Three-dimensional sensing device and sweeping robot

Abstract

The utility model relates to a three-dimensional sensing device and a sweeping robot, and belongs to the technical field of sensors, the three-dimensional sensing device comprises a line laser projector, an area array light projector and a receiver; the line laser projector comprises a first light source and a first lens; the area array light projector comprises a second light source and a second lens; the receiver comprises a lens and an image sensor; wherein the first lens and the second lens are super-structure lenses, and the lens is a traditional refraction lens or a super-structure lens. According to the three-dimensional sensing device, the linear laser projected by the linear laser projector is used for performing non-contact obstacle recognition and obstacle avoidance, and meanwhile, the area array light projected by the area array light projector is used for accurately recognizing the shape and the volume of an object in an object space and constructing a three-dimensional map of a surrounding space.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of sensors, and particularly relates to a three-dimensional sensing device and a sweeping robot. BACKGROUND

[0002] As a kind of intelligent household appliance, sweeping robot can automatically complete floor cleaning in a room. With the improvement of people's living standards, people's demand for sweeping robot is also growing.

[0003] Currently, some sweeping robots on the market are based on collision sensors, which realize obstacle recognition by colliding with objects, so as to switch paths. The sweeping robot based on collision sensor needs to collide with objects to identify obstacles, and cannot accurately obtain the position and volume of the obstacle. On the other hand, collision is also easy to cause danger or property loss.

[0004] Some sweeping robots use iTOF (indirect Time-of-Flight) module, which projects a three-dimensional area array light beam in the direction of travel. The light beam is reflected after encountering an object, and the iTOF module realizes the functions of obstacle avoidance and navigation by receiving the reflected light beam.

[0005] With the growing demand for sweeping robots, the scene of the daily work of the sweeping robot is also becoming more and more complex, and the whole body of the sweeping robot is also becoming thinner. Therefore, the height of the module of the sweeping robot using the iTOF module is relatively low from the ground.

[0006] At this time, the three-dimensional area array light beam emitted by the ordinary iTOF module will produce high-intensity scattering on the ground near the sweeping robot, interfere with the recognition of the algorithm end, and affect the accuracy; even overexposure may occur, which cannot be identified. CONTENT OF THE INVENTION

[0007] The present application provides a three-dimensional sensing device and a sweeping robot to at least solve the above technical problems in the prior art.

[0008] The present application provides a three-dimensional sensing device and a sweeping robot to at least solve the above technical problems in the prior art.

[0009] In an implementable manner, the first light source is a vertical cavity surface emitting laser, a Gaussian laser or an edge emitting laser; and the second light source is a vertical cavity surface emitting laser, a Gaussian laser or an edge emitting laser.

[0010] In an embodiment, the first light source and the second light source are vertical cavity surface emitting lasers, with a wavelength range of 800nm-1000nm and a divergence angle range of 18°-28°.

[0011] In an embodiment, the superlens comprises a structure region and a protection region arranged around the structure region.

[0012] In an embodiment, the structure region is composed of a plurality of superlens units, and any superlens unit comprises a substrate and a micro-nano structure arranged on the substrate.

[0013] In an embodiment, the micro-nano structure is arranged with a filling protection layer.

[0014] The shape of the micro-nano structure is one or more of a cylindrical shape, an elliptical cylindrical shape, a rectangular column shape, a square column shape and a circular ring column shape.

[0015] In an embodiment, the protection region is composed of a plurality of superlens units with the same shape arranged.

[0016] In an embodiment, the first light source and the second light source are arranged on the same circuit control board or on different circuit control boards; the first lens and the second lens are arranged on two different regions of the same superlens or on two different superlenses respectively.

[0017] In an embodiment, the optical axis of the linear laser projector and the optical axis of the area array light projector are arranged as follows:

[0018] c. Both are in the horizontal plane and parallel to each other;

[0019] d. One is in the horizontal plane, and the other is arranged at any angle from 0° to 90° (not including 0° and 90°) vertically upward with respect to the horizontal direction.

[0020] Another aspect of the embodiments of the present application provides a sweeping robot, comprising a body, a main control system, a motion device, a sweeping device and any one of the three-dimensional sensing devices described above.

[0021] Compared with the prior art, the present application has the following advantages:

[0022] 1、Traditional sweeping robot only realizes the conventional obstacle avoidance and navigation function, but cannot accurately identify the volume and shape of the surrounding objects, and lacks the ability to construct a three-dimensional map of the surrounding environment; while the three-dimensional sensing device of the present application uses the line laser projected by the line laser projector to perform non-contact obstacle identification and obstacle avoidance, and uses the surface array light projected by the surface array light projector to accurately identify the shape and volume of the surrounding objects and construct a three-dimensional map of the surrounding space. In addition, since the vertical direction light intensity of the surface array light is asymmetric and the light intensity near the ground is low, it is not easy to produce strong scattering on the ground near the sweeping robot, which can effectively avoid overexposure and identification failure.

[0023] 2、The super lens is used instead of the traditional lens in the present application, and the shape of the micro-nano structure can be designed to accurately control the amplitude, phase and polarization characteristics of the incident light. In addition, by setting a filling layer around the micro-nano structure, the contact between the micro-nano structure and the external environment can be effectively prevented, and the structure area of the super lens and the edge of the whole device are isolated, which plays a protective role. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a structural schematic diagram of the three-dimensional sensing device in Embodiment 1 of the present application;

[0025] Figure 2 is a side view of the three-dimensional sensing device in Embodiment 1 of the present application;

[0026] Figure 3 is a schematic diagram of the arrangement of the VCSEL light source in Embodiments 1 and 2 of the present application;

[0027] Figure 4 is a top view of the super lens in Embodiments 1 and 2 of the present application;

[0028] Figure 5 is a structural schematic diagram of the super lens in Embodiments 1 and 2 of the present application;

[0029] Figure 6 is a schematic diagram of the super lens unit in Embodiments 1 and 2 of the present application;

[0030] Figure 7 is a schematic diagram of the super lens unit in Embodiments 1 and 2 of the present application;

[0031] Figure 8 is a schematic diagram of the three-dimensional sensing device in Embodiment 1 of the present application;

[0032] Figure 9 is a schematic diagram of the light intensity distribution of the line laser in Embodiments 1 and 2 of the present application;

[0033] Figure 10is a schematic diagram of the light intensity distribution of the surface array light in Embodiment 1 of the present application;

[0034] Figure 11 is a schematic diagram of the structure of the three-dimensional sensing device in Embodiment 2 of the present application;

[0035] Figure 12 is a side view of the three-dimensional sensing device in Embodiment 2 of the present application;

[0036] Figure 13 is a schematic diagram of the principle of the three-dimensional sensing device in Embodiment 2 of the present application;

[0037] Figure 14 is a schematic diagram of the light intensity distribution of the surface array light in Embodiment 2 of the present application;

[0038] Figure 15 is a schematic diagram of the structure of the three-dimensional sensing device in Embodiment 2 of the present application;

[0039] Figure 16 is a schematic diagram of the structure of the robotic sweeper in the embodiment of the present application;

[0040] Figure 17 is a side view of the robotic sweeper in the embodiment of the present application;

[0041] Figure 18 is a schematic diagram of the principle of the robotic sweeper in the embodiment of the present application.

[0042] Explanation of reference signs:

[0043] 10, body; main control system; motion device; 40, cleaning device;

[0044] 50, three-dimensional sensing device; 51, line laser projector; 511, first light source; 512, first lens; 52, surface array light projector; 521, second light source; 522, second lens; 53, receiver; 531, image sensor; 532, lens;

[0045] 500, third lens; 510, first region; 520, second region;

[0046] 501, structural region; 502, protection region; 503, meta-lens unit; 5031, base; 5032, micro-nano structure; 5033, filling protection layer;

[0047] 61, line laser; 62, surface array light. DETAILED DESCRIPTION

[0048] The present application will be further described in detail below with reference to the accompanying drawings.

[0049] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0050] With reference to Figure 1 and Figure 2 The present application discloses a three-dimensional sensing device, comprising a line laser projector 51, a surface array light projector 52 and a receiver 53, the line laser projector 51 comprising a first light source 511 and a first lens 512, the surface array light projector 52 comprising a second light source 521 and a second lens 522, and the receiver 53 comprising a lens 532 and an image sensor 531.

[0051] The first lens 512 and the second lens 522 are superlenses, and the lens 532 is a conventional refractive lens or a superlens. The first lens 512 and the second lens 522 are arranged on two different regions of the same superlens or on two superlenses respectively.

[0052] The first light source 511 can be any one of a vertical cavity surface emitting laser, a Gaussian laser or an edge emitting laser, and the second light source 521 can be any one of a vertical cavity surface emitting laser, a Gaussian laser or an edge emitting laser. It can be understood that the first light source 511 and the second light source 521 can be of the same type. For example, the first light source 511 and the second light source 521 are both vertical cavity surface emitting lasers, and the wavelength range is 800-1000 nm and the divergence angle range is 18-28°. In addition, it should be noted that the first light source 511 and the second light source 521 can be placed on the same circuit control board or on different circuit control boards.

[0053] The superlens comprises a structure region 501 and a protection region 502 arranged around the structure region 501. The structure region 501 is composed of a plurality of superlens units 503, and any superlens unit 503 comprises a substrate 5031 and a micro-nano structure 5032 arranged on the substrate 5031. A filling protection layer 5033 is arranged around the micro-nano structure 5032, and the shape of the micro-nano structure 5032 is one or more of a cylindrical, elliptical cylindrical, rectangular column, square column and circular ring column. The protection region 502 is composed of a plurality of superlens units 503 with the same shape arranged.

[0054] The optical axis of the line laser projector 51 and the optical axis of the surface array light projector 52 have the following two arrangements:

[0055] a. Both are in the horizontal plane and parallel to each other;

[0056] b、 wherein one is in the horizontal plane, and the other is arranged at a vertical angle of 0° to 90° (not including 0° and 90°) with the horizontal direction.

[0057] The specific parameters are set with reference to the following examples.

[0058] Example 1

[0059] The structure of the three-dimensional sensing device is shown in Figure 1 and Figure 2 , which includes a line laser projector 51, a planar array light projector 52, and a receiver 53. The line laser projector 51 is composed of a first light source 511 and a first lens 512, the planar array light projector 52 is composed of a second light source 521 and a second lens 522, and the receiver 53 is composed of an image sensor 531 and a lens 532.

[0060] The first light source 511 and the first lens 512 are coaxially arranged at the center, and their common axis is the optical axis of the line laser projector 51. The second light source 521 and the second lens 522 are coaxially arranged at the center, and their common axis is the optical axis of the planar array light projector 52. The first lens 512 and the second lens 522 are both superlenses and are separated from each other.

[0061] The optical axis of the line laser projector 51 is in the horizontal plane. The optical axis of the planar array light projector 52 is at an angle of about 30° vertically upward with the horizontal direction.

[0062] The first light source 511 and the second light source 521 are selected as the same VCSEL light source, with a light emitting wavelength of 940 nm and a beam divergence angle of about 20°. The arrangement of the lamp beads is shown in Figure 3 .

[0063] The first lens 512 and the second lens 522 are both composed of a structure area 501 and a protection area 502 around the structure area 501, as shown in Figure 4 and Figure 5 . The structure area 501 is composed of densely arranged superlens units 503 of different shapes, and the protection area 502 is composed of densely arranged superlens units 503 of the same shape.

[0064] The specific structure of the superlens unit 503 is shown in Figure 6 , which includes a substrate 5031, micro-nano structures 5032 on the substrate, and a filling protection layer 5033 around the micro-nano structures.

[0065] The unit shape of the superlens unit 503 is usually square, and can also be regular hexagonal. As shown in Figure 7 , the superlens unit 503 is in the shape of a regular hexagon, and the filling protection layer 5033 is air.

[0066] When the light wave passes through the superlens unit 503, a phase difference of is caused, specifically

[0067]

[0068] where λ is the wavelength of the light wave, n eff is the equivalent refractive index, and h is the height of the micro-nano structure 5032. When the height h of the micro-nano structure 5032 is fixed and the diameter D changes, the equivalent refractive index n eff changes, and accordingly the phase value also changes.

[0069] The distribution of the superlens units 503 contained in the structure region 501 of the superlens corresponds to the phase distribution of the structure region 501 of the superlens.

[0070] The phase distribution of the structure region 501 of the superlens satisfies the following relationship with the incident light beam and the exit light beam:

[0071]

[0072] where n i is the incident refractive index, θ i is the incident angle, n t is the exit refractive index, θ t is the exit angle, λ is the wavelength of the light wave, and x is the coordinate on the structure region 501 of the superlens.

[0073] The schematic diagram of the three-dimensional sensing device is shown in Figure 8 The light beam emitted by the first light source 511 of the line laser projector 51 is modulated by the first lens 512 to form a line laser 61. The light beam emitted by the second light source 521 of the surface array light projector 52 is modulated by the second lens 522 to form a surface array light 62. The line laser 61 and the surface array light 62 are reflected after hitting an obstacle or an object. The receiver 53 receives the reflected light beam through the lens 532, images to the image sensor 531, and feeds back to the main control system 20 for analysis and processing to avoid obstacles and construct a three-dimensional map of the surrounding space.

[0074] The light intensity distribution of the line laser 61 is shown in Figure 9 , which has a horizontal FOI of 120° and a vertical FOI of less than 4°, and the entire light spot is symmetrically distributed about the H axis and the V axis.

[0075] The large horizontal FOI and small vertical FOI of the line laser 61 enable energy concentration and achieve obstacle avoidance in a large field of view.

[0076] ​​The intensity distribution of the light beam emitted by the second light source 521 of the area array light projector 52 after being modulated by the second lens 522 is as follows: Figure 10 As shown, its horizontal FOI reaches 120°, its vertical FOI reaches 50°, the light intensity distribution in the H direction is symmetrical about the V axis, and the light intensity in the V direction gradually increases from -25° to 25°. Since the optical axis of the area array light projector 52 is at an angle of about 30° vertically upward with the horizontal direction, the vertical angle range of the area array light 62 is 5° to 55°.

[0077] The intensity of the area array light 62 in the V direction gradually increases from 5° to 55°, which effectively avoids overexposure near the ground and increases the ability to identify objects at high altitudes.

[0078] Example 2

[0079] The main difference between this embodiment and Embodiment 1 lies in the arrangement of the line laser projector 51 and the area laser projector 52, as detailed below.

[0080] The structure of a three-dimensional sensing device is as follows Figure 11 and Figure 12 As shown, it includes a line laser projector 51, an area array projector 52, and a receiver 53. The line laser projector 51 consists of a first light source 511 and a first lens 512, the area array projector 52 consists of a second light source 521 and a second lens 522, and the receiver 53 consists of an image sensor 531 and a lens 532.

[0081] The first light source 511 and the first lens 512 are placed coaxially, and their common axis is the optical axis of the line laser projector 51. The first light source 521 and the second lens 522 are placed coaxially, and their common axis is the optical axis of the area array projector 52.

[0082] The optical axes of the line laser projector 51 and the area laser projector 52 are both in the horizontal plane and parallel to each other.

[0083] The first light source 511 and the second light source 521 are both the same VCSEL light source with an emission wavelength of 940nm and a beam divergence angle of about 20°. The arrangement of their LED beads is the same as in Example 1.

[0084] The first light source 511 and the second light source 521 are placed on the same circuit board.

[0085] The schematic diagram of the three-dimensional sensing device is as follows: Figure 13As shown, the beam emitted by the first light source 511 of the line laser projector 51 is modulated by the first lens 512 to form a line laser 61; the beam emitted by the second light source 521 of the area array projector 52 is modulated by the second lens 522 to form an area array beam 62. When the line laser 61 and the area array beam 62 encounter an obstacle or object, they are reflected. The receiver 53 receives the reflected beams through the lens 532, images them onto the image sensor 531, and feeds them back to the main control system 20 for analysis and processing, enabling obstacle avoidance and the construction of a three-dimensional map of the surrounding space.

[0086] The intensity distribution of the line laser 61 is as follows Figure 9 As shown, its horizontal FOI reaches 120°, its vertical FOI is less than 4°, and the entire light spot is symmetrically distributed about the H-axis and V-axis.

[0087] The linear laser 61 has a large horizontal field of view (FOI) and a small vertical FOI, which concentrates energy and enables obstacle avoidance over a wide field of view.

[0088] Compared to Embodiment 1, the phase distribution of the metalens structure region 501 in this embodiment has an increased phase gradient in the V direction. This allows the beam in the V direction to be deflected overall.

[0089] The intensity distribution of the area array light 62 is as follows Figure 14 As shown, its horizontal FOI reaches 120°, its vertical FOI reaches 50°, the light intensity distribution in the H direction is symmetrical about the V axis, and the light intensity in the V direction gradually increases from 5° to 55°. Compared with the area array light intensity distribution in Example 1 (e.g. Figure 10 In Example 2, the intensity range of the V-direction of the area array light intensity distribution is 5° to 55°. Therefore, it is not necessary to make the optical axis of the area array light projector 52 at an angle of about 30° vertically upward with the horizontal direction, that is, the optical axis of the area array light projector 52 is in the horizontal plane.

[0090] The intensity of the area array light 62 in the V direction gradually increases from 5° to 55°, which effectively avoids overexposure near the ground and increases the ability to identify objects at high altitudes.

[0091] Because the optical axes of the line laser projector 51 and the area laser projector 52 in this embodiment are both in a horizontal plane and parallel to each other, the planes where the light sources 511 and 521 are located are parallel to each other. Placing the light sources 511 and 521 on the same circuit board makes the system more compact and neat, reduces the steps of adjusting the relative angles between different optical axes, and facilitates installation and debugging.

[0092] Meanwhile, the first lens 512 of the line laser projector 51 and the second lens 522 of the area array projector 52 can be replaced by different regions of a metalens, namely the third lens 500. For example... Figure 15As shown, the third lens 500 is composed of a first region 510 and a second region 520.

[0093] Reference Figures 16-18 The application also discloses a sweeping robot, which comprises a body 10, a main control system 20, a moving device 30, a sweeping device 40 and any one of the three-dimensional sensing devices 50.

[0094] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A three-dimensional sensing device, characterized by: The three-dimensional sensor device comprises a line laser projector (51), a surface array light projector (52) and a receiver (53); The line laser projector (51) comprises a first light source (511) and a first lens (512); The surface array light projector (52) comprises a second light source (521) and a second lens (522); The receiver (53) comprises a lens (532) and an image sensor (531); The first lens (512) and the second lens (522) are superlenses, and the lens (532) is a traditional refractive lens or a superlens.

2. A three-dimensional sensing device according to claim 1, characterized in that: The first light source (511) is a vertical cavity surface emitting laser, a Gaussian laser or an edge emitting laser. The second light source (521) is a vertical cavity surface emitting laser, a Gaussian laser or an edge emitting laser.

3. A three-dimensional sensing device according to claim 2, wherein: The first light source (511) and the second light source (521) are vertical cavity surface emitting lasers, and the wavelength range is 800nm-1000nm, and the divergence angle range is 18°-28°.

4. The three-dimensional sensing device of claim 1, wherein: The superlens comprises a structure area (501) and a protection area (502) arranged around the structure area (501).

5. A three-dimensional sensing device according to claim 4, wherein: The structure area (501) is composed of a plurality of superlens units (503), and any superlens unit (503) comprises a substrate (5031) and a micro-nano structure (5032) arranged on the substrate (5031).

6. A three-dimensional sensing device according to claim 5, wherein: The micro-nano structure (5032) is surrounded by a filling protection layer (5033). The shape of the micro-nano structure (5032) is one or more of a cylindrical shape, an elliptical cylindrical shape, a rectangular column shape and a circular ring column shape.

7. The three-dimensional sensing device of claim 4, wherein: The protection area (502) is composed of a plurality of superlens units (503) with the same shape.

8. The three-dimensional sensing device of claim 1, wherein: The first light source (511) and the second light source (521) are placed on the same circuit control board or on different circuit control boards. The first lens (512) and the second lens (522) are arranged on two different areas of the same superlens or on two superlenses respectively.

9. The three-dimensional sensing device of claim 1, wherein: The optical axis of the line laser projector (51) and the optical axis of the surface array light projector (52) have the following two settings: a. Both are in the horizontal plane and parallel to each other; b. One is in the horizontal plane, and the other is arranged at any angle of 0°<θ<90° vertically upward.

10. A robot vacuum cleaner characterised in that: The three-dimensional sensor device comprises a machine body (10), a main control system (20), a motion device (30), a cleaning device (40) and any one of the three-dimensional sensor devices (50) in claims 1-9.

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