Depth camera with cover plate and robot

Abstract

The utility model discloses a depth camera with a cover plate and a robot, and the depth camera is characterized in that the depth camera comprises an array laser which is used for projecting structured light spots; the receiver is used for receiving a reflection signal of the structured light spot; the transparent cover plate is located on an incident light path of the receiver and has at least two different transmittances for the structured light spots; 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 depth camera with a cover plate and a 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, this invention sets a transparent cover plate at the front end of the receiver, and by processing the transparent cover plate, different transmittance is achieved, so that the ground and the foreground can obtain appropriate exposure settings, thereby obtaining a clear image. Without the need for complicated post-processing, a large-area depth image can be acquired.

[0015] In a first aspect, this utility model provides a depth camera with a cover plate, characterized in that it comprises:

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

[0017] A receiver for receiving the reflected signal from the structured light spot;

[0018] A transparent cover plate is located in the incident light path of the receiver and has at least two different transmittances for the structured light spot;

[0019] 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.

[0020] Optionally, the depth camera with a cover plate is characterized in that the transmittance of the transparent cover plate is the same in the horizontal direction and varies unidirectionally in the vertical direction.

[0021] Optionally, the depth camera with a cover plate is characterized in that the transmittance of the transparent cover plate changes at a decreasing rate in the vertical direction from low to high.

[0022] Optionally, the depth camera with a cover plate is characterized in that the transmittance of the transparent cover plate varies exponentially or polynomially in the vertical direction.

[0023] Optionally, the depth camera with a cover plate is characterized in that the transparent cover plate includes an upper region and a lower region; the transmittance of the upper region is higher than that of the lower region.

[0024] Optionally, the depth camera with a cover plate is characterized in that the transmittance of the upper region is constant.

[0025] Optionally, the depth camera with a cover plate is characterized in that the transmittance of the lower region varies unidirectionally in the vertical direction.

[0026] Optionally, the depth camera with a cover plate is characterized in that the transmittance of the lowest part of the transparent cover plate is less than 50%.

[0027] Secondly, this utility model provides a robot, characterized in that it includes a depth camera with a cover plate as described in any of the preceding claims.

[0028] Optionally, the robot is characterized in that the depth camera with a cover is positioned in front of the robot, and the light projected forward and downward illuminates the ground.

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

[0030] This invention features a transparent cover plate at the front end of the receiver. By processing the transparent cover plate to achieve different transmittance, both the ground and the foreground can obtain appropriate exposure settings, resulting in a clear image. This allows for the acquisition of a wide range of depth images without the need for complex post-processing.

[0031] In this invention, the transparent cover plate has different transmittance and can also adapt to the different reflective properties of the ground and the ground surface, thereby optimizing the accuracy and range of depth measurement. Attached Figure Description

[0032] 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:

[0033] Figure 1 This is a schematic diagram of the structure of a depth camera with a cover plate in an embodiment of this utility model;

[0034] Figure 2 This is a schematic diagram showing the transmittance of a light-receiving window in a transparent cover plate according to an embodiment of this utility model.

[0035] Figure 3 This is a schematic diagram of a transmittance curve in an embodiment of the present invention.

[0036] 1-Array laser;

[0037] 2- Receiver;

[0038] 3- Transparent cover;

[0039] 4-Processor; Detailed Implementation

[0040] 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.

[0041] 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.

[0042] This utility model provides a depth camera with a cover plate, which aims to solve the problems existing in the prior art.

[0043] 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.

[0044] This invention features a transparent cover plate at the front end of the receiver. By processing the transparent cover plate to achieve different transmittance, both the ground and the foreground can obtain appropriate exposure settings, resulting in a clear image. This allows for the acquisition of a wide range of depth images without the need for complex post-processing.

[0045] Figure 1 This is a schematic diagram of the structure of a depth camera with a cover plate according to an embodiment of this utility model. Figure 1 As shown, an embodiment of the present invention includes a depth camera with a cover plate, comprising:

[0046] Array laser 1 is used to project structured light spots.

[0047] Specifically, the main function of an array laser is to project structured light spots. These spots typically consist of a series of pre-designed infrared light patterns used to create specific illumination patterns on the surface of an object. When the array laser is activated, it emits infrared light, which passes through specific optical elements (such as lenses or diffraction gratings) to form structured light spots. These spots, once projected onto the object's surface, deform according to the object's shape and distance.

[0048] Receiver 2 is used to receive the reflected signal of the structured light spot.

[0049] Specifically, the receiver is responsible for receiving the reflected signals from the structured light spot reflected back from the object's surface. When the structured light spot is projected onto the object's surface, the light is reflected back. The receiver captures these reflected rays and converts them into electrical signals for processing. These electrical signals contain depth information about the object's surface.

[0050] 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.

[0051] The transparent cover plate 3 is located in the incident light path of the receiver and has at least two different transmittances for the structured light spot.

[0052] Specifically, the transparent cover plate is located in the incident light path of the receiver, and it has at least two different transmittances for the structured light spot. The transparent cover plate can attenuate or block the structured light spot to varying degrees, thereby altering the intensity of the reflected signal hitting the receiver. Transparent cover plates are typically made of materials with high light transmittance and low scattering properties, such as optical glass or special optical plastics. These materials effectively reduce light loss and scattering, improving the performance of the depth camera. While the transmittance at different locations on the transparent cover plate can vary, once determined, the transmittance remains constant within a given application scenario.

[0053] Processor 4 is used to control the array laser and the receiver to work synchronously and to generate a depth image based on the reflected signal.

[0054] Specifically, the processor is responsible for controlling the synchronous operation of the array laser and the receiver, and generating a depth image based on the reflected signals received by the receiver. The processor activates the structured light beam emitted by the array laser by sending control signals to it. Simultaneously, the processor is also responsible for receiving, processing, and analyzing the electrical signals transmitted from the receiver. By calculating parallax, the processor can accurately calculate the depth information of the object's surface and generate the corresponding depth image.

[0055] In some embodiments, the transmittance of the transparent cover plate is constant in the horizontal direction and varies unidirectionally in the vertical direction. Since the ground is horizontal, the uniform horizontal transmittance of the transparent cover plate is suitable for scenarios where the depth camera is low and the ground is too close, resulting in excessive light intensity. The consistent horizontal transmittance of the transparent cover plate is particularly adaptable for scenarios at the same height, especially on the ground. The unidirectional vertical variation can be an ordered increase or decrease, depending on the design requirements. By adjusting the vertical transmittance variation, the transmittance can be lowered as the ground gets closer to the depth camera, thus avoiding overexposure.

[0056] In some embodiments, the transmittance of the transparent cover plate decreases at a lower rate of change in the vertical direction. Vertically, the transmittance of the transparent cover plate gradually increases from a lower value to a higher value. This means that as light incident from the bottom to the top of the cover plate, its transmittance gradually increases. The rate of change of transmittance is not constant but gradually decreases with increasing height. Specifically, the change in transmittance is relatively rapid near the bottom of the transparent cover plate, while the rate of change gradually slows down near the top. This embodiment is better suited for application scenarios where the depth camera is at a low height and the ground occupies a large portion of the image.

[0057] In some embodiments, the transmittance of the transparent cover plate varies exponentially or polynomially in the vertical direction. An exponential function typically exhibits rapid growth or decay within a certain range. When the transmittance of the transparent cover plate varies exponentially, it may rapidly increase or decrease transmittance near a certain vertical position. This variation pattern facilitates finer control of light within a specific height range, for example, enabling rapid transitions in areas requiring strong light absorption or reflection. A polynomial function can represent a smooth curve with multiple extreme points and inflection points. When the transmittance of the transparent cover plate varies polynomially, it can achieve a smooth transition of transmittance across multiple vertical positions. This variation pattern helps to distribute light evenly over a wider vertical range, reducing abrupt changes in light intensity and improving the measurement accuracy and stability of the depth camera.

[0058] In some embodiments, the transparent cover plate includes an upper region and a lower region; the transmittance of the upper region is higher than that of the lower region. The transparent cover plate is clearly divided into an upper region and a lower region. These two regions are vertically adjacent but have different transmittance characteristics. The upper region has a higher transmittance than the lower region. This means that when light is incident on the transparent cover plate from above, more light passes through the upper region to reach the receiver; while due to the closer distance to the ground, the reflection is too strong, and the lower transmittance of the lower region allows the reflected signal to have better intensity, ensuring image quality and preventing overexposure. The upper and lower regions of the transparent cover plate can use different materials or coatings to achieve different transmittances. For example, the upper region can use a material or coating with high light transmittance, while the lower region can use a material with lower light transmittance or a filtering function. The manufacturing of the transparent cover plate requires high-precision processing and coating technology to ensure that the transmittance of the upper and lower regions meets the design requirements. Simultaneously, the uniformity, weather resistance, and abrasion resistance of the materials must also be considered. After manufacturing, the transparent cover plate needs to undergo rigorous testing and calibration to ensure that its transmittance characteristics meet the design requirements. This includes measuring the transmittance of different areas and assessing the uniformity of light distribution.

[0059] In some embodiments, the transmittance of the upper region is constant. The transmittance of the upper region remains consistent throughout the entire region and does not change with variations in the angle or position of light incidence. The transparent cover is divided into upper and lower regions, but the transmittance characteristics of the upper region are uniform, contrasting with the lower region. The transmittance of the lower region may vary depending on design requirements, while the upper region remains constant. This embodiment allows for better consistency in the received ground area, thereby enabling more accurate measurements.

[0060] In some embodiments, the transmittance of the lower region varies unidirectionally in the vertical direction. The transmittance of the lower region exhibits a unidirectional variation in the vertical direction, meaning that it monotonically increases or decreases with changes in vertical position. This variation can be linear, exponential, polynomial, or other forms of unidirectional variation. The transparent cover is clearly divided into an upper region and a lower region.

[0061] In some embodiments, the transmittance of the bottommost part of the transparent cover is less than 50%. For some applications, such as robotic vacuum cleaners, the depth camera is relatively low, resulting in excessively strong reflected signals at closer locations. A transmittance of less than 50% at the bottommost part of the transparent cover allows for better data acquisition in robotic vacuum cleaner scenarios.

[0062] In some embodiments, both the upper and lower regions are rectangular. Since the ground is a horizontal surface, a rectangular design better distinguishes the ground from target 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.

[0063] 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.

[0064] The robot consists of multiple modules, including but not limited to a drive module, a control module, a sensor module, and an execution module. The depth camera with a cover plate, as an important component of the sensor module, provides the robot with crucial environmental perception data.

[0065] The robot possesses functions such as autonomous navigation, obstacle avoidance, object recognition, and localization. These functions rely heavily on high-precision 3D spatial information provided by depth cameras.

[0066] As a protective layer and optical element for depth cameras, the cover plate has multiple functions. It not only protects the depth camera lens from dust, water vapor, and physical damage, but also optimizes light incidence and reception through its special optical design.

[0067] The cover material is typically chosen to have high light transmittance, low scattering, and low reflection properties, such as PMMA sheets that transmit infrared light. This material ensures that light maintains high transmittance and low loss when passing through the cover.

[0068] The transmittance design of the cover plate is crucial to the performance of depth cameras. Depending on the application requirements, the cover plate can be designed to have a constant transmittance or exhibit different transmittance variations in different areas. For example, in some designs, the transmittance of the upper area may be constant to ensure stable light reception, while the lower area may be designed to vary unidirectionally in the vertical direction to optimize light distribution and reduce stray light interference.

[0069] A depth camera with a cover plate typically includes components such as a dot matrix laser emitter, an infrared receiver module, and an infrared floodlight. These components work together to achieve high-precision 3D measurement by projecting an infrared dot matrix, capturing the reflected infrared dot matrix pattern, and emitting infrared floodlight to enhance brightness.

[0070] A depth camera with a cover is positioned in front of the robot, and its light is projected forward and downward onto the ground.

[0071] Depth camera robots with covers can be applied in various scenarios, such as industrial automation, smart homes, autonomous driving, and security monitoring. In these scenarios, the robots need to accurately perceive their surroundings, navigate autonomously, avoid obstacles, and identify and locate objects.

[0072] Compared to traditional sensors, depth cameras with covers offer higher accuracy and more comprehensive spatial awareness, making them better suited for low-height robots and more adaptable to scenes where the ground occupies a large area of ​​the depth image. They provide 3D coordinate information of objects, enabling more accurate object recognition and localization. Furthermore, the cover design protects the depth camera lens from damage, improving the robot's reliability and durability.

[0073] In summary, a robot design incorporating a depth camera with a cover plate integrates the robot's environmental perception capabilities with the 3D measurement technology of a depth camera. This design not only improves the robot's spatial perception accuracy and reliability but also provides the robot with a wider range of application scenarios and enhanced functionality.

[0074] 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.

[0075] 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 depth camera with a cover plate, characterized in that, include: Array lasers are used to project structured light spots. A receiver for receiving the reflected signal from the structured light spot; A transparent cover plate is located in the incident light path of the receiver and has at least two different transmittances for the structured light spot; 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 depth camera with a cover plate according to claim 1, characterized in that, The transmittance of the transparent cover is the same in the horizontal direction and varies unidirectionally in the vertical direction.

3. A depth camera with a cover plate according to claim 2, characterized in that, The rate at which the transmittance of the transparent cover changes from low to high in the vertical direction decreases.

4. A depth camera with a cover plate according to claim 3, characterized in that, The transmittance of the transparent cover plate varies exponentially or polynomially in the vertical direction.

5. A depth camera with a cover plate according to claim 1, characterized in that, The transparent cover includes an upper region and a lower region; the transmittance of the upper region is higher than that of the lower region.

6. A depth camera with a cover plate according to claim 5, characterized in that, The transmittance of the upper region is constant.

7. A depth camera with a cover plate according to claim 5, characterized in that, The transmittance of the lower region changes unidirectionally in the vertical direction.

8. A depth camera with a cover plate according to claim 1, characterized in that, The transmittance of the bottommost part of the transparent cover is less than 50%.

9. A robot, characterized in that, Includes the depth camera with a cover as described in any one of claims 1-8.

10. A robot according to claim 9, characterized in that, The depth camera with a cover plate is positioned in front of the robot, and the light it projects forward and downward illuminates the ground.

Images