CN203811190U - Distance-measuring device - Google Patents
Distance-measuring device Download PDFInfo
- Publication number
- CN203811190U CN203811190U CN201320746057.7U CN201320746057U CN203811190U CN 203811190 U CN203811190 U CN 203811190U CN 201320746057 U CN201320746057 U CN 201320746057U CN 203811190 U CN203811190 U CN 203811190U
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- tooth
- disc
- code
- distance measuring
- measuring equipment
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a distance-measuring device, and the device comprises a motor (120), a control box (130), and a code disc (150). The relative rotation happens between the control box (130) and the code disc (150) under the action of motor driving. The code disc (150) comprises a point position tooth (151A). The control box (130) comprises a distance-measuring unit (142), a detection part (144), and a control unit (140). The detection part (144) comprises a light transmitter (1440) and a light receiver (1441), which are arranged oppositely. The relative rotation between the control box (130) and the code disc (150) enables the point position tooth (151A) to pass through the opposite positions between the light transmitter (1440) and the light receiver (1441). The control unit (140) receives the signal output of the light receiver (1441), and judges the information of the alignment status of the point position tooth (151A) with a corresponding position. According to the status information, a starting or stopping operation instruction is sent to the distance-measuring unit (142). The device provided by the utility model employs a mode of synchronous scanning of the code disc (150) to obtain the scanning data. According to the output waveform of the code disc (150), a starting point is determined. The whole device is compact in structure, is ingenious in design, and is high in sensitivity.
Description
Technical field
The utility model relates to a kind of distance measuring equipment, and belonging to technical field is laser surveying instrument technical field.
Background technology
In prior art, publication number is that the patent documentation of CN101885110A discloses a kind of device for detecting rotational position, it adopts two rotary bodies that swing circle is different, at rotary body, one or more claws are set, and be provided with corresponding claw sensor, anglec of rotation number of times is detected, because it has adopted multiple rotary bodies, caused the raising of pick-up unit manufacturing cost, increasing of component must increase adjustment and maintenance cost.
Utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, a kind of method of distance measuring equipment and searching range finding starting point thereof is provided, utilize code-disc synchronous scanning mode to obtain scan-data, judge starting point according to code-disc output waveform, whole apparatus structure compactness, designs ingenious and highly sensitive.
Technical matters to be solved of the present utility model is achieved by the following technical solution:
A kind of distance measuring equipment, comprise motor, control enclosure and code-disc, under described motor drives, between described control enclosure and code-disc, there is rotation relatively, on described code-disc, comprise some tooth, described control enclosure comprises range cells, test section and control module, and described test section comprises corresponding optical transmitting set and the optical receiver arranging, and between described control enclosure and code-disc, rotation is passed described position tooth between described optical transmitting set and the correspondence position of optical receiver relatively; Described control module is accepted the signal output of described optical receiver, judges the status information that aligns of a position tooth and described correspondence position, sends the work order starting or stoping according to this status information to described range cells.
For the ease of fixing of code-disc, described distance measuring equipment also includes pedestal, and described code-disc is fixed on described pedestal.
In order to make, between control enclosure and code-disc, rotation relatively occurs, the output terminal of described motor is provided with electrical machine belt pulley, and an O type snare is located at the periphery of described electrical machine belt pulley and described control enclosure; The middle part of described pedestal connects a bearing, and the outer ring of described bearing and described pedestal are fixed, and the inner ring of described bearing and described control enclosure are fixed.
In sum, the utility model utilizes code-disc synchronous scanning mode to obtain scan-data, judges starting point according to code-disc output waveform, and whole apparatus structure compactness designs ingenious and highly sensitive.
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 utility model laser range sensor appearance integral structural representation;
Fig. 2 is the utility model embodiment mono-code-disc structural representation;
Fig. 3 is the utility model laser range sensor cut-away view;
Fig. 4 is the utility model laser range sensor figure vertical view;
Fig. 5 is the utility model laser range sensor figure side view cutaway drawing;
Fig. 6 is the utility model embodiment mono-oscillogram;
Fig. 7 is the utility model embodiment bis-code-disc structural representations;
Fig. 8 is the utility model embodiment bis-oscillograms.
Embodiment
Embodiment mono-
Fig. 1 is the utility model laser range sensor appearance integral structural representation; Fig. 2 is the utility model embodiment mono-code-disc structural representation; Fig. 3 is the utility model laser range sensor cut-away view.As shown in Figure 1 to Figure 3, the utility model provides a kind of distance measuring equipment 100, comprise pedestal 110, on described pedestal 110, be provided with motor 120, motor 120 drives that control enclosure 130 is rotatable to be connected on described pedestal 110, on pedestal 110, be wholely set code-disc 150, under described motor 120 drives, between described control enclosure 130 and code-disc 150, there is rotation relatively, described code-disc 150 is provided with a position tooth 151A, and described control enclosure 130 comprises range cells 142, test section 144 and control module 140.Described test section 144 comprises corresponding optical transmitting set 1440 and the optical receiver 1441 arranging, and between described control enclosure 130 and code-disc 150, rotation is passed described position tooth 151A between described optical transmitting set and the correspondence position of optical receiver relatively.Described control module 140 is accepted the signal output of described optical receiver, judges the status information that aligns of a position tooth 151A and described correspondence position, sends the work order starting or stoping according to this status information to described range cells 142.Described range cells can be camera, for taking the spatial image of surrounding environment.As shown in Figure 3, in control module 140, can also comprise circuit board module 143, comprising having horizontal alignment plate and horizontal path plate.
Fig. 4 is the utility model laser range sensor figure vertical view; Fig. 5 is the utility model laser range sensor figure side view cutaway drawing.As Fig. 4, Fig. 5 and in conjunction with as shown in Fig. 3, in the present embodiment, in order to make between control enclosure 130 and code-disc 150 to occur rotation relatively, the output terminal of described motor 120 is provided with electrical machine belt pulley 121, one O type circles 122 and is set in the periphery of described electrical machine belt pulley 121 and described control enclosure 130.The middle part of described pedestal 110 connects a bearing 160, and the outer ring of described bearing 160 and described pedestal 110 are fixing, and the inner ring of described bearing 160 and described control enclosure 130 are fixing.Visible, in the present embodiment, motor 120, by electrical machine belt pulley 121, drives control enclosure 130 to rotate with respect to the code-disc 150 on pedestal 110 through O type circle 122.Certainly, as required, also can arrange by corresponding structure, control enclosure is fixed and code-disc rotation.
In conjunction with shown in Fig. 1 to Fig. 5, a kind of method that uses above-mentioned distance measuring equipment to find range finding starting point is also provided in the utility model embodiment mono-, comprise the steps: step 100: the control enclosure 130 in distance measuring equipment rotates with respect to code-disc 150 with motor 120, invocation point position tooth 151A is passed between optical transmitting set 1440 and the correspondence position of optical receiver 1441, when a position tooth 151A and correspondence position are to timing, the light emitting from optical transmitting set 1440 is blocked by a position tooth 151A, optical receiver 1441 cannot receive this light, now, optical receiver 1441 is exported high level, in the time that a position tooth 151A is not in correspondence position, the light emitting from optical transmitting set 1440 is not blocked by a position tooth 151A, and optical receiver 1441 can receive this light, optical receiver 1441 output low levels now.Along with control enclosure 130 rotates a circle with respect to code-disc 150, optical receiver 1441 outputs signal to control module 140.Step 200: described control module 140 detects the described signal of identification and judges the status information that aligns of a position tooth 151A and described correspondence position, when this information detected for the first time, described control module 140 sends to described range cells 142 work order starting, when this information detected for the second time, described control module 140 sends to described range cells 142 work order stopping.Thereby complete scanning in one of place shooting environmental week, and can determine the starting point of surface sweeping.
Fig. 6 is the utility model embodiment mono-oscillogram.As shown in Figure 6, in above-mentioned scanning process, the square waveform figure of output, M point is wherein scan start point, M ' point is end of scan point.
Embodiment bis-
Fig. 7 is the utility model embodiment bis-code-disc structural representations.As shown in Figure 7, to realizing the identification to signal, be also evenly provided with multiple equidistant teeth 151 for more accurately on the circumference of described code-disc 150, the facewidth of described position tooth 151A is less than or greater than the facewidth of described equidistant tooth 151.Between described control enclosure 130 and code-disc 150, rotation is passed described position tooth 151A and described equidistant tooth 151 between described optical transmitting set 1440 and the correspondence position of optical receiver 1441 relatively.Described optical receiver 1441 is exported square-wave waveform to described control module 140, described control module 140 is judged the status information that aligns of a position tooth 151A and described correspondence position according to this waveform, send the work order starting or stoping according to this status information to described range cells 142.The consideration of overall sensitivity and work efficiency two aspect factors, described some position tooth 151A and the magnitude setting of equidistant tooth 151 on code-disc 150 circumference can be 5-15.
As shown in Figure 7, the present embodiment mid point position tooth 151A and the magnitude setting summation of equidistant tooth 151 on code-disc circumference are 15.Specifically, described code-disc 150 is provided with 1 some position tooth 151A and 14 equidistant teeth 151, and along clockwise direction, the angle of adjacent two equidistant tooth left hand edges is 24 °; The left and right edge angle of described position tooth is 6 °, and the left hand edge angle of the equidistant tooth that the right hand edge of described tooth is adjacent with right side is 18 °; Described in each, the left and right edge angle of equidistant tooth is 12 °.As shown in Figure 7, in the present embodiment, on the circumference of code-disc 150, be evenly provided with 15 teeth 151, the left hand edge of adjacent two teeth is spaced apart 24 °, in 15 teeth, have 1 some position tooth 151A, its left and right marginating compartment is 6 °, and the facewidth of this some position tooth is more slightly smaller than the facewidth of other teeth (being called range finding tooth).The left hand edge of its right hand edge and right side adjacent teeth be spaced apart 18 °.As shown in Figure 7, the center of circle of establishing code-disc 150 is O, and ∠ AOB is 6 °, and ∠ AOC is 18 °, and the interval between other teeth 151 is 12 °.In the time that code-disc 150 scans, be rotated counterclockwise, using B place as 0 ° of starting point, once scanning every 555.5 μ s, i.e. 0.2s run-down, per secondly scans 5 weeks.
Fig. 8 is the utility model embodiment bis-oscillograms.As Fig. 8 and in conjunction with as shown in Fig. 7, in the present embodiment, use above-mentioned distance measuring equipment to find the method for range finding starting point, comprise the steps: step 100 ': the control enclosure 130 in distance measuring equipment rotates relative to code-disc 150 with motor 120, and invocation point position tooth 151A and equidistant tooth 151 are passed between optical transmitting set 1440 and the correspondence position of optical receiver 1441.Similarly, when a position tooth 151A or equidistant tooth 151 with correspondence position to timing, the light emitting from optical transmitting set 1440 is blocked by a position tooth 151A or equidistant tooth 151, optical receiver 1441 cannot receive this light, now, optical receiver 1441 is exported high level; In the time that a position tooth 151A or equidistant tooth 151 are not in correspondence position, the light emitting from optical transmitting set 1440 is not blocked by a position tooth 151A or equidistant tooth 151, optical receiver 1441 can receive this light, optical receiver 1441 output low levels now.Control enclosure 130 rotates a circle with respect to code-disc 150, and optical receiver 1441 is exported square-wave waveform to control module 140, due to the width difference of a position tooth 151A or equidistant tooth 151, described square-wave waveform comprise multiple equidistant square waves and one narrow apart from square wave or width square wave;
Step 200 ': described control module detects the described waveform of identification, detect for the first time narrow during apart from square wave, described control module sends the work order starting to described range cells, detect for the second time narrowly during apart from square wave, and described control module sends the work order stopping to described range cells.
As shown in Figure 8, owing to being altogether provided with 15 teeth on code-disc 150, in these 15 teeth, because the length of a position tooth and equidistant tooth is different.By these teeth of a laser scanning, obtain scan-data information.After each turns and has scanned, need to find initial 0 ° of point.Code-disc scans counterclockwise, in scanning process, code-disc can be according to the position of each tooth and a square-wave pulse of length output, in the present embodiment owing to there being a special narrow tooth, sweep waveform and other wide tooth output waveforms at this narrow tooth place are inconsistent, N point place in Fig. 8, put place as 0 ° of starting point using this, start range cells 142 at this some place, laser range sensor is by 360 ° of range informations that obtain in two dimensional cross-section of run-down, N ' some place is terminating point, stop scanning at this some place, so far after every run-down, all finding 0 ° of starting point carries out synchronously.
Embodiment tri-
Certainly, the magnitude setting that is evenly arranged on the tooth on code-disc 150 circumference is not limited to 15 in embodiment bis-, that is: using 360 ° 1/15 as a measuring unit.In embodiment bis-, on the circumference of code-disc 150, be evenly provided with 5 teeth, so, angle corresponding to each measuring unit in the present embodiment is 72 °, initial speed N1 also relative set is 15 revolutions per seconds.Difference between the present embodiment and embodiment mono-is only that the magnitude setting of tooth is different, thereby has caused the difference of measuring unit.Due to the other technologies feature in the present embodiment and above-described embodiment one basic identical, can, with reference to aforementioned content, not repeat them here.
Obviously, except the tooth set-up mode described in above-mentioned two embodiment, the quantity of tooth is set to 36, namely the code-disc of 360 ° 150 is more subdivided into 36 measuring units or more, all can realize.But in theory, the magnitude setting of tooth is more, the frequency of adjustment is just higher, and the accuracy rate of measurement and precision are also just corresponding higher, but device unitary construction is also more complicated; Otherwise the magnitude setting of tooth is fewer, the frequency of adjustment is lower, and the accuracy rate of measurement and precision are corresponding also just lower, but device unitary construction can be relatively simple, reduces some costs.In order to take into account precision and manufacturing cost, the structure that 15 teeth are in fact evenly set in embodiment mono-had not only ensured accuracy and precision but also had made device unitary construction not too complicated.
In sum, the utility model provides a kind of distance measuring equipment and finds the method for range finding starting point, this distance measuring equipment adopts solid size dish structure, utilize code-disc synchronous scanning mode to obtain scan-data, judge starting point according to code-disc output waveform, scan components obtains the range information in two dimensional cross-section by run-down 360 degree, and each turns and has scanned rear Automatic-searching 0 and spend starting point and carry out synchronously, whole apparatus structure compactness, designs ingenious and highly sensitive.
Claims (7)
1. a distance measuring equipment, comprise motor (120), control enclosure (130) and code-disc (150), it is characterized in that, under described motor (120) drives, between described control enclosure (130) and code-disc (150), there is rotation relatively, on described code-disc (150), comprise some tooth (151A), described control enclosure comprises range cells (142), test section (144) and control module (140), described test section (144) comprises corresponding optical transmitting set (1440) and the optical receiver (1441) arranging, between described control enclosure (130) and code-disc (150), rotation is passed described position tooth (151A) between described optical transmitting set and the correspondence position of optical receiver relatively, described control module, by receiving the signal of described optical receiver, makes range cells (142) work.
2. distance measuring equipment as claimed in claim 1, is characterized in that, described distance measuring equipment also includes pedestal (110), and described code-disc (150) is fixed on described pedestal (110).
3. distance measuring equipment as claimed in claim 2, it is characterized in that, the output terminal of described motor (120) is provided with electrical machine belt pulley (121), and an O type circle (122) is set in the periphery of described electrical machine belt pulley (121) and described control enclosure (130); The middle part of described pedestal (110) connects a bearing (160), the outer ring of described bearing (160) and described pedestal (110) are fixing, and the inner ring of described bearing (160) and described control enclosure (130) are fixing.
4. the distance measuring equipment as described in claims 1 to 3 any one, it is characterized in that, on the circumference of described code-disc (150), be also evenly provided with multiple equidistant teeth (151), the facewidth of described position tooth (151A) is less than or greater than the facewidth of described equidistant tooth (151); Between described control enclosure (130) and code-disc (150), rotation is passed described position tooth (151A) and described equidistant tooth (151) between described optical transmitting set and the correspondence position of optical receiver relatively.
5. distance measuring equipment as claimed in claim 4, it is characterized in that, described optical receiver output square-wave waveform is given described control module (140), described control module is judged the status information that aligns of a position tooth (151A) and described correspondence position according to this waveform, send the work order starting or stoping according to this status information to described range cells (142).
6. distance measuring equipment as claimed in claim 5, is characterized in that, described position tooth (151A) and the magnitude setting summation of equidistant tooth (151) on code-disc (150) circumference are that 5-15 is individual.
7. distance measuring equipment as claimed in claim 6, it is characterized in that, described code-disc (150) comprises 1 some position tooth (151A) and 14 equidistant teeth (151), and along clockwise direction, the angle of adjacent two equidistant teeth (151) left hand edge is 24 °; The left and right edge angle of described position tooth (151A) is 6 °, and the left hand edge angle of the equidistant tooth (151) that the right hand edge of described tooth (151A) is adjacent with right side is 18 °; Described in each, the left and right edge angle of equidistant tooth (151) is 12 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320746057.7U CN203811190U (en) | 2013-11-21 | 2013-11-21 | Distance-measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320746057.7U CN203811190U (en) | 2013-11-21 | 2013-11-21 | Distance-measuring device |
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| CN203811190U true CN203811190U (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320746057.7U Withdrawn - After Issue CN203811190U (en) | 2013-11-21 | 2013-11-21 | Distance-measuring device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104215890A (en) * | 2014-09-28 | 2014-12-17 | 江苏正通电子有限公司 | Automobile filter capacitor automatically testing machine |
| WO2015074595A1 (en) * | 2013-11-21 | 2015-05-28 | 科沃斯机器人有限公司 | Distance measuring device and method thereof for seeking distance measuring starting point |
| WO2017114117A1 (en) * | 2015-12-30 | 2017-07-06 | 小米科技有限责任公司 | Laser ranging device and automatic cleaning device |
-
2013
- 2013-11-21 CN CN201320746057.7U patent/CN203811190U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015074595A1 (en) * | 2013-11-21 | 2015-05-28 | 科沃斯机器人有限公司 | Distance measuring device and method thereof for seeking distance measuring starting point |
| CN104655161B (en) * | 2013-11-21 | 2017-05-10 | 科沃斯机器人股份有限公司 | Distance measuring device and method of distance measuring device to find distance measuring initial point |
| US10663322B2 (en) | 2013-11-21 | 2020-05-26 | Ecovacs Robotics Co., Ltd. | Distance measuring device and method thereof for seeking distance measuring starting point |
| US11460328B2 (en) | 2013-11-21 | 2022-10-04 | Ecovacs Robotics Co., Ltd. | Distance measuring device and method thereof for seeking distance measuring starting point |
| CN104215890A (en) * | 2014-09-28 | 2014-12-17 | 江苏正通电子有限公司 | Automobile filter capacitor automatically testing machine |
| CN104215890B (en) * | 2014-09-28 | 2017-03-08 | 江苏正通电子股份有限公司 | A kind of automobile filter capacitor automatic test machine |
| WO2017114117A1 (en) * | 2015-12-30 | 2017-07-06 | 小米科技有限责任公司 | Laser ranging device and automatic cleaning device |
| EA035471B1 (en) * | 2015-12-30 | 2020-06-22 | Сяоми Инк. | Laser ranging device and automatic cleaning device |
| US10900816B2 (en) | 2015-12-30 | 2021-01-26 | Xiaomi Inc. | Laser ranging device and automatic cleaning device |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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. 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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| AV01 | Patent right actively abandoned |
Granted publication date: 20140903 Effective date of abandoning: 20170510 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140903 Effective date of abandoning: 20170510 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |