Depth camera and mobile robot

Abstract

The utility model relates to the technical field of depth acquisition, in particular to a depth camera and a mobile robot. The depth camera comprises a line laser module used for emitting a line laser beam to a to-be-measured space; the dot matrix module is arranged on the side of the line laser module and used for emitting dot matrix light beams to the space to be measured; the optical element is arranged on a light emitting path of the line laser module and the dot matrix module and is used for modulating the incident line laser beam into a uniform light pattern and modulating the incident dot matrix beam into a dot matrix pattern; and the receiving module is arranged on the side of the line laser module and the dot matrix module, and is used for receiving the light signal corresponding to the uniform light pattern to obtain short-distance obstacle avoidance depth information and receiving the light signal corresponding to the dot matrix pattern to obtain navigation depth information. The depth camera provided by the utility model realizes simultaneous stereo positioning navigation and close-range high-precision obstacle avoidance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of depth acquisition, in particular to a depth camera and a mobile robot. BACKGROUND

[0002] With the gradual development of machine vision, automatic driving and other technologies, there are more and more related applications of object recognition and scene modeling using depth cameras. It can be said that the depth camera is the eye of the robot. There are currently three common depth camera solutions on the market: structured light cameras, binocular cameras, and time-of-flight (TOF) cameras. The principles of the above three depth cameras are different, and the applicable application scenarios are also different. They often need to cooperate with each other to meet the needs of complex application scenarios.

[0003] For example, when a mobile robot implements a mapping and navigation function, it mainly realizes two-dimensional mapping and navigation through LDS (Laser Direct Structuring). When the mobile robot implements an obstacle avoidance function, it mainly detects the depth information of objects at close range through TOF technology to realize close-range obstacle avoidance and recognition. However, the existing mobile robot cannot simultaneously realize stereoscopic positioning and navigation and close-range high-precision obstacle avoidance. CONTENT OF THE INVENTION

[0004] In view of the above, it is necessary to propose a depth camera and a mobile robot to solve the problem that the existing depth camera cannot simultaneously realize stereoscopic positioning and navigation and close-range high-precision obstacle avoidance.

[0005] The first aspect of the embodiment of the present application provides a depth camera, comprising: a line laser module configured to emit a line laser beam towards a space to be measured; a dot matrix module arranged on the side of the line laser module and configured to emit a dot matrix light beam towards the space to be measured; an optical element arranged in the light-emitting path of the line laser module and the dot matrix module, configured to modulate the incident line laser beam into a uniform light pattern and the incident dot matrix light beam into a dot matrix pattern; and a receiving module arranged on the side of the line laser module and the dot matrix module, configured to receive light signals corresponding to the uniform light pattern to obtain close-range obstacle avoidance depth information, thereby performing close-range obstacle avoidance, and configured to receive light signals corresponding to the dot matrix pattern to obtain navigation depth information, thereby performing stereoscopic positioning and navigation.

[0006] The depth camera provided in the embodiments of the present application integrates a line laser module and a dot array module, and uses optical elements to modulate the line laser beam into a uniform light pattern and the dot array beam into a dot array pattern, so as to realize the functions of simultaneous stereoscopic positioning navigation and close-range high-precision obstacle avoidance. When close-range detection is performed, the depth information obtained by using the line laser beam projection can obtain complete obstacle contour information, realize close-range high-precision obstacle avoidance, and solve the problems of close-range blind area, multi-path, black material identification and small object identification, and has high precision. When long-range detection is performed, the depth information obtained by using the dot array beam projection can be used for stereoscopic positioning navigation.

[0007] In a possible implementation, the light spot formed by the line laser beam extends in a horizontal direction; the line laser beam is offset downward relative to the dot array beam; when there are a plurality of line laser beams, the plurality of line laser beams are arranged at intervals; or, the light spot formed by the line laser beam extends in a vertical direction; when there are a plurality of line laser beams, the plurality of line laser beams are arranged at intervals; or, the light spot formed by the line laser beam extends in an oblique direction, the oblique direction being at an angle to both the horizontal direction and the vertical direction; when there are a plurality of line laser beams, the plurality of line laser beams are arranged in parallel or intersected; or, there are at least two line laser beams, and the light spots formed by the at least two line laser beams extend in at least two of the horizontal direction, the vertical direction and the oblique direction.

[0008] In the scheme provided in the embodiments of the present application, the line laser beam extends in a horizontal direction and is offset downward, and at the same time, a plurality of beams are arranged at intervals, so as to effectively optimize the near-ground obstacle detection capability of the mobile robot. The horizontal light spot can continuously scan the ground and low obstacles, and the downward offset design makes it preferentially cover the dangerous area on the robot travel path, and the interval arrangement of the plurality of beams expands the horizontal detection range and avoids blind areas. By extending the line laser beam in a vertical direction and arranging a plurality of beams at intervals, the detection precision and coverage range of the vertical obstacle can be significantly improved; the vertical light spot can effectively capture the vertical edge features in the three-dimensional space, and the interval arrangement of the plurality of beams expands the detection field of view, so that the robot can more accurately identify narrow passages or complex three-dimensional structures, and can perform stereoscopic height measurement on the objects in the space with high precision. By extending the line laser beam in an oblique direction and arranging a plurality of beams in parallel or intersected, the oblique beam can capture the horizontal and vertical obstacle features at the same time, effectively cover the oblique structures that may be missed by the traditional horizontal or vertical beam, and can perform stereoscopic height measurement on the objects in the space with high precision. By combining the line laser beams in the horizontal direction, the vertical direction and the oblique direction, the horizontal beam accurately detects the ground obstacle, the vertical beam identifies the vertical structure, and the oblique beam covers the oblique feature, so that the three beams work cooperatively to construct complete spatial depth information, realize omnidirectional stereoscopic environment perception, and can perform stereoscopic height measurement on the objects in the space with high precision.

[0009] In a possible implementation, the line laser beams are multiple and arranged at intervals, each of the line laser beams forms a spot extending in a transverse direction and offset downward relative to the dot matrix beam, and the intervals between the spots projected by adjacent two of the line laser beams gradually increase from a near distance to a far distance.

[0010] In the scheme provided by the embodiments of the present application, by arranging multiple line laser beams extending in a transverse direction and offset downward, and by adopting an arrangement mode in which the intervals between the spots gradually increase with distance, high-precision obstacle detection is provided by dense spots in a near distance area, ensuring fast response to suddenly appearing low objects; the intervals between the spots gradually increase in a middle and far distance area, reducing data redundancy while ensuring necessary detection precision, and improving system real-time performance.

[0011] In a possible implementation, the line laser beams are two, the spots formed by the two line laser beams extend in an oblique direction and are arranged in a cross manner, the two line laser beams cross near a vertical direction, and the crossing position is close to a near distance area relative to a projection area of the dot matrix beam; and an included angle between the line laser beams and the vertical direction is less than a first preset angle threshold.

[0012] In the scheme provided by the embodiments of the present application, by restricting the crossing line laser beams in a limited angle range close to the vertical direction, the environmental perception precision in the vertical direction can be significantly optimized while maintaining the stereoscopic detection capability.

[0013] In a possible implementation, the line laser beams are two, the spots formed by the two line laser beams extend in an oblique direction and are arranged in a cross manner, the two line laser beams cross near a horizontal direction, and the crossing position is close to a near distance area relative to a projection area of the dot matrix beam; and an included angle between the line laser beams and the horizontal direction is less than a second preset angle threshold.

[0014] In the scheme provided by the embodiments of the present application, by restricting the crossing line laser beams in a limited angle range close to the horizontal direction, and by arranging the crossing point in a near distance area close to the robot, the detection capability for the ground and low obstacles can be significantly enhanced.

[0015] In a possible implementation, the uniform light pattern and the dot matrix pattern can be projected in an obstacle avoidance area to perform obstacle avoidance, and the dot matrix pattern can also be projected in a navigation area to perform navigation.

[0016] In the scheme provided by the embodiments of the present application, the uniform light pattern and the dot matrix pattern cover the obstacle avoidance area at the same time, and the dot matrix pattern additionally covers the navigation area. The uniform light pattern provides detailed object contour and distance information in the obstacle avoidance area due to its high precision characteristics, and the dot matrix pattern provides large range scene depth information for long distance navigation through its dual role in the obstacle avoidance and navigation area, thereby assisting to enhance the obstacle avoidance reliability and providing the long distance navigation.

[0017] In a possible implementation, the projection area of the line laser beam coincides with the projection area of the dot matrix beam.

[0018] In the scheme provided by the embodiments of the present application, the projection area of the line laser beam coincides with the projection area of the dot matrix beam. The dense light spot of the line laser provides high-precision close-range obstacle avoidance information, and the sparse feature points required for long-distance navigation are covered by the dot matrix beam. The two work together in the same field of view, avoiding the calibration error of the traditional multi-sensor system, and ensuring the seamless connection of the environment depth information from near to far.

[0019] In a possible implementation, the receiving module obtains a first depth image corresponding to the lighting and extinguishing of the line laser beam through the triangulation principle, and obtains a second depth image corresponding to the line laser beam through the TOF ranging principle, and obtains the obstacle avoidance depth information according to the fused first depth image and second depth image; the dot matrix module emits a dot matrix beam with at least two different frequencies, and the dot matrix beams with at least two different frequencies are sequentially subjected to short exposure and then long exposure, and the receiving module obtains a third depth image when the short exposure is performed and a fourth depth image when the long exposure is performed, and obtains the navigation depth information according to the third depth image and the fourth depth image.

[0020] In the scheme provided by the embodiments of the present application, through the combination of multi-modal ranging principles (triangulation and TOF ranging) and multi-frequency exposure strategies (short exposure and long exposure), the measurement accuracy and adaptability of the depth camera in complex scenes are significantly improved, while the multiple requirements of close-range obstacle avoidance, stereo height measurement and long-distance navigation are met, and the comprehensive perception ability of the mobile robot in the dynamic environment is enhanced.

[0021] In a possible implementation, the dot matrix module includes one or more dot matrix emission areas, and the plurality of dot matrix emission areas can be lit at one time or sequentially lit, and the photosensitive surface of the receiving module includes a line laser receiving area and a dot matrix receiving area. The line laser receiving area is used to collect light signals corresponding to the line laser beam to obtain obstacle avoidance depth information, and the dot matrix receiving area is used to collect light signals corresponding to the dot matrix emission area to obtain navigation depth information.

[0022] In the scheme provided by the embodiment of the application, the dot matrix module includes one or more dot matrix emitting areas, which can be lighted at one time or in sequence, thereby flexibly adapting to the navigation requirements of different scenes; the photosensitive surface of the receiving module is divided into a line laser receiving area and a dot matrix receiving area, wherein the line laser receiving area is specially used for collecting light signals corresponding to the line laser beams, for obtaining high-precision obstacle avoidance depth information, and the dot matrix receiving area is used for collecting light signals corresponding to the dot matrix emitting areas, for obtaining navigation depth information. The partition design realizes parallel processing of the obstacle avoidance function and the navigation function, avoids signal interference, and simultaneously optimizes the energy efficiency and scene adaptability of the depth camera through the flexible lightening strategy of the dot matrix emitting area, thereby supporting long-distance stereoscopic positioning navigation while ensuring near-distance high-precision obstacle avoidance and stereoscopic height measurement, and significantly improving the comprehensive perception and decision-making ability of the mobile robot in a complex environment.

[0023] The second aspect of the embodiment of the application provides a mobile robot, comprising: a robot body; and the depth camera as described in the above technical scheme, which is mounted on the robot body.

[0024] The mobile robot provided by the embodiment of the application comprises the depth camera described above, so the mobile robot also comprises the technical effects of the depth camera described above. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a structural schematic diagram of a mobile robot provided by the embodiment of the application.

[0026] Figure 2 is a structural schematic diagram of a depth camera provided by the embodiment of the application.

[0027] Figure 3 is Figure 2 is a schematic diagram of a first kind of light spot formed by the line laser beams emitted by the depth camera.

[0028] Figure 4 is Figure 3 is a space projection scene simulation diagram of the line laser beams and the dot matrix beams emitted by the depth camera in

[0029] Figure 5 is a structural schematic diagram of a mobile robot provided by another embodiment of the application.

[0030] Figure 6 is Figure 5 is a space projection scene simulation diagram of the line laser beams and the dot matrix beams emitted by the depth camera in

[0031] Figure 7 is Figure 2 is a schematic diagram of a second kind of light spot formed by the line laser beams emitted by the depth camera.

[0032] Figure 8 is Figure 7 schematic diagram of a line laser beam and a dot matrix beam emitted by a depth camera in

[0033] Figure 9 is Figure 8 spatial projection scene simulation diagram of a line laser beam and a dot matrix beam emitted by a depth camera in

[0034] Figure 10 is Figure 2 schematic diagram of a third kind of light spot formed by a line laser beam emitted by the depth camera.

[0035] Figure 11 is Figure 2 layout diagram of multiple rows of dot matrix light sources of a dot matrix module of the depth camera.

[0036] Figure 12 is Figure 2 schematic diagram of a light spot collected by a photosensitive chip in the depth camera.

[0037] Main element symbol description: mobile robot 1000, depth camera 100, line laser module 10, light spot 101, 102, 103, dot matrix module 20, dot matrix light source 21, optical element 30, receiving module 40, photosensitive chip 41, photosensitive surface 410, laser receiving area 411, dot matrix receiving area 412, optical lens 42, robot body 200. DETAILED DESCRIPTION

[0038] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0039] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on 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 cannot be understood as indicating or implying that the devices or elements indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0040] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "connect" should be understood broadly, for example, it can be fixed connection, also can be detachable connection, or integrally connect, can be mechanical connection, also can be electric connection or can communicate with each other, can be directly connected, also can be indirectly connected through intermediate medium, can be the communication of two elements or the interaction of two elements. For ordinary skilled in the art, the specific meaning of the above-mentioned term in the utility model can be understood according to specific circumstances.

[0041] The following disclosure provides many different embodiments or examples for implementing different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the utility model. In addition, the utility model can refer to the same reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, which does not indicate the relationship between the various embodiments and / or settings discussed per se. In addition, the utility model provides examples of various specific processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0042] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0043] Please refer to Figure 1 The embodiment of the present application provides a mobile robot 1000, which comprises a depth camera 100 and a robot body 200, the depth camera 100 is assembled on one side of the robot body 200, and the depth camera 100 is used to provide navigation depth information and obstacle avoidance depth information for the robot body 200, so as to realize the navigation function and the obstacle avoidance function.

[0044] It can be understood that the robot body 200 of the mobile robot 1000 of the embodiment of the present application is exemplified as a sweeping robot in the drawings, but is not limited thereto, and can also be implemented as other robots that need navigation and obstacle avoidance.

[0045] Specifically, please refer to Figure 2 The depth camera 100 comprises a line laser module 10, a dot matrix module 20, an optical element 30 and a receiving module 40.

[0046] The line laser module 10 is used for emitting a line laser beam towards a to-be-measured space, and the width of the line laser beam ranges from 1mm to 4.5mm.

[0047] The dot matrix module 20 is arranged on the side of the line laser module 10 and is used for emitting a dot matrix light beam towards the to-be-measured space.

[0048] The optical element 30 is arranged in the light emitting path of the line laser module 10 and the dot matrix module 20, and is used for modulating the incident line laser beam into a uniform light pattern and modulating the incident dot matrix beam into a dot matrix pattern.

[0049] Both the uniform light pattern and the dot matrix pattern can be projected on the obstacle avoidance area for obstacle avoidance, and the dot matrix pattern can also be projected on the navigation area for navigation. In the embodiment, the obstacle avoidance area is a short distance detection area, and the navigation area is a long distance detection area. It can be understood that the uniform light pattern can also be projected on the navigation area.

[0050] The receiving module 40 is arranged on the side of the line laser module 10 and the dot matrix module 20, and is used for receiving the light signal corresponding to the uniform light pattern to obtain the short distance obstacle avoidance depth information, thereby performing short distance obstacle avoidance, and receiving the light signal corresponding to the dot matrix pattern to obtain the navigation depth information, thereby performing stereoscopic positioning navigation.

[0051] In the depth camera 100 provided by the embodiment, the line laser module 10 and the dot matrix module 20 are integrated, and the line laser beam is modulated into a uniform light pattern and the dot matrix beam is modulated into a dot matrix pattern by using the optical element 30, so that the functions of simultaneously performing stereoscopic positioning navigation and short distance high-precision obstacle avoidance are realized. When the short distance detection is performed, the depth information obtained by using the line laser beam projection can obtain complete obstacle contour information, realize high-precision near obstacle avoidance, solve the problems of short distance blind area, multi-path, black material recognition and small object recognition, and has the characteristics of high precision. When the long distance detection is performed, the depth information obtained by using the dot matrix beam projection can be used for stereoscopic positioning navigation.

[0052] The line laser module 10 is a line laser light source. The dot matrix module 20 is a dot matrix light source 21. The emission wavelength ranges of the line laser module 10 and the dot matrix module 20 are both 850nm-1200nm, and 940±15nm is preferentially selected, and the two are in the same wavelength range.

[0053] The function of the optical element 30 is to perform spatial light modulation on the incident light beams, that is, to split and copy each light beam to form a dot matrix pattern or a uniform light pattern. The optical element 30 can be a DOE or a superlens. In some embodiments, the optical element 30 is one, and one optical element 30 is arranged in the light emitting path of the line laser module 10 and the dot matrix module 20. In some embodiments, the optical element 30 is two, one of which is a DOE and the other is a superlens, the DOE is arranged in the light emitting path of the line laser module 10, and the superlens is arranged in the light emitting path of the dot matrix module 20.

[0054] The receiving module 40 includes a photosensitive chip 41 and an optical lens 42 arranged on the photosensitive path of the photosensitive chip 41, so that the echo light is first received through the optical lens 42 and then modulated by the photosensitive chip 41 to obtain depth information. The photosensitive chip 41 can be an I-TOF chip or a D-TOF chip.

[0055] Please refer to Figure 1 , Figure 3 and Figure 4 , the dot matrix module 20 emits a dot matrix light beam in the horizontal direction. The horizontal direction is approximately the X-axis direction.

[0056] In the scheme provided by the embodiments of the present application, by emitting the dot matrix light beam of the dot matrix module 20 in the horizontal direction and combining the modulation of the optical element 30 into a dot matrix pattern, the navigation depth information obtained by the receiving module 40 can be more concentrated on the object profile and distance in the horizontal plane, thereby improving the accuracy of the mobile robot 1000 in two-dimensional plane mapping and path planning, reducing the calculation amount of redundant data in the vertical direction, and further strengthening the real-time performance and reliability of the stereoscopic positioning navigation.

[0057] For the current sweeping robot, the emission direction of the dot matrix module 20 is preferably the horizontal direction, but in fact the emission direction of the dot matrix module 20 can also be upward or downward emission, as long as the projection range can cover the target area, especially downward (applicable to the robot application scenario with high camera position), for example, 10° downward.

[0058] Please refer to Figure 3 , in a possible implementation, the light spot 101 formed by the line laser beam extends in the lateral direction; the line laser beam is downwardly offset relative to the dot matrix light beam; in Figure 3 , the line laser beam is one. When the line laser beam is multiple, the multiple line laser beams are arranged at intervals.

[0059] By extending the line laser beam in the lateral direction and offsetting it downward, and simultaneously using the interval arrangement of multiple light beams, the near-ground obstacle detection capability of the mobile robot 1000 can be effectively optimized. The lateral light spot 101 can continuously scan the ground and low obstacles, and the downward offset design makes it preferentially cover the dangerous area on the robot travel path, and the interval arrangement of multiple light beams expands the horizontal detection range and avoids the blind area.

[0060] Specifically, please refer to Figure 1 and Figure 4, the emission direction of the line laser module 10 is the S1 axis direction. The line laser beam can be offset downward by 60° relative to the dot matrix beam, preferably, the line laser beam can be offset downward by an angle in the range of 10°-30° relative to the dot matrix beam, and the line laser beam covers a range of 0.1m-0.25m when irradiating the ground, and the angle corresponding to the blind area of 0.2m is preferentially selected.

[0061] Please also refer to Figure 5 and Figure 6 , the emission direction of the dot matrix module 20 is parallel to the emission direction of the line laser module 10, and the emission direction of the line laser module 10 is the X axis direction.

[0062] In a possible implementation, the line laser beam is multiple and is arranged at intervals, each line laser beam forms a light spot extending in the lateral direction and offset downward relative to the dot matrix beam, and the spacing between the light spots projected by adjacent two line laser beams gradually increases from the near distance to the far distance.

[0063] In the scheme provided by the embodiments of the present application, by arranging multiple line laser beams extending in the lateral direction and offset downward, and using the arrangement mode in which the spacing between the light spots gradually increases with the distance, high-precision obstacle detection is provided in the near distance area through dense light spots, and rapid response to suddenly appearing low objects is ensured; the spacing between the light spots gradually increases in the medium and far distance areas, necessary detection accuracy is ensured, data redundancy is reduced, and system real-time performance is improved.

[0064] Please also refer to Figure 7 , Figure 8 and Figure 9 In a possible implementation, the light spot 102 formed by the line laser beam extends in the vertical direction, and the emission direction of the line laser module 10 is the S2 axis direction. Figure 7 In the implementation, the line laser beam is one. When the line laser beam is multiple, the multiple line laser beams are arranged at intervals.

[0065] By extending the line laser beam in the vertical direction and using the arrangement of multiple light beams at intervals, the detection accuracy and coverage range of the vertical obstacle can be significantly improved; the vertical light spot 102 can effectively capture the vertical edge features in the three-dimensional space, and the arrangement of multiple light beams at intervals can expand the detection field of view, so that the robot can more accurately identify narrow passages or complex three-dimensional structures, and can perform three-dimensional height measurement on the objects in the space, and the accuracy is relatively high.

[0066] Please refer to Figure 10 In a possible implementation, the light spot 103 formed by the line laser beam extends in an inclined direction, and the inclined direction forms an angle with the lateral direction and the vertical direction. Figure 10 In the implementation, the line laser beam is one. When the line laser beam is multiple, the multiple line laser beams are arranged in parallel or intersected.

[0067] By extending the line laser beams along the oblique direction, and using the parallel or intersecting arrangement of multiple beams, the oblique beams can capture the features of obstacles in the horizontal and vertical directions at the same time, effectively cover the oblique structures that may be missed by traditional horizontal or vertical beams, and can perform stereo height measurement on objects in the space with high precision.

[0068] In a possible implementation, the line laser beams are at least two, and the extension directions of the light spots formed by the at least two line laser beams include at least two of the horizontal direction, the vertical direction and the oblique direction.

[0069] By combining the line laser beams in the horizontal direction, the vertical direction and the oblique direction, the horizontal beams accurately detect ground obstacles, the vertical beams identify vertical structures, and the oblique beams cover oblique features. The three beams work together to construct complete spatial depth information, realize omnidirectional stereo environment perception, and can perform stereo height measurement on objects in the space with high precision.

[0070] In a possible implementation, the line laser beams are two, and the extension directions of the light spots formed by the two line laser beams are the horizontal direction and the vertical direction respectively.

[0071] In a possible implementation, the line laser beams are two, and the extension directions of the light spots formed by the two line laser beams are the horizontal direction and the oblique direction respectively.

[0072] In a possible implementation, the line laser beams are two, and the extension directions of the light spots formed by the two line laser beams are the vertical direction and the oblique direction respectively.

[0073] In a possible implementation, the line laser beams are three, and the extension directions of the light spots formed by the three line laser beams are the horizontal direction, the vertical direction and the oblique direction respectively.

[0074] In a possible implementation, the line laser beams are three, and the extension directions of the light spots formed by two of the line laser beams are the horizontal direction, and the extension direction of the light spot formed by the other line laser beam is the vertical direction. However, the present application is not limited thereto.

[0075] In a possible implementation, the line laser beams are two, and the light spots formed by the two line laser beams extend along the oblique direction and are arranged in an intersecting manner. The two line laser beams intersect near the vertical direction, and the intersection position is close to the near distance area relative to the projection area of the dot matrix beam. The included angle between the line laser beam and the vertical direction is less than a first preset angle threshold. The first preset angle threshold can be 15°.

[0076] In the scheme provided by the embodiment of the application, the intersecting linear laser beams are constrained in a limited angle range close to the vertical direction, and the intersection point is arranged in the close-range area close to the robot, so that the vertical environmental perception accuracy can be significantly optimized while maintaining the stereoscopic detection capability.

[0077] In a possible implementation, the linear laser beams are two, the light spots formed by the two linear laser beams extend along the inclined direction and are arranged in intersection, the two linear laser beams intersect close to the horizontal direction, and the intersection position is close to the close-range area relative to the projection area of the dot matrix light beam; and the angle between the linear laser beam and the horizontal direction is less than a second preset angle threshold. The second preset angle threshold can be 15°.

[0078] In the scheme provided by the embodiment of the application, the intersecting linear laser beams are constrained in a limited angle range close to the horizontal direction, and the intersection point is arranged in the close-range area close to the robot, so that the detection capability for the ground and low obstacles can be significantly enhanced.

[0079] In a possible implementation, the uniform light pattern and the dot matrix pattern can be projected on the obstacle avoidance area for obstacle avoidance, and the dot matrix pattern can also be projected on the navigation area for navigation.

[0080] In the scheme provided by the embodiment of the application, the uniform light pattern and the dot matrix pattern cover the obstacle avoidance area at the same time, and the dot matrix pattern additionally covers the navigation area, so that the uniform light pattern provides detailed object contour and distance information in the obstacle avoidance area due to its high-precision characteristics, and the dot matrix pattern assists in enhancing the obstacle avoidance reliability and provides large-range scene depth information for long-distance navigation due to its dual role in the obstacle avoidance and navigation areas.

[0081] In a possible implementation, the projection area of the linear laser beam coincides with the projection area of the dot matrix light beam.

[0082] In the scheme provided by the embodiment of the application, the projection area of the linear laser beam coincides with the projection area of the dot matrix light beam, so that the dense light spot of the linear laser provides high-precision close-range obstacle avoidance information, and the dot matrix light beam covers the sparse feature points required for long-distance navigation, and the two work in the same field of view, which not only avoids the calibration error of the traditional multi-sensor system, but also ensures the seamless connection of the environmental depth information from the near to the far.

[0083] In a possible implementation, the projection area of the linear laser beam coincides with the projection area of the dot matrix light beam, that is, the projection area of the linear laser beam is located on one side of the projection area of the dot matrix light beam.

[0084] Please refer to Figure 11 In a possible implementation, the dot matrix module 20 includes a plurality of rows of dot matrix light sources 21, and at least two rows of the dot matrix light sources 21 are regularly staggered and arranged in cycles.

[0085] In the scheme provided by the embodiment of the application, since the dot matrix light sources 21 in at least two rows are regularly staggered and cyclically arranged, the interval blind area between the adjacent two dot matrix light sources 21 in each row of dot matrix light sources 21 can be supplemented by the dot matrix light sources 21 in the next row, so that the resolution of the depth camera 100 is higher.

[0086] In the embodiment, in the at least two rows of dot matrix light sources 21, the central angle resolution of the dot matrix light sources 21 in each row is less than or equal to 2°, the edge angle resolution is less than or equal to 2.5°, and the edge angle resolution is greater than the central angle resolution. When viewed from above, the central angle resolution can be less than or equal to 0.66°, and the edge angle resolution is less than or equal to 0.83° under the regular and cyclic staggered arrangement of the at least two rows of dot matrix light sources 21, so that the resolution in the horizontal direction is improved.

[0087] In a possible implementation, the line laser module 10 and the dot matrix module 20 are alternately and time-sharingly lighted to alternately project the uniform light pattern and the dot matrix pattern.

[0088] In the scheme provided by the embodiment of the application, by alternately lighting the line laser module 10 and the dot matrix module 20, the mutual interference when the two light beams are simultaneously irradiated can be avoided, and it is ensured that each light beam can be independently projected and received, so that the accuracy and reliability of the measurement are improved.

[0089] In a possible implementation, the receiving module 40 acquires a first depth image corresponding to the lighting and extinguishing of the line laser light beam through the triangulation principle, acquires a second depth image corresponding to the line laser light beam through the TOF ranging principle, and obtains obstacle avoidance depth information according to the fused first depth image and second depth image; the dot matrix light beam emitted by the dot matrix module 20 has at least two different frequencies, the dot matrix light beams with at least two different frequencies are sequentially subjected to short exposure and then sequentially subjected to long exposure, the receiving module 40 acquires a third depth image when the short exposure is performed and a fourth depth image when the long exposure is performed, and obtains navigation depth information according to the third depth image and the fourth depth image.

[0090] In the scheme provided by the embodiment of the application, by combining the multi-modal ranging principle (triangulation and TOF ranging) and the multi-frequency exposure strategy (short exposure and long exposure), the measurement accuracy and adaptability of the depth camera 100 in a complex scene are significantly improved, and the multiple requirements of near-distance obstacle avoidance, stereo height measurement, and long-distance navigation are taken into account, and the comprehensive perception ability of the mobile robot 1000 in a dynamic environment is enhanced.

[0091] In the embodiment, the line laser beam obtains the lighting time of the corresponding first depth image by the triangulation principle, and the extinguishing time is also 1 phase; each line laser beam in the line laser beam obtains the time of the corresponding second depth image by the ITOF ranging principle, and the time is 4 phases. The short exposure time of each frequency is 4 phases, and the short exposure and long exposure time of each frequency are 4 phases.

[0092] In a possible implementation, the at least two different frequencies can be sequentially performed long exposure and then sequentially performed short exposure, and the receiving module 40 is configured to obtain the depth images in the long exposure and the short exposure and calculate the navigation depth information; or the at least two different frequencies can be sequentially performed short exposure, long exposure, long exposure and short exposure; or the at least two different frequencies can be sequentially performed short exposure, long exposure, short exposure and short exposure; or the at least two different frequencies can be sequentially performed long exposure, short exposure, short exposure and short exposure; but the application is not limited to this.

[0093] In a possible implementation, the at least two different frequencies include a first frequency and a second frequency, the first frequency is greater than the second frequency, and the emission order of the first frequency is prior to the emission order of the second frequency.

[0094] In the scheme provided by the embodiment, the first frequency is emitted first, and then the second frequency is emitted, the data corresponding to the first frequency can be used in the depth calculation, and the data corresponding to the second frequency is used for period extension, so as to ensure the real-time of the depth data.

[0095] In the embodiment, the at least two different frequencies are two frequencies, which can avoid the problem of super period and realize long-distance ranging. The two frequencies can be selected from 1 MHZ-100 MHZ, for example, a frequency combination of 37.65 MHZ / 45.18 MHZ can be selected to realize a detection distance of 20 m, a frequency combination of 60.24 MHZ / 48.192 MHZ can be selected to realize a detection distance of 12.5 m, and a frequency combination of 60.24 MH / 52.71 MH can be selected to realize a detection distance of 20 m.

[0096] In a possible implementation, the photosensitive chip 41 can be a D-TOF chip. The dot matrix module 20 includes one or more dot matrix emission regions, and the plurality of dot matrix emission regions can be lit at one time or sequentially lit, please refer to Figure 12The photosensitive surface 410 of the photosensitive chip 41 includes a line laser receiving area 411 and a dot array receiving area 412. The line laser receiving area 411 is used to collect light signals corresponding to a line laser beam to obtain obstacle avoidance depth information. The dot array receiving area 412 is used to collect light signals corresponding to a dot array emitting area to obtain navigation depth information. In use, the line laser module 10 emits light, and the line laser receiving area 411 obtains a corresponding depth image. The n dot array emitting areas of the dot array module 20 emit light, and each dot array emitting area emits light n times. After n times of light emission, the dot array emitting area is idle for a certain period of time before the next dot array emitting area emits light. This process is repeated until all dot array emitting areas emit light, which is one frame. The dot array receiving area 412 obtains a corresponding depth image. The frequency of the dot array module 20 can be selected from 1 mhz-10 mhz, and 5 MHZ is preferred to achieve a detection distance of 30 m.

[0097] In the scheme provided by the embodiments of the present application, the dot array module 20 includes one or more dot array emitting areas, which can be illuminated at one time or in sequence to flexibly adapt to navigation requirements in different scenes. The photosensitive surface 410 of the photosensitive chip 41 is divided into a line laser receiving area 411 and a dot array receiving area 412. The line laser receiving area 411 is specifically used to collect light signals corresponding to a line laser beam to obtain high-precision obstacle avoidance depth information. The dot array receiving area 412 is used to collect light signals corresponding to a dot array emitting area to obtain navigation depth information. This partition design realizes parallel processing of obstacle avoidance and navigation functions, avoids signal interference, and optimizes the energy efficiency and scene adaptability of the depth camera 100 through flexible illumination strategies of the dot array emitting area, thereby supporting long-distance stereoscopic positioning navigation while ensuring near-distance high-precision obstacle avoidance and stereoscopic height measurement, and significantly improving the comprehensive perception and decision-making ability of the mobile robot 1000 in complex environments.

[0098] In a possible implementation, when the line laser module 10 emits light, only the corresponding line laser receiving area 411 in the photosensitive surface 410 of the receiving module 40 works and outputs, so that the amount of data and processing time can be reduced. When the dot array module 20 emits light, the line laser receiving area 411 and the dot array receiving area 412 in the photosensitive surface 410 of the receiving module 40 both work and output, so that the accuracy and reliability of the overall measurement are improved.

[0099] The obstacle avoidance strategy of the mobile robot 1000 is that when the vertical field of view angle of the dot matrix module 20 is less than 30°, the blind area of the dot matrix module 20 is larger than that of the line laser module 10, at this time, the dot matrix module 20 can be used to preset the judgment of obstacle avoidance, after the obstacle is found, the mobile robot 1000 is slowed down, and then the line laser module 10 with smaller blind area is used to accurately avoid the obstacle, so that perfect obstacle avoidance is realized; if the vertical field of view angle of the dot matrix module 20 is greater than or equal to 30°, the blind area of the dot matrix module 20 is smaller than that of the line laser module 10, at this time, the line laser module 10 is used to judge the obstacle avoidance, and the dot matrix module 20 obtains the three-dimensional information of the obstacle, the depth information of the point-line overlapping position can be supplemented and perfected, so that accurate obstacle avoidance is realized. In addition, the space height measurement uses the dot matrix module 20 to preset the judgment of obstacle avoidance, the field of view range in the vertical field of view angle direction is set to 12°-55°, some low objects can be found in time, so that it can be judged whether it can enter or not.

[0100] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims. In addition, it is obvious that the word "comprise" does not exclude other units or steps, and the singular does not exclude the plural.

[0101] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A depth camera, characterized by, The application relates to a laser ranging device, comprising: a line laser module for emitting a line laser beam towards a space to be measured; a dot array module arranged at the side of the line laser module for emitting a dot array beam towards the space to be measured; an optical element arranged in the light emitting path of the line laser module and the dot array module for modulating the line laser beam into a uniform light pattern and the dot array beam into a dot array pattern; a receiving module arranged at the side of the line laser module and the dot array module for receiving light signals corresponding to the uniform light pattern to obtain close-range obstacle avoidance depth information and for receiving light signals corresponding to the dot array pattern to obtain navigation depth information. The light spot formed by the line laser beam extends in a horizontal direction; the line laser beam is offset downward relative to the dot array beam; when the line laser beam is multiple, the multiple line laser beams are arranged at intervals; 2. The depth camera of claim 1, wherein, alternatively, the light spot formed by the line laser beam extends in a vertical direction; when the line laser beam is multiple, the multiple line laser beams are arranged at intervals; alternatively, the light spot formed by the line laser beam extends in an oblique direction, the oblique direction being at an angle with the horizontal direction and the vertical direction; when the line laser beam is multiple, the multiple line laser beams are arranged in parallel or intersected; alternatively, the line laser beam is at least two, and the extension directions of the light spots formed by the at least two line laser beams include at least two of the horizontal direction, the vertical direction and the oblique direction. The line laser beam is multiple and arranged at intervals, the light spot formed by each line laser beam extends in a horizontal direction and is offset downward relative to the dot array beam, and the interval between the light spots projected by adjacent two line laser beams increases successively from the close-range to the far-range direction.

3. The depth camera of claim 1, wherein, The line laser beam is two, the light spots formed by the two line laser beams extend in an oblique direction and are arranged in intersected manner, the two line laser beams intersect close to the vertical direction, and the intersecting position is close to the close-range area relative to the projection area of the dot array beam; the angle between the line laser beam and the vertical direction is less than a first preset angle threshold.

4. The depth camera of claim 1, wherein, The line laser beam is two, the light spots formed by the two line laser beams extend in an oblique direction and are arranged in intersected manner, the two line laser beams intersect close to the horizontal direction, and the intersecting position is close to the close-range area relative to the projection area of the dot array beam; the angle between the line laser beam and the horizontal direction is less than a second preset angle threshold.

5. The depth camera of claim 1, wherein, The uniform light pattern and the dot array pattern can be projected on an obstacle avoidance area for obstacle avoidance, and the dot array pattern can also be projected on a navigation area for navigation.

6. The depth camera of claim 1, wherein, The projection area of the line laser beam coincides with the projection area of the dot array beam.

7. The depth camera of claim 1, wherein, The receiving module obtains a first depth image corresponding to the light-on and light-off of the line laser beam through the triangulation principle, and obtains a second depth image corresponding to the line laser beam through the TOF ranging principle, and obtains obstacle avoidance depth information according to the fused first depth image and second depth image.

8. The depth camera of claim 1, wherein, ​ The dot matrix module emits a dot matrix light beam with at least two different frequencies, the dot matrix light beam with the at least two different frequencies is sequentially subjected to short exposure and then sequentially subjected to long exposure, the receiving module acquires a third depth image in the short exposure and a fourth depth image in the long exposure, and the navigation depth information is obtained according to the third depth image and the fourth depth image.

9. The depth camera of claim 1, wherein, The dot matrix module comprises one or more dot matrix emitting areas, the plurality of dot matrix emitting areas can be lit at one time or sequentially lit, a photosensitive surface of the receiving module comprises a line laser receiving area and a dot matrix receiving area, the line laser receiving area is used to collect light signals corresponding to the line laser light beam to obtain obstacle avoidance depth information, and the dot matrix receiving area is used to collect light signals corresponding to the dot matrix emitting area to obtain navigation depth information.

10. A mobile robot, characterized by Comprising: a robot body; and The depth camera as claimed in any one of claims 1-9, which is fitted to the robot body.

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