CN113960562A

CN113960562A - Structured light module and self-moving equipment

Info

Publication number: CN113960562A
Application number: CN202110944998.0A
Authority: CN
Inventors: 陈巍; 罗潇; 吴永东; 张鹏; 刘阳
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-08-17
Filing date: 2021-08-17
Publication date: 2022-01-21

Abstract

The embodiment of the application provides a structured light module and self-moving equipment. In this application embodiment, structured light module both can contain through first camera and line laser emitter mutual cooperation collection line laser meets the first environment image of the laser stripe that produces behind the object, can also not contain through second environment image collection the visible light image of laser stripe, first environment image and second environment image can help more accurate detection more abundant environmental information, expand laser sensor's range of application.

Description

Structured light module and self-moving equipment

Technical Field

The application relates to the technical field of artificial intelligence, especially, relate to a structured light module and from mobile device.

Background

With the popularization of laser technology, the application of laser sensors is gradually being explored. The obstacle identification and avoidance is an important application direction of the laser sensor. The requirements of various fields on laser sensors are higher and higher, the existing laser sensors cannot meet the application requirements of users, and new laser sensor structures are to be provided.

Disclosure of Invention

A plurality of aspects of this application provide a structured light module and from mobile device for provide a new structured light module, expand laser sensor's range of application.

The embodiment of the application provides a structured light module includes: the device comprises a first camera and line laser transmitters distributed on two sides of the first camera; the structured light module further includes: a second camera; the line laser transmitter is responsible for emitting line laser outwards, the first camera is used for collecting a first environment image detected by the line laser in the line laser emitting period of the line laser transmitter, and the second camera is used for collecting a second environment image in the view field range of the second camera; the first environment image is a laser image including laser stripes generated by the line laser after encountering the object, and the second environment image is a visible light image including no laser stripes.

An embodiment of the present application further provides a self-moving device, including: the device comprises a device body, wherein a main controller and a structured light module are arranged on the device body, and the main controller is electrically connected with the structured light module;

wherein, structured light module includes: the system comprises a first camera, line laser transmitters distributed on two sides of the first camera, a second camera and a module controller; the module controller controls the line laser transmitter to emit line laser outside, controls the first camera to collect a first environment image detected by the line laser during the line laser emitting period of the line laser transmitter, and sends the first environment image to the main controller; the main controller controls the second camera to collect a second environment image in the field range of view of the second camera, and performs function control on the self-moving equipment according to the first environment image and the second environment image; the first environment image is a laser image containing laser stripes generated by line laser after encountering an object, and the second environment image is a visible light image containing no laser stripes.

In this application embodiment, the structured light module both can contain line laser through first camera and the mutual cooperation of line laser emitter and produce the first environment image of laser stripe meeting the object after, can also not contain the visible light image of laser stripe through second environment image acquisition, and first environment image and second environment image can help more accurate detection more abundant environmental information, expand laser sensor's range of application.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1a is a schematic structural diagram of a structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1b is a schematic diagram illustrating an operating principle of a line laser transmitter according to an exemplary embodiment of the present disclosure;

FIG. 1c is a schematic diagram of another structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1d is a schematic structural diagram illustrating a relationship between mounting positions of devices in a structured light module according to an exemplary embodiment of the present disclosure;

fig. 1e is a schematic diagram illustrating a relationship between a line laser of a line laser transmitter and a field angle of a first camera according to an exemplary embodiment of the present application;

FIG. 1f is a schematic diagram of another structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1h is a front view of a structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1i is an isometric view of a structured light module according to an exemplary embodiment of the present disclosure;

FIGS. 1j-1m are exploded views of a structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1n is a partial view of a structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1o is a cross-sectional view of FIG. 1 n;

FIG. 1p is a cross-sectional view of a structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1q is a rear view of a structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1r is another partial view of a structured light module according to an exemplary embodiment of the present disclosure;

FIG. 1s is another cross-sectional view of a structured light module according to an exemplary embodiment of the present disclosure;

fig. 1t is a schematic diagram illustrating a first camera or a line laser emitter in a structured light module according to an exemplary embodiment of the present disclosure;

fig. 1u is a schematic diagram of a device for detecting a measured object according to an exemplary embodiment of the present application;

FIG. 1v is a cross-sectional view of a wave mirror provided in an exemplary embodiment of the present application;

FIG. 1w is a light intensity distribution diagram of a line laser transmitter with a wave mirror according to an exemplary embodiment of the present disclosure;

FIG. 1x is a schematic diagram of a cylindrical mirror according to an exemplary embodiment of the present disclosure;

FIG. 1y is a light intensity distribution diagram of a line laser transmitter with a cylindrical mirror according to an exemplary embodiment of the present application;

fig. 2a is a schematic structural diagram of a self-moving device according to an exemplary embodiment of the present application;

fig. 2b is a schematic structural diagram of a structured light module in a self-moving device according to an exemplary embodiment of the present disclosure;

fig. 2c and fig. 2d are schematic exploded views of a structured light module and a striking plate according to an exemplary embodiment of the present disclosure;

FIG. 2e is a schematic structural diagram of a striker plate with a structured light module mounted thereon according to an exemplary embodiment of the present disclosure;

fig. 2f is a schematic structural diagram of a sweeping robot according to an exemplary embodiment of the present disclosure.

Reference numerals:

structured light module: 21 a first camera: 101 line laser transmitter: 102

A second camera: 103 module controller: 104 an indicator light: 105

A main controller: 106, fixing seat: 107 fixing cover: 108

Fixing a plate: 109 pilot lamp board: 201, mounting holes: 202

Groove: 203 FPC connector: 204 equipment body: 20

A first window: 231 second window: 232 second window: 233

The first drive circuit: 1001 second drive circuit: 1002 a third drive circuit: 1003

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The problem to current laser sensor can't satisfy the application demand, the embodiment of the application provides a structured light module, this structured light module both can contain the line laser through first camera and the mutual cooperation of line laser emitter and produce the first environment image of laser stripe meeting the object after, can also not contain the visible light image of laser stripe through the collection of second environment image, first environment image and second environment image can help more accurate more abundant environmental information that detects, expand laser sensor's range of application.

It should be understood that the structured light module detects abundant environmental information, can help promoting the object recognition accuracy. For example, if the structured light module is applied to an obstacle avoidance scene, the obstacle avoidance success rate can be improved. For another example, if the structured light module is applied to an obstacle crossing scene, the obstacle crossing success rate can be improved. For another example, if the structured light module is applied to the environment map creation, the accuracy of the environment map creation can be improved.

Fig. 1a is a schematic structural diagram of a structured light module according to an exemplary embodiment of the present disclosure. As shown in fig. 1a, the structured optical mode set includes: the device comprises a first camera 101, line laser transmitters 102 distributed on two sides of the first camera 101, and a second camera 103.

In the present embodiment, the implementation form of the line laser transmitter 102 is not limited, and may be any device/product form capable of transmitting line laser. For example, line laser transmitter 102 may be, but is not limited to: and (3) a laser tube. In this embodiment, the line laser may be controlled by a controller inside or outside the structured light module to operate, for example, the line laser emitter 102 emits the line laser to the outside. After the line laser emitted by the line laser emitter 102 encounters an object in the environment, a laser stripe is formed on the object. As shown in fig. 1b, the line laser transmitter 102 emits a laser plane FAB and a laser plane ECD to the outside, and the laser plane reaches the obstacle and forms a laser stripe on the surface of the obstacle, i.e. a line AB and a line CD shown in fig. 1 b.

In the present embodiment, the implementation form of the first camera 101 is not limited. Any visual device that can capture a laser image of the environment detected by the line laser emitted by the line laser emitter 102 is suitable for use in the embodiments of the present application. For example, the first camera 101 may include, but is not limited to: a laser camera, a 2D camera mounted with a filter allowing only line laser light to penetrate, and the like. In this embodiment, the wavelength of the line laser beam emitted from the line laser emitter 102 is not limited, and the color of the line laser beam may be different depending on the wavelength. The line laser may be visible light or invisible light. Accordingly, the first camera 101 may employ a camera capable of collecting line laser light emitted from the line laser transmitter 102. With the wavelength adaptation of the line laser emitted by the line laser emitter 102, for example, the first camera 101 may also be an infrared camera, an ultraviolet camera, a starlight camera, a high-definition camera, a 2D visual camera additionally installed with a red-transparent laser, a 2D visual camera additionally installed with a violet-transparent laser, or the like. The first camera 101 may capture an image of the environment within its field of view. The field angles of the first camera 101 include a vertical field angle, a horizontal field angle, and a diagonal field angle. In the present embodiment, the field angle of the first camera 101 is not limited, and the first camera 101 with a suitable field angle may be selected according to application requirements. Optionally, the horizontal field angle of the first camera 101 is 100.6 °; alternatively, the vertical field angle of the first camera 101 is 74.7 °; alternatively, the diagonal angle of view of the first camera 101 is 133.7 °.

In this embodiment, the line laser transmitter 102 and the first camera 101 can be regarded as a structured light component capable of acquiring 3D information of objects in an environmental scene. Specifically, the line laser emitted by the line laser emitter 102 is located within the field of view of the first camera 101, and the line laser can help detect information of three-dimensional point cloud data, contour, shape, height and/or width, depth, volume, and the like of the object within the field of view of the first camera 101.

For the sake of easy distinction and understanding, the environment image detected by the line laser and collected by the first camera 101 is referred to as a first environment image. In this embodiment, as long as the line laser emitted by the line laser emitter 102 is located within the field of view of the first camera 101, an angle between a laser stripe formed on the surface of the object by the line laser and a horizontal plane is not limited, for example, the line laser may be parallel to or perpendicular to the horizontal plane, or may form any angle with the horizontal plane, which may be determined according to application requirements. In this embodiment, the first camera 101 may be controlled by a controller inside or outside the structured light module to operate, for example, the controller inside or outside the structured light module may control an exposure frequency, an exposure duration, an operating frequency, and the like of the first camera 101. It should be understood that a controller external to the structured light module refers to a controller of an external device with respect to the structured light module.

For the first camera 101, a first environment image detected by the line laser may be collected during the line laser is emitted by the line laser emitter 102 under the control of a controller inside or outside the structured light module. Fig. 1d is a schematic diagram showing the relationship between the line laser emitted by the line laser emitter 102 and the field angle of the first camera 101. Wherein, the letter K denotes the first camera 101, and the letters J and L denote line laser emitters 102 located at both sides of the first camera 101; q represents an intersection point of the line laser emitted by the line laser emitters 102 on both sides within the angle of view of the first camera 101; straight lines KP and KM represent two boundaries of the horizontal field of view of the first camera 101, and the angle PKM represents the horizontal field of view of the first camera 101. In fig. 1d, a straight line JN indicates a center line of the line laser light emitted from the line laser light emitter 102J; the straight line LQ indicates the center line of the line laser emitted by the line laser transmitter 102L.

Based on the first environment image acquired by the first camera 101, the distance (i.e., depth information of the front object) from the device where the structured light module or the structured light module is located to the front object (e.g., an obstacle) can be calculated, and information such as three-dimensional point cloud data, a contour, a shape, a height and/or a width, a volume, and the like of the front object (e.g., the obstacle) can be calculated, and further, three-dimensional reconstruction and the like can be performed. The distance between the first camera 101 and the object in front of the first camera can be calculated by a trigonometric function according to the principle of a laser triangulation method.

In the present embodiment, the implementation form of the second camera 103 is not limited. All visual equipment capable of collecting visible light images are suitable for the embodiment of the application. The visible light image can present the characteristics of color characteristics, texture characteristics, shape characteristics, spatial relationship characteristics and the like of an object in the environment, and can help to identify the information of the type, the material and the like of the object. In the embodiment of the present application, the second environment image acquired by the second camera 103 within the field of view is a visible light image. Wherein, the second camera 103 may include but is not limited to: monocular RGB cameras, binocular RGB cameras, and the like. Wherein, monocular RGB camera includes a RGB camera, and binocular RGB camera includes two RGB cameras, and the RGB camera is the 2D vision camera that can gather the RGB image. The first camera 101 may capture an image of the environment within its field of view. The angles of view of the second camera 103 include a vertical angle of view, a horizontal angle of view, and a diagonal angle of view. In the present embodiment, the angle of view of the second camera 103 is not limited, and the second camera 103 with a suitable angle of view may be selected according to application requirements. Optionally, the horizontal field angle of the second camera 103 is 148.3 °; alternatively, the vertical field angle of the second camera 103 is 125.8 °; alternatively, the diagonal field angle of the second camera 103 is 148.3 °.

It should be understood that the filter of the RGB camera cannot penetrate the reflected light of the line laser transmitter 102, which reflects the line laser light emitted from the outside by the object. Therefore, the RGB camera can acquire a visible light image which does not contain line laser and generates laser stripes after meeting an object. It is understood that the second environment image acquired by the second camera 103 within the field of view is a visible light image without laser stripes.

In this embodiment, the second camera 103 may be controlled by a controller inside or outside the structured light module to operate, for example, the controller inside or outside the structured light module may control the exposure frequency, the exposure duration, the operating frequency, and the like of the second camera 103.

Further optionally, referring to fig. 1c, the structured light module may further include an indicator lamp 105, and an on/off state of the indicator lamp 105 indicates an operating state of the second camera 103. For example, the indicator lamp 105 is turned on to indicate that the second camera 103 is in an operating state. The indicator lamp 105 is turned off, indicating that the second camera 103 is in the off state. In this embodiment, the indicator lamp 105 may be controlled by a controller inside or outside the structured light module, for example, the controller inside or outside the structured light module may control the on/off state of the indicator lamp 105 based on the operating state information of the second head.

In addition, the second camera 103 and the indicator light 105 can be considered as a visual sensor assembly in a structured light module.

In this embodiment of the application, the same controller may be used to control the laser emitter 102, the first camera 101, the indicator light 105, and the second camera 103 to operate, and different controllers may be used to control the laser emitter 102, the first camera 101, the indicator light 105, and the second camera 103 to operate, which is not limited herein.

In the embodiment of the present application, the controller may be disposed inside the structured light module, or the controller may not be disposed inside the structured light module. For ease of understanding and distinction, the controller inside the structured light module is referred to as the module controller 104. As shown in fig. 1a and 1c, the module controller 104 in the dashed box is an optional component of the structured light module.

The embodiment of the present application is not limited to the implementation form of the module controller 104, and may be, for example and without limitation, a processor such as a CPU, a GPU, or an MCU. The embodiment of the present application is not limited to the manner in which the module controller 104 controls the structured light module. Any implementation that can implement the function of the structured light module is applicable to the embodiments of the present application.

Further optionally, in order to improve the intelligence of the structured light module, the module controller 104 may be arranged inside the structured light module. The module controller 104 is used for controlling the laser transmitter 102, the first camera 101, the indicator lamp 105 and the second camera 103 to work and processing the image data collected by the first camera 101 and the second camera 103.

Further optionally, in order to reduce the data processing amount of the structured light module and improve the image acquisition efficiency of the structured light module, the structured light module may further perform data interaction with the main controller 106 in the mobile device. Optionally, in order to improve the communication speed, the module controller 104 in the structured light module may use an SPI (Serial Peripheral Interface) Interface to communicate with the main controller 106. In most cases, the structured light module sends data to the master controller 106 through the SPI interface, and therefore, the structured light module can be used as a master device of the SPI interface, and the master controller 106 can be used as a slave device of the SPI interface. If the main controller 106 needs to send data to the structured light module, the main controller 106 may notify the structured light module by raising the level of an additional IO pin, and receive and analyze data or instructions of the main controller 106 while sending data next time.

For example, the structured light module only undertakes image capture tasks, does not undertake or undertakes little image data related computing tasks, and undertakes all or most of the image data related computing tasks by the master controller 106. It can be understood that, under the condition that the structured light module can perform data interaction with the main controller 106 in the self-moving device, the associated party of the self-moving device can deploy a corresponding AI (Artificial Intelligence) algorithm in the main controller 106 to process the visible light image data collected by the structured light module according to the application requirement of the associated party, and obtain a corresponding AI identification result. The AI algorithm includes, for example, but is not limited to, the following algorithms: an algorithm for identifying information such as the type and material of an object in the environment; an algorithm for creating a three-dimensional map; and (4) obstacle avoidance or obstacle crossing algorithm. Optionally, the master controller 106 is further configured to identify three-dimensional point cloud data, contours, shapes, heights and/or widths, volumes, etc. of objects in the environment; identifying color features, texture features, shape features, spatial relationship features, and the like of objects in the environment.

Further alternatively, referring to fig. 1c, it can be seen that the module controller 104 may be electrically connected to the main controller 106 of the self-moving device when the structured light module is applied to the self-moving device, in addition to the line laser transmitter 102, the first camera 101 and the indicator lamp 105. In addition, in order to further reduce the data processing amount of the structured light module, the second camera 103 in the structured light module can also be electrically connected with the main control unit.

When the structured light module and the main controller 106 adopt the above-mentioned interaction scheme, the module controller 104 is configured to control the first camera 101 to expose, and control the line laser transmitter 102 to emit the line laser during the exposure, so that the first camera 101 collects the first environment image detected by the line laser. And the main controller 106 is configured to control the second camera 103 to expose for the second camera 103 to acquire a second environment image. The main controller 106 is further configured to send the operating state information of the second camera 103 to the module controller 104; and the module controller 104 is further configured to control the on-off state of the indicator lamp 105 according to the operating state information of the second camera 103.

The calculation process of the down tilt angle of the optical axis of the first camera and the line laser transmitter (i.e. the tilt angle relative to the horizontal plane parallel to the ground) will be briefly described below with reference to fig. 1 t.

The calculation process of the downward inclination angle of the optical axis of the first camera is as follows:

the optical axis declination angle of the first camera is assumed to be theta; the vertical field angle of the first camera is recorded as beta; the mounting height of the first camera is as follows: h; the distance of a measuring blind area of the first camera is recorded as d; the measuring Range (also called detection distance) of the structured light module is marked as Range; the perpendicular distance from the intersection point P of the optical axis of the first camera and the ground to the installation position of the first camera (i.e. the distance from the intersection point P of the optical axis of the first camera and the ground to the first camera) is denoted as L.

When the structured light module is designed, L is usually set to be half of the range of the structured light module, or to be an area near half of the range of the structured light module, so that the center of an image (an image area close to an optical axis) can be aligned with the central area of range detection, thereby improving the measurement accuracy. Therefore, there are: l ≈ Range/2.

According to the installation height h of the first camera and the distance L from the intersection point P of the optical axis of the first camera and the ground to the first camera, the downward inclination angle theta of the optical axis of the first camera can be calculated to be arctan (h/L); after the optical axis declination angle of the first camera is determined, the measurement dead zone distance d of the first camera can be calculated to be h × arcctg (θ + β/2).

The calculation process of the downward inclination angle of the optical axis of the line laser transmitter is as follows:

the optical axis declination angle of the line laser transmitter is assumed to be theta; the light-emitting opening angle of the linear laser transmitter is recorded as beta; the installation height of the line laser emitter is marked as h; the ground light spot starting distance (namely the blind area distance) of the line laser transmitter is recorded as d; the Range (i.e. detection distance) of the structured light module is recorded as Range; the perpendicular distance from the intersection point P of the optical axis of the line laser transmitter and the ground to the installation position of the line laser transmitter (i.e. the distance from the intersection point P of the optical axis of the line laser transmitter and the ground to the line laser transmitter) is denoted by L.

When the structured light module is designed, L is usually set to 3/4 of the range of the structured light module, or in the area near the range 3/4 of the structured light module, so that the strongest part of the line laser transmitter can irradiate the deviated area in the range, thereby improving the detection capability of the structured light module on the ground object. Therefore, there are: l ≈ Range × 3/4.

According to the installation height h of the line laser transmitter and the vertical distance L from the intersection point P of the optical axis of the line laser transmitter and the ground to the line laser transmitter, the downward inclination angle theta of the optical axis of the line laser transmitter can be calculated to be arctan (h/L); when the downward inclination angle of the line laser transmitter is determined, the ground light spot starting distance d of the line laser transmitter can be calculated to be h × arcctg (θ + β/2).

In the embodiment of the present application, the inclination angles of the optical axes of the first camera 101 and the line laser transmitter 102 with respect to a horizontal plane parallel to the ground are not limited. Further optionally, the optical axis of the line laser transmitter 102 may be inclined downward by a certain angle relative to a horizontal plane parallel to the ground, so that the line laser with high light energy may irradiate the core image collecting area of the first camera 101, which is beneficial to improving the detection distance of the structured light module. The optical axis of first camera 101 for the certain angle of the horizontal plane downward slope parallel with ground, can aim at the key image induction area of first camera 101 with the image acquisition region that visual angle distortion is little, illuminance is high, be favorable to improving the detection distance and the measurement accuracy of structured light module. Referring to fig. 1n, 1o and 1t, the optical axis of the first camera 101 has a certain inclination angle with respect to the inclination angle of a horizontal plane parallel to the ground. Referring to fig. 1r, 1s, 1t, the optical axis of line laser transmitter 102 is tilted downward at an angle relative to a horizontal plane parallel to the ground.

Optionally, the optical axis of the first camera 101 is inclined downward by a first angle with respect to a horizontal plane parallel to the ground, and the optical axis of the line laser transmitter 102 is inclined downward by a second angle with respect to the horizontal plane parallel to the ground, where the second angle is smaller than the first angle. Optionally, the angular range of the first angle is [0, 40] degrees, further optionally, the angular range of the first angle is [11, 12] degrees; accordingly, the angular range of the second angle is [5, 10] degrees, further optionally the angular range of the second angle is [7.4, 8.4] degrees. Preferably, in order to effectively increase the detection distance of the structured light module, the first angle is 11.5 degrees, and the second angle is 7.9 degrees.

In addition, the light-emitting opening angle of the line laser transmitter is not limited in the embodiment of the application. Optionally, the angle range of the light-emitting field angle of the line laser transmitter is [70, 80], and preferably, the light-emitting field angle of the line laser transmitter is 75 °.

Table 1 shows test data of the first camera in different test scenarios. In table 1, the inclination of the optical axis of the first camera means that the optical axis of the first camera is inclined downward by a certain angle with respect to a horizontal plane parallel to the ground, and the non-inclination of the optical axis of the first camera means that the optical axis of the first camera is parallel to the horizontal plane parallel to the ground. For the situation that the optical axis of the first camera is not inclined, the detection distances in different test scenes when the line laser sensor on the left side of the first camera emits line laser and the detection distances in different test scenes when the line laser sensor on the right side of the first camera emits line laser are respectively given in table 1. For the situation that the optical axis of the first camera is inclined, the detection distances in different test scenes when the line laser sensor on the left side of the first camera emits line laser and the detection distances in different test scenes when the line laser sensor on the right side of the first camera emits line laser are respectively given in table 1. Can know through table 1, the optical axis slope of first camera is not inclined in the optical axis of first camera relatively, can effectively promote the detection distance of structured light module.

TABLE 1

For easy understanding, the distance measurement data of the first camera with the optical axis parallel to the ground (i.e. the optical axis of the first camera is not tilted) and with the optical axis of the first camera tilted (i.e. the optical axis of the first camera is tilted) is also compared with fig. 1u and table 2. Referring to fig. 1u, it is assumed that a distance from a measured object to a first camera in the structured light module is denoted as L, and a height from a measurement point (i.e., a measurement position point) on the measured object to the ground is denoted as h. The data in table 2 below show that, compared with the scheme that the optical axis of the first camera is parallel to the ground, the optical axis declination scheme of the first camera has the advantages of significantly improving the distance error and having higher measurement accuracy. In fig. 1u, the height measurement of an object above the ground level from the mobile device is taken as an example for illustration, and the height h measured by an object above the ground level is generally a positive value, but in the actual measurement, the height of an object below the ground level is measured at the same time, so table 2 includes the height h with a negative value.

TABLE 2

In the embodiment of the present application, the inclination angle of the optical axis of the second camera 103 with respect to the horizontal plane parallel to the ground is not limited. Optionally, the optical axis of the second camera 103 is parallel to a horizontal plane parallel to the ground, i.e. the optical axis of the second camera 103 is inclined 0 ° downwards to the horizontal plane parallel to the ground.

In the embodiment of the present application, the optical shaping lens of the line laser transmitter 102 is not limited. For example, the optical shaping lens of the line laser transmitter 102 may employ a wave mirror or a cylindrical mirror. Figure 1v shows a wave mirror. The cross-sectional shape of the wave mirror shown in fig. 1v is circular, but does not mean that the cross-sectional shape of the wave mirror is limited to circular, and may be elliptical, square, etc. The thickness D and the diameter D of the wave mirror are selected according to actual application requirements. Optionally, the thickness D has an error range of [ -0.1,0.1] mm, and the diameter D has an error range of [ -0.05,0.05] mm. Alternatively, the thickness d is 2.10 mm and the diameter is 8 mm.

In fig. 1x, a cylindrical mirror is illustrated, and the outer diameter Φ D and the length L of the cylindrical mirror are both selected according to the actual application requirements. Optionally, the error range of the outer diameter Φ D is [0, 0.05] mm, and the error range of the length L is [ -0.1,0.1] mm.

Fig. 1w shows the light intensity distribution diagram of the line laser emitted from the line laser emitter 102 with the wave mirror, and fig. 1y shows the light intensity distribution diagram of the line laser emitted from the line laser emitter 102 with the cylindrical mirror. In fig. 1w and 1y, each ordinate on the vertical axis represents normalized light intensity, and each abscissa on the horizontal axis represents an angle of each line laser emitted from the line laser emitter 102 with respect to the optical axis, where 0 degree represents the optical axis direction.

As can be seen from fig. 1w and 1y, the light intensity at the optical axis of the cylindrical mirror is strongest, and the light intensities at the two sides of the optical axis gradually decrease with increasing distance from the optical axis, that is, the difference between the light intensity at the optical axis of the cylindrical mirror and the light intensity at the two sides of the optical axis is large, the light intensity in the area closer to the optical axis is stronger (the light intensity of the line laser corresponding to the black line segment in fig. 1y is stronger), and the light intensity in the area farther from the optical axis is weaker (the light intensity of the line laser corresponding to the gray line segment in fig. 1y is weaker). The difference between the light intensity of the wave mirror at the optical axis and the light intensity of the two sides of the optical axis is small, the light intensity of the area around the optical axis is strong (the light intensity of the line laser corresponding to the black line segment in fig. 1w is strong), and the light intensity of the area far away from the optical axis is weak (the light intensity of the line laser corresponding to the gray line segment in fig. 1w is weak). Reflected on fig. 1t, the line laser transmitter emits the line laser which strikes the area around the intersection point P of the horizontal plane where the optical axis is parallel to the ground, and the light intensity of the line laser is the strongest. Accordingly, the light intensity of the line laser light hitting in other regions than the periphery of the intersection point P is weak.

In some alternative embodiments of the present application, when the line laser transmitter 102 is a wave mirror, the line laser transmitter 102 emits line laser light with the highest intensity in the range of [ -30, 30] degrees relative to the optical axis. When the line laser transmitter 102 is a cylindrical lens, the line laser transmitted by the line laser transmitter 102 has the strongest light intensity when the angle range of the line laser relative to the optical axis is [ -10, 10 ].

Based on the above, in some optional embodiments, the line laser emitter 102 may further employ a cylindrical mirror while the optical axis is tilted downward, so as to further enable the line laser with the maximum light intensity to irradiate the key area to be detected of the structured light module, and improve the image brightness of the key area, thereby further improving the detection distance of the structured light module.

In the embodiment of the present application, the total number of the line laser transmitters 102 is not limited, and may be, for example, two or more. The number of the line laser emitters 102 distributed on each side of the first camera 101 is not limited, and the number of the line laser emitters 102 on each side of the first camera 101 may be one or more; in addition, the number of line laser emitters 102 on both sides may be the same or different. In fig. 1a, the line laser transmitters 102 are provided on both sides of the first camera 101, respectively, for example, but not limited thereto. For example, 2 line laser transmitters 102 may be disposed on the left side of the first camera 101, and 1 line laser transmitter 102 may be disposed on the right side of the first camera 101. For another example, 2, 3, or 5 line laser transmitters 102 are provided on each of the left and right sides of the first camera 101.

In this embodiment, the distribution of the line laser emitters 102 on both sides of the first camera 101 is also not limited, and may be, for example, uniform distribution, non-uniform distribution, symmetrical distribution, or non-symmetrical distribution. The uniform distribution and the non-uniform distribution may mean that the line laser transmitters 102 distributed on the same side of the first camera 101 may be uniformly distributed or non-uniformly distributed, and of course, they may also be understood as: the line laser transmitters 102 distributed on both sides of the first camera 101 are uniformly distributed or non-uniformly distributed as a whole. The symmetric distribution and the asymmetric distribution mainly mean that the line laser transmitters 102 distributed on both sides of the first camera 101 are symmetrically distributed or asymmetrically distributed as a whole. Symmetry here includes both the equality in number and the symmetry in mounting position. For example, in the structured light module shown in fig. 1a, the number of the line laser emitters 102 is two, and the two line laser emitters 102 are symmetrically distributed on two sides of the first camera 101.

In the embodiment of the present application, the installation position relationship between the line laser transmitter 102 and the first camera 101 is not limited, and any installation position relationship that the line laser transmitters 102 are distributed on both sides of the first camera 101 is applicable to the embodiment of the present application. The installation position relationship between the line laser transmitter 102 and the first camera 101 is related to the application scene of the structured light module. The installation position relationship between the line laser transmitter 102 and the first camera 101 can be flexibly determined according to the application scene of the structured light module. The installation position relationship here includes the following aspects:

installation height: the line laser transmitter 102 and the first camera 101 may be located at different heights in the installation height. For example, the line laser transmitters 102 on both sides are higher than the first camera 101, or the first camera 101 is higher than the line laser transmitters 102 on both sides; or the line laser transmitter 102 on one side is higher than the first camera 101 and the line laser transmitter 102 on the other side is lower than the first camera 101. Of course, the line laser transmitter 102 and the first camera 101 may be located at the same height. Preferably, the line laser transmitter 102 and the first camera 101 may be located at the same height. For example, in practical use, the structured light module may be mounted on a device (e.g., a self-moving device such as a robot, a purifier, an unmanned vehicle, etc.), in which case the line laser transmitter 102 and the first camera 101 are at the same distance from a working surface (e.g., a floor) where the device is located, e.g., 47mm, 50mm, 10cm, 30cm, or 50cm from the working surface.

Installation distance: the mounting distance is the mechanical distance (otherwise referred to as the baseline distance) between the line laser transmitter 102 and the first camera 101. The mechanical distance between the line laser transmitter 102 and the first camera 101 can be flexibly set according to the application requirements of the structured light module. The size of the measurement blind area can be determined to some extent by information such as a mechanical distance between the line laser transmitter 102 and the first camera 101, a detection distance required to be satisfied by a device (e.g., a robot) where the structured light module is located, and a diameter of the device. For the device (for example, a robot) where the structural optical module is located, the diameter is fixed, and the measurement range and the mechanical distance between the line laser transmitter 102 and the first camera 101 can be flexibly set according to requirements, which means that the mechanical distance and the blind area range are not fixed values. On the premise of ensuring the measurement range (or performance) of the device, the range of the blind area should be minimized, however, the larger the mechanical distance between the line laser transmitter 102 and the first camera 101 is, the larger the controllable distance range is, which is beneficial to better control the size of the blind area.

In the embodiment of the present application, the laser emitter, the indicator light 105, the first camera 101, and the second camera 103 may be located at the same height or different heights.

In the embodiment of the present application, the second camera 103 or the indicator lamp 105 may be distributed on the left side, the right side, the upper side, or the lower side of the first camera 101. Alternatively, the second cameras 103 may be distributed 17mm (millimeters) to the right of the first camera 101. Further optionally, the indicator lights 105 are symmetrically disposed on both sides of the first camera 101 with respect to the second camera 103.

In some application scenarios, the structured light module is applied to a sweeping robot, and may be mounted on a collision plate or a robot body of the sweeping robot, for example. For the sweeping robot, the following example shows a reasonable mechanical distance range between the line laser transmitter 102 and the first camera 101. For example, the mechanical distance between the line laser transmitter 102 and the first camera 101 may be greater than 20 mm. Further optionally, the mechanical distance between the line laser transmitter 102 and the first camera 101 is greater than 30 mm. Further, the mechanical distance between the line laser transmitter 102 and the first camera 101 is larger than 41 mm. It should be noted that the mechanical distance range given here is not only applicable to the application of the structured light module to the sweeping robot, but also applicable to the application of the structured light module to other devices with the specification and size closer to or similar to that of the sweeping robot.

Emission angle: the emission angle is an angle between a center line of the line laser emitted from the line laser emitter 102 and an installation base line of the line laser emitter 102 after installation. The installation baseline refers to a straight line where the line laser transmitter 102 and the first camera 101 are located when the line laser transmitter 102 and the first camera 101 are located at the same installation height. In the present embodiment, the emission angle of the line laser transmitter 102 is not limited. The emission angle is related to the detection distance that the device (e.g., a robot) where the structured light module is located needs to meet, the radius of the device, and the mechanical distance between the line laser transmitter 102 and the first camera 101. In the case that the detection distance required to be satisfied by the device (e.g., a robot) where the structured light module is located, the radius of the device, and the mechanical distance between the line laser transmitter 102 and the first camera 101 are determined, the transmitting angle of the line laser transmitter 102 can be directly obtained through a trigonometric function relationship, that is, the transmitting angle is a fixed value.

Of course, if a specific emitting angle is required, it can be achieved by adjusting the detecting distance required by the device (e.g. robot) where the structured light module is located and the mechanical distance between the line laser emitter 102 and the first camera 101. In some application scenarios, in the case that the detection distance and the radius of the device (e.g. robot) where the structured light module is located need to satisfy are determined, the emission angle of the line laser emitter 102 may be varied within a certain angle range, for example, may be 50-60 degrees, by adjusting the mechanical distance between the line laser emitter 102 and the first camera 101, but is not limited thereto. Preferably, the line laser transmitter 102 has an emission angle of 55.26 °.

Referring to fig. 1e, an application of the structured light module to the sweeping robot is taken as an example, and an exemplary illustration of the mounting position relationship and related parameters is shown. In fig. 1d, the letter B denotes the first camera 101, and the letters a and C denote line laser emitters 102 located on both sides of the first camera 101; h represents an intersection point of the line laser emitted by the line laser emitters 102 on both sides within the field angle of the first camera 101; lines BD and BE represent two boundaries of the horizontal field of view of the first camera 101, and the angle DBE represents the horizontal field angle of view of the first camera 101. In FIG. 1c, line AG represents the centerline of the line laser emitted by line laser emitter 102A; the straight line CF represents the center line of the line laser light emitted from the line laser emitter 102C. In fig. 1e, a straight line BH indicates a center line of the field angle of the first camera 101, that is, in fig. 1e, center lines of the line laser emitters 102 on both sides emit line laser light and intersect the center line of the field angle of the first camera 101.

In fig. 1e, the radius of the sweeping robot is 175mm, and the diameter is 350 mm; the line laser transmitters 102A and C are symmetrically distributed on two sides of the first camera 101B, and the mechanical distance between the line laser transmitter 102A or C and the first camera 101B is 30 mm; the horizontal field angle DBE of the first camera 101B is 67.4 degrees; in the case where the detection distance of the sweeping robot is 308mm, the emission angle of the line laser emitter 102A or C is 56.3 degrees. As shown in fig. 1e, the distance between the straight line IH passing through the point H and the installation baseline (i.e. the baseline of the structured light module) is 45mm, and the distance between the straight line IH and the tangent of the edge of the sweeping robot is 35mm, and this area is the blind area of the field of view. The various values shown in FIG. 1e are for illustrative purposes only and are not limited thereto.

The embodiment of the application does not limit the included angle between the optical axis of the line laser transmitter and the baseline of the structured light module. For ease of understanding, the calculation flow of the included angle between the optical axis of the line laser transmitter and the baseline of the structured light module is described with reference to fig. 1 e. Referring to fig. 1e, assume that the length of the base line of the structured light module (i.e. the mechanical distance between the line laser transmitter and the first camera) is denoted as l; the included angle between the optical axis of the line laser transmitter and the baseline of the structured light module is marked as alpha; the perpendicular distance from the intersection point of the optical axis of the line laser transmitter and the tangent line from the edge of the mobile device to the base line is denoted as L. The vertical distance from the center of the first camera to the tangent line from the edge of the mobile equipment is recorded as d; the diameter of the outer contour of the self-moving equipment is recorded as phi D; the measuring Range (also called detection distance) of the structured light module is marked as Range;

the vertical distance L from the intersection point of the optical axis of the line laser transmitter and the tangent line from the edge of the mobile device to the base line is usually set to a value close to the diameter of the outer contour of the mobile device (too large setting will cause lower obstacle detection accuracy at this position, and too small setting will cause small effective distance for detecting the structured light module). Therefore, there are: l ≈ Φ D. After L is determined, the angle α between the optical axis of the line laser transmitter and the baseline of the structured light module is known as arctan (L/(d + L)). Optionally, an included angle between the optical axis of the line laser transmitter and the baseline of the structured light module is [50, 60 ]. Further optionally, the optical axis of the line laser transmitter is at an angle of 55.26 degrees to the baseline of the structured light module.

In some embodiments of the present application, as shown in fig. 1f, the structured light module further comprises a driving circuit. The driving circuit may be electrically connected between the module controller 104 and the line laser transmitter 102, or the driving circuit may be electrically connected between the module controller 104 and the indicator lamp 105. The driving circuit may amplify a control signal of the module controller 104 to the line laser transmitter 102, or may amplify a control signal of the module controller 104 to the indicator lamp 105. In the embodiment of the present application, the circuit structure of the driving circuit is not limited, and any circuit structure that can amplify a signal and supply the amplified signal to the line laser transmitter 102 or the indicator lamp 105 is suitable for the embodiment of the present application.

In the embodiment of the present application, the number of the driving circuits is not limited. Different line laser transmitters 102 may share one driving circuit, or one line laser transmitter 102 may correspond to one driving circuit 100. Preferably, one line laser transmitter 102 corresponds to one driving circuit. In fig. 1f, a line laser transmitter 102 corresponding to a first driving circuit 1001, another line laser transmitter 102 corresponding to a second driving circuit 1002, and an indicator lamp 105 corresponding to a third driving circuit 1003 are illustrated as an example.

In order to facilitate the use, the structured light module provided in the embodiment of the present application further includes a bearing structure for bearing the first camera 101, the line laser emitters 102 distributed on two sides of the first camera 101, the indicator light 105, and the second camera 103, in addition to the first camera 101, the line laser emitters 102 distributed on two sides of the first camera 101, the indicator light 105, and the second camera 103. The bearing structure may have various implementations, which are not limited thereto.

In some alternative embodiments, the bearing structure includes a fixing seat 107, and further may include a fixing cover 108 cooperating with the fixing seat 107. The structure of the structured light module with the fixing base 107 and the fixing cover 108 will be described with reference to fig. 1 h-1 r. Fig. 1 h-1 r are a front view, an axial view and an exploded view of the structured light module, and each view does not show all the components due to the view angle, so that only some components are labeled in fig. 1 h-1 r. As shown in fig. 1 h-1 r, the structured light module further includes: a fixed seat 107; the laser transmitter, the indicator light 105, the first camera 101 and the second camera 103 are mounted on a fixed base 107.

It should be pointed out that, with assembly such as laser emitter, pilot lamp 105, first camera 101 and second camera 103 on same fixing base 107, can improve the system stability of structured light module, reduce because structure creep when respectively assembling avoids causing the too big influence of system parameter change when respectively assembling.

As further optional, as shown in fig. 1 h-1 r, the fixing seat 107 includes: a main body part and end parts positioned at two sides of the main body part; wherein the indicator lamp 105, the first camera 101 and the second camera 103 are mounted on the main body portion, and the line laser transmitter 102 is mounted on the end portion; wherein, the end face of the end part faces the reference surface, so that the center line of the line laser transmitter 102 and the center line of the first camera 101 intersect at one point; the reference plane is a plane perpendicular to the end face or the tangent to the end face of the main body portion.

In an optional embodiment, in order to facilitate fixing and reduce the influence of the device on the appearance of the structural optical module, as shown in fig. 1 h-1 r, three grooves 203 are formed in the middle of the main body part, and the indicator lamp 105, the first camera 101 and the second camera 103 are installed in the corresponding grooves 203; the end portion is provided with a mounting hole 202, and the line laser transmitter 102 is mounted in the mounting hole 202.

Further alternatively, as shown in fig. 1 h-1 r, when the structured light module includes the module controller 104, the module controller 104 may be fixed behind the fixing base 107.

As further optional, as shown in fig. 1 h-1 r, the structured light module further includes a fixing cover 108 mounted above the fixing base 107; a cavity is formed between the fixing cover 108 and the fixing base 107 to accommodate connection lines between the line laser transmitter 102, the first camera 101 and the module controller 104, and connection lines between the module controller 104 and the second camera 103 and the main controller 106. Optionally, the second camera 103 in the structured light module may be connected to the main controller 106 through an FPC (Flexible Printed Circuit) connector.

Wherein, the fixing cover 108, the module controller 104 and the fixing base 107 can be fixed by fixing members. Fasteners include, for example, but are not limited to, screws, bolts, and snaps.

In an alternative embodiment, as shown in fig. 1 h-1 r, the structured light module further includes a fixing plate 109 mounted on the line laser transmitter 102, or an indicator light board 201 mounted on the indicator light 105. The fixing plate 109 or the indicator lamp panel 201 may be a plate-shaped structure of any shape.

In an optional embodiment, the first camera 101 is located inside the outer edge of the groove 203, that is, the lens is retracted inside the groove 203, so that the lens can be prevented from being scratched or knocked, and the lens protection is facilitated.

In the embodiment of the present application, the shape of the end face of the main body portion is not limited, and may be, for example, a flat surface, or a curved surface recessed inward or outward. The shape of the end surface of the main body portion is different depending on the device in which the structured light module is installed. For example, if the structural optical module is applied to a self-moving device having a circular or elliptical outer contour, the end surface of the main body portion may be implemented as an inwardly recessed curved surface that is adapted to the outer contour of the self-moving device. If the structural optical module is applied to a self-moving device having a square or rectangular outline, the end surface of the main body portion may be implemented as a plane that is adapted to the outline of the self-moving device. The self-moving equipment with the circular or oval outline can be a floor sweeping robot, a window wiping robot and the like with the circular or oval outline. Accordingly, the self-moving apparatus having a square or rectangular outer contour may be a sweeping robot, a window-cleaning robot, or the like having a square or rectangular outer contour.

In an alternative embodiment, for a self-moving device with a circular or elliptical outline, the structured light module is mounted on the self-moving device, so as to be more suitable for the appearance of the self-moving device and maximize the utilization of the space of the self-moving device, and the radius of the curved surface of the main body part is the same as or approximately the same as the radius of the self-moving device. For example, if the outline of the self-moving device is circular and the radius range of the self-moving device is 170mm, when the structured light module is applied to the self-moving device, the radius of the curved surface of the main body portion of the structured light module may be 170mm or approximately 170mm, for example, the radius may be in the range of 170mm to 172mm, but the invention is not limited thereto.

Further, in the case that the structured light module is applied to a self-moving device with a circular or elliptical outline, the emission angle of the line laser emitter 102 in the structured light module is mainly determined by the detection distance required by the self-moving device, the radius of the self-moving device, and the like. In this scenario, the end face or the tangent to the end face of the main body of the structured light module is parallel to the installation baseline, and therefore the emission angle of the line laser emitter 102 can also be defined as: the line laser transmitter 102 emits a line laser beam at an angle between a center line thereof and an end surface or an end surface tangent of the main body. In some application scenarios, the range of emission angles of the line laser transmitter 102 may be implemented as 50-60 degrees with the detection range and radius determination from the mobile device, but is not limited thereto. As shown in fig. 1 h-1 r, the number of the line laser transmitters 102 is two, and the two line laser transmitters 102 are symmetrically distributed on two sides of the first camera 101. The detection distance required to be met by the mobile device refers to a distance range in which the mobile device needs to detect the environmental information, and mainly refers to a certain distance range in front of the mobile device.

The structured light module that above-mentioned embodiment of this application provided, stable in structure, size are little, agree with the complete machine outward appearance, have greatly saved the space, can support polytype from mobile device.

Based on the above-mentioned structure optical module, an embodiment of the present application further provides a schematic structural diagram of a self-moving device, as shown in fig. 2a, the device includes: the equipment comprises an equipment body 20, wherein a main controller 106 and a structured light module 21 are arranged on the equipment body 20. The main controller 106 is electrically connected to the structured light module 21.

Wherein, the structured light module 21 includes: the device comprises a first camera 101, a line laser transmitter 102 and a second camera 103, wherein the line laser transmitter 102 and the second camera 103 are distributed on two sides of the first camera 101.

Further optionally, the structured light module 21 further includes a module controller 104, and the module controller 104 is electrically connected to the main controller 106. The module controller 104 controls the line laser transmitter 102 to emit line laser outwards, controls the first camera 101 to collect a first environment image detected by the line laser during the line laser emitted by the line laser transmitter 102, and sends the first environment image to the main controller 106; the main controller 106 controls the second camera 103 to acquire a second environment image in the field of view of the second camera, and performs function control on the self-moving device according to the first environment image and the second environment image; the first environment image is a laser image containing laser stripes generated by line laser after encountering an object, and the second environment image is a visible light image containing no laser stripes.

Further alternatively, when the second camera 103 in the structured light module 21 is connected to the main controller 106 through the FPC connector 204, the clearance processing may be performed on the area where the FPC connector 204 is located, and the clearance processing may be understood as that no other object is disposed in the area where the FPC connector 204 is located. The headroom process can reduce the probability of damage of the FPC from collision with other objects when the striking plate 22 of the mobile device is moved.

In the embodiment of the present application, the self-moving device may be any mechanical device capable of performing space movement highly autonomously in an environment where the self-moving device is located, and for example, the self-moving device may be a robot, a purifier, an unmanned aerial vehicle, or the like. The robot can comprise a sweeping robot, a glass cleaning robot, a family accompanying robot, a welcome robot and the like.

Of course, the shape of the mobile device may vary according to the implementation of the mobile device. The embodiment is not limited to the implementation form of the mobile device. Taking the outer contour shape of the self-moving device as an example, the outer contour shape of the self-moving device may be an irregular shape or some regular shapes. For example, the external contour shape of the self-moving device may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop, or a D-shape. The irregular shapes other than the regular shapes include, for example, an outer contour of a humanoid robot, an outer contour of an unmanned vehicle, and an outer contour of an unmanned vehicle.

In the embodiment of the present application, the implementation form of the main controller 106 is not limited, and the main controller may be, for example, but not limited to, a processor such as a CPU, a GPU, or an MCU. The embodiment of the present application does not limit the specific implementation manner of the main controller 106 performing function control on the self-moving device according to the environment image. For example, the main controller 106 may control the self-mobile device to implement various context awareness based functions according to the first environment image and the second environment map. For example, the functions of object recognition, tracking, classification and the like on a visual algorithm can be realized; in addition, based on the advantage of high line laser detection precision, the functions of positioning, map building and the like with strong real-time performance, strong robustness and high precision can be realized, and further, the constructed high-precision environment map can provide omnibearing support for motion planning, path navigation, positioning and the like. Of course, the main controller 106 may also control the self-moving device according to the environment image, for example, control the self-moving device to perform actions such as moving forward, moving backward, turning around, and the like.

Further, as shown in fig. 2b, the structured light module 21 further includes: an indicator lamp 105 and a driver circuit 100. The principle of the MCU cooperating with the master controller 106 will be described below by taking the module controller 104 as the MCU. As shown in fig. 2b, after the structured light module 21 is powered on, the MCU initializes the first camera 101 through an I2C (Inter Integrated Circuit) interface. After the initialization of the first camera 101 is completed, the MCU sends a Trig trigger signal to the first camera 101 through the I2C interface to trigger the exposure of the first camera 101, when the first camera 101 starts to expose, the MCU also sends an LDE STROBE synchronization signal to the MCU through the I2C interface, after receiving the LDE STROBE synchronization signal, the MCU controls the frequency and current of the line laser transmitter 102 through the driving circuit 100 on the rising edge of the LED STROBE signal to drive the line laser transmitter 102 to emit line laser, and the MCU turns off the line laser transmitter 102 on the falling edge of the LED STROBE signal. After exposure is completed, the first camera 101 sends acquired picture data to the MCU through a Digital Video Port (DVP), and the acquired picture data is processed by the MCU, and outputs a first environment image to the main controller 106 through an SPI (Serial Peripheral Interface). Optionally, the MCU may perform some image preprocessing operations such as denoising processing and image enhancement on the image data acquired by the first camera 101. In addition, the main controller 106 may also send a control signal through an MIPI (Mobile Industry Processor Interface) Interface to control the second camera 103 to acquire the second environment image within the visual field range thereof, and receive the second environment image sent by the second camera 103 through the MIPI Interface. In addition, the main controller 106 may also send the operating state information of the second camera 103 to the MCU, so that the MCU can control the indicator lamp 105 to turn on or turn off according to the operating state information of the second camera 103 and through the driving circuit 100. After the main controller 106 acquires the first environment image and the second environment image, the AI algorithm may be used to identify the first environment image and the second environment image so as to identify more object information such as three-dimensional point cloud data, categories, textures, materials and the like of the object in the working environment, and further facilitate the traveling control, obstacle avoidance processing, obstacle crossing processing and the like of the mobile device in the working environment.

In the embodiment of the present application, the specific position of the structured light module 21 on the apparatus body 20 is not limited. For example, but not limited to, the front, rear, left, right, top, middle, and bottom of the apparatus body 20, and the like. Further, the structured light module 21 is disposed at a middle position, a top position, or a bottom position in the height direction of the apparatus body 20.

In an optional embodiment, the mobile device moves forward to perform a task, and in order to better detect the environmental information in front, the structured light module 21 is disposed on the front side of the device body 20; the front side is a side toward which the apparatus body 20 faces during forward movement from the mobile apparatus.

In another alternative embodiment, in order to protect the structured light module 21 from being damaged by external force, the front side of the device body 20 is further installed with a striking plate 22, and the striking plate 22 is located outside the structured light module 21. Fig. 2c and 2d are exploded views of the structured light module 21 and the striking plate 22. In fig. 2c and 2d, the autonomous moving apparatus is illustrated by way of example, but not by way of limitation, as a sweeper robot. The structured light module 21 may be mounted on the striking plate 22; it may not be mounted on the striker plate 22, and is not limited thereto. The striking plate 22 has a window 23 corresponding to the area of the structured light module 21 to expose the first camera 101, the line laser transmitter 102, the indicator lamp 105, and the second camera 103 of the structured light module 21. Further optionally, as shown in fig. 2c, three windows, namely a first window 231, a second window 232 and a third window 233, are opened on the striking plate 22, wherein the second window 232 is used for exposing the first camera 101, the second camera 103 and the indicator light 105, and the first window 231 and the third window 233 are used for exposing the corresponding line laser transmitters 102, respectively.

In addition, the structured light module is arranged on the striking plate, so that gaps among the first camera, the second camera and the striking plate can be reduced to the greatest extent, shielding of field angles of the first camera and the second camera can be reduced, a smaller second window 232 can be used, appearance attractiveness of the mobile device is improved, space is greatly saved, and multiple types of mobile devices can be supported.

Further optionally, in order to protect the safety of the first camera 101 or the second camera 103, a light-transmitting protection plate is disposed on the first window 231. It should be appreciated that if the self-moving device collides with an obstacle, the transparent protection plate on the first window 231 can reduce the probability that the first camera 101 or the second camera 103 is damaged by the collision. In addition, the transparent protection plate can ensure that the first camera 101 or the second camera 103 can perform normal image acquisition work.

Further optionally, the first window 231 and the light-transmitting protection plate are provided with a sealing ring, and the sealing ring can prevent the lens of the first camera 101 or the lens of the second camera 103 from being contaminated by dust, water mist and the like to cause image quality reduction. Optionally, the sealing ring is made of EVA (Ethylene Vinyl Acetate Copolymer).

Further optionally, a sealing ring is disposed between the line laser transmitter 102 and the light-transmitting protection plate, so as to prevent stains such as dust, water mist and the like from contaminating a lens of the line laser transmitter 102 to cause spot deformation or power reduction. Optionally, the sealing ring is made of an EVA material.

Further optionally, in order to protect the safety of the line laser, a light-transmitting protection plate is disposed on the second window 232 or the third window 233. Optionally, the light-transmitting protective plate is a protective plate for transmitting laser. It should be appreciated that the light-transmissive protective plate on the second window 232 or the third window 233 may reduce the probability of the line laser being damaged by the collision if the self-moving device collides with an obstacle.

In yet another alternative embodiment, the structured light module 21 is mounted on the inner sidewall of the striker plate 22. Fig. 2d is an exploded view of the structured light module 21 and the striking plate 22.

In yet another alternative embodiment, the distance from the center of the structured light module 21 to the work surface on which the mobile device is located is in the range of 20-60 mm. In order to reduce the spatial blind area of the mobile device and make the angle of view sufficiently large, it is further optional that the distance from the center of the structured light module 21 to the working surface of the mobile device is 47 mm.

Further, in addition to the various components mentioned above, the self-moving device of the present embodiment may also include some basic components, such as one or more memories, communication components, power components, drive components, and the like.

The one or more memories are primarily configured to store computer programs that are executable by the main controller 106 to cause the main controller 106 to control the self-moving device to perform corresponding tasks. In addition to storing computer programs, the one or more memories may be configured to store various other data to support operations on the mobile device. Examples of such data include instructions for any application or method operating on the self-moving device, map data of the environment/scene in which the self-moving device is located, operating modes, operating parameters, and so forth.

Further, in addition to the various components mentioned above, the autonomous mobile device of the present embodiment may also include some basic components, such as one or more memories, communication components, power components, drive components, and so forth.

Wherein the one or more memories are primarily for storing a computer program executable by the master controller to cause the master controller to control the autonomous mobile device to perform a corresponding task. In addition to storing computer programs, the one or more memories may be configured to store various other data to support operations on the autonomous mobile device. Examples of such data include instructions for any application or method operating on the autonomous mobile device, map data of the environment/scene in which the autonomous mobile device is located, operating modes, operating parameters, and so forth.

The communication component is configured to facilitate wired or wireless communication between the device in which the communication component is located and other devices. The device where the communication component is located can access a wireless network based on a communication standard, such as Wifi, 2G or 3G, 4G, 5G or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component may further include a Near Field Communication (NFC) module, a Radio Frequency Identification (RFID) technology, an infrared data association (IrDA) technology, an Ultra Wideband (UWB) technology, a Bluetooth (BT) technology, and the like.

Alternatively, the drive assembly may include drive wheels, drive motors, universal wheels, and the like. Optionally, as shown in fig. 2f, the autonomous mobile apparatus of this embodiment may be implemented as a sweeping robot, and in the case of implementing as a sweeping robot, the autonomous mobile apparatus may further include a cleaning assembly, where the cleaning assembly may include a cleaning motor, a cleaning brush, a dust raising brush, a dust collection fan, and the like. The basic components contained in different autonomous mobile devices and the structures of the basic components are different, and the embodiments of the present application are only partial examples.

It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A structured light module, comprising: the device comprises a first camera and line laser transmitters distributed on two sides of the first camera; the structured light module further includes: a second camera;

the line laser transmitter is responsible for emitting line laser outwards, the first camera is used for collecting a first environment image detected by the line laser during the line laser emitting period of the line laser transmitter, and the second camera is used for collecting a second environment image within the view field range of the second camera; the first environment image is a laser image including laser stripes generated by the line laser after encountering an object, and the second environment image is a visible light image not including the laser stripes.

2. The die set of claim 1, further comprising: and the indicating lamp is used for indicating the working state of the second camera, and the indicating lamp is turned on to indicate that the second camera is in the working state.

3. The module of claim 2, wherein the indicator light is symmetrically disposed on both sides of the first camera with respect to the second camera.

4. The structured light module of claim 1, wherein the optical axis of the first camera is tilted downward at a first angle relative to a horizontal plane parallel to the ground, and wherein the optical axis of the line laser transmitter is tilted downward at a second angle relative to the horizontal plane, the second angle being less than the first angle.

5. The structured light module of claim 4 wherein the optical axis of the second camera is parallel to the horizontal plane.

6. The module of claim 3, wherein in a mounted position, the laser emitter, the indicator light, the first camera, and the second camera are at a same elevation.

7. The die set of claim 3, further comprising: a fixed seat; the laser emitter, the indicator light, the first camera and the second camera are assembled on the fixed seat.

8. The die set of claim 7, wherein the anchor block comprises: a main body part and end parts positioned at two sides of the main body part; wherein the indicator light, the first camera and the second camera are mounted on the main body portion, and the line laser transmitter is mounted on the end portion;

wherein the end face of the end portion faces a reference surface so that the center line of the line laser transmitter and the center line of the first camera intersect at a point; the reference surface is a plane perpendicular to the end surface or the tangent to the end surface of the main body portion.

9. The module set according to claim 8, wherein the main body has three recesses formed at the middle thereof, and the indicator light, the first camera and the second camera are mounted in the corresponding recesses; the end part is provided with a mounting hole, and the line laser transmitter is mounted in the mounting hole.

10. The die set of claim 7, further comprising: the module controller is fixedly arranged behind the fixed seat;

the line laser transmitter, the first camera and the indicator light are respectively electrically connected with the module controller; when the structured light module is applied to a self-moving device, the module controller and the second camera are respectively electrically connected with a main controller of the self-moving device;

the master controller is used for sending the working state information of the second camera to the module controller; and the module controller is used for controlling the on-off state of the indicator light according to the working state information of the second camera.

11. The die set of claim 10, further comprising: the fixed cover is assembled above the fixed seat; and a cavity is formed between the fixed cover and the fixed seat so as to accommodate connecting wires among the line laser transmitter, the first camera and the module controller and accommodate connecting wires among the module controller, the second camera and the main controller.

12. The die set of claim 4, wherein the first angle is in an angular range of [11, 12] degrees and the second angle is in an angular range of [7.4, 8.4] degrees.

13. The module according to any one of claims 1 to 12, wherein the optical shaping lens of the line laser emitter is a cylindrical mirror or a wave mirror.

14. The module of claim 13, wherein the line laser has a strongest source intensity within an angular range of [ -30, 30] degrees relative to an optical axis of the line laser transmitter when the optical shaping lens of the line laser transmitter is a waved mirror.

15. The module of claim 13, wherein the line laser has a strongest source intensity within an angular range of [ -10, 10] degrees relative to an optical axis of the line laser transmitter when the optical shaping lens of the line laser transmitter is a cylindrical lens.

16. The module of any one of claims 1 to 12 wherein the optical axis of the line laser transmitter is at an angle in the range of [50, 60] degrees to the baseline of the structured light module.

17. The module of claim 16, wherein the optical axis of the line laser transmitter is at an angle of 55.26 degrees from the baseline of the structured light module.

18. An autonomous mobile device, comprising: the device comprises a device body, wherein a main controller and a structured light module are arranged on the device body, and the main controller is electrically connected with the structured light module;

wherein, the structured light module includes: the system comprises a first camera, line laser transmitters distributed on two sides of the first camera, a second camera and a module controller;

the module controller controls the line laser transmitter to emit line laser outwards, controls the first camera to collect a first environment image detected by the line laser during the line laser transmitter emitting line laser, and sends the first environment image to the main controller; the main controller controls the second camera to collect a second environment image in the field range of view of the second camera, and performs function control on the self-moving equipment according to the first environment image and the second environment image; wherein the first environment image is a laser image containing laser stripes generated by the line laser after encountering an object, and the second environment image is a visible light image not containing the laser stripes.

19. The apparatus of claim 18, wherein the front side of the apparatus body is further mounted with a striking plate located outside the structured light module; and a window is formed in the area of the collision plate corresponding to the structured light module to expose the first camera, the line laser transmitter and the second camera in the structured light module.