Structured Light Module and Autonomous Mobile Device

Abstract

Embodiments of the present application provide a structured light module and an autonomous mobile device. In the embodiments of the present application, a camera module is combined with a line laser emitter. The line laser emitters are arranged on both sides of the camera module. The line laser emitters emit line lasers outward, and the camera module collects environmental images detected by the line lasers, so as to achieve the purpose of detecting the environmental information in front. Among them, the line laser emitters are located on both sides of the camera module. This way occupies a small size and can save more space, which is beneficial to expanding the application scenarios of the line laser sensor.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and particularly to a structured light module and an autonomous mobile device. Background Art

[0002] With the popularization of laser technology, the applications of laser sensors have been gradually explored. Among them, obstacle recognition and avoidance are relatively important application directions of laser sensors. The requirements for laser sensors in various fields are getting higher and higher, and existing laser sensors can no longer meet the application needs of users, and there is a need to propose a new structure of laser sensors. Summary of the Invention

[0003] Multiple aspects of this application provide a structured light module and an autonomous mobile device to provide a new structured light module and expand the application scope of laser sensors.

[0004] An embodiment of this application provides a structured light module, including: a camera module, line laser emitters distributed on both sides of the camera module, and a main control unit for controlling the operation of the camera module and the line laser emitters; the line laser emitters emit line lasers outward under the control of the main control unit; the camera module is used to collect environmental images detected by the line lasers under the control of the main control unit.

[0005] An embodiment of this application also provides an autonomous mobile device, including: a device body, a main controller and a structured light module are arranged on the device body, and the main controller is electrically connected to the structured light module; the structured light module includes: a camera module, line laser emitters distributed on both sides of the camera module, and a main control unit for controlling the operation of the camera module and the line laser emitters; wherein, the main control unit controls the line laser emitters to emit line lasers outward, controls the camera module to collect environmental images detected by the line lasers, and transmits the environmental images to the main controller; the main controller is responsible for functionally controlling the autonomous mobile device according to the environmental images.

[0006] In the embodiment of this application, the camera module is combined with the line laser emitters, and line laser emitters are arranged on both sides of the camera module to obtain a new structured light module. In this structured light module, the line laser emitters emit line lasers outward, and the camera module collects environmental images detected by the line lasers. By virtue of the advantage of high detection accuracy of line lasers, the environmental information in front can be detected more accurately. In addition, the line laser emitters are located on both sides of the camera module, and this method occupies a small size and can save more space, which is beneficial to expanding the application scenarios of line laser sensors. Description of the Drawings

[0007] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0008] Figure 1a is a schematic structural diagram of a structured light module provided for an exemplary embodiment of the present application;

[0009] Figure 1b is a schematic diagram of the working principle of a line laser emitter provided for an exemplary embodiment of the present application;

[0010] Figure 1c is a schematic structural diagram of the installation position relationship of each device in a structured light module provided for an exemplary embodiment of the present application;

[0011] Figure 1d is a schematic diagram of the relationship between the line laser of a line laser emitter and the field of view angle of a camera module provided for an exemplary embodiment of the present application;

[0012] Figure 1e is a front view of a structured light module provided for an exemplary embodiment of the present application;

[0013] Figure 1f is a bottom view of a structured light module provided for an exemplary embodiment of the present application;

[0014] Figure 1g is a top view of a structured light module provided for an exemplary embodiment of the present application;

[0015] Figure 1h is a rear view of a structured light module provided for an exemplary embodiment of the present application;

[0016] Figure 1i is an exploded view of a structured light module provided for an exemplary embodiment of the present application;

[0017] Figure 2a is a schematic structural diagram of another structured light module provided for an exemplary embodiment of the present application;

[0018] Figure 2b is a schematic structural diagram of a main control unit provided for an exemplary embodiment of the present application;

[0019] Figure 2c is a schematic structural diagram of a laser driving circuit provided for an exemplary embodiment of the present application;

[0020] Figure 3a is a schematic structural diagram of an autonomous mobile device provided for an exemplary embodiment of the present application;

[0021] Figure 3bSchematic structural diagram of a control structured light module for an autonomous mobile device provided by an exemplary embodiment of the present application;

[0022] Figure 3c Exploded view of a device body and a bumper provided by an exemplary embodiment of the present application;

[0023] Figure 3d Exploded view of a structured light module and a bumper provided by an exemplary embodiment of the present application; Detailed implementation manners

[0024] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part rather than all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0025] Aiming at the problem that existing laser sensors cannot meet application requirements, an embodiment of the present application provides a structured light module, which mainly includes a line laser emitter and a camera module; the line laser emitters are distributed on both sides of the camera module and can emit line lasers outward. After the line lasers reach the object surface and its background, the camera module collects the returned line laser information, and then the position and depth of the object can be calculated based on the changes in the line laser information caused by the object, and then the entire three-dimensional space can be restored. The structured light module provided by the embodiment of the present application can have various implementation forms, which will be introduced and described separately through different embodiments below.

[0026] Figure 1a Schematic structural diagram of a structured light module provided by an exemplary embodiment of the present application. As Figure 1a shown, the structured light module 100 includes: a camera module 101, line laser emitters 102 distributed on both sides of the camera module 101, and a main control unit 103 for controlling the operation of the camera module 101 and the line laser emitters 102. As Figure 1a shown, the main control unit 103 is electrically connected to the camera module 101 and the line laser emitters 102 respectively.

[0027] In this embodiment, the implementation form of the line laser emitter 102 is not limited, and it can be any device / product form capable of emitting line laser. For example, the line laser emitter 102 can be, but is not limited to, a laser tube. The line laser emitter 102 can emit line laser outward to detect the environmental image. In this embodiment, the main control unit 103 can control the operation of the line laser emitter 102, such as controlling the time and emission power of the line laser emitter 102 to emit line laser outward. For the line laser emitter 102, it can emit line laser outward under the control of the main control unit 103. As Figure 1b shown, the line laser emitter 102 can emit the laser planes FAB and ECD outward under the control of the main control unit 103. After the laser planes reach the obstacle, a line laser will be formed on the surface of the obstacle, that is Figure 1b the line segments AB and CD shown in

[0028] In this embodiment, the implementation form of the camera module 101 is not limited. Any visual device that can collect environmental images is applicable to the embodiments of the present application. For example, the camera module 101 can include, but is not limited to, a monocular camera, a binocular camera, etc. In addition, in this embodiment, the wavelength of the line laser emitted by the line laser emitter 102 is not limited either. Different wavelengths will result in different colors of the line laser. For example, it can be a red laser, a purple laser, etc. Correspondingly, the camera module 101 can be a camera module capable of collecting the line laser emitted by the line laser emitter 102. It is adapted to the wavelength of the line laser emitted by the line laser emitter 102. For example, the camera module 101 can also be an infrared camera, an ultraviolet camera, a starlight camera, a high-definition camera, etc. The camera module 101 can collect the environmental image within its field of view. The field of view of the camera module 101 includes the vertical field of view and the horizontal field of view. In this embodiment, the field of view of the camera module 101 is not limited, and a camera module 101 with a suitable field of view can be selected according to the application requirements.

[0029] In this embodiment, the line laser emitted by the line laser emitter 102 is within the field of view of the camera module 101. The line laser can help detect information such as the contour, height, and / or width of an object within the field of view angle of the camera module 101, and the camera module 101 can collect the environmental image detected by the line laser. In this embodiment, as long as the line laser emitted by the line laser emitter 102 is within the field of view of the camera module 101, the angle between the laser line segment formed by the line laser on the object surface and the horizontal plane is not limited. For example, it can be parallel or perpendicular to the horizontal plane, or can form any angle with the horizontal plane, which can be specifically determined according to application requirements. In this embodiment, the main control unit 103 can control the camera module 101 to work. For example, it can control the exposure frequency, exposure duration, working frequency, etc. of the camera module 101. For the camera module 101, it can collect the environmental image detected by the line laser under the control of the main control unit 103. As Figure 1d shown is a schematic diagram of the relationship between the line laser emitted by the line laser emitter and the field of view angle of the camera module. Among them, the letter K represents the camera module, and the letters J and L represent the line laser emitters located on both sides of the camera module; Q represents the intersection point of the line lasers emitted by the line laser emitters on both sides within the field of view angle of the camera module; the straight lines KP and KM represent the two boundaries of the horizontal field of view of the camera module, and ∠PKM represents the horizontal field of view angle of the camera module. In Figure 1d it, the straight line JN represents the center line of the line laser emitted by the line laser emitter J; the straight line LQ represents the center line of the line laser emitted by the line laser emitter L.

[0030] Among them, based on the environmental image collected by the camera module 101, the distance from the structured light module 100 or the device where the structured light module 100 is located to the front object (such as an obstacle) can be calculated, and information such as the height, width, shape, or contour of the front object (such as an obstacle) can also be calculated. Further, three-dimensional reconstruction can also be performed, etc. Among them, the principle of triangulation can be used to calculate the distance between the line laser emitter and its front object through trigonometric functions.

[0031] In the embodiment of the present application, the implementation form of the main control unit 103 is also not limited. For example, it can be, but is not limited to: CPU, GPU, MCU, a processing chip implemented based on FPGA or CPLD, or a single-chip microcomputer, etc. In addition, in the embodiment of the present application, the implementation manner in which the main control unit 103 controls the camera module 101 and the line laser emitter 102 to work is also not limited. Any implementation manner that can control the line laser emitter 102 to emit line laser outward or control the camera module 101 to collect environmental images is applicable to the embodiment of the present application.

[0032] In the embodiments of the present application, the total number of the line laser emitters 102 is not limited. For example, it may be two or more. The number of the line laser emitters 102 distributed on each side of the camera module 101 is also not limited. The number of the line laser emitters 102 on each side of the camera module 101 may be one or more. Additionally, the number of the line laser emitters 102 on both sides may be the same or different. In Figure 1a Figure Figure 1a , taking the example that one line laser emitter 102 is arranged on each side of the camera module 101 for illustration, but it is not limited thereto. For example, 2 line laser emitters 102 may be arranged on the left side of the camera module 101, and 1 line laser emitter 102 may be arranged on the right side of the camera module 101. Another example is that 2, 3, or 5 line laser emitters 102 are arranged on both the left and right sides of the camera module 101, etc.

[0033] In this embodiment, the distribution pattern of the line laser emitters 102 on both sides of the camera module 101 is not limited either. For example, it may be evenly distributed or unevenly distributed, and may be symmetrically distributed or asymmetrically distributed. Among them, the even distribution and the uneven distribution may refer to that the line laser emitters 102 distributed on the same side of the camera module 101 may be evenly distributed or unevenly distributed. Of course, it can also be understood that the line laser emitters 102 distributed on both sides of the camera module 101 are evenly distributed or unevenly distributed as a whole. For the symmetrical distribution and the asymmetrical distribution, it mainly means that the line laser emitters 102 distributed on both sides of the camera module 101 are symmetrically distributed or asymmetrically distributed as a whole. The symmetry here includes both the equality in quantity and the symmetry in the installation positions. For example, in Figure 1b the shown structured light module, the number of the line laser emitters 102 is two, and the two line laser emitters 102 are symmetrically distributed on both sides of the camera module 101.

[0034] In the embodiments of the present application, the installation position relationship between the line laser emitter 102 and the camera module 101 is not limited either. Any installation position relationship where the line laser emitters 102 are distributed on both sides of the camera module 101 is applicable to the embodiments of the present application. Among them, the installation position relationship between the line laser emitter 102 and the camera module 101 is related to the application scenario of the structured light module 100. The installation position relationship between the line laser emitter 102 and the camera module 101 can be flexibly determined according to the application scenario of the structured light module 100. The installation position relationship here includes the following aspects:

[0035] Installation height: At the installation height, the line laser emitter 102 and the camera module 101 can be at different heights. For example, the line laser emitters 102 on both sides are higher than the camera module 101, or the camera module 101 is higher than the line laser emitters 102 on both sides; or the line laser emitter 102 on one side is higher than the camera module 101, and the line laser emitter 102 on the other side is lower than the camera module 101. Of course, the line laser emitter 102 and the camera module 101 can also be at the same height. More preferably, the line laser emitter 102 and the camera module 101 can be at the same height. For example, in actual use, the structured light module 100 will be installed on a certain device (such as a robot, a purifier, an autonomous vehicle, etc.). In this case, the distances from the line laser emitter 102 and the camera module 101 to the working surface where the device is located (such as the ground) are the same. For example, the distances from both to the working surface are 47 mm, 50 mm, 10 cm, 30 cm, or 50 cm, etc.

[0036] Installation distance: The installation distance refers to the mechanical distance (or baseline distance) between the line laser emitter 102 and the camera module 101. The mechanical distance between the line laser emitter 102 and the camera module 101 can be flexibly set according to the application requirements of the structured light module 100. Among them, the mechanical distance between the line laser emitter 102 and the camera module 101, the detection distance that the device (such as a robot) where the structured light module 100 is located needs to meet, and the diameter of the device can determine the size of the measurement blind area to a certain extent. For the device (such as a robot) where the structured light module 100 is located, its diameter is fixed, and the measurement range and the mechanical distance between the line laser emitter 102 and the camera module 101 can be flexibly set according to the requirements. This means that the mechanical distance and the blind area range are not fixed values. On the premise of ensuring the measurement range (or performance) of the device, the blind area range should be minimized as much as possible. However, the larger the mechanical distance between the line laser emitter 102 and the camera module 101, the larger the controllable distance range, which is beneficial to better controlling the size of the blind area.

[0037] In some application scenarios, the structured light module 100 is applied to a floor cleaning robot, for example, it can be installed on the bumper of the floor cleaning robot or on the robot body. For the floor cleaning robot, a relatively reasonable mechanical distance range between the line laser emitter 102 and the camera module 101 is exemplarily given below. For example, the mechanical distance between the line laser emitter 102 and the camera module 101 can be greater than 20 mm. Further optionally, the mechanical distance between the line laser emitter 102 and the camera module 101 is greater than 30 mm. Furthermore, the mechanical distance between the line laser emitter 102 and the camera module 101 is greater than 41 mm. It should be noted that the given mechanical distance range is not only applicable to the scenario where the structured light module 100 is applied to a floor cleaning robot, but also applicable to the application of the structured light module 100 on other devices with similar or close specifications and dimensions to the floor cleaning robot.

[0038] Emission angle: The emission angle refers to the angle between the center line of the line laser emitted by the line laser emitter 102 and the installation baseline of the line laser emitter 102 after installation. The installation baseline is a straight line where the line laser module 102 and the camera module 101 are located when the line laser module 102 and the camera module 101 are at the same installation height. In this embodiment, the emission angle of the line laser emitter 102 is not limited. This emission angle is related to the detection distance that the device (such as a robot) where the structured light module 100 is located needs to meet, the radius of the device, and the mechanical distance between the line laser emitter 102 and the camera module 101. When the detection distance that the device (such as a robot) where the structured light module 100 is located needs to meet, the radius of the device, and the mechanical distance between the line laser emitter 102 and the camera module 101 are determined, the emission angle of the line laser emitter 102 can be directly obtained through trigonometric relations, that is, the emission angle is a fixed value.

[0039] Of course, if a specific emission angle is required, it can be achieved by adjusting the detection distance that the device (such as a robot) where the structured light module 100 is located needs to meet and the mechanical distance between the line laser emitter 102 and the camera module 101. In some application scenarios, when the detection distance that the device (such as a robot) where the structured light module 100 is located needs to meet and the radius of the device are determined, by adjusting the mechanical distance between the line laser emitter 102 and the camera module 101, the emission angle of the line laser emitter 102 can vary within a certain angle range, for example, it can be 50 - 60 degrees, but not limited to this.

[0040] Combined with Figure 1c Shown, taking the application of the structured light module 100 on a floor cleaning robot as an example, the above several installation position relationships and related parameters are exemplarily illustrated. In Figure 1cIn it, the letter B represents the camera module, and the letters A and C represent the line laser emitters located on both sides of the camera module; H represents the intersection point of the line lasers emitted by the line laser emitters on both sides within the field of view angle of the camera module; the straight lines BD and BE represent the two boundaries of the horizontal field of view of the camera module, and ∠DBE represents the horizontal field of view angle of the camera module. In Figure 1c it, the straight line AG represents the center line of the line laser emitted by the line laser emitter A; the straight line CF represents the center line of the line laser emitted by the line laser emitter C. Additionally, in Figure 1c it, the straight line BH represents the center line of the field of view angle of the camera module, that is, in Figure 1c it, the center lines of the line lasers emitted by the line laser emitters on both sides intersect with the center line of the field of view angle of the camera module.

[0041] In each embodiment of the present application, the horizontal field of view angle and the vertical field of view angle of the adopted camera module are not limited. Optionally, the range of the horizontal field of view angle of the camera module can be 60 - 75 degrees. Further, the horizontal field of view angle of the camera module can be 69.49 degrees, 67.4 degrees, etc. Correspondingly, the range of the vertical field of view angle of the camera module can be 60 - 100 degrees. Further, the vertical field of view angle of the camera module can be 77.74 degrees, 80 degrees, etc.

[0042] In Figure 1c it, the radius of the sweeping robot is 175 mm, and the diameter is 350 mm; the line laser emitters A and C are symmetrically distributed on both sides of the camera module B, and the mechanical distance between the line laser emitter A or C and the camera module B is 30 mm; the horizontal field of view angle ∠DBE of the camera module B is 67.4 degrees; when the detection distance of the sweeping robot is 308 mm, the emission angle of the line laser emitter A or C is 56.3 degrees. As Figure 1c shown, the distance between the straight line IH passing through point H and the installation baseline is 45 mm, and the distance between the straight line IH and the tangent line of the edge of the sweeping robot is 35 mm. This part of the area is the field of view blind area. Figure 1c The various numerical values shown are only for illustrative purposes and are not limited thereto.

[0043] For the convenience of use, in addition to including the camera module 101, the line laser emitters 102 distributed on both sides of the camera module 101, and the main control unit 103, the structured light module 100 provided in the embodiments of the present application further includes some carrying structures for carrying the camera module 101, the line laser emitters 102, and the main control unit 103. The carrying structure can have various implementation forms, and this is not limited. In some alternative embodiments, the carrying structure includes a fixed seat, and further may include a fixed cover used in cooperation with the fixed seat. With reference to Figures 1e - 1i the structure of the structured light module 100 with a fixed seat and a fixed cover is described. Among them, Figures 1e - 1iThey are respectively the front view, bottom view, top view, rear view and exploded view of the structured light module 100. Due to perspective reasons, not all components are shown in each view, so Figures 1e - 1i only some components are marked. As Figures 1e - 1i shown, the structured light module 100 further includes: a fixed base 104. The camera module 101 and the line laser emitter 102 are assembled on the fixed base 104, and the main control unit 103 is fixed behind the fixed base 104.

[0044] Further optionally, as Figure 1i shown, the fixed base 104 includes: a main body portion 105 and end portions 106 located on both sides of the main body portion 105; wherein, the camera module 101 is assembled on the main body portion 105, and the line laser emitter 102 is assembled on the end portions 106; wherein, the end face of the end portion 106 faces the reference plane, so that the center line of the line laser emitter 102 intersects with the center line of the camera module 101 at a point; the reference plane is a plane perpendicular to the end face or the tangent line of the end face of the main body portion 105.

[0045] In an alternative embodiment, for the convenience of fixing and reducing the impact of the device on the appearance of the structured light module 100, as Figure 1i shown, a groove 108 is formed at the middle position of the main body portion 105, and the camera module 101 is installed in the groove 108; mounting holes 109 are provided on the end portions 106, and the line laser emitter 102 is installed in the mounting holes 109. Further optionally, as Figure 1i shown, the structured light module 100 is further assembled with a fixing cover 107 above the fixed base 104; a cavity is formed between the fixing cover 107 and the fixed base 104 to accommodate the connection wires between the camera module 101 and the line laser emitter 102 and the main control unit 103. Among them, the fixing cover 107, the main control unit 103 and the fixed base 104 can be fixed by fixing members. In Figure 1i it, taking the screw 110 as an example to illustrate the fixing member, but the fixing member is not limited to the screw in this implementation form.

[0046] In an alternative embodiment, the lens of the camera module 101 is located within the outer edge of the groove 108, that is, the lens is retracted into the groove 108, which can prevent the lens from being scratched or knocked, and is beneficial to protecting the lens.

[0047] In the embodiments of the present application, the shape of the end face of the main body portion 105 is not limited. For example, it can be a flat surface, or a curved surface that is concave inward or outward, etc. According to the different devices where the structured light module 100 is located, the shape of the end face of the main body portion 105 is also different. For example, assuming that the structured light module 100 is applied to an autonomous mobile device with a circular or elliptical outer contour, the end face of the main body portion 105 can be implemented as a curved surface that is concave inward, and this curved surface is adapted to the outer contour of the autonomous mobile device. If the structured light module 100 is applied to an autonomous mobile device with a square or rectangular outer contour, the end face of the main body portion 105 can be implemented as a flat surface, and this flat surface is adapted to the outer contour of the autonomous mobile device. Among them, the autonomous mobile device with a circular or elliptical outer contour can be a floor cleaning robot, a window cleaning robot, etc. with a circular or elliptical outer contour. Correspondingly, the autonomous mobile device with a square or rectangular outer contour can be a floor cleaning robot, a window cleaning robot, etc. with a square or rectangular outer contour.

[0048] In an alternative embodiment, for an autonomous mobile device with a circular or elliptical outer contour, when the structured light module 100 is installed on the autonomous mobile device, in order to better fit the appearance of the autonomous mobile device and maximize the use of the space of the autonomous mobile device, the curvature radius of the curved surface of the main body portion 105 is the same as or approximately the same as the radius of the autonomous mobile device. For example, if the autonomous mobile device with a circular outer contour has a radius range of 170 mm, when the structured light module is applied to this autonomous mobile device, the curvature radius of the curved surface of its main body portion can be 170 mm or approximately 170 mm. For example, it can be in the range of 170 mm - 172 mm, but not limited thereto.

[0049] Furthermore, in the case where the structured light module is applied to an autonomous mobile device with a circular or elliptical outer contour, the emission angle of the line laser emitter in the structured light module is mainly determined by the detection distance that the autonomous mobile device needs to meet and the radius of the autonomous mobile device, etc. In this scenario, the end face or the tangent of the end face of the main body portion of the structured light module is parallel to the installation baseline. Therefore, the emission angle of the line laser emitter can also be defined as: the angle between the center line of the line laser emitted by the line laser emitter and the end face or the tangent of the end face of the main body portion. In some application scenarios, when the detection distance and the radius of the autonomous mobile device are determined, the range of the emission angle of the line laser emitter can be 50 - 60 degrees, but not limited thereto. As Figures 1e - 1i shown, the number of line laser emitters 102 is two, and the two line laser emitters 102 are symmetrically distributed on both sides of the camera module 101. Among them, the detection distance that the autonomous mobile device needs to meet refers to the distance range in which it needs to detect environmental information, mainly referring to a certain distance range in front of the autonomous mobile device.

[0050] The structured light module provided in the above embodiments of the present application has a stable structure, small size, conforms to the overall appearance of the machine, greatly saves space, and can support various types of autonomous mobile devices.

[0051] In addition to the above structured light module, the embodiments of the present application also provide another structured light module. Figure 2a FIG. is a schematic structural diagram of another structured light module provided by an exemplary embodiment of the present application. The structured light module 200 includes: a line laser emitter 201, a camera module 202, and a main control unit 203; wherein, the line laser emitter 201 is distributed on both sides of the camera module 202.

[0052] Further, as Figure 2a shown, the structured light module 200 further includes a laser driving circuit 204. The laser driving circuit 204 is electrically connected between the main control unit 203 and the line laser emitter 201. In the embodiments of the present application, the number of the laser driving circuits 204 is not limited. Different laser emitters 201 can share one laser driving circuit 204, or one line laser emitter 201 corresponds to one laser driving circuit 204. More preferably, one line laser emitter 201 corresponds to one laser driving circuit 204. In Figure 2a this, an example in which one line laser emitter corresponds to one laser driving circuit is illustrated. As Figure 2a shown, the structured light module 200 includes two line laser emitters 201, denoted as 201a and 201b respectively, and laser driving circuits 204 corresponding to the two line laser emitters 201 respectively, denoted as 204a and 204b respectively.

[0053] In this embodiment, the laser driving circuit 204 is mainly used to amplify the control signal sent by the main control unit 203 to the line laser emitter 201, and provide the amplified control signal to the line laser emitter 201 to control the line laser emitter 201. In the embodiments of the present application, the circuit structure of the laser driving circuit 204 is not limited, and any circuit structure that can amplify the signal and give the amplified signal to the line laser emitter 201 is applicable to the embodiments of the present application.

[0054] In an alternative embodiment, as Figure 2cAs shown, a circuit structure of the laser driving circuit 204a or 204b includes: a first amplifier circuit 2041 and a second amplifier circuit 2042. Among them, the first amplifier circuit 2041 is electrically connected to the main control unit 203. The on-off control signal sent by the main control unit 203 to the line laser emitter 201 enters the line laser emitter 201 after being amplified by the first amplifier circuit 2041 to drive the line laser emitter 201 to start working. The second amplifier circuit 204b is electrically connected to the main control unit 203. The current control signal sent by the main control unit 203 to the line laser emitter 201 enters the line laser emitter 201 after being amplified by the first amplifier circuit 2041 to control the working current of the line laser emitter 201.

[0055] Further, as Figure 2c shown, the first amplifier circuit 2041 includes: a triode Q1; the base of the triode Q1 is connected to a resistor R27, and a capacitor C27 is grounded between the resistor R27 and the base, and a resistor R29 is connected in parallel across both ends of the capacitor C27; the other end of the resistor R27 is used as the input end of the first amplifier circuit and is electrically connected to the first IO interface of the main control unit 203. Among them, the on-off control signal output by the first IO interface of the main control unit 203 is filtered by the capacitor C27 and amplified by the triode Q1, and then drives the line laser emitter 201 to start working. For the main control unit 203, there are at least two first IO interfaces, and each first IO interface is electrically connected to a laser driving circuit 204 for outputting an on-off control signal to the laser driving circuit 204 (such as 204a or 204b). In Figure 2c it, the on-off control signal sent by the main control unit 203 to the laser driving circuit 204a is represented by LD_L_EMIT_CTRL, and the on-off control signal sent to the laser driving circuit 204b is represented by LD_R_EMIT_CTRL.

[0056] Further, as Figure 2cAs shown in the figure, the second amplifier circuit 2042 includes: MOS transistor Q7. The gate of MOS transistor Q7 is connected to resistor R37 and resistor R35. Between resistor R37 and resistor R35, it is grounded through capacitor C29. The other end of resistor R35 serves as the input end of the second amplifier circuit and is electrically connected to the second IO interface of the main control unit. The drain of MOS transistor Q7 is grounded through resistor R31, and the source of MOS transistor Q7 is electrically connected to the emitter of transistor Q1. Between the collector of transistor Q1 and the power supply of the laser driving circuit is the output end of the laser driving circuit, which is used to connect the line laser emitter. Among them, after the pulse width modulation (PWM) signal output by the second IO interface of the main control unit passes through the filter circuit composed of resistor R35 and capacitor C29, the working current of the laser emitter can be controlled by changing the gate voltage of MOS transistor Q7. For the main control unit 203, it includes at least two second IO interfaces, and each second IO interface is electrically connected to a laser driving circuit 204 for outputting a PWM signal to the laser driving circuit 204 (such as 204a or 204b). In Figure 2c this case, the PWM signal output by the main control unit 203 to the laser driving circuit 204a is represented by LD_L_PWM, and the PWM signal output to the laser driving circuit 204b is represented by LD_R_PWM. Further, as Figure 2c shown in the figure, J1 represents the control interface of the line laser emitter 201a, and J2 represents the control interface of the line laser emitter 201b. The pin connection relationship between J1 and J2 and the laser driving circuits 204a and 204b is as Figure 2c shown in the figure. That is, the pins LD_L_CATHOD (cathode) and LD_L_ANODE (anode) of J1 are respectively connected to the corresponding pins in the laser driving circuit 204a; the pins LD_R_CATHOD (cathode) and LD_R_ANODE (anode) of J2 are respectively connected to the corresponding pins in the laser driving circuit 204b.

[0057] In the embodiment of the present application, the implementation form of the main control unit 203 is not limited. For example, it can be but is not limited to: CPU, GPU, MCU, a chip implemented based on FPGA or CPLD, and a single-chip microcomputer, etc.

[0058] In an optional embodiment, the main control unit 203 is implemented by a single-chip microcomputer. In other words, the main control unit 203 is in the form of a single-chip microcomputer. Optionally, as Figure 2b shown in the figure, an implementation structure of the main control unit 203 includes: a main control board 20b.

[0059] In the embodiments of the present application, the implementation structure of the main control board 20b is not limited. Any circuit board that can implement the control function is applicable to the embodiments of the present application. For example, it can be an FPGA board, a single-chip microcomputer, etc. Optionally, in order to reduce the implementation cost, a low-cost and high-cost-performance single-chip microcomputer can be used as the main control board.

[0060] As Figure 2b shown, the main control board 20b includes a plurality of IO interfaces (pins). Among these interfaces, a part of the IO interfaces can be used as test interfaces and are connected to the debugging and programming module 21b. Among them, the debugging and programming module 21b is used to complete the writing of the configuration file and the test of the hardware function after the writing is successful. The connection relationship between the debugging and programming module 21b and the main control board 20b is: the second pin 21b_pin2 of the debugging and programming module 21b is electrically connected to the 23rd pin 20b_pin23 of the main control board 20b, and the third pin 21b_pin3 of the debugging and programming module 21b is electrically connected to the 24th pin 20b_pin24 of the main control board 20b. Among them, the pins 21b_pin3 and 20b_pin24 are IO interfaces for testing.

[0061] As Figure 2bAs shown, among the IO interfaces of the main control board 20b, there are interfaces for connecting clock signals. These interfaces can be electrically connected to the clock control circuit 22b and are responsible for receiving the clock signals provided by the clock control circuit 22b. The clock control circuit 22b includes: resistor R9; crystal oscillator Y1 connected in parallel with resistor R9; capacitor C37 connected in parallel with Y1; C38 connected in series with capacitor C37, where both capacitor C37 and C38 are grounded; the two ends of resistor R9 respectively lead out the output terminal of the clock control circuit 22b and are electrically connected to the clock signal interface on the main control board 20b. The clock control circuit 22b also includes: resistor R10 connected to the +3V voltage; resistor R10 is grounded through capacitor C40, and an output terminal is led out between resistor R10 and capacitor C40 and is electrically connected to the asynchronous reset (NRST) pin of the main control board 20b. Further, the clock control circuit 22b also includes: resistor R5; one end of resistor R5 is grounded through capacitor C26; the other end of resistor R5 is grounded through C18; a +3V voltage and the processor of the autonomous mobile device are connected between R5 and C18, and an output terminal is led out between resistor R5 and capacitor C26 and is electrically connected to the VDDA pin of the main control board 20b. The high-frequency pulse provided by the crystal oscillator Y1 in the clock control circuit 22b becomes the internal clock signal of the main control board 20b after frequency division processing, and the clock signal is used as the control signal to coordinate the work of each component. In addition, when the structured light module is installed on the autonomous mobile device, the clock control circuit 22b can be connected to the processor of the autonomous mobile device to achieve the control of the structured light module by the autonomous mobile device. Among them, the connection relationship between the clock control circuit 22b and the main control board 20b is: one end of R9 is connected to 20b_pin2, the other end is connected to 20b_pin3, the connection between R10 and C40 is connected to 20b_pin4, and the connection between R5 and C26 is connected to 20b_pin5. 20b_pin2 represents the second pin of the main control board 20b, 20b_pin3 represents the third pin of the main control board 20b, 20b_pin4 represents the fourth pin (NRST) of the main control board 20b, and 20b_pin5 represents the fifth pin (VDDA) of the main control board 20b.

[0062] In the embodiment of the present application, the connection method between the camera module 202 and the main control board 20b is not limited. Among them, the camera module 202 can be directly connected to the main control board 20b; it can also be connected to the main control board 20b through an FPC (Flexible Printed Circuit) cable 23b.

[0063] When the FPC cable 23b is used to connect the camera module 202 and the main control board 20b, the connection relationship between the FPC cable 23b and the main control board 20b is as follows: 23b_pin7 - 20b_pin22, 23b_pin8 - 20b_pin21, 23b_pin10 - 20b_pin20, 23b_pin11 - 20b_pin19, 23b_pin13 - 20b_pin18, 23b_pin15 - 20b_pin16, 23b_pin16 - 20b_pin13, 23b_pin17 - 20b_pin12, 23b_pin18 - 20b_pin11, 23b_pin19 - 20b_pin10, 23b_pin20 - 20b_pin9, 23b_pin21 - 20b_pin8, 23b_pin22 - 20b_pin7, 23b_pin23 - 20b_pin6, 23b_pin24 - 20b_pin32, 23b_pin25 - 20b_pin30, 23b_pin26 - 20b_pin29. Herein, "-" represents the connection relationship. It should be noted that Figure 2b only some pins of the main control board 20b are shown, which does not mean that the main control board 20b only includes these pins. Additionally, in Figure 2b and Figure 2c the pin names, pin numbers, and the connection relationships between the corresponding pin numbers shown are only for illustrative purposes and should not constitute a limitation on the circuit structure of this application.

[0064] Combined with Figure 2a and Figure 2c the circuit structures shown, in Figure 2b , taking the laser driving circuits 204a and 204b as examples, the connection relationship between the laser driving circuit 204 and the main control board 20b is illustratively described. As Figure 2b shown, J1 is connected to Figure 2a the line laser emitter 201a in Figure 2a , and J1 is the control interface of the line laser emitter 201a; J2 is connected to Figure 2b the line laser emitter 201b in Figure 2b20b_pin28 is connected to the LD_L_EMIT_CTRL terminal of the laser driving circuit 204a to control the conduction and cut-off of the line laser emitter 201a. For example, when 20b_pin28 is at a high level, the line laser emitter 201a is in a conduction state; when 20b_pin28 is at a low level, the line laser emitter 201a is in a cut-off state. Figure 2b 20b_pin27 is connected to the LD_R_EMIT_CTRL terminal of the laser driving circuit 204b to control the conduction and cut-off of the line laser emitter 201b. For example, when 20b_pin27 is at a high level, the line laser emitter 201b is in a conduction state; when 20b_pin27 is at a low level, the line laser emitter 201b is in a cut-off state. Figure 2b 20b_pin26 is connected to the LD_L_PWM terminal of the laser driving circuit 204a to control the working current of the line laser emitter 201a. 20b_pin26 outputs a PWM signal, and the duty cycle of the PWM signal can be increased from 0% to 100%. As the duty cycle increases, the working current of the line laser emitter 201a also increases. Therefore, the magnitude of the working current of 201a can be controlled by adjusting the duty cycle of the PWM signal output by 20b_pin26. Figure 2b 20b_pin25 is connected to the LD_R_PWM terminal of the laser driving circuit 204b to control the working current of the line laser emitter 201b. Similarly, the signal output by 20b_pin25 is also a PWM signal, and the magnitude of the working current of the line laser emitter 201b can also be controlled by adjusting the duty cycle of the PWM signal output by 20b_pin25. [[ID=۷]] [[ID=۸]]

[0065] [[ID=۹]]In the above embodiments of the present application, the working modes of the line laser emitters located on both sides of the camera module are not limited. In an optional embodiment, the main control unit 203 is specifically configured to: control the line laser emitters located on both sides of the camera module to work alternately, and control the camera module 202 to alternately set the working mode of its lens to be adapted to the line laser emitter 201 in the working state. [[ID=۱۰]] [[ID=۱۱]]

[0066] [[ID=۱۲]]Further optionally, when the main control unit 203 controls the camera module 202 to alternately set the working mode of its lens, it is specifically configured to: when controlling the line laser emitter on the left side of the camera module to work, control the lens of the camera module to work in the right half-frame mode; when controlling the line laser emitter on the right side of the camera module to work, control the lens of the camera module to work in the left half-frame mode. [[ID=۱۳]] [[ID=۱۴]]

[0067] Further optionally, the main control unit 203 can control the exposure of the camera module 202, and when the camera module 202 exposes each time, control the line laser emitter on one side to work, so as to achieve the purpose of alternating work of the line laser emitters on both sides. Specifically, the main control unit 203 can pass through Figure 2c The shown laser driving circuit 204a or 204b sends an on-off control signal and a PWM signal to the line laser emitter to drive the line laser emitter to work.

[0068] Of course, in addition to controlling the line laser emitters on both sides of the camera module to work alternately, it is also possible to control the line laser emitters on both sides of the camera module to work simultaneously. When the line laser emitters on both sides of the camera module work simultaneously, the lens of the camera module works in the full-frame mode.

[0069] Based on the above structured light module, the embodiment of the present application also provides a schematic structural diagram of an autonomous mobile device, as shown in Figure 3a Shown, the device includes: a device body 300, a main controller 301 and a structured light module 302 are arranged on the device body 300, and the main controller 301 is electrically connected to the structured light module 302.

[0070] The structured light module 302 includes: a camera module 302a, line laser emitters 302b distributed on both sides of the camera module 302a, and a main control unit 302c that controls the work of the camera module 302a and the line laser emitters 302b; wherein, the main control unit 302c controls the line laser emitter 302b to emit line laser outward, and controls the camera module 302a to collect the environmental image detected by the line laser, and transmits the environmental image to the main controller 301; the main controller 301 is responsible for functionally controlling the autonomous mobile device according to the environmental image. For the detailed description of the structured light module, please refer to the content in the foregoing embodiments, and details are not described herein again.

[0071] In the embodiment of the present application, the self-mobile device can be any mechanical device that can highly autonomously perform spatial movement in its environment. For example, it can be a robot, a purifier, a drone, etc. Among them, the robot can include a floor-sweeping robot, a window-cleaning robot, a home companion robot, a welcome robot, etc.

[0072] Of course, depending on the implementation form of the autonomous mobile device, the shape of the autonomous mobile device will also be different. This embodiment does not limit the implementation form of the autonomous mobile device. Taking the outer contour shape of the autonomous mobile device as an example, the outer contour shape of the autonomous mobile device can be an irregular shape or some regular shapes. For example, the outer contour shape of the autonomous mobile device can be regular shapes such as circular, oval, square, triangular, water droplet-shaped, or D-shaped. Those other than regular shapes are called irregular shapes. For example, the outer contours of humanoid robots, autonomous vehicles, and drones belong to irregular shapes.

[0073] In the embodiments of the present application, the implementation form of the main controller 301 is not limited. For example, it can be, but is not limited to, a processor such as a CPU, GPU, or MCU. The embodiments of the present application do not limit the specific implementation manner in which the main controller 301 controls the autonomous mobile device according to the environmental image. For example, the main controller 301 can control the autonomous mobile device to implement various functions based on environmental perception according to the environmental image. For example, functions such as object recognition, tracking, and classification in visual algorithms can be implemented; in addition, based on the advantage of high line laser detection accuracy, functions such as real-time, robust, and high-precision positioning and map construction can also be implemented. Furthermore, a high-precision environmental map constructed can provide comprehensive support for motion planning, path navigation, positioning, etc. Of course, the main controller 301 can also control the movement of the autonomous mobile device according to the environmental image. For example, it can control the autonomous mobile device to perform actions such as moving forward, backward, and turning.

[0074] Similarly, the embodiments of the present application do not limit the implementation form of the main control unit 302c. For example, it can be, but is not limited to, a processor such as a CPU, GPU, or MCU. The embodiments of the present application also do not limit the manner in which the main control unit 302c controls the structured light module 302. Any implementation manner that can implement the functions of the structured light module 302 is applicable to the embodiments of the present application. For example, when the main control unit 302c is an MCU, after being powered on, the MCU starts to initialize the input / output (IO) interface. The IO interface is the link for information exchange between the MCU and the structured light module. The MCU configures the structured light module 302 using the I2C (Inter-Integrated Circuit) interface.

[0075] Furthermore, as Figure 3b shown, the structured light module 302 further includes: a laser drive circuit 302d. Taking the main control unit 302c as an MCU as an example, the principle of the MCU cooperating with the structured light module 302 to work will be described below. As Figure 3bAs shown, after being powered on, the MCU starts to initialize the IO interface and configures the structured light module 302 through the I2C interface. After the initialization is completed, the MCU controls the structured light module 302 through the I2C interface to realize the control of the camera module 302a and the line laser emitter 302b in the structured light module 302. The MCU sets the camera module 302a to the left half-frame mode through the I2C interface, and then sends a trigger signal. After receiving the trigger signal, the camera module 302a starts to expose and sends an exposure synchronization (LED STROBE) signal to the MCU at the same time. After receiving the LED STROBE signal, at the rising edge of the LED STROBE signal, the MCU controls the frequency and current of the line laser emitter 302b through the laser driving circuit 302d to drive the right line laser emitter 302b to emit laser. At the falling edge of the LED STROBE signal, the MCU turns off the right line laser emitter 302b. After the exposure is completed, the camera module 302a triggers the MCU to collect image data through the Digital Video Port (DVP) and the MCU processes it. The processing here is mainly to convert the image data from the coordinate system where the structured light module 302 is located to the coordinate system of the autonomous mobile device, and then report the image data after coordinate conversion to the main controller 301 of the autonomous mobile device through the serial interface. After the left half-frame mode of the camera module 302a is completed, similarly, the MCU sets the camera module 302a to the right half-frame mode through the I2C, and then sends a trigger signal. After receiving the trigger signal, the camera module 302a starts to expose and sends an exposure synchronization (LED STROBE) signal to the MCU at the same time. After receiving the LED STROBE signal, at the rising edge of the LED STROBE signal, the MCU controls the frequency and current of the line laser emitter 302b through the laser driving circuit 302d to drive the left line laser emitter 302b to emit laser. At the falling edge of the LED STROBE signal, the MCU turns off the right line laser emitter 302b. After the exposure is completed, the camera module 302a triggers the MCU to collect image data through the DVP and the MCU processes it. The processed data is reported to the main controller 301 of the autonomous mobile device through the serial interface. The above process is repeated continuously until the operation ends.

[0076] In the embodiment of the present application, the specific position of the structured light module 302 on the device body 300 is not limited. For example, it can be but not limited to the front side, rear side, left side, right side, top, middle, bottom, etc. of the device body 300. Further, the structured light module 302 is arranged at the middle position, top position or bottom position in the height direction of the device body 300.

[0077] In an alternative embodiment, the autonomous mobile device moves forward to perform a job task. To better detect the environmental information ahead, the structured light module 302 is disposed on the front side of the device body 300; the front side is the side towards which the device body faces during the forward movement of the autonomous mobile device.

[0078] In yet another alternative embodiment, to protect the structured light module 302 from external force damage, a bumper 305 is further installed on the front side of the device body 300, and the bumper 305 is located outside the structured light module 302. As Figure 3c shown, it is an exploded view of the device body 300 and the bumper 305. In Figure 3c this case, a floor cleaning robot is taken as an example to illustrate the autonomous mobile device, but it is not limited thereto. The structured light module 302 can be installed on the bumper 305; it can also not be installed on the bumper 305, and this is not limited. Windows are opened in the area of the bumper 305 corresponding to the structured light module 302 to expose the camera module 302a and the line laser emitter 302b in the structured light module. Further optionally, windows are respectively opened at the positions corresponding to the camera module 302a and the line laser emitter 302b on the bumper. As Figure 3c shown, the bumper 305 is provided with windows 31, 32, and 33, wherein the windows 31 and 33 correspond to the line laser emitter 302b; the window 32 corresponds to the camera module 302a.

[0079] In yet another alternative embodiment, the structured light module 302 is installed on the inner side wall of the bumper 305. Figure 3d shown, it is an exploded view of the structured light module 302 and the bumper 305.

[0080] In yet another alternative embodiment, the distance range from the center of the structured light module to the working surface where the autonomous mobile device is located is 30 - 60 mm. To reduce the spatial blind area of the autonomous mobile device and make the field of view angle large enough, further optionally, the distance from the center of the structured light module to the working surface where the autonomous mobile device is located is 47 mm.

[0081] Furthermore, in addition to the various components mentioned above, the autonomous mobile device of this embodiment may further include some basic components, such as one or more memories, communication components, power supply components, drive components, and so on.

[0082] Among them, one or more memories are mainly used for storing computer programs, which can be executed by the main controller, causing the main controller to control the autonomous mobile device to perform corresponding tasks. In addition to storing computer programs, one or more memories can also be configured to store various other data to support the operations on the autonomous mobile device. Examples of these data include instructions for any application program or method for operating on the autonomous mobile device, map data of the environment / scene where the autonomous mobile device is located, working modes, working parameters, and so on.

[0083] The communication component is configured to facilitate communication, either wired or wireless, between the device where the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as Wifi, 2G or 3G, 4G, 5G, or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component may further include a Near Field Communication (NFC) module, Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, etc.

[0084] Optionally, the drive component may include drive wheels, a drive motor, casters, etc. Optionally, as Figure 3c shown, the autonomous mobile device of this embodiment can be implemented as a floor cleaning robot. In the case of being implemented as a floor cleaning robot, the autonomous mobile device may further include a cleaning component, and the cleaning component may include a cleaning motor, a cleaning brush, a dust-raising brush, a suction fan, etc. The basic components included in different autonomous mobile devices and the composition of the basic components will vary. The embodiments of this application are only partial examples.

[0085] It should be noted that the descriptions such as "first" and "second" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit that "first" and "second" are of different types.

[0086] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0087] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, and the combination of processes and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing devices generate means for realizing the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram.

[0088] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more processes of the flowchart and / or one or more blocks of the block diagram.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more processes of the flowchart and / or one or more blocks of the block diagram.

[0090] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0091] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

[0092] Computer-readable media includes both permanent and non-permanent, removable and non-removable media implemented by any method or technology for storing information. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0093] It should also be noted that the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising said element.

[0094] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A structured light module, characterized in that, Including: A camera module, line laser emitters distributed on both sides of the camera module, and a main control unit for controlling the operation of the camera module and the line laser emitters; The line laser emitters emit line lasers outward under the control of the main control unit; the camera module is used to collect environmental images detected by the line lasers under the control of the main control unit; Wherein, when the structured light module is installed on an autonomous mobile device with a circular outer contour, the emission angle of the line laser emitter is determined according to the detection distance required by the autonomous mobile device, the radius of the autonomous mobile device, and the mechanical distance between the line laser emitter and the camera module.

2. The module according to claim 1, wherein In terms of the installation position, the line laser emitter and the camera module are at the same height.

3. The module according to claim 1, wherein Also including: A fixing base; the camera module and the line laser emitters are assembled on the fixing base, and the main control unit is fixed behind the fixing base.

4. The module according to claim 3, characterized in that, The fixing base includes: a main body part and end parts located on both sides of the main body part; wherein, the camera module is assembled on the main body part, and the line laser emitters are assembled on the end parts; Wherein, the end face of the end part faces a reference plane so that the center line of the line laser emitter intersects with the center line of the camera module at a point; the reference plane is a plane perpendicular to the end face or the tangent of the end face of the main body part.

5. The module according to claim 4, wherein A groove is provided at the middle position of the main body part, and the camera module is installed in the groove; mounting holes are provided on the end parts, and the line laser emitters are installed in the mounting holes.

6. The module according to claim 4, wherein Also including: A fixing cover assembled above the fixing base; a cavity is formed between the fixing cover and the fixing base to accommodate the connecting wires between the camera module, the line laser emitters and the main control unit.

7. The module according to claim 5, wherein The lens of the camera module is located within the outer edge of the groove.

8. The module according to claim 4, characterized in that The end face of the main body part is a curved surface that is recessed inward.

9. The module according to claim 8, wherein When the structured light module is installed on an autonomous mobile device, the radius of the curved surface of the main body part is the same as or approximately the same as the radius of the autonomous mobile device; the outer contour of the autonomous mobile device is circular or elliptical.

10. The module according to claim 9, wherein The radius range of the curved surface of the main body part is 170 mm - 172 mm.

11. The module according to claim 9, wherein The emission angle of the line laser emitter is determined by the detection distance required by the autonomous mobile device and the radius of the autonomous mobile device; the emission angle refers to the angle between the center line of the line laser emitted by the line laser emitter and the end face or the tangent of the end face of the main body part.

12. The module according to claim 11, wherein When the detection distance and the radius are determined, the variation range of the emission angle is 50 - 60 degrees.

13. The module according to claim 1, wherein The number of the line laser emitters is two, and the two line laser emitters are symmetrically distributed on both sides of the camera module.

14. The module according to claim 13, wherein The mechanical distance between each line laser emitter and the camera module is greater than 20 mm.

15. The module according to claim 14, wherein The mechanical distance between each line laser emitter and the camera module is greater than 30 mm.

16. The module according to claim 14, wherein The mechanical distance between each line laser emitter and the camera module is 41 mm.

17. The module according to claim 1, wherein The horizontal field of view angle of the camera module is 60 - 75 degrees.

18. The module according to claim 17, wherein, The horizontal field of view angle of the camera module is 69.49 degrees.

19. The module according to any one of claims 1-18, characterized in that, The main control unit is specifically configured to: control the line laser emitters located on both sides of the camera module to work alternately, and control the camera module to alternately set the working mode of its lens to adapt to the line laser emitter in the working state.

20. The module according to claim 19, wherein The main control unit is specifically configured to: When controlling the line laser emitter on the left side of the camera module to work, control the lens of the camera module to work in the right half-mode; When controlling the line laser emitter on the right side of the camera module to work, control the lens of the camera module to work in the left half-mode.

21. The module according to claim 19, wherein It further includes: A laser driving circuit; The laser driving circuit is electrically connected between the main control unit and the line laser emitter, and is used to amplify the control signal sent by the main control unit to the line laser emitter, and provide the amplified control signal to the line laser emitter to control the line laser emitter.

22. The module according to claim 21, characterized in that, The laser driving circuit includes: a first amplifying circuit and a second amplifying circuit; The first amplifying circuit is electrically connected to the main control unit, and the on-off control signal sent by the main control unit to the line laser emitter is amplified by the first amplifying circuit and then enters the line laser emitter to drive the line laser emitter to start working; The second amplifying circuit is electrically connected to the main control unit, and the current control signal sent by the main control unit to the line laser emitter is amplified by the first amplifying circuit and then enters the line laser emitter to control the working current of the line laser emitter.

23. The module according to claim 22, wherein The first amplifying circuit includes: a triode Q1; the base of the triode Q1 is connected to a resistor R27, and a capacitor C27 is grounded between the resistor R27 and the base, and a resistor R29 is connected in parallel across both ends of the capacitor C27; the other end of the resistor R27 serves as the input end of the first amplifying circuit and is electrically connected to the first IO interface of the main control unit; Among them, the on-off control signal output by the first IO interface of the main control unit is filtered by the capacitor C27 and amplified by the triode Q1, and then drives the line laser emitter to start working.

24. The module according to claim 23, wherein, The second amplifying circuit includes: a MOS transistor Q7, the gate of the MOS transistor Q7 is connected to a resistor R37 and a resistor R35, and a capacitor C29 is grounded between the resistor R37 and the resistor R35, and the other end of the resistor R35 serves as the input end of the second amplifying circuit and is electrically connected to the second IO interface of the main control unit; The drain of the MOS transistor Q7 is grounded through a resistor R31, and the source of the MOS transistor Q7 is electrically connected to the emitter of the triode Q1; the collector of the triode Q1 and the power supply of the laser driving circuit serve as the output end of the laser driving circuit for connecting to the line laser emitter; Among them, the PWM signal output by the second IO interface of the main control unit is filtered by the filter circuit composed of the resistor R35 and the capacitor C29, and the working current of the laser emitter is controlled by changing the gate voltage of the MOS transistor Q7.

25. The module according to any one of claims 1-18, characterized in that, The main control unit is in the form of a single-chip microcomputer.

26. An autonomous mobile device, characterized in that, It includes: The device body is provided with a main controller and a structured light module, and the main controller is electrically connected to the structured light module; The structured light module includes: a camera module, line laser emitters distributed on both sides of the camera module, and a main control unit for controlling the operation of the camera module and the line laser emitters; Among them, the main control unit controls the line laser emitters to emit line lasers outward, controls the camera module to collect the environmental images detected by the line lasers, and transmits the environmental images to the main controller; the main controller is responsible for controlling the functions of the autonomous mobile device according to the environmental images; the outer contour of the autonomous mobile device is circular, and the emission angle of the line laser emitters is determined according to the detection distance required by the autonomous mobile device, the radius of the autonomous mobile device, and the mechanical distance between the line laser emitters and the camera module.

27. The device according to claim 26, wherein, The structured light module is arranged on the front side of the device body; the front side is the side towards which the device body faces during the forward movement of the autonomous mobile device.

28. The device according to claim 27, characterized in that, A bumper is further installed on the front side of the device body, and the bumper is located outside the structured light module; a window is opened in the area of the bumper corresponding to the structured light module to expose the camera module and the line laser emitters in the structured light module.

29. The device according to claim 28, wherein, Windows are respectively opened on the bumper at positions corresponding to the camera module and the line laser emitters.

30. The device according to claim 28, characterized in that, The structured light module is installed on the inner side wall of the bumper.

31. The apparatus according to claim 27, wherein, The structured light module is arranged at the middle position, the top position or the bottom position in the height direction of the device body.

32. The device according to claim 31, wherein, The distance from the center of the structured light module to the working surface where the autonomous mobile device is located ranges from 30 to 60 mm.

33. The device according to claim 32, wherein, The distance from the center of the structured light module to the working surface where the autonomous mobile device is located is 47 mm.

34. The device according to any one of claims 26 - 33, characterized in that, The autonomous mobile device is a floor cleaning robot or a window cleaning robot.

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