Detection device

Abstract

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

Description

Technical Field

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

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

[0003] Current vision functions generally require complex image processing algorithms, such as those used in intelligent driving. Even in the development of autonomous electric vehicles, current technology cannot achieve 95% accuracy in real-time for just three specific categories of objects: pedestrians, cyclists, and cars. Furthermore, the higher the accuracy and complexity of image detection and recognition algorithms, the higher-performance hardware required. This is primarily due to the insufficient dimensionality of object information. Even with the addition of LiDAR for scanning and height information, detection and recognition accuracy still cannot exceed 95%. In many cases, the height differences between objects or the low segmentability of their outlines make them difficult to distinguish. Utility Model Content

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0019] Figure 3 1 is a schematic structural diagram of a second embodiment of a detection device 100 provided in this application;

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

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

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

[0023] Figure 7 Schematic diagram of passive imaging and active imaging areas in one embodiment. DETAILED DESCRIPTION

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

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

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

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

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

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

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

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

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

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

[0034] The distance measuring component 30 may include a laser rangefinder, which primarily uses the propagation time and velocity of near-infrared laser light to calculate the distance between the detection device 100 and the target. The detection component 40 is primarily used to identify the target by using visible light. Specifically, this may include information such as the target's color, outline, and depth.

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

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

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

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

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

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

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

[0042] Alternatively, as Figure 4 As shown, Figure 4 FIG1 is a schematic diagram of the structure of a dual-wavelength laser assembly 11 in one embodiment. The dual-wavelength laser assembly 11 includes a first laser 111, a second laser 112, and a beam combiner 113. The first laser 111 is configured to emit a first laser; the second laser 112 is configured to emit a second laser; and the beam combiner 113 is configured to receive the first laser and the second laser and combine them.

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

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

[0045] The divergence angle control assembly 12 is primarily composed of a focusing lens, a collimating lens, and a piezoelectric ceramic displacer. This divergence angle control assembly 12 intelligently adjusts the displacement of the piezoelectric ceramic displacer based on the target's outline dimensions and signal strength, controlling the energy density of the emitted laser light and ensuring effective detection and high accuracy. Alternatively, the piezoelectric ceramic displacer can be replaced with other micro-displacers. Furthermore, the divergence angle control assembly 12 can be replaced with a variable-focus lens assembly, eliminating the need for a micro-displacer.

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

[0047] Alternatively, the two-dimensional scanning mirror can be a MEMS (Micro-Electro-Mechanical System) mirror. A MEMS mirror, also known as a MEMS micro-vibration mirror or MEMS scanning mirror, is an optical MEMS device manufactured using optical MEMS technology that integrates a micro-light mirror with a MEMS actuator. MEMS mirrors can move in two mechanical modes: translation and torsion.

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

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

[0050] The dual-wavelength laser assembly 11 emits two lasers of different wavelengths, which are then adjusted by the divergence angle control assembly 12. The divergence angle control assembly 12 primarily consists of a focusing lens, a collimating lens, and a piezoelectric ceramic displacer. This lens assembly intelligently adjusts the displacement of the piezoelectric ceramic displacer based on the plant's profile and signal strength, controlling the energy density of the emitted laser light and ensuring effective detection and high accuracy.

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

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

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

[0054] Specifically, the mower can implement intelligent switching for different targets. If the target is green, the green spectrum responds strongly, with a smooth transition and minimal fluctuations during movement, allowing the mowing task to be performed. If the green response is weak, while the blue, red, or white spectrum has a strong spectrum, it indicates the presence of a foreign object. Laser ranging or binocular ranging is performed on the area with the strong response. If the signal is lost or very weak, the area is water or a highly reflective surface, and the non-target area is detoured. Ranging can detect low obstacles with uneven heights, mark the area, and detour. The user can then clear the area before continuing the mowing task, or manually intervene to perform the mowing task. This method allows the mower to operate throughout the day. During strong daylight conditions, the laser ranging / binocular ranging system and passive imaging system can identify the chassis working area. When the ambient light is weak and passive imaging is not obvious, the green laser can be activated, and the laser ranging / binocular ranging system and active imaging system can identify the chassis working area.

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

Claims

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

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

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

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

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

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

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

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

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

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

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