CN205643711U - Multi -thread rotational scanning detecting device - Google Patents
Multi -thread rotational scanning detecting device Download PDFInfo
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- CN205643711U CN205643711U CN201620438891.3U CN201620438891U CN205643711U CN 205643711 U CN205643711 U CN 205643711U CN 201620438891 U CN201620438891 U CN 201620438891U CN 205643711 U CN205643711 U CN 205643711U
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Abstract
The utility model relates to a multi -thread rotational scanning detecting device for survey the distance between multi -thread rotational scanning detecting device and the testee, include: the transmitting illuminant, receiving arrangement, this receiving arrangement have photoelectric sensor, are the signal of telecommunication with light signal conversion, signal processing unit calculates the distance between multi -thread rotational scanning detecting device and the testee based on time -of -flight method, the photoelectric coding dish, driving motor, bearing, sliding ring and circuit board. This application adopts LED as the light beam that light source emission goes out to have the little angle of divergence, has avoided using the mutual interference that a plurality of laser lamp -house led to the fact among the prior art. The sensor adopts the sensor array, scans a plurality of positions in the level with to the vertical direction, and the three -dimensional cloud of putting of multi -thread scanning that obtains 360 degrees view field range is apart from data. In the course of the work, the transmitting illuminant is simple with receiving arrangement structural design.
Description
Technical field
The application relates to optical ranging field, detects device in particular to a kind of multi-thread rotation sweep.
Background technology
Optical scanning range unit is a kind of use collimated beam, is carried out the equipment of non-contact scanning range finding by methods such as triangulation, flight time (Time of Flight, referred to as TOF).At present, common flight time optical scanning range unit includes: light emission module, optical lens, receive and process the chip of signal, motor, bearing and conducting slip ring.Light emission module sends single light beam, optical lens is positioned in the light path of light emission module, pass through the beam emissions of collimation to testee surface, after running into barrier, light beam is reflected to receive on chip, receive chip be transmitted between reception by measurement time, phase contrast, the known light velocity, the testee distance to device can be obtained.Parts such as being used for the light emission module of range finding, optical lens, Optical Receivers are arranged on the scanning realizing collimated beam on a platform that can rotate continuously by this kind of device, are rotated the environment distance signal that can obtain tour by motor.This common optical scanning range unit can only obtain the range information of single-point in each angle.
In the prior art, CN101688774A discloses a kind of high definition lidar system, and this laser radar system uses 64 laser diodes as detection light emission light source, constitutes 64 line laser radars.Above-mentioned multi-line laser radar system of the prior art, is made up of 64 independent range-measurement systems (LASER Light Source/detector to), and individually LASER Light Source/detector is required for arranging fixing angle, makes complexity.But, when using multiple laser as probe source, in detection process, preferred (seeing above-mentioned DESCRIPTION OF THE PRIOR ART book page 6) the most only launches several laser or only launches a laser, all laser emission detection light simultaneously can produce cross-talk, or dazzle the eyes when laser beam meets with the laser beam returned, and the most only launch several laser and reduce the efficiency detected in same angle.It addition, described 64 laser diodes simply carry out distance measurement to 64 angles in same vertical direction, in the same angle residing for laser radar, it is impossible to extend in the horizontal direction.In the same angle that laser radar rotates to, one of them laser can only be scanned detection to a bit, and can not detect the region with certain area.
Utility model content
In order to solve the deficiencies in the prior art, present applicant proposes a kind of multi-thread rotation sweep detection device, use light emitting diode (Light Emitting
Diode, is called for short LED) as light source, send the infrared acquisition light beam of small divergence angle；It addition, by using the photoelectric sensor being made up of multiple sensors worked alone as the part receiving device.
A kind of multi-thread rotation sweep detection device, for detecting the distance between multi-thread rotation sweep detection device and testee, including:
Launch light source, be fixed on rotation enclosure interior, go out infrared acquisition light by the modulate emission of modulated signal；
Receiving device, be fixed on rotation enclosure interior, have photoelectric sensor, this photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to the signal of telecommunication；
Signal processing unit, is connected with photoelectric sensor, calculates the distance between multi-thread rotation sweep detection device and testee based on time-of-flight method；
Photoelectric coded disk, for determining the angle position rotating housing；
Drive motor, by controlling driving motor so that rotate housing and constantly rotate relative to pedestal；
Bearing and slip ring, described slip ring is positioned at rotation housing bottom centre axle；Circuit board is connected with transmitting light source and reception device.
Wherein, described transmitting light source is LED light source, described photoelectric sensor is the array photoelectric comprising multiple sensor that works alone, described multi-thread rotation sweep detection device, according to orientation angles and the range information of correspondence thereof, obtains 360 degree of horizontal view angles and the range points cloud atlas in the multi-thread scanning of vertical direction.
An embodiment wherein, the number of LED light source is one or more, is simultaneously emitted by infrared acquisition light, and the transmitting light path of each LED light source is provided with transmitting light collecting lens, launches light collecting lens and the divergent rays directly sent by LED light source is assembled.In the light path receiving light of photoelectric sensor, it is provided with reception light collecting lens.
An embodiment wherein, LED light source is evenly arranged around reception device.
An embodiment wherein, photoelectric sensor is the block array sensor being made up of N row M row sensor, at multi-thread rotation sweep detection each detection angle of rotating to of device, search coverage N number of diverse location in the horizontal direction and M diverse location in vertical direction are carried out distance measurement.
An embodiment wherein, at each detection angle that multi-thread rotation sweep detection device rotates to, N row M row the sensor the most independently detection range in described photoelectric sensor.
An embodiment wherein, launching light collecting lens is TIR lens.
An embodiment wherein, receiving light collecting lens is the convex lens arranged before and after two panels.
An embodiment wherein, photoelectric sensor is ccd sensor or is cmos sensor.
An embodiment wherein, slip ring is replaced by wireless power supply and radio communication device.
An embodiment wherein, detection device is for walking robot, sweeping robot, unmanned plane, or the multi-thread scanning probe that other intelligent machine mobile devices are to surrounding.
One multi-thread rotation sweep detection device involved by the application, by using LED as light source, avoid and prior art uses interfering with each other of being caused of LASER Light Source, the LED detection light launched is the Sabia fasciculata Lecomte et L.Chen angle light beam with certain cross-sectional area, during work, the region in environment is carried out face detection, improves the detection device distance measurement scope in each angle rotated to.Transmitting light source needed for multi-thread scanning is same (multiple transmitting light sources are to increase light intensity, do not distinguish mutually in range finding), is not required to the scanning in each vertical direction, is required for the multiple independent light source that respective fixed angle is arranged.Described sensor is the sensor array with multiple sensor composition that works alone, scanning probe device can not only be positioned at same angle and carry out multi-thread scanning in vertical direction, also can be scanned multiple positions in the horizontal direction simultaneously, thus obtain the multi-thread scanning three-dimensional point cloud range data of 360 degree of field ranges.
Multi-thread rotation sweep detection device in the application, in the course of the work, launching light source and receiving device is one group, needs multiple single LASER Light Source/detectors pair without multi-line laser radar of the prior art, structure design is simple, it is to avoid the interference between multiple range-measurement systems.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the application wherein embodiment multi-thread rotation sweep detection device.
Fig. 2 is the light path schematic diagram of the application wherein embodiment multi-thread rotation sweep detection device.
Fig. 3 is the flow chart of steps of a application wherein embodiment multi-thread rotation sweep detection method.
Fig. 4 is the application wherein embodiment multi-thread rotation sweep detection apparatus array sensor schematic diagram.
Detailed description of the invention
The application relates to a kind of multi-thread rotation sweep detection device, it is achieved the multi-thread scanning in the range of 360 degree, obtains three-dimensional point cloud range information.As shown in accompanying drawing 1-2, the most multi-thread rotation sweep detection device includes:
Launching light source, be fixed on rotation enclosure interior, go out infrared acquisition light by the modulate emission of modulated signal, rotate and have loophole on housing, by loophole, this infrared acquisition light is propagated in space, runs into testee and is reflected；
Receiving device, be fixed on rotation enclosure interior, have photoelectric sensor, this photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to the signal of telecommunication；
Signal processing unit, is connected with photoelectric sensor, the signal of telecommunication changed by sensor, calculates the distance between multi-thread rotation sweep detection device and testee based on time-of-flight method；
Photoelectric coded disk, is fixedly installed on pedestal or rotates housing bottom, for determining the angle position rotating housing；
Drive motor, be fixed on below pedestal, by controlling driving motor so that rotate housing and constantly rotate, and can control to drive the rotating speed of motor, thus regulate the rotating speed rotating housing；In an alternate embodiment of the invention, motor is driven to be fixed in pedestal.
Bearing and slip ring, wherein slip ring is positioned at rotation housing bottom centre axle, and one end of slip ring is connected with the circuit board of rotated detection partial interior, and the other end is connected with external equipment, such as, be connected with externally fed, data transmission and control circuit plate；Bearing, is positioned at rotary housing section and divides at the center of rotation axle of bottom, and the outer ring of bearing is fixing with pedestal to be connected, and inner ring is fixing with rotated detection part to be connected.Circuit board is connected with transmitting light source and reception device.
When the detection device work of multi-thread rotation sweep, constantly rotating with 360 degree, for measuring the distance between multi-thread rotation sweep detection device and testee, as shown in Figure 3, multi-thread rotation sweep detects device and includes following method:
Launching light source, go out infrared acquisition light by the modulate emission of modulated signal, the waveform of modulated signal can be square wave, or sinusoidal wave, is periodic modulated signal in a preferred embodiment, and the cycle of modulated signal selects to control according to the needs of concrete application.The infrared acquisition light that LED sends is by rotating in the outside required environment detected of the loophole directive on housing, and infrared acquisition light is propagated in space, runs into testee or barrier and is reflected；Meanwhile, by photoelectric coded disk, the directional bearing angle of multi-thread rotation sweep detection device is recorded.
Receiving device, it has photoelectric transducer element, and this photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to the signal of telecommunication.In a preferred embodiment, in the light path receiving light of photoelectric sensor, it is provided with reception light collecting lens, the infrared acquisition light fired back by barrier etc. is converged on photoelectric sensor.In a preferred embodiment, the convex lens that reception light collecting lens is arranged before and after being two panels.
Signal processing unit, the signal of telecommunication changed by sensor, the infrared acquisition light launched by contrast and the phase contrast of the infrared acquisition light reflected, calculate the distance between multi-thread rotation sweep detection device and testee based on time-of-flight method.Wherein, the calculating of phase contrast is based on four-stepped switching policy.
Control described multi-thread rotation sweep detection device constantly to rotate, record each gyrobearing angle, and calculate in rotary course the range information corresponding to each orientation angles；
Wherein, transmitting light source is LED light source, the light beam that infrared acquisition light is the small divergence angle with certain cross-sectional area propagated in space, photoelectric sensor is the array photoelectric comprising multiple sensor that works alone, wherein each standalone sensor in sensor array can each detect the infrared acquisition light of reflection, and binding signal processing unit, it is possible to each individually obtain detection range.Described multi-thread rotation sweep detection device according to orientation angles and the range information of correspondence thereof, obtains 360 degree of horizontal view angles and can detect the distance three-dimensional point cloud atlas of multi-thread scanning of multiple diverse location in vertical direction.
An embodiment wherein, the number of LED light source is one or more, the selection principle of LED light source number is, according to the detection range that detection is different, need different infrared acquisition light energies, the such as distance of detection tens meters, need 4 or 6 or more LED light source, and when having only to the distance testing several meters, a LED light source disclosure satisfy that detection demand.Multiple LED are operationally simultaneously emitted by infrared acquisition light, due to the divergence characterization of LED light source, will not produce mutual interference.
An embodiment wherein, in order to the diverging light that directly sent by LED is assembled, launches having the state of small divergence angle.It is provided with transmitting light collecting lens in the transmitting light path of described each LED light source, launches light collecting lens and the divergent rays directly sent by LED light source is assembled.This transmitting light collecting lens is convex lens, or is total internal reflection (Total
Internal Reflection, is called for short TIR) lens.By arranging transmitting light collecting lens, control to propagate in space the angle of divergence of detection light beam, the needs according to required search coverage that control of the angle of divergence select to arrange, such as when preferential detection is positioned at in-plant testee, the described infrared acquisition light angle of divergence propagated in space controls as the bigger angle of divergence, such as 20 degree, when needs detect remote testee, need to be controlled the angle of divergence such as 1 degree, 2 degree or 3 degree by transmitting light collecting lens.
An embodiment wherein, multiple LED light sources are evenly arranged around reception device, such as with reception sensor for symmetrical centre point, multiple LED are evenly arranged with triangle, rectangle, circle, polygon etc., arrange in sensor lateral symmetry when for two LED.
An embodiment wherein, owing to rotating the continuous rotation of housing, causes loss to slip ring, causes detecting and shortens device lifetime.In order to improve the service life of detection device, slip ring is replaced by wireless power supply and radio communication device.Such as, arranging the first coupling coil at pedestal, arrange the second coupling coil in shell of revolution body, to the first coupling coil energising, 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 pedestal, arranging the second radio communication device in shell of revolution body, data communication is transmitted by described first, second radio communication device.Described radio communication device is specially existing known mode, the mode such as such as optical communications module, bluetooth module, Wi-Fi module, NRF24L01 module.
Photoelectric sensor is the block array sensor being made up of N row M row sensor, and as shown in Figure 4, this sensor array is by being made up of N*M the standalone sensor being arranged in same plane.Each standalone sensor can standalone probe infrared acquisition light, and binding signal processing unit obtains independent range information.When the detection device work of multi-thread rotation sweep, at each detection angle that multi-thread rotation sweep detection device rotates to, search coverage N number of diverse location in the horizontal direction and M diverse location in vertical direction are carried out distance measurement, obtains N*M range information.In an embodiment wherein, this sensor array is by being made up of 8*8 standalone sensor.Photoelectric sensor is ccd sensor or is cmos sensor.
In two adjacent detector angles that multi-thread rotation sweep detection device rotates to, same search coverage is had the distance measurement information of overlap, it is also possible to same search coverage is not had the distance measurement information of overlap.When rotation sweep detection device work, each angle that this device rotates to, the region with certain area is detected by the detection light that LED light source sends, each angle that sensor array rotates to for this device, the distance range that sensor is detected has an angle in the horizontal direction.In a preferred embodiment, when rotation sweep detection device work, the detection angle in horizontal direction and the angle of divergence angle numerically equal of LED light source.Therefore, at two adjacent detection angles that detection device rotates to, by controlling the probe interval of sensor, same search coverage is had the distance measurement information of overlap, it is also possible to same search coverage is not had the distance measurement information of overlap.
According to the needs of concrete detection, by changing the modulating frequency launching modulation of source signal, change the distance measurement scope of multi-thread rotation sweep detection device.
When the detection of this Minitype infrared works with measurement apparatus, owing to rotated detection part constantly rotates, in order to accurately determine which concrete angle orientation is detected range data be at, determine the rotated detection part position of rotation relative to pedestal, in the detection of this Minitype infrared with the pedestal of measurement apparatus or rotate housing bottom and be provided with photoelectric coded disk.This photoelectric coded disk, centered by the center of rotation axle of rotated detection part, is uniformly fixedly installed.The projection that this photoelectric coded disk is identical by spacing, arrange with circumferential shapes forms, and described projection is to have the rectangular preiection of certain altitude and width, and one of them is protruding has different width from remaining projection.
Detection device is for the intelligent machine mobile device multi-thread scanning probes to surrounding such as walking robot, sweeping robot, unmanned planes.By the range information obtained, to position and Graph Drawing Algorithm simultaneously, rebuild the map of surrounding, determine can only mobile device position in map, contexture by self mobile route and autonomous.
Claims (10)
1. a multi-thread rotation sweep detection device, for detecting the distance between multi-thread rotation sweep detection device and testee, it is characterised in that including:
Launch light source, be fixed on rotation enclosure interior, go out infrared acquisition light by the modulate emission of modulated signal；
Receiving device, be fixed on rotation enclosure interior, have photoelectric sensor, this photoelectric sensor receives the infrared acquisition light reflected by testee, converts optical signals to the signal of telecommunication；
Signal processing unit, is connected with photoelectric sensor, calculates the distance between multi-thread rotation sweep detection device and testee based on time-of-flight method；
Photoelectric coded disk, for determining the angle position rotating housing；
Drive motor, drive rotation housing constantly to rotate relative to pedestal；
Bearing and slip ring, described slip ring is positioned at rotation housing bottom centre axle；Circuit board, described circuit board is connected with transmitting light source and reception device；
Wherein, described transmitting light source is LED light source, and described photoelectric sensor is the array photoelectric comprising multiple sensor that works alone.
One the most according to claim 1 multi-thread rotation sweep detection device, it is characterized in that, the number of described LED light source is one or more, it is simultaneously emitted by infrared acquisition light, be provided with transmitting light collecting lens in the transmitting light path of described each LED light source, LED light source the divergent rays directly sent is assembled by described transmitting light collecting lens.
One the most according to claim 2 multi-thread rotation sweep detection device, it is characterised in that described transmitting light collecting lens is TIR lens.
4. detect device according to the multi-thread rotation sweep of the one one of claim 1-3 Suo Shu, it is characterised in that in the light path receiving light of photoelectric sensor, be provided with reception light collecting lens.
One the most according to claim 4 multi-thread rotation sweep detection device, it is characterised in that described reception light collecting lens is the convex lens arranged before and after two panels.
One the most according to claim 1 multi-thread rotation sweep detection device, it is characterized in that, described photoelectric sensor is the block array sensor being made up of N row M row sensor, at multi-thread rotation sweep detection each detection angle of rotating to of device, search coverage N number of diverse location in the horizontal direction and M diverse location in vertical direction are carried out distance measurement.
One the most according to claim 6 multi-thread rotation sweep detection device, it is characterised in that at each detection angle that multi-thread rotation sweep detection device rotates to, N row M row the sensor the most independently detection range in described photoelectric sensor.
One the most according to claim 1 multi-thread rotation sweep detection device, it is characterised in that described photoelectric sensor is ccd sensor or is cmos sensor.
One the most according to claim 1 multi-thread rotation sweep detection device, it is characterised in that described slip ring is replaced by wireless power supply and radio communication device.
10. detect device according to the multi-thread rotation sweep of one one of claim 1-3,6-9 Suo Shu, it is characterized in that, described detection device is for walking robot, sweeping robot, unmanned plane or other intelligent machine mobile devices multi-thread scanning probe to surrounding.
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| CN112904336A (en) * | 2021-02-10 | 2021-06-04 | 深圳市云视机器人有限公司 | Detection device and self-moving robot |
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