CN203672362U - Laser distance measurement device and self-moving robot with same - Google Patents
Laser distance measurement device and self-moving robot with same Download PDFInfo
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- CN203672362U CN203672362U CN201320891709.6U CN201320891709U CN203672362U CN 203672362 U CN203672362 U CN 203672362U CN 201320891709 U CN201320891709 U CN 201320891709U CN 203672362 U CN203672362 U CN 203672362U
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Abstract
The utility model discloses a laser distance measurement device which comprises a linear laser emitter (200) and an image sensor which are arranged on a fixing seat (100), wherein the image sensor comprises a lens and a circuit board (400); a light-sensitive chip assembly (500) is fixedly arranged on the circuit board and formed by splicing two same sub light-sensitive chips (501) along the long edge; the matching relation between the lens and the sub light-sensitive chips is that the lens matched with the 1/n-inch image sensor is correspondingly provided with the light-sensitive chip assembly formed by splicing the two 1/2n-inch sub light-sensitive chips. According to the laser distance measurement device, a CMOS (Complementary Metal Oxide Semiconductor) chip arranged in the lens in a matched way adopts the chip assembly formed by splicing the two chips; the structure is simple and compact; while the horizontal length of the chip can meet the specification requirements of the lens, the distance measurement range and the distance measurement precision can meet the requirements; the processing speed and the working efficiency are high.
Description
Technical field
The utility model relates to a kind of laser ranging system and self-movement robot thereof, belongs to technical field of sensor manufacture.
Background technology
Under normal circumstances, line laser distance measuring equipment comprises the line laser transmitter and the imageing sensor that arrange at an angle, the light that the light of imageing sensor reception line laser transmitter transmitting feeds back from periphery barrier.According to the different size of camera lens, its finding range is also different, therefore needs according to the demand of laser ranging system finding range, adopts appropriate size and the camera lens with imageing sensor adaptation.The camera lens of laser ranging system conventionally coupling is useful on the optical filter and the CMOS(Complementary Metal Oxide Semiconductor that filter bias light, complementary metal oxide semiconductor (CMOS)) image sensor chip, is called for short CMOS chip.The CMOS chip mating in existing camera lens is single sensitive chip.Fig. 1 is the principle of work schematic diagram of laser ranging system.As shown in Figure 1, solid line wherein represents that adaptation has the finding range of the first camera lens of 1/4 inch of CMOS chip, and the focal length of the first camera lens is f1+f2, and horizontal field of view angle is β, and x represents CMOS chip size in the horizontal direction.Dotted line represents the finding range of the second camera lens, if will make field angle increase, becomes the α angle in Fig. 1, and focal length needs to shorten, i.e. f2.After CMOS sensitive chip size is determined, finding range is larger, and the field angle of adaptive camera lens is larger, and focal length is less.If according to the demand of 120 ° of finding ranges of line laser distance measuring equipment, should adopt CMOS chip and 120 ° of adaptive wide-angle lens thereof of 1/4 inch.And the focal length of this camera lens is very short, be not easy to insert optical filter between lens and CMOS core.Fig. 2 is range of triangle schematic diagram.As shown in Figure 2, wherein O is expressed as picture, P represents that generating laser, Q represent target object.According to range of triangle principle, the too short meeting of focal length affect distance accuracy and pattern distortion is serious.Therefore, need to consider that 120 ° of wide-angle lens with adaptive 1/2 inch of CMOS chip increase focal length, but now need again to receive light data with the larger CMOS chip of 1/2 inch.Because the photosensitive area of 1/2 inch of CMOS chip increases, need corresponding scanning and process more data, can not meet the requirement of real-time of laser ranging system, and cost is too high.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, a kind of laser ranging system is provided, the CMOS chip of coupling in camera lens adopts the chip assembly being spliced by two chips, simple and compact for structure, finding range and distance accuracy also can reach requirement, and the fast work efficiency of processing speed is high.
Technical matters to be solved of the present utility model is achieved by the following technical solution:
A kind of laser ranging system, comprise the line laser transmitter and the imageing sensor that are arranged on holder, described imageing sensor comprises lens and circuit board, on described circuit board, be installed with sensitive chip assembly, and this sensitive chip assembly is to be spliced along its long side direction by two identical sub-sensitive chips, the fitting relation of described lens and sub-sensitive chip is: with the lens of the imageing sensor adaptation of 1/n inch, and the corresponding sensitive chip assembly being spliced by the sub-sensitive chip of two 1/2n inches that arranges.
For maximized finding range, described line laser transmitter is along first direction emission line laser, and the long side direction of described two identical sub-sensitive chips is parallel with described first direction.
In order to make finding range and distance accuracy can both reach requirement, in specific embodiment, the fitting relation of described lens and sub-sensitive chip is: with the lens of the imageing sensor adaptation of 1/2 inch, and the corresponding sensitive chip assembly being spliced by the sub-sensitive chip of two 1/4 inch that arranges.
In another specific embodiment, the fitting relation of described lens and sub-sensitive chip is: with the lens of the imageing sensor adaptation of 1/4 inch, and the corresponding sensitive chip assembly being spliced by the sub-sensitive chip of two 1/8 inch that arranges.
In order to filter bias light, make imageing sensor receive only the reflection ray of laser stripe through periphery barrier, between described lens and sensitive chip assembly, be also provided with optical filter.
The utility model also provides a kind of self-movement robot, has walking unit, control module and the laser ranging unit for sensing robot periphery barrier, and described laser ranging unit adopts above-mentioned laser ranging system.
In sum, the utility model provides a kind of laser ranging system, the CMOS chip of coupling in camera lens adopts the chip assembly being spliced by two chips, simple and compact for structure, when making the length of its long side direction (as horizontal direction) can meet the specification requirement of camera lens, finding range and distance accuracy also can reach requirement, and the fast work efficiency of processing speed is high.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Brief description of the drawings
Fig. 1 is the principle of work schematic diagram of laser ranging system;
Fig. 2 is range of triangle schematic diagram;
Fig. 3 and Fig. 4 are respectively the one-piece construction schematic diagram of the utility model laser ranging system;
Fig. 5 is the part explosive view of the utility model laser ranging system;
Fig. 6 is 1/2 inch of overall CMOS chip and two 1/4 inch CMOS chip splicing construction contrast schematic diagram in the utility model embodiment mono-;
Fig. 7 is the utility model self-movement robot one-piece construction schematic diagram.
Embodiment
Embodiment mono-
Fig. 3 and Fig. 4 are respectively the one-piece construction schematic diagram of the utility model laser ranging system; Fig. 5 is the part explosive view of the utility model laser ranging system.As shown in Figures 3 to 5, the utility model provides a kind of laser ranging system A, comprise the line laser transmitter 200 and the imageing sensor that are arranged on holder 100, described imageing sensor comprises lens (not shown) and circuit board 400, on described circuit board 400, be installed with sensitive chip assembly 500, and this sensitive chip assembly 500 is to be spliced along long side direction by two identical sub-sensitive chips 501, the fitting relation of described lens and sub-sensitive chip 501 is: with the lens of the imageing sensor adaptation of 1/n inch, the corresponding sensitive chip assembly being spliced by the sub-sensitive chip of two 1/2n inches that arranges.Preferably, for the long limit that makes full use of sensitive chip ensures larger finding range, the direction of line laser striped is parallel with the long limit of sub-sensitive chip.Be the line laser of line laser transmitter transmitting first direction, the long side direction of two identical sub-sensitive chips is parallel with first direction.For instance, if survey the barrier of horizontal direction periphery, the line laser of laser ranging system emission level direction, long limit stitching direction and the horizontal direction parallel of two corresponding identical sub-sensitive chips 501.If survey the barrier of vertical direction, the line laser of laser ranging system transmitting vertical direction, the long limit stitching direction of two corresponding identical sub-sensitive chips 501 is parallel with vertical direction.In the present embodiment, in order to make finding range and distance accuracy can both reach requirement, the concrete fitting relation of described lens and sub-sensitive chip is: with the lens of the imageing sensor adaptation of 1/2 inch, and the corresponding sensitive chip assembly being spliced by the sub-sensitive chip of two 1/4 inch that arranges.
Specifically, adopt adaptation to have the camera lens of 1/2 inch of CMOS chip can solve the short problem of focal length, but the sensitive chip size of corresponding 1/2 inch is larger, can increase the image acquisition time, affects system running speed.In addition, the common resolution of the chip of the cmos image sensor of 1/2 inch is lower.Adopt the CMOS of 1/2 inch of the resolution that is applicable to this distance measuring equipment, but its price is very high.Shown in Fig. 1, Fig. 2, according to distance measuring equipment structure and range of triangle principle, if the finding range of distance measuring equipment is 150cm-400cm, the location of pixels of laser rays at most mobile 300 left and right in the width range of image.The width requirement of the sensitive chip of institute's image taking sensor is not high.If distance measuring equipment along continuous straight runs scanning range finding, the visual angle finding range demand of distance measuring equipment is 120 degree, and, according to the focal length of 1/2 inch of selected camera lens, the length requirement of sensitive chip is full of the horizontal view angle scope of whole camera lens.So the cmos image sensor splicing of 1/4 inch that to adopt two chip resolutions be 640*480, can meet requirement and the requirement of finding range and the requirement of real-time of wide 120 ° of requirement, the range finding visual field of resolution, system effectiveness is high, and cost is low.
Fig. 6 is 1/2 inch of overall CMOS chip in the utility model embodiment mono-, and two 1/4 inch CMOS chip splicing construction contrast schematic diagram.As shown in Figure 6, wherein a is the CMOS chip of 1/2 inch, and b is the CMOS chip of 1/4 inch of two splicings.As known in a in Fig. 5, b contrast, the 1/2cmos sensitive chip that is 4:3 as normally used length breadth ratio is of a size of 6.4mm*4.8mm, and 1/4cmos sensitive chip is of a size of 3.6mm*2.7mm.When two 1/4cmos sensitive chips are after long side direction splicing, its total length is 7.2mm, and length direction meets the finding range requirement of line laser range finding.And itself and width is only 2.7mm, the in the situation that of same resolution, two spliced total photosensitive areas of 1/4cmos sensitive chip (7.2 × 2.7), much smaller than the photosensitive area (6.4 × 4.8) of the mono-sensitive chip of 1/2cmos, improve real-time processing and the response speed of laser ranging system greatly.In particular cases, if 1/2cmos, 1/4cmos chip are square (all can be considered arbitrarily long limit on one side), two spliced chip assembly length of 1/4cmos chip are constant, and width is shorter, save real-time processing and the response speed of laser ranging system than single 1/2cmos chip.In addition, in order to filter bias light, further guarantee that imageing sensor only receives the reflection ray of line laser striped through periphery barrier, is also provided with optical filter between described lens and sensitive chip assembly.In structure aspects, because camera need to be taken after gridiron pattern carries out pattern distortion rectification in advance, could use optical filter to filter bias light, therefore, optical filter need to be designed to the movable form of inserting.The chip of adaptive 1/2 inch is compared with the wide-angle lens of field angle with the chip of 1/4 inch, the long insertion of being convenient to optical filter of the lens focus of 1/2 inch.In addition, adaptation has the wide-angle lens of 1/2 inch of CMOS chip why to splice with two 1/4 inch of CMOS chips, has mainly also considered the processing speed problem of laser ranging system.In real-time system, processing speed is crucial, the size of 1/2 inch of CMOS chip of equal resolution is nearly a times of two 1/4 inch of CMOS chip splicing sizes, its data to be processed also will increase doubly, consider hardware cost and technical characteristic, adopt two 1/4 inch of CMOS chips to splice the real time response speed that can meet finding range and accelerate distance measuring equipment.
Embodiment bis-
Except the chip assembly connecting method in above-described embodiment, in the present embodiment, described camera lens is the camera lens of 1/4 inch, and the corresponding described chip assembly arranging is that the chip of two 1/8 inch is spliced.Can reach equally the technique effect identical with embodiment mono-.Other technologies feature in the present embodiment is identical with above-described embodiment one, please refer to aforementioned content, does not repeat them here.
Certainly, to those skilled in the art, after having grasped above-mentioned principle of work of the present utility model, can need and performance requirement according to the adaptation of camera lens, optical filter and chip reality, carry out suitable Selection and Constitute.
Fig. 7 is the utility model self-movement robot one-piece construction schematic diagram.As shown in Figure 7, the utility model also provides a kind of self-movement robot B, has walking unit, control module and the laser ranging unit for sensing robot periphery barrier.In this laser ranging unit employing above-described embodiment one or two, laser ranging system is surveyed the distance of periphery barrier.Record after the distance of periphery barrier, self-movement robot can corresponding avoiding barrier, or positions oneself, or sets up the laggard row path planning of map, further improves the work efficiency of robot.When real work, robot common horizontal scanning periphery barrier, as shown in Figure 7, the line laser striped of the line laser transmitter 200 emission level directions of laser ranging system, long limit stitching direction and the horizontal direction parallel of two sub-sensitive chips of corresponding imageing sensor 600.
In sum, the utility model provides a kind of laser ranging system and self-movement robot thereof, the CMOS chip of coupling in camera lens adopts the chip assembly being spliced by two chips, simple and compact for structure, when making the length of its long side direction can meet the specification requirement of camera lens, finding range and distance accuracy also can reach requirement, and the fast work efficiency of processing speed is high.
Claims (6)
1. a laser ranging system, comprise the line laser transmitter (200) and the imageing sensor that are arranged on holder (100), described imageing sensor comprises lens and circuit board (400), it is characterized in that, on described circuit board (400), be installed with sensitive chip assembly (500), and this sensitive chip assembly (500) is to be spliced along its long side direction by two identical sub-sensitive chips (501), the fitting relation of described lens and sub-sensitive chip (501) is: with the lens of the imageing sensor adaptation of 1/n inch, the corresponding sensitive chip assembly (500) being spliced by the sub-sensitive chip (501) of two 1/2n inches that arranges.
2. laser ranging system as claimed in claim 1, is characterized in that, described line laser transmitter is along first direction emission line laser, and the long side direction of described two identical sub-sensitive chips is parallel with described first direction.
3. laser ranging system as claimed in claim 1, it is characterized in that, the fitting relation of described lens and sub-sensitive chip (501) is: with the lens of the imageing sensor adaptation of 1/2 inch, and the corresponding sensitive chip assembly being spliced by the sub-sensitive chip of two 1/4 inch that arranges.
4. laser ranging system as claimed in claim 1, it is characterized in that, the fitting relation of described lens and sub-sensitive chip (501) is: with the lens of the imageing sensor adaptation of 1/4 inch, and the corresponding sensitive chip assembly being spliced by the sub-sensitive chip of two 1/8 inch that arranges.
5. the laser ranging system as described in claim 3 or 4 any one, is characterized in that, between described lens and sensitive chip assembly (500), is also provided with optical filter.
6. a self-movement robot, has walking unit, control module and the laser ranging unit for sensing robot periphery barrier, it is characterized in that, described laser ranging unit adopts the laser ranging system described in claim 1-5 any one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320891709.6U CN203672362U (en) | 2013-12-31 | 2013-12-31 | Laser distance measurement device and self-moving robot with same |
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| CN201320891709.6U CN203672362U (en) | 2013-12-31 | 2013-12-31 | Laser distance measurement device and self-moving robot with same |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334847A (en) * | 2014-06-26 | 2016-02-17 | 科沃斯机器人有限公司 | Self-movement robot |
| CN106526579A (en) * | 2016-10-31 | 2017-03-22 | 张舒怡 | Obstacle detection sensor for robot |
| WO2017202384A1 (en) * | 2016-05-27 | 2017-11-30 | 科沃斯机器人股份有限公司 | Laser ranging device and installation method for photosensitive chip thereof |
| CN109283510A (en) * | 2018-08-17 | 2019-01-29 | 矽力杰半导体技术(杭州)有限公司 | Light sensing apparatus and electronic equipment |
| US10860029B2 (en) | 2016-02-15 | 2020-12-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
| US11175670B2 (en) | 2015-11-17 | 2021-11-16 | RobArt GmbH | Robot-assisted processing of a surface using a robot |
| US11188086B2 (en) | 2015-09-04 | 2021-11-30 | RobArtGmbH | Identification and localization of a base station of an autonomous mobile robot |
| US11550054B2 (en) | 2015-06-18 | 2023-01-10 | RobArtGmbH | Optical triangulation sensor for distance measurement |
| US11709489B2 (en) | 2017-03-02 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous, mobile robot |
| US11768494B2 (en) | 2015-11-11 | 2023-09-26 | RobArt GmbH | Subdivision of maps for robot navigation |
| US11789447B2 (en) | 2015-12-11 | 2023-10-17 | RobArt GmbH | Remote control of an autonomous mobile robot |
-
2013
- 2013-12-31 CN CN201320891709.6U patent/CN203672362U/en not_active Expired - Lifetime
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334847A (en) * | 2014-06-26 | 2016-02-17 | 科沃斯机器人有限公司 | Self-movement robot |
| US11550054B2 (en) | 2015-06-18 | 2023-01-10 | RobArtGmbH | Optical triangulation sensor for distance measurement |
| US11188086B2 (en) | 2015-09-04 | 2021-11-30 | RobArtGmbH | Identification and localization of a base station of an autonomous mobile robot |
| US11768494B2 (en) | 2015-11-11 | 2023-09-26 | RobArt GmbH | Subdivision of maps for robot navigation |
| US11175670B2 (en) | 2015-11-17 | 2021-11-16 | RobArt GmbH | Robot-assisted processing of a surface using a robot |
| US11789447B2 (en) | 2015-12-11 | 2023-10-17 | RobArt GmbH | Remote control of an autonomous mobile robot |
| US11709497B2 (en) | 2016-02-15 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous mobile robot |
| US10860029B2 (en) | 2016-02-15 | 2020-12-08 | RobArt GmbH | Method for controlling an autonomous mobile robot |
| CN107436439A (en) * | 2016-05-27 | 2017-12-05 | 科沃斯机器人股份有限公司 | The installation method of laser ranging system and its sensitive chip |
| WO2017202384A1 (en) * | 2016-05-27 | 2017-11-30 | 科沃斯机器人股份有限公司 | Laser ranging device and installation method for photosensitive chip thereof |
| CN106526579A (en) * | 2016-10-31 | 2017-03-22 | 张舒怡 | Obstacle detection sensor for robot |
| US11709489B2 (en) | 2017-03-02 | 2023-07-25 | RobArt GmbH | Method for controlling an autonomous, mobile robot |
| CN109283510A (en) * | 2018-08-17 | 2019-01-29 | 矽力杰半导体技术(杭州)有限公司 | Light sensing apparatus and electronic equipment |
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| C14 | Grant of patent or utility model | ||
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Owner name: ECOVACS ROBOT CO., LTD. Free format text: FORMER NAME: ECOVACS ROBOTICS (SUZHOU) CO., LTD. |
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| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. |
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Effective date of registration: 20180413 Address after: Linz, Austria Patentee after: ROBART GmbH Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Patentee before: ECOVACS ROBOTICS Co.,Ltd. |
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| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140625 |