Depth camera and mobile robot
The depth camera with dual light source design uses a combination of line light source and surface light source to solve the problem of low light energy utilization efficiency in long-distance detection by depth cameras, achieving efficient detection and reducing costs.
Patent Information
- Application Number
- CN202422711452.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-06
- Publication Date
- 2025-10-14
- Estimated Expiration
- 2034-11-06
AI Technical Summary
Existing depth cameras have low light energy utilization efficiency in scenarios requiring long-distance detection, resulting in the inability to utilize light energy outside the detection area, increasing design difficulty and material costs.
It adopts a dual light source design, including a first light source and a second light source, which are respectively a line light source and a surface light source. They are diffused into light beams with different light angle intensities through a transparent component, and the light sources are controlled by a driving component to emit light simultaneously or in a time-sharing manner to meet the detection needs of different occasions.
The light source utilization efficiency of the depth camera is improved, which enables accurate detection of large-scale environmental data, reduces production costs, and improves obstacle avoidance and navigation accuracy.
Smart Images
Figure CN223435592U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of measurement and navigation technology, and in particular to a depth camera and a mobile robot. Background Art
[0002] Mobile robots are generally equipped with depth cameras, also known as 3D cameras. The difference between them and ordinary 2D cameras is that they can obtain the distance information between objects and the camera. Combined with the X and Y coordinates of the 2D plane, the three-dimensional coordinates of each point can be calculated. Therefore, depth cameras can be used for three-dimensional reconstruction, target positioning, navigation and obstacle avoidance, etc.
[0003] In related technologies, for some scenarios with long-distance detection needs, the depth camera's ranging capability is very high, generally required to be more than tens of meters. Conventional large-angle surface light sources have light energy dispersed throughout the entire field of view, while only a part of the field of view is needed to complete the detection of the target, which will result in the light energy outside the detected area being unable to be utilized, and the laser energy utilization efficiency is low. Utility Model Content
[0004] The embodiments of the present application provide a depth camera and a mobile robot, which can improve the efficiency of light source utilization in the depth camera and more accurately detect environmental data within a large range.
[0005] In a first aspect, an embodiment of the present application provides a depth camera, comprising:
[0006] main body;
[0007] The light source assembly includes a first light source component and a second light source component, wherein the first light source component and the second light source component are both disposed inside the main body;
[0008] A light-transmitting component is arranged on the main body, and the light-transmitting component includes a first light-transmitting member and a second light-transmitting member. The first light-transmitting member is arranged on the light-emitting side of the first light source member, and the first light-transmitting member is used to diffuse the light emitted by the first light source member into a first light beam. The second light-transmitting member is arranged on the light-emitting side of the second light source member, and the second light-transmitting member is used to diffuse the light emitted by the second light source member into a second light beam. The light angular intensity of the first light beam is different from the light angular intensity of the second light beam.
[0009] In some embodiments of the present application, one of the first light source and the second light source is a linear light source generator, and the other of the first light source and the second light source is a surface light source generator.
[0010] In some embodiments of the present application, when the first light source and the second light source emit light simultaneously, the first light beam and the second light beam are at least partially overlapped.
[0011] In some embodiments of the present application, the main body includes a shell, a lens and a processor. The lens and the light-transmitting component are installed on the outside of the shell, the lens is located on one side of the light-transmitting component, and the processor is arranged inside the shell and electrically connected to the light source component. The processor corresponds to the setting position of the lens, and the processor is used to receive the light echo energy transmitted back from the lens.
[0012] In some embodiments of the present application, the main body further includes a driving member electrically connected to the processor, and there are at least two driving members, one of which is electrically connected to the first light source, and the other is electrically connected to the second light source.
[0013] In some embodiments of the present application, there are multiple first light source components, and each of the first light source components is electrically connected to one of the driving components; there are multiple second light source components, and each of the second light source components is electrically connected to one of the driving components.
[0014] In some embodiments of the present application, a filter is provided on the lens.
[0015] In some embodiments of the present application, the first light-transmitting element is a lens, a wave mirror or a diffuser lens; and / or the second light-transmitting element is a lens, a wave mirror or a diffuser lens.
[0016] In some embodiments of the present application, the light-transmitting assembly further includes a mounting bracket, and the first light-transmitting member and the second light-transmitting member are both connected to the main body via the mounting bracket.
[0017] In a second aspect, an embodiment of the present application further provides a mobile robot, comprising a mobile body and a depth camera as described in any of the above embodiments, wherein the depth camera is arranged on the mobile body.
[0018] Based on the depth camera and mobile robot in the embodiment of the present application, the embodiment of the present application sets multiple light sources so that the depth camera can control different light sources to emit light simultaneously or in a time-sharing manner under the requirements of different occasions. For example, in some occasions where the frame rate requirements are high, the first light source and the second light source can emit light simultaneously to improve the accuracy of navigation and obstacle avoidance; for complex scenes or scenes with a large environmental range, such as scenes with mirror reflections, the first light source and the second light source can emit light in a time-sharing manner, thereby improving the utilization efficiency of the light source in the depth camera and being able to more accurately detect environmental data within a large range. At the same time, the first light source and the second light source are set independently of each other, so the design of the optical system is relatively simple, and there is no need to individually debug the setting position of the light source during the production process, which can reduce production costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.
[0020] Figure 1 This is a schematic diagram of the structure of a depth camera in one embodiment of the present application;
[0021] Figure 2 This is a schematic diagram of the internal structure of a depth camera in one embodiment of the present application;
[0022] Figure 3 This is a structural diagram of a mobile robot in one embodiment of the present application;
[0023] Figure 4 This is a diagram showing the optical power distribution of a depth camera in one embodiment of the present application;
[0024] Figure 5 FIG. 1 is a diagram showing the optical power distribution of a depth camera in an embodiment of the present application.
[0025] Reference numerals:
[0026] 1. Depth camera;
[0027] 10. Main body; 11. Housing; 12. Lens; 121. Filter; 13. Processor; 14. Circuit board;
[0028] 20. Light source assembly; 21. First light source; 211. First light beam; 22. Second light source; 221. Second light beam;
[0029] 30. Light-transmitting component; 31. First light-transmitting component; 32. Second light-transmitting component;
[0030] 40. Install the bracket;
[0031] 2. Mobile robot; 50. Mobile body. DETAILED DESCRIPTION
[0032] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the following will be described clearly and completely in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0033] The depth camera is also called a 3D camera, which is different from an ordinary 2D camera in that the distance information of an object to the camera can be obtained, in addition to the X and Y coordinates of the 2D plane, so that the three-dimensional coordinates of each point can be calculated, and therefore the depth camera can be applied to three-dimensional reconstruction, target positioning, navigation and obstacle avoidance. In the related art, for some scenes with long-distance detection requirements, the ranging capability of the depth camera is required to be very high, and the general requirement is more than several tens of meters. The conventional large-angle area light source disperses the light energy in the entire field of view angle, and only a part of the field of view angle is needed to complete the detection of the target, so that the light energy outside the detected area cannot be utilized, the laser energy utilization efficiency is low, and multiple area light sources need to work simultaneously to ensure the ranging capability of the depth camera, thereby increasing the design difficulty and material cost of the depth camera.
[0034] In view of the above situation, in a first aspect, see Figure 1-Figure 2 The depth camera 1 can be used for navigation and obstacle avoidance of a mobile robot 2, and the depth camera 1 comprises a main body 10, a light source assembly 20 and a light-transmitting assembly 30. The light source assembly 20 and the light-transmitting assembly 30 are both arranged on the main body 10, and the main body 10 provides a setting basis for the light source assembly 20 and the light-transmitting assembly 30.
[0035] The light source assembly 20 comprises a first light source piece 21 and a second light source piece 22, and the first light source piece 21 and the second light source piece 22 are both arranged inside the main body 10. The light-transmitting assembly 30 is arranged on the main body 10, and the light-transmitting assembly 30 comprises a first light-transmitting piece 31 and a second light-transmitting piece 32. The first light-transmitting piece 31 is arranged on the light-emitting side of the first light source piece 21, so as to facilitate the light emitted by the first light source piece 21 to be diffused into a first light beam 211 through the first light-transmitting piece 31. The second light-transmitting piece 32 is arranged on the light-emitting side of the second light source piece 22, so as to facilitate the light emitted by the second light source piece 22 to be diffused into a second light beam 221 through the second light-transmitting piece 32. The light angular intensity of the first light beam 211 is different from the light angular intensity of the second light beam 221.
[0036] Specifically, the depth camera 1 can have both obstacle avoidance and navigation functions. The depth camera 1 has a much smaller requirement for the depth and distance of the environment for the obstacle avoidance function than for the navigation function. The first light source piece 21 and the second light source piece 22 can both be different types of laser light source chips for emitting light rays of different light intensities. The two light source pieces and the two light-transmitting pieces are arranged in the embodiment of the present application, and the light source light shapes emitted by the two light source pieces are different, so that the depth camera 1 can emit two light beams with different light angular intensities.
[0037] For example, the light angular intensity of the first light beam 211 is greater than that of the second light beam 221. When the depth camera 1 is used for navigation, the first light beam 211 can emit a light field with higher light intensity and project into a region farther away in space, so as to enable the acquired navigation depth information to meet the requirements of the navigation function, because the light angular intensity of the first light beam 211 is greater. When the depth camera 1 is used for obstacle avoidance, the second light beam 221 can achieve the requirements of the obstacle avoidance function with lower light intensity, so as to facilitate reducing the overall power consumption of the depth camera 1. Meanwhile, the light beam with smaller light angular intensity is suitable for divergent projection due to the lower light intensity, so as to reduce ground light reflection, reduce the influence of multipath interference of weak light spots, reduce the visual field blind area of the depth camera 1, and improve the obstacle avoidance effect.
[0038] It should be noted that the first light source member 21 and the second light source member 22 can be provided in multiple numbers. The embodiment of the present application provides multiple light sources, so that the depth camera 1 can control different light sources to emit light at the same time or at different times under different occasion requirements, such as Figure 2 For example, in some occasions with higher frame rate requirements, the first light source member 21 and the second light source member 22 can emit light at the same time to improve the accuracy of navigation and obstacle avoidance. For complex scenes or scenes with a large environmental range, such as scenes with specular reflection, the first light source member 21 and the second light source member 22 can emit light at different times, thereby improving the utilization efficiency of the light sources in the depth camera 1 and enabling more accurate detection of environmental data in a large range. Meanwhile, the first light source member 21 and the second light source member 22 are independently arranged, so the design of the optical system is relatively simple, and the production process does not need to separately debug the arrangement position of the light source member, thereby reducing the production cost.
[0039] It should also be noted that the number of the first light source member 21 can be one or more, and the number of the second light source member 22 can also be one or more. The light source assembly 20 includes but is not limited to a vertical cavity surface emitting laser (VCSEL), an edge-emitting laser (EEL), etc., and the wavelength includes but is not limited to 808 nm, 850 nm, 905 nm, 940 nm, etc. The main body 10 is provided with a circuit board 14, and the circuits in the depth camera 1 are electrically connected through the circuit board 14. The circuit board 14 can be made of a board material with a flame-resistant material grade of FR-4, a ceramic substrate, or a flexible circuit board 14 (FPC), etc.
[0040] Please refer to Figure 2In some embodiments of the present application, one of the first light source 21 and the second light source 22 is a line light source generating component, and the other of the first light source 21 and the second light source 22 is a surface light source generating component. For example, the first light source 21 is a line light source generating component for emitting a line light source, and the second light source 22 is a surface light source generating component for emitting a surface light source.
[0041] Specifically, as shown in FIG. 8, Figure 3 The line light source generating component and the surface light source generating component can emit light at the same time, and the first light beam 211 (line light source) and the second light beam 221 (surface light source) are formed by diffusion of the light-transmitting assembly 30. At this time, at least a part of the first light beam 211 and the second light beam 221 overlap, that is, the first light beam 211 and the second light beam 221 overlap to form a light intensity distribution uneven surface light field. The part of the surface light field with a relatively high light angular intensity is used for detection of objects at a relatively far distance, and the other part of the surface light field with a relatively low light angular intensity is used for detection of objects at a relatively near distance. For example, the overlapping part of the surface light field has a relatively high light angular intensity, which can be used for the navigation function of the depth camera 1. The relatively high light angular intensity can ensure the requirement of long distance measurement in the navigation function. The other part of the surface light field with a relatively low light angular intensity can be used for the obstacle avoidance function of the depth camera 1. The relatively low light angular intensity can effectively reduce the light reflection of the ground, reduce the influence of multipath interference on the obstacle avoidance depth information, and thus improve the obstacle avoidance effect.
[0042] Alternatively, the line light source generating component and the surface light source generating component can emit light at different times. At this time, the depth camera 1 uses the surface light source and the line light source to irradiate the measured region at different times. The line light source is used for detection of objects at a relatively far distance, and the surface light source is used for detection of objects at a relatively near distance. Since the line light source has a relatively high light angular intensity, it can be used for the navigation function of the depth camera 1. The relatively high light angular intensity can ensure the requirement of long distance measurement in the navigation function. The surface light source has a relatively low light angular intensity, which can effectively reduce the light reflection of the ground and improve the obstacle avoidance effect.
[0043] In some embodiments, the first light beam 211 is a line light source, and the second light beam 221 is a surface light source, Figure 4 FIG. 8 is a light intensity distribution diagram of the surface light source, in which the abscissa represents the angle of the field of view of the surface light source, and the ordinate represents the light intensity of the surface light source, Figure 4 The solid line in FIG. 8 represents the light intensity distribution of the surface light source in the horizontal direction, Figure 4 The dotted line in FIG. 8 represents the light intensity distribution of the surface light source in the vertical direction (approximately a Gaussian curve). The light intensity in the horizontal direction and the light intensity in the vertical direction are basically distributed symmetrically along the ordinate.
[0044] Figure 5 FIG. 9 is a light intensity distribution diagram of the line light source, in which the abscissa represents the angle of the field of view of the line light source, and the ordinate represents the light intensity of the line light source, Figure 5 The curve in FIG. 9 represents the light intensity distribution of the line light source in the horizontal direction, Figure 5 The curve in (b) represents the vertical light intensity distribution of the surface light source (approximately a Gaussian curve), and the horizontal and vertical light intensities are substantially symmetrically distributed along the vertical axis. Preferably, the vertical viewing angle of the line light source is less than or equal to 25°.
[0045] See Figure 1 In some embodiments of the present application, the main body 10 includes a shell 11, a lens 12 and a processor 13. The lens 12 and the light-transmitting component 30 are both installed on the outside of the shell 11. The lens 12 is located on one side of the light-transmitting component 30. The processor 13 is arranged inside the shell 11 and is electrically connected to the light source component 20. The setting position of the processor 13 corresponds to that of the lens 12. The processor 13 is used to receive the light echo energy transmitted back from the lens 12.
[0046] Specifically, the processor 13 and the light source assembly 20 are both soldered to the circuit board 14 inside the main body 10. The processor 13 is electrically connected to the light source assembly 20 through the circuit board 14. The lens 12 is installed above the processor 13. The light-transmitting assembly 30 is installed above the light source assembly 20. The lasers emitted by the two light source components in the light source assembly 20 are shaped by the light-transmitting assembly 30 to form an outgoing light source. The light echo energy generated after the light source is irradiated on the object to be measured can be gathered by the lens 12 and received by the processor 13. After photoelectric conversion, the processor 13 outputs information such as the depth and intensity of the object to be measured.
[0047] In some embodiments, the first light-transmitting element 31 is a lens, a wave mirror, or a diffuser lens; and / or the second light-transmitting element 32 is a lens, a wave mirror, or a diffuser lens. The light-transmitting assembly 30 can be a single lens or a lens assembly consisting of multiple lenses, and the lens materials include, but are not limited to, glass, polycarbonate (PC), polymethyl methacrylate (PMMA), etc.
[0048] In some implementations, such as Figure 1 As shown, a filter 121 is provided on the lens 12 to filter out unnecessary spectral components or interfering light in the light echo energy, reduce the interfering components in the light echo energy, improve the contrast between the object being measured and the background, and thus improve the signal-to-noise ratio of the detection.
[0049] Furthermore, in some embodiments of the present application, the main body 10 also includes a driving component (not shown in the figure) electrically connected to the processor 13. The driving component can drive the light source component to emit light simultaneously or in time-sharing, and the driving signal of the driving component is provided by the processor 13. The driving timing of the driving component matches the exposure timing of the processor 13, which is beneficial for the depth camera 1 to realize navigation and obstacle avoidance functions.
[0050] Among them, taking the case where two driving components are provided and multiple first light source components 21 and multiple second light source components 22 are provided as an example, one driving component is electrically connected to multiple first light source components 21, and the other driving component is electrically connected to multiple second light source components 22, that is, one driving component can drive multiple first light source components 21 or multiple second light source components 22 to emit light at the same time.
[0051] Alternatively, in some embodiments, multiple driving members are provided, multiple first light source members 21 are provided, and each first light source member 21 is electrically connected to a driving member; multiple second light source members 22 are provided, and each second light source member 22 is electrically connected to a driving member, that is, each driving member can drive a first light source member 21 or a second light source member 22 to emit light.
[0052] In some embodiments of the present application, Figure 1 As shown, the light-transmitting assembly 30 further includes a mounting bracket 40. The first light-transmitting member 31 and the second light-transmitting member 32 are both connected to the main body 10 via the mounting bracket 40. The mounting bracket 40 is fixed to the main body 10 to improve the installation stability of the first light-transmitting member 31 and the second light-transmitting member 32. The first light-transmitting member 31 and the second light-transmitting member 32 can be prepared by partitioning the entire piece, so that the first light-transmitting member 31 and the second light-transmitting member 32 are two areas of a whole, thereby facilitating the installation of the light-transmitting assembly 30; alternatively, the first light-transmitting member 31 and the second light-transmitting member 32 can be prepared as a single piece and separately installed via the mounting bracket 40 to reduce interference between the two light-transmitting areas.
[0053] Second, see Figure 3 The present application also provides a mobile robot 2, comprising a mobile body 50 and a depth camera 1 as described in any of the above embodiments. The depth camera 1 is disposed on the mobile body 50 to provide navigation depth information and obstacle avoidance depth information to the mobile body 50, enabling the mobile robot 2 to actively move and identify and avoid obstacles. The mobile robot 2 includes, but is not limited to, a service robot, a cleaning robot, and an automated guided vehicle (AGV).
[0054] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of this application, it should be understood that if the terms "up", "down", "left", "right", etc. indicate directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. This is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.
[0055] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall fall in the protection scope of the present application.
Claims
1. A depth camera, characterized in that: include: main body; The light source assembly includes a first light source component and a second light source component, wherein the first light source component and the second light source component are both disposed inside the main body; a light-transmitting component disposed on the main body, the light-transmitting component comprising a first light-transmitting member and a second light-transmitting member, the first light-transmitting member being disposed on a light-emitting side of the first light source and configured to diffuse light emitted by the first light source into a first light beam, the second light-transmitting member being disposed on a light-emitting side of the second light source and configured to diffuse light emitted by the second light source into a second light beam, the light angular intensity of the first light beam being different from the light angular intensity of the second light beam; Among them, one of the first light source component and the second light source component is a linear light source generator, and the other of the first light source component and the second light source component is a surface light source generator. When the first light source component and the second light source component emit light at the same time, the first light beam and the second light beam are at least partially overlapped.
2. The depth camera according to claim 1, wherein The main body includes a shell, a lens and a processor. The lens and the light-transmitting component are both installed on the outside of the shell. The lens is located on one side of the light-transmitting component. The processor is arranged inside the shell and is electrically connected to the light source component. The processor corresponds to the setting position of the lens, and the processor is used to receive the light echo energy transmitted back from the lens.
3. The depth camera according to claim 2, wherein: The main body further includes a driving member electrically connected to the processor, and at least two driving members are provided, one driving member is electrically connected to the first light source member, and the other driving member is electrically connected to the second light source member.
4. The depth camera according to claim 3, wherein: There are multiple first light source components, and each of the first light source components is electrically connected to one of the driving components; there are multiple second light source components, and each of the second light source components is electrically connected to one of the driving components.
5. The depth camera according to claim 2, wherein: A filter is provided on the lens.
6. The depth camera according to claim 1, wherein: The first light-transmitting element is a lens, a wave mirror or a diffusion lens; and / or the second light-transmitting element is a lens, a wave mirror or a diffusion lens.
7. The depth camera according to claim 1, wherein: The light-transmitting assembly further includes a mounting bracket, and the first light-transmitting member and the second light-transmitting member are both connected to the main body via the mounting bracket.
8. A mobile robot, characterized in that: The device comprises a mobile body and a depth camera as claimed in any one of claims 1 to 7, wherein the depth camera is arranged on the mobile body.