Rear-view optical scanning mirror set and scanning device
An optical scanning and backsight technology, applied in the direction of optics, optical components, instruments, etc., can solve the problems of backward horizontal scanning waste, waste, and undetectable distance information
Active Publication Date: 2016-06-22
BENEWAKE BEIJING TECH CO LTD
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Problems solved by technology
[0003] The ranging radar used by the robot usually adopts the following two installation methods. One is to hollow out a layer of the corresponding height in the abdomen of the robot body, and place the radar in it. The main defect of this method is that the weight and load that can be carried above size is limited
Another method is to install the ranging radar in front of the robot. The main defects of this method are the following two points: 1. When the robot is rotating towards the rear, effective ranging information cannot be collected because the detection light is blocked by the front panel of the robot. Cause waste; 2. Rotational scanning can only get the distance information within about 180° in front of the robot, and the distance information of objects behind the robot cannot be detected
[0004] Aiming at the waste of backward horizontal scanning caused by the current scheme of installing the ranging radar in front of the robot, and the shortcomings of not being able to obtain the distance information of objects behind the robot, this application will provide an optical The mirror group transforms the horizontal scanning light of the ranging radar in front of the robot into the rear-view horizontal scanning light of the robot, and uses the originally wasted backward scanning light to obtain the distance information of objects behind the robot
Method used
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[0086] The application will be further described below in conjunction with the accompanying drawings.
[0087] Take the parameter group (H, W, α, β, a, R, d 1 , d 2 , f 1 , f 2 , f 3 , f4 The values of the parameters in ) are (462mm, 402mm, 30°, 30°, 20mm, 25mm, 70mm, 70mm, 185mm, 150mm, 150mm, 185mm), and the sizes of each mirror surface can be calculated as follows:
[0088] l M1,1 = l M4,1 =52mm
[0089] l M1,2 = l M4,2 =70mm
[0090] l M2 = l M3 =200mm
[0091] h M1 = h M2 = h M3 = h M4 =23mm
[0092] l L1 = l L2 = l L3 = l L4 =130mm
[0093] h L1 =h L2 =h L3 = h L4 =23mm
[0094] Assuming that the position coordinates (unit: mm, the same below) of the center of the ranging radar light source are (0,0,0), the coordinates of the endpoints of each mirror surface are calculated as follows:
[0095] m 1 The coordinates of the four vertices of the mirror are:
[0096] (-36.770,33.230,11.5), (-36.770,33.230,-11.5),
[0097] (49.497, 119.497, 11.5...
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The invention discloses a rear-view optical scanning mirror set and a scanning device, and solves the problem that a range-finding radar is installed in front of a robot, the backward scanning resources are waste, and the distance information of an object behind the robot can not be obtained. The rear-view optical scanning mirror set comprises a first reflector and a first lens, wherein the first reflector reflects incident scanning light on the first reflector to the first lens. The first lens transmits the scanning light to a second reflector situated on a scanning light path of the light passing the first lens, the second reflector reflects the scanning light, and the reflected scanning light transmits a second lens and a third lens sequentially. The light is then transmitted to a third reflector, the third reflector reflects the scanning light to a fourth lens, and the light is emitted out after being transmitted to a fourth reflector by the fourth lens. In this way, the backward scanning light of the range-finding radar in front of the robot is converted into rear-view scanning light to scan the blind area behind the robot.
Description
technical field [0001] This application provides an optical device for controlling the direction of beam propagation, especially an optical device used in conjunction with a rotating scanning range-finding radar installed in front of the robot. It is used to horizontally scan the range-finding radar The wasted probe light is blocked by the front panel of the robot, which is transformed into a rear-sight horizontal scanning probe light behind the robot. Background technique [0002] In order to achieve autonomous movement, smart devices such as robots, drones, and sweepers need to detect the working environment. At present, ranging radars are mostly used to detect the distance between themselves and objects in the working environment. The ranging radar emits detection light and irradiates it into the working environment. The detection light is reflected after encountering an object. The reflected detection beam is received by the optical signal processing unit in the ranging ...
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Login to View More IPC IPC(8): G02B26/10G01S7/481
CPCG01S7/4817G02B26/10
Inventor 杨铮郑凯李远
Owner BENEWAKE BEIJING TECH CO LTD