CN106019296A - Hybrid solid-state multiline optical scanning and distance measuring device - Google Patents
Hybrid solid-state multiline optical scanning and distance measuring device Download PDFInfo
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- CN106019296A CN106019296A CN201610595152.XA CN201610595152A CN106019296A CN 106019296 A CN106019296 A CN 106019296A CN 201610595152 A CN201610595152 A CN 201610595152A CN 106019296 A CN106019296 A CN 106019296A
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- reflecting mirror
- dove prism
- light source
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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)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a hybrid solid-state multiline optical scanning and distance measuring device. The characteristics lie in that the device comprises an emission light source, a reflecting mirror, a Dove prism, a light receiving module and a signal processing unit, wherein the emission light source is used for emit infrared detection light; the reflecting mirror reflects the infrared detection light emitted by the emission light source and reflects infrared detection light reflected by a detected object or barrier; the Dove prism is located between the reflecting mirror and the light receiving module, and the angular velocity of rotation of the Dove prism is half of the angular velocity of rotation of the reflecting mirror; the light receiving module receives the infrared detection light emitted by the Dove prism, and a photoelectric sensor in the light receiving module converts optical signals into electric signals; and the signal processing unit is connected with the photoelectric sensor, and calculates the distance according to the electric signals converted by the photoelectric sensor. According to the invention, the Dove prism structure is additionally arranged so as to correct a problem of image rotation brought about by rotation, thereby realizing multiline distance measuring.
Description
Technical field
The application 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 measured the equipment of distance by methods such as flight time (Time of Flight is called for short TOF).At present, common optical scanning range unit includes: light emission module, optical lens, receive and process the chip of signal, motor and slip ring.Light emission module sends light beam, through collimation beam emissions to testee surface, reflex to reception chip on, the time being transmitted between reception by measurement, it is known that the light velocity, the testee distance to device can be obtained.Rotated the environment distance signal that can obtain tour by motor, be now widely used for robot environment's scanning, path planning, security protection detection etc..
But, commonly use due to this kind of optical scanner is slip ring to connect round end and the electronic device of fixing end, and the life-span of complete machine is seriously restricted by slip ring its shelf-life.
For the above shortcoming, a solution of the prior art is, add the scheme of pendulum mirror (or prism), by all electronic devices and components are all placed on fixing base, then rotate with driven by motor pendulum mirror, completed transmitting and the reception of whole light path by the reflection (refraction etc. of prism) of 360 degree of pendulum mirrors rotated, thus obtain the environment range information of 360 degree.So far, mirror (or prism) only put by all of tumbler, it is not necessary to telecommunications, so slip ring can remove.
But, this technical scheme puts the rotation of mirror brings be receive as always rotation.During particularly as used for multi-thread scanning survey, receiving device is the sensor array being fixedly installed, rotating as the rotation with pendulum mirror on sensor array is reflexed to by pendulum mirror, the distance value causing sensor array to be measured is the most corresponding with the position of actual testee, therefore pendulum mirror scheme cannot realize multi-thread measurement, so this kind of pendulum lens device is used for single line, need not require the range finding of imaging direction on the market.
For the above shortcoming, a kind of settling mode of the prior art is, at pendulum mirror structure (or prism etc.) and receive and add a Dove prism rotated between chip, the rotation phenomenon of the image planes that correction brings due to the rotation of pendulum mirror, thus ensure to receive that chip receives all the time is stable picture, the distance value realizing measuring is corresponding with the position of testee, completes the purpose of multi-thread measurement.
Summary of the invention
In order to overcome existing optical scanning range unit image shifting and can only single line test difficulty, the application provides a kind of multi-thread optical scanner, the rotary test using slip ring class formation to carry out 360 degree can not only be replaced, extend whole life of product, and use the mode adding Dove prism, solve the problem of image shifting and upgrade to multi-thread range radar.
The application relates to a kind of hybrid solid-state multi-thread optical scanning range unit, and this device includes, launches light source, is used for sending infrared acquisition light；Reflecting mirror, will launch the infrared acquisition luminous reflectance that light source sends, and the infrared acquisition luminous reflectance that will be reflected by testee or barrier；Dove prism, is positioned in the light path of reflecting mirror and Optical Receivers, the half that angular velocity is reflecting mirror angular velocity of rotation that described Dove prism rotates；Optical Receivers, receives the infrared acquisition light being reflected and passing through Dove prism by testee or barrier, and the photoelectric sensor in Optical Receivers converts optical signals to the signal of telecommunication；Signal processing unit, is connected with photoelectric sensor, according to the signal of telecommunication computed range of conversion of photoelectric sensor.
Alternatively, the block array photoelectric sensor that photoelectric sensor is formed by the photoelectric sensor worked alone by M row N row.
Alternatively, reflecting mirror is substituted by playing optical element light propagation angle deflected, and will launch the infrared acquisition luminous reflectance that light source sends, and the infrared acquisition luminous reflectance that will be reflected by testee or barrier.Alternatively, reflecting mirror is substituted by prism.
Alternatively, launching light source is LED light source or LASER Light Source, in Optical Receivers receives the light path of light, has imaging len, and imaging len is by the infrared acquisition photoimaging of Dove prism outgoing to the photoelectric sensor of Optical Receivers.
Alternatively, signal processing unit, based on time-of-flight method, calculates the distance between described hybrid solid-state multi-thread optical scanning range unit and testee or barrier.
Alternatively, this hybrid solid-state multi-thread optical scanning range unit includes the first driving gear set and the second driving gear set, first driving gear set is used for driving reflecting mirror to rotate, second driving gear set is used for driving Dove prism to rotate, and wherein the first driving gear set and the second driving gear set make the rotational angular velocity of reflecting mirror be 2 times of Dove prism rotational angular velocity.
Alternatively, this hybrid solid-state multi-thread optical scanning range unit also includes that motor and drive link, the rotor of described motor are connected with drive link, and drive link and the first driving gear set, the second driving gear set are respectively connected with.
Alternatively, the outside of reflecting mirror is provided with the outer housing that the infrared acquisition light sent by transmitting light source selects pass through, and described outer housing is fixedly installed, and does not rotates.
Alternatively, during this hybrid solid-state multi-thread optical scanning range unit is applied to aircraft, sweeping robot, mobile robot.
The application provides the benefit that, can be directly added into described Dove prism structure, correct the problem owing to rotating the image rotation brought, thus reach the purpose of multi-thread range finding on the basis of original pendulum mirror single line range unit scheme.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing being further appreciated by the present invention, and 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.
Fig. 1 is the example structure schematic diagram that the application hybrid solid-state multi-thread optical scanning range unit uses reflecting mirror.
Fig. 2 is the example structure schematic diagram that the application hybrid solid-state multi-thread optical scanning range unit uses corner cube prism.
Detailed description of the invention
It should be noted that in the case of 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 are obtained 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 the most clearly listing or for intrinsic other step of these processes, method, product or equipment or unit.
The application relates to a kind of hybrid solid-state multi-thread optical scanning range unit, and this hybrid solid-state multi-thread optical scanning range unit includes:
Launch light source 1, be used for sending infrared acquisition light.Launching light source 1 can be light emitting diode (Light Emitting Diode, referred to as LED), it is also possible to be LASER Light Source, and launching light source 1 can also be that other can send the light source of infrared light.Launch light source 1 to be fixed on inside hybrid solid-state multi-thread optical scanning range unit, do not rotate.In an embodiment wherein, the glow peak launching the infrared acquisition light that light source 1 is sent is positioned at 850nm.Alternatively, launching light source 1 and be fixed on the bottom of hybrid solid-state multi-thread optical scanning range unit, this transmitting light source and Optical Receivers are integrated on same circuit board, and this circuit board is fixed on bottom described hybrid solid-state multi-thread optical scanning range unit.
Reflecting mirror 2, for changing the direction of propagation of infrared acquisition light, reflecting mirror 2 is positioned to be launched in the infrared acquisition light light path that light source sends.In a preferred embodiment, the reflecting surface of reflecting mirror 2 is with the horizontal 45 degree of angles, the infrared acquisition light penetrated vertically upward is become horizontal direction and is mapped to the infrared acquisition light of external environment condition, incide the infrared acquisition light of reflecting mirror with horizontal direction be converted to vertical direction downwards out by be reflected back by barrier in environment or testee.In hybrid solid-state multi-thread optical scanning range unit work process, reflecting mirror constantly rotates with 360 degree.Alternatively, the optical element that the light direction of propagation changes can be substituted by this reflecting mirror by other.In an embodiment wherein, reflecting mirror is substituted by prism, for changing the direction of propagation of infrared acquisition light.In a preferred embodiment, this prism is corner cube prism 7, and the reflecting surface of corner cube prism 7 is with the horizontal 45 degree of angles.
Dove prism 3, this Dove prism 3 rotates with its optical axis for rotary shaft.This Dove prism 3 and reflecting mirror (or prism) synchronous rotary, the rotational angular velocity of Dove prism 3 is the half of reflecting mirror (or prism) rotational angular velocity.Dove prism 3 is arranged at the photoelectric sensor of Optical Receivers and receives in light light path.In an embodiment wherein, this Dove prism is positioned in the light transmission path of Optical Receivers and reflecting mirror, receives and is reflected by testee or barrier and the infrared acquisition light of structure reflecting mirror reflection.The infrared acquisition luminous reflectance that testee or barrier are reflected by transmitting mirror transmits to Dove prism, the infrared acquisition light that reflecting mirror is reflected by this Dove prism, and transmission is to Optical Receivers.
Optical Receivers 4, receive by reflecting mirror or prismatic reflection and the infrared acquisition light that reflected by barrier or testee.Optical Receivers 4 has photoelectric sensor, for the infrared acquisition light received is converted to the signal of telecommunication.Wherein, described photoelectric sensor can be COMS, CCD or avalanche photodide (Avalanche Photo
Diode, is called for short APD).In an embodiment wherein, the block array photoelectric sensor that photoelectric sensor is formed by the photoelectric sensor that can be worked alone by M row N row.In an embodiment wherein, M=N, is that 8 row 8 arrange, the block array photoelectric sensor that totally 64 photoelectric sensors that work alone are formed, and this array photoelectric can obtain 8*8 simultaneously, totally 64 distance values.
Optical imaging element 6, is positioned at Optical Receivers and receives in the light path of light.Alternatively, on the light transmission path between Dove prism and Optical Receivers, being provided with optical imaging element, this optical imaging element is collecting lens, and this collecting lens is by the near infrared imaging of Dove prism outgoing to the photoelectric sensor of Optical Receivers.In an embodiment wherein, this collecting lens substitutes by imaging len or for imaging lens, or other any optical elements by the infrared acquisition photoimaging penetrated from Dove prism to photoelectric sensor.
Signal processing unit 5, is connected with the photoelectric sensor in Optical Receivers, according to the signal of telecommunication of conversion of photoelectric sensor, calculates the distance between scanning range unit and testee (or barrier).In an embodiment wherein, signal processing unit 5, based on time-of-flight method, calculates the distance between scanning range unit and testee (or barrier).In an embodiment wherein, described signal processing unit 5 is integrated in same range finding chip with Optical Receivers 4.Alternatively, this range finding chip is the range finding chip measuring distance based on TOF method.In an embodiment wherein, this range finding chip is EPC600, EPC610 or EPC660.
Motor 11, is used for driving Dove prism and reflecting mirror (or prism) to rotate.
First driving gear set 8, is used for driving reflecting mirror (or prism) 360 degree rotation.Motor drives the first driving gear set 8 to rotate, and the first driving gear set 8 drives reflecting mirror (or prism) 360 degree rotation.
Second driving gear set 9, is used for driving Dove prism 360 degree rotation.Motor drives the second driving gear set 9 to rotate, and the second driving gear set drives Dove prism 360 degree rotation.Wherein the first driving gear set and the second driving gear set make the rotational angular velocity of reflecting mirror (or prism) be 2 times of Dove prism rotational angular velocity.
Drive link 10, is connected with the armature spindle of motor, and drive link and the first driving gear set, the second driving gear set are respectively connected with.In the course of the work, motor is by driving drive rod rotation, and drive link drives the first driving gear set and the second driving gear set to rotate simultaneously.
In an embodiment wherein, the infrared acquisition optical transport light path launching light source is provided with transmitting light collecting lens, for the infrared acquisition light directly sent from transmitting light source is converged to directional light.
Below as a example by diagram, introduce the specific embodiment of the multi-thread optical scanning range unit of the hybrid solid-state involved by the application, as shown in Figure 1 a wherein specific embodiment of hybrid solid-state multi-thread optical scanning range unit, in the course of the work:
Launch light source 1 to be fixed on inside hybrid solid-state multi-thread optical scanning range unit.In an embodiment wherein, it is fixed on the bottom of scanning range unit, does not rotates.Launch light source and send infrared acquisition light, be irradiated on reflecting mirror 2.In an embodiment wherein, the light path launching light source is further fixedly arranged on collecting lens, for the infrared acquisition light that transmitting light source sends is converged to directional light.
Infrared acquisition light is irradiated on reflecting mirror 2, and reflecting mirror and 2 horizontal planes become 45 degree of settings, the direction launching the infrared acquisition light that light source sends is changed 90 degree, injects to external environment condition from hybrid solid-state multi-thread optical scanning range unit.In the course of the work, reflecting mirror is constantly with 360 degree of rotations, after the transmission direction of infrared acquisition light is changed 90 degree, as all directions penetrate in 360 degree, and the obstacle distance information in detecting 360 degree.
Infrared acquisition light through reflecting mirror reflection transmits in external environment condition, run into barrier i.e. to be reflected, the infrared acquisition light that this is reflected by barrier incides reflecting mirror, the transmission direction of the infrared acquisition light that this barrier is reflected back by reflecting mirror changes 90 degree, is injected in hybrid solid-state multi-thread optical scanning range unit.
This is after the infrared acquisition light that barrier is reflected back is reflected by a reflector, it is injected in Dove prism 3, this Dove prism 3 and reflecting mirror synchronous rotary, the rotary shaft of Dove prism is its optical axis, and the half that angular velocity is reflecting mirror angular velocity of rotation that Dove prism rotates.The imaging inciding infrared acquisition light therein is changed 180 degree of injections by this Dove prism.Dove prism is between reflecting mirror and the light path of Optical Receivers.
Through imaging len 6(or it is imaging lens, collecting lens from the infrared acquisition light of Dove prism injection) after, it being imaged on the Optical Receivers 4 being arranged at below imaging lens, Optical Receivers receives the infrared acquisition light being reflected by a reflector.The effect of Dove prism is, owing to Optical Receivers is fixedly installed, the picture reflexed on Optical Receivers by reflecting mirror rotates with the rotation of reflecting mirror, the distance value causing sensor array to be measured is the most corresponding with the position of actual testee, and the setting of Dove prism so that the picture being imaged onto on Optical Receivers by imaging lens, it is always fixed-direction, i.e., there is not the rotation of imaging direction in the imaging on Optical Receivers with the rotation of reflecting mirror.
Optical Receivers 4 has photoelectric sensor, is converted to the signal of telecommunication for the infrared acquisition optical signal being received.Optical signal processing unit 5, is connected with the photoelectric sensor in Optical Receivers, according to the signal of telecommunication of conversion of photoelectric sensor, calculates the distance between scanning range unit and testee (or barrier).In an embodiment wherein, optical signal processing unit, based on time-of-flight method, calculates the distance between scanning range unit and testee (or barrier).
Wherein, the rotation of reflecting mirror 2 and Dove prism 3 is driven by the first driving gear set 8 and the second driving gear set 9 respectively.First driving gear set, is used for driving reflecting mirror 360 degree rotation.Motor 11 drives the first driving gear set to rotate, and the first driving gear set drives reflecting mirror 360 degree rotation.Second driving gear set, is used for driving Dove prism 360 degree rotation.Motor drives the second driving gear set to rotate, and the second driving gear set drives Dove prism 360 degree rotation.Wherein the first driving gear set and the second driving gear set make the rotational angular velocity of reflecting mirror be 2 times of Dove prism rotational angular velocity.Drive link 10, is connected with the armature spindle of motor, and drive link and the first driving gear set, the second driving gear set are respectively connected with.In the course of the work, motor is by driving drive rod rotation, and drive link drives the first driving gear set and the second driving gear set to rotate simultaneously.
In this embodiment, the outside of reflecting mirror is provided with the outer housing 12 that the infrared acquisition light sent by transmitting light source selects pass through, and this outer housing 12 is fixedly installed in the course of the work, does not rotates.I.e. watching from outside, the viewing of this hybrid solid-state multi-thread scanning range unit is less than the rotation of internal mirror.
In this embodiment, Optical Receivers has photoelectric sensor, for the infrared acquisition light received is converted to the signal of telecommunication.Wherein, described photoelectric sensor can be COMS, CCD or avalanche photodide (Avalanche Photo
Diode, is called for short APD).In an embodiment wherein, the block array photoelectric sensor that photoelectric sensor is formed by the photoelectric sensor that can be worked alone by M row N row, wherein M is more than or equal to 1, and N is more than or equal to 2.In an embodiment wherein, M=N, is that 8 row 8 arrange, the block array photoelectric sensor that totally 64 photoelectric sensors that work alone are formed, and this array photoelectric can obtain 8*8 every time, totally 64 distance values.
Fig. 2 illustrates the effect identical with type prism.In an embodiment wherein, reflecting mirror is prism, is corner cube prism 7 in a preferred embodiment.Alternatively, this reflecting mirror is by playing optical element replacement light propagation angle changed.
Hybrid solid-state multi-thread optical scanning range unit described in above-described embodiment is applied in aircraft, sweeping robot, mobile robot, for measuring the distance between described device and testee or barrier.
The foregoing is only the preferred embodiment of the application, be not limited to the application, for a person skilled in the art, the application can have various modifications and variations.All within spirit herein and principle, any modification, equivalent substitution and improvement etc. made, within should be included in the protection domain of the application.
Claims (10)
1. a hybrid solid-state multi-thread optical scanning range unit, it is characterised in that this device includes launching light source, reflecting mirror, Dove prism, Optical Receivers and signal processing unit, wherein,
Launch light source, be used for sending infrared acquisition light,
Reflecting mirror, will launch the infrared acquisition luminous reflectance that light source sends, and the infrared acquisition luminous reflectance that will be reflected by testee or barrier,
Dove prism, is positioned in the light path of reflecting mirror and Optical Receivers, the half that angular velocity is reflecting mirror angular velocity of rotation that described Dove prism rotates,
Optical Receivers, receives the infrared acquisition light being reflected and passing through Dove prism by testee or barrier, and the photoelectric sensor in Optical Receivers converts optical signals to the signal of telecommunication,
Signal processing unit, is connected with photoelectric sensor, according to the signal of telecommunication computed range of conversion of photoelectric sensor.
Device the most according to claim 1, it is characterised in that the block array photoelectric sensor that described photoelectric sensor is formed by the photoelectric sensor worked alone by M row N row.
Device the most according to claim 1, it is characterized in that, described reflecting mirror is substituted by playing optical element light propagation angle deflected, and will launch the infrared acquisition luminous reflectance that light source sends, and the infrared acquisition luminous reflectance that will be reflected by testee or barrier.
Device the most according to claim 3, it is characterised in that described reflecting mirror is substituted by prism.
5. according to the device described in claim 1-4, it is characterized in that, described transmitting light source is LED light source or LASER Light Source, in Optical Receivers receives the light path of light, having imaging len, described imaging len is by the infrared acquisition photoimaging of Dove prism outgoing to the photoelectric sensor of Optical Receivers.
6. according to the device described in claim 1-4, it is characterised in that described signal processing unit, based on time-of-flight method, calculates the distance between described device and testee or barrier.
7. according to the device described in claim 1-4, it is characterized in that, described device includes the first driving gear set and the second driving gear set, described first driving gear set is used for driving reflecting mirror to rotate, described second driving gear set is used for driving Dove prism to rotate, and wherein the first driving gear set and the second driving gear set make the rotational angular velocity of reflecting mirror be 2 times of Dove prism rotational angular velocity.
8., according to the device described in claim 1-4, it is characterised in that described device also includes that motor and drive link, the rotor of described motor are connected with drive link, drive link and the first driving gear set, the second driving gear set are respectively connected with.
9. according to the device described in claim 1-4, it is characterised in that the outside of reflecting mirror is provided with the outer housing that the infrared acquisition light sent by transmitting light source selects pass through, and described outer housing is fixedly installed, and does not rotates.
10. according to the device described in claim 1-9, it is characterised in that described device is applied in aircraft, sweeping robot, mobile robot.
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