Distance measuring module and cleaning equipment

Abstract

The embodiment of the utility model discloses a distance measuring module and cleaning equipment, the distance measuring module comprises a light emitting part, a light adjusting part and a light receiving part, the light adjusting part is used for adjusting initial light emitted by the light emitting part, so that test light emitted by the light adjusting part comprises at least two detection areas with different light powers; wherein the light adjusting part at least covers partial area of the light emitting part. The part with relatively high optical power in the test light can be used for navigation application, and the relatively high optical power can ensure the requirement on distance measurement in the navigation application; and the part with lower optical power is used for obstacle avoidance application, and the problem of multi-path effect introduced by the surface projection laser light source can be effectively reduced due to the lower optical power. According to the distance measuring module provided by the embodiment of the invention, the distance measuring capability of the distance measuring module can be ensured only by carrying one light adjusting part on one light emitting part, and the multi-path effect can be effectively weakened.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of navigation and obstacle avoidance technology, and in particular, to a distance measurement module and a cleaning device. Background Art

[0002] With the advancement of technology, mobile robots such as AGV robots, service robots, cleaning robots, etc. have been widely used in industrial sites, commercial places, and residential homes. Most of the current autonomous mobile robot navigation solutions use 3dTof solutions for ranging and obstacle avoidance. However, traditional 3dTof solutions have problems such as weak ranging capabilities and multipath effects, which greatly affect the use of 3dTof navigation and obstacle avoidance solutions in complex scenarios. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art or related technology.

[0004] To this end, a first aspect of the present utility model provides a distance measurement module.

[0005] A second aspect of the utility model provides a cleaning device.

[0006] In view of this, according to a first aspect of an embodiment of the present application, a ranging module is proposed, including:

[0007] A light emitting part, a light regulating part and a light receiving part, wherein the light emitting part is used to emit a test light, and the light receiving part is used to receive the test light after being reflected and / or scattered by the object to be tested;

[0008] The emission direction of the light emitting unit is toward the light adjusting unit, and the light adjusting unit is used to adjust the initial light emitted by the light emitting unit so that the test light emitted by the light adjusting unit includes at least two detection areas with different optical powers;

[0009] Wherein, the light adjustment part at least covers a partial area of ​​the light emitting part.

[0010] In a feasible implementation manner, the light emitting unit includes: a surface-projecting laser light source, so that the test light is a surface array light.

[0011] In a feasible implementation, the light adjustment unit includes: at least one of a light source shaping mirror, a diffusion sheet, and a lens group formed by a combination of a plurality of lenses.

[0012] In a feasible implementation manner, the light receiving unit includes: a lens and an area array receiving sensor, and the test light reflected and / or scattered by the object to be tested passes through the lens and then is received by the area array receiving sensor.

[0013] In a feasible implementation manner, the ranging module further includes:

[0014] A fixed plate, on which the area array receiving sensor and the surface projection laser light source are arranged;

[0015] A mounting seat is connected to the fixing plate, the lens is arranged on the mounting seat, and the lens and the light source shaping mirror are arranged on the mounting seat.

[0016] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

[0017] In a feasible implementation manner, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light;

[0018] In the second preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the output field angle of the test light.

[0019] According to a second aspect of an embodiment of the present application, a cleaning device is provided, comprising:

[0020] Cleaning equipment body;

[0021] A ranging module as described in any of the above technical solutions.

[0022] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

[0023] In a feasible implementation manner, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light;

[0024] In the second preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the output field angle of the test light.

[0025] Compared with the prior art, the present invention has at least the following beneficial effects:

[0026] The ranging module provided by the embodiment of the present application includes a light emitting unit, a light regulating unit and a light receiving unit. The light regulating unit is used to regulate the initial light emitted by the light emitting unit so that the test light emitted by the light regulating unit includes at least two detection areas with different optical powers. Based on this, during use, the light emitting unit emits initial light, and the initial light is regulated by the light regulating unit to form a test light including at least two detection areas with different optical powers. Then the test light is projected onto the object to be measured, and the test light is received by the light receiving unit after being reflected or scattered by the object to be measured. After photoelectric conversion, the depth, intensity and other information of the target are output to determine the position and distance of the obstacle. The test light emitted by the light regulating unit of the ranging module provided by the embodiment of the present application includes at least two detection areas with different optical powers. Based on this, the part with stronger optical power in the test light can be used for navigation applications, and the stronger optical power can ensure the requirements for ranging in navigation applications; the part with lower optical power is used for obstacle avoidance applications, and the lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The ranging module provided by the embodiment of the present application only needs one light emitting unit equipped with one light adjusting unit to ensure the ranging capability of the ranging module, and can effectively reduce the multipath effect, which is beneficial to the development of the 3dTof navigation solution, especially the use of the 3dTof navigation solution in complex scenes. The light adjusting unit covers at least part of the light emitting unit, and such a setting clarifies the positional relationship between the light adjusting unit and the light emitting unit, making it easier to adjust the light emitted by the light emitting unit through the light adjusting unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0028] Figure 1 This is a light power distribution diagram of a surface-projected laser light source that has not been adjusted by a light adjustment unit in conventional technology;

[0029] Figure 2 An optical power distribution diagram of the test light after adjustment by the optical adjustment unit of the distance measurement module according to an embodiment of the present application;

[0030] Figure 3 A schematic structural diagram of a distance measurement module according to an embodiment of the present application;

[0031] Figure 4 A schematic structural diagram of a cleaning device according to an embodiment of the present application;

[0032] Figure 5A schematic flowchart of a control method for a cleaning device according to an embodiment of the present application;

[0033] Figure 6 A block diagram of a computer-readable storage medium according to an embodiment of the present application;

[0034] Figure 7 A structural block diagram of an electronic device according to an embodiment of the present application.

[0035] in, Figure 3 and Figure 4 The corresponding relationship between the reference numerals and the component names is as follows:

[0036] 100 Distance Measurement Module

[0037] 110 light emitting unit, 120 light adjusting unit, 130 light receiving unit, 140 fixing plate, 150 mounting seat, 210 cleaning device body;

[0038] 131 lens, 132 array receiving sensor. DETAILED DESCRIPTION

[0039] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0040] like Figure 3 As shown, according to the first aspect of an embodiment of the present application, a ranging module 100 is proposed, comprising: a light emitting unit 110, a light adjusting unit 120 and a light receiving unit 130, wherein the light emitting unit 110 is used to emit test light, and the light receiving unit 130 is used to receive the test light after being reflected and / or scattered by the object to be measured; wherein, the emission direction of the light emitting unit 110 is toward the light adjusting unit 120, and the light adjusting unit 120 is used to adjust the initial light emitted by the light emitting unit 110, so that the test light emitted by the light adjusting unit 120 includes at least two detection areas with different optical powers; wherein, the light adjusting unit 120 at least covers a partial area of ​​the light emitting unit 110.

[0041] The ranging module 100 provided in the embodiment of the present application includes a light emitting unit 110, a light adjusting unit 120 and a light receiving unit 130. The light adjusting unit 120 is used to adjust the initial light emitted by the light emitting unit 110 so that the test light emitted by the light adjusting unit 120 includes at least two detection areas with different optical powers. Based on this, during use, the light emitting unit 110 emits initial light, and the initial light is adjusted by the light adjusting unit 120 to form a test light including at least two detection areas with different optical powers. The test light is then projected onto the object to be measured. After being reflected or scattered by the object to be measured, the test light is received by the light receiving unit 130. After photoelectric conversion, the depth, intensity and other information of the target are output to determine the position and distance of the obstacle. The test light emitted by the optical adjustment unit 120 of the ranging module 100 provided by the embodiment of the present application includes at least two detection areas with different optical powers. Based on this, the part with stronger optical power in the test light can be used for navigation applications, and the stronger optical power can ensure the requirements for ranging in navigation applications; the part with lower optical power is used for obstacle avoidance applications, and the lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The ranging module 100 provided by the embodiment of the present application only needs one light emitting unit 110 equipped with one optical adjustment unit 120 to ensure the ranging capability of the ranging module 100, and can effectively reduce the multipath effect, which is conducive to the development of 3dTof navigation solutions, especially the use of 3dTof navigation solutions in complex scenes.

[0042] The light adjustment unit 120 at least covers a partial area of ​​the light emitting unit 110 . Such a configuration clarifies the positional relationship between the light adjustment unit 120 and the light emitting unit 110 , making it easier to adjust the light emitted by the light emitting unit 110 through the light adjustment unit 120 .

[0043] It is understandable that along the direction of the light emitted by the light emitting part 110 , the light adjusting part 120 will form a projection on the light emitting part 110 , that is, the light adjusting part 120 at least covers a partial area of ​​the light emitting part 110 .

[0044] The embodiments of the present application take into account that the current autonomous mobile robot navigation scheme generally adopts the lds navigation scheme or the 3dTof navigation scheme; the autonomous mobile robot obstacle avoidance scheme generally adopts the binocular vision obstacle avoidance scheme, the 3dTof obstacle avoidance scheme or the line laser obstacle avoidance scheme. Among them, the 3dTof scheme can be used as both the navigation scheme and the obstacle avoidance scheme of the autonomous mobile robot, integrating the navigation and obstacle avoidance functions, reducing the types of sensors and the occupied space, and can also be integrated with the camera to realize advanced functions such as three-dimensional reconstruction. Therefore, the 3dTof scheme has gradually become the preferred navigation and obstacle avoidance scheme for consumer mobile robots such as cleaning robots. However, in actual applications, the 3dTof navigation and obstacle avoidance scheme has problems such as weak ranging capability, insufficient resolution and MPI, resulting in its navigation effect not as good as the lds scheme, and its obstacle avoidance effect is not as good as the line laser obstacle avoidance scheme. The lack of performance has greatly affected the use of the 3dTof navigation and obstacle avoidance scheme in complex scenes. The ranging module 100 provided in the embodiment of the present application can use the part with stronger optical power in the test light for navigation applications. The stronger optical power can ensure the ranging requirements in the navigation application; the part with lower optical power is used for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source, thereby enhancing the performance of the 3dTof navigation obstacle avoidance solution and facilitating the application of the 3dTof navigation obstacle avoidance solution.

[0045] The embodiments of the present application take into account that in the current technology, some traditional 3dTof modules use a planar array tofsensor and a scattered point projection laser light source. The planar array tofsensor serves as a receiving sensor of the 3dTof module, receives the laser energy emitted by the laser light source and reflected back by the object to be measured, and converts it into an electrical signal; the scattered point projection laser light source is composed of a VCSEL and its matching collimating lens and DOE. The light-emitting units on the VCSEL emit light at the same time to form a light spot array. After the light spot array is collimated, it is replicated by the DOE to form a laser scattered point array with N (such as N = 3 or 9) times the number of light spots. The laser scattered point array is irradiated onto the object to be measured, and the reflected light energy is received by the planar array tofsensor to complete the ranging. DOE can effectively increase the number of laser scattered points projected by the VCSEL light source and the utilization efficiency of light energy, thereby improving the resolution and ranging capability of the 3dTof module. The above-mentioned VCSEL can also be an addressable VCSEL, that is, the light-emitting units on the VCSEL can emit light in groups in time to form a time-sharing light spot array. The time-sharing light spot array is collimated and replicated by DOE to form a time-sharing laser scattered point array with N (such as N=3 or 9) times the number of spots. The first disadvantage of this technology is that the scattered point projection laser light source requires DOE to replicate the light spot to increase the number of laser scattered points. DOE is an optical diffraction device with high cost. The DOE with a large field of view also has a greater impact on the quality of the light spot. The second disadvantage of this technology is that the 3dTof module based on the scattered point projection laser light source has a complex optical system and high design cost. In the production process, the 3dTof module also needs to be calibrated for speckle by unit, which has a high production cost. The third disadvantage of this technology is that considering the cost limit, the number of light-emitting units on the VCSEL is generally less than 100. Even after DOE replication, the number of laser scattered points is usually only hundreds or thousands, resulting in a very low effective angular resolution of the 3dTof module and a significant lack of detail detection capability. Compared with this solution, the ranging module 100 provided in the embodiment of the present application only needs to set up a light emitting unit 110 equipped with a light adjustment unit 120 to ensure the ranging capability of the ranging module 100, and can effectively reduce the multipath effect, greatly reduce the module cost, and the optical system design is relatively simple. There is no need to individually adjust the light source during the production process, and the production cost is low.

[0046] The embodiments of the present application take into account that in the current technology, some traditional 3dTof modules use a planar array tofsensor and a planar projection laser light source. The planar array tofsensor serves as a receiving sensor of the 3dTof module, receives the laser energy emitted by the laser light source and reflected back by the object to be measured, and converts it into an electrical signal; the planar projection laser light source is composed of a VCSEL and its matching diffuser. The light-emitting units on the VCSEL emit light at the same time, and diffuse into a planar projection laser light source after passing through the diffuser. The planar projection laser light source irradiates the object to be measured, and the reflected light energy is received by the planar array tofsensor to complete the ranging. The field of view of the planar array tofsensor is the same or similar to that of the planar array tofsensor, and the optical power distribution within the field of view of the planar projection laser light source approximately conforms to the Gaussian curve in the vertical direction, and basically conforms to the bathtub curve in the horizontal direction. The disadvantage of this technology is that 1. In the application of cleaning robots, the 3dTof module is close to the ground, generally about 5 cm, which causes part of the vertical light of the surface light source of the 3dTof module to be emitted to the ground at a short distance, resulting in excessive light power at a short distance, causing serious MPI problems of the 3dTof module, affecting the obstacle avoidance performance of the 3dTof module; the disadvantage of this technology is that the vertical angle of the surface light source required for the navigation of the cleaning robot is not the position where the vertical light power of the surface light source is the strongest, and the effective utilization rate of the light power is low, resulting in a short navigation distance of the 3dTof module. When the ranging module 100 provided in the embodiment of the present application is applied to the cleaning equipment, the part with stronger light power in the test light can be used for navigation applications, and the stronger light power can ensure the requirements for ranging in the navigation application; the part with lower light power is used for obstacle avoidance applications, and the lower light power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source.

[0047] The embodiments of the present application take into account that in the current technology, some traditional 3dTof modules use a planar array tofsensor, and the light source part uses a planar projection laser light source and a scattered point projection laser light source in a time-sharing manner. The planar array tofsensor serves as a receiving sensor of the 3dTof module, receives the laser energy emitted by the laser light source and reflected back by the target, and converts it into an electrical signal; the scattered point projection laser light source is composed of a VCSEL and its matching collimating lens and DOE. The light-emitting units on the VCSEL emit light at the same time to form a light spot array, which is collimated and replicated by the DOE to form a laser scattered point array with N (such as N = 3 or 9) times the number of light spots. The laser scattered point array is irradiated onto the object to be measured, and the reflected light energy is received by the planar array tofsensor to complete the ranging. DOE can effectively increase the number of laser scattered points projected by the VCSEL light source and improve the resolution of the 3dTof module. The above-mentioned VCSEL can also be an addressable VCSEL, that is, the light-emitting units on the VCSEL can emit light in groups in time to form a time-sharing light spot array. The time-sharing light spot array is collimated and replicated by DOE to form a time-sharing laser scattered point array with N (such as N=3 or 9) times the number of light spots. The surface projection laser light source is composed of a VCSEL and its matching diffuser. The light-emitting units on the VCSEL emit light at the same time and diffuse into a surface projection laser light source after passing through the diffuser. The surface projection laser light source is irradiated onto the object to be measured, and the reflected light energy is received by the surface array tofsensor to complete the distance measurement. The field of view angle of the surface projection laser light source is the same or similar to that of the surface array tofsensor, and the light power distribution within the field of view angle of the surface projection laser light source approximately conforms to the Gaussian curve in the vertical direction and basically conforms to the bathtub curve in the horizontal direction. The MPI problem introduced by the scattered point projection laser light source is relatively weak, and the optical power can be effectively utilized. It is used for the navigation application of the 3dTof module. The surface projection laser light source can effectively improve the resolution of the 3dTof module and is used for the obstacle avoidance application of the 3dTof module. The surface projection laser light source and the scattered point projection laser light source work in time-sharing to realize the navigation and obstacle avoidance functions of the 3dTof module respectively. The disadvantage 1 of this technology is that the scattered point projection laser light source requires DOE to replicate the spot to increase the number of laser scattered points. DOE is an optical diffraction device with high cost. The DOE with a large field of view also has a greater impact on the spot quality; the disadvantage 2 of this technology is that the 3dTof module based on the scattered point projection laser light source has a complex optical system and a high design cost; in the production process, the 3dTof module also needs to be calibrated for speckle one by one, and the production cost is high; the disadvantage 3 of this technology is that the 3dTof module based on the above light source solution requires a scattered point projection laser light source and a surface projection laser light source. The increase in the number of light sources leads to a significant increase in module costs.Compared with this solution, the ranging module 100 provided in the embodiment of the present application only needs to set up a light emitting unit 110 equipped with a light adjustment unit 120 to ensure the ranging capability of the ranging module 100, and can effectively reduce the multipath effect, greatly reduce the module cost, and the optical system design is relatively simple. There is no need to individually adjust the light source during the production process, and the production cost is low.

[0048] It is understandable that during the propagation of optical signals, they are reflected by some objects, changing the propagation direction, amplitude, polarization, and phase of the signals. When these changed signals reach the receiving end, they are superimposed with the signals that reach the receiving end through a straight path. This is called the multipath effect.

[0049] In a feasible implementation manner, the light emitting unit 110 includes: a surface-projecting laser light source, so that the test light is a surface array light.

[0050] In this technical solution, the structural composition of the light emitting unit 110 is further provided. The light emitting unit 110 includes a surface projection laser light source. The initial light emitted by this emitting unit is a surface array light, and the light adjusted by the light adjustment unit 120 is also a surface array light. Such an arrangement can improve the ranging accuracy and efficiency.

[0051] In some examples, the surface projection laser light source includes but is not limited to VCSEL, EEL, etc., and the wavelength is but is not limited to 808nm, 850nm, 905nm, 940nm.

[0052] In a feasible implementation manner, the light adjustment unit 120 includes: at least one of a light source shaping mirror, a diffusion sheet, and a lens group formed by combining a plurality of lenses.

[0053] In this technical solution, a style of the light adjustment part 120 is further provided, and the light adjustment part 120 may include one or more of a light source shaping mirror, a diffusion sheet, and a lens group formed by combining a plurality of lenses.

[0054] In the case where the light adjustment unit 120 includes a light source shaping mirror, the light source shaping mirror may include chemical particles or different mirror structures to form scattering particles or scattering cross-sections. After the initial light passes through the light source shaping mirror, the light source shaping mirror may adjust the initial light so that the test light emitted through the light adjustment unit 120 includes at least two detection areas with different optical powers.

[0055] When the light adjustment unit 120 includes a diffuser, the diffuser may include, from bottom to top, usually an antistatic coating layer, a PET substrate, and a diffusion layer. By regulating the distribution of scattering particles in the diffusion layer, when light passes through the diffusion layer, it will continuously pass through two media with different refractive indices. At the same time, many refraction, reflection and scattering phenomena will occur in the light line. In this way, the arrangement of the light power after passing through the diffuser can be adjusted so that the test light emitted by the light adjustment unit 120 includes at least two detection areas with different light powers.

[0056] The light adjustment unit 120 may also include one or more lens groups formed by a combination of multiple lenses. Such a configuration makes it easier to adjust the optical power of the test light after passing through the lens group.

[0057] In some examples, the material of the light adjustment unit 120 includes but is not limited to glass, PC, PMMA, etc.

[0058] like Figure 1 As shown, the horizontal axis is the angle and the vertical axis is the optical power. Figure 1 This is a light power distribution diagram of a surface projection laser light source in conventional technology that has not been adjusted by the light adjustment unit 120. The bathtub-shaped curve at the top of the diagram represents the horizontal light power distribution, and the approximate Gaussian curve at the bottom represents the vertical light power distribution. The horizontal and vertical light powers of this surface projection laser light source are basically distributed symmetrically along the vertical axis.

[0059] like Figure 2 As shown, the horizontal axis is the angle and the vertical axis is the optical power. Figure 2 This is an optical power distribution diagram of the test light after adjustment by the optical adjustment unit 120 in the embodiment of the present application. The lower curve in the figure represents the optical power distribution in the vertical direction, and the upper curve represents the optical power distribution in the horizontal direction. The optical power in the horizontal direction is basically symmetrically distributed along the vertical axis, while the optical power distribution in the vertical direction is obviously asymmetric, that is, the optical power is concentrated on one side in the vertical direction and has only one peak value. Based on this, the test light emitted by the optical adjustment unit 120 can include at least two detection areas with different optical powers.

[0060] In a feasible implementation manner, the light receiving unit 130 includes a lens 131 and an area array receiving sensor 132 . The test light reflected and / or scattered by the object to be tested passes through the lens 131 and is then received by the area array receiving sensor 132 .

[0061] In this technical solution, a structural composition of a light receiving unit 130 is further provided. The light receiving unit 130 includes a lens 131 and an array receiving sensor 132. The lens 131 can be set to converge the test light after being reflected and / or scattered by the object to be tested. The converged light is projected onto the array receiving sensor 132, and after photoelectric conversion, the depth, intensity and other information of the target are output.

[0062] In some examples, the area array receiving sensor 132 may include an itof sensor and a dtof sensor, the lens 131 may be a single lens or a lens group composed of multiple lenses, and the lens material includes but is not limited to glass, PC, and PMMA, etc. It can be understood that a filter may be added to the optical receiving lens 131.

[0063] In a feasible implementation, the ranging module 100 also includes: a fixing plate 140, on which the area array receiving sensor 132 and the surface projection laser light source are arranged; a mounting base 150, which is connected to the fixing plate 140, on which the lens 131 is arranged, and on which the lens 131 and the light adjustment unit 120 are arranged.

[0064] In this technical solution, the ranging module 100 may further include a fixing plate 140 and a mounting seat 150. The setting of the fixing plate 140 provides a mounting position for the area array receiving sensor 132 and the surface projection laser light source. The area array receiving sensor 132 and the surface projection laser light source are arranged on the fixing plate 140 at intervals, and the mounting seat 150 is further connected to the fixing plate 140. The fixing plate 140 provides a mounting position for the lens 131 and the light adjustment unit 120, which facilitates the formation of the optical path and makes the structure of the ranging module 100 more compact.

[0065] In some examples, the fixing plate 140 may be a PCB board, and the PCB may be a FR4 board, or a ceramic substrate, or an FPC, etc.

[0066] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light.

[0067] In this technical solution, an arrangement method of optical power is further provided. Within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light. That is to say, within the first preset output field angle interval, the shorter the projection distance of the test light, the stronger the optical power; the longer the projection distance of the test light, the stronger the optical power. Based on this, the test light with stronger optical power can be projected to a farther distance, while the weaker test light can be projected to a closer distance. The part with stronger optical power in the test light is then used for navigation applications. The stronger optical power can ensure the distance measurement requirements in navigation applications; the part with lower optical power is used for obstacle avoidance applications. On the one hand, it can ensure the distance measurement accuracy and timeliness; on the other hand, it can greatly reduce the impact of multipath effects on obstacle avoidance.

[0068] It can be understood that within the second preset output field of view angle range, the optical power of the test light emitted by the light adjustment unit 120 can be negatively correlated with the projection distance of the test light, and the second preset output field of view angle range does not overlap with the first preset output field of view angle range. Based on this, the maximum value of the optical power can be concentrated within a certain output field of view angle. Such a setting can ensure the ranging capability of the ranging module and effectively reduce the multipath effect.

[0069] Understandably, Figure 4 The marks of 0°, 20°, 21°, 31° and 40° are the exit field of view angles. In this example, the value of the first preset exit field of view angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset exit field of view angle interval is greater than 31°.

[0070] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the output field angle of the test light. Within a second preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the output field angle of the test light.

[0071] In this technical solution, an arrangement of optical power is further provided. In the first preset emission field angle interval, the optical power of the test light emitted by the optical adjustment unit 120 is positively correlated with the test light emission field angle. That is, in the first preset emission field angle interval, the larger the emission field angle of the test light emitted by the optical adjustment unit 120, the stronger the optical power; the smaller the emission field angle of the test light emitted by the optical adjustment unit 120, the weaker the optical power. Such a setting fully takes into account the use scenario of the ranging module 100. The ranging module 100 usually needs to be mounted on a movable device, and the test light with a smaller emission field angle is usually projected on the ground, forming a ground, and the test light with a smaller emission field angle is usually projected in front of the moving direction of the mobile device. Based on this, the part with stronger optical power in the test light is used for navigation applications. The stronger optical power can ensure the distance measurement requirements in navigation applications; the part with lower optical power is used for obstacle avoidance applications; on the one hand, it can ensure the accuracy and timeliness of long-distance distance measurement in front of the mobile device; on the other hand, it can greatly improve the obstacle avoidance capability of the mobile device in the near distance and reduce the impact of multipath effect on obstacle avoidance. In the second preset exit field of view angle interval, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the test light exit field of view angle. The second preset exit field of view angle interval does not overlap with the first preset exit field of view angle interval. Based on this, the maximum value of the optical power can be enriched in a certain exit field of view angle. Such a setting can ensure the distance measurement capability of the distance measurement module and effectively reduce the multipath effect.

[0072] Understandably, Figure 4 The marks of 0°, 20°, 21°, 31° and 40° are the exit field of view angles. In this example, the value of the first preset exit field of view angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset exit field of view angle interval is greater than 31°.

[0073] like Figure 3As shown, in some examples, the distance measurement module 100 is composed of a planar array receiving sensor 132 (sensor), a lens 131, a light source, a light adjustment unit 120 and a fixing plate 140. The planar array receiving sensor 132 is welded or die-bonded on the fixing plate 140, and the lens 131 matched with the planar array receiving sensor 132 is placed in front of the planar array receiving sensor 132 through a mounting seat 150, which is used to collect laser echo signals and converge them to the surface of the planar array receiving sensor 132. The light source of the light emitting unit 110 is a laser light source, which is welded or die-bonded on the fixing plate 140, and the light adjustment unit 120 matched with it is placed in front of the laser light source through a mounting seat 150. The laser light emitted by the laser light source is shaped by the light adjustment unit 120 to form a planar light source. The light echo energy generated by the planar light source after irradiating the measured object is gathered by the lens 131 and received by the planar array receiving sensor 132. The planar array receiving sensor 132 outputs information such as the depth and intensity of the target after photoelectric conversion.

[0074] like Figure 4 As shown, according to the second aspect of the embodiment of the present application, a cleaning device is proposed, including: a cleaning device body 210; and a distance measurement module 100 as in any of the above technical solutions.

[0075] The cleaning device provided in the embodiment of the present application has all the beneficial effects of the distance measuring module 100 of the above technical solution because the cleaning device has the distance measuring module 100 of the above technical solution.

[0076] The cleaning equipment provided in the embodiment of the present application is equipped with a distance measuring module 100. The test light emitted by the light adjustment unit 120 of the distance measuring module 100 includes at least two detection areas with different optical powers. Based on this, the part with stronger optical power in the test light can be used for the navigation application of the cleaning equipment. The stronger optical power can ensure the requirements for ranging in the navigation application; the part with lower optical power is used for the obstacle avoidance application of the cleaning equipment. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The distance measuring module 100 provided in the embodiment of the present application only needs one light emitting unit 110 equipped with one light adjustment unit 120 to ensure the ranging capability of the distance measuring module 100, and can effectively reduce the multipath effect, which is conducive to the development of the 3dTof navigation solution, especially the use of the 3dTof navigation solution in complex scenes.

[0077] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light.

[0078] In this technical solution, an arrangement method of optical power is further provided. Within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light. That is to say, within the first preset output field angle interval, the shorter the projection distance of the test light, the stronger the optical power; the longer the projection distance of the test light, the stronger the optical power. Based on this, the test light with stronger optical power can be projected to a farther distance, while the weaker test light can be projected to a closer distance. The part with stronger optical power in the test light is then used for navigation applications. The stronger optical power can ensure the distance measurement requirements in navigation applications; the part with lower optical power is used for obstacle avoidance applications. On the one hand, it can ensure the distance measurement accuracy and timeliness; on the other hand, it can greatly reduce the impact of multipath effects on obstacle avoidance.

[0079] It can be understood that within the second preset output field of view angle range, the optical power of the test light emitted by the light adjustment unit 120 can be negatively correlated with the projection distance of the test light, and the second preset output field of view angle range does not overlap with the first preset output field of view angle range. Based on this, the maximum value of the optical power can be concentrated within a certain output field of view angle. Such a setting can ensure the ranging capability of the ranging module and effectively reduce the multipath effect.

[0080] Understandably, Figure 4 The marks of 0°, 20°, 21°, 31° and 40° are the exit field of view angles. In this example, the value of the first preset exit field of view angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset exit field of view angle interval is greater than 31°.

[0081] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the output field angle of the test light. Within a second preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the output field angle of the test light.

[0082] In this technical solution, an arrangement of optical power is further provided. In the first preset emission field angle interval, the optical power of the test light emitted by the optical adjustment unit 120 is positively correlated with the test light emission field angle. That is, in the first preset emission field angle interval, the larger the emission field angle of the test light emitted by the optical adjustment unit 120, the stronger the optical power; the smaller the emission field angle of the test light emitted by the optical adjustment unit 120, the weaker the optical power. Such a setting fully takes into account the use scenario of the ranging module 100. The ranging module 100 usually needs to be mounted on a movable device, and the test light with a smaller emission field angle is usually projected on the ground, forming a ground, and the test light with a smaller emission field angle is usually projected in front of the moving direction of the mobile device. Based on this, the part with stronger optical power in the test light is used for navigation applications. The stronger optical power can ensure the distance measurement requirements in navigation applications; the part with lower optical power is used for obstacle avoidance applications; on the one hand, it can ensure the accuracy and timeliness of long-distance distance measurement in front of the mobile device; on the other hand, it can greatly improve the obstacle avoidance capability of the mobile device in the near distance and reduce the impact of multipath effect on obstacle avoidance. In the second preset exit field of view angle interval, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the test light exit field of view angle. The second preset exit field of view angle interval does not overlap with the first preset exit field of view angle interval. Based on this, the maximum value of the optical power can be enriched in a certain exit field of view angle. Such a setting can ensure the distance measurement capability of the distance measurement module and effectively reduce the multipath effect.

[0083] Understandably, Figure 4 The marks of 0°, 20°, 21°, 31° and 40° are the output field angles. In this example, the value of the first preset output field angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset output field angle interval is greater than 31°. Figure 4 As shown, for a cleaning device equipped with a ranging module 100 using any of the above-mentioned technical solutions, the optical power emitted to the ground is significantly reduced, which greatly optimizes the MPI problem; the optical power within the vertical angle of the surface light source required for navigation of the cleaning equipment is significantly increased, which effectively improves the ranging capability. Figure 4The installation form of the distance measuring module 100 provided by the embodiment of the present application on the cleaning equipment and the distribution diagram of the optical power within the field of view of the surface light source. After the optimization of the surface light source, the optical power is the largest between 21° and 31° required for the navigation of the cleaning equipment, and the optical power decreases slowly between 20° and 0° required for the obstacle avoidance of the cleaning equipment, that is, as the distance of the light hitting the ground decreases, the optical power of the exiting surface light source also gradually decreases. Based on the distance measuring module 100 and cleaning equipment provided by the embodiment of the present application, on the one hand, only one surface light source is needed to complete the navigation and obstacle avoidance functions, which greatly reduces the cost of the module. On the other hand, by optimizing the light type of the exiting surface light source and using only one low-cost surface light source, the ranging capability and close-range obstacle avoidance performance of the module can also be effectively improved. On the third hand, under the premise of ensuring the ranging capability and close-range obstacle avoidance performance of the module, a higher point cloud resolution can be provided to provide detailed data for three-dimensional reconstruction. On the fourth hand, the optical system design is relatively simple, and the light source does not need to be adjusted separately during the production process, and the production cost is low.

[0084] like Figure 5 As shown, according to the third aspect of the embodiment of the present application, a control method for a cleaning device is proposed, which is used to control a cleaning device as in any of the above technical solutions, and the control method includes:

[0085] Step 101: In response to a travel instruction, the detection light information received by the light receiving unit is obtained; it is understandable that after responding to the travel instruction, the cleaning device body of the cleaning device will move, and in this case, ranging and obstacle avoidance are required, so the test light reflected and / or scattered by the object to be measured can be received by light, and the detection light information can be obtained after photoelectric conversion.

[0086] Step 102: Use the detection light information with weaker optical power as obstacle avoidance information, and use the detection light information with stronger optical power as distance measurement information. After acquiring the detection light information, the detection light information can be classified and then used for different purposes to avoid multipath effects.

[0087] Step 103: Instructing the cleaning device to avoid obstacles based on the obstacle avoidance information. In this way, the lower optical power portion is used for obstacle avoidance applications, and the lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source.

[0088] Step 104: perform distance measurement based on the distance measurement information to navigate the cleaning device. In this way, the part with stronger optical power in the test light can be used for navigation applications, and the stronger optical power can meet the distance measurement requirements in the navigation application.

[0089] The control method for cleaning equipment provided in the embodiment of the present application obtains detection light information when the cleaning equipment body needs to move, and then classifies the detection light information. Thereafter, the moving direction of the cleaning equipment body is guided based on the obstacle avoidance information, and the distance of the obstacle is determined based on the ranging information. The lower optical power is used for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The stronger optical power is used for navigation applications by testing the stronger optical power in the light. The stronger optical power can ensure the ranging requirements in the navigation application.

[0090] In a feasible implementation manner, the steps of using the detection light information with weaker optical power in the detection light information as obstacle avoidance information and using the detection light information with stronger optical power in the detection light information as ranging information include: setting a reference optical power threshold; using the detection light information with an optical power value less than or equal to the reference optical power threshold as obstacle avoidance information; and using the detection light information with an optical power value greater than the reference optical power threshold as ranging information.

[0091] In this technical solution, specific steps for classifying the detected light information are further provided. A reference light power threshold can be set, and then the light measurement information is compared with the reference light power threshold. The detected light information with a light power value less than or equal to the reference light power threshold is used as obstacle avoidance information; and the detected light information with a light power value greater than the reference light power threshold is used as ranging information. Such a setting can improve the response efficiency of the cleaning equipment.

[0092] like Figure 6 As shown, according to the fourth aspect of the embodiment of the present application, a computer-readable storage medium 601 is proposed, and the computer-readable storage medium 601 stores a computer program 602 to implement a control method as described in any of the above technical solutions.

[0093] The computer-readable storage medium 601 provided in the embodiment of the present application implements a control method such as any of the above-mentioned technical solutions, so the computer-readable storage medium has all the beneficial effects of the above-mentioned control methods.

[0094] The computer-readable storage medium 601 of the cleaning device provided in the embodiment of the present application obtains the detection light information when the cleaning device body needs to move, and then classifies the detection light information. Thereafter, the moving direction of the cleaning device body is guided based on the obstacle avoidance information, and the distance of the obstacle is determined based on the ranging information. This enables the use of the lower optical power part for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. By using the stronger optical power part in the test light for navigation applications, the stronger optical power can ensure the ranging requirements in the navigation application.

[0095] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0096] like Figure 7 As shown, according to the fifth aspect of an embodiment of the present application, an electronic device is proposed, comprising: a memory 701, storing a computer program; a processor 702, executing the computer program; wherein the processor 702 implements a control method such as any of the above technical solutions when executing the computer program.

[0097] The electronic device provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the electronic device has all the beneficial effects of the above control method.

[0098] The electronic device of the cleaning equipment provided in the embodiment of the present application obtains the detection light information when the cleaning equipment body needs to move, and then classifies the detection light information. Thereafter, the moving direction of the cleaning equipment body is guided based on the obstacle avoidance information, and the distance of the obstacle is determined based on the ranging information. This enables the use of the lower optical power part for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The stronger optical power can be used for navigation applications by testing the stronger optical power part of the light.

[0099] In some examples, the electronic device may also include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0100] In an exemplary embodiment, the electronic device may further include an input / output interface and a display device, wherein each functional unit may communicate with each other via a bus. The memory stores a computer program, and the processor is used to execute the program stored in the memory and execute the method in the above embodiment.

[0101] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device of the method, and supports the operation of the information processing program and other software and / or programs. The network communication module is used to realize the communication between the components inside the storage medium, and the communication with other hardware and software in the information processing physical device.

[0102] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0103] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0105] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0106] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0107] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A ranging module, characterized in that: include: A light emitting part, a light regulating part and a light receiving part, wherein the light emitting part is used to emit a test light, and the light receiving part is used to receive the test light after being reflected and / or scattered by the object to be tested; The emission direction of the light emitting unit is toward the light adjusting unit, and the light adjusting unit is used to adjust the initial light emitted by the light emitting unit so that the test light emitted by the light adjusting unit includes at least two detection areas with different optical powers; Wherein, the light adjustment part at least covers a partial area of ​​the light emitting part.

2. The distance measurement module according to claim 1, characterized in that: The light emitting unit comprises: a surface-projecting laser light source, so that the test light is a surface array light.

3. The distance measurement module according to claim 2, characterized in that: The light adjustment unit includes at least one of a light source shaping mirror, a diffusion sheet, and a lens group formed by a combination of a plurality of lenses.

4. The distance measurement module according to claim 3, characterized in that: The light receiving unit comprises: a lens and an area array receiving sensor. The test light reflected and / or scattered by the object to be tested passes through the lens and then is received by the area array receiving sensor.

5. The distance measurement module according to claim 4, characterized in that: Also includes: A fixed plate, on which the area array receiving sensor and the surface projection laser light source are arranged; A mounting seat is connected to the fixing plate.

6. The distance measurement module according to any one of claims 1 to 5, characterized in that: In a first preset emission field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

7. The distance measurement module according to any one of claims 1 to 5, characterized in that: In a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light; In the second preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the output field angle of the test light.

8. A cleaning device, characterized in that: include: Cleaning equipment body; The ranging module according to any one of claims 1 to 7.

9. The cleaning device according to claim 8, characterized in that In a first preset emission field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

10. The cleaning device according to claim 8, characterized in that In a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light; In the second preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the output field angle of the test light.

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