Detection device

Abstract

The invention discloses a detection device, and the device comprises a light source assembly which is configured to emit a first laser and a second laser to a target; wherein the first laser is visible light, and the second laser is near-infrared light; the lens assembly comprises a visible light sub-lens and a white light sub-lens; wherein the visible light sub-lens is used for visible light reflected by a target to pass through, and the white light sub-lens is used for near-infrared light reflected by the target to pass through; the distance measuring assembly is arranged on an emergent light path of the lens assembly, and the distance measuring assembly is used for receiving the near-infrared light and measuring the distance according to the received near-infrared light; and the detection assembly is arranged on an emergent light path of the lens assembly, and the detection assembly is used for receiving the visible light and carrying out target detection according to the received visible light. In this way, the target distance and the target type can be detected.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a detection device. Background Art

[0002] Current smart electronic devices all have vision functions, such as sweeping robots and automatic lawn mowers. In addition, electric vehicles and excavators also have vision functions.

[0003] Current visual functions generally require the use of complex image processing algorithms, such as in the field of intelligent driving. With today's technology, even in the field of autonomous electric vehicle research and development, in terms of real-time performance, it is still impossible to achieve an accuracy of 95% for only three specific types of targets: pedestrians, cyclists, and cars. Moreover, the higher the accuracy and the more complex the image detection and recognition algorithm, the higher the performance of the hardware support required. The main reason is that the dimension of the object information is insufficient. Even if a laser radar is added for scanning and obtaining height information, the detection and recognition cannot reach more than 95%, because in many cases the height difference or contour separability between different objects is very low and difficult to distinguish. Summary of the invention

[0004] The present application provides a detection device capable of detecting target distance and target type.

[0005] On the one hand, the present application provides a detection device, which includes: a light source assembly, which is configured to emit a first laser and a second laser to a target; wherein the first laser is visible light and the second laser is near-infrared light; a lens assembly, which includes a visible light sub-lens and a white light sub-lens; wherein the visible light sub-lens is used to allow visible light reflected by the target to pass through, and the white light sub-lens is used to allow near-infrared light reflected by the target to pass through; a ranging assembly, which is arranged on the output light path of the lens assembly, the ranging assembly is used to receive near-infrared light and perform ranging based on the received near-infrared light; and a detection assembly, which is arranged on the output light path of the lens assembly, the detection assembly is used to receive visible light and perform target detection based on the received visible light.

[0006] In one embodiment, the light source assembly includes: a dual-wavelength laser assembly, the dual-wavelength laser assembly 11 is configured to emit a first laser and a second laser; a divergence angle control assembly, the divergence angle control assembly is configured to adjust the divergence angles of the first laser and the second laser; and a scanning assembly, the scanning assembly is configured to reflect the first laser and the second laser so that the first laser and the second laser form a point array on the target.

[0007] In one embodiment, the dual-wavelength laser assembly includes: a first laser, which is configured to emit a first laser; a second laser, which is configured to emit a second laser; and a beam combining mirror, which is configured to receive the first laser and the second laser and combine the first laser and the second laser.

[0008] In one embodiment, the dual-wavelength laser assembly includes: a third laser, which is configured to emit a third laser; a frequency doubling crystal assembly, which is configured to receive the third laser, perform frequency doubling processing on the third laser, and emit the first laser and the second laser.

[0009] In one embodiment, the dual-wavelength laser assembly further includes: a focusing lens disposed on the optical path between the third laser and the frequency doubling crystal assembly; and a collimating lens disposed on the outgoing optical path of the frequency doubling crystal assembly.

[0010] In one embodiment, the scanning component includes at least one of a two-dimensional scanning reflector, a prism, or a mechanical rotating mirror.

[0011] In one embodiment, the detection device further includes a reflector configured to reflect the first laser light and the second laser light emitted by the divergence angle control component to the scanning component.

[0012] In one embodiment, the first laser is a green laser, and the visible light sub-lens includes a red photon lens, a green photon lens, and a blue photon lens.

[0013] In one embodiment, the detection device further includes a spectroscope, which is disposed on a receiving light path of the distance measuring component and the detection component, and is configured to reflect near-infrared light to the distance measuring component and transmit visible light to the detection component.

[0014] In one embodiment, the detection assembly is a four-array detector.

[0015] The detection device provided by the present application includes: a light source component, the light source component is configured to emit a first laser and a second laser to a target; wherein the first laser is visible light and the second laser is near-infrared light; a lens component, the lens component includes a visible light sub-lens and a white light sub-lens; wherein the visible light sub-lens is used for the visible light reflected by the target to pass through, and the white light sub-lens is used for the near-infrared light reflected by the target to pass through; a distance measuring component, arranged on the outgoing light path of the lens component, the distance measuring component is used to receive the near-infrared light, and to perform distance measurement based on the received near-infrared light; a detection component, arranged on the outgoing light path of the lens component, the detection component is used to receive the visible light, and to perform target detection based on the received visible light. In the above manner, distance measurement and target detection can be performed respectively by emitting two lasers of different frequencies. Due to the directivity of the two lasers, distance detection and color recognition can be performed on targets in a specified area, and it can be achieved by only using a simple structure, and can be used for visual detection of electronic devices with smaller volumes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 is a schematic structural diagram of a first embodiment of a detection device 100 provided in the present application;

[0018] Figure 2 is a schematic structural diagram of a lens assembly 20 in one embodiment;

[0019] Figure 3 is a structural schematic diagram of a second embodiment of a detection device 100 provided in the present application;

[0020] Figure 4 is a schematic diagram of the structure of a dual-wavelength laser assembly 11 in one embodiment;

[0021] Figure 5 is a schematic structural diagram of a dual-wavelength laser assembly 11 in another embodiment;

[0022] Figure 6 is a schematic diagram of a dot matrix in an embodiment;

[0023] Figure 7 It is a schematic diagram of passive imaging and active imaging areas in one embodiment. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0025] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0026] “A and / or B” includes the following three combinations: A only, B only, and a combination of A and B.

[0027] The use of "suitable for" or "configured to" in this application is meant to be open and inclusive language, which does not exclude devices that are suitable for or configured to perform additional tasks or steps. In addition, the use of "based on" is meant to be open and inclusive, because the process, step, calculation or other action "based on" one or more stated conditions or values ​​can be based on additional conditions or values ​​beyond the stated values ​​in practice.

[0028] In this application, the word "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described in this application as "exemplary" is not necessarily to be construed as being preferred or advantageous over other embodiments. The following description is given to enable any technician in the field to implement and use the present application. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present application can be implemented without using these specific details. In other instances, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present application with unnecessary details. Therefore, the present application is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.

[0029] See also Figure 1 , Figure 1 1 is a schematic structural diagram of a first embodiment of a detection device 100 provided in the present application. The detection device 100 includes a light source assembly 10, a lens assembly 20, a distance measurement assembly 30 and a detection assembly 40.

[0030] Among them, the light source assembly 10 is configured to emit a first laser and a second laser to the target; wherein the first laser is visible light and the second laser is near-infrared light; the lens assembly 20 includes a visible light sub-lens and a white light sub-lens; wherein the visible light sub-lens is used for visible light reflected by the target to pass through, and the white light sub-lens is used for near-infrared light reflected by the target to pass through; the ranging assembly 30 is arranged on the output light path of the lens assembly 20, and the ranging assembly 30 is used to receive near-infrared light and perform ranging according to the received near-infrared light; the detection assembly 40 is arranged on the output light path of the lens assembly 20, and the detection assembly 40 is used to receive visible light and perform target detection according to the received visible light.

[0031] Among them, the visible light can be set according to the color of the detection target. For example, the above-mentioned detection device 100 is a lawn mower. The working area of ​​the lawn mower is generally grass, which is green, so the first laser can be set to a green laser; for another example, the above-mentioned detection device 100 is a sweeping robot. If the sweeping robot works on a wooden floor, which is brown, then the first laser can be set to a brown laser.

[0032] The lens assembly 20 includes a visible light lens and a white light lens. Optionally, in one embodiment, the visible light lens may include a red light lens, a green light lens, and a blue light lens. Figure 2 As shown, Figure 2 : is a schematic diagram of the structure of a lens assembly 20 in an embodiment, wherein the lens assembly 20 includes a white photon lens W, a red photon lens R, a green photon lens G, and a blue photon lens B. Among them, the red photon lens R, the green photon lens G, and the blue photon lens B can be used for spectral analysis, binocular visual ranging, and imaging through visible light (red laser, blue laser, and green laser); the white photon lens can be used for ranging (binocular visual ranging, laser ranging), spectral analysis, and imaging through near-infrared light.

[0033] It can be understood that the light received by the lens assembly 20 may include natural light (passive light) in addition to the near-infrared light and green laser (active light) reflected by the target.

[0034] The distance measuring component 30 may include a laser rangefinder, which mainly uses the propagation time and propagation speed of near-infrared laser to calculate the distance between the detection device 100 and the target. The detection component 40 is mainly used to identify the visible light to identify the target. Specifically, it may include the color, outline, depth information, etc. of the target.

[0035] It can be understood that since the ranging component 30 and the detection component 40 need to respectively receive the two types of light emitted by the lens component 20, optionally, a spectrometer 50 can be provided. The spectrometer 50 is provided on the receiving light path of the ranging component 30 and the detection component 40, and the spectrometer 50 is configured to reflect near-infrared light to the ranging component 30, and transmit visible light to the detection component 40.

[0036] Alternatively, the detector assembly 40 may be a quad array detector, which includes detector elements sensitive to the polychromator output, generally arranged in a linear or planar manner. In some cases, the optical elements may form part of the array, such as optical fibers coupled to the array detector. For example, the quad array detector may include four detectors corresponding to the four sub-lenses of the lens assembly 20.

[0037] The detection device provided by the present application includes: a light source component, the light source component is configured to emit a first laser and a second laser to a target; wherein the first laser is visible light and the second laser is near-infrared light; a lens component, the lens component includes a visible light sub-lens and a white light sub-lens; wherein the visible light sub-lens is used for the visible light reflected by the target to pass through, and the white light sub-lens is used for the near-infrared light reflected by the target to pass through; a distance measuring component, arranged on the outgoing light path of the lens component, the distance measuring component is used to receive the near-infrared light, and to perform distance measurement based on the received near-infrared light; a detection component, arranged on the outgoing light path of the lens component, the detection component is used to receive the visible light, and to perform target detection based on the received visible light. In the above manner, distance measurement and target detection can be performed respectively by emitting two lasers of different frequencies. Due to the directivity of the two lasers, distance detection and color recognition can be performed on targets in a specified area, and it can be achieved by only using a simple structure, and can be used for visual detection of electronic devices with smaller volumes.

[0038] See also Figure 3 , Figure 3 1 is a schematic diagram of the structure of the second embodiment of the detection device 100 provided in the present application, and the detection device 100 includes a light source assembly 10, a lens assembly 20, a distance measurement assembly 30 and a detection assembly 40. The light source assembly 10 includes a dual-wavelength laser assembly 11, a divergence angle control assembly 12 and a scanning assembly 13.

[0039] Among them, the light source assembly 10 is configured to emit a first laser and a second laser to the target; wherein the first laser is visible light and the second laser is near-infrared light; the lens assembly 20 includes a visible light sub-lens and a white light sub-lens; wherein the visible light sub-lens is used for visible light reflected by the target to pass through, and the white light sub-lens is used for near-infrared light reflected by the target to pass through; the ranging assembly 30 is arranged on the output light path of the lens assembly 20, and the ranging assembly 30 is used to receive near-infrared light and perform ranging according to the received near-infrared light; the detection assembly 40 is arranged on the output light path of the lens assembly 20, and the detection assembly 40 is used to receive visible light and perform target detection according to the received visible light.

[0040] Among them, the dual-wavelength laser component 11 is configured to emit the first laser and the second laser; the divergence angle control component 12 is configured to adjust the divergence angle of the first laser and the second laser; the scanning component 13 is configured to reflect the first laser and the second laser so that the first laser and the second laser form a point array on the target.

[0041] The dual-wavelength laser assembly 11 can emit two lasers of different wavelengths, such as near-infrared laser and visible light laser (e.g., green), wherein the near-infrared laser and the visible light laser are coaxial. Visible light is not limited to green, and light of other wavelengths can also be used. Green is used because the lawn mowing robot needs to identify the grass. Green plants have a low absorption rate for green light, and the reflectivity is significantly higher than that of other colors of light, and the echo signal is strong.

[0042] Alternatively, if Figure 4 As shown, Figure 4 1 is a schematic diagram of the structure of a dual-wavelength laser assembly 11 in an embodiment, and the dual-wavelength laser assembly 11 includes a first laser 111, a second laser 112, and a beam combining mirror 113. The first laser 111 is configured to emit a first laser; the second laser 112 is configured to emit a second laser; and the beam combining mirror 113 is configured to receive the first laser and the second laser, and combine the first laser and the second laser.

[0043] Alternatively, if Figure 5 As shown, Figure 51 is a schematic diagram of the structure of a dual-wavelength laser component 11 in another embodiment, wherein the dual-wavelength laser component 11 includes a third laser 114 and a frequency doubling crystal component 115. The third laser 114 is configured to emit a third laser; the frequency doubling crystal component 115 is configured to receive the third laser, perform frequency doubling on the third laser, and emit the first laser and the second laser. In one embodiment, the dual-wavelength laser component 11 may further include a focusing lens 116, a collimating lens 117, and an exit window 118, wherein the focusing lens 116 is disposed on the optical path between the third laser 114 and the frequency doubling crystal component 115; and the collimating lens 117 is disposed on the exit optical path of the frequency doubling crystal component 115. A frequency doubling crystal is an electronic component used to double the frequency of an input signal, and is typically used in wireless communications and other electronic devices. Frequency doubling crystals can be classified according to their working principles and application areas. Optionally, the frequency doubling crystal can be BBO (β-columnar beryllium borate) crystal, KTP (potassium ruthenium dioxide europium) crystal, LBO (lithium borate) crystal, BiBO (beryllium borate + tourmaline crystal, BiB3O6) crystal, CLBO (lithium borochloride crystal, LiB3O5) crystal, KDP (deuterated potassium salt, DKDP) crystal, etc.

[0044] It can be understood that the third laser 114 emits laser light, which is focused to the frequency doubling crystal assembly 115 by the focusing lens 116. After the single-wavelength laser light passes through the frequency doubling crystal assembly 115, two laser lights of different wavelengths are output according to the designed magnification, and the energy percentage is controllable (the conversion efficiency of current technology can be designed to be 10%-90%). The two wavelengths of light passing through the frequency doubling crystal assembly 115 are collimated and emitted through the collimating lens 117.

[0045] The divergence angle control component 12 is mainly composed of a focusing lens, a collimating lens and a piezoelectric ceramic displacer. The divergence angle control component 12 can intelligently adjust the displacement of the piezoelectric ceramic displacer according to the contour size and signal strength of the detection target, control the energy density of the emitted laser, and ensure effective detection and high accuracy. Optionally, the above-mentioned piezoelectric ceramic displacer can also be replaced by other micro-displacers. In addition, the divergence angle control component 12 can also be replaced by a variable focus lens group without the use of a micro-displacer.

[0046] The scanning component 13 can change the angles of the first laser and the second laser so that the laser forms a dot matrix scan in space. Optionally, the scanning component 13 can be at least one of a two-dimensional scanning reflector, a prism or a mechanical rotating mirror.

[0047] Optionally, the two-dimensional scanning mirror can use a MEMS (Micro-Electro-Mechanical System) mirror, which is also called a MEMS micro-vibration mirror or a MEMS scanning mirror. It refers to an optical MEMS device that is manufactured using optical MEMS technology and integrates a micro-light mirror with a MEMS driver. The movement modes of a MEMS micro-mirror include two mechanical movements: translation and torsion.

[0048] In addition, if Figure 3 As shown, in order to adjust the optical path and reduce the size of the device, a reflector 14 can also be set on the optical path. The reflector 14 is configured to reflect the first laser and the second laser emitted by the divergence angle control component 12 to the scanning component 13.

[0049] Combined with the above Figure 3 In the embodiment of the present invention, the working process of the detection device 100 is described below by taking the detection device 100 applied to a lawn mower as an example:

[0050] The dual-wavelength laser assembly 11 emits two lasers of different wavelengths, and the divergence angle of the beam is adjusted by the divergence angle control assembly 12. The divergence angle control assembly 12 is mainly composed of a focusing lens, a collimating lens and a piezoelectric ceramic displacer. The lens assembly can intelligently adjust the displacement of the piezoelectric ceramic displacer according to the outline size and signal strength of the green plant, control the energy density of the emitted laser, and ensure effective detection and high accuracy.

[0051] The dual-wavelength laser (first laser and second laser) passing through the divergence angle control component 12 is reflected on the surface of the reflector 14 and incident on the scanning component 13 (such as a MEMS reflector). The scanning component 13 changes the reflection angle to make the laser perform dot scanning in the object space, such as Figure 6 As shown, Figure 6 It is a schematic diagram of a dot matrix in one embodiment.

[0052] like Figure 7 As shown, Figure 7 It is a schematic diagram of the passive imaging and active imaging areas in an embodiment. After the active light (actively emitted laser) and the passive light (ambient light) are received by the lens assembly 20, since the lens assembly 20 is composed of four sub-lenses, only the visible light sub-lenses in the green, red and blue bands are used for spectral analysis, binocular vision ranging and imaging; the white light sub-lens is used for ranging (binocular vision ranging, laser ranging), spectral analysis and imaging.

[0053] Among them, the scanning laser is reflected by the detection target, the near-infrared laser is transmitted through the wide-angle spectrum lens white light sub-lens and reflected by the spectroscope 50, and is focused on the distance measurement component 30 to obtain the distance value. Combined with the angle sensor of the scanning component 13, the three-dimensional spatial coordinates are obtained to construct a three-dimensional point cloud. The green laser and the ambient green light pass through the lens component 20, the spectroscope 50 and the detection component 40. The peak dot matrix of the spectral image of the green sub-lens coincides with the laser ranging dot matrix and has a three-dimensional spatial property, that is, the distance measurement obtained by the near-infrared laser in the dual-beam scanning can be directly attached to the spectrum of the green laser spot. The green light spectrum is mainly used to analyze the three-dimensional distribution and intensity of the green laser and to determine the type difference and position of the target.

[0054] Specifically, for different targets, the lawn mower can realize intelligent switching function. If the target is green, the green spectrum response is strong, and during the movement, the transition is smooth, that is, the fluctuation is small, and the mowing task is performed; if the green response is weak, and the blue, red or white has a strong spectrum, there is a foreign object, and laser ranging or binocular ranging is performed on the area with strong response. The signal is lost or very weak, and the area is a water surface or a highly reflective surface, and the non-target area is bypassed; through ranging, it is found that there are high and low obstacles, the area is marked, and the bypass is performed. The user cleans it up and then performs the mowing task, or manually intervenes to perform mowing. In the above way, the lawn mower can work all day. When the light intensity is strong during the day, the laser ranging / binocular ranging system and the passive imaging system can be used to identify the chassis working area; when the ambient light is weak and the passive imaging is not obvious, the green laser can be turned on, and the laser ranging / binocular ranging system and the active imaging system can be used to identify the chassis working area.

[0055] The power supply control device, power supply control method and power supply system provided in the embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A detection device, characterized in that: The detection device comprises: A light source assembly, the light source assembly being configured to emit a first laser and a second laser toward a target; wherein the first laser is visible light and the second laser is near-infrared light; A lens assembly, the lens assembly comprising a visible light sub-lens and a white light sub-lens; wherein the visible light sub-lens is used for the visible light reflected by the target to pass through, and the white light sub-lens is used for the near-infrared light reflected by the target to pass through; A distance measuring component is arranged on the outgoing light path of the lens component, and is used to receive near-infrared light and perform distance measurement based on the received near-infrared light; The detection component is arranged on the outgoing light path of the lens component, and is used to receive visible light and perform target detection based on the received visible light.

2. The detection device according to claim 1, characterized in that: The light source assembly comprises: A dual-wavelength laser assembly, wherein the dual-wavelength laser assembly 11 is configured to emit a first laser and a second laser; a divergence angle control component, wherein the divergence angle control component is configured to adjust the divergence angles of the first laser and the second laser; A scanning component is configured to reflect the first laser and the second laser so that the first laser and the second laser form a point array on the target.

3. The detection device according to claim 2, characterized in that: The dual-wavelength laser assembly comprises: a first laser configured to emit a first laser; a second laser configured to emit a second laser; A beam combining mirror is configured to receive the first laser and the second laser and combine the first laser and the second laser.

4. The detection device according to claim 2, characterized in that: The dual-wavelength laser assembly comprises: a third laser configured to emit a third laser; A frequency doubling crystal component is configured to receive the third laser, perform frequency doubling processing on the third laser, and emit the first laser and the second laser.

5. The detection device according to claim 4, characterized in that: The dual-wavelength laser assembly also includes: A focusing lens, wherein the focusing lens is arranged on an optical path between the third laser and the frequency doubling crystal assembly; The collimating lens and the focusing lens are arranged on the outgoing light path of the frequency doubling crystal component.

6. The detection device according to claim 2, characterized in that: The scanning component includes at least one of a two-dimensional scanning reflector, a prism or a mechanical rotating mirror.

7. The detection device according to claim 2, characterized in that: The detection device further includes a reflector configured to reflect the first laser and the second laser emitted by the divergence angle control component to the scanning component.

8. The detection device according to claim 1, characterized in that: The first laser is a green laser, and the visible light sub-lens includes a red photon lens, a green photon lens and a blue photon lens.

9. The detection device according to claim 1, characterized in that: The detection device also includes a spectroscope, which is arranged on the receiving light path of the distance measuring component and the detection component, and is configured to reflect the near-infrared light to the distance measuring component and transmit the visible light to the detection component.

10. The detection device according to claim 1, characterized in that: The detection component is a four-array detector.

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