CN106383354A - Coaxial device without blind area - Google Patents
Coaxial device without blind area Download PDFInfo
- Publication number
- CN106383354A CN106383354A CN201611161803.0A CN201611161803A CN106383354A CN 106383354 A CN106383354 A CN 106383354A CN 201611161803 A CN201611161803 A CN 201611161803A CN 106383354 A CN106383354 A CN 106383354A
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- Prior art keywords
- light
- light beam
- spectroscope
- unit
- receiving unit
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Links
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 230000003287 optical effect Effects 0.000 claims description 33
- 230000001447 compensatory effect Effects 0.000 claims description 21
- 230000011514 reflex Effects 0.000 claims description 21
- 230000004888 barrier function Effects 0.000 claims description 11
- 238000002366 time-of-flight method Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
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
- 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
- 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
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B17/00—Systems with reflecting surfaces, with or without refracting elements
- G02B17/02—Catoptric systems, e.g. image erecting and reversing system
- G02B17/06—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror
- G02B17/0668—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror having non-imaging properties
- G02B17/0684—Catoptric systems, e.g. image erecting and reversing system using mirrors only, i.e. having only one curved mirror having non-imaging properties for light collecting, e.g. for use with a detector
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/10—Beam splitting or combining systems
- G02B27/106—Beam splitting or combining systems for splitting or combining a plurality of identical beams or images, e.g. image replication
Abstract
The invention provides a coaxial device without a blind area. The device comprises a receiving unit, a transmitting unit, a beam splitter mirror and a reflecting mirror, wherein the transmitting unit transmits a light beam onto the beam splitter mirror; one part of light is reflected by the beam splitter mirror to form a light beam a, and the other part of light penetrates through the beam splitter mirror so as to be reflected by the reflecting mirror to form a light beam b; the light beam a and the light beam b are transmitted in air to encounter an object so as to be reflected to the beam splitter mirror and the reflecting mirror; the receiving unit receives reflected light. The coaxial device without the blind area provided by the invention meets the requirement of a coaxial structure which has less loss of transmitted energy during remote measurement and is benefited by a beam splitter piece during near distance, and can achieve an effect without the blind area.
Description
Technical field
The present invention relates to radar range finding field is and in particular to a kind of non-blind area coaxial device of raising overall efficiency.
Background technology
Non-blind area axis optical range unit is a kind of equipment realizing no blind area distance-measuring using spectroscope.At present, lead to
Normal optical distance measurement apparatus include：Light emission module, collimation lens, optics receive camera lens, receive simultaneously chip of process signal etc..
Transmitter unit and the usual right angle setting of receiving unit, are acted on by spectroscopical light splitting（Generally semi-transparent semi-reflecting lens）, reach transmitting
The purpose coaxial with reception, is shown in Fig. 1.The operation principle of whole system send for transmitter unit be irradiated to through collimated light beam tested
Body surface, through the diffusing reflection of measured surface（It is usually lambert's scattering）, received camera lens and received, converged to reception chip
On, time difference between reception is transmitted into by measurement it is known that the light velocity, you can obtain testee to the distance of device.At present
It is widely used in robot obstacle-avoiding, environment measuring, fixed high.
But, due to spectroscope（Semi-transparent semi-reflecting lens）Fundamental problems, lead to from the light of transmitter unit outgoing through undue
There is 50% loss after light microscopic, receiving unit still has 50% loss after spectroscope, be finally detected chip and receive
Energy can decay seriously, particularly high to energy requirement occasion, the reduction of the measurement distance that this system is brought will be
Huge.
Content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of non-blind area of the whole machine light utilization ratio of raising same
Shaft device, installs completely reflecting mirror in spectroscope a certain distance, such that it is able to reach the purpose of non-blind area, increases to light simultaneously
Utilization ratio.
In order to realize foregoing invention purpose, the present invention adopts the following technical scheme that：
A kind of coaxial device, including：Receiving unit, transmitter unit, spectroscope and speculum, transmitter unit transmits a light beam to light splitting
On mirror, a part of light mirror that is split reflects to form light beam a, and another part is reflected by a reflector formation light beam b, light through spectroscope
Bundle a and light beam b propagates in atmosphere and runs into object and be reflected back toward spectroscope and speculum, and receiving unit receives reflected light.
Alternatively, described receiving unit includes：Sensitive chip, convergent lens or lens group, wherein said convergent lens
Or lens group is arranged on the receiving light path of described sensitive chip.
Alternatively, described transmitter unit includes：Light source, light beam collimation lens or lens group, wherein said beam collimation
Lens or lens group are arranged in the light path of described transmitter unit light source.
Alternatively, described receiving unit is vertical with the optical axis of described transmitter unit, and becomes 45 degree with described spectroscope respectively
Place, described mirror parallel is in described spectroscope.
Alternatively, the receiving light path of described receiving unit is provided with reception camera lens, the reception camera lens of described receiving unit
The angle of visual field is more than the angle of divergence of transmitter unit.
Alternatively, the light source in described transmitter unit is LASER Light Source or LED/light source.
Alternatively, described device can be placed two and is parallel to each other and become with described spectroscope in sending of light beam a in light path
First compensatory reflex mirror of 90 degree of angles and the second compensatory reflex mirror, the distance between two compensatory reflex mirrors are equal to described light splitting
The distance between mirror and described speculum.
Alternatively, the optical path difference cancellation module that described first compensatory reflex mirror becomes with described second compensatory reflex microscope group can be whole
Body is fixedly installed around on the position receiving primary optical axis rotation of receiving unit.
Alternatively, the optical axis of the optical axis of described transmitter unit and described receiving unit is less than 90 degree of placements, described spectroscope
With the setting of described mirror parallel.
A kind of infrared distance measurement device, including shell, coaxial device, signal processing unit, described coaxial device is above-mentioned reality
Apply the coaxial device described in one of example, described coaxial device and described signal processing unit are arranged at described enclosure, described
Signal processing unit is connected with receiving unit, described signal processing unit according to the signal data of receiving unit, based on flight
Time Method, calculates the distance between itself and barrier.
Preferably, described infrared distance measurement device is used in unmanned plane, sweeping robot and mobile robot.
Compared with immediate prior art, beneficial effects of the present invention are：
Meet during telemeasurement emitted energy loss less, have benefited from the coaxial construction of light splitting piece when closely, can reach
The effect of non-blind area.Setting optical path difference cancellation module, solves the optical path difference that system and device causes.
Brief description
Fig. 1 is the non-blind area axis optical range unit structure chart of prior art.
Fig. 2 is the non-blind area axis optical range unit structure chart in the embodiment of the present invention.
Fig. 3 is the non-blind area axis optical range unit structure chart eliminating baseline impact in the embodiment of the present invention.
Fig. 4 is the plain shaft structure figure with angle in the embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail.
In existing structure, parallel to spectroscope a certain distance, completely reflecting mirror is installed.By spectroscope, can produce with
Receive the coaxial light beam a reflecting away, another part transmitted light of generation, through the reflection of speculum, generates light beam b.Due to
The presence of the angle of divergence, after a certain distance, two light beams can gradually close to and overlap, reach the transmitting of extremely low optical loss
Purpose.Meanwhile, the advantage having taken into account coaxial scheme, such that it is able to reach the purpose of non-blind area, is shown in Fig. 2.
In fig. 2, the coaxial device of this optical distance measurement apparatus includes：Receiving unit 1, transmitter unit 2, spectroscope 3, reflection
Mirror 4.This coaxial device is the part in infrared distance measurement radar, and in the infrared distance measurement radar course of work, transmitter unit 2 sends
Infrared acquisition light, this infrared acquisition light incides on spectroscope 3, and a portion light mirror 3 that is split reflects, and forms light beam a, separately
A part of light transmission spectroscope 3, directive speculum 4, light beam is reflected to form light beam b, light beam a and light beam b and shines by speculum 4
In external environment condition, run into barrier and reflected.The light beam being reflected back by barrier directive spectroscope 3 and speculum 4 respectively, its
In, the beam section being emitted directly toward spectroscope 3 passes through, and incides receiving unit 1, wherein by barrier be reflected back a part of anti-
Penetrate the light beam of light directive speculum 4 directive spectroscope 3 after speculum 4 reflection, the light beam of the mirror 3 that is split reflection is injected into and connects
Receive in unit 1.Receiving unit 1 receives the light beam of be split mirror 3 reflection and transmission, converts optical signals to electric signal.Infrared survey
Signal processing unit in radar, according to the signal data of receiving unit 1, based on time-of-flight method, calculates itself and barrier
The distance between.
Transmitter unit 2 includes active light source, has lens or the lens group of beam collimation.This active light source be laser or
Person LED.Receiving unit 1 includes sensitive chip, convergent lens or lens group.Receiving unit is vertical with transmitter unit primary optical axis to be put
Put, and respectively with the placement of 45 degree of spectroscope, parallel to spectroscope, completely reflecting mirror is installed.This spectroscope is semi-transparent semi-reflecting lens.Optional
, receiving unit 1 in fig. 2 can exchange with the position of transmitter unit 2.
Transmitter unit 2 sends detection light beam, directive spectroscope 3.Light beam pass through spectroscope 3, a portion can produce with
The light beam a that what receiving unit 1 was coaxial reflect away, another part light beam being sent by transmitter unit 2 passes through spectroscope 3, and this is saturating
Penetrate the reflection through speculum 4 for the light, generate light beam b.Due to the presence of the angle of divergence, after a certain distance, two light beams can be by
Close and coincidence gradually.In this embodiment, the whole detection light beams being sent by transmitter unit 2, form light beam a and light beam respectively
B is transmitted in external environment condition, and the detection light beam that transmitter unit 2 is sent all is utilized, and reaches extremely low optical loss transmitting
Purpose.Meanwhile, the advantage having taken into account coaxial scheme, can reach the purpose of non-blind area.
In an embodiment wherein, light beam collimation lens or lens are provided with the transmitting light path of transmitter unit 2
Group.This light beam collimation lens or lens group are arranged between spectroscope 3 and transmitter unit 2.Alternatively, this light beam collimation lens
Or lens group can also be arranged on light beam a and the emitting light path of light beam b.Light beam a and light beam b pass through light beam collimation lens or
After person's lens group, in directive external environment condition, if selecting the program, this light beam collimation lens or lens group also play simultaneously
Detect the effect that light assembles by be reflected back by barrier so that receiving unit 1 can receive more is reflected by barrier
The detection light beam of meeting.Light beam collimation lens or lens group, the active light source with the big angle of divergence（Laser diode, LED
Deng）Carry out optic collimation, reach the less angle of divergence.This light beam collimation lens or lens group, including sphere, aspherical
Lens combination and asymmetric free-form surface lens or Binary Diffractive Optics device（Diffractive Optical
Elements, DOE）.
Described spectroscope is semi-transparent semi-reflecting lens, reflectivity and transmitance each 50%.Described spectroscope can also be different anti-
Penetrate the spectroscope of transmittance.
Described spectroscopical Transflective ratio, can carry out proportioning by being actually needed the size solving blind area, with
Reach the efficiency of light energy utilization of maximum.Because the transmitance of launching light is very high, the efficiency of whole machine depends primarily on the logical of receiving unit
Cross spectroscopical loss, therefore can increase spectroscopical Transflective ratio, efficiency of light energy utilization when dramatically increasing remote.
Receiving unit 1 includes sensitive chip, convergent lens or lens group.Sensitive chip receiving light in receiving unit 1
Lu Shang, setting convergent lens or lens group.Preferably, described convergent lens or transparent group are to receive camera lens.Described convergence
The mirror 3 that is split is reflected towards the image formation by rays of sensitive chip and/or convergence in receiving unit 1 by lens or lens group.Described meeting
Poly- lens or lens group are arranged between the sensitive chip of receiving unit 1 and spectroscope 3.Alternatively, described convergent lens or
Person's lens group is arranged in the light path of light beam a outgoing, if using being arranged such, this convergent lens or lens group simultaneously work as
Effect by the light beam a being reflected by spectroscope 3 collimation.The reception camera lens of described receiving unit, it is desirable to have more than transmitter unit 2
The angle of visual field of the middle light source angle of divergence（Field of View, FOV）, can be effectively using not also being completely superposed when remote
Two-beam a and b, reach maximum the efficiency of light energy utilization.
Described speculum is completely reflecting mirror, needs to be placed in parallel with spectroscope, and the parallax range at center needs to try one's best
Diminish, the distance close to reduce two-beam to greatest extent, increase operation rate.
Described speculum, can improve reflectivity by plating high-reflecting film etc..
Described coaxial device, can cause some optical path differences being equal to the parallax range between speculum 4 and spectroscope 3 to ask
Topic, in some less demanding occasions, coordinates less baseline, impact can be ignored.
In other examples, as shown in figure 3, the problem of optical path difference that causes of described system and device, can pass through
Introduce extra two panels compensatory reflex mirror to be solved.First compensatory reflex mirror 5 is disappeared with the second compensatory reflex mirror 6 composition optical path difference
The light path causing with system before except module 7, the optical path difference introducing between the first compensatory reflex mirror 5 and the second compensatory reflex mirror 6
Difference offsets.The distance between first compensatory reflex mirror 5 and the second compensatory reflex mirror 6 are equal between spectroscope 3 and speculum 4
Parallax range.First compensatory reflex mirror 5 is be arranged in parallel with the second compensatory reflex mirror 6.First compensatory reflex mirror 5 and second compensates instead
Penetrate mirror 6 and become 90 degree of angles with described spectroscope 3.
First compensatory reflex mirror 5 and the optical path difference cancellation module 7 of the second compensatory reflex mirror 6 composition, can be integrally around reception
Receiving of unit 1 is fixedly installed on the position of primary optical axis rotation, to realize angle between two bundle outgoing beam a ' and light beam b
Little, thus reducing the detection blind area of coaxial device.
The optical element that described optical path difference eliminates, is not limited only to speculum or prism, special optics material
Material etc..
As shown in figure 4, described transmitter unit optical axis and receiving unit optical axis are not limited only to be disposed vertically, can be according to reality
Border needs to adjust angle.
In an alternate embodiment of the invention, speculum 4 and spectroscope 3 can not parallel be arranged, and form little angle it is only necessary to expire
Sufficient light beam a is close with the exit direction of light beam b, can outgoing to the barrier in same direction.Or adjust speculum 4 and divide
The angle of light microscopic 3 is so that light beam a and light beam b assembles so that when being irradiated on barrier, light beam a and light beam b is close to irradiation
To the same area.
A kind of infrared distance measurement device, including shell, coaxial device, signal processing unit, described coaxial device is above-mentioned reality
Apply the coaxial device described in one of example, described coaxial device and described signal processing unit are arranged at described enclosure, described
Signal processing unit is connected with receiving unit, described signal processing unit according to the signal data of receiving unit, based on flight
Time Method, calculates the distance between itself and barrier.Preferably, described infrared distance measurement device is used for unmanned plane, machine of sweeping the floor
In people and mobile robot.
Finally it should be noted that：Above example is only not intended to limit in order to technical scheme to be described, to the greatest extent
Pipe has been described in detail to the present invention with reference to above-described embodiment, and those of ordinary skill in the art still can be to this
Bright specific embodiment is modified or equivalent, these without departing from spirit and scope of the invention any modification or
Equivalent, all within the claims applying for the pending present invention.
Claims (10)
1. a kind of coaxial device is it is characterised in that described device includes：Receiving unit（1）, transmitter unit（2）, spectroscope（3）
And speculum（4）, transmitter unit（2）Transmit a light beam to spectroscope（3）On, a part of light is split mirror（3）Reflect to form light beam
A, another part passes through spectroscope（3）By speculum（4）Reflect to form light beam b, light beam a and light beam b to propagate in atmosphere and run into
Object is reflected back toward spectroscope（3）And speculum（4）, receiving unit（1）Receive reflected light.
2. device as claimed in claim 1 is it is characterised in that described receiving unit（1）Including：Sensitive chip, convergent lens
Or lens group, wherein said convergent lens or lens group are arranged on the receiving light path of described sensitive chip.
3. device as claimed in claim 1 is it is characterised in that described transmitter unit（2）Including：Light source, light beam collimation lens
Or lens group, wherein said light beam collimation lens or lens group are arranged at described transmitter unit（2）In the light path of light source.
4. device as claimed in claim 1 is it is characterised in that described receiving unit（1）With described transmitter unit（2）Optical axis
Vertically, and respectively with described spectroscope（3）Become 45 degree of placements, described speculum（4）Parallel to described spectroscope（3）.
5. device as claimed in claim 1 is it is characterised in that described receiving unit（1）Receiving light path on be provided with reception
Camera lens, described receiving unit（1）The reception angle of view be more than transmitter unit（2）The angle of divergence.
6. the device as described in one of claim 1-5 is it is characterised in that transmitter unit（2）In included light source be laser
Light source or LED/light source.
7. the device as described in one of claim 1-5 is it is characterised in that described device can be put in light path in sending of light beam a
Put be parallel to each other and with described spectroscope（3）Become the first compensatory reflex mirror of 90 degree of angles（5）With the second compensatory reflex mirror（6）,
The distance between two compensatory reflex mirrors are equal to described spectroscope（3）With described speculum（4）The distance between.
8. device as claimed in claim 7 is it is characterised in that described first compensatory reflex mirror（5）Compensate instead with described second
Penetrate mirror（6）The optical path difference cancellation module of composition（7）Can be integrally around receiving unit（1）Receive solid on the position of primary optical axis rotation
Fixed setting.
9. the device as described in claim 1-3, one of 5 is it is characterised in that described transmitter unit（2）Optical axis and described connect
Receive unit（1）Optical axis be less than 90 degree place, described spectroscope（3）With described speculum（4）It is arranged in parallel.
10. a kind of infrared distance measurement device is it is characterised in that include shell, coaxial device, signal processing unit, described coaxial dress
It is set to the coaxial device described in one of claim 1-9, described coaxial device and described signal processing unit are arranged at outside described
Receiving unit inside shell, in described signal processing unit and coaxial device（1）It is connected, described signal processing unit is according to connecing
Receive unit（1）Signal data, based on time-of-flight method, calculate itself the distance between with barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611161803.0A CN106383354A (en) | 2016-12-15 | 2016-12-15 | Coaxial device without blind area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611161803.0A CN106383354A (en) | 2016-12-15 | 2016-12-15 | Coaxial device without blind area |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106383354A true CN106383354A (en) | 2017-02-08 |
Family
ID=57960141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611161803.0A Pending CN106383354A (en) | 2016-12-15 | 2016-12-15 | Coaxial device without blind area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106383354A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107168590A (en) * | 2017-06-30 | 2017-09-15 | 成都成电光信科技股份有限公司 | A kind of touch-screen surface-mount type combined type infrared tube |
| WO2019134203A1 (en) * | 2018-01-05 | 2019-07-11 | 华为技术有限公司 | Measuring device and measuring method for lens-to-screen distance of vr display device |
| 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 |
| CN111060917A (en) * | 2019-12-27 | 2020-04-24 | 广东博智林机器人有限公司 | Laser ranging device and construction robot |
| CN111090082A (en) * | 2019-08-30 | 2020-05-01 | 上海禾赛光电科技有限公司 | Laser radar and method for detecting using the same |
| CN111427025A (en) * | 2020-01-14 | 2020-07-17 | 深圳市镭神智能系统有限公司 | Laser radar and ranging method of laser radar |
| CN112558084A (en) * | 2019-09-25 | 2021-03-26 | 科沃斯机器人股份有限公司 | Optical flow sensor and mobile robot |
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| CN107168590A (en) * | 2017-06-30 | 2017-09-15 | 成都成电光信科技股份有限公司 | A kind of touch-screen surface-mount type combined type infrared tube |
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| CN112558084A (en) * | 2019-09-25 | 2021-03-26 | 科沃斯机器人股份有限公司 | Optical flow sensor and mobile robot |
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| CN111060917B (en) * | 2019-12-27 | 2023-08-01 | 广东博智林机器人有限公司 | Laser ranging device and construction robot |
| CN111427025A (en) * | 2020-01-14 | 2020-07-17 | 深圳市镭神智能系统有限公司 | Laser radar and ranging method of laser radar |
| CN111427025B (en) * | 2020-01-14 | 2021-09-17 | 深圳市镭神智能系统有限公司 | Laser radar and ranging method of laser radar |
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Application publication date: 20170208 |