CN204240979U - Micro-optical scanning distance measuring equipment, system and optical ranging system - Google Patents
Micro-optical scanning distance measuring equipment, system and optical ranging system Download PDFInfo
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- CN204240979U CN204240979U CN201420460856.2U CN201420460856U CN204240979U CN 204240979 U CN204240979 U CN 204240979U CN 201420460856 U CN201420460856 U CN 201420460856U CN 204240979 U CN204240979 U CN 204240979U
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Abstract
The utility model provides a kind of micro-optical to scan distance measuring equipment, system and optical ranging system, comprise and be fixed on device pedestal, and the little baseline optical range measurement system be made up of an imaging len, a collimated light source and a sensitive chip and a treatment circuit, realize contactless precision distance measurement; Also comprise be installed on one above described range measurement system can the reflex reflector lens of continuous rotation, receive the collimated light beam that described collimated light source is launched, wherein, the collimated light beam that in range finder module, light source sends remains and eyeglass rotation central axis line parallel, realize scanning to find range and the angular field of view increasing range finding on longitudinal extent, and for measuring the azimuthal scrambler of described reflex reflector lens, for obtaining the angle information of distance measuring light beam.Compared to existing design, this optical scanning distance measuring equipment has less volume and lighter weight, and cost is low, rotates without the need to range electronics, significantly improves reliability and the mission life of equipment.
Description
Technical field
The utility model relates to a kind of optical scanning distance measuring equipment and system, particularly relate to the scanning of a kind of micro-optical distance measuring equipment, system and optical ranging system, by reducing baseline, device is made to have less equipment size, and by using single reflex reflector lens to rotate the scanning realizing distance measuring light beam, and increase the angular field of view of longitudinal scanning, make manufacturing process more simple, significantly can improve reliability and the mission life of equipment.
Background technology
Optical scanning distance measuring equipment is a kind of equipment using collimated light beam to carry out contactless target object scanning range finding.Carried out the rotation in certain limit by the collimated light beam (as laser) that will be used for finding range, can realize carrying out scanning range finding to object in the environment certain environment of place, and extract the profile information of environment.Compare the means such as ultrasound wave, image detection, use optical scanning distance measuring equipment can realize very high scanning distance accuracy, and speed of finding range is fast.Therefore in industry and civil area, there is very high using value, be widely used at present and robot autonomously build the field such as figure and navigator fix (SLAM), 3D scene rebuilding, security protection detection.
Early stage optical scanning distance measuring equipment employs the laser ranging of optical time of flight measuring principle (Time of Flight, TOF) and coordinates many group optical mirror slips to realize scan-type range finding.Because the TOF range finder module size used is larger, and the many groups optical mirror slip comprised needs to ensure accurate fixing at work, therefore give design and produce this kind of scanning distance measuring equipment and bring very large challenge, and cause the cost of this kind of scanning distance measuring equipment higher.Meanwhile, complicated optical device too increases size and the weight of device.What these factors were very large limit this kind of scanning distance measuring equipment is in the consumer product area application of cost and volume-sensitive.
For solving size and Cost Problems, there is the miniaturized optical scanning distance measuring equipment using range of triangle mode at present.The equipment such as laser instrument, imaging len, sensitive chip realizing range of triangle is arranged on the scanning that one platform of continuous rotation can realize distance measuring light beam by this kind of device.Use complicated optical mirror slip owing to avoiding, therefore significantly reduce volume and cost.But in order to realize powering and communication to rotary part, this kind of device needs to use conducting slip ring etc. to realize the equipment of electrical signal transfer between rotary body.This greatly have impact on the serviceable life of this kind of device, general continuous firing 1 year, just there will be the aging causing trouble of mechanical wear.In addition, range finder module integral-rotation also because of centrifugal action, can produce vibration to external world.The vibration continued can disturb the normal work of external system, also can make to scan the inner risk occurring loose-parts of distance measuring equipment, reduces reliability.
Meanwhile, traditional scanning distance measuring equipment can only realize the profile scan in a two dimensional surface.This brings inconvenience to the application such as such as robot autonomous environment obstacle.In order to address this problem, existing design, by increasing extra scanning galvanometer, realizes distance measuring light beam on longitudinal height, realizes deflection.Also the design had arranges the scanning ranging data that multiple range finder module realizes gathering multiple elevation plane simultaneously in the vertical.The complexity of the system that adds that this kind of design is extra again, volume and cost.
In addition, the not easily miniaturization of traditional triangle method range measurement system, limit its range of application, and sensitive chip cannot detect the change in displacement being less than a unit picture element size, and this will affect the measurement resolution of range of triangle module, the development of chip technology in addition again, the Pixel Dimensions of chip is more and more less, also more and more higher to the imaging requirements of its supporting corresponding optical system, traditional optical device can not satisfy the demands completely.If precision and the response speed of laser ranging instrument can be ensured, the size of laser distance measuring system can be reduced again, then can increase the range of application of optical scanning distance measuring equipment greatly.
Utility model content
Fundamental purpose of the present utility model is to provide a kind of micro-optical to scan distance measuring equipment, solve traditional optical scanning distance measuring equipment Problems existing, for traditional scanning distance measuring equipment, this optical scanning distance measuring equipment has less volume, lighter quality, higher reliability and longer mission life.
Another object of the present utility model is to provide a kind of micro-optical to scan distance measuring equipment, by providing the reflex reflector lens of 360 ° of continuous rotations and being fixed on an optical ranging system of device pedestal, realize non-contact scanning range finding, longitudinal extent increases the angular field of view of range finding, decrease friction and the vibration of optical ranging system simultaneously, add the reliability of range finding, distance accuracy is improved, and extend the serviceable life of device.
Another object of the present utility model is to provide a kind of micro-optical to scan distance measuring equipment, use optical ranging module and a single reflex reflector lens of a little baseline simultaneously, reduce the complexity of device, make the manufacturing process of device simpler, be easy to manufacture, and reduce cost.
Another object of the present utility model is to provide a kind of micro-optical to scan distance measuring equipment, by using the optical ranging system of little baseline, make device have less size and lighter quality, make device can be applied to the field of volume-sensitive, increase the range of application of device.
Another object of the present utility model is to provide a kind of micro-optical to scan distance measuring equipment, by installing a scrambler, measure the angle information that described reflex reflector lens rotates, for obtaining the angle information of distance measuring light beam, to obtain the environmental information of target object further.
Another object of the present utility model is to provide a kind of micro-optical to scan distance measuring equipment, by reflex reflector lens is installed on above optical ranging system, the collimated light beam directive reflex reflector lens that the collimated light source of optical ranging system sends, changes light channel structure, and then expands sweep limit.
Another object of the present utility model is to provide a kind of little baseline optical range measurement system, comprise an imaging len, a sensitive chip and a collimated light source, the angle of a non-90 degree is kept, to ensure to make when using large focal length lens described imaging len all the time can at described sensitive chip surface blur-free imaging between wherein said sensitive chip and described imaging len optical axis.
Another object of the present utility model is to provide a kind of optical scanning range measurement system, comprise at least one optical ranging system, one reflex reflector lens and a rotating disk, wherein said optical ranging system maintains static, described reflex reflector lens carries out 360 ° of rotations along with the rotation of described rotating disk, to expand sweep limit, obtain more environmental information.
For meeting above object of the present utility model and advantage and other objects of the present utility model and advantage, the utility model provides a kind of micro-optical to scan distance measuring equipment, comprises a base; One optical ranging system, is installed on described base; One scan module, it reflex reflector lens comprising a rotating disk and be connected to described rotating disk obliquely, wherein said reflex reflector lens is positioned at the top of described optical ranging system, and described rotating disk is connected to described base rotationally; With a data processing module, be connected to rotating disk and described base, measure the angle information that described reflex reflector lens rotates.Wherein said optical ranging system is fixed on described base.
Further, described data processing module is a scrambler, comprise an encoder code disc and a pulse induction element, wherein said encoder code disc is fixed on described rotating disk, described pulse induction element is fixed on described base, and described pulse induction element is positioned at the space place not producing contact near described encoder code disc, in the preferred embodiment, top one distance of described encoder code disc is installed on.
Described micro-optical range measurement system comprises the power plant module being installed on described base further, it comprises a power part and a drive disk assembly, wherein said drive disk assembly is connected to described power part and described rotating disk, made described power part apply power to described rotating disk, impelled the rotation of described rotating disk.
Further, described optical ranging system comprises an imaging len, a sensitive chip, a collimated light source and is connected to a processor circuit of described sensitive chip, wherein said sensitive chip and described imaging len optical axis keep one to be greater than 0 ° and are less than the angle of 90 °, form a baseline between the central optical axis of described imaging len and described collimated light source, the vertical line of the collimated light beam that described collimated light source is launched and described baseline is an angle.
It is worth mentioning that, described optical ranging system comprises a fixed sturcture further, is made described imaging len, described sensitive chip, described collimated light source and described processor circuit be fixed on described base.
The utility model provides a kind of optical ranging system further, comprising: an imaging len; One sensitive chip, is installed on the rear of described imaging len, and wherein said sensitive chip and described imaging len optical axis are one be greater than 0 ° and be less than the angle of 90 °; One collimated light source, forms a spacing distance between itself and the central optical axis of described imaging len; With a processor circuit, be connected to described sensitive chip.
The utility model provides again a kind of optical scanning range measurement system, comprising: a rotating disk; One reflex reflector lens, it is connected to described rotating disk obliquely; One power part, it is connected to described rotating disk, transmits power to described rotating disk, described reflex reflector lens is rotated under the rotation of described rotating disk; With an optical ranging system, be installed on the below of described reflex reflector lens.Wherein said optical ranging system comprises a collimated light source, the collimated light beam that wherein said collimated light source is launched is parallel with the rotating shaft of described reflective mirror, and and in a spacing between the rotating shaft of described reflective mirror, wherein said spacing be greater than zero or the collimated light beam launched of described collimated light source overlap with the rotating shaft of described reflective mirror.
Scanning distance-finding method of the present utility model, comprises the following steps:
A reflex reflector lens that () rotates by a collimated light beam directive one;
B described collimated light beam that () deflects through described reflex reflector lens irradiates a target object;
C () described target object carries out light signal reflection to described collimated light beam;
D the light signal of () described reflection is focused on by an imaging len, project a sensitive chip place plane; With
E () described sensitive chip carries out photoelectric signal transformation, obtain the environmental information of target object.
Little baseline optical scanning distance-finding method of the present utility model, is characterized in that, comprise the following steps:
A () is by collimated light beam directive one target object;
B () described target object carries out light signal reflection to described collimated light beam;
C the light signal of () described reflection is focused on by an imaging len, project a sensitive chip place plane, and the central optical axis of wherein said sensitive chip and described imaging len is an angle being greater than that 0 ° is less than 90 °; With
D () described sensitive chip carries out photoelectric signal transformation, obtain the environmental information of target object.
By providing said apparatus and corresponding method, the utility model reaches above object and beneficial effect.
Accompanying drawing explanation
Fig. 1 is the perspective view of the micro-optical scanning distance measuring equipment according to a preferred embodiment of the present utility model.
Fig. 2 is the plane geometry principle schematic of traditional range of triangle system.
Fig. 3 is the plane geometry principle schematic of the range of triangle system according to above preferred embodiment of the present utility model.
Fig. 4 is the basic setup schematic diagram of the 360 ° of wide viewing angle scannings realizing distance measuring light beam according to the single reflective mirror of above preferred embodiment of the present utility model.
Fig. 5 is light path equivalent analysis schematic diagram in the dangerous optical distance measurement apparatus rotary course according to above preferred embodiment of the present utility model.
Fig. 6 is a light path effect analysis schematic diagram of the micro-optical distance measuring equipment ranging process according to above preferred embodiment of the present utility model.
Fig. 7 is track while scan schematic diagram in the reflex reflector lens rotary course according to the micro-optical distance measuring equipment of above preferred embodiment of the present utility model.
Fig. 8 is the functional digraph schematic diagram sprawled in the plane according to the spot tracks of the generation of above preferred embodiment of the present utility model.
Fig. 9 is the scanning overlay area schematic diagram according to above preferred embodiment of the present utility model.
Embodiment
Below describe and realize the utility model for disclosing the utility model to enable those skilled in the art.Preferred embodiment in below describing only as an example, it may occur to persons skilled in the art that other apparent modification.The ultimate principle of the present utility model defined in the following description can be applied to other embodiments, deformation program, improvement project, equivalent and not deviate from the other technologies scheme of spirit and scope of the present utility model.
Figure 1 shows that a kind of micro-optical scanning distance measuring equipment, system and optical ranging system that the utility model provides.As shown in Figure 1, a kind of micro-optical scanning distance measuring equipment, system and optical ranging system, comprise an optical ranging system 10, one scan module 20, one data processing module 30, one power plant module 40 and a base 50, wherein said power plant module 40 provides power for described scan module 20, described scan module 20 pairs of distance measuring light beams are made to deflect and carry out rotation sweep, thus 360 ° of scanning range findings of implement device, and the angle information transforming and draw distance measuring light beam is processed by described data processing module 30, and then calculate the environmental information that described optical ranging system 10 records, and described optical ranging system 10 is fixed on described base 50, described scan module 20, described data processing module 30 and described power plant module 40 are all installed on described base 50.
Described optical ranging system 10 can be arbitrary optical ranging system, comprises traditional optical ranging system.In the present embodiment, described optical ranging system 10 elects little baseline range of triangle system as, it comprises an imaging len 11, one collimated light source 12, one sensitive chip 13, one processor circuit 14 and a fixed sturcture 15, wherein said imaging len 11, described collimated light source 12, described sensitive chip 13 is connected to described processor circuit 14, and be installed on described base 50 regularly, namely described fixed sturcture 15 is made described imaging len 11, described collimated light source 12, described sensitive chip 13 and described processor circuit 14 are positioned at the top of described base 50, and keep stationary state with described base 50, can not rotate along with the rotation of described scan module 20.In other words, when described micro-optical distance measuring equipment carries out rotation sweep, described optical ranging system 10 keeps stationary state with described base 50, does not participate in the rotary motion in device work.
Described scan module 20 comprises reflex reflector lens 21, support component 22, rotating disk 23 and an at least one bearing 24, wherein said rotating disk 23 is connected to described base 50 by described bearing 24, and be positioned at the top of described base 50, and freely can carry out the rotation of 360 ° of any multi-turns relative to the plane of described base 50.Described reflex reflector lens 21 is connected by the edge of described support component 22 with described rotating disk 23, and rotate accordingly along with the rotation of described rotating disk 23, wherein said reflex reflector lens 21 is positioned at directly over device obliquely, that is, described support component 22 is made described reflex reflector lens 21 be installed on the edge of described rotating disk 23 obliquely, and be positioned at the top of described imaging len 11, described collimated light source 12 and described sensitive chip 13, received the collimated light beam that described collimated light source 12 is launched.In the present embodiment, described reflex reflector lens 21 is single reflex reflector lens, and maintenance and described base 50 place plane are the state of 45 ° of angles, in other words, described reflex reflector lens 21 presents 45 ° of angles with the rotating shaft of himself, is made described reflex reflector lens 21 can change the light path of the described collimated light beam that described collimated light source 12 is launched, expands sweep limit, and the angular field of view of range finding can be increased on longitudinal extent, to obtain more environmental information.
It is worth mentioning that, described collimated light source 12 can be installed on the position parallel with the rotating shaft of described reflex reflector lens 21, also can be positioned in the middle of equipment with any attitude.In the present embodiment, preferably be installed on the position parallel with the rotating shaft of described reflex reflector lens 21, make described collimated light source 12 can launch collimated light beam to described reflex reflector lens 21, in other words, when described collimated light source 12 can be installed on the position parallel with the rotating shaft of described reflex reflector lens 21, directly launch described collimated light beam towards described reflex reflector lens 21, i.e. reflex reflector lens 21 described in the direct directive of described collimated light beam.In addition, described reflex reflector lens 21 also can be positioned in the middle of equipment with any attitude, by installing at least one additional reflective mirror, described collimated light beam is deflected in advance again, the described collimated light beam after deflecting is made to be parallel to the rotating shaft of described reflex reflector lens 21, the effect that final realization is identical with the preferred mounting means of the present embodiment, is parallel to the rotating shaft of described reflex reflector lens 21 by described collimated light beam and the direction towards described reflex reflector lens 21 is launched.
In addition, the described collimated light beam launched of described collimated light source 12 can and the rotating shaft of described reflex reflector lens 21 between keep a spacing being greater than zero, also can overlap with it.Between described collimated light source 12 and the rotating shaft of described reflex reflector lens 21, keep a spacing, and when described spacing is greater than zero, optical scanning distance measuring equipment of the present utility model can realize the scanning of three-dimensional planar.When described collimated light source 12 overlaps with the rotating shaft of described reflex reflector lens 21, i.e., when spacing between the rotating shaft of described collimated light source and described reflex reflector lens 21 is zero, optical scanning distance measuring equipment of the present utility model can realize the scanning of two dimensional surface.In the present embodiment, preferably a spacing being greater than zero is kept between described collimated light source 12 and the rotating shaft of described reflex reflector lens 21.
Described data processing module 30 is installed on described rotating disk, be mainly used in the angle information obtaining distance measuring light beam, in the present embodiment namely for the angle information of eyeglass 21 of giving out light described in measuring, so that the ranging information of calculation element, several data handling implement can be selected.In the present embodiment, described data processing module 30 is preferably a scrambler, it comprises encoder code disc 31 and a pulse induction element 32, wherein said encoder code disc 31 is installed on described rotating disk 23, and rotate along with the rotation of described rotating disk 23, described pulse induction element 32 is positioned at top one distance of described encoder code disc 31, namely certain gap is had therebetween, in other words, Mechanical Contact is there is not in described pulse induction element 32 with described encoder code disc 31, and described pulse induction element 32 is connected to described base 50, stationary state is kept with described base 50, namely can not rotate along with the rotation of described rotating disk 23.Like this, when described reflex reflector lens 21 rotates along with the rotation of described rotating disk 23, described encoder code disc 31 is along with rotation, now, fixed described pulse induction element 32 will read the coded signal of described encoder code disc 31 current location, and be converted into the angle-data of described reflex reflector lens 21 by corresponding process, to draw the environmental information of target object.
It is worth mentioning that, described imaging len 11, described collimated light source 12, described sensitive chip 13 and described processor circuit 14 are all positioned at the top of described encoder code disc 31, and described encoder code disc 31 is positioned at the top of described rotating disk 23, wherein said processor circuit 14 is connected to described pulse induction element 32 and described sensitive chip 13, and be positioned at the below of described imaging len 11 and described collimated light source 12, and be positioned at the top of described encoder code disc 31, wherein said encoder code disc 31 is between described rotating disk 23 and described processor circuit 14, and described rotating disk 23 is positioned at the top of described base 50.In other words, described base 50 is supported described optical ranging system 10, described scan module 20 and described data processing module 30.
Further, described power plant module 40 is installed on described base 50, the automatic rotation of described reflex reflector lens 21 can be realized, namely described power plant module 40 comprises power part 41 and a drive disk assembly 42, wherein said power part 41 is installed on the bottom of described base 50, and be connected to described drive disk assembly 42, from Fig. 1, described bearing 24 is connected between described rotating disk 23 and described drive disk assembly 42, namely described drive disk assembly 42 is connected to described rotating disk 23 further by described bearing 24, described bearing 24 is given in the power transmission given by described power part 41, and then be able to power transmission to described rotating disk 23, wherein said bearing 24 and described drive disk assembly 42 are installed on described base 50 and are positioned at the below of described rotating disk 23, described rotating disk 23 is driven to carry out 360 ° of rotations, and described reflex reflector lens 21 is given in power transmission by described rotating disk 23, and then the rotation impelling described reflex reflector lens 21 to carry out 360 °, realize comprehensive scanning range finding.In the present embodiment, described power part 41 is preferably a motor, drives described rotating disk 23 automatic rotation, and then impel described reflex reflector lens 21 automatic rotation by the mode of power supply, realizes autoscan range finding.In addition, described drive disk assembly 42 can elect belt or gear etc. as, and other can the parts of transfer motion power, and then provide power to described reflex reflector lens 21, and in the present embodiment, described drive disk assembly 42 elects belt as.
Described collimated light source 12 is for range finding, can be the laser by laser transmitter projects, also can be through the LED light source of lens focus, refer to the front condenser lens that described optical ranging system 10 comprises being installed on described LED light source, to focus on described LED light source.In the present embodiment, be preferably laser, this is because laser has good monochromaticity, directivity and coherence, concentration of energy, good directionality, distance accuracy is high, ranging is far away, anti-electromagnetic wave interference performance is strong, good concealment, and brightness is high, being the preferred light source of most active optics detection system, is also the preferred light source as the laser ranging utilizing active optics detection method naturally.
In the utility model, described optical ranging system 10 can realize the optical triangulation range finding of extra small baseline, makes optical distance measurement apparatus of the present utility model have less volume and lighter weight.In addition, in the process of scanning range finding, described optical ranging system 10, without the need to rotating, improves the reliability of range finding, and extends the serviceable life of device.This mainly because the utility model provides the design of corresponding light channel structure, changes traditional light channel structure.
In addition, optical ranging system 10 of the present utility model, also the range measurement system adopting light flight time (TOF) metering system can be used, corresponding described scan module 20, described data processing module 30, described power plant module 40 and described base 50 in conjunction with the embodiments carries out scanning range finding, can reach equally under the effect of single reflex reflector lens, realize the object expanding longitudinal scanning visual angle, and manufacture simple, cost is lower, long service life, stable and reliable working performance.
In the present embodiment, the method of work of the micro-optical scanning distance measuring equipment that the utility model provides is called little baseline optical scanning distance-finding method: be specially and open described micro-optical scanning distance measuring equipment, described collimated light source 12 is made to launch described collimated light beam, reflex reflector lens 21 described in described collimated light beam directive, described reflex reflector lens 21 deflects described collimated light beam, through described collimated light beam directive one target object again of deflection, a hot spot (P as in Fig. 3) is formed at described target object surface, wherein said hot spot produces light signal reflection, imaging len 11 described in directive, focused on by described imaging len 11, then a subpoint (P ' as in figure) is formed on described sensitive chip 13 surface, described sensitive chip 13 carries out the position coordinates that photoelectric signal transformation is described subpoint, and the angle information of the distance measuring light beam be converted in conjunction with described reflex reflector lens 21 azimuth information that described scrambler 30 obtains, and by corresponding optical computing, obtain the environmental information of described target object.
In above-mentioned each process, described rotating disk 23 carries out the continuous rotation of 360 °, described reflex reflector lens 21 carries out the rotation of 360 ° along with described rotating disk 23, to the diverse location making the described collimated light beam after deflecting can irradiate described target object, described scrambler 30 records the azimuth information of described reflex reflector lens 21 continuously simultaneously, and be converted into the angle information of described distance measuring light beam, and described sensitive chip 13 also records the position coordinates of different subpoint simultaneously, in conjunction with the information that described scrambler 30 and described sensitive chip 13 are noted down, omnibearingly can obtain the environmental information of described target object.It is more than the scanning distance-finding method being installed on the position parallel with the rotating shaft of described reflex reflector lens 21 for the preferred described collimated light source 12 of the utility model.In addition, when described collimated light source 12 is positioned in device with any attitude time, better work to make device, add described additional reflex reflector lens, the described collimated light beam first additional reflex reflector lens described in directive that described collimated light source 12 is launched, described additional reflex reflector lens described collimated light beam is deflected to parallel with described reflex reflector lens 21 rotating shaft or overlap time reflex reflector lens 21 described in directive again, instead of reflex reflector lens 21 described in above-mentioned direct directive, other distance-finding methods are identical with above-mentioned steps.
A kind of little baseline optical scanning distance-finding method, can be summarized as and mainly comprise the following steps:
A () is by the reflex reflector lens 21 rotated described in described collimated light beam directive;
B described collimated light beam that () deflects through described reflex reflector lens 21 irradiates described target object;
C () described target object carries out light signal reflection to described collimated light beam;
D the light signal of () described reflection is focused on by described imaging len 11, project described sensitive chip 13 place plane; With
E () described sensitive chip 13 carries out photoelectric signal transformation, and in conjunction with the azimuth information of described reflex reflector lens that a scrambler obtains, obtain the environmental information of target object.
The optical triangulation range measurement system of a standard is formed primarily of following each core component: collimated light source, imaging len and sensitive chip.The main composition of traditional range of triangle system and plane geometry principle schematic are as shown in Figure 2, for carrying out range of triangle, design requires there is certain spacing distance between the central optical axis of imaging len and collimated light source, this spacing distance is called baseline (baseline).And the length reducing baseline is the key reducing range of triangle system dimension, thus the microminiaturization of optical scanning range measurement system can be realized.
The vertical line producing collimated light beam and the baseline used for finding range presents an angle β.When finding range, collimated light beam can produce a hot spot at target object surface and produce light signal reflection, and P point is as shown in Figure 2 exactly a hot spot being collimated light beam irradiation and arriving.By detecting the light signal reflected from this hot spot, the range information of range measurement system apart from this hot spot just can be calculated.This distance value can represent with the length L that collimated light source in such as figure is emitted to P point.
Reflection light signal can focus on by an imaging len first in range measurement system, project to subsequently be positioned at imaging len rear focal distance f distance sensitive chip institute from the teeth outwards.Sensitive chip surface generally keeps vertical and parallel in baseline with camera lens optical axis.Subpoint a: P ' can be produced on sensitive chip surface at the hot spot P of target object.Carry out photoelectric signal transformation by sensitive chip, the position coordinates that this subpoint P ' is positioned at sensitive chip imaging surface can be obtained: x.Sensitive chip generally uses the photosensitive array chip of CMOS or CCD technology, also can be position sensor (PSD).
At work, owing to needing to keep strict fixing between sensitive chip, imaging len and collimated light source, baseline and f is changeless, and its value can be clear and definite by the means corrected in advance.
By the rule of similar triangles, because the numerical value of above-mentioned several parameter x, f, β, baseline can be determined, therefore on target object surface, hot spot just can be obtained by following formula to the vertical range d of range of triangle system baseline:
And further can obtain the distance of collimated light source to P point:
In order to reduce the size of range of triangle system, the most direct method is exactly the numerical value of the baseline baseline of reduction system.For the micro-optical scanning distance measuring equipment that the utility model proposes, desirable base length should be controlled, in the present embodiment, such as, desirable base length is controlled within 2cm.
But be subject to the restriction of the various factors such as sharpness, measuring error in practice, what the baseline of range of triangle system can not be careless reduces.This is because in actual measurement, triangle measurement method system has many positional parameter requirements, measuring equipment is demarcated very loaded down with trivial details and time-consuming, if a certain parameter value of system correctly cannot be obtained in measurement, error will be caused to measurement, in addition, when measuring equipment has subtle change, every parameter value in system must be demarcated again, and it is to the bad adaptability of measurement environment, so, the change of any one parameter all should through strict design, all arbitrarily can not change, after change, need to redesign device.And in order to the size of reduction equipment, increase its range of application, need to reduce baseline, in order to realize the range of triangle system of less baseline when ensureing imaging definition, with regard to being necessary, amendment is made to the design of whole system.
In addition, be subject to the restriction of sensitive chip technique up till now, the restriction because of single Pixel Dimensions on sensitive chip understood to the detection of x in above-mentioned formula thus loses precision: sensitive chip cannot detect the x change in displacement being less than a unit picture element size.And this will affect the measurement resolution of range of triangle module.For at given position d place, the economics analysis degree d achieved by a range of triangle system
resdetermined by following formula:
D
resnot only be subject to x resolution x
resimpact, be also subject to the impact of baseline baseline and lens focus f.When testee is far away, d
res(d can be reduced with the trend of secondary index
resincrease and represent that resolution reduces).
For meeting the practicality of equipment, the range finding resolution for range of triangle system makes requiring it is necessary, i.e. the range finding resolution of each range of triangle system all corresponding conditions of demand fulfillment.According to the formula of range finding resolution, at x
resunder fixing condition, in order to ensure that the resolution of range measurement system meets the demands, reduce base length simultaneously again and carry out reduction equipment size, just need to increase focal distance f, namely use larger lens focus f, otherwise imaging definition is by degradation, measuring accuracy is also lower, and device will be caused not use.
For the utility model, if will while use 2cm length baseline, the resolution of range measurement system at 5 meters of be at about 1cm.In conjunction with above-mentioned formula, just need resolution x sensitive chip being extracted to x
resand lens focus does following requirement:
Such as, at present on the market the minimum dimension of the pixel of the CMOS sensitive chip of low cost be the width of 2.2um.If need less Pixel Dimensions, significantly equipment cost will certainly be increased.And under the cooperation of related algorithm, the positioning resolution of x can be controlled the rank 0.1 pixel.Namely x can be realized by optimum at present
res=0.22um.By above-mentioned formulae discovery, lens focus f demand fulfillment can be obtained:
And can at sensitive chip surface blur-free imaging in different range ability in order to realize so large focal length lens, therefore just need to make amendment to traditional range of triangle system, the main composition part of amended optical ranging system and plane geometry principle light path schematic diagram are as shown in Figure 3, for the light path distribution of traditional optical ranging system, the amended optical ranging system of the utility model changes the distribution arrangement of light path, and it is most important that this meets its accuracy requirement to reduction equipment size simultaneously.
As shown in Figure 3, ensure to make when large focal length lens described imaging len 11 all the time can at the surperficial blur-free imaging of described sensitive chip 13 to use, guarantee that described range of triangle system 10 normally works, just need the angle theta described sensitive chip 13 and the optical axis of described imaging len 11 being kept to a non-90 degree, in other words, in the present embodiment, described angle theta is greater than 0 ° and is less than 90 °.The value of this angle can be determined according to Si Kaimupufu glug condition (Scheimpflug principle):
f
0*tan(θ)＝baseline
Wherein, f
0that lens center point is through the distance of primary optical axis to sensitive chip surface.It can be determined by following formula:
Wherein, β generally can get empirical data 83 °.Therefore, the angle can obtaining sensitive chip and imaging len optical axis is: 25 °.
Owing to have modified the light channel structure of range of triangle, therefore above-mentioned range finding formula correspondence is made and being revised as:
In practical implementations, because most parameters of above-mentioned formula are constant, therefore can save the process of processor to most of trigonometric function operation, greatly accelerate arithmetic speed.
In addition, the micro-optical distance measuring equipment provided to enable the utility model realizes scanning range finding, and realizes the wide viewing angle scanning of longitudinal extent, to obtain more environmental information.The utility model additionally provides one can the described reflex reflector lens 21 of continuous rotation, and wherein said reflex reflector lens 21 makes device achieve scanning range finding and can increase the angular field of view of range finding on longitudinal extent.Described reflex reflector lens 21 realizes the basic setup of 360 ° of wide viewing angle scannings of distance measuring light beam as shown in Figure 1 and Figure 4, need to carry out accurate design, to make to meet described micro-optical distance measuring equipment demand in actual use to the size of described reflex reflector lens 21 with installing.
As shown in Figure 1 and Figure 4, installed at the top of device one can continuous 360 ° rotate described reflex reflector lens 21, level crossing can be elected as, the rotating shaft that wherein said reflex reflector lens 21 rotates is represented by the vertical dotted line contacted with described reflex reflector lens 21 in Fig. 4, and described reflex reflector lens 21 presents 45 ° of angles with described rotating shaft.
Bottom in Fig. 4 is an optical ranging system, it can be the described optical ranging system 10 that the utility model is mentioned, also can be traditional range of triangle system (namely sensitive chip is vertical with imaging len central optical axis), also can be the optical ranging system of other types, such as TOF range measurement system mentioned above.Its base length is b, and wherein collimated light source launches collimated light beam towards reflective mirror, and collimated light beam remains parallel with the rotating shaft of reflective mirror, and a determining deviation can be kept with rotating shaft, represent with d, wherein d >=0, in the present embodiment, d > 0 is chosen.
Reflective mirror require in configuration design be one can be complete comprise any geometric figure that diameter is the circle of L.Only have and meet above-mentioned design, reflective mirror could have enough reflective surface areas all the time for deflecting the light path of range measurement system in the middle of rotary course.Wherein, the value demand fulfillment of diameter L:
In order to realize minimum physical dimension, directly can use the circular reflex reflector lens that diameter is L, to reach minimum plant bulk.
Installing of range measurement system in reflective mirror and bottom, requires that the spacing d of collimated light source and reflective mirror rotating shaft can not more than the half of b.Namely require:
From above-mentioned relation, the baseline size of range measurement system also determine the size of reflective mirror simultaneously.For the range measurement system of 2cm baseline that the utility model adopts, then diameter is at least needed to be
circular reflex reflector lens.
The calculating of scanning optical path signal
When reflective mirror carry out rotation start to scan time, the collimated light beam sent by range finder module will be reflected by mirror surface, and produce the deflection of 90 °, realize surface level rotary scanning range finding.Light channel structure wherein for simplifying the analysis, can regard reflective mirror as stationary reference frame.Now, range finder module does 360 ° of rotations relative to reflective mirror along the rotation center of reflective mirror, and the light path equivalent analysis in rotary course as shown in Figure 5.
With reflective mirror as stationary reference frame after, the collimated light source in the range measurement system of bottom is that radius circle around reflective mirror rotating shaft with d relative to reflective mirror.The collimated light beam moved in a circle, by after mirror reflection, by the deflection of generation 90 °, and penetrates to horizontal direction.If now place the white wall of a facial plane perpendicular to light beam on the beam direction of level injection, then can observe a spot tracks circled.It is the coordinate information of coordinate origin relative to reflective mirror rotation center O point that scanning distance measuring equipment of the present utility model to need to obtain in figure each point in spot tracks in operational process.As P in figure
1, P
2, P
3that collimated light source is rotated in the hot spot point at Difference angles place relative to reflective mirror respectively, and P'
1, P'
2, P'
3it is the virtual image position that each hot spot point produces in lens.Collimated light source is to P'
1, P'
2, P'
3distance can be tried to achieve according to the formula introduced above by laser distance measuring system, and can to draw upper figure P'
1, P'
2, P'
3each point is consistent to the distance value of light source.Therefore each point of circular trace is to the distance L of corresponding light source
a+ L
bobtain by the above-mentioned virtual image.
Further, the coordinate information of hot spot P point uses as under type is obtained, and is described here with reference to Fig. 6.
In Fig. 6, hot spot point P employs spherical coordinate system mode relative to the coordinate of reflective mirror rotation center and represents:
P(r,θ,φ)
Wherein each entry value can be obtained by following formula:
Wherein, l
a+ l
bthe point P obtained for using range measurement system is to the distance of collimated light source, and it can be obtained by the formula provided above.L
0for reflective mirror rotates the distance of mid point O to collimated light source Plane of rotation central point O '.This numerical value is a constant after distance measuring equipment assembling, tries to achieve by means such as corrections.ψ is the corner that collimated light source circles relative to reflective mirror, and it is in fact the angle that reflective mirror rotates, and obtains by the scrambler scanning distance measuring equipment.
Adopt the scanning distance measuring equipment of above-mentioned mirror apparatus operationally, distance measuring light beam will centered by reflective mirror rotary middle point, highly for doing 360 ° of rotation sweeps in the scanning area of 2d.The track while scan of its distance measuring light beam as shown in Figure 7.
When scanning distance measuring equipment self keeps static, reflective mirror complete one week 360 ° scan after, the tiling in the plane of its spot tracks expands into one close to the functional digraph of d*sin (ψ), as shown in Figure 8.
Compare the optical scanning range finding of conventional two-dimensional, track while scan of the present utility model has the Longitudinal Extension of 2d height, improves test specification.And by rotation or other the mechanism additional of scanning distance measuring equipment itself, can realize covering the complete scan of 2d height region, as shown in Figure 9.
In addition, it is worth mentioning that, the little baseline range of triangle system that the utility model provides and install rotatably single reflex reflector lens realize 360 ° scanning scan modules can be combined, namely use in same device, form the utility model provide micro-optical scanning distance measuring equipment.Also can be out of shape, the scan module of little baseline range of triangle system and rotatably single reflex reflector lens is separately used, little baseline range of triangle system is comprised by being bonded with other equipment, but do not comprise the first optical scanning distance measuring equipment of the scan module of rotatably single reflex reflector lens, or form and comprise rotatably single reflex reflector lens but the second optical scanning distance measuring equipment not comprising little baseline range of triangle system, in other words, rotatably the scan module of single reflex reflector lens can be combined with other optical ranging system and form the first optical scanning distance measuring equipment described, and little baseline range of triangle system also can make it rotate with other combination of elements forms described the second optical scanning distance measuring equipment.
Such as, for the first optical scanning distance measuring equipment, the installation of single reflex reflector lens and the installation of scrambler can be identical with the installation method of the micro-optical distance measuring equipment in the utility model embodiment, little baseline range of triangle system are changed to traditional range of triangle system or TOF optical ranging system and other optical ranging system.When using the first optical scanning distance measuring equipment, by corresponding optical ranging system transmitted beam, carry out 360 ° of scannings by single reflex reflector lens and note down, the rotation of scan module is with the rotary scanning mode in embodiment of the present utility model.
Again such as, for the second optical scanning distance measuring equipment, can by little baseline optical range measurement system in conjunction with traditional rotatably platform, imaging len, sensitive chip, collimated light source and processor circuit in little baseline range of triangle system is made to be arranged on rotatably on platform, rotate along with the rotation of platform, realize scanning range finding.In addition, longitudinal sweep scope to expand, multiple little baseline range of triangle system can be longitudinally installed successively.Certainly, also only can use a little baseline range of triangle system in a device, and not make it rotate, only measure the position of a point.Carry out when using the second optical scanning distance measuring equipment, the collimated light beam direct irradiation target object that collimated light source is launched, hot spot is formed at target object surface, and along with the rotation of collimated light source, collimated light beam can irradiate the diverse location of target object, is focused on by imaging len, subpoint is formed on sensitive chip surface, sensitive chip carries out the position coordinates that photoelectric signal transformation obtains subpoint, and through corresponding optical computing, obtains the environmental information of the target object measured.If be provided with multiple little baseline range of triangle system, then multiple system works simultaneously according to the method described above, obtains the environmental information of wider longitudinal extent.
A kind of optical scanning distance-finding method, can be summarized as and mainly comprise the following steps:
A () is by target object described in described collimated light beam directive;
B () described target object carries out light signal reflection to described collimated light beam;
C the light signal of () described reflection is focused on by described imaging len, project described sensitive chip place plane, and the central optical axis of wherein said sensitive chip and described imaging len is an angle being greater than that 0 ° is less than 90 °; With
D () described sensitive chip carries out photoelectric signal transformation, obtain the environmental information of target object.
One skilled in the art will understand that the embodiment of the present utility model shown in foregoing description and accompanying drawing only limits the utility model as an example and not.The purpose of this utility model is complete and effectively realize.Function of the present utility model and structural principle are shown in an embodiment and are illustrated, do not deviating under described principle, embodiment of the present utility model can have any distortion or amendment.
Claims (25)
1. a micro-optical scanning distance measuring equipment, is characterized in that, comprising:
One base;
One little baseline optical range measurement system, is installed on described base;
One scan module, it reflex reflector lens comprising a rotating disk and be connected to described rotating disk obliquely, wherein said reflex reflector lens is positioned at the top of described optical ranging system, and described rotating disk is connected to described base rotationally; With
One data processing module, is connected to described rotating disk and described base, measures the angle information that described reflex reflector lens rotates.
2. micro-optical scanning distance measuring equipment as claimed in claim 1, it is characterized in that, described little baseline optical range measurement system is fixed on described base.
3. micro-optical scanning distance measuring equipment as claimed in claim 1 or 2, it is characterized in that, described data processing module is a scrambler, comprise an encoder code disc and a pulse induction element, wherein said encoder code disc is fixed on described rotating disk, described pulse induction element is fixed on described base, and described pulse induction element is positioned at the space place not producing contact near described encoder code disc.
4. as claim 1, micro-optical scanning distance measuring equipment described in 2 or 3, it is characterized in that, comprise the power plant module being installed on described base further, it comprises a power part and a drive disk assembly, wherein said drive disk assembly is connected to described power part and described rotating disk, is made described power part apply power to described rotating disk, impels the rotation of described rotating disk.
5. as claim 1,2, micro-optical scanning distance measuring equipment described in 3 or 4, it is characterized in that, described little baseline optical range measurement system comprises an imaging len, a sensitive chip, a collimated light source and is connected to a processor circuit of described sensitive chip, wherein said sensitive chip and described imaging len optical axis keep one to be greater than 0 ° and are less than the angle of 90 °, form a baseline between the central optical axis of described imaging len and described collimated light source, the vertical line of the collimated light beam that described collimated light source is launched and described baseline is an angle.
6. micro-optical scanning distance measuring equipment as claimed in claim 5, it is characterized in that, described little baseline optical range measurement system comprises a fixed sturcture further, is made described imaging len, described sensitive chip, described collimated light source and described processor circuit be fixed on described base.
7. micro-optical scanning distance measuring equipment as claimed in claim 6, it is characterized in that, described scan module comprises a support component further, and wherein said support component is made described reflex reflector lens be installed on the edge of described rotating disk obliquely.
8., as claim 1, the micro-optical scanning distance measuring equipment described in 2,3,4,5 or 7, described reflex reflector lens and described base place plane are 45 ° of angles.
9. micro-optical scanning distance measuring equipment as claimed in claim 4, it is characterized in that, described scan module comprises a bearing further, and it is connected between described rotating disk and described drive disk assembly, is transmitted power to described rotating disk.
10. the micro-optical scanning distance measuring equipment as described in claim 1,2 or 9, it is characterized in that, described optical ranging system is triangle optical ranging system or TOF range measurement system.
11. 1 kinds of optical ranging systems, is characterized in that, comprising:
One imaging len;
One sensitive chip, is installed on the rear of described imaging len, wherein said sensitive chip and described imaging saturating
Mirror optical axis is an angle, and wherein said angle is greater than 0 ° and is less than 90 °;
One collimated light source, forms a spacing distance between itself and the central optical axis of described imaging len; With
One processor circuit, is connected to described sensitive chip.
12. optical ranging systems as claimed in claim 11, it is characterized in that, described collimated light source is laser.
13. optical ranging systems as claimed in claim 11, it is characterized in that, described collimated light source is LED light source, and described optical ranging system comprises a condenser lens further, is installed on the front of described LED light source, to focus on described LED light source.
14. optical ranging systems as described in claim 11,12 or 13, it is characterized in that, described sensitive chip is CMOS photosensitive array chip, CCD photosensitive array chip or PSD.
15. optical ranging systems as claimed in claim 14, is characterized in that, in 25 ° of angles between described sensitive chip and described imaging len.
16. 1 kinds of optical scanning range measurement systems, is characterized in that, comprising:
One rotating disk;
One reflex reflector lens, it is connected to described rotating disk obliquely;
One data processing module, is connected to rotating disk, measures the angle information that described reflex reflector lens rotates;
One power part, it is connected to described rotating disk, transmits power to described rotating disk, is made described reflective mirror
Sheet rotates under the rotation of described rotating disk; With
One optical ranging system, is installed on the below of described reflex reflector lens.
17. optical scanning range measurement systems as claimed in claim 16, it is characterized in that, described data processing module is a scrambler, comprise an encoder code disc and a pulse induction element, wherein said encoder code disc is fixed on described rotating disk, described pulse induction element is positioned at top one distance of described encoder code disc, records the positional information of described encoder code disc.
18. optical scanning range measurement systems as described in claim 16 or 17, it is characterized in that, described reflex reflector lens and its rotating shaft are 45 ° of angles.
19. as claim 16, optical scanning range measurement system described in 17 or 18, it is characterized in that, described optical ranging system comprises a collimated light source, the collimated light beam that wherein said collimated light source is launched is parallel with the rotating shaft of described reflective mirror, and and in a spacing between the rotating shaft of described reflective mirror, wherein said spacing is greater than zero.
20. optical scanning range measurement systems as described in claim 16,17 or 18, it is characterized in that, described optical ranging system comprises a collimated light source, and the collimated light beam that wherein said collimated light source is launched overlaps with the rotating shaft of described reflective mirror.
21. optical scanning range measurement systems as claimed in claim 19, it is characterized in that, described collimated light source is installed on the position parallel with described reflective mirror rotating shaft.
22. optical scanning range measurement systems as claimed in claim 19, it is characterized in that, described collimated light source is installed arbitrarily, and comprise at least one additional reflective mirror, wherein said additional reflective mirror deflects described collimated light beam, is made described collimated light beam parallel with the rotating shaft of described reflective mirror.
23. optical scanning range measurement systems as claimed in claim 20, is characterized in that, described collimated light source is installed on the position overlapped with described reflective mirror rotating shaft.
24. optical scanning range measurement systems as claimed in claim 20, it is characterized in that, described collimated light source is installed arbitrarily, and comprise at least one additional reflective mirror, wherein said additional reflective mirror deflects described collimated light beam, and described collimated light beam is overlapped with the rotating shaft of described reflective mirror.
25. optical scanning range measurement systems as described in claim 22 or 24, it is characterized in that, described optical ranging system is range of triangle system or TOF range measurement system.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132639A (en) * | 2014-08-15 | 2014-11-05 | 上海思岚科技有限公司 | Miniature optical scanning and ranging device and method |
| CN106019296A (en) * | 2016-07-26 | 2016-10-12 | 北醒（北京）光子科技有限公司 | Hybrid solid-state multiline optical scanning and distance measuring device |
| CN107861111A (en) * | 2017-12-25 | 2018-03-30 | 杭州隆硕科技有限公司 | Rotary laser distance measuring sensor |
| WO2019113859A1 (en) * | 2017-12-13 | 2019-06-20 | 广州艾若博机器人科技有限公司 | Machine vision-based virtual wall construction method and device, map construction method, and portable electronic device |
| CN116203535A (en) * | 2023-04-28 | 2023-06-02 | 枣庄科技职业学院 | Computer-aided optical scanning three-dimensional imaging system |
-
2014
- 2014-08-15 CN CN201420460856.2U patent/CN204240979U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104132639A (en) * | 2014-08-15 | 2014-11-05 | 上海思岚科技有限公司 | Miniature optical scanning and ranging device and method |
| CN106019296A (en) * | 2016-07-26 | 2016-10-12 | 北醒（北京）光子科技有限公司 | Hybrid solid-state multiline optical scanning and distance measuring device |
| WO2019113859A1 (en) * | 2017-12-13 | 2019-06-20 | 广州艾若博机器人科技有限公司 | Machine vision-based virtual wall construction method and device, map construction method, and portable electronic device |
| CN107861111A (en) * | 2017-12-25 | 2018-03-30 | 杭州隆硕科技有限公司 | Rotary laser distance measuring sensor |
| CN116203535A (en) * | 2023-04-28 | 2023-06-02 | 枣庄科技职业学院 | Computer-aided optical scanning three-dimensional imaging system |
| CN116203535B (en) * | 2023-04-28 | 2023-08-22 | 枣庄科技职业学院 | Computer-aided optical scanning three-dimensional imaging system |
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