CN105954738A - Direct-driven small rotary scanning distance measuring device - Google Patents
Direct-driven small rotary scanning distance measuring device Download PDFInfo
- Publication number
- CN105954738A CN105954738A CN201610489161.0A CN201610489161A CN105954738A CN 105954738 A CN105954738 A CN 105954738A CN 201610489161 A CN201610489161 A CN 201610489161A CN 105954738 A CN105954738 A CN 105954738A
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- Prior art keywords
- infrared
- small rotary
- rotary scanning
- range unit
- scanning range
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a direct-driven small rotary scanning distance measuring device, which comprises a rotary detecting outer shell, an infrared light-emitting module, a photoelectric distance measuring module, a bottom part and a driving motor, the driving motor is connected with the rotary detecting outer shell, the direct-driven rotary detecting outer shell rotates continuously relative to the bottom part, the infrared light-emitting module emits infrared detection light which is reflected when encountering a measured object, the photoelectric distance measuring module receives the reflected infrared detection light, and calculates to obtain a distance between the direct-driven small rotary scanning distance measuring device and the measured object based on a time-of-flight method. According to the direct-driven small rotary scanning distance measuring device, the rotary detecting outer shell is directly driven by the driving motor, the problems of large occupied volume and unstable rotation in the prior art are solved, and the distance is calculated by adopting the time-of-flight method, so that the structural design is simple, and the measured object 15m away can be measured.
Description
Technical field
The application relates to a kind of electro-optical distance measurement device, particularly relates to a kind of small rotary that directly drives based on flight time (Time of Flight is called for short TOF) method and scans range unit, further, uses and drive motor direct-drive range unit to rotate.
Background technology
In prior art, common optical ranging method is triangle telemetry.When using triangulation, calculated distance value precision is uneven, and the measurement to far range increases with angular error, and computed range precision declines to a great extent.In triangle telemetry, need LASER Light Source and range cells are configured with certain angle and distance and the supporting construction being in same plane, thus limit the design of structure so that the volume of range unit is bigger.The device of the most common triangle telemetry, measures apart from little, only 6-7m.
It addition, in the prior art, the structures using transmission band drive range finding probe to rotate more.Driving, on motor, drive is set, is cased with transmission band in the periphery of drive and range finding probe, drive motor by transmission band, drive range finding probe constantly to rotate.But, the structure of transmission band makes the volume that range unit takies big, and the most aging after transmission band life-time service or experience high and low temperature environment change, there will be the phenomenon of skidding in using.
Summary of the invention
The application is based on above-mentioned deficiency of the prior art, it is provided that a kind of small rotary based on phase place time-of-flight method scanning range unit, and this small rotary scanning probe device rotates ranging unit by motor direct-drive and rotates.
The application provides one directly to drive small rotary scanning range unit, including rotated detection shell, infrared light emission module, electro-optical distance measurement module, bottom, drive motor, this rotated detection shell is positioned at above bottom, motor direct-drive rotated detection shell is driven constantly to rotate relative to bottom, infrared light emission module is fixed on rotated detection enclosure, send infrared acquisition light, this infrared acquisition light is reflected after running into testee, the electro-optical distance measurement module being fixed on rotated detection enclosure receives the infrared acquisition light being reflected back, it is calculated this based on time-of-flight method and directly drives the distance between small rotary scanning range unit and testee.
Further, described driving motor is three-phase horizontal stage electric machine.
Further, described infrared light emission module being fixedly installed infrared light supply, described infrared light supply is LASER Light Source or is LED light source.
Further, described infrared light supply is LED light source, and the number of LED light source is 2,4 or 6.
Further, the described electro-optical distance measurement module phase contrast by the infrared acquisition light launched by infrared light emission module and the reflection infrared light received by electro-optical distance measurement module, obtains the described distance directly driven between small rotary scanning range unit and testee based on time-of-flight method.
Further, the infrared acquisition light light path that described infrared light emission module is sent being provided with infrared light emission lens, these infrared light emission lens are fixed on rotated detection enclosure；Being provided with infrared optical receiver lens in the reception infrared light light path of described electro-optical distance measurement module, this infrared optical receiver lens is fixed on rotated detection enclosure.
Further, described infrared light emission lens and infrared optical receiver lens are collecting lens.
Further, described infrared light emission lens and infrared optical receiver lens are provided with centre wavelength is 850nm bandpass filtering film.
Further, it is characterised in that in electro-optical distance measurement module, comprise range finding chip, described range finding chip is EPC600, EPC610 or EPC660.
Further, described electro-optical distance measurement module includes that infrared optical receiving sensor, described infrared optical receiving sensor are an independent infrared optical receiving sensor or are the infrared optical receiving sensor of planar array being made up of multiple outer optical receiving sensors that work alone.
Further, described infrared light receives covers disposed on sensor and is equipped with centre wavelength is 850nm band pass filter.
Further, the described small rotary scanning range unit that directly drives is for walking robot, sweeping robot, unmanned plane, or the scanning probe that intelligent machine mobile device is to surrounding.
One provided herein directly drives small rotary scanning range unit, by measuring distance based on time-of-flight method so that infrared light emission module and electro-optical distance measurement module need not the angle requirement fixed so that structure design is simple, take up room little, and the testee at 15m can be measured；Additionally, by driving motor direct-drive rotated detection shell to rotate, improve motor drive efficiency, it is to avoid use the skidding that transmission band is occurred when driving, rotated detection shell is rotated more stable, reduce the volume of rotation sweep range unit the most further.
Accompanying drawing explanation
Fig. 1 is that the application one directly drives small rotary scanning range unit overall structure schematic diagram.
Fig. 2 is that the application one directly drives small rotary scanning range unit internal structure schematic diagram.
Fig. 3 is that the application one directly drives small rotary scanning range unit working light path schematic diagram.
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." first ", " second " in the application 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.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
The embodiment of the present application provides one and directly drives small rotary scanning range unit.As illustrated in the accompanying drawings from 1 to 3, this directly drive small rotary scanning range unit include:
Rotated detection shell 100, rotated detection shell 100 has the loophole making light beam pass through.Rotated detection shell 100 is internal is fixedly installed infrared light emission module, and this infrared light emission module is integrated on circuit board, has the circuit for infrared light emission module for power supply and control in circuit board.Under in working order, after infrared light emission module receives measurement instruction, the infrared light supply 400 in infrared light emission module is driven under drive circuit agreement, the peak wavelength the first infrared acquisition light at 850nm is sent by the modulation of modulated signal, this the first infrared acquisition light, by the first loophole on rotated detection shell, is irradiated in the environment of outside need detection.When environment has the objects such as barrier, this the first infrared acquisition light is irradiated on object, is reflected by the object, and obtains the second infrared acquisition light, this passes through the second loophole on rotated detection shell through the second infrared acquisition light of object reflection, injects rotated detection enclosure.The electro-optical distance measurement module 500 that this second infrared acquisition light is fixedly set within rotated detection shell 100 is received, electro-optical distance measurement module is integrated on circuit board, electro-optical distance measurement module receives the second infrared acquisition light, compare with the first infrared acquisition light, obtain the first infrared acquisition light and the phase contrast of the second infrared acquisition light, be calculated the range information directly driving in small rotary scanning range unit and environment between object based on time-of-flight method.Owing to have employed time-of-flight method, when the frequency of its modulated signal is 10MHz, environment middle-range can be detected and directly drive the testee at small rotary scanning range unit 15 meters.It addition, by the frequency controlling modulated signal, the detection range of measurement apparatus further expands.
Bottom 200, it is positioned at below rotated detection shell 100, when directly driving small rotary scanning range unit work, rotated detection shell constantly rotates with 360 degree relative to bottom, is scanned detecting to the panorama environment directly driven in the range of small rotary scanning range unit 360 degree.
Driving motor 300, this driving motor is directly fixing with rotated detection shell to be connected, and directly drives rotated detection shell relative to bottom 200 constantly with 360 degree of rotations.Wherein, described driving motor 300 is three phase electric machine, is three-phase horizontal stage electric machine in a preferred embodiment, drives motor and rotated detection outer casing bottom to fix and is connected, in an embodiment wherein, rotated detection outer casing bottom is screwed on the turntable of horizontal stage electric machine.
Slip ring, is positioned at the hollow center rotating shaft of three-phase horizontal stage electric machine, and one end of slip ring is connected with the circuit board of rotated detection enclosure, and the other end contacts with external equipment.Slip ring is for being powered the inner member of rotated detection shell, and is spread out of by the range information that rotated detection shell obtains.
Wherein, the infrared light supply 400 infraluminescence module being fixedly installed is LASER Light Source or is LED light source.In a preferred embodiment, light source is LED light source, and number is 2 or more.In a preferred embodiment, infrared light emission module has 4 infrared LED light sources.
Owing to LED light source has the bigger angle of divergence, diverging light in order to be sent by LED is assembled, rotated detection shell is launched with small divergence angle, in a preferred embodiment, also in the light path that LED sends and in rotated detection enclosure, it is provided with infrared light emission lens 600, by optimizing the diameter of infrared light emission lens 600, thickness and radius of curvature, after infrared light emission lens, the angle of divergence of the first infrared acquisition light is reduced to 3 degree or less, and this first infrared acquisition light has certain cross-sectional area.Wherein, infrared light emission lens 600 are collecting lens.
In order to the second infrared acquisition ray-collecting that will be more reflected by the object is to electro-optical distance measurement module, the reception infrared light light path of electro-optical distance measurement module is provided with infrared optical receiver lens 700, this infrared optical receiver lens 700 is collecting lens, is focused in electro-optical distance measurement module by the second infrared acquisition light being reflected by the object back.In a preferred embodiment, infrared optical receiver lens is the two panels collecting lens front and back arranged.
In a preferred embodiment, in order to reduce the interference of ambient light, in an alternate embodiment of the invention, it is both provided with, at infrared light emission lens and infrared optical receiver lens, the bandpass filtering film that infrared light filtering film, preferably centre wavelength are 850nm, wherein carries a width of 44 ± 5nm.
Wherein, being provided with range finding chip in electro-optical distance measurement module 500, in a preferred embodiment, this range finding chip is EPC600 or for EPC610 or for EPC660.
Wherein, electro-optical distance measurement module 500 includes that infrared optical receiving sensor, infrared optical receiving sensor are an independent infrared optical receiving sensor or are the infrared optical receiving sensor of planar array being made up of multiple infrared optical receiving sensors that work alone.In an embodiment wherein, infrared light receives covers disposed on sensor and is equipped with the band pass filter that centre wavelength is 850nm.
When this directly drives small rotary scanning range unit work, owing to rotated detection shell constantly rotates, in order to accurately determine which concrete angle orientation is detected range data be at, determine the rotated detection shell angle position relative to bottom, be also internally provided with photoelectric coded disk directly driving small rotary scanning range unit.This photoelectric coded disk, centered by rotated detection housing center axle, is uniformly fixedly installed.The projection that this photoelectric coded disk is identical by spacing, arrange with circumferential shapes forms, and described projection is to have the rectangular preiection of certain altitude and width, and one of them is protruding has different width from remaining projection.This photoelectric coded disk can be fixedly installed on the lowermost position of rotated detection shell, rotates with rotated detection shell, or this photoelectric coded disk is fixedly installed on above bottom.
Wherein in an embodiment, directly drive small rotary scanning range unit for walking robot, sweeping robot or unmanned plane, or similar intelligent machine mobile device, the scanning probe to surrounding.
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. directly driving a small rotary scanning range unit, including rotated detection shell, infrared light emission module, electro-optical distance measurement module, bottom, driving motor, wherein, described rotated detection shell is positioned at above bottom,
It is characterized in that, described driving motor direct-drive rotated detection shell constantly rotates relative to bottom, described infrared light emission module is fixed on rotated detection enclosure, send infrared acquisition light, described infrared acquisition light is reflected after running into testee, the electro-optical distance measurement module being fixed on rotated detection enclosure receives the infrared acquisition light being reflected back, and is calculated the described distance directly driven between small rotary scanning range unit and testee based on time-of-flight method.
One the most according to claim 1 directly drives small rotary scanning range unit, it is characterised in that described driving motor is three-phase horizontal stage electric machine.
One the most according to claim 1 directly drives small rotary scanning range unit, it is characterised in that be fixedly installed infrared light supply in described infrared light emission module, and described infrared light supply is LASER Light Source or is LED light source.
One the most according to claim 3 directly drives small rotary scanning range unit, it is characterised in that described infrared light supply is LED light source, and the number of LED light source is 2,4 or 6.
5. directly drive small rotary scanning range unit according to the one one of claim 1-3 Suo Shu, it is characterized in that, the described electro-optical distance measurement module phase contrast by the infrared acquisition light launched by infrared light emission module and the reflection infrared light received by electro-optical distance measurement module, obtains the described distance directly driven between small rotary scanning range unit and testee based on time-of-flight method.
6. directly drive small rotary scanning range unit according to the one one of claim 1-3 Suo Shu, it is characterized in that, being provided with infrared light emission lens in the infrared acquisition light light path that described infrared light emission module is sent, these infrared light emission lens are fixed on rotated detection enclosure；Being provided with infrared optical receiver lens in the reception infrared light light path of described electro-optical distance measurement module, this infrared optical receiver lens is fixed on rotated detection enclosure.
One the most according to claim 6 directly drives small rotary scanning range unit, it is characterised in that described infrared light emission lens and infrared optical receiver lens are collecting lens.
8. directly drive small rotary scanning range unit according to the one one of claim 1-3 Suo Shu, it is characterised in that comprising range finding chip in electro-optical distance measurement module, described range finding chip is EPC600, EPC610 or EPC660.
9. directly drive small rotary scanning range unit according to the one one of claim 1-3 Suo Shu, it is characterized in that, described electro-optical distance measurement module includes that infrared optical receiving sensor, described infrared optical receiving sensor are an independent infrared optical receiving sensor or are the infrared optical receiving sensor of planar array being made up of multiple outer optical receiving sensors that work alone.
10. directly drive small rotary scanning range unit according to the one one of claim 1-3 Suo Shu, it is characterized in that, the described small rotary scanning range unit that directly drives is for walking robot, sweeping robot, unmanned plane, or the scanning probe that intelligent machine mobile device is to surrounding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610489161.0A CN105954738B (en) | 2016-06-28 | 2016-06-28 | A kind of straight small rotary that drives scans range unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610489161.0A CN105954738B (en) | 2016-06-28 | 2016-06-28 | A kind of straight small rotary that drives scans range unit |
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| CN105954738A true CN105954738A (en) | 2016-09-21 |
| CN105954738B CN105954738B (en) | 2018-06-08 |
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| CN201610489161.0A Active CN105954738B (en) | 2016-06-28 | 2016-06-28 | A kind of straight small rotary that drives scans range unit |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405567A (en) * | 2016-10-14 | 2017-02-15 | 海伯森技术（深圳）有限公司 | TOF based ranging system and its correction method |
| CN107238839A (en) * | 2017-07-19 | 2017-10-10 | 北醒（北京）光子科技有限公司 | A kind of infrared acquisition and measurement apparatus |
| WO2020062080A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Laser ranging apparatus and mobile device |
| WO2020142968A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device and movable platform |
| CN112147631A (en) * | 2020-10-21 | 2020-12-29 | 深圳市锦创宏光电科技有限公司 | Infrared sensor |
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| CN205720649U (en) * | 2016-06-28 | 2016-11-23 | 北醒（北京）光子科技有限公司 | One directly drives small rotary scanning range unit |
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| US5233382A (en) * | 1991-04-03 | 1993-08-03 | Fuji Photo Film Company, Ltd. | Range finding device unaffected by environmental conditions |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405567A (en) * | 2016-10-14 | 2017-02-15 | 海伯森技术（深圳）有限公司 | TOF based ranging system and its correction method |
| CN107238839A (en) * | 2017-07-19 | 2017-10-10 | 北醒（北京）光子科技有限公司 | A kind of infrared acquisition and measurement apparatus |
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| WO2020142968A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device and movable platform |
| CN112147631A (en) * | 2020-10-21 | 2020-12-29 | 深圳市锦创宏光电科技有限公司 | Infrared sensor |
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| CN105954738B (en) | 2018-06-08 |
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