CN211928172U - Optical ranging module, optical scanning ranging device and robot - Google Patents
Optical ranging module, optical scanning ranging device and robot Download PDFInfo
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- CN211928172U CN211928172U CN202020189715.7U CN202020189715U CN211928172U CN 211928172 U CN211928172 U CN 211928172U CN 202020189715 U CN202020189715 U CN 202020189715U CN 211928172 U CN211928172 U CN 211928172U
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Abstract
The utility model discloses an optical ranging module, optical scanning range unit and robot, optical ranging module, include: the device comprises a collimation light source, a photosensitive chip, a processor circuit connected with the photosensitive chip, and at least two imaging lenses with different focal lengths; the imaging lens at least comprises a first imaging lens and a second imaging lens, the focal length of the first imaging lens is small, and an included angle which is larger than 0 degree and smaller than 90 degrees is formed between the optical axis of the first imaging lens and the optical axis of the collimation light source, so that the distance measurement of the middle and short distances is realized; the focal length of the second imaging lens is larger, and the included angle of the optical axis of the second imaging lens and the optical axis of the collimation light source is smaller than that of the first imaging lens and the collimation light source; the method is used for realizing the distance measurement of medium and long distances. The utility model discloses an adopt the imaging lens of two different focuses, can reduce closely range finding blind area, can solve remote barycenter problem of beating again, improved remote measurement accuracy.
Description
Technical Field
The utility model relates to a trigonometry laser radar field especially relates to an optical ranging module and optical scanning range unit based on trigonometry.
Background
The laser radar has the advantages of relatively simple structure, high monochromaticity, high directivity, good coherence, higher measurement precision, high spatial resolution, long detection distance, low price and the like; the method is widely applied, and the application range is as large as that of an effective method for carrying out high-precision remote sensing detection on the atmosphere, the ocean and the land, and is as small as that of a navigation obstacle avoidance method of a household intelligent sweeping robot.
At present, a mechanical single-line scanning laser radar mostly adopts a trigonometry method to obtain distance information. The principle of triangulation distance measurement is as follows: the collimating light source emits a beam of collimating laser, the beam of light is diffused after irradiating the target to be measured, the reflected beam is received by the lens and imaged on the imaging sensor, when the beam of light irradiates the object with different distances, the reflected beam enters the lens from different angles, the positions of imaging light spots on the imaging sensor are different, and corresponding distance information can be obtained according to the positions of the light spots on the imaging sensor. As shown in fig. 1, the distance between the target to be measured and the collimated light source can be obtained by the following formula:
q＝(f·s)/x (1)
L＝q/cos(β) (2)
conversion of formula (1) to
x＝(f·s)/q (3)
And then, the formula (3) is subjected to q derivation to obtain:
dq/dx＝-q2/(f·s) (4)
wherein, q: distance from the system to the target to be measured, s: distance between the collimated light source and the central optical axis of the imaging lens, L: the distance from the collimated light source to the target to be measured, f: lens focal length, x: displacement amount of the light spot on the imaging sensor, β: and the laser emitting direction and the central optical axis of the imaging lens form an included angle.
It can be seen that, when the distance of the target to be measured becomes longer, the jump of the obtained distance value (centroid jump) will increase greatly every time the pixel point obtained from the imaging sensor moves by a unit distance, that is, the accuracy becomes lower, so that a larger f · s value or a smaller sensor resolution dx is required to ensure that dq is controlled within a certain range. Due to the requirement of structural miniaturization and the limitation of the resolution of the existing imaging sensor, the focal length f of the lens needs to keep a large value, namely the field angle of the lens is limited and cannot be greatly obtained, so that the existing laser radar ranging of a single lens based on triangulation ranging has a large blind area, and the radar can be limited in installation position and function use.
The existing laser radar structure has high core cost by adopting the lens as the receiver, and the installation is difficult by adjusting the focal length of the lens when the installation is carried out.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned defect of prior art, the utility model aims to solve the technical problem that an ultra-small blind area is provided, satisfy miniaturized, low-cost optical ranging module and optical scanning range unit based on trigonometry again.
In order to achieve the above object, the utility model provides an optical ranging module, include: the device comprises a collimation light source, a photosensitive chip, a signal processing circuit connected with the photosensitive chip, and at least two imaging lenses with different focal lengths; the imaging lens at least comprises a first imaging lens and a second imaging lens, the focal length of the first imaging lens is smaller, and an included angle which is larger than 0 degree and smaller than 90 degrees is formed between the central optical axis of the first imaging lens and the optical axis of the collimation light source; the focal length of the second imaging lens is larger, and the included angle of the central optical axis of the second imaging lens and the optical axis of the collimation light source is smaller than that of the first imaging lens and the collimation light source;
the first imaging lens is disposed between the collimated light source and the second imaging lens such that: a first spacing distance formed between the central optical axis of the first imaging lens and the collimation light source is smaller than a second spacing distance formed between the central optical axis of the second imaging lens and the collimation light source;
the light sensing chip comprises a first area and a second area, and after being reflected, the light beam of the collimation light source is imaged in the first area of the light sensing chip through the first imaging lens and/or imaged in the second area of the light sensing chip through the second imaging lens.
Further, the collimated light source is a laser.
Further, the included angle between the first imaging lens and the collimation light source is 3-12 degrees, and the included angle between the second imaging lens and the collimation light source is 0 degree.
Further, the first imaging lens and the second imaging lens are aspheric lenses.
Furthermore, the central optical axis of the photosensitive chip and the central optical axis of the second imaging lens form an included angle of 90 degrees.
Further, the first region of the photosensitive chip is located between the second region and the collimated light source.
Further, the photosensitive chip is a CMOS photosensitive array chip, a CCD photosensitive array chip or a PSD.
The utility model also provides an optical scanning range unit, including optical ranging module and chassis, optical ranging module installs on the chassis to rotatory scanning under the drive on chassis, optical ranging module is as above optical ranging module.
The utility model also provides a robot, include as above optical ranging module.
The utility model discloses a following technological effect:
(1) the imaging lens is adopted to replace a lens for installation, so that the debugging is convenient and the cost is low;
(2) by arranging the two imaging lenses with different focal lengths, the lens with the smaller focal length and the collimation light source form a certain included angle, so that a short-distance ranging blind area can be reduced; the imaging lens with the larger focal length can solve the problem of long-distance centroid jumping, namely, the long-distance measurement precision is improved.
Drawings
FIG. 1 is a schematic diagram of a laser radar triangulation method;
fig. 2 is a schematic structural diagram of a preferred embodiment of the laser ranging module of the present invention;
fig. 3 is an imaging schematic diagram of the short focal length lens of the laser ranging module of the present invention;
fig. 4 is an imaging schematic diagram of the long-focus lens of the laser ranging module of the present invention;
fig. 5 is a schematic structural diagram of the laser radar of the present invention.
Detailed Description
To further illustrate the embodiments, the present invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. With these references, one of ordinary skill in the art will appreciate other possible embodiments and advantages of the present invention. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The present invention will now be further described with reference to the accompanying drawings and detailed description.
As shown in fig. 2, fig. 3 and fig. 4, the utility model discloses a specific embodiment of an optical ranging module (laser ranging module), including collimation light source 1, short focal length lens 2, long focal length lens 3, photosensitive chip 4, support 5 and relevant drive control circuit, signal processing circuit. In the working state, the collimated light source 1 emits laser light, and the laser light is emitted after encountering an obstacle. The reflected light beam encountering a short-distance obstacle is focused to a photosensitive plane of the photosensitive chip 4 through the short-focus lens 2 to form a light spot, or the reflected light beam encountering a long-distance obstacle is focused to the photosensitive plane of the photosensitive chip 4 through the long-focus lens 3 to form a light spot, or the emitted light encountering a middle-distance obstacle is respectively focused to the photosensitive plane of the photosensitive chip through the short-focus lens 2 and the long-focus lens 3 to form two light spots, the output signal of the photosensitive chip 4 is processed to obtain the position of the light spot on the photosensitive plane of the photosensitive chip 4, and then the distance between the obstacle and the laser ranging module is obtained through conversion.
As shown in fig. 3 and 4, the laser beam encounters an obstacle at point A, B, C, D, E and is reflected to form images on a ', B ', C ', D ', E ' of the photosensitive chip 4, respectively.
In the present embodiment, the short focal length lens 2 is disposed between the collimated light source 1 and the long focal length lens 3, and images the reflected signal passing through the short focal length lens 2 on the left half area 41 of the photosensitive chip 4 (i.e. the portion of the photosensitive chip 4 closer to the collimated light source 1), and images the reflected signal passing through the long focal length lens 3 on the right half area 42 of the photosensitive chip 4 (i.e. the portion of the photosensitive chip 4 away from the collimated light source 1).
In this embodiment, an included angle α is formed between the optical axis 21 of the short-focus lens 2 and the optical axis 11 of the collimated light source 1 along the counterclockwise direction, and at this time, the field angle of the short-focus lens 2 can be considered as a close distance, the reflected light beam in the close range is focused to the photosensitive chip 4 through the short-focus lens 2, and the reflected signal between the first near point and the first far point is effectively imaged on the left half area 41 of the photosensitive chip 4. For convenience of explanation, point a is set as the first near point, and point C is set as the first far point, and the images are respectively formed on points a 'and C' of the left half region 41 of the photo sensor chip 4.
In this embodiment, the size of the short-focus lens 2 and the included angle between the optical axis of the short-focus lens 2 and the optical axis of the collimating light source 1 in the counterclockwise direction can be set according to actual conditions, so as to adjust the size of the field angle of the short-focus lens 2 and the positions of the near point and the far point, for example, the blind area of the laser ranging module is controlled to be less than 0.1 meter, which satisfies the application of the laser ranging module in robots such as a floor sweeping robot. As in the present embodiment, the angle between the optical axis 21 of the short focal length lens 2 and the optical axis 11 of the collimated light source 1 is preferably 3 ° to 12 °. And will not be described further herein.
Through the setting of double lens, can reduce the laser rangefinder module in the blind area closely, the barycenter when solving long-distance range finding beats simultaneously.
In the present embodiment, the optical axis of the long-focus lens 3 is parallel to the optical axis of the collimated light source 1, and only a long-distance reflected light beam is allowed to enter because the angle of view of the long-focus lens 3 is small. The range of the incident distance that can be effectively recognized and supported by the long focal length lens 3 is defined as between the second near point and the second far point. For convenience of illustration, point D is set as the second near point, point E is set as the second far point, and the reflected signals of the second near point and the second far point are imaged on D 'and E' of the right half area 42 of the photosensitive chip 4 through the long-focus lens 3, respectively.
The field angles of the two lenses have certain overlap to ensure that no measuring blind area occurs at the middle distance. The reflected light beam between the second near point and the first far point will be imaged on the photosensitive chip 4 at the same time. Referring to fig. 2 and 3, the reflected signals between the second near point and the first far point are simultaneously imaged on the photosensitive chip 4 and simultaneously imaged on both ends of the photosensitive chip 4, and a signal can be selected as a basis for ranging by a control program.
In this embodiment, the laser ranging device further includes a turntable 200, the laser ranging module 100 is mounted on the upper surface of the turntable 200, and the turntable 200 rotates 360 ° around its central axis. The laser ranging module scans surrounding obstacles in a rotating mode to obtain two-dimensional scanning images so as to obtain the distance between the laser ranging module and the surrounding obstacles at various angles.
In the embodiment, the collimated light source 1 is a single light source, and the photosensitive chip 4 adopts a one-dimensional (linear) image sensor, and combines with rotational scanning to obtain a two-dimensional scanning image; the collimated light source 1 may also be a vertical row of light sources, and the photosensitive chip 4 employs a two-dimensional image sensor, and combines with rotational scanning to obtain a three-dimensional scanning image of the surrounding obstacle. The image sensor generally uses a photosensitive array chip of CMOS technology or CCD technology, and may also be a position sensitive chip (PSD).
In this embodiment, as a preferred embodiment, the short focal length lens 2 and the long focal length lens 3 both use an aspheric lens rather than a spherical lens, and the aspheric lens is superior to the spherical lens in that the spherical aberration of the spherical lens in the collimating and focusing system can be corrected, thereby improving the measurement accuracy. The specific surface type and optical parameters of the aspheric lens are selected, and those skilled in the art can select the aspheric lens according to the actual needs in the prior art according to the optical condition requirements of the application and the angle of the production cost, and are not described herein again.
In other embodiments, more lenses with different focal lengths, such as 3 or 4 lenses, can be arranged according to the incident angle of the lens, the invention forms a multi-section ranging range from near to far by arranging the lenses with different focal lengths on the basis of the traditional laser radar for ranging by a triangular method and arranging different optical axis angles, combines the ranging ranges of the lenses to obtain a large incident angle of a reflected light beam, and can realize an ultra-small blind area without increasing the area of the laser radar device.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An optical ranging module, comprising: the device comprises a collimation light source, a photosensitive chip, a processor circuit connected with the photosensitive chip, and at least two imaging lenses with different focal lengths; the imaging lens at least comprises a first imaging lens and a second imaging lens, the focal length of the first imaging lens is small, and an included angle which is larger than 0 degree and smaller than 90 degrees is formed between the optical axis of the first imaging lens and the optical axis of the collimation light source; the focal length of the second imaging lens is larger, and the included angle of the optical axis of the second imaging lens and the optical axis of the collimation light source is smaller than that of the first imaging lens and the collimation light source;
the first imaging lens is disposed between the collimated light source and the second imaging lens such that: a first spacing distance formed between the first imaging lens and the collimation light source is smaller than a second spacing distance formed between the second imaging lens and the collimation light source;
the light sensing chip comprises a first area and a second area, and after being reflected, the light beam of the collimation light source is imaged in the first area of the light sensing chip through the first imaging lens and/or imaged in the second area of the light sensing chip through the second imaging lens.
2. The optical ranging module of claim 1, wherein: the included angle between the first imaging lens and the collimation light source is 3-12 degrees, and the included angle between the second imaging lens and the collimation light source is 0 degree.
3. The optical ranging module of claim 1, wherein: the first imaging lens and the second imaging lens are aspheric lenses.
4. The optical ranging module of claim 1, wherein: and the photosensitive chip and the central optical axis of the second imaging lens form an included angle of 90 degrees.
5. The optical ranging module of claim 1, wherein: the first region of the photosensitive chip is located between the second region and the collimated light source.
6. The optical ranging module of claim 1, wherein: the photosensitive chip is a CMOS photosensitive array chip, a CCD photosensitive array chip or a PSD.
7. The optical ranging module of claim 1, wherein: the collimated light source is a laser.
8. An optical scanning distance measuring device, characterized by: the optical ranging module comprises an optical ranging module and a chassis, wherein the optical ranging module is arranged on the chassis and driven by the chassis to rotate and scan, and the optical ranging module is the optical ranging module as claimed in any one of claims 1 to 7.
9. A robot, characterized by: comprising an optical scanning distance measuring device according to claim 8.
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| CN202020189715.7U CN211928172U (en) | 2020-02-20 | 2020-02-20 | Optical ranging module, optical scanning ranging device and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113064452A (en) * | 2021-03-18 | 2021-07-02 | 苏州极目机器人科技有限公司 | Aircraft lighting method and device and aircraft |
| CN114779267A (en) * | 2022-04-19 | 2022-07-22 | 湖南阿秒光学科技有限公司 | Laser ranging system and laser ranging device |
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2020
- 2020-02-20 CN CN202020189715.7U patent/CN211928172U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113064452A (en) * | 2021-03-18 | 2021-07-02 | 苏州极目机器人科技有限公司 | Aircraft lighting method and device and aircraft |
| CN113064452B (en) * | 2021-03-18 | 2023-01-20 | 苏州极目机器人科技有限公司 | Aircraft lighting method and device and aircraft |
| CN114779267A (en) * | 2022-04-19 | 2022-07-22 | 湖南阿秒光学科技有限公司 | Laser ranging system and laser ranging device |
| CN114779267B (en) * | 2022-04-19 | 2023-03-10 | 湖南阿秒光学科技有限公司 | Laser ranging system and laser ranging device |
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