CN216754353U - Depth camera and sweeping robot - Google Patents

Abstract

The utility model provides a depth camera and a sweeping robot, which comprise a light projector, a light receiver and a driving circuit, wherein the light projector is arranged on the front end of the light receiver; the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, the power density of each light beam in the first lattice structured light is larger than that of each light beam in the second lattice structured light, and a projection port of the light projector is provided with a vignetting diaphragm; the vignetting diaphragm is used for shielding partial light beams close to the ground side in the second lattice structured light field angle; the optical receiver is used for receiving the first lattice structured light and the second lattice structured light after being reflected by any object in the target scene, generating first depth information according to the first lattice structured light, and generating second depth information according to 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 reduces the complexity of the product, reduces the manufacturing cost of the product and is convenient for popularization and application of the product.

Description

Depth camera and sweeping robot

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 depth camera provided by the utility model comprises a light projector, a light receiver and a driving circuit;

the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, the power density of each light beam in the first lattice structured light is larger than that of each light beam in the second lattice structured light, and a projection port of the light projector is provided with a vignetting diaphragm; the vignetting diaphragm is used for shielding partial light beams close to the ground side in the second lattice structure light field angle;

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 the first lattice structured light, and generate second depth information according to 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 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 structure light, and the second area receives and projects second lattice structure light.

Preferably, the optical receiver 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.

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 a laser beam;

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 sweeping robot 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 light receiver, and a drive circuit;

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; a projection port of the light projector is provided with a vignetting diaphragm; the vignetting diaphragm is used for shielding partial light beams close to the ground side in the second lattice structure light field angle;

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 the first lattice structured light, and generate second depth information according to 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;

the vignetting diaphragm is attached in front of the projection lens or arranged in the projection lens, partial light beams of the projection lens can be shielded, the local brightness of the image can be controlled, vignetting imaging is realized, the vignetting diaphragm can be applied to lenses with large imaging distance span, such as sweeping robots, vehicle-mounted lenses and the like, the light energy projected to a short distance is weakened through the vignetting diaphragm, attenuation compensation is carried out on an overexposed area in the short distance, and the problem of short-distance overexposure of imaging in application scenes is solved.

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 embodiment of a depth camera;

FIG. 6 is a schematic view of an angle of a light projector with a vignetting stop in an embodiment of the utility model;

FIG. 7 is a schematic view of another angle of a light projector with a vignetting stop in an embodiment of the utility model;

FIG. 8 is a schematic view of a vignetting diaphragm blocking a view field angle according to an embodiment of the present invention;

fig. 9(a) is a schematic view illustrating a light spot effect without a vignetting diaphragm blocking a viewing angle in an embodiment of the present invention;

fig. 9(b) is a schematic diagram illustrating an effect of a light spot having a vignetting stop and shielding a viewing angle according to an embodiment of the present invention.

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; 107 is a vignetting diaphragm; and 4 is the angle of view.

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 means of the present invention will be described in detail with reference to 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 illustrating a working principle of a sweeping robot according to 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, a light receiver 2 and a driving circuit;

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;

as shown in fig. 6 and 7, the projection port of the light projector is provided with a vignetting diaphragm 107; the vignetting diaphragm 107 is used for shielding partial light beams close to the ground side in the second lattice structured light field angle 4;

the vignetting stop 107 may be arranged in the light projector in front of the projection lens or inside the projection lens. The vignetting diaphragm 107 is made of opaque plastic or metal material.

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 the first lattice structured light, and generate second depth information according to 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;

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 indoors can be obtained, the sweeping robot can conveniently perform instant positioning and map building, 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 indoors can be obtained, the surface profile of the objects 200 can be obtained due to higher light beam density, and the obstacle avoidance operation of the sweeping robot is facilitated.

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 beams and several thousand beams, for example, 2 beams 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 a laser beam;

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 4 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 light detector array can be a combination of a plurality of single-point light detectors or a sensor chip integrating a plurality of light detectors according to the requirement of the number of discrete collimated light 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.

Fig. 8 is a schematic diagram of the vignetting diaphragm in the embodiment of the present invention, and as shown in fig. 8, the vignetting diaphragm 107 is located on one side of the projection lens, and blocks part of light. The outer large FOV rays are blocked by a greater proportion and the brightness decay is more pronounced. The light beam with the smaller inner FOV is shielded in a smaller proportion, and the brightness is attenuated less. The range and degree of vignetting can be controlled by two variables, H and D, by controlling the positional relationship of the vignetting diaphragm 107 and the projection lens:

h is the distance between the corner of the blocking piece and the lens, the change rate of vignetting is influenced, and the vignetting is gentler when the lens is closer to the lens.

D is the distance between the single-chip corner and the optical axis, the vignetting range is influenced, and the more the shielding, the larger the vignetting range is.

Fig. 9(a) is a schematic view of a light spot effect without a vignetting diaphragm blocking a viewing angle in the embodiment of the present invention, and fig. 9(b) is a schematic view of a light spot effect with a vignetting diaphragm blocking a viewing angle in the embodiment of the present invention, as shown in fig. 9(a) and fig. 9(b), the vignetting diaphragm 107 can effectively control local brightness of an image to implement vignetting imaging.

In an embodiment of the present invention, the depth camera provided by the present invention comprises a light projector 1, a light receiver 2 and a driving circuit;

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, and a projection port of the light projector is provided with a vignetting diaphragm 107; the vignetting diaphragm 107 is used for shielding partial light beams close to the ground side in the second lattice structured light field angle 4;

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 the first lattice structured light, and generate second depth information according to 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.

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. According to the embodiment of the utility model, the vignetting diaphragm is attached to the front of the projection lens or arranged in the projection lens, so that the local brightness of the image can be controlled by shielding partial light beams of the projection lens, vignetting imaging is realized, the vignetting diaphragm can be applied to lenses with large imaging distance span, such as sweeping robots and vehicle-mounted lenses, the light energy projected to a short distance is weakened through the vignetting diaphragm, attenuation compensation is carried out on an overexposed area in the short distance, and the problem of short-distance overexposure of imaging in the application scenes is solved.

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 has described specific embodiments of the present invention. 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 includes a light projector, a light receiver, and a driving circuit;

the light projector is used for projecting first lattice structured light and second lattice structured light to a target scene, the power density of each light beam in the first lattice structured light is larger than that of each light beam in the second lattice structured light, and a projection port of the light projector is provided with a vignetting diaphragm; the vignetting diaphragm is used for shielding partial light beams close to the ground side in the second lattice structure light field angle;

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 the first lattice structured light, and generate second depth information according to 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.

2. 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.

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 in a middle area in a height direction of the dense lattice pattern.

4. 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, comprises a first area and a second area, receives and projects first lattice structured light through the first area, and receives and projects second lattice structured light through the second area.

5. 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, wherein the first beam splitting area is used for splitting a 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.

6. The depth camera according to claim 1, wherein the light receiver is configured to generate first depth information from a transmission time or a phase difference of the first lattice-structured light, and generate second depth information from a transmission time or a phase difference of the 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 a laser beam;

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 a laser beam into a plurality of laser beams to form 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 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 light receiver, and a drive circuit;

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; a projection port of the light projector is provided with a vignetting diaphragm; the vignetting diaphragm is used for shielding partial light beams close to the ground side in the second lattice structure light field angle;

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 the first lattice structured light, and generate second depth information according to 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.

Images