Integrated light source module, ranging device and equipment

Abstract

The application discloses an integrated light source module, a distance measuring device and equipment, wherein 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 the light beams emitted by each light source, and the beam expanding optical assembly expands the different collimated light beams in a specific direction to form a "T" shaped pattern spot on the target object. In actual distance detection, when the distance measuring device is tilted, the main radiation direction of the light source group and the ground plane form a target angle, which causes the vertical line spot and the horizontal line spot in the "T" shaped pattern to be not perpendicular, thereby affecting the measurement accuracy. The integrated light source module of the application deflects the light beams emitted by at least one light source in the light source group through the collimating optical assembly, so that the vertical line spot and the horizontal line spot remain in a perpendicular state. In this way, the measurement model established based on the perpendicular relationship can be continuously applicable, and when the distance of the target object is calculated according to the deformed pattern, the error can be effectively reduced, and the measurement accuracy can be improved.

Description

Technical Field

[0001] This application relates to the field of optical technology, and particularly to an integrated light source module, a ranging device and equipment. Background Art

[0002] In many fields such as autonomous driving, robot navigation, and industrial measurement, accurately obtaining the distance information of the target object is crucial. The line structured light ranging device has been widely used due to its advantages such as non-contact, high precision, and high efficiency.

[0003] The working principle of the line structured light ranging device is to project a specific light beam onto the target object, generally a horizontal line projection beam and two vertical line projection beams, to form a "艹" shaped pattern on the target object. The camera module captures this pattern and transmits it to the control processor. The processor generates environmental data based on the deformation of the pattern and combines algorithms such as the triangulation method to further obtain the distance of the target object.

[0004] However, in the actual distance detection scenario, the line structured light ranging device often needs to be assembled obliquely, forming a certain downward inclination angle with the ground plane. Although this assembly method can meet specific measurement requirements, it will cause the two vertical lines in the "艹" shaped pattern to no longer be perpendicular to the horizontal line. At this time, the original measurement model based on the vertical relationship is no longer applicable, and errors will occur when calculating the distance of the target object based on the deformed pattern, seriously affecting the measurement accuracy. Summary of the Invention

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

[0006] In a first aspect, this application provides an integrated light source module, which includes: a light source group, a collimating optical component, and a beam expanding optical component;

[0007] The light source group includes a first light source, a second light source, and a third light source with the same main radiation direction, and the main radiation direction has a target angle with the ground plane;

[0008] The collimating optical component is configured to collimate the emitted light beams of each light source in the light source group to respectively form a first collimated light beam, a second collimated light beam, and a third collimated light beam;

[0009] The beam expanding optical component is configured to expand the second collimated light beam in a first direction to form a horizontal projection light, forming a horizontal 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 projection light, forming a first vertical light spot on the target object; expand the third collimated light beam in the second direction to form a second vertical projection light, forming a second vertical light spot on the target object;

[0010] 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.

[0011] 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 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 assembled obliquely, 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 established 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.

[0012] 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 assembled obliquely, 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 inclination scenarios.

[0013] In an optional embodiment, the first outgoing surface of the beam expanding optical component that emits the horizontal projection light is configured to be perpendicular to the outgoing direction of the second collimated beam. It can be understood that when the light beam is incident perpendicularly to 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 spot shape 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.

[0014] In one alternative embodiment, the first emitting surface is arranged with a micro-cylindrical array, the cross-section of which is wavy, and the virtual plane contacting each micro-cylindrical surface is perpendicular to the emitting direction of the second collimated beam. It can be understood that each cylinder can be constructed using either a cylindrical or non-cylindrical surface, the effect of which is a one-dimensional energy redistribution of the incident light source, i.e., the length of the light spot is longer compared to before beam expansion.

[0015] In one alternative embodiment, the integrated light source module includes at least one of the following solutions.

[0016] In Option 1, the optical part of the collimating optical assembly that collimates the second light source is configured to deviate from the optical axis of the second light source along the second direction.

[0017] Option 2: The exit surface of the collimating optical component from which the second collimated beam is emitted is configured as a first freeform surface.

[0018] Option 3: The second light source is configured to deviate from the virtual connection between the first light source and the third light source along the second direction.

[0019] In one alternative embodiment, the first freeform surface is obtained by constructing a continuous surface based on the discrete sampling points after the initial surface shape equation determines the discrete sampling points.

[0020] The initial surface equation includes:

[0021] ;

[0022] in, The refractive index of the optical part that collimates the second light source in the collimating optical assembly; Represents the refractive index of air; This represents the distance between the second light source and the first freeform surface; This represents the first angle of the second collimated beam relative to the first direction; The second angle represents the second collimated beam relative to the main radiation direction; The deflection angle represents the angle by which the outgoing optical axis of the second light source is deflected by the collimating optical component.

[0023] In one alternative embodiment, the emitted beam of the first light source is deflected by the collimating optical component, such that the first vertical light spot projected onto the target is perpendicular to the horizontal light spot; the emitted beam of the third light source is deflected by the collimating optical component, such that the second vertical light spot projected onto the target is perpendicular to the horizontal light spot.

[0024] It can be understood that when the ranging device is assembled obliquely, the main radiation direction of the light source group forms a target angle with the ground plane. In this embodiment, by adjusting the deflection angles of the first collimated beam and the third collimated beam, even when there is an angle between the horizontal line spot on the target and the ground plane, the two vertical line spots projected onto the target can be kept perpendicular to the horizontal line spot. Thus, the measurement accuracy can be maintained in different measurement tilt scenarios.

[0025] In an alternative embodiment, the second exit surface that emits the first vertical line spot in the beam expanding optical component is configured to be perpendicular to the exit direction of the first collimated beam; the third exit surface that emits the second vertical line spot in the beam expanding optical component is configured to be perpendicular to the exit direction of the third collimated beam. It can be understood that when the light beam is perpendicularly incident 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 two vertical line projection lights can be accurately formed, ensuring that the two vertical line spots of the "艹" - shaped pattern are clear and accurate, and further enabling the measurement model based on this pattern to accurately calculate the distance of the target object.

[0026] In an alternative 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 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 beam; 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 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 beam.

[0027] 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, compared with before beam expansion, the length of the light - irradiated spot is longer.

[0028] In an alternative embodiment, the angle by which the exit beam of the first light source is deflected by the collimating optical component is the same as the angle by which the exit beam of the second light source is deflected by the collimating optical component; the direction in which the exit beam of the third light source is deflected by the collimating optical component is opposite to the direction in which the exit beam of the second light source is deflected by the collimating optical component. It can be understood that in order to meet the best applicability of the subsequent measurement model, the two vertical line spots of the "艹" - shaped pattern are preferably symmetrically arranged about the central axis of the horizontal line spot.

[0029] In an alternative embodiment, the exit surface that emits the first collimated beam in the collimating optical component is configured as a second free - form surface; the exit surface that emits the third collimated beam in the collimating optical component is configured as a third free - form surface.

[0030] In one optional embodiment, the collimating optical assembly includes a first collimating lens, a second collimating lens, and a third collimating lens; the first collimating lens is configured to collimate the diverging light emitted from the first light source; the second collimating lens is configured to collimate the diverging light emitted from the second light source; and the third collimating lens is configured to collimate the diverging light emitted from the third light source; the first collimating lens, the second collimating lens, and the third collimating lens are either independently disposed or integrally formed.

[0031] In one optional embodiment, the beam-expanding optical component includes 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 beam in the second direction, the second beam-expanding lens is configured to expand the second collimated beam in the first direction, and the third beam-expanding lens is configured to expand the third collimated beam in the second direction; the first beam-expanding lens, the second beam-expanding lens, and the third beam-expanding lens are respectively independently disposed or integrally formed.

[0032] In one alternative embodiment, the collimating optical component and the beam expanding optical component are integrally formed.

[0033] It is understandable that by using an integrated collimating lens and an integrated beam expander, or even an integrated collimating beam expander, the integration level can be maximized, the overall module size can be reduced, and the independence of the optical path can be maintained.

[0034] In one alternative embodiment, the collimating optical component is configured to collimate the diverging beams emitted from the first and third light sources in the second direction, and to collimate the diverging beam emitted from the second light source in the first direction. It is understood that specifically optimizing the collimation effect of each light source beam can ensure that the formed vertical and horizontal light spots are precisely perpendicular, thereby improving measurement accuracy.

[0035] Secondly, this application also discloses a ranging device, including a camera module, a control processor, and an integrated light source module as described in any one of the first aspects. The light beam generated by the integrated light source module forms a target pattern on the target object, and the camera module captures the target pattern and transmits it to the control processor to generate environmental data.

[0036] It can be understood that the ranging device disclosed in this 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" and includes horizontal and vertical line light spots. The camera module is responsible for accurately capturing this target pattern and quickly transmitting it to the control processor. The control processor, relying on the built-in algorithm, combines methods such as triangulation based on the pattern deformation situation 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.

[0037] In a third aspect, this application also discloses a device, including a main body and the ranging device as described in the second aspect.

[0038] In an optional embodiment, the above device includes a sweeping robot, a service robot, a warehousing robot, or a logistics robot.

[0039] It can be understood that the device disclosed in the third aspect of this application combines the main body with the ranging device described in the second aspect. Taking a sweeping robot as an example, the ranging device can accurately perceive the distance information of the surrounding environment, and the main body plans the cleaning path based on this data to avoid colliding with obstacles. With the help of the ranging device, the service robot can interact with people and perform tasks more safely. The warehousing robot and the logistics robot can use this device to efficiently complete tasks such as goods handling and storage, and accurately navigate in a complex warehouse environment. 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, meeting the requirements of different fields for intelligent and precise operation of robots.

[0040] To make the above objects, features, and advantages of this application more obvious and understandable, the following specifically gives optional embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Description of the Drawings

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of this application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0042] Figure 1 is the pattern light spot formed on the target object in an ideal state;

[0043] Figure 2 is a schematic diagram of the working state of ranging when the ranging device is inclined and assembled;

[0044] Figure 3 is the pattern light spot formed on the target object when the ranging device is inclined and assembled in the prior art;

[0045] Figure 4 is the front view of an integrated light source module provided by the present application;

[0046] Figure 5 is the top view of the light source group provided by the present application;

[0047] Figure 6 is when the ranging device is inclined and assembled, using the Figure 4 pattern light spot formed on the target object by the integrated light source module shown;

[0048] Figure 7 is Figure 4 the schematic diagram of the dotted line section of the integrated light source module shown;

[0049] Figure 8 is the schematic diagram of the optical principle corresponding to Scheme 1 in the present application;

[0050] Figure 9 is the schematic diagram of the optical principle corresponding to Scheme 2 in the present application;

[0051] Figure 10 is the top view of the light source group corresponding to Scheme 3 in the present application;

[0052] Figure 11 is the schematic diagram of the optical principle corresponding to Scheme 3 in the present application. Specific Embodiments

[0053] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0054] The line structured light ranging device generally integrates a camera module, a control processor, and an integrated light source module. The integrated light source module generates a light beam that projects onto the target object to form a "艹" - shaped target pattern, as shown in Figure 1 . The camera module is responsible for accurately capturing this target pattern and quickly transmitting it to the control processor. The control processor, relying on the built - in algorithm, based on the pattern deformation situation and combined with the triangulation method, etc., performs in - depth analysis and processing on the received image data to generate accurate environmental data, target object distance information, etc. The line structured light ranging device can be widely applied in fields such as autonomous driving and robot navigation, providing reliable distance perception support for these fields.

[0055] As Figure 2 shown, in an actual distance detection scenario, the line structured light ranging device often needs to be tilted and assembled, forming a certain inclination angle α with the ground plane. When the line structured light ranging device often needs to be tilted and assembled, the vertical line light spots and the horizontal line light spots of the "艹" shaped pattern on the target object are not perpendicular, as Figure 3 shown in a "V" shape, making the measurement model established based on the perpendicular relationship no longer applicable and affecting the measurement accuracy.

[0056] The purpose of this application is to provide an integrated light source module, a ranging device, and a device, which can improve the above problems.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 the vertical line light spots and the horizontal line light spots of the "艹" shaped pattern projected on the target object not being perpendicular.

[0061] 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 4As shown, the collimating optical assembly 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 diverging light emitted from the first light source 111 to form a first collimated beam. The second collimating lens 122 is configured to collimate the diverging light emitted from the second light source 112 to form a second collimated beam. The third collimating lens 123 is configured to collimate the diverging light emitted from the third light source 113 to form a third collimated beam.

[0062] 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.

[0063] 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 (as shown) is defined as the second direction (such as...). Figure 5 Y direction shown).

[0064] 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 light spot on the target object. (Reference) Figure 6 The second vertical line light spot 603 is shown.

[0065] 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 5Expand the beam in the X direction (as shown), and the third beam expander lens 133 is configured to expand the third collimated beam in the second direction (such as Figure 5 the Y direction shown).

[0066] In an alternative embodiment, the first beam expander lens 131, the second beam expander lens 132, and the third beam expander lens 133 are separately provided independently or integrally formed.

[0067] In an alternative embodiment, the collimating optical component 12 and the beam expanding optical component 13 are integrally formed.

[0068] 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 degree can be maximized, the volume of the entire module can be reduced, and the independence of the optical path is not affected.

[0069] 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 both the first vertical line spot and the second vertical line spot of the "艹" - shaped pattern on the target are perpendicular to the horizontal line spot.

[0070] 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 different collimated beams in specific directions 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 assembled obliquely, 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.

[0071] In an alternative 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 assembled obliquely, 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 6As shown, although the horizontal line light spot 601 in the figure has moved downwards to a certain extent, it neither affects the calculation of the distance using the line structured light principle nor destroys the uniformity of the light spot illuminance. Moreover, since the optical paths of the first light source 111 and the third light source 113 remain unchanged, an "eight" - shaped light spot will not be formed.

[0072] In an optional embodiment, as Figure 7 shown, the first exit surface 130 of the beam - expanding optical component 13 that emits the horizontal line projection light is configured to be perpendicular to the exit direction of the second collimated light beam. It can be understood that when the light 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 shape of the light spot and affect the measurement accuracy. Through this perpendicular configuration, the horizontal line projection light can be accurately formed, ensuring that the horizontal line light 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.

[0073] In an optional embodiment, the first exit surface 130 is arranged with a micro - cylindrical surface array. The cross - section of the micro - cylindrical surface array is wavy, and the virtual plane contacting each micro - cylindrical surface is perpendicular to the exit direction of the second collimated light 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, compared with before beam expansion, the length of the light spot irradiated by the light is longer.

[0074] Regarding the specific solution of "the exit light beam of the second light source 112 is deflected by the collimation optical component 12", it includes at least one of the following.

[0075] Solution 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 the Y - direction shown).

[0076] Among them, the optical part of the collimation optical component 12 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 that collimates 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 has not been offset. 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 dashed - line lens is the lens after being placed offset. The second collimation lens 122 deviates from the optical axis of the second light source 112 along the second direction, so that the horizontal line light spot 601 finally projected onto the target object forms an angle equal to the target angle with the ground plane, thereby matching the inclination angle of the installation angle of the ranging device, and making the vertical line light spot and the horizontal line light spot in the "艹" - shaped pattern perpendicular to each other, as Figure 6 shown.

[0077] In Solution 2, the second exit surface 1220 of the collimating optical component 12 that emits the second collimated light beam is configured as a first free-form surface.

[0078] As Figure 9 shown, the solid-line lens is a schematic diagram of the optical path 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 9 In, the second exit surface 1220 is configured as a free-form surface or an aspherical surface. According to the dashed-line optical path, it can be seen that the optical path has shifted, so that the horizontal line 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 installation angle of the ranging device, and keeping the vertical line spot and the horizontal line spot in the "艹" - shaped pattern perpendicular, as Figure 6 shown.

[0079] In an optional embodiment, the first free-form surface is obtained by constructing a continuous surface based on discrete sampling points determined from an initial surface equation;

[0080] The initial surface equation includes:

[0081] ;

[0082] where represents the refractive index of the optical part that collimates the second light source in the collimating optical component; 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 by which the exit optical axis of the second light source is deflected by the collimating optical component.

[0083] In Solution 3, 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 ).

[0084] As Figure 11 shown, the solid-line lens is a schematic diagram of the optical path when the second light source 112 is not shifted. 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 11 In, the dashed-line lens is the second light source 112 after being placed deviatingly. According to the dashed-line optical path, it can be seen that the optical path has shifted, so that the horizontal line 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 installation angle of the ranging device, and keeping the vertical line spot and the horizontal line spot in the "艹" - shaped pattern perpendicular, as Figure 6as shown

[0085] 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 a second direction (such as the Figure 5 Y direction as shown), and collimate the divergent light beam emitted by the second light source 112 in a first direction (such as the Figure 5 X direction as shown). It can be understood that by optimizing the collimation effect of each light source beam specifically, it can ensure that the formed vertical line and horizontal line light spots are precisely perpendicular, improving the measurement accuracy.

[0086] In an alternative embodiment, the emitted light beam of the first light source 111 is deflected by the collimating optical component 12 such that the first vertical line light spot projected onto the target is perpendicular to the horizontal line light spot; the emitted light beam of the third light source 113 is deflected by the collimating optical component 12 such that the second vertical line light spot projected onto the target is perpendicular to the horizontal line light spot.

[0087] Among them, the optical part for collimating the first light source 111 can be the above-mentioned first collimating lens 121 or the optical part of the integrated collimating optical component 12 for collimating the first light source 111. The optical part for collimating the third light source 113 can be the above-mentioned third collimating lens 123 or the optical part of the integrated collimating optical component 12 for collimating the third light source 113.

[0088] It can be understood that when the ranging device is assembled obliquely, the main radiation direction of the light source group forms a target angle with the ground plane. The horizontal projection light of the second light source after collimation and beam expansion still forms a horizontal line light spot parallel to the ground plane on the target, which will cause the two vertical line light spots and the horizontal line light spot to no longer be perpendicular. In this embodiment, by adjusting the deflection angles of the first collimated light beam and the third collimated light beam, even when the horizontal line light spot on the target is parallel to the ground plane, the two vertical line light spots projected onto the target can still be perpendicular to the horizontal line light spot. Thus, the measurement accuracy can be maintained in different measurement tilt scenarios.

[0089] In an alternative embodiment, as Figure 4 shown, the second output surface 1301 of the beam expanding optical component 13 that outputs the first vertical line light spot is configured to be perpendicular to the output direction of the first collimated light beam; the third output surface 1302 of the beam expanding optical component 13 that outputs the second vertical line light spot is configured to be perpendicular to the output direction of the third collimated light beam. It can be understood that when the light beam is perpendicularly incident on the output surface, it can minimize the refraction and reflection deviations of the light during propagation, avoiding aberration caused by improper incident angles. Aberration will distort the light spot shape and affect the measurement accuracy. Through this perpendicular configuration, the two vertical line projection lights can be accurately formed, ensuring that the two vertical line light spots of the "艹" - shaped pattern are clear and accurate, and further enabling the measurement model based on this pattern to accurately calculate the distance of the target object.

[0090] In an alternative embodiment, a second micro-cylindrical array is arranged on the second light-emitting surface 1301. The cross-section of the second micro-cylindrical array is wavy. The second virtual plane contacting each micro-cylindrical surface in the second micro-cylindrical array is perpendicular to the emission direction of the first collimated light beam. A third micro-cylindrical array is arranged on the third light-emitting surface 1302. The cross-section of the third micro-cylindrical array is wavy. The third virtual plane contacting each micro-cylindrical surface in the third micro-cylindrical array is perpendicular to the emission 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 redistribute the energy of the incident light source in one-dimensional direction, that is, compared with before beam expansion, the length of the light spot irradiated by the light is longer.

[0091] In an alternative embodiment, the angle by which the emission beam of the first light source 111 is deflected by the collimation optical component 12 is the same as the angle by which the emission beam of the second light source 112 is deflected by the collimation optical component 12. The direction in which the emission beam of the third light source 113 is deflected by the collimation optical component 12 is opposite to the direction in which the emission beam of the second light source 112 is deflected by the collimation optical component 12. It can be understood that in order to meet the best applicability of the subsequent measurement model, the two vertical line light spots of the "艹" - shaped pattern are preferably symmetrically arranged with respect to the central axis of the horizontal line light spot.

[0092] In an alternative embodiment, the light-emitting surface that emits the first collimated light beam in the collimation optical component 12 is configured as a second free-form surface. The light-emitting surface that emits the third collimated light beam in the collimation optical component 12 is configured as a third free-form surface.

[0093] In a second aspect, the present application also discloses a ranging device, including 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 the target object. The camera module captures the target pattern and transmits it to the control processor to generate environmental data.

[0094] 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. This target pattern is generally in the shape of "艹", including horizontal and vertical line light spots. The camera module is responsible for accurately capturing this target pattern and quickly transmitting it to the control processor. The control processor, relying on built-in algorithms, 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 used in fields such as autonomous driving and robot navigation, providing reliable distance perception support for these fields.

[0095] In a third aspect, the present application also discloses a device, including a main body and the ranging device according to the second aspect.

[0096] In one alternative embodiment, the device includes a sweeping robot, a service robot, a warehouse robot, or a logistics robot.

[0097] It is understood that the device disclosed in the third aspect of this application combines the main body with the ranging device of the second aspect. Taking a robotic vacuum cleaner as an example, the ranging device can accurately perceive the distance information of the surrounding environment, and the main body plans the cleaning path based on this data to avoid collisions with obstacles. Service robots, with the help of the ranging device, can interact with humans and perform tasks more safely. Warehouse robots and logistics robots, using this device, can efficiently complete tasks such as goods handling and storage, and navigate accurately in complex warehouse environments. After these devices are equipped with this ranging device, their performance and safety are significantly improved, enabling them to better adapt to various application scenarios and meet the needs of different fields for intelligent and precise robot operation.

[0098] The terms "first," "second," "first," or "second" as used in the various embodiments of this disclosure may modify various components regardless of their order and / or importance, but these terms do not limit the corresponding components. The above terms are configured only for the purpose of distinguishing an element from other elements. For example, "first user equipment" and "second user equipment" refer to different user equipments, although both are user equipment. For example, without departing from the scope of this disclosure, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0099] When a component (e.g., a first component) is referred to as being "(operably or communicatively) coupled" or "(operably or communicatively) coupled to" or "connected to" another component (e.g., a second component), it should be understood that the first component is directly connected to the second component or that the first component is indirectly connected to the second component via yet another component (e.g., a third component). Conversely, it can be understood that when a component (e.g., a first component) is referred to as being "directly connected" or "directly coupled" to another component (the second component), no component (e.g., a third component) is inserted between the two.

[0100] 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.

[0101] 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.

[0102] 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).”

[0103] 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.

[0104] 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 in that, include: The light source group includes a first light source, a second light source, and a third light source with the same main radiation direction, wherein the main radiation direction has a target angle with the ground plane; The collimating optical assembly is configured to collimate the emitted beams of each light source in the light source group, forming a first collimated beam, a second collimated beam, and a third collimated beam, respectively. A beam-expanding optical component is configured to expand the second collimated beam in a first direction to form a horizontal projection beam, thereby forming a horizontal light spot on the target object, wherein the first direction is parallel to a virtual line connecting the first light source and the third light source; expand the first collimated beam in a second direction perpendicular to the first direction to form a first vertical projection beam, thereby forming a first vertical light spot on the target object; and expand the third collimated beam in the second direction to form a second vertical projection beam, thereby forming a second vertical light spot on the target object. The emitted beam from the second light source in the light source group is deflected by the collimating optical component, so that the first vertical light spot and the second vertical light spot projected onto the target are both perpendicular to the horizontal light spot; The emitted beam from the second light source is deflected by the collimating optical component, causing the horizontal light spot to form an angle with the ground plane that is equal to the angle with the target. The integrated light source module includes: The exit surface from which the second collimated beam emerges in the collimating optical assembly is configured as a first freeform surface; The first freeform surface is obtained by constructing a continuous surface based on the discrete sampling points determined by the initial surface shape equation. The initial surface equation includes: ； in, The refractive index of the optical part that collimates the second light source in the collimating optical assembly; Represents the refractive index of air; This represents the distance between the second light source and the first freeform surface; This represents the first angle of the second collimated beam relative to the first direction; The second angle represents the second collimated beam relative to the main radiation direction; The deflection angle represents the angle by which the outgoing optical axis of the second light source is deflected by the collimating optical component.

2. The integrated light source module according to claim 1, characterized in that, The first exit surface of the beam-expanding optical assembly that emits the transverse projection light is configured to be perpendicular to the exit direction of the second collimated beam.

3. The integrated light source module according to claim 2, characterized in that, The first exit surface is arranged with a micro-cylindrical array, the cross-section of which is wavy, and the virtual plane that contacts each micro-cylindrical surface is perpendicular to the exit direction of the second collimated beam.

4. The integrated light source module according to any one of claims 1 to 3, characterized in that, The collimating optical assembly includes a first collimating lens, a second collimating lens, and a third collimating lens; The first collimating lens is configured to collimate the diverging light emitted from the first light source; the second collimating lens is configured to collimate the diverging light emitted from the second light source. The third collimating lens is configured to collimate the diverging light emitted from the third light source; The first collimating lens, the second collimating lens, and the third collimating lens are either independently configured or integrally formed.

5. The integrated light source module according to any one of claims 1 to 3, characterized in that, The collimating optical component is configured to collimate the diverging beams emitted from the first light source and the third light source in the second direction, and to collimate the diverging beam emitted from the second light source in the first direction.

6. The integrated light source module according to any one of claims 1 to 3, characterized in that, The beam-expanding optical assembly includes a first beam-expanding lens, a second beam-expanding lens, and a third beam-expanding lens; The first beam expander is configured to expand the first collimated beam in the second direction, the second beam expander is configured to expand the second collimated beam in the first direction, and the third beam expander is configured to expand the third collimated beam in the second direction. The first beam expander lens, the second beam expander lens, and the third beam expander lens are either independently configured or integrally formed.

7. A ranging device, characterized in that, The system includes a camera module, a control processor, and an integrated light source module as described in any one of claims 1-6. The light beam generated by the integrated light source module forms a target pattern on the target object, and the camera module captures the target pattern and transmits it to the control processor to generate environmental data.

8. A device, characterized in that, It includes the main body and the ranging device as described in claim 7.

Images