CN206431295U - The path detecting system of laser pattern is produced by diffractive optical elements - Google Patents
The path detecting system of laser pattern is produced by diffractive optical elements Download PDFInfo
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- CN206431295U CN206431295U CN201621419289.1U CN201621419289U CN206431295U CN 206431295 U CN206431295 U CN 206431295U CN 201621419289 U CN201621419289 U CN 201621419289U CN 206431295 U CN206431295 U CN 206431295U
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Abstract
The utility model discloses a kind of path detecting system that laser pattern is produced by diffractive optical elements, it is included：One LASER Light Source；One diffractive optical elements, to make the LASER Light Source by progress path from the diffractive optical elements to the mobile device project a structure light；An at least camera lens；And a graphics processing unit, capture the image data of the structure light to be compared and calculate according to an at least camera lens；Wherein the structure light is also comprising horizontal a baseline and an at least lateral calculations line；When there is steric hindrance thing in the progress path of the mobile device, change can be produced with the distance and outer shape of each steric hindrance thing by being incident upon each lateral calculations line of steric hindrance thing, the image that then an at least camera lens is captured to each lateral calculations line also produces change simultaneously, and now the graphics processing unit can be compared and calculate in X, the position of Y-axis and distance relative to the horizontal baseline according to the change of the image of each lateral calculations line.
Description
Technical field
The utility model be related in a kind of progress path the detecting system of barrier and, it is espespecially a kind of to pass through diffraction optics member
Part produces the path detecting system of laser pattern, and it utilizes diffractive optical elements (DOE, Diffractive Optical
Element method) makes laser light source projects include a horizontal baseline and at least structure of the laser pattern of a lateral calculations line
Light, for detecting.
Background technology
The utility model discloses the detecting system of barrier in a progress path, for making in a mobile device
With wherein the mobile device refers to the robot that can move forward traveling or the mobile automaton that can advance, as common on the market
Automatically advance indoor dust catcher or robot, but be not used to limit the utility model.Herein with existing automatic cleaner
Illustrate exemplified by (room/clean robot), when existing dust catcher is placed on an interior in use, due in no progress path
The detecting system of barrier, therefore dust catcher straight ahead when barrier can not be met in progress path, when running into barrier just
Stochastic transformation direction is to continue on.Although another have in dust catcher there is provided ultrasonic detection system, detection signal is forbidden
Really, precision is not enough, easily produces erroneous judgement.Therefore, existing dust catcher can not effectively detect barrier in progress path simultaneously
Avoid, can not also plan progress path, therefore operating efficiency relative reduction.
In addition, although some open source literatures have been disclosed using structure light (structured light) to detect and position
The technology of barrier, but above-mentioned prior art exist in practical application system architecture it is more complicated and be difficult miniaturization the shortcomings of,
So that service efficiency is not high, it is unfavorable for importing and is applied in various mobile devices.
In addition, constituting a virtual input equipment such as dummy keyboard (virtual keyboard) using shadow casting technique
In field, existing considerable prior art, such as United States Patent (USP) case US6,614,422, US2012/0162077, US2014/
0055364 etc., it discloses a kind of system for utilizing a virtual input device (virtual input device) input data
And method, virtual input device is, for example, dummy keyboard or virtual mouse.Although above-mentioned prior art has been disclosed how to detect
And position an operating parts (such as user's finger) and be pressed against the technology on a certain button on a dummy keyboard, but its technological means with
Detecting system of the present utility model is arranged on to use in a mobile device and compared, and differs, therefore can not be introduced directly into various shiftings
Applied in dynamic device.
In addition, remote user interface makes it one using a feature object (control piece) such as gesture or the position of human body one
X, Y, Z three dimensions produce the change of relative position and action, to control the various functions of the display by remote control mode, such as
United States Patent (USP) case US7,348,963, US7,433,024, US2008/0240502, US 2008/0106746, US 2009/
0185274、US 2009/0096783、US 2009/0034649、US 2009/0185274、US 2009/0183125、US
2010/0020078 etc..Although above-mentioned prior art has been disclosed how to detect and position a feature object (control piece) one
X, Y, Z three dimensions produce the change of relative position and action, but its technological means differs still further from detecting system of the present utility model
System, therefore, the system architecture of existing remote user interface, which can not be also introduced directly into various mobile devices, to be applied.
Utility model content
Main purpose of the present utility model is that providing a kind of path for producing laser pattern by diffractive optical elements detects
Examining system, for being used in a mobile device, it is included：One LASER Light Source；One diffractive optical elements (DOE), to make
The LASER Light Source by progress path from the DOE to the mobile device or the structure light of region project one；An at least camera lens, to pick
Take the reflected image of the structure light；And a graphics processing unit, the image number of the structure light is captured according to an at least camera lens
According to being compared and calculate；Wherein the structure light is also comprising horizontal a baseline and an at least lateral calculations line；Wherein when the shifting
When there is steric hindrance thing in the progress path of dynamic device, each lateral calculations line for being incident upon steric hindrance thing can be with each solid
The distance and outer shape of barrier and produce change, then the image for each lateral calculations line that an at least camera lens is captured
Change can be produced simultaneously, now the graphics processing unit can be according to the change of the image of each lateral calculations line relative to the horizontal base
Line is compared and calculated in X, the position of Y-axis and distance, with detecting real-time and judges steric hindrance thing in the anterior approach
Relative position and distance in the region of footpath, enable the mobile device to avoid each barrier in advance.
In the embodiment of the utility model one, the laser beam that the LASER Light Source 10 is sent includes visible laser or invisible
Laser, the wherein invisible laser include infrared laser.
In the embodiment of the utility model one, the detecting system includes a camera lens, and the wherein camera lens is located at the LASER Light Source
Top position or lower position, and the camera lens and the LASER Light Source between exist an angle.
In the embodiment of the utility model one, the horizontal baseline is straight comprising what is be parallel to each other with an at least lateral calculations line
Line or curved line.
In the embodiment of the utility model one, the mobile device, which is included, can advance mobile robot or can advance movement automatically
Machine, such as automatic cleaner (room/clean robot).
Brief description of the drawings
Fig. 1 is the schematic perspective view of path detecting system of the present utility model one module of formation (tool body)；
Fig. 2 is the schematic side view of the use state of path detecting system one of the present utility model；
Fig. 3 is a Fig. 2 upper schematic diagram；
Reflected image schematic diagrames of the Fig. 4 by capturing structure light in path detecting system of the present utility model by camera lens.
Description of reference numerals：1- paths detecting system；2- mobile devices；3- progress paths；4- barriers；4a- barriers；
4b- barriers；5- planes；10- LASER Light Sources；20- diffractive optical elements；21- structure lights；22- transverse direction baselines；23- is laterally counted
Calculate line；23a- lateral calculations lines；23b- lateral calculations lines；30- camera lenses；40- graphics processing units.
Embodiment
To make the utility model definitely full and accurate, hereby enumerate preferred embodiment and coordinate following schemes, this practicality is new
The technical characteristic of type is described in detail as after：
As shown in figure 1, the utility model is a path detecting system 1 that laser pattern is produced by diffractive optical elements,
It can design to form modularization tool body, as shown in figure 1, i.e. each component is arranged on the internal body of shell formation, also may be used
With other relevant apparatus, such as mobile device 2 uses cooperatively and is arranged on the mobile device 2 (such as automatic cleaner/clean
Robot the tool) formed physically, as shown in Fig. 2 but be not used to limit the utility model.The path that the utility model is provided
Detecting system 1 is mainly included：One LASER Light Source 10, a diffractive optical elements (DOE, Diffractive Optical
Element) 20, at least one camera lens 30 and a graphics processing unit (image processing unit) 40, graphics processing unit
40 can be CPU or MCU (microcontroller unit), but be not used to limit the utility model.
The LASER Light Source 10 is to outwards projection laser beam (21), as shown in Figure 1-Figure 3, what the LASER Light Source 10 was sent
Laser beam includes visible laser or invisible laser, wherein being with sightless infrared laser light source (IR laser light)
Most preferably, but be not used to limit the utility model.
The diffractive optical elements (DOE) 20 are configured before the LASER Light Source 10, as shown in figure 1, to make the laser light
Source 10 projects a structure light by the diffractive optical elements 20 to the progress path (or region) 3 of the mobile device 2
(structured light) 21, as shown in Figure 2 and Figure 3.
An at least camera lens 30 can only set a camera lens 30, as shown in figure 1, but being not used to limit the utility model.The mirror
First 30 to have an angle between a fixed angle, the i.e. camera lens 30 and the normal of the LASER Light Source 10, for capturing the structure
Reflected image of the light 21 when being projected to the progress path of the mobile device 2 (region) 3；Wherein, the set location of the camera lens 30
Height difference H between the set location of the LASER Light Source 10 is to be preset.In addition, the camera lens 30 may be provided in the laser light
The top position in source 10 or lower position, in the present embodiment, the camera lens 30 are located at the top position of the LASER Light Source 10, such as scheme
1st, shown in Fig. 2.
The graphics processing unit (image processing unit) 40 can capture the structure according to an at least camera lens 30
The reflected image data of light 21, and be compared and calculate according to the function of original setting.
As shown in Figure 2, Figure 4 shows, in the present embodiment, the laser figure of structure light 21 produced by the diffractive optical elements 20 is passed through
Case (laser pattern) includes horizontal a baseline 22 and an at least lateral calculations line 23, as shown in Fig. 2 in terms of two transverse directions
Explanation exemplified by line 23a, 23b is calculated, but is not used to limit the utility model.The horizontal baseline 22 and an at least lateral calculations line 23
Direction of advance F relative to the mobile device 2 is to form crossing condition, and the horizontal baseline 22 and each lateral calculations line 23
(23a, 23b) has different projectional angles relative to the direction of advance F of the mobile device 2.
As shown in Fig. 2 in the present embodiment, the launching position of the horizontal baseline 22 is closest to the mobile device 2, and should
Horizontal baseline 22 is to be preset relative to the position of the mobile device 2 and its with the distance between the mobile device 2 D.
As shown in Figure 2 and Figure 3, in use, the mobile device 2 is advanced in a plane 5 towards direction of advance F, when movement dress
When putting 2 fronts and having an at least steric hindrance thing 4 in the progress path (region) 3 beyond D, such as Fig. 2, Fig. 3 institute
Show, illustrated farther out and exemplified by wider barrier 4b by a nearer and narrower barrier 4a and one, be then incident upon each three-dimensional barrier
Change can be produced with each steric hindrance thing 4a, 4b distance and outer shape by hindering thing 4a, 4b each lateral calculations line 23, then
The camera lens 30 captures the image of each lateral calculations line 23 (23a, 23b) also while change can be produced, for example in Fig. 4, projection
Y-axis of the lateral calculations line 23a relative to the horizontal baseline 22 on nearer and narrower barrier 4a apart from d1 and X-axis
To width w1 will be less than and be incident upon lateral calculations line 23a farther out and on wider barrier 4b relative to the horizontal baseline
22 Y-axis apart from the d2 and width w2 of X axis.Now the graphics processing unit 40 can be according to each lateral calculations line 23
The image of (23a, 23b) changes relative to the X of the horizontal baseline 22, the position of Y-axis and apart from (such as apart from d1 and width w1),
And (the horizontal baseline 22 is relative to the position of the mobile device 2 and its between the mobile device 2 according to having set apart from D
Distance) and the height difference H (height between the set location of the camera lens 30 and the set location of the LASER Light Source 10 that has set
Difference), to be compared and calculate, real-time judge and anterior approach of each steric hindrance thing 4a, 4b in the mobile device 2 can be obtained
Relative position and distance in footpath (region) 3, to enable the mobile device 2 to avoid each barrier 4 when advancing mobile.This
Outside, further cooking up one by the graphics processing unit 40 supplies mobile device 2 to avoid each barrier 4 and the effective of movement that advance
Route, as shown in Fig. 3 dotted line arrows P, i.e., is further followed to the interior space construction map (mapping) for mobile device 2
Traveling, to lift operating efficiency.
In addition, for the laser pattern (laser pattern) of structure light 21 produced by the diffractive optical elements 20, if
The lateral calculations line 23 of a horizontal baseline 22 and two or more can be included, then the lateral calculations line more than 23, more be conducive to using
To judge and obtain relative position, distance and its height of each steric hindrance thing 4a, 4b in the progress path 3 of the mobile device 2
Degree or shape.
In embodiment of the present utility model, the graphics processing unit 40 comprising microcontroller (MCU,
Microcontroller Unit) or central processing unit (CPU, Central Processing Unit), to be responsible for and control
Signal link and calculation function between the LASER Light Source 10, an at least camera lens 30, as detected and being calculated each three-dimensional barrier
Hinder thing 4a, 4b coordinate position and distance, to realize the use function of path detecting system 1 of the present utility model.
In addition, as shown in Figure 2, Figure 4 shows, the horizontal baseline 22 is with an at least lateral calculations line 23 (23a, 23b) with mutual
Parallel straight line is optimal, but is not used to limit the utility model, such as in Fig. 4, the horizontal baseline 22 and at least one transverse direction
Calculate the curved line (not shown) that line 23 (23a, 23b) is also designed to be parallel to each other.
As for the systemic-function or basic start flow of path detecting system 1 (as shown in Figure 1 to Figure 3) of the present utility model
Etc. relevant design technology, those skilled in the art can be completed using current electronic technology, therefore will not be repeated here.
Preferred embodiment of the present utility model is the foregoing is only, is merely illustrative for the utility model, rather than
Restricted；Those of ordinary skill in the art's understanding, can be right in the spirit and scope that the utility model claim is limited
It carries out many changes, modification, or even equivalent change, but falls within protection domain of the present utility model.
Claims (5)
1. a kind of path detecting system that laser pattern is produced by diffractive optical elements, it is arranged in a mobile device, with
Detecting hinders the barrier in the progress path of the mobile device, it is characterised in that it is included：
One LASER Light Source, to outwards projection laser beam；
One diffractive optical elements, it is configured before the LASER Light Source, to make the LASER Light Source pass through the diffractive optical elements
A structure light is projected to the progress path of the mobile device；
An at least camera lens, wherein each camera lens captures the structure light with a fixed angle is being projected to the progress path of the mobile device
In reflected image, and height difference H between the set location of each camera lens and the set location of the LASER Light Source is to be set in advance
It is fixed；And
One graphics processing unit, its image data for capturing the structure light according to an at least camera lens is compared and calculated；
It is wherein horizontal comprising a horizontal baseline and at least one by the laser pattern of the structure light produced by the diffractive optical elements
Calculate line, wherein the direction of advance formation cross-like of the horizontal baseline and an at least lateral calculations line relative to the mobile device
State, and the horizontal baseline and each lateral calculations line have different projectional angles relative to the direction of advance of the mobile device；
The wherein launching position of the horizontal baseline is near the mobile device, and the horizontal baseline is relative to the position of the mobile device
Put and its be to be preset with the distance between mobile device D；
Wherein when the mobile device has an at least barrier at this in the progress path outside D, each barrier is incident upon
Each lateral calculations line produce change with the distance and outer shape of each barrier, then an at least camera lens capture arrive each horizontal stroke
Change is also produced simultaneously to the image for calculating line, and now the graphics processing unit changes relative according to the image of each lateral calculations line
The position of X, Y-axis in the horizontal baseline and distance are compared and calculated, to judge and obtain each barrier in the shifting
Relative position and distance in the progress path of dynamic device, enable the mobile device to avoid each barrier when advancing mobile.
2. path detecting system according to claim 1, it is characterised in that the laser beam that the LASER Light Source is sent is included can
See laser or invisible laser, wherein the invisible laser includes infrared laser.
3. path detecting system according to claim 1, it is characterised in that the detecting system includes a camera lens, and the mirror
Head is located at top position or the lower position of the LASER Light Source, and there is an angle between the camera lens and the LASER Light Source.
4. path detecting system according to claim 1, it is characterised in that the horizontal baseline and an at least lateral calculations
Line includes the straight line or curved line being parallel to each other.
5. path detecting system according to claim 1, it is characterised in that the mobile device includes the moving machine device that can advance
People or the mobile automaton that can advance, the wherein mobile automaton that can advance include automatic cleaner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621419289.1U CN206431295U (en) | 2016-12-22 | 2016-12-22 | The path detecting system of laser pattern is produced by diffractive optical elements |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621419289.1U CN206431295U (en) | 2016-12-22 | 2016-12-22 | The path detecting system of laser pattern is produced by diffractive optical elements |
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| Publication Number | Publication Date |
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| CN206431295U true CN206431295U (en) | 2017-08-22 |
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| CN201621419289.1U Withdrawn - After Issue CN206431295U (en) | 2016-12-22 | 2016-12-22 | The path detecting system of laser pattern is produced by diffractive optical elements |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226939A (en) * | 2016-12-22 | 2018-06-29 | 异奇科技股份有限公司 | The path detecting system and its method of laser pattern are generated by diffractive optical elements |
| CN109895088A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot driving device |
| TWI663418B (en) * | 2018-08-29 | 2019-06-21 | 華碩電腦股份有限公司 | Ultrasonic transducer apparatus |
| WO2021179448A1 (en) * | 2020-03-13 | 2021-09-16 | 厦门理工学院 | Obstacle detector, method, storage medium, and mobile machine |
-
2016
- 2016-12-22 CN CN201621419289.1U patent/CN206431295U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108226939A (en) * | 2016-12-22 | 2018-06-29 | 异奇科技股份有限公司 | The path detecting system and its method of laser pattern are generated by diffractive optical elements |
| CN108226939B (en) * | 2016-12-22 | 2022-03-08 | 异奇科技股份有限公司 | Path detecting system and method for generating laser pattern by diffraction optical element |
| CN109895088A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robot driving device |
| CN109895088B (en) * | 2017-12-10 | 2022-05-31 | 湖南特辉电力科技有限公司 | Robot driving device |
| TWI663418B (en) * | 2018-08-29 | 2019-06-21 | 華碩電腦股份有限公司 | Ultrasonic transducer apparatus |
| WO2021179448A1 (en) * | 2020-03-13 | 2021-09-16 | 厦门理工学院 | Obstacle detector, method, storage medium, and mobile machine |
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