CN106526573A - Solid-state multi-line ranging device and ranging method - Google Patents
Solid-state multi-line ranging device and ranging method Download PDFInfo
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- CN106526573A CN106526573A CN201611263937.3A CN201611263937A CN106526573A CN 106526573 A CN106526573 A CN 106526573A CN 201611263937 A CN201611263937 A CN 201611263937A CN 106526573 A CN106526573 A CN 106526573A
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- 238000000034 method Methods 0.000 title claims description 16
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000002366 time-of-flight method Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 40
- 238000002310 reflectometry Methods 0.000 claims description 14
- 239000003086 colorant Substances 0.000 claims description 9
- 230000008859 change Effects 0.000 description 8
- 230000004888 barrier function Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010408 sweeping Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000009738 saturating Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000004020 luminiscence type Methods 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000007787 solid Substances 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
- 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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- 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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- 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)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a solid-state multi-line ranging device, which comprises a emitted light module, a ranging module, an image sensor and a spectroscope, wherein the emitted light module emits infrared detection light, the infrared detection light emits into the environment and is reflected when encountering a measured object; the infrared detection light and environment visible light reflected by the measured object incident on the spectroscope, and the spectroscope separates the infrared detection light from the environment visible light; the ranging module receives the infrared detection light which passes through or is reflected by the spectroscope, and obtains a distance between the ranging device and the measured object based on a time of flight method, and/or the ranging device obtains intensity of the received infrared detection light; and the image sensor receives the environment visible light which is reflected by or passes through the spectroscope, and obtains image color information of the measured object. The solid-state multi-line ranging device does not have a mechanical rotating device, is more stable, and has longer service life.
Description
Technical field
The application is related to a kind of range unit, the multi-thread range unit of more particularly to a kind of solid-state.
Background technology
Optical scanner range unit is that one kind uses collimated light beam, by triangulation, flight time（Time of
Flight, referred to as TOF）The equipment of non-contact scanning range finding is carried out etc. method.At present, common flight time optical scanner
Range unit includes：Light emission module, the chip of reception process signal, motor, bearing and conducting slip ring.Light emission module is sent out
Go out infrared acquisition light beam, to testee surface, light beam reflexes to reception simultaneously to the infrared acquisition beam emissions after running into barrier
On the chip of process signal, chip is transmitted into the time between receiving by measurement（Or phase difference）, the known light velocity, you can ask
Go out testee to the distance of device.The parts such as the light emission module for range finding, Optical Receivers are arranged on by this kind of device
The scanning of light beam is realized on one platform that continuously can be rotated, the environment distance letter of tour can be obtained by motor rotation
Number.The common optical scanner range unit can only obtain the range information of single-point in each angle.
However, carrying out the optical scanner range unit of detection range above by motor rotation：（1）Need to arrange connection rotation
Part and the slip ring of standing part, but for the low price slip ring for mass consumption level volume production range unit, easily grind
Damage, it is impossible to which the service life for meeting range unit is required；（2）The volume that the above-mentioned device for carrying out detection range in a rotative pattern takes
Greatly, in following application, it is difficult to further reduce the volume that device takes；（3）It is multi-thread to realize by rotation at present（Example
Such as 64,32 lines）Laser radar, price is very high, and light emission module is arranged with pair wise with receiver module, to transmitting
Module is high with receiver module angle setting requirements, is unfavorable for volume production.
The content of the invention
The deficiency for sweeping optical scanner range unit is rotated for existing, the application provides a kind of not comprising any machinery rotation
The multi-thread range unit of solid-state of structure.
A kind of multi-thread range unit of solid-state, including transmitting optical module, range finder module, imageing sensor and spectroscope.State and send out
Penetrate optical module and send infrared acquisition light, in the infrared acquisition light directive environment, run into testee and reflected；By testee
The infrared acquisition light of reflection and ambient visible light are incided on spectroscope, and the spectroscope is by infrared acquisition light and ambient visible light
Separate；The range finder module receives the infrared acquisition light that the mirror that is split is passed through or reflected, and based on time-of-flight method, obtains described
The distance between range unit and testee, and/or the range finder module obtains received infrared acquisition luminous intensity；Institute
State imageing sensor and receive be split mirror reflection or the ambient visible light for passing through, obtain the image color information of testee.
In any embodiment wherein, the spectroscope passes through infrared acquisition light reflection environment visible ray, Huo Zhesuo
State dichroic mirror infrared acquisition light and pass through ambient visible light.
A kind of multi-thread range unit of solid-state includes launching optical module, range finder module, imageing sensor.The transmitting optical module
Infrared acquisition light is sent, in the infrared acquisition light directive environment, testee is run into and is reflected；By the red of testee reflection
Outer detection light is incided on range finder module, and range finder module is based on time-of-flight method, obtain the range unit and testee it
Between distance, and/or the range finder module obtains received infrared acquisition luminous intensity；Described image sensor is received by quilt
The ambient visible light of object reflection is surveyed, the image color information of testee is obtained.
In any embodiment wherein, the optical axis of range finder module is vertically arranged with the optical axis of imageing sensor, mould of finding range
Block, imageing sensor are arranged in 45 degree of angles respectively at spectroscope.
In any embodiment wherein, the optical axis of range finder module and the non-perpendicular setting of the optical axis of imageing sensor.
In any embodiment wherein, the transmitting optical module has infrared emission light source, the infrared emission light source
For LASER Light Source or be LED/light source.
In any embodiment wherein, the number of the light source is 1,2,4,6,8 or 10.
In any embodiment wherein, the range finder module has photoelectric sensor, and the photoelectric sensor will be received
To infrared acquisition light be converted to electric signal.
In any embodiment wherein, the photoelectric sensor be cmos sensor, ccd sensor, avalanche diode,
Photomultiplier or photodiode.
In any embodiment wherein, the photoelectric sensor is made up of M rows N row photoelectric transducer elements
One piece of face array photoelectric sensor.
In any embodiment wherein, in the infrared acquisition light light path launched by the transmitting optical module, it is provided with and sends out
Light convergent lens is penetrated, the infrared acquisition light sent from transmitting optical module is assembled by the launching light convergent lens.
In any embodiment wherein, the convergent lens is TIR lens, convex lens or biconvex lens.
In any embodiment wherein, in the receiving light light path of range finder module and/or imageing sensor, it is provided with and connects
Light convergent lens is received, the infrared acquisition light reflected by testee is assembled by the receiving light convergent lens.
In any embodiment wherein, the receiving light convergent lens is imaging lens.
In any embodiment wherein, the range unit is used for mobile robot, sweeping robot, unmanned plane or nothing
Scanning probe in people's driving to surrounding environment.
A kind of multi-thread distance-finding method of solid-state, by the multi-thread range unit of solid-state, the distance-finding method is obtained in that measured object
The colors of image of body, range information, the intensity signal for being reflected, the multi-thread range unit of the solid-state are one of claim 1-15
Described range unit, wherein, the transmitting optical module of the multi-thread range unit of solid-state sends infrared acquisition light, the infrared acquisition light
In directive environment, run into testee and reflected；The infrared acquisition light reflected by testee is incided in range finder module, is measured
The distance between testee and range unit information；Meanwhile, the range finder module can also access what is be reflected back by testee
The light intensity of detection light；Imageing sensor receives the ambient visible light reflected by testee, obtains the colors of image of testee
Information.
In any embodiment wherein, the range finder module measures testee N number of difference in the horizontal direction
The range information of position and in vertical direction M diverse location, common M*N distance information value.
In any embodiment wherein, the range information that the multi-thread range unit of the solid-state is obtained by range finder module with
And intensity signal, identify the reflectivity information of testee.
In any embodiment wherein, the solid-state multi-thread range unit is by measuring in range finder module different time
Testee range information, calculate testee motion change information.
In any embodiment wherein, the three-dimensional point cloud number that the multi-thread range unit of the solid-state is obtained by range finder module
The image color information obtained according to, imageing sensor, obtains the image of the colors of image and range information of testee.
The multi-thread range unit of solid-state involved by the application does not have any mechanical rotational structure, improves stablizing for device
Property and life-span.The space shared by device is further saved in spectroscopical setting；Reduce the quantity of receiving lens setting；So that
The impact color information that imageing sensor is obtained with range finder module is easily corresponded with range information.The multi-thread survey of the solid-state
There is in device face array photoelectric sensor, the three dimensional point cloud of testee or barrier is obtained.Based on the multi-thread survey
Away from the distance-finding method of device, colors of image, range information, reflectivity information and the motion change of object in environment can be obtained
Information.Wherein, single range finder module is obtained object distance information, reflectivity information and motion change letter in environment
Breath.The multi-thread range unit of the solid-state can be widely used for right in mobile robot, sweeping robot, unmanned plane or pilotless automobile
The detection of surrounding environment.
Description of the drawings
Fig. 1 is not for the multi-thread range unit structural representation of spectroscopical solid-state.
Fig. 2 is with the multi-thread range unit structural representation of spectroscopical solid-state.
Fig. 3 is the structural representation of face array photoelectric sensor in range finder module.
Specific embodiment
There is no spectroscopical embodiment.
A wherein embodiment of the multi-thread range unit of solid-state involved by the application is as shown in figure 1, a kind of multi-thread survey of solid-state
Away from device, including transmitting optical module 10, range finder module 20, and imageing sensor 30.
Transmitting optical module 10 sends infrared acquisition light, in the infrared acquisition light directive environment, runs into testee（Or
Barrier）40 are reflected；Incided in range finder module 20 by the infrared acquisition light that testee 40 reflects, range finder module receive by
The infrared acquisition light of testee reflection, range finder module are based on time-of-flight method, measure between testee and range unit
Range information.The range finder module can also access the light intensity of the detection light being reflected back by testee simultaneously.Range unit foundation
Range information and intensity signal that range finder module is obtained, through calculating the reflectivity information that can obtain testee.
Photoelectric sensor 50 is included in range finder module, the sensor receives the infrared acquisition light being reflected back by barrier,
Electric signal is converted light to, signal processing unit calculates distance value according to the electric signal.
Described image sensor 30 receives the ambient visible light reflected by testee, obtains the image and color of testee
Multimedia message.Described image sensor is CMOS or ccd image sensor, and pixel is existing common specification.Imageing sensor
Preferred pixel is 1920*1080 or 1280*720.
With spectroscopical embodiment.
In an embodiment wherein, as shown in Figure 2, the multi-thread range unit of the solid-state also includes spectroscope 60.This is solid
The multi-thread range unit of state, including transmitting optical module 10, range finder module 20, imageing sensor 30 and spectroscope 60.Transmitting optical module
Infrared acquisition light is sent, in the infrared acquisition light directive environment, testee 40 is run into and is reflected.Reflected by testee
Infrared acquisition light and ambient visible light are incided on spectroscope, and the spectroscope is by infrared acquisition light transmission and will incide
Ambient visible light reflection on spectroscope.
The range finder module receives the infrared acquisition light of the mirror transmission that is split, and based on time-of-flight method, obtains the range finding
The distance between device and testee.The range finder module can also access the light intensity of received infrared acquisition light.Range finding
Range information and intensity signal that device is obtained according to range finder module, through calculating the reflectivity that can obtain testee.Survey
Photoelectric sensor is included in module, the sensor receives the infrared acquisition light being reflected back by barrier, converts light to electricity
Signal, signal processing unit calculate distance value according to the electric signal.
On the one hand spectroscopical the setting can reduce the multi-thread range unit of solid-state volume shared in the horizontal direction.
Being additionally, since range finder module and same receiving light path being shared with imageing sensor, be then split mirror beam splitting again, by infrared acquisition
Light is separated with naturally light, and then is received by range finder module and imageing sensor respectively, reduces the multi-thread range finding dress of solid-state
The receiving light path opening design put.In addition, generally in without spectroscopical structure, range finder module and image sensor module are all
Need to arrange respective receiving lens, and in spectroscopical structure, it is only necessary to a receiving light path, reduce reception saturating
The setting quantity of mirror.Spectroscopical other benefits are, due to the environment reflected by testee that is irradiated on spectroscope from
So light and infrared acquisition light derive from the same area of testee so that the image color that imageing sensor is obtained with range finder module
Multimedia message is easily corresponded with range information.
Described image sensor receives the ambient visible light of the mirror reflection that is split, and obtains the image and color letter of testee
Breath.The imageing sensor is CMOS or ccd image sensor, and pixel is existing common specification.Imageing sensor is preferred
Pixel is 1920*1080 or 1280*720.
The spectroscope can also be arranged to reflect infrared acquisition light and pass through ambient visible light, and its effect is by infrared spy
Light-metering is separated with naturally light.The position of imageing sensor and range finder module is arranged according to spectroscopical selective penetrated property,
In a word, imageing sensor receives be split mirror reflection or the ambient visible light for passing through, and range finder module to receive the mirror that is split anti-
The infrared acquisition light penetrated or pass through.
In this has spectroscopical embodiment, the optical axis of preferred range finder module is vertical with the optical axis of imageing sensor to be set
Put, range finder module, imageing sensor are arranged in 45 degree of angles respectively at spectroscope.Wherein range finder module and image sensor module
Position can exchange.Above-mentioned range finder module, imageing sensor, spectroscopical position arrange not limited to this, range finder module and figure
As the optical axis of sensor assembly can also out of plumb setting.As long as spectroscope can be by ambient visible light and infrared acquisition light point
From, and the light channel structure that ambient visible light, range finder module receive infrared acquisition light is received by imageing sensor, can realize
The function of the application range unit.
In above-mentioned any one embodiment, the transmitting optical module has infrared light supply, and the infrared light supply is laser light
Source is LED/light source.The number of the light source is 1, or multiple.For example, the number of the light source be 2,4,6,8 or
10 etc..In a preferred embodiment, in order to avoid the potential eye-safe harm produced by laser, using LED as light source,
The LED/light source launches infrared acquisition light of the wavelength corresponding to luminescence peak for 850nm.Wherein, on above-described embodiment basis
On, in order to control the dispersion angle of LED/light source, so that the investigative range of range unit can be covered, while be able to also will obtain
Enough infrared acquisition luminous intensities, the light of LED/light source is assembled.In the infrared acquisition light light path sent by LED/light source, also set
It is equipped with launching light convergent lens 70.In an embodiment wherein, the number of LED/light source is 8.
In above-mentioned any one embodiment, the photoelectric sensor 50 in the range finder module 20 is cmos sensor, CCD biographies
Sensor, avalanche diode, photomultiplier or photodiode.The photoelectric sensor is by the M rows N independent photoelectric transfers of row
One piece of face array photoelectric sensor that sensor cell is constituted.Total M*N range cells.As shown in Figure 3, the multi-thread range finding of solid-state
Device is using one piece of face array photoelectric sensor being made up of the individual photoelectric transducer element that can work independently of M rows N row, therein
Each photoelectric transducer element can work independently, and the infrared acquisition light that will reflect off of the obstruction back is converted to electric signal, letter
Number processing unit can be calculated range information according to time-of-flight method according to each electric signal.As a result of face battle array
Photoelectric sensor, the multi-thread range unit of the solid-state involved by the application can obtain common M*N during each distance measurement
Individual different distance value, the M*N distance value are corresponded with M*N zones of different of testee.The wherein size of M, N
Can be arranged according to concrete application.
The multi-thread range unit of solid-state involved by the application, can obtain testee different positions N number of in the horizontal direction
Put, and the range information that obtains in the M diverse location in horizontal direction, i.e., obtain in each ranging process by
M*N range information of object is surveyed, so as to obtain three-dimensional point cloud range data.
In above-mentioned any one embodiment, launch in the infrared acquisition light light path launched by optical module, selectively can set
Launching light convergent lens 70 is equipped with, the infrared acquisition light sent from transmitting optical module is assembled by the launching light convergent lens.It is described
Launching light convergent lens be TIR lens, convex lens, biconvex lens etc. or other can play by convergence of rays act on it is saturating
Mirror.
There is no spectroscopical embodiment above-mentioned, connect in the receiving light path and range finder module of imageing sensor
Receive and in light path, be all respectively arranged with the receiving light convergent lens 80 being each adapted to, the receiving light convergent lens 80 will be by testee
The ambient visible light being reflected back and infrared acquisition light are assembled.The receiving light convergent lens 80 be preferably imaging len or into
As lens group.
It is above-mentioned with spectroscopical embodiment in, as imageing sensor and range finder module share same receiving light
Road, so receiving in the light path being reflected back by testee in spectroscope, it is only necessary to which a receiving light convergent lens, the convergence are saturating
The dispersed light beam that mirror will be reflected back by testee, converges on spectroscope.The convergent lens is preferably imaging len, imaging thoroughly
Microscope group or imaging lens.
In above-mentioned any one embodiment, the multi-thread range unit of solid-state is used for mobile robot, sweeping robot, unmanned plane
Or the detection in pilotless automobile to surrounding environment.
A kind of multi-thread distance-finding method of solid-state, the distance-finding method are obtained in that the colors of image of testee, distance, reflection
Rate information and velocity information.
In above-mentioned any one embodiment, the transmitting optical module of the multi-thread range unit of the solid-state sends infrared acquisition light,
In the infrared acquisition light directive environment, run into testee and reflected.
The infrared acquisition light reflected by testee is incided in range finder module, and range finder module is based on time-of-flight method, is surveyed
Obtain the distance between testee and range unit information.Meanwhile, the range finder module can also be accessed and is reflected back by testee
Detection light light intensity.I.e. range finder module can obtain range information and intensity signal.Wherein, range finder module measures tested
Object N number of diverse location in the horizontal direction and the in vertical direction range information of M diverse location, common M*N away from
From the value of information.
Imageing sensor receives the ambient visible light reflected by testee, obtains the image color information of testee.
The range information obtained by range finder module and intensity signal, identify the reflectivity information of testee.By
The infrared acquisition light that transmitting optical module sends is known in the launching light light intensity that different distance goes out, and can be surveyed by range finder module
The range information of amount testee, can determine that according to the range information and is irradiated on the distance and position on testee
Light intensity value（Or luminous flux）；Range finder module can detect the light intensity being reflected back by testee；The multi-thread range finding of solid-state
Light intensity value and the light intensity being irradiated on testee that computing module in device is detected according to range finder module
Value, calculates the reflectivity of testee.
For the different reflectivity object at same position, the range information that range finder module is obtained be it is consistent, but
To intensity signal be different, the light intensity value that the high object of reflectivity is obtained is big, and the light intensity that the low object of reflectivity is obtained
It is little.The function can be used for identifying different object materials that, for example in unmanned technology, unmanned vehicle is up in highway
Sail, due to asphalt road and the reflectivity of lane markings（Or material）Difference, the intensity signal of reflection are different, only by range finding
Module, so that it may identify the running region and driving lane boundary mark on company road.
The range information measured by range finder module, calculate testee motion change information.The multi-thread range finding dress of solid-state
Put in each measurement process, M*N different distance information can be obtained.With in range finder module sensor it is most left, most under（Square
The lower left corner of shape）Photoelectric sensor range cells be origin, horizontal direction is X-axis, is Y-axis vertically upward, vertically flat with XY
Face is Z axis, sets up three-dimensional coordinate.Wherein, X/Y plane represents the position of each sensor institute search coverage of face array photoelectric sensor
Coordinate is put, that is, obtains the XY position coordinateses of testee；The testee range information for measuring is the value represented by Z axis, finally
Form testee position, the three dimensional point cloud of distance.The ranging time each time for completing of solid-state range unit is fixed
, the three dimensional point cloud value of testee is for example obtained with the speed of 10-60 frames per second.It is thus known that time and at this
The change of the XYZ coordinate of testee in time, you can obtain motion change, the velocity information of testee.
The three dimensional point cloud obtained by range finder module, the image color information obtained by imageing sensor are synthesized
Together, obtain showing the image of tested region colors of image and range information.Wherein, the number of pixels of imageing sensor
Can be different from the photoelectric transducer element number in range finder module face array photoelectric sensor, it is also possible to identical.It is multi-thread in fixation
Using front, the range information that the image color information that can obtain to imageing sensor, range finder module are obtained is carried out range unit
Demarcate so that think that correspondence is consistent with the XY positions corresponding to pixel in imageing sensor in the XY positions of range information.
In sum, the multi-thread range unit of solid-state that the application is related to, can obtain object in environment colors of image, away from
From information, reflectivity information and motion change information.Wherein, single range finder module is obtained object distance letter in environment
Breath, reflectivity information and motion change information.
Claims (10)
1. a kind of multi-thread range unit of solid-state, including transmitting optical module, range finder module, imageing sensor and spectroscope, its feature
It is,
The transmitting optical module sends infrared acquisition light, in the infrared acquisition light directive environment, runs into testee and is reflected；
The infrared acquisition light and ambient visible light reflected by testee is incided on spectroscope, and the spectroscope is by infrared acquisition
Light is separated with ambient visible light；
The range finder module receives the infrared acquisition light that the mirror that is split is passed through or reflected, and based on time-of-flight method, obtains described
The distance between range unit and testee, and/or the range finder module obtains received infrared acquisition luminous intensity；
Described image sensor receives be split mirror reflection or the ambient visible light for passing through, and obtains the colors of image of testee
Information.
2. range unit according to claim 1, it is characterised in that the spectroscope is through infrared acquisition light and tore of reflection
Border visible ray, or the dichroic mirror infrared acquisition light pass through ambient visible light.
3. a kind of multi-thread range unit of solid-state, including transmitting optical module, range finder module, imageing sensor, it is characterised in that
The transmitting optical module sends infrared acquisition light, in the infrared acquisition light directive environment, runs into testee and is reflected；
The infrared acquisition light reflected by testee is incided on range finder module, and range finder module is based on time-of-flight method, obtains institute
The distance between range unit and testee are stated, and/or the range finder module obtains received infrared acquisition luminous intensity；
Described image sensor receives the ambient visible light reflected by testee, obtains the image color information of testee.
4. range unit according to claim 1 and 2, it is characterised in that the optical axis of range finder module and imageing sensor
Optical axis is vertically arranged, and range finder module, imageing sensor are arranged in 45 degree of angles respectively at spectroscope.
5. the range unit according to one of claim 1-3, it is characterised in that the optical axis and imageing sensor of range finder module
The non-perpendicular setting of optical axis.
6. the range unit according to one of claim 1-3, it is characterised in that the transmitting optical module has infrared emission
Light source, the infrared emission light source are LASER Light Source or are LED/light source.
7. the range unit according to one of claim 1-3, it is characterised in that the range finder module has photoelectric sensing
Device, the photoelectric sensor is by arranging one piece of face array photoelectric sensor that a photoelectric transducer element is constituted by M rows N.
8. the multi-thread distance-finding method of a kind of solid-state, it is characterised in that by the multi-thread range unit of solid-state, the distance-finding method can be obtained
The colors of image of testee, range information, the intensity signal for being reflected, the multi-thread range unit of the solid-state is claim
Range unit described in one of 1-7, wherein,
The transmitting optical module of the multi-thread range unit of solid-state sends infrared acquisition light, in the infrared acquisition light directive environment, runs into
Testee is reflected,
By testee reflect infrared acquisition light incide in range finder module, measure between testee and range unit away from
From information；Meanwhile, the range finder module can also access the light intensity of the detection light being reflected back by testee,
Imageing sensor receives the ambient visible light reflected by testee, obtains the image color information of testee.
9. the multi-thread distance-finding method of solid-state according to claim 8, it is characterised in that the range finder module measures measured object
Body N number of diverse location in the horizontal direction and the in vertical direction range information of M diverse location, common M*N distance
The value of information.
10. the multi-thread distance-finding method of solid-state according to claim 9, it is characterised in that the multi-thread range unit of the solid-state leads to
Range information and intensity signal that range finder module is obtained are crossed, the reflectivity information of testee is identified.
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| CN201611263937.3A CN106526573A (en) | 2016-12-30 | 2016-12-30 | Solid-state multi-line ranging device and ranging method |
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| CN201611263937.3A CN106526573A (en) | 2016-12-30 | 2016-12-30 | Solid-state multi-line ranging device and ranging method |
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| CN107187513A (en) * | 2017-05-23 | 2017-09-22 | 深圳市招科智控科技有限公司 | Harbour container unmanned vehicle collision avoidance system and control method |
| CN107272708A (en) * | 2017-08-03 | 2017-10-20 | 佛山市盈智轩科技有限公司 | Home-use floor cleaning system and floor cleaning method |
| CN107817483A (en) * | 2017-12-08 | 2018-03-20 | 上海禾赛光电科技有限公司 | The acquisition methods and laser radar system of obstacle information |
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