CN117434550A - Laser radar sensor, autonomous mobile device, detection method and storage medium - Google Patents

Laser radar sensor, autonomous mobile device, detection method and storage medium Download PDF

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Publication number
CN117434550A
CN117434550A CN202210811840.0A CN202210811840A CN117434550A CN 117434550 A CN117434550 A CN 117434550A CN 202210811840 A CN202210811840 A CN 202210811840A CN 117434550 A CN117434550 A CN 117434550A
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China
Prior art keywords
autonomous mobile
scan line
mobile device
mobile apparatus
distance
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CN202210811840.0A
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孙晓林
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Qfeeltech Beijing Co Ltd
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Qfeeltech Beijing Co Ltd
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Priority to CN202210811840.0A priority Critical patent/CN117434550A/en
Publication of CN117434550A publication Critical patent/CN117434550A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

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

Abstract

The present disclosure relates to a lidar sensor, an autonomous mobile device, and a detection method and a storage medium, the method comprising: during travel of the autonomous mobile device on the travel surface, the lidar sensor emits laser light to generate a reference scan line and a first oblique scan line, the reference scan line being parallel to the travel surface, the first oblique scan line extending obliquely relative to the reference scan line toward the travel surface; navigation on the traveling surface is performed based on reflected light rays received by the laser radar sensor and corresponding to the reference scanning line; a parameter associated with a target object on a travel path of the autonomous mobile apparatus is detected based on reflected light received by the lidar sensor corresponding to the first oblique scan line. Thus, navigation and obstacle detection can be performed using the reference scan line and the first oblique scan line generated by the lidar sensor without adding a sensor for implementing obstacle detection to the autonomous mobile device.

Description

Laser radar sensor, autonomous mobile device, detection method and storage medium
Technical Field
The disclosure relates to the technical field of smart home, in particular to a laser radar sensor, autonomous mobile equipment, a detection method and a storage medium.
Background
Currently, autonomous mobile devices refer to intelligent mobile devices that autonomously perform preset tasks, and autonomous mobile devices typically include, but are not limited to, cleaning robots (e.g., intelligent floor sweepers, intelligent floor wipers, window wipers), companion mobile robots (e.g., intelligent cyber pets, caregivers robots), service mobile robots (e.g., reception robots in hotels, meeting places), industrial inspection smart devices (e.g., power inspection robots, intelligent forklifts, etc.), security robots (e.g., home or business intelligent guard robots).
In these autonomous mobile devices, a lidar, which is a 360 ° rotating lidar, is typically mounted thereon for positioning navigation. However, if it is desired to realize both the navigation function and the obstacle detection function, it is also necessary to further mount an additional sensor (e.g., an infrared sensor, a 3D sensor, etc.) on the autonomous mobile device to realize the obstacle detection function. In other words, for an autonomous mobile apparatus in the related art that simultaneously implements a navigation function and an obstacle detection function, a plurality of sensors are required for implementing the aforementioned two functions.
Disclosure of Invention
In view of this, the present disclosure proposes a lidar sensor, an autonomous mobile device, and a detection method and a storage medium thereof.
According to a first aspect of the present disclosure, there is provided a method of detecting an autonomous mobile device, the autonomous mobile device comprising: the laser radar sensor is used for navigation obstacle avoidance and is arranged at the side edge of the autonomous mobile equipment; a roller brush for cleaning the floor, the roller brush being disposed at the bottom of the autonomous mobile apparatus; and a driving section for driving the autonomous mobile apparatus to travel on a surface to be cleaned, the detection method including: a transmitting step of transmitting laser light to generate a reference scanning line and a first inclined scanning line during traveling of the autonomous mobile apparatus on a traveling surface, wherein the reference scanning line is parallel to the traveling surface, and the first inclined scanning line extends obliquely toward the traveling surface with respect to the reference scanning line; a navigation step of performing navigation on the traveling surface based on the reflected light received by the lidar sensor and corresponding to the reference scanning line; and a first detection step of detecting a parameter related to a target object on a traveling route of the autonomous mobile apparatus based on the reflected light received by the lidar sensor corresponding to the first oblique scanning line.
According to a second aspect of the present disclosure, there is provided a lidar sensor, the lidar sensor comprising: an emission part for emitting laser light; a scan turning mirror including a reflecting portion including at least three reflecting mirror surfaces arranged around a rotation axis of the scan turning mirror, among the at least three reflecting mirror surfaces, a first reflecting mirror surface and the rotation axis forming a first angle therebetween and a second reflecting mirror surface and the rotation axis forming a second angle therebetween, the first angle being different from the second angle such that a scanning line formed after reflection of the same laser light via the first reflecting mirror surface and the second reflecting mirror surface extends in different directions in a vertical field of view; and a receiving section that detects the reflected light of the target object received by the scanning turning mirror.
According to a third aspect of the present disclosure, there is provided a lidar sensor comprising at least three lidar sub-sensors disposed at an edge of a front side portion of an autonomous mobile device, the angles of scan lines generated by lasers emitted by the at least three lidar sub-sensors with respect to a travel plane being different from each other, the scan lines generated by lasers emitted by at least one lidar sub-sensor being parallel to the travel plane.
According to a fourth aspect of the present disclosure, there is provided an autonomous mobile device comprising the above-described lidar sensor provided at a side edge of the autonomous mobile device.
According to a fifth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium, which when executed by a processor of an autonomous mobile device, causes the processor to perform the above-described autonomous mobile device detection method.
According to a sixth aspect of the present disclosure, there is provided a computer program product comprising computer readable code, or a computer readable storage medium carrying computer readable code, which when run in a processor of an autonomous mobile device, performs the above-described detection method.
According to the present disclosure, in a process in which an autonomous mobile apparatus travels on a traveling surface, navigation on the traveling surface is performed based on reflected light corresponding to a reference scanning line parallel to the traveling surface generated by laser light emitted from a laser radar sensor provided to the autonomous mobile apparatus, and related parameters of a target object on the traveling surface of the autonomous mobile apparatus are detected based on reflected light corresponding to a first inclined scanning line inclined to the traveling surface generated by the laser light emitted from the laser radar sensor, whereby navigation and obstacle detection can be performed using the reference scanning line and the first inclined scanning line generated from the laser radar sensor without adding a sensor for implementing obstacle detection to the autonomous mobile apparatus.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features and aspects of the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1A is a schematic diagram showing a partial structure of a lidar sensor according to a first embodiment of the present disclosure.
Fig. 1B is a perspective view showing a scan turning mirror of the lidar sensor in fig. 1A.
Fig. 1C to 1F are schematic diagrams for explaining a process of scanning a laser light by one mirror surface during rotation of the scanning turning mirror.
Fig. 2A is a schematic diagram showing a partial structure of a lidar sensor according to a second embodiment of the present disclosure.
Fig. 2B is a perspective view illustrating a scan turning mirror of the lidar sensor of fig. 2A.
Fig. 2C is a schematic diagram showing an operation of the lidar sensor in fig. 2A.
Fig. 2D is a schematic diagram illustrating a position of a lidar sensor according to an embodiment of the present disclosure.
Fig. 3A is a schematic diagram illustrating a structure of an autonomous mobile apparatus according to an embodiment of the present disclosure.
Fig. 3B is a schematic diagram showing a partial structure of the autonomous mobile apparatus in fig. 3A.
Fig. 3C-3F are schematic diagrams for illustrating different operational scenarios of the autonomous mobile device of fig. 3A.
Fig. 3G is a schematic diagram for explaining an operation scenario of a modification of the autonomous mobile apparatus in fig. 3A.
Fig. 4a is a schematic diagram illustrating an arrangement of a lidar sensor according to an embodiment of the present disclosure.
Fig. 4b is a schematic diagram showing the arrangement of a conventional type radar sensor.
Fig. 4c and 5 show flowcharts of a method of detection of an autonomous mobile device according to an exemplary embodiment.
Fig. 6a shows a flow chart of a method of detection of an autonomous mobile device according to an exemplary embodiment.
Fig. 6b shows a flowchart of detecting the presence of a target on a travel route of an autonomous mobile device according to an example embodiment.
Fig. 7a shows a flow chart of a method of detection of an autonomous mobile device according to an exemplary embodiment.
Fig. 7b shows a flowchart for detecting relevant parameters of a target object on a traveling route after steering of a primary mobile device based on reflected light rays corresponding to a second oblique scan line according to an exemplary embodiment.
Fig. 7c shows a steering schematic of an autonomous mobile device according to an exemplary embodiment.
Fig. 8 illustrates a block diagram of an autonomous mobile device according to an example embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated. The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. In addition, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
In the present disclosure, "front (front side)", "rear (rear side)", "left (left side)", "right (right side)", "upper (upper side)", and "lower (lower side)" are all with respect to the operating state of the autonomous mobile apparatus according to the present disclosure. Specifically, "front (front side)", "rear (rear side)" means front and rear sides in a normal advancing direction of the autonomous mobile apparatus when the autonomous mobile apparatus according to the present disclosure is in an operating state on a surface to be cleaned, "left (left side)", "right (right side)" means left and right sides as viewed toward the front side in the normal advancing direction, and "upper (upper side)", "lower (lower side)" means upper and lower sides in a height direction perpendicular to the surface to be cleaned when the autonomous mobile apparatus according to the present disclosure is in an operating state on the surface to be cleaned.
According to the autonomous mobile device, autonomous movement can be performed according to a preset control scheme, and effective cleaning operation is performed on the surface to be cleaned in the autonomous movement process. The surface to be cleaned may be a plane or a curved surface with a large radius of curvature, typically for example the floor in each room in a building. In addition, cleaning operations include, but are not limited to, sweeping, mopping, dusting, and the like.
A lidar sensor according to a first embodiment of the present disclosure is described below with reference to the drawings.
(lidar sensor according to the first embodiment of the present disclosure)
As shown in fig. 1A, a lidar sensor LA according to a first embodiment of the present disclosure includes a transmitting section 1, a scanning turning mirror 2, and a receiving section (not shown in the drawing).
In the present embodiment, as shown in fig. 1A, the emitting part 1 includes a laser for emitting collimated laser light. In particular, the emitting means 1 may comprise only one laser capable of emitting a single line of laser light; or the emitting part 1 may also include a plurality of lasers arranged side by side, each capable of emitting one laser light; alternatively, the emitting unit 1 may include only one laser and a beam splitting system that splits one laser emitted by the laser into multiple laser beams. Thus, the transmitting part 1 of the laser radar sensor LA according to the first embodiment of the present disclosure can select an appropriate structure as needed. The transmitting means 1, whether comprising a plurality of lasers or a beam splitting system for splitting a beam of laser light, is advantageous for constructing the lidar sensor LA with a sufficient number of scan lines to achieve a high angular resolution in the vertical field of view.
In the present embodiment, as shown in fig. 1A to 1C, a scan turning mirror 2 is used to scan the laser light emitted from the emitting part 1. The scan mirror 2 is rotatable about its rotation axis O and is formed as a pentahedron. The scanning turning mirror comprises three mirror surfaces 21, 22, 23 arranged about its rotation axis O (these three mirror surfaces 21, 22, 23 constitute the reflecting part of the scanning turning mirror 2) and a top surface 24 and a bottom surface 25, the rotation axis O passing through the top surface 24 and the bottom surface 25, the rotation axis O forming different angles with the three mirror surfaces 21, 22, 23. During rotation of the scanning turret 2 about the rotation axis O, the same laser light via one of the mirror surfaces 21, 22, 23 can generate a co-located scanning line in the vertical field of view of the laser radar sensor LA, which scanning line can be scanned in the horizontal field of view of the laser radar sensor LA with rotation of the scanning turret 2. Referring to fig. 1D to 1E, these figures show the course of the scanning position of a scanning line generated by one laser beam via the first mirror surface 21 of the scanning turning mirror 2 in the horizontal field of view. In these figures, the shape and position of the target object TA are not changed, and the scanning line can be driven to scan different positions of the target object TA in the horizontal field of view by the rotation of the scan mirror 2. It will be appreciated that during rotation of the scan mirror, a scan line obtained by passing a single laser beam through the same mirror surface may result in a so-called scanned light curtain (see fig. 1C to 1F) in a horizontal field of view, so that scanned light curtains of different heights may be obtained by the different angles of the mirror surface.
Further, as shown in fig. 1B, among the three reflecting mirrors 21, 22, 23, a first angle is formed between the first reflecting mirror 21 and the rotation axis O, a second angle is formed between the second reflecting mirror 22 and the rotation axis O, and a third angle is formed between the third reflecting mirror 23 and the rotation axis O, wherein the first reflecting mirror 21 may be parallel to the rotation axis (that is, the first angle is 0 degrees, perpendicular to the ground). The first included angle, the second included angle, and the third included angle are different from one another, so that the scanning lines formed after the same laser light emitted by the emitting member 1 is reflected via the first mirror surface 21 and the second mirror surface 22 are different in extending direction in the vertical field of view (see fig. 3B to 3F).
In the present embodiment, the scan mirror 2 is also used to receive reflected light of the target TA. Further, the receiving section detects the reflected light of the target object TA received by the scanning rotating mirror 2 (the reflected light is diffuse reflected light reflected by the target object TA after the laser light emitted by the lidar sensor is incident on the target object TA). The receiving means may comprise the same number of receivers as the number of lasers. Detecting and receiving the corresponding laser light by the corresponding receiver makes it possible to reduce interference suffered by the detection and reception reflected light. It will be appreciated that the receiving means may comprise detectors in one-to-one correspondence with the lasers of the transmitting means 1, each detector being arranged in the light path of the corresponding reflected light. Since the reflecting mirror surfaces 21, 22, 23 also function as receiving mirror surfaces for receiving reflected light in the present embodiment, the three reflecting mirror surfaces 21, 22, 23 of the scanning mirror 2 also function as receiving portions of the scanning mirror.
By adopting the above-described arrangement, the angles between the three reflecting mirror surfaces 21, 22, 23 of the scanning turning mirror and the rotation axis O are different, so that three scanning lines of different heights are formed in the vertical field of view after the same laser light is reflected by these reflecting mirror surfaces 21, 22, 23, whereby the laser radar sensor LA can form a sufficient number of scanning lines with fewer lasers and with a relatively simple configuration, which is advantageous in improving the angular resolution (i.e., vertical angular resolution) of the laser radar sensor LA in the vertical field of view.
A lidar sensor according to a second embodiment of the present disclosure is described below with reference to the drawings.
(lidar sensor according to the second embodiment of the present disclosure)
The structure of the lidar sensor according to the second embodiment of the present disclosure is substantially the same as that of the lidar sensor according to the first embodiment of the present disclosure, and differences therebetween are mainly described below.
In the present embodiment, as shown in fig. 2A to 2C, the lidar sensor LA according to the second embodiment of the present disclosure includes a scanning turning mirror 2', which scanning turning mirror 2' includes a reflecting mirror surface for scanning the emitted light of the reflection-emission part 1 and a receiving mirror surface for receiving the reflected light of the target object TA, which are spaced apart from each other. Each receiving mirror surface is arranged in groups with the corresponding reflecting mirror surface and parallel to each other. For each set of the receiving mirror surface and the reflecting mirror surface, a light blocking member 21 'is provided between the receiving mirror surface and the reflecting mirror surface in the extending direction of the rotation axis O, whereby the receiving mirror surface and the reflecting mirror surface are separated by the light blocking member 21'. In the present embodiment, a reflecting mirror surface and a receiving mirror surface separated by a light blocking member are provided on the scanning rotating mirror 2'. Moreover, the lasers of the emitting section 1 and the detectors of the receiving section 3 may be arranged side by side in pairs, and in practice the positions where the lasers and the detectors are arranged and the relative relation with other sections may be such that the laser light of the lasers can be reflected by the reflecting mirror surface of the scanning mirror 2 'to a predetermined area and the detectors can detect the reflected light of the receiving mirror surface of the scanning mirror 2'. In addition, as shown in fig. 2A and 2B, in the present embodiment, the light blocking member 21 'takes the form of a light blocking plate extending along a plane perpendicular to the rotation axis of the scanning turning mirror 2'. The outer peripheral portion of the light blocking plate can protrude to the outside by a certain size relative to the reflecting mirror surface and the receiving mirror surface, so that interference of emitted light on reflected light is reduced more effectively, and measurement accuracy of the laser radar sensor is improved.
In this way, the laser radar sensor LA according to the second embodiment of the present disclosure can exert the same effects as those described in the first embodiment, and the reflection mirror surface and the reception mirror surface separated by the light blocking member 21 'are constructed on the same scan turning mirror 2', so that interference between the emitted light and the reflected light can be reduced. Furthermore, by reducing the interference of the emitted light with the reflected light, the error judgment of the obstacle caused by the fact that the detector receives an error signal is avoided, which is beneficial to improving the measurement accuracy of the laser radar sensor. Of course, the form of the light blocking member provided in the lidar sensor LA of the present application is not limited to the above-described light blocking plate, but other forms of light blocking member may be employed. The above-mentioned light-blocking element 21' is a baffle which extends along a plane perpendicular to the axis of rotation (O).
(lidar sensor according to the third embodiment of the present disclosure)
In this embodiment, referring to fig. 2D, the lidar sensor may include at least three lidar sub-sensors (only three lidar sub-sensors are shown in fig. 2D for convenience of illustration, however, a greater number of lidar sub-sensors may be provided), each of the at least three lidar sub-sensors being provided at an edge of a front side portion of the autonomous mobile apparatus, and scanning lines generated by lasers emitted by the at least three lidar sub-sensors being different from each other in angle with respect to a traveling plane, and scanning lines generated by lasers emitted by at least one of the lidar sub-sensors being parallel to the traveling plane.
In this way, at least three lidar sub-sensors can be provided at the front-side edge of the autonomous mobile apparatus, each of which emits laser light forward from a different angle (angle with respect to the travel surface is different), so that by the lidar sensor provided at the front-side edge of the autonomous mobile apparatus, which includes at least three lidar sub-sensors, a plurality of scan lines can be generated whose angles with respect to the travel surface are different from each other, thereby facilitating the construction of the lidar sensor LA having a sufficient number of scan lines to achieve a high angular resolution in the vertical field of view.
An autonomous mobile apparatus according to an embodiment of the present disclosure is described below with reference to the accompanying drawings.
(autonomous mobile device according to an embodiment of the present disclosure)
In this embodiment, as shown in fig. 3A to 3F, the autonomous mobile apparatus according to an embodiment of the present disclosure is a self-moving cleaning apparatus that includes a main body MA, wheels WH, and a lidar sensor LA assembled together. Specifically, the body portion MA may have a substantially disk shape as a whole. When the autonomous mobile apparatus according to an embodiment of the present disclosure is in a normal operation state, the bottom surface of the main body portion MA is opposite to the surface S to be cleaned. The main body MA further includes a control assembly, a drive assembly, and a cleaning assembly. The control component can receive parameters obtained from the laser radar sensor LA and other sensing devices and can perform relevant control on the autonomous mobile device through a preset program stored in the control chip. The drive assembly is configured to drive the wheels WH under control of the control assembly such that the autonomous mobile apparatus travels over the surface S to be cleaned. The cleaning assembly may include a dust suction assembly received in the main body MA, a cleaning brush provided at a bottom of the main body MA, and the like, for cleaning a surface to be cleaned under the control of the control assembly. Further, the wheel WH may include a drive wheel and a universal wheel located at a front side of the drive wheel. By rotating the driving wheels at the same speed in the same direction (for example, simultaneously clockwise rotation or simultaneously counterclockwise rotation), the main body MA can be driven to perform linear motion in the normal forward direction; by rotating the drive wheels at different speeds and/or in different directions (e.g. one drive wheel rotates clockwise and the other drive wheel rotates counter-clockwise), the main body MA can be driven to perform a steering movement in a different direction relative to the normal advancing direction. Further, a lidar sensor LA is provided at a front side portion of the main body portion MA for realizing a navigation function and an anti-collision function of the autonomous mobile apparatus. The lidar sensor LA described in the present application is provided at a side edge (preferably a front side edge, which may be a front outer edge or a side front outer edge) of a main body portion MA of an autonomous mobile device, for example, a self-moving cleaning device (a sweeper). Thus, compared with the design that the traditional laser radar sensor is arranged on the top of the self-moving cleaning device, the thickness of the self-moving cleaning device is reduced, and the self-moving cleaning device is facilitated to pass through a small gap between a low obstacle and a surface to be cleaned.
Further, as shown in fig. 3B to 3F, when the autonomous mobile apparatus is able to travel on the surface S to be cleaned, the laser light emitted by the emitting part 1 can always generate a reference scan line for the autonomous mobile apparatus to navigate on the surface S to be cleaned and other scan lines for detecting obstacles (e.g., a first inclined scan line and a second inclined scan line extending obliquely downward, a scan line extending obliquely upward, etc.). Specifically, in the present embodiment, taking the laser radar sensor LA according to the first embodiment of the present disclosure as an example, for the same laser light, the same laser light realizes three different scanning lines through different reflection mirrors 21, 22, 23 of the scan mirror 2 during one rotation of the scan mirror 2. The reference scanning line formed via the first reflecting mirror surface 21 of the scanning turning mirror 2 is parallel to the surface S to be cleaned, and the other two scanning lines (for example, a first oblique scanning line and a second oblique scanning line) formed via the second reflecting mirror surface 22 and the third reflecting mirror surface 23 of the scanning turning mirror 2 extend obliquely toward the surface S to be cleaned with respect to the reference scanning line. The reference scanning line is mainly used for the navigation function of the autonomous mobile equipment, and the other scanning lines are mainly used for detecting obstacles with different shapes and different distances on the traveling route of the autonomous mobile equipment. Among other scan lines, angles formed between different scan lines and the reference scan line are different, so that obstacles of different heights on the front side of the autonomous mobile apparatus can be detected.
In addition, as shown in fig. 3G, in a modification of the above embodiment, three different scanning lines are also realized for the same laser light by different reflection mirrors 21, 22, 23 of the scan mirror 2 during one rotation of the scan mirror 2. Specifically, the reference scanning line formed via the first reflecting mirror surface 21 of the scanning turning mirror 2 is parallel to the surface S to be cleaned, the scanning line formed via the second reflecting mirror surface 22 of the scanning turning mirror 2 extends obliquely upward with respect to the reference scanning line, and the scanning line formed via the third reflecting mirror surface 23 of the scanning turning mirror 2 extends obliquely downward with respect to the reference scanning line. In this variant, the reference scan line is still mainly used for the navigation function of the autonomous mobile apparatus, while the scan line extending obliquely upward is mainly used for detecting relevant parameters of the obstacle with higher height (for example, the size of the gap between the suspended object and the surface S to be cleaned), and the scan line extending obliquely downward is mainly used for detecting relevant parameters of the obstacle with lower height on the travel route of the autonomous mobile apparatus (for example, the concave-convex structure on the surface S to be cleaned).
The collimated laser emitted by the emitting component 1 is reflected to the target position through one of the reflecting mirrors of the reflecting part of the scanning rotating mirror 2, the collimated laser forms a beam with basically constant diameter (the beam forms a light spot at the target position) in the propagation process, the light beam after being diffusely reflected by the target object at the target position is reflected to the receiving component through the receiving mirror of the receiving part in the scanning rotating mirror 2, and the receiving component receives the optical signal to complete the detection of the target position. When the scanning rotating mirror 2 rotates to the next angle, the mirror surface angles of the reflecting part and the receiving part at the current working position are different from those at the previous working position, so that another light beam with different angles can be reflected, and targets with different heights can be detected.
It should be understood that the above-described embodiments are merely exemplary and are not intended to limit the present disclosure. Numerous modifications and variations to the above-described embodiments may be made by those skilled in the art in light of the teachings of this disclosure without departing from the scope of this disclosure. The following supplementary explanation is made to the technical scheme of the present disclosure.
i. The lidar sensor of the present disclosure may also be applied in other autonomous mobile devices. The above autonomous mobile apparatus generally refers to an intelligent mobile apparatus that autonomously performs a preset task, and includes a cleaning robot (e.g., an intelligent floor sweeper, an intelligent floor wiper, a window cleaning robot), a companion mobile robot (e.g., a smart pet, a nurse robot), a service mobile robot (e.g., a reception robot in a hotel, a meeting place), an industrial inspection intelligent apparatus (e.g., an electric inspection robot, an intelligent forklift, etc.), a security robot (e.g., a home or business intelligent guard robot), etc., a two-dimensional planar mobile robot with a wheel set or a crawler as a driving unit. Of course, the laser ranging device of the present disclosure may also be applied to other fields, which are not illustrated in an exhaustive manner.
in the present disclosure, the autonomous mobile apparatus may transmit driving force (and torque) from the motor to the lidar sensor LA via a transmission mechanism to drive the scanning rotating mirror to rotate.
in the present disclosure, the number of the reflection mirrors of the laser radar sensor LA is not limited to the three described in the above embodiment, but may be set as many as necessary according to actual needs. By adjusting the angle between the different mirror surfaces and the rotation axis O of the scanning turning mirror, the same laser can obtain scanning lines extending in different directions in the vertical field of view of the lidar sensor LA. Even if one laser is provided, a sufficient number of scan lines can be obtained with different mirror surfaces of the scan turning mirror. Further, with the use of the scanning lines other than the reference scanning line parallel to the surface S to be cleaned, distance information of a shorter obstacle or even a depression or step in the traveling direction of the autonomous mobile apparatus can be effectively acquired.
A detection method of an autonomous mobile apparatus provided with the above-described lidar sensor will be described below.
As described above, it is desirable to provide a detection method that can realize a navigation function and an obstacle detection function without adding a sensor for realizing obstacle detection to an autonomous mobile apparatus.
For this reason, considering that a scan line (abbreviated as a reference scan line) parallel to the traveling surface generated by the laser radar sensor provided by the autonomous mobile apparatus transmitting laser light may be used for navigation during traveling of the autonomous mobile apparatus on the traveling surface, and a scan line (abbreviated as a first oblique scan line) oblique to the traveling surface generated by the laser radar sensor transmitting laser light may be used for obstacle detection, the above-described problems can be solved by using the two scan lines for navigation and obstacle detection, respectively, as long as the autonomous mobile apparatus is caused to transmit laser light to generate the two scan lines as the autonomous mobile apparatus travels on the traveling surface, since the obstacle detection can be achieved by using the first oblique scan line generated by the laser radar sensor transmitting laser light, without adding a sensor for achieving obstacle detection to the autonomous mobile apparatus.
Based on the above-described concept, a detection method of an autonomous mobile device shown in fig. 4c is proposed, which is performed by the autonomous mobile device. Wherein the autonomous mobile device may include: a lidar sensor for navigation obstacle avoidance (for example, any of the lidar sensors described in the first to third embodiments) provided at a side edge of the autonomous mobile device; a roller brush for cleaning the floor, the roller brush being disposed at the bottom of the autonomous mobile apparatus; and a driving part for driving the autonomous mobile apparatus to travel on a surface to be cleaned.
Referring to fig. 4a, the lidar sensor (simply referred to as radar) of the present application is disposed at a lateral edge of the main body of the autonomous mobile apparatus, and, relatively, referring to the schematic layout diagram of the radar shown in the left side of fig. 4b for structural reasons, the conventional radar sensor is disposed at the top of the main body of the autonomous mobile apparatus, and as can be seen from the comparison of the layout of the lidar sensor of the present application with the layout of the conventional radar sensor shown in fig. 4b, the autonomous mobile apparatus employing the layout of the radar sensor of the present application is significantly lower than the autonomous mobile apparatus employing the layout of the conventional radar sensor, and therefore, by the above-mentioned layout of the lidar sensor of the present application, the height of the autonomous mobile apparatus can be reduced, and thus the trafficability of the autonomous mobile apparatus at gaps such as under a sofa, under a bed, etc. can be increased.
Fourth embodiment:
referring to fig. 4c, the detection method of the present exemplary embodiment may include the following steps:
in step S110, during travel of the autonomous mobile apparatus on a travel surface (surface to be cleaned S), the lidar sensor emits laser light to produce a reference scan line parallel to the travel surface and a first oblique scan line extending obliquely with respect to the reference scan line toward the travel surface. Step S110 corresponds to the transmitting step.
Referring to fig. 3B to 3F, during the traveling of the autonomous mobile apparatus on the traveling surface, a lidar sensor provided to the autonomous mobile apparatus emits laser light to generate a reference scan line parallel to the traveling surface and a first oblique scan line oblique to the traveling surface. For a description of the laser radar sensor emitting laser light to generate the two scan lines, reference may be made to the foregoing detailed description of the laser radar sensor, which is not repeated here.
In step S120, navigation on the traveling surface is performed based on the reflected light received by the lidar sensor and corresponding to the reference scanning line. Step S120 corresponds to a navigation step.
In this embodiment, referring to fig. 3B to 3F, during the process of the autonomous mobile apparatus traveling on the traveling surface, the lidar sensor may generate a reference scan line parallel to the traveling surface; if an environmental object exists in front of the autonomous mobile device, the reference scanning line is reflected by the environmental object and generates reflected light, and accordingly, the laser radar sensor receives the reflected light; if no environmental object exists in front of the autonomous mobile apparatus, the reference scan line is not reflected, and no reflected light is generated, and the laser radar sensor does not receive reflected light naturally. Thus, it may be determined whether an environmental object is present in front of the autonomous mobile apparatus based on whether the laser radar sensor receives reflected light.
Under the condition that the autonomous mobile device receives the reflected light, the autonomous mobile device can further calculate the distance between the environmental object and the autonomous mobile device by using the reflected light and the reference scanning line. In one possible implementation, the autonomous mobile device may calculate the distance between the environmental object and the autonomous mobile device based on the reflected light and the reference scan line by a "time of flight" method or a triangulation method. Thus, in case it is determined that an environmental object is present, the distance between the present environmental object and the autonomous mobile apparatus may be determined further from the reflected light rays and the reference scan lines.
Thus, navigation of the autonomous mobile device on the travel surface may be performed based on whether an environmental object is present in front of the autonomous mobile device, a distance between the present environmental object and the autonomous mobile device, and/or in combination with other environmental parameters. Thus, the reference scan line is mainly used for the navigation function of the autonomous mobile apparatus.
In step S130, a parameter related to a target object on a travel route of the autonomous mobile apparatus is detected based on the reflected light received by the lidar sensor and corresponding to the first oblique scan line.
In this embodiment, referring to fig. 3B to 3F, in the process of the autonomous mobile apparatus traveling on the traveling surface, the lidar sensor may further generate a first oblique scan line extending obliquely downward; the first inclined scanning line is reflected by a target object on a travelling path of the autonomous mobile apparatus and generates reflected light, and accordingly, the laser radar sensor receives the reflected light; the autonomous mobile apparatus may further calculate a distance between the object and the autonomous mobile apparatus using the reflected light and the first oblique scan line. The method for calculating the distance may be described with reference to step S120.
It is considered that if an object (an obstacle, such as a concave-convex structure on a traveling surface, etc.) is present on a traveling route of the autonomous mobile apparatus, a distance between the autonomous mobile apparatus and the object changes as the autonomous mobile apparatus travels on the traveling route, and thus whether the object is present on the traveling route can be determined according to whether the distance between the autonomous mobile apparatus and the object changes.
Thus, a relevant parameter of the object on the travel route of the autonomous mobile apparatus may be detected from the reflected light rays corresponding to the first oblique scan line, including, by way of example and not limitation, whether the object is present on the travel route and/or the distance between the object and the autonomous mobile apparatus. Thus, the first oblique scan line is mainly used for detecting obstacles of different distances on the traveling route of the autonomous mobile apparatus, i.e., the first oblique scan line is mainly used for the obstacle detection function.
Therefore, in the present embodiment, in the process of the autonomous mobile apparatus traveling on the traveling surface, navigation on the traveling surface is performed based on the reflected light corresponding to the reference scanning line parallel to the traveling surface generated by the laser light emitted from the laser radar sensor provided to the autonomous mobile apparatus, and the relevant parameter of the object on the traveling path of the autonomous mobile apparatus is detected based on the reflected light corresponding to the first oblique scanning line oblique to the traveling surface generated by the laser light emitted from the laser radar sensor, whereby navigation and obstacle detection can be performed using the reference scanning line and the first oblique scanning line generated from the laser radar sensor without adding a sensor for realizing obstacle detection to the autonomous mobile apparatus.
The fifth embodiment is obtained by specifically expanding the navigation step in step S120.
Fifth embodiment:
referring to fig. 5, the detection method of the present exemplary embodiment may include the steps of:
in step S110, during travel of the autonomous mobile apparatus on a travel surface (surface to be cleaned S), the lidar sensor emits laser light to produce a reference scan line parallel to the travel surface and a first oblique scan line extending obliquely with respect to the reference scan line toward the travel surface. The description of step S110 may refer to the fourth embodiment, and will not be repeated here.
In step S121, it is determined whether the laser radar sensor receives reflected light generated by reflection of the reference scanning line by an environmental object. If it is determined that the laser radar sensor receives the reflected light, step S121 is yes, and the following step S122 is executed; otherwise, step S121 is no, and step S124 described below is performed.
In step S122, a distance of the environmental object from the autonomous mobile apparatus is obtained based on the reference scan line and the reflected light.
In one possible implementation, the autonomous mobile device may obtain the distance between the environmental object and the autonomous mobile device based on the reference scan line and the reflected light corresponding to the reference scan line by a "time of flight" method or a triangulation method.
In this embodiment, it may be determined that an environmental object exists in front of the autonomous mobile apparatus according to the laser radar sensor receiving the reflected light corresponding to the reference scanning line; in the case where it is determined that an environmental object exists in front of the autonomous mobile apparatus, a distance between the environmental object and the autonomous mobile apparatus may be determined from the reflected light and the reference scan line.
In step S124, it is determined whether a safe distance between the autonomous mobile apparatus and an obstacle as the environmental object exceeds a safe distance threshold (e.g., 5 cm).
In this embodiment, the autonomous mobile apparatus has a safe distance, such as 5cm; if the safety distance is exceeded, the autonomous mobile equipment normally advances (operates); if the safety distance is not exceeded (lower), the autonomous mobile apparatus determines that there is an obstacle in front, and then stops advancing or steering. Therefore, if it is determined that the safe distance exceeds the safe distance threshold, step S124 is yes, and the following step S125 is executed; otherwise, it is determined that there is an obstacle in front of the autonomous mobile apparatus.
In step S125, it is determined that the obstacle is not present in front of the autonomous mobile apparatus. Then, step S123 is performed.
In this embodiment, whether an obstacle exists in front of the autonomous mobile apparatus may be determined according to whether the laser radar sensor does not receive the reflected light corresponding to the reference scanning line and whether the safety distance between the autonomous mobile apparatus and the obstacle as an environmental object exceeds a safety distance threshold preset for ensuring the safety operation of the autonomous mobile apparatus; if the reflected light is not received and the safety distance exceeds the safety distance threshold, determining that no obstacle exists in front of the autonomous mobile device (the autonomous mobile device can continue to normally advance); if no reflected light is received and the safe distance does not exceed the safe distance threshold, it is determined that there is an obstacle in front of the autonomous mobile apparatus (the autonomous mobile apparatus may stop advancing or steering).
In step S123, navigation on the travel surface is performed according to the determined presence or absence of the environmental object and the distance in front of the autonomous mobile apparatus.
In this embodiment, the navigation on the traveling surface may be performed according to whether or not an environmental object exists in front of the autonomous mobile apparatus and a distance between the environmental object and the autonomous mobile apparatus, whether or not an obstacle exists in front of the autonomous mobile apparatus, and/or in combination with other environmental information.
In step S130, a parameter related to a target object on a travel route of the autonomous mobile apparatus is detected based on the reflected light received by the lidar sensor and corresponding to the first oblique scan line. The description of step S130 may refer to the fourth embodiment, and will not be repeated here.
Therefore, in the present embodiment, in the process of the autonomous mobile apparatus traveling on the traveling surface, it is determined whether or not there is an environmental object in front of the autonomous mobile apparatus and a distance between the environmental object and the autonomous mobile apparatus, and whether or not there is an obstacle in front of the autonomous mobile apparatus, based on the reflected light corresponding to the reference scanning line parallel to the traveling surface generated by the laser radar sensor that is provided to the autonomous mobile apparatus, and the navigation on the traveling surface is performed, and the relevant parameter of the object on the traveling path of the autonomous mobile apparatus is detected based on the reflected light corresponding to the first oblique scanning line oblique to the traveling surface generated by the laser radar sensor, whereby the navigation and the obstacle detection can be performed using the reference scanning line and the first oblique scanning line generated by the laser radar sensor, without adding a sensor for realizing the obstacle detection to the autonomous mobile apparatus.
The sixth embodiment is obtained by specifically expanding the first detection step in step S130.
Sixth embodiment:
referring to fig. 6a, the detection method of the present exemplary embodiment may include the following steps:
in step S110, during travel of the autonomous mobile apparatus on a travel surface, the lidar sensor emits laser light to generate a reference scan line and a first oblique scan line, wherein the reference scan line is parallel to the travel surface, and the first oblique scan line extends obliquely with respect to the reference scan line toward the travel surface.
In step S120, navigation on the traveling surface is performed based on the reflected light received by the lidar sensor and corresponding to the reference scanning line.
The descriptions of steps S110 to S120 may refer to the fourth embodiment, and are not repeated here.
In step S131, during the autonomous mobile apparatus traveling on a plane, a distance of the target object from the autonomous mobile apparatus is obtained based on the first oblique scan line and reflected light received by the lidar sensor corresponding to the first oblique scan line.
In one possible implementation, the autonomous mobile apparatus may obtain the distance between the target object and the autonomous mobile apparatus based on the first oblique scan line and the reflected light corresponding to the first oblique scan line by a "time of flight" method or a triangulation method.
In step S132, it is determined whether the obtained distance of the target object from the autonomous mobile apparatus has changed.
If the distance between the autonomous mobile apparatus and the target object is changed, step S132 is yes, and the following step S133 is performed; otherwise, step S132 is no, and step S134 described below is performed.
In step S133, the presence of the target object on the travel route of the autonomous mobile apparatus is detected.
In step S134, it is detected that the target object is not present on the travel route of the autonomous mobile apparatus.
In this embodiment, the distance between the autonomous mobile apparatus and the target object may change along with the travel of the autonomous mobile apparatus on the travel route, so whether the target object exists on the travel route may be determined according to whether the distance between the autonomous mobile apparatus and the target object changes; if the distance between the autonomous mobile equipment and the target object changes, determining that the target object exists on the travelling route; otherwise, it is determined that no object exists on the travel route.
Therefore, in the present embodiment, in the process of the autonomous mobile apparatus traveling on the traveling surface, navigation on the traveling surface is performed based on the reflected light corresponding to the reference scanning line parallel to the traveling surface generated by the laser light emitted from the laser radar sensor provided to the autonomous mobile apparatus, and the distance between the object and the autonomous mobile apparatus is obtained based on the reflected light corresponding to the first oblique scanning line oblique to the traveling surface generated by the laser light emitted from the laser radar sensor, and whether or not the object is present on the traveling path is detected according to whether or not the distance is changed, whereby navigation and obstacle detection can be performed using the reference scanning line and the first oblique scanning line generated from the laser radar sensor without adding a sensor for realizing obstacle detection to the autonomous mobile apparatus.
In one possible implementation, referring to fig. 6b, detecting the presence of a target object on the travel route of the autonomous mobile apparatus may include the steps of:
in step S1331, it is determined whether the obtained change trend of the distance is to be shortened before a predetermined time and then lengthened after the predetermined time.
If the distance between the object and the autonomous mobile apparatus becomes shorter before the predetermined time and becomes longer after the predetermined time, step S1331 is yes, and step S1332 described below is performed; otherwise, step S1331 is no, and step S1333 described below is performed.
In step S1332, it is detected that the object is a bump shorter than the autonomous mobile apparatus.
In step S1333, it is determined that the obtained change trend of the distance is kept unchanged for a predetermined time and then becomes longer at a time after the predetermined time.
If the distance between the target object and the autonomous mobile apparatus remains unchanged for a predetermined time and then becomes longer at a time after the predetermined time, step S1333 is yes, and step S1334 described below is performed.
In step S1334, it is detected that the target object is a downward step.
In the present embodiment, consider that: referring to fig. 3E to 3F, if the target object is a downlink step, the trend of the distance between the target object and the autonomous mobile apparatus is to remain unchanged (the first oblique scan line is on the plane at this time) and then suddenly lengthen (abbreviated as a first trend); in contrast, if the object is a protrusion that is shorter than the autonomous mobile apparatus, the trend of the distance between the object and the autonomous mobile apparatus is to be shortened first and then lengthened (simply referred to as a second trend of change). It is thus possible to detect whether the object is a downward step or a protrusion shorter than the autonomous mobile apparatus at all, from the trend of change in the distance between the object and the autonomous mobile apparatus.
Specifically, it may be determined whether the trend of the distance between the target object and the autonomous mobile apparatus is a first trend or a second trend; if the change trend of the distance between the target object and the autonomous mobile equipment is a first change trend, determining that the target object is a descending step; and if the change trend of the distance between the object and the autonomous mobile apparatus is determined to be the second change trend, determining that the object is a protrusion shorter than the autonomous mobile apparatus.
Therefore, in the present embodiment, it is possible to determine whether the object is a downward step or a protrusion shorter than the autonomous mobile apparatus at all, from the trend of the change in the distance between the object and the autonomous mobile apparatus.
On the basis of the fourth embodiment, the seventh embodiment is obtained by further adjusting the step S110 to the step S410 and further including a second detection step (step S420).
Seventh embodiment:
referring to fig. 7a, the detection method of the present exemplary embodiment may include the following steps:
in step S410, during travel of the autonomous mobile apparatus on a travel surface, the lidar sensor emits laser light to produce a reference scan line, a first oblique scan line, and at least one second oblique scan line, wherein the reference scan line is parallel to the travel surface, the first oblique scan line extends obliquely with respect to the reference scan line toward the travel surface, the second oblique scan line extends obliquely with respect to the reference scan line toward the travel surface, and an angle of inclination of the second oblique scan line with respect to the reference scan line toward the travel surface is greater than an angle of inclination of the first oblique scan line with respect to the reference scan line toward the travel surface.
In this embodiment, it is appreciated that: in the process of linear motion of the autonomous mobile equipment, the downward scanning lines can sequentially scan the information of the ground (the travelling surface) forwards, and the ground information cannot be missed. However, since the scan angle cannot be 180 °, the autonomous mobile apparatus generates only the reference scan line and the first oblique scan line at this time has a scan blind area. When the autonomous mobile apparatus turns, there is a scanning blind area below the first inclined scanning line, that is, the first inclined scanning line is higher than the target object, so that the target object cannot be detected by using the first inclined scanning line, and thus the autonomous mobile apparatus is easy to fall off cliffs and the like.
For this reason, referring to fig. 3B to 3F, the autonomous mobile apparatus generates a second inclined scan line (extending downward and having an included angle with the reference scan line greater than that of the first inclined scan line) in addition to the reference scan line and the first inclined scan line, so that the first inclined scan line and the second inclined scan line can be combined to detect the relevant parameters of the object on the traveling path together, so as to avoid the problems such as the falling cliff of the autonomous mobile apparatus caused by the blind area of the scan caused by using only the first inclined scan line.
However, in the present embodiment, the second oblique scan lines include at least one, wherein the resolution is higher as the number of the second oblique scan lines is greater. Therefore, the number of the second oblique scanning lines generated by the laser radar sensor emitting laser light can be selected according to practical application requirements.
In step S120, navigation on the traveling surface is performed based on the reflected light received by the lidar sensor and corresponding to the reference scanning line.
In step S130, a parameter related to a target object on a travel route of the autonomous mobile apparatus is detected based on the reflected light received by the lidar sensor and corresponding to the first oblique scan line.
For the steps S120 to S130, the description of the fourth embodiment can be referred to, and the details are not repeated here.
In step S420, during steering of the autonomous mobile apparatus, a parameter related to a target object on a traveling route after steering of the autonomous mobile apparatus is detected based on the reflected light received by the lidar sensor and corresponding to the second oblique-scan line. Step S420 corresponds to a second detection step.
In this embodiment, referring to fig. 3B to 3F, the laser radar sensor emits laser to generate a second inclined scan line extending obliquely downward; the second inclined scanning line is reflected by a target object on a travelling path of the autonomous mobile apparatus and generates reflected light, and accordingly, the laser radar sensor receives the reflected light; the autonomous mobile apparatus may further calculate a distance between the object and the autonomous mobile apparatus using the reflected light and the second oblique scan line.
In one possible implementation, the autonomous mobile apparatus may obtain the distance between the target object and the autonomous mobile apparatus (abbreviated as the second distance) based on the second oblique scan line and the reflected light corresponding to the second oblique scan line by a "time-of-flight" method or a triangulation method.
Considering that, during the turning of the autonomous mobile apparatus, if there is a target object (for example, a low obstacle, there is a blind area under the first inclined scan line at the time of starting up) between the first inclined scan line and the autonomous mobile apparatus, since the first inclined scan line may not detect the target object, the first distance may not be changed with the travel of the autonomous mobile apparatus on the travel route, and conversely, since the second inclined scan line should be able to detect the target object, the second distance may be changed with the travel of the autonomous mobile apparatus on the travel route, and thus the target object may be detected between the first inclined scan line and the autonomous mobile apparatus according to the first distance not being changed and the second distance being changed, thereby it is possible to avoid problems such as a falling cliff of the autonomous mobile apparatus caused by the blind area of scanning caused by using only the first inclined scan line. In addition, the absence of the target object on the traveling route after the steering can be detected according to the fact that the first distance is not changed and the second distance is not changed, so that the detection accuracy of the target object can be improved.
Thus, the relevant parameters of the object on the travel route of the autonomous mobile apparatus may be detected from the reflected light corresponding to the second oblique scan line, and exemplary relevant parameters of the object may include, but are not limited to, whether the object is present between the first oblique scan line and the autonomous mobile apparatus, whether the object is present on the travel route after the autonomous mobile apparatus turns, and/or whether the distance of the object from the autonomous mobile apparatus. Thus, the second oblique scan line is mainly used for detecting obstacles of different distances on the traveling route after the autonomous mobile apparatus turns, and for assisting in detecting whether an obstacle exists between the first oblique scan line and the autonomous mobile apparatus.
Therefore, in the present embodiment, in the process of the autonomous mobile apparatus traveling on the traveling surface, navigation on the traveling surface is performed based on the reflected light corresponding to the reference scanning line parallel to the traveling surface generated by the laser light emitted from the laser radar sensor provided to the autonomous mobile apparatus, the relevant parameter of the target on the traveling path of the autonomous mobile apparatus is detected based on the reflected light corresponding to the first oblique scanning line oblique to the traveling surface generated by the laser light emitted from the laser radar sensor, and the relevant parameter of the target on the traveling path after the autonomous mobile apparatus is turned to is detected based on the reflected light corresponding to the second oblique scanning line oblique to the traveling surface generated by the laser light emitted from the laser radar sensor, whereby navigation and obstacle detection can be performed using the reference scanning line, the first oblique scanning line, and the second oblique scanning line generated by the laser radar sensor without adding a sensor for realizing obstacle detection to the autonomous mobile apparatus.
Referring to fig. 7b, detecting the relevant parameter of the target object on the traveling route turned by the main mobile device based on the reflected light corresponding to the second oblique scan line received by the lidar sensor may include the following steps:
in step S421, during steering of the autonomous mobile apparatus, a distance of the target object from the autonomous mobile apparatus is obtained based on the second oblique scan line and reflected light received by the lidar sensor corresponding to the second oblique scan line.
In step S422, it is determined whether the distance (second distance) obtained based on the second oblique scan line is changed and the distance (first distance) obtained based on the first oblique scan line is changed.
If it is determined that the second distance has changed and the first distance has not changed, step S422 is yes, and step S423 is performed as follows; otherwise, the following step S424 is performed.
In step S423, it is determined that the target object exists between the first oblique scan line and the autonomous mobile apparatus.
In step S424, it is determined whether the distance obtained based on the second oblique scan line is changed and whether the distance obtained based on the first oblique scan line is changed.
If it is determined that the second distance has not changed and the first distance has not changed, step S424 is yes, and step S425 described below is performed.
In step S425, it is determined that the target object is not present on the travel route after the autonomous mobile apparatus turns.
According to the embodiment, during the steering of the autonomous mobile apparatus, whether the second distance is changed or not and whether the first distance is changed or not are determined, and if the second distance is changed but the first distance is not changed, it is determined that a target object exists between the first inclined scanning line and the autonomous mobile apparatus; and if the second distance and the first distance are not changed, judging that no target object exists on the traveling route turned by the autonomous mobile equipment.
For example, referring to fig. 7c, the sweeper as the autonomous mobile device generates scan lines A, B, A ' and B ', wherein scan lines a and B are the scan lines before the sweeper turns, scan lines a ' and B ' are the scan lines after the sweeper turns, during the turning of the sweeper, short obstacles (e.g., bumps shorter than the autonomous mobile device) that are undetectable via scan lines a and a ' may be detected via scan lines B and B ' during the change from scan line B to scan line B ', and cliffs (or steps down) may be detected via scan lines a and a ' during the change from scan line a to scan line a '.
Therefore, in the present embodiment, during the steering of the autonomous mobile apparatus, whether or not a target object exists between the first oblique scan line and the autonomous mobile apparatus, or whether or not a target object exists on the travel route after the steering of the autonomous mobile apparatus, may be determined according to whether or not the second distance is changed and whether or not the first distance is changed.
The embodiment of the disclosure also provides a detection device of an autonomous mobile device, the autonomous mobile device comprising a laser radar sensor, the laser radar sensor emitting laser to generate a reference scanning line and a first inclined scanning line during the travel of the autonomous mobile device on a travel surface, wherein the reference scanning line is parallel to the travel surface, and the first inclined scanning line extends obliquely relative to the reference scanning line towards the travel surface; the detection device includes: the navigation module is used for navigating on the travelling surface based on the reflected light rays corresponding to the reference scanning lines, which are received by the laser radar sensor; and a first detection module for detecting a parameter related to a target object on a travel route of the autonomous mobile apparatus based on the reflected light received by the lidar sensor and corresponding to the first oblique scan line.
In one possible implementation, the navigation module is configured to: judging whether the laser radar sensor receives reflected light generated by the reflection of the reference scanning line by an environmental object or not; if the reflected light is not received, determining that the environment object does not exist in front of the autonomous mobile equipment; if the reflected light is received, obtaining the distance between the environmental object and the autonomous mobile device based on the reference scanning line and the reflected light; navigation on the travel surface is performed according to the determined presence or absence of the environmental object and the distance in front of the autonomous mobile apparatus.
In one possible implementation, the navigation module is configured to: if the reflected light is not received, judging whether the safety distance between the autonomous mobile device and an obstacle serving as the environmental object exceeds a safety distance threshold value, wherein the safety distance is preset for ensuring the safety operation of the autonomous mobile device; and if the safety distance exceeds the safety distance threshold value, determining that the obstacle is not present in front of the autonomous mobile equipment.
In one possible implementation, the first detection module is configured to: obtaining a distance of the target object from the autonomous mobile apparatus based on the first oblique scan line and reflected light received by the lidar sensor corresponding to the first oblique scan line during travel of the autonomous mobile apparatus on a plane; if the obtained distance changes, detecting that the target object exists on the travelling route of the autonomous mobile equipment; and if the obtained distance is not changed, detecting that the target object is not present on the running route of the autonomous mobile device, wherein the related parameters of the target object comprise whether the target object is present on the running route of the autonomous mobile device and/or the distance between the target object and the autonomous mobile device.
In one possible implementation, the laser light emitted by the lidar sensor also generates at least one second oblique scan line, wherein the second oblique scan line extends obliquely with respect to the reference scan line toward the travel plane, and the second oblique scan line is inclined at a greater angle with respect to the reference scan line toward the travel plane than the first oblique scan line is inclined with respect to the reference scan line toward the travel plane, the detection device further comprising: and the second detection module is used for detecting relevant parameters of a target object on a traveling route after the autonomous mobile equipment turns on the basis of the reflected light rays corresponding to the second inclined scanning line, which are received by the laser radar sensor, during the steering of the autonomous mobile equipment.
In one possible implementation, the second detection module is configured to: obtaining a distance of the target object from the autonomous mobile device during steering of the autonomous mobile device based on the second oblique scan line and reflected light received by the lidar sensor corresponding to the second oblique scan line; when the autonomous mobile device turns, if the distance obtained based on the second inclined scanning line changes and the distance obtained based on the first inclined scanning line does not change, judging that the target object exists between the first inclined scanning line and the autonomous mobile device; and if the distance obtained based on the second inclined scanning line is not changed and the distance obtained based on the first inclined scanning line is not changed, judging that the target object is not present on the traveling route after the autonomous mobile apparatus turns.
In one possible implementation, the relevant parameter of the target includes whether the target and/or a distance of the target from the autonomous mobile apparatus is present on a route of travel after the autonomous mobile apparatus turns.
Referring to fig. 8, an embodiment of the present disclosure also proposes an autonomous mobile device 800, the autonomous mobile device 800 including a lidar sensor 700. For the description of the lidar sensor 700, reference may be made to the previous descriptions of the first to seventh embodiments, which are not repeated here.
The specific manner in which the individual units perform the operations in relation to the apparatus of the above embodiments has been described in detail in relation to the embodiments of the method and will not be described in detail here.
In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.
The disclosed embodiments also provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor of an autonomous mobile apparatus, implement the above-described detection method. The computer readable storage medium may be a volatile or nonvolatile computer readable storage medium.
The embodiment of the disclosure also provides a detection device, which comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described detection method when executing the instructions stored by the memory.
Embodiments of the present disclosure also provide a computer program product comprising computer readable code, or a non-transitory computer readable storage medium carrying computer readable code, which when run in a processor of an autonomous mobile device, performs the above-described detection method.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement of the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (21)

1. A method of detecting an autonomous mobile device, the autonomous mobile device comprising:
the laser radar sensor is used for navigation obstacle avoidance and is arranged at the side edge of the autonomous mobile equipment;
A roller brush for cleaning the floor, the roller brush being disposed at the bottom of the autonomous mobile apparatus; and
a driving part for driving the autonomous mobile apparatus to travel on a surface to be cleaned,
the detection method comprises the following steps:
a transmitting step of transmitting laser light to generate a reference scanning line and a first inclined scanning line during traveling of the autonomous mobile apparatus on a traveling surface, wherein the reference scanning line is parallel to the traveling surface, and the first inclined scanning line extends obliquely toward the traveling surface with respect to the reference scanning line;
a navigation step of performing navigation on the traveling surface based on the reflected light received by the lidar sensor and corresponding to the reference scanning line; and
a first detection step for detecting a parameter related to a target object on a travel route of the autonomous mobile apparatus based on the reflected light received by the lidar sensor corresponding to the first oblique scan line.
2. The method of detecting according to claim 1, wherein the navigating step includes:
judging whether the laser radar sensor receives reflected light generated by the reflection of the reference scanning line by an environmental object or not;
If the reflected light is not received, determining that the environment object does not exist in front of the autonomous mobile equipment;
if the reflected light is received, obtaining the distance between the environmental object and the autonomous mobile device based on the reference scanning line and the reflected light;
navigation on the travel surface is performed according to the determined presence or absence of the environmental object and the distance in front of the autonomous mobile apparatus.
3. The detection method according to claim 2, wherein determining that the environmental object is not present in front of the autonomous mobile apparatus if it is determined that the reflected light is not received comprises:
if the reflected light is not received, judging whether the safety distance between the autonomous mobile device and an obstacle serving as the environmental object exceeds a safety distance threshold value or not, wherein the safety distance threshold value is preset for ensuring the safety operation of the autonomous mobile device;
and if the safety distance exceeds the safety distance threshold value, determining that the obstacle is not present in front of the autonomous mobile equipment.
4. The method of detecting according to claim 1, wherein the first detecting step includes:
Obtaining a distance of the target object from the autonomous mobile apparatus based on the first oblique scan line and reflected light received by the lidar sensor corresponding to the first oblique scan line during travel of the autonomous mobile apparatus on a plane;
if the obtained distance changes, detecting that the target object exists on the travelling route of the autonomous mobile equipment; and detecting that the target object is not present on the travel route of the autonomous mobile apparatus if the obtained distance is not changed,
wherein the relevant parameters of the target object comprise whether the target object exists on the travelling route of the autonomous mobile device and/or the distance of the target object from the autonomous mobile device.
5. The method according to claim 4, wherein,
if the obtained change trend of the distance is shortened before the preset time and then lengthened after the preset time, detecting that the target object is a protrusion shorter than the autonomous mobile device;
if the obtained trend of the distance is kept unchanged for a predetermined time and then becomes longer at a time after the predetermined time, it is detected that the target object is a descending step.
6. The method according to claim 1 to 5, wherein,
in the emitting step, the laser light emitted by the lidar sensor also generates at least one second oblique scan line, wherein the second oblique scan line extends obliquely with respect to the reference scan line toward the traveling surface, and an angle by which the second oblique scan line is inclined with respect to the reference scan line toward the traveling surface is larger than an angle by which the first oblique scan line is inclined with respect to the reference scan line toward the traveling surface,
the detection method further comprises the following steps:
and a second detection step, which is used for detecting relevant parameters of the target object on the travelling route after the autonomous mobile equipment turns on the basis of the reflected light rays corresponding to the second inclined scanning line received by the laser radar sensor during the autonomous mobile equipment turns.
7. The method of detecting according to claim 6, wherein the second detecting step includes:
obtaining a distance of the target object from the autonomous mobile device during steering of the autonomous mobile device based on the second oblique scan line and reflected light received by the lidar sensor corresponding to the second oblique scan line;
When the autonomous mobile device turns, if the distance obtained based on the second inclined scanning line changes and the distance obtained based on the first inclined scanning line does not change, judging that the target object exists between the first inclined scanning line and the autonomous mobile device; and if the distance obtained based on the second inclined scanning line is not changed and the distance obtained based on the first inclined scanning line is not changed, judging that the target object is not present on the traveling route after the autonomous mobile apparatus turns.
8. The detection method according to claim 7, characterized in that the relevant parameter of the object comprises whether the object and/or the distance of the object from the autonomous mobile apparatus is present on the course of travel after the autonomous mobile apparatus turns.
9. A lidar sensor, the lidar sensor comprising:
an emission part for emitting laser light;
a scan turning mirror including a reflecting portion including at least three reflecting mirror surfaces arranged around a rotation axis of the scan turning mirror, among the at least three reflecting mirror surfaces, a first reflecting mirror surface and the rotation axis forming a first angle therebetween and a second reflecting mirror surface and the rotation axis forming a second angle therebetween, the first angle being different from the second angle such that a scanning line formed after reflection of the same laser light via the first reflecting mirror surface and the second reflecting mirror surface extends in different directions in a vertical field of view; and
And a receiving unit that detects reflected light of the target object received by the scanning rotating mirror.
10. The lidar sensor of claim 9, wherein the first mirror surface is parallel to the axis of rotation.
11. The lidar sensor of claim 10, wherein a third angle is formed between a third mirror surface of the at least three mirror surfaces and the rotation axis, the third angle being different from both the first angle and the second angle.
12. The lidar sensor according to any of claims 9 to 11, wherein the scanning turning mirror further comprises a receiving portion including receiving mirror surfaces each arranged in a group with the corresponding reflecting mirror surface and parallel to each other, the receiving mirror surfaces for receiving the reflected light of the target object,
in the extending direction of the rotation axis, a light blocking member is provided between the reflecting portion and the receiving portion such that the reflecting portion and the receiving portion are separated by the light blocking member.
13. The lidar sensor according to claim 12, wherein the light blocking member is a shutter extending along a plane perpendicular to the rotation axis.
14. The lidar sensor according to any of claims 9 to 11,
the emitting component comprises only one laser, and the laser can emit one path of laser; or alternatively
The emitting component comprises a plurality of lasers, and each laser can emit one path of laser; or alternatively
The emitting component comprises a laser and a light splitting system, and laser emitted by the laser is split into multiple paths of laser through the light splitting system.
15. The lidar sensor of claim 14, wherein the receiving component comprises the same number of receivers as the number of lasers.
16. A lidar sensor comprising at least three lidar sub-sensors disposed at an edge of a front side of an autonomous mobile apparatus, wherein the angles of scan lines generated by lasers emitted by the at least three lidar sub-sensors relative to a plane of travel are different from each other, and the scan lines generated by lasers emitted by at least one lidar sub-sensor are parallel to the plane of travel.
17. An autonomous mobile device, characterized in that it comprises a lidar sensor according to any of claims 9 to 15, which is arranged at a lateral edge of the autonomous mobile device.
18. The autonomous mobile device of claim 17, wherein the laser light emitted by the emitting means is capable of always producing a reference scan line for the autonomous mobile device to navigate on a travel surface as the autonomous mobile device travels on the travel surface.
19. The autonomous mobile apparatus of claim 18, wherein during one revolution of the scan mirror, the same laser light implements at least three different scan lines through different mirror facets of the scan mirror.
20. The autonomous mobile device of claim 19, wherein for the same laser light, the reference scan line is parallel to the plane of travel, other scan lines extending obliquely relative to the reference scan line toward the plane of travel.
21. A non-transitory computer readable storage medium, which when executed by a processor of an autonomous mobile device, causes the processor to perform the method of autonomous mobile device detection according to any of claims 1 to 8.
CN202210811840.0A 2022-07-11 2022-07-11 Laser radar sensor, autonomous mobile device, detection method and storage medium Pending CN117434550A (en)

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