WO2021135392A1 - 结构光模组及自主移动设备 - Google Patents

结构光模组及自主移动设备 Download PDF

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Publication number
WO2021135392A1
WO2021135392A1 PCT/CN2020/115370 CN2020115370W WO2021135392A1 WO 2021135392 A1 WO2021135392 A1 WO 2021135392A1 CN 2020115370 W CN2020115370 W CN 2020115370W WO 2021135392 A1 WO2021135392 A1 WO 2021135392A1
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WO
WIPO (PCT)
Prior art keywords
line laser
camera module
module
structured light
laser transmitter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/115370
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English (en)
French (fr)
Inventor
吴现勇
陈巍
罗潇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecovacs Robotics Suzhou Co Ltd
Original Assignee
Ecovacs Robotics Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ecovacs Robotics Suzhou Co Ltd filed Critical Ecovacs Robotics Suzhou Co Ltd
Priority to EP20908569.5A priority Critical patent/EP4086569A4/en
Priority to US17/780,931 priority patent/US20220369890A1/en
Publication of WO2021135392A1 publication Critical patent/WO2021135392A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

Definitions

  • This application relates to the field of artificial intelligence technology, in particular to a structured light module and autonomous mobile equipment.
  • Various aspects of the present application provide a structured light module and autonomous mobile equipment to provide a new structured light module to expand the application range of laser sensors.
  • the embodiment of the application provides a structured light module, including: a camera module and line laser transmitters distributed on both sides of the camera module; the line laser transmitter is responsible for emitting the line laser outward; the camera module is responsible for collecting the line laser Image of the detected environment.
  • An embodiment of the present application also provides an autonomous mobile device, including: a device body on which a first control unit, a second control unit, and a structured light module are provided;
  • the structured light module includes: a camera module and a camera distributed on the device body Line laser transmitters on both sides of the module; the first control unit is electrically connected to the line laser transmitter, and the second control unit is electrically connected to the camera module; wherein the first control unit controls the line laser transmitter to emit line lasers outward;
  • the second control unit controls the camera module to collect the environmental image detected by the line laser, and is responsible for function control of the autonomous mobile device according to the environmental image.
  • the embodiment of the present application also provides an autonomous mobile device, including: a device body on which a main controller and a structured light module are provided; the structured light module includes: a camera module and wires distributed on both sides of the camera module Laser transmitter: Among them, the main controller controls the line laser transmitter to emit line lasers, and controls the camera module to collect environmental images detected by the line lasers, and is responsible for functional control of autonomous mobile devices based on the environmental images.
  • the camera module and the line laser transmitter are combined, and line laser transmitters are arranged on both sides of the camera module to obtain a new structured light module.
  • the line laser The transmitter emits a line laser to the outside, and the camera module collects environmental images detected by the line laser.
  • the line laser transmitter is located on both sides of the camera module. This method has a small size and can save more space, which is beneficial to expand the application scenarios of the line laser sensor.
  • FIG. 1a is a schematic structural diagram of a structured light module provided by an exemplary embodiment of this application.
  • FIG. 1b is a schematic diagram of the working principle of a line laser transmitter provided by an exemplary embodiment of this application;
  • FIG. 1c is a schematic structural diagram of the installation position relationship of each device in a structured light module according to an exemplary embodiment of the application;
  • FIG. 1d is a schematic diagram of the relationship between the line laser of the line laser transmitter and the field of view of the camera module according to an exemplary embodiment of the application;
  • Fig. 1e is a front view of a structured light module provided by an exemplary embodiment of the application.
  • FIG. 1f is a top view of a structured light module provided by an exemplary embodiment of this application.
  • Fig. 1g is a rear view of a structured light module provided by an exemplary embodiment of the application.
  • Fig. 1h is a side view of a structured light module provided by an exemplary embodiment of the application.
  • Fig. 1i is an exploded view of a structured light module provided by an exemplary embodiment of the application
  • FIG. 2a is a schematic structural diagram of another structured light module provided by an exemplary embodiment of this application.
  • 2b is a schematic structural diagram of a laser driving circuit provided by an exemplary embodiment of this application.
  • FIG. 3a is a schematic structural diagram of an autonomous mobile device provided by an exemplary embodiment of this application.
  • Fig. 3b is a schematic structural diagram of a first control unit and a second control unit provided by an exemplary embodiment of this application;
  • Fig. 3c is an exploded schematic diagram of a device body and a striker provided by an exemplary embodiment of this application;
  • 3d is an exploded schematic diagram of a structured light module and a bumper provided by an exemplary embodiment of this application;
  • FIG. 3e is a schematic structural diagram of an autonomous mobile device control structured light module provided by an exemplary embodiment of this application.
  • FIG. 4a is a schematic structural diagram of another autonomous mobile device according to an exemplary embodiment of this application.
  • FIG. 4b is a schematic structural diagram of a main controller of an autonomous mobile device provided by an exemplary embodiment of this application;
  • Fig. 4c is a schematic structural diagram of another autonomous mobile device control structured light module provided by an exemplary embodiment of the application.
  • an embodiment of the present application provides a structured light module.
  • the structured light module mainly includes a line laser transmitter and a camera module; the line laser transmitters are distributed in the camera module. On both sides, the line laser can be emitted outward. After the line laser reaches the surface of the object and its background, the returned line laser information is collected by the camera module, and the position and depth of the object can be calculated according to the change of the line laser information caused by the object. Information, and then restore the entire three-dimensional space.
  • the structured light module provided in the embodiments of the present application may have multiple implementation forms, and different embodiments will be used to introduce and explain separately below.
  • FIG. 1a is a schematic structural diagram of a structured light module provided by an exemplary embodiment of this application.
  • the structured light module 100 includes a camera module 101 and line laser emitters 102 distributed on both sides of the camera module 101.
  • the line laser emitter 102 is responsible for emitting line lasers outward; the camera module 101 responsible for collecting environmental images detected by the line laser.
  • the implementation form of the line laser emitter 102 is not limited, and it can be any device/product form capable of emitting line laser.
  • the line laser transmitter 102 may be, but is not limited to, a laser tube.
  • the line laser transmitter 102 can emit line lasers outward to detect environmental images. As shown in Fig. 1b, the line laser transmitter 102 emits the laser plane FAB and the laser plane ECD to the outside. After the laser plane reaches the obstacle, a line laser will be formed on the surface of the obstacle, namely the line segment AB and the line segment CD shown in Fig. 1b.
  • the line laser transmitter 102 can emit line lasers outward under the control of the control unit or main controller of the device where the structured light module 100 is located.
  • the implementation form of the camera module 101 is not limited. All vision devices that can collect environmental images are applicable to the embodiments of the present application.
  • the camera module 101 may include, but is not limited to: a monocular camera, a binocular camera, and the like.
  • the wavelength of the line laser emitted by the line laser transmitter 102 is not limited, and the color of the line laser will be different depending on the wavelength. For example, it may be a red laser, a violet laser, and the like.
  • the camera module 101 may be a camera module capable of collecting the line laser emitted by the line laser emitter 102. It is adapted to the wavelength of the line laser emitted by the line laser transmitter 102.
  • the camera module 101 may also be an infrared camera, an ultraviolet camera, a starlight camera, a high-definition camera, and the like.
  • the camera module 101 can collect environmental images within its field of view.
  • the field of view angle of the camera module 101 includes a vertical field of view and a horizontal field of view. In this embodiment, the angle of view of the camera module 101 is not limited, and the camera module 101 with a suitable angle of view can be selected according to application requirements.
  • the line laser emitted by the line laser transmitter 102 is located in the field of view of the camera module 101, and the line laser can help detect the contour, height and/or width of the object within the field of view of the camera module 101 And other information, the camera module 101 can collect environmental images detected by the line laser.
  • the angle between the laser line segment formed by the line laser on the surface of the object and the horizontal plane is not limited.
  • the line laser can be parallel or perpendicular to the horizontal plane, and can also be at any angle with the horizontal plane, depending on the application requirements.
  • FIG. 1d shows a schematic diagram of the relationship between the line laser emitted by the line laser emitter 102 and the field of view angle of the camera module 101.
  • the letter K represents the camera module
  • the letters J and L represent the line laser transmitters located on both sides of the camera module
  • Q represents the line laser emitted by the line laser transmitters on both sides within the field of view of the camera module Intersection point
  • the straight lines KP and KM represent the two boundaries of the horizontal field of view of the camera module
  • ⁇ PKM represents the horizontal field of view angle of the camera module.
  • the straight line JN represents the center line of the line laser emitted by the line laser emitter J
  • the straight line LQ represents the center line of the line laser emitted by the line laser emitter L.
  • the distance from the structured light module 100 or the device where the structured light module 100 is located to the front object (such as an obstacle) can be calculated, and the front object (such as an obstacle) can also be calculated
  • the height, width, shape or outline of the information, and further, three-dimensional reconstruction can also be carried out.
  • the principle of trigonometry can be used to calculate the distance between the line laser transmitter and the object in front of it through the trigonometric function.
  • the total number of line laser emitters 102 is not limited, for example, it may be two or more than two.
  • the number of line laser emitters 102 distributed on each side of the camera module 101 is also not limited.
  • the number of line laser emitters 102 on each side of the camera module 101 can be one or more; in addition, the number of line laser emitters 102 on each side of the camera module 101 can be one or more;
  • the number of line laser emitters 102 may be the same or different.
  • a line laser transmitter 102 is provided on each side of the camera module 101 as an example for illustration, but it is not limited to this.
  • two line laser emitters 102 can be arranged on the left side of the camera module 101, and one line laser emitter 102 can be arranged on the right side of the camera module 101.
  • two, three, or five line laser emitters 102 are provided on the left and right sides of the camera module 101.
  • the distribution form of the line laser transmitter 102 on both sides of the camera module 101 is also not limited.
  • it may be uniformly distributed or non-uniformly distributed, symmetrically distributed or asymmetrically distributed.
  • uniform distribution and non-uniform distribution can mean that the line laser emitters 102 distributed on the same side of the camera module 101 can be uniformly distributed or non-uniformly distributed.
  • the line laser emitters 102 on the side are uniformly distributed or non-uniformly distributed as a whole.
  • symmetrical distribution and asymmetrical distribution it mainly means that the line laser emitters 102 distributed on both sides of the camera module 101 are symmetrically distributed or asymmetrically distributed as a whole.
  • the symmetry here includes not only the equivalence in quantity, but also the symmetry in the installation position.
  • the number of line laser emitters 102 is two, and the two line laser emitters 102 are symmetrically distributed on both sides of the camera module 101.
  • the installation position relationship between the line laser transmitter 102 and the camera module 101 is not limited, and any installation position relationship between the line laser transmitter 102 and the camera module 101 is applicable to this application. Examples.
  • the installation position relationship between the line laser transmitter 102 and the camera module 101 is related to the application scenario of the structured light module 100.
  • the installation position relationship between the line laser transmitter 102 and the camera module 101 can be flexibly determined according to the application scenario of the structured light module 100.
  • the installation position relationship here includes the following aspects:
  • the line laser transmitter 102 and the camera module 101 can be located at different heights.
  • the line laser transmitter 102 on both sides is higher than the camera module 101, or the camera module 101 is higher than the line laser transmitter 102 on both sides; or the line laser transmitter 102 on one side is higher than the camera module 101, The line laser transmitter 102 on the other side is lower than the camera module 101.
  • the line laser transmitter 102 and the camera module 101 can also be located at the same height.
  • the line laser transmitter 102 and the camera module 101 may be located at the same height.
  • the structured light module 100 will be installed on a certain device (such as autonomous mobile devices such as robots, purifiers, unmanned vehicles, etc.).
  • the line laser transmitter 102 and the camera module The distance between 101 and the working surface (such as the ground) where the equipment is located is the same.
  • the distance between the two to the working surface is 47mm, 50mm, 10cm, 30cm or 50cm.
  • the installation distance refers to the mechanical distance between the line laser transmitter 102 and the camera module 101 (or called the baseline distance).
  • the mechanical distance between the line laser transmitter 102 and the camera module 101 can be flexibly set according to the application requirements of the structured light module 100. Among them, the mechanical distance between the line laser transmitter 102 and the camera module 101, the detection distance of the device (such as a robot) where the structured light module 100 is located, and the diameter of the device can determine the measurement blind zone to a certain extent. size.
  • the equipment such as a robot
  • its diameter is fixed, and the measurement range and the mechanical distance between the line laser transmitter 102 and the camera module 101 can be flexibly set according to requirements, which means The mechanical distance and blind zone range are not fixed values.
  • the blind zone range should be minimized.
  • the greater the mechanical distance between the line laser transmitter 102 and the camera module 101 the greater the controllable distance range. Conducive to better control of the size of the blind zone.
  • the structured light module 100 is applied to a cleaning robot, for example, it can be installed on the bumper of the cleaning robot or on the robot body.
  • a reasonable mechanical distance range between the line laser transmitter 102 and the camera module 101 is given as an example below.
  • the mechanical distance between the line laser transmitter 102 and the camera module 101 may be greater than 20 mm.
  • the mechanical distance between the line laser transmitter 102 and the camera module 101 is greater than 30 mm.
  • the mechanical distance between the line laser transmitter 102 and the camera module 101 is greater than 41 mm.
  • the launch angle refers to the angle between the center line of the line laser emitter 102 emitting line laser and the installation baseline of the line laser emitter 102 after installation.
  • the installation baseline refers to a straight line where the line laser module 102 and the camera module 101 are located when the online laser module 102 and the camera module 101 are located at the same installation height.
  • the emission angle of the line laser transmitter 102 is not limited. The emission angle is related to the detection distance of the device (such as a robot) where the structured light module 100 is located, the radius of the device, and the mechanical distance between the line laser transmitter 102 and the camera module 101.
  • the detection distance of the device such as a robot
  • the radius of the device and the mechanical distance between the line laser transmitter 102 and the camera module 101 are determined, it can be obtained directly through the trigonometric function relationship
  • the emission angle of the line laser transmitter 102 that is, the emission angle, is a fixed value.
  • a specific emission angle it can be achieved by adjusting the detection distance of the device (such as a robot) where the structured light module 100 is located and the mechanical distance between the line laser transmitter 102 and the camera module 101.
  • the detection distance of the device such as a robot
  • the mechanical distance between the line laser transmitter 102 and the camera module 101 by adjusting the mechanical distance between the line laser transmitter 102 and the camera module 101, the emission angle of the line laser transmitter 102 can be changed within a certain angle range, for example, it can be 50-60 degrees, but is not limited thereto.
  • the letter B represents the camera module
  • the letters A and C represent the line laser transmitters located on both sides of the camera module
  • H represents the line laser emitted by the line laser transmitters on both sides in the field of view of the camera module
  • the intersection point within the angle represents the straight lines BD and BE represent the two boundaries of the horizontal field of view of the camera module, and ⁇ DBE represents the horizontal field of view of the camera module.
  • the line AG represents the center line of the line laser emitted by the line laser transmitter A; the line CF represents the center line of the line laser emitted by the line laser transmitter C.
  • the straight line BH represents the center line of the camera module's field of view, that is, in Figure 1c, the center line of the line laser emitted by the line laser transmitters on both sides intersects the center line of the camera module's field of view. .
  • the horizontal field of view and the vertical field of view of the camera module used are not limited.
  • the horizontal field of view range of the camera module can be 60-75 degrees.
  • the horizontal field of view angle of the camera module may be 69.49 degrees, 67.4 degrees, and so on.
  • the vertical field of view range of the camera module can be 60-100 degrees.
  • the vertical field of view angle of the camera module can be 77.74 degrees, 80 degrees, and so on.
  • the sweeping robot has a radius of 175mm and a diameter of 350mm; the line laser transmitters A and C are symmetrically distributed on both sides of the camera module B, and the distance between the line laser transmitter A or C and the camera module B
  • the mechanical distance is 30mm; the horizontal field of view ⁇ DBE of the camera module B is 67.4 degrees; when the detection distance of the sweeping robot is 308mm, the emission angle of the line laser transmitter A or C is 56.3 degrees.
  • the distance between the straight line IH passing the point H and the installation baseline is 45mm, and the distance between the straight line IH and the tangent to the edge of the sweeping robot is 35mm. This part of the area is the blind spot of the field of view.
  • the various numerical values shown in FIG. 1c are only exemplary descriptions, and are not limited thereto.
  • the structured light module 100 provided in the embodiment of the present application includes a camera module 101 and line laser emitters 102 distributed on both sides of the camera module 101, and also includes some cameras for carrying the camera module 101, The carrying structure of the line laser transmitter 102.
  • the bearing structure can have multiple implementation forms, which are not limited.
  • the bearing structure includes a fixing seat, and may further include a fixing cover used in conjunction with the fixing seat.
  • the structure of the structured light module 100 with a fixed seat and a fixed cover will be described with reference to FIGS. 1e-1i. 1e-FIG. 1i are the front view, bottom view, top view, rear view, and exploded view of the structured light module 100 respectively.
  • the structured light module 100 further includes a fixing base 104.
  • the camera module 101 and the line laser transmitter 102 are assembled on the fixing base 104.
  • the fixing base 104 includes a main body 105 and ends 106 located on both sides of the main body 105; wherein the camera module 101 is assembled on the main body 105, and the line laser transmitter 102 is assembled On the end 106; where the end surface of the end 106 faces the reference surface, so that the center line of the line laser transmitter 102 and the center line of the camera module 101 intersect at a point; the reference surface is the end surface or end surface of the main body 105 A plane whose tangent is perpendicular.
  • a groove 108 is opened in the middle of the main body 105, and the camera module 101 is installed in the groove. 108; the end 106 is provided with a mounting hole 109, and the line laser transmitter 102 is mounted in the mounting hole 109.
  • the structured light module 100 is further equipped with a fixed cover 107 above the fixed base 104; a cavity is formed between the fixed cover 107 and the fixed base 104 to accommodate the camera module 101 and the line laser The connection line of the transmitter 102.
  • the fixing cover 107 and the fixing seat 104 can be fixed by a fixing member.
  • the fixing member is illustrated by taking the screw 110 as an example, but the fixing member is not limited to the realization form of the screw.
  • the lens of the camera module 101 is located within the outer edge of the groove 108, that is, the lens is retracted in the groove 108, which can prevent the lens from being scratched or bumped, and is beneficial to protect the lens.
  • the shape of the end surface of the main body 105 is not limited. For example, it may be a flat surface, or a curved surface that is recessed inward or outward. Depending on the device where the structured light module 100 is located, the shape of the end surface of the main body 105 is also different. For example, assuming that the structured light module 100 is applied to an autonomous mobile device with a circular or elliptical outline, the end surface of the main body 105 may be implemented as an inwardly concave curved surface, which is adapted to the outline of the autonomous mobile device.
  • the end surface of the main body 105 can be implemented as a plane, which is adapted to the outline of the autonomous mobile device.
  • the autonomous mobile device with a circular or elliptical outline may be a sweeping robot, a window cleaning robot, etc., with a circular or elliptical outline.
  • the autonomous mobile device with a square or rectangular outline may be a sweeping robot, a window cleaning robot, etc., with a square or rectangular outline.
  • the structured light module 100 is installed on the autonomous mobile device, in order to better fit the appearance of the autonomous mobile device, and maximize the use of autonomous mobile devices.
  • the radius of the curved surface of the main body 105 is the same or approximately the same as the radius of the autonomous mobile device.
  • the radius of the curved surface of its main body can be 170mm or approximately 170mm, for example, it can be 170mm. -172mm range, but not limited to this.
  • the emission angle of the line laser transmitter of the structured light module is mainly determined by the detection distance and the autonomous mobile device that the autonomous mobile device needs to meet. The radius and so on are determined.
  • the end face or the end face tangent of the main body of the structured light module is parallel to the installation baseline, so the emission angle of the line laser transmitter can also be defined as: the center line of the line laser emitted by the line laser transmitter and the end face of the main body Or the angle between the tangents of the end face.
  • the range of the emission angle of the line laser transmitter may be 50-60 degrees, but it is not limited to this.
  • the number of line laser emitters 102 is two, and the two line laser emitters 102 are symmetrically distributed on both sides of the camera module 101.
  • the detection distance that an autonomous mobile device needs to meet refers to the distance range that it needs to detect environmental information, and mainly refers to a certain distance range in front of the autonomous mobile device.
  • the structured light module provided by the foregoing embodiments of the present application has a stable structure and a small size, fits the appearance of the whole machine, greatly saves space, and can support multiple types of autonomous mobile devices.
  • Fig. 2a is a schematic structural diagram of another structured light module provided by an exemplary embodiment of the application.
  • the structured light module 200 includes: at least two line laser emitters 201 and a camera module 202; wherein, at least two line laser emitters 201 are distributed on both sides of the camera module 202.
  • the structured light module 200 further includes a laser driving circuit 204.
  • the laser driving circuit 204 is electrically connected to the line laser transmitter 201.
  • the number of laser driving circuits 204 is not limited. Different laser emitters 201 can share one laser drive circuit 204, or one line laser emitter 201 corresponds to one laser drive circuit 204. More preferably, one line laser transmitter 201 corresponds to one laser driving circuit 204. In FIG. 2a, one line laser transmitter 201 corresponds to one laser driving circuit 204 as an example for illustration.
  • the structured light module 200 includes two line laser transmitters 201, denoted by 201a and 201b, respectively, and laser driving circuits 204 corresponding to the two line laser transmitters 201, denoted by 204a and 204b, respectively .
  • the structured light module 200 can be applied to an autonomous mobile device.
  • the autonomous mobile device contains a main controller or control unit, and the autonomous mobile device can control the structured light module 200 through the main controller or control unit.
  • the laser driving circuit 204 is mainly used to amplify the control signal sent by the main controller or the control unit to the line laser emitter 201, and provide the amplified control signal to the line laser emitter 201 to control the line laser Transmitter 201.
  • the circuit structure of the laser driving circuit 204 is not limited. Any circuit structure that can amplify signals and send the amplified signals to the line laser transmitter 201 is applicable to the embodiments of the present application.
  • a circuit structure of the laser driving circuit 204 (such as 204a or 204b) includes: a first amplifying circuit 2041 and a second amplifying circuit 2042.
  • the first amplifying circuit 2041 is electrically connected to the main controller or control unit of the autonomous mobile device.
  • the on-off control signal sent by the main controller or control unit to the line laser transmitter 201 is amplified by the first amplifying circuit 2041 and then enters the line laser.
  • the transmitter 201 starts to work by driving the line laser transmitter 201.
  • the second amplifier circuit 204b is also electrically connected to the main controller or control unit of the autonomous mobile device.
  • the current control signal sent by the main controller or control unit to the line laser transmitter 201 is amplified by the first amplifier circuit 2041 and enters the line laser transmitter. 201, to control the working current of the line laser transmitter 201.
  • the first amplifying circuit 2041 includes: a transistor Q1; the base of the transistor Q1 is connected to a resistor R27, and the resistor R27 and the base are grounded through a capacitor C27, and a resistor R29 is connected in parallel at both ends of the capacitor C27; The other end of R27 is used as the input end of the first amplifying circuit to be electrically connected to the first IO interface of the main controller or the control unit. Among them, after the on-off control signal output by the first IO interface of the main controller is filtered by the capacitor C27 and amplified by the transistor Q1, the driving line laser transmitter 201 starts to work.
  • the main controller or control unit includes at least two first IO interfaces, and each first IO interface is electrically connected to a laser driving circuit 204 for outputting on/off to the laser driving circuit 204 (such as 204a or 204b) control signal.
  • the main controller or control unit outputs the on-off control signal to the laser drive circuit 204a via the first IO interface, which is represented by LD_L_EMIT_CTRL, and the on-off control signal output to the laser drive circuit 204b is represented by LD_R_EMIT_CTRL.
  • the second amplifying circuit 2042 includes: a MOS transistor Q7, the gate of the MOS transistor Q7 is connected to a resistor R37 and a resistor R35, the resistor R37 and the resistor R35 are grounded through a capacitor C29, and the other end of the resistor R35
  • the input terminal of the second amplifier circuit is electrically connected to the second IO interface of the main controller; the drain of the MOS transistor Q7 is grounded through the resistor R31, the source of the MOS transistor Q7 is electrically connected to the emitter of the transistor Q1; the collector of the transistor Q1
  • the electrode and the power supply of the laser drive circuit are used as the output end of the laser drive circuit to connect the line laser transmitter.
  • the second IO interface of the main controller or the control unit outputs a pulse width modulation circuit (Pulse Width Modulation, PWM) signal after being filtered by a filter circuit composed of a resistor R35 and a capacitor C29, and can be controlled by changing the gate voltage of the MOS transistor Q7 The operating current of the laser transmitter.
  • PWM Pulse Width Modulation
  • the main controller or control unit includes at least two second IO interfaces, and each second IO interface is electrically connected to a laser drive circuit 204 for outputting PWM signals to the laser drive circuit 204 (such as 204a or 204b) .
  • PWM pulse width modulation circuit
  • the PWM signal output by the main controller or control unit to the laser drive circuit 204a via the second IO interface is represented by LD_L_PWM
  • the PWM signal output to the laser drive circuit 204b is represented by LD_R_PWM.
  • J1 represents the control interface of the line laser transmitter 201a
  • J2 represents the control interface of the line laser transmitter 201b
  • the pin connection relationship between J1 and J2 and the laser drive circuits 204a and 204b is shown in Figure 2b. Shown.
  • the pins LD_L_CATHOD (cathode) and LD_L_ANODE (anode) of J1 are respectively connected to the corresponding pins in the laser drive circuit 204a; the pins LD_R_CATHOD (cathode) and LD_R_ANODE (anode) of J2 are respectively connected to the corresponding pins in the laser drive circuit 204b.
  • Pin connection The connection relationship between the pin names, pin numbers, and corresponding pin numbers shown in FIG. 2b is only an exemplary description, and should not constitute a limitation on the circuit structure of the present application.
  • an embodiment of the present application also provides a schematic structural diagram of an autonomous mobile device.
  • the autonomous mobile device includes a device body 300 on which a first control unit 301, The second control unit 302 and the structured light module 303;
  • the structured light module 303 includes a camera module 303a and line laser emitters 303b distributed on both sides of the camera module 303a.
  • the structured light module 303 please refer to the content in the foregoing embodiment, which will not be repeated here.
  • the autonomous mobile device may be any mechanical device that can move in space with a high degree of autonomy in its environment, for example, it may be a robot, a purifier, a drone, etc.
  • robots can include sweeping robots, glass cleaning robots, home escort robots, and welcome robots.
  • the shape of the autonomous mobile device will be different depending on the implementation form of the autonomous mobile device. This embodiment does not limit the implementation form of the autonomous mobile device.
  • the outer contour shape of the autonomous mobile device may be an irregular shape or some regular shapes.
  • the outer contour shape of the autonomous mobile device may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop shape, or a D shape.
  • Other than regular shapes are called irregular shapes.
  • the outer contour of a humanoid robot, the outer contour of an unmanned vehicle, and the outer contour of an unmanned aerial vehicle are irregular shapes.
  • the first control unit 301 and the second control unit 302 are electrically connected to the structured light module 303, and can control the operation of the structured light module 303.
  • the first control unit 301 is electrically connected to the line laser transmitter 303b, and the first control unit 301 controls the line laser transmitter 303b to emit line lasers outwards.
  • the line laser transmitter 303b can control the time when the line laser transmitter 303b emits line lasers and Transmission power, etc.
  • the second control unit 302 is electrically connected to the camera module 303a.
  • the second control unit 302 can control the camera module 303a to collect environmental images detected by the line laser, for example, it can control the exposure frequency, exposure duration, and working frequency of the camera module 303a. Wait.
  • the second control unit 302 is also responsible for controlling various functions of the autonomous mobile device according to the environmental images collected by the camera module 303a.
  • the second control unit 302 can control the autonomous mobile device according to the environment image to realize various functions based on environment perception. For example, it can realize the functions of object recognition, tracking and classification on the visual algorithm; in addition, based on the advantages of high accuracy of line laser detection, it can also realize the functions of real-time, robust and high-precision positioning and map construction. , And can also provide all-round support for motion planning, route navigation, positioning, etc. based on the constructed high-precision environmental map.
  • the second control unit 302 may also perform travel control on the autonomous mobile device according to the environment image, for example, control the autonomous mobile device to perform actions such as moving forward, backing, turning, etc.
  • the implementation manner in which the first control unit 301 and the second control unit 302 control the operation of the structured light module 303 is not limited. All implementations that can control the operation of the structured light module 303 are applicable to the embodiments of the present application.
  • the second control unit 302 controls the exposure of the camera module 303a
  • the first control unit 301 controls the line laser transmitter 303b to emit the line laser during the exposure of the camera module 303a, so that the camera module 303a can collect the line laser detected by the line laser.
  • the first control unit 301 is also electrically connected to the camera module 303a; wherein, the second control unit 302 performs exposure control on the camera module 303a, and the synchronization signal generated by each exposure of the camera module 303a is output to the first Control unit 301;
  • the first control unit 301 controls the line laser transmitter 303b to work according to the synchronization signal, that is, controls the line laser transmitter 303b to emit line lasers during the exposure of the camera module to detect environmental information in the front area.
  • the synchronization signal is a time reference signal provided to other equipment or components that need to process information synchronously.
  • the exposure synchronization (LED STROBE) signal is the time reference signal provided by the camera module 303a to the line laser transmitter 303b, which is the trigger line laser
  • the transmitter 303b emits a trigger signal of the line laser to the outside.
  • the synchronization signal can be, but is not limited to, a switching signal, a continuous pulse signal, and so on.
  • the working mode of the first control unit 301 to control the line laser transmitters 303b located on both sides of the camera module 303a is not limited.
  • the first control unit 301 controls the line laser transmitters 303b on both sides of the camera module 303a to alternately work according to the synchronization signal. For example, each time the camera module 303a is exposed, the first control unit 301 controls the line laser transmitter 303b on one side to work, and the line laser transmitters 303b on both sides work alternately, so that the line laser transmitters 303b on both sides work alternately.
  • the environmental image collected by the camera module 303a each time is not a full-frame image, but a half-frame image.
  • the first control unit 301 is also electrically connected to the second control unit 302, and the first control unit 301 controls the line laser transmitters 303b to work alternately according to the synchronization signal. And output the laser source discrimination signal to the second control unit 302; the second control unit 302 marks the left and right environmental images collected by the camera module 303a during each exposure according to the laser source discrimination signal.
  • the environment image collected during the exposure period can be marked as the right half image; on the contrary, if the current exposure period is the camera module
  • the line laser transmitter 303b on the right side of 303a is in the working state, and the environmental image collected during the exposure period can be marked as the left half of the image.
  • the signal parameters of the laser source discrimination signal corresponding to different line laser transmitters are different, and the laser source discrimination signal may be a voltage signal, a current signal, or a pulse signal.
  • the voltage signal as an example, and assuming that there are two line laser transmitters, which are distributed on both sides of the camera module, the voltage of the laser source differentiation signal corresponding to the left line laser transmitter is 0V, and the right line laser transmitter corresponds to The laser source distinguishes the signal voltage of 3.3V.
  • the laser source discrimination signal can also be adaptively increased to meet the requirements of different line laser transmitters.
  • the 0V laser source distinguishing signal corresponds to the line laser transmitter on the left; the 3.3V and 5V laser source distinguishing signals correspond to Two line laser transmitters on the right.
  • the voltage value of the laser source distinguishing signal is only an exemplary description, and is not limited thereto.
  • the second control unit 302 may also control the camera module 303a to alternately set the working mode of its lens to be different from the working mode of the camera module 303a.
  • the line laser transmitter 303b in the state is adapted.
  • the second control unit 302 controls the camera module 303a to alternately set the working mode of its lens, which is an implementation way of marking the left and right environmental images collected by the camera module 303a during each exposure.
  • the second control unit 302 controls the camera module 303a to alternately set the working mode of its lens
  • the first control unit 301 controls the line laser transmitter 303b located on the left side of the camera module 303a to work according to the synchronization signal
  • the second control unit 302 can recognize, according to the laser source discrimination signal, that the line laser emitter on the left is working during the current exposure, and then controls the lens of the camera module 303a to work in the right half mode.
  • the camera The environment image collected by the module 303a will be marked as the right half image; when the first control unit 301 controls the line laser transmitter 303b on the right side of the camera module 303a to work according to the synchronization signal, the second control unit 302 can operate according to the laser source
  • the distinguishing signal recognizes that the line laser transmitter on the right is in the working state during the current exposure, so the lens of the camera module 303a is controlled to work in the left half frame mode.
  • the environmental image collected by the camera module 303a will be Is marked as the left half of the image.
  • the first control unit 301 may send an on-off control signal and a PWM signal to the line laser transmitter 303b through the laser driving circuit in the structured light module 303 , To drive the line laser transmitter 303b to work.
  • the implementation form of the first control unit 301 and the second control unit 302 is not limited, for example, but not limited to: CPU, GPU, MCU, FPGA or CPLD-based processing chips or single-chip microcomputers, etc. .
  • the first control unit 301 and the second control unit 302 are implemented by a single-chip microcomputer.
  • the first control unit 301 and the second control unit 302 are in the form of a single-chip microcomputer.
  • an implementation structure of the first control unit 301 includes: a first main control board 301b; an implementation structure of the second control unit 302 includes: a second main control board 302b.
  • the implementation structure of the first main control board 301b and the second main control board 302b is not limited. All circuit boards that can implement control functions are applicable to the embodiments of the present application.
  • it can be an FPGA board, a single-chip microcomputer, and so on.
  • a low-cost, cost-effective single-chip microcomputer can be used as the main control board.
  • both the first main control board 301b and the second main control board 302b include multiple IO interfaces (pins).
  • the IO interfaces of the first main control board 301b or the second main control board 302b both include interfaces for connecting clock signals. These interfaces can be electrically connected to the clock control circuit 32b and are responsible for receiving the clock signals provided by the clock control circuit 32b. .
  • FIG. 3b only the electrical connection relationship between the second main control board 302b and the clock control circuit 32b is shown as an example.
  • the clock control circuit 32b includes: a resistor R9; a crystal oscillator Y1 connected in parallel with the resistor R9; a capacitor C37 connected in parallel with Y1; a C38 connected in series with the capacitor C37, wherein the capacitors C37 and C38 are both grounded; the resistor R9 is two The terminals respectively lead out the output terminals of the clock control circuit 32b, and are electrically connected to the clock signal interface on the second main control board 302b.
  • the clock control circuit 32b also includes: a resistor R10 connected to the +3V voltage; the resistor R10 is grounded through the capacitor C40, and the output terminal is connected between the resistor R10 and the capacitor C40 and the asynchronous reset (NRST) pin of the second main control board 302b. connection. Further, the clock control circuit 32b also includes: a resistor R5; one end of the resistor R5 is grounded through a capacitor C26; the other end of the resistor R5 is grounded through C18; a +3V voltage and the processor of the autonomous mobile device are connected between R5 and C18, and the resistor R5 The output terminal drawn from the capacitor C26 is electrically connected to the VDDA pin of the second main control board 302b.
  • the crystal oscillator Y1 in the clock control circuit 32b provides high-frequency pulses after frequency division processing, which becomes the internal clock signal of the second main control board 302b, and uses the clock signal as a control signal for coordinating the work of various components.
  • the connection relationship between the clock control circuit 32b and the second main control board 302b is: one end of R9 is connected to 302b_pin2, the other end is connected to 302b_pin3, R10 and C40 are connected to 302b_pin4, and R5 and C26 are connected to 302b_pin5.
  • 302b_pin2 represents the second main control board.
  • the second pin of 302b is the clock signal interface 2 in Figure 3b;
  • 302b_pin3 represents the third pin of the second main control board 302b, that is, the clock signal interface 3 in Figure 3b;
  • 302b_pin4 represents the second main control board
  • the fourth pin of 302b is the NRST pin in FIG. 3b, and
  • 302b_pin5 represents the fifth pin of the second main control board 302b, that is, the VDDA pin in FIG. 3b.
  • connection manner between the camera module 303a and the second main control board 302b is not limited.
  • the camera module 303a may be directly connected to the second main control board 302b; or may be connected to the second main control board 302b through an FPC (Flexible Printed Circuit) cable 33b.
  • FPC Flexible Printed Circuit
  • the connection relationship between the FPC cable 33b and the second main control board 302b is: 33b_pin7—302b_pin22, 33b_pin8—302b_pin21, 33b_pin10— 302b_pin20,33b_pin11-302b_pin19,33b_pin13-302b_pin18,33b_pin15-302b_pin16,33b_pin16-302b_pin13,33b_pin17-302b_pin12,33b_pin18-302b_pin11,33b_pin19-302b_pin10,33b_pin20-302b_pin9,33b_pin21-302b_pin8,33b_pin22-302b_pin7,33b_pin23-302b_pin6,33b_pin24-302b_pin32, 33b_pin25—302b_pin30, 33b_pin26—302b_pin29.
  • connection relationship between the FPC cable 33b and the first main control board 301b is: 301b_pin31-33b_pin35.
  • “—" represents the connection relationship;
  • 33b_pinx represents the x pin on the FPC cable 33b;
  • 302b_pinx represents the x pin on the second main control board 302b;
  • 301b_pinx represents the x pin on the first main control board 301b;
  • the connection relationship between the pin names, pin numbers, and corresponding pin numbers shown in FIG. 3b are only exemplary descriptions, and should not constitute a limitation on the circuit structure of the present application.
  • the structured light module 303 may further include a laser driving circuit 303c.
  • the circuit implementation structure of the laser driving circuit 303c is similar to the laser driving circuit 204a or 204b shown in FIG. 2b, and will not be repeated here.
  • FIG. 3b taking the structured light module 303 including two laser driving circuits 303c as an example, the connection relationship between the laser driving circuit 303c and the first main control board 301b is exemplarily described.
  • J1 is connected to the left line laser transmitter 303b in Figure 3e
  • J1 is the control interface of the left line laser transmitter 303b
  • J2 is connected to the right line laser transmitter 303b in Figure 3e
  • J2 is the right line laser transmitter.
  • the laser driving circuit 303c used to drive the left line laser transmitter 303b includes pins LD_L_CATHOD and LD_L_ANODE, which are electrically connected to the pins LD_L_CATHOD and LD_L_ANODE of J1, respectively; used to drive the right line laser transmitter 303b
  • the laser driving circuit 303c includes pins LD_R_CATHOD and LD_R_ANODE, which are electrically connected to pins LD_R_CATHOD and LD_R_ANODE of J2, respectively.
  • 301b_pin28 is connected to the LD_L_EMIT_CTRL terminal of the laser driving circuit 303c for driving the left line laser transmitter 303b to control the on and off of the left line laser transmitter 303b.
  • 301b_pin28 is high, the left side The line laser transmitter 303b is in the on state.
  • 301b_pin28 is low, the line laser transmitter 303b on the left is in the off state.
  • 301b_pin27 is connected to the LD_R_EMIT_CTRL terminal of the laser driving circuit 303c for driving the right line laser transmitter 303b to control the on and off of the right line laser transmitter 303b.
  • 301b_pin27 when 301b_pin27 is high, the right The side line laser transmitter 303b is in the on state. When 301b_pin27 is low, the right line laser transmitter 303b is in the off state.
  • 301b_pin26 is connected to the LD_L_PWM terminal of the laser driving circuit 303c for driving the left line laser transmitter 303b to control the working current of the left line laser transmitter 303b.
  • the output of 301b_pin26 is the PWM signal, the duty cycle of the PWM signal It can be increased from 0% to 100%.
  • 301b_pin25 is connected to the LD_R_PWM terminal of the laser driving circuit 303c for driving the right line laser transmitter 303b to control the working current of the right line laser transmitter 303b.
  • the output of 301b_pin25 is also a PWM signal, which can also be passed Adjust the duty cycle of the PWM signal output by 301b_pin25 to control the working current of the right line laser transmitter 303b.
  • the first main control board 301b and the second main control board 302b also have a connection relationship: 301b_pin30-302b_pin40.
  • MCU1 and MCU2 start to initialize the IO interface, and configure the structured light module 303 through the I2C interface.
  • MCU1 and MCU2 control the structured light module 303 through the I2C interface to realize the control of the camera module 303a and the line laser transmitter 303b in the structured light module 303.
  • MCU2 sends a trigger signal to the camera module 303a through the I2C interface, and the camera module 303a receives the trigger signal to start exposure and sends an exposure synchronization (LED STROBE) signal to MCU1; after MCU1 receives the LED STROBE signal, it will start at the rising edge of the LED STROBE signal ,
  • the right line laser transmitter 303b is driven to emit laser by the laser drive circuit 303c and the laser source discrimination signal corresponding to the right line laser transmitter 303b is sent to MCU2; at the falling edge of the LED STROBE signal, MCU1 turns off the right line laser transmitter 303b:
  • the camera module 303a transmits the collected image data to the MCU2, and the MCU2 marks the collected image data left and right according to the laser source discrimination signal.
  • MCU2 sends a trigger signal to the camera module 303a through I2C, and the camera module 303a receives the trigger signal to start exposure and sends an exposure synchronization (LED STROBE) signal to MCU1; after MCU1 receives the LED STROBE signal, it will start the exposure of the LED STROBE signal.
  • LED STROBE exposure synchronization
  • the left line laser transmitter 303b is driven to emit laser by the laser drive circuit 303c and the laser source discrimination signal corresponding to the right line laser transmitter 303b is sent to MCU2; at the falling edge of the LED STROBE signal, MCU1 turns off the right line laser Transmitter 303b:
  • the camera module 303a transmits the collected picture data to the MCU2, and the MCU2 marks the collected picture data left and right according to the laser source discrimination signal. Repeat the above process until the end of the operation.
  • the specific position of the structured light module 303 in the device body 300 is not limited.
  • it may be, but not limited to, the front side, rear side, left side, right side, top, middle, and bottom of the device body 300.
  • the structured light module 303 is arranged at a middle position, a top position, or a bottom position in the height direction of the device body 300.
  • the autonomous mobile device moves forward to perform the task.
  • the structured light module 303 is arranged on the front side of the device body 300; the front side is the autonomous mobile device forward The side the device body faces during the movement.
  • a bumper 305 is installed on the front side of the device body 300, and the bumper 305 is located outside the structured light module 303.
  • FIG. 3c it is an exploded schematic diagram of the device body 300 and the striker plate 305.
  • the structured light module 303 may be installed on the bumper or not on the bumper, which is not limited.
  • a window is opened on the bumper plate in an area corresponding to the structured light module 303 to expose the camera module 303a and the line laser transmitter 303b in the structured light module 303.
  • windows are respectively opened on the striker plate at positions corresponding to the camera module 303a and the line laser transmitter 303b.
  • windows 31, 32 and 33 are provided on the striker plate 305, wherein the windows 31 and 33 correspond to the line laser transmitter 303b; the window 32 corresponds to the camera module 303a.
  • the structured light module 303 is installed on the inner side wall of the bumper 305.
  • FIG. 3d shows an exploded schematic diagram of the structured light module 303 and the bumper 305.
  • the distance from the center of the structured light module 303 to the working surface where the autonomous mobile device is located is in the range of 30-60 mm. In order to reduce the spatial blind area of the autonomous mobile device and make the viewing angle sufficiently large, further optionally, the distance from the center of the structured light module 303 to the working surface where the autonomous mobile device is located is 47 mm.
  • the autonomous mobile device of this embodiment may also include some basic components, such as one or more memories, communication components, power supply components, driving components, and so on.
  • one or more memories are mainly used to store computer programs, which can be executed by the main controller, causing the main controller to control the autonomous mobile device to perform corresponding tasks.
  • one or more memories may also be configured to store various other data to support operations on autonomous mobile devices. Examples of such data include instructions for any application or method to operate on the autonomous mobile device, map data of the environment/scenario where the autonomous mobile device is located, working mode, working parameters, and so on.
  • the communication component is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices.
  • the device where the communication component is located can access a wireless network based on communication standards, such as Wifi, 2G or 3G, 4G, 5G or a combination of them.
  • the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component may further include a near field communication (NFC) module, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra wideband (UWB) technology, Bluetooth (BT) technology, and the like.
  • NFC near field communication
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra wideband
  • Bluetooth Bluetooth
  • the driving assembly may include a driving wheel, a driving motor, a universal wheel, and the like.
  • the autonomous mobile device of this embodiment can be implemented as a sweeping robot.
  • the autonomous mobile device can also include a cleaning component, which can include a cleaning motor and a cleaning robot. Brushes, dusting brushes, dust suction fans, etc.
  • the basic components and the composition of the basic components included in different autonomous mobile devices will be different, and the embodiments of the present application are only partial examples.
  • an embodiment of the present application also provides a schematic structural diagram of another autonomous mobile device.
  • the device includes a device body 400 on which a main controller 401 and a structured light are provided.
  • the structured light module 402 includes: a camera module 402a and line laser emitters 402b distributed on both sides of the camera module.
  • the structured light module 402 please refer to the content of the foregoing embodiment, which will not be repeated here.
  • the autonomous mobile device may be any mechanical device that can move in space with a high degree of autonomy in its environment, for example, it may be a robot, a purifier, a drone, etc.
  • robots can include sweeping robots, glass cleaning robots, home escort robots, and welcome robots.
  • the shape of the autonomous mobile device will be different depending on the implementation form of the autonomous mobile device. This embodiment does not limit the implementation form of the autonomous mobile device.
  • the outer contour shape of the autonomous mobile device may be an irregular shape or some regular shapes.
  • the outer contour shape of the autonomous mobile device may be a regular shape such as a circle, an ellipse, a square, a triangle, a drop shape, or a D shape.
  • Other than regular shapes are called irregular shapes.
  • the outer contour of a humanoid robot, the outer contour of an unmanned vehicle, and the outer contour of an unmanned aerial vehicle are irregular shapes.
  • the embodiment of the present application does not limit the electrical connection between the main controller 401 and the structured light module 402, and can control the operation of the structured light module 402.
  • the main controller 401 is electrically connected to the camera module 402a and the line laser transmitter 402b, respectively.
  • the main controller 401 controls the line laser transmitter 402b to emit the line laser, for example, it can control the time and power of the line laser transmitter 402b to emit the line laser; on the other hand, it controls the camera module 402a to collect
  • the environmental image detected by the line laser may, for example, control the exposure frequency, exposure duration, working frequency, etc. of the camera module 402a; further, the main controller 401 is also responsible for function control of the autonomous mobile device according to the environmental image.
  • the main controller 401 may control the autonomous mobile device according to the environment image to implement various functions based on environment perception. For example, it can realize the functions of object recognition, tracking and classification on the visual algorithm; in addition, based on the advantages of high accuracy of line laser detection, it can also realize the functions of real-time, robust and high-precision positioning and map construction. , And can also provide all-round support for motion planning, route navigation, positioning, etc. based on the constructed high-precision environmental map.
  • the main controller 401 may also perform travel control on the autonomous mobile device according to the environment image, for example, control the autonomous mobile device to perform actions such as moving forward, backing, turning, etc.
  • the implementation form of the main controller 401 is not limited.
  • it may be, but not limited to, a CPU, GPU, MCU, a processing chip based on FPGA or CPLD, or a single-chip microcomputer.
  • the main controller 401 is implemented by a single-chip microcomputer.
  • the main controller 401 is in the form of a single-chip microcomputer.
  • an implementation structure of the main controller 401 includes: a main control board 40b.
  • the implementation structure of the main control board 40b is not limited. All circuit boards that can implement control functions are applicable to the embodiments of the present application.
  • it can be an FPGA board, a single-chip microcomputer, and so on.
  • a low-cost, cost-effective single-chip microcomputer can be used as the main control board.
  • the main control board 40b includes a plurality of IO interfaces (pins). Among these interfaces, part of the IO interface can be used as a test interface to connect with the debugging and programming module 41b. Among them, the debugging and programming module 41b is used to complete the programming of the configuration file and test the hardware function after the programming is successful.
  • the connection relationship between the debugging and programming module 41b and the main control board 40b is: the second pin 41b_pin2 of the debugging and programming module 41b is electrically connected to the 23rd pin 40b_pin23 of the main control board 40b, and the debugging and programming module 41b
  • the third pin 41b_pin3 is electrically connected to the 24th pin 40b_pin24 of the main control board 40b.
  • pins 41b_pin3 and 40b_pin24 belong to the IO interface for testing.
  • the IO interface of the main control board 40b includes interfaces for connecting clock signals. These interfaces can be electrically connected to the clock control circuit 42b and are responsible for receiving the clock signals provided by the clock control circuit 42b.
  • the clock control circuit 42b includes: a resistor R9; a crystal oscillator Y1 connected in parallel with the resistor R9; a capacitor C37 connected in parallel with Y1; a C38 connected in series with the capacitor C37, wherein the capacitors C37 and C38 are both grounded; the two ends of the resistor R9 respectively lead to clock control
  • the output terminal of the circuit 42b is electrically connected to the clock signal interface on the main control board 40b.
  • the clock control circuit 42b also includes a resistor R10 connected to a +3V voltage; the resistor R10 is grounded through the capacitor C40, and an output terminal is drawn between the resistor R10 and the capacitor C40 to be electrically connected to the asynchronous reset (NRST) pin of the main control board 40b. Further, the clock control circuit 42b also includes: a resistor R5; one end of the resistor R5 is grounded through a capacitor C26; the other end of the resistor R5 is grounded through C18; a +3V voltage and the processor of the autonomous mobile device are connected between R5 and C18, and the resistor R5 The output terminal drawn from the capacitor C26 is electrically connected to the VDDA pin of the main control board 40b.
  • the crystal oscillator Y1 in the clock control circuit 42b provides a high-frequency pulse after frequency division processing, which becomes an internal clock signal of the main control board 40b, and the clock signal is used as a control signal for coordinating the work of various components.
  • the clock control circuit 42b may be connected to the main controller 401 to realize the control of the structured light module 402 by the autonomous mobile device.
  • the connection relationship between the clock control circuit 42b and the main control board 40b is: one end of R9 is connected to 40b_pin2, the other end is connected to 40b_pin3, R10 and C40 are connected to 40b_pin4, and R5 and C26 are connected to 40b_pin5.
  • 40b_pin2 represents the second of the main control board 40b.
  • 40b_pin3 represents the third pin of the main control board 40b
  • 40b_pin4 represents the fourth pin (NRST) of the main control board 40b
  • 40b_pin5 represents the fifth pin (VDDA) of the main control board 40b.
  • connection manner between the camera module 402a and the main control board 40b is not limited.
  • the camera module 402a can be directly connected to the main control board 40b; it can also be connected to the main control board 40b through an FPC cable 43b.
  • connection relationship between the FPC cable 43b and the main control board 40b is: 43b_pin7-40b_pin22, 43b_pin8-40b_pin21, 43b_pin10-40b_pin20, 43b_pin11— 40b_pin19,43b_pin13-40b_pin18,43b_pin15-40b_pin16,43b_pin16-40b_pin13,43b_pin17-40b_pin12,43b_pin18-40b_pin11,43b_pin19-40b_pin10,43b_pin20-40b_pin9,43b_pin21-40b_pin8,43b_pin22-40b_pin7,43b_pin23-40b_pin6,43b_pin24-40b_pin32,43b_pin25-40b_pin30, 43b_pin26—40b_pin29.
  • “—” represents the connection relationship
  • 43b_pinx represents the x pin on the F
  • the structured light module 402 further includes a laser driving circuit 402c.
  • the circuit implementation structure of the laser driving circuit 402c is similar to the laser driving circuit 204a or 204b shown in FIG. 2b, and will not be repeated here.
  • the structured light module 402 shown in FIG. 4c includes two laser driving circuits 402c, which are respectively used to drive the line laser transmitters 402b on the left and right sides of the camera module 402a, the two laser driving circuits 402c shown in FIG. 4c
  • the connection relationship between the laser driving circuit 402c and the main control board 40b is exemplified.
  • J1 is connected to the left line laser transmitter 402b in Figure 4c
  • J1 is the control interface of the left line laser transmitter 402b
  • J2 is connected to the right line laser transmitter 402b in Figure 4c
  • J2 is the right The control interface of the sideline laser transmitter 402b.
  • the laser driving circuit 402c used to drive the line laser transmitter 402b on the left side of Fig.
  • the laser driving circuit 402c of the sideline laser transmitter 402b includes pins LD_R_CATHOD and LD_R_ANODE, which are electrically connected to the pins LD_L_CATHOD and LD_L_ANODE of J1;
  • the laser driving circuit 402c of the sideline laser transmitter 402b includes pins LD_R_CATHOD and LD_R_ANODE, which are electrically connected to the pins LD_R_CATHOD and LD_R_ANODE of J2, respectively.
  • 40b_pin28 is connected to the LD_L_EMIT_CTRL terminal of the laser driving circuit 402c used to drive the left line laser transmitter 402b in Fig. 4c to control the on and off of the left line laser transmitter 402b.
  • 40b_pin26 is connected to the LD_L_PWM terminal of the laser driving circuit 402c used to drive the left line laser transmitter 402b in Fig. 4c to control the current of the left line laser transmitter 402b.
  • 40b_pin26 is controlled by PWM, and the duty cycle of PWM It can be increased from 0% to 100%. As the duty cycle increases, the current of the left line laser transmitter 402b will also increase, so that the current of the left line laser transmitter 402b can be controlled according to the duty ratio of 40b_pin26.
  • 40b_pin25 is connected to the LD_R_PWM terminal of the laser driving circuit 402c used to drive the right line laser transmitter 402b in Fig. 4c to control the current of the right line laser transmitter 402b.
  • 40b_pin25 is also PWM controlled, so The current size of the right line laser transmitter 402b is controlled according to the duty ratio of 40b_pin25.
  • the main controller 401 is specifically configured to: perform exposure control on the camera module 402a, and obtain a synchronization signal generated by the camera module 402a for each exposure; and control the line laser transmitter 402b to work alternately according to the synchronization signal , And mark the left and right environmental images collected by the camera module 402a for each exposure.
  • the synchronization signal is a time reference signal provided to other devices or components that need to process information synchronously.
  • the exposure synchronization (LED STROBE) signal is the time reference provided by the camera module 402a and the line laser transmitter 402b.
  • the trigger line laser transmitter 402b emits a trigger signal of the line laser to the outside.
  • the synchronization signal can be, but is not limited to, a switching signal, a continuous pulse signal, and so on.
  • the working mode of the line laser transmitter 402b located on both sides of the camera module 402a is not limited.
  • the main controller 401 controls the line laser transmitter 402b to work alternately according to the synchronization signal, and controls the camera module 402a to alternately set the working mode of its lens to adapt to the line laser transmitter 402b in the working state.
  • the main controller 401 controls the camera module 402a to alternately set the working mode of its lens, it is specifically used to control the camera module when the line laser transmitter 402b located on the left side of the camera module 402a works.
  • the lens of 402a works in the right half frame mode; when the line laser transmitter 402b located on the right side of the camera module 402a is controlled to work, the lens of the camera module 402a is controlled to work in the left half frame mode.
  • the main controller 401 can control the exposure of the camera module 402a, and control the line laser transmitter 402b on one side to work each time the camera module 402a is exposed, so that the line laser transmitters 402b on both sides alternate.
  • the main controller 401 may send an on-off control signal and a PWM signal to the line laser transmitter 402b through the laser driving circuit 204 shown in FIG. 2b to drive the line laser transmitter 402b to work.
  • the camera module 402a when the line laser transmitter 402b works alternately, the camera module 402a alternately sets its lens working mode, which does not limit the implementation of the main controller 401 to mark the environment images collected by the camera module 402a on the left and right. the way.
  • the lens of the camera module 402a works in the left half frame mode
  • the line laser transmitter 402b on the right emits laser light
  • the camera module 402a collects environmental images
  • the main controller 401 marks the collected environmental images as the left half frame environment. Images and more.
  • the MCU starts to initialize the IO interface, and configures the structured light module 402 through the I2C interface.
  • the MCU controls the structured light module 402 through the I2C interface to realize the control of the camera module 402a and the line laser transmitter 402b in the structured light module 402.
  • the MCU sends a trigger signal to the camera module 402a through the I2C interface, and the camera module 402a receives the trigger signal to start exposure and sends an exposure synchronization (LED STROBE) signal to the MCU.
  • LED STROBE exposure synchronization
  • the MCU After the MCU receives the LED STROBE signal, at the rising edge of the LED STROBE signal, the right-side line laser transmitter 402b is driven to emit laser through the laser drive circuit 402c, and at the falling edge of the LED STROBE signal, the MCU turns off the right-side line laser transmitter 402b.
  • the camera module 402a triggers the MCU to read the picture data and process the picture data through the Digital Video Port (DVP) on the main control board.
  • DVP Digital Video Port
  • the MCU sends a trigger signal to the camera module 402a through I2C, and the camera module 402a receives the trigger signal to start exposure and sends an exposure synchronization (LED STROBE) signal to the MCU.
  • DVP Digital Video Port
  • the MCU After the MCU receives the LED STROBE signal, at the rising edge of the LED STROBE signal, the left-side line laser transmitter 402b is driven to emit laser through the laser driving circuit 402c, and at the falling edge of the LED STROBE signal, the MCU turns off the right-side line laser transmitter 402b.
  • the camera module 402a After the exposure is completed, the camera module 402a triggers the MCU to read the image data and process the image data through the DVP on the main control board. Repeat the above process until the end of the operation.
  • the specific position of the structured light module 402 in the device body 400 is not limited.
  • it may be, but not limited to, the front side, rear side, left side, right side, top, middle, and bottom of the device body 400.
  • the structured light module 402 is arranged at a middle position, a top position, or a bottom position in the height direction of the device body 400.
  • the autonomous mobile device moves forward to perform the task.
  • the structured light module 402 is arranged on the front side of the device body 400; the front side is the autonomous mobile device forward The side to which the device body 400 faces during the movement.
  • a bumper plate is installed on the front side of the device body 400, and the bumper plate is located outside the structured light module 402.
  • the structured light module can be installed on the bumper or not on the bumper, which is not limited.
  • a window is opened in the area corresponding to the structured light module 402 on the impact plate to expose the camera module 402a and the line laser transmitter 402b in the structured light module 402. Further optionally, windows are respectively opened on the impact plate at positions corresponding to the camera module 402a and the line laser transmitter 402b.
  • the structured light module 402 is installed on the inner side wall of the striker.
  • the distance from the center of the structured light module 402 to the working surface where the autonomous mobile device is located is in the range of 30-60 mm. In order to reduce the spatial blind area of the autonomous mobile device and make the viewing angle sufficiently large, further optionally, the distance from the center of the structured light module 402 to the working surface where the autonomous mobile device is located is 47 mm.
  • the autonomous mobile device of this embodiment may also include some basic components, such as one or more memories, communication components, power supply components, driving components, and so on.
  • one or more memories are mainly used to store computer programs, which can be executed by the main controller, causing the main controller to control the autonomous mobile device to perform corresponding tasks.
  • one or more memories may also be configured to store various other data to support operations on autonomous mobile devices. Examples of such data include instructions for any application or method to operate on the autonomous mobile device, map data of the environment/scenario where the autonomous mobile device is located, working mode, working parameters, and so on.
  • the communication component is configured to facilitate wired or wireless communication between the device where the communication component is located and other devices.
  • the device where the communication component is located can access a wireless network based on communication standards, such as Wifi, 2G or 3G, 4G, 5G or a combination of them.
  • the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component may further include a near field communication (NFC) module, radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra wideband (UWB) technology, Bluetooth (BT) technology, and the like.
  • NFC near field communication
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra wideband
  • Bluetooth Bluetooth
  • the driving assembly may include a driving wheel, a driving motor, a universal wheel, and the like.
  • the autonomous mobile device of this embodiment may be implemented as a sweeping robot.
  • the autonomous mobile device may also include a cleaning component, which may include a cleaning motor, a cleaning brush, a dusting brush, Vacuum fans, etc.
  • the basic components and the composition of the basic components included in different autonomous mobile devices will be different, and the embodiments of the present application are only partial examples.
  • the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • this application can be provided as a method, a system, or a computer program product. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

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Abstract

一种结构光模组（100）及自主移动设备。结构光模组（100）包括摄像头模组（101）和分布于摄像头模组（101）两侧的线激光发射器（102）；线激光发射器（102）向外发射线激光；摄像头模组（101）采集由线激光探测到的环境图像。借助于线激光检测精度较高的优势，可更加准确地探测前方环境信息。另外，线激光发射器（102）位于摄像头模组（101）的两侧，这种方式尺寸占用小，可以节省更多的空间，有利于拓展线激光传感器的应用场景。

Description

结构光模组及自主移动设备
交叉引用
本申请引用于2019年12月30日递交的名称为“结构光模组及自主移动设备”的第2019114037682号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及人工智能技术领域，尤其涉及一种结构光模组及自主移动设备。
背景技术
随着激光技术的普及，激光传感器的应用被逐步挖掘。其中，障碍物识别及避障是激光传感器比较重要的应用方向。各领域对激光传感器的要求越来越高，现有激光类传感器已经无法满足用户的应用需求，有待提出新的激光传感器结构。
发明内容
本申请的多个方面提供一种结构光模组及自主移动设备，用以提供一种新的结构光模组，拓展激光传感器的应用范围。
本申请实施例提供一种结构光模组，包括：摄像头模组和分布于摄像头模组两侧的线激光发射器；线激光发射器负责向外发射线激光；摄像头模组负责采集由线激光探测到的环境图像。
本申请实施例还提供一种自主移动设备，包括：设备本体，设备本体上设有第一控制单元、第二控制单元以及结构光模组；结构光模组包括：摄像头模组和分布于摄像头模组两侧的线激光发射器；第一控制单元与线激光发 射器电连接，第二控制单元与摄像头模组电连接；其中，第一控制单元控制线激光发射器向外发射线激光；第二控制单元控制摄像头模组采集由线激光探测到的环境图像，以及负责根据环境图像对自主移动设备进行功能控制。
本申请实施例还提供一种自主移动设备，包括：设备本体，设备本体上设有主控制器和结构光模组；结构光模组包括：摄像头模组和分布于摄像头模组两侧的线激光发射器；其中，主控制器控制线激光发射器向外发射线激光，并控制摄像头模组采集由线激光探测到的环境图像，以及负责根据环境图像对自主移动设备进行功能控制。
在本申请实施例中，将摄像头模组与线激光发射器相结合，在摄像头模组两侧设置线激光发射器得到一种新的结构光模组，在该结构光模组中，线激光发射器向外发射线激光，摄像头模组采集由线激光探测到的环境图像，借助于线激光检测精度较高的优势，可更加准确地探测前方环境信息。另外，线激光发射器位于摄像头模组的两侧，这种方式尺寸占用小，可以节省更多的空间，有利于拓展线激光传感器的应用场景。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1a为本申请示例性实施例提供的一种结构光模组的结构示意图；
图1b为本申请示例性实施例提供的一种线激光发射器的工作原理示意图；
图1c为本申请示例性实施例提供的一种结构光模组中各器件安装位置关系的结构示意图；
图1d为本申请示例性实施例提供的一种线激光发射器的线激光与摄像头模组视场角的关系示意图；
图1e为本申请示例性实施例提供的一种结构光模组的前视图；
图1f为本申请示例性实施例提供的一种结构光模组的俯视图；
图1g为本申请示例性实施例提供的一种结构光模组的后视图；
图1h为本申请示例性实施例提供的一种结构光模组的侧视图；
图1i为本申请示例性实施例提供的一种结构光模组的爆炸图；
图2a为本申请示例性实施例提供的另一种结构光模组的结构示意图；
图2b为本申请示例性实施例提供的一种激光驱动电路的结构示意图；
图3a为本申请示例性实施例提供一种自主移动设备的结构示意图；
图3b为本申请示例性实施例提供的一种第一控制单元和第二控制单元的结构示意图；
图3c为本申请示例性实施例提供的一种设备本体与撞板的分解示意图；
图3d为本申请示例性实施例提供的一种结构光模组与撞板的分解示意图；
图3e为本申请示例性实施例提供的一种自主移动设备控制结构光模组的结构示意图；
图4a为本申请示例性实施例提供另一种自主移动设备的结构示意图；
图4b为本申请示例性实施例提供的一种自主移动设备主控制器的结构示意图；
图4c为本申请示例性实施例提供的另一种自主移动设备控制结构光模组的结构示意图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有 其他实施例，都属于本申请保护的范围。
针对现有激光传感器无法满足应用需求的问题，本申请实施例提供一种结构光模组，该结构光模组主要包括线激光发射器和摄像头模组；线激光发射器分布在摄像头模组的两侧，可向外发射线激光，线激光到达物体表面及其背景后，由摄像头模组采集返回的线激光信息，进而可根据物体造成的线激光信息的变化来计算物体的位置和深度等信息，进而复原整个三维空间。本申请实施例提供的结构光模组可有多种实现形态，下面将通过不同实施例分别进行介绍说明。
图1a为本申请示例性实施例提供的一种结构光模组的结构示意图。如图1a所示，该结构光模组100包括：摄像头模组101和分布于摄像头模组101两侧的线激光发射器102，线激光发射器102负责向外发射线激光；摄像头模组101负责采集由线激光探测到的环境图像。
在本实施例中，并不限定线激光发射器102的实现形态，可以是任何能够发射线激光的设备/产品形态。例如，线激光发射器102可以是但不限于：激光管。线激光发射器102可向外发射线激光来探测环境图像。如图1b所示，线激光发射器102对外发射激光平面FAB和激光平面ECD，激光平面到达障碍物后会在障碍物表面形成一条线激光，即图1b中所示线段AB和线段CD。可选地，线激光发射器102可在结构光模组100所在设备的控制单元或主控制器的控制下，向外发射线激光。
在本实施例中，并不限定摄像头模组101的实现形态。凡是可以采集环境图像的视觉类设备均适用于本申请实施例。例如，摄像头模组101可以包括但不限于：单目摄像头、双目摄像头等。另外，在本实施例中，也不限定线激光发射器102发射线激光的波长，波长不同，线激光的颜色会不同，例如可以是红色激光、紫色激光等。相应地，摄像头模组101可以采用能够采集线激光发射器102发射出的线激光的摄像头模组。与线激光发射器102发射线激光的波长适配，例如，摄像头模组101还可以是红外摄像头、紫外线摄像头、星光摄像机、高清摄像头等。摄像头模组101可采集其视场角内的 环境图像。摄像头模组101的视场角包括垂直视场角和水平视场角。在本实施例中，并不限定摄像头模组101的视场角，可以根据应用需求来选择具有合适视场角的摄像头模组101。
在本实施例中，线激光发射器102发射出去的线激光位于摄像头模组101的视场范围内，线激光可帮助探测摄像头模组101视场角内的物体的轮廓、高度和/或宽度等信息，摄像头模组101可采集由线激光探测到的环境图像。在本实施例中，只要线激光发射器102发射出去的线激光位于摄像头模组101的视场范围内即可，至于线激光在物体表面形成的激光线段与水平面之间的角度不做限定，例如线激光可以平行或垂直于水平面，还可以与水平面之间成任意角度，具体可根据应用需求而定。线激光与水平面之间的角度，与线激光发射器102的安装方式、安装角度等因素有关系。如图1d所示为线激光发射器102发射的线激光与摄像头模组101的视场角之间的关系示意图。其中，字母K表示摄像头模组，字母J和L表示位于摄像头模组两侧的线激光发射器；Q表示两侧的线激光发射器发射出去的线激光在摄像头模组的视场角内的交点；直线KP和KM表示摄像头模组的水平视场的两个边界，∠PKM表示摄像头模组的水平视场角。在图1d中，直线JN表示线激光发射器J发射线激光的中心线；直线LQ表示线激光发射器L发射线激光的中心线。
其中，基于摄像头模组101采集到的环境图像，可以计算出结构光模组100或结构光模组100所在设备到前方物体(如障碍物)的距离，还可以计算前方物体(如障碍物)的高度、宽度、形状或轮廓等信息，进一步，还可以进行三维重建等。其中，可以利用三角法原理，通过三角函数计算线激光发射器与其前方物体的距离。
在本申请实施例中，并不限定线激光发射器102的总数量，例如可以是两个或者两个以上。对于分布于摄像头模组101每一侧的线激光发射器102的数量也不做限定，摄像头模组101每一侧的线激光发射器102的数量可以是一个或多个；另外，两侧的线激光发射器102的数量可以相同，也可以不相同。在图1a中，以摄像头模组101两侧各设置一个线激光发射器102为例 进行图示，但并不限于此。例如，摄像头模组101的左侧可以设置2个线激光发射器102，摄像头模组101的右侧可以设置1个线激光发射器102。又例如，摄像头模组101的左右侧均设置2个、3个或5个线激光发射器102等。
在本实施例中，也不限定线激光发射器102在摄像头模组101两侧的分布形态，例如可以是均匀分布，也可以是非均匀分布，可以是对称分布，也可以是非对称分布。其中，均匀分布和非均匀分布可以是指分布于摄像头模组101同一侧的线激光发射器102之间可以是均匀分布或非均匀分布，当然，也可以理解为：分布于摄像头模组101两侧的线激光发射器102从整体上来看是均匀分布或非均匀分布。对于对称分布和非对称分布，主要是指分布于摄像头模组101两侧的线激光发射器102从整体上看是对称分布或非对称分布。这里的对称既包括数量上的对等，也包括安装位置上的对称。例如，在图1b所示的结构光模组中，线激光发射器102的数量为两个，且两个线激光发射器102对称分布于摄像头模组101两侧。
在本申请实施例中，也不限定线激光发射器102与摄像头模组101之间的安装位置关系，凡是线激光发射器102分布在摄像头模组101两侧的安装位置关系均适用于本申请实施例。其中，线激光发射器102与摄像头模组101之间的安装位置关系，与结构光模组100的应用场景相关。可根据结构光模组100的应用场景，灵活确定线激光发射器102与摄像头模组101之间的安装位置关系。这里的安装位置关系包括以下几个方面：
安装高度：在安装高度上，线激光发射器102和摄像头模组101可以位于不同高度。例如，两侧的线激光发射器102高于摄像头模组101，或者，摄像头模组101高于两侧的线激光发射器102；或者一侧的线激光发射器102高于摄像头模组101，另一侧的线激光发射器102低于摄像头模组101。当然，线激光发射器102和摄像头模组101也可以位于同一高度。较为优选的，线激光发射器102和摄像头模组101可以位于同一高度。例如，在实际使用中，结构光模组100会被安装在某一设备(例如机器人、净化器、无人车等自主移动设备)上，在该情况下，线激光发射器102和摄像头模组101到设备所 在工作面(例如地面)之间的距离相同，例如两者到工作面的距离都是47mm、50mm、10cm、30cm或50cm等。
安装距离：安装距离是指线激光发射器102与摄像头模组101之间的机械距离(或者称为基线距离)。线激光发射器102与摄像头模组101之间的机械距离，可根据结构光模组100的应用需求灵活设定。其中，线激光发射器102与摄像头模组101之间的机械距离、结构光模组100所在设备(例如机器人)需要满足的探测距离以及该设备的直径等信息可在一定程度上决定测量盲区的大小。对结构光模组100所在设备(例如机器人)来说，其直径是固定的，测量范围与线激光发射器102与摄像头模组101之间的机械距离是可以根据需求灵活设定，这意味着机械距离及盲区范围不是固定值。在保证设备测量范围(或性能)的前提下，应该尽量减小盲区范围，然而，线激光发射器102与摄像头模组101之间的机械距离越大，可以控制的距离范围就越大，这有利于更好地控制盲区大小。
在一些应用场景中，结构光模组100应用于扫地机器人上，例如可以安装在扫地机器人的撞板上或机器人本体上。针对扫地机器人来说，下面示例性给出线激光发射器102与摄像头模组101之间比较合理的机械距离范围。例如，线激光发射器102与摄像头模组101之间的机械距离可以大于20mm。进一步可选地，线激光发射器102与摄像头模组101之间的机械距离大于30mm。更进一步，线激光发射器102与摄像头模组101之间的机械距离大于41mm。需要说明的是，这里给出的机械距离的范围，并不仅仅适用于结构光模组100应用在扫地机器人这一种场景，也适用于结构光模组100在规格尺寸与扫地机器人比较接近或类似的其它设备上的应用。
发射角度：发射角度是指在安装好之后，线激光发射器102发射线激光的中心线与线激光发射器102的安装基线之间的夹角。安装基线是指在线激光模组102与摄像头模组101位于同一安装高度的情况下，线激光模组102和摄像头模组101所在的一条直线。在本实施例中，并不限定线激光发射器102的发射角度。该发射角度与结构光模组100所在设备(例如机器人)需要 满足的探测距离、该设备的半径以及线激光发射器102与摄像头模组101之间的机械距离有关。在结构光模组100所在设备(例如机器人)需要满足的探测距离、该设备的半径和线激光发射器102与摄像头模组101之间的机械距离确定的情况下，可直接通过三角函数关系得到线激光发射器102的发射角度，即发射角度是一固定值。
当然，如果需要某个特定的发射角度，可以通过调整结构光模组100所在设备(例如机器人)需要满足的探测距离和线激光发射器102与摄像头模组101之间的机械距离来实现。在一些应用场景中，在结构光模组100所在设备(例如机器人)需要满足的探测距离和设备的半径确定的情况下，通过调整线激光发射器102与摄像头模组101之间的机械距离，线激光发射器102的发射角度可在一定角度范围内变化，例如可以是50-60度，但不限于此。
结合图1c所示，以结构光模组100在扫地机器人上的应用为例，对上述几个安装位置关系以及相关参数进行示例性图示。在图1c中，字母B表示摄像头模组，字母A和C表示位于摄像头模组两侧的线激光发射器；H表示两侧的线激光发射器发射出去的线激光在摄像头模组的视场角内的交点；直线BD和BE表示摄像头模组的水平视场的两个边界，∠DBE表示摄像头模组的水平视场角。在图1c中，直线AG表示线激光发射器A发射线激光的中心线；直线CF表示线激光发射器C发射线激光的中心线。另外，在图1c中，直线BH表示摄像头模组视场角的中心线，即在图1c中，两侧的线激光发射器发射线激光的中心线与摄像头模组视场角的中心线相交。
在本申请各实施例中，并不限定所采用的摄像头模组的水平视场角和垂直视场角。可选地，摄像头模组的水平视场角范围可以是60-75度。进一步，摄像头模组的水平视场角可以是69.49度、67.4度等。相应地，摄像头模组的垂直视场角范围可以是60-100度。进一步，摄像头模组的垂直视场角可以是77.74度、80度等。
在图1c中，扫地机器人的半径为175mm，直径为350mm；线激光发射器A和C对称分布在摄像头模组B的两侧，且线激光发射器A或C与摄像 头模组B之间的机械距离为30mm；摄像头模组B的水平视场角∠DBE为67.4度；在扫地机器人的探测距离为308mm的情况下，线激光发射器A或C的发射角度为56.3度。如图1c所示，过H点的直线IH与安装基线之间的距离时45mm，直线IH到扫地机器人边缘切线之间的距离为35mm，这部分区域为视场盲区。图1c所示各种数值仅为示例性说明，并不限于此。
为了便于使用，本申请实施例提供的结构光模组100除了包括摄像头模组101、分布于摄像头模组101两侧的线激光发射器102之外，还包括一些用于承载摄像头模组101、线激光发射器102的承载结构。承载结构可以有多种实现形式，对此不做限定。在一些可选实施例中，承载结构包括固定座，进一步还可以包括与固定座配合使用的固定盖。结合图1e-图1i对带有固定座以及固定盖的结构光模组100的结构进行说明。其中，图1e-图1i分别是结构光模组100的前视图、仰视图、俯视图、后视图图和爆炸图，由于视角原因，每个视图并未展示全部组件，故而图1e-图1i中仅标记部分组件。如图1e-图1i所示，结构光模组100还包括：固定座104。摄像头模组101和线激光发射器102装配在固定座104上。
进一步可选地，如图1i所示，固定座104包括：主体部105和位于主体部105两侧的端部106；其中，摄像头模组101装配在主体部105上，线激光发射器102装配在端部106上；其中，端部106的端面朝向参考面，以使线激光发射器102的中心线与摄像头模组101的中心线相交于一点；参考面是与主体部105的端面或端面切线垂直的平面。
在一可选实施例中，为了方便固定，降低器件对结构光模组100外观的影响，如图1i所示，主体部105的中间位置开设有凹槽108，摄像头模组101安装于凹槽108内；端部106上设有安装孔109，线激光发射器102安装于安装孔109内。进一步可选地，如图1i所示，结构光模组100还装配有固定座104上方的固定盖107；固定盖107与固定座104之间形成腔体，以容纳摄像头模组101和线激光发射器102的连接线。其中，固定盖107以及固定座104之间可采用固定件进行固定。在图1i中，以螺钉110为例对固定件进行图示， 但固定件并不限于螺钉这一种实现形式。
在一可选实施例中，摄像头模组101的镜头位于凹槽108外边缘之内，即镜头内缩在凹槽108内，可防止镜头被刮蹭或磕碰，有利于保护镜头。
在本申请实施例中，并不对主体部105端面的形状做限定，例如可以是平面，也可以是向内或向外凹陷的曲面等。根据结构光模组100所在设备的不同，主体部105端面的形状也有所不同。例如，假设结构光模块100应用于外形轮廓为圆形或椭圆形的自主移动设备，则主体部105的端面可实现为向内凹陷的曲面，该曲面与自主移动设备的外形轮廓适配。若结构光模块100应用于外形轮廓为方形或长方形的自主移动设备，则主体部105的端面可实现为平面，该平面与自主移动设备的外形轮廓适配。其中，外形轮廓为圆形或椭圆形的自主移动设备可以是外形轮廓为圆形或椭圆形的扫地机器人、擦窗机器人等。相应地，外形轮廓为方形或长方形的自主移动设备可以是外形轮廓为方形或长方形的扫地机器人、擦窗机器人等。
在一可选实施例中，对于外形轮廓为圆形或椭圆形的自主移动设备来说，结构光模组100安装于自主移动设备上，为了与自主移动设备的外观更加契合，最大化利用自主移动设备的空间，主体部105的曲面半径与自主移动设备的半径相同或近似相同。例如，若外形轮廓为圆形的自主移动设备，其半径范围为170mm，则结构光模组在应用于该自主移动设备时，其主体部的曲面半径可以为170mm或者近似170mm，例如可以在170mm-172mm范围内，但并不限于此。
进一步，在结构光模组应用在外形轮廓为圆形或椭圆形的自主移动设备的情况下，结构光模组中线激光发射器的发射角度主要由自主移动设备需要满足的探测距离和自主移动设备的半径等确定。在该场景下，结构光模组的主体部的端面或端面切线与安装基线平行，因此线激光发射器的发射角度也可以定义为：线激光发射器发射线激光的中心线与主体部的端面或端面切线之间的夹角。在一些应用场景中，在自主移动设备的探测距离和半径确定的情况下，线激光发射器的发射角度的范围可以实现为50-60度，但并不限于此。 如图1e-图1i所示，线激光发射器102的数量为两个，且两个线激光发射器102对称分布于摄像头模组101两侧。其中，自主移动设备需要满足的探测距离是指其需要探测环境信息的距离范围，主要是指自主移动设备前方一定距离范围。
本申请上述实施例提供的结构光模组，结构稳定、尺寸小，契合整机外观，极大地节省了空间，可以支持多种类型的自主移动设备。
除上述结构光模组之外，本申请实施例还提供了另一种结构光模组。图2a为本申请示例性实施例提供的另一种结构光模组的结构示意图。该结构光模组200包括：至少两个线激光发射器201和摄像头模组202；其中，至少两个线激光发射器201分布在摄像头模组202两侧。
进一步，如图2a所示，结构光模组200还包括激光驱动电路204。激光驱动电路204与线激光发射器201电连接。在本申请实施例中，并不限定激光驱动电路204的数量。不同激光发射器201可以共用一个激光驱动电路204，也可以是一个线激光发射器201对应一个激光驱动电路204。较为优选的是，一个线激光发射器201对应一个激光驱动电路204。在图2a中，以一个线激光发射器201对应一个激光驱动电路204为例进行图示。如图2a所示，结构光模组200包含两个线激光发射器201，分别用201a和201b表示，以及与两个线激光发射器201分别对应的激光驱动电路204，分别用204a和204b表示。
在一些应用场景中，结构光模组200可以应用到自主移动设备上，自主移动设备上含有主控制器或控制单元，自主移动设备可以通过主控制器或控制单元来控制结构光模组200工作。在本实施例中，激光驱动电路204主要用于放大主控制器或控制单元发给线激光发射器201的控制信号，并将放大后的控制信号提供给线激光发射器201，以控制线激光发射器201。在本申请实施例中，并不对激光驱动电路204的电路结构进行限定，凡是可以放大信号并可将放大后的信号给到线激光发射器201的电路结构均适用于本申请实施例。
在一可选实施例中，如图2b所示，激光驱动电路204(如204a或204b) 的一种电路结构包括：第一放大电路2041和第二放大电路2042。其中，第一放大电路2041与自主移动设备的主控制器或控制单元电连接，主控制器或控制单元发给线激光发射器201的通断控制信号经第一放大电路2041放大后进入线激光发射器201，以驱动线激光发射器201开始工作。第二放大电路204b也与自主移动设备的主控制器或控制单元电连接，主控制器或控制单元发给线激光发射器201的电流控制信号经第一放大电路2041放大后进入线激光发射器201，以控制线激光发射器201的工作电流。
进一步，如图2b所示，第一放大电路2041包括：三极管Q1；三极管Q1的基极连接电阻R27，在电阻R27与基极之间经电容C27接地，电容C27两端并联一电阻R29；电阻R27的另一端作为第一放大电路的输入端与主控制器或控制单元的第一IO接口电连接。其中，主控制器的第一IO接口输出通断控制信号经电容C27滤波并经三极管Q1放大后，驱动线激光发射器201开始工作。对主控制器或控制单元来说，至少包括两个第一IO接口，每个第一IO接口与一个激光驱动电路204电连接，用于向激光驱动电路204(如204a或204b)输出通断控制信号。在图2b中，主控制器或控制单元经第一IO接口向激光驱动电路204a输出通断控制信号用LD_L_EMIT_CTRL来表示，向激光驱动电路204b输出的通断控制信号用LD_R_EMIT_CTRL来表示。
进一步，如图2b所示，第二放大电路2042包括：MOS管Q7，MOS管Q7的栅极连接电阻R37和电阻R35，在电阻R37和电阻R35之间经电容C29接地，电阻R35的另一端作为第二放大电路的输入端与主控制器的第二IO接口电连接；MOS管Q7的漏极经电阻R31接地，MOS管Q7的源极与三极管Q1的发射极电连接；三极管Q1的集电极与激光驱动电路的电源之间作为激光驱动电路的输出端，用以连接线激光发射器。其中，主控制器或控制单元的第二IO接口输出脉冲宽度变调电路(Pulse Width Modulation，PWM)信号经电阻R35和电容C29构成的滤波电路滤波后，通过改变MOS管Q7的栅极电压可以控制激光发射器的工作电流。对主控制器或控制单元来说，至少包括两个第二IO接口，每个第二IO接口与一个激光驱动电路204电连接，用 于向激光驱动电路204(如204a或204b)输出PWM信号。在图2b中，主控制器或控制单元经第二IO接口向激光驱动电路204a输出的PWM信号用LD_L_PWM表示，向激光驱动电路204b输出的PWM信号用LD_R_PWM来表示。进一步，如图2b所示，J1表示线激光发射器201a的控制接口，J2表示线激光发射器201b的控制接口，J1和J2与激光驱动电路204a和204b之间的引脚连接关系如图2b所示。即，J1的引脚LD_L_CATHOD(阴极)、LD_L_ANODE(阳极)分别与激光驱动电路204a中的相应引脚连接；J2的引脚LD_R_CATHOD(阴极)、LD_R_ANODE(阳极)分别与激光驱动电路204b中的相应引脚连接。在图2b所示引脚名称、引脚编号以及对应引脚编号之间的连接关系仅为示例性说明，不应构成对本申请电路结构的限定。
基于上述结构光模组，本申请实施例还提供一种自主移动设备的结构示意图，如图3a所示，该自主移动设备包括：设备本体300，设备本体300上设有第一控制单元301、第二控制单元302以及结构光模组303；结构光模组303包括：摄像头模组303a和分布于摄像头模组303a两侧的线激光发射器303b。关于结构光模组303的详细描述请参见前述实施例中的内容，在此不再赘述。
在本申请实施例中，自主移动设备可以是任何能够在其所在环境中高度自主地进行空间移动的机械设备，例如，可以是机器人、净化器、无人机等。其中，机器人可以包括扫地机器人、擦玻璃机器人、家庭陪护机器人、迎宾机器人等。
当然，根据自主移动设备实现形态的不同，自主移动设备的形状也会有所不同。本实施例并不限定自主移动设备的实现形态。以自主移动设备的外轮廓形状为例，自主移动设备的外轮廓形状可以是不规则形状，也可以是一些规则形状。例如，自主移动设备的外轮廓形状可以是圆形、椭圆形、方形、三角形、水滴形或D形等规则形状。规则形状之外的称为不规则形状，例如人形机器人的外轮廓、无人车的外轮廓以及无人机的外轮廓等属于不规则形状。
在本申请实施例中，第一控制单元301和第二控制单元302与结构光模组303电连接，可以控制结构光模组303工作。具体的，第一控制单元301与线激光发射器303b电连接，第一控制单元301控制线激光发射器303b向外发射线激光，例如可控制线激光发射器303b向外发射线激光的时间以及发射功率等。第二控制单元302与摄像头模组303a电连接，第二控制单元302可控制摄像头模组303a采集由线激光探测到的环境图像，例如可控制摄像头模组303a的曝光频率、曝光时长、工作频率等。第二控制单元302还负责根据摄像头模组303a采集到的环境图像对自主移动设备进行各种功能控制。
本申请实施例并不限定第二控制单元302根据环境图像对自主移动设备进行功能控制的具体实施方式。例如，第二控制单元302可以根据环境图像控制自主移动设备实现各种基于环境感知的功能。例如，可以实现视觉算法上的物体识别、跟踪与分类等功能；另外，基于线激光检测精度较高的优势，还可以实现实时性强、鲁棒性强、精度高的定位和构建地图等功能，进而还可以基于构建出的高精度的环境地图对运动规划、路径导航、定位等提供全方位的支持。当然，第二控制单元302还可以根据环境图像对自主移动设备进行行进控制，例如控制自主移动设备执行继续前进、后退、拐弯等动作等。
另外，在本申请实施例中，不限定第一控制单元301和第二控制单元302控制结构光模组303工作的实施方式。凡是可以控制结构光模组303工作的实施方式均适用于本申请实施例。例如，第二控制单元302对摄像头模组303a进行曝光控制，第一控制单元301在摄像头模组303a曝光期间控制线激光发射器303b发射线激光，以便摄像头模组303a采集由线激光探测到的环境图像。
进一步可选地，第一控制单元301还与摄像头模组303a电连接；其中，第二控制单元302对摄像头模组303a进行曝光控制，摄像头模组303a每次曝光产生的同步信号输出至第一控制单元301；第一控制单元301根据同步信号控制线激光发射器303b工作，即控制线激光发射器303b在摄像头模组曝光期间向外发射线激光，以探测前方区域内的环境信息。其中，同步信号是给 需要同步处理信息的其它设备或组件提供的时间参考信号，例如曝光同步(LED STROBE)信号为摄像头模组303a向线激光发射器303b提供的时间参考信号，是触发线激光发射器303b对外发射线激光的触发信号。同步信号可以是但不限于开关信号、连续脉冲信号等。
在本实施例中，并不限定第一控制单元301控制位于摄像头模组303a两侧的线激光发射器303b的工作方式。可选地，第一控制单元301根据同步信号控制位于摄像头模组303a两侧的线激光发射器303b交替工作。例如，在摄像头模组303a每次曝光时，第一控制单元301控制其中一侧的线激光发射器303b工作，两侧线激光发射器303b交替工作，达到两侧的线激光发射器303b交替工作的目的。在该情况下，摄像头模组303a每次采集到的环境图像并非全幅图像，而是半幅图像。为了便于识别每次曝光采集到的环境图像是左半幅图像，还是右半幅图像，需要对曝光期间处于工作状态的线激光发射器进行区分。为了便于对每次曝光期间处于工作状态的线激光发射器进行区分，第一控制单元301还与第二控制单元302电连接，第一控制单元301根据同步信号控制线激光发射器303b交替工作，并向第二控制单元302输出激光源区分信号；第二控制单元302根据激光源区分信号对摄像头模组303a每次曝光采集到的环境图像进行左右标记。若当前曝光期间，是摄像头模组303a左侧的线激光发射器303b处于工作状态，则可以将该曝光期间采集到的环境图像标记为右半幅图像；反之，若当前曝光期间，是摄像头模组303a右侧的线激光发射器303b处于工作状态，则可以将该曝光期间采集到的环境图像标记为左半幅图像。
需要说明的是，不同线激光发射器对应的激光源区分信号的信号参数不相同，该激光源区分信号可以是电压信号、电流信号或脉冲信号等。以电压信号为例，且假设线激光发射器为两个，分布在摄像头模组的两侧，则左侧线激光发射器对应的激光源区分信号的电压为0V，右侧线激光发射器对应的激光源区分信号的电压为3.3V。当然，随着线激光发射器数量的增多，激光源区分信号也可以适应性增多，以满足区分不同线激光发射器为准。例如， 假设摄像头模组左侧有一个线激光发射器，摄像头模组右侧有两个线激光发射器，不仅需要区分左右两侧的线激光发射器，还需要对右侧两个线激光发射器进行区分，则可以设置三个激光源区分信号，分别是0V、3.3V和5V，其中0V的激光源区分信号对应左侧的线激光发射器；3.3V和5V的激光源区分信号分别对应右侧的两个线激光发射器。这里激光源区分信号的电压值仅为示例性说明，并不限于此。
进一步可选地，在第一控制单元301根据同步信号控制线激光发射器303b交替工作的情况下，第二控制单元302还可以控制摄像头模组303a交替设置其镜头的工作模式，以与处于工作状态中的线激光发射器303b适配。其中，第二控制单元302控制摄像头模组303a交替设置其镜头的工作模式，是对摄像头模组303a每次曝光采集到的环境图像进行左右标记的一种实现方式。
具体地，第二控制单元302在控制摄像头模组303a交替设置其镜头的工作模式的情况下，第一控制单元301根据同步信号控制位于摄像头模组303a左侧的线激光发射器303b工作时，第二控制单元302可根据激光源区分信号识别到当前曝光期间处于工作状态的是左侧的线激光发射器，于是控制摄像头模组303a的镜头工作在右半幅模式，在右半幅模式下，摄像头模组303a采集到的环境图像会被标记为右半幅图像；第一控制单元301根据同步信号控制位于摄像头模组303a右侧的线激光发射器303b工作时，第二控制单元302可根据激光源区分信号识别到当前曝光期间处于工作状态的是右侧的线激光发射器，于是控制摄像头模组303a的镜头工作在左半幅模式，在左半幅模式下，摄像头模组303a采集到的环境图像会被标记为左半幅图像。
进一步可选地，在结构光模组303包括激光驱动电路的情况下，第一控制单元301可通过结构光模组303中的激光驱动电路向线激光发射器303b发送通断控制信号和PWM信号，以驱动线激光发射器303b工作。
当然，除了控制位于摄像头模组303a两侧的线激光发射器303b交替工作之外，也可以控制位于摄像头模组303a两侧的线激光发射器303b同时工作。在位于摄像头模组303a两侧的线激光发射器303b同时工作的情况下， 摄像头模组303a的镜头工作在全幅模式。
在本申请实施例中，并不限定第一控制单元301和第二控制单元302的实现形态，例如可以是但不限于：CPU、GPU、MCU、基于FPGA或CPLD实现的处理芯片以或者单片机等。在一可选实施例中，第一控制单元301和第二控制单元302采用单片机实现，换句话说，第一控制单元301和第二控制单元302为单片机形态。可选地，如图3b所示，第一控制单元301的一种实现结构包括：第一主控板301b；第二控制单元302的一种实现结构包括：第二主控板302b。
在本申请实施例中，并不限定第一主控板301b和第二主控板302b的实现结构。凡是可以实现控制功能的电路板均适用于本申请实施例。例如可以是FPGA板卡、单片机等等。可选地，为了降低的实现成本，可采用价格低廉、性价比高的单片机作为主控板。
如图3b所示，第一主控板301b和第二主控板302b均包括多个IO接口(引脚)。在第一主控板301b或第二主控板302b的IO接口中，均包括用于连接时钟信号的接口，这些接口可与时钟控制电路32b电连接，负责接收时钟控制电路32b提供的时钟信号。为简化图示，在图3b中，仅以第二主控板302b与时钟控制电路32b之间的电连接关系为例进行了图示。在图3b中，时钟控制电路32b包括：电阻R9；与电阻R9并联的晶体振荡器Y1；与Y1并联的电容C37；与电容C37串联的C38，其中，电容C37和C38均接地；电阻R9两端分别引出时钟控制电路32b的输出端，与第二主控板302b上的时钟信号接口电连接。时钟控制电路32b还包括：上接+3V电压的电阻R10；电阻R10经电容C40接地，在电阻R10与电容C40之间引出输出端与第二主控板302b的异步复位(NRST)引脚电连接。进一步，时钟控制电路32b还包括：电阻R5；电阻R5的一端经电容C26接地；电阻R5的另一端经C18接地；R5和C18之间接有+3V电压和自主移动设备的处理器，在电阻R5与电容C26之间引出输出端与第二主控板302b的VDDA引脚电连接。时钟控制电路32b中的晶体振荡器Y1提供高频脉冲经过分频处理后，成为第二主控 板302b内部时钟信号，将时钟信号作为协调各部件工作的控制信号。其中，时钟控制电路32b与第二主控板302b的连接关系是：R9的一端接302b_pin2，另一端接302b_pin3，R10与C40之间接302b_pin4，R5与C26之间接302b_pin5。302b_pin2表示第二主控板302b的第2个引脚，即图3b中的时钟信号接口2；302b_pin3表示第二主控板302b的第3个引脚，即图3b中的时钟信号接口3；302b_pin4表示第二主控板302b的第4个引脚，即图3b中的NRST引脚，302b_pin5表示第二主控板302b的第5个引脚，即图3b中的VDDA引脚。
在本申请实施例中，并不限定摄像头模组303a与第二主控板302b之间的连接方式。其中，摄像头模组303a可以直接与第二主控板302b连接；也可以通过FPC(Flexible Printed Circuit)排线33b与第二主控板302b连接。
在摄像头模组303a与第二主控板302b之间通过FPC排线33b连接的情况下，FPC排线33b与第二主控板302b的连接关系是：33b_pin7—302b_pin22，33b_pin8—302b_pin21，33b_pin10—302b_pin20，33b_pin11—302b_pin19，33b_pin13—302b_pin18，33b_pin15—302b_pin16，33b_pin16—302b_pin13，33b_pin17—302b_pin12，33b_pin18—302b_pin11，33b_pin19—302b_pin10，33b_pin20—302b_pin9，33b_pin21—302b_pin8，33b_pin22—302b_pin7，33b_pin23—302b_pin6，33b_pin24—302b_pin32，33b_pin25—302b_pin30，33b_pin26—302b_pin29。另外，FPC排线33b与第一主控板301b也有连接关系为：301b_pin31—33b_pin35。其中，“—”表示连接关系；33b_pinx表示FPC排线33b上的x引脚；302b_pinx表示第二主控板302b上的x引脚；301b_pinx表示第一主控板301b上的x引脚；x是大于或等于0的自然数。在图3b中所示引脚名称、引脚编号以及对应引脚编号之间的连接关系仅为示例性说明，不应构成对本申请电路结构的限定。
在一可选实施例中，如图3e所示，结构光模组303还可以包括激光驱动电路303c。其中，激光驱动电路303c的电路实现结构类似于图2b所示激光驱动电路204a或204b，在此不再赘述。在图3b中，以结构光模组303包括 两个激光驱动电路303c为例，对激光驱动电路303c与第一主控板301b的连接关系进行示例性说明。图3b中J1连接图3e中左侧线激光发射器303b，J1为左侧线激光发射器303b的控制接口；图3b中J2连接图3e中右侧线激光发射器303b，J2为右侧线激光发射器303b的控制接口。如图3b所示，用于驱动左侧线激光发射器303b的激光驱动电路303c包括引脚LD_L_CATHOD和LD_L_ANODE，分别与J1的引脚LD_L_CATHOD和LD_L_ANODE电连接；用于驱动右侧线激光发射器303b的激光驱动电路303c包括引脚LD_R_CATHOD和LD_R_ANODE，分别与J2的引脚LD_R_CATHOD和LD_R_ANODE电连接。图3b中301b_pin28连接用于驱动左侧线激光发射器303b的激光驱动电路303c的LD_L_EMIT_CTRL端，以控制左侧线激光发射器303b的导通与关断，例如当301b_pin28为高电平时，左侧线激光发射器303b为导通状态，当301b_pin28为低电平时，左侧线激光发射器303b为关断状态。图3b中301b_pin27连接用于驱动右侧线激光发射器303b的激光驱动电路303c的LD_R_EMIT_CTRL端，以控制右侧线激光发射器303b的导通与关断，例如，当301b_pin27为高电平时，右侧线激光发射器303b为导通状态，当301b_pin27为低电平时，右侧线激光发射器303b为关断状态。图3b中301b_pin26连接用于驱动左侧线激光发射器303b的激光驱动电路303c的LD_L_PWM端，以控制左侧线激光发射器303b的工作电流，301b_pin26输出的是PWM信号，PWM信号的占空比可以从0％增加到100％，随着占空比的增高，左侧线激光发射器303b的工作电流也会增高，从而可以通过调节301b_pin26输出的PWM信号的占空比来控制左侧线激光发射器303b的工作电流大小。图3b中301b_pin25连接用于驱动右侧线激光发射器303b的激光驱动电路303c的LD_R_PWM端，以控制右侧线激光发射器303b的工作电流，同理，301b_pin25输出的也是PWM信号，同样可以通过调节301b_pin25输出的PWM信号的占空比来控制右侧线激光发射器303b的工作电流大小。另外，第一主控板301b与第二主控板302b也有连接关系为：301b_pin30—302b_pin40。
下面以第一控制单元301为MCU1、第二控制单元302为MCU2为例，对第一控制单元301和第二控制单元302与结构光模组303配合工作的原理进行说明。如图3e所示，通电后，MCU1和MCU2开始初始化IO接口，并通过I2C接口配置结构光模组303。初始化完成后，MCU1和MCU2通过I2C接口控制结构光模组303，实现对结构光模组303中的摄像头模组303a和线激光发射器303b的控制。MCU2通过I2C接口向摄像头模组303a发送触发信号，摄像头模组303a收到触发信号开始曝光同时发送曝光同步(LED STROBE)信号给MCU1；MCU1收到LED STROBE信号后，在LED STROBE信号的上升沿，通过激光驱动电路303c驱动右侧线激光发射器303b发射激光并向MCU2发送右侧线激光发射器303b对应的激光源区分信号；在LED STROBE信号的下降沿，MCU1关闭右侧线激光发射器303b；曝光完成后，摄像头模组303a将采集到的图片数据传输给MCU2，MCU2根据激光源区分信号对采集到的图像数据进行左右标记。同理，MCU2通过I2C向摄像头模组303a发送触发信号，摄像头模组303a收到触发信号开始曝光同时发送曝光同步(LED STROBE)信号给MCU1；MCU1收到LED STROBE信号后，在LED STROBE信号的上升沿，通过激光驱动电路303c驱动左侧线激光发射器303b发射激光并向MCU2发送右侧线激光发射器303b对应的激光源区分信号；在LED STROBE信号的下降沿，MCU1关闭右侧线激光发射器303b；曝光完成后，摄像头模组303a将采集到的图片数据传输给MCU2，MCU2根据激光源区分信号对采集到的图片数据进行左右标记。一直重复上述过程，直至操作结束。
在本申请实施例中，并不限定结构光模组303在设备本体300的具体位置。例如可以是但不限于设备本体300的前侧、后侧、左侧、右侧、顶部、中部以及底部等等。进一步，结构光模组303设置在设备本体300高度方向上的中部位置、顶部位置或底部位置。
在一可选实施例中，自主移动设备向前移动执行作业任务，为了更好的探测前方的环境信息，结构光模组303设置于设备本体300的前侧；前侧是 自主移动设备向前移动过程中设备本体朝向的一侧。
在又一可选实施例中，为了保护结构光模组303不受外力的破坏，设备本体300的前侧还安装有撞板305，撞板305位于结构光模组303外侧。如图3c所示，为设备本体300与撞板305的分解示意图。结构光模组303可以安装在撞板上；也可以不安装在撞板上，对此不做限定。撞板上对应结构光模组303的区域开设有窗口，以露出结构光模组303中的摄像头模组303a和线激光发射器303b。进一步可选地，撞板上对应摄像头模组303a和线激光发射器303b的位置分别开设有窗口。如图3c所示，撞板305上设有窗口31、32和33，其中，窗口31和33对应线激光发射器303b；窗口32对应于摄像头模组303a。
在又一可选实施例中，结构光模组303安装在撞板305的内侧壁上。图3d所示，为结构光模组303与撞板305的分解示意图。
在又一可选实施例中，结构光模组303的中心到自主移动设备所在工作面的距离范围为30-60mm。为了减小自主移动设备的空间盲区，使视场角足够大，进一步可选地，结构光模组303的中心到自主移动设备所在工作面的距离为47mm。
进一步，除了上述提到的各种组件，本实施例的自主移动设备还可以包括一些基本组件，例如一个或多个存储器、通信组件、电源组件、驱动组件等等。
其中，一个或多个存储器主要用于存储计算机程序，该计算机程序可被主控制器执行，致使主控制器控制自主移动设备执行相应任务。除了存储计算机程序之外，一个或多个存储器还可被配置为存储其它各种数据以支持在自主移动设备上的操作。这些数据的示例包括用于在自主移动设备上操作的任何应用程序或方法的指令，自主移动设备所在环境/场景的地图数据，工作模式，工作参数等等。
通信组件被配置为便于通信组件所在设备和其他设备之间有线或无线方式的通信。通信组件所在设备可以接入基于通信标准的无线网络，如Wifi， 2G或3G、4G、5G或它们的组合。在一个示例性实施例中，通信组件经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信组件还可以包括近场通信(NFC)模块，射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术等。
可选地，驱动组件可以包括驱动轮、驱动电机、万向轮等。可选地，如图3c所示，本实施例的自主移动设备可实现为扫地机器人，则在实现为扫地机器人的情况下，自主移动设备还可以包括清扫组件，清扫组件可以包括清扫电机、清扫刷、起尘刷、吸尘风机等。不同自主移动设备所包含的这些基本组件以及基本组件的构成均会有所不同，本申请实施例仅是部分示例。
基于上述结构光模组，本申请实施例还提供另一种自主移动设备的结构示意图，如图4a所示，该设备包括：设备本体400，设备本体400上设有主控制器401和结构光模组402；结构光模组402包括：摄像头模组402a和分布于摄像头模组两侧的线激光发射器402b。关于结构光模组402的详细描述请参见前述实施例的内容，在此不再赘述。
在本申请实施例中，自主移动设备可以是任何能够在其所在环境中高度自主地进行空间移动的机械设备，例如，可以是机器人、净化器、无人机等。其中，机器人可以包括扫地机器人、擦玻璃机器人、家庭陪护机器人、迎宾机器人等。
当然，根据自主移动设备实现形态的不同，自主移动设备的形状也会有所不同。本实施例并不限定自主移动设备的实现形态。以自主移动设备的外轮廓形状为例，自主移动设备的外轮廓形状可以是不规则形状，也可以是一些规则形状。例如，自主移动设备的外轮廓形状可以是圆形、椭圆形、方形、三角形、水滴形或D形等规则形状。规则形状之外的称为不规则形状，例如人形机器人的外轮廓、无人车的外轮廓以及无人机的外轮廓等属于不规则形状。
本申请实施例并不限定主控制器401与结构光模组402电连接，可控制结构光模组402工作。具体地，主控制器401分别与摄像头模组402a和线激光发射器402b电连接。其中，主控制器401一方面控制线激光发射器402b向外发射线激光，例如可控制线激光发射器402b向外发射线激光的时间以及发射功率等；另一方面控制摄像头模组402a采集由线激光探测到的环境图像，例如可控制摄像头模组402a的曝光频率、曝光时长、工作频率等；进一步，主控制器401还负责根据环境图像对自主移动设备进行功能控制。
本申请实施例并不限定主控制器401根据环境图像对自主移动设备进行功能控制的具体实施方式。例如，主控制器401可以根据环境图像控制自主移动设备实现各种基于环境感知的功能。例如，可以实现视觉算法上的物体识别、跟踪与分类等功能；另外，基于线激光检测精度较高的优势，还可以实现实时性强、鲁棒性强、精度高的定位和构建地图等功能，进而还可以基于构建出的高精度的环境地图对运动规划、路径导航、定位等提供全方位的支持。当然，主控制器401还可以根据环境图像对自主移动设备进行行进控制，例如控制自主移动设备执行继续前进、后退、拐弯等动作等。
在本申请实施例中，并不限定主控制器401的实现形态，例如可以是但不限于CPU、GPU、MCU、基于FPGA或CPLD实现的处理芯片以或者单片机等。
在一可选实施例中，主控制器401采用单片机实现，换句话说，主控制器401为单片机形态。可选地，如图4b所示，主控制器401的一种实现结构包括：主控板40b。
在本申请实施例中，并不限定主控板40b的实现结构。凡是可以实现控制功能的电路板均适用于本申请实施例。例如可以是FPGA板卡、单片机等等。可选地，为了降低的实现成本，可采用价格低廉、性价比高的单片机作为主控板。
如图4b所示，主控板40b包括多个IO接口(引脚)。在这些接口当中，一部分IO接口可作为测试接口，与调试与烧录模块41b连接。其中，调试与 烧录模块41b用于完成配置文件的烧写以及在烧写成功后对于硬件功能的测试。调试与烧录模块41b与主控板40b的连接关系是：调试与烧录模块41b的第2个引脚41b_pin2与主控板40b的第23个引脚40b_pin23电连接，调试与烧录模块41b的第3个引脚41b_pin3与主控板40b的第24个引脚40b_pin24电连接。其中，引脚41b_pin3和40b_pin24属于测试用的IO接口。
如图4b所示，在主控板40b的IO接口中，包括用于连接时钟信号的接口，这些接口可与时钟控制电路42b电连接，负责接收时钟控制电路42b提供的时钟信号。时钟控制电路42b包括：电阻R9；与电阻R9并联的晶体振荡器Y1；与Y1并联的电容C37；与电容C37串联的C38，其中，电容C37和C38均接地；电阻R9两端分别引出时钟控制电路42b的输出端，与主控板40b上的时钟信号接口电连接。时钟控制电路42b还包括：上接+3V电压的电阻R10；电阻R10经电容C40接地，在电阻R10与电容C40之间引出输出端与主控板40b的异步复位(NRST)引脚电连接。进一步，时钟控制电路42b还包括：电阻R5；电阻R5的一端经电容C26接地；电阻R5的另一端经C18接地；R5和C18之间接有+3V电压和自主移动设备的处理器，在电阻R5与电容C26之间引出输出端与主控板40b的VDDA引脚电连接。时钟控制电路42b中的晶体振荡器Y1提供高频脉冲经过分频处理后，成为主控板40b内部时钟信号，将时钟信号作为协调各部件工作的控制信号。另外，结构光模组402安装在自主移动设备上的情况下，时钟控制电路42b可以与主控制器401连接，以实现自主移动设备对结构光模组402的控制。其中，时钟控制电路42b与主控板40b的连接关系是：R9的一端接40b_pin2，另一端接40b_pin3，R10与C40之间接40b_pin4，R5与C26之间接40b_pin5。40b_pin2表示主控板40b的第2个引脚，40b_pin3表示主控板40b的第3个引脚，40b_pin4表示主控板40b的第4个引脚(NRST)，40b_pin5表示主控板40b的第5个引脚(VDDA)。
在本申请实施例中，并不限定摄像头模组402a与主控板40b之间的连接方式。其中，摄像头模组402a可以直接与主控板40b连接；也可以通过FPC 排线43b与主控板40b连接。
在摄像头模组402a与主控板40b之间通过FPC排线43b连接的情况下，FPC排线43b与主控板40b的连接关系是：43b_pin7—40b_pin22，43b_pin8—40b_pin21，43b_pin10—40b_pin20，43b_pin11—40b_pin19，43b_pin13—40b_pin18，43b_pin15—40b_pin16，43b_pin16—40b_pin13，43b_pin17—40b_pin12，43b_pin18—40b_pin11，43b_pin19—40b_pin10，43b_pin20—40b_pin9，43b_pin21—40b_pin8，43b_pin22—40b_pin7，43b_pin23—40b_pin6，43b_pin24—40b_pin32，43b_pin25—40b_pin30，43b_pin26—40b_pin29。其中，“—”表示连接关系；43b_pinx表示FPC排线43b上的x引脚；40b_pinx表示主控板40b上的x引脚；x是大于或等于0的自然数。
进一步，如图4c所示，结构光模组402还包括：激光驱动电路402c，激光驱动电路402c的电路实现结构类似于图2b所示激光驱动电路204a或204b，在此不再赘述。假设，图4c所示结构光模组402包括两个激光驱动电路402c，分别用于驱动位于摄像头模组402a左右两侧的线激光发射器402b，则以图4c所示两个激光驱动电路402c为例，对激光驱动电路402c与主控板40b的连接关系进行示例性说明。图4b中J1连接图4c中的左侧线激光发射器402b，J1为左侧线激光发射器402b的控制接口；图4b中J2连接图4c中的右侧线激光发射器402b，J2为右侧线激光发射器402b的控制接口。如图4b所示，用于驱动图4c中左侧线激光发射器402b的激光驱动电路402c包括引脚LD_L_CATHOD和LD_L_ANODE，分别与J1的引脚LD_L_CATHOD和LD_L_ANODE电连接；用于驱动图4c中右侧线激光发射器402b的激光驱动电路402c包括引脚LD_R_CATHOD和LD_R_ANODE，分别与J2的引脚LD_R_CATHOD和LD_R_ANODE电连接。图4b中40b_pin28连接用于驱动图4c中左侧线激光发射器402b的激光驱动电路402c的LD_L_EMIT_CTRL端，以控制左侧线激光发射器402b的导通与关断，当40b_pin28为高电平时，左侧线激光发射器402b为导通状态，当40b_pin28为低电平时，左侧线激光发射器402b为关断状态。图4b中40b_pin27连接用于驱动图4c中右侧线激 光发射器402b的激光驱动电路402c的LD_R_EMIT_CTRL端，以控制右侧线激光发射器402b的导通与关断，当40b_pin27为高电平时，右侧线激光发射器402b为导通状态，当40b_pin27为低电平时，右侧线激光发射器402b为关断状态。图4b中40b_pin26连接用于驱动图4c中左侧线激光发射器402b的激光驱动电路402c的LD_L_PWM端，以控制左侧线激光发射器402b的电流，40b_pin26是由PWM控制，PWM的占空比可以从0％增加到100％，随着占空比的增高，左侧线激光发射器402b的电流也会增高，从而可以根据40b_pin26的占空比控制左侧线激光发射器402b的电流大小。图4b中40b_pin25连接用于驱动图4c中右侧线激光发射器402b的激光驱动电路402c的LD_R_PWM端，以控制右侧线激光发射器402b的电流，同理，40b_pin25也是PWM控制，因此，可以根据40b_pin25的占空比控制右侧线激光发射器402b的电流大小。
在一可选实施例中，主控制器401具体用于：对摄像头模组402a进行曝光控制，并获取摄像头模组402a每次曝光产生的同步信号；根据同步信号控制线激光发射器402b交替工作，并对摄像头模组402a每次曝光采集到的环境图像进行左右标记。
在本实施例中，同步信号是给需要同步处理信息的其它设备或组件提供的时间参考信号，例如曝光同步(LED STROBE)信号为摄像头模组402a和线激光发射器402b提供的时间参考，是触发线激光发射器402b对外发射线激光的触发信号。同步信号可以是但不限于开关信号、连续脉冲信号等等。
在本申请上述各实施例中，并不限定位于摄像头模组402a两侧的线激光发射器402b的工作方式。可选地，主控制器401根据同步信号控制线激光发射器402b交替工作，并控制摄像头模组402a交替设置其镜头的工作模式，以与处于工作状态中的线激光发射器402b适配。
进一步可选地，主控制器401在控制摄像头模组402a交替设置其镜头的工作模式时，具体用于：在控制位于摄像头模组402a左侧的线激光发射器402b工作时，控制摄像头模组402a的镜头工作在右半幅模式；在控制位于摄像头 模组402a右侧的线激光发射器402b工作时，控制摄像头模组402a的镜头工作在左半幅模式。
进一步可选地，主控制器401可以控制摄像头模组402a曝光，并在摄像头模组402a每次曝光时，控制其中一侧的线激光发射器402b工作，达到两侧的线激光发射器402b交替工作的目的。具体地，主控制器401可以通过图2b所示的激光驱动电路204向线激光发射器402b发送通断控制信号和PWM信号，以驱动线激光发射器402b工作。
当然，除了控制位于摄像头模组402a两侧的线激光发射器402b交替工作之外，也可以控制位于摄像头模组402a两侧的线激光发射器402b同时工作。在位于摄像头模组402a两侧的线激光发射器402b同时工作的情况下，摄像头模组402a的镜头工作在全幅模式。
在本申请实施例中，当线激光发射器402b交替工作时，摄像头模组402a交替设置其镜头工作模式，并不限定主控制器401对摄像头模组402a采集到的环境图像进行左右标记的实施方式。例如可以是摄像头模组402a的镜头工作在左半幅模式时，右侧的线激光发射器402b发射激光，摄像头模组402a采集环境图像，主控制器401将采集到的环境图像标记为左半幅环境图像等等。
下面以主控制器401是MCU为例，对MCU与结构光模组402配合工作的原理进行说明。如图4c所示，通电后，MCU开始初始化IO接口，并通过I2C接口配置结构光模组402。初始化完成后，MCU通过I2C接口控制结构光模组402，实现对结构光模组402中的摄像头模组402a和线激光发射器402b的控制。MCU通过I2C接口向摄像头模组402a发送触发信号，摄像头模组402a收到触发信号开始曝光同时发送曝光同步(LED STROBE)信号给MCU。MCU收到LED STROBE信号后，在LED STROBE信号的上升沿，通过激光驱动电路402c驱动右侧线激光发射器402b发射激光，在LED STROBE信号的下降沿，MCU关闭右侧线激光发射器402b。曝光完成后，摄像头模组402a通过主控板上的数字视频接口(Digital Video Port，DVP)触发MCU读取图 片数据并对图片数据进行处理。同理，MCU通过I2C向摄像头模组402a发送触发信号，摄像头模组402a收到触发信号开始曝光同时发送曝光同步(LED STROBE)信号给MCU。MCU收到LED STROBE信号后，在LED STROBE信号的上升沿，通过激光驱动电路402c驱动左侧线激光发射器402b发射激光，在LED STROBE信号的下降沿，MCU关闭右侧线激光发射器402b。曝光完成后，摄像头模组402a通过主控板上的DVP触发MCU读取图片数据并对图片数据进行处理。一直重复上述过程，直至操作结束。
在本申请实施例中，并不限定结构光模组402在设备本体400的具体位置。例如可以是但不限于设备本体400的前侧、后侧、左侧、右侧、顶部、中部以及底部等等。进一步，结构光模组402设置在设备本体400高度方向上的中部位置、顶部位置或底部位置。
在一可选实施例中，自主移动设备向前移动执行作业任务，为了更好的探测前方的环境信息，结构光模组402设置于设备本体400的前侧；前侧是自主移动设备向前移动过程中设备本体400朝向的一侧。
在又一可选实施例中，为了保护结构光模组402不受外力的破坏，设备本体400的前侧还安装有撞板，撞板位于结构光模组402外侧。其中，设备本体与撞板的分解示意图可参见图3c所示。结构光模组可以安装在撞板上；也可以不安装在撞板上，对此不做限定。撞板上对应结构光模组402的区域开设有窗口，以露出结构光模组402中的摄像头模组402a和线激光发射器402b。进一步可选地，撞板上对应摄像头模组402a和线激光发射器402b的位置分别开设有窗口。
在又一可选实施例中，结构光模组402安装在撞板的内侧壁上。
在又一可选实施例中，结构光模组402的中心到自主移动设备所在工作面的距离范围为30-60mm。为了减小自主移动设备的空间盲区，使视场角足够大，进一步可选地，结构光模组402的中心到自主移动设备所在工作面的距离为47mm。
进一步，除了上述提到的各种组件，本实施例的自主移动设备还可以包 括一些基本组件，例如一个或多个存储器、通信组件、电源组件、驱动组件等等。
其中，一个或多个存储器主要用于存储计算机程序，该计算机程序可被主控制器执行，致使主控制器控制自主移动设备执行相应任务。除了存储计算机程序之外，一个或多个存储器还可被配置为存储其它各种数据以支持在自主移动设备上的操作。这些数据的示例包括用于在自主移动设备上操作的任何应用程序或方法的指令，自主移动设备所在环境/场景的地图数据，工作模式，工作参数等等。
通信组件被配置为便于通信组件所在设备和其他设备之间有线或无线方式的通信。通信组件所在设备可以接入基于通信标准的无线网络，如Wifi，2G或3G、4G、5G或它们的组合。在一个示例性实施例中，通信组件经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，通信组件还可以包括近场通信(NFC)模块，射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术等。
可选地，驱动组件可以包括驱动轮、驱动电机、万向轮等。可选地，本实施例的自主移动设备可实现为扫地机器人，则在实现为扫地机器人的情况下，自主移动设备还可以包括清扫组件，清扫组件可以包括清扫电机、清扫刷、起尘刷、吸尘风机等。不同自主移动设备所包含的这些基本组件以及基本组件的构成均会有所不同，本申请实施例仅是部分示例。
需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的消息、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读 存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (22)

  1. 一种结构光模组，其特征在于，包括：摄像头模组和分布于所述摄像头模组两侧的线激光发射器；
    所述线激光发射器负责向外发射线激光；所述摄像头模组负责采集由所述线激光探测到的环境图像。
  2. 根据权利要求1所述的模组，其特征在于，在安装位置上，所述线激光发射器和所述摄像头模组位于同一高度。
  3. 根据权利要求1所述的模组，其特征在于，还包括：固定座；所述摄像头模组和所述线激光发射器装配在所述固定座上。
  4. 根据权利要求3所述的模组，其特征在于，所述固定座包括：主体部和位于所述主体部两侧的端部；其中，所述摄像头模组装配在所述主体部上，所述线激光发射器装配在所述端部上；
    其中，所述端部的端面朝向参考面，以使所述线激光发射器的中心线与所述摄像头模组的中心线相交于一点；所述参考面是与所述主体部的端面或端面切线垂直的平面。
  5. 根据权利要求4所述的模组，其特征在于，所述主体部的中间位置开设有凹槽，所述摄像头模组安装于所述凹槽内；所述端部上设有安装孔，所述线激光发射器安装于所述安装孔内。
  6. 根据权利要求4所述的模组，其特征在于，还包括：装配于所述固定座上方的固定盖；所述固定盖与所述固定座之间形成腔体，以容纳所述摄像头模组和所述线激光发射器与主机控制器之间的连接线。
  7. 根据权利要求4所述的模组，其特征在于，所述摄像头模组的镜头位于所述凹槽外边缘之内。
  8. 根据权利要求4所述的模组，其特征在于，所述主体部的端面为向内凹陷的曲面。
  9. 根据权利要求1-8任一项所述的模组，其特征在于，所述线激光发 射器的数量为两个，且所述两个线激光发射器对称分布于所述摄像头模组两侧。
  10. 根据权利要求1-8任一项所述的模组，其特征在于，所述摄像头模组为红外摄像头模组。
  11. 一种自主移动设备，其特征在于，包括：设备本体，所述设备本体上设有第一控制单元、第二控制单元以及结构光模组；所述结构光模组包括：摄像头模组和分布于所述摄像头模组两侧的线激光发射器；
    所述第一控制单元与所述线激光发射器电连接，所述第二控制单元与所述摄像头模组电连接；
    其中，所述第一控制单元控制所述线激光发射器向外发射线激光；所述第二控制单元控制所述摄像头模组采集由所述线激光探测到的环境图像，以及负责根据所述环境图像对所述自主移动设备进行功能控制。
  12. 根据权利要求11所述的设备，其特征在于，所述第一控制单元还与所述摄像头模组和所述第二控制单元电连接；
    其中，所述第二控制单元对所述摄像头模组进行曝光控制，所述摄像头模组每次曝光产生的同步信号输出至所述第一控制单元；
    所述第一控制单元根据所述同步信号控制所述线激光发射器交替工作，并向所述第二控制单元输出激光源区分信号；
    所述第二控制单元根据所述激光源区分信号对所述摄像头模组每次曝光采集到的环境图像进行左右标记。
  13. 根据权利要求12所述的设备，其特征在于，所述结构光模组设置于所述设备本体的前侧；所述前侧是所述自主移动设备向前移动过程中所述设备本体朝向的一侧。
  14. 根据权利要求13所述的设备，其特征在于，所述设备本体的前侧还安装有撞板，所述撞板位于所述结构光模组外侧；所述撞板上对应所述结构光模组的区域开设有窗口，以露出所述结构光模组中的摄像头模组和线激光发射器。
  15. 根据权利要求14所述的设备，其特征在于，所述撞板上对应所述摄像头模组和所述线激光发射器的位置分别开设有窗口。
  16. 根据权利要求14所述的设备，其特征在于，所述结构光模组安装在所述撞板的内侧壁上。
  17. 根据权利要求13所述的设备，其特征在于，所述结构光模组设置在所述设备本体高度方向上的中部位置、顶部位置或底部位置。
  18. 根据权利要求11-17任一项所述的设备，其特征在于，所述自主移动设备为扫地机器人或擦窗机器人。
  19. 一种自主移动设备，其特征在于，包括：设备本体，所述设备本体上设有主控制器和结构光模组；所述结构光模组包括：摄像头模组和分布于所述摄像头模组两侧的线激光发射器；
    其中，所述主控制器控制所述线激光发射器向外发射线激光，并控制所述摄像头模组采集由所述线激光探测到的环境图像，以及负责根据所述环境图像对所述自主移动设备进行功能控制。
  20. 根据权利要求19所述的设备，其特征在于，所述主控制器具体用于：
    对所述摄像头模组进行曝光控制，并获取所述摄像头模组每次曝光产生的同步信号；
    根据所述同步信号控制所述线激光发射器交替工作，并对所述摄像头模组每次曝光采集到的环境图像进行左右标记。
  21. 根据权利要求20所述的设备，其特征在于，所述结构光模组设置于所述设备本体的前侧；所述前侧是所述自主移动设备向前移动过程中所述设备本体朝向的一侧。
  22. 根据权利要求21所述的设备，其特征在于，所述设备本体的前侧还安装有撞板，所述撞板位于所述结构光模组外侧；所述撞板上对应所述结构光模组的区域开设有窗口，以露出所述结构光模组中的摄像头模组和线激光发射器。
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