CN216167219U - Depth camera and sweeping robot - Google Patents
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- CN216167219U CN216167219U CN202122370097.3U CN202122370097U CN216167219U CN 216167219 U CN216167219 U CN 216167219U CN 202122370097 U CN202122370097 U CN 202122370097U CN 216167219 U CN216167219 U CN 216167219U
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Abstract
The utility model provides a depth camera and a sweeping robot, which comprise a light projector, a driving circuit and a light receiver, wherein the light projector is arranged on the front end of the light projector; the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, and the power density of each light beam in the first lattice structured light is greater than that of each light beam in the second lattice structured light; the optical receiver is configured to receive the first lattice structured light and the second lattice structured light reflected by any object in the target scene, generate first depth information according to transmission time or a phase difference of the first lattice structured light, and generate second depth information according to a light spot image formed by the second lattice structured light; and the driving circuit is used for controlling the light projector and the light receiver to be simultaneously switched on or switched off. The utility model can be applied to a sweeping robot, not only reduces the complexity of the product, but also reduces the manufacturing cost of the product and is convenient for popularization and application of the product.
Description
Technical Field
The utility model relates to intelligent equipment, in particular to a depth camera and a sweeping robot.
Background
A floor sweeping robot is one of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. Generally, the floor cleaning machine adopts a brushing and vacuum mode, and firstly absorbs the impurities on the floor into the garbage storage box, so that the function of cleaning the floor is achieved.
In the prior art, a sweeping robot generally performs path planning and mapping by using an lds (laser Direct structuring) laser radar arranged at the top, and performs obstacle avoidance by using a camera arranged at the front end. However, path planning and mapping by LDS have at least two disadvantages: firstly, the laser radar needs to rotate frequently and is easy to damage, and secondly, high-reflectivity objects such as a French window, a floor mirror, a vase and the like cannot be detected. And two sets of devices are needed for path planning and obstacle avoidance functions, so that the complexity of the product is increased, the manufacturing cost of the product is increased, and the popularization and the application of the product are not facilitated.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model aims to provide a depth camera and a sweeping robot.
The sweeping robot provided by the utility model comprises a light projector, a driving circuit and a light receiver;
the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, and the power density of each light beam in the first lattice structured light is greater than that of each light beam in the second lattice structured light;
the optical receiver is configured to receive the first lattice structured light and the second lattice structured light reflected by any object in the target scene, generate first depth information according to transmission time or a phase difference of the first lattice structured light, and generate second depth information according to a light spot image formed by the second lattice structured light;
and the driving circuit is used for controlling the light projector and the light receiver to be simultaneously switched on or switched off.
Preferably, the light spot points formed by the first lattice structured light are periodically arranged to form a preset shape;
the light spots formed by the second lattice structured light are arranged randomly or pseudo-randomly.
Preferably, the first lattice structured light forms a sparse lattice pattern and the second lattice structured light forms a dense lattice pattern;
the sparse lattice pattern is located inside the dense lattice pattern.
Preferably, the first lattice structured light forms a sparse lattice pattern and the second lattice structured light forms a dense lattice pattern;
the sparse lattice pattern is located in a middle area in a height direction of the dense lattice pattern.
Preferably, the light projector comprises a first laser module and a first projection lens;
the first laser module comprises a first laser array group and a second laser array group, the first laser array group is used for projecting first lattice structured light, and the second laser array group is used for projecting second lattice structured light;
the first projection lens is arranged on the light emitting side of the laser module and comprises a first area and a second area, the first area receives and projects first lattice structured light, and the second area receives and projects second lattice structured light.
Preferably, the light projector comprises a second laser module, a beam splitting device and a second projection lens;
the second laser module is used for projecting laser beams;
the beam splitting device comprises a first beam splitting area and a second beam splitting area, the first beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a first lattice structured light, and the second beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a second lattice structured light;
the second projection lens is arranged on the light emitting side of the beam splitting device and comprises a first area and a second area, the first area receives the beam splitting device and projects first lattice structured light, and the second area receives and projects second lattice structured light.
Preferably, the light projector comprises a first laser module and a first projection lens;
the first laser module comprises a first laser array group and a second laser array group, the first laser array group is used for projecting first lattice structured light, and the second laser array group is used for projecting second lattice structured light;
the first projection lens is arranged on the light emitting side of the laser module and comprises a first area, a second area and a third area, the first area is arranged between the second area and the third area, first lattice structured light is received and projected through the first area, and second lattice structured light is received and projected through the second area and the third area.
Preferably, the light projector comprises a second laser module, a beam splitting device and a second projection lens;
the second laser module is used for projecting laser beams;
the beam splitting device comprises a first beam splitting area and a second beam splitting area, the first beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a first lattice structured light, and the second beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a second lattice structured light;
the second projection lens is arranged on the light emitting side of the beam splitting device and comprises a first area, a second area and a third area, the first area is arranged between the second area and the third area, first lattice structured light is received and projected through the first area, and second lattice structured light is received and projected through the second area and the third area.
Preferably, the field angle of the depth camera is between 100 ° and 110 °.
The depth camera provided by the utility model comprises a robot body, a depth camera and a controller module; the depth camera is arranged on the side surface of the robot body;
the depth camera includes a light projector, a drive circuit, and a light receiver;
the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, and the power density of each light beam in the first lattice structured light is greater than that of each light beam in the second lattice structured light;
the optical receiver is configured to receive the first lattice structured light and the second lattice structured light reflected by any object in the target scene, generate first depth information according to transmission time or phase difference of the first lattice structured light, and generate second depth information according to a light spot image formed by the second lattice structured light;
the driving circuit is used for controlling the light projector and the light receiver to be simultaneously switched on or switched off;
and the controller module is used for carrying out instant positioning and map construction according to the first depth information and generating obstacle avoidance information according to the second depth information.
Compared with the prior art, the utility model has the following beneficial effects:
the depth camera can be applied to the sweeping robot, a light projector of the depth camera is used for projecting a first lattice structure light and a second lattice structure light to a target scene, a light receiver can receive the first lattice structure light and the second lattice structure light reflected by any object in the target scene, first depth information is generated according to the first lattice structure light with higher power density, second depth information is generated according to the second lattice structure light with lower power density, so that the controller module can irradiate the first lattice structure light with longer distance to generate the first depth information for instant positioning and map construction, obstacle avoidance information is generated according to the second depth information generated by the second lattice structure light with shorter distance, and the instant positioning, map construction and obstacle avoidance can be realized by the sweeping robot through one depth camera module, the complexity of the product is reduced, and the manufacturing cost of the product is reduced, so that the product is convenient to popularize and apply;
according to the utility model, the second depth information is generated according to the light spot image formed by the second lattice structured light in a short distance, namely, the depth information is obtained by adopting a structured light scheme, so that the problem of multipath effect generated based on a flight time scheme is avoided, and the imaging precision of the structured light scheme is higher, so that the obstacle avoidance operation of the sweeping robot is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic view of the working principle of the sweeping robot in the embodiment of the utility model;
FIG. 2 is a schematic view of a light field view of a depth camera in an embodiment of the utility model;
FIG. 3 is a schematic view of another light field view of a depth camera in an embodiment of the utility model;
FIG. 4 is a schematic diagram of a depth camera according to an embodiment of the present invention; and
FIG. 5 is a schematic diagram of another structure of a depth camera according to an embodiment of the utility model.
In the figure: 100 is a robot body; 200 is an object; 1 is a light projector; 2 is an optical receiver; 201 is a first region; 202 is a second region; 203 is a third region; 3 is a driving circuit; 101 is an edge-emitting laser; 102 is a collimating lens; 103 is a beam splitting device; 104 is a projection lens; 105 is a diffractive device; 106 is a laser array.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the utility model. All falling within the scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
The following describes the technical solutions of the present invention and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic view of a working principle of a sweeping robot in an embodiment of the present invention, and as shown in fig. 1, the sweeping robot provided by the present invention includes a robot body 100, a depth camera, and a controller module; the depth camera is disposed on a side surface of the robot body 100;
the depth camera comprises a light projector 1 and a light receiver 2;
the light projector 1 is configured to project a first lattice structured light and a second lattice structured light to a target scene, where a power density of each light beam in the first lattice structured light is greater than a power density of each light beam in the second lattice structured light;
the optical receiver 2 is configured to receive the first lattice structured light and the second lattice structured light reflected by any object 200 in the target scene, generate first depth information according to transmission time or a phase difference of the first lattice structured light, and generate second depth information according to a light spot image formed by the second lattice structured light;
the controller module is used for performing instant positioning and map building (SLAM) according to the first depth information and generating obstacle avoidance information according to the second depth information.
In the embodiment of the utility model, each light beam in the first lattice structured light has higher power density, the projection distance is longer, the distribution of objects far away from the sweeping robot in a room can be obtained, the sweeping robot can conveniently perform instant positioning and map construction, each light beam in the second lattice structured light has lower power density and higher light beam density, the projection distance is shorter, the distribution of objects 200 near the sweeping robot in the room can be obtained, the light beam density is higher, the surface profile of the objects 200 can be obtained, and the obstacle avoidance operation of the sweeping robot is convenient.
In the embodiment of the utility model, the light spot points formed by the first lattice structured light are periodically arranged to be in a preset shape, namely, are in geometric regular distribution; the preset shape comprises any one of the following shapes or any plurality of shapes which can be switched with each other:
straight line shape
-a triangle;
-a quadrilateral;
-a rectangle;
-circular;
-a hexagon;
-a pentagon.
The shape of the periodic arrangement is not limited to the above shape, and the periodic arrangement may be arranged in other shapes. When the preset shape is a rectangle, that is, the unit arrangement shape of the collimated light beams in one period is a rectangle, and is periodically repeated in space. When the preset shape is a triangle, that is, the unit arrangement shape of the collimated light beam in one period is a triangle, and is periodically repeated in space. When the preset shape is a hexagon, the unit arrangement shape of the collimated light beams in one period is a hexagon, and is periodically repeated in space.
The light spots formed by the second lattice structured light are arranged randomly or pseudo-randomly. The pseudo-random arrangement comprises a spatial coding arrangement and a quasi-lattice arrangement, wherein the spatial coding arrangement is that a part of light beams are absent in a periodic arrangement, so that spatial coding of arrangement positions is realized; the random arrangement is specifically the random distribution of the arrangement of the collimated light beams, so that the similarity of the arrangement modes at different positions is very small or close to zero, and the quasi-lattice arrangement is specifically the non-periodic arrangement of the collimated light beams at close-distance adjacent positions and the periodic arrangement at long-distance.
Fig. 4 is a schematic diagram of a depth camera according to an embodiment of the present invention, and as shown in fig. 4, the light projector 1 includes a first laser module and a first projection lens 104;
the first laser module comprises a first laser array group and a second laser array group, the first laser array group is used for projecting first lattice structured light, and the second laser array group is used for projecting second lattice structured light;
the first projection lens 104 is disposed on the light emitting side of the laser module, and includes a first region 201 and a second region 202, where the first region 201 and the second region 202 are both transparent regions, the first region 201 receives the first lattice structured light and projects the first lattice structured light, and the second region 202 receives the first lattice structured light and projects the second lattice structured light.
In an embodiment of the present invention, the first lattice structured light forms a sparse lattice pattern, and the second lattice structured light forms a dense lattice pattern;
the sparse lattice pattern is located at an upper region of the dense lattice pattern, as shown in fig. 2.
In an embodiment of the utility model, the light projector 1 comprises a first laser module and a first projection lens 104;
the first laser module comprises a first laser array group and a second laser array group, the first laser array group is used for projecting first lattice structured light, and the second laser array group is used for projecting second lattice structured light;
the first projection lens 104 is disposed on the light emitting side of the laser module, and includes a first region 201, a second region 202, and a third region 203, the first region 201 is disposed between the second region 202 and the third region 203, the first region 201, the second region 202, and the third region 203 are transparent regions, the first region 201 receives the first lattice structured light and projects the first lattice structured light, and the second region 202 and the third region 203 receive the first lattice structured light and projects the second lattice structured light.
The first lattice structure light forms a sparse lattice pattern, and the second lattice structure light forms a dense lattice pattern; the sparse lattice pattern is located in a middle area in the height direction of the dense lattice pattern, as shown in fig. 3.
In an embodiment of the present invention, the number of the light beams in the first lattice structured light is between two and several thousand beams, such as 2 to 1 thousand beams; the number of light beams in the second lattice-structured light is between several thousand beams and several ten thousand beams, such as 1 ten thousand beams to 5 ten thousand beams.
The first Laser module may adopt a Laser array 106 formed by a plurality of Vertical Cavity Surface Emitting Lasers (VCSELs) or a plurality of Edge Emitting Lasers (EELs). After passing through the collimating lens 102, the multiple laser beams can become highly parallel collimated beams, and the projection of the first lattice structured light is realized.
Fig. 5 is another schematic structural diagram of a depth camera in an embodiment of the present invention, and as shown in fig. 5, the light projector 1 includes a second laser module, a beam splitter, and a second projection lens 104;
the second laser module is used for projecting laser beams;
the beam splitting device 103 comprises a first beam splitting area and a second beam splitting area, wherein the first beam splitting area is used for splitting the laser beam into one group of multiple laser beams to form a first lattice structured light, and the second beam splitting area is used for splitting the laser beam into another group of multiple laser beams to form a second lattice structured light;
the second projection lens 104 is disposed on the light exit side of the beam splitter 103, and includes a first region 201 and a second region 202, where the first region 201 and the second region 202 are transparent regions, and receive and project the first lattice structured light through the first region 201, and receive and project the second lattice structured light through the second region 202.
In an embodiment of the present invention, the first lattice structured light forms a sparse lattice pattern, and the second lattice structured light forms a dense lattice pattern;
the sparse lattice pattern is located at an upper region of the dense lattice pattern, as shown in fig. 2.
In an embodiment of the utility model, the light projector 1 comprises a second laser module, a beam splitting device and a second projection lens 104;
the second laser module is used for projecting laser beams;
the beam splitting device 103 comprises a first beam splitting area and a second beam splitting area, wherein the first beam splitting area is used for splitting the laser beam into one group of multiple laser beams to form a first lattice structured light, and the second beam splitting area is used for splitting the laser beam into another group of multiple laser beams to form a second lattice structured light;
the second projection lens 104 is disposed on the light-emitting side of the beam splitting device 103, and includes a first region 201, a second region 202, and a third region 203, where the first region 201 is disposed between the second region 202 and the third region 203, the first region 201, the second region 202, and the third region 203 are transparent regions, and receive and project the first lattice structured light through the first region 201, and receive and project the second lattice structured light through the second region 202 and the third region 203.
The first lattice structure light forms a sparse lattice pattern, and the second lattice structure light forms a dense lattice pattern; the sparse lattice pattern is located in a middle area in the height direction of the dense lattice pattern, as shown in fig. 3.
The beam splitting device 103 achieves more collimated laser beams. The beam splitting device 103 may employ a diffraction grating (DOE), a waveguide device, a coded structure photomask, a Spatial Light Modulator (SLM), or the like.
In an embodiment of the present invention, the optical receiver 2 is configured to generate first depth information according to the transmission time or the phase difference of the first lattice-structured light, and generate second depth information according to the transmission time or the phase difference of the second lattice-structured light.
The driving circuit 3 and the driving circuit 3 are used for controlling the light projector 1 and the light receiver 2 to be turned on or off simultaneously. The driving circuit 3 may be a separate dedicated circuit, such as a dedicated SOC chip, an FPGA chip, an ASIC chip, or the like, or may include a general-purpose processor, for example, when the depth camera is integrated into an intelligent terminal, such as a sweeping robot, the processor in the terminal may serve as at least one part of the processing circuit.
The field angle of the depth camera is between 100 ° and 110 °.
The optical receiver 2 comprises an optical imaging lens, a light detector array and a driving circuit 3; the light detector array comprises a plurality of light detectors distributed in an array;
the optical imaging lens is used for receiving the first lattice structure light and the second lattice structure light reflected by any object in a target scene and projecting the first lattice structure light and the second lattice structure light to the optical detector;
the light detector is used for receiving the first lattice structure light and the second lattice structure light;
the driving circuit 3 is configured to measure a propagation time or a phase difference between the first lattice-structured light and the second lattice-structured light to generate depth data of the surface of the target object.
In order to filter background noise, a narrow band filter is usually installed in the optical imaging lens, so that the photodetector array 1 can only pass incident collimated light beams with preset wavelength. The preset wavelength can be the wavelength of the incident collimated light beam, and can also be between 50 nanometers smaller than the incident collimated light beam and 50 nanometers larger than the incident collimated light beam. The photodetector array may be arranged periodically or aperiodically. Each photodetector, in cooperation with an auxiliary circuit, may enable measurement of the time of flight of the collimated beam. The photodetector array may be a combination of multiple single-point photodetectors or a sensor chip integrating multiple photodetectors, as required by the number of discrete collimated beams. To further optimize the sensitivity of the light detectors, the illumination spot of one discrete collimated light beam on the target object may correspond to one or more light detectors. When a plurality of light detectors correspond to the same irradiation light spot, signals of each detector can be communicated through a circuit, so that the light detectors with larger detection areas can be combined.
The light detector adopts a CMOS light sensor, a CD light sensor or a SPAD light sensor.
In an embodiment of the present invention, the depth camera provided by the present invention comprises a light projector 1, a driving circuit and a light receiver 2;
the light projector 1 is used for projecting a first lattice structured light and a second lattice structured light to a target scene;
the optical receiver 2 is configured to receive the first lattice structured light and the second lattice structured light reflected by any object in the target scene, generate first depth information according to transmission time or a phase difference of the first lattice structured light, and generate second depth information according to a light spot image formed by the second lattice structured light;
and the driving circuit is used for controlling the light projector and the light receiver to be simultaneously switched on or switched off.
In the embodiment of the utility model, the depth camera can be applied to the sweeping robot, the light projector of the depth camera is used for projecting a first lattice structure light and a second lattice structure light to a target scene, the light receiver can receive the first lattice structure light and the second lattice structure light reflected by any object in the target scene, generate a first depth information according to the first lattice structure light with higher power density, generate a second depth information according to the second lattice structure light with lower power density, so that the controller module can irradiate the first lattice structure light with longer distance to generate the first depth information for instant positioning and map construction, generate obstacle avoidance information according to the second depth information generated by the second lattice structure light with shorter power density, and realize instant positioning and map construction and obstacle avoidance by the sweeping robot through one depth camera module, the complexity of the product is reduced, and the manufacturing cost of the product is reduced, so that the product is convenient to popularize and apply.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model.
Claims (10)
1. A depth camera comprising a light projector, a drive circuit and a light receiver;
the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, and the power density of each light beam in the first lattice structured light is greater than that of each light beam in the second lattice structured light;
the optical receiver is configured to receive the first lattice structured light and the second lattice structured light reflected by any object in the target scene, generate first depth information according to transmission time or a phase difference of the first lattice structured light, and generate second depth information according to a light spot image formed by the second lattice structured light;
and the driving circuit is used for controlling the light projector and the light receiver to be simultaneously switched on or switched off.
2. The depth camera of claim 1, wherein the light spots formed by the first lattice structured light are periodically arranged in a predetermined shape;
the light spots formed by the second lattice structured light are arranged randomly or pseudo-randomly.
3. The depth camera of claim 1, wherein the first lattice structured light forms a sparse lattice pattern and the second lattice structured light forms a dense lattice pattern;
the sparse lattice pattern is located inside the dense lattice pattern.
4. The depth camera of claim 1, wherein the first lattice structured light forms a sparse lattice pattern and the second lattice structured light forms a dense lattice pattern;
the sparse lattice pattern is located in a middle area in a height direction of the dense lattice pattern.
5. The depth camera of claim 1, wherein the light projector comprises a first laser module and a first projection lens;
the first laser module comprises a first laser array group and a second laser array group, the first laser array group is used for projecting first lattice structured light, and the second laser array group is used for projecting second lattice structured light;
the first projection lens is arranged on the light emitting side of the laser module and comprises a first area and a second area, the first area receives and projects first lattice structured light, and the second area receives and projects second lattice structured light.
6. The depth camera of claim 1, wherein the light projector comprises a second laser module, a beam splitting device, and a second projection lens;
the second laser module is used for projecting laser beams;
the beam splitting device comprises a first beam splitting area and a second beam splitting area, the first beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a first lattice structured light, and the second beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a second lattice structured light;
the second projection lens is arranged on the light emitting side of the beam splitting device and comprises a first area and a second area, the first area receives the beam splitting device and projects first lattice structured light, and the second area receives and projects second lattice structured light.
7. The depth camera of claim 1, wherein the light projector comprises a first laser module and a first projection lens;
the first laser module comprises a first laser array group and a second laser array group, the first laser array group is used for projecting first lattice structured light, and the second laser array group is used for projecting second lattice structured light;
the first projection lens is arranged on the light emitting side of the laser module and comprises a first area, a second area and a third area, the first area is arranged between the second area and the third area, first lattice structured light is received and projected through the first area, and second lattice structured light is received and projected through the second area and the third area.
8. The depth camera of claim 1, wherein the light projector comprises a second laser module, a beam splitting device, and a second projection lens;
the second laser module is used for projecting laser beams;
the beam splitting device comprises a first beam splitting area and a second beam splitting area, the first beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a first lattice structured light, and the second beam splitting area is used for splitting the laser beam into a plurality of laser beams to form a second lattice structured light;
the second projection lens is arranged on the light emitting side of the beam splitting device and comprises a first area, a second area and a third area, the first area is arranged between the second area and the third area, first lattice structured light is received and projected through the first area, and second lattice structured light is received and projected through the second area and the third area.
9. The depth camera of claim 1, wherein the field angle of the depth camera is between 100 ° and 110 °.
10. A floor sweeping robot is characterized by comprising a robot body, a depth camera and a controller module; the depth camera is arranged on the side surface of the robot body;
the depth camera includes a light projector, a drive circuit, and a light receiver;
the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, and the power density of each light beam in the first lattice structured light is greater than that of each light beam in the second lattice structured light;
the optical receiver is configured to receive the first lattice structured light and the second lattice structured light reflected by any object in the target scene, generate first depth information according to transmission time or phase difference of the first lattice structured light, and generate second depth information according to a light spot image formed by the second lattice structured light;
the driving circuit is used for controlling the light projector and the light receiver to be simultaneously switched on or switched off;
and the controller module is used for carrying out instant positioning and map construction according to the first depth information and generating obstacle avoidance information according to the second depth information.
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| CN202122370097.3U CN216167219U (en) | 2021-09-28 | 2021-09-28 | Depth camera and sweeping robot |
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| CN202122370097.3U CN216167219U (en) | 2021-09-28 | 2021-09-28 | Depth camera and sweeping robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115102036A (en) * | 2022-08-24 | 2022-09-23 | 立臻精密智造(昆山)有限公司 | Lattice laser emission structure, lattice laser system and depth calculation method |
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2021
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115102036A (en) * | 2022-08-24 | 2022-09-23 | 立臻精密智造(昆山)有限公司 | Lattice laser emission structure, lattice laser system and depth calculation method |
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