Lens assembly of laser obstacle removing instrument and laser obstacle removing instrument

Abstract

The invention provides a lens assembly of a laser obstacle clearing instrument and the laser obstacle clearing instrument, and relates to the technical field of laser obstacle clearing. The lens assembly comprises a first camera module, a laser focusing lens, a laser lens focal length adjusting module, a camera angle adjusting module, a lens control mainboard and a communication aviation plug. The lens control mainboard is connected with the laser lens focal length adjusting module and the camera angle adjusting module. The first camera module and the lens control mainboard are connected with the host through a communication aviation plug. The first camera module is paraxial to the laser focusing lens; the first camera module is used for shooting an obstacle object and transmitting a shot picture to the host through the communication aviation plug, so that the host calculates a first distance between the obstacle object and the laser focusing lens based on the picture, and the first distance is used for controlling the laser lens focal length adjusting module. The lens assembly is beneficial for improving the focusing effect of the laser focusing lens and the efficiency of laser obstacle clearing, and focusing before obstacle clearing can be completed more quickly and accurately.

Description

Technical Field

[0001] The present application relates to the technical field of laser obstacle removal, and in particular to a lens assembly of a laser obstacle removal instrument and a laser obstacle removal instrument. Background Art

[0002] In the field of laser obstacle removal technology, the laser obstacle remover captures the information of the obstacle object (obstacle) in the target area through the lens assembly. The assembly lens, as the "eye" of the device, can accurately identify and locate obstacles, providing basic data for the subsequent processing and cleaning work of the laser obstacle remover.

[0003] In the related art, the camera in the lens assembly is coaxial with the laser focusing lens, and only supports manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle.

[0004] However, the coaxial setting will affect the focusing effect of the laser beam, the efficiency of laser obstacle removal is low, and it only supports manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, which has the problems of low focusing efficiency and inaccurate focusing.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] The present application provides a lens assembly of a laser obstacle clearer and a laser obstacle clearer, which at least to a certain extent overcome the problems of low efficiency of laser obstacle clearing caused by coaxial setting in the related art, as well as low focusing efficiency and inaccurate focusing.

[0007] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0008] According to one aspect of the present application, a lens assembly of a laser obstacle clearer is provided, including: a first camera module, a laser focusing lens, a laser lens focal length adjustment module, a camera angle adjustment module, a lens control mainboard and a communication aerial plug; the lens control mainboard is connected to the laser lens focal length adjustment module and the camera angle adjustment module respectively, and the first camera module and the lens control mainboard are connected to a host through the communication aerial plug; the first camera module is parallel to the laser focusing lens; the first camera module is used to shoot an obstacle object, and transmit the shot picture to the host through the communication aerial plug, so that the host can calculate a first distance between the obstacle object and the laser focusing lens based on the picture, and the first distance is used to control the laser lens focal length adjustment module.

[0009] By setting the laser focusing lens and the first camera module paraxially in the lens assembly, the addition and coaxial setting can improve the focusing effect of the laser focusing lens, thereby improving the efficiency of laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the picture taken by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing before the laser obstacle removal device works can be completed more quickly and accurately.

[0010] In one embodiment of the present application, it also includes: a laser rangefinder, used to measure the second distance between the obstacle object and the laser focusing lens; the laser rangefinder is connected to the host through the communication aviation plug to facilitate transmission of the second distance to the host; the host uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens to facilitate control of the laser lens focal length adjustment module.

[0011] By measuring the distance between the obstacle and the laser focusing lens by a laser rangefinder and calculating the distance between the obstacle and the laser focusing lens by using the image captured by the first camera module, the laser lens can be applied in different environments using a distance measurement method that is more suitable for the current environment, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0012] In one embodiment of the present application, it also includes: a laser rangefinder, used to measure a second distance between an obstacle object and the laser rangefinder; the laser rangefinder is connected to the host through the communication aerial plug to facilitate transmitting the second distance to the host; when the first distance is less than a threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens; when the second distance is not less than the threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens.

[0013] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance. When the measured first distance is less than the threshold distance, the first distance is used as the actual distance between the obstacle object and the laser focusing lens, and when the second distance is not less than the threshold distance, the second distance is used as the actual distance between the obstacle object and the laser focusing lens. This makes it possible to make the distance between the obstacle object and the laser focusing lens measured more accurate at both long and short distances, which is conducive to improving the focusing effect of the laser beam and the efficiency of laser obstacle removal.

[0014] In one embodiment of the present application, it also includes: a first camera protection cover, used to protect the lens of the first camera module.

[0015] By providing the first camera protection cover, the lens of the first camera module can be protected, thereby increasing the service life of the lens of the first camera module.

[0016] In one embodiment of the present application, it also includes: a laser lens protection cover for protecting the laser focusing lens.

[0017] By providing a laser lens protection cover, the laser focusing lens can be protected, thereby increasing the service life of the laser focusing lens.

[0018] In one embodiment of the present application, it also includes: at least one second camera module, which is used to shoot a picture within a preset angle range centered on the light emitting direction of the laser focusing lens, and transmit the shot picture to the host through the communication interface, so that the host can turn off the laser obstacle remover when a target object is detected in the picture taken by any second camera module.

[0019] Since the first camera module is used to photograph obstacles, usually when the obstacles are clearly photographed, the range of the picture taken will be small, and it is difficult to predict in advance whether the target object will enter the area in front of the laser obstacle remover. By setting at least one second camera module and photographing the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to photograph a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether the target object passes in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid damage to the target object.

[0020] In one embodiment of the present application, it also includes: the at least one second camera module is a second camera module; the lens assembly also includes a laser rangefinder, and the laser rangefinder is coaxial with the second camera module.

[0021] By coaxially arranging the second camera module and the laser rangefinder, the image captured by the second camera module can better cover the area around the laser beam. In addition, the number of parts of the lens assembly can be reduced, which is conducive to the miniaturization of the lens assembly.

[0022] In one embodiment of the present application, the at least one second camera module is a second camera module; the camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module, the first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

[0023] By configuring the second camera angle adjustment module, the shooting direction of the second camera module can be flexibly adjusted, so that the shooting direction of the second camera module can be flexibly adjusted in different shooting environments, so as to better predict in advance whether there is a target object passing in front of the laser obstacle remover.

[0024] In one embodiment of the present application, it also includes: at least one second camera protection cover, one second camera protection cover corresponds to one second camera module, and is used to protect the lens of the second camera module.

[0025] By providing the second camera protection cover, the lens of the second camera module can be protected, thereby increasing the service life of the lens of the second camera module.

[0026] In another aspect of the present application, a laser obstacle clearer is provided, comprising a lens assembly of the laser obstacle clearer as described in any one of the above embodiments.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A schematic diagram showing a lens assembly of a laser obstacle remover in one embodiment of the present application;

[0030] Figure 2 Shows Figure 1 A front view of the lens assembly of the laser obstacle remover;

[0031] Figure 3 Shows Figure 1 The right side view of the lens assembly of the laser obstacle remover;

[0032] Figure 4 Shows Figure 1 The left side view of the lens assembly of the laser obstacle remover;

[0033] Figure 5 A schematic diagram showing a range captured by at least one second camera module in one embodiment of the present application;

[0034] Figure 6A schematic diagram showing a shooting range of the second camera module in one embodiment of the present application. DETAILED DESCRIPTION

[0035] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0036] In addition, the accompanying drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus their repeated descriptions will be omitted. It should be noted that the concepts of "first", "second", etc. mentioned in the present application are only used to distinguish different camera modules, camera protective covers, etc.

[0037] like Figure 1 , Figure 2 and Figure 3 As shown, the lens assembly of the laser obstacle clearer in one embodiment of the present application may include: a first camera module 1, a laser focusing lens 2, a laser lens focal length adjustment module 3, a camera angle adjustment module 4, a lens control mainboard 5 and a communication aviation plug 6.

[0038] Among them, the lens control mainboard 5 is connected to the laser lens focus adjustment module 3 and the camera angle adjustment module 4 respectively, and the first camera module 1 and the lens control mainboard 5 are connected to the host through the communication connector 6.

[0039] The first camera module 1 is paraxial with the laser focusing lens 2 .

[0040] The first camera module 1 is used to photograph obstacles and transmit the photographed images to the host through the communication interface 6, so that the host can calculate the first distance between the obstacle and the laser focusing lens 2 based on the image. The first distance is used to control the laser lens focal length adjustment module 3.

[0041] The laser lens focal length adjustment module 3 is used to adjust the focal length of the laser focusing lens 2. The camera angle adjustment module 4 can adjust the shooting angle of the first camera module 1.

[0042] Control instructions can be sent to the laser lens focus adjustment module 3 and the camera angle adjustment module 4 via the lens control mainboard 5 to control the laser lens focus adjustment module 3 and the camera angle adjustment module 4 .

[0043] The embodiment of the present application does not limit how the host calculates the first distance between the obstacle object and the laser focusing lens 2 according to the picture captured by the first camera module 1. For example, the first distance between the obstacle object and the laser focusing lens 2 can be calculated based on any visual method.

[0044] For example, the host may pre-process the image to extract the edge contour of the obstacle object. Then, based on the edge contour, the pixel width P of the obstacle object in the image is determined. According to the similar triangle method, the calculation of the first distance can be shown in the following formula 1.

[0045] D=(W×f) / P (1)

[0046] Among them, D is the distance between the obstacle object and the first camera module 1 (which can be used as the first distance between the obstacle object and the laser focusing lens 2), W is the actual width of the obstacle object, f is the focal length of the first camera module 1, and P is the pixel width P of the obstacle object in the picture.

[0047] The host can detect and obtain the focal length f of the first camera module 1 in real time, and can determine the actual width W of the obstacle object corresponding to the pixel width P based on the relationship between the focal length of the first camera 1 and the actual width corresponding to a single pixel. Thereafter, the distance between the obstacle object and the first camera module 1 is calculated according to Formula 1, and the distance is used as the first distance.

[0048] In one embodiment, the obstacle object can also perform empirical correction on the distance between the obstacle object and the first camera module 1 (for example, by calibrating the correspondence between the distance between the obstacle object and the first camera module 1 and the first distance, and using the correspondence to perform empirical correction on the distance between the obstacle object and the first camera module 1), and use the corrected distance as the first distance.

[0049] For another example, the host stores the internal parameters of the first camera module 1, and then the internal parameters and the coordinate information of the obstacle object in the picture can be directly used to calculate the distance between the obstacle object and the first camera module through methods such as projection matrix, and then determine the first distance.

[0050] The embodiments of the present application do not limit how to pre-process the image. For example, the pre-processing includes: gray-scaling, filtering, edge detection and contour detection.

[0051] By setting the laser focusing lens and the first camera module paraxially in the lens assembly, the addition and coaxial setting can improve the focusing effect of the laser focusing lens, thereby improving the efficiency of laser obstacle removal. In addition, the first distance between the obstacle object and the laser focusing lens is calculated using the picture taken by the first camera module, and the laser lens focal length adjustment module is controlled according to the first distance to adjust the focal length of the laser focusing lens. Compared with manually adjusting the focus of the laser focusing lens according to the laser spot on the obstacle object, the focusing before the laser obstacle removal device works can be completed more quickly and accurately.

[0052] In one embodiment, Figure 1 and Figure 2 As shown, the lens assembly of the laser obstacle remover may further include: a laser rangefinder 7 for measuring a second distance between the obstacle object and the laser focusing lens 2 .

[0053] The laser rangefinder 7 is connected to the host through the communication connector 6 so as to transmit the second distance to the host.

[0054] The host uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens 2 to control the laser lens focal length adjustment module 3.

[0055] The laser rangefinder 7 can measure the distance between the obstacle object and itself, and this distance can be used as the second distance.

[0056] By measuring the distance between the obstacle and the laser focusing lens by a laser rangefinder and calculating the distance between the obstacle and the laser focusing lens by using the image captured by the first camera module, the laser lens can be applied in different environments using a distance measurement method that is more suitable for the current environment, which is beneficial for the laser rangefinder to accurately measure the distance between the obstacle and the laser focusing lens in more different environments, thereby improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0057] The embodiments of the present application do not limit how the host uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens 2. For example, in response to receiving a signal indicating that the control device selects the first distance or the second distance, the host uses the first distance or the second distance indicated by the signal as the actual distance between the obstacle object and the laser focusing lens 2.

[0058] In another embodiment, when the first distance is less than the threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens; when the second distance is not less than the threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens.

[0059] The embodiments of the present application do not limit the specific value of the threshold distance, and it can be set based on experience.

[0060] The visual distance measurement of the picture taken by the first camera module is more accurate within a certain distance. The laser rangefinder measures the distance between the obstacle object and the laser focusing lens, which is more accurate at a long distance (because the relative position between the laser rangefinder and the laser focusing lens is fixed and has a certain position difference, when the distance between the laser focusing lens and the obstacle object is far, the position difference between the laser rangefinder and the laser focusing lens can be ignored, and the distance measured by the laser rangefinder is closer to the actual distance between the laser focusing lens and the obstacle object). By using the first distance as the actual distance between the obstacle object and the laser focusing lens when the measured first distance is less than the threshold distance, and using the second distance as the actual distance between the obstacle object and the laser focusing lens when the second distance is not less than the threshold distance, the distance between the obstacle object and the laser focusing lens can be measured more accurately at both long and short distances, which is conducive to improving the focusing effect of the laser beam and improving the efficiency of laser obstacle removal.

[0061] In one embodiment, Figure 4 As shown, the lens assembly of the laser obstacle remover may further include: a first camera protection cover 9 for protecting the lens of the first camera module 1 .

[0062] By providing the first camera protection cover, the lens of the first camera module can be protected, thereby increasing the service life of the lens of the first camera module.

[0063] In one embodiment, Figure 4 As shown, the lens assembly of the laser obstacle remover may further include: a laser lens protection cover 8 for protecting the laser focusing lens 2.

[0064] By providing a laser lens protection cover, the laser focusing lens can be protected, thereby increasing the service life of the laser focusing lens.

[0065] In one embodiment, Figure 5 As shown, the lens assembly of the laser obstacle remover may also include: at least one second camera module 10, which is used to shoot a picture within a preset angle range centered on the light emitting direction of the laser focusing lens, and transmit the shot picture to the host through the communication interface, so that the host can turn off the laser obstacle remover when a target object is detected in the picture taken by any second camera module 10.

[0066] The embodiments of the present application do not limit what the target object specifically includes. For example, the target object may include preset objects such as people and birds.

[0067] The embodiments of the present application do not limit how the host performs target detection on the images captured by the second camera module 10. For example, the host can detect the images reported by each second camera module 10 in real time through the target detection model, and when the host detects that there is a target object in the images reported by any second camera module 10, the laser obstacle remover is forcibly turned off, thereby preventing the laser from causing damage to the target object and improving the safety of the laser obstacle remover when in use.

[0068] The embodiments of the present application do not limit the specific module of the target detection model. For example, the target detection model can be R-CNN (Region-based Convolutional Neural Network), Fast R-CNN (Fast Regional Convolutional Neural Network), SSD (Single Shot MultiBox Detector), etc.

[0069] It should be noted that Figure 5 The at least one second camera module 10 is drawn as two second camera modules 10 as an example, and the embodiment of the present application does not limit the specific number of the at least one second camera module 10. The embodiment of the present application also does not limit how to set the at least one second camera module 10 to capture the areas in front of the laser obstacle remover.

[0070] Since the first camera module is used to photograph obstacles, usually when the obstacles are clearly photographed, the range of the picture taken will be small, and it is difficult to predict in advance whether the target object will enter the area in front of the laser obstacle remover. By setting at least one second camera module and photographing the picture with a preset angle range centered on the light emitting direction of the laser focusing lens, it is convenient to photograph a larger area in front of the laser obstacle remover, so that it can be better discovered in advance whether the target object passes in front of the laser obstacle remover, and then the laser obstacle remover can be turned off in advance to avoid damage to the target object.

[0071] In one embodiment, Figure 6 As shown, the at least one second camera module 10 is a second camera module 10 .

[0072] The lens assembly also includes a laser rangefinder, which is coaxial with the second camera module.

[0073] By coaxially arranging the second camera module and the laser rangefinder, the image captured by the second camera module can better cover the area around the laser beam. In addition, the number of parts of the lens assembly can be reduced, which is conducive to the miniaturization of the lens assembly.

[0074] In one embodiment, the at least one second camera module is one second camera module.

[0075] The camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module. The first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

[0076] By configuring the second camera angle adjustment module, the shooting direction of the second camera module can be flexibly adjusted, so that the shooting direction of the second camera module can be flexibly adjusted in different shooting environments, so as to better predict in advance whether there is a target object passing in front of the laser obstacle remover.

[0077] In one embodiment, the lens assembly of the laser obstacle remover may further include: at least one second camera protection cover, one second camera protection cover corresponding to one second camera module, and used to protect the lens of the second camera module.

[0078] By providing the second camera protection cover, the lens of the second camera module can be protected, thereby increasing the service life of the lens of the second camera module.

[0079] A laser obstacle clearer in one embodiment of the present application may include a lens assembly such as the laser obstacle clearer in any of the above embodiments.

[0080] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope of the present application is indicated by the appended claims.

Claims

1. A lens assembly for a laser obstacle remover, characterized in that: include: The first camera module, a laser focusing lens, a laser lens focal length adjustment module, a camera angle adjustment module, a lens control mainboard and a communication aviation plug; The lens control mainboard is connected to the laser lens focal length adjustment module and the camera angle adjustment module respectively, and the first camera module and the lens control mainboard are connected to the host through the communication aviation plug; The first camera module is paraxial with the laser focusing lens; The first camera module is used to photograph obstacle objects and transmit the photographed images to the host through the communication interface, so that the host can calculate the first distance between the obstacle object and the laser focusing lens based on the image. The first distance is used to control the laser lens focal length adjustment module.

2. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: A laser rangefinder, used to measure a second distance between the obstacle object and the laser focusing lens; The laser rangefinder is connected to the host through the communication aviation plug, so as to transmit the second distance to the host; The host uses the first distance or the second distance as the actual distance between the obstacle object and the laser focusing lens, so as to control the laser lens focal length adjustment module.

3. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: A laser rangefinder, used to measure a second distance between the obstacle object and the laser rangefinder; The laser rangefinder is connected to the host through the communication aviation plug, so as to transmit the second distance to the host; When the first distance is less than a threshold distance, the host uses the first distance as the actual distance between the obstacle object and the laser focusing lens; When the second distance is not less than a threshold distance, the host uses the second distance as the actual distance between the obstacle object and the laser focusing lens.

4. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: The first camera protection cover is used to protect the lens of the first camera module.

5. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: The laser lens protection cover is used to protect the laser focusing lens.

6. The lens assembly of the laser obstacle remover according to claim 1, characterized in that: Also includes: At least one second camera module is used to capture a picture within a preset angle range centered on the light emitting direction of the laser focusing lens, and transmit the captured picture to the host through the communication interface, so that the host can turn off the laser obstacle remover when a target object is detected in the picture captured by any second camera module.

7. The lens assembly of the laser obstacle clearing device according to claim 6, characterized in that: The at least one second camera module is a second camera module; The lens assembly also includes a laser rangefinder, which is coaxial with the second camera module.

8. The lens assembly of the laser obstacle remover according to claim 6, characterized in that: The at least one second camera module is a second camera module; The camera angle adjustment module includes a first camera angle adjustment module and a second camera angle adjustment module, the first camera angle adjustment module is used to adjust the shooting angle of the first camera module, and the second camera angle adjustment module is used to adjust the shooting angle of the second camera module.

9. The lens assembly of the laser obstacle remover according to claim 6, characterized in that: Also includes: At least one second camera protection cover, one second camera protection cover corresponds to one second camera module, and is used to protect the lens of the second camera module.

10. A laser obstacle remover, characterized in that: A lens assembly comprising a laser obstacle clearer as described in any one of claims 1-9.

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