CN105807284A - Optical scanning and ranging device - Google Patents
Optical scanning and ranging device Download PDFInfo
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- CN105807284A CN105807284A CN201610282754.XA CN201610282754A CN105807284A CN 105807284 A CN105807284 A CN 105807284A CN 201610282754 A CN201610282754 A CN 201610282754A CN 105807284 A CN105807284 A CN 105807284A
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- light beam
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- range sensor
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- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- 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
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Mechanical Optical Scanning Systems (AREA)
Abstract
The invention discloses an optical scanning and ranging device.The device comprises a light source used for emitting detection light, a first lens used for making detection light form light beams in a preset shape, a curved-face reflector used for reflecting the light beams in the preset shape to obtain first light beams, a second lens and a distance sensor, wherein the first light beams are irradiated on an object to be tested, the object emits reflected light after receiving the first light beams, the reflected light forms second light beams after being reflected by the curved-face reflector, the second lens is used for convergence of the second light beams to obtain a convergence light beam, and the distance sensor is used for receiving the convergence light beam and calculating the distance between the optical scanning and ranging device and the objected to be tested according to the image formed by the convergence light beam.By the adoption of the device, the problem of short service life of an optical scanning and ranging device with a slip ring is solved, and the service life of the optical scanning and ranging device is prolonged.
Description
Technical field
The present invention relates to optical ranging field, in particular to a kind of optical scanning range unit.
Background technology
Optical scanning range unit is a kind of use collimated beam, is carried out the equipment of non-contact scanning range finding by methods such as flight time (TimeofFlight, referred to as TOF).At present, common optical scanning range unit includes: light emission module, optical lens, reception also process the chip of signal, motor, bearing and conducting slip ring.Light emission module sends light beam, optical lens is positioned in the light path of light emission module, pass through the beam emissions of collimation to testee surface, after running into barrier, light beam is reflected on reception chip, reception chip is transmitted into the time between reception, phase contrast, the known light velocity by measurement, can obtain the testee distance to device.The parts such as the light emission module for finding range, optical lens, Optical Receivers are arranged on the scanning realizing collimated beam on a platform that can rotate continuously by this kind of device, rotated the environment distance signal that can obtain tour by motor, powered by conducting slip ring between rotary part and fixing parts and transmit data.It is now widely used for robot environment's scanning, path planning, avoidance navigation, security protection detection etc..
Conducting slip ring is adopted to power and transmit data between this type of optical scanning range unit rotary part and fixing parts.And traditional conducting slip ring there is problems in that 1, slip ring is really the cantilever beam structure of single-ended support, therefore motor is in running, effect due to centrifugal force and radial imbalance force square, slip ring will be inevitably generated radial wobble, the shake amplitude of slip ring, frequency are significantly high, the compression spring of brush cannot respond at all, thus results in the loose contact of brush and slip ring；2, the linear velocity height of slip ring causes brush wear big, and the life-span is short.Tool relevant information introduction, square being inversely proportional to of the life-span of brush and the linear velocity of slip ring, therefore the life-span of the traditional structure brush of airborne slip ring is relatively low；3, traditional slip ring, brush structure there is also difficulty in heat radiation, and generally, the temperature rise of slip ring surface exceedes 80 DEG C more, exacerbates abrasion, make slip-ring brush reliability reduce further.Meanwhile, brush wear produces a lot of carbon dust, is scattered between each phase slip ring of insulation, as easy as rolling off a log generation slip ring phase fault and cause ground connection, and slip ring system will thoroughly damage.
General conducting slip ring is under the rotating speed of 3-5Hz, and the real work life-span, the life-span of conducting slip ring was the short slab in optical scanning range unit life-span less than 1000 hours, this greatly limits the service life of this kind equipment.
For the problem that the optical scanning range unit life-span having slip ring in correlation technique is low, effective solution is not yet proposed at present.
Summary of the invention
Present invention is primarily targeted at a kind of optical scanning range unit of offer, with the problem that optical scanning range unit life-span of solving to have slip ring is low.
To achieve these goals, according to an aspect of the invention, it is provided a kind of optical scanning range unit, this device includes: light source, is used for sending detection light；First lens, for making detection light form the light beam of preset shape；Curved reflector, obtains the first light beam for being reflected by the light beam of preset shape, and the first light beam is irradiated on testee, and wherein, testee sends reflection light after receiving the first light beam, and reflection light, through the reflection of curved reflector, forms the second light beam；Second lens, for by the second beam convergence, obtaining convergent beam；Range sensor, is used for receiving convergent beam, and the image calculating optical formed according to convergent beam scans the distance of range unit and testee.
Further, the first lens are convex lens or Conical Lenses, and the second lens are convex lens.
Further, light source is LED light source or LASER Light Source, and detection light is infrared light.
Further, curved reflector is hyperboloidal mirror, parabolic mirror, or taper seat reflecting mirror.
Further, this device also includes: semi-transparent semi-reflecting lens, is 45 ° with the angle of horizontal plane, is used for the half luminous reflectance in the light beam of preset shape to taper seat reflecting mirror, and wherein, the cone angle of taper seat reflecting mirror is 90 °.
Further, this device also includes: rotary drive motor, for driving light source, the first lens, semi-transparent semi-reflecting lens, the second lens and range sensor to rotate around the central shaft of curved reflector.
Further, the first lens are annular or circular light beam for making detection light form cross section.
Further, range sensor includes photoelectric sensor and circuit unit, and photoelectric sensor is integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660.
Further, range sensor for calculating the distance with testee according to flight time algorithm.
Further, the first light beam is horizontal light beam, and range sensor is face battle array range sensor or annular range sensor.
The present invention passes through light source, is used for sending detection light；First lens, for making detection light form the light beam of preset shape；Curved reflector, obtains the first light beam for being reflected by the light beam of preset shape, and the first light beam is irradiated on testee, and wherein, testee sends reflection light after receiving the first light beam, and reflection light, through the reflection of curved reflector, forms the second light beam；Second lens, for by the second beam convergence, obtaining convergent beam；Range sensor, for receiving convergent beam, and the distance of image calculating optical scanning range unit and the testee formed according to convergent beam, solve the optical scanning range unit life-span of slip ring low problem, and then reach to improve the effect in optical scanning range unit life-span.
Accompanying drawing explanation
The accompanying drawing constituting the part of the application is used for providing a further understanding of the present invention, and the schematic description and description of the present invention is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of optical scanning range unit according to a first embodiment of the present invention；
Fig. 2 is the schematic diagram of optical scanning range unit according to a second embodiment of the present invention；
Fig. 3 is the schematic diagram of optical scanning range unit according to a third embodiment of the present invention；
Fig. 4 is the schematic diagram of optical scanning range unit according to a fourth embodiment of the present invention；And
Fig. 5 is the schematic diagram of optical scanning range unit imaging according to embodiments of the present invention.
Detailed description of the invention
It should be noted that when not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
In order to make those skilled in the art be more fully understood that the application scheme, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only the embodiment of the application part, rather than whole embodiments.Based on the embodiment in the application, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, all should belong to the scope of the application protection.
It should be noted that term " first " in the description and claims of this application and above-mentioned accompanying drawing, " second " etc. are for distinguishing similar object, without being used for describing specific order or precedence.Should be appreciated that the data of so use can be exchanged in the appropriate case, in order to embodiments herein described herein.In addition, term " includes " and " having " and their any deformation, it is intended to cover non-exclusive comprising, such as, contain series of steps or the process of unit, method, system, product or equipment be not necessarily limited to those steps or the unit clearly listed, but can include clearly not listing or for intrinsic other step of these processes, method, product or equipment or unit.
Embodiments provide a kind of optical scanning range unit.
Fig. 1 is the schematic diagram of optical scanning range unit according to a first embodiment of the present invention, as it is shown in figure 1, this optical scanning range unit includes:
Light source 10, is used for sending detection light.
Light source 10 can be Light-Emitting Diode (LightEmittingDiode, referred to as LED), it is also possible to being LASER Light Source, LASER Light Source can send infrared light, and light source 10 can also be that other can send the light source of infrared light.In a preferred embodiment, illuminating source is LED, sends infrared light.The detection light that light source 10 sends can be collimated beam.
First lens 20, for making detection light form the light beam of preset shape.
The detection light that light source 10 sends, after the first lens 20, forms the light beam of preset shape.First lens 20 can be convex lens, it is also possible to is Conical Lenses, or the lens of other shapes, so that detection light forms the light beam of preset shape.
Curved reflector 30, obtains the first light beam for being reflected by the light beam of preset shape, and the first light beam is irradiated on testee, and wherein, testee sends reflection light after receiving the first light beam, and reflection light, through the reflection of curved reflector 30, forms the second light beam.Curved reflector 30 can be hyperboloidal mirror, parabolic mirror, or taper seat reflecting mirror, it is also possible to be the curved reflector of other shapes.Preferably, curved reflector in the horizontal direction 360 ° the light beam of preset shape can be reflected and obtain the first light beam, therefore, it can the distance of distance surrounding object on 360 ° of directions of detection.Alternatively, the first light beam is horizontal light beam, and the second light beam is also horizontal light beam.
Second lens 40, for by the second beam convergence, obtaining convergent beam.
At reflection light after the reflection of curved reflector 30, forming the second light beam, the second light beam, after the second lens 40, obtains convergent beam, and the second lens 40 can be convex lens, and the light reflected by testee is assembled, and obtains convergent beam.
Range sensor 50, is used for receiving convergent beam, and the image calculating optical formed according to convergent beam scans the distance of range unit and testee.
After the second lens 40 are by the second beam convergence, range sensor 50 receives convergent beam, the distance according to the image calculating optical scanning range unit of convergent beam formation with testee.Wherein, range sensor 50 can include photoelectric sensor and circuit unit, convergent beam focuses on the photoelectric sensor of range sensor 50, optical signal converts the signal of telecommunication to, the difference of the light phase that the light that range sensor 50 sends according to light source 10 reflects with testee, it is possible to calculate the distance between optical scanning range unit and testee.Alternatively, the light that light source 10 sends can be infrared light, it is possible to by flight time algorithm (TimeofFlight, referred to as TOF) computed range.Such as, photoelectric sensor measurement emit light into receive between light time, phase contrast, the known light velocity, testee can be obtained to the distance between optical scanning range unit.Photoelectric sensor can be integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660.Alternatively, range sensor 50 is face battle array range sensor or annular range sensor, and range sensor 50 can also be other kinds of range sensor.
Alternatively, this device also includes: semi-transparent semi-reflecting lens, is 45 ° with the angle of horizontal plane, is used for the half luminous reflectance in the light beam of preset shape to taper seat reflecting mirror, and wherein, the cone angle of taper seat reflecting mirror is 90 °.After the first lens 20 make detection light form the light beam of preset shape, inciding on semi-transparent semi-reflecting lens, semi-transparent semi-reflecting lens can be semi-transparent semi-reflecting glass, it is also possible to be other materials, and semi-transparent semi-reflecting lens can be semi-permeable by the one of incident ray, second half reflection.In an optional embodiment, the angle of semi-transparent semi-reflecting lens and horizontal plane is 45 °, by on the half luminous reflectance in the light beam of preset shape to taper seat reflecting mirror, the cone angle of taper seat reflecting mirror is 90 °, therefore, the incident illumination of taper seat reflecting mirror and emergent light are all horizontal light, to reduce measurement error.
Alternatively, this device also includes: rotary drive motor, for driving light source the 10, first lens 20, semi-transparent semi-reflecting lens, the second lens 40 and range sensor 50 to rotate around the central shaft of curved reflector 30.In the optional real-time mode of one, curved reflector 30 can maintain static, drive motor drive light source the 10, first lens 20, semi-transparent semi-reflecting lens, the second lens 40 and range sensor 50 to rotate around the central shaft of curved reflector 30.The central shaft of curved reflector 30 can be symmetrical centre axle, and symmetrical centre axle crosses the center of circle, bottom surface and summit, and the central shaft rotating 360 degrees around curved reflector 30 can detect the distance of distance surrounding object on 360 ° of directions.The control mode of drive motor can be gear train transmission, crank driving mechanism transmission etc., drive motor drives light source the 10, first lens 20, semi-transparent semi-reflecting lens, the second lens 40 and range sensor 50 at the uniform velocity to rotate around the central shaft 360 ° of curved reflector 30, therefore, optical scanning range unit itself does not produce rotation, therefore wire will not twist together, slip ring need not be used, the embodiment of the present invention completes the range measurement to horizontal 360-degree scope testee when can be implemented in without slip ring, improve the service life of optical scanning range unit.
Alternatively, the first lens 20 are Conical Lenses, and Conical Lenses is annular or circular light beam for making detection light form cross section.The size of Conical Lenses and cone angle can be determined according to concrete testing requirement or adjust.
The position that arranges of each parts in Fig. 1 is a kind of optional embodiment, can also arrange the position to be different from Fig. 1 in actual applications.
This embodiment adopts light source 10, is used for sending detection light；First lens 20, for making detection light form the light beam of preset shape；Curved reflector 30, obtains the first light beam for being reflected by the light beam of preset shape, and the first light beam is irradiated on testee, and wherein, testee sends reflection light after receiving the first light beam, and reflection light, through the reflection of curved reflector, forms the second light beam；Second lens 40, for by the second beam convergence, obtaining convergent beam；Range sensor 50, for receiving convergent beam, and the distance of image calculating optical scanning range unit and the testee formed according to convergent beam, slip ring can be substituted, complete 360 ° of scanning range findings, thus the problem that optical scanning range unit life-span of solving slip ring is low, and then reach to improve the effect in optical scanning range unit life-span.
Below in conjunction with specific embodiment, technical scheme is made an explanation:
Fig. 2 is the schematic diagram of optical scanning range unit according to a second embodiment of the present invention, as in figure 2 it is shown, this optical scanning range unit includes: light source the 10, first lens 20, curved reflector the 30, second lens 40, range sensor 50, semi-transparent semi-reflecting glass 60 and rotary part 70.nullIn the present embodiment，First lens 20 are convex lenss，Second lens 40 are also convex lens，Curved reflector 30 is conical mirror，Conical mirror is fixedly installed on directly over range unit centre rotational axis (in Fig. 2 dotted line)，Concrete measuring principle is: light source 10 emission detection light，First lens 20 are positioned in the light path that light source 10 sends，The light beam that light source 10 sends is through the first lens 20 focussed collimated，It is then passed through the reflection of semi-transparent semi-reflecting glass 60，The light of half incides in conical mirror，Reflection through conical mirror，It is irradiated on testee 1，Reflection through testee 1，Reflection light directive conical mirror 1，Reflection via conical mirror 1，Then pass through semi-transparent semi-reflecting glass 60，Focusing then through the second lens 40，Incide range sensor 50，Complete the range measurement to testee 1.By a piece of semi-transparent semi-reflecting glass 60 formed an angle with horizontal plane, the collimated beam emission system of optical scanning range unit and reception system are become common light path system.
Light source 10 is fixed on rotary part 70, sends infrared light with horizontal direction.Wherein light source 10 can LED or laser, in the present embodiment, illuminating source is LED, sends infrared light.The detection light half that light source 10 is launched by semi-transparent semi-reflecting glass 60 is reflected towards conical mirror, and second half passes through, and will be reflected towards the same half reflection of light of semi-transparent semi-reflecting glass 60 by conical mirror, and one is semi-permeable.Semi-transparent semi-reflecting glass 60 is positioned at the transmitting light path of light source 10 and the intersection of conical mirror reflected light path.In a preferred embodiment, semi-transparent semi-reflecting glass 60 is 45 ° with horizontal plane angle, and the cone angle of conical mirror is 90 °.The light being pointed into testee is horizontal direction, and the light that testee is reflected back also is incident to conical mirror from horizontal direction, and rotary part 70 rotates around central shaft and can complete horizontal 360-degree optical scanning range finding.
Range sensor 50 is positioned at by the lower section of conical mirror, and for receiving the infrared light through testee 1 reflection, the light path receiving infrared light at range sensor 50 is provided above the second lens 40.Second lens 40 are convex lens, and the infrared light received is focused on the photoelectric sensor on range sensor 50 by the second lens 40.Range sensor 50 includes photoelectric sensor and circuit unit, and wherein, photoelectric sensor is integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660.After the reflection light reflected through barrier (namely testee) focuses on the photoelectric sensor of range sensor 50, optical signal converts the signal of telecommunication to.Range sensor 50 obtains infrared light and the difference of the infrared light phase place through barrier reflection received that power supply 10 is launched, and by flight time algorithm, records the distance between range sensor 50 and testee 1.
In optical scanning range unit work process, rotary part 70, such as, rotary drive motor drives optical scanning range unit at the uniform velocity to rotate with centre rotational axis 360 degree, self rotation does not occur, it is achieved the barrier on 360 degree of all angles directions is carried out range measurement.Rotary part 70 can include motor, gear train, and the control mode of rotary drive motor can be gear train transmission, crank driving mechanism etc., and motor can be one, it is also possible to is two or more.A conical mirror (can also be other surface of revolution reflecting mirrors) is fixed directly over optical scanning range unit central shaft, owing to optical scanning range unit does not produce rotation, therefore supply lines and holding wire be not by conducting slip ring, and is directly connected on the fixing parts of device.
In the optional embodiment of one, optical scanning ranging step is:
The first step: the light source 10 of optical scanning range unit rotary part 70 sends light beam, light beam collimates through optical lens, forms collimated beam.Collimated beam, by the reflection of semi-transparent semi-reflecting glass 60, is then passed through the reflection of conical mirror, is irradiated to testee.
Step 2: through the reflection of testee, reflection light, via the reflection of conical mirror, enters through semi-transparent semi-reflecting glass 60 and optical lens eventually enters into range sensor 50 and testee first time is scanned range finding；
Step 3: the rotary part 70 winding apparatus central shaft of optical scanning range unit rotates continuously, repeats above step, completes 360 degree of scanning direction range findings.
The rotary part 70 of optical scanning range unit directly can be connected power supply and signal transmission with the fixing end of wire and optical scanning range unit, and optical scanning range unit rotary part 70 rotates around centre rotational axis, but itself does not produce rotation.Owing to optical scanning range unit rotary part 70 does not produce rotation, therefore wire will not twist together, improvement by curved reflector and motor rotating machinery structure, when without slip ring, complete the range measurement to horizontal 360-degree scope testee, improve the service life of optical scanning range unit.
Fig. 3 is the schematic diagram of optical scanning range unit according to a third embodiment of the present invention, as it is shown on figure 3, this optical scanning range unit includes: light source the 10, first lens 20, curved reflector the 30, second lens 40, range sensor 50 and semi-transparent semi-reflecting glass 60.In the present embodiment, first lens the 20, second lens 40 are all convex lenss, and curved reflector 30 is hyperboloidal mirror.Hyperboloidal mirror and the second lens 40, the central coaxial of range sensor 50, light source 10 is launched light beam and is collimated through the first lens 20, then the reflection of semi-transparent semi-reflecting glass 60 and hyperboloidal mirror is passed sequentially through, it is irradiated to horizontal 360-degree direction, the reflection of testee in environment, form reflection light, reflection light is via the reflection of hyperboloidal mirror, range sensor 50 is entered through semi-transparent semi-reflecting glass 60 and the second lens 40, range sensor 50 is formed the picture of annular, by the process to annular picture, decompose horizontal 360-degree direction, obtain distance signal, can complete by the range measurement of surrounding.
In this embodiment, light source 10 is fixed on inside optical scanning range unit, sends detection light, the light path of detection light arranges the first lens 20, and after the first lens 20, detection light is shaped as the face light beam with certain cross-sectional area.This face light beam directive becomes the semi-transparent semi-reflecting glass 60 at 45 degree of angles with horizontal plane, and it is semi-permeable that semi-transparent semi-reflecting glass 60 will detect light one, a half reflection.Through the face of reflection, detection light is irradiated on hyperboloidal mirror, reflection through hyperboloidal mirror, detection light beam comprehensive is launched from optical scanning range unit at 360 degree, in 360 degree, surrounding objects is detected with 360 degree of comprehensive detection light sent, reflection through surrounding objects, reflection light beam is reflected back hyperboloidal mirror, and hyperboloidal mirror will reflect beam emissions to semi-transparent semi-reflecting glass 60, and the reflection light of half incides in range sensor 50 through the second lens 40.
Hyperboloidal mirror can also be parabolic mirror, conical mirror etc..Range sensor 50 can be face battle array range sensor, annular range sensor array etc..First lens 20 and the second lens 40 represent a kind of optical lens, it is possible to be the lens of multiple kind, it is possible to be general collimating lens, it is also possible to be the optical prisms such as conscope.The collimated beam launched and the light beam of reception reach common light path system by semi-transparent semi-reflecting glass 60, and to reduce device volume, concrete light path is not limited to this kind of fixed form, it is also possible to by arranging, two hyperboloidal mirrors realize.
Fig. 4 is the schematic diagram of optical scanning range unit according to a fourth embodiment of the present invention, and as shown in Figure 4, this optical scanning range unit includes: light source the 10, first lens 20, curved reflector the 30, second lens 40 and range sensor 50.In the present embodiment, the first lens 20 are conscope, and the second lens 40 are convex lens, and curved reflector 30 is hyperboloidal mirror.
Hyperboloidal mirror and the second lens 40, range sensor 50, light source 10, conscope central coaxial.Light source 10 is launched light beam and is formed the light beam that cross section is ring-type or circle after conscope, then pass through the reflection of hyperboloidal mirror, it is irradiated to horizontal 360-degree direction, the reflection of testee in surrounding, reflection light enters range sensor 50 via reflection and second lens 40 of hyperboloidal mirror, forms the picture of annular on range sensor 50, by the process to annular distance signal, decompose horizontal 360-degree direction, can complete by the range measurement of surrounding.
Hyperboloidal mirror can also use parabolic mirror, conical mirror etc. to replace.Range sensor 50 can be face battle array range sensor, annular range sensor array etc..Second lens 40 represent a kind of optical lens, and its kind is unrestricted, it is possible to be general collimating lens, it is also possible to be the optical prisms such as conscope.The purpose using conscope is to form the outgoing beam of ring-type, and the kind of conscope is unrestricted, it is possible to be simple lens, it is also possible to be free-form surface lens or prism etc..Alternatively, conscope is fixed by the main body of the high material of light transmittance with optical scanning range unit, and the material that light transmittance is high can be Merlon (PC).
Fig. 5 is the schematic diagram of optical scanning range unit imaging according to embodiments of the present invention, as shown in Figure 5, in range sensor 50, vertical view Figure 11 of imaging can be annular, according to panoramic imagery principle, the picture that panoramic picture becomes in range sensor 50 has mapping relations with surrounding, range sensor 50, by the process to annular distance signal, decomposes 360 ° of directions of level, can complete the range measurement to surrounding.
By above-mentioned embodiment, when the embodiment of the present invention can be implemented in conducting slip ring, it is achieved optical scanning distance measurement function, drastically increase the service life of optical scanning range unit.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. an optical scanning range unit, it is characterised in that including:
Light source, is used for sending detection light；
First lens, for making described detection light form the light beam of preset shape；
Curved reflector, obtains the first light beam for being reflected by the light beam of described preset shape, and described first light beam is irradiated on testee, wherein, described testee sends reflection light after receiving described first light beam, and described reflection light, through the reflection of described curved reflector, forms the second light beam；
Second lens, for by described second beam convergence, obtaining convergent beam；And
Range sensor, is used for receiving described convergent beam, and the image calculating optical formed according to described convergent beam scans the distance of range unit and described testee.
2. device according to claim 1, it is characterised in that described first lens are convex lens or Conical Lenses, described second lens are convex lens.
3. device according to claim 1, it is characterised in that described light source is LED light source or LASER Light Source, described detection light is infrared light.
4. device according to claim 1, it is characterised in that described curved reflector is hyperboloidal mirror, parabolic mirror, or taper seat reflecting mirror.
5. device according to claim 4, it is characterised in that described device also includes:
Semi-transparent semi-reflecting lens, is 45 ° with the angle of horizontal plane, is used for the half luminous reflectance in the light beam of described preset shape to described taper seat reflecting mirror, and wherein, the cone angle of described taper seat reflecting mirror is 90 °.
6. device according to claim 5, it is characterised in that described device also includes:
Rotary drive motor, for driving described light source, described first lens, described semi-transparent semi-reflecting lens, described second lens and described range sensor to rotate around the central shaft of described curved reflector.
7. device according to claim 1, it is characterised in that described first lens are annular or circular light beam for making described detection light form cross section.
8. device according to claim 1, it is characterised in that described range sensor includes photoelectric sensor and circuit unit, described photoelectric sensor is integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660.
9. device according to claim 1, it is characterised in that described range sensor for calculating the distance with described testee according to flight time algorithm.
10. device according to claim 1, it is characterised in that described first light beam is horizontal light beam, described range sensor is face battle array range sensor or annular range sensor.
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