Ranging module, cleaning device, control method, and related device

Abstract

A ranging module, a cleaning device, a control method, and an electronic device, relating the technical fields of navigation and obstacle avoidance. The ranging module (100) comprises a light emitting part (110), a light adjusting part (120), and a light receiving part (130). The light adjusting part (120) is used for adjusting initial light emitted by the light emitting part (110), so that test light emitted via the light adjusting part (120) comprises at least two detection regions having different optical powers. The portion having a higher optical power in the test light can be used for a navigation application, so that the higher optical power can ensure that the requirements for ranging in the navigation application are met; and the portion having a lower optical power in the test light can be used for an obstacle avoidance application, so that the lower optical power can effectively mitigate the multi-path effect problem introduced by a surface projection laser light source. According to the ranging module (100), only one light emitting part (110) equipped with one light adjusting part (120) is required, so that not only can the ranging capability of the ranging module be ensured, but also the multi-path effect can be effectively weakened.

Description

Distance measurement module, cleaning equipment, control method and related equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 29, 2024, with application number 202410231531.5 and application name “Ranging module, cleaning equipment, control method and related equipment”, the entire contents of which are incorporated by reference into this application.

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on February 29, 2024, with application number 202420389565.2 and application name “Ranging Module and Cleaning Equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The embodiments of the present application relate to the field of navigation and obstacle avoidance technology, and in particular to a ranging module, cleaning equipment, control method and related equipment. Background Art

[0004] With technological advancements, mobile robots such as automated guided vehicles (AGVs), service robots, and cleaning robots have become widely used in industrial, commercial, and residential environments. The inventors recognized that current autonomous mobile robot navigation solutions mostly rely on 3dTof (three-dimensional time-of-flight) schemes for ranging and obstacle avoidance. However, these traditional 3dTof schemes suffer from weak ranging capabilities and multipath effects, significantly hindering their use in complex scenarios.

[0005] Application Contents

[0006] This application aims to solve at least one of the technical problems existing in the prior art or related art.

[0007] To this end, a first aspect of the present application provides a ranging module.

[0008] A second aspect of the present application provides a cleaning device.

[0009] A third aspect of the present application provides a method for controlling a cleaning device.

[0010] A fourth aspect of the present application provides a computer-readable storage medium.

[0011] A fifth aspect of the present application provides an electronic device.

[0012] In view of this, according to a first aspect of an embodiment of the present application, a ranging module is proposed, including:

[0013] A light emitting unit, a light regulating unit, and a light receiving unit, wherein the light emitting unit is used to emit test light, and the light receiving unit is used to receive the test light after being reflected and / or scattered by the object to be tested;

[0014] The light emitting portion has an emission direction toward the light adjusting portion, and the light adjusting portion is used to adjust the initial light emitted by the light emitting portion so that the test light emitted by the light adjusting portion includes at least two detection areas with different optical powers.

[0015] In a feasible embodiment, the light emitting unit includes: a surface-projecting laser light source, so that the test light is a surface array light;

[0016] The light adjustment unit includes: a light source shaping mirror, a diffusion sheet, and at least one of a lens group formed by combining a plurality of lenses;

[0017] The light receiving unit includes a lens and an area array receiving sensor. The test light reflected and / or scattered by the object to be tested passes through the lens and is received by the area array receiving sensor.

[0018] In a feasible implementation manner, the ranging module further includes:

[0019] A fixed plate, on which the area array receiving sensor and the surface projection laser light source are arranged;

[0020] A mounting seat is connected to the fixing plate, the lens is arranged on the mounting seat, and the lens and the light source shaping mirror are arranged on the mounting seat.

[0021] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

[0022] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light;

[0023] In the second preset emission field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the emission field angle of the test light.

[0024] In a feasible implementation manner, the light adjustment portion at least covers a partial area of ​​the light emitting portion.

[0025] According to a second aspect of an embodiment of the present application, a cleaning device is provided, comprising:

[0026] Cleaning equipment body;

[0027] A ranging module as described in any of the above technical solutions.

[0028] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

[0029] In a feasible implementation, within a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light;

[0030] In the second preset emission field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the emission field angle of the test light.

[0031] According to a third aspect of an embodiment of the present application, a control method for a cleaning device is provided, which is used to control the cleaning device according to any of the above technical solutions. The control method includes:

[0032] acquiring, in response to a travel instruction, detection light information received by the light receiving unit;

[0033] using the detection light information with weaker optical power in the detection light information as obstacle avoidance information, and using the detection light information with stronger optical power in the detection light information as ranging information;

[0034] guiding the cleaning device to avoid obstacles based on the obstacle avoidance information;

[0035] Distance measurement is performed based on the distance measurement information to navigate the cleaning device.

[0036] In a feasible implementation manner, the step of using the detection light information with weaker optical power in the detection light information as obstacle avoidance information and using the detection light information with stronger optical power in the detection light information as ranging information includes:

[0037] Set the reference optical power threshold;

[0038] The detected light information whose optical power value is less than or equal to the reference optical power threshold is used as the obstacle avoidance information;

[0039] The detected light information whose optical power value is greater than the reference optical power threshold is used as the ranging information.

[0040] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided.

[0041] The computer-readable storage medium stores a computer program for implementing the control method described in any of the above technical solutions.

[0042] According to a fifth aspect of an embodiment of the present application, an electronic device is provided, including:

[0043] a memory storing a computer program;

[0044] a processor, configured to execute the computer program;

[0045] Wherein, the processor implements the control method described in any of the above technical solutions when executing the computer program.

[0046] Compared with the prior art, this application has at least the following beneficial effects:

[0047] The ranging module provided in the embodiment of the present application includes a light emitting unit, a light regulating unit, and a light receiving unit. The light regulating unit is used to regulate the initial light emitted by the light emitting unit so that the test light emitted by the light regulating unit includes at least two detection areas with different optical powers. Based on this, during use, the light emitting unit emits initial light, which is regulated by the light regulating unit to form a test light including at least two detection areas with different optical powers. The test light is then projected onto the object to be measured. The test light is reflected or scattered by the object to be measured and then received by the light receiving unit. After photoelectric conversion, the depth, intensity and other information of the target are output to determine the position and distance of the obstacle. The test light emitted by the light regulating unit of the ranging module provided in the embodiment of the present application includes at least two detection areas with different optical powers. Based on this, the test light with higher optical power can be used for navigation applications. The higher optical power can meet the ranging requirements of navigation applications; the lower optical power can be used for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The ranging module provided by the embodiment of the present application only requires one light emitting unit equipped with one light adjustment unit to ensure the ranging capability of the ranging module, and can effectively reduce the multipath effect, which is beneficial to the development of the 3dTof navigation solution, especially the use of the 3dTof navigation solution in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0049] FIG1 is a diagram showing the optical power distribution of a surface projection laser light source that has not been adjusted by a light adjustment unit in conventional technology;

[0050] FIG2 is a diagram showing the optical power distribution of the test light after adjustment by the light adjustment unit of the ranging module according to an embodiment of the present application;

[0051] FIG3 is a schematic structural diagram of a ranging module according to an embodiment of the present application;

[0052] FIG4 is a schematic structural diagram of a cleaning device according to an embodiment of the present application;

[0053] FIG5 is a schematic flowchart of a method for controlling a cleaning device according to an embodiment of the present application;

[0054] FIG6 is a block diagram of a computer-readable storage medium according to an embodiment of the present application;

[0055] FIG7 is a structural block diagram of an electronic device according to an embodiment of the present application.

[0056] 3 and 4 , the correspondence between the reference numerals and component names is as follows: 100 ranging module 110 light emitting unit, 120 light adjustment unit, 130 light receiving unit, 140 fixing plate, 150 mounting seat, 210 cleaning device body; 131 lens, 132 area array receiving sensor. DETAILED DESCRIPTION

[0057] In order to better understand the above technical solution, the technical solution of the embodiment of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiment of the present application and the specific features in the embodiment are detailed descriptions of the technical solution of the embodiment of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiment of the present application and the technical features in the embodiment can be combined with each other.

[0058] As shown in Figure 3, according to the first aspect of an embodiment of the present application, a ranging module 100 is proposed, including: a light emitting unit 110, a light adjusting unit 120 and a light receiving unit 130, the light emitting unit 110 is used to emit test light, and the light receiving unit 130 is used to receive the test light after being reflected and / or scattered by the object to be measured; wherein, the emission direction of the light emitting unit 110 is toward the light adjusting unit 120, and the light adjusting unit 120 is used to adjust the initial light emitted by the light emitting unit 110 so that the test light emitted by the light adjusting unit 120 includes at least two detection areas with different optical powers.

[0059] The ranging module 100 provided in the embodiment of the present application includes a light emitting unit 110, a light adjusting unit 120 and a light receiving unit 130. The light adjusting unit 120 is used to adjust the initial light emitted by the light emitting unit 110 so that the test light emitted by the light adjusting unit 120 includes at least two detection areas with different optical powers. Based on this, during use, the light emitting unit 110 emits initial light, and the initial light is adjusted by the light adjusting unit 120 to form a test light including at least two detection areas with different optical powers. The test light is then projected onto the object to be measured. After being reflected or scattered by the object to be measured, the test light is received by the light receiving unit 130. After photoelectric conversion, the depth, intensity and other information of the target are output to determine the position and distance of the obstacle. The test light emitted by the optical adjustment unit 120 of the ranging module 100 provided by the embodiment of the present application includes at least two detection areas with different optical powers. Based on this, the portion with higher optical power in the test light can be used for navigation applications. The higher optical power can ensure the ranging requirements in navigation applications; the portion with lower optical power can be used for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) introduced by the surface projection laser light source. The ranging module 100 provided by the embodiment of the present application only requires one light emitting unit 110 equipped with one optical adjustment unit 120 to ensure the ranging capability of the ranging module 100, and can effectively reduce the multipath effect, which is beneficial to the development of 3dTof navigation solutions, especially the use of 3dTof navigation solutions in complex scenarios.

[0060] The embodiments of the present application take into account that the current autonomous mobile robot navigation solution generally adopts the lds navigation solution or the 3dTof navigation solution; the autonomous mobile robot obstacle avoidance solution generally adopts the binocular vision obstacle avoidance solution, the 3dTof obstacle avoidance solution or the line laser obstacle avoidance solution. Among them, the 3dTof solution can be used as both the navigation solution and the obstacle avoidance solution of the autonomous mobile robot, integrating the navigation and obstacle avoidance functions, reducing the types of sensors and the occupied space, and can also be integrated with the camera to realize advanced functions such as three-dimensional reconstruction. Therefore, the 3dTof solution has gradually become the preferred navigation and obstacle avoidance solution for consumer mobile robots such as cleaning robots. However, in actual applications, the 3dTof navigation and obstacle avoidance solution has problems such as weak ranging capability, insufficient resolution and MPI, resulting in its navigation effect being inferior to the lds solution, and its obstacle avoidance effect being inferior to the line laser obstacle avoidance solution. The insufficient performance has greatly affected the use of the 3dTof navigation and obstacle avoidance solution in complex scenarios. The ranging module 100 provided by the embodiment of the present application can use the part with stronger optical power in the test light for navigation applications. The stronger optical power can ensure the ranging requirements in navigation applications; the part with lower optical power is used for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source, enhance the performance of the 3dTof navigation obstacle avoidance solution, and facilitate the application of the 3dTof navigation obstacle avoidance solution.

[0061] The embodiments of the present application take into account that in the current technology, some traditional 3dTof modules use area array tofsensors and scattered point projection laser light sources. The area array tofsensor serves as the receiving sensor of the 3dTof module, which receives the laser energy emitted by the laser light source and reflected back by the object to be measured, and converts it into an electrical signal; the scattered point projection laser light source is composed of a VCSEL and its matching collimating mirror and DOE. The light-emitting units on the VCSEL emit light at the same time to form a light spot array. After the light spot array is collimated, it is replicated by the DOE to form a laser scattered point array with the number of light spots multiplied by N (such as N = 3 or 9). The laser scattered point array is irradiated onto the object to be measured, and the reflected light energy is received by the area array tofsensor to complete the ranging. DOE can effectively increase the number of laser scattered points projected by the VCSEL light source and the utilization efficiency of light energy, thereby improving the resolution and ranging capability of the 3dTof module. The aforementioned VCSEL can also be an addressable VCSEL, meaning that the light-emitting units on the VCSEL can emit light in groups, forming a time-sharing array of light spots. The time-sharing light spot array is collimated and replicated by a DOE to form a time-sharing array of laser spots with N (e.g., N = 3 or 9) times the number of spots. The first disadvantage of this technology is that the scattered-point projection laser light source requires a DOE to replicate the spot to increase the number of laser spots. DOEs are optical diffraction devices and are expensive. DOEs with large field of view also have a significant impact on the quality of the spot. The second disadvantage of this technology is that the 3dTof module based on the scattered-point projection laser light source has a complex optical system and high design cost. During the production process, the 3dTof module also requires speckle calibration for each unit, which is also expensive. The third disadvantage of this technology is that due to cost constraints, the number of light-emitting units on a VCSEL is generally less than 100. Even after DOE replication, the number of laser spots is usually only in the hundreds or thousands, resulting in a very low effective angular resolution of the 3dTof module and a significant lack of detail detection capabilities. Compared with this solution, the ranging module 100 provided in the embodiment of the present application only needs to set up a light emitting unit 110 and a light adjustment unit 120 to ensure the ranging capability of the ranging module 100, and can effectively reduce the multipath effect, greatly reducing the module cost. The optical system design is relatively simple, and there is no need to separately adjust the light source during the production process, so the production cost is low.

[0062] The embodiments of the present application take into account that in the current technology, some traditional 3dTof modules use area array tofsensors and surface projection laser light sources. The area array tofsensor serves as the receiving sensor of the 3dTof module, which receives the laser energy emitted by the laser light source and reflected back by the object to be measured, and converts it into an electrical signal; the surface projection laser light source is composed of a VCSEL and its matching diffuser. The light-emitting units on the VCSEL emit light at the same time, and after passing through the diffuser, they diffuse into a surface projection laser light source. The surface projection laser light source is irradiated onto the object to be measured, and the reflected light energy is received by the area array tofsensor to complete the distance measurement. The field of view of the surface projection laser light source is the same as or similar to that of the area array tofsensor, and the light power distribution within the field of view of the surface projection laser light source approximately conforms to the Gaussian curve in the vertical direction and basically conforms to the bathtub curve in the horizontal direction. The disadvantage of this technology is that 1. In the application of cleaning robots, the 3dTof module is close to the ground, generally about 5 cm, which causes a part of the vertical light of the surface light source of the 3dTof module to be emitted to the ground at a close distance, resulting in excessive light power on the ground at a close distance, causing serious MPI problems of the 3dTof module and affecting the obstacle avoidance performance of the 3dTof module; the disadvantage of this technology is that the vertical angle of the surface light source required for the navigation of the cleaning robot is not the position where the vertical light power of the surface light source is the strongest, and the effective utilization rate of the light power is low, resulting in a short navigation distance of the 3dTof module. When the ranging module 100 provided in the embodiment of the present application is applied to cleaning equipment, the part with stronger light power in the test light can be used for navigation applications. The stronger light power can ensure the ranging requirements in the navigation application; the part with lower light power is used for obstacle avoidance applications. The lower light power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source.

[0063] The embodiments of the present application take into account that in the current technology, some traditional 3dTof modules use area array tofsensors, and the light source part uses a surface projection laser light source and a scattered point projection laser light source in a time-sharing manner. The area array tofsensor serves as the receiving sensor of the 3dTof module, which receives the laser energy emitted by the laser light source and reflected back by the target, and converts it into an electrical signal; the scattered point projection laser light source is composed of a VCSEL and its matching collimating mirror and DOE. The light-emitting units on the VCSEL emit light at the same time to form a light spot array. After the light spot array is collimated, it is replicated by the DOE to form a laser scattered point array with the number of light spots multiplied by N (such as N = 3 or 9). The laser scattered point array is irradiated onto the object to be measured, and the reflected light energy is received by the area array tofsensor to complete the ranging. DOE can effectively increase the number of laser scattered points projected by the VCSEL light source and improve the resolution of the 3dTof module. The above-mentioned VCSEL can also be an addressable VCSEL, that is, the light-emitting units on the VCSEL can emit light in groups, forming a time-sharing light spot array. The time-sharing light spot array is collimated and replicated by DOE to form a time-sharing laser scattered point array with the number of light spots multiplied by N (such as N = 3 or 9). The surface projection laser light source is composed of a VCSEL and its matching diffuser. The light-emitting units on the VCSEL emit light at the same time, and after passing through the diffuser, they diffuse into a surface projection laser light source. The surface projection laser light source is irradiated onto the object to be measured, and the reflected light energy is received by the surface array tofsensor to complete the distance measurement. The field of view of the surface projection laser light source is the same as or similar to that of the surface array tofsensor. The light power distribution within the field of view of the surface projection laser light source approximately conforms to the Gaussian curve in the vertical direction and basically conforms to the bathtub curve in the horizontal direction. The MPI problem introduced by the scattered point projection laser light source is relatively weak, and the optical power can be effectively utilized, which is used for the navigation application of the 3dTof module. The surface projection laser light source can effectively improve the resolution of the 3dTof module and is used for the obstacle avoidance application of the 3dTof module. The surface projection laser light source and the scattered point projection laser light source work in time-sharing mode to realize the navigation and obstacle avoidance functions of the 3dTof module respectively. The first disadvantage of this technology is that the scattered point projection laser light source requires a DOE to replicate the spot to increase the number of laser scattered points. The DOE is an optical diffraction device with high cost. The DOE with a large field of view also has a greater impact on the spot quality. The second disadvantage of this technology is that the 3dTof module based on the scattered point projection laser light source has a complex optical system and high design cost. During the production process, the 3dTof module also needs to be calibrated for speckle each unit, which is expensive. The third disadvantage of this technology is that the 3dTof module based on the above light source solution requires a scattered point projection laser light source and a surface projection laser light source. The increase in the number of light sources leads to a significant increase in module cost.Compared with this solution, the ranging module 100 provided in the embodiment of the present application only needs to set up a light emitting unit 110 and a light adjustment unit 120 to ensure the ranging capability of the ranging module 100, and can effectively reduce the multipath effect, greatly reducing the module cost. The optical system design is relatively simple, and there is no need to separately adjust the light source during the production process, so the production cost is low.

[0064] It is understandable that during the propagation of optical signals, they are reflected by some objects, changing the signal's propagation direction, amplitude, polarization, and phase. These changed signals reach the receiving end and superimpose with the signals that reach the receiving end through a straight path. This is called the multipath effect.

[0065] In a feasible implementation, the light emitting unit 110 includes: a surface-projecting laser light source, so that the test light is a surface array light.

[0066] In this technical solution, the structural composition of the light emitting unit 110 is further provided. The light emitting unit 110 includes a surface projection laser light source. Based on this, the initial light emitted by the emitting unit is a surface array light, and the light after adjustment by the light adjustment unit 120 is also a surface array light. Such a setting can improve the ranging accuracy and efficiency.

[0067] In some examples, the surface projection laser light source includes but is not limited to VCSEL, EEL, etc., and the wavelength includes but is not limited to 808nm, 850nm, 905nm, and 940nm.

[0068] In a feasible implementation manner, the light adjustment unit 120 includes at least one of a light source shaping mirror, a diffusion sheet, and a lens group formed by combining a plurality of lenses.

[0069] In this technical solution, a style of the light adjustment part 120 is further provided. The light adjustment part 120 may include one or more of a light source shaping mirror, a diffusion sheet, and a lens group formed by combining multiple lenses.

[0070] In the case where the light adjustment part 120 includes a light source shaping mirror, the light source shaping mirror may include chemical particles or different mirror structures to form scattering particles or scattering cross sections. After the initial light passes through the light source shaping mirror, the light source shaping mirror can adjust the initial light so that the test light emitted through the light adjustment part 120 includes at least two detection areas with different optical powers.

[0071] When the light adjustment unit 120 includes a diffuser, the diffuser may include, from bottom to top, an antistatic coating layer, a PET substrate, and a diffusion layer. By regulating the distribution of scattering particles in the diffusion layer, when light passes through the diffusion layer, it will continuously pass through two media with different refractive indices. At the same time, the light line will undergo many refractions, reflections, and scattering phenomena. In this way, the distribution of the light power after passing through the diffuser can be adjusted so that the test light emitted by the light adjustment unit 120 includes at least two detection areas with different light powers.

[0072] The light adjustment unit 120 may also include one or more lens groups formed by combining multiple lenses. This configuration makes it easier to adjust the optical power of the test light after passing through the lens group.

[0073] In some examples, the material of the light adjustment unit 120 includes but is not limited to glass, PC, PMMA, etc.

[0074] As shown in Figure 1, where the horizontal axis is the angle and the vertical axis is the light power, Figure 1 is a light power distribution diagram of a surface projection laser light source in traditional technology that has not been adjusted by the light adjustment unit 120. The bathtub-shaped curve at the top of the figure represents the horizontal light power distribution, and the approximate Gaussian curve at the bottom represents the vertical light power distribution. The horizontal and vertical light powers of this surface projection laser light source are basically symmetrically distributed along the vertical axis.

[0075] As shown in Figure 2, where the horizontal axis is the angle and the vertical axis is the optical power, Figure 2 is an optical power distribution diagram of the test light after adjustment by the optical adjustment unit 120 in the embodiment of the present application. The lower curve in the figure represents the vertical optical power distribution, and the upper curve represents the horizontal optical power distribution. The horizontal optical power is basically symmetrically distributed along the vertical axis, while the vertical optical power distribution has obvious asymmetry, that is, the optical power is concentrated on one side of the vertical direction and has only one peak value. Based on this, the test light emitted by the optical adjustment unit 120 can include at least two detection areas with different optical powers.

[0076] In a feasible implementation, the light receiving unit 130 includes a lens 131 and an area array receiving sensor 132 . The test light reflected and / or scattered by the object to be tested passes through the lens 131 and is then received by the area array receiving sensor 132 .

[0077] In this technical solution, the structural composition of the light receiving unit 130 is further provided. The light receiving unit 130 includes a lens 131 and an area array receiving sensor 132. The setting of the lens 131 can converge the test light after being reflected and / or scattered by the object to be tested. The converged light is projected onto the area array receiving sensor 132, and after photoelectric conversion, it outputs information such as the depth and intensity of the target.

[0078] In some examples, the area array receiving sensor 132 may include an itof sensor and a dtof sensor, and the lens 131 may be a single lens or a lens group composed of multiple lenses. The lens materials include but are not limited to glass, PC, and PMMA, etc. It can be understood that a filter can be added to the optical receiving lens 131.

[0079] In a feasible embodiment, the ranging module 100 also includes: a fixing plate 140, on which the area array receiving sensor 132 and the surface projection laser light source are arranged; a mounting base 150, which is connected to the fixing plate 140, on which the lens 131 is arranged, and on which the lens 131 and the light adjustment unit 120 are arranged.

[0080] In this technical solution, the ranging module 100 may further include a fixing plate 140 and a mounting seat 150. The setting of the fixing plate 140 provides a mounting position for the area array receiving sensor 132 and the surface projection laser light source. The area array receiving sensor 132 and the surface projection laser light source are arranged at intervals on the fixing plate 140, and the mounting seat 150 is further connected to the fixing plate 140. The fixing plate 140 provides a mounting position for the lens 131 and the light adjustment unit 120, which facilitates the formation of the optical path and makes the structure of the ranging module 100 more compact.

[0081] In some examples, the fixing plate 140 may be a PCB board, and the PCB may be an FR4 board, a ceramic substrate, or an FPC.

[0082] In a feasible implementation, within a first preset output field angle range, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light.

[0083] In this technical solution, a distribution method of optical power is further provided. Within the first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light. That is to say, within the first preset output field angle interval, the shorter the projection distance of the test light, the stronger the optical power; the longer the projection distance of the test light, the stronger the optical power. Based on this, the test light with stronger optical power can be projected farther away, while the test light with weaker optical power can be projected closer. The part with stronger optical power in the test light is then used for navigation applications. The stronger optical power can ensure the distance measurement requirements in navigation applications; the part with lower optical power is used for obstacle avoidance applications. On the one hand, it can ensure the accuracy and timeliness of ranging; on the other hand, it can greatly reduce the impact of multipath effects on obstacle avoidance.

[0084] It can be understood that within the second preset output field of view angle range, the optical power of the test light emitted by the light adjustment unit 120 can be negatively correlated with the projection distance of the test light. The second preset output field of view angle range does not overlap with the first preset output field of view angle range. Based on this, the maximum value of the optical power can be enriched within a certain output field of view angle. Such a setting can ensure the ranging capability of the ranging module and effectively reduce the multipath effect.

[0085] It can be understood that the marks of 0°, 20°, 21°, 31° and 40° in Figure 4 are the exit field angles. In this example, the value of the first preset exit field angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset exit field angle interval is greater than 31°.

[0086] In one feasible embodiment, within a first preset output field angle range, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the output field angle of the test light. Within a second preset output field angle range, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the output field angle of the test light.

[0087] This technical solution further provides a method for arranging optical power. Within a first preset range of field of view angles, the optical power of the test light emitted by the optical adjustment unit 120 is positively correlated with the test light's field of view angle. That is, within the first preset range of field of view angles, the larger the field of view angle of the test light emitted by the optical adjustment unit 120, the stronger the optical power; and the smaller the field of view angle of the test light emitted by the optical adjustment unit 120, the weaker the optical power. This arrangement fully takes into account the use scenario of the ranging module 100. The ranging module 100 usually needs to be mounted on a mobile device, and the test light with a smaller field of view angle is usually projected onto the ground, forming a ground impact, while the test light with a smaller field of view angle is usually projected in front of the mobile device in the direction of travel. Based on this, the higher optical power portion of the test light is used for navigation applications. The higher optical power can meet the ranging requirements of navigation applications. The lower optical power portion is used for obstacle avoidance applications. On the one hand, this ensures the accuracy and timeliness of long-distance ranging in front of the mobile device. On the other hand, it can greatly improve the mobile device's near-field obstacle avoidance capabilities and reduce the impact of multipath effects on obstacle avoidance. Within the second preset output field of view angle range, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the test light output field of view angle. The second preset output field of view angle range does not overlap with the first preset output field of view angle range. Based on this, the maximum optical power can be concentrated within a certain output field of view angle. This configuration can ensure the ranging capability of the ranging module while effectively reducing the multipath effect.

[0088] It can be understood that the marks of 0°, 20°, 21°, 31° and 40° in Figure 4 are the exit field angles. In this example, the value of the first preset exit field angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset exit field angle interval is greater than 31°.

[0089] As shown in Figure 3, in some examples, the ranging module 100 comprises an area array receiving sensor 132 (sensor), a lens 131, a light source, a light adjustment unit 120, and a fixing plate 140. The area array receiving sensor 132 is welded or die-bonded to the fixing plate 140. The lens 131, which matches the area array receiving sensor 132, is positioned in front of the area array receiving sensor 132 via a mounting base 150. The light emitting unit 110, which is a laser light source, is welded or die-bonded to the fixing plate 140. The light adjustment unit 120, which matches the laser light source, is positioned in front of the laser light source via a mounting base 150. Laser light emitted by the laser light source is shaped by the light adjustment unit 120 to form an area light source. When this area light source strikes the object being measured, the light echo energy generated is focused by the lens 131 and received by the area array receiving sensor 132. The area array receiving sensor 132 then performs photoelectric conversion and outputs information such as the target's depth and intensity.

[0090] In a feasible embodiment, the light adjustment part 120 covers at least a partial area of ​​the light emitting part 110. Such a setting clarifies the positional relationship between the light adjustment part 120 and the light emitting part 110, making it convenient to adjust the light emitted by the light emitting part 110 through the light adjustment part 120.

[0091] It is understandable that, along the direction of the light emitted by the light emitting portion 110 , the light adjusting portion 120 will form a projection on the light emitting portion 110 , that is, the light adjusting portion 120 at least covers a partial area of ​​the light emitting portion 110 .

[0092] As shown in FIG4 , according to a second aspect of an embodiment of the present application, a cleaning device is proposed, including: a cleaning device body 210 ; and a distance measurement module 100 such as any of the above technical solutions.

[0093] The cleaning device provided in the embodiment of the present application has all the beneficial effects of the ranging module 100 of the above technical solution because the cleaning device has the ranging module 100 of the above technical solution.

[0094] The cleaning equipment provided in the embodiment of the present application is equipped with a ranging module 100. The test light emitted by the optical adjustment unit 120 of the ranging module 100 includes at least two detection areas with different optical powers. Based on this, the part with stronger optical power in the test light can be used for the navigation application of the cleaning equipment. The stronger optical power can meet the ranging requirements in the navigation application; the part with lower optical power is used for the obstacle avoidance application of the cleaning equipment. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The ranging module 100 provided in the embodiment of the present application only requires one light emitting unit 110 and one optical adjustment unit 120 to ensure the ranging capability of the ranging module 100, and can effectively reduce the multipath effect, which is beneficial to the development of 3dTof navigation solutions, especially the use of 3dTof navigation solutions in complex scenes.

[0095] In a feasible implementation, within a first preset output field angle range, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light.

[0096] In this technical solution, a distribution method of optical power is further provided. Within the first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the projection distance of the test light. That is to say, within the first preset output field angle interval, the shorter the projection distance of the test light, the stronger the optical power; the longer the projection distance of the test light, the stronger the optical power. Based on this, the test light with stronger optical power can be projected farther away, while the test light with weaker optical power can be projected closer. The part with stronger optical power in the test light is then used for navigation applications. The stronger optical power can ensure the distance measurement requirements in navigation applications; the part with lower optical power is used for obstacle avoidance applications. On the one hand, it can ensure the accuracy and timeliness of ranging; on the other hand, it can greatly reduce the impact of multipath effects on obstacle avoidance.

[0097] It can be understood that within the second preset output field of view angle range, the optical power of the test light emitted by the light adjustment unit 120 can be negatively correlated with the projection distance of the test light. The second preset output field of view angle range does not overlap with the first preset output field of view angle range. Based on this, the maximum value of the optical power can be enriched within a certain output field of view angle. Such a setting can ensure the ranging capability of the ranging module and effectively reduce the multipath effect.

[0098] It can be understood that the marks of 0°, 20°, 21°, 31° and 40° in Figure 4 are the exit field angles. In this example, the value of the first preset exit field angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset exit field angle interval is greater than 31°.

[0099] In one feasible embodiment, within a first preset output field angle range, the optical power of the test light emitted by the light adjustment unit 120 is positively correlated with the output field angle of the test light. Within a second preset output field angle range, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the output field angle of the test light.

[0100] This technical solution further provides a method for arranging optical power. Within a first preset range of field of view angles, the optical power of the test light emitted by the optical adjustment unit 120 is positively correlated with the test light's field of view angle. That is, within the first preset range of field of view angles, the larger the field of view angle of the test light emitted by the optical adjustment unit 120, the stronger the optical power; and the smaller the field of view angle of the test light emitted by the optical adjustment unit 120, the weaker the optical power. This arrangement fully takes into account the use scenario of the ranging module 100. The ranging module 100 usually needs to be mounted on a mobile device, and the test light with a smaller field of view angle is usually projected onto the ground, forming a ground impact, while the test light with a smaller field of view angle is usually projected in front of the mobile device in the direction of travel. Based on this, the higher optical power portion of the test light is used for navigation applications. The higher optical power can meet the ranging requirements of navigation applications. The lower optical power portion is used for obstacle avoidance applications. On the one hand, this ensures the accuracy and timeliness of long-distance ranging in front of the mobile device. On the other hand, it can greatly improve the mobile device's near-field obstacle avoidance capabilities and reduce the impact of multipath effects on obstacle avoidance. Within the second preset output field of view angle range, the optical power of the test light emitted by the light adjustment unit 120 is negatively correlated with the test light output field of view angle. The second preset output field of view angle range does not overlap with the first preset output field of view angle range. Based on this, the maximum optical power can be concentrated within a certain output field of view angle. This configuration can ensure the ranging capability of the ranging module while effectively reducing the multipath effect.

[0101] It can be understood that the marks of 0°, 20°, 21°, 31° and 40° in Figure 4 are the exit field angles. In this example, the value of the first preset exit field angle interval is greater than or equal to 0° and less than or equal to 31°; the value of the second preset exit field angle interval is greater than 31°. As shown in Figure 4, the cleaning equipment equipped with the ranging module 100 of any of the above technical solutions has a significantly reduced light power emitted to the ground, which greatly optimizes the MPI problem; the light power within the vertical angle of the surface light source required for navigation of the cleaning equipment is significantly increased, effectively improving the ranging capability. Figure 4 shows the installation form of the ranging module 100 provided in an embodiment of the present application on the cleaning equipment and the light power distribution diagram within the exit field angle of the surface light source. After optimization, the surface light source has the maximum light power between 21° and 31° required for navigation of the cleaning equipment, and the light power slowly decreases between 20° and 0° required for obstacle avoidance of the cleaning equipment, that is, as the distance of the light from the ground decreases, the light power of the exiting surface light source also gradually decreases. Based on the ranging module 100 and cleaning equipment provided in this embodiment of the present application, on the one hand, only one surface light source is needed to complete the navigation and obstacle avoidance functions, which greatly reduces the cost of the module. On the other hand, by optimizing the light type of the emitted surface light source and using only one low-cost surface light source, the module's ranging capability and close-range obstacle avoidance performance can also be effectively improved. On the other hand, while ensuring the module's ranging capability and close-range obstacle avoidance performance, a higher point cloud resolution can be provided to provide detailed data for three-dimensional reconstruction. On the other hand, the optical system design is relatively simple, and there is no need to individually adjust the light source during the production process, so the production cost is relatively low.

[0102] As shown in FIG5 , according to a third aspect of an embodiment of the present application, a control method for a cleaning device is proposed, which is used to control a cleaning device such as any of the above technical solutions. The control method includes:

[0103] Step 101: In response to the travel instruction, the detection light information received by the light receiving part is obtained; it is understandable that after responding to the travel instruction, the cleaning device body of the cleaning device will move, and in this case, ranging and obstacle avoidance are required, so the test light reflected and / or scattered by the object to be measured can be received by light, and the detection light information can be obtained after photoelectric conversion.

[0104] Step 102: The detected light information with lower optical power is used as obstacle avoidance information, and the detected light information with higher optical power is used as ranging information. After obtaining the detected light information, the detected light information can be classified and then used for different purposes to avoid multipath effects.

[0105] Step 103: guiding the cleaning device to avoid obstacles based on the obstacle avoidance information. In this way, the lower optical power portion is used for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source.

[0106] Step 104: performing distance measurement based on the distance measurement information to navigate the cleaning device. In this way, the portion with higher optical power in the test light can be used for navigation applications, and the higher optical power can meet the distance measurement requirements in the navigation application.

[0107] The control method for cleaning equipment provided in the embodiment of the present application obtains detection light information when the main body of the cleaning equipment needs to move, and then classifies the detection light information. Thereafter, the moving direction of the cleaning equipment body is guided based on the obstacle avoidance information, and the distance to the obstacle is determined based on the ranging information. The lower optical power is used for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. The stronger optical power is used for navigation applications by testing the stronger optical power in the light. The stronger optical power can ensure the ranging requirements in the navigation application.

[0108] In a feasible implementation, the steps of using the detection light information with weaker optical power in the detection light information as obstacle avoidance information and using the detection light information with stronger optical power in the detection light information as ranging information include: setting a reference optical power threshold; using the detection light information with an optical power value less than or equal to the reference optical power threshold in the detection light information as obstacle avoidance information; and using the detection light information with an optical power value greater than the reference optical power threshold in the detection light information as ranging information.

[0109] In this technical solution, specific steps for classifying the detected light information are further provided. A reference light power threshold can be set, and then the light measurement information is compared with the reference light power threshold. The detected light information with a light power value less than or equal to the reference light power threshold is used as obstacle avoidance information; and the detected light information with a light power value greater than the reference light power threshold is used as ranging information. Such a setting can improve the response efficiency of the cleaning equipment.

[0110] As shown in FIG6 , according to the fourth aspect of an embodiment of the present application, a computer-readable storage medium 601 is proposed. The computer-readable storage medium 601 stores a computer program 602 for implementing a control method according to any of the above technical solutions.

[0111] The computer-readable storage medium 601 provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the computer-readable storage medium has all the beneficial effects of the above control methods.

[0112] The computer-readable storage medium 601 of the cleaning device provided in the embodiment of the present application obtains detection light information when the cleaning device body needs to move, and then classifies the detection light information. Thereafter, the direction of travel of the cleaning device body is guided based on the obstacle avoidance information, and the distance to the obstacle is determined based on the ranging information, thereby realizing the use of the lower optical power part for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. By using the stronger optical power part in the test light for navigation applications, the stronger optical power can ensure the ranging requirements in the navigation application.

[0113] Based on this understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each implementation scenario of the present application.

[0114] As shown in Figure 7, according to the fifth aspect of an embodiment of the present application, an electronic device is proposed, including: a memory 701, which stores a computer program; a processor 702, which executes the computer program; wherein the processor 702 implements a control method such as any of the above technical solutions when executing the computer program.

[0115] The electronic device provided in the embodiment of the present application implements the control method of any of the above technical solutions, so the electronic device has all the beneficial effects of the above control methods.

[0116] The electronic device of the cleaning equipment provided in the embodiment of the present application obtains detection light information when the main body of the cleaning equipment needs to move, and then classifies the detection light information. Thereafter, the moving direction of the cleaning equipment body is guided based on the obstacle avoidance information, and the distance of the obstacle is determined based on the ranging information. This enables the use of the lower optical power part for obstacle avoidance applications. The lower optical power can effectively reduce the multipath effect (MPI) effect introduced by the surface projection laser light source. By using the stronger optical power part in the test light for navigation applications, the stronger optical power can ensure the ranging requirements in the navigation application.

[0117] In some examples, the electronic device may further include a user interface, a network interface, a camera, a radio frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, etc. The user interface may include a display, an input unit such as a keyboard, etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (such as a Wi-Fi interface), etc.

[0118] In an exemplary embodiment, the electronic device may further include an input / output interface and a display device, wherein the functional units may communicate with each other via a bus. The memory stores a computer program, and the processor is configured to execute the program stored in the memory and perform the method of the above embodiment.

[0119] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the physical device used in the above method, supporting the execution of the information processing program and other software and / or programs. The network communication module is used to enable communication between components within the storage medium and with other hardware and software within the physical information processing device.

[0120] Through the description of the above implementation methods, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware.

[0121] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flow chart and / or block diagram and the combination of the process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes and / or one box or multiple boxes of the flow chart.

[0122] In this application, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless expressly limited otherwise. Terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean a direct connection or an indirect connection through an intermediary. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0123] In the description of this application, it should be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application.

[0124] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0125] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A ranging module, wherein: include: A light emitting unit, a light regulating unit, and a light receiving unit, wherein the light emitting unit is used to emit test light, and the light receiving unit is used to receive the test light after being reflected and / or scattered by the object to be tested; The light emitting portion has an emission direction toward the light adjusting portion, and the light adjusting portion is used to adjust the initial light emitted by the light emitting portion so that the test light emitted by the light adjusting portion includes at least two detection areas with different optical powers.

2. The ranging module according to claim 1, wherein: The light emitting unit includes: a surface projection laser light source, so that the test light is a surface array light; The light adjustment unit includes: a light source shaping mirror, a diffusion sheet, and at least one of a lens group formed by combining a plurality of lenses; The light receiving unit includes a lens and an area array receiving sensor. The test light reflected and / or scattered by the object to be tested passes through the lens and is then received by the area array receiving sensor.

3. The ranging module according to claim 2, wherein: Also includes: A fixed plate, on which the area array receiving sensor and the surface projection laser light source are arranged; A mounting seat is connected to the fixing plate.

4. The ranging module according to any one of claims 1 to 3, wherein: In a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

5. The ranging module according to any one of claims 1 to 3, wherein: In a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light; In the second preset emission field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the emission field angle of the test light.

6. The ranging module according to any one of claims 1 to 3, wherein: The light adjustment portion covers at least a partial area of ​​the light emitting portion.

7. A cleaning device, wherein: include: Cleaning equipment body; The ranging module according to any one of claims 1 to 6.

8. The cleaning device according to claim 7, wherein In a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the projection distance of the test light.

9. The cleaning device according to claim 7, wherein: In a first preset output field angle interval, the optical power of the test light emitted by the light adjustment unit is positively correlated with the output field angle of the test light; In the second preset emission field angle interval, the optical power of the test light emitted by the light adjustment unit is negatively correlated with the emission field angle of the test light.

10. A method for controlling a cleaning device, wherein: For controlling the cleaning device according to claims 7 to 9, the control method comprises: acquiring, in response to a travel instruction, detection light information received by the light receiving unit; using the detection light information with weaker optical power in the detection light information as obstacle avoidance information, and using the detection light information with stronger optical power in the detection light information as ranging information; guiding the cleaning device to avoid obstacles based on the obstacle avoidance information; Distance measurement is performed based on the distance measurement information to navigate the cleaning device.

11. The control method of the cleaning equipment according to claim 10, wherein: The step of using the detection light information with weaker optical power in the detection light information as obstacle avoidance information and using the detection light information with stronger optical power in the detection light information as ranging information includes: Set the reference optical power threshold; The detected light information whose optical power value is less than or equal to the reference optical power threshold is used as the obstacle avoidance information; The detected light information whose optical power value is greater than the reference optical power threshold is used as the ranging information.

12. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program for implementing the control method according to any one of claims 10 or 11.

13. An electronic device, wherein: include: a memory storing a computer program; a processor, configured to execute the computer program; Wherein, when executing the computer program, the processor implements the control method according to any one of claims 10 or 11.

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