CN111158004A - Laser ranging sensor - Google Patents

Laser ranging sensor Download PDF

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Publication number
CN111158004A
CN111158004A CN201911141204.6A CN201911141204A CN111158004A CN 111158004 A CN111158004 A CN 111158004A CN 201911141204 A CN201911141204 A CN 201911141204A CN 111158004 A CN111158004 A CN 111158004A
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CN
China
Prior art keywords
lens
face
ring
receiving
optical axis
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Pending
Application number
CN201911141204.6A
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Chinese (zh)
Inventor
张丛林
彭希
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Shenzhen Weirui Jingke Electronic Co ltd
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Shenzhen Weirui Jingke Electronic Co ltd
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Application filed by Shenzhen Weirui Jingke Electronic Co ltd filed Critical Shenzhen Weirui Jingke Electronic Co ltd
Priority to CN201911141204.6A priority Critical patent/CN111158004A/en
Publication of CN111158004A publication Critical patent/CN111158004A/en
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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

Abstract

The invention discloses a laser ranging sensor. The sensor includes: the device comprises an optical axis movement, a laser diode, a first small emitting lens, a second small emitting lens, a receiving lens, a reflecting mirror and an avalanche photodiode; the front end face of the optical axis machine core is provided with a transmitting channel and a receiving channel; the emitting channel is sequentially provided with the first emitting small lens and the second emitting small lens along the direction from the front end face to the rear end face of the optical axis movement; the laser diode is aligned with the emission channel; the receiving channel is sequentially provided with the receiving lens and the reflector along the direction from the front end face to the rear end face of the optical axis movement. The invention realizes fast and accurate distance measurement by adopting the unique optical system of the reflector, the first emitting small lens and the second emitting small lens.

Description

Laser ranging sensor
Technical Field
The invention relates to the technical field of distance measurement, in particular to a laser distance measurement sensor.
Background
At present, a laser range finding sensor sold and used in the market mainly comprises a laser diode, an avalanche photodiode and a laser range finder, wherein the laser diode is aligned with a target to emit laser pulses, the laser is scattered to each direction after being reflected by the target, part of scattered light returns to a sensor receiver and is imaged on the avalanche photodiode after being received by an optical system, and the laser range finder calculates to obtain a measuring distance; because laser is easily interfered by smoke, dust and raindrops, and the existing laser ranging sensor does not enhance the transmission capability of emitting laser and reflecting laser, the existing laser ranging sensor has slow ranging response and low accuracy.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a laser ranging sensor, which realizes rapid and accurate ranging.
In order to achieve the purpose, the invention provides the following scheme:
a laser ranging sensor, the sensor comprising: the device comprises an optical axis movement, a laser diode, a first small emitting lens, a second small emitting lens, a receiving lens, a reflecting mirror and an avalanche photodiode;
the front end face of the optical axis machine core is provided with a transmitting channel and a receiving channel; the emitting channel is sequentially provided with the first emitting small lens and the second emitting small lens along the direction from the front end face to the rear end face of the optical axis movement; the laser diode is aligned with the emission channel; the receiving channel is sequentially provided with the receiving lens and the reflector along the direction from the front end face to the rear end face of the optical axis movement;
the laser diode emits laser light, the laser light irradiates on a measured target through the second small emitting lens and the first small emitting lens, the measured target reflects the laser light, the reflected laser light is transmitted to the reflecting mirror through the receiving lens, and the avalanche photodiode is arranged corresponding to the reflecting mirror and used for receiving light rays reflected by the reflecting mirror.
Optionally, the sensor further comprises: the power supply comprises a main board, a power supply board and a receiving board;
three rectangular grooves are formed in the periphery of the optical axis machine core, and the main board, the power supply board and the receiving board are correspondingly arranged in the rectangular grooves; a through hole is formed between the receiving channel and the receiving plate, the signal output end of the avalanche photodiode penetrates through the through hole and is fixed on the receiving plate, the signal output end of the avalanche photodiode is connected with the input end of the filter circuit of the receiving plate, and the output end of the filter circuit of the receiving plate is connected with the signal processing circuit of the main board;
and the power supply output end of the power supply circuit of the power supply board is respectively connected with the power supply input end of the filter circuit of the receiving board, the power supply input end of the signal processing circuit of the mainboard and the laser diode.
Optionally, the sensor further comprises: a launch plate;
the transmitting plate is fixed on the rear end face of the optical axis movement; the laser diode is fixed on the emitting plate;
the input end of the switch circuit of the transmitting plate is connected with the power output end of the power panel, the output end of the switch circuit of the transmitting plate is connected with the laser diode, and the control end of the switch circuit of the transmitting plate is connected with the output end of the signal processing circuit of the mainboard.
Optionally, the sensor further comprises: pressing a ring;
the pressing ring is fixed in the emission channel.
Optionally, the sensor further comprises: a lens waterproof ring;
the lens waterproof ring is fixed in the emission channel.
Optionally, the emission channel is sequentially provided with a first circular ring, a second circular ring and a cylindrical channel along the direction from the front end face to the rear end face of the optical axis movement, and the radiuses of the first circular ring, the second circular ring and the cylindrical channel are sequentially reduced;
the first small transmitting lens, the second small transmitting lens and the lens waterproof ring are sequentially fixed in the second circular ring along the direction from the front end face to the rear end face of the optical axis movement; the pressing ring is fixed in the first circular ring and used for fixing the first small emitting lens, the second small emitting lens and the lens waterproof ring by applying pressure to the first small emitting lens; the laser diode is aligned with the cylindrical passage.
Optionally, the receiving channel is sequentially provided with a third circular ring with a notch, a fourth circular ring with a notch, a circular hole step with a notch and a cavity along the direction from the front end face to the rear end face of the optical axis movement;
the circular hole step comprises a plurality of cylindrical holes with gaps, the radius of the cylindrical holes is gradually reduced; the radiuses of the third circular ring, the fourth circular ring and the circular hole step are reduced in sequence; the receive lens is fixed in the fourth ring; the first ring is located at the notch of the third ring, and the first ring is an inscribed circle of the third ring.
Optionally, an end face of the cavity, which is closer to the rear end face of the optical axis movement, is an inclined plane; the reflector is fixed on the inclined plane.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the laser ranging sensor provided by the invention adopts the unique optical system of the reflector, the first emitting small lens and the second emitting small lens, the capacity of diverging light is enhanced through the first emitting small lens and the second emitting small lens, and the reflectivity of the reflector is high, so that the laser ranging sensor can realize rapid and accurate ranging.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a laser distance measuring sensor according to the present invention;
FIG. 2 is a left side view of a laser ranging sensor in accordance with the present invention;
FIG. 3 is a top view of a laser ranging sensor according to the present invention;
FIG. 4 is a bottom view of a laser ranging sensor in accordance with the present invention;
FIG. 5 is a rear view of a laser ranging sensor in accordance with the present invention;
FIG. 6 is an overall structure diagram of a laser ranging sensor according to the present invention;
description of the symbols: 1-optical axis movement, 2-power panel, 3-emitting panel, 4-receiving panel, 5-laser diode, 6-first emitting small lens, 7-second emitting small lens, 8-receiving lens, 9-reflector, 10-avalanche photodiode, 11-emitting channel, 12-receiving channel, 13-pressing ring, 14-lens waterproof ring and 15-main board.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a laser ranging sensor, which realizes rapid and accurate ranging.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, a laser ranging sensor provided in an embodiment of the present invention includes: the optical axis core 1, the laser diode 5, the first emitting lenslet 6, the second emitting lenslet 7, the receiving lens 8, the mirror 9, and the avalanche photodiode 10.
The front end face of the optical axis movement 1 is provided with a transmitting channel 11 and a receiving channel 12; the emission channel 11 is provided with a first emission small lens 6 and a second emission small lens 7 in sequence along the direction from the front end face to the rear end face of the optical axis movement 1; the laser diode 5 is aligned with the emission channel, the laser diode 5, the first emission lenslet 6 and the second emission lenslet 7 are coaxial; the receiving channel 12 is provided with a receiving lens 8 and a reflecting mirror 9 in this order along the direction from the front end face to the rear end face of the optical axis movement 1, and the reflecting mirror 9 is coaxial with the receiving lens 8.
The laser diode 5 emits laser light, the laser light irradiates on a measured object through the second small emitting lens 7 and the first small emitting lens 6, the measured object reflects the laser light, the reflected laser light is transmitted to the reflecting mirror 9 through the receiving lens 8, and the avalanche photodiode 10 is arranged corresponding to the reflecting mirror 9 and used for receiving light rays reflected by the reflecting mirror 9.
Wherein the laser diode spontaneously emits photons; the avalanche photodiode 10 is an optical sensor having an amplification function therein, and can detect an extremely weak optical signal.
Preferably, the reflector 9 is a 905nm reflector, the reflection wave band of the 905nm reflector is 905nm +/-99nm, the reflectivity is more than 97%, the propagation of 905nm laser reflected by the 905nm reflector in air is stable, and the safety threshold is high. The invention can provide distance measurement for other products quickly and accurately by using the optical system unique to the 905nm reflector, the first emitting small lens 6 and the second emitting small lens 7.
As shown in fig. 2-5, the sensor further comprises: the main board 15, the power supply board 2 and the receiving board 4; three rectangular grooves are formed in the periphery of the optical axis machine core 1, and the main board 15, the power supply board 2 and the receiving board 4 are fixed in the rectangular grooves through screws; a through hole is arranged between the receiving channel and the receiving plate 4, the signal output end of the avalanche photodiode 10 passes through the through hole and is fixed on the receiving plate 4, the signal output end of the avalanche photodiode 10 is connected with the input end of the filter circuit of the receiving plate 4, and the output end of the filter circuit of the receiving plate 4 is connected with the signal processing circuit of the main board 15; preferably, one end of the receiving plate 4 close to the front end face of the optical axis movement 1 is taken as a front end, the avalanche photodiode 10 is located at two thirds of the receiving plate 4 from the front end, and the avalanche photodiode 10 is located in the middle of the two thirds.
Wherein three quarters of the main board 15 is fixed in the rectangular groove, three quarters of the power supply board 2 is fixed in the rectangular groove, and the receiving boards 4 are all fixed in the rectangular groove.
The power supply output end of the power supply circuit of the power supply board 2 is respectively connected with the power supply input end of the filter circuit of the receiving board 4, the power supply input end of the signal processing circuit of the main board and the laser diode 5.
The sensor further includes: a transmitting plate 3; the transmitting plate 3 is fixed on the rear end face of the optical axis machine core; the laser diode 5 is fixed on the emitting plate 3; the input end of the switch circuit of the transmitting plate 3 is connected with the power output end of the power supply plate 2, the output end of the switch circuit of the transmitting plate 3 is connected with the laser diode 5, and the control end of the switch circuit of the transmitting plate 3 is connected with the output end of the signal processing circuit of the main board 15.
When the laser ranging sensor starts to measure the distance, the laser diode 5 on the transmitting plate 3 spontaneously emits photons, the avalanche photodiode 10 receives the reflected laser and converts optical signals into electrical signals, the electrical signals are transmitted to the filter circuit of the receiving plate 4, the filter circuit filters the electrical signals, and the filtered electrical signals are transmitted to the signal processor of the main board 15 to be processed and converted, so that the distance or the angle of the measured target is obtained.
The main board 15 is used for obtaining a measurement target distance and a measurement target angle according to the transmission and reception of the laser, and transmitting the measurement target distance and the measurement target angle to other products through a terminal line on the main board 15. The mainboard 15 is provided with a 6P seat and a 6P terminal wire, and the 6P seat is purchased from the market and welded at the rear end of the mainboard 15; the 6P terminal line is purchased from the market, one end of the 6P terminal line is directly inserted into the 6P base, the other end of the 6P terminal line is connected with the unmanned aerial vehicle, the security and protection machine, the sweeper, the traffic detection machine, the monocular telescope, the binoculars, the hot sight or the night sight, data transmission is achieved, and distance measurement values or angle values are displayed on the unmanned aerial vehicle, the security and protection machine, the sweeper, the traffic detection machine, the monocular telescope, the binoculars, the hot sight or the night sight.
The sensor further includes: a pressing ring 13 and a lens waterproof ring 14; the launching channel is sequentially provided with a first circular ring, a second circular ring and a cylindrical channel along the direction from the front end surface to the rear end surface of the optical axis movement, and the radiuses of the first circular ring, the second circular ring and the cylindrical channel are sequentially reduced; the first transmitting small lens, the second transmitting small lens and the lens waterproof ring are sequentially fixed in the second circular ring along the direction from the front end face to the rear end face of the optical axis movement; the first circular ring is provided with threads, the pressing ring 13 is fixed in the first circular ring through the threads, and the pressing ring 13 is used for fixing the first small emitting lens, the second small emitting lens and the lens waterproof ring by applying pressure to the first small emitting lens; the first and second emitting lenslets 6, 7 have a diverging effect on the light rays, and the use of two emitting lenslets enhances the ability to diverge the light. The lens waterproof ring 14 is used for waterproofing and sealing; the laser diode 5 is aligned with the cylindrical channel. The pressing ring 13, the first transmitting small lens 6, the second transmitting small lens 7 and the lens waterproof ring 14 are sequentially arranged in the first circular ring and the second circular ring, so that the structure of the laser ranging sensor is more compact, and the size of the laser ranging sensor is reduced.
The receiving channel is sequentially provided with a third circular ring with a notch, a fourth circular ring with a notch, a circular hole step with a notch and a cavity along the direction from the front end surface to the rear end surface of the optical axis movement; the circular hole step comprises a plurality of cylindrical holes with gaps, the radius of the cylindrical holes is gradually reduced; the radiuses of the third circular ring, the fourth circular ring and the circular hole step are reduced in sequence; the receiving lens 8 is fixed in the fourth ring through 8008 glue, the receiving lens 8 can receive the laser reflected by the measured target, and can also converge the received reflected laser, so that the laser reflecting capacity is enhanced; as shown in fig. 6, the first ring is located at the notch of the third ring, and the first ring is an inscribed circle of the third ring. The cavity is the inclined plane apart from the nearer terminal surface of optical axis core rear end face, and speculum 9 passes through 8008 glue to be fixed on the inclined plane, and 8008 glue has high temperature resistant, ageing-resistant advantage, makes speculum 9 fix more firm in the inclined plane draw-in groove, more lasting.
The length of the optical axis movement 1 of the embodiment of the invention is 32.0mm, and the front end is
Figure BDA0002280984840000061
The aluminum alloy (the aluminum alloy has low density and higher strength) material, so the laser ranging sensor provided by the embodiment of the invention has small volume and light weight.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A laser ranging sensor, the sensor comprising: the device comprises an optical axis movement, a laser diode, a first small emitting lens, a second small emitting lens, a receiving lens, a reflecting mirror and an avalanche photodiode;
the front end face of the optical axis machine core is provided with a transmitting channel and a receiving channel; the emitting channel is sequentially provided with the first emitting small lens and the second emitting small lens along the direction from the front end face to the rear end face of the optical axis movement; the laser diode is aligned with the emission channel; the receiving channel is sequentially provided with the receiving lens and the reflector along the direction from the front end face to the rear end face of the optical axis movement;
the laser diode emits laser light, the laser light irradiates on a measured target through the second small emitting lens and the first small emitting lens, the measured target reflects the laser light, the reflected laser light is transmitted to the reflecting mirror through the receiving lens, and the avalanche photodiode is arranged corresponding to the reflecting mirror and used for receiving light rays reflected by the reflecting mirror.
2. The laser range sensor of claim 1, further comprising: the power supply comprises a main board, a power supply board and a receiving board;
three rectangular grooves are formed in the periphery of the optical axis machine core, and the main board, the power supply board and the receiving board are correspondingly arranged in the rectangular grooves; a through hole is formed between the receiving channel and the receiving plate, the signal output end of the avalanche photodiode penetrates through the through hole and is fixed on the receiving plate, the signal output end of the avalanche photodiode is connected with the input end of the filter circuit of the receiving plate, and the output end of the filter circuit of the receiving plate is connected with the signal processing circuit of the main board;
and the power supply output end of the power supply circuit of the power supply board is respectively connected with the power supply input end of the filter circuit of the receiving board, the power supply input end of the signal processing circuit of the mainboard and the laser diode.
3. The laser range sensor of claim 2, further comprising: a launch plate;
the transmitting plate is fixed on the rear end face of the optical axis movement; the laser diode is fixed on the emitting plate;
the input end of the switch circuit of the transmitting plate is connected with the power output end of the power panel, the output end of the switch circuit of the transmitting plate is connected with the laser diode, and the control end of the switch circuit of the transmitting plate is connected with the output end of the signal processing circuit of the mainboard.
4. The laser range sensor of claim 1, further comprising: pressing a ring;
the pressing ring is fixed in the emission channel.
5. The laser range sensor of claim 4, further comprising: a lens waterproof ring;
the lens waterproof ring is fixed in the emission channel.
6. The laser ranging sensor according to claim 5, wherein the emission channel is provided with a first circular ring, a second circular ring and a cylindrical channel in sequence along a direction from a front end face to a rear end face of the optical axis movement, and the radii of the first circular ring, the second circular ring and the cylindrical channel are reduced in sequence;
the first small transmitting lens, the second small transmitting lens and the lens waterproof ring are sequentially fixed in the second circular ring along the direction from the front end face to the rear end face of the optical axis movement; the pressing ring is fixed in the first circular ring and used for fixing the first small emitting lens, the second small emitting lens and the lens waterproof ring by applying pressure to the first small emitting lens; the laser diode is aligned with the cylindrical passage.
7. The laser ranging sensor according to claim 6, wherein the receiving channel is provided with a third ring with a notch, a fourth ring with a notch, a round hole step with a notch and a cavity in sequence along a direction from a front end face to a rear end face of the optical axis movement;
the circular hole step comprises a plurality of cylindrical holes with gaps, the radius of the cylindrical holes is gradually reduced; the radiuses of the third circular ring, the fourth circular ring and the circular hole step are reduced in sequence; the receive lens is fixed in the fourth ring; the first ring is located at the notch of the third ring, and the first ring is an inscribed circle of the third ring.
8. The laser ranging sensor according to claim 6, wherein an end face of the cavity, which is closer to the rear end face of the optical axis movement, is an inclined face; the reflector is fixed on the inclined plane.
CN201911141204.6A 2019-11-20 2019-11-20 Laser ranging sensor Pending CN111158004A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911141204.6A CN111158004A (en) 2019-11-20 2019-11-20 Laser ranging sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911141204.6A CN111158004A (en) 2019-11-20 2019-11-20 Laser ranging sensor

Publications (1)

Publication Number Publication Date
CN111158004A true CN111158004A (en) 2020-05-15

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911141204.6A Pending CN111158004A (en) 2019-11-20 2019-11-20 Laser ranging sensor

Country Status (1)

Country Link
CN (1) CN111158004A (en)

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Inventor after: Sun Conglin

Inventor after: Peng Xi

Inventor before: Zhang Conglin

Inventor before: Peng Xi