WO2021109912A1 - Dispositif de mesure de distance par laser et robot - Google Patents

Dispositif de mesure de distance par laser et robot Download PDF

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Publication number
WO2021109912A1
WO2021109912A1 PCT/CN2020/131482 CN2020131482W WO2021109912A1 WO 2021109912 A1 WO2021109912 A1 WO 2021109912A1 CN 2020131482 W CN2020131482 W CN 2020131482W WO 2021109912 A1 WO2021109912 A1 WO 2021109912A1
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WO
WIPO (PCT)
Prior art keywords
distance measuring
measuring device
laser
lens
laser distance
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PCT/CN2020/131482
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English (en)
Chinese (zh)
Inventor
张志淳
李华强
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北京石头世纪科技股份有限公司
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Publication of WO2021109912A1 publication Critical patent/WO2021109912A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver

Definitions

  • the present disclosure generally relates to the technical field of smart homes, and more specifically relates to a laser distance measuring device and a robot.
  • TOF Time of Flight
  • triangulation the other is triangulation.
  • TOF is not sensitive to deformation caused by temperature changes, and its ranging accuracy—especially in long-distance ranging—is higher than the triangulation method.
  • TOF is currently mostly used in long-distance ranging scenarios, such as drones or autonomous driving.
  • Triangular ranging methods are mostly used in relatively short distance (for example, less than 30 meters) high frequency (for example, higher than 1000 times/sec) ranging scenarios in an indoor environment.
  • the embodiment of the present disclosure provides a laser ranging device, and the laser ranging device includes:
  • a transmitting unit which includes a transmitter for emitting pulsed laser light to the target object to be ranged and a transmitting lens for passing the emitted pulsed laser light;
  • a receiving unit comprising a photodetector for receiving pulsed laser light reflected from the target object and a receiving lens for passing the reflected pulsed laser light;
  • the field angle of the receiving unit is greater than the field angle of the transmitting unit, and the distance between the outer edge of the receiving lens and the outer edge of the transmitting lens is less than or equal to 3 mm.
  • the field angle of the receiving unit is larger than the field angle of the transmitting unit.
  • the laser pulse can be sent to a longer distance under the condition of limited power.
  • the receiving unit can have as large a light field as possible, which can make the overlapping area of the transmitting field of view and the receiving field of view larger and the blind area smaller, and can receive more light intensity, thereby improving the signal-to-noise ratio of the received signal.
  • the distance between the outer edge of the transmitting lens and the receiving lens is not more than 3mm, which can further reduce the blind area between the transmitting field of view and the receiving field of view, and can avoid detecting nearby objects.
  • a robot including the laser distance measuring device as described above.
  • the laser ranging device equipped with the robot is suitable for short-distance and high-frequency ranging in an indoor environment by using TOF, with higher ranging accuracy and lower cost.
  • Fig. 1 is a three-dimensional view of a laser distance measuring device according to an alternative embodiment of the present disclosure
  • FIG. 2 is a three-dimensional view of the distance measuring component of the laser distance measuring device shown in FIG. 1;
  • Fig. 3 is a cross-sectional view of the laser ranging assembly shown in Fig. 2;
  • FIG. 4 is a three-dimensional view of the circuit board of the receiving unit of the laser distance measuring device shown in FIG. 1;
  • FIG. 5 is a perspective view of the light shield of the laser distance measuring device shown in FIG. 1;
  • Fig. 6 is an exploded view of the laser distance measuring device shown in Fig. 1.
  • the embodiments of the present disclosure provide a laser ranging device, which can emit laser pulses to a target object to be ranged, then receive the laser pulse reflected by the target object, and analyze and calculate the received laser pulse to obtain The distance between the target object and the laser distance measuring device.
  • the laser ranging device provided by the embodiment of the present disclosure is suitable for short-distance (for example, less than 30 meters) and high-frequency (for example, higher than 1000 times/sec) ranging in an indoor environment using TOF.
  • the laser distance measuring device 1 mainly includes a distance measuring component 10 and an outer casing 20.
  • the ranging component 10 is the core component of the laser ranging device 1 to realize the ranging function.
  • the outer shell 20 is roughly constructed in the shape of a round pie, which is arranged on the outside of the distance measuring assembly 10 and plays a role of fixing and protecting. It can be understood that, in other embodiments, the outer shell 20 may also be configured in an oval pie shape or a cube shape.
  • the outer casing 20 is provided with a first opening 21 through which the emitted laser pulse passes and a second opening 22 through which the laser pulse reflected by the target object to be ranged passes.
  • the laser distance measuring device 1 may also include a fixed seat.
  • the outer casing 20 is buckled on the fixing base, and a substantially closed internal space is formed between the outer casing 20 and the fixing base, and the distance measuring assembly 10 is accommodated in the internal space.
  • An installation structure such as a screw hole or a buckle can also be provided on the fixing seat, and the laser distance measuring device 1 can be installed and fixed to a robot, a drone, etc. through the installation structure.
  • the ranging assembly 10 includes a transmitting unit 11, a receiving unit 12 and a frame 13.
  • the transmitting unit 11 and the receiving unit 12 are respectively fixed on the frame 13 to form a whole.
  • the transmitting unit 11 includes a transmitter 111, a transmitting circuit board 112 and a transmitting lens 113.
  • the transmitter 111 is used to emit laser pulses for distance measurement.
  • the emitter 111 is configured as a laser diode.
  • the laser diode is integratedly arranged on the transmitting circuit board 112.
  • a first optical cavity 131 is provided on the frame 13.
  • the emission circuit board 112 and the emission lens 113 are fixed to the frame 13 and located at both ends of the first optical cavity 131, respectively.
  • the laser pulse emitted by the transmitter 111 may be transmitted to the outside through the emitting lens 113.
  • the transmitting lens 113 can focus and collimate the laser pulse passing through it. It can be understood that, in other embodiments, other devices capable of emitting laser light may also be used as the transmitter.
  • the transmitting unit 11 further includes a regulator 114.
  • the emitting lens 113 is installed on the adjuster 114, and the adjuster 114 is arranged in the first optical cavity 131 of the frame 13 in an adjustable manner. Therefore, the position of the emitting lens 113 relative to the emitter 111 can be adjusted by changing the position of the adjuster 114 in the first optical cavity 131 to adjust the optical path of the calibration emitting unit 11.
  • the direction of the position adjustment may include the direction along the laser pulse transmission and the direction perpendicular to the laser pulse transmission direction.
  • the adjuster 114 has a cylindrical structure.
  • the outer side surface of the adjuster 114 and the inner side surface of the first optical cavity 131 are respectively provided with threads.
  • the adjuster 114 is movably arranged in the first optical cavity 131 by means of threaded engagement.
  • the adjuster 114 can be screwed to adjust the position of the transmitting lens 113.
  • the adjustment method is relatively simple. After the emitting lens 113 is adjusted in place, the adjuster 114 and the emitting lens 113 can be fixed at the position by a process such as glue dispensing.
  • the center wavelength of the laser pulse emitted by the transmitter 111 may be 905 nm or 850 nm.
  • the light of these wavelengths can be distinguished from the ambient light in the normal indoor environment, which is beneficial to reduce the influence of ambient light and improve the accuracy of distance measurement. It can be understood that due to the large amount of stray light with a wavelength close to 850 nm in the outdoor ambient light, the laser pulse with a center wavelength of 850 nm is not suitable for use in an outdoor environment, and is more suitable for distance measurement in an indoor environment.
  • the receiving unit 12 includes a light detector 121, a receiving circuit board 122 and a receiving lens 123.
  • the photodetector 121 is used to sense the laser pulse reflected by the target object, and generate a corresponding photoelectric signal to transmit to the receiving circuit board 122.
  • the analysis circuit on the receiving circuit board 122 analyzes and calculates the photoelectric signal to obtain the distance between the target object and the laser distance measuring device 1.
  • the photodetector 121 is packaged in the package module 124 as shown in FIG. 4 and is integratedly arranged on the receiving circuit board 122.
  • a second optical cavity 132 isolated from the first optical cavity 131 is provided on the frame 13.
  • the receiving circuit board 122 and the receiving lens 123 are fixed to the frame 13 and are respectively located at two ends of the second optical cavity 132.
  • the laser pulses reflected by the target object can be focused and collimated by the receiving lens 123 before being sensed by the photodetector 121.
  • the receiving unit 12 may set a receiving window as large as possible, that is, the receiving lens 123 may be as large as possible.
  • the installation space is limited, and due to the consideration of miniaturization, the size of the laser distance measuring device 1 itself is limited.
  • the outer housing 20 roughly defines the outer contour of the laser distance measuring device 1. Therefore, the size of the laser distance measuring device 1 in the thickness direction (that is, the axial direction of the disc shape) is significantly smaller than the size in the direction parallel to the end surface 23 of the outer shell 20 (that is, the radial direction of the disc shape).
  • the receiving lens 123 is arranged such that its size along the direction parallel to the end surface 23 is larger than its size along the above-mentioned thickness direction to form a receiving window as large as possible.
  • the receiving lens 123 may be configured to have a rectangular projection on a plane perpendicular to its optical axis AX2 (see FIG. 3), wherein the long side of the rectangle is parallel to the end surface 23, and the short side of the rectangle is perpendicular to the end surface 23.
  • the outer surface of at least one of the transmitting lens 113 and the receiving lens 123 is configured as a free-form surface. That is, the outer surface of the aforementioned lens satisfies the following formula:
  • z is the value of the lens thickness direction
  • r is the polar coordinate value of any point on the curved surface
  • k is the quadric surface coefficient
  • c is the radius of curvature of a fixed point on the curved surface.
  • Multiple ⁇ i are parameters to be set.
  • the free-form surface is preferably a quadric surface, which has good focusing and collimation effects. Therefore, it is sufficient to use a single lens, and it is not necessary to provide a lens group including a plurality of lenses.
  • the lens focal length of at least one of the transmitting lens 113 and the receiving lens 123 is set to be less than or equal to 50 mm.
  • the thickness of the receiving lens 123 may be set to be less than or equal to 5 mm. With this arrangement, the size of the lens is small, which is conducive to the miniaturization of the laser ranging device.
  • Laser ranging devices are usually used as part of the perception system in application scenarios such as robots, drones or unmanned driving.
  • Robots or drones, etc. need to build an environment map based on the surrounding environment information sensed by the laser ranging device.
  • the robot or drone can plan a movement path within the constructed environment map and actively avoid obstacles, thereby realizing autonomous movement. Therefore, it is better to avoid blind spots in the laser distance measuring device, especially to avoid blind spots in the vicinity.
  • the conventionally set laser distance measuring device will usually lead to the appearance or even expansion of the blind area when miniaturization, which is an irreconcilable natural contradiction.
  • ranging accuracy is a basic indicator to measure the performance of laser ranging devices.
  • the prerequisite for realizing accurate ranging is that the signal-to-noise ratio can reach the predetermined index, otherwise the accuracy measurement will be impossible. Therefore, increasing the proportion of received laser pulses as much as possible and reducing the introduction of other optical signal noise are issues that need to be considered in the entire optical path design of the laser ranging device.
  • FIG. 3 schematically shows the field angle ⁇ of the transmitting unit 11 and the field angle ⁇ of the receiving unit 12.
  • the laser distance measuring device 1 provided by the embodiment of the present disclosure is configured such that the field angle ⁇ of the receiving unit 12 is greater than the field angle ⁇ of the transmitting unit 11. It can be seen from Figure 3 that, according to this setting, the overlapping area of the receiving field of view and the transmitting field of view is the sum of area A and area B, and the blind area between the two is only area D.
  • the overlapping area of the receiving field of view and the transmitting field of view is zone A, and the area between the two The blind zone is zone C and zone D. It can be understood that when the field angle of the receiving unit is smaller than the field angle of the transmitting unit, the overlapping area of the two fields of view is further reduced and the blind area is further increased.
  • the receiving unit can have as large a light field as possible, so that the receiving field of view and the transmitting field of view can have a larger overlap area, and the blind area can be reduced or even eliminated.
  • the receiving unit can Receive more light intensity, and can also improve the signal-to-noise ratio of the received signal.
  • the launch angle of the launch unit is small, and the laser pulse can be sent to a longer distance under the condition of limited power, which is beneficial for distance measurement.
  • the transmitting unit 11 and the receiving unit 12 are arranged along a lateral interval. According to what is shown in FIG. 3, it can be seen that the greater the distance L between the outer edge of the transmitting lens 113 and the outer edge of the receiving lens 123, the greater the distance between the optical axes AX1 and AX2 of the two. Correspondingly, the area of the triangle in the D zone is also larger. That is, the larger the blind zone between the transmitting field of view and the receiving field of view. Therefore, in order to reduce the blind zone, the distance L between the outer edges of the transmitting lens 113 and the receiving lens 123 should be as small as possible.
  • the distance L between the outer edge of the transmitting lens 113 and the outer edge of the receiving lens 123 is set to be less than or equal to 3 mm.
  • laser ranging devices that use TOF for outdoor ranging mostly use avalanche photodiodes (APD) as light detectors.
  • APD avalanche photodiodes
  • APD has a large magnification, even in an outdoor environment, it can capture relatively weak reflected laser pulses and amplify them for analysis and calculation, so it is suitable for laser ranging in outdoor environments.
  • APD amplifies the reflected laser pulse, it also amplifies the ambient light noise it receives in a proportional manner. Therefore, it is usually necessary to set up an optical filter to filter the amplified ambient light noise so as not to affect the analysis and calculation results and cause inaccurate ranging.
  • a P-type semiconductor-impurity-N-type semiconductor (positive-intrinsic-negative, PIN) ordinary photodiode can be used as the photodetector 121.
  • the price of the PIN photodiode itself is relatively low, so the cost of the laser distance measuring device 1 can be reduced.
  • the magnification of the PIN photodiode is much smaller than that of the APD detector.
  • the PIN photodiode amplifies the laser pulse reflected by the target object and the ambient light noise by the ratio, the amplified ambient light noise is still below the pass threshold of the PIN photodiode because of its small magnification. Unable to pass the PIN photodiode.
  • the PIN photodiode essentially functions to filter ambient light. Therefore, the laser distance measuring device provided by the embodiment of the present disclosure may not include an optical filter, so that the cost can be further reduced.
  • the laser ranging device provided by the embodiments of the present disclosure can replace the APD and the optical filter with a low-cost PIN, and still achieve a high signal-to-noise ratio, which simplifies the optical circuit of the laser ranging device while reducing costs.
  • the design reduces the difficulty of design and implementation. This simplification of the optical receiving end also benefits from the design of the entire optical path, so that the optical signal received by the receiving end is strong enough and the ambient light noise is weak enough.
  • a filter capacitor electrically connected to the PIN photodiode can also be set to filter out high-frequency noise by means of AC blocking to ensure the accuracy of distance measurement.
  • the photodetector 121 is packaged in the package module 124.
  • the package module 124 is opposed to the receiving lens 123 through the second optical cavity 132 so that the laser pulse reflected by the target object can be sensed by the photodetector 121.
  • the intensity of the laser pulse reflected by nearby obstacles is strong, and after entering the second optical cavity 132 through the receiving lens 123, it will be reflected by the outer surface of the package module 124 of the receiving unit 12 , The formation of stray light.
  • the outer surface of the package module 124 is made of a light-colored metal substrate such as silver gray, and the stray light reflected by it will increase the pulse width of the light received by the photodetector 121.
  • the optical pulse width here characterizes the pulse signal whose horizontal axis is time and the vertical axis is voltage that characterizes energy.
  • the TOF time of flight method
  • the TOF is based on the distance measurement principle based on the time difference between laser pulse emission and reception, and the time difference calculation method is closely related to the start and end positions of the light pulse width, not simply taking the middle of the pulse width The position is calculated, so the above-mentioned increase in the optical pulse width will cause inaccurate ranging.
  • At least the outer surface 124a of the package module 124 encapsulating the photodetector 121 facing the receiving lens 123 is set as an extinction surface to reduce the reflection effect of the outer surface 124a, thereby reducing or even eliminating impurities. Astigmatism, to avoid the interference of stray light on TOF ranging.
  • a matting material may be coated on the outer surface 124a.
  • a matting agent such as polyacrylate resin or other matting powder, matting paint, etc. may be coated on the outer surface 124a to perform matting treatment to form a matting surface.
  • the outer surface 124a may be covered with a matting film.
  • the distance between the outer edge of the receiving lens 123 and the transmitting lens 113 of the laser distance measuring device 1 provided by the embodiment of the present disclosure can be up to 3 mm. Therefore, it is easy to happen that a part of the laser pulse emitted by the transmitting unit 11 has not yet been transmitted to the external target object, that is, has been reflected by the internal parts and received by the receiving unit 12, resulting in strong noise light and signal noise. The ratio is greatly reduced, and distance measurement cannot be achieved.
  • the laser distance measuring device 1 may further include a light shield 30.
  • the light shield 30 has a first channel 31 and a second channel 32 which are arranged between the distance measuring assembly 10 and the outer housing 20.
  • the two ends of the first channel 31 are connected to the transmitting lens 113 and the first opening 21 of the outer casing 20 respectively, and the two ends of the second channel 32 are connected to the receiving lens 123 and the second opening 22 of the outer casing 20 respectively.
  • an opaque light blocking wall 33 is arranged between the first channel 31 and the second channel 32 to completely isolate the two.
  • the laser pulse emitted by the transmitting unit 11 can only be transmitted to the outside through the first channel 31 and the first opening 21 after passing through the transmitting lens 113, and cannot be reflected inside the laser distance measuring device 1 to the receiving lens 123, thereby Avoiding the reduction of signal-to-noise ratio caused by internal reflection is beneficial to improve the accuracy of TOF ranging.
  • the robot may include the above-mentioned laser distance measuring device, which can obtain and construct a map of the indoor environment by using the TOF distance measuring device in an indoor environment through the laser distance measuring device, and move autonomously according to the constructed map.
  • the robot may be a smart cleaning device capable of autonomously moving on the ground to perform a cleaning function.
  • the smart cleaning device may be a sweeping robot, a mopping robot, or an integrated sweeping and mopping robot.
  • Smart cleaning equipment can include cleaning systems, sensing systems, control systems, and driving systems.
  • the perception system is used for smart cleaning equipment to perceive the external environment such as terrain.
  • the laser distance measuring device constitutes a part of the sensing system, which can be set on the front or top of the smart cleaning equipment.
  • the control system controls the driving system to drive the intelligent cleaning equipment to move autonomously based on the result of the perception system, and selectively controls the cleaning system to perform cleaning functions.
  • the field angle of the receiving unit of the laser ranging device is larger than the field angle of the transmitting unit. Therefore, the emission angle of the emission unit is small, and the laser pulse can be sent to a longer distance under the condition of limited power.
  • the receiving unit can have as large a light field as possible, which can make the overlapping area of the transmitting field of view and the receiving field of view larger and the blind area smaller, and can receive more light intensity, thereby improving the signal-to-noise ratio of the received signal.
  • the distance between the outer edge of the transmitting lens and the receiving lens is not more than 3mm, which can further reduce the blind area between the transmitting field of view and the receiving field of view, and can avoid detecting nearby objects.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un dispositif (1) de mesure de distance par laser et un robot. Le dispositif (1) de mesure de distance par laser comporte une unité (11) d'émission et une unité (12) de réception. L'unité (11) d'émission comporte un émetteur (111) servant à émettre un laser pulsé vers un objet cible destiné à être soumis à une mesure de distance, et une lentille (113) d'émission servant à permettre au laser pulsé émis de la traverser. L'unité (12) de réception comporte un photodétecteur (121) servant à recevoir le laser pulsé réfléchi à partir de l'objet cible, et une lentille (123) de réception utilisée pour permettre au laser pulsé réfléchi de la traverser. Le champ de vision de l'unité (12) de réception est plus grand que celui de l'unité (11) d'émission, et la distance entre le bord extérieur de la lentille (123) de réception et le bord extérieur de la lentille (113) d'émission est inférieure ou égale à 3 mm. Le dispositif (1) de mesure de distance par laser et le robot sont appropriés pour réaliser une mesure de distance à courte portée et à haute fréquence dans un environnement d'intérieur au moyen d'une méthode à temps de vol, et la précision de la mesure de distance est plus élevée et le coût plus faible.
PCT/CN2020/131482 2019-12-02 2020-11-25 Dispositif de mesure de distance par laser et robot WO2021109912A1 (fr)

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