Integrated light source module, distance measuring device and equipment

Abstract

The invention discloses an integrated light source module, a distance measuring device and equipment, and the integrated light source module comprises a light source group, a collimating optical assembly, and a beam expanding optical assembly. The collimating optical assembly collimates light beams emitted by the light sources, and the beam expanding optical assembly expands the different collimated light beams in a specific direction, so that + +-shaped pattern light spots are formed on a target object. In actual distance detection, when a distance measuring device is obliquely assembled, a target included angle is formed between the main radiation direction of a light source group and the ground plane, so that a vertical light spot in a + +-shaped pattern is not vertical to a transverse light spot, and the measurement precision is influenced. According to the integrated light source module, the emergent light beam of at least one light source in the light source set is deflected through the collimation optical assembly, and the vertical line light spots and the transverse line light spots are kept in the perpendicular state. Therefore, the measurement model established based on the vertical relation can be continuously applicable, and when the distance of the target object is calculated according to the deformation pattern, errors can be effectively reduced, and the measurement precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of optical technology, in particular to an integrated light source module, a distance measuring device and equipment. BACKGROUND

[0002] In many fields such as automatic driving, robot navigation, industrial measurement, it is crucial to accurately obtain the distance information of a target object. The line structured light distance measuring device is widely used due to its non-contact, high precision and high efficiency.

[0003] The working principle of the line structured light distance measuring device is to project a specific light beam, generally a horizontal line projection light beam and two vertical line projection light beams, to form a "radical" pattern on the target object. A camera module captures the pattern and transmits it to a control processor. The processor generates environmental data based on the pattern deformation and combining algorithms such as triangulation, and then obtains the distance of the target object.

[0004] However, in actual distance detection scenarios, the line structured light distance measuring device often needs to be tilted and assembled to form a certain downward angle with the ground. This assembly method can meet the specific measurement requirements, but it will cause the two vertical lines in the "radical" pattern to no longer be perpendicular to the horizontal line. At this time, the measurement model based on the perpendicular relationship is no longer applicable, and errors will occur when calculating the distance of the target object based on the deformed pattern, which seriously affects the measurement accuracy. SUMMARY

[0005] The purpose of the present application is to provide an integrated light source module, a distance measuring device and equipment which can improve the above problems.

[0006] In a first aspect, the present application provides an integrated light source module, comprising: a light source group, a collimating optical assembly, and a beam expanding optical assembly. The light source group comprises a first light source, a second light source and a third light source with consistent main radiation directions, and the main radiation directions have a target angle with the ground plane; The collimating optical assembly is configured to collimate the outgoing light beams of each light source in the light source group to form a first collimated light beam, a second collimated light beam and a third collimated light beam, respectively; The beam expanding optical assembly is configured to expand the second collimated light beam in a first direction to form a horizontal line projection light, which forms a horizontal line light spot on the target object, and the first direction is parallel to the virtual connection line of the first light source and the third light source; expand the first collimated light beam in a second direction perpendicular to the first direction to form a first vertical line projection light, which forms a first vertical line light spot on the target object; and expand the third collimated light beam in the second direction to form a second vertical line projection light, which forms a second vertical line light spot on the target object; The outgoing beam of at least one light source in the light source group is deflected by the collimating optical component, so that the first vertical line spot and the second vertical line spot projected onto the target are both perpendicular to the horizontal line spot.

[0007] It can be understood that the present application discloses an integrated light source module applied to a ranging device, including a light source group, a collimating optical component, and a beam expanding optical component; the collimating optical component collimates the outgoing beams of each light source, and the beam expanding optical component expands the different collimated beams in a specific direction to form horizontal and vertical projection lights to form corresponding line spots on the target. In an actual distance detection scenario, when the ranging device is tilted and assembled, the main radiation direction of the light source group forms a target angle with the ground plane, which will cause the vertical line spots and the horizontal line spots of the "艹" - shaped pattern to be non - perpendicular, affecting the measurement accuracy. The integrated light source module disclosed in the present application deflects the outgoing beam of at least one light source in the light source group through the collimating optical component, so that the vertical line spots and the horizontal line spots of the "艹" - shaped pattern remain perpendicular. This can make the measurement model established based on the vertical relationship continue to be applicable, reduce errors when calculating the distance of the target object according to the deformed pattern, significantly improve the measurement accuracy, and meet the requirements for accurate distance information in fields such as autonomous driving and robot navigation.

[0008] In an optional embodiment, the outgoing beam of the second light source is deflected by the collimating optical component, so that the horizontal line spot forms an angle equal to the target angle with the ground plane. It can be understood that when the ranging device is tilted and assembled, the main radiation direction of the light source group forms a target angle with the ground plane. In this embodiment, by adjusting the deflection angle of the second collimated beam, the horizontal line spot also forms the same angle with the ground plane to match the inclination angle of the installation angle of the ranging device, so that the vertical line spots and the horizontal line spots in the "艹" - shaped pattern remain perpendicular, and the measurement accuracy can be maintained in different measurement tilt scenarios.

[0009] In an optional embodiment, the first outgoing surface that emits the horizontal projection light in the beam expanding optical component is configured to be perpendicular to the outgoing direction of the second collimated beam. It can be understood that when the beam is perpendicularly incident on the outgoing surface, the refraction and reflection deviations of the light during propagation can be minimized, and the aberration caused by improper incident angle can be avoided. Aberration will distort the shape of the spot and affect the measurement accuracy. Through this perpendicular configuration, the horizontal projection light can be accurately formed, ensuring that the horizontal line spot of the "艹" - shaped pattern is clear and accurate, and further enabling the measurement model based on this pattern to accurately calculate the distance of the target object.

[0010] In an alternative embodiment, the first exit surface is arranged with a micro-cylindrical array, the cross section of the micro-cylindrical array is wavy, and the virtual plane contacting each micro-cylinder is perpendicular to the exit direction of the second collimated light beam. It can be understood that each cylinder can be formed using a cylindrical surface or a non-cylindrical surface, and the effect is to perform one-dimensional directional energy redistribution on the incident light source, i.e., the length of the light spot irradiated by the light is longer than before the beam expansion.

[0011] In an alternative embodiment, the integrated light source module includes at least one of the following schemes.

[0012] Scheme one, the optical part of the collimating optical assembly collimating the light of the second light source is configured to deviate from the optical axis of the second light source along the second direction.

[0013] Scheme two, the exit surface of the collimating optical assembly exiting the second collimated light beam is configured as a first free-form surface.

[0014] Scheme three, the second light source is configured to deviate from the virtual connecting line of the first light source and the third light source along the second direction.

[0015] In an alternative embodiment, the first free-form surface is determined by an initial surface equation after discrete sampling points are determined, and a continuous surface is constructed based on the discrete sampling points; The initial surface equation includes: ; Wherein, represents the refractive index of the optical part of the collimating optical assembly collimating the light of the second light source; represents the refractive index of air; represents the distance between the second light source and the first free-form surface; represents the first angle of the second collimated light beam relative to the first direction; represents the second angle of the second collimated light beam relative to the main radiation direction; represents the deflection angle of the exit optical axis of the second light source deflected by the collimating optical assembly.

[0016] In an alternative embodiment, the exit light beam of the first light source is deflected by the collimating optical assembly so that the first vertical light spot projected onto the target is perpendicular to the horizontal light spot; the exit light beam of the third light source is deflected by the collimating optical assembly so that the second vertical light spot projected onto the target is perpendicular to the horizontal light spot.

[0017] It can be understood that when the distance measuring device is installed obliquely, the main radiation direction of the light source group forms a target angle with the horizontal plane. In this embodiment, by adjusting the deflection angle of the first collimated light beam and the third collimated light beam, even in the case that the horizontal line spot on the target object has an angle with the horizontal plane, the two vertical line spots projected on the target object can still be kept perpendicular to the horizontal line spot. Thus, the measurement accuracy can be maintained in different measurement scenarios.

[0018] In an optional embodiment, the second exit surface of the beam expansion optical assembly, from which the first vertical line spot exits, is configured to be perpendicular to the exit direction of the first collimated light beam; and the third exit surface of the beam expansion optical assembly, from which the second vertical line spot exits, is configured to be perpendicular to the exit direction of the third collimated light beam. It can be understood that when the light beam is perpendicular to the exit surface, the refraction and reflection deviation of the light during propagation can be minimized, and the aberration caused by improper incidence angle can be avoided. The aberration can distort the spot shape and affect the measurement accuracy. Through this perpendicular configuration, the two vertical line projection lights can be accurately formed, the two vertical line spots of the "¥" shaped pattern can be clear and accurate, and thus the measurement model based on the pattern can accurately calculate the distance of the target object.

[0019] In an optional embodiment, the second exit surface is arranged with a second micro-cylindrical surface array, the cross section of the second micro-cylindrical surface array is wavy, and a second virtual plane contacting each micro-cylindrical surface in the second micro-cylindrical surface array is perpendicular to the exit direction of the first collimated light beam; and the third exit surface is arranged with a third micro-cylindrical surface array, the cross section of the third micro-cylindrical surface array is wavy, and a third virtual plane contacting each micro-cylindrical surface in the third micro-cylindrical surface array is perpendicular to the exit direction of the third collimated light beam.

[0020] It can be understood that each cylindrical surface can be formed by a cylindrical surface or a non-cylindrical surface, which has the effect of one-dimensional direction energy redistribution of the incident light source, that is, the length of the light spot irradiated by the light is longer than before the beam expansion.

[0021] In an optional embodiment, the deflection angle of the exit light beam of the first light source by the collimating optical assembly is the same as the deflection angle of the exit light beam of the second light source by the collimating optical assembly; and the deflection direction of the exit light beam of the third light source by the collimating optical assembly is opposite to the deflection direction of the exit light beam of the second light source by the collimating optical assembly. It can be understood that in order to meet the best application of the subsequent measurement model, the two vertical line spots of the "¥" shaped pattern are preferably symmetrically arranged about the central axis of the horizontal line spot.

[0022] In an optional embodiment, the exit surface of the collimating optical assembly, from which the first collimated light beam exits, is configured as a second free-form surface; and the exit surface of the collimating optical assembly, from which the third collimated light beam exits, is configured as a third free-form surface.

[0023] In an alternative embodiment, the collimating optical assembly comprises a first collimating lens, a second collimating lens, and a third collimating lens; the first collimating lens is configured to collimate the divergent light emitted by the first light source; the second collimating lens is configured to collimate the divergent light emitted by the second light source; and the third collimating lens is configured to collimate the divergent light emitted by the third light source; the first collimating lens, the second collimating lens, and the third collimating lens are independently arranged or integrally formed.

[0024] In an alternative embodiment, the beam expanding optical assembly comprises a first beam expanding lens, a second beam expanding lens, and a third beam expanding lens; the first beam expanding lens is configured to expand the first collimated light beam in the second direction, the second beam expanding lens is configured to expand the second collimated light beam in the first direction, and the third beam expanding lens is configured to expand the third collimated light beam in the second direction; the first beam expanding lens, the second beam expanding lens, and the third beam expanding lens are independently arranged or integrally formed.

[0025] In an alternative embodiment, the collimating optical assembly and the beam expanding optical assembly are integrally formed.

[0026] It can be understood that through the integrally formed collimating lens and the integrally formed beam expanding lens, or even the integrally formed collimating and beam expanding lens, the integration degree can be maximized, the volume of the entire module can be reduced, and the independence of the optical path is not affected.

[0027] In an alternative embodiment, the collimating optical assembly is configured to collimate the divergent light beams emitted by the first light source and the third light source in the second direction, and collimate the divergent light beam emitted by the second light source in the first direction. It can be understood that the collimation effect of the light beams of each light source is optimized, which can ensure that the vertical line and the horizontal line spot are precisely perpendicular, and the measurement accuracy is improved.

[0028] In a second aspect, the present application also discloses a ranging device, comprising a camera module, a control processor, and an integrated light source module according to any one of the first aspect, the light beams generated by the integrated light source module form a target pattern on the target object, the camera module captures the target line pattern and transmits it to the control processor to generate environment data.

[0029] It can be understood that the ranging device disclosed in the present application integrates a camera module, a control processor, and a specific integrated light source module. The integrated light source module generates a light beam that projects onto the target object to form a target pattern, which is generally in the shape of "艹", including horizontal and vertical line light spots. The camera module is responsible for accurately capturing the target line pattern and quickly transmitting it to the control processor. The control processor, relying on the built-in algorithm, combines the pattern deformation situation with the triangulation method, etc., to perform in-depth analysis and processing on the received image data, thereby generating accurate environmental data, target object distance information, etc. This ranging device has a compact structure and accurate measurement, and can be widely applied in fields such as autonomous driving and robot navigation, providing reliable distance perception support for these fields.

[0030] In a third aspect, the present application also discloses a device, including a main body and the ranging device as described in the second aspect.

[0031] In an optional embodiment, the above device includes a sweeping robot, a service robot, a warehousing robot, or a logistics robot.

[0032] It can be understood that the device disclosed in the third aspect of the present application combines the main body with the ranging device described in the second aspect. Taking the sweeping robot as an example, the ranging device can accurately sense the distance information of the surrounding environment, and the main body plans the cleaning path based on this data to avoid colliding with obstacles. The service robot can interact with people and perform tasks more safely with the help of the ranging device. The warehousing robot and the logistics robot can efficiently complete tasks such as goods handling and storage and accurately navigate in a complex warehouse environment by using this device. After these devices are equipped with this ranging device, their performance and safety are significantly improved, and they can better adapt to various application scenarios and meet the requirements of different fields for intelligent and accurate operation of robots.

[0033] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically gives optional embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings

[0035] Figure 1 is the pattern light spot formed on the target object in an ideal state; Figure 2 is a schematic diagram of the working state of ranging when the ranging device is inclined and assembled; <00is the pattern light spot formed on the target when the ranging device is assembled obliquely in the prior art; Figure 4 is the front view of an integrated light source module provided by the present application; Figure 5 is the top view of the light source group provided by the present application; Figure 6 is when the ranging device is assembled obliquely, using the Figure 4 shown integrated light source module to form a pattern light spot on the target; Figure 7 is Figure 4 the schematic diagram of the dotted line section of the shown integrated light source module; Figure 8 ​​​​​​​​​​​​​​​​​​​​​​​​​​It is shown in a "V" shape, making the measurement model established based on the vertical relationship no longer applicable and affecting the measurement accuracy.

[0039] The purpose of this application is to provide an integrated light source module, a ranging device and equipment, which can improve the above problems.

[0040] In the first aspect, as Figure 4 shown, this application provides an integrated light source module applied to a ranging device, including: a light source group 11, a collimating optical component 12, and a beam expanding optical component 13.

[0041] The light source group 11 includes a first light source 111, a second light source 112, and a third light source 113 with the same main radiation direction, and the main radiation direction has a target angle with the ground plane.

[0042] In an embodiment of this application, as Figure 4 shown, each light source is packaged on a chip substrate 14 according to a specific position layout, and the main radiation direction of each light source, that is, the main axis direction, is perpendicular to the chip substrate 14. The light source can be a semiconductor laser, such as VCSEL (Vertical Cavity Surface Emitting Laser), PCSEL (Photonic Crystal Surface-emitting Lasers), EEL (Edge-emitting Laser), etc. When the chip of the light source is a VCSEL, one chip has multiple emission holes, and the emission holes are arranged in an array.

[0043] In an embodiment of this application, when the ranging device is tilted and assembled, the main radiation direction of the light source group 11 also forms a certain target angle with the ground plane, resulting in that the vertical line spot and the horizontal line spot of the "艹" - shaped pattern projected on the target object are not perpendicular.

[0044] The collimating optical component 12 is configured to collimate the emitted light beams of each light source in the light source group 11 to form a first collimated light beam, a second collimated light beam, and a third collimated light beam respectively. As Figure 4 shown, the collimating optical component 12 includes a first collimating lens 121, a second collimating lens 122, and a third collimating lens 123; the first collimating lens 121 is configured to collimate the divergent light emitted by the first light source 111 to form a first collimated light beam; the second collimating lens 122 is configured to collimate the divergent light emitted by the second light source 112 to form a second collimated light beam; the third collimating lens 123 is configured to collimate the divergent light emitted by the third light source 113 to form a third collimated light beam.<​In one alternative embodiment, the first collimating lens 121, the second collimating lens 122, and the third collimating lens 123 are either independently configured or integrally formed. It is understood that using an integrated collimating lens can maximize integration, reduce the overall module size, and not affect the independence of the optical path.

[0046] like Figure 5 The image shown is a top view of the light source group 11. In this embodiment, the direction parallel to the virtual connecting line between the first light source 111 and the third light source 113 is defined as the first direction (e.g., Figure 5 The X direction shown); perpendicular to the first direction within the mounting plane of the light source group 11 (e.g., the X direction); Figure 5 The direction of the X direction shown is defined as the second direction (such as...). Figure 5 Y direction shown).

[0047] The beam-expanding optical component 13 is configured to focus the second collimated beam in a first direction (e.g., Figure 5 The beam is expanded in the X direction (as shown) to form a horizontal projection beam, creating a horizontal light spot on the target object. (Reference) Figure 6 The horizontal line spot 601 shown; for the first collimated beam in the second direction (such as...) Figure 5 The beam is expanded in the Y direction (as shown) to form a first vertical projection beam, which forms a first vertical beam spot on the target object. (Reference) Figure 6 The first vertical beam spot 602 shown; for the third collimated beam in the second direction (e.g. Figure 5 The beam is expanded in the Y direction (as shown) to form a second vertical projection beam, creating a second vertical beam spot on the target object. (Reference) Figure 6 The second vertical line light spot 603 is shown.

[0048] like Figure 4 As shown, the beam-expanding optical assembly 13 includes a first beam-expanding lens 131, a second beam-expanding lens 132, and a third beam-expanding lens 133; the first beam-expanding lens 131 is configured to focus the first collimated beam in a second direction (e.g., Figure 5 The second beam expander lens 132 is configured to expand the second collimated beam in the first direction (as shown in the Y direction). Figure 5 The third beam expander lens 133 is configured to expand the third collimated beam in the second direction (as shown in the X direction). Figure 5 Beam expansion in the Y direction (as shown).

[0049] In one alternative embodiment, the first beam expander lens 131, the second beam expander lens 132, and the third beam expander lens 133 are either independently provided or integrally formed.

[0050] In one alternative embodiment, the collimating optical component 12 and the beam expanding optical component 13 are integrally formed.

[0051] It can be understood that by using an integrated collimating lens, an integrated beam expander, or even an integrated collimating and beam expanding lens, the integration level can be maximized, the volume of the entire module can be reduced, and the independence of the optical path is not affected.

[0052] The outgoing beam of at least one light source in the light source group 11 is deflected by the collimating optical component 12, so that the first vertical line spot and the second vertical line spot of the "艹" - shaped pattern on the target object are both perpendicular to the horizontal line spot.

[0053] It can be understood that the present application discloses an integrated light source module applied to a ranging device, including a light source group, a collimating optical component, and a beam expanding optical component; the collimating optical component collimates the outgoing beams of each light source, and the beam expanding optical component expands the different collimated beams in a specific direction to form horizontal and vertical projection lights to form corresponding line spots on the target object. In an actual distance detection scenario, when the ranging device is tilted during assembly, the main radiation direction of the light source group forms a target angle with the ground plane, which will cause the vertical line spots and the horizontal line spots of the "艹" - shaped pattern to be non - perpendicular, affecting the measurement accuracy. The integrated light source module disclosed in the present application deflects the outgoing beam of at least one light source in the light source group through the collimating optical component, so that the vertical line spots and the horizontal line spots of the "艹" - shaped pattern remain perpendicular. This enables the measurement model based on the vertical relationship to continue to be applicable, reduces errors when calculating the distance of the target object based on the deformed pattern, significantly improves the measurement accuracy, and meets the requirements for accurate distance information in fields such as autonomous driving and robot navigation.

[0054] In an optional embodiment, as Figure 7 shown, the outgoing beam of the second light source 112 is deflected by the collimating optical component 12, so that Figure 6 the horizontal line spot 601 in forms an angle equal to the target angle with the ground plane. It can be understood that when the ranging device is tilted during assembly, the main radiation direction of the light source group 11 forms a target angle with the ground plane. In this embodiment, by adjusting the deflection angle of the second collimated beam, the horizontal line spot also forms the same angle with the ground plane to match the inclination angle of the installation angle of the ranging device, so that the vertical line spots and the horizontal line spots in the "艹" - shaped pattern remain perpendicular, and the measurement accuracy can be maintained in different measurement tilt scenarios. As Figure 6 shown, although the horizontal line spot 601 in the figure has a certain downward shift, it neither affects the calculation of the distance using the principle of line - structured light nor destroys the uniformity of the spot illuminance; and since the optical paths of the first light source 111 and the third light source 113 remain unchanged, an "eight" - shaped spot is not formed.

[0055] In an optional embodiment, as Figure 7As shown, the first exit surface 130 of the beam expander optical component 13 that emits the horizontal projection light is configured to be perpendicular to the exit direction of the second collimated beam. It can be understood that when the beam is incident perpendicularly on the exit surface, the refraction and reflection deviations of the light during propagation can be minimized, avoiding aberration caused by improper incident angles. Aberration will distort the spot shape and affect the measurement accuracy. Through this perpendicular configuration, the horizontal projection light can be accurately formed, ensuring that the horizontal spot of the "艹" - shaped pattern is clear and accurate, and further enabling the measurement model based on this pattern to accurately calculate the distance of the target object.

[0056] In an optional embodiment, the first exit surface 130 is arranged with a micro - cylindrical array, and the cross - section of the micro - cylindrical array is wavy. The virtual plane contacting each micro - cylindrical surface is perpendicular to the exit direction of the second collimated beam. It can be understood that each cylindrical surface can be composed of a cylindrical surface or a non - cylindrical surface, and its effect is to redistribute the energy of the incident light source in one - dimensional direction, that is, the length of the light - irradiated spot is longer compared with that before beam expansion.

[0057] Regarding the specific scheme of "the exit beam of the second light source 112 is deflected by the collimation optical component 12", it includes at least one of the following.

[0058] Scheme 1: The optical part of the collimation optical component 12 that collimates the second light source 112 is configured to deviate from the optical axis of the second light source 112 along the second direction (such as Figure 5 [[ID=J11]]the Y direction shown).

[0059] Among them, the optical part that collimates the second light source 112 can be the above - mentioned second collimation lens 122 or the optical part of the integrated collimation optical component 12 used to collimate the second light source 112. As Figure 8 shown, the solid - line lens is the optical path schematic diagram when the second collimation lens 122 does not shift. It can be seen that the solid - line optical path in the figure exits along the optical axis of the second light source 112; Figure 8 In the figure, the dashed - line lens is the lens after being placed deviating. The second collimation lens 122 deviates from the optical axis of the second light source 112 along the second direction, so that the horizontal spot 601 finally projected onto the target object forms an angle equal to the target angle with the ground plane, thus matching the inclination angle of the installation angle of the ranging device, and making the vertical spot and the horizontal spot in the "艹" - shaped pattern perpendicular to each other, as Figure 6 shown.

[0060] Scheme 2: The second exit surface 1220 of the collimation optical component 12 that emits the second collimated beam is configured as a first free - form surface.

[0061] [[ID=2J6]]As Figure 9 shown, the solid - line lens is the optical path schematic diagram when the second exit surface 1220 is not specially designed. It can be seen that the solid - line optical path in the figure exits along the optical axis of the second light source 112; Figure 9In this case, the second exit surface 1220 is configured as an aspherical surface such as a freeform surface. According to the dotted light path, it can be seen that the light path has shifted, so that the horizontal light spot 601 finally projected onto the target forms an angle equal to the target angle with the ground plane, thereby matching the inclination angle of the ranging device installation angle, and keeping the vertical light spot and the horizontal light spot in the "艹" - shaped pattern perpendicular, as Figure 6 shown.

[0062] In an alternative embodiment, after determining discrete sampling points from the initial surface type equation for the first freeform surface, a continuous surface is constructed based on these discrete sampling points; The initial surface type equation includes: ; where represents the refractive index of the optical part that collimates the second light source in the collimating optical component; represents the air refractive index; represents the distance between the second light source and the first freeform surface; represents the first angle of the second collimated light beam relative to the first direction; represents the second angle of the second collimated light beam relative to the main radiation direction; represents the deflection angle by which the exit optical axis of the second light source is deflected by the collimating optical component.

[0063] Solution three, as Figure 10 shown, the second light source 112 is configured to deviate from the virtual connection line of the first light source 111 and the third light source 113 along the second direction (such as the Y direction shown in Figure 5 ).

[0064] As Figure 11 shown, the solid - line lens is a schematic diagram of the light path when the second light source 112 has not been deflected. It can be seen that the solid - line light path in the figure exits along the optical axis of the second light source 112; Figure 11 In this case, the dashed - line lens is for the second light source 112 after being placed offset. According to the dashed - line light path, it can be seen that the light path has shifted, so that the horizontal light spot 601 finally projected onto the target forms an angle equal to the target angle with the ground plane, thereby matching the inclination angle of the ranging device installation angle, and keeping the vertical light spot and the horizontal light spot in the "艹" - shaped pattern perpendicular, as Figure 6 shown.

[0065] In an alternative embodiment, the collimating optical component 12 is configured to collimate the divergent light beams emitted by the first light source 111 and the third light source 113 in the second direction (such as the Y direction shown in Figure 5 ), and in the first direction (such as the Figure 5The collimating optical assembly 12 collimates the divergent light beams emitted by the second light source 112 in the X direction. It can be understood that the collimation of the light beams of each light source is optimized to ensure that the vertical and horizontal line light spots are perpendicular, thereby improving the measurement accuracy.

[0066] In an alternative embodiment, the light beams emitted by the first light source 111 are deflected by the collimating optical assembly 12 so that the first vertical line light spot projected onto the target object is perpendicular to the horizontal line light spot; the light beams emitted by the third light source 113 are deflected by the collimating optical assembly 12 so that the second vertical line light spot projected onto the target object is perpendicular to the horizontal line light spot.

[0067] The optical part for collimating the first light source 111 can be the first collimating lens 121 or the optical part in the integrated collimating optical assembly 12 for collimating the first light source 111. The optical part for collimating the third light source 113 can be the third collimating lens 123 or the optical part in the integrated collimating optical assembly 12 for collimating the third light source 113.

[0068] It can be understood that when the distance measuring device is installed at an angle, the main radiation direction of the light source group forms a target angle with the ground plane, and the horizontal line projection light after collimation and expansion of the second light source forms a horizontal line light spot on the target object that is still parallel to the ground plane, which will cause the two vertical line light spots to be no longer perpendicular to the horizontal line light spot. In this embodiment, by adjusting the deflection angles of the first collimated light beam and the third collimated light beam, the two vertical line light spots projected onto the target object can be kept perpendicular to the horizontal line light spot even when the horizontal line light spot on the target object is parallel to the ground plane. Thus, the measurement accuracy can be maintained in different measurement scenarios.

[0069] In an alternative embodiment, as shown in Figure 4 The second exit surface 1301 of the expansion optical assembly 13 that emits the first vertical line light spot is configured to be perpendicular to the exit direction of the first collimated light beam; the third exit surface 1302 of the expansion optical assembly 13 that emits the second vertical line light spot is configured to be perpendicular to the exit direction of the third collimated light beam. It can be understood that when the light beam is perpendicular to the exit surface, the refraction and reflection deviations of the light during propagation can be minimized, and aberration caused by improper incident angle can be avoided. Aberration can distort the shape of the light spot and affect the measurement accuracy. By this perpendicular configuration, the two vertical line projection lights can be accurately formed, the two vertical line light spots of the " " pattern can be clear and accurate, and the measurement model based on the pattern can accurately calculate the distance of the target object.

[0070] In an alternative embodiment, the second exit surface 1301 is arranged with a second micro-cylindrical surface array, the cross section of the second micro-cylindrical surface array is wavy, and the second virtual plane contacting each micro-cylindrical surface in the second micro-cylindrical surface array is perpendicular to the exit direction of the first collimated light beam; the third exit surface 1302 is arranged with a third micro-cylindrical surface array, the cross section of the third micro-cylindrical surface array is wavy, and the third virtual plane contacting each micro-cylindrical surface in the third micro-cylindrical surface array is perpendicular to the exit direction of the third collimated light beam. It can be understood that each cylindrical surface can be formed by a cylindrical surface or a non-cylindrical surface, and the effect is to perform one-dimensional directional energy redistribution on the incident light source, that is, the length of the light spot irradiated by the light is longer than before the beam expansion.

[0071] In an alternative embodiment, the angle at which the exit light beam of the first light source 111 is deflected by the collimating optical assembly 12 is the same as the angle at which the exit light beam of the second light source 112 is deflected by the collimating optical assembly 12; the direction in which the exit light beam of the third light source 113 is deflected by the collimating optical assembly 12 is opposite to the direction in which the exit light beam of the second light source 112 is deflected by the collimating optical assembly 12. It can be understood that, in order to meet the best application of the subsequent measurement model, the two vertical line light spots of the “|” shape pattern are preferably symmetrically arranged about the central axis of the horizontal line light spot.

[0072] In an alternative embodiment, the exit surface of the collimating optical assembly 12 that exits the first collimated light beam is configured as a second free-form surface; the exit surface of the collimating optical assembly 12 that exits the third collimated light beam is configured as a third free-form surface.

[0073] In a second aspect, the present application also discloses a distance measuring device, which comprises a camera module, a control processor, and an integrated light source module according to any one of the first aspect. The light beam generated by the integrated light source module forms a target pattern on a target object. The camera module captures the target line pattern and transmits it to the control processor to generate environmental data.

[0074] It can be understood that the distance measuring device disclosed in the present application integrates the camera module, the control processor, and the specific integrated light source module. The integrated light source module generates a light beam to project onto a target object to form a target pattern, which is generally in the shape of “|” and includes horizontal line and vertical line light spots. The camera module is responsible for accurately capturing the target line pattern and rapidly transmitting it to the control processor. The control processor, by virtue of the built-in algorithm, combines the triangulation method and other methods to perform in-depth analysis and processing on the received image data, thereby generating accurate environmental data, target object distance information, etc. The distance measuring device is compact in structure and accurate in measurement, and can be widely applied in the fields of autonomous driving and robot navigation, thereby providing reliable distance perception support for these fields.

[0075] In a third aspect, the present application also discloses a device, which comprises a main body and a distance measuring device according to the second aspect.

[0076] In an alternative embodiment, the above device comprises a floor cleaning robot, a service robot, a warehouse robot or a logistics robot.

[0077] It can be understood that the device disclosed in the third aspect of the present application combines the main body with the ranging device of the second aspect. Taking a floor cleaning robot as an example, the ranging device can accurately perceive the distance information of the surrounding environment, and the main body plans a cleaning path according to these data to avoid colliding with obstacles. With the help of the ranging device, a service robot can interact with people more safely and perform tasks. Warehouse robots and logistics robots can efficiently complete cargo handling, storage and other work and accurately navigate in complex warehouse environments. These devices equipped with the ranging device have significantly improved performance and safety, and can better adapt to various application scenarios and meet the needs of intelligent and accurate operation of robots in different fields.

[0078] The expressions “first”, “second”, “the first” or “the second” used in various embodiments of the present disclosure can modify various components regardless of order and / or importance, but these expressions do not limit the corresponding components. The above expressions are only configured for the purpose of distinguishing elements from other elements. For example, the first user device and the second user device represent different user devices, although both are user devices. For example, without departing from the scope of the present disclosure, the first element can be referred to as the second element, and similarly, the second element can be referred to as the first element.

[0079] When an element (for example, a first element) is referred to as being “operatively or communicatively coupled” or “operatively or communicatively coupled to” or “connected to” another element (for example, a second element), it should be understood that the one element is directly connected to the other element or the one element is indirectly connected to the other element via another element (for example, a third element). In contrast, it can be understood that when an element (for example, a first element) is referred to as being “directly connected” or “directly coupled” to another element (a second element), no element (for example, a third element) is inserted between the two.

[0080] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0081] The above description is merely an optional embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0082] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0083] The above description is merely an optional embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0084] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An integrated light source module, characterized by Comprising: a light source group, including a first light source, a second light source, and a third light source with consistent main radiation directions, the main radiation directions having a target angle with the ground plane; a collimating optical assembly configured to collimate the outgoing light beams of each light source in the light source group to form a first collimated light beam, a second collimated light beam, and a third collimated light beam respectively; a beam expanding optical assembly configured to expand the second collimated light beam in a first direction to form a horizontal line projection light, the first direction being parallel to the virtual connection line of the first light source and the third light source, and to form a horizontal line spot on a target object; to expand the first collimated light beam in a second direction perpendicular to the first direction to form a first vertical line projection light and a first vertical line spot on the target object; and to expand the third collimated light beam in the second direction to form a second vertical line projection light and a second vertical line spot on the target object; the outgoing light beam of at least one light source in the light source group is deflected by the collimating optical assembly, so that the first vertical line spot and the second vertical line spot projected onto the target object are both perpendicular to the horizontal line spot.

2. The integrated light source module of claim 1, wherein: the outgoing light beam of the second light source is deflected by the collimating optical assembly, so that the horizontal line spot forms an angle with the ground plane equal to the target angle.

3. The integrated light source module of claim 2, wherein: a first exit surface of the beam expanding optical assembly, from which the horizontal line projection light exits, is configured to be perpendicular to the exit direction of the second collimated light beam.

4. The integrated light source module of claim 3, wherein: the first exit surface is arranged with a micro-cylindrical array, the cross section of the micro-cylindrical array is wavy, and the virtual planes contacting each micro-cylinder are perpendicular to the exit direction of the second collimated light beam.

5. The integrated light source module of claim 2, wherein: the integrated light source module comprises at least one of the following: an optical part of the collimating optical assembly collimating the light of the second light source is configured to deviate from the optical axis of the second light source along the second direction; an exit surface of the collimating optical assembly, from which the second collimated light beam exits, is configured to be a first free-form surface; the second light source is configured to deviate from the virtual connection line of the first light source and the third light source along the second direction.

6. The integrated light source module of claim 5, wherein: the first free-form surface is determined by an initial surface equation, discrete sampling points are determined after the initial surface equation, and a continuous surface is constructed based on the discrete sampling points; the initial surface equation comprises: ； wherein represents the refractive index of an optical part of the collimating optical assembly collimating light of the second light source; represents the refractive index of air; represents the distance between the second light source and the first freeform surface; represents a first angle of the second collimated light beam with respect to the first direction; represents a second angle of the second collimated light beam with respect to the main radiation direction; represents the deflection angle of the exit optical axis of the second light source deflected by the collimating optical assembly.

7. The integrated light source module of claim 1, wherein: the outgoing light beam of the first light source is deflected by the collimating optical assembly, so that the first vertical line spot projected onto the target object is perpendicular to the horizontal line spot; the outgoing light beam of the third light source is deflected by the collimating optical assembly, so that the second vertical line spot projected onto the target object is perpendicular to the horizontal line spot.

8. The integrated light source module of claim 7, wherein: A second exit surface of the beam expanding optical assembly, from which the second vertical line spot exits, is configured to be perpendicular to the exit direction of the first collimated light beam. A third exit surface of the beam expanding optical assembly, from which the second vertical line spot exits, is configured to be perpendicular to the exit direction of the third collimated light beam.

9. The integrated light source module of claim 8, wherein The second exit surface is arranged with a second micro-cylindrical array, a cross section of the second micro-cylindrical array is wavy, and a second virtual plane contacting each micro-cylinder of the second micro-cylindrical array is perpendicular to the exit direction of the first collimated light beam. The third exit surface is arranged with a third micro-cylindrical array, a cross section of the third micro-cylindrical array is wavy, and a third virtual plane contacting each micro-cylinder of the third micro-cylindrical array is perpendicular to the exit direction of the third collimated light beam.

10. The integrated light source module of claim 7, wherein The exit beam of the first light source is deflected by the collimating optical assembly at an angle identical to that of the exit beam of the second light source. The exit beam of the third light source is deflected by the collimating optical assembly in a direction opposite to that of the exit beam of the second light source.

11. The integrated light source module of claim 7, wherein An exit surface of the collimating optical assembly, from which the first collimated light beam exits, is configured as a second free-form surface, and an exit surface of the collimating optical assembly, from which the third collimated light beam exits, is configured as a third free-form surface.

12. The integrated light source module of any one of claims 1 to 11, wherein The collimating optical assembly comprises a first collimating lens, a second collimating lens, and a third collimating lens. The first collimating lens is configured to collimate the divergent light emitted by the first light source, and the second collimating lens is configured to collimate the divergent light emitted by the second light source. The third collimating lens is configured to collimate the divergent light emitted by the third light source. The first collimating lens, the second collimating lens, and the third collimating lens are independently arranged or integrally formed.

13. The integrated light source module of any one of claims 1 to 11, wherein The collimating optical assembly is configured to collimate the divergent light beams emitted by the first light source and the third light source in the second direction, and to collimate the divergent light beam emitted by the second light source in the first direction.

14. The integrated light source module of any one of claims 1 to 11, wherein The beam expanding optical assembly comprises a first beam expanding lens, a second beam expanding lens, and a third beam expanding lens. The first beam expanding lens is configured to expand the first collimated light beam in the second direction, the second beam expanding lens is configured to expand the second collimated light beam in the first direction, and the third beam expanding lens is configured to expand the third collimated light beam in the second direction. The first beam expanding lens, the second beam expanding lens, and the third beam expanding lens are independently arranged or integrally formed.

15. A ranging device, characterized by The integrated light source module generates a light beam to form a target pattern on the target object, and the camera module captures the target line pattern and transmits the target line pattern to the control processor to generate environment data.

16. An apparatus, comprising: The ranging device includes a main body and the ranging device of claim 15.

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