CN106371101B - A kind of device of intelligent distance-measuring and avoidance - Google Patents
A kind of device of intelligent distance-measuring and avoidance Download PDFInfo
- Publication number
- CN106371101B CN106371101B CN201510428114.0A CN201510428114A CN106371101B CN 106371101 B CN106371101 B CN 106371101B CN 201510428114 A CN201510428114 A CN 201510428114A CN 106371101 B CN106371101 B CN 106371101B
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- infrared
- infrared light
- distance
- lens group
- lens
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Classifications
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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
-
- 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
-
- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Physics & Mathematics (AREA)
- 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)
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses a kind of for infrared distance measurement and the device of avoidance, forms including shell, infrared light emission module, infrared light emission lens group, infrared optical receiver lens group and the anti-cross partitions of infrared light emission/reception system and optical signal processor unit.During the work time, after infrared light emission termination receives measuring command, infrared light is launched outward, is propagated in air after the focusing of infrared light emission lens group, is encountered barrier on the way and reflected；Infrared light receiver receives the infrared light light being reflected back and transmits a signal to optical signal processor, calculates transmitting light by optical signal processor and receives the phase difference of light, obtains relative distance.Subsequent relative distance value sends the machine control modules of equipment to, realizes the function of automatic range evacuation barrier.The integral layout of infrared distance measurement and obstacle avoidance apparatus of the present invention is reasonable, small in size, light-weight, low in energy consumption, transmitting and received distance, and resolving power is strong.
Description
Technical field
The present invention relates to field of measuring technique, more particularly to it is a kind of can automatic range evacuation obstacle device.
Background technique
In new and high technology, infrared distance measurement and avoidance are widely used.Such as unmanned plane at work generally by
Operator operates flight path.But since unmanned plane is in low-latitude flying, many complicated barriers can be passed through, operator is on ground
It can be difficult to the practical flight situation of accurate surveying unmanned plane, be easy to bump against barrier.Such as robot is real during action
When monitor ambient enviroment barrier, fast and accurately judge the position of barrier.Then timely avoiding barrier.In order to the greatest extent
It may be decreased shock risk, the collision prevention function of equipment is just put in face of us.
Infrared distance measurement method is reflective measurement method at present, and cardinal principle is as follows: infrared transmitter issues a branch of
Infrared signal, the infrared light are received by infrared remote receiver after testee/barrier reflection, are emitted by measurement and received
The phase difference of infrared light can calculate the distance of target.
For inventor during testing the present invention, at least there is shortcoming and defect below in discovery in the prior art: by
It is different in reflectance of the object to be detected to infrared light, lead to be detected that there is a certain error apart from itself.In environment light
There are certain infrared portions, can not determine whether the infrared signal received is the infrared light launched.Of reflected light
There is small part to enter in receiver, limit the distance range of measurement, while the complicated integral structure of range-measurement infrared system, limits
The weight and volume of test macro is made.
In conclusion ranging avoidance of the barrier-avoiding method of the prior art for complex job, effect is not highly desirable, still
There is the problem of many practicabilities to need to solve.Design one is simple and practical, and the obstacle avoidance system for capableing of quick cognitive disorders object is
It is highly desirable and has realistic meaning.
Summary of the invention
In order to realize the function of finding barrier measurement obstacle distance in the equipment course of work, the invention proposes one kind
The device of intelligent distance-measuring and avoidance.
The technical solution adopted by the present invention to solve the technical problems constructs the device of a kind of intelligent distance-measuring and avoidance, this
Invention include shell, infrared light emission module, the infrared light emission lens group system being set in the housing, be set in the housing it is infrared
Optical receiver lens group and and the anti-cross partitions of infrared light emission/reception system constitute and processing unit composition, the method
The following steps are included:
(1) infrared transmission module is in transmitting terminal, and after receiving measuring command, infrared LED is driven in a manner of voltage modulated
850 nm infrared rays are issued, after the focusing of stationary lens group, are emitted directly toward in atmosphere.
(2) infrared light is propagated in air, is encountered barrier on the way and is reflected and scattered, infrared light receiver receives instead
It penetrates light and sends the signal to processor.
(3) signal processor carries out the light of the infrared light received and sending than phase, obtain transmitting infrared light and
The phase difference for receiving infrared light is calculated relative distance using TOF method, and is essence by environment light and the data calibration of temperature
Then true distance values send distance value to control module, realize the function of smart machine automatic range evacuation barrier.
In the present invention, signal processing module is made of photoelectric conversion circuit, amplifier etc., realize photoelectric conversion, amplification,
The functions such as input resistant matching, automatic growth control.It is focused on CMOS through the reflected infrared waves of barrier, believes light
Number it is converted into electric signal, is coupled through impedance transformation amplifier with main amplifier, complementary output is made by differential amplifier.While in order to
So that reception system is kept steady-working state, by single-chip microcontroller, uses large range of automatic growth control, carry out dynamic benefit
It repays.
The device of a kind of intelligent distance-measuring of the present invention and avoidance, has the advantages that
Inventive shell can be beaten using polyformaldehyde CNC finishing impression or acrylonitrile-butadiene-styrene copolymer (ABS) 3D
Printing is made, and for lens using high saturating acrylic material, integral layout is simple, reduces product weight.Shooting Technique can also be used
It is prepared using mold volume production, is suitable for multiple material, such as ABS, highly dense plate (HDPE).
Directive barrier after the emitted lens of the infrared ray that the present invention issues, the poly- more concentration of signal.It is reflected
Signal is stronger after the received lens light gathering of infrared light, and ranging maximum distance is 15m, and relative accuracy is ± 0.5%.
What has been described above is only a preferred embodiment of the present invention, and present invention is not limited to the above embodiments.It is appreciated that this
The other improvements and change that field technical staff directly exports or associates without departing from the spirit and concept in the present invention
Change, is considered as being included within protection scope of the present invention.
Detailed description of the invention
Fig. 1 is the operation principle schematic diagram of the device of a kind of intelligent distance-measuring of the present invention and avoidance.
Fig. 2 is the structural schematic diagram of the device of a kind of intelligent distance-measuring of the present invention and avoidance.
Fig. 3 is the dimensional drawing of the lens 3 of the device of a kind of intelligent distance-measuring of the present invention and avoidance.
Fig. 4 is the dimensional drawing of the lens 4 of the device of a kind of intelligent distance-measuring of the present invention and avoidance.
Fig. 5 is the dimensional drawing of the lens 5 of the device of a kind of intelligent distance-measuring of the present invention and avoidance.
The receiving lens group distance map of a kind of intelligent distance-measuring of the position Fig. 6 present invention and the device of avoidance.
Fig. 7 is the emitting portion front view of a kind of intelligent distance-measuring of invention and the device of avoidance.
Fig. 8 is the receiving portion front view of a kind of intelligent distance-measuring of invention and the device of avoidance.
Fig. 9 is the optical simulation figure of a kind of intelligent distance-measuring of invention and the device of avoidance.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, in the following with reference to the drawings and specific embodiments to this
Invention is described in further detail.
Shown in Fig. 2, the present invention provides a kind of intelligent distance-measuring and the devices of avoidance.By shell, infrared light emission module, red
Outer light emitting lens group, infrared optical receiver lens group and the anti-cross partitions of infrared light emission/reception system and optical signal prosessing
Device unit composition.
As shown in figure 3, this infrared transmission module includes the infrared LED that 4 capable of emitting wavelength are 860 nm, shine half-angle
It is 10 degree.Electric pulse is converted into infrared beams under the driving of driving circuit by 860 nm infrared lights.
The emitted lens group 3 of the 860 nm infrared lights that infrared transmission module LED light source 2 issues is emitted to atmosphere after focusing
In；Diversing lens group is 4 optically focused convex lenses, and each optically focused convex lens has corresponding infrared LED；Diversing lens are equal
It is coated with anti-reflection film, the transmitance of 860 nm infrared lights can be increased.
860 nm infrared lights are propagated in air, are encountered barrier on the way and are reflected.
As shown in figure 4, focusing on infrared light receiving unit after the received lens group optically focused of the infrared light being reflected back, receive saturating
Microscope group includes a plano-convex lens 4, another nm of plano-convex lens 5 and 860 optical filter 10.Convex lens 4 and convex lens in receiving lens group
The surface of mirror 5 is coated with the anti-reflection film of 860 nm；There is the filter plate 10 for being coated with 860 nm before optical signal processor, only allows
Light near 860 nm passes through.
Optical signal processor receives reflected light and carries out the light of the infrared light received and sending to obtain hair than phase
It penetrates infrared light and receives the phase difference of infrared light, relative distance is calculated.And send relative distance value to control module, it is real
The function of existing automatic range evacuation barrier.
Claims (8)
1. the device of a kind of intelligent distance-measuring and avoidance, it is characterised in that: including shell, infrared light emission module, be set in the housing
Infrared light emission lens group, the infrared optical receiver lens group that is set in the housing and optical signal processor unit；The intelligent testing
Away from and the device of avoidance be provided with the anti-cross partitions of infrared light emission/reception system；Infrared optical receiver system includes infrared light
Receiving lens group and infrared light receiver；During the work time, it after infrared light emission termination receives measuring command, launches outward red
Outer light, is propagated in air after infrared light emission lens group, is encountered barrier on the way and is reflected and scattered；It is reflected back
Infrared light focuses on infrared light receiver by infrared optical receiver lens group；Infrared light receiver receives the infrared light being reflected back simultaneously
And transmit a signal to optical signal processor, by based on TOF method can ranging optical signal processor calculate transmitting light and reception
To the phase difference of light, relative distance is obtained, then sends relative distance value to machine control modules, realizes automatic range evacuation
The function of barrier；
One infrared optical receiver lens group is equipped in the shell；Infrared optical receiver lens group includes two collector lenses；
Close to the lens of optical signal processor with a thickness of 4 mm in infrared optical receiver lens group, the radius of curvature of side is 4
Mm, diameter are 7 mm；The radius of curvature of the other side is 3 mm, and diameter is 6 mm；
From the farther away lens of optical signal processor with a thickness of 6mm in infrared optical receiver lens group；The radius of curvature of side is
22.5 mm, diameter are 20 mm；The radius of curvature of the other side is 101 mm, and diameter is 20 mm；Two in infrared optical receiver lens group
The minimum distance on group lens adjacent surface to surface is 23 mm.
2. a kind of described intelligent distance-measuring and the device of avoidance according to claim 1, it is characterised in that: further include integrated CMOS
Electro-optical distance measurement chip, the integrated CMOS electro-optical distance measurement chip are EPC600, EPC610 or EPC660.
3. a kind of described intelligent distance-measuring and the device of avoidance according to claim 1, it is characterised in that: receiving lens are located at shell
There is diaphragm in body surface face between receiving lens and signal processor.
4. the device of a kind of intelligent distance-measuring and avoidance according to claim 3, it is characterised in that: saturating in infrared light-receiving
Include optical filter in microscope group, only allows infrared light of the wavelength in 860 nm or so to pass through, be fixed on the table of optical signal processor
Face.
5. the device of a kind of intelligent distance-measuring and avoidance according to claim 3, it is characterised in that: infrared optical receiver lens
860 nm anti-reflection films are coated on the lens of group.
6. a kind of described intelligent distance-measuring and the device of avoidance according to claim 1, it is characterised in that: be equipped in the shell
Infrared light emission module, infrared light emission module are one or more groups of infrared LEDs；And each infrared LED is with corresponding
Emit light focusing system, the infrared light of sending after light focus lens group the angle of divergence less than 3 rad.
7. the device of a kind of intelligent distance-measuring and avoidance according to claim 6, it is characterised in that: infrared LED light source
It include 860 nm in emission wavelength.
8. the device of a kind of intelligent distance-measuring according to claim 6 and avoidance, it is characterised in that: transmitting light focusing system
For a convex lens, 860 nm anti-reflection films are coated on lens；Diversing lens with a thickness of 2 mm；By near-infrared LED lateral curvature rate half
Diameter is 22.5 mm, diameter 8mm；It is 10.3 mm, diameter 8mm far from infrared LED side radius of curvature；Lens centre distance
The distance on infrared LED surface is 13.3 mm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428114.0A CN106371101B (en) | 2015-07-20 | 2015-07-20 | A kind of device of intelligent distance-measuring and avoidance |
| PCT/CN2016/090507 WO2017012533A1 (en) | 2015-07-20 | 2016-07-19 | Intelligent distance-measurement and obstacle-avoidance apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428114.0A CN106371101B (en) | 2015-07-20 | 2015-07-20 | A kind of device of intelligent distance-measuring and avoidance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106371101A CN106371101A (en) | 2017-02-01 |
| CN106371101B true CN106371101B (en) | 2019-08-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510428114.0A Active CN106371101B (en) | 2015-07-20 | 2015-07-20 | A kind of device of intelligent distance-measuring and avoidance |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106371101B (en) |
| WO (1) | WO2017012533A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019008359A (en) * | 2017-06-20 | 2019-01-17 | 日本電産シンポ株式会社 | Mobile device |
| CN107067647B (en) * | 2017-06-22 | 2022-07-29 | 江苏博崴特电子科技有限责任公司 | Intelligent anti-collision alarm system |
| CN108020846A (en) * | 2018-01-15 | 2018-05-11 | 上海兰宝传感科技股份有限公司 | A kind of the sensor obstacle avoidance system and method in detectable barrier orientation |
| CN108519355B (en) * | 2018-02-10 | 2020-11-20 | 广东雷洋智能科技股份有限公司 | Method for judging strength of barrier reflection material of cleaning robot |
| CN108226948A (en) * | 2018-03-09 | 2018-06-29 | 北京理工大学 | A kind of three-dimensional solid-state face battle array laser radar and its distance measuring method |
| CN108802752A (en) * | 2018-09-07 | 2018-11-13 | 深圳莱特光电股份有限公司 | The optics module of barrier is surveyed for robot ranging |
| CN109283543B (en) * | 2018-11-02 | 2023-11-14 | 钧捷智能（深圳）有限公司 | Intelligent two-dimensional infrared steering sensor module and ranging method thereof |
| CN110764099A (en) * | 2019-05-24 | 2020-02-07 | Oppo广东移动通信有限公司 | Time-of-flight sensor and computer-readable storage medium |
| CN112526494B (en) * | 2019-08-28 | 2024-04-09 | 纳恩博（北京）科技有限公司 | Distance measurement data acquisition method and device, storage medium and electronic device |
| CN111025284A (en) * | 2019-11-19 | 2020-04-17 | 宁波盛域海洋电子科技有限公司 | Collision prevention system combining marine radar system and infrared photoelectric scanning |
| CN110967691A (en) * | 2019-11-19 | 2020-04-07 | 宁波盛域海洋电子科技有限公司 | Infrared photoelectric scanning collision avoidance system |
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| Publication number | Publication date |
|---|---|
| CN106371101A (en) | 2017-02-01 |
| WO2017012533A1 (en) | 2017-01-26 |
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