A region of interest depth perception sensor and depth perception sensing module
A region of interest and depth perception technology, applied in the field of region of interest depth perception sensors and depth perception sensing modules, can solve the problems of low object recognition and long measurement time, and achieve low cost and cost reduction effects
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Embodiment 1
[0036]figure 1 It is an example of a top view of an area of interest in the actual operation of the AGV shown in Example 1; figure 2 It is an example side view example of the regional side view of the actual operation of the AGV shown in Example 1; figure 1 with figure 2 As shown, in the field of autonomous motion robots (AGV cells 1), there is usually necessary to raze away from the distance to achieve positioning and traveling warning, and need to be ranging from nearby objects to achieve a near-point stop, implementation Autonomous navigation and avoidance. Long-distance information usually does not need to be included, only need to provide depth information in the two-dimensional plane, and the close three-dimensional spatial ranging is required, that is, figure 1 with figure 2 The long distance ranging from the long distance positioning navigation in the middle, the long distance ranging shown in the Z direction needs further and in the Y direction, and it is not required t...
Embodiment 2
[0064] Figure 7 It is a sensor spatial layout and spatial perception of a region depth perception sensor shown in accordance with an exemplary embodiment 2; Figure 7 As shown, the light radiated by the active light source emitting device 7 has both a horizontally radiated wire laser 10 that realizes a horizontally illuminated horizontal radiation, and has a near-plane array, a wire 9, a line laser 10 and The time radiated by the surface array light 9 can be achieved by the light source driver control, respectively, or simultaneously illuminated. In this embodiment, the TOF sensor consists of two separate TOF sensing chips, and the two sets of TOF sensing chips have their respective independent imaging lenses. The sensor can switch in two working modes, in one mode, one of the TOF sensing chips works simultaneously with the surface array of the radiation surface, collects close stereo space information; in another mode, another Group TOF sensor chip, lower resolution is larger, wi...
Embodiment 3
[0067] Figure 8 It is a schematic diagram of an interested region depth perception sensor TOF sensor in accordance with an exemplary embodiment 3; Figure 8 As shown, when the three sensation is performed, the TOF camera always has a problem of detecting the limit (i.e., the farthest detection distance), even in the region of interest, it is generally too low or the depth is unable to detect. The situation is not possible to effectively identify the objects in region B.
[0068] Figure 9 It is a sensor spatial layout and spatial perception of a region depth perceived sensor illustrated according to an exemplary embodiment 3; Figure 9 As indicated, the optical signal 14 is reflected by the optical signal radiated in the space by the TOF sensor 5, and the TOF sensor 5 cannot perceive the entire area because the limit of the detection capability cannot be perceived because the reflectance is too low or the distance is too low. Too far. The line laser projector 13 and the MEMS scanne...
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