CN105807284B - Optical scanner range unit - Google Patents
Optical scanner range unit Download PDFInfo
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- CN105807284B CN105807284B CN201610282754.XA CN201610282754A CN105807284B CN 105807284 B CN105807284 B CN 105807284B CN 201610282754 A CN201610282754 A CN 201610282754A CN 105807284 B CN105807284 B CN 105807284B
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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)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of optical scanner range units.The optical scanner range unit includes：Light source, for sending detection light；First lens, for detection light to be made to form the light beam of preset shape；Curved reflector, for reflecting the light beam of preset shape to obtain the first light beam, the first light beam is irradiated on testee, wherein, testee sends reflected light after the first light beam is received, and reflected light passes through the reflection of curved reflector, forms the second light beam；Second lens for the second light beam to be assembled, obtain convergent beam；Range sensor, for receiving convergent beam, and the image calculating optical formed according to convergent beam scans the distance of range unit and testee.It by the present invention, solves the problems, such as that the optical scanner range unit service life of slip ring is low, and then improves the effect in optical scanner range unit service life.
Description
Technical field
The present invention relates to optical ranging field, in particular to a kind of optical scanner range unit.
Background technology
Optical scanner range unit is a kind of using collimated light beam, and by the flight time, (Time of Flight are referred to as
TOF the equipment that) the methods of carries out non-contact scanning ranging.At present, common optical scanner range unit includes：Light emitting mould
Block, optical lens, the chip for receiving and processing signal, motor, bearing and conducting slip ring.Light emission module sends light beam, optics
Camera lens is located in the light path of light emission module, by the beam emissions of collimation to testee surface, runs into light beam after barrier
It is reflected to and receives on chip, receive chip by measuring the time being transmitted between receiving, phase difference, the known light velocity, you can
Testee is obtained to the distance of device.This kind of device is by light emission module, optical lens, Optical Receivers for ranging etc.
Component is mounted on the scanning that collimated light beam is realized on a platform that can continuously rotate, and can be obtained one week 360 by motor rotation
The environment distance signal of degree is powered by conducting slip ring between rotary part and fixed component and transmits data.Extensively should at present
For robot environment's scanning, path planning, avoidance navigation, security protection detection etc..
It is powered between such optical scanner range unit rotary part and fixed component using conducting slip ring and transmits data.
And traditional conducting slip ring has the following problems：1st, slip ring is really the cantilever beam structure of single-ended support, therefore motor was being run
Cheng Zhong, due to the effect of centrifugal force and radial imbalance force square, slip ring will be inevitably generated radial wobble, the shake of slip ring
Amplitude, frequency are very high, and the compression spring of brush cannot respond at all, therefore cause the loose contact of brush and slip ring；2nd, slip ring
Linear velocity height cause brush wear big, short life.Have square of relevant information introduction, the service life of brush and the linear velocity of slip ring
It is inversely proportional, therefore the service life of the traditional structure brush of airborne slip ring is relatively low；3rd, traditional slip ring, brush structure are also deposited in terms of heat dissipation
In difficulty, in general, the Wen Sheng of slip ring surface exacerbates abrasion, slip-ring brush reliability is made further to reduce mostly more than 80 DEG C.Together
When, brush wear generates many carbon dusts, is scattered between each phase slip ring of insulation, is easy to generate slip ring phase fault and make
Into ground connection, slip ring system will be damaged thoroughly.
General conducting slip ring is under the rotating speed of 3-5Hz, when the real work service life is small less than 1000, the service life of conducting slip ring
It is the short slab in optical scanner range unit service life, this greatly limits the service lifes of this kind equipment.
For the optical scanner range unit service life for having slip ring in correlation technique it is low the problem of, not yet propose at present effective
Solution.
The content of the invention
It is a primary object of the present invention to provide a kind of optical scanner range unit, surveyed with the optical scanner for solving to have slip ring
Away from device lifetime it is low the problem of.
To achieve these goals, according to an aspect of the invention, there is provided a kind of optical scanner range unit, the dress
Put including：Light source, for sending detection light；First lens, for detection light to be made to form the light beam of preset shape；Camber reflection
Mirror, for reflecting the light beam of preset shape to obtain the first light beam, the first light beam is irradiated on testee, wherein, measured object
Body sends reflected light after the first light beam is received, and reflected light passes through the reflection of curved reflector, forms the second light beam；Second thoroughly
Mirror for the second light beam to be assembled, obtains convergent beam；Range sensor, for receiving convergent beam, and according to convergent beam
The image calculating optical scanning range unit of formation and the distance of 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 circular conical surface speculum.
Further, which further includes：Semi-transparent semi-reflecting lens, the angle with horizontal plane are 45 °, for by preset shape
Half light reflection in light beam to circular conical surface speculum, wherein, the cone angle of circular conical surface speculum is 90 °.
Further, which further includes：Rotary drive motor, for drive light source, the first lens, semi-transparent semi-reflecting lens,
Second lens and range sensor are around the center axis rotation of curved reflector.
Further, the first lens are annular or circular light beam for detection light to be made to form cross section.
Further, range sensor includes photoelectric sensor and circuit unit, and photoelectric sensor is integrated in electro-optical distance measurement
In chip EPC600, EPC610 or EPC660.
Further, range sensor is used to calculate the distance with testee according to flight time algorithm.
Further, the first light beam is horizontal light beam, and range sensor passes for face battle array range sensor or annular distance
Sensor.
The present invention is by light source, for sending detection light；First lens, for detection light to be made to form the light of preset shape
Beam；Curved reflector, for reflecting the light beam of preset shape to obtain the first light beam, the first light beam is irradiated on testee,
Wherein, testee sends reflected light after the first light beam is received, and reflected light passes through the reflection of curved reflector, forms second
Light beam；Second lens for the second light beam to be assembled, obtain convergent beam；Range sensor, for receiving convergent beam, and
The image calculating optical scanning range unit and the distance of testee formed according to convergent beam solves the optics of slip ring
Scan the range unit service life it is low the problem of, and then improve the effect in optical scanner range unit service life.
Description of the drawings
The attached drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the schematic diagram of optical scanner range unit according to a first embodiment of the present invention；
Fig. 2 is the schematic diagram of optical scanner range unit according to a second embodiment of the present invention；
Fig. 3 is the schematic diagram of optical scanner range unit according to a third embodiment of the present invention；
Fig. 4 is the schematic diagram of optical scanner range unit according to a fourth embodiment of the present invention；And
Fig. 5 is the schematic diagram of optical scanner range unit imaging according to embodiments of the present invention.
Specific embodiment
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to which those skilled in the art is made to more fully understand application scheme, below in conjunction in the embodiment of the present application
The technical solution in the embodiment of the present application is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, without being used to describe specific order or precedence.It should be appreciated that it so uses
Data can exchange in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps or unit clearly listed, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
An embodiment of the present invention provides a kind of optical scanner range units.
Fig. 1 is the schematic diagram of optical scanner range unit according to a first embodiment of the present invention, as shown in Figure 1, the optics
Scanning range unit includes：
Light source 10, for sending detection light.
Light source 10 can be Light-Emitting Diode (Light Emitting Diode, referred to as LED) or laser light
Source, laser light source can send infrared light, and light source 10 can also be the light source that other can send infrared light.In preferred embodiment party
In formula, illuminating source LED sends infrared light.The detection light that light source 10 is sent can be collimated light beam.
First lens 20, for detection light to be made to form the light beam of preset shape.
The detection light that light source 10 is sent forms the light beam of preset shape after the first lens 20.First lens 20 can be with
It is convex lens or Conical Lenses or the lens of other shapes, so that detection light forms the light beam of preset shape.
Curved reflector 30, for reflecting the light beam of preset shape to obtain the first light beam, the first light beam is irradiated to tested
On object, wherein, testee sends reflected light after the first light beam is received, and reflected light is anti-by curved reflector 30
It penetrates, forms the second light beam.Curved reflector 30 can be hyperboloidal mirror, parabolic mirror or circular conical surface speculum,
It can be the curved reflector of other shapes.Preferably, curved reflector in the horizontal direction 360 ° can be by preset shape
Light beam reflects to obtain the first light beam, therefore, can detect the distance apart from ambient enviroment object on 360 ° of directions.Optionally,
One light beam is horizontal light beam, and the second light beam is also horizontal light beam.
Second lens 40 for the second light beam to be assembled, obtain convergent beam.
In reflected light after the reflection of curved reflector 30, the second light beam is formed, the second light beam passes through the second lens 40
Afterwards, convergent beam is obtained, the second lens 40 can be convex lens, and the light of testee reflection is assembled, obtains convergent beam.
Range sensor 50, for receiving convergent beam, and the image calculating optical formed according to convergent beam is scanned and surveyed
Distance away from device and testee.
After the second lens 40 assemble the second light beam, range sensor 50 receives convergent beam, according to convergent beam shape
Into image calculating optical scanning range unit and testee distance.Wherein, range sensor 50 can include photoelectric transfer
Sensor and circuit unit, convergent beam are focused on the photoelectric sensor of range sensor 50, and optical signal is converted into electric signal, away from
The difference for the light phase that the light and testee sent from sensor 50 according to light source 10 reflects, can calculate optical scanner ranging
The distance between device and testee.Optionally, the light that light source 10 is sent can be infrared light, can be calculated by the flight time
Method (Time of Flight, referred to as TOF) calculates distance.For example, photoelectric sensor measurement is emitted light between reception light
Time, phase difference, the known light velocity, you can testee is obtained the distance between to optical scanner range unit.Photoelectric sensor
It can be integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660.Optionally, range sensor 50 is face battle array distance
Sensor or annular range sensor, range sensor 50 can also be other kinds of range sensor.
Optionally, which further includes：Semi-transparent semi-reflecting lens, the angle with horizontal plane are 45 °, for by the light of preset shape
Half light reflection in beam to circular conical surface speculum, wherein, the cone angle of circular conical surface speculum is 90 °.Make spy in the first lens 20
It surveys light to be formed after the light beam of preset shape, incide on semi-transparent semi-reflecting lens, semi-transparent semi-reflecting lens can be semi-transparent semi-reflecting glass,
Can be other materials, semi-transparent semi-reflecting lens can be semi-permeable by the one of incident ray, another half reflection.In an optional implementation
In mode, the angle of semi-transparent semi-reflecting lens and horizontal plane is 45 °, and the half light reflection in the light beam of preset shape is anti-to circular conical surface
It penetrates on mirror, the cone angle of circular conical surface speculum is 90 °, and therefore, the incident light and emergent light of circular conical surface speculum are all horizontal light,
To reduce measurement error.
Optionally, which further includes：Rotary drive motor, for driving light source 10, the first lens 20, semi-transparent semi-reflecting
Mirror, the second lens 40 and range sensor 50 are around the center axis rotation of curved reflector 30.In a kind of optional real-time mode
In, curved reflector 30 can be fixed, by driving motor driving light source 10, the first lens 20, semi-transparent semi-reflecting lens, second thoroughly
Mirror 40 and range sensor 50 surround the center axis rotation of curved reflector 30.The central shaft of curved reflector 30 can be symmetrical
Central shaft, symmetrical centre axis cross the bottom surface center of circle and vertex, and 360 ° of the center axis rotation around curved reflector 30 can detect
Distance on 360 ° of directions apart from ambient enviroment object.The control mode of driving motor can be gear set transmission, crank gearing
Mechanism driving etc., driving motor driving light source 10, the first lens 20, semi-transparent semi-reflecting lens, the second lens 40 and range sensor
50 at the uniform velocity rotate around 360 ° of the central shaft of curved reflector 30, and therefore, optical scanner range unit does not generate rotation in itself, therefore
Conducting wire will not twist together, need not use slip ring, and the embodiment of the present invention can be realized and completed in the case of no slip ring to water
The range measurement of 360 degree of scope testees is put down, improves the service life of optical scanner range unit.
Optionally, the first lens 20 are Conical Lenses, and Conical Lenses is annular or circle for detection light to be made to form cross section
The light beam of shape.The size and cone angle of Conical Lenses can be determined or adjust according to specific testing requirement.
The installation position of each component in Fig. 1 is a kind of optional embodiment, in practical applications can also be with not
The position for being same as Fig. 1 is set.
The embodiment uses light source 10, for sending detection light；First lens 20, for detection light to be made to form preset shape
Light beam；Curved reflector 30, for reflecting the light beam of preset shape to obtain the first light beam, the first light beam is irradiated to measured object
On body, wherein, testee sends reflected light after the first light beam is received, and reflected light passes through the reflection of curved reflector, shape
Into the second light beam；Second lens 40 for the second light beam to be assembled, obtain convergent beam；Range sensor 50, for receiving meeting
Convergent pencil of rays, and the image calculating optical formed according to convergent beam scans the distance of range unit and testee, can substitute
Slip ring completes 360 ° of scanning rangings, so as to solve the problems, such as that the optical scanner range unit service life of slip ring is low, and then
Improve the effect in optical scanner range unit service life.
With reference to specific embodiment, technical scheme is explained：
Fig. 2 is the schematic diagram of optical scanner range unit according to a second embodiment of the present invention, as shown in Fig. 2, the optics
Scanning range unit includes：It is light source 10, the first lens 20, curved reflector 30, the second lens 40, range sensor 50, semi-transparent
Half anti-glass 60 and rotary part 70.In the present embodiment, the first lens 20 are convex lenses, and the second lens 40 are also convex lens,
Curved reflector 30 is conical mirror, and conical mirror is fixedly installed on range unit centre rotational axis (dotted line in such as Fig. 2)
Surface, specific measuring principle are：10 emission detection light of light source, the first lens 20 are located in the light path that light source 10 is sent, light source
10 light beams sent pass through 20 focussed collimated of the first lens, then by the reflection of semi-transparent semi-reflecting glass 60, the light incidence of half
It onto conical mirror, by the reflection of conical mirror, is irradiated on testee 1, by the reflection of testee 1, instead
Light directive conical mirror 1 is penetrated, it is saturating using second then through semi-transparent semi-reflecting glass 60 via the reflection of conical mirror 1
Range sensor 50 is incided into the focusing of mirror 40, completes the range measurement to testee 1.By a piece of with the horizontal one
The collimated light beam emission system and reception system of optical scanner range unit are become common light by the semi-transparent semi-reflecting glass 60 at clamp angle
Road system.
Light source 10 is fixed on rotary part 70, and infrared light is sent with horizontal direction.Wherein light source 10 can be with LED or sharp
Light, in the present embodiment, illuminating source LED sends infrared light.The detection light one that semi-transparent semi-reflecting glass 60 emits light source 10
Half reflection will be reflected towards the similary half of light of semi-transparent semi-reflecting glass 60 by conical mirror to conical mirror, the other half transmission
Reflection, one is semi-permeable.Semi-transparent semi-reflecting glass 60 is located 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 60 angle with horizontal plane of glass is 45 °, and the cone angle of conical mirror is 90 °.Be pointed by
The light of object is surveyed as horizontal direction, the light that testee is reflected back also is incident to conical mirror, rotary part from horizontal direction
70 can be completed horizontal 360-degree optical scanner ranging around center axis rotation.
Range sensor 50 is located at the lower section by conical mirror, for receiving the infrared light reflected by testee 1,
It is received in range sensor 50 and is provided with the second lens 40 above the light path of infrared light.Second lens 40 are convex lens, and second thoroughly
Mirror 40 focuses on the infrared light received on the photoelectric sensor on range sensor 50.Range sensor 50 includes photoelectric transfer
Sensor and circuit unit, wherein, photoelectric sensor is integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660.Through
After the reflected light that barrier (namely testee) reflects focuses on the photoelectric sensor of range sensor 50, optical signal turns
Change electric signal into.Range sensor 50 obtains the infrared light emitted of power supply 10 and the infrared light reflected by barrier received
The difference of phase by flight time algorithm, measures the distance between range sensor 50 and testee 1.
In the optical scanner range unit course of work, rotary part 70, for example, rotary drive motor drives optical scanner
Range unit is at the uniform velocity rotated with 360 degree of centre rotational axis, itself rotation does not occur, and is realized on 360 degree of all angles directions
Barrier carries out range measurement.Rotary part 70 can include motor, gear set, and the control mode of rotary drive motor can be
Gear set transmission, crank driving mechanism etc., motor can be one or two or more.Optical scanner ranging fills
It puts and fixes a conical mirror (can also be other surface of revolution speculums) directly over central shaft, due to optical scanner ranging
Device does not generate rotation, therefore supply lines and signal wire be by conducting slip ring, and is directly connected in the fixed component of device.
In a kind of optional embodiment, optical scanner ranging step is：
The first step：The light source 10 of optical scanner range unit rotary part 70 sends light beam, and light beam is accurate by optical lens
Directly, collimated light beam is formed.Collimated light beam, then by the reflection of conical mirror, is shone by the reflection of semi-transparent semi-reflecting glass 60
It is mapped to testee.
Step 2：By the reflection of testee, reflected light via conical mirror reflection, through semi-transparent semi-reflecting glass
60 eventually enter into range sensor 50 to testee scanning ranging for the first time into optical lens；
Step 3：The rotary part 70 of optical scanner range unit is continuously rotated around equipment central shaft, repeats above step,
Complete 360 degree of scanning direction rangings.
The rotary part 70 of optical scanner range unit can directly be connected with conducting wire and optical scanner range unit fixing end
Completion power supply and signal transmission are connect, optical scanner range unit rotary part 70 is rotated around centre rotational axis, but itself is not produced
It is born from and turns.Since optical scanner range unit rotary part 70 does not generate rotation, conducting wire will not twist together, pass through curved surface
The improvement of speculum and motor rotating machinery structure is completed in the case of no slip ring to horizontal 360-degree scope testee
Range measurement, improve the service life of optical scanner range unit.
Fig. 3 is the schematic diagram of optical scanner range unit according to a third embodiment of the present invention, as shown in figure 3, the optics
Scanning range unit includes：Light source 10, the first lens 20, curved reflector 30, the second lens 40, range sensor 50 and semi-transparent
Half anti-glass 60.In the present embodiment, the first lens 20, the second lens 40 are all convex lenses, and curved reflector 30 is hyperboloid
Speculum.Hyperboloidal mirror and the second lens 40, the central coaxial of range sensor 50, light source 10 emit light beam and pass through first
Lens 20 collimate, and then pass sequentially through the reflection of semi-transparent semi-reflecting glass 60 and hyperboloidal mirror, are irradiated to horizontal 360-degree side
To by the reflection of testee in environment, forming reflected light, for reflected light via the reflection of hyperboloidal mirror, transmission is semi-transparent
Half anti-60 and second lens 40 of glass enter range sensor 50, the picture of annular are formed on range sensor 50, by ring
The processing of image decomposes horizontal 360-degree direction, obtains distance signal, you can completes to by the range measurement of ambient enviroment.
In this embodiment, light source 10 is fixed on inside optical scanner range unit, sends detection light, detects the light path of light
The first lens 20 of upper setting, after the first lens 20, detection light is shaped as the face light beam with certain cross-sectional area.The face
Light beam directive is with the horizontal the semi-transparent semi-reflecting glass 60 at 45 degree of angles, and semi-transparent semi-reflecting glass 60 is semi-permeable by detection light one, half
Reflection.Face detection illumination by reflection is mapped on hyperboloidal mirror, and by the reflection of hyperboloidal mirror, detection light beam exists
360 degrees omnidirection is launched from optical scanner range unit, the detection in 360 degree with the detection light that 360 degrees omnidirection is sent
Surrounding objects, by the reflection of surrounding objects, the reflected beams are reflected back hyperboloidal mirror, and hyperboloidal mirror is by the reflected beams
Semi-transparent semi-reflecting glass 60 is transmitted to, the reflected light of half is incided by the second lens 40 in range sensor 50.
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, Ke Yishi
The lens of multiple species can be the optical prisms such as general collimation lens or conscope.The collimated light beam of transmitting with
The light beam of reception reaches common light path system by semi-transparent semi-reflecting glass 60, and to reduce device volume, specific light path is without being limited thereto
Kind fixed form can also be realized by arranging two hyperboloidal mirrors.
Fig. 4 is the schematic diagram of optical scanner range unit according to a fourth embodiment of the present invention, as shown in figure 4, the optics
Scanning range unit includes：Light source 10, the first lens 20, curved reflector 30, the second lens 40 and range sensor 50.At this
In 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, the central coaxial of conscope.Light source 10
Transmitting light beam forms cross section as annular or circular light beam after conscope, then passes through the anti-of hyperboloidal mirror
It penetrates, is irradiated to horizontal 360-degree direction, by the reflection of testee in ambient enviroment, reflected light is via hyperboloidal mirror
Reflection and the second lens 40 enter range sensor 50, the picture of annular are formed on range sensor 50, by annular distance
The processing of signal decomposes horizontal 360-degree direction, you can completes to by the range measurement of ambient enviroment.
Hyperboloidal mirror can also use the replacements such as parabolic mirror, conical mirror.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 species is unrestricted
System, can be the optical prisms such as general collimation lens or conscope.Purpose using conscope be to be formed it is cricoid
Outgoing beam, the species of conscope is unrestricted, can be simple lens or free-form surface lens or prism etc..It is optional
Ground, conscope are fixed by the high material of light transmittance and the main body of optical scanner range unit, and the high material of light transmittance can be
Makrolon (PC).
Fig. 5 is the schematic diagram of optical scanner range unit imaging according to embodiments of the present invention, as shown in figure 5, in distance
The top view 11 being imaged in sensor 50 can be annular, and according to panoramic imagery principle, panoramic picture is in range sensor 50
Into picture have mapping relations with ambient enviroment, range sensor 50 decomposes level by the processing to annular distance signal
360 ° of directions, you can complete the range measurement to ambient enviroment.
By the above embodiment, the embodiment of the present invention can be realized in the case where removing conducting slip ring, realize that optics is swept
Distance measurement function is retouched, drastically increases the service life of optical scanner range unit.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of optical scanner range unit, which is characterized in that including：
Light source, for sending detection light；
First lens, for the detection light to be made to form the light beam of preset shape；
Curved reflector, for reflecting to obtain the first light beam by the light beam of the preset shape, first light beam be irradiated to by
It surveys on object, wherein, the testee sends reflected light after first light beam is received, described in the reflected light is passed through
The reflection of curved reflector forms the second light beam；
Second lens for second light beam to be assembled, obtain convergent beam；And
Range sensor, for receiving the convergent beam, and the image calculating optical formed according to the convergent beam scans
The distance of range unit and the testee；
After first lens make detection light form the light beam of preset shape, incide on semi-transparent semi-reflecting lens, it is semi-transparent semi-reflecting
Mirror is semi-permeable by the one of incident ray, another half reflection, and the angle of the semi-transparent semi-reflecting lens and horizontal plane is 45 °.
2. the apparatus according to claim 1, which is characterized in that first lens be convex lens or Conical Lenses, it is described
Second lens are convex lens.
3. the apparatus according to claim 1, which is characterized in that the light source be LED light source or laser light source, the spy
Survey light is infrared light.
4. the apparatus according to claim 1, which is characterized in that the curved reflector be hyperboloidal mirror, parabola
Speculum or circular conical surface speculum.
5. device according to claim 4, which is characterized in that
The semi-transparent semi-reflecting lens are used for the half light reflection in the light beam of the preset shape to the circular conical surface speculum,
In, the cone angle of the circular conical surface speculum is 90 °.
6. device according to claim 5, which is characterized in that described device further includes：
Rotary drive motor, for drive the light source, first lens, the semi-transparent semi-reflecting lens, second lens with
And the range sensor is around the center axis rotation of the curved reflector.
7. the apparatus according to claim 1, which is characterized in that first lens are transversal for forming the detection light
Face is annular or circular light beam.
8. the apparatus according to claim 1, which is characterized in that the range sensor includes photoelectric sensor and circuit group
Part, the photoelectric sensor are integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660.
9. the apparatus according to claim 1, which is characterized in that the range sensor is based on according to flight time algorithm
Calculate the distance with the testee.
10. the apparatus according to claim 1, which is characterized in that first light beam be horizontal light beam, the Distance-sensing
Device is face battle array range sensor or annular range sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610282754.XA CN105807284B (en) | 2016-04-29 | 2016-04-29 | Optical scanner range unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610282754.XA CN105807284B (en) | 2016-04-29 | 2016-04-29 | Optical scanner range unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105807284A CN105807284A (en) | 2016-07-27 |
| CN105807284B true CN105807284B (en) | 2018-05-25 |
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