CN211534251U - TOF light projection structure, TOF camera and sweeping robot - Google Patents
TOF light projection structure, TOF camera and sweeping robot Download PDFInfo
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- CN211534251U CN211534251U CN201922289614.7U CN201922289614U CN211534251U CN 211534251 U CN211534251 U CN 211534251U CN 201922289614 U CN201922289614 U CN 201922289614U CN 211534251 U CN211534251 U CN 211534251U
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Abstract
The utility model discloses a TOF light projection structure, a TOF camera and a sweeping robot, wherein the TOF light projection structure comprises a substrate, a light source, a first bracket, a second bracket and a scatterer, and the light source is arranged on the substrate; the first bracket is a hollow structure with openings at two ends, the first bracket is arranged on the substrate, and the light source is accommodated in the first bracket; the second support is a hollow structure with openings at two ends, and the second support is detachably sleeved with one end of the first support, which is far away from the substrate; the diffuser is arranged in the second bracket and used for receiving the light rays emitted by the light source and expanding the illumination area of the light source so as to enable the illumination area projected to the target object to be larger than the illumination area of the light source. The TOF light projection structure can reduce maintenance cost of the TOF camera.
Description
Technical Field
The utility model relates to a degree of depth camera technical field, in particular to TOF light throws structure, TOF camera and robot of sweeping floor.
Background
With the development of digital imaging technology, cameras have been widely studied as a kind of sensor. The TOF camera using the time of flight (TOF) technology can be applied to intelligent terminals such as sweeping robots and smart phones for face recognition to perform operations such as startup and screen unlocking.
The TOF camera generally comprises a TOF light projecting structure and a light receiving structure, light rays emitted by the TOF light projecting structure are projected onto a target object, the light receiving structure receives light rays reflected by the target object, and distances between each point on the surface of the target object and the TOF camera can be calculated according to the round-trip time of the light rays and the fixed flying speed of the light rays, so that depth information can be obtained. The TOF camera (for obtaining depth information) is used in conjunction with an RGB camera (a common camera for obtaining 2D pictures of the target object), i.e. a 3D picture of the target object can be obtained.
The TOF light projection structure generally includes a substrate, a light source disposed on the substrate, a hollow holder with openings at two ends, and a Diffuser (Diffuser) disposed on the holder, wherein the holder is disposed on the substrate and accommodates the light source in the holder. The light emitted from the light source is diffused into a large range of TOF projection light by the Diffuser (Diffuser), i.e. the Diffuser (Diffuser) can expand the limited illumination area of the light source to a larger illumination area that can cover the target object. In order to accurately obtain the depth information of the target object, a light source with high power needs to be selected. However, when the Diffuser (Diffuser) is broken, the light emitted from the light source cannot spread to a large area, and the light is concentrated on the projection optical axis, so that a small number of light spots with large energy are formed on the surface of the target object, and the light spots with large energy have a large damage to the target object, especially, when the target object is a human face, the damage to eyes is large.
Currently, when a Diffuser (Diffuser) is broken, it is common to scrap the entire TOF light projecting structure directly and then replace it with a new one, which can result in higher maintenance costs for the TOF camera.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a TOF light throws structure aims at reducing TOF camera's cost of maintenance.
To achieve the above object, the present invention provides a TOF light projecting structure, including:
a substrate;
the light source is arranged on the substrate;
the first bracket is of a hollow structure with openings at two ends, the first bracket is arranged on the substrate, and the light source is accommodated in the first bracket;
the second support is of a hollow structure with openings at two ends, and the second support and one end of the first support, which is far away from the substrate, are detachably sleeved;
the diffuser is arranged in the second support and used for receiving the light rays emitted by the light source and expanding the illumination area of the light source, so that the illumination area projected to the target object is larger than that of the light source.
In one embodiment, the second bracket is in interference fit with the first bracket.
In an embodiment, the first bracket includes a base section and an insertion section, the outer diameter of the insertion section is smaller than that of the base section, and the insertion section is inserted into the second bracket in an interference manner.
In one embodiment, the second bracket is in threaded engagement with the first bracket.
In an embodiment, the first support comprises a base section and an insertion section which are connected, the outer diameter of the insertion section is smaller than that of the base section, the outer side surface of the insertion section is provided with an external thread, the inner side surface of the second support is provided with an internal thread, and the insertion section is inserted into the second support and is in threaded connection with the second support.
In an embodiment, the outer side of the second bracket is flush with the outer side of the first bracket.
In one embodiment, the diffuser is disposed opposite to the light source, and the inner diameter of the inner side surface of the first holder is gradually reduced in the arrangement direction of the light source to the diffuser.
In an embodiment, the TOF light projecting structure further comprises a collimator disposed within the second support and between the light source and the diffuser.
The utility model discloses still provide a TOF camera, include:
the TOF light projecting structure described above for projecting light rays toward a target object;
the light receiving structure is used for receiving the reflected light of the target object; and
and the control mainboard is respectively connected with the TOF light projection structure and the light receiving structure, and is used for obtaining the depth information of the target object according to projection light information projected by the TOF light projection structure and reflected light information received by the light receiving structure.
The utility model discloses still provide a robot of sweeping floor, include:
a robot body; and
the camera device is arranged on the robot body;
the photographing device comprises a circuit board, the TOF camera and the RGB camera, and the TOF camera and the RGB camera are both arranged on the circuit board.
In the TOF light projection structure, the easily breakable diffuser is disposed in the second holder, and the second holder is detachably sleeved with the first holder, so that when the heat sink is broken, the second holder is detached from the first holder, thereby completing the detachment of the broken diffuser, and then a new second holder provided with the diffuser can be assembled on the first holder, thereby completing the assembly of a new diffuser. Disassembling and assembling the diffuser are maintenance steps of the TOF light projection arrangement. In the maintenance process, the elements except the second support and the broken diffuser are reused, and compared with the TOF light projecting structure which is directly scrapped, the TOF light projecting structure with the structure can reduce the maintenance cost of the TOF light projecting structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of a sweeping robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of the photographing apparatus shown in fig. 1;
FIG. 3 is a schematic diagram of the TOF camera shown in FIG. 2;
fig. 4 is a schematic structural view of the TOF light projecting structure shown in fig. 3.
The reference numbers illustrate:
the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a robot of sweeping floor.
In the present embodiment, as shown in fig. 1 and 2, the sweeping robot includes a robot body 10 and a camera device 20 disposed on the robot body 10. The camera device 20 includes a circuit board 22, a TOF camera 24 and an RGB camera 26, and the TOF camera 24 and the RGB camera 26 are disposed on the circuit board 22 and connected to the CPU of the robot body 10 through the circuit board 22. The TOF camera 24 is used to obtain depth information of the target object 10a, the RGB camera 26 is a common camera used to obtain 2D pictures of the target object 10a, and the TOF camera 24 is used in cooperation with the RGB camera 26 to obtain 3D pictures of the target object 10 a. By providing the TOF camera 24 and the RGB camera 26 on the same circuit board 22, the TOF camera 24 and the RGB camera 26 can be assembled on the same reference plane, so that the distance between the end surface of the TOF camera 24 (the end surface away from the circuit board 22) and the end surface of the RGB camera 26 and the target object 10a (see fig. 3) can be easily controlled, and the camera device 20 can be easily connected to the CPU of the robot body 10.
In the present embodiment, as shown in fig. 3, the TOF camera 24 includes a TOF light projecting structure 100, a light receiving structure 200 and a control main board 300. The TOF light projecting structure 100 is used to project light rays toward the target object 10 a. The light receiving structure 200 is for receiving the reflected light of the target object 10 a. The control main board 300 is connected to the TOF light projecting structure 100 and the light receiving structure 200 respectively. The control main board 300 is configured to obtain depth information of the target object 10a according to projection light information projected by the TOF light projecting structure 100 and reflected light information received by the light receiving structure 200. Specifically, in the present embodiment, the TOF light projecting structure 100 and the light receiving structure 200 are both disposed on the control motherboard 300, and the control motherboard 300 is a part of the circuit board 22. It is understood that in other embodiments, the control motherboard 300 and the circuit board 22 may be two relatively independent boards.
In the present embodiment, as shown in fig. 4, the TOF light projecting structure 100 includes a substrate 110, a light source 120, a first support 130, a second support 140, and a diffuser 150.
In this embodiment, the substrate 110 and the control motherboard 300 are two relatively independent boards. Specifically, in the present embodiment, the substrate 110 is a ceramic substrate, which is very convenient for dissipating heat of the high-power light source 120. In other embodiments, the substrate 110 may also be a part of the control motherboard 300.
The light source 120 is disposed on the substrate 110. In the present embodiment, the substrate 110 is integrated with a conductive circuit, and the light source 120 is connected to the control motherboard 300 through the conductive circuit on the substrate 110. In other embodiments, the substrate 110 may not be integrated with conductive traces, and in this case, the light source 120 disposed on the control motherboard 300 may be electrically connected to the control motherboard 300 through additional wires. For example, a through hole is formed on the control motherboard 300, the substrate 110 with the light source 120 is disposed in the through hole, and two ends of the wire are respectively connected to the electrical connection points on the light source 120 and the control motherboard 300.
In this embodiment, the light source 120 is a high-power light source such as a Vertical Cavity Surface Emitting Laser (VCSEL). Specifically, in the present embodiment, the light source 120 includes a plurality of VCSELs, which are VCSEL chip arrays.
The first bracket 130 has a hollow structure with both ends open. The first bracket 130 is disposed on the substrate 110, and the light source 120 is accommodated in the first bracket 130.
The second bracket 140 is a hollow structure with both ends open. The second bracket 140 is detachably sleeved with one end of the first bracket 130 away from the substrate 110.
The diffuser 150 is disposed in the second support 140. The diffuser 150 is configured to receive the light emitted from the light source 120 and expand the illumination area of the light source 120 so that the illumination area projected onto the target object 10a is larger than the illumination area of the light source 120.
In the TOF light projecting structure 100 described above, the easily breakable diffuser 150 is disposed in the second holder 140, and the second holder 140 is detachably engaged with the first holder 130, so that when the heat sink 150 is broken, the second holder 140 is detached from the first holder 130, thereby completing the detachment of the broken diffuser 150, and then a new second holder 140 having the diffuser 150 disposed thereon can be assembled to the first holder 130, thereby completing the assembly of a new diffuser 150. Disassembling and assembling the diffuser 150 is a maintenance step of the TOF light projecting structure 100. In the above-described repair process, the TOF light projecting structure 100 can be repaired at a reduced cost relative to scrapping the entire TOF light projecting structure 100 directly, with the exception that the second support 140 and the broken diffuser 150 are reused without damage.
In one embodiment, the second bracket 140 is interference-fit with the first bracket 130. Thus, it is very convenient to disassemble and assemble the second bracket 140 and the first bracket 130. Specifically, in the present embodiment, the first bracket 130 includes a base section 132 and an insertion section 134 connected to each other, an outer diameter of the insertion section 134 is smaller than an outer diameter of the base section 132, and the insertion section 134 is inserted into the second bracket 140 in an interference manner. In this manner, the TOF light projecting structure 100 having a smaller outer diameter is facilitated. More specifically, in the present embodiment, the second bracket 140 and the first bracket 130 are made of different materials, the second bracket 140 is a metal bracket, and the first bracket 130 is a plastic bracket. Therefore, the interference insertion is facilitated, the first support 130 is insulated from the substrate 110, and the second support 140 has a strong supporting capability.
In one embodiment, the second bracket 140 is threadedly coupled to the first bracket 130. Thus, it is very convenient to disassemble and assemble the second bracket 140 and the first bracket 130. Specifically, in the present embodiment, the first bracket 130 includes a base section 132 and a plug section 134 connected to each other, and an outer diameter of the plug section 134 is smaller than that of the base section 132. The outer side surface of the insertion section 134 is provided with external threads, the inner side surface of the second support 140 is provided with internal threads, and the insertion section 134 is inserted into the second support 140 and is in threaded connection with the second support 140. In this manner, the TOF light projecting structure 100 having a smaller outer diameter is facilitated.
In this embodiment, the outer side 142 of the second bracket 140 is flush with the outer side 1322 of the base section 132. In this way, the outer side of the TOF light projecting structure 100 can be made more complete, avoiding interference of the protruding outer side 142 or 1322 with other elements.
In this embodiment, the diffuser 150 is fixedly coupled to the inner side surface of the second holder 140 by the first adhesive layer 160. In other embodiments, the diffuser 150 and the second bracket 140 may be fixed by a snap or a screw.
In the present embodiment, the diffuser 150 is disposed opposite to the light source 120, and the inner diameter of the inner side surface 130a of the first holder 130 is gradually reduced in the arrangement direction of the light source 120 to the diffuser 150. Thus, the light emitted from the light source 120 can be conveniently emitted in a concentrated manner. Specifically, in the present embodiment, the inner side surface 130a of the first support 130 is a reflective surface, so that more light emitted from the light source 120 can be emitted, the utilization rate of the light can be improved, and the depth information of the target object 10a can be obtained more accurately.
In this embodiment, the TOF light projecting structure 100 further comprises a collimator 170, the collimator 170 being arranged within the second support 140 and between the light source 120 and the diffuser 150. The collimator 170 is used to adjust the light emitted from the light source 120 into collimated light, and thus, it is more advantageous to accurately obtain depth information of the target object 10 a. And the collimator 170 and the diffuser 150 are both breakable optical elements, the collimator 170 being provided on the second support 140 to facilitate replacement of the broken collimator 170.
Specifically, in the present embodiment, the inner side surface of the second bracket 140 is convexly provided with a bearing ring 144, and the collimator 170 is provided on the bearing ring. More specifically, in the present embodiment, the bearing ring 144 and the inner side surface of the second bracket 140 cooperate to form a step portion, and the collimator 170 and the step portion are fixedly connected by the second adhesive layer 180. In other embodiments, the collimator 170 and the step portion may be fixed by a snap or a screw.
The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.
Claims (10)
1. A TOF light projection structure, comprising:
a substrate;
the light source is arranged on the substrate;
the first bracket is of a hollow structure with openings at two ends, the first bracket is arranged on the substrate, and the light source is accommodated in the first bracket;
the second support is of a hollow structure with openings at two ends, and the second support and one end of the first support, which is far away from the substrate, are detachably sleeved;
the diffuser is arranged in the second support and used for receiving the light rays emitted by the light source and expanding the illumination area of the light source, so that the illumination area projected to the target object is larger than that of the light source.
2. The TOF light projecting structure of claim 1 wherein the second mount is interference-plugged with the first mount.
3. The TOF light projection structure of claim 2, wherein the first support includes a connected base section and an insert section, the outer diameter of the insert section being smaller than the outer diameter of the base section, the insert section being interference inserted within the second support.
4. The TOF light projecting structure of claim 1 wherein the second mount is in threaded engagement with the first mount.
5. The TOF light projection structure of claim 4 wherein the first support includes a base section and an insert section connected thereto, the outer diameter of the insert section being smaller than the outer diameter of the base section, the outer side of the insert section being provided with external threads, the inner side of the second support being provided with internal threads, the insert section being inserted into the second support and being in threaded connection with the second support.
6. The TOF light projecting structure of any of claims 1 to 5 wherein the outer side of the second support is flush with the outer side of the first support.
7. A TOF light projection arrangement according to any one of claims 1 to 5 wherein said diffuser is disposed directly opposite said light source, said first support inner side surface having an inner diameter that decreases in the direction of the arrangement of said light source to said diffuser.
8. The TOF light projection structure of any of claims 1-5 further comprising a collimator disposed within the second support and between the light source and the diffuser.
9. A TOF camera, comprising:
the TOF light projecting structure of any one of claims 1 to 8 for projecting light rays toward a target object;
the light receiving structure is used for receiving the reflected light of the target object; and
and the control mainboard is respectively connected with the TOF light projection structure and the light receiving structure, and is used for obtaining the depth information of the target object according to projection light information projected by the TOF light projection structure and reflected light information received by the light receiving structure.
10. A sweeping robot is characterized by comprising:
a robot body; and
the camera device is arranged on the robot body;
wherein the camera device comprises a circuit board, a TOF camera as in claim 9, and an RGB camera, both the TOF camera and the RGB camera being disposed on the circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922289614.7U CN211534251U (en) | 2019-12-18 | 2019-12-18 | TOF light projection structure, TOF camera and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922289614.7U CN211534251U (en) | 2019-12-18 | 2019-12-18 | TOF light projection structure, TOF camera and sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211534251U true CN211534251U (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922289614.7U Active CN211534251U (en) | 2019-12-18 | 2019-12-18 | TOF light projection structure, TOF camera and sweeping robot |
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| Country | Link |
|---|---|
| CN (1) | CN211534251U (en) |
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- 2019-12-18 CN CN201922289614.7U patent/CN211534251U/en active Active
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