CN213398918U

CN213398918U - Laser radar device and AGV dolly

Info

Publication number: CN213398918U
Application number: CN202022153220.1U
Authority: CN
Inventors: 冯奥凯; 胡攀攀; 徐威
Original assignee: Wuhan Wanji Information Technology Co Ltd
Current assignee: Wuhan Wanji Information Technology Co Ltd
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2021-06-08
Anticipated expiration: 2030-09-27

Abstract

The utility model provides a laser radar device, laser radar device includes: the horizontal laser ranging unit is responsible for scanning a horizontal view field to obtain distance information required by navigation; the adjustable laser ranging unit is responsible for scanning the vertical field of view to obtain distance information of obstacle avoidance detection; the mounting bracket is used for fixing the transmitting and receiving module of the laser radar; a base for fixing the motor; and the signal processing unit is used for processing the scanning data of the horizontal visual field and the inclined scanning visual field. In view of this, the utility model discloses an integrative use that laser radar navigation and anticollision detected, the effectual functionality that improves laser radar has solved navigation and has kept away the current situation that the barrier detection needs used laser radar respectively.

Description

Laser radar device and AGV dolly

Technical Field

The utility model relates to a laser navigation with keep away barrier detection area, specifically, relate to a laser radar device and AGV dolly.

Background

Currently, detection of an AGV (a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions), navigation driving, and obstacle avoidance detection are mainly performed by a laser radar. However, in general, the scanning field of view of the laser radar only detects the horizontal plane, and the function is relatively single, and navigation and obstacle avoidance detection cannot be simultaneously completed.

SUMMERY OF THE UTILITY MODEL

The utility model discloses main aim at provides a laser radar device to solve a laser radar that has now and can not realize the navigation simultaneously and keep away the functional defect that the barrier detected.

In order to achieve the above object, an embodiment of the present invention provides a laser radar apparatus, including: the horizontal laser ranging unit is used for scanning a horizontal field of view to provide distance information required by laser radar navigation; the adjustable laser ranging unit is used for scanning and acquiring obstacle avoidance detection distance information of a vertical view field; the mounting bracket is used for fixing the laser transmitting and receiving unit, is mounted on the motor and rotates along with the rotation of the motor; the signal processing unit is used for acquiring the ranging information of the horizontal laser ranging unit, navigating, and acquiring the ranging information of the adjustable laser ranging unit for laser radar obstacle avoidance; a motor for driving the structural body on the mounting bracket; the base is used for fixing the motor.

Optionally, the included angle between the horizontal laser ranging unit and the central optical axis of the adjustable laser ranging unit is 180 degrees.

Optionally, the adjustable laser ranging unit includes a rotating bracket, a stepping motor and a wedge prism, and the wedge prism is connected to the stepping motor through the rotating bracket, so that the stepping motor rotates to drive the wedge prism to deflect.

Optionally, the adjustable laser ranging unit includes a transmitting module, a collimating lens and a receiving lens, the light spot transmitted by the transmitting module is shaped by the collimating lens and then emitted, and the light spot reflected by the detected object is received by the receiving lens.

Optionally, the horizontal laser ranging unit includes a transmitting module, a collimating lens and a receiving lens, the light spot transmitted by the transmitting module is shaped by the collimating lens and then emitted, and the light spot reflected by the detected object is received by the receiving lens.

Optionally, an encoder is arranged in the motor, and the encoder is used for controlling the light emitting angles of the horizontal laser ranging unit and the adjustable laser ranging unit.

Optionally, the transmitting module and the receiving module of the horizontal laser ranging unit may be implemented in a coaxial manner with a monocular lens or a binocular parallel axis manner.

Optionally, the adjustable laser ranging unit further comprises a microcontroller, and the microcontroller triggers the horizontal ranging unit and the light emitting module of the adjustable laser ranging unit to emit pulsed light signals of a certain frequency at a certain time interval through signals of the reading encoder.

On the basis of above-mentioned device, this disclosure still provides an AGV dolly system, AGV dolly system contains foretell radar installations.

With the aid of the technical scheme, the utility model discloses a horizontal laser rangefinder unit can acquire the information of horizontal direction, and adjustable laser rangefinder unit can acquire the information of other directions, and then, the laser radar device that this disclosure provided can have navigation function concurrently simultaneously and keep away the barrier and detect the function. Compare in current laser radar's function application, the utility model discloses a laser radar navigation and crashproof integrative use that detects, the effectual functional that improves laser radar has solved navigation and has kept away the current situation that the barrier detection needs to use laser radar to realize respectively.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic diagram of a lidar apparatus;

FIG. 2 is a schematic diagram of the optical path of a wedge prism;

FIG. 3 is a schematic diagram of a wedge prism beam scanning trajectory;

FIG. 4 is a schematic diagram of a navigational collision avoidance lidar system;

description of the reference numerals

100-an encoder; 10-a gear; 20-rotating the support; 30. 80-a collimating lens; 40-a wedge prism;

50-a motor base; 60-a transmitting module; 70-a receiving module; 101-a transmitting and receiving module; 90-mounting a bracket; 1-high reflectance targets; 2-high reflection target; 3-high reflection target; 4-an obstacle; 5-the direction of movement of the trolley;

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. In the present disclosure, the terms "first", "second", and the like are used throughout the present disclosure to distinguish one element from another without order or importance. In the following description, when referring to the figures, the same reference numbers in different figures denote the same or similar elements, unless otherwise explained. The foregoing definitions are provided to illustrate and describe the present disclosure only and should not be construed to limit the present disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

According to a specific implementation manner provided by an embodiment of the present disclosure, referring to fig. 1, a lidar device is provided, which includes a base, a motor and a mounting bracket fixed on the base, a horizontal laser ranging unit for scanning a horizontal field of view, an adjustable laser ranging unit for scanning other angle fields of view, and a signal processing unit for processing scan data of the horizontal field of view and an inclined scan field of view; the motor is installed on the base, horizontal laser rangefinder unit with adjustable laser rangefinder unit is fixed in the installing support in order to form the rotor, the motor drives the rotatory range finding of rotor.

In addition, in order to ensure that the laser radar can obtain navigation data and obstacle avoidance data simultaneously, the included angle between the horizontal laser ranging unit and the central optical axis of the adjustable laser ranging unit is 180 degrees.

In addition, in order to obtain the obstacle avoidance information of the laser in the vertical direction, the adjustable laser ranging unit comprises a rotating support, a stepping motor and a wedge-shaped prism, and the wedge-shaped prism is connected with the stepping motor through the rotating support, so that the stepping motor rotates to drive the wedge-shaped prism to deflect.

In addition, in order to enable the form of a light spot emitted by the laser radar to be in the best state, the adjustable laser ranging unit comprises an emitting module, a collimating lens and a receiving lens, the light spot emitted by the emitting module is shaped by the collimating lens and then emitted, and the light spot reflected by the detected object is received by the receiving lens.

In addition, in order to enable the form of a light spot emitted by the laser radar to be in the best state, the horizontal laser ranging unit comprises an emitting module, a collimating lens and a receiving lens, the light spot emitted by the emitting module is shaped by the collimating lens and then emitted, and the light spot reflected by the detected object is received by the receiving lens.

In addition, in order to obtain the light-emitting angle information of the laser radar, the motor is internally provided with an encoder, and the encoder is used for controlling the light-emitting angles of the horizontal laser ranging unit and the adjustable laser ranging unit.

In addition, in order to make the range-finding blind area of the laser radar as small as possible, the transmitting module and the receiving module of the horizontal laser range finding unit can be realized by adopting a coaxial mode of a monocular lens or a binocular parallel axis mode;

in addition, in order to handle the range finding information that obtains and avoid two way light signal interact, adjustable laser rangefinder unit still includes microcontroller, microcontroller triggers horizontal rangefinder unit and adjustable laser rangefinder unit's light emitting module through the signal that reads the encoder and transmits the pulse light signal of certain frequency with certain time interval.

This embodiment provides a laser radar device, the slope lasing of laser radar device adopts 905 nm's pulse laser, emitter 60 realizes the control of frequency of giving out light through the drive circuit of microprocessor control LD, the pulse laser light source of transmission is after the collimation of collimating lens among emitter 60, vertical incidence is on wedge prism 40 vertical plane, the contained angle between wedge prism 40's plane and the inclined plane is theta, when the vertical plane incidence of the perpendicular wedge prism 40 of light, the contained angle of emergent light and wedge prism 40 center pin is alpha, as shown in fig. 2, can obtain according to the refraction theorem

α＝(n-1)θ (1)

Where n is the index of refraction of the wedge prism 40 material.

As can be seen from equation (1), since the refractive index of the material of the wedge prism 40 is determined, the inclination angle of the beam of the laser light can be inclined in the laser radar apparatus by controlling the angle θ between the plane and the inclined plane of the wedge prism 40.

Specifically, the wedge prism 40 is fixed on the rotating bracket 20 by an adhesive, a driving groove is engraved on the rotating bracket 20, the motor 10 drives the rotating bracket 20 to rotate at an angular velocity ω by driving a gear, the position of the deflection light is read by the encoder 100, the inclined laser scanning track is as shown in fig. 3, and the radius is a circular track of R.

R＝Ssinα (2)

Because the motor fixed on the laser radar device base drives the mounting bracket to rotate for 360 degrees, the light beam of the inclined laser completes 360-degree rotation scanning along with the motor on the base except for the scanning movement in the vertical direction, the scanned distance value is collected and processed by microprocessing, and whether an obstacle is scanned or not is judged by a software algorithm.

The horizontal laser ranging unit identifies and positions the reflective targets arranged on site by using the echo signal intensity, ranging distance and light-emitting angle information of the reflective targets, and coordinates information of the reflective targets is distributed in a matching manner, so that positioning and navigation of the carrier are realized.

In addition, the navigation anticollision laser radar system that this embodiment provided, including aforementioned laser radar device, installing support and AGV dolly, the laser radar device passes through the installing support to be installed on the AGV dolly, and the system architecture is as shown in fig. 4. The height of the laser radar is H from the ground, the field of view scanned by the horizontal light beam is a circular surface of the horizontal plane, the field of view scanned by the inclined light beam is a circle vertical to the horizontal plane, the horizontal scanning field of view realizes the navigation function by scanning a specific target of the AGV trolley working field, and the vertical field of view judges whether an obstacle exists in a preset range or not by detecting measured distance data.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The laser radar device is characterized by comprising a base, a motor and a mounting bracket which are fixed on the base, a horizontal laser ranging unit for scanning a horizontal view field, an adjustable laser ranging unit for scanning other angle view fields and a signal processing unit for processing scanning data of the horizontal view field and an inclined scanning view field;

wherein, the motor is installed on the base, horizontal laser rangefinder unit with adjustable laser rangefinder unit is fixed in the installing support in order to form the rotor, the motor drives the rotatory range finding of rotor.

2. The lidar device of claim 1, wherein the included angle between the central optical axes of the horizontal laser ranging unit and the adjustable laser ranging unit is 180 degrees.

3. The lidar device of claim 1, wherein the adjustable laser ranging unit comprises a rotating bracket, a stepping motor and a wedge prism, and the wedge prism is connected with the stepping motor through the rotating bracket, so that the stepping motor rotates to drive the wedge prism to deflect.

4. The lidar device of claim 1, wherein the adjustable laser ranging unit comprises a transmitting module, a collimating lens and a receiving lens, wherein a light spot emitted by the transmitting module is shaped by the collimating lens and then emitted, and the emitted light spot is received by the receiving lens after being reflected by the object to be detected.

5. The lidar device of claim 1, wherein the horizontal laser ranging unit comprises a transmitting module, a collimating lens and a receiving lens, wherein a light spot emitted by the transmitting module is shaped by the collimating lens and then emitted, and the emitted light spot is received by the receiving lens after being reflected by the detected object.

6. The lidar device of claim 1, wherein the motor has an encoder built therein, and the encoder is configured to control the light emitting angles of the horizontal laser ranging unit and the adjustable laser ranging unit.

7. The lidar device of claim 5, wherein the transmitting module and the receiving module of the horizontal lidar unit are implemented in a coaxial manner with a monocular lens or a binocular parallel axis manner.

8. The lidar device according to any of claims 1 to 7, wherein the adjustable laser ranging unit further comprises a microcontroller, and the microcontroller triggers the horizontal ranging unit and the light emitting module of the adjustable laser ranging unit to emit pulsed light signals with a certain frequency at certain time intervals by reading signals of the encoder.

9. AGV trolley, characterized in that it comprises a lidar device according to any of claims 1-8.