阅读说明：本技术 一种基于室内环境的辅助光视觉检测装置及移动机器人 (Auxiliary light vision detection device based on indoor environment and mobile robot ) 是由 赖钦伟 于 2019-10-29 设计创作，主要内容包括：本发明公开一种基于室内环境的辅助光视觉检测装置及移动机器人,包括线光源发射器和摄像头,线光源发射器的发射方向不与室内水平地面平行,使其出射的线光源与摄像头的视角相交形成有效检测区域。所述移动机器人的机体外壳前端装配有所述的辅助光视觉检测装置,所述辅助光视觉检测装置的所述线光源发射器的发射端和所述摄像头的镜头都设置为朝向移动机器人的前进方向。与现有技术中增加线光源发射器的技术方案相比,在室内环境的视觉导航过程中,所述线光源发射器辅助检测近距离的障碍物,避免摄像头一直拍摄到包含有反射光斑的场景画面,降低室内环境边界区域的反射光斑对单摄像头检测障碍物的干扰。(The invention discloses an auxiliary light vision detection device based on an indoor environment and a mobile robot. The front end of the body shell of the mobile robot is provided with the auxiliary light vision detection device, and the transmitting end of the linear light source transmitter of the auxiliary light vision detection device and the lens of the camera are both arranged to face the advancing direction of the mobile robot. Compared with the technical scheme of adding the line light source transmitter in the prior art, in the visual navigation process of the indoor environment, the line light source transmitter assists in detecting the close-range obstacles, prevents the camera from shooting the scene picture containing the reflected light spots all the time, and reduces the interference of the reflected light spots in the boundary area of the indoor environment on the obstacle detection of the single camera.)

1. The auxiliary light vision detection device based on the indoor environment comprises a line light source emitter and a camera and is characterized in that the emitting direction of the line light source emitter is not parallel to the indoor horizontal ground, and the emergent line light source is intersected with the visual angle of the camera to form an effective detection area.

2. The auxiliary light vision detecting device according to claim 1, wherein the linear light source emitter is installed above the camera, and an emitting direction of the linear light source emitter is obliquely downward relative to a horizontal plane, so that a linear light source emitted by the linear light source emitter intersects with a viewing angle of the camera to form an effective detecting area.

3. The auxiliary light vision detecting device according to claim 1, wherein the linear light source emitter is installed below the camera, and an emitting direction of the linear light source emitter is arranged obliquely upward with respect to a horizontal plane, so that a linear light source emitted from the linear light source emitter intersects with a viewing angle of the camera to form an effective detection area.

4. The auxiliary optical visual inspection device according to claim 2 or 3, wherein the emitting end of the linear light source emitter and the lens of the camera are both directed to the front of the auxiliary optical visual inspection device, and the emitting direction of the linear light source emitter and the horizontal direction form a preset emitting angle, so that the linear light source emitted by the linear light source emitter intersects with the viewing angle of the camera within a preset distance range in front of the auxiliary optical visual inspection device to form an effective inspection area.

5. The auxiliary light vision inspection device according to claim 4, wherein the preset exit angle is in a range of 40 degrees to 80 degrees.

6. The auxiliary light vision inspection device according to claim 5, wherein a preset height difference exists between the installation position of the linear light source emitter and the installation position of the camera in the vertical direction, so that the obstacle reflection light spots at different distances are distributed at different heights of the imaging picture of the camera;

on the premise of keeping the preset emergent angle and the optical axis of the lens of the camera unchanged, the larger the preset height difference value is set, the larger the effective detection area is.

7. The auxiliary light vision detecting device according to claim 6, wherein the preset height difference value is set to 5cm, and the preset distance range is set to 60cm to 80 cm.

8. The apparatus according to claim 1, wherein the linear light source emitter is a laser emitting tube emitting laser light representing a linear light source.

9. The auxiliary optical visual inspection device according to claim 8, wherein the optical axis of the lens of the camera is set to 20 degrees upward horizontally, and the range of the viewing angle of the camera is set to 80 degrees to 120 degrees, so that a light spot image is presented on the imaging screen of the camera when an obstacle appears in the effective detection area;

the effective detection area is an intersection area of a line light source emitted by the line light source emitter and the visual angle of the camera below the line light source emitter.

10. A mobile robot, characterized in that the front end of the body shell of the mobile robot is equipped with the auxiliary optical visual inspection device of any one of claims 1 to 9, and the emitting end of the linear light source emitter and the lens of the camera of the auxiliary optical visual inspection device are both arranged to face the advancing direction of the mobile robot.

11. The mobile robot according to claim 10, wherein a spot image reflected from a preceding obstacle appears on an imaging screen of the camera when the preceding obstacle appears in the effective detection area of the auxiliary optical visual detection device during the forward movement of the mobile robot, and a height of the spot image on the imaging screen of the camera is larger as the preceding obstacle is closer to the mobile robot in the effective detection area.

12. The mobile robot of claim 11, wherein the camera is disposed at a preset height on a ground forward of the mobile robot, and the mobile robot is configured to calculate a distance from the front of the mobile robot to detect the obstacle in real time by using a trigonometric relationship according to a height of the obstacle reflected light spot in an imaging picture of the camera, a preset vertical distance from the imaging picture of the camera to an optical center of a lens of the camera, and the preset height.

Technical Field

The invention relates to the technical field of visual detection of obstacles, in particular to an auxiliary light visual detection device based on an indoor environment and a mobile robot.

Background

The positioning navigation technology based on a single camera has the characteristics of simple structure, high reliability and convenience in production, and is increasingly applied. However, this technique has a disadvantage that the depth information of the front object is highly complex to recover, the prior art must rely on the image feature library to perform feature comparison to identify the obstacle, and the accuracy of the obstacle location identification is limited by various scenes.

Chinese patent 201420865149.1 discloses a novel obstacle recognition device, which comprises a laser source and a light curtain modulation device, and is used for emitting a light curtain parallel to the ground to identify an obstacle, and a camera matched with the emitting direction of the light curtain emitting device is also installed to shoot the reflected light spot of the obstacle, when the horizontal light curtain irradiates the obstacle in the advancing direction, a bright strip-shaped light spot is formed on the obstacle, and a scene picture containing the reflected light spot is shot by the camera, then the distribution of the obstacle on the advancing path can be judged by the light spot detection device according to the light spot distribution on the picture, the technology for detecting the obstacle according to the light spot does not need to rely on an image feature library to compare the features to recognize the obstacle, however, in the process of detecting the obstacle in the indoor environment, because the navigation positioning area of the indoor environment is limited, therefore, the parallel light curtain emitted by the light curtain modulation device can be always reflected by the boundary area of the indoor environment, so that the camera always shoots a scene picture containing the reflected light spots, and the accuracy of calling the camera for obstacle avoidance and navigation is influenced.

Disclosure of Invention

Aiming at the technical problems, the technical scheme is that a linear light source emitter is arranged above a camera for shooting images of light spots reflected by obstacles, and the emitting direction of the linear light source emitter is not parallel to the ground. The specific technical scheme is as follows:

the utility model provides an auxiliary light visual inspection device based on indoor environment, includes line source transmitter and camera, and the emission direction of line source transmitter is not parallel with indoor level ground, makes the crossing effective detection area that forms of the line source of its outgoing and the visual angle of camera. Compared with the technical scheme of adding the line light source transmitter in the prior art, in the visual navigation process of the indoor environment, the line light source transmitter assists in detecting the close-range obstacles, prevents the camera from shooting the scene picture containing the reflected light spots all the time, and reduces the interference of the reflected light spots in the boundary area of the indoor environment on the obstacle detection of the single camera.

Furthermore, the linear light source emitter is arranged above the camera, and the emitting direction of the linear light source emitter is obliquely arranged downwards relative to the horizontal plane, so that the emergent linear light source is intersected with the visual angle of the camera to form an effective detection area. The effective detection visual angle range of the camera is covered and crossed from top to bottom, and the obstacle with the raised ground plane can be conveniently detected.

Furthermore, the linear light source emitter is arranged below the camera, and the emitting direction of the linear light source emitter is obliquely arranged upwards relative to the horizontal plane, so that the emergent linear light source is intersected with the visual angle of the camera to form an effective detection area. And crossing the effective detection visual angle range of the camera from bottom to top.

Furthermore, the emitting end of the linear light source emitter and the lens of the camera both face the front of the auxiliary light vision detection device, and a preset emergent angle is formed between the emitting direction of the linear light source emitter and the horizontal direction, so that the linear light source emitted by the linear light source emitter intersects with the visual angle of the camera within a preset distance range in front of the auxiliary light vision detection device to form an effective detection area. In the technical scheme, the installation mode of the camera limits the area for detecting the obstacle in the area close to the auxiliary light vision detection device, and eliminates the influence of reflected light of a distant indoor obstacle.

Further, the preset exit angle is in an angle range of 40 degrees to 80 degrees. The emitting direction of the linear light source emitter relative to the horizontal plane is accurately limited, and the effective detection visual angle range of the camera can be covered and crossed.

Furthermore, a preset height difference exists between the installation position of the linear light source emitter and the installation position of the camera in the vertical direction, so that the barrier reflection light spots at different distances are distributed at different heights of an imaging picture of the camera; on the premise of keeping the same preset emergent angle, the larger the preset height difference value is set, the larger the effective detection area is. According to the technical scheme, the relative height position of the linear light source emitter and the camera can be adjusted according to the distribution condition of the indoor environment, and the detection effect of the barrier is improved as much as possible.

Further, the preset height difference value is set to be 5cm, and the preset distance range is set to be 60 cm-80 cm. And an accurate effective obstacle detection range is formed.

Further, the linear light source emitter is a laser emitting tube, and the emitted laser light is represented by a linear light source. The technical scheme adopts a visible light laser light source, fully utilizes the characteristics of high directionality and low scattering of laser, and ensures that the irradiated laser has a very small divergence angle and almost no scattered light.

Further, the optical axis of the lens of the camera is set to be 20 degrees upwards horizontally, and the visual angle range of the camera is set to be 80 degrees to 120 degrees, so that a light spot image is displayed on an imaging picture of the camera when an obstacle appears in the effective detection area; the effective detection area is an intersection area of a line light source emitted by the line light source emitter and the visual angle of the camera below the line light source emitter. The effective detection visual angle of the camera is covered and crossed, so that an effective detection area is formed in a crossed mode.

The front end of the body shell of the mobile robot is provided with the auxiliary light vision detection device, and the transmitting end of the line light source transmitter and the lens of the camera of the auxiliary light vision detection device are both arranged to face the advancing direction of the mobile robot. The method has the advantages that the situation that a camera of the mobile robot shoots a scene picture containing the reflected light spots all the time in the navigation process is avoided, and the interference of the reflected light spots in the boundary area of the indoor environment on the detection of the obstacle by the single camera is reduced.

Further, when a front obstacle is out of the effective detection area of the auxiliary light vision detection device during the moving process of the mobile robot, no light spot image reflected by the front obstacle is on the imaging plane of the camera; in the moving process of the mobile robot, when a front obstacle appears in the effective detection area of the auxiliary light vision detection device, a light spot image reflected by the front obstacle appears on an imaging picture of the camera, and in the effective detection area, the closer the front obstacle is to the mobile robot, the larger the height of the light spot image on the imaging picture of the camera is. According to the technical scheme, the relative height positions of the linear light source emitter and the camera are adjusted on the body of the mobile robot according to the distribution condition of the indoor environment, and the detection effect of the barrier is improved as much as possible.

Furthermore, the camera is arranged at a preset height of the advancing ground of the mobile robot, and the mobile robot is used for calculating the distance of the obstacle detected in real time in front of the mobile robot by utilizing a triangular geometric relationship according to the position of the obstacle reflection light spot in an imaging picture of the camera, the preset vertical distance from the imaging picture of the camera to the optical center of the lens of the camera and the preset height of the camera. According to the technical scheme, the auxiliary light vision detection device is used for adding an obstacle ranging function to the mobile robot, so that obstacle avoidance navigation path planning is executed according to the distance of the obstacle.

Drawings

Fig. 1 is a schematic view of an assembly structure of an auxiliary light vision inspection device based on an indoor environment on a mobile robot and an effective inspection area formed by the assembly structure (the linear light source emitter is installed above the camera, and the emitting direction of the linear light source emitter is obliquely arranged downwards relative to a horizontal plane).

Fig. 2 is a schematic view of light spot images respectively displayed on imaging frames corresponding to the cameras by two obstacles with different heights according to an embodiment of the present invention.

Reference numerals:

101: a body of the mobile robot; 102: a drive wheel; 103: a camera; 104: a line light source emitter; 105: a line light source; 106: the viewing angle of the camera; 107: an effective detection area; 201: a light spot image with the center A and the height h; 202:201 on the image sensing chip; 203: spot images with center a1 height h 1; 204: 203.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.

The embodiment of the invention provides an auxiliary light vision detection device based on an indoor environment, which comprises a line light source emitter and a camera, wherein the assembly characteristics of the line light source emitter in the auxiliary light vision detection device can be considered to be matched with the lens visual angle of the camera. The emitting direction of the linear light source emitter is not parallel to the indoor horizontal ground, the emitting direction of the linear light source emitter can be arranged obliquely downwards or obliquely upwards, and the emergent linear light source and the visual angle of the camera are intersected to form an effective detection area. Compared with the technical scheme of adding the line light source emitter in the prior art, in the visual navigation process of the indoor environment, the line light source emitter assists in detecting the close-range obstacles, prevents the camera from shooting the scene picture containing the reflection light spots all the time, and reduces the interference of the reflection light spots of the boundary area of the indoor environment on the obstacle detection of the single camera. It should be noted that the indoor environment is a navigation area with boundary limitation, and if the obstacle recognition device disclosed in chinese patent 201420865149.1 is used to perform the obstacle detection task of the indoor environment, the parallel light curtain emitted by the light curtain modulation device of the obstacle recognition device is always reflected by the boundary area of the indoor environment, so that the camera always shoots the scene picture containing the reflected light spot, thereby affecting the accuracy of calling the camera to avoid obstacles and navigate.

As an embodiment, as shown in fig. 1, the linear light source emitter 104 is installed above the camera 103, and the emitting direction of the linear light source emitter 104 is set obliquely downward relative to the horizontal plane, so that a linear light source 105 formed by the linear light source emitted therefrom intersects with the viewing angle 106 of the camera 103 to form an effective detection area 107, and the linear light source 105 covers and intersects with the effective detection viewing angle range of the camera 103 from top to bottom to assist in detecting obstacles protruding from the ground. Specifically, the emitting end of the linear light source emitter 104 and the lens of the camera 103 face the front of the auxiliary light vision detection device to assist in detecting obstacles protruding from the ground plane in front of the auxiliary light vision detection device, and the emitting direction of the linear light source emitter 104 forms a preset emitting angle with the horizontal direction, so that the linear light source 105 emitted by the linear light source emitter 104 intersects with the viewing angle of the camera 103 within a preset distance range in front of the auxiliary light vision detection device to form an effective detection area 107. In this embodiment, the installation manner of the camera 103 limits the region for detecting the obstacle to the region close to the auxiliary light vision detection device, that is, the effective detection region 107, eliminates the interference of reflected light of a distant indoor obstacle or external strong light reflection, removes false obstacles caused by strong light spots, and is suitable for various indoor complex environments.

As another embodiment, in the auxiliary light visual detection device, the linear light source emitter may also be installed below the camera, and the emitting direction of the linear light source emitter is set obliquely upward with respect to the horizontal plane, so that the outgoing linear light source intersects with the viewing angle of the camera to form an effective detection area. And the detection area is crossed with the effective detection visual angle range of the camera from bottom to top, and a close-distance crossed and overlapped detection area based on the barrier can be formed. Specifically, the emitting end of the line light source emitter and the lens of the camera both face the front of the auxiliary light vision detection device, and assist in detecting a raised obstacle on a ground plane in front of the auxiliary light vision detection device, and the emitting direction of the line light source emitter and the horizontal direction form the preset emitting angle, so that the line light source emitted by the line light source emitter intersects with the visual angle of the camera within the preset distance range in front of the auxiliary light vision detection device to form an effective detection area. In this embodiment, the camera is mounted in such a manner that the region for detecting the obstacle is limited to a region close to the auxiliary light vision detection device, and the influence of reflected light from a distant indoor obstacle is eliminated.

It is noted that the predetermined exit angle ranges from 40 degrees to 80 degrees. The emitting direction of the linear light source emitter relative to the horizontal plane is accurately limited, and the effective detection visual angle range of the camera can be covered and crossed.

Preferably, a preset height difference exists between the installation position of the linear light source emitter 104 and the installation position of the camera 103 in the vertical direction, so that the obstacle reflection light spots at different distances are distributed at different heights of an imaging picture of the camera 103, wherein the position of a lens optical axis of the camera 103 is fixed. On the premise of keeping the preset emergent angle and the lens optical axis of the camera 103 unchanged, when the preset height difference is set to be larger, the area of the effective detection visual angle 106, which is covered and intersected with the camera 103, of the linear light source 105 is larger, and the formed effective detection area 107 is larger. The relative height position of the linear light source emitter and the camera can be adjusted according to the distribution condition of the indoor environment, and the detection effect of the barrier is improved as much as possible. The embodiment sets the preset height difference value to be 5cm, and sets the preset distance range to be 60cm to 80cm, so as to form an accurate effective obstacle detection range.

Preferably, the line light source emitter 104 is a laser emitting module, and the laser emitted by the laser emitting module is a linear line light source, as shown by the line light source 105 in fig. 1, which always intersects with the ground, and the spot reflected by the ground can only be shot by the camera 103 when entering the effective detection area 107. When the line light source 105 irradiates an object, a bright band-shaped light spot is projected on the object. As shown in fig. 1, when the line light source 105 intersects with the road surface and irradiates obliquely downward at the preset exit angle, if there is an obstacle on the road surface, a bright light spot is reflected on the surface of the obstacle, and enters the effective detection area 107 to be captured by the camera 103. The embodiment adopts the visible light laser light source, fully utilizes the characteristics of high directionality and low scattering of laser, and ensures that the divergence angle of the irradiated light is extremely small and almost no scattered light exists.

Preferably, the lens optical axis of the camera 103 is set to 20 degrees upwards horizontally, and the viewing angle range of the camera 103 is set to 80 degrees to 120 degrees, so that when an obstacle appears in the effective detection area 107, a light spot image can be presented on the imaging picture of the camera 103; the effective detection area 107 is an intersection area of the line light source 105 emitted by the line light source emitter 104 and the viewing angle 106 of the camera 103. The relative positions of the optical axis of the lens of the camera 103 and the linear light source emitter 104 limit the emitting direction of the linear light source emitter 104 relative to the horizontal plane, which is beneficial to covering and crossing the effective detection visual angle 106 of the camera 103, thereby forming an effective detection area 107 in a crossing manner.

Specifically, as shown in fig. 2, the camera 103 captures an obstacle reflection light spot at a first preset position in the effective detection area 107, and forms a light spot image 201 on the image sensor sheet 202 at an imaging picture position of the camera 103, where a center position a of the light spot image 201 has a height h above the image sensor sheet 202; when the obstacle approaches to the camera 103 from the first preset position, the camera 103 captures an obstacle reflection light spot at a second preset position in the effective detection area 107, and forms a light spot image 203 on the image sensing sheet 204 at the position of the imaging picture of the camera 103, the center position a1 of the light spot image 203 has a height h1 above the image sensing sheet 204, wherein the height h1 is significantly greater than the height h, and the horizontal distance between the first preset position and the camera 103 is greater than the horizontal distance between the second preset position and the camera 103. Therefore, the present embodiment can determine how far and how close the camera 103 is to the obstacle in the effective detection area 107 according to the reflected light spot image on the imaging screen of the camera. In addition, after the auxiliary light vision detection device identifies the obstacle, the distance of the obstacle can be estimated according to the height difference of the light spots distributed in the imaging picture of the camera 103, and the principle is based on the convex lens imaging principle in the geometric optics of the textbook in middle school, and the principle is applied to many optical distance measuring instruments, belongs to the known technology and is not described in detail.

Preferably, the linear light source emitter 104 may include a preset number of laser emitting tubes arranged above the camera 103 according to a certain shape, and the emitting direction of the laser emitting tubes is set obliquely downward relative to the horizontal plane and forms the preset emitting angle with the horizontal plane. Or the line light source transmitter comprises a preset number of laser transmitting tubes which are arranged below the camera according to a certain shape, and the transmitting directions of the laser transmitting tubes are obliquely upwards arranged relative to the horizontal plane and form the preset emergent angle with the horizontal plane. The precision of visual detection is greatly improved. In the preferred embodiment, the preset number of laser emitting tubes are arranged above the camera 103 or below the camera 103 to form a regular shape, so that light spots formed by the laser emitting tubes on the reflecting surface of the obstacle have a certain shape, and the light spots form a pattern which is easy to identify in the imaging plane of the camera 103, thereby being beneficial to identifying the obstacle through the light spots; the laser emitted by the laser emitting tubes can form a plurality of light spots on the barrier, and the light spots can particularly form a pattern which can be conveniently identified, so that the interference caused by bright spots formed by external light (such as strong light) on the barrier can be reduced; the distances of obstacles at multiple locations may also be determined. For example, an obstacle in the middle direction is detected by a light spot formed by the laser emitting tube 1 in the middle; detecting an obstacle in the left direction ahead through a light spot formed by the laser emission tube 2 on the left side of the laser emission tube 1; and the obstacle in the direction from the front to the right is detected through the light spot formed by the laser emission tube 2 on the right side of the laser emission tube 1.

Based on the aforementioned auxiliary optical visual inspection device, an embodiment of the present invention further provides a mobile robot, as shown in fig. 1, the auxiliary optical visual inspection device is assembled at a front end of a housing of a body 101 of the mobile robot, a driving wheel 102 is assembled at a bottom of the body 101 of the mobile robot, an emitting end of the linear light source emitter 104 of the auxiliary optical visual inspection device and a lens of the camera 103 are both arranged to face a forward direction of the mobile robot, a linear light source 105 emitted by the linear light source emitter 104 intersects with a visual angle 106 of the camera 103 within a preset distance range in front of the mobile robot to form an effective inspection area 107, so that the linear light source 105 covers and intersects with an effective inspection visual angle 106 range of the camera 103, and assists the mobile robot in inspecting a raised obstacle on a ground plane, and compared with the prior art, the camera 103 of the mobile robot is prevented from shooting to a scene drawing including a reflected light spot all the time in a navigation process The interference of reflected light spots in the boundary area of the indoor environment or external strong light on the obstacle detection of the camera is reduced.

When a front obstacle is out of the effective detection area 107 of the auxiliary light vision detection device during the moving process of the mobile robot, no light spot image reflected by the front obstacle is on the imaging plane of the camera 103; in the advancing process of the mobile robot, when the obstacle in front is relatively far, the line light source 105 and the view angle of the camera 103 do not intersect, the camera 103 cannot shoot the line light source, when there is an obstacle gradually approaching to the front and the line light source starts to enter the intersection point area of the line light source 105 and the view angle 106 of the camera 103, the obstacle in front appears in the effective detection area 107 of the auxiliary optical visual detection device, the light spot image reflected by the obstacle in front appears on the imaging picture of the camera 103, and in the effective detection area 107, the closer the obstacle in front to the mobile robot, the greater the height of the light spot image on the imaging picture of the camera 103, and the specific embodiment refers to the embodiment corresponding to fig. 2. Therefore, the mobile robot can determine the distance between the mobile robot and the obstacle in the effective detection area 107 according to the reflected light spot image on the imaging picture of the camera 103, and further make a corresponding obstacle avoidance path plan. According to the distribution condition of the indoor environment, the relative height positions of the linear light source transmitter 104 and the camera 103 on the body 101 of the mobile robot are adjusted, so that the detection effect of the obstacles is improved as much as possible.

Preferably, the camera 103 is arranged at a preset height of a ground where the mobile robot moves forward, and the mobile robot is configured to calculate a distance from the front of the mobile robot to detect the obstacle in real time by using a trigonometric geometric relationship according to a position of the obstacle reflection light spot in an imaging picture of the camera, a preset vertical distance from the imaging picture of the camera 103 to an optical center of a lens of the camera, and the preset height of the camera. In the preferred embodiment, the setting point O is the optical center of the lens of the camera 103; p represents a light spot formed on an obstacle in the effective detection area 107 by the laser emitted by the linear light source emitter 104, and then the light spot is reflected into the camera 103 to form a light spot image P' on an imaging picture of the camera; the vertical distance from the optical center O to the imaging picture of the camera 103 is |0B |, which is a preset vertical distance from the imaging picture of the camera 103 to the optical center of the lens of the camera 103, wherein the vertical distance from the connecting line OB on the imaging picture of the camera 103 is B, that is, the intersection point between the optical axis of the lens of the camera 103 and the imaging picture of the camera 103 is B, | P 'B | can be used as the image distance of the spot image P'. After the camera 103 is fixed on the auxiliary light vision detecting device or the mobile robot, the length of the connecting line 0B is preset, and the image distance | P 'B | is obtained from the height position of the spot image P' on the imaging screen of the camera 103. Meanwhile, a preset height H2 of the camera 103 relative to the advancing ground of the mobile robot is preset, and the distance from the optical center O of the camera 103 to the horizontal ground can be processed as a preset height H2 of the camera 103 relative to the advancing ground of the mobile robot; a light spot image P' on an imaging picture of the camera 103, and an optical center O of the camera 103 are on the same straight line with a light spot P on an obstacle; and the vertical connection line OB from the optical center O to the imaging picture of the camera 103 is approximately parallel to the advancing ground of the mobile robot; therefore, according to the principle of the side length ratio of the right-angled triangle, the horizontal distance = | OB | H2/| P' B |, from the light spot P on the obstacle to the optical center O of the camera 103 in the effective detection area 107 is obtained, and this horizontal distance is taken as the obstacle distance detected by the mobile robot. In this embodiment, the auxiliary light vision detection device is used to add an obstacle distance measurement function to the mobile robot, so that the obstacle avoidance navigation path planning is performed according to the distance of the obstacle. The mobile robot selects the optimal advancing direction to avoid the obstacles by analyzing the distribution condition of the detected obstacles.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.