CN219328896U - Laser scanning sensor - Google Patents
Laser scanning sensor Download PDFInfo
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- CN219328896U CN219328896U CN202223432759.6U CN202223432759U CN219328896U CN 219328896 U CN219328896 U CN 219328896U CN 202223432759 U CN202223432759 U CN 202223432759U CN 219328896 U CN219328896 U CN 219328896U
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Abstract
The utility model provides a laser scanning sensor, includes box body and optical scanning module, and optical scanning module includes: the laser scanning assembly and the micro-processing unit are used for analyzing and processing the information of the laser scanning assembly; the box body covers the optical scanning module and wraps the laser scanning assembly and the micro-processing unit; the laser scanning assembly comprises a motor, a deflection device, a light isolation assembly, a light emitter and a light sensor. The deflection device is formed by encircling a plurality of mirror surfaces serving as side walls and driven by a motor to rotate; the deflection means is provided with a light emitting surface and a light receiving surface. The light emitter emitting end corresponds to the light emitting surface, and the light sensor receiving end corresponds to the light receiving surface. The light blocking assembly includes: and the first light-isolating plate is rotationally connected with the rotating mechanism and separates the light emitting surface from the light receiving surface and separates the emitting light path from the receiving light path. The deflection device is separated by the light isolation component, so that the mutual interference of light rays on the light emitting surface and the light receiving surface is avoided, and the scanning accuracy is improved.
Description
Technical Field
The present utility model relates to an optical scanner and a sensing device, in particular a laser scanning sensor.
Background
The laser scanning sensor comprises the following structures: the device comprises a transmitter, a deflection device, a micro-processing unit and a receiver, wherein the transmitter transmits light, the light is refracted onto a scanning surface through the deflection device, the light is reflected back to the deflection device after reaching the scanning surface, the deflection device refracts the returned light to the receiver, and the receiver receives the light and calculates based on a TOF method through the micro-processing unit, so that distance information of a target point in the scanning surface is obtained.
In the laser scanning sensor commonly used at present, the deflection device is provided with a transmitting part corresponding to the transmitter and a receiving part corresponding to the receiver, and the deflection part rotates according to a certain frequency, so that light rays emitted by the transmitter are refracted to a scanning surface according to different angles, and the receiving part is a light sensor and receives light reflection signals. The use requirement can be met under the general circumstances, but because the light sensor can respond to all reflected light, the receiving part can not only receive the light emitted by the emitter, but also receive the light reflected by other light sources after irradiating the scanning surface or the light of other light sources directly irradiating the receiving part, so that the accuracy of the scanning result of the device is reduced or disordered, the accuracy of the sensor is seriously influenced, and the use range of the sensor is limited.
Disclosure of Invention
In order to solve the problems, the utility model provides the following scheme:
the utility model provides a laser scanning sensor, includes box body and optical scanning module, optical scanning module includes: the laser scanning assembly and the micro-processing unit are used for analyzing and processing the information of the laser scanning assembly; the box body covers the optical scanning module and wraps the laser scanning assembly and the micro-processing unit; the box body is provided with a laser window made of light-transmitting materials at the scanning field position of the laser scanning assembly, and the laser scanning assembly comprises a motor, a deflection device, a light isolation assembly, a light emitter and a light sensor.
The deflection device is formed by encircling a plurality of mirror surfaces serving as side walls and driven by a motor to rotate; the deflection device is provided with a light emitting surface and a light receiving surface, and a rotating mechanism is arranged between the light emitting surface and the light receiving surface.
The light sensor and the light emitter are arranged on the same side of the deflection device, the light emitter emitting end corresponds to the light emitting surface, and the light sensor receiving end corresponds to the light receiving surface.
The light blocking assembly includes: and the first light-isolating plate is rotationally connected with the rotating mechanism and separates the light emitting surface from the light receiving surface and separates the emitting light path from the receiving light path.
Optionally, the rotating mechanism is: and the first light isolation plate is inserted into the rotating groove at the rotating groove and is in sliding connection with the rotating groove.
Optionally, the rotating mechanism is: the deflection device is fixed with the inner ring of the sealing bearing, and the first light-isolating plate is fixed with the outer ring of the sealing bearing at the sealing bearing.
Further, the light blocking assembly further includes: the second light-isolating plate is arranged around the deflection device, and the third light-isolating plate is arranged at the bottom and/or the top of the deflection device and is used for optically isolating the deflection device from the rest parts of the optical scanning module; the second light-shielding plate is provided with an opening corresponding to the scanning range at the target scanning direction.
Further, the laser scanning sensor is further provided with a colored light emitter for marking a scanning range at the opening of the second light-isolating plate; the box body is provided with an identification window corresponding to the identification range of the colored light emitter.
The colored light emitters are at least provided with 2 colored light emitters, and the colored light emitters are respectively provided with colored light paths along the emitted light deflection boundary at the opening of the second light isolation plate.
Furthermore, shielding parts are arranged above and below the laser window on the box body.
Further, a rotating shaft is arranged at the central axis of the deflection device, and the motor drives the deflection device to rotate by driving the rotating shaft to rotate; the light emitting surfaces and the light receiving surfaces are arranged in parallel in one-to-one correspondence.
Further, a rotating shaft is fixed at the light emitting surface of the deflection device, and the motor drives the light emitting surface of the deflection device to rotate by driving the rotating shaft to rotate; the light receiving surface of the deflection device is a fixed mirror surface.
Further, the light emitting surface of the deflection device is fixed with a first rotating shaft, the light receiving surface of the deflection device is fixed with a second rotating shaft, and the motor comprises a first motor and a second motor, wherein: the first motor is controlled to drive the light emitting surface to rotate by driving the first rotating shaft to rotate, and the second motor is controlled to drive the light reflecting surface to rotate by driving the second rotating shaft to rotate.
Further, the light emitting surface and/or the light receiving surface are/is inclined mirrors with inclination angles with the first light isolation plate.
The beneficial effects of the utility model are as follows:
1. the deflection device is separated by the light isolation component, so that the mutual interference of light rays on the light emitting surface and the light receiving surface is avoided, and the scanning accuracy is improved.
2. According to the utility model, through the design of the specific deflection device, the light emitter and the light sensor, the light sensor can only receive specific light, so that the possibility that other light is reflected to the light sensor is obviously reduced, and the accuracy of the sensor is obviously improved on the basis that the sensitivity of the sensor is not affected.
Drawings
FIG. 1 is a top view of the internal structure of the present utility model;
FIG. 2 is a front view of the internal structure of the present utility model;
FIG. 3 is a front view of the internal structure of the present utility model with the light shield removed;
FIG. 4 is a front view of the housing of the present utility model;
fig. 5 is a side view of the housing of the present utility model.
In the figure: 1. a case body; 2. a light emitter; 3. a microprocessor unit; 4. a second light-blocking plate; 5. a deflection device; 6. a rotating shaft; 7. a colored light emitter; 8. a first light-blocking plate; 9. an optical receiver; 10. a third light-blocking plate; 11. and a motor.
Detailed Description
The utility model will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the utility model and therefore show only the structures which are relevant to the utility model.
Example 1
As shown in fig. 1, 2, 3 and 4, the laser scanning sensor comprises a box 1 and an optical scanning module, wherein the optical scanning module comprises: a laser scanning module and a micro-processing unit 3 for analyzing and processing information of the laser scanning module; the box body 1 covers the optical scanning module and wraps the laser scanning assembly and the micro-processing unit 3; the box body 1 is provided with a laser window 101 made of light-transmitting materials at the scanning field position of a laser scanning assembly, and the laser scanning assembly comprises a motor 11, a deflection device 5, a light isolation assembly, a light emitter 2 and a light sensor 9.
The deflection device 5 is formed by encircling a plurality of mirror surfaces serving as side walls and is driven to rotate by a motor 11; the deflection device 5 is provided with a light emitting surface 504 and a light receiving surface 505, and a rotation mechanism 506 is provided between the light emitting surface 504 and the light receiving surface 505.
The light sensor 9 and the light emitter 2 are disposed on the same side of the deflection device 5, the emitting end of the light emitter 9 corresponds to the light emitting surface 504, and the receiving end of the light sensor 9 corresponds to the light receiving surface 505.
The light blocking assembly includes: and a first light blocking plate 8 rotatably connected to the rotation mechanism 506 and separating the light emitting surface 504 from the light receiving surface 505 to separate the emitting light path from the receiving light path.
The working principle of the laser scanning sensor is as follows: the light emitter 2 receives the control instruction and then directionally emits pulse light, and the motor 11 is controlled to drive the deflection device 5 to directionally rotate at a constant speed. At this time, one beam of the pulse light propagates to the light emitting surface 504 and is deflected by the light emitting surface 504, and propagates from the laser window 101 to the outside of the laser scanning sensor, forming one sensing light in the scanning sector of the laser scanning sensor. Since the pulse light is a plurality of independent beams with time intervals, and the deflection device 5 is driven by the motor 11 to continuously rotate, the deflection angle of each pulse light beam by the light emitting surface 504 is continuously changed, and the sensing light formed by continuous deflection forms a sector surface with the light emitting surface 504 as the center, and the sector surface is generally called the scanning range of the laser scanning sensor. The faster the motor 11 is controlled to rotate, the smaller the number of sensing lights in the fan, the larger the interval between the sensing lights, the lower the sensor accuracy, and conversely the higher the sensor accuracy.
Each sensing ray is blocked by the surface of the shielding object and diffusely reflected after moving to contact the shielding object. At least one of the diffusely reflected light is reflected at a reflection angle close to the sensing light and is reflected to be received by the light receiving surface 505, and the light receiving surface 505 deflects the received light to the sensing end of the photo sensor 9. Since the propagation speed of light is extremely fast, the process of self-emission-deflection-diffuse reflection-deflection-receiving of a beam of sensing light is completed in an extremely short time, and the angle of rotation of the deflection device 5 is almost negligible in this extremely short time, so that the light received by the light receiving surface 505 and deflected to the light sensor 9 can be considered as the same light beam as the light emitted and deflected by the light emitter 2, and since the laser scanning sensor of the present utility model deflects the reflected light to the sensing end of the light sensor 9 through the light receiving surface 505, the light reflected from other light sources after irradiating the scanning surface from other angles entering the light receiving surface 505 or the light directly irradiating the laser scanning sensor cannot or is extremely unlikely to be deflected to the sensing end of the light sensor 9 by the light receiving surface 505.
Since the distance measurement principle of the laser scanning sensor is mostly a TOF technology, that is, the distance of the target reflecting the beam of light relative to the sensor is calculated based on l=c×tn (L is distance, C is light speed, and Tn is the time difference between the emission and the reception of the pulse light) according to the time difference between the emitted light and the received light. The time interval at which the light emitter 2 emits the pulsed light is constant, and therefore the accuracy of the sensor is mainly limited by whether the light sensor 9 can accurately know the time of receiving the reflected light. In the prior art, since the sensing end of the photo sensor 9 is directly facing to the outside, the sensing end of the photo sensor 9 can sense all the light transmitted to the sensing end of the photo sensor 9, wherein the light reflected by the scanning surface irradiated by other light sources or the light directly irradiated by the laser scanning sensor by other light sources is included, which easily causes errors or deviations in the time when the photo sensor 9 receives the reflected light, and further causes errors or deviations in the distance value calculated based on the TOF technology. The utility model can control the reflected light received by the light sensor 9 to have most possibility from the light emitter 2, so that the accuracy of the sensor can be remarkably improved.
In addition, the light beam re-propagation process is generally straight, so that the transmitting light path and the receiving light path are generally independent of each other, but when the light is deflected by the deflection device 5, although no part of the light beam is deflected according to the deflection angle, since an absolute plane or absolute pure light reflector cannot be manufactured at present, a part of the light still faces a non-target direction when being re-deflected, and is deflected and reflected between the components, which easily causes the light sensor 9 to receive the deflected part of the light to cause false sensing, which is the influence of light crosstalk. The utility model separates the light emitting surface 504 from the light receiving surface 505 by adding the first light-blocking plate, thus avoiding the possibility that the light sensor 9 is irradiated by other angles deflected by the light emitting surface 504, and remarkably reducing the possibility of light crosstalk.
Example 2
Based on the laser scanning sensor of embodiment 1, as shown in fig. 2, 3 and 4, the rotation mechanism 506 is: and the light emitting surface 504 and the light receiving surface 505 are provided with an extended arc-shaped light shielding plate 501 at the rotating groove, and the first light shielding plate 8 is inserted into the rotating groove at the rotating groove and is in sliding connection with the rotating groove.
Example 3
Based on the laser scanning sensor of embodiment 1, the rotation mechanism is: the deflection device is fixed with the inner ring of the sealing bearing, and the first light-isolating plate is fixed with the outer ring of the sealing bearing at the sealing bearing.
The arrangement of embodiment 2 and embodiment 3 can realize the isolation of the first light-blocking plate 8 from the optical crosstalk without affecting the rotation of the deflection device 5, and simultaneously provide a fulcrum for the deflection device 5 during the rotation process, so as to avoid deflection light deviation caused by shaking during the rotation process of the deflection device 5.
Example 4
Based on the laser scanning sensor of embodiment 1, as shown in fig. 2 and 3, the light blocking assembly further includes: a second light-shielding plate 4 arranged around the deflection device, a third light-shielding plate 10 arranged at the bottom and/or the top of the deflection device 5 for optically isolating the deflection device 5 from the rest of the optical scanning module; the second light-shielding plate 4 is provided with an opening corresponding to the scanning range at the target scanning direction.
The arrangement can ensure that the transmitting light path and the receiving light path are completely sealed in the light isolation component, and the influence on the accuracy of the sensor caused by reflection of the transmitting light or the receiving light by other components in the sensor is avoided. Meanwhile, the influence of optical crosstalk of other components in the sensor on a receiving light path or a transmitting light path is avoided, and the accuracy of the sensor is influenced.
Example 5
Based on the laser scanning sensor of embodiment 4, as shown in fig. 2 and 3, the laser scanning sensor is further provided with a colored light emitter 7 for identifying a scanning range at the opening of the second light-blocking plate 4; the box 1 is provided with an identification window 102 corresponding to the identification range of the colored light emitter 7.
The colored light emitters 7 are provided with 2 or 3 numbers which are more than 4 or other designed numbers, and the colored light paths are respectively arranged along the emitted light deflection boundaries at the opening of the second light isolation plate 4 by the 2 colored light emitters 7. If the number of colored light emitters is 3 or more, the directions of the 2 colored light emitters are respectively arranged along the deflection boundary of the emitted light at the opening of the second light-isolating plate, and the other colored light emitters are all oriented in the scanning range and mark the marking positions such as the center point position, the 1/3 point position, the 1/4 point position and the like.
Because the pulse light needs to be frequently emitted to form a dense scanning light curtain in the use process, the pulse light is invisible in most cases, so that when the laser scanning sensor is debugged, a user can hardly know whether the accurate scanning range position covers a target detection area, the position and the orientation of the laser scanning sensor need to be continuously changed in the debugging process to detect and try to confirm, or a worker can predict according to working experience, which inevitably leads to the increase of debugging workload and the aggravation of uncertain factor influence.
After the utility model is adopted, the scanning range can be directly marked in a colored light marking mode, so that the scanning range area of the sensor can be known clearly when the adjusting sensor is installed, and the adjusting workload and the adjusting accuracy are obviously reduced. After the adjustment is completed, the colored light emitter 7 is controlled to be turned off, so that the influence of colored light on a sensor or a target can be avoided.
Example 6
Based on the laser scanning sensor of embodiment 1, as shown in fig. 2 and 3, a rotating shaft 6 is disposed at the central axis of the deflecting device 5, and the motor 11 drives the deflecting device 5 to rotate by driving the rotating shaft 6 to rotate; the light emitting surfaces 504 and the light receiving surfaces 505 are arranged in parallel in one-to-one correspondence.
The arrangement can effectively realize synchronous rotation between the light emitting surface 504 and the light receiving surface 505, and the emitted light and the incident light can be almost consistent in deflection angle and direction by adopting a one-to-one parallel arrangement mode between the light emitting surface 504 and the light receiving surface 505, so that the arrangement complexity of internal components can be simplified by adapting to the mode of arranging the light emitters 2 and the light sensors 9 in the same row, and the manufacturing difficulty of the laser scanning sensor can be reduced to a certain extent.
Example 7
Based on the laser scanning sensor of embodiment 1, a rotating shaft 6 is fixed at the light emitting surface 504 of the deflection device 5, and the motor 11 drives the light emitting surface 504 of the deflection device 5 to rotate by driving the rotating shaft 6 to rotate; the light receiving surface 505 of the deflector 5 is a fixed mirror surface.
As for the sensor whose scanning range fan angle is small, the arrangement as in embodiment 7 can be adopted, and in this case, since the deflection angle of the emitted light is small, the deflection function can be basically realized even if a fixed mirror surface is adopted as the light receiving surface 505. The internal structure can be further optimized by adopting a fixed mirror mode, the number of rotating parts and the rotating abrasion are reduced, and the service life of the equipment is prolonged.
Example 8
Based on the laser scanning sensor of embodiment 1, a first rotation axis is fixed at the light emitting surface 504 of the deflection device 5, a second rotation axis is fixed at the light receiving surface 505 of the deflection device 5, and the motor 11 includes a first motor and a second motor, wherein: the first motor is controlled to rotate the light emitting surface 504 by driving the first rotating shaft to rotate, and the second motor is controlled to rotate the light reflecting surface 505 by driving the second rotating shaft to rotate.
This arrangement allows the light emitting surface 504 and the light receiving surface 505 to be rotated according to different rotation axes as needed, so that the light emitting surface 504 and the light receiving surface 505 can be laid out separately as needed when the internal structure is arranged.
In addition, in some use cases, the user wants the sensor to be hidden inside the fixing device (such as a door frame and a height limiting frame), and at this time, a certain deflection angle is required between the scanning sector of the sensor and the sensor, and it is difficult for the sensor on the non-side to project the scanning sector to the target area. By adopting the arrangement of embodiment 8, the inclined angles of the first rotating shaft and the second rotating shaft can be changed, so that the deflected light rays also have a certain inclined angle, thereby meeting the use requirement.
Example 9
Based on the laser scanning sensor of embodiment 1, the light emitting surface 504 and/or the light receiving surface 505 are beveled mirrors having an inclination angle with respect to the first light blocking plate.
The arrangement can also make the light deflected by the light emitting surface 504 have a certain inclination angle, and make the light receiving surface 505 receive the reflected light under the same inclination angle, so as to meet the use requirement under the specific use environment.
Example 10
Based on the laser scanning sensor of embodiment 1, as shown in fig. 2, the deflection device 5 is formed by enclosing 4 or 3 or 5 or 6 or other designed number of mirror surfaces as side walls. The top end of the deflector 5 is provided with a recess 502. This arrangement can significantly reduce the total mass of the deflector 5, reduce the motor load during rotation, and thereby improve the motor control accuracy.
Each mirror is provided with a chamfer 503 at the junction. This arrangement makes the deflector 5 tend to be circular, thereby avoiding damage caused by collision of the deflector 5 at the mirror interface with the light barrier.
According to one embodiment of the present utility model, as shown in fig. 5, the box 1 is provided with a first shielding part 103 above the laser window 101 and a second shielding part 104 below the laser window. This arrangement on the one hand may act as a light shield, further reducing the likelihood that other light sources are incident inside the laser scanning sensor and are received by the light sensor 9, thereby further improving the accuracy of the sensor.
It should be noted that the above list is only specific embodiments of the present utility model. Obviously, the utility model is not limited to the above embodiments, but many variations are possible. All modifications directly derived or suggested to one skilled in the art from the present disclosure should be considered as being within the scope of the present utility model.
Claims (10)
1. The utility model provides a laser scanning sensor, includes box body and optical scanning module, optical scanning module includes: the laser scanning assembly and the micro-processing unit are used for analyzing and processing the information of the laser scanning assembly; the box body covers the optical scanning module and wraps the laser scanning assembly and the micro-processing unit; the box body is provided with the laser window of printing opacity material in the scanning field position department of laser scanning subassembly, its characterized in that: the laser scanning assembly comprises a motor, a deflection device, a light isolation assembly, a light emitter and a light sensor;
the deflection device is formed by encircling a plurality of mirror surfaces serving as side walls and driven by a motor to rotate; the deflection device is provided with a light emitting surface and a light receiving surface, and a rotating mechanism is arranged between the light emitting surface and the light receiving surface;
the light sensor and the light emitter are arranged on the same side of the deflection device, the emitting end of the light emitter corresponds to the light emitting surface, and the receiving end of the light sensor corresponds to the light receiving surface;
the light blocking assembly includes: and the first light-isolating plate is rotationally connected with the rotating mechanism and separates the light emitting surface from the light receiving surface and separates the emitting light path from the receiving light path.
2. The laser scanning sensor of claim 1, wherein: the rotating mechanism is as follows: and the first light isolation plate is inserted into the rotating groove at the rotating groove and is in sliding connection with the rotating groove.
3. The laser scanning sensor of claim 1, wherein: the rotating mechanism is as follows: the deflection device is fixed with the inner ring of the sealing bearing, and the first light-isolating plate is fixed with the outer ring of the sealing bearing at the sealing bearing.
4. The laser scanning sensor of claim 1, wherein: the light blocking assembly further comprises: the second light-isolating plate is arranged around the deflection device, and the third light-isolating plate is arranged at the bottom and/or the top of the deflection device and is used for optically isolating the deflection device from the rest parts of the optical scanning module; the second light-shielding plate is provided with an opening corresponding to the scanning range at the target scanning direction.
5. The laser scanning sensor of claim 4, wherein: the laser scanning sensor is further provided with a colored light emitter for marking a scanning range at the opening of the second light-isolating plate; the box body is provided with an identification window corresponding to the identification range of the colored light emitter;
the colored light emitters are at least provided with 2 colored light emitters, and the colored light emitters are respectively provided with colored light paths along the emitted light deflection boundary at the opening of the second light isolation plate.
6. The laser scanning sensor of claim 1, wherein: the box body is provided with shielding parts above and below the laser window.
7. The laser scanning sensor of claim 1, wherein: a rotating shaft is arranged at the central axis of the deflection device, and the motor drives the deflection device to rotate by driving the rotating shaft to rotate; the light emitting surfaces and the light receiving surfaces are arranged in parallel in one-to-one correspondence.
8. The laser scanning sensor of claim 1, wherein: a rotating shaft is fixed at the light emitting surface of the deflection device, and the motor drives the light emitting surface of the deflection device to rotate by driving the rotating shaft to rotate; the light receiving surface of the deflection device is a fixed mirror surface.
9. The laser scanning sensor of claim 1, wherein: the light emitting surface of the deflection device is fixedly provided with a first rotating shaft, the light receiving surface of the deflection device is fixedly provided with a second rotating shaft, and the motor comprises a first motor and a second motor, wherein: the first motor is controlled to drive the light emitting surface to rotate by driving the first rotating shaft to rotate, and the second motor is controlled to drive the light reflecting surface to rotate by driving the second rotating shaft to rotate.
10. The laser scanning sensor of claim 1, wherein: the light emitting surface and/or the light receiving surface is a bevel mirror with an inclination angle with the first light baffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223432759.6U CN219328896U (en) | 2022-12-21 | 2022-12-21 | Laser scanning sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223432759.6U CN219328896U (en) | 2022-12-21 | 2022-12-21 | Laser scanning sensor |
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| Publication Number | Publication Date |
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| CN219328896U true CN219328896U (en) | 2023-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202223432759.6U Active CN219328896U (en) | 2022-12-21 | 2022-12-21 | Laser scanning sensor |
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| CN (1) | CN219328896U (en) |
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- 2022-12-21 CN CN202223432759.6U patent/CN219328896U/en active Active
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