CN209417300U - A kind of optical ranging mould group - Google Patents

Abstract

The utility model discloses a kind of optical ranging mould groups, comprising: optical transmitting set, for being emitted the light pulse sequence through ovennodulation；Beam shaping, for being emitted after carrying out shaping to the light pulse sequence, so that the angle of divergence of the light pulse sequence of outgoing in a first direction is greater than N times of the angle of divergence in a second direction, the direction of the optical axis of the first direction, the second direction and the light pulse sequence is mutually perpendicular to two-by-two respectively, and the N is greater than 1；Optical receiver, at least partly return light being reflected back for receiving the light pulse sequence through object determine the distance between the optical ranging mould group and the object according to the phase difference of the light pulse sequence and at least partly return light；Wherein, the visual field FOV of the optical ranging mould group in this second direction is greater than FOV in said first direction.

Description

A kind of optical ranging mould group

Technical field

The utility model relates to optical application technical field more particularly to a kind of optical ranging mould groups.

Background technique

The application scenarios such as height, avoidance, the industry neck such as security protection or rail traffic are determined in many application fields, such as unmanned plane In domain, distance-measuring equipment can be applied to.Currently, using ligh-ranging method there are many kinds of, wherein be based on flight time (Time of Flight, TOF) telemetry is using more one of method.Flight time telemetry includes the ranging of pulsed time difference and phase Position formula ranging, the ranging of pulsed time difference be by measuring time for flying in space of laser pulse, using Dose times with The light velocity is multiplied to obtain the distance of point-to-point transmission；Ranging phase method is transmitting light by measurement intensity Jing Guo Sine Modulated and by target Phase difference between the return light being reflected back converts range information for phase difference and realizes range measurement, and ranging phase method is compared can Obtain higher measurement accuracy.

The emergent light of distance-measuring equipment in the prior art is generally in coniform, visual field (the Filed Of with circular scope View, FOV), the region for the circular scope to front is scanned.

Utility model content

The utility model embodiment provides a kind of optical ranging mould group, comprising:

Optical transmitting set, for being emitted the light pulse sequence through ovennodulation；

Beam shaping, for being emitted after carrying out shaping to the light pulse sequence, so that the light pulse sequence of outgoing exists The angle of divergence on first direction is greater than N times of the angle of divergence in a second direction, the first direction, the second direction and institute The direction for stating the optical axis of light pulse sequence is mutually perpendicular to two-by-two respectively, and the N is greater than 1；

Optical receiver, at least partly return light being reflected back for receiving the light pulse sequence through object, according to described Light pulse sequence and the phase difference of at least partly return light determine between the optical ranging mould group and the object away from From；

Wherein, the visual field FOV of the optical ranging mould group in this second direction is greater than in said first direction FOV。

Optionally, the optical ranging mould group has rectangular FOV, wherein the long side of the rectangular FOV is parallel In the first direction, short side is parallel to the second direction.

Optionally, the first direction is vertical direction, and the second direction is horizontal direction.

Optionally, the N is between 1.2 to 3；

And/or

The angle of divergence of the outgoing beam in said first direction is not more than 3 degree.

Optionally, when the optical receiver receives at least partly return light, acceptance angle in said first direction Degree is greater than receiving angle in this second direction.

Optionally, the receiving angle of the optical receiver in said first direction is the light pulse sequence described the 0.7 times to 1.5 times of the angle of divergence on one direction；

And/or；

The receiving angle of the optical receiver in this second direction is the light pulse sequence in the second direction On 0.7 times to 1.5 times of the angle of divergence；

Optionally, the receiving angle of the optical receiver in said first direction is the light pulse sequence described the 1 times to 1.5 times of the angle of divergence on one direction；

And/or；

The receiving angle of the optical receiver in this second direction is the light pulse sequence in the second direction On 1 times to 1.5 times of the angle of divergence；

Optionally, the light-emitting surface of the optical transmitting set is elongated, the length direction edge of the light-emitting surface of the optical transmitting set The first direction；

And/or

The optical detection face of the optical receiver is elongated, and the length direction in the optical detection face of the optical receiver is described in First direction.

Optionally, the optical transmitting set includes light emitting diode.

Optionally, the optical ranging mould group further includes the reshaper bracket of tapered tubulose, the reshaper bracket packet Include opposite the first opening and the second opening；

Wherein, it is described first opening for the optical transmitting set cooperate, it is described second opening for the light Beam reshaper cooperate so that the optical transmitting set and the beam shaping respectively with it is described first opening and described second When opening cooperates, the optical transmitting set is pre-determined distance at a distance from the beam shaping.

Optionally, the optical transmitting set is set side by side with the optical receiver；

The side wall of the reshaper bracket is light-proof material, alternatively, the side wall of the reshaper bracket is also used to entering The light beam penetrated is reflected.

Optionally, the beam shaping includes lens module, and the lens module includes:

The first collimation plane and the second collimation plane being sequentially located on the central axis of the lens module；

Wherein, first collimation plane at least partly by be located at the first section in the first curve around first axle rotate It obtains, second collimation plane is at least partly parallel to the first axle by the overall edge of the second curve being located in the second section The cylinder that translates of direction；

The first axle is located at first collimation plane backwards to the side of second collimation plane, and is parallel to described second Direction；First section includes at least one section where the first axle；Second section includes perpendicular to described At least one section of first axle；

The beam shaping lens are used to carry out shaping to incident light beam, wherein first collimation plane is used for entering The light beam penetrated is collimated on the first section；Second collimation plane for will the light beam from first collimation plane the It is collimated on two sections.

Optionally, the optical ranging mould group further include be covered on the optical detection face of the optical receiver and with it is described The light transmission medium for contact that optical detection face is seamless；Wherein, the refractive index of the light transmission medium is greater than 1, and the table of the light transmission medium Face includes curved surface.

Optionally, the refractive index of the light transmission medium is not less than 1.3.

As can be seen from the above technical solutions, the utility model embodiment has the advantage that

The FOV of optical ranging mould group in a first direction is greater than FOV in a second direction, in this way, optical ranging mould group It is mounted in robot (such as sweeping robot) or other equipment for needing range sensor to detect ambient enviroment When to vicinity environment detection, bigger angular resolution can be got in second direction (such as horizontal direction), be conducive to Raising builds figure performance to ambient enviroment when being detected using the optical ranging mould group.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of one embodiment of optical ranging mould group provided by the embodiment of the utility model；

Fig. 2 is the pulsed light beam of the present embodiment optical ranging mould group transmitting and the waveform diagram of received return light；

Fig. 3 is a kind of schematic diagram of embodiment of the light-emitting surface of the optical transmitting set in optical ranging mould group；

Fig. 4 is a kind of schematic diagram of embodiment of the light-emitting surface of the optical receiver in optical ranging mould group；

Fig. 5 is the structural schematic diagram of one embodiment of beam shaping lens provided by the embodiment of the utility model；

Fig. 6 is the schematic diagram of one embodiment of section of the lens shown in Fig. 5 on plane X-L；

Fig. 7 is the schematic diagram of one embodiment of section of the lens shown in Fig. 5 on plane Y-L；

Fig. 8 is the structural schematic diagram of one embodiment of optical receiver provided by the embodiment of the utility model；

Fig. 9 is the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model；

Figure 10 is the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model；

Figure 11 is the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model；

Figure 12 is the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model；

Figure 13 is the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model；

Figure 14 is the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model；

Figure 15 is the stereoscopic schematic diagram of the group of optical ranging mould shown in Fig. 1.

Specific embodiment

In order to make those skilled in the art better understand the scheme of the utility model, below in conjunction with the utility model reality The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described Embodiment is only the embodiment of the utility model a part, instead of all the embodiments.Based on the reality in the utility model Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered When the range for belonging to the utility model protection.

The specification and claims of the utility model and term " first ", " second ", " third " in above-mentioned attached drawing " 4th " etc. is not use to describe a particular order for distinguishing different objects.In addition, term " includes " and " having " with And their any deformations, it is intended that cover and non-exclusive include.Such as contain the process of a series of steps or units, side Method, system, product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing Or unit, or optionally further comprising other step or units intrinsic for these process, methods, product or equipment.

As shown in FIG. 1, FIG. 1 is the structures of one embodiment of optical ranging mould group provided by the embodiment of the utility model to show It is intended to.Optical ranging mould group 10 includes optical transmitting set 11, beam shaping 12 and optical receiver 13.Optical transmitting set 11 is for being emitted Light pulse sequence through ovennodulation.Each light pulse that beam shaping 12 is used to be emitted optical transmitting set 11 carries out shaping, So that the angle of divergence of the light pulse of outgoing in a first direction is greater than N times of the angle of divergence in a second direction.

Optionally, optical transmitting set 11 and optical receiver 13 are set side by side.In the light pulse sequence that optical transmitting set 11 is emitted Pulsed light is emitted after 12 shaping of beam shaping, is reflected or diffusing reflection when encountering object by the object.The pulsed light is through being somebody's turn to do At least partly return light after object reflection or diffusing reflection returns to optical ranging mould group 10 along original optical path, by optical ranging Optical receiver 13 in mould group 10 is received.Optical receiver 13 is used for according to the phase between the pulsed light and the return light that receives Potential difference, to determine the orientation of the distance between object and optical ranging mould group 10 and object opposing optical ranging mould group 10.

Specifically, optical receiver 13 includes photoelectric conversion module and computing module, wherein the photoelectric conversion module includes light Test surface, the photoelectric conversion module are used to the light beam on the optical detection face of being incident on changing into electric signal, the computing module be used for from The phase of the return light is obtained in the electric signal, and the phase for the pulsed light being emitted is obtained from optical transmitting set 11, and be based on Phase difference between the phase of the pulsed light of the phase and outgoing of the return light calculates between object and optical ranging mould group 10 Distance.In some implementations, plus lens 14 (such as Fig. 1 and figure are additionally provided with above the optical detection face of optical receiver 13 Shown in 15), for the light beam of return to be converged to optical detection face.

Optionally, which is also used to obtain environmental parameter value, and according to the environmental parameter value to it is calculated away from From being modified, the adjust the distance influence of measurement of environmental factor is taken into account, the accuracy and measurement of range measurement can be improved Precision.

Specifically, computing module is based on " flight time " ranging phase method principle, realize to object and optical ranging mould group The distance between measurement.In the optical ranging mould group of the present embodiment, optical transmitting set 11 includes driving circuit and light source, by driving electricity Road is driven and is modulated to light source, and pulsed light of the intensity through ovennodulation (such as by sine wave modulation) is generated.Please refer to figure 2, Fig. 2 be the pulsed light beam of the present embodiment optical ranging mould group transmitting and the waveform diagram of received return light.In some realities In existing mode, the pulsed light beam that optical transmitting set 13 generates has a fixed modulating frequency f, modulation period TMOD, optical receiver 13 The pulsed light of the received return light and outgoing returned by object reflection or diffusing reflection has phase difference, passes through the pulsed light to outgoing And return light is sampled, and the phase difference between return light and pulsed light is measured, and can calculate object according to the following formula to survey Distance away from mould group:

Wherein, c indicates that the light velocity, f indicate sine wave modulation frequency, and L indicates measured target to the distance of optical ranging mould group.

In some implementations, photoelectric conversion module includes CMOS (Complementary Metal-Oxide- Semiconductor, complementary metal oxide semiconductor) or CCD (Charge-coupled Device, Charged Couple member Part), for converting optical signals into electric signal.In some implementations, photoelectric conversion module includes CMOS array or CCD Array.

The light beam of existing optical ranging mould group outgoing is generally the light beam for being similar to cone, surveys with the optics Have the hot spot formed on (such as on wall) plane of certain distance generally circular in cross section away from mould group.With existing optical ranging mould group Unlike, in the optical ranging mould group in the utility model, the FOV of optical ranging mould group in a first direction is greater than second FOV on direction.The first direction and second direction are mutually perpendicular to, and the first direction and second direction respectively with the arteries and veins of outgoing The optical axis washed off is mutually perpendicular to.

In some implementations, the installation site of optical ranging mould group and posture make optical ranging mould group in level side Upward FOV is greater than the FOV on vertical direction (such as gravity direction)；Namely first direction can be perpendicular to horizontal direction Vertical direction (such as gravity direction), second direction can be horizontally oriented.For example, optical ranging mould group may be mounted at machine In device people (such as sweeping robot) or other equipment for needing range sensor to detect ambient enviroment, for sweeping Barrier around floor-washing robot or other equipment is detected.When optical ranging mould group is mounted in robot or other equipment When, optical ranging mould group is greater than the FOV on vertical direction (such as gravity direction) in FOV in the horizontal direction.This is practical Novel utility model people discovery, sweeping robot are mainly used for detecting the barrier in horizontal direction.Therefore, this reality When being less than FOV in the vertical direction with the FOV of novel optical ranging mould group in the horizontal direction, optical ranging mould group is in water Square upward angular resolution is higher than angular resolution in the vertical direction, is conducive to improve and uses the optical ranging mould group Sweeping robot builds figure performance to ambient enviroment when being detected.

Specifically, each beam pulse light in optical transmitting set outgoing light pulse sequence is shaped to through beam shaping first The angle of divergence on direction is emitted after being greater than N times of pulsed light of the angle of divergence in a second direction, so that the pulsed light is vertical It is greater than the M of bore in a second direction in the bore of the hot spot formed in the plane of the optical axis of the pulsed light in a first direction Times.The N and M are all larger than 1.

In some implementations, which can be lens, such as surface is the lens of free form surface, for pair The light beam of optical transmitting set outgoing carries out shaping.

In some implementations, optical transmitting set may include laser diode (Laser Dioed, LD), for being emitted warp The laser pulse of ovennodulation.Preferably, optical transmitting set also may include light emitting diode (Light Emitting Diode, LED), for being emitted the light beam pulse through ovennodulation.Compared to laser light source, LED light source is had at least the following advantages: 1, due to The optical energy density of LED light source is lower, safer to human eye；2, the cost of LED light source is lower；3, due to the hair of LED light source Smooth surface is greater than the light-emitting surface of laser light source, and the assembly precisions of lens used in LED light source can be conducive to the dress of lens with more lower Match；4, LED light source can be directly on patch to circuit board, and the degree of automation is higher；5, the light beam of LED light source outgoing is formed The uniformity of hot spot is higher.

In some implementations, the angle of divergence of the outgoing beam of optical ranging mould group in a first direction is not more than 3 degree.Example Such as, the angle of divergence of the outgoing beam of optical transmitting set in the vertical direction is not more than 3 degree.Optical ranging mould group is mounted on machine of sweeping the floor When in people or other equipment, if being easy to appear portion when the angle of departure of outgoing beam in the vertical direction larger (being greater than 3 degree) Divided beams is irradiated to the case where surface of ground, sweeping robot or other equipment, this segment beam is by ground or sweeper There is segment beam that can return to optical ranging mould group after the surface reflection of device people or other equipment, the detection of other objects is caused to do It disturbs, therefore, the angle of divergence of the outgoing beam of optical ranging mould group in a first direction is not more than 3 degree, is irradiated to ground to reduce Or the upper light beam on sweeping robot surface.

In some implementations, dispersion angle in a first direction is the in the pulsed light of optical ranging mould group outgoing 1.2 times of dispersion angle on two directions~3 times (including 1.2 times and 3 times).

In some implementations, as shown in figure 3, Fig. 3 is one kind of the light-emitting surface of the optical transmitting set in optical ranging mould group The schematic diagram of embodiment.The light-emitting surface 31 of optical transmitting set is elongated.Optionally, the length direction of the light-emitting surface 31 is along first party To setting.When optical ranging mould group is mounted in robot or other equipment, the Installation posture of optical ranging mould group makes light The length direction of the light-emitting surface 31 of transmitter is arranged along the vertical direction.Such set-up mode is conducive to the light of optical transmitting set outgoing Beam forms the bigger angle of divergence in a first direction.For example, can directly be adopted in the case where using light-emitting surface shown in Fig. 3 It can be realized with the lens of general rotational symmetry and beam shaping is greater than second direction for the angle of divergence in a first direction On the angle of divergence.In some implementations, the length of the light-emitting surface of optical transmitting set and the ratio of the width (packet between 1.2 to 3 Include 1.2 and 3).

Certainly, the light-emitting surface of optical transmitting set is also possible to round or other shapes in other implementations, does not do herein Limitation.

In some implementations, as shown in figure 4, Fig. 4 is one kind of the light-emitting surface of the optical receiver in optical ranging mould group The schematic diagram of embodiment.Optical detection face 131 in optical receiver is elongated.Wherein, which refers to optical detector On effective sensitization area area.Optionally, the length direction in the optical detection face is arranged along first direction.When optical ranging mould When group is mounted in robot or other equipment, the Installation posture of optical ranging mould group makes the optical detection face 131 of optical receiver Length direction be arranged along the vertical direction.Such set-up mode is conducive to optical receiver and forms bigger connect in a first direction Receive angle.Wherein, the receiving angle on the first direction refers to returning after being reflected by the object, and is incident to optical detection face The angle of light beam in a first direction.For example, can be directly used general in the case where using light-emitting surface shown in Fig. 4 The lens of rotational symmetry can be realized receiving angle in a first direction greater than receiving angle in a second direction.One In a little implementations, the length of the light-emitting surface of optical detector and the ratio of width between 1.2 to 3 (including 1.2 and 3).

Certainly, the optical detection face of optical receiver is also possible to round or other shapes in other implementations, herein not It is limited.

In some implementations, light that the receiving angle of optical receiver in a first direction is emitted by optical ranging mould group 0.7 times to 1.5 times of the angle of divergence of pulse train in a first direction.

In some implementations, light that the receiving angle of optical receiver in a second direction is emitted by optical ranging mould group 0.7 times to 1.5 times of the angle of divergence of pulse train in a second direction.

In some implementations, the receiving angle of optical receiver 13 in a first direction is emitted by optical ranging mould group 1 times to 1.5 times of the angle of divergence of light pulse sequence in a first direction.In some implementations, optical receiver is in second direction On 1 times to 1.5 times of the light pulse sequence that is emitted by optical ranging mould group of the receiving angle angle of divergence in a second direction. In this way, can make the photoelectric conversion module in optical receiver 13 that there is certain fabrication tolerance, even if the photoelectric conversion module Optical signal can be also received in a first direction and/or in second direction when deviateing predeterminated position in assembly.

Beam shaping in optical ranging mould group shown in FIG. 1 can have a variety of structures mode.For example, beam shaping A specially beam shaping lens.As shown in figure 5, Fig. 5 is the one of beam shaping lens provided by the embodiment of the utility model The structural schematic diagram of a embodiment.Beam shaping lens 50 include the be sequentially located in the central axis L of beam shaping lens 50 One collimation plane 51 and the second collimation plane 52.First collimation plane 51 and the second collimation plane 52 are oppositely arranged, respectively incidence surface and Light-emitting surface.First collimation plane 51 and the second collimation plane 52 are used in the both direction for being mutually perpendicular to and being parallel to central axis L Incident light beam is successively collimated, to reduce the angle of divergence of incident beam in the both direction respectively.

Optionally, the first collimation plane 51 and the second collimation plane 52 are connected by side 53, side 54, side 55, side 56.It can Choosing, which can be plane, be also possible to curved surface, herein with no restrictions.

To be described below conveniently, first axle X, the second axis Y, the first section and the second section are introduced, wherein first axle X is vertical Directly in any one axis of central axis L, and it is parallel to second direction；Second axis Y is perpendicular to first axle X, and perpendicular to center Axis L, and it is parallel to first direction.The intersection point of first axle X, the second axis Y and central axis L are referred to as origin O.Referred to hereinafter as first axle X with Plane where central axis L is plane X-L, and the second axis Y and central axis L place plane are referred to as plane Y-L.First section is first axle At least one section that X is passed through；Second section is at least one section perpendicular to the second axis Y, namely is parallel to plane X- At least one section of L.

Fig. 6 is the schematic diagram of one embodiment of section of the lens shown in Fig. 5 on plane X-L.First collimation plane 51 with The overall direction along first axle of the intersection (namely first curve 511) in the first section (such as plane X-L) extends.First curve A point A (such as midpoint of first curve) on 511 is a minimum at a distance from first axle X, and for the first curve At least partly point of the two sides point A on 511, bigger point and the distance between first axle X are bigger at a distance from point A.When light source position When at origin O, the light beam of light source outgoing is incident to the first collimation plane 51, and after the first collimation plane 51 collimation, incident beam exists The angle of divergence on first section reduces.In one embodiment, incident beam collimates on the first section through the first collimation plane 51 For directional light (or close to directional light).

In some implementations, the light beam being emitted for being located at the light source at the place origin O, collected by the first curve 511 The angle of light beam is less than 80 degree, 70 degree or 60 degree.For example, in one embodiment, light beam collected by the first curve 511 Angle is 50 degree or so.

Second collimation plane 52 and the intersection in the first section (such as plane X-L) are specially a straightway 521.When light source is located at When at origin O, on the second section, light beam passes through the straightway 521 after the first curve 511 collimation, and does not change light beam biography Broadcast direction (or angle very little of direction change).

Fig. 7 is the schematic diagram of one embodiment of section of the lens shown in Fig. 5 on plane Y-L.First collimation plane 51 with The intersection in the second section is a circular arc 512.Optionally, the first collimation plane and the intersection in the second section are using origin O as the center of circle Circular arc 512, so that the light beam that the light source is emitted on the second section passes through the first collimation plane when light source is located on origin O Do not change direction of beam propagation after 51.

Second collimation plane 52 and the intersection in the second section are the second curve 522.By taking the second section is plane X-L as an example, the A point B (such as midpoint of second curve) on two curves 522 is maximum at a distance from the second axis Y, and for second At least partly point of the two sides point B on curve 522, bigger point is smaller at a distance from the second axis Y at a distance from point B.When light source position When on the O of the center of circle, on plane Y-L, when being emitted after the second curve 522 across the divergent beams of the first collimation plane 51, The angle of divergence of the light beam reduces.In one embodiment, when being emitted by the second curve 522, which is collimated into directional light (or close to directional light) outgoing.

Optionally, the light beam being emitted for being located at the light source at the place origin O, the angle of light beam collected by the second curve 522 Less than 80 degree, 70 degree or 60 degree, the lower of light beam is collected to avoid lens, low-angle and high angle scattered light is caused very much to collimate greatly Angle of divergence difference afterwards is bigger, and the light that angle is bigger, when through reflecting caused by Fei Nier loss it is also bigger.For example, In one embodiment, the angle of light beam collected by the second curve 522 is 50 degree or so.

One embodiment of the section to light beam collimation lens on plane X-L and plane Y-L specifically retouch above It states.In some implementations, the first collimation plane 51 is at least partly to be rotated by a certain angle by the first curve around first axle X It obtains.In some implementations, the first collimation plane 51 by the first curve 511 with first axle X be kept fixed rang ring around First axle X rotates by a certain angle to obtain.

In some implementations, light transmission medium is additionally provided on optical detection face, and be seamlessly connected with optical detection face.The light transmission The refractive index of medium is greater than 1, and at least partially curved surface on the surface of the light transmission medium.Optionally, the refractive index of light transmission medium Not less than 1.3.Optionally, the light transmittance of light transmission medium is greater than 85%.

Since the etendue of the receivable light beam in optical detection face is E=A*n²*sin(θ)², wherein A is optical detection The area in face, n are the refractive index of optical detection face surrounding medium.In the case where incident light beam is constant, optical detection face be can receive Etendue it is bigger, it is meant that the receivable light energy in optical detection face is more, and signal strength is also bigger.The utility model In, the light transmission medium for being greater than 1 and surface at least partially curved surface by the way that refractive index is arranged on the surface of optical detection face can be improved The received etendue of optical detection face institute.In the case that area in optical detection face remains unchanged, optical detection face can be improved Received light energy in unit area, and then photoelectric conversion module is improved to the detectivity of light beam.

In some implementations, light transmission medium may include silica gel, epoxy resin, organic plastics, glass or other foldings Penetrate the translucent material that rate is greater than 1.

The concrete shape structure of light transmission medium can there are many, citing description is carried out to some of which below.

In some implementations, as shown in figure 8, light transmission medium 15 is specific hemispherical.In some practical applications, light Plus lens (lens 14 of example as shown in figure 1) are additionally provided in the light incident direction of receiver 13, for by incident light beam (example Such as collimated light beam) converge to optical detection face 131.In this way, being incident to optical detection by light transmission medium through plus lens converging beam When face, the optical path of the light beam is not changed by light transmission medium, or the degree changed by light transmission medium is smaller.It optionally, should be partly The ratio of the bore of the radius of a ball and optical detection face of sphere is not less than 1.5.Optionally, the hemispheroidal radius of a ball and optical detection face Bore ratio be not more than 50.Wherein, the bore in the optical detection face can refer to the maximum caliber in the optical detection face, or most The average value of average calibre or all bores on small-bore perhaps part direction, herein with no restrictions.

As shown in figure 9, Fig. 9 is the structural representation of another embodiment of optical receiver provided by the embodiment of the utility model Figure.In the present embodiment, light transmission medium 15 is specifically in remaining structural body behind the parallel plane interception two sides of one and half ball warp two, Namely the surface packet of light transmission medium is located at the spherical zone shape curved surface 91 right above optical detection face 131, and positioned at the curved surface two sides, It is approximately perpendicular to two planes 92 and 93 on optical receiver surface.Optionally, the hemispheroidal radius of a ball where the light transmission medium It is not less than 1.5 with the ratio of the bore in optical detection face.Optionally, the hemispheroidal radius of a ball where the light transmission medium and optical detection The ratio of the bore in face is not more than 50.Wherein, the bore in the optical detection face can refer to the maximum caliber in the optical detection face, or The lowest calibre perhaps average value of the average calibre on the direction of part or all bores, herein with no restrictions.

In some implementations, light transmission medium can be converged incident light beam.

For example, being converged in the case where being additionally provided with plus lens in the light incident direction of optical receiver through plus lens Poly- light beam is converged again through the light transmission medium and is incident on optical detection face after being incident to light transmission medium.Such as Figure 10 institute Show, Figure 10 is the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model.Light transmission medium 15 Surface include first surface 1001 positioned at 131 top of the optical detection face, the first surface 1001 is used for will be incident Converging beam is converged again, and is incident to the optical detection face 131.The beam angle converged through first surface 321 is greater than Beam angle (shown in dotted line) before the convergence of this curved surface.The spot size converged through first surface 321 is set to be less than convergence in this way Preceding convergence hot spot increases the optical power density of convergence hot spot.In one example, the surface of the light transmission medium 15 can be Spherical surface.In one example, the surface of the light transmission medium 32 is bigger than the curvature on the surface of convex lens, alternatively, the light transmission medium Surface be also possible to free form surface, herein with no restrictions.

Optionally, the surface of the light transmission medium 15 i.e. first surface 1001, first surface extends always similar to ellipsoid To the surface of photoelectric conversion unit.

Optionally, as shown in figure 11, the surface of light transmission medium 15 further includes the cylinder or the conical surface for surrounding first surface 1002, the cylinder or the conical surface 1002 extend to the surface of optical receiver 13.

In some practical applications, it can also be not provided in the light incident direction of optical receiver for converging incident beam Gather to the plus lens of optical receiver, but be designed by the surface to the light transmission medium being located above optical detection face, is made Light transmission medium is obtained to converge to incident light beam on optical detection face.

As shown in figure 12, Figure 12 is that the structure of another embodiment of optical receiving set provided by the embodiment of the utility model is shown It is intended to.The surface of light transmission medium 15 includes the first surface 1201 positioned at 131 top of optical detection face, which uses In incident light beam is converged to optical detection face 131.For example, light is visited when incident light beam is directional light (or close to directional light) Survey face 131 is located on the focal plane on the surface of light transmission medium 15, and light transmission medium 15 is used for incident directional light (or close to parallel Light) it converges on optical detection face 131.Wherein, the surface of the light transmission medium 15 can be spherical surface, alternatively, the light transmission medium 15 Surface is also possible to free form surface, herein with no restrictions.

Optionally, the surface of light transmission medium 15 further includes the cylinder or the conical surface 1202 for surrounding first surface 1201, the column Face or the conical surface extend to the surface of photoelectric conversion unit.

Optionally, as shown in figure 13, the surface of light transmission medium 15 further includes positioned at 1201 periphery of first surface, annular in shape The first plane 1301, and the toroidal reflective surface 1302 positioned at first plane, 1301 lower section.Specifically, the annular reflection Face 1302 extends to the surface of optical receiver 13 from the periphery of the first plane 1301.The overall edge of first plane 1301 is parallel to light The direction of test surface 131 extends, or with the angle in optical detection face 131 less than 5 degree.First plane 1301 is used for incident light Beam is transmitted through in toroidal reflective surface 1302, which is used to incident light beam reflexing to optical detection face 131.

Optionally, when the incident light of light transmission medium 15 is directional light (or close to directional light), the first plane 1301 does not change Become the direction of propagation of incident light, or smaller to the change degree of the direction of propagation of incident light.Across entering for the first plane 1301 It penetrates light to be directly transmitted in toroidal reflective surface 1302, optical detection face 131 is then reflexed to by toroidal reflective surface 1302.Optionally, The toroidal reflective surface 1302 can be the conical surface extended downwardly, be also possible to the convex surface extended downwardly, herein with no restrictions.

In some implementations, light transmission medium can only include a kind of medium of refractive index.

In some implementations, light transmission medium also may include the medium of at least two refractive index.As shown in Figure 14, figure 14 be the structural schematic diagram of another embodiment of optical receiver provided by the embodiment of the utility model.Light transmission medium 15 includes the A part 151, and be filled between first part and optical detection face 131, for connecting first part and optical detection face 131 Second part 152.Wherein, the refractive index of second part 152 is greater than the refractive index of first part 151.It in this way can be to avoid light beam The experiences total internal reflection in second part 152.

Optionally, the refractive index of first part 151 is in the refractive index close of second part 152.For example, second part 152 Refractive index and first part 151 refractive index ratio be not more than 1.4.Optionally, it is position that first part 151, which includes refractive index, Polymethyl methacrylate (Poly (methyl methacrylate), PMMA) between 1.3 to 1.5, second part 152 Silica gel including refractive index between 1.4 to 1.6.For example, first part 151 is the PMMA that refractive index is 1.49.For example, Second part 152 is the silica gel that refractive index is 1.54.

Optionally, the thickness of second part 152 is less than 0.2 millimeter.Wherein, the thickness of the second part 152 can refer to The maximum gauge of second part 152 perhaps put down by the minimum thickness of second part 152 or at least part of of second part 152 Equal thickness, herein with no restrictions.

In some implementations, optical ranging mould group further includes the reshaper bracket for fixing optical transmitting set.Below Citing description is carried out to the reshaper bracket in conjunction with Fig. 1 and Figure 15.As shown in figure 15, Figure 15 is the group of optical ranging mould shown in Fig. 1 Stereoscopic schematic diagram.The overall tapered tubulose of the reshaper bracket 16, including the first opposite opening 161 and the second opening 162. Wherein, the area of the second opening 162 is greater than the first 161 large area of opening.

Optical transmitting set (not showing in Figure 15) is fixed on circuit board 17.The area of first opening 161 of reshaper bracket 16 It is suitable with the area of optical transmitting set and shape respectively with shape, so that this first when reshaper bracket 16 is stood on circuit boards Opening 161 can just accommodate optical transmitting set, cooperate with the optical transmitting set.Second opening 162 of reshaper bracket 16 is used In fixed beam reshaper 12.Optionally, limited step 163 is provided at second opening 162.The limited step 163 can be with Around 162 setting of the second opening, the portion of the second opening 162 can also be positioned only at.On the surface of beam shaping 12 Equipped with boss 121, when beam shaping 12 is fixed at the second opening 162, the boss 121 of beam shaping 12 is connected to On the limited step 163 of second opening 162；With this, the second 162 phase interworkings of opening of beam shaping 12 and reshaper bracket 16 It closes.

Preferably, the height of reshaper bracket 16 makes when 161 cooperation of optical transmitting set and the first opening, and beam shaping 12 and when the second 162 cooperation of opening, spacing between optical transmitting set and beam shaping 12 is equal to pre-determined distance.It can keep away in this way Exempt from the position for adjusting beam shaping 12 when installing beam shaping 12, but passes through the structure setting of reshaper bracket 16 To preset so that meeting spacing when optical transmitting set and beam shaping 12 are fixed to each other with reshaper bracket 16 respectively and being equal to Distance.

In some implementations, the side wall of reshaper bracket 16 is light-proof material, alternatively, the side wall of reshaper bracket 16 It is also used to reflect incident light beam.The light beam that can be emitted in this way to avoid optical transmitting set interferes optical receiver.

In some implementations, optical receiver 13 and optical transmitting set are fixed on the same circuit board 17.Some realization sides In formula, the top of optical receiver 13 is additionally provided at least two pillars 18, for the plus lens 14 to 13 top of optical receiver It is supported and fixes.

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

The above, above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；Although ginseng The utility model is described in detail according to previous embodiment, those skilled in the art should understand that: it is still It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced It changes；And these are modified or replaceed, various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution Spirit and scope.

Claims (14)

1. a kind of optical ranging mould group characterized by comprising

Optical transmitting set, for being emitted the light pulse sequence through ovennodulation；

Beam shaping, for being emitted after carrying out shaping to the light pulse sequence, so that the light pulse sequence of outgoing is first The angle of divergence on direction is greater than N times of the angle of divergence in a second direction, the first direction, the second direction and the light The direction of the optical axis of pulse train is mutually perpendicular to two-by-two respectively, and the N is greater than 1；

Optical receiver, at least partly return light being reflected back for receiving the light pulse sequence through object, according to the smooth arteries and veins The phase difference for rushing sequence and at least partly return light determines the distance between the optical ranging mould group and the object；

Wherein, the visual field FOV of the optical ranging mould group in this second direction is greater than FOV in said first direction.

2. optical ranging mould group according to claim 1, which is characterized in that the optical ranging mould group has rectangular FOV, wherein the long side of the rectangular FOV is parallel to the first direction, short side is parallel to the second direction.

3. optical ranging mould group according to claim 1 or 2, which is characterized in that the first direction is vertical direction, institute Stating second direction is horizontal direction.

4. optical ranging mould group according to claim 1 or 2, which is characterized in that the N is between 1.2 to 3；

And/or

The angle of divergence of the outgoing beam in said first direction is not more than 3 degree.

5. optical ranging mould group according to claim 1 or 2, which is characterized in that the optical receiver reception is described at least When the return light of part, receiving angle in said first direction is greater than receiving angle in this second direction.

6. optical ranging mould group according to claim 5, which is characterized in that the optical receiver is in said first direction Receiving angle be 0.7 times to 1.5 times of the angle of divergence of the light pulse sequence in said first direction；

And/or；

The receiving angle of the optical receiver in this second direction be the light pulse sequence in this second direction 0.7 times to 1.5 times of the angle of divergence.

7. optical ranging mould group according to claim 6, which is characterized in that the optical receiver is in said first direction Receiving angle be 1 times to 1.5 times of the angle of divergence of the light pulse sequence in said first direction；

And/or；

The receiving angle of the optical receiver in this second direction be the light pulse sequence in this second direction 1 times to 1.5 times of the angle of divergence.

8. optical ranging mould group according to claim 1 or 2, which is characterized in that the light-emitting surface of the optical transmitting set is in length Bar shaped, the length direction of the light-emitting surface of the optical transmitting set is along the first direction；

And/or

The optical detection face of the optical receiver is elongated, and the length direction in the optical detection face of the optical receiver is along described first Direction.

9. optical ranging mould group according to claim 1, which is characterized in that the optical transmitting set includes light emitting diode.

10. optical ranging mould group according to claim 1, which is characterized in that the optical ranging mould group further includes in cone The reshaper bracket of shape tubulose, the reshaper bracket include opposite the first opening and the second opening；

Wherein, first opening with the optical transmitting set for cooperating, and second opening is for whole with the light beam Shape device cooperates, so that the optical transmitting set and the beam shaping are open with first opening and described second respectively When mutual cooperation, the optical transmitting set is pre-determined distance at a distance from the beam shaping.

11. optical ranging mould group according to claim 10, which is characterized in that the optical transmitting set and the optical receiver It is set side by side；

The side wall of the reshaper bracket is light-proof material, alternatively, the side wall of the reshaper bracket is also used to incidence Light beam is reflected.

12. optical ranging mould group according to claim 1, which is characterized in that the beam shaping includes lens module, The lens module includes:

The first collimation plane and the second collimation plane being sequentially located on the central axis of the lens module；

Wherein, first collimation plane is at least partly rotated by the first curve being located in the first section around first axle It arrives, second collimation plane is at least partly parallel to the first axle by the overall edge of the second curve being located in the second section The cylinder that direction translates；

The first axle is located at first collimation plane backwards to the side of second collimation plane, and is parallel to the second party To；First section includes at least one section where the first axle；Second section includes perpendicular to described At least one section of one axis；

The beam shaping lens are used to carry out shaping to incident light beam, wherein first collimation plane is used for incidence Light beam is collimated on the first section；Second collimation plane for will the light beam from first collimation plane at second section It is collimated on face.

13. optical ranging mould group according to claim 1, which is characterized in that the optical ranging mould group further includes covering Light transmission medium on the optical detection face of the optical receiver and with the seamless contact in the optical detection face；Wherein, the light transmission is situated between The refractive index of matter is greater than 1, and the surface of the light transmission medium includes curved surface.

14. optical ranging mould group according to claim 13, which is characterized in that the refractive index of the light transmission medium is not less than 1.3。