Partition projection depth camera and robot

Abstract

The utility model discloses a partitioned projection depth camera and a robot, and the camera is characterized in that the camera comprises an array laser which comprises an upper region and a lower region; the upper area and the lower area project light rays with different intensities; the receiver is used for receiving reflection signals of projection signals of the upper area and the lower area; and the processor is used for controlling the array laser and the receiver to work synchronously and generating a depth image according to the reflected signal. According to the utility model, the acquisition of a large-range depth image can be realized without complicated image processing in the later period.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a partition projection depth camera and a robot. Background Art

[0002] The difficulties faced by depth cameras when working at both close and long distances mainly include the following aspects:

[0003] 1. Light and exposure issues

[0004] Long-distance measurement: To achieve long-distance depth data acquisition, depth cameras typically need to increase the projector power within the eye-safe range. However, excessive power can lead to overexposure when acquiring data from close-range scenes, making it impossible to properly acquire close-range depth data.

[0005] Close-range measurement: When the power of the depth camera is reduced to meet the needs of acquiring close-range scene data, the detection distance is correspondingly reduced due to the reduction in power, resulting in the inability to obtain long-range depth data.

[0006] 2. Measurement Accuracy and Resolution

[0007] Increased errors at long distances: When a depth camera is measuring at long distances, the increased distance of light propagation and the complexity of the reflecting surface may cause increased errors, affecting measurement accuracy.

[0008] Resolution limitation: The resolution of the depth camera is limited. When the measurement distance is far, the actual spatial size corresponding to the unit pixel increases, which may lead to a decrease in the resolution of the depth information.

[0009] 3. Environmental adaptability

[0010] Light changes: Depth cameras are very sensitive to ambient lighting. Light changes can cause significant image deviations, which in turn affects the matching accuracy of depth measurements or even cause matching failures.

[0011] Complex environmental interference: In complex environments such as direct strong sunlight, large changes in ambient light, smoke or dust, the ranging performance of the depth camera may be affected, resulting in reduced ranging accuracy or malfunction.

[0012] Depth cameras in robots, especially those in low-profile environments like robot vacuums, often capture both distant and ground-level data. Because the ground is so close to the depth camera, the signal is too strong, easily causing overexposure. Further distance data can suffer from insufficient lighting, leading to the need for depth cameras specifically designed for low-altitude applications.

[0013] The disclosure of the above background technology content is only used to assist in understanding the inventive concept and technical solution of the utility model. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of this application. Utility Model Content

[0014] To this end, the array laser in the present invention is divided into an upper area and a lower area, which respectively project light of different intensities to illuminate the ground and foreground areas, so that both the ground and the foreground can obtain appropriate light intensity, thereby obtaining a clear image. Without the need for complex subsequent image processing, the acquisition of a large range of depth images can be achieved.

[0015] In a first aspect, the present invention provides a partitioned projection depth camera, characterized by comprising:

[0016] An array laser comprises an upper region and a lower region; the upper region and the lower region project light of different intensities;

[0017] a receiver, configured to receive reflected signals of the projected signals from the upper area and the lower area;

[0018] A processor is used to control the array laser and the receiver to work synchronously and generate a depth image according to the reflected signal.

[0019] Optionally, the partitioned projection depth camera is characterized in that the upper area and the lower area are controlled separately.

[0020] Optionally, the partitioned projection depth camera is characterized in that the powers of the laser units in the upper area and the lower area are different.

[0021] Optionally, the partition projection depth camera is characterized by further comprising:

[0022] DOE is used to project the light in the upper area forward and downward, and project the light in the lower area forward.

[0023] Optionally, the partitioned projection depth camera is characterized in that the intensity of light projected from the upper area is less than the intensity of light projected from the lower area.

[0024] Optionally, the partitioned projection depth camera is characterized in that the upper area and the lower area are both rectangular.

[0025] Optionally, the partitioned projection depth camera is characterized in that the upper area is projected forward, and the lower area is projected forward and downward.

[0026] Optionally, the partitioned projection depth camera is characterized in that the intensity of light projected from the upper area is greater than the intensity of light projected from the lower area.

[0027] In a second aspect, the utility model provides a robot, characterized in that it includes any of the aforementioned partition projection depth cameras.

[0028] Optionally, the robot is characterized in that the partitioned projection depth camera is arranged in front of the robot, and the light projected forward and downward is irradiated on the ground.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The array laser in the utility model is divided into an upper area and a lower area, which respectively project light of different intensities to illuminate the ground and foreground areas, so that both the ground and the foreground can obtain appropriate light intensity, thereby obtaining clear images. Without the need for complex subsequent image processing, the acquisition of large-scale depth images can be achieved.

[0031] The array laser in the utility model is divided into an upper area and a lower area. The light intensity projected by the two areas is different, and the method can also adapt to objects with different reflective characteristics, thereby optimizing the accuracy and range of depth measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without inventive work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more apparent:

[0033] Figure 1 This is a schematic structural diagram of a partitioned projection depth camera in an embodiment of the present utility model;

[0034] Figure 2 This is a schematic diagram of a shooting scene in an embodiment of the present utility model;

[0035] Figure 3 This is a schematic diagram of a shooting effect in an embodiment of the present utility model;

[0036] Figure 4 Schematic diagram of the structure of another partition projection depth camera in an embodiment of the present invention.

[0037] 1- Array laser;

[0038] 2-upper area;

[0039] 3-lower area;

[0040] 4-Receiver;

[0041] 5-Processor;

[0042] 6-DOE; DETAILED DESCRIPTION

[0043] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any way. It should be noted that a person skilled in the art may make various modifications and improvements without departing from the scope of the present invention. These modifications and improvements are all within the scope of protection of the present invention.

[0044] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products or apparatus.

[0045] The embodiment of the present invention provides a partitioned projection depth camera, which aims to solve the problems existing in the prior art.

[0046] The following specific embodiments describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0047] The array laser in the utility model is divided into an upper area and a lower area, which respectively project light of different intensities to illuminate the ground and foreground areas, so that both the ground and the foreground can obtain appropriate light intensity, thereby obtaining clear images. Without the need for complex subsequent image processing, the acquisition of large-scale depth images can be achieved.

[0048] Figure 1This is a schematic diagram of the structure of a partitioned projection depth camera in an embodiment of the present utility model. Figure 1 As shown, a partitioned projection depth camera in an embodiment of the present invention includes:

[0049] The array laser 1 comprises an upper area 2 and a lower area 3; the upper area and the lower area project light with different intensities.

[0050] Specifically, the array laser is one of the core components of the partitioned projection depth camera. It consists of multiple laser emitting units, which are integrated together in a specific arrangement to form an array structure. The array laser is divided into an upper area and a lower area. These two areas project light of different intensities to achieve accurate measurement of the depth of field distance of the shooting space. This partitioning design helps to improve the measurement accuracy and adaptability of the depth camera. The array laser emits infrared laser light with a specific wavelength and coding. These lights are reflected after being projected onto the object being photographed. The reflected light is then received by the receiver and used to generate a depth image.

[0051] like Figure 2 As shown in , when the depth camera is positioned lower, the ground occupies a larger portion of the image. Figure 3 As shown, when a conventional laser projector is used for projection, the intensity of the reflected signal on the ground will be significantly greater than the intensity of the reflected signal at a distance.

[0052] The receiver 4 is configured to receive the reflected signals of the projected signals from the upper area and the lower area.

[0053] Specifically, the receiver is another key component. It is usually composed of a highly sensitive infrared sensor that is used to receive the reflected signal of the light projected by the array laser. When the light emitted by the array laser is projected onto the object being photographed and reflected, the receiver captures these reflected signals. By measuring parameters such as the intensity, phase or time delay of the reflected signal, the receiver can calculate the distance information between the object and the camera. The receiver needs to have high sensitivity and low noise characteristics to ensure that it can accurately receive and process weak reflected signals. In addition, it needs to work in synchronization with the array laser and processor to ensure the real-time and accuracy of the depth image.

[0054] The processor 5 is configured to control the array laser and the receiver to operate synchronously, and to generate a depth image according to the reflected signal.

[0055] Specifically, the processor is the "brain" of the entire system, responsible for controlling the synchronous operation of the array lasers and receivers and processing the data captured by the receivers. The processor must first ensure that the lasers and receivers start and stop at the correct time to ensure data validity. The processor then uses a specific algorithm to process the received reflected signals to calculate the distance between the object and the camera, ultimately generating a depth image. The processor must possess powerful computing power and efficient algorithm processing capabilities to ensure the generation of high-quality depth images in real time. Furthermore, it must be stable and reliable to ensure the depth camera can function properly in a variety of complex environments.

[0056] In some embodiments, the upper area and the lower area are controlled separately. The upper area and the lower area of ​​the partitioned projection depth camera can be controlled separately, which means that the two areas can independently project light, adjust the intensity, and receive reflected signals. At this time, by loading different currents on the upper area and the lower area respectively, the light intensity projected by the upper area and the lower area can be different. The working principle of the partitioned projection depth camera is mainly based on structured light technology. Specifically, the camera uses an array laser to project infrared laser light with a specific wavelength and encoding to the upper area and the lower area respectively. These lights are reflected after being projected onto the object being photographed, and the reflected signal is captured by the receiver. The processor calculates the distance information between the object and the camera based on the received reflected signal, and finally generates a depth image. In terms of partition control, the processor realizes partition projection by controlling the switching state of different areas (upper area and lower area) of the array laser and the light projection intensity. At the same time, the processor also needs to work synchronously with the receiver to ensure that the reflected signal can be accurately received and processed. This embodiment enables the camera to better adapt to different lighting environments and object surface characteristics.

[0057] In some embodiments, the laser units in the upper and lower areas have different powers. This power difference allows for different distances. For example, the laser units in the upper area have higher power for longer-range projection, ensuring sufficient reflected signal strength even at long distances. The laser units in the lower area have lower power for closer measurements, avoiding saturation or interference of reflected signals caused by excessive light intensity. Furthermore, this power difference helps the camera obtain more accurate measurement data at different distances, reducing errors and improving measurement accuracy.

[0058] In some embodiments, the upper region and the lower region use laser diodes or laser arrays with different powers to achieve power difference between the laser units in the upper region and the lower region.

[0059] Figure 4 This is a schematic diagram of the structure of another partition projection depth camera in the embodiment of the present utility model. Figure 4As shown, compared with the above embodiment, another partitioned projection depth camera in the embodiment of the present invention further includes:

[0060] DOE is used to project the light in the upper area forward and downward, and project the light in the lower area forward.

[0061] Specifically, DOE can precisely control the propagation direction and angle of light to achieve directional projection of light. By designing different diffraction patterns, DOE can project light to a specific area to form a specific light field distribution. The light emitted by the laser unit in the upper area is precisely projected to the lower front area after being diffracted by the DOE. The diffraction pattern of the DOE is designed to be able to project the light downward at a certain angle, thereby achieving the measurement of distant objects. Unlike the upper area, the light emitted by the laser unit in the lower area is projected directly to the front area after passing through the DOE. The diffraction pattern of the DOE is designed here to be able to project the light at a smaller angle or almost vertically to achieve accurate measurement of close objects.

[0062] In some embodiments, the intensity of light projected from the upper region is less than that from the lower region. The lower region's weaker light intensity is suitable for close-range measurements to prevent overexposure. The lower region's stronger light intensity is suitable for long-range measurements to obtain a sufficiently strong reflected signal. By adjusting the light intensity in different regions, the camera can perform more accurate measurements of objects at different distances. In implementation, the laser units of the array laser can adjust their power output according to preset parameters to achieve a difference in light intensity between the upper and lower regions. This can also be achieved using a DOE. A DOE not only controls the direction of light projection but also influences light intensity by adjusting its diffraction efficiency. By designing a specific diffraction pattern, the light intensity in the upper region can be weakened after passing through the DOE, while the light intensity in the lower region remains unchanged or slightly increased. This can also be achieved using a software algorithm. The camera may be equipped with advanced software algorithms that dynamically adjust the laser unit's power output and the DOE's diffraction efficiency based on the captured scene and object distance to achieve an optimal light intensity distribution.

[0063] In some embodiments, the upper region and the lower region are both rectangular. Rectangular regions provide stable projection areas, which help the camera obtain uniform measurement data at different distances. By adjusting the size and position of the rectangular regions, the measurement range and accuracy of the camera can be further optimized. For robotic applications, the target area and the ground can be effectively distinguished, improving efficiency. In terms of implementation, it can be achieved through laser unit layout. For example, the laser units inside the camera are arranged according to the shape of the rectangular region to ensure that the light is uniformly projected onto the target area; by precisely controlling the power and projection angle of the laser units, uniform distribution of light intensity within the rectangular region can be achieved. It can also be achieved through diffractive optical element (DOE) design. For example, the diffraction pattern of the DOE is designed to match the rectangular region to ensure that the light is projected in the predetermined direction and angle to the target area; by adjusting the diffraction efficiency and angle of the DOE, the light projection effect within the rectangular region can be further optimized.

[0064] In some embodiments, the upper region projects forward, and the lower region projects downward. The upper region projects forward, which can cover a wider horizontal field of view, suitable for capturing depth information of distant objects. The lower region projects downward, which can compensate for the measurement blind area of close-range objects in the vertical direction, ensuring that the camera can accurately measure the depth of the ground or low objects. By adjusting the projection angle of the upper region and the lower region, the camera can make more accurate measurements for objects at different distances. The horizontal projection of the upper region helps to reduce measurement errors caused by angle changes, while the downward projection of the lower region can more accurately capture the details of close-range objects.

[0065] In some embodiments, the light intensity projected by the upper region is greater than the light intensity projected by the lower region. The upper region projects a longer distance, requiring greater power so that the target objects at a farther distance can return a strong enough reflection signal to obtain a clear long-range image, and the close-range image will not be overexposed.

[0066] The embodiments of the utility model further provide a robot. It needs to be explained that the robot in this embodiment is only of exemplary nature, and those skilled in the art can understand that various ground moving robots can become the application scene of the utility model.

[0067] The robot is an intelligent device integrated with advanced technology, which has multiple functions such as autonomous navigation, environment perception, object recognition and interaction. Among them, the partition projection depth camera as one of its core sensors provides accurate three-dimensional depth information for the robot, so that it can more accurately understand the surrounding environment and realize more efficient autonomous action and interaction.

[0068] The robot uses a partitioned projection depth camera to capture three-dimensional depth information of the surrounding environment, and combines it with advanced navigation algorithms to achieve autonomous path planning and obstacle avoidance functions.

[0069] The light projected forward from the upper area can cover a wider field of view, helping the robot perceive obstacles and road changes ahead in advance; while the light projected forward and downward from the lower area can ensure that the robot can accurately identify small obstacles on the ground, such as steps and potholes, at close range.

[0070] The partition projection depth camera can capture the three-dimensional shape and size information of objects, providing the robot with rich environmental perception data.

[0071] By processing this depth information, robots can accurately identify surrounding objects, including furniture, home appliances, humans, etc., and thus interact with the environment more intelligently.

[0072] In human-computer interaction scenarios, the partitioned projection depth camera can capture the user's gestures and movements, enabling a more natural and intuitive interaction method.

[0073] For example, users can use gestures to control the robot's movement, operate the grabbing of objects, etc., to improve the convenience and fun of the interaction.

[0074] The zone projection depth camera uses advanced laser projection and diffraction optical element technology to achieve high-precision three-dimensional depth measurement. This allows the robot to maintain a high degree of accuracy and stability when handling complex environments.

[0075] The robot's integrated zoned projection depth camera allows for greater flexibility in adapting to diverse application scenarios and object shapes. Whether operating in indoor or outdoor environments, the robot can adjust its projection angle and measurement range to suit varying needs.

[0076] The zoned projection depth camera provides the robot with rich sensory data, providing strong support for its intelligent upgrade. By combining artificial intelligence algorithms and machine learning technologies, the robot can continuously learn and optimize its navigation, recognition, interaction and other functions, achieving more intelligent and autonomous actions.

[0077] In a home environment, robots can take on a variety of tasks, including cleaning, carrying, and companionship. Zoned projection depth cameras can help robots more accurately identify furniture layouts, avoid collisions, and provide users with more intelligent and attentive services.

[0078] In industrial automation and logistics, robots can handle tasks such as material handling, sorting, and assembly. Zone-projected depth cameras ensure that robots maintain high precision and stability when handling objects of varying shapes and sizes, improving production efficiency and quality.

[0079] In the field of medical rehabilitation and assistance, robots can help patients with rehabilitation training, daily care and other tasks. The partition projection depth camera can accurately capture the movements and postures of patients, providing accurate feedback and control information for robots to ensure the accuracy and safety of rehabilitation training.

[0080] In summary, the robot integrated with the partition projection depth camera has multiple advantages such as high precision measurement, flexible adaptability and intelligent upgrading, providing reliable technical support and solutions for various application scenarios. With the continuous development and improvement of technology, this robot will play an important role in more fields and bring more convenient and intelligent experience to people's life and work.

[0081] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0082] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application.

Claims

1. A partition projection depth camera, characterized in that: include: an array laser, comprising an upper region and a lower region; The upper area and the lower area project light of different intensities; a receiver, configured to receive reflected signals of the projected signals from the upper area and the lower area; A processor is used to control the array laser and the receiver to work synchronously and generate a depth image according to the reflected signal.

2. The partition projection depth camera according to claim 1, characterized in that: The upper area and the lower area are controlled separately.

3. The partition projection depth camera according to claim 1, characterized in that: The powers of the laser units in the upper area and the lower area are different.

4. The partition projection depth camera according to claim 1, characterized in that: Also includes: DOE is used to project the light in the upper area forward and downward, and project the light in the lower area forward.

5. The partition projection depth camera according to claim 4, characterized in that: The intensity of the light projected by the upper area is less than the intensity of the light projected by the lower area.

6. The partition projection depth camera according to claim 1, characterized in that: The upper area and the lower area are both rectangular.

7. The partition projection depth camera according to claim 1, characterized in that: The upper area is projected forward, and the lower area is projected forward and downward.

8. The partition projection depth camera according to claim 7, characterized in that: The intensity of the light projected by the upper area is greater than the intensity of the light projected by the lower area.

9. A robot, characterized in that: The invention comprises the partition projection depth camera as described in any one of claims 1 to 8.

10. A robot according to claim 9, characterized in that: The partition projection depth camera is arranged in front of the robot, and projects light forward and downward onto the ground.

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