CN206161862U - Ranging system based on TOF - Google Patents
Ranging system based on TOF Download PDFInfo
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- CN206161862U CN206161862U CN201621124826.XU CN201621124826U CN206161862U CN 206161862 U CN206161862 U CN 206161862U CN 201621124826 U CN201621124826 U CN 201621124826U CN 206161862 U CN206161862 U CN 206161862U
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- lens barrel
- transmitting
- system based
- range
- tube
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Abstract
The utility model discloses a ranging system based on TOF is provided with main emission pipe and transmission focus lens group in the transmission lens cone, the receipt lens cone sets up with the transmission lens cone side by side, receives the lens cone and including preventing stray photo structure and receiving focus lens group, prevents stray photo structure and locate and receive focus lens group to link to each other for toper structure, the opening main aspects of its toper structure that its opening tip department is provided with the light filter, the below of light filter is provided with photosensitive receiving tube and supplementary launching tube, and photosensitive receiving tube and the welding of supplementary launching tube are on the circuit board. During system fast correction, the main emission is managed out of workly, and a branch of infrared light through the modulation is launched to supplementary launching tube, is received and turned into the signal of telecommunication by photosensitive receiving tube, and the phase difference of circuit intralamellar part circuit record modulating signal this moment and photosensitive receiving tube signal calculates current measurement distance error as the benchmark to preserve this distance error in the memory, can accomplish the correction, compensate measuring result at every turn.
Description
Technical field
The utility model is related to a kind of range-measurement system, more particularly to a kind of range-measurement system based on TOF.
Background technology
At present, two classes are mainly had based on the ranging scheme of flight time (TOF) technology, a class is laser solution, another kind of
It is non-laser solution.Wherein laser solution has far measuring distance, the high advantage of accuracy, but shortcoming is also it is obvious that main
Shortcoming is wanted to have：
(1) energy density of aggregation is higher, and have has the danger burnt to skin and eyes；(2) generating laser is to work
Temperature is more sensitive, is easily damaged in the case of a high temperature, and its luminous intensity and luminous efficiency are larger with temperature change；
(3) manufacturing cost is higher；(4) cannot work under intense light irradiation environment.
Another kind of is non-laser solution, although program advantage of lower cost, to human body almost fanout free region, can be higher
At a temperature of normal work, but due to energy be not easy concentrate, cause measure distance it is shorter, while also cannot be in intense light irradiation environment
Lower work.Additionally, existing distance-finding method is corrected mark in the measurement distance to sensor, and timed step is more, complex operation,
It is higher to the level requirement of operator, it is not easy to domestic consumer and uses.
Utility model content
It is its low cost, stable the utility model proposes a kind of range-measurement system based on TOF to solve above-mentioned technical problem
Property it is high, simple to operate, not only far measuring distance and certainty of measurement are high, with higher security performance.
In order to achieve the above object, the technical solution of the utility model is as follows：A kind of range-measurement system based on TOF, including
Jing Gai, transmitting lens barrel, circuit board and reception lens barrel, the transmitting lens barrel and reception lens barrel are arranged on circuit board, and Jing Gai is used for
Cover in transmitting lens barrel and receive on lens barrel, in the transmitting lens barrel main transmitting tube and transmitting focusing lens set, main transmitting are provided with
Pipe is mounted on launching on the circuit board in lens barrel, and transmitting focusing lens set is arranged on the top of main transmitting tube；
The reception lens barrel is arranged side by side with transmitting lens barrel, and receiving lens barrel includes preventing spuious photo structure and collectiong focusing eyeglass
Group, prevents that spuious photo structure is pyramidal structure, is connected with collectiong focusing lens set at the opening end greatly of its pyramidal structure, and its opening is little
Optical filter is provided with end；Photosensitive receiving tube and auxiliary transmission pipe, the photosensitive receiving tube are provided with below the optical filter
Weld on circuit boards with auxiliary transmission pipe.
Preferably, the outside of the transmitting lens barrel and reception lens barrel is provided with light-shielding structure, the setting of light-shielding structure is used
In preventing veiling glare and optical noise.
Preferably, the transmitting focusing lens set and collectiong focusing lens set are respectively by a piece of or multi-disc lens group
Into；If the utility model a piece of or dry plate lens group used in lens barrel and reception lens barrel is launched is into lens set, to launching light
It is focused with light is received, the diverging of light can be reduced, the loss of energy is greatly reduced so that measurement distance is obtained significantly
Lifted.Meanwhile, the light-shielding structure, tapered with reference to lens barrel prevents spuious photo structure and optical filter, can eliminate most environment
Optical noise so that the optical signal that reception pipe is received is more stable, greatly improved the signal to noise ratio and certainty of measurement of system.
Preferably, the main transmitting tube is the non-laser infrared LED pipe that wavelength is 700nm-2000nm；It is excellent in this patent
The non-laser infrared LED pipe that wavelength is 850nm, the transmitting focusing lens set is selected to be made up of two panels non-spherical lens；Due to too
Light component containing various wavelength in sunlight, and the light component relative intensity of infrared band is weaker, the infrared light for choosing 850nm is made
Can reduce for light source the visible light component in sunshine adjust the distance measurement produce interference.
Preferably, the photosensitive receiving tube adopt spectral sensitivity for 400nm-2000nm infrared receiving tube, this is specially
Preferred spectral sensitivity is the infrared receiving tube of 880nm as photosensitive receiving tube in profit；The centre wavelength of the optical filter is
700nm-2000nm, half-band width is 5nm-100nm, and in actual applications preferred center wavelength is 880nm to this patent, and half-band width is
The optical filter of 50nm；When the centre wavelength and close optical source wavelength of photosensitive receiving tube, photosensitive receiving tube is to reflected light signal
Sensitivity highest, the photosensitive receiving tube for choosing 880nm coordinates the optical filtering that half-band width is 50nm to eliminate most of other ripples
The impact of long light component, improves the signal to noise ratio of system.
Preferably, the collectiong focusing lens set is made up of one or more pieces lens, during the auxiliary transmission pipe is adopted
The LED pipe of a length of 700nm-2000nm of cardiac wave, preferred center wavelength is the LED pipe of 850nm as auxiliary transmission pipe in this patent.
Preferably, described prevent that spuious photo structure is pyramidal structure, its inclined-plane and horizontal plane angulation be 15 °-
75 °, it is adapted to the eyeglass for being used for matching different focal and different bores in actual applications.
Preferably, the Jing Gai is that transmitting terminal block and receiving terminal block are integrally formed, while for being covered in transmitting
On lens barrel and reception lens barrel, using the structure design that transmitting terminal block and receiving terminal block are two-in-one, closely cover with lens barrel, no
But lens can be protected not polluted by extraneous dust, on the one hand can prevent the light for launching lens barrel from entering into reception in timing
Lens barrel, while can prevent ambient light noise from entering into reception lens barrel.Correct relative to long range, this correcting mode can be carried
The precision of height correction and the degree of accuracy, can be prevented effectively from ambient light noise and produce interference to correction.
Meanwhile, the utility model also improves a kind of bearing calibration of the range-measurement system based on TOF, its specific correction step
Suddenly include：
(1) cover transmitting lens barrel with Jing Gai and receive lens barrel；
(2) internal circuit of circuit board is switched to auxiliary transmission pipe from main transmitting tube, produces an electric current through modulation
To drive auxiliary transmission pipe, now, main transmitting tube does not work；
(3) auxiliary transmission pipe launches a branch of Infrared irradiation through modulation on photosensitive receiving tube；
(4) photosensitive receiving tube receives the infrared light of the process modulation sent from auxiliary transmission pipe and is translated into telecommunications
Number；
(5) internal circuit of circuit board is by the phase place between the electric signal and modulated signal that compare photosensitive receiving tube generation
Difference calculates current measurement distance error Doffset, and the range error is stored in memory；Its measurement distance error
DoffsetComputing formula be：
Wherein：DoffsetInternal circuit and transmitting, reception pipe for circuit board postpones the range error for producing；C is light true
Aerial spread speed；fLEDTo modulate the frequency of light；For modulated signal and the phase difference of photosensitive receiving tube signal；
(6) in normal measurement, the result of each measurement is compensated with the position error data of the preservation.
Bearing calibration of the present utility model just can complete the distance calibration of sensor, phase without outside caliberating device
Than the correcting mode of prior art, in bearing calibration of the present utility model straightening speed and precision be obtained for significantly improve it is right
Threshold is also significantly reduced for operator；And it does not have particular/special requirement to environment, can be corrected whenever and wherever possible；For away from
Fitting of a polynomial, high precision are adopted from drift correction part.
The beneficial effects of the utility model：The utility model solve in the past using laser design when the height that exists into
Originally the shortcomings of, skin and human eye being damaged, cannot worked in high temperature environments, while solve being designed using non-laser
The measurement distance that exists during scheme is short, low precision, the problems such as correct loaded down with trivial details, it is proposed that a kind of inexpensive, high biological safety, survey
Span is away from, high-precision solution, while realizing the one-touch correction to systematic error, simplifies the loaded down with trivial details school of tradition
Positive process, is that the use of domestic consumer is provided convenience.
Description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the profile of Fig. 1；
Fig. 3 is the structural representation of Jing Gai；
Fig. 4 is the comparison diagram of the distance and actual range for measuring；
Wherein：1. Jing Gai, 2. transmitting focusing lens set, 3. launches lens barrel, 4. main transmitting tube, 5. circuit board, and 6. auxiliary is sent out
Pipe is penetrated, 7. photosensitive receiving tube, 8. optical filter, 9. prevent spuious photo structure, 10. receive lens barrel, 11. collectiong focusing lens sets, 12. screenings
Photo structure.
Specific embodiment
The utility model is described in further detail with reference to specific embodiment.
As shown in Figure 1 to Figure 3, a kind of range-measurement system based on TOF, including mirror lid 1, transmitting lens barrel 3, circuit board are disclosed
5 and receive lens barrel 10, it is described transmitting lens barrel 3 and receive lens barrel 10 be arranged on circuit board 5 on, mirror lid 1 be used for cover transmitting lens barrel 3
On reception lens barrel 10, main transmitting tube 4 and transmitting focusing lens set 2 are provided with the transmitting lens barrel 3, main transmitting tube 4 is installed
On the circuit board in transmitting mirror cylinder, transmitting focusing lens set 2 is arranged on the top of main transmitting tube 4；
The reception lens barrel 10 is arranged side by side with transmitting lens barrel 3, and receiving lens barrel 10 includes anti-spuious photo structure 9 and receive poly-
Focus lens group, prevents that spuious photo structure is pyramidal structure, is connected with collectiong focusing lens set 11 at the opening end greatly of its pyramidal structure,
Optical filter 8 is provided with its opening small end；The lower section of the optical filter 8 is provided with photosensitive receiving tube 7 and auxiliary transmission pipe 6, institute
State photosensitive receiving tube 7 and auxiliary transmission pipe 6 is welded on circuit board 5.
This range-measurement system also includes in actual applications following technical characteristic：In transmitting lens barrel and the outside for receiving lens barrel also
Light-shielding structure is provided with, veiling glare and optical noise can be substantially prevented from；Transmitting focusing lens set and collectiong focusing lens set are distinguished
It is made up of a piece of or multi-disc lens.
And used as optimal technical scheme of the present utility model, transmitting lens barrel is sent out using 850nm non-laser infrared LED as main
Pipe is penetrated, using two panels non-spherical lens as transmitting focusing lens set；It receives lens barrel and adopts centre wavelength for the infrared of 880nm
Reception pipe adopts centre wavelength for 880nm as light face reception pipe, and half-band width is the optical filter of 50nm, and it prevents spuious photo structure
Inclined-plane with the horizontal 15 ° of -75 ° of angles, can be used to match the eyeglass of different focal and different bores in this angular range.
The utility model is based on TOF know-whies, and when carrying out range measurement, auxiliary transmission pipe 6 does not work, by circuit board
5 internal circuit produces the driving current of certain modulating frequency and drives main transmitting tube 4, is allowed to produce the light letter of certain modulating frequency
Number, the optical signal is launched through the focusing of transmitting focusing lens set 2 from lens barrel 3.The launching light is irradiated to after testee
A part of optical signal can be reflected back toward, the signal is received and focused on by collectiong focusing lens set 11, through optical filter 8 it is filtered out
The optical signal of his wavelength, converges on photosensitive receiving tube 7.The optical signal is converted to electric signal, circuit board 5 by photosensitive receiving tube 7
The internal circuit phase difference that passes through computation of modulation signals and photosensitive receiving tube signal, you can calculate light source to testee
Distance.Light-shielding structure 12 can prevent the veiling glare and ambient light noise of different angles in measuring environment from being connect by photosensitive receiving tube 7
Receive, anti-veiling glare ramp structure 9 can enter the veiling glare and ambient light noise reflection for receiving lens barrel 10 from side front illuminated
Go back.The anti-spuious photo structure 9 of light-shielding structure 12 and ramp type improves signal to noise ratio, measurement distance and the certainty of measurement of system.
When range measurement is carried out using TOF principles, different launches light modulation frequency by the different maximum range of correspondence.
Preferred version of the present utility model adopts 4.5MHz as the modulating frequency of launching light, and the theoretical maximum under the modulating frequency is surveyed
From for 33.33m, compared to existing technology its measurement distance improves 2 times to span.
Meanwhile, the utility model additionally provides a kind of bearing calibration of the range-measurement system based on TOF, and system is quickly corrected
When, mirror lid 1 covers transmitting lens barrel 3 and receives lens barrel 10, and main transmitting tube 4 does not work, and the internal circuit of circuit board 5 is switched to auxiliary
Transmitting tube 6 makes it launch a branch of infrared light through modulation, and the infrared light receives and be converted into telecommunications by photosensitive receiving tube 7
Number, the internal circuit of circuit board 5 records the phase difference of now modulated signal and photosensitive receiving tube signal as benchmark, calculates and works as
Front measurement distance error Doffset, the computing formula of range error is
And the range error is stored in memory, you can correction is completed, mirror lid 1 is removed after the completion of correction can normally
Use.In normal measurement, the result of each measurement is compensated with the phase data of the record.
As shown in figure 4, what is reflected is the comparison diagram of the distance with actual range of measurement, as seen from the figure：It is using this
The distance that system and bearing calibration are measured goodness of fit compared with actual range is fine, and certainty of measurement is higher, and far measuring distance can reach
It is 2 times of existing measuring system to 33 meters.
Claims (8)
1. a kind of range-measurement system based on TOF, including Jing Gai (1), transmitting lens barrel (3), circuit board (5) and reception lens barrel (10),
On circuit board (5), Jing Gai (1) is launching lens barrel (3) and is connecing for covering for transmitting lens barrel (3) and reception lens barrel (10)
Receive on lens barrel (10), it is characterised in that be provided with main transmitting tube (4) and transmitting focusing lens set in transmitting lens barrel (3)
(2), main transmitting tube (4) is mounted on launching on the circuit board (5) in lens barrel (3), and transmitting focusing lens set (2) is arranged on master
The top of transmitting tube (4)；
Reception lens barrel (10) is arranged side by side with transmitting lens barrel (3), receives lens barrel (10) including anti-spuious photo structure (9) and connects
Pinching focus lens group (11), prevents that spuious photo structure (9) is pyramidal structure, with collectiong focusing mirror at the opening end greatly of its pyramidal structure
Piece group (11) is connected, and at its opening small end optical filter (8) is provided with；Photosensitive receiving tube is provided with below the optical filter (8)
(7) and auxiliary transmission pipe (6), the photosensitive receiving tube (7) and auxiliary transmission pipe (6) are welded on circuit board (5).
2. the range-measurement system based on TOF according to claim 1, it is characterised in that the transmitting lens barrel (3) and receive mirror
The outside of cylinder (10) is provided with light-shielding structure (12).
3. the range-measurement system based on TOF according to claim 2, it is characterised in that the transmitting focusing lens set (2) and
Collectiong focusing lens set (11) is made up of respectively a piece of or multi-disc lens.
4. the range-measurement system based on TOF according to claim 1, it is characterised in that the main transmitting tube (4) is for wavelength
The non-laser infrared LED pipe of 700nm-2000nm；The transmitting focusing lens set (2) is made up of one or more pieces lens.
5. the range-measurement system based on TOF according to claim 4, it is characterised in that the photosensitive receiving tube (7) adopts light
Spectral sensitivity is the infrared receiving tube of 400nm-2000nm；The centre wavelength of the optical filter (8) be 700nm-2000nm, half band
A width of 5nm-100nm.
6. the range-measurement system based on TOF according to claim 3, it is characterised in that the collectiong focusing lens set (11)
It is made up of one or more pieces lens, the auxiliary transmission pipe (6) adopts centre wavelength for the LED pipe of 700nm-2000nm.
7. the range-measurement system based on TOF according to claim 6, it is characterised in that described to prevent that spuious photo structure (9) is cone
Shape structure, its inclined-plane is 15 ° -75 ° with horizontal plane angulation.
8. the range-measurement system based on TOF according to claim 1, it is characterised in that the Jing Gai (1) is transmitting terminal block
It is integrally formed with receiving terminal block, while for being covered in transmitting lens barrel (3) and receiving lens barrel (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621124826.XU CN206161862U (en) | 2016-10-14 | 2016-10-14 | Ranging system based on TOF |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621124826.XU CN206161862U (en) | 2016-10-14 | 2016-10-14 | Ranging system based on TOF |
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| Publication Number | Publication Date |
|---|---|
| CN206161862U true CN206161862U (en) | 2017-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621124826.XU Active CN206161862U (en) | 2016-10-14 | 2016-10-14 | Ranging system based on TOF |
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| CN (1) | CN206161862U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110278429A (en) * | 2018-03-18 | 2019-09-24 | 宁波舜宇光电信息有限公司 | Depth information camera module and its base assembly, electronic equipment and preparation method |
| CN112534192A (en) * | 2018-08-10 | 2021-03-19 | 夏普株式会社 | Air conditioner |
| WO2023008159A1 (en) * | 2021-07-29 | 2023-02-02 | ヌヴォトンテクノロジージャパン株式会社 | Three-dimensional ranging module and three-dimensional ranging system |
-
2016
- 2016-10-14 CN CN201621124826.XU patent/CN206161862U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110278429A (en) * | 2018-03-18 | 2019-09-24 | 宁波舜宇光电信息有限公司 | Depth information camera module and its base assembly, electronic equipment and preparation method |
| CN110278429B (en) * | 2018-03-18 | 2021-09-21 | 宁波舜宇光电信息有限公司 | Depth information camera module, base assembly thereof, electronic equipment and preparation method |
| US11493605B2 (en) | 2018-03-18 | 2022-11-08 | Ningbo Sunny Opotech Co., Ltd. | Depth information camera module and base assembly, projection assembly, electronic device and manufacturing method thereof |
| CN112534192A (en) * | 2018-08-10 | 2021-03-19 | 夏普株式会社 | Air conditioner |
| CN112534192B (en) * | 2018-08-10 | 2022-04-29 | 夏普株式会社 | Air conditioner |
| WO2023008159A1 (en) * | 2021-07-29 | 2023-02-02 | ヌヴォトンテクノロジージャパン株式会社 | Three-dimensional ranging module and three-dimensional ranging system |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 Floor 1, Building E, Huafeng International Robot Industrial Park, Nanchang Community Avenue, Xixiang Street, Baoan District, Shenzhen City, Guangdong Province Patentee after: Hebson Technology (Shenzhen) Co., Ltd. Address before: 518100 Guangdong city of Shenzhen province Baoan District Xixiang Street Silver Road No. 4 wisdom Valley Science and Technology Park A building room 526 Patentee before: Hebson Technology (Shenzhen) Co., Ltd. |