CN105954738B - A kind of straight small rotary that drives scans range unit - Google Patents
A kind of straight small rotary that drives scans range unit Download PDFInfo
- Publication number
- CN105954738B CN105954738B CN201610489161.0A CN201610489161A CN105954738B CN 105954738 B CN105954738 B CN 105954738B CN 201610489161 A CN201610489161 A CN 201610489161A CN 105954738 B CN105954738 B CN 105954738B
- Authority
- CN
- China
- Prior art keywords
- infrared
- range unit
- small rotary
- infrared light
- straight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- 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
A kind of straight small rotary that drives of the application scans range unit, including rotated detection shell, infrared light emission module, electro-optical distance measurement module, bottom, driving motor, driving motor and rotated detection cage connection, rotated detection shell is directly driven constantly to rotate relative to bottom, infrared light emission module sends out infrared acquisition light, the infrared acquisition light is reflected after encountering testee, electro-optical distance measurement module receives the infrared acquisition light being reflected back, and straight drive small rotary scanning the distance between the range unit and testee is calculated based on time-of-flight method.The application by driving motor directly drive rotated detection shell rotate, solve the prior art occupy volume it is big, rotate the problem of unstable, and using time-of-flight method calculate distance so that structure design is simple, and can measure the testee at 15m.
Description
Technical field
This application involves a kind of electro-optical distance measurement devices more particularly to one kind to be based on the flight time（Time of Flight, letter
Claim TOF）The straight of method drives small rotary scanning range unit, further, range unit rotation is directly driven using driving motor.
Background technology
In the prior art, common optical ranging method is triangle telemetry.During using triangulation, it is calculated
Distance value precision is uneven, and the measurement of far range is increased with angular error, calculates range accuracy and declines to a great extent.
In triangle telemetry, need to be arranged to that there is certain angle with distance and in same plane by laser light source and distance measuring unit
Interior support construction limits the design of structure in this way so that the volume of range unit is larger.Range of triangle common at present
The device of method, measurement distance is small, only 6-7m.
In addition, in the prior art, mostly using the driving range finding probe rotation of the structure of transmission belt.It is set on driving motor
Drive, transmission belt is cased in the periphery of drive and range finding probe, and driving motor drives range finding probe continuous by transmission belt
Rotation.However, the structure of transmission belt so that the volume that range unit occupies is big, and transmission belt is used for a long time or experience height
Easy aging after warm environmental change, the phenomenon that will appear skidding in use.
Invention content
The application is based on above-mentioned deficiency of the prior art, provides a kind of small rotary based on phase time-of-flight method
Range unit is scanned, which rotates ranging unit by motor direct-drive and rotate.
The application provides a kind of straight small rotary that drives and scans range unit, including rotated detection shell, infrared light emission mould
Block, electro-optical distance measurement module, bottom, driving motor, the rotated detection shell are located above bottom, and driving motor directly drives rotation
Detection shell is constantly rotated relative to bottom, and infrared light emission module is fixed on rotated detection enclosure, sends out infrared acquisition
Light, the infrared acquisition light are reflected after encountering testee, and the electro-optical distance measurement module for being fixed on rotated detection enclosure receives
The infrared acquisition light being reflected back is calculated this based on time-of-flight method and directly drives small rotary scanning range unit and testee
The distance between.
Further, the driving motor is three-phase horizontal stage electric machine.
Further, infrared light supply is fixedly installed in the infrared light emission module, the infrared light supply is laser light
Source is LED light source.
Further, the infrared light supply is LED light source, and the number of LED light source is 2,4 or 6.
Further, the electro-optical distance measurement module by the infrared acquisition light launched by infrared light emission module with by light
The phase difference of reflection infrared light that electric range finder module receives obtains the straight drive small rotary scanning ranging based on time-of-flight method
The distance between device and testee.
Further, it is saturating to be provided with infrared light emission in the infrared acquisition light light path that the infrared light emission module is sent out
Mirror, the infrared light emission lens are fixed on rotated detection enclosure；In the reception infrared light light path of the electro-optical distance measurement module
Infrared optical receiver lens are provided with, which is fixed on rotated detection enclosure.
Further, the infrared light emission lens and infrared optical receiver lens are convergent lens.
Further, the infrared light emission lens and infrared optical receiver lens are provided with centre wavelength as 850nm band logicals
Filter film.
Further, which is characterized in that comprising range finding chip in electro-optical distance measurement module, the range finding chip is EPC600,
EPC610 or EPC660.
Further, the electro-optical distance measurement module includes infrared optical receiving sensor, and the infrared optical receiving sensor is
An independent infrared optical receiving sensor or the planar array to be made of optical receiving sensor outside multiple autonomous workings are infrared
Optical receiving sensor.
Further, centre wavelength is provided on the infrared optical receiving sensor as 850nm band pass filters.
Further, it is described it is straight drive small rotary scanning range unit for walking robot, sweeping robot, nobody
Machine or intelligence machine move scanning probe of the equipment to ambient enviroment.
One kind provided herein is straight to drive small rotary scanning range unit, by be based on time-of-flight method measure away from
From so that infrared light emission module does not need to fixed angle requirement with electro-optical distance measurement module so that structure design is simple, occupies
Space is small, and can measure the testee at 15m；It is rotated in addition, directly driving rotated detection shell by driving motor,
Motor drive efficiency is improved, the slipping phenomenon occurred when avoiding using transmission belt driving so that rotated detection shell rotates
It is more stable, while also further reduce the volume of rotation sweep range unit.
Description of the drawings
Fig. 1 is that a kind of straight small rotary that drives of the application scans range unit overall structure diagram.
Fig. 2 is that a kind of straight small rotary that drives of the application scans range unit internal structure schematic diagram.
Fig. 3 is that a kind of straight small rotary that drives of the application scans range unit working light path schematic diagram.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination." first ", " second " in the application etc. are the objects for distinguishing similar, and specific sequence is described without being used for
Or precedence.It should be appreciated that the data used in this way can be interchanged in the appropriate case, so as to the application's described herein
Embodiment.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The embodiment of the present application provides a kind of straight small rotary that drives and scans range unit.As illustrated in the accompanying drawings from 1 to 3, this directly drives small
Type rotation sweep range unit includes：
Rotated detection shell 100, having on rotated detection shell 100 makes the loophole that light beam passes through.Rotated detection shell
Infrared light emission module is fixedly installed inside 100, which is integrated on circuit board, has in circuit board and uses
In the circuit that infrared light emission module is powered and controlled.In the operating condition, after infrared light emission module receives measurement instruction,
The infrared light supply 400 in infrared light emission module is driven under driving circuit agreement, peak value is sent out by the modulation of modulated signal
For wavelength in the first infrared acquisition light of 850nm, which passes through the first light transmission on rotated detection shell
Hole is irradiated in the environment of outside need detection.When having barrier when objects in environment, which shines
It is mapped on object, is reflected by the object, obtain the second infrared acquisition light, this leads to by the second infrared acquisition light that object reflects
The second loophole on rotated detection shell is crossed, injects rotated detection enclosure.The second infrared acquisition light is set by fixation
The electro-optical distance measurement module 500 being placed in inside rotated detection shell 100 is received, and electro-optical distance measurement module is integrated on circuit board, light
Electric range finder module receives the second infrared acquisition light, is compared with the first infrared acquisition light, obtain the first infrared acquisition light with
Straight drive in small rotary scanning range unit and environment is calculated based on time-of-flight method in the phase difference of second infrared acquisition light
The distance between object information.As a result of time-of-flight method, when the frequency of its modulated signal is 10MHz, can detect
The testee at small rotary 15 meters of range unit of scanning is directly driven to environment middle-range.In addition, the frequency by controlling modulated signal
Rate, the detection range of measuring device further expand.
Bottom 200, positioned at 100 lower section of rotated detection shell, when directly driving small rotary scanning range unit work, rotation
Shell is detected relative to bottom with 360 degree of constantly rotations, to directly driving the panorama in the range of small rotary 360 degree of range unit of scanning
Environment is scanned detection.
Driving motor 300, the driving motor are directly fixedly connected with rotated detection shell, directly drive rotated detection shell
Relative to bottom 200 constantly with 360 degree rotation.Wherein, the driving motor 300 is three phase electric machine, in a preferred embodiment
For three-phase horizontal stage electric machine, driving motor is fixedly connected with rotated detection outer casing bottom, in an embodiment wherein, rotated detection
Outer casing bottom is screwed on the turntable of horizontal stage electric machine.
Slip ring, at the hollow center shaft of three-phase horizontal stage electric machine, one end and the rotated detection enclosure of slip ring
Circuit board connects, and the other end is contacted with external equipment.Slip ring for being powered to the internal element of rotated detection shell and
The range information that rotated detection shell is obtained is spread out of.
Wherein, the infrared light supply 400 being fixedly installed in infraluminescence module is laser light source or is Light-emitting diode LED
Light source.In a preferred embodiment, light source is LED light source, and number is for 2 or more.In a preferred embodiment, infrared light
There are 4 infrared LED light sources in transmitting module.
Since LED light source has the larger angle of divergence, in order to which the diverging light for sending out LED is assembled, launched with small divergence angle
Rotated detection shell in a preferred embodiment, in the light path also sent out in LED and in rotated detection enclosure, is provided with
Infrared light emission lens 600 by optimizing the diameter, thickness and radius of curvature of infrared light emission lens 600, are sent out by infrared light
After penetrating lens, the angle of divergence of the first infrared acquisition light is reduced to 3 degree or smaller, which has certain horizontal stroke
Sectional area.Wherein, infrared light emission lens 600 are convergent lens.
In order to which the second infrared acquisition ray-collecting that will more be reflected by the object is to electro-optical distance measurement module, in electro-optical distance measurement
Infrared optical receiver lens 700 are provided in the reception infrared light light path of module, which is convergent lens,
The second infrared acquisition light being reflected by the object back is focused in electro-optical distance measurement module.In a preferred embodiment, infrared light connects
Receive the two panels convergent lens that lens are front and rear setting.
In a preferred embodiment, it is in an alternate embodiment of the invention, saturating in infrared light emission in order to reduce the interference of ambient light
Mirror and infrared optical receiver lens are both provided with infrared light filtering film, and preferably centre wavelength is the bandpass filtering film of 850nm, wherein
Bandwidth is 44 ± 5nm.
Wherein, range finding chip is provided in electro-optical distance measurement module 500, in a preferred embodiment, which is
EPC600 or it is EPC610 or is EPC660.
Wherein, electro-optical distance measurement module 500 includes infrared optical receiving sensor, and infrared optical receiving sensor is red for independent one
Outer optical receiving sensor or the infrared light-receiving of planar array to be made of multiple infrared optical receiving sensors that work independently pass
Sensor.In an embodiment wherein, the band pass filter that centre wavelength is 850nm is provided on infrared optical receiving sensor.
When this directly drives small rotary scanning range unit work, since rotated detection shell constantly rotates, in order to accurate
It determines which specific angle orientation is detected range data be at, determines angle position of the rotated detection shell relative to bottom
It puts, is also internally provided with photoelectric coded disk in directly drive small rotary scanning range unit.The photoelectric coded disk with rotated detection outside
Centered on shell central shaft, uniformly it is fixedly installed.The photoelectric coded disk by spacing it is identical, with circumferential shapes set convex sets
Into the protrusion is the rectangular preiection with certain altitude and width, and one of protrusion has different from remaining protrusion
Width.The photoelectric coded disk can be fixedly installed on the lowermost position of rotated detection shell, with rotated detection shell one
It plays rotation or the photoelectric coded disk is fixedly installed on above bottom.
In a wherein embodiment, it is straight drive small rotary scanning range unit for walking robot, sweeping robot or
Unmanned plane or similar intelligence machine movement equipment, to the scanning probe of ambient enviroment.
The foregoing is merely the preferred embodiments of the application, are not limited to the application, for the skill of this field
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (8)
1. a kind of straight small rotary that drives scans range unit, including rotated detection shell, infrared light emission module, electro-optical distance measurement mould
Block, bottom, driving motor, infrared light emission lens, infrared optical receiver lens, infrared light filtering film, filter plate and photoelectricity are compiled
Code-disc, wherein, the rotated detection shell is located above bottom, which is characterized in that the driving motor directly drives rotation and visits
It surveys shell constantly to rotate relative to bottom, the infrared light emission module is fixed on rotated detection enclosure, sends out infrared spy
Light is surveyed, the infrared acquisition light is reflected after encountering testee, is fixed on the electro-optical distance measurement module of rotated detection enclosure
The infrared acquisition light being reflected back is received, the straight drive small rotary scanning range unit and quilt are calculated based on time-of-flight method
The distance between object is surveyed, the infrared light emission lens and infrared optical receiver lens are convergent lens, saturating in infrared light emission
Mirror and infrared optical receiver lens are provided with the bandpass filtering film that centre wavelength is 850nm, and the electro-optical distance measurement module includes infrared
Optical receiving sensor is provided with the band pass filter that centre wavelength is 850nm, the photoelectric coding on infrared optical receiving sensor
Disk by spacing it is identical, with circumferential shapes set protrusion form, it is described protrusion for the rectangle with certain altitude and width it is convex
It rises, one of raised raised with different width from remaining, the driving motor is three-phase horizontal stage electric machine, and driving is electric
Machine is directly fixedly connected with rotated detection shell.
2. a kind of straight small rotary that drives according to claim 1 scans range unit, which is characterized in that the infrared light hair
It penetrates and infrared light supply is fixedly installed in module, the infrared light supply is laser light source or is LED light source.
3. a kind of straight small rotary that drives according to claim 2 scans range unit, which is characterized in that the infrared light supply
For LED light source, the number of LED light source is 2,4 or 6.
4. a kind of straight small rotary that drives according to claim 1 or 2 scans range unit, which is characterized in that the photoelectricity
Range finder module is infrared by the infrared acquisition light launched by infrared light emission module and the reflection that is received by electro-optical distance measurement module
The phase difference of light, based on time-of-flight method obtain it is described it is straight drive small rotary scanning range unit and testee between away from
From.
5. a kind of straight small rotary that drives according to claim 1 or 2 scans range unit, which is characterized in that described infrared
Infrared light emission lens are provided in the infrared acquisition light light path that optical transmitter module is sent out, which is fixed on
Rotated detection enclosure；Infrared optical receiver lens are provided in the reception infrared light light path of the electro-optical distance measurement module, this is red
Outer optical receiver lens are fixed on rotated detection enclosure.
6. a kind of straight small rotary that drives according to claim 1 or 2 scans range unit, which is characterized in that electro-optical distance measurement
Comprising range finding chip in module, the range finding chip is EPC600, EPC610 or EPC660.
7. a kind of straight small rotary that drives according to claim 1 or 2 scans range unit, which is characterized in that described infrared
Optical receiving sensor is an independent infrared optical receiving sensor or is to be made of optical receiving sensor outside multiple autonomous workings
The infrared optical receiving sensor of planar array.
8. a kind of straight small rotary that drives according to claim 1 or 2 scans range unit, which is characterized in that the straight drive
Small rotary scanning range unit moves equipment to surrounding for walking robot, sweeping robot, unmanned plane or intelligence machine
The scanning probe of environment.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105954738A CN105954738A (en) | 2016-09-21 |
| CN105954738B true CN105954738B (en) | 2018-06-08 |
Family
ID=56901824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610489161.0A Active CN105954738B (en) | 2016-06-28 | 2016-06-28 | A kind of straight small rotary that drives scans range unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105954738B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405567B (en) * | 2016-10-14 | 2018-03-02 | 海伯森技术（深圳）有限公司 | A kind of range-measurement system and its bearing calibration based on TOF |
| 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 |
| CN111670337B (en) * | 2019-01-09 | 2022-06-28 | 深圳市大疆创新科技有限公司 | Distance measuring device and mobile platform |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5233382A (en) * | 1991-04-03 | 1993-08-03 | Fuji Photo Film Company, Ltd. | Range finding device unaffected by environmental conditions |
| CN2773714Y (en) * | 2005-02-21 | 2006-04-19 | 王治平 | Laser scanning detector |
| CN102866433A (en) * | 2011-07-05 | 2013-01-09 | 泰怡凯电器(苏州)有限公司 | Detection device for detecting obstacles around self-mobile robot and self-mobile robot |
| CN102914777A (en) * | 2012-11-05 | 2013-02-06 | 张周新 | Photoelectric ranging device of robot |
| CN105548988A (en) * | 2016-03-01 | 2016-05-04 | 北醒（北京）光子科技有限公司 | Optical detection and measurement radar with multiple sensors |
| 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 |
-
2016
- 2016-06-28 CN CN201610489161.0A patent/CN105954738B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5233382A (en) * | 1991-04-03 | 1993-08-03 | Fuji Photo Film Company, Ltd. | Range finding device unaffected by environmental conditions |
| CN2773714Y (en) * | 2005-02-21 | 2006-04-19 | 王治平 | Laser scanning detector |
| CN102866433A (en) * | 2011-07-05 | 2013-01-09 | 泰怡凯电器(苏州)有限公司 | Detection device for detecting obstacles around self-mobile robot and self-mobile robot |
| CN102914777A (en) * | 2012-11-05 | 2013-02-06 | 张周新 | Photoelectric ranging device of robot |
| CN105548988A (en) * | 2016-03-01 | 2016-05-04 | 北醒（北京）光子科技有限公司 | Optical detection and measurement radar with multiple sensors |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105954738A (en) | 2016-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11693115B2 (en) | Determining positional information of an object in space | |
| CN105954738B (en) | A kind of straight small rotary that drives scans range unit | |
| CN205643711U (en) | Multi -thread rotational scanning detecting device | |
| CN108828610B (en) | Rotary distance measuring apparatus | |
| CN103608696B (en) | The method of 3D scanning system and acquisition 3D rendering | |
| CN105548988B (en) | A kind of optical detection and instrumentation radar with multisensor | |
| CN105974359B (en) | Positioning equipment, positioning base station, space positioning system and method | |
| US8553212B2 (en) | Geodesic measurement system and method for identifying a target unit having a geodesic measurement device | |
| CN106291574B (en) | A kind of Minitype infrared range unit | |
| CN107367737A (en) | A kind of multi-thread rotation sweep detection method | |
| CN205594164U (en) | Small -size infrared detection and measuring device | |
| CN106501812B (en) | Laser scanning range unit | |
| KR20200016942A (en) | Multi line laser radar | |
| CN106886030B (en) | Synchronous mode map structuring and positioning system and method applied to service robot | |
| CN106019296A (en) | Hybrid solid-state multiline optical scanning and distance measuring device | |
| CN105866785B (en) | A kind of laser scanning range-finding device | |
| CN108072879A (en) | A kind of anallatic method and device | |
| CN206348456U (en) | A kind of solid-state face battle array detection device | |
| KR100901614B1 (en) | Range Finder and Method for finding range | |
| CN205720649U (en) | One directly drives small rotary scanning range unit | |
| JP2022527033A (en) | Measuring equipment and methods | |
| CN108572369A (en) | A kind of micro mirror scanning probe device and detection method | |
| KR102007772B1 (en) | 3d distance measuring scanner and operating method thereof | |
| CN106255897A (en) | 3d laser scanner | |
| CN106772408A (en) | A kind of solid-state face battle array detection device and detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |