CN216211121U - Depth information measuring device and electronic apparatus - Google Patents
Depth information measuring device and electronic apparatus Download PDFInfo
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- CN216211121U CN216211121U CN202122683348.3U CN202122683348U CN216211121U CN 216211121 U CN216211121 U CN 216211121U CN 202122683348 U CN202122683348 U CN 202122683348U CN 216211121 U CN216211121 U CN 216211121U
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Abstract
The utility model discloses a depth information measuring device, comprising: the dToF sensor sends infrared light irradiating an object and receives reflected light to obtain first depth information; the structured light projection module is used for emitting structured light with characteristics to an object; and the structured light infrared receiving module receives reflected light of the object to obtain second depth information larger than a preset value. Based on the depth information measuring device, the utility model also discloses electronic equipment. The depth information of the object is measured at a middle distance and a long distance by adopting the structured light module, the depth information of the object is measured at a short distance by the dToF sensor, and the advantages of two different measurement modes are combined, so that the distance of the object can be accurately measured in a short-distance and long-distance whole scene; further effective obstacle avoidance measures can be taken.
Description
Technical Field
The utility model relates to the field of vision measurement, in particular to a 3D module applied to full-scene obstacle avoidance and electronic equipment.
Background
With the further development of artificial intelligence, more and more mobile robot products are applied to daily life of people, such as sweeping robots, hotel service robots, unmanned aerial vehicles and the like, and the mobile robots guide the mobile robots to move along suitable paths by obtaining sufficient environment information, wherein obstacle detection is a key technology of mobile robot navigation.
Obstacle detection is that the distance between the robot and an object is measured, and the moving robot plans the current avoidance measure by comparing the measured distance with the actual obstacle avoidance distance. The current common techniques for obstacle detection are: binocular stereo imaging technology, structured light triangulation technology and laser radar ranging technology. The binocular stereo imaging technology is greatly influenced by ambient light, the measurement precision of objects lacking characteristics is low, the algorithm is complex, and the calculation time is long; the structured light triangulation technology has high measurement precision and simple calculation, but cannot measure an object (within 5 cm) at an ultra-short distance due to the existence of a base line in the self design, and has poor depth map effect output at a short distance (such as within 30 cm) because the infrared camera in the structured light has a fixed focal length in a remote imaging clear state; the laser radar measurement utilizes the triangulation distance measurement principle, and measurement accuracy reduces along with the increase of test distance, and uses with rotatory module collocation, and general test head exposes outside, and waterproof dustproof ability is poor.
In the prior art, patent application publication No. CN109544616B provides a depth information determining method, including: acquiring first depth information of a shot object through the TOF camera, and acquiring second depth information of the shot object through the TOF camera and the color camera; effective depth information of the subject is determined from the first depth information and the second depth information. And the method for acquiring the depth information provided by the patent application with the publication number of CN106651941A comprises the following steps: collecting an invisible light image of a target space; judging whether the accurate depth value of the target space needs to be acquired or not; if yes, calculating the depth value of the target space according to the first reference image and the invisible light image; if not, calculating the depth value of the target space according to the second reference image and the invisible light image; the first reference image is a pre-acquired invisible light image of a plane with known depth values, and the second reference image is a pre-acquired invisible light image of which the target space does not contain the interactive object.
How to accurately measure the distance of an object in a short-distance and long-distance full scene and further take quick and effective obstacle avoidance measures is a big problem in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model provides a depth information measuring device, which comprises a structured light module and a small area array dtof sensor; the structured light module is used for measuring the distance of an object at a medium distance and a long distance, and the dtof sensor with a small area array is used for measuring the distance of the object at a short distance, so that the distance of the object can be accurately measured under the whole scenes of the short distance and the long distance.
The specific technical scheme of the utility model is as follows:
a depth information measuring apparatus comprising:
the dToF sensor sends infrared light irradiating an object and receives reflected light to obtain first depth information;
the structured light projection module is used for emitting structured light with characteristics to an object;
and the structured light infrared receiving module receives reflected light of the object to obtain second depth information larger than a preset value.
The structured light module is used for measuring the depth information of an object at a middle distance and a long distance, the dToF sensor is used for measuring the depth information of the object at a short distance, and the advantages of two different measuring modes are combined, so that the distance of the object can be accurately measured in a short-distance scene and a long-distance scene.
On the basis of the above general technical solutions, several alternatives are provided below, but not as an additional limitation to the above general solutions, but merely as further additions or preferences, and each alternative may be combined individually for the above general solutions or among multiple alternatives without technical or logical contradictions.
In a preferred example, a small-area array of dToF sensors is used to acquire the depth information of the close-range measurement, and preferably, the dToF sensors comprise a transmitting module of dToF and a receiving module of dToF, wherein the number of SPADs in the receiving module of dToF is less than 2000. Compared with the conventional area array dtof, the whole small area array dtof is greatly reduced in volume and cost, and is more suitable for short-distance measurement.
Preferably, the dtof emitting module comprises a laser light source; and the light-emitting side of the laser light source is provided with a light homogenizing sheet for uniformly irradiating the emitted light source on the object to be measured.
Preferably, the dtof receiving module includes an imaging lens, an infrared narrowband filter, and an imaging chip with an SPAD area array or an SiPM area array, which are sequentially arranged along an optical path. The chip type can be SIPM (silicon photomultiplier), and the difference from the SPAD is that the pixel point in the SPAD area array is composed of a single SPAD, and the number of pixels of the computing camera is the sum of the number of all SPADs; each pixel point in the SiPM area array can be regarded as a macropixel and consists of 3 × 3 or 2 × 2 SPAD arrays, which can reduce the number of pixels output by the final image, but can improve the signal-to-noise ratio during measurement and can accurately extract the intensity of the signal.
Preferably, the depth information measuring device further comprises a color module for receiving visible light in the environment reflected by the object to generate a color image so as to identify the contour of the object.
The color module can be a color camera or a camera, collects color images of the measured object to identify the type of the object outline, and adopts different obstacle avoidance measures by matching with corresponding depth information.
Preferably, the depth information measuring device further comprises a processing module, and when the first depth information is greater than a preset value, the structured light projection module and the structured light infrared receiving module are started.
The switching between the dtod sensor and the structured light module may be controlled by a processing module integrated in the depth information measuring device, or may be controlled by a processor in which the depth information measuring device is installed.
Preferably, the depth information measuring device further comprises a structural support, and the dtaf sensor, the structured light projection module and the structured light infrared receiving module are fixed on the support.
In combination with the depth information measuring device, the utility model further provides an electronic device, which comprises a movable device main body, wherein the depth information measuring device is mounted on the device main body.
The depth information of the object is measured at a middle distance and a long distance by adopting the structured light module, the depth information of the object is measured at a short distance by the dToF sensor, and the advantages of two different measurement modes are combined, so that the distance of the object can be accurately measured in a short-distance and long-distance whole scene; and further combining a color module to identify the object type and taking effective obstacle avoidance measures.
Drawings
Fig. 1 is a schematic structural diagram of a depth information measuring device provided in the present application;
FIG. 2 is a schematic structural diagram of a small area dtof provided in the present application;
fig. 3 is a schematic structural diagram of a depth information measuring apparatus according to another embodiment of the present application;
fig. 4 is a flowchart illustrating an operation of avoiding an obstacle of the electronic device according to the present application.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
As shown in fig. 1 and 3, a depth information measuring apparatus includes:
the dToF sensor sends infrared light irradiating an object and receives reflected light to obtain first depth information;
the structured light projection module is used for emitting structured light with characteristics to an object;
and the structured light infrared receiving module receives reflected light of the object to obtain second depth information larger than a preset value.
In this implementation, the structured light module comprises structured light projection module and structured light infrared receiving module for in the depth information of long-range measurement object, dToF sensor is used for measuring the depth information of object closely, combines the advantage of two kinds of different measurement modes for can both accurately measure the distance of object under closely and long-range full scene. It should be noted that the preset value can be reasonably set according to the actual application, for example, 30cm, and is not specifically limited.
In another preferred embodiment, a small area array of dtof sensors is used to acquire depth information for close range measurements. The dtofs sensor includes a transmit module of dToF and a receive module of dToF having a number of SPADs less than 2000. Compared with the conventional area array dtof, the whole small area array dtof is greatly reduced in volume and cost, and is more suitable for short-distance measurement.
In another preferred embodiment, the depth information measuring device further comprises a color module 3 for receiving visible light in the environment reflected by the object to generate a color image so as to identify the contour of the object; and the distance of the object is measured under the combination of a short-distance scene and a long-distance scene, and different obstacle avoidance measures can be further adopted.
Referring to fig. 1, the depth information measuring device mainly comprises a structured light projection module 1, a small area array dtof sensor 2, a color module 3, a structured light infrared receiving module 4 and a structural support 5, wherein the small area array dtof sensor 2 comprises a dtof emitting module 21 and a dtof receiving module 22, the structured light projection module 1 and the structured light infrared receiving module 4 form a structured light module, and the structured light projection module 1, the small area array dtof 2, the color module 3 and the structured light infrared receiving module 4 are fixed on the structural support 5 through screws or glue.
The structured light projection module 1 generally includes a laser light source, a collimating mirror, a DOE (of course, there is also an optical element integrating the collimating mirror and the DOE into a whole and integrating collimation and diffraction), the laser light source is usually provided with a vertical cavity surface emitting laser (vcsel) and a horizontal cavity surface emitting laser (hcsel), and a plurality of randomly distributed light sources are collimated into parallel beams by the collimating mirror, modulated by the DOE to form structured light, and then the structured light is projected onto a measured object. The structured light infrared receiving module 4 generally comprises a cmos imaging chip, an infrared narrowband filter and an imaging lens, light reflected by an object is focused by the imaging lens, light outside the wavelength range of a light source is filtered by the infrared narrowband filter, finally, an image is formed on the imaging chip, an infrared image of a structured light pattern with characteristics is output, and depth information of the object to be measured is obtained through analysis of a certain algorithm. The larger the distance between the structured light projection module 1 and the structured light infrared receiving module 4 is, the higher the depth test distance and the precision are, but the larger the volume of the whole module is, so that the actual requirements are generally integrated, and the proper baseline distance is selected.
Fig. 2 is a schematic structural diagram of the small area dtof provided in this embodiment, which mainly includes: a laser light source 211, typically a vcsel; a light homogenizing sheet 212; an imaging lens 223; an infrared narrowband filter 222; the imaging chip 221 is generally composed of an SPAD area array or SiPM area array, and a TDC circuit, where the SPAD is a single photon avalanche diode, and the TDC is a time-to-digital converter. The TDC can be triggered to work when the laser source 211 emits a light source, the emitted light source is uniformly irradiated on a measured object after passing through the light uniformizing sheet 212, a light beam reflected by the measured object is focused through the imaging lens 223, light outside the wavelength range of the light source in reflected light is filtered through the infrared narrowband filter 222 and is finally irradiated on the imaging chip 221, the SPAD generates avalanche current after receiving the reflected light, the TDC stops working due to avalanche signal triggering, the TDC converts pulse output of the period from the start of working to the stop of working into time, the time is the time difference from the emission of the laser source 211 to the reception of the SPAD, and the distance of the measured object can be calculated through the time difference. Because only the depth of an object with a shorter distance range needs to be measured, the power and the angle of view required by the transmitting module 21 of dtof are smaller, the number of SPADs in the receiving module 22 of dtof is also less, generally less than 2000, the volume and the cost of the whole small area array dtof 2 are greatly reduced compared with the power consumption, the volume and the cost of the conventional area array dtof, and the small area array dtof 2 can be directly replaced by a psensor (proximity light sensor) in some occasions, therefore, on the basis of 3D structured light, 3D obstacle avoidance under the whole scene can be realized only by matching the small area type dtof which the cost and the position space are very small.
In another preferred embodiment, the depth information measuring apparatus further includes a processing module, and when the first depth information is greater than a preset value, the structured light projection module and the structured light infrared receiving module are started. The switching between the dtaf sensor and the structured light module may be controlled by a processing module integrated in the depth information measuring device, or may be controlled by a processor in which the depth information measuring device is installed.
In another embodiment, according to the depth information measuring device in the above embodiments, the step of avoiding the obstacle in the whole scene includes:
acquiring first depth information of a measured object by using a dToF sensor;
when the first depth information is larger than a preset value, acquiring second depth information of the measured object by using the structured light projection module and the structured light infrared receiving module;
and acquiring and identifying the object contour by using the color module, and taking corresponding obstacle avoidance measures by combining the first depth information and/or the second depth information.
When the distance between the mobile robot and the object is long, for example, the distance exceeds 30cm, the structured light projection module 1, the color module 3 and the structured light infrared receiving module 4 work, and the structured light projection module 1 emits structured light with characteristics to irradiate the object; the structured light infrared receiving module 4 receives the light reflected by the object irradiated by the structured light projection module 1, outputs the light as an infrared speckle pattern, and obtains a depth map (namely second depth information) of the measured object according to the speckle pattern through an algorithm; the color module 3 receives visible light in the environment reflected by the object to be detected to form a color image, the color image can be used for identifying the outline of the object through an algorithm, and different obstacle avoidance measures are adopted according to different types of the avoided objects, such as socks, data lines, moving objects or people, in cooperation with depth information of the corresponding objects.
When the distance between the mobile robot and the object is close, for example, the distance is less than 30cm, the dtof sensor 2 and the color module 3 of the small area array work, and the emitting module 21 of the dtof emits uniform infrared light to irradiate the object; the receiving module 22 of dtof receives the light reflected by the object, and by measuring the time difference between the light emitted from the emitting module 21 of dtof and the light reflected by the object to the receiving module 22 of dtof, the depth information (i.e. the first depth information) of the object can be obtained; the color module 3 receives visible light in the environment reflected by the object to be detected to form a color image, the color image can be used for identifying the outline of the object through an algorithm, and different obstacle avoidance measures are adopted according to different types of the avoided objects, such as socks, data lines, moving objects or people, in cooperation with depth information of the corresponding objects.
In another embodiment, as shown in fig. 3, the depth information measuring device mainly includes a structured light projection module 1, a small area array dtof 2 (including a transmitting light source 21 of dtof and a receiving area array 22 of dtof), a structured light infrared receiving module 4 and a structural support 5. The structured light projection module 1, the small area array dtof 2 and the structured light infrared receiving module 4 are fixed on the 5 through screws or glue, one color module 3 is omitted compared with the device in fig. 1, the structure can be used for simply measuring the depth information of an object without identifying the scene of the object, and compared with the module in fig. 1, the size can be smaller, and the cost is lower.
In another embodiment, an electronic device is provided, which includes a movable device body, and the depth information measuring device is mounted on the device body. The electronic equipment comprises various mobile robots or aircrafts and the like.
Fig. 4 is a flowchart of the electronic device according to the present embodiment; after the mobile robot is started, firstly triggering a dtof sensor of a small area array to work, and when the distance between a measured object and the measured object is tested to be smaller than a certain preset value (for example, 30cm, the preset value can be determined according to the actual effect), the system works in a close-range mode, and a depth map is output through the dtof work of the small area array; after the mobile robot is started, the color module is started at the same time, a color 2D image is formed on the object to be measured, the type of the object to be measured is identified through the edge processing of the 2D image by the algorithm, and the distance information of the object to be measured is obtained through the depth map, so that effective obstacle avoidance measures are provided. When the small area array dtof tests that the distance of the front object is larger than a certain preset value, the system is switched to a long-distance mode, a depth map is output through the work of the structured light module, obstacle avoidance measures in the long-distance mode are completed, and the system is quickly switched to different working modes according to the difference of the distance of the front object.
The above description is only exemplary of the preferred embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A depth information measuring apparatus, characterized by comprising:
the dToF sensor sends infrared light irradiating an object and receives reflected light to obtain first depth information;
the structured light projection module is used for emitting structured light with characteristics to an object;
and the structured light infrared receiving module receives reflected light of the object to obtain second depth information larger than a preset value.
2. The depth information measuring apparatus according to claim 1, wherein the dToF sensor includes a transmitting module of dToF and a receiving module of dToF, the number of SPADs in the receiving module of dToF being less than 2000.
3. The depth information measuring device according to claim 2, wherein the transmission module of dtof includes a laser light source;
and the light-emitting side of the laser light source is provided with a light homogenizing sheet for uniformly irradiating the emitted light source on the object to be measured.
4. The depth information measuring apparatus according to claim 2, wherein the dtof receiving module includes an imaging lens, an infrared narrowband filter, and an imaging chip with a SPAD area array or a SiPM area array, which are arranged in this order along the optical path.
5. The depth information measuring device of claim 1, further comprising a color module for receiving visible light in the environment reflected by the object to generate a color image to identify the contour of the object.
6. The depth information measuring device of claim 1, further comprising a processing module, wherein the processing module starts the structured light projection module and the structured light infrared receiving module when the first depth information is greater than a preset value.
7. The depth information measuring device of claim 1, further comprising a structural support, wherein the dtaf sensor, the structured light projecting module and the structured light infrared receiving module are fixed on the support.
8. An electronic apparatus comprising a movable apparatus body having thereon the depth information measuring device according to any one of claims 1 to 7.
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| CN113822875A (en) * | 2021-11-04 | 2021-12-21 | 深圳市安思疆科技有限公司 | Depth information measuring device, full-scene obstacle avoidance method and electronic equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113822875A (en) * | 2021-11-04 | 2021-12-21 | 深圳市安思疆科技有限公司 | Depth information measuring device, full-scene obstacle avoidance method and electronic equipment |
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Effective date of registration: 20220614 Address after: Room 601, 6 / F, building 5, No. 57 Andemen street, Yuhuatai District, Nanjing, Jiangsu 210000 Patentee after: Ansijiang Technology (Nanjing) Co.,Ltd. Address before: 518000 room 109-10, 1f, Tsinghua Information Port scientific research building, No. 13, Langshan Road, songpingshan community, Xili street, Nanshan District, Shenzhen, Guangdong Patentee before: SHENZHEN ANGSTRONG TECHNOLOGY Co.,Ltd. |