Distance measurement method and device, and robot and storage medium
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Solution Overview
Problem
Existing distance measurement methods for self-moving robots, such as monocular cameras and dual-line structured light, face limitations in accuracy and range due to bumpy ground and narrow detection planes, respectively.
Innovation Solution
A method combining monocular distance measurement with dual-line structured light, where a line structured light beam corrects the ground position parameter in the second image, enabling accurate distance calculation to obstacles by forming intersection lines with the ground and objects, thereby improving the accuracy and range of distance measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If monocular distance measurement is used, then device complexity is reduced, but measurement precision deteriorates due to bumpy ground
Solution Approach 1:
The patent combines monocular camera imaging with dual-line structured light projection to create a hybrid measurement system. The camera captures the first image for initial obstacle detection, while the structured light beams provide ground plane correction data, merging the advantages of both methods to achieve accurate distance measurement without requiring complex depth cameras or LIDAR
Solution Approach 2:
The structured light beams act as an intermediary to correct ground position parameters. By projecting light beams and capturing their intersection lines with the ground in the second image, the system obtains ground plane information that mediates and corrects the monocular distance measurement, eliminating accuracy degradation caused by bumpy ground
2Measurement precision
If dual-line structured light is used, then measurement precision is improved, but device complexity increases due to narrow detection plane
Solution Approach 1:
The patent extends the traditional dual-line structured light from a 2D plane to a 3D volumetric detection space by projecting light beams in multiple directions (front, side, and downward). This dimensional expansion allows the structured light to cover a wider detection range while maintaining measurement precision, overcoming the narrow detection plane limitation
3Device complexity
If monocular distance measurement is used, then device complexity is reduced, but detection range is limited
Solution Approach 1:
The system merges monocular camera imaging with multi-directional structured light projection to achieve extended detection range. The camera provides wide-field obstacle detection while the structured light beams extend detection in specific directions, combining their capabilities to overcome the limited detection range of monocular measurement alone
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach effectively addresses the inaccuracies caused by bumpy ground and the limited range of dual-line structured light, enhancing the overall distance measurement capability of self-moving robots.
Implementation Method 1
emitting at least one surface-scanning light beam that is not parallel to the ground by a line structured light source, the surface-scanning light beam forming at least one intersection line with the ground
Data Source
AI summary
Embodiments of the present disclosure provide a distance measurement method and device, a robot and a storage medium. The method comprises: acquiring a first image, where the first image at least comprises a to-be-detected object and a ground on which the to-be-detected object is located; determining an initial constraint condition of the ground based on the first image; acquiring a second image, where the second image at least comprises an intersection line of a line structured light beam with the ground and/or with the to-be-detected object; determining a position parameter of the ground based on the second image, and correcting the initial constraint condition of the ground based on the position parameter; and determining a distance to the to-be-detected object based on the corrected initial constraint condition of the ground and the first image.