line laser transmitting and receiving devices on the robot main body can be reduced, and the space utilization efficiency in the robot main body is improved.
Referring to fig. 4, a front view of a sweeping robot according to an embodiment of the present invention is shown. In a direction in which the upper end face of the robot body is directed toward the lower end face (indicated by an arrow in fig. 4), the first line laser transmitter 31 is disposed vertically above the second receiver 42, and the second line laser transmitter 41 is disposed vertically above the first receiver 32.
It will be appreciated that other positional relationships between the first line laser transmitter and the second receiver may exist in a particular application. For example, in fig. 4, the position of the first line laser transmitter 31 is shifted left, right, up, etc. relative to the second receiver 42. As another example, in fig. 4, the position of the second line laser transmitter 41 is shifted left, right, down, etc. relative to the first receiver 32.
In a specific implementation, the distance between the first line laser transmitter 31 and the first receiver 32 may be 5mm to 400mm, and the distance between the second line laser transmitter 41 and the second receiver 42 may also be 5mm to 400 mm. It is understood that, in practical applications, the distance between the first line laser transmitter 31 and the first receiver 32, and the distance between the second line laser transmitter 41 and the second receiver 42 may also be other values, and may be set according to specific application scenarios. In practical application, the distance between the first line laser transmitter and the second receiver and the distance between the first receiver and the second line laser transmitter can be set according to the size of the space in the specific robot body and the distance measurement requirement.
In a specific implementation, the line laser transmitting and receiving device can be fixed by a bracket. When the robot of sweeping the floor only sets up first line laser emission receiving arrangement, only need adopt a fixed first line laser emitter of support, adopt another support fixed first receiver can. When the sweeping robot is provided with the first line laser transmitting and receiving device and the second line laser transmitting and receiving device, the first line laser transmitter and the second receiver can be fixed by one support, and the second line laser transmitter and the first receiver can be fixed by the other support. Therefore, in the embodiment of the invention, the fixing of the line laser transmitting and receiving device can be realized only by adopting two supports.
In specific implementation, the first line laser emitter may be fixed to the front end of the robot main body by a screw, may be fixed to the front end of the robot main body by a buckle, or may be fixed to the front end of the robot main body by an adhesive method. The first line laser emitter may also be fixed to the front end of the robot main body in other fixing manners, which is not described in detail herein.
It is understood that the first line laser transmitter and the first receiver may be fixed at the front end of the robot body by different fixing methods. For example, the first line laser transmitter is fixed on a first area of the front end of the robot body through screws, and the first receiver is fixed on a second area of the front end of the robot body through bonding.
In the implementation, the second line laser transmitter may also be fixed at the front end of the robot body by screws, or fixed at the front end of the robot body by fasteners, or fixed at the front end of the robot body by bonding. The second line laser transmitter can also be fixed at the front end of the robot main body in other fixing modes, and the details are not repeated in the invention.
It will be appreciated that the second line laser transmitter and the second receiver may be fixed to the front end of the robot body by different fixing means. For example, the second line laser transmitter is fixed to the second region of the front end of the robot body by screws, and the second receiver is fixed to the first region of the front end of the robot body by bonding.
Through the mode of screw, buckle or gluing, fix two groups line laser emission receiving arrangement in robot main part front end, need not to set up the fixed line laser emission receiving arrangement of extra support to the space of robot main part that can save to occupy.
In the embodiment of the invention, the first line laser transmitting and receiving device and the second line laser transmitting and receiving device are fixed at the front end of the robot main body by screws. Through the mode of screw fixation, can minimize the possibility of line laser emission receiving arrangement's deformation, avoid the range finding result to produce the error.
In a specific implementation, the first line laser transmitter and the second line laser transmitter may emit laser beams in a time-sharing manner. The sweeping robot may further include a controller that may control the timing at which the first line laser transmitter and the second line laser transmitter transmit the laser beams. The controller may control the first line laser transmitter and the second line laser transmitter to alternately transmit the laser beam, for example, at time t1 to time t2, the controller controls the first line laser transmitter to transmit the laser beam; at time t 2-t 3, the controller controls the second line laser transmitter to emit a laser beam, and so on.
The following takes the first line laser emitting and receiving device as an example to explain the distance measuring principle of the sweeping robot provided in the embodiment of the present invention. Referring to fig. 5, a schematic diagram of a line laser ranging method provided in an embodiment of the present invention is shown.
In fig. 5, the first line laser transmitter is disposed at point a, the receiving lens of the first receiver is disposed at point c, the distance between point a and point c is the baseline of the first line laser transmitter-receiver, and the distance between point b and point d is the measurement distance. On a horizontal plane in the advancing direction of the sweeping robot, the horizontal emitting angle of the first line laser emitter is alpha. The laser beam emitted by the first line laser emitter irradiates the point B on the barrier plane B and then is reflected, and the receiving lens of the first receiver receives the emitted laser beam. The distance between the receiving lens of the first receiver and the first receiving CMOS is the focal length f of the first receiver. The imaging range of the point b on the first receiving CMOS plane is from the pixel point e to the pixel point g, namely the imaging length x of the point b on the first receiving CMOS plane is the distance between the pixel point e and the pixel point g.
According to fig. 5, the obtained measured distance q is f × s/x, x is f/tan (α) + hg, q is the distance from point b to point d; hg is the distance between the pixel point h and the pixel point g, hg is the pixel offset, and hg can be obtained by multiplying the number of the pixel points between the pixel point h and the pixel point g by the length of the pixel point.
Referring to fig. 6, a schematic diagram of a long baseline and a short baseline in an embodiment of the present invention is shown. The description continues with the first line laser transmitter and the first receiver as an example.
In fig. 6, the first line laser transmitter is set at point a, and when the lens of the first receiver is set at point c, the base line of the corresponding first line laser transmitter-receiver device is the scene with a long base line; when the first receiving lens is arranged at the point c', the base line of the corresponding first line laser emission receiving device is a scene of a short base line. The laser beam emitted by the first line laser emitter irradiates the point B on the barrier plane B and then is reflected, and the receiving lens of the first receiver receives the emitted laser beam.
Under the condition that the measuring distances are equal, when the base line of the first line laser transmitting and receiving device is a long base line, the imaging range of the point b on the first CMOS plane is from pixel point e to pixel point g; when the base line of the first line laser transmitting and receiving device is a short base line, the imaging range of the point b on the first CMOS plane is pixel points e 'to g'.
As can be seen from fig. 6, in the case where the measurement distances are equal, when the baseline of the first line laser transmitter receiver is a short baseline, the imaging range on the first CMOS plane is small; when the base line of the first line laser emission receiving device is a long base line, the imaging range on the first CMOS plane is larger.
When the base line is long, the pixel offset hg corresponding to the long base line is larger than the pixel offset h 'g' corresponding to the short base line, so that the resolution corresponding to the long base line is higher. When the resolution is higher, the corresponding ranging accuracy is higher. Therefore, the ranging accuracy corresponding to the long baseline is higher than that corresponding to the short baseline.
In the prior art, a sweeping robot is generally provided with two groups of line laser transmitters and a group of receivers, and the receivers are arranged between the two groups of line laser transmitters. The two groups of line laser transmitters transmit laser beams in a time-sharing manner, and the receiver receives the laser beams transmitted by the two groups of line laser transmitters. For any group of line laser transmitters, after the line laser transmitters and the receivers form the line laser transmitters and receivers, the length of the base line corresponding to the formed line laser transmitters and receivers is 1/2 of the distance between the two groups of line laser transmitters.
In the embodiment of the invention, the first line laser transmitter and the first receiver of the first line laser transmitting and receiving device are respectively arranged in the first area and the second area at the front end of the equipment main body, and the distance between the first line laser transmitter and the first receiver is increased, so that the length of the base line of the first line laser transmitting and receiving device is increased, and the distance measurement precision of the self-moving equipment can be further improved. In addition, the first line laser transmitter and the first receiver are arranged in two areas at the front end of the equipment body, so that the distance between the first line laser transmitter and the first receiver can be flexibly set. In addition, only one line laser transmitter and one receiver can be used for realizing the distance measurement, and the cost of the self-moving equipment can be reduced.
In addition, set up first line laser emission receiving arrangement and second line laser emission receiving arrangement at equipment main part front end, first line laser emitter all has the receiver of one-to-one with second line laser emitter, consequently, the length of the baseline that first line laser emission receiving arrangement corresponds is the distance between first line laser emitter and the first receiver, and the length of the baseline that second line laser emission receiving arrangement corresponds is the distance between second line laser emitter and the second receiver.
Because the first receiver and the second receiver are not arranged between the two line laser transmitters, the base lines of the two groups of line laser transmitting and receiving devices provided by the embodiment of the invention are longer than the base line of the line laser transmitting and receiving device in the prior art at the front end of the equipment main body with the same length. That is, the baseline of the line laser transmitting and receiving device in the self-moving apparatus provided in the embodiment of the present invention is longer than that in the prior art.
Therefore, in the embodiment of the invention, the distance measurement precision of the sweeping robot is greatly improved.
Referring to fig. 7, a schematic diagram of comparison of imaging of baselines with different lengths when a line laser transmitter-receiver device in the embodiment of the present invention is deformed is shown. Take the line laser emitting and receiving device as the first line laser emitting and receiving device as an example. When the first line laser transmitting and receiving device deforms, the imaging of the long baseline and the short baseline are compared and schematically illustrated.
In fig. 7, the first line laser transmitter receiver is deformed, and the horizontal transmitting angle of the first line laser transmitter is changed from α to α'. At this time, the laser beam emitted from the first line laser transmitter is irradiated to the point B' on the obstacle plane B. When the base line of the first line laser transmitting and receiving device is a short base line, on the first CMOS plane, the offset caused by deformation is the distance from the pixel point m 'to the pixel point n'; when the baseline of the first line laser transmitting and receiving device is a long baseline, on the first CMOS plane, the offset caused by deformation is the distance from the pixel point m to the pixel point n. According to the principle of similarity of triangles, the distance from the pixel point m 'to the pixel point n' is equal to the distance from the pixel point m to the pixel point n.
As can be seen from fig. 7, when the first line laser transmitter receiver deforms, the corresponding offset is equal whether the baseline of the first line laser transmitter receiver is a long baseline or a short baseline. However, the imaging range corresponding to the baseline of the first line laser transmitter-receiver device is from pixel point e 'to pixel point n' when the baseline of the first line laser transmitter-receiver device is the short baseline, and the imaging range corresponding to the baseline of the first line laser transmitter-receiver device is from pixel point e to pixel point n when the baseline of the first line laser transmitter-receiver device is the long baseline. The ratio of the distance from the pixel point m to the pixel point n to the distance from the pixel point e to the pixel point n is smaller than the ratio of the distance from the pixel point m 'to the pixel point n' to the distance from the pixel point e 'to the pixel point n'.
Therefore, when the baseline of the first line laser transmitting and receiving device is a long baseline, if the first line laser transmitting and receiving device deforms, the error caused by the deformation is smaller than that of a scene with a short baseline.
In specific implementation, the range of the receiving horizontal viewing angle corresponding to the first receiver may be 10 ° to 150 °, the range of the receiving horizontal installation angle is-60 ° to 80 °, the range of the receiving vertical viewing angle is 10 ° to 150 °, and the range of the receiving vertical installation angle is 20 ° to 160 °. The range of the emission vertical angle of the first line laser emitter is 10-150 degrees, the range of the emission vertical installation angle is 20-160 degrees, and the range of the horizontal installation angle is 5-80 degrees.
In specific implementation, the range of the receiving horizontal viewing angle corresponding to the second receiver may be 10 ° to 150 °, the range of the receiving horizontal installation angle is-60 ° to 80 °, the range of the receiving vertical viewing angle is 10 ° to 150 °, and the range of the receiving vertical installation angle is 20 ° to 160 °. The range of the emission vertical angle of the second line laser emitter is 10-150 degrees, the range of the emission vertical installation angle is 20-160 degrees, and the range of the horizontal installation angle is 5-80 degrees.
In a specific implementation, the angles of the first line laser transmitter, the second line laser transmitter, the first receiver and the second receiver may be set according to a specific application scenario and a measurement distance.
For example, the measurement distance to be achieved is 2m and the horizontal detection field width is 350 mm. Setting the vertical emission angle of the laser transmitter in any line to be 94 degrees, the vertical emission installation angle to be 77 degrees and the horizontal installation angle to be 10 degrees; the angle of the receiving horizontal view field of any receiver is set to be 78 degrees, the angle of the receiving horizontal installation is 41 degrees, the angle of the receiving vertical view field is 78 degrees, and the angle of the receiving vertical installation is 84 degrees.
As another example, the measurement distance to be achieved is 1m and the horizontal detection field width is 350 mm. Setting the vertical emission angle of the laser transmitter in any line to be 94 degrees, the vertical emission installation angle to be 77 degrees and the horizontal installation angle to be 17 degrees; the angle of the receiving horizontal view field of any receiver is set to be 78 degrees, the angle of the receiving horizontal installation is set to be 38 degrees, the angle of the receiving vertical view field is set to be 78 degrees, and the angle of the receiving vertical installation is set to be 85 degrees.
The angle corresponding to the first receiver may be the same as or different from the angle corresponding to the second receiver. In practical use, the angles of the first line laser transceiver and the second line laser transceiver can be set correspondingly according to practical application scenes.
In a specific implementation, the sweeping robot may further include a controller, and the controller may be disposed in the robot main body and electrically connected to the first line laser emitting and receiving device and the second emitting and receiving device, respectively. The controller can control the first line laser transmitter and the second line laser transmitter to transmit laser beams in a time-sharing mode, and acquire imaging ranges of the CMOS planes corresponding to the first receiver and the second receiver so as to acquire the distance between the robot body and the obstacle.
In the embodiment of the present invention, the time-sharing emission of the laser beam by the first line laser emitter and the second line laser emitter means: stopping the second line laser transmitter from emitting the laser beam when the first line laser transmitter emits the laser beam; conversely, when the second line laser transmitter emits the laser beam, the first line laser transmitter stops emitting the laser beam.
When a first line laser transmitter emits a laser beam, there are two scenarios: 1) the first receiver is active and the second receiver is inactive, i.e.: the first receiver receives the laser beam reflected by the obstacle, and the second receiver does not receive the laser beam reflected by the obstacle; 2) the first receiver and the second receiver are both operated, namely, the first receiver and the second receiver both receive the laser beam reflected by the obstacle.
When the first receiver and the second receiver are used for receiving the laser beams reflected by the obstacles, the distance measuring width corresponding to the laser beam received by the first receiver and the distance measuring width corresponding to the laser beam received by the second receiver can be obtained, and therefore the overall distance measuring width can be improved. Compared with the method that only the first receiver is adopted to receive the laser beams reflected by the obstacles, the area of the ranging blind area can be effectively reduced by adopting the two receivers to receive the laser beams reflected by the obstacles.
In a specific implementation, the sweeping robot may further include a driving mechanism, and the driving mechanism may be built in the robot main body and electrically connected to the controller. The controller may output a drive control command to the driving mechanism to control the driving mechanism such that the driving mechanism drives the robot main body to move forward, backward, or turn, according to a distance between the robot main body and the obstacle.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. An autonomous mobile device, comprising: equipment main part, set up the first line laser emission receiving arrangement at equipment main part front end, wherein:
the first line laser transmitting and receiving device comprises a first line laser transmitter and a first receiver, the first line laser transmitter is arranged in a first area of the front end of the equipment body, and the first receiver is arranged in a second area of the front end of the equipment body; the first region of the front end of the device body and the second region of the front end of the device body are symmetrically arranged in the advancing direction of the device body.
2. The self-moving apparatus according to claim 1, wherein the first line laser transmitter and the first receiver are symmetrically disposed in a forward direction of the apparatus body.
3. The self-moving device of claim 1, further comprising: a second line laser emitting and receiving device; the second line laser emitting and receiving device comprises a second line laser emitter and a second receiver, the second line laser emitter is arranged in a second area of the front end of the equipment body, and the second receiver is arranged in a first area of the front end of the equipment body.
4. The self-moving apparatus according to claim 3, wherein the second line laser transmitter and the second receiver are symmetrically disposed in a forward direction of the apparatus body.
5. The self-moving apparatus according to claim 3, wherein the first line laser transmitter is disposed vertically above the second receiver in a direction in which the upper end face of the apparatus body is directed toward the lower end face; the first receiver is vertically disposed above the second line laser transmitter.
6. The self-moving apparatus according to claim 3, wherein the first line laser transmitter is disposed vertically above the second receiver in a direction in which the upper end face of the apparatus body is directed toward the lower end face; the second line laser transmitter is vertically arranged above the first receiver.
7. The self-moving device of claim 3, wherein either of the first receiver and the second receiver satisfies the condition: the range of the receiving horizontal view field angle is 10-150 degrees, the range of the receiving horizontal installation angle is-60-80 degrees, the range of the receiving vertical view field angle is 10-150 degrees, and the range of the receiving vertical installation angle is 20-160 degrees; any one of the first line laser transmitter and the second line laser transmitter satisfies the following condition: the range of the emission vertical angle is 10-150 degrees, the range of the emission vertical installation angle is 20-160 degrees, and the range of the horizontal installation angle is 5-80 degrees.
8. The self-moving apparatus as claimed in claim 3, wherein when the first line laser transmitter transmits the laser beam, the second line laser transmitter stops transmitting the laser beam, and the first receiver receives the laser beam reflected by the obstacle, and the second line laser transmitter stops receiving the laser beam reflected by the obstacle.
9. The self-moving apparatus as claimed in claim 3, wherein the second line laser transmitter stops transmitting the laser beam while the first line laser transmitter transmits the laser beam, and the first receiver and the second receiver both receive the laser beam reflected by the obstacle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910954987.3A CN112630800A (en) | 2019-10-09 | 2019-10-09 | Self-moving equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910954987.3A CN112630800A (en) | 2019-10-09 | 2019-10-09 | Self-moving equipment |
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| CN112630800A true CN112630800A (en) | 2021-04-09 |
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