Partition receiving depth camera and robot

Abstract

The utility model discloses a partition receiving depth camera and a robot, and the camera is characterized in that the camera comprises an array laser which is used for projecting structured light spots; the receiver comprises an upper area and a lower area and is used for receiving reflection signals of the structured light spots; wherein the upper area and the lower area have different exposure parameters; 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] This utility model relates to the field of robotics technology, specifically to a zone-receiving depth camera and robot. Background Technology

[0002] The main challenges faced by depth cameras when operating simultaneously at close and long distances include the following aspects:

[0003] I. Lighting and Exposure Issues

[0004] Long-distance measurement: To acquire depth data at long distances, depth cameras typically need to increase the projector's power within a range safe for human eyes. However, excessive power can lead to overexposure when acquiring data from close-up scenes, making it impossible to obtain accurate 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 also reduced accordingly due to the reduced power, resulting in the inability to acquire depth data at long distances.

[0006] II. Measurement Accuracy and Resolution

[0007] Increased error at long distances: When depth cameras measure at long distances, the increased light propagation distance and the complexity of the reflecting surface may lead to increased errors, affecting measurement accuracy.

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

[0009] III. Environmental Adaptability

[0010] Lighting variations: Depth cameras are highly sensitive to ambient lighting. Changes in lighting can cause significant image deviations, which in turn can affect the matching accuracy of depth measurements or lead to matching failures.

[0011] Complex environmental interference: In complex environments such as direct sunlight, large changes in ambient light, or the presence of smoke or dust, the ranging performance of depth cameras may be affected, leading to decreased ranging accuracy or failure to function properly.

[0012] For depth cameras in robots, especially those with low heights such as robotic vacuum cleaners, it is often necessary to simultaneously acquire information from both distant locations and the ground. Because the ground is very close to the depth camera, the signal can be too strong, leading to overexposure. Meanwhile, information from distant locations may suffer from insufficient lighting. Therefore, depth cameras specifically designed for low-height applications are needed.

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

[0014] Therefore, the receiver in this invention is divided into an upper region and a lower region, and different exposure parameters are used to receive the reflected signals from the foreground and ground regions for exposure, so that the ground and foreground can obtain appropriate exposure settings, thereby obtaining a clear image. Without the need for complex post-processing, a large-area depth image can be acquired.

[0015] In a first aspect, this utility model provides a zone-receiving depth camera, characterized in that it includes:

[0016] Array lasers are used to project structured light spots.

[0017] The receiver includes an upper region and a lower region for receiving the reflected signal of the structured light spot; wherein the upper region and the lower region have different exposure parameters;

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

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

[0020] Optionally, in a partitioned receiving depth camera, at least one of the aperture, exposure time, and gain of the upper region is greater than the corresponding parameter of the lower region.

[0021] Optionally, the partitioned receiving depth camera is characterized in that the exposure parameters of each row in the lower region are the same.

[0022] Optionally, the partitioned receiving depth camera is characterized in that both the upper region and the lower region are rectangular.

[0023] Optionally, the partitioned receiving depth camera is characterized in that the exposure parameters of different rows in the lower region are different.

[0024] Optionally, the partitioned receiving depth camera is characterized in that the lower region is the row closer to the bottom, and the lower the brightness after exposure to the same light.

[0025] Secondly, this utility model provides a robot, characterized in that it includes a partitioned receiving depth camera as described in any of the preceding claims.

[0026] Optionally, the robot is characterized in that the partition receiving depth camera is positioned in front of the robot, and the light projected forward and downward illuminates the ground.

[0027] Optionally, in one embodiment of the robot, the closer the partition receiving depth camera is to the ground, the more rows there are in the lower region.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The receiver in this invention is divided into an upper region and a lower region. Different exposure parameters are used to receive the reflected signals from the foreground and ground regions for exposure, so that both the ground and the foreground can obtain appropriate exposure settings, thereby obtaining a clear image. Without the need for complex post-processing, a large-area depth image can be acquired.

[0030] In this invention, the receiver is divided into an upper region and a lower region. The exposure parameters of these two regions are different, which can also adapt to objects with different reflective properties, thereby optimizing the accuracy and range of depth measurement. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0032] Figure 1 This is a schematic diagram of the structure of a partitioned receiving depth camera in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of an upper region and a lower region in an embodiment of this utility model.

[0034] 1-Array laser;

[0035] 2-Upper region;

[0036] 3-Lower region;

[0037] 4- Receiver;

[0038] 5-Processor; Detailed Implementation

[0039] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0040] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0041] This utility model provides a partitioned receiving depth camera, which aims to solve the problems existing in the prior art.

[0042] The technical solutions of this utility model and this application solve the above-mentioned technical problems in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0043] The receiver in this invention is divided into an upper region and a lower region. Different exposure parameters are used to receive the reflected signals from the foreground and ground regions for exposure, so that both the ground and the foreground can obtain appropriate exposure settings, thereby obtaining a clear image. Without the need for complex post-processing, a large-area depth image can be acquired.

[0044] Figure 1 This is a schematic diagram of the structure of a partitioned receiving depth camera according to an embodiment of this utility model. Figure 1 As shown, an embodiment of this utility model includes a partitioned receiving depth camera comprising:

[0045] Array laser 1 is used to project structured light spots.

[0046] Specifically, array lasers are used to project structured light spots. Structured light is a method that calculates the depth information of an object's surface by projecting a specific pattern of light spots onto it and then analyzing the changes in the reflected light pattern. Array lasers are typically near-infrared lasers that emit light with specific structural characteristics (such as striped structured light, coded structured light, speckle structured light, etc.). These rays are projected onto the object being photographed, forming a specific pattern of light spots. Array lasers possess high-speed scanning capabilities and high resolution, enabling them to project clear and stable light spot patterns, providing an accurate light source for depth measurement.

[0047] Receiver 4, including upper region 2 and lower region 3, is used to receive the reflected signal of the structured light spot.

[0048] Specifically, the upper and lower regions have different exposure parameters. A receiver is used to receive the reflected signal from the structured light spot. The receiver is one of the key components of a depth camera, responsible for capturing the structured light signal reflected from the object's surface. The receiver is divided into upper and lower regions with different exposure parameters. This partitioned design can adapt to different lighting conditions and the reflective characteristics of the object's surface, improving the accuracy and robustness of depth measurement. The receiver typically employs a high-sensitivity infrared camera or CMOS sensor, capable of capturing weak light signals and converting them into electrical signals for subsequent processing.

[0049] When the depth camera is positioned low, the ground occupies a large portion of the image. When projecting with a conventional laser projector, the reflected signal intensity from the ground is significantly greater than that from distant objects.

[0050] The upper region is optimized for distant targets, featuring a longer exposure time or higher gain to enhance signal strength and improve measurement accuracy. The lower region is optimized for close-range targets, featuring a shorter exposure time or lower gain to avoid overexposure and noise interference.

[0051] Processor 5 is used to control the array laser and the receiver to work synchronously and to generate a depth image based on the reflected signal.

[0052] Specifically, the processor controls the synchronous operation of the array laser and receiver, and generates a depth image based on the reflected signals. The processor is one of the core components of the depth camera; it coordinates the operation of various components and processes raw data to generate useful depth information. The processor precisely controls the switching and exposure times of the array laser and receiver to ensure they operate synchronously and capture accurate structured light reflection signals. After receiving the reflected signals captured by the receiver, the processor calculates the depth information of the object's surface using triangulation principles and generates a depth image. A depth image is a two-dimensional image containing depth information of the object's surface and can be used for applications such as 3D reconstruction, object recognition, and distance measurement. The processor can also perform filtering, noise reduction, and other optimization processes on the generated depth image to improve its clarity and accuracy.

[0053] In some embodiments, the upper and lower regions are controlled independently. The processor can automatically adjust the exposure time, gain, and other parameters of the upper and lower regions according to preset exposure parameters or actual lighting conditions to ensure that the receiver can capture the optimal light signal. Through precise timing control, the processor ensures that the upper and lower regions of the array laser and receiver operate synchronously, avoiding signal interference and measurement errors. By controlling the exposure parameters of the upper and lower regions separately, optimization can be performed for different lighting conditions and the reflectivity of the object surface, thereby reducing measurement errors and improving the accuracy of depth measurement. Partition control ensures that the receiver can capture clear and complete structured light reflection signals, avoiding measurement failures caused by overexposure or underexposure. Partition control enables the depth camera to better handle different reflectivity characteristics of object surfaces, such as high reflectivity, low reflectivity, or specular reflection, thereby improving the camera's robustness and stability.

[0054] In some embodiments, at least one of the aperture, exposure time, and gain of the upper region is greater than the corresponding parameter of the lower region. A larger aperture allows more light to enter the receiver, while a smaller aperture reduces the amount of light entering the receiver, which is particularly important in bright light environments to avoid overexposure and noise. A smaller aperture is more suitable for measuring objects at close range. A longer exposure time collects more light and is suitable for low-light environments or objects with low reflectivity. By extending the exposure time, the upper region can capture a more complete reflection signal, thereby improving the accuracy of depth measurement. A shorter exposure time reduces overexposure problems in bright light environments and is suitable for measurements where the ground is close to the zone receiving depth camera or during movement. A higher gain enhances the signal strength, enabling the capture of clear reflection signals even in low-light environments. This helps improve the measurement performance of the upper region under low-light conditions. The lower region has a lower gain to reduce noise interference at close range and prevent overexposure, maintaining image sharpness and accuracy.

[0055] In some embodiments, the exposure parameters are identical for each row in the lower region. The exposure settings (such as aperture size, exposure time, ISO, etc.) applied to each row of pixels or sensor elements in the lower region are consistent. This simplifies the processor's algorithm, as it eliminates the need to calculate or adjust the exposure settings individually for each row. Using the same exposure parameters ensures similar exposure effects for each row in the lower region, helping to maintain image consistency and stability, and for robotic grounding, it reduces computational complexity while preserving sharpness.

[0056] In some embodiments, such as Figure 2 As shown, both the upper and lower regions are rectangular. Since the ground is a horizontal surface, the rectangular design helps to better distinguish the ground from objects on it. Simultaneously, the rectangular design allows the camera to maintain image consistency when capturing images. Because of the regular shape of the rectangle, it is easier to ensure consistency in parameters such as exposure, focus, and color balance throughout the entire area, thereby improving image sharpness and accuracy.

[0057] In some embodiments, the exposure parameters for different rows in the lower region are different. Because the depth values ​​of the ground vary greatly when the zoned depth camera is close to the ground, resulting in excessively strong reflected signals at close range, setting different exposure parameters for different rows can effectively adapt to scenarios where the ground and the zoned depth camera are close together.

[0058] In some embodiments, the lower region refers to rows closer to the bottom that have lower brightness after exposure to the same amount of light. Since rows closer to the bottom are closer to the ground and receive stronger reflected signals, lower rows have lower brightness after exposure to the same amount of light, thus adapting to scenes closer to the ground and avoiding overexposure.

[0059] This utility model embodiment also provides an embodiment of a robot. It should be noted that the robot in this embodiment is merely exemplary, and those skilled in the art will understand that various types of ground-mobile robots can be used in the application scenarios of this utility model.

[0060] By integrating a zoned depth camera, the robot achieves depth perception and 3D reconstruction of its surroundings. This capability enables the robot to have higher accuracy and robustness in navigation, obstacle avoidance, object recognition, and grasping.

[0061] The depth camera is designed with a zoned reception mode, meaning different areas or rows have different exposure parameters. This design allows the camera to better adapt to data acquisition scenarios for robots at lower altitudes, enabling it to obtain clear ground and foreground information. In particular, the lower rows in the lower region become less bright when exposed to the same light, and this gradual exposure matches the depth variation characteristics of the ground, improving the realism and naturalness of the image.

[0062] By projecting structured light (such as dotted or striped structured light) onto a target scene and receiving the reflected light, a depth camera can calculate the depth information of objects in the scene. This depth information is crucial for robot navigation and obstacle avoidance because it provides precise data on the distance and position of objects.

[0063] The closer the zone receiving depth camera is to the ground, the more rows are in the lower region. The lower region is used to receive signals from the ground. When the zone receiving depth camera is closer to the ground, the ground occupies a larger proportion of the image, and the area of ​​the lower region is also larger, which allows for better reception of reflected signals from the ground.

[0064] Partition-based depth cameras typically employ high-precision optics and advanced image processing algorithms to ensure the accuracy and robustness of depth measurements. This high precision and robustness enable robots to maintain stable performance even in complex environments.

[0065] In the field of industrial automation, this robot can be used for object recognition, grasping, and handling on production lines. Using 3D information provided by a depth camera, the robot can accurately locate objects and avoid collisions.

[0066] In the field of home services, this robot can be used for tasks such as cleaning, carrying, and companionship. By perceiving the home environment through a depth camera, the robot can navigate autonomously and avoid obstacles while interacting with users.

[0067] In the medical field, this robot can be used for tasks such as surgical assistance, patient monitoring, and medication management. Depth cameras can provide precise surgical navigation and patient status monitoring information, thereby improving the quality and efficiency of medical services.

[0068] In the field of scientific research, this robot can be used for tasks such as topographic mapping, geological exploration, and biological research. The depth camera can provide detailed three-dimensional terrain information and biological morphological data, offering important reference data for researchers.

[0069] In conclusion, a robot incorporating a zone-receiving depth camera has broad application prospects in fields such as industrial automation, home services, medical assistance, and scientific research. By continuously optimizing the performance of the depth camera and improving the robot's intelligence level, this robot will play an even greater role in the future.

[0070] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0071] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A zone-receiving depth camera, characterized in that, include: Array lasers are used to project structured light spots. The receiver includes an upper region and a lower region for receiving the reflected signal of the structured light spot; wherein the upper region and the lower region have different exposure parameters; The processor is used to control the array laser and the receiver to work synchronously and to generate a depth image based on the reflected signal.

2. A zone-receiving depth camera according to claim 1, characterized in that, The upper region and the lower region are controlled separately.

3. A zone-receiving depth camera according to claim 1, characterized in that, At least one of the aperture, exposure time, and gain in the upper region is greater than the corresponding parameter in the lower region.

4. A zone-receiving depth camera according to claim 1, characterized in that, The exposure parameters are the same for each row in the lower region.

5. A zone-receiving depth camera according to claim 1, characterized in that, Both the upper region and the lower region are rectangular.

6. A partitioned receiving depth camera according to claim 1, characterized in that, The exposure parameters are different for different rows in the lower region.

7. A zone-receiving depth camera according to claim 6, characterized in that, The lower region refers to rows that are closer to the bottom, where the brightness decreases when exposed to the same amount of light.

8. A robot, characterized in that, Includes the partitioned receiving depth camera as described in any one of claims 1-7.

9. A robot according to claim 8, characterized in that, The partitioned depth camera is positioned in front of the robot, and the light it projects forward and downward illuminates the ground.

10. A robot according to claim 8, characterized in that, The closer the depth camera is to the ground, the more rows there are in the lower region.

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