CN205404795U - Optical detection and instrumentation radar with multisensor - Google Patents
Optical detection and instrumentation radar with multisensor Download PDFInfo
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- CN205404795U CN205404795U CN201620157055.8U CN201620157055U CN205404795U CN 205404795 U CN205404795 U CN 205404795U CN 201620157055 U CN201620157055 U CN 201620157055U CN 205404795 U CN205404795 U CN 205404795U
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Abstract
It is not enough to barrier measuring scan times with instrumentation radar for solving the optical detection, the problem of the degree of accuracy of restriction range finding. The utility model provides an optical detection and instrumentation radar with multisensor, including rotating housing and base, rotating housing for the base takes place rotatoryly, two or be more than two infrared optical transmission module, be fixed in rotating housing inside, send infrared detection light, two or be more than two electro -optical distance measurment(EDM) units, be fixed in rotating housing inside, including photoelectric sensor on every electro -optical distance measurment(EDM) unit, it is the signal of telecommunication that photoelectric sensor is used for the infrared light signal conversion with receiving, rotary drive motor for it is at the uniform velocity rotatory to drive rotating housing, sliding ring and the drive circuit who corresponds. This application is through two or be more than the designs of two sensors, and for single sensor's optical detection and instrumentation radar, measurement number of times in having increased single measuring period improves the distance measurement precision.
Description
Technical field
The application belongs to optical detection field of radar, particularly relates to a kind of optical detection with two or more sensors and instrumentation radar (LightDetectionAndRanging, LIDAR).
Background technology
It is the important topic of current intelligent robot, SUAV area research that barrier is evaded.Intelligent robot and unmanned plane process in action is wanted real-time surrounding being monitored barrier, quickly and accurately judges the position of barrier, then timely avoiding barrier.For avoiding barrier, it is necessary to by the distance between range unit robot measurement or unmanned plane and barrier.
Existing distance test method, is mainly based upon the laser ranging technique of principle of triangulation in the market.Laser is according to certain angular emission infrared beam, and after running into object, light beam can reflect；The light reflected utilizes triangle relation after being detected by the detector, and based on launching angle, the angle of filter and offset distance, sensor is calculated to the distance of barrier by geometrical relationship.But, this method has obvious blind area.The laser ranging coverage based on triangulation of current consumer level is within 6 meters.
A kind of mode based on triangulation that substitutes is to measure distance by flight time (TOF) method.Its operation principle is for be sent detection light by light emitting diode (LED) or LASER Light Source, infrared acquisition light is through lens, send the light that the angle of divergence is little and collimates, after this infrared acquisition light is reflected by barrier, received by infrared remote receiver, by measuring the phase contrast launched and receive infrared light, the distance from barrier can be calculated.Wherein when using LASER Light Source, it is not necessary to diversing lens.
But, under outdoor high light, owing to sunlight containing a large amount of infrared beams, when optical detection is with the work of instrumentation radar device, receptor not only have received the detection light of reflection, and have received the bias light through sunlight reflection, cause that optical detection is inaccurate with the numerical value that instrumentation radar is measured.It addition, in existing optical scanning detection device, scanheads is with clockwise or counter-clockwise 360 degree of rotations, in each angle state rotated, the scanning times that barrier is measured is limited, limits the accuracy of range finding.
Utility model content
In order to improve distance measuring accuracy and the measuring speed of infrared light detecting and instrumentation radar, and reduce the impact on measuring of the background infrared light, this application provides a kind of infrared light detecting with two or more sensors and instrumentation radar, by the design of two or more sensor constructions, optical detection and instrumentation radar relative to single-sensor, add the pendulous frequency in the single measurement cycle, improve range measurement speed on the whole.Simultaneously on the pendulous frequency basis increased, the some of them sensing unit in sensor is specifically designed to measurement bias light, and in the sensor being used for measuring distance, is removed by the bias light data that will record, reduce bias light and adjust the distance the impact measured.In an alternate embodiment of the invention, by the sensor of two or more than two is individually separated work respectively, functionally complementary, thus improving the range accuracy of radar installations on the whole.
The application, for solving its technical problem, is achieved through the following technical solutions.A kind of optical detection with two or more sensors and instrumentation radar, including the drive circuit rotating housing, infrared light emission module, infrared light emission lens, infrared optical receiver lens, electro-optical distance measurement unit, base, rotary drive motor, slip ring and correspondence.Wherein, infrared light emission module, infrared light emission lens, infrared optical receiver lens, electro-optical distance measurement unit are each respectively provided with two or more than two, are respectively two in a preferred embodiment, and are all fixed in shell of revolution body.Infrared light emission lens are positioned in the infrared light light path that infrared light emission module sends, and infrared optical receiver lens is positioned in the infrared light light path that electro-optical distance measurement unit receives.Electro-optical distance measurement unit includes photoelectric sensor and circuit unit.Slip ring is positioned at the center of rotation axle place rotating lower housing portion, rotates the power supply between housing and base for optical detection and instrumentation radar device and transmits data.Shell of revolution body is positioned at above base, under optical detection with instrumentation radar duty, rotates housing and rotates relative to base.Drive circuit is used for as the power elements in shell of revolution body and control.
In selectable technical scheme, slip ring is replaced by wireless power supply and radio communication device.Such as, arranging the first coupling coil at base, arrange the second coupling coil in shell of revolution body, the first coupling coil is energized, by coupling, the second coil produces electric energy, for power elements in shell of revolution body.It addition, such as arrange the first radio communication device at base, arranging the second radio communication device in shell of revolution body, the data communication of electro-optical distance measurement unit is by described first, second radio communication device transmission.Described radio communication device is specially existing known mode, for instance the modes such as optical communications module, bluetooth module, Wi-Fi module, NRF24L01 module.
In optical detection and instrumentation radar device specific works process, it is fixed on after the infrared light emission module rotating enclosure interior receives measuring command, drives infrared light supply to send infrared light with voltage or current-modulation mode.Infrared light emission lens are positioned in the transmitting light path of infrared light emission module, after infrared light emission lens focus, all light and collimation, from being arranged in the light-transmitting opening directive environment rotated housing periphery.Wherein the infrared light supply in infrared light emission module is light emitting diode (LED) light source or for LASER Light Source, number of light sources according to concrete light intensity need arrange.When the technical scheme selecting laser to be light source, described infrared light emission lens, infrared optical receiver lens omit to be removed.
Wherein said infrared light emission lens are the convex lens being positioned on infraluminescence light source optical path.
Infrared light after transmitting is propagated in atmosphere, and namely the border running into barrier or environment in way is reflected and scattering, and through the infrared light of reflection and scattering, a part injects infrared optical receiver lens, and infrared light transmits to electro-optical distance measurement unit after receiving lens focus.Through the infrared light of reflection and scattering, a part injects infrared optical receiver lens, receives through infrared light and transmits to electro-optical distance measurement unit after lens focus.Electro-optical distance measurement unit is fixed on rotation enclosure interior, and infrared optical receiver lens is positioned on electro-optical distance measurement unit receiving light path.Described infrared optical receiver lens is two collecting lenses, and one of them collecting lens is near electro-optical distance measurement unit, and another collecting lens is positioned on the external side face of shell of revolution, and the optical axis of two collecting lenses is point-blank.
The above-mentioned infrared light received and the light sent are carried out phase bit comparison by electro-optical distance measurement unit, obtain and launch infrared light and receive the optical phase difference of infrared light, use flight time (TOF) method to calculate, record the distance between optical detection and instrumentation radar and barrier.
Electro-optical distance measurement unit includes electro-optical distance measurement chip and circuit unit, wherein said photoelectric sensor is integrated in electro-optical distance measurement chip, described electro-optical distance measurement chip is EPC600, EPC610 or EPC660, and photoelectric sensor is integrated in S11961-01CR range line array image sensor in the alternative.After the infrared light incidence reflected through barrier focuses on the sensor of electro-optical distance measurement unit, the infrared signal of reception converts the signal of telecommunication to.
Electric rotating machine is positioned at chassis interior or base lower outer, housing is rotated and at the uniform velocity rotates, and system can complete 360 degree and quickly scan.
In optional technical scheme, due to the design of two or more than two sensor construction, in single swing circle, the ranging data of environment being doubled, operative sensor is used for detecting background ambient light.
The application is by the design of two or more than two sensor, optical detection and instrumentation radar relative to single-sensor, add the pendulous frequency in the single measurement cycle, simultaneously on the pendulous frequency basis increased, different sensors is work separately, for instance one of them photoelectric sensor is responsible for measuring bias light, and another photoelectric sensor is responsible for measuring distance, removed by the bias light data that will record, reduce bias light and adjust the distance the impact measured；Or two optical detections are used for testing at a distance by different frequencies one from instrumentation radar, one is used for testing closely, thus maximum elimination blind range zone；Or one is passed through the weak reflective object with astigmatism of high light signals collecting, and one is detected highlighted object with low light signals and is unlikely to so that sensor is saturated；Or two infrared light emission modules one are that LED light source avoids the blind area between two test points in Surface scan mode, one uses laser acquisition to provide single-point distance test accurately.More compound mode can be had, for instance test in-plant probe and be responsible for measuring the probe combination of bias light, and several functions can be completed by multiple sensors and exist simultaneously between these functions probe.Meanwhile, the life-span of the rotating part of optical radar, it is common that affect the key factor of whole radar service life.And this designs when can realize not changing look-in frequency, rotating speed is reduced to 1/2 or less (reduction ratio becomes) of traditional unidirectional probe with probe quantity, which improves the service life of device.In addition, this design can improve the stability of system.Such as, during some probe operation irregularity, another can do supplementary, calibration, even become occurring the function of abnormal probe.
Accompanying drawing explanation
Fig. 1 is the optical detection with multisensor and instrumentation radar overall structure schematic diagram.
Fig. 2 A is that the optical detection with multisensor rotates enclosure interior structural upright structural representation with instrumentation radar.
Fig. 2 B is that the optical detection with multisensor rotates housing interior structure top view with instrumentation radar.
Fig. 3 is the optical detection with multisensor and instrumentation radar light path schematic diagram.
Detailed description of the invention
As shown in Figure 1, Figure 2 shown in A and Fig. 2 B, a kind of optical detection with two or more than two sensor and instrumentation radar device, preferred embodiment is for having optical detection and the instrumentation radar device of two photoelectric sensors 14 and 14 ', including the drive circuit rotating housing 1, infrared light emission module, infrared light emission lens 11 and 11 ', infrared optical receiver lens 12 and 12 ', electro-optical distance measurement unit, base 2, rotary drive motor, slip ring and correspondence.Wherein, infrared light emission module, infrared light emission lens, infrared optical receiver lens, electro-optical distance measurement unit are each respectively provided with two, and are all fixed in shell of revolution body.Infrared light emission lens are positioned in the infrared light light path that infrared light emission module sends, and infrared optical receiver lens is positioned in the infrared light light path that electro-optical distance measurement unit receives.Electro-optical distance measurement unit includes photoelectric sensor and circuit unit.Slip ring is positioned at the center of rotation axle place rotating lower housing portion, rotates the power supply between housing and base for optical detection and instrumentation radar device and transmits data.Shell of revolution body is positioned at above base, under optical detection with instrumentation radar duty, rotates housing and rotates relative to base.Drive circuit is used for as the power elements in shell of revolution body.
As shown in accompanying drawing 2A, Fig. 2 B and Fig. 3, in optical detection and instrumentation radar device specific works process, be fixed on rotate enclosure interior infrared light emission module receive measuring command after, infrared light supply 13 and 13 ' is driven to send infrared light with voltage or current-modulation mode, after infrared light emission lens focus, all light and collimation, from the light-transmitting opening 3 directive environment rotated housing periphery.Described infrared light emission lens are the convex lens being positioned on infraluminescence light source optical path.Its mid-infrared light source is light emitting diode (LED) light source or is LASER Light Source, when the technical scheme selecting laser to be light source, described infrared light emission lens, infrared optical receiver lens individually omit removal, or described infrared light emission lens and infrared optical receiver lens omit removal simultaneously.In a preferred embodiment, selecting LED as infrared light supply, number is 4, is symmetricly set in the photoelectric sensor surrounding in OSP.
Light path schematic diagram as shown in Figure 3, infrared light after transmitting is propagated in atmosphere, and namely the border running into barrier 4 or environment in way is reflected and scattering, through the infrared light of reflection and scattering, a part injects infrared optical receiver lens, and infrared light transmits to electro-optical distance measurement unit after receiving lens focus.Described infrared optical receiver lens is two collecting lenses, and one of them collecting lens is near electro-optical distance measurement unit, and another collecting lens is positioned on the external periphery of shell of revolution, and the optical axis of two collecting lenses is point-blank.
The above-mentioned infrared light received is carried out phase bit comparison with the infrared light sent by electro-optical distance measurement unit, obtain and launch infrared light and receive the optical phase difference of infrared light, use flight time (TOF) method to calculate, record the distance between optical detection and instrumentation radar device and barrier.
Electro-optical distance measurement unit includes photoelectric sensor 14,14 ' and circuit unit, wherein said photoelectric sensor is integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660, and photoelectric sensor is integrated in S11961-01CR range line array image sensor in the alternative.After the infrared waves reflected through barrier focuses on the sensor of electro-optical distance measurement unit, optical signal converts the signal of telecommunication to, couples with main amplifier through impedance transformation amplifier, differential amplifier do complementary output.
Electric rotating machine is positioned at chassis interior or base lower outer, housing is rotated and at the uniform velocity rotates, and system can complete 360 degree and quickly scan.
In optional technical scheme, due to the design of two or more sensor constructions, in single swing circle, the ranging data of environment being doubled, wherein operative sensor is used for detecting background ambient light.
In selectable technical scheme, slip ring is replaced by wireless power supply and radio communication device.Such as, arranging the first coupling coil at base, arrange the second coupling coil in shell of revolution body, the first coupling coil is energized, by coupling, the second coil produces electric energy, for power elements in shell of revolution body.It addition, such as arrange the first radio communication device at base, arranging the second radio communication device in shell of revolution body, the data communication of electro-optical distance measurement unit is by described first, second radio communication device transmission.Described radio communication device is specially existing known mode, for instance the modes such as optical communications module, bluetooth module, Wi-Fi module, NRF24L01 module.
In optional technical scheme, rotary drive motor rotor place is provided with drive pulley, and a transmission band is enclosed within drive pulley and shell of revolution external week, and motor makes to rotate housing Rotating with Uniform by transmission band.
The application is by the design of two or more than two sensor, optical detection and instrumentation radar relative to single-sensor, add the pendulous frequency in the single measurement cycle, simultaneously on the pendulous frequency basis increased, different sensors is work separately, for instance one of them photoelectric sensor is responsible for measuring bias light, and another photoelectric sensor is responsible for measuring distance, removed by the bias light data that will record, reduce bias light and adjust the distance the impact measured；Or two optical detections are used for testing at a distance by different frequencies one from instrumentation radar, one is used for testing closely, thus maximum elimination blind range zone；Or one is passed through the weak reflective object with astigmatism of high light signals collecting, and one is detected highlighted object with low light signals and is unlikely to so that sensor is saturated；Or two infrared light emission modules one are that LED light source avoids the blind area between two test points in Surface scan mode, one uses laser acquisition to provide single-point distance test accurately.More compound mode can be had, for instance test in-plant probe and be responsible for measuring the probe combination of bias light, and several functions can be completed by multiple sensors and exist simultaneously between these functions probe.Meanwhile, the life-span of the rotating part of optical radar, it is common that affect the key factor of whole radar service life.And this designs when can realize not changing look-in frequency, rotating speed is reduced to the 1/2 of traditional unidirectional probe or less, and reduction ratio becomes with probe quantity, which improves the service life of device.In addition, this design can improve the stability of system.Such as, during some probe operation irregularity, another can do supplementary, calibration, even become occurring the function of abnormal probe.
Claims (8)
1. having optical detection and the instrumentation radar of multisensor, including rotating housing and base, shell of revolution body is positioned at above base, and described rotation housing rotates relative to described base；It is characterized in that, described in there is the optical detection of multisensor also include two or more than two infrared light emission module with instrumentation radar, be fixed on rotation enclosure interior, send infrared acquisition light, and through rotating the injection of the loophole on housing；Two or more than two electro-optical distance measurement unit, be fixed on rotation enclosure interior, each electro-optical distance measurement unit include photoelectric sensor, and described photoelectric sensor is for being converted to the signal of telecommunication by the infrared signal of reception；Rotary drive motor, is used for that housing is rotated and at the uniform velocity rotates；The drive circuit of slip ring and correspondence, described slip ring is for rotating the power supply between housing and base and transmitting data.
2. the optical detection with multisensor according to claim 1 and instrumentation radar, it is characterised in that also include two or more than two infrared light emission lens, be positioned in the infrared light light path that infrared light emission module sends.
3. the optical detection with multisensor according to claim 1 and 2 and instrumentation radar, it is characterised in that also include two or the infrared optical receiver lens of more than two, be positioned in the infrared light light path of reception.
4. the optical detection with multisensor according to claim 1 and 2 and instrumentation radar, it is characterized in that, described electro-optical distance measurement unit obtains to be launched infrared light and receives the optical phase difference of infrared light, uses time-of-flight method to record the distance between optical detection and instrumentation radar and barrier.
5. the optical detection with multisensor according to claim 1 and 2 and instrumentation radar, it is characterized in that, each electro-optical distance measurement unit includes photoelectric sensor, described photoelectric sensor is integrated in electro-optical distance measurement chip EPC600, EPC610 or EPC660, or described photoelectric sensor is integrated in S11961-01CR range line array image sensor.
6. the optical detection with multisensor according to claim 1 and 2 and instrumentation radar, it is characterised in that the infrared light supply in described infrared light emission module is light emitting diode or is LASER Light Source.
7. the optical detection with multisensor according to claim 1 and 2 and instrumentation radar, it is characterised in that the quantity of photoelectric sensor is two, and one of them photoelectric sensor is used for measuring bias light, and another is used for measuring distance；Or one of them photoelectric sensor is used for testing at a distance, another is used for testing closely；Or one of them photoelectric sensor is weak reflective by high light signals collecting and the object of astigmatism, and another photoelectric sensor low light signals detects highlighted object.
8. the optical detection with multisensor according to claim 1 and 2 and instrumentation radar, it is characterized in that, rotary drive motor rotor place is provided with drive pulley, and a transmission band is enclosed within drive pulley and shell of revolution external week, and motor makes to rotate housing Rotating with Uniform by transmission band.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620157055.8U CN205404795U (en) | 2016-03-01 | 2016-03-01 | Optical detection and instrumentation radar with multisensor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105548988A (en) * | 2016-03-01 | 2016-05-04 | 北醒（北京）光子科技有限公司 | Optical detection and measurement radar with multiple sensors |
| CN108627844A (en) * | 2017-03-17 | 2018-10-09 | 夏普株式会社 | Obstacle detector, mobile devices, obstacle detection system and method |
| CN108761584A (en) * | 2017-04-11 | 2018-11-06 | 福特全球技术公司 | Laser lens window is kept to clean using light absorbent |
-
2016
- 2016-03-01 CN CN201620157055.8U patent/CN205404795U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105548988A (en) * | 2016-03-01 | 2016-05-04 | 北醒（北京）光子科技有限公司 | Optical detection and measurement radar with multiple sensors |
| CN108627844A (en) * | 2017-03-17 | 2018-10-09 | 夏普株式会社 | Obstacle detector, mobile devices, obstacle detection system and method |
| CN108761584A (en) * | 2017-04-11 | 2018-11-06 | 福特全球技术公司 | Laser lens window is kept to clean using light absorbent |
| CN108761584B (en) * | 2017-04-11 | 2022-06-24 | 福特全球技术公司 | Keeping laser lens window clean using light absorbing materials |
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