Distance measurement module, robot, distance measurement method and non-volatile readable storage medium

Abstract

The present invention relates to the field of distance measurement modules, and discloses a distance measurement module, a robot, a distance measurement method and a non-volatile readable storage medium. The distance measurement module includes a first image sensor, a second image sensor and a laser, the first image sensor and the second image sensor are separated by a preset distance in the vertical direction, and the second image sensor and the laser are arranged on the same horizontal plane. During distance measurement, based on the second laser stripe imaged on the second image sensor, the first laser stripe imaged on the first image sensor is effectively searched, and then the first laser stripe can be used to accurately measure the distance between the laser and the obstacle. By using this distance measurement module, it is possible to effectively filter and eliminate the multi-path reflection phenomenon that may occur in the environment more robustly, and at the same time, it can increase the detection and extraction of weak signals in complex environments.

Description

Technical Field

[0001] The present invention relates to the field of distance measurement, and in particular to a distance measurement module, a robot, a distance measurement method and a non-volatile readable storage medium. Background Art

[0002] Obstacle avoidance technology is a rigid demand in the field of robotics. As the robotics industry's requirements for control accuracy and intelligence increase, obstacle avoidance sensors tend to be miniaturized and sensor perception performance is getting higher and higher.

[0003] Existing robots use LiDAR to scan the surrounding environment and avoid obstacles based on point clouds. However, in actual use, robots will encounter many complex lighting problems, such as multiple reflections from obstacles, stray light on the ground, and severe light absorption by dark obstacles, which increases the difficulty of robot image processing, inaccurate point cloud extraction, and leads to misjudgment of obstacle distances. Summary of the invention

[0004] The embodiments of the present invention provide a distance measurement module, a robot, a distance measurement method and a non-volatile readable storage medium, which have high robustness.

[0005] In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a laser ranging system based on a binocular camera, comprising:

[0007] A controller, used for sending a synchronization control signal;

[0008] A laser, used to emit a laser line toward the obstacle according to the synchronization control signal;

[0009] A first image sensor is used to photograph the obstacle according to the synchronization control signal to obtain a first image, wherein the first image includes at least one laser stripe;

[0010] a second image sensor, which is spaced apart from the first image sensor by a preset distance in a vertical direction, and the second image sensor and the laser are arranged on the same horizontal plane, and is used to photograph the obstacle to obtain a second image, wherein the second image includes a second laser stripe;

[0011] Wherein, the controller comprises:

[0012] at least one processor; and

[0013] A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can be used to execute:

[0014] According to the second laser stripe, determining in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe;

[0015] Determining a spot height of the first laser stripe in the first image sensor coordinate system;

[0016] The distance between the laser and the obstacle is measured according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor.

[0017] Optionally, after the laser line is reflected for the first time by an obstacle spaced a first distance from the laser, the reflected laser line is imaged within a fixed row of pixels on the imaging surface of the second image sensor. At the same time, after the laser line is reflected for the first time by an obstacle spaced a second distance from the laser, the reflected laser line is imaged within the fixed row of pixels, wherein the first distance is different from the second distance.

[0018] Optionally, after the laser line is reflected at least twice by obstacles at different distances from the laser line, the laser line after at least two reflections is imaged outside the fixed row pixel range.

[0019] Optionally, a line connecting the optical axis centers of the second image sensor and the laser is parallel to the X-axis of the second image sensor coordinate system.

[0020] Optionally, laser stripes corresponding to obstacles at different distances from the laser are at different heights on the imaging surface of the first image sensor.

[0021] Optionally, a line connecting optical axis centers of the first image sensor and the second image sensor is parallel to a straight line in the vertical direction.

[0022] Optionally, a line connecting optical axis centers of the first image sensor and the second image sensor intersects a straight line in the vertical direction.

[0023] Optionally, determining, according to the second laser stripe, in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe comprises:

[0024] On a fixed row of pixels in the second image, use a sliding window to slide along the horizontal direction to extract the second laser stripes;

[0025] A laser stripe corresponding to the second laser stripe is determined in the first image as a first laser stripe.

[0026] Optionally, determining in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe comprises:

[0027] According to the image matching algorithm, a search is performed in the Y-axis direction of the first image sensor coordinate system using a search window to search for a laser stripe corresponding to the second laser stripe as the first laser stripe.

[0028] Optionally, the absolute pixel difference between the second laser stripe and the first laser stripe is less than a preset pixel threshold; or,

[0029] A normalized cross-correlation coefficient between the second laser stripes and the first laser stripes is greater than or equal to a preset coefficient threshold.

[0030] Optionally, the spot height of the first laser stripe is the coordinate of the first laser stripe on the Y axis of the first image sensor coordinate system.

[0031] Optionally, the first image is a target image area captured by the first image sensor from a captured image using a sub-window, and the second image is a target image area captured by the second image sensor from a captured image using a sub-window.

[0032] Optionally, measuring the distance between the laser and the obstacle according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor includes:

[0033] The spot height, the relative height and the focal length are processed using a similar triangle model to obtain the distance between the laser and the obstacle.

[0034] In a second aspect, a distance measurement module includes a first image sensor, a second image sensor and a laser, wherein the first image sensor and the second image sensor are separated by a preset distance in a vertical direction, and the second image sensor and the laser are arranged on the same horizontal plane.

[0035] In a third aspect, an embodiment of the present invention provides a robot, comprising:

[0036] case;

[0037] The distance measuring module is arranged in the housing;

[0038] A driving module, disposed in the housing;

[0039] A cleaning component, disposed on the housing; and

[0040] The controller is connected to the distance measuring module, the driving module and the cleaning component respectively, and is used to send a driving instruction to control the driving module to drive the shell to move, or send a cleaning instruction to control the cleaning component to perform a cleaning operation.

[0041] In a fourth aspect, an embodiment of the present invention provides a ranging method, which is applied to the ranging module, and the method includes:

[0042] When the laser projects a laser line onto an obstacle, a first image captured by the first image sensor and a second image captured by the second image sensor are acquired, wherein the first image includes at least one laser stripe and the second image includes a second laser stripe;

[0043] According to the second laser stripe, determining in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe;

[0044] Determining a spot height of the first laser stripe in the first image sensor coordinate system;

[0045] The distance between the laser and the obstacle is measured according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor.

[0046] Optionally, after the laser line is reflected for the first time by an obstacle spaced a first distance from the laser, the reflected laser line is imaged within a fixed row of pixels on the imaging surface of the second image sensor. At the same time, after the laser line is reflected for the first time by an obstacle spaced a second distance from the laser, the reflected laser line is imaged within the fixed row of pixels, wherein the first distance is different from the second distance.

[0047] Optionally, after the laser line is reflected at least twice by obstacles at different distances from the laser line, the laser line after at least two reflections is imaged outside the fixed row pixel range.

[0048] Optionally, laser stripes corresponding to obstacles at different distances from the laser are at different heights on the imaging surface of the first image sensor.

[0049] Optionally, determining, according to the second laser stripe, in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe comprises:

[0050] On a fixed row of pixels in the second image, use a sliding window to slide along the horizontal direction to extract the second laser stripes;

[0051] A laser stripe corresponding to the second laser stripe is determined in the first image as a first laser stripe.

[0052] Optionally, determining in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe comprises:

[0053] According to the image matching algorithm, a search is performed in the Y-axis direction of the first image sensor coordinate system using a search window to search for a laser stripe corresponding to the second laser stripe as the first laser stripe.

[0054] Optionally, the absolute pixel difference between the second laser stripe and the first laser stripe is less than a preset pixel threshold; or,

[0055] A normalized cross-correlation coefficient between the second laser stripes and the first laser stripes is greater than or equal to a preset coefficient threshold.

[0056] Optionally, the spot height of the first laser stripe is a coordinate value of the first laser stripe on the Y axis of the first image sensor coordinate system.

[0057] Optionally, when the laser projects light onto the obstacle, acquiring a first image captured by the first image sensor and a second image captured by the second image sensor comprises:

[0058] Sending synchronization control signals to the first image sensor, the second image sensor and the laser respectively, so that the first image sensor, the second image sensor and the laser are exposed simultaneously or in time division;

[0059] A first image captured by the first image sensor and a second image captured by the second image sensor are received, wherein the first image is a target image area captured by the first image sensor from the captured image using a subwindow, and the second image is a target image area captured by the second image sensor from the captured image using a subwindow.

[0060] Optionally, measuring the distance between the laser and the obstacle according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor includes:

[0061] The spot height, the relative height and the focal length are processed using a similar triangle model to obtain the distance between the laser and the obstacle.

[0062] In a fifth aspect, an embodiment of the present invention provides a distance measuring device, which is applied to the distance measuring module, and the device includes:

[0063] an image acquisition module, configured to acquire a first image acquired by the first image sensor and a second image acquired by the second image sensor when the laser projects a laser line to an obstacle, wherein the first image includes at least one laser stripe and the second image includes a second laser stripe;

[0064] A search and matching module, configured to determine, based on the second laser stripe, a laser stripe corresponding to the second laser stripe in the first image as a first laser stripe;

[0065] A height determination module, used to determine the spot height of the first laser stripe in the first image sensor coordinate system;

[0066] The distance measurement module is used to measure the distance between the laser and the obstacle according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor.

[0067] Optionally, after the laser line is reflected for the first time by an obstacle spaced a first distance from the laser, the reflected laser line is imaged within a fixed row of pixels on the imaging surface of the second image sensor. At the same time, after the laser line is reflected for the first time by an obstacle spaced a second distance from the laser, the reflected laser line is imaged within the fixed row of pixels, wherein the first distance is different from the second distance.

[0068] Optionally, after the laser line is reflected at least twice by obstacles at different distances from the laser line, the laser line after at least two reflections is imaged outside the fixed row pixel range.

[0069] Optionally, laser stripes corresponding to obstacles at different distances from the laser are at different heights on the imaging surface of the first image sensor.

[0070] Optionally, the search and matching module includes:

[0071] A window extraction unit, configured to extract the second laser stripes by sliding a sliding window along a horizontal direction on a fixed row of pixels in the second image;

[0072] A stripe matching unit is used to determine in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe.

[0073] Optionally, the fringe matching unit is specifically used for:

[0074] According to the image matching algorithm, a search is performed in the Y-axis direction of the first image sensor coordinate system using a search window to search for a laser stripe corresponding to the second laser stripe as the first laser stripe.

[0075] Optionally, the absolute pixel difference between the second laser stripe and the first laser stripe is less than a preset pixel threshold; or,

[0076] A normalized cross-correlation coefficient between the second laser stripes and the first laser stripes is greater than or equal to a preset coefficient threshold.

[0077] Optionally, the spot height of the first laser stripe is the coordinate of the first laser stripe on the Y axis of the first image sensor coordinate system.

[0078] Optionally, the image acquisition module includes:

[0079] An image acquisition unit, used for sending synchronization control signals to the first image sensor, the second image sensor and the laser respectively, so that the first image sensor, the second image sensor and the laser are exposed simultaneously or in time division;

[0080] The image receiving unit is used to receive a first image captured by the first image sensor and a second image captured by the second image sensor, wherein the first image is a target image area captured by the first image sensor using a subwindow from the captured image, and the second image is a target image area captured by the second image sensor using a subwindow from the captured image.

[0081] Optionally, the distance measurement module is specifically used to: use a similar triangle model to process the light spot height, the relative height and the focal length to obtain the distance between the laser and the obstacle.

[0082] In a sixth aspect, an embodiment of the present invention provides a non-volatile readable storage medium, wherein the non-volatile readable storage medium stores executable instructions, and the executable instructions are used to enable a robot to execute the distance measurement method.

[0083] In a seventh aspect, an embodiment of the present invention provides a computer program product, comprising a computer program stored on a non-volatile readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a robot, the robot executes the ranging method.

[0084] Compared with the conventional technology, in the ranging module, robot, ranging method and non-volatile readable storage medium provided in each embodiment of the present invention, the ranging module includes a first image sensor, a second image sensor and a laser, the first image sensor and the second image sensor are separated by a preset distance in the vertical direction, and the second image sensor and the laser are arranged on the same horizontal plane, so that the laser line of the laser can fall within the fixed row pixel range of the imaging surface of the second image sensor after the first reflection by the obstacle, and when measuring the distance, based on the second laser stripe imaged on the second image sensor, the first laser stripe imaged on the first image sensor is effectively searched, and then the first laser stripe can be used to accurately measure the distance between the laser and the obstacle. By using the ranging module, it is possible to effectively filter and eliminate the multi-path reflection phenomenon that may occur in the environment in a more robust manner, and at the same time, it is possible to increase the detection and extraction of weak signals in a complex environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0086] Figure 1a A schematic diagram of the structure of a robot provided by an embodiment of the present invention;

[0087] Figure 1b A circuit principle block diagram of a robot provided by an embodiment of the present invention;

[0088] Figure 2a A schematic diagram of a first position between a first image sensor, a second image sensor and a laser provided in an embodiment of the present invention;

[0089] Figure 2b A schematic diagram of a second position between the first image sensor, the second image sensor and the laser provided in an embodiment of the present invention;

[0090] Figure 2c A schematic diagram showing that a line connecting the optical axis centers of the second image sensor and the laser provided by an embodiment of the present invention is parallel to the X-axis of the coordinate system of the second image sensor;

[0091] Figure 2d A schematic diagram of the positional relationship between the ranging module and the ground provided in an embodiment of the present invention;

[0092] Figure 3a A schematic diagram of imaging of each image sensor by a laser line emitted by a laser to an obstacle provided by an embodiment of the present invention;

[0093] Figure 3b A schematic diagram of imaging in a second image sensor when a laser line provided by an embodiment of the present invention hits obstacles at different distances;

[0094] Figure 3c A schematic diagram of imaging in a first image sensor when a laser line provided by an embodiment of the present invention hits obstacles at different distances;

[0095] Figure 4 A schematic diagram of imaging of a laser line emitted by a laser to the ground on each image sensor provided by an embodiment of the present invention, wherein the laser line reflected by the ground is reflected again by an obstacle;

[0096] Figure 5a A schematic diagram of a flow chart of a distance measurement method provided by an embodiment of the present invention;

[0097] Figure 5b A schematic diagram showing that each image sensor provided by an embodiment of the present invention is provided with a sub-window area;

[0098] Figure 5c A schematic diagram of using a sliding window to slide horizontally on a fixed row of pixels in a second image to extract a second laser stripe provided by an embodiment of the present invention;

[0099] Figure 5d The embodiment of the present invention provides a method for searching in the Y-axis direction of the first image sensor coordinate system using a search window to search for a first laser stripe that matches the second laser stripe;

[0100] Figure 6 A schematic diagram of a laser provided in an embodiment of the present invention emitting a laser line toward an obstacle, and forming an image on an imaging surface of a first image sensor after being reflected by the obstacle;

[0101] Figure 7a A schematic diagram of the structure of a distance measuring device provided by an embodiment of the present invention;

[0102] Figure 7b for Figure 7a A schematic diagram of the structure of the search and matching module;

[0103] Figure 7c for Figure 7a The structural diagram of the image acquisition module;

[0104] Figure 8 The present invention provides a circuit principle block diagram of a controller according to an embodiment of the present invention. DETAILED DESCRIPTION

[0105] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0106] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0107] The ranging module provided in the embodiment of the present invention can be set in any suitable electronic device, such as a robot, industrial equipment, household equipment, driverless car, etc. In this embodiment, the robot can be configured with any suitable business function to achieve the corresponding business operation, such as a cleaning robot, a sweeper, etc.

[0108] Please also read Figure 1a and Figure 1b The robot 100 includes a shell 11, a driving module 12, a cleaning component 13, a wireless communication unit 14, an audio unit 15, a ranging module 16, a fill light component 17 and a controller 18.

[0109] The housing 11 can be configured into any suitable shape, such as a truncated cone, an irregular shape, etc. In the housing 11, a corresponding structure can be configured according to the operation characteristics of the robot 100. For example, if the robot 100 is used to clean the floor, the housing 11 can be configured with a channel for extracting sewage or garbage carried by the cleaning component 14.

[0110] The driving module 12 is disposed in the housing 11 and is used to drive the robot 100 to walk along the planned path so as to perform cleaning operations. During cleaning, the controller 18 sends control instructions to the driving module 12, and the driving module 12 drives the cleaning component 14 to complete the cleaning operation according to the control instructions.

[0111] In some embodiments, the driving module 12 includes a motor assembly and a driving wheel. The motor assembly receives a control instruction and drives the driving wheel to rotate according to the control instruction, thereby driving the robot 100 to move forward or backward.

[0112] The cleaning component 13 is disposed on the housing 11 and is used to clean the floor. When the robot 100 is driven by the driving module 12 to move, the robot 100 drives the cleaning component 13 to clean the floor. The cleaning component 13 can clean the floor by washing, scrubbing, sweeping, etc.

[0113] In some embodiments, the cleaning component 13 includes a motor component and a roller. A wiper is provided on the surface of the roller. Both ends of the roller are arranged on the shell 11. The motor component is connected to the roller. The motor component is controlled by the controller 18 to drive the roller to rotate. The wiper rotates with the rotation of the roller, so that the wiper can clean the floor.

[0114] The wireless communication unit 14 is used for wireless communication with the user terminal, and the wireless communication unit 14 is electrically connected to the controller 18. When playing with the robot, the user sends a control instruction to the electronic device 100 through the user terminal, and the wireless communication unit 14 receives the control instruction and sends the control instruction to the controller 18, and the controller 18 controls the robot 100 according to the control instruction.

[0115] The wireless communication unit 14 includes a combination of one or more of a broadcast receiving module, a mobile communication module, a wireless Internet module, a short-range communication module, and a positioning information module. Among them, the broadcast receiving module receives broadcast signals and / or broadcast related information from an external broadcast management server via a broadcast channel. The broadcast receiving module can use a digital broadcasting system to receive digital broadcast signals, such as terrestrial digital multimedia broadcasting (DMB-T), satellite digital multimedia broadcasting (DMB-S), media forward link only (MediaFLO), handheld digital video broadcasting (DVB-H) or terrestrial integrated services digital broadcasting (ISDB-T).

[0116] The mobile communication module transmits a wireless signal to at least one of a base station, an external terminal and a server on a mobile communication network, or can receive a wireless signal from at least one of a base station, an external terminal and a server. Here, the wireless signal may include a voice call signal, a video call signal or various forms of data according to the reception and transmission of character / multimedia messages.

[0117] The wireless Internet module refers to a module for wireless Internet connection, and can be built-in or external to the terminal. Wireless Internet technologies such as wireless LAN (WLAN) (Wi-Fi), wireless broadband (Wibro), world interoperability for microwave access (Wimax), and high-speed downlink packet access (HSDPA) can be used.

[0118] The short-range communication module refers to a module for performing short-range communication. A short-range communication technology such as Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), or ZigBee may be used.

[0119] The positioning information module is a module for obtaining the position of the robot 100 , such as a global positioning system (GPS) module.

[0120] The audio unit 15 is used to output audio signals. The controller 18 controls the audio unit 15 to output corresponding audio signals, such as cleaning completed, sewage full, etc., according to preset logic.

[0121] In some embodiments, the audio unit 14 may be an electroacoustic transducer such as a speaker, a loudspeaker, a microphone, etc., wherein the number of speakers or loudspeakers may be one or more, the number of microphones may be multiple, and multiple microphones may form a microphone array to effectively collect sound. The microphone may be an electric type (dynamic coil type, ribbon type), a capacitive type (DC polarization type), a piezoelectric type (crystal type, ceramic type), an electromagnetic type, a carbon particle type, a semiconductor type, etc. or any combination thereof. In some embodiments, the microphone may be a micro-electromechanical system (MEMS) microphone.

[0122] The distance measurement module 16 is used to measure the distance between the robot and obstacles so that the robot can avoid obstacles or build a map.

[0123] In this embodiment, the distance measurement module 16 includes a first image sensor 161 , a second image sensor 162 and a laser 163 .

[0124] In this embodiment, the first image sensor 161 and the second image sensor 162 are separated by a preset distance in the vertical direction. Figure 2a and Figure 2b In some embodiments, the first image sensor 161 and the second image sensor 162 are aligned in the vertical direction, that is, the line connecting the optical axis centers of the first image sensor 161 and the second image sensor 162 is parallel to the straight line in the vertical direction. Such a structural design can help to efficiently extract data point clouds in the later stage.

[0125] In some embodiments, the first image sensor 161 and the second image sensor 162 may not be aligned in the vertical direction, that is, a line connecting the optical axis centers of the first image sensor 161 and the second image sensor 162 intersects with a straight line in the vertical direction.

[0126] In this embodiment, the second image sensor 162 and the laser 163 are disposed on the same horizontal plane, that is, see Figure 2c , the connecting line O1O2 of the optical axis centers of the second image sensor 162 and the laser 163 is parallel to the X-axis of the coordinate system of the second image sensor 162 .

[0127] In some embodiments, see Figure 2d The distance measuring module 16 is at a certain height from the ground and is arranged on the housing 11. For example, the first image sensor 161 in the distance measuring module 16 is about 6.5 centimeters from the ground.

[0128] In some embodiments, the optical axes of the first image sensor 161, the second image sensor 162 and the laser 163 in the ranging module 16 all intersect with the horizontal plane where the ground is located at a certain angle, that is, the first image sensor 161, the second image sensor 162 and the laser 163 are oriented toward the ground at a certain angle. For example, in order to allow the laser 163 to illuminate an obstacle 15cm-20cm in front, when the laser 163 is set, the angle between the optical axis of the laser 163 and the ground is approximately 14-17 degrees. Therefore, the ranging module using this structure can detect small obstacles on the ground, thereby effectively constructing a point cloud in the environment and implementing obstacle avoidance.

[0129] In this embodiment, since the second image sensor 162 and the laser 163 are arranged on the same horizontal plane, after the laser line emitted by the laser 163 is reflected by obstacles at different distances from the laser line, the laser line after the first reflection is imaged within a fixed row of pixels on the imaging surface of the second image sensor 162, that is, after the laser line is reflected by an obstacle at a first distance from the laser for the first time, the reflected laser line is imaged within a fixed row of pixels on the imaging surface of the second image sensor, and at the same time, after the laser line is reflected by an obstacle at a second distance from the laser for the first time, the reflected laser line is imaged within a fixed row of pixels, wherein the first distance is different from the second distance.

[0130] Furthermore, after the laser light emitted by the laser is reflected at least twice by obstacles at different distances from the laser light, the laser light after at least two reflections is imaged outside the fixed row pixel range.

[0131] For example, see Figure 3a , the laser 163 emits a laser line 32 toward the obstacle 31. After being reflected by the obstacle 31, the laser line 32 returns two reflected laser lines, namely the first reflected laser line 33 and the second reflected laser line 34. The first reflected laser line 33 is collected by the first image sensor 161 and imaged on the first imaging surface 35. The second reflected laser line 34 is collected by the second image sensor 162 and imaged on the second imaging surface 36. Among them, x1o1y1 is the coordinate system of the first image sensor 161, and x2o2y2 is the coordinate system of the second image sensor 162.

[0132] It can be understood that, since the second image sensor 162 and the laser 163 are arranged on the same horizontal plane, and the first image sensor 161 and the second image sensor 162 are separated by a preset distance in the vertical direction, Figure 3aIn the present invention, no matter at what distance the laser line 32 hits an obstacle, the laser line after the first reflection is imaged within a fixed row of pixels on the imaging surface of the second image sensor 162. Therefore, in the later distance measurement, the laser stripes within the fixed row of pixels can be effectively searched, and the searched laser stripes can be used as reference objects, so as to effectively find another laser stripe matching the reference object on another imaging surface, so as to effectively and more accurately measure the distance between the laser and the obstacle.

[0133] exist Figure 3a In the example, the laser line 32 hits an obstacle at any distance, and the laser line after the first reflection is imaged at different heights of the first imaging surface 35 of the first image sensor 161, that is, the laser stripes corresponding to obstacles at different distances from the laser are at different heights of the imaging surface of the first image sensor. Figure 3b and Figure 3c understand.

[0134] exist Figure 3b In the figure, since the second image sensor 162 and the laser 163 are arranged on the same horizontal plane, when the laser line 32 hits obstacles at different distances, the second reflected laser line 34 is imaged on the same row of images on the imaging surface of the second image sensor 162. For example, the laser stripes hitting the long-distance obstacle 37 and the laser stripes 39 hitting the short-distance obstacle 38 are both imaged on the same row of images on the imaging surface of the second image sensor 162.

[0135] exist Figure 3c In the figure, since the first image sensor 161 and the laser 163 are separated by a preset distance in the vertical direction, when the laser line 32 hits obstacles at different distances, the laser stripes hitting the long-distance obstacle 37 and the laser stripes 40 hitting the short-distance obstacle 38 are imaged on different rows of the imaging surface of the second image sensor 162, that is, the laser stripes hit by the laser line 32 at obstacles at different distances will be different in the Y-axis direction of the first image sensor coordinate system.

[0136] Please read next Figure 4, the laser 163 emits a laser line 42 toward the ground 41. After being reflected by the ground 41, the laser line 42 is divided into a first reflected laser line 43, a second reflected laser line 44, and a third reflected laser line 45. The first reflected laser line 43 is collected by the first image sensor 161 and imaged on the first imaging surface 46 to obtain a first effective fringe image 411. The second reflected laser line 44 is collected by the second image sensor 162 and imaged on the second imaging surface 47 to obtain a second effective fringe image 412. The third reflected laser line 45, as the incident light of the obstacle 48, is reflected by the obstacle 48 again and is divided into a fourth reflected laser line 49 and a fifth reflected laser line 410. Among them, x3o3y3 is the first image sensor coordinate system, and x4o4y4 is the second image sensor coordinate system.

[0137] The fourth reflected laser line 49 is collected by the first image sensor 161 and imaged on the first imaging surface 46 to obtain a first invalid fringe image 413. The fifth reflected laser line 410 is collected by the second image sensor 162 and imaged on the second imaging surface 47 to obtain a second invalid fringe image 414.

[0138] pass Figure 4 It can be seen that, obviously, for point cloud reconstruction, the first valid fringe image 411 or the second valid fringe image 412 is reflected by the ground as an obstacle for the first time, and both are correct for point cloud reconstruction. However, the first invalid fringe image 413 or the second invalid fringe image 414 is reflected twice, and if the first invalid fringe image 413 or the second invalid fringe image 414 is used to reconstruct the point cloud, the distance finally measured is not accurate enough.

[0139] pass Figure 4 It can be seen that, since the second image sensor 162 and the laser 163 are arranged on the same horizontal plane, the second effective fringe image 412 is imaged within a fixed row pixel range of the imaging surface of the second image sensor, and the second invalid fringe image 414 is imaged outside the fixed row pixel range. Therefore, the second effective fringe image 412 can be searched for by simply searching within the fixed row pixel range of the imaging surface of the second image sensor, and the second invalid fringe image 414 will not be searched for.

[0140] The second effective fringe image 412 is determined, and the first effective fringe image 411 and the first invalid fringe image 413 are also obtained. Therefore, the robot can use the second effective fringe image 412 to perform image similarity matching processing with the first effective fringe image 411 and the first invalid fringe image 413, respectively, and can effectively find the first effective fringe image 411 with a high matching degree with the second effective fringe image 412. In the later stage of distance measurement, the first effective fringe image 411 can be used in combination with the similar triangle model to measure the distance between the laser and the robot.

[0141] In some embodiments, the first image sensor 161 and the second image sensor 162 include a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The CMOS sensor may be a back-illuminated CMOS sensor or a stacked CMOS sensor.

[0142] In some embodiments, the image sensor is also integrated with an ISP (Image Signal Processor), which is used to process the output data of the optical sensor, such as AEC (automatic exposure control), AGC (automatic gain control), AWB (automatic white balance), color correction and other functions.

[0143] In some embodiments, the fill light component 17 is used to fill light for the image sensor when shooting an image. For example, when the light in the room environment is insufficient, the controller 18 starts the fill light component 17 to emit light. The fill light component can be a light source such as an LED lamp.

[0144] The laser 163 includes any type of laser source that is capable of projecting laser light, including a line laser, a solid laser, a gas laser, a liquid laser, a semiconductor laser, a free electron laser, and the like.

[0145] The controller 18 is connected to the driving module 12 , the cleaning component 13 , the wireless communication unit 14 , the audio unit 15 , and the distance measurement module 16 respectively.

[0146] The controller 18 can send a driving instruction to the driving module 12 to control the driving module 12 to drive the housing 11 to move. Alternatively, the controller 18 can send a cleaning instruction to the cleaning component 13 to control the cleaning component 13 to perform a cleaning operation. Alternatively, the controller 18 can communicate with the wireless communication unit 14. Alternatively, the controller 18 can send a voice instruction to the audio unit 15 to control the audio unit 15 to play a sound. Alternatively, the controller 18 can obtain the data collected by the ranging module 16, and build a map or plan a path according to the map building algorithm. Alternatively, the controller 18 can control the fill light component 17 to implement fill light when collecting images.

[0147] The controller 18 serves as the control core of the robot 100 and coordinates the work of each unit. The controller 18 can be a general-purpose processor (such as a central processing unit CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA, CPLD, etc.), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. In addition, the controller 18 can also be any traditional processor, controller, microcontroller or state machine. The controller 18 can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

[0148] As another aspect of the present invention, the present invention provides a distance measurement method, which is applied to the distance measurement module. Figure 5a , the ranging method S500 includes:

[0149] S51, when the laser projects light onto the obstacle, acquiring a first image captured by the first image sensor and a second image captured by the second image sensor;

[0150] In this embodiment, the first image includes at least one laser stripe, and the second image includes a second laser stripe. Figure 5b , each image sensor includes a sub-window area 50a, and the controller sends synchronization control signals to the first image sensor, the second image sensor and the laser respectively, and the laser is lit according to the synchronization control signal, and at the same time, the first image sensor and the second image sensor are exposed according to the synchronization control signal. Thus, the first image sensor obtains the captured image, and the first image sensor uses the sub-window to intercept the target image area from the image captured by itself as the first image, and the second image sensor uses the sub-window to intercept the target image area from the image captured by itself as the second image.

[0151] The target image area is intercepted from the corresponding acquired image as the first image or the second image through the sub-window. During the later ranging, it effectively reduces the amount of calculation per frame, improves the frame rate, and increases the detection probability.

[0152] It is understandable that, in some embodiments, each image sensor may directly transmit the captured image to the controller, and the controller may perform image processing.

[0153] S52, determining, in the first image, a first laser stripe corresponding to the second laser stripe according to the second laser stripe;

[0154] In some embodiments, after the controller acquires the first image and the second image respectively, the controller can extract the second laser stripe by sliding the sliding window along the horizontal direction on a fixed row of pixels in the second image. Figure 5c , the controller uses the sliding window 5c1 to slide horizontally on a fixed row of pixels in the second image 5c2 to extract the second laser stripe 5c3. Then, the controller searches for the first laser stripe corresponding to the second laser stripe in the first image. For example, refer to Figure 5d The controller uses the search window 5d1 to search in the Y-axis direction of the first image sensor coordinate system according to the image matching algorithm to search for the first laser stripe 5d2 corresponding to the second laser stripe 5c3, so that the Y-axis coordinate of the first laser stripe 5d2 in the first image sensor coordinate system can be obtained.

[0155] It can be understood that since the first image sensor and the second image sensor have been calibrated, before searching for the first laser stripe 5d2 corresponding to the second laser stripe 5c3 in the first image, the controller can perform parallel correction processing based on the calibration parameters of each image sensor to ensure that the number of columns of the sliding window in the first image sensor and the second image sensor remains consistent or a fixed offset.

[0156] In this embodiment, the absolute pixel difference between the second laser stripe and the first laser stripe is less than a preset pixel threshold; or the normalized correlation coefficient between the second laser stripe and the first laser stripe is greater than or equal to a preset coefficient threshold.

[0157] It is understandable that those skilled in the art can use any suitable image matching algorithm to search for the first laser stripe 5d2 that matches the second laser stripe 5c3. For example, the image matching algorithm includes the sum of absolute grayscale differences (SAD), normalized correlation coefficient (NCC), and the like.

[0158] S53, determining a spot height of the first laser stripe in the first image sensor coordinate system;

[0159] As described above, after the controller searches for the first laser stripe matching the second laser stripe in the Y-axis direction of the first image sensor coordinate system, the spot height of the first laser stripe is the Y-axis coordinate of the first laser stripe in the first image sensor coordinate system.

[0160] S54, measuring the distance between the laser and the obstacle according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor.

[0161] In some embodiments, the controller uses a similar triangle model to process the spot height, relative height, and focal length to obtain the distance between the laser and the obstacle. Figure 6 , the laser 61 emits a laser line 63 to the obstacle 62. After being reflected by the obstacle 62, the laser line 63 is divided into two paths. One path of the reflected laser line enters the first image sensor and is imaged on the imaging surface 64 of the first image sensor. The first image sensor is configured with a coordinate system. The other path of the reflected laser line enters the second image sensor and is imaged on the imaging surface of the second image sensor. Figure 6 For the sake of simplicity, the second image sensor coordinate system and the imaging surface are not drawn here. Wherein, x5oy5 is the first image sensor coordinate system.

[0162] exist Figure 6 In the figure, line segment AB is the distance d between the laser 61 and the obstacle 62, line segment CD is the spot height y', XOY is the first image sensor coordinate system, OA is the relative height h, and OD is the focal length f. Since triangle ABO and triangle DOC are similar triangles, the following relationship holds:

[0163] d / h=f / y';

[0164] Since h, f and y' are known, d = h*f / y'.

[0165] It is understandable that when the lens of the image sensor is distorted, before using the similar triangle model to calculate the distance between the laser and the obstacle, the controller can correct the distortion of the lens to obtain a corrected image, and then calculate the distance between the laser and the obstacle based on the corrected image in combination with the similar triangle model.

[0166] When the controller obtains a more accurate distance d, it can reconstruct the point cloud more accurately.

[0167] In this embodiment, after the laser line of the laser is reflected by the obstacle for the first time, it can all fall within the fixed row pixel range of the imaging surface of the second image sensor. During ranging, based on the second laser stripes imaged on the second image sensor, the first laser stripes imaged on the first image sensor can be effectively searched for, and then the first laser stripes can be used to accurately measure the distance between the laser and the obstacle. By using this ranging module, it is possible to effectively and more robustly filter and eliminate multi-path reflection phenomena that may occur in the environment, and at the same time, it can increase the detection and extraction of weak signals in complex environments.

[0168] It should be noted that, in each of the above embodiments, there is not necessarily a certain order between the above steps. A person skilled in the art can understand, based on the description of the embodiments of the present disclosure, that in different embodiments, the above steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0169] As another aspect of the present invention, the present invention provides a distance measuring device, which is applied to the distance measuring module. The distance measuring device of the present invention can be used as one of the software functional units, and the distance measuring device includes a plurality of instructions, which are stored in a memory, and the processor can access the memory and call the instructions for execution to complete the above-mentioned distance measuring method.

[0170] See also Figure 7a The distance measuring device 700 includes an image acquisition module 71 , a search and matching module 72 , a height determination module 73 and a distance measurement module 74 .

[0171] The image acquisition module 71 is used to acquire a first image captured by a first image sensor and a second image captured by a second image sensor when the laser projects a laser line to an obstacle, wherein the first image includes at least one laser stripe and the second image includes a second laser stripe.

[0172] The search and matching module 72 is used to determine, based on the second laser stripe, a laser stripe corresponding to the second laser stripe in the first image as the first laser stripe.

[0173] The height determination module 73 is used to determine the spot height of the first laser stripe in the first image sensor coordinate system.

[0174] The distance measurement module 74 is used to measure the distance between the laser and the obstacle according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor.

[0175] In this embodiment, after the laser line of the laser is reflected by the obstacle for the first time, it can all fall within the fixed row pixel range of the imaging surface of the second image sensor. When measuring the distance, based on the second laser stripes imaged on the second image sensor, the first laser stripes imaged on the first image sensor are effectively searched, and then the first laser stripes can be used to accurately measure the distance between the laser and the obstacle. By adopting this method, it is possible to effectively filter and eliminate the multi-path reflection phenomenon that may occur in the environment in a more robust manner, and at the same time, it is possible to increase the detection and extraction of weak signals in complex environments.

[0176] In some embodiments, after the laser line is reflected for the first time by an obstacle that is a first distance away from the laser, the reflected laser line is imaged within a fixed row of pixels on the imaging surface of the second image sensor. At the same time, after the laser line is reflected for the first time by an obstacle that is a second distance away from the laser, the reflected laser line is imaged within a fixed row of pixels, wherein the first distance is different from the second distance.

[0177] In some embodiments, after the laser light emitted by the laser is reflected at least twice by obstacles at different distances from the laser light, the laser light after at least two reflections is imaged outside the fixed row of pixels.

[0178] In some embodiments, a line connecting the optical axis centers of the second image sensor and the laser is parallel to the X-axis of the second image sensor coordinate system.

[0179] In some embodiments, the laser stripes corresponding to obstacles at different distances from the laser are at different heights on the imaging surface of the first image sensor.

[0180] In some embodiments, see Figure 7b The search and matching module 72 includes a window extraction unit 721 and a stripe matching unit 722 .

[0181] The window extraction unit 721 is used to extract the second laser stripes by sliding a sliding window along the horizontal direction on a fixed row of pixels in the second image.

[0182] The stripe matching unit 722 is used to search for a laser stripe corresponding to the second laser stripe in the first image as the first laser stripe.

[0183] In some embodiments, the stripe matching unit 722 is specifically used to: search in the Y-axis direction of the first image sensor coordinate system using a search window according to an image matching algorithm to search for a laser stripe corresponding to the second laser stripe as the first laser stripe.

[0184] In some embodiments, the absolute pixel difference between the second laser stripe and the first laser stripe is less than a preset pixel threshold; or the normalized cross-correlation coefficient between the second laser stripe and the first laser stripe is greater than or equal to a preset coefficient threshold.

[0185] In some embodiments, the spot height of the first laser stripe is the coordinate of the first laser stripe on the Y axis of the first image sensor coordinate system.

[0186] In some embodiments, see Figure 7c The image acquisition module 71 includes an image acquisition unit 711 and an image receiving unit 712 .

[0187] The image acquisition unit 711 is used to send synchronization control signals to the first image sensor, the second image sensor and the laser respectively, so that the first image sensor, the second image sensor and the laser are exposed simultaneously or in time division.

[0188] The image receiving unit 712 is used to receive a first image captured by the first image sensor and a second image captured by the second image sensor, wherein the first image is a target image area captured from the captured image by the first image sensor using a subwindow, and the second image is a target image area captured from the captured image by the second image sensor using a subwindow.

[0189] In some embodiments, the distance measurement module 74 is specifically used to: use a similar triangle model to process the spot height, relative height and focal length to obtain the distance between the laser and the obstacle.

[0190] It should be noted that the above-mentioned distance measuring device can execute the distance measuring method provided in the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not fully described in the distance measuring device embodiment, reference can be made to the distance measuring method provided in the embodiment of the present invention.

[0191] As another aspect of the present invention, the present invention provides a controller. Figure 8 The controller 800 includes one or more processors 81 and a memory 82. Figure 8 A processor 81 is taken as an example.

[0192] The processor 81 and the memory 82 may be connected via a bus or other means. Figure 8 Taking the bus connection as an example, the processor 81 is also connected to the communication module 80 for communication.

[0193] The memory 82 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the ranging method in the embodiment of the present invention. The processor 81 implements the functions of the ranging method in the above method embodiment by running the non-volatile software programs, instructions and modules stored in the memory 82.

[0194] The memory 82 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 82 may optionally include a memory remotely arranged relative to the processor 81, and these remote memories may be connected to the processor 81 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0195] The program instructions / modules are stored in the memory 82, and when executed by the one or more processors 81, the ranging method in any of the above method embodiments is executed.

[0196] The processing terminal 800 in the embodiment of the present invention exists in various forms and executes each of the steps described above.

[0197] An embodiment of the present invention further provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are executed by one or more processors, such as Figure 8 A processor 81 in the embodiment may enable the one or more processors to execute the ranging method in any of the above method embodiments.

[0198] An embodiment of the present invention further provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a robot, the robot executes the distance measurement method.

[0199] The distance measuring device can effectively filter and eliminate multi-path reflection phenomena that may occur in the environment in a more robust manner, and can also increase the detection and extraction of weak signals in complex environments.

[0200] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0201] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0202] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A distance measurement module, characterized in that: The invention comprises a first image sensor, a second image sensor and a laser, wherein the first image sensor and the second image sensor are separated by a preset distance in the vertical direction, the second image sensor and the laser are arranged in the same horizontal plane, the second image sensor is used to use the laser stripes within a fixed row of pixels as a reference object for the ranging operation, and the first image sensor is used to provide another laser stripe matching the laser stripe of the reference object to realize the ranging operation.

2. The distance measurement module according to claim 1, characterized in that: A line connecting the optical axis centers of the second image sensor and the laser is parallel to the X-axis of the second image sensor coordinate system.

3. The distance measurement module according to claim 1 or 2, characterized in that: A line connecting the optical axis centers of the first image sensor and the second image sensor is parallel to a straight line in the vertical direction.

4. The distance measurement module according to claim 1 or 2, characterized in that: A line connecting the optical axis centers of the first image sensor and the second image sensor intersects a straight line in the vertical direction.

5. A robot, characterized in that: include: case; The distance measurement module according to any one of claims 1 to 4, arranged in the housing; A driving module is disposed in the housing; A cleaning component, disposed on the housing; as well as The controller is connected to the distance measuring module, the driving module and the cleaning component respectively, and is used to send a control instruction to control the driving module to drive the shell to move, or send a cleaning instruction to control the cleaning component to perform a cleaning operation.

6. A distance measurement method, characterized in that: Applied to the ranging module according to any one of claims 1 to 4, the method comprises: When the laser projects a laser line onto an obstacle, a first image captured by the first image sensor and a second image captured by the second image sensor are acquired, wherein the first image includes at least one laser stripe and the second image includes a second laser stripe; According to the second laser stripe, determining in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe; Determining a spot height of the first laser stripe in the first image sensor coordinate system; The distance between the laser and the obstacle is measured according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor.

7. The method according to claim 6, characterized in that After the laser line is reflected for the first time by an obstacle that is a first distance away from the laser, the reflected laser line is imaged within a fixed row of pixels on the imaging surface of the second image sensor. At the same time, after the laser line is reflected for the first time by an obstacle that is a second distance away from the laser, the reflected laser line is imaged within the fixed row of pixels, wherein the first distance is different from the second distance.

8. The method according to claim 7, characterized in that After the laser line is reflected at least twice by obstacles at different distances from the laser line, the images of the laser line after at least two reflections are all outside the fixed row pixel range.

9. The method according to claim 8, characterized in that The laser stripes corresponding to obstacles at different distances from the laser are at different heights on the imaging surface of the first image sensor.

10. The method according to any one of claims 6 to 9, characterized in that: The step of determining, according to the second laser stripe, in the first image, a laser stripe corresponding to the second laser stripe as a first laser stripe comprises: On a fixed row of pixels in the second image, use a sliding window to slide along a horizontal direction to extract the second laser stripes; A laser stripe corresponding to the second laser stripe is determined in the first image as a first laser stripe.

11. The method according to claim 10, characterized in that The step of determining in the first image a laser stripe corresponding to the second laser stripe as a first laser stripe comprises: According to the image matching algorithm, a search is performed in the Y-axis direction of the first image sensor coordinate system using a search window to search for a laser stripe corresponding to the second laser stripe as the first laser stripe.

12. The method according to claim 11, characterized in that The absolute pixel difference between the second laser stripe and the first laser stripe is less than a preset pixel threshold; or, A normalized cross-correlation coefficient between the second laser stripes and the first laser stripes is greater than or equal to a preset coefficient threshold.

13. The method according to claim 6, characterized in that The spot height of the first laser stripe is the coordinate value of the first laser stripe on the Y axis of the first image sensor coordinate system.

14. The method according to any one of claims 6 to 9, characterized in that When the laser projects light onto an obstacle, acquiring a first image captured by the first image sensor and a second image captured by the second image sensor comprises: Sending synchronization control signals to the first image sensor, the second image sensor and the laser respectively, so that the first image sensor, the second image sensor and the laser are exposed simultaneously or in time division; A first image captured by the first image sensor and a second image captured by the second image sensor are received, wherein the first image is a target image area captured by the first image sensor from the captured image using a subwindow, and the second image is a target image area captured by the second image sensor from the captured image using a subwindow.

15. The method according to any one of claims 6 to 9, characterized in that: Measuring the distance between the laser and the obstacle according to the light spot height, the relative height between the first image sensor and the laser, and the focal length of the first image sensor includes: The spot height, the relative height and the focal length are processed using a similar triangle model to obtain the distance between the laser and the obstacle.

16. A non-volatile readable storage medium, characterized in that: The non-volatile readable storage medium stores executable instructions, and the executable instructions are used to enable the robot to execute the distance measurement method according to any one of claims 6 to 15.

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