CN214585981U - LiDAR systems and autonomous mobile devices - Google Patents
LiDAR systems and autonomous mobile devices Download PDFInfo
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- CN214585981U CN214585981U CN202022305567.3U CN202022305567U CN214585981U CN 214585981 U CN214585981 U CN 214585981U CN 202022305567 U CN202022305567 U CN 202022305567U CN 214585981 U CN214585981 U CN 214585981U
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Abstract
本申请公开了一种激光雷达系统，包括激光传感器和反射器件，激光传感器包括激光发射阵列，反射器件位于激光发射阵列的激光光路上；反射器件的反射面朝向激光发射阵列的发光面；反射器件的反射面与激光发射阵列的发光面成预设角度，预设角度大于0且小于90度。本申请提供的激光雷达系统，由于激光发射阵列的发光面和反射器件的反射面成预设角度，即反射器件的反射面相对于激光发射阵列的发光面呈倾斜设置，使得仅通过一激光发射阵列即可360度地采集环境信息，从而有利于实现快速定位和/或建图、快速识别障碍物信息等处理操作，相比传统的激光雷达方案，结构简单，成本较低。
The application discloses a laser radar system, comprising a laser sensor and a reflection device, the laser sensor includes a laser emission array, the reflection device is located on the laser light path of the laser emission array; the reflection surface of the reflection device faces the light-emitting surface of the laser emission array; the reflection device The reflective surface of the laser emitting array forms a preset angle with the light-emitting surface of the laser emitting array, and the preset angle is greater than 0 and less than 90 degrees. In the laser radar system provided in this application, since the light-emitting surface of the laser emitting array and the reflective surface of the reflective device form a preset angle, that is, the reflective surface of the reflective device is inclined relative to the emitting surface of the laser emitting array, so that only one laser emitting array passes through the laser emitting array. It is possible to collect environmental information in 360 degrees, which is conducive to the realization of processing operations such as rapid positioning and/or mapping, and rapid identification of obstacle information. Compared with the traditional lidar solution, the structure is simple and the cost is lower.
Description
Technical Field
The application relates to the field of laser radars, in particular to a laser radar system and an autonomous mobile device using the same.
Background
With the rapid development of AI, more and more autonomous mobile devices are applied to places such as superstores, hospitals, factories, and the like, instead of people's work. The autonomous mobile device can sense and interact with an external environment, and is a basis on which the autonomous mobile device can autonomously move and execute tasks. At present, most of autonomous mobile equipment senses external environments through sensors such as a single-line laser radar, a multi-line laser radar and an image sensor, and autonomous requirements of obstacle identification, positioning and the like are met.
However, the existing schemes based on sensing the external environment by sensors such as a single-line laser radar, a multi-line laser radar and an image sensor have certain defects. For example, the sensing scheme based on the image sensor has high computational complexity and low real-time performance. The perception scheme based on the single-line or multi-line laser radar has a certain limit in space comprehension capability. The existing radar scheme is that a TOF (Time of Flight) sensor which is a single point generally rotates by 360 degrees, or the TOF sensors of a plurality of area arrays are spliced to realize quick positioning and map building of the autonomous mobile equipment, so that the autonomous mobile equipment needs to be provided with a rotating part, the whole structure is complex, the cost is high, and equipment damage is easily caused.
Therefore, there is a need to provide a new sensing scheme for autonomous mobile devices.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the technology, the application provides a laser radar system and an autonomous mobile device.
The embodiment of the application provides a laser radar system, which comprises a laser sensor and a reflecting device, wherein the laser sensor comprises a laser emitting array, and the reflecting device is positioned on a laser light path of the laser emitting array; the reflecting surface of the reflecting device faces the light emitting surface of the laser emitting array; the reflecting surface of the reflecting device and the light emitting surface of the laser emitting array form a preset angle, and the preset angle is larger than 0 and smaller than 90 degrees.
In one possible implementation, the reflective device is an optical element that includes at least one reflective surface.
In one possible embodiment, the at least one reflection surface is designed as a conical or pyramidal surface.
In one possible implementation, the laser sensor is an area array laser sensor.
In one possible implementation, the laser sensor is a time-of-flight laser sensor.
In one possible implementation, the laser emitting array forms a linear, circular or annular emitting array.
In one possible implementation, the laser emitting array is formed as at least two concentric circular ring type emitting arrays having different radii.
In a possible implementation manner, the laser sensor further includes an information acquisition module, the information acquisition module and the light emitting surface are located on the same side of the reflection device, and the information acquisition module is substantially parallel to or coplanar with the light emitting surface.
In a possible implementation manner, the laser radar system further includes an information processing module, the information processing module is electrically connected to the information acquisition module, and the information processing module executes processing operation based on the environmental information acquired by the information acquisition module.
The embodiment of the application further provides an autonomous mobile device, which comprises a device body and further comprises the laser radar system, wherein the laser radar system is electrically connected with the device body.
The beneficial effect of this application is: the application provides a laser radar system and autonomous mobile device, because the light emitting area of laser emission array and the plane of reflection of reflect meter become to predetermine the angle, the plane of reflection of reflect meter is for the luminous surface of laser emission array and personally submits the slope setting promptly, make only can 360 degrees ground gather environmental information through a laser emission array, thereby be favorable to realizing quick location and/or build the picture, processing operations such as quick discernment barrier information, compare traditional laser radar scheme, moreover, the steam generator is simple in structure, and the cost is lower.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
fig. 1 is a schematic structural diagram of an automatic mobile device in an embodiment of the present application;
fig. 2 is a schematic structural diagram of a laser radar system in an embodiment of the present application.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "comprising" and "having," as well as any variations thereof, in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, an embodiment of the present application provides an autonomous mobile apparatus, including: an apparatus body 3 and a laser radar system (not shown). The laser radar system is arranged on the equipment body 3 and is electrically connected with the equipment body 3. The lidar system may collect environmental information based on transmission and reception of laser light and transfer the environmental information to the apparatus body 3, and the apparatus body 3 may implement various processing operations, such as positioning and/or mapping, identifying obstacle information, and the like, based on the received environmental information.
The autonomous moving apparatus of the present embodiment may be any mechanical apparatus capable of performing spatial movement highly autonomously in its working environment, and may be, for example, an unmanned vehicle, an unmanned aerial vehicle, a robot, or the like. The autonomous moving device may be a cleaning robot, other service robots, or the like. The cleaning robot is a robot capable of autonomously performing a cleaning task in its working environment, and includes a floor cleaning robot, a glass cleaning robot, and the like. Other service type robots refer to robots that can autonomously move in their working environment and provide non-cleaning services, and include air cleaning robots, home accompanying robots, guest welcoming robots, and the like.
The shape of the autonomous mobile device may vary depending on the implementation of the autonomous mobile device. The present embodiment does not limit the form of the autonomous moving apparatus, and takes the outer contour shape of the autonomous moving apparatus as an example, the outer contour shape of the autonomous moving apparatus may be an irregular shape or a regular shape. For example, the outer contour shape of the autonomous mobile apparatus may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop, or a D-shape. Accordingly, what is called irregular shapes other than the regular shape, such as an outer contour of a humanoid robot, an outer contour of an unmanned vehicle, and an outer contour of an unmanned vehicle, belong to the irregular shape.
The lidar system comprises a laser sensor 2 and a reflecting device 1, the laser sensor 2 comprising a lasing array 21. The reflection device 1 is located on the laser light path of the laser emission array 21. The reflection surface 11 of the reflection device 1 faces the light emitting surface of the laser emission array 21. The reflecting surface 11 of the reflecting device 1 and the light emitting surface of the laser emitting array 21 form a preset angle, and the preset angle is greater than 0 and smaller than 90 degrees.
The reflecting surface 11 of the reflecting device 1 and the light emitting surface of the laser emitting array 21 are arranged in an angle mode, so that light emitted by the laser emitting array 21 is turned to the light path through the reflecting device 1 and is diffused all around, 360-degree laser diffusion and collection can be achieved, and the working environment can be sensed more effectively. It can be seen that the laser emitting array 21 does not need to be rotated to obtain 360 ° environmental information.
The embodiment of the application provides an autonomous mobile device, because the light emitting area of laser emission array 21 and the plane of reflection 11 of reflect meter 1 become preset the angle, plane of reflection 11 of reflect meter 1 is the slope setting for the light emitting of laser emission array 21 promptly, make only can 360 degrees ground gather environmental information through the laser emission array 21 of a fixed setting, thereby be favorable to realizing quick location and/or building the picture, processing operations such as quick discernment barrier information, compare and adopt traditional laser radar scheme, moreover, the steam generator is simple in structure, and the cost is lower.
In one embodiment, the lidar system is provided at an upper portion of the apparatus body 3. In a possible implementation manner, the laser emitting array 21 may be disposed inside the apparatus body 3, and the reflection device 2 may partially extend out of the top surface of the apparatus body 3, so that the laser emitted by the laser emitting array 21 is turned around and dispersed around the reflection device 1, that is, the external environment information of the apparatus body 3 may be acquired 360 degrees by the laser emitting array disposed inside the apparatus body 3, thereby facilitating the processing operations of fast positioning and/or mapping, fast identification of obstacle information, and the like.
In one embodiment, the laser emitting array 21 emits laser light in a second direction perpendicular to the plane of the apparatus body 3, and the laser light in the second direction emitted by the laser emitting array 21 is reflected by the reflecting device 2 to form laser light in the first direction. That is, the laser emitting array 21 may reflect the laser light in the vertical direction to form the laser light in the horizontal direction. The autonomous mobile device of the embodiment can rotate the laser emitted in the vertical direction into the omnidirectional laser in the horizontal direction only through the laser emitting array 21 and the reflecting device, so that the structure of the autonomous mobile device is simpler, and the whole structure of the autonomous mobile device is more reliable and the service life is longer because a rotating part is not needed.
In a possible implementation, the reflecting device 1 is an optical element comprising at least one reflecting surface 11. In one embodiment, at least one of the reflecting surfaces 11 of the optical element is configured as a conical or pyramidal surface. For example, the reflecting surfaces 11 obliquely arranged with respect to the light emitting surface of the laser light emitting array 21 form a conical surface around a center line, or 3, 4 or more reflecting surfaces 11 obliquely arranged with respect to the light emitting surface of the laser light emitting array 21 constitute a triangular pyramid, a rectangular pyramid or more pyramid surface. In this way, the light emitted from the laser emitting array 21 can form an omnidirectional divergence of 360 ° through the optical element.
In one embodiment, the optical element may be a lens, a mirror, or the like having a light reflecting function.
In one possible implementation, the laser sensor 2 is an area array laser sensor. The environmental information acquired by the area array laser sensor not only contains direction and distance information, but also adds reflectivity information of the surface of an object, and is assisted with a deep learning technology under a three-dimensional scene, so that the cognitive ability of environmental elements can be realized. When the number of laser lines is large and dense, the data formed by the reflectivity information can be regarded as texture information, environmental features with matching and identification values can be obtained from the texture information, the environment identification capability is strong, and advantages brought by a visual algorithm and the texture information can be enjoyed to a certain extent. In addition, the area array laser sensor has the following advantages: 1) the area array laser sensor has the advantages of solid stating, low cost and miniaturization; 2) when the area array laser sensor is installed and used, a rotating part is not needed, the structure and the size of the sensor can be greatly compressed, the service life is prolonged, and the cost is reduced; 3) the visual angle of the area array laser sensor can be adjusted, and the area array laser sensor can be adapted to different autonomous mobile devices, so that the scanning speed and the scanning precision can be accelerated; 4) the area array laser sensor can simultaneously collect environmental information in the horizontal direction and the vertical direction, can build a 3D map, and is beneficial to improving the accuracy of functions such as positioning, navigation planning and the like based on the map.
In one possible implementation, the laser sensor 2 is a time-of-flight laser sensor.
Referring to fig. 2, the laser sensor 2 further includes an information collecting module 22, the information collecting module 22 and the light emitting surface are located on the same side of the reflection device 1, and the information collecting module 22 is substantially parallel or coplanar with the light emitting surface.
The working principle of the time-of-flight laser sensor 2 is as follows: the laser emitting array 21 emits light outwards through the optical element in front of the laser emitting array, and after the emitted light reaches the surface of an object, a part of the emitted light is reflected back and forms pixel points on an image through the optical element in front of the information collecting module 22. And because the distances from the surface of the object to the return point are different, the flight Time (TOF) of reflected light is different, and independent distance information can be obtained by each pixel point through measuring the flight time of the reflected light. The detection range of the flight time laser sensor 2 can reach more than one hundred meters. In addition, the information acquisition module 22 of the area array laser sensor 2 can also acquire images of the surrounding environment, so as to realize fast 3D imaging with resolution of megapixels, and the imaging frequency is more than 30 frames per second.
In a possible implementation, the laser emitting array 21 constitutes a linear, circular or annular emitting array. The laser emitting array 21 can emit circular laser and form a horizontal circular laser network after being reflected by the reflecting device 1, so that the circular laser can be uniformly scattered around, and further, a surrounding image can be rapidly acquired through the information acquisition module 22.
In one possible implementation, the laser emitting array 21 is formed as at least two concentric circular ring type emitting arrays, at least two circular ring type emitting arrays having different radii. The laser light emitted by more than two emitting arrays can form a three-dimensional circular ring-shaped laser network in space after being reflected by the reflecting device 1.
The lidar system further includes an information processing module (not shown) electrically connected to the information acquisition module 22, where the information processing module performs processing operations based on the environmental information acquired by the information acquisition module 22, for example, the information processing module may perform fast positioning and/or mapping, obstacle information identification, and the like based on the environmental information.
In a possible implementation manner, the lidar system may not include an information processing module, the information processing module is disposed inside the device body 3 of the autonomous mobile device, the environmental information collected by the lidar system may be sent to the information processing module, and the information processing module processes the collected environmental information.
With reference to fig. 1 and fig. 2, an embodiment of the present application provides a laser radar system. The lidar system comprises a laser sensor 2 and a reflecting device 1, the laser sensor 2 comprising a lasing array 21. The reflection device 1 is located on the laser light path of the laser emission array 21. The reflection surface 11 of the reflection device 1 faces the light emitting surface of the laser emission array 21. The reflecting surface 11 of the reflecting device 1 and the light emitting surface of the laser emitting array 21 form a preset angle, and the preset angle is greater than 0 and smaller than 90 degrees.
The reflecting surface 11 of the reflecting device 1 and the light emitting surface of the laser emitting array 21 are arranged in an angle mode, so that light emitted by the laser emitting array 21 is turned to the light path through the reflecting device 1 and is diffused all around, 360-degree laser diffusion and collection can be achieved, and the working environment can be sensed more effectively. It can be seen that the laser emitting array 21 of the embodiment of the present application can obtain 360 ° environmental information without rotation.
The embodiment of the application provides a laser radar system, because the light emitting area of laser emission array 21 and the plane of reflection 11 of reflect meter 1 become preset the angle, plane of reflection 11 of reflect meter 1 is for the slope setting of the luminous face of laser emission array 21 promptly, make only can 360 degrees ground gather environmental information through the laser emission array 21 of a fixed setting, thereby be favorable to realizing quick location and/or building the picture, processing operations such as quick discernment barrier information, compare traditional laser radar scheme, moreover, the steam generator is simple in structure, and the cost is lower.
In a possible implementation, the reflecting device 1 is an optical element comprising at least one reflecting surface 11. In one embodiment, at least one of the reflecting surfaces 11 of the optical element is configured as a conical or pyramidal surface. For example, the reflecting surfaces 11 obliquely arranged with respect to the light emitting surface of the laser light emitting array 21 form a conical surface around a center line, or 3, 4 or more reflecting surfaces 11 obliquely arranged with respect to the light emitting surface of the laser light emitting array 21 constitute a triangular pyramid, a rectangular pyramid or more pyramid surface. In this way, the light emitted from the laser emitting array 21 can form an omnidirectional divergence of 360 ° through the optical element.
In one embodiment, the optical element may be a lens, a mirror, or the like having a light reflecting function.
In one possible implementation, the laser sensor 2 is an area array laser sensor. The environmental information acquired by the area array laser sensor not only contains direction and distance information, but also adds reflectivity information of the surface of an object, and is assisted with a deep learning technology under a three-dimensional scene, so that the cognitive ability of environmental elements can be realized. When the number of laser lines is large and dense, the data formed by the reflectivity information can be regarded as texture information, environmental features with matching and identification values can be obtained from the texture information, the environment identification capability is strong, and advantages brought by a visual algorithm and the texture information can be enjoyed to a certain extent. In addition, the area array laser sensor has the following advantages: 1) the area array laser sensor has the advantages of solid stating, low cost and miniaturization; 2) when the area array laser sensor is installed and used, a rotating part is not needed, the structure and the size of the sensor can be greatly compressed, the service life is prolonged, and the cost is reduced; 3) the visual angle of the area array laser sensor can be adjusted, and the area array laser sensor can be adapted to different autonomous mobile devices, so that the scanning speed and the scanning precision can be accelerated; 4) the area array laser sensor can simultaneously collect environmental information in the horizontal direction and the vertical direction, can build a 3D map, and is beneficial to improving the accuracy of functions such as positioning, navigation planning and the like based on the map.
In one possible implementation, the laser sensor 2 is a time-of-flight laser sensor.
Referring to fig. 2, the laser sensor 2 further includes an information collecting module 22, the information collecting module 22 and the light emitting surface are located on the same side of the reflection device 1, and the information collecting module 22 is substantially parallel or coplanar with the light emitting surface.
The working principle of the time-of-flight laser sensor 2 is as follows: the laser emitting array 21 emits light outwards through the optical element in front of the laser emitting array, and after the emitted light reaches the surface of an object, a part of the emitted light is reflected back and forms pixel points on an image through the optical element in front of the information collecting module 22. And because the distances from the surface of the object to the return point are different, the flight Time (TOF) of reflected light is different, and independent distance information can be obtained by each pixel point through measuring the flight time of the reflected light. The detection range of the flight time laser sensor 2 can reach more than one hundred meters. In addition, the information acquisition module 22 of the area array laser sensor 2 can also acquire images of the surrounding environment, so as to realize fast 3D imaging with resolution of megapixels, and the imaging frequency is more than 30 frames per second.
In a possible implementation, the laser emitting array 21 constitutes a linear, circular or annular emitting array. The laser emitting array 21 can emit circular laser and form a horizontal circular laser network after being reflected by the reflecting device 1, so that the circular laser can be uniformly scattered around, and further, a surrounding image can be rapidly acquired through the information acquisition module 22.
In one possible implementation, the laser emitting array 21 is formed as at least two concentric circular ring type emitting arrays, at least two circular ring type emitting arrays having different radii. The laser light emitted by more than two emitting arrays can form a three-dimensional circular ring-shaped laser network in space after being reflected by the reflecting device 1.
The lidar system further includes an information processing module (not shown) electrically connected to the information acquisition module 22, where the information processing module performs processing operations based on the environmental information acquired by the information acquisition module 22, for example, the information processing module may perform fast positioning and/or mapping, obstacle information identification, and the like based on the environmental information.
In one possible implementation, the lidar system may not include an information processing module, and the environmental information collected by the lidar system may be sent to other devices, such as an autonomous mobile device, where the collected environmental information is processed by the other devices.
The embodiment of the application provides a laser radar system and autonomous mobile device, because the light emitting area of laser emission array 21 and the plane of reflection 11 of reflect meter 1 become preset the angle, plane of reflection 11 of reflect meter 1 is personally submitted the slope setting for the light emitting of laser emission array 21 promptly, make only can 360 degrees ground gather environmental information through a laser emission array 21, thereby be favorable to realizing quick location and/or building the picture, operations such as quick discernment barrier information, compare traditional laser radar scheme, moreover, the steam generator is simple in structure, and the cost is lower.
The above description is only for the purpose of illustrating embodiments of the present invention and is not intended to limit the scope of the present invention, and all modifications, equivalents, and equivalent structures or equivalent processes that can be used directly or indirectly in other related fields of technology shall be encompassed by the present invention.
Claims (8)
1. A lidar system characterized by: the laser sensor comprises a laser emitting array and a reflecting device, wherein the reflecting device is positioned on a laser light path of the laser emitting array; the reflecting surface of the reflecting device faces the light emitting surface of the laser emitting array; a reflecting surface of the reflecting device and a light emitting surface of the laser emitting array form a preset angle, and the preset angle is larger than 0 and smaller than 90 degrees;
the reflecting device is an optical element which comprises at least one reflecting surface; the at least one reflection surface is configured as a conical surface or a pyramidal surface.
2. The lidar system of claim 1, wherein the laser sensor is an area array laser sensor.
3. The lidar system of claim 1, wherein the laser sensor is a time-of-flight laser sensor.
4. The lidar system of claim 1, wherein: the laser emitting array forms a linear type, an arc type or a circular ring type emitting array.
5. The lidar system of claim 4, wherein: the laser emitting array is formed into at least two concentric circular ring type emitting arrays, and the at least two circular ring type emitting arrays have different radiuses.
6. The lidar system of claim 1, wherein: the laser sensor further comprises an information acquisition module, the information acquisition module and the light-emitting surface are located on the same side of the reflection device, and the information acquisition module is approximately parallel to or coplanar with the light-emitting surface.
7. The lidar system of claim 6, wherein: the laser radar system further comprises an information processing module, the information processing module is electrically connected with the information acquisition module, and the information processing module executes processing operation based on the environmental information acquired by the information acquisition module.
8. An autonomous mobile device comprising a device body, characterized in that: further comprising the lidar system as defined in any of claims 1-7, electrically connected to the apparatus body.
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| PCT/CN2021/108336 WO2022077999A1 (en) | 2020-10-16 | 2021-07-26 | Laser radar system and autonomous mobile apparatus |
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