CN206147094U - Can strengthen measuring range's laser rangefinder - Google Patents
Can strengthen measuring range's laser rangefinder Download PDFInfo
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- CN206147094U CN206147094U CN201621117777.7U CN201621117777U CN206147094U CN 206147094 U CN206147094 U CN 206147094U CN 201621117777 U CN201621117777 U CN 201621117777U CN 206147094 U CN206147094 U CN 206147094U
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Abstract
The utility model relates to a can strengthen measuring range's laser rangefinder, including two at least light emitter and at least one light receiver, every light emitter corresponds a light receiver, and every light emitter of group and light receiver have fixed centre -to -centre spacing, and the light emitter of each group is different with light receiver centre -to -centre spacing. The utility model discloses a range unit when having kept the triangulation method to have the simple and reflectivity strong adaptability advantage of circuit, has enlarged the measuring range of object, and the phenomenon of avoiding mobile robot or vehicle to bump with the object in the walking process results in moving object to move or to damage, simple structure, the operation of being convenient for.
Description
Technical field
The utility model belongs to laser ranging field, and in particular to a kind of laser ranging system for strengthening measurement range.
Background technology
This problem would generally be encountered in the process of walking and to be solved to mobile robot：Surrounding objects are measured in real time
Distance and collision free.
Principle of triangulation.Infrared laser emission device according to certain angular emission infrared beam, after object is run into,
Light beam can be reflected, as shown in Figure 1：After the IR for reflecting is detected by CCD-detector, one can be obtained partially
Shifting value L, using triangle relation, is being aware of launch angle β, and offset distance L after central moment X, and the focal length f of filter, is sensed
Device to object just can be calculated apart from D by geometrical relationship.Offset distance L is non-linear relation apart from D with object,
It is general obtain measurement distance with difference mode using to table look-up in actual realization.
Triangulation mode is less demanding to measuring circuit, simultaneously because triangulation is employed, the material of testee
Matter, environment temperature and time of measuring affect very little, the more application in medium and small range measurement to maintain static certainty of measurement
, also have what is measured in rotation.Just can be seen that from geometrical principle, when the distance of D is near enough, L values can be quite big,
Investigative range more than CCD, at this moment, although object is close, but sensor be can't see on the contrary, therefore not only have maximum measurement
Distance, also there is minimum measurement distance.When object distance D is very big, L values will very little, therefore measure relatively large distance when, in order to
Ensure higher certainty of measurement, central moment X requires increase, now minimum measurement distance also just becomes big.Therefore one has
Have fixed center square X and CCD area size measurement apparatus can not and meanwhile accomplish larger maximum measurement distance and it is less most
Little measurement distance.
The utility model provides the laser triangulation device that can strengthen measurement range, and it maintains triangulation tool
There is circuit simple and the adaptable advantage of reflectivity, while expanding measurement range.
Utility model content
For defect present in prior art, the utility model provides a kind of laser ranging dress for strengthening measurement range
Put, it is ensured that the simple triangulation device of circuit there can be bigger measurement range, enable object in the range of detection, it is to avoid
Mobile robot is collided in the process of walking.
To reach object above, the technical solution adopted in the utility model is：Offer is a kind of to strengthen swashing for measurement range
Optical range finding apparatus, including at least two light emitters and at least one light receiver, a light emitters correspondence one
Light receiver or multiple light emitters one light receiver of correspondence, each light emitters and corresponding light receiver
One group of range cells is formed, every group of range cells have fixed centre-to-centre spacing, and the centre-to-centre spacing of each group range cells is different.
Further, it is different according to the centre-to-centre spacing of every group of range cells, closely laser triangulation unit and long distance are set
From laser triangulation unit, closely laser triangulation unit and long distance laser range of triangle unit are using arranged apart
Form, that is, be arranged in a rotating disk that can at the uniform velocity rotate, and the rotating disk is fixed on fixed underpan by rotating shaft, described solid
Determine chassis and be provided with rotation circuit unit, for driving rotating disk uniform rotation.
Further, the rotating disk is provided with angle detection circuitry unit, for detecting rotating disk real time rotation angle.
Further, result integrated unit is additionally provided with the rotating disk, the result integrated unit is for receiving angle detection
Object angle information and closely laser triangulation unit and long distance laser range of triangle unit are sent out that circuit unit sends
The object distance information for going out, and merge closely laser triangulation unit and long distance laser range of triangle unit range measurement
After for a measurement result, object range information and angle information are finally sent.
Further, the closely laser triangulation unit and the long distance laser range of triangle unit respectively include one
Individual light emitters and a light receiver.
Further, according to two groups of light emitters and the difference of light receiver centre-to-centre spacing, double transmitting laser triangulations are set
Range cells, this pair of transmitting laser triangulation unit includes two light emitters and a light receiver, two light
Transmitter time-sharing work, one light receiver of common correspondence.
Further, double transmitting laser triangulation units control two light transmittings by Time-sharing control integrated unit
Device is in different time transmission signals.
Advantageous Effects of the present utility model are：
(1) the utility model passes through to arrange at least two light emitters and at least one light receiver, according to per group
The centre-to-centre spacing that light emitters are arranged with light receiver is different, so as to cover different finding ranges；Thus, three are being maintained
Angle has circuit simple and while reflectivity strong adaptability advantage, expands measurement range；
(2) the utility model, can be by closely laser triangulation unit and long distance by arranging result integrated unit
A measurement result is fused into from the measurement result of laser triangulation unit, it is ensured that the accuracy of measurement data；
(3) simple structure, is easy to operation.
Description of the drawings
Fig. 1 is prior art trigonometry laser distance measuring principle schematic diagram；
Fig. 2 is the structural representation of the utility model embodiment 1；
Fig. 3 is the structural representation of the utility model embodiment 2.
In figure:
1- fixed underpans, 2- rotating disks, 3- rotating shafts
Specific embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described in further detail.
The utility model provide strengthened measurement range laser ranging system, including at least two light emitters and
The quantity of at least one light receiver, light emitters and light receiver determines according to actual needs.One light transmitting
Device one light receiver of correspondence or two light emitters, one light receiver of correspondence, light emitters and corresponding
Light receiver forms one group of range cells, and every group of range cells have fixed centre-to-centre spacing, the centre-to-centre spacing of each group range cells
Differ.The different measurement range of different central moment correspondences is understood according to principle of triangulation.
Measured using multiple covering different range range cells to be illustrated more clearly that, and by multiple measurement results
A measurement result is fused into, the utility model provides two preferred embodiments, using two light emitters.
Embodiment 1
As shown in Fig. 2 being the structural representation of the utility model embodiment 1.It includes a fixed underpan 1 and a rotation
Rotating disk 2, fixed rotating shaft 3 on fixed underpan, rotating disk 2 can rotary motion of 3 works relative to fixed underpan 1 around the shaft.It is fixed
A rotation circuit unit is included on chassis 1, the rotation circuit unit drives rotating disk 2 at the uniform velocity to revolve by belt or gear
Turn.
180 degree mode is mutually in rotating disk 2 and is mounted with that closely laser triangulation unit and long distance laser triangle are surveyed
Away from unit, closely laser triangulation unit and long distance laser range of triangle unit respectively include a light emitters and
Individual light receiver, every group of light emitters are different with the centre-to-centre spacing of light receiver, and the measurement range of covering is also different.Such as
Closely laser triangulation unit measures 15-120cm, long distance laser range of triangle unit measurement 100cm-550cm.
Angle detection circuitry unit and result integrated unit are additionally provided with rotating disk 2.Angle detection circuitry unit, closely
Laser triangulation unit and long distance laser range of triangle unit are connected respectively with result integrated unit.Angle detection circuitry list
Zero degree point and relative deflection angle of the unit by photoelectric sensor real-time detection rotating disk 2 relatively with fixed underpan 1, and will be real
Hour offset angle is supplied to result integrated unit.It is poor with closely laser triangulation unit that zero degree point can be set in practice
Positive 90 degree, minus 90 degree poor with long distance laser range of triangle unit.
Closely laser triangulation unit and long distance laser range of triangle unit are also each self-monitoring surrounding objects
Distance provides result integrated unit, and as a result integrated unit is according to real time offset angle, remote/closely two laser triangulation lists
The setting angle of first Relative Zero angle points, remote/closely mounting distance of two laser triangulation units with respect to rotating shaft core
Etc. information, two range measurements of remote/closely two laser triangulation unit offers are merged into a measurement result, surveyed
Amount result includes object distance and real-time angular information, and real-time angular information is testee relative to the real-time inclined of zero degree point
Move angle.Concrete fusion calculation method can be completed according to plane geometry principle, no longer be described in detail.So measurement of whole device
Scope expands to 15-550cm.
Each circuit unit needs power supply in rotating disk 2, and as a result integrated unit needs final measurement to be exported to it
Its device is using.Can be realized using the way of contact or cordless.One of them, can install one 4 in rotating shaft 3
Line conducting slip ring device, 4 lines are respectively positive 5V power supplys, ground wire, RS232 serial ports and send line, RS232 serial ports reception line.With regard to
The detailed technology of conducting slip ring device is not described herein, it is ensured that still can continue this 4 lines of UNICOM during continuous rotation.
Embodiment 2
As shown in figure 3, being the structural representation of the utility model embodiment 2.It is that it is included with the difference of embodiment 1
One double transmitting laser triangulation unit and a Time-sharing control integrated unit, a double transmitting laser triangulation unit tool
There are two light emitters and a light receiver, two light emitters one light receivers of common correspondence, timesharing work
Make to avoid conflict, two light emitters are different from the centre-to-centre spacing of light receiver, the different finding range of correspondence, respectively
15-120cm and 100cm-550cm.Two light of the double transmitting laser triangulation units of Time-sharing control integrated unit control are sent out
Emitter timesharing carrys out work, and range measurement when calculating two light emitters time-sharing works, merges range measurement and is one and surveys
Amount result, the measurement result includes object distance.
A kind of laser ranging system for strengthening measurement range of the present utility model is not limited to above-mentioned specific embodiment,
Those skilled in the art draw other embodiments according to the technical solution of the utility model, also belong to of the present utility model
Technological innovation scope.
Claims (7)
1. a kind of laser ranging system for strengthening measurement range, is characterized in that：Including at least two light emitters and at least
One light receiver, light emitters one light receiver of correspondence or multiple light emitters one light of correspondence connect
Device is received, each light emitters and corresponding light receiver form one group of range cells, and every group of range cells have fixation
Centre-to-centre spacing, the centre-to-centre spacing of each group range cells is different.
2. a kind of laser ranging system for strengthening measurement range as claimed in claim 1, is characterized in that：According to per group of range finding
The centre-to-centre spacing of unit is different, arranges closely laser triangulation unit and long distance laser range of triangle unit, closely swashs
Light range of triangle unit and long distance laser range of triangle unit adopt form arranged apart, that is, being arranged in one can at the uniform velocity rotate
Rotating disk (2) on, the rotating disk (2) is fixed on fixed underpan (1) by rotating shaft (3), and the fixed underpan (1) is provided with
Rotation circuit unit, for driving rotating disk (2) uniform rotation.
3. a kind of laser ranging system for strengthening measurement range as claimed in claim 2, is characterized in that：The rotating disk
(2) angle detection circuitry unit is provided with, for detecting rotating disk (2) real time rotation angle.
4. a kind of laser ranging system for strengthening measurement range as claimed in claim 3, is characterized in that：The rotating disk
(2) result integrated unit is additionally provided with, the result integrated unit is used for receiving angle and detects the object angle that circuit unit sends
The object distance information that information and closely laser triangulation unit and long distance laser range of triangle unit send, and merge
Closely laser triangulation unit and long distance laser range of triangle unit range measurement are final after a measurement result
Go out object distance information and angle information.
5. a kind of laser ranging system for strengthening measurement range as described in any one of claim 2 to 4, is characterized in that：Institute
Stating closely laser triangulation unit and the long distance laser range of triangle unit respectively includes a light emitters and
Individual light receiver.
6. a kind of laser ranging system for strengthening measurement range as described in any one of claim 2 to 4, is characterized in that：Root
According to two groups of light emitters and the difference of light receiver centre-to-centre spacing, double transmitting laser triangulation units, this pair of transmitting are set
Laser triangulation unit includes two light emitters and a light receiver, and two light emitters time-sharing works are common
With one light receiver of correspondence.
7. a kind of laser ranging system for strengthening measurement range as claimed in claim 6, is characterized in that：Double transmittings swash
Light range of triangle unit controls two light emitters in different time transmission signals by Time-sharing control integrated unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621117777.7U CN206147094U (en) | 2016-10-12 | 2016-10-12 | Can strengthen measuring range's laser rangefinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621117777.7U CN206147094U (en) | 2016-10-12 | 2016-10-12 | Can strengthen measuring range's laser rangefinder |
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| Publication Number | Publication Date |
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| CN206147094U true CN206147094U (en) | 2017-05-03 |
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| CN201621117777.7U Active CN206147094U (en) | 2016-10-12 | 2016-10-12 | Can strengthen measuring range's laser rangefinder |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106443694A (en) * | 2016-10-12 | 2017-02-22 | 北京艾瑞思机器人技术有限公司 | Laser ranging device capable of enhancing measurement range |
| CN108982116A (en) * | 2018-06-27 | 2018-12-11 | 北京艾瑞思机器人技术有限公司 | Transport vehicle and its chassis parameter calibration method, device and computer-readable medium |
| CN115100802A (en) * | 2022-06-16 | 2022-09-23 | 成都理想科技开发有限公司 | Double-identification boundary detection system and intrusion alarm method |
-
2016
- 2016-10-12 CN CN201621117777.7U patent/CN206147094U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106443694A (en) * | 2016-10-12 | 2017-02-22 | 北京艾瑞思机器人技术有限公司 | Laser ranging device capable of enhancing measurement range |
| CN108982116A (en) * | 2018-06-27 | 2018-12-11 | 北京艾瑞思机器人技术有限公司 | Transport vehicle and its chassis parameter calibration method, device and computer-readable medium |
| CN108982116B (en) * | 2018-06-27 | 2020-07-03 | 北京旷视机器人技术有限公司 | Transport vehicle and chassis parameter calibration method, device and computer readable medium thereof |
| CN115100802A (en) * | 2022-06-16 | 2022-09-23 | 成都理想科技开发有限公司 | Double-identification boundary detection system and intrusion alarm method |
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Address after: Building 9, Phase I, Zhongguancun Software Park, Shangdi Information Industry Base, Haidian District, Beijing, 100094 Patentee after: Beijing Wide-sighted Robot Technology Co., Ltd. Address before: Building 9, Phase I, Zhongguancun Software Park, Shangdi Information Industry Base, Haidian District, Beijing, 100094 Patentee before: Beijing AI Ruisi Robot Technology Co Ltd |