A speed measuring robot

Abstract

A speed measuring robot, including mechanical part and circuit part, the mechanical part includes: 1 infrared laser, special-shaped polarization beam splitter prism, first 1 / 2 wave plate, second 1 / 2 wave plate, first polarization beam splitter prism, second polarization beam splitter prism, 1 photoelectric switch reflection plate, first convex lens, second convex lens, first diaphragm, second diaphragm, first filter, second filter, first photoelectric sensor and second photoelectric sensor;The circuit part includes: ESP8266 chip, 5V to ± 5V module, 2 IV amplification modules and 2 photoelectric sensors.

Description

Technical Field

[0001] This invention relates to the field of automatic control, and more specifically to a speed measuring robot. Background Technology

[0002] Traditional speed measurement methods include radar speed measurement, video speed measurement, traditional laser speed measurement, and pressure sensing speed measurement. These methods suffer from problems such as long measurement intervals, large measurement errors, and significant influence from measurement angles. For freestyle skiing aerials, field investigations revealed unique characteristics of this sport:

[0003] (1) Some traditional speed measurement methods can interfere with the athlete's movement, so methods that place the device in front of or on the athlete's body cannot be used. (2) Athletes have high acceleration and a fast rate of change of speed, while traditional speed measurement methods have long measurement intervals, and the result is the average speed after multiple speed changes, which cannot reflect the athlete's actual speed. (3) For some traditional speed measurement methods, such as radar speed measurement, the result differs greatly from the actual speed because the angle between the detection device and the athlete changes rapidly. (4) The event venue is divided into multiple areas, among which coaches are most concerned about the athlete's speed at the bottom of the approach zone, which is a short distance and has drastic angle changes.

[0004] Due to the aforementioned unique characteristics, existing speed measurement methods cannot meet the requirements. Summary of the Invention

[0005] Since existing methods are not applicable, the present invention provides a short-interval, high-precision speed measuring device that is placed on the side of the track.

[0006] The aforementioned device comprises a speed-measuring robot and a photoelectric switch reflector. Its basic principle is as follows: the speed-measuring robot emits two parallel infrared laser beams, which, after passing through the photoelectric switch reflector, return along the same path to the photoelectric sensor inside the robot. The photoelectric sensor receives the infrared laser beams and continuously emits signals. When an athlete passes over the infrared laser beams, the light path is interrupted, and the photoelectric sensor can no longer receive the laser beams, resulting in a signal interruption. The chip detects the signal interruption and records the moment. After receiving both the start and end interruption signals, it calculates the time difference and, based on a pre-set measurement interval, calculates the speed at that moment. When the measurement interval is sufficiently small, the speed at that moment can be approximated as the instantaneous speed.

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing a speed measurement robot (10). The speed measurement robot (10) includes a mechanical part and a circuit part. The mechanical part includes: an infrared laser (1), an irregularly shaped polarizing beam splitter (2), a first half-wave plate (31), a second half-wave plate (32), a first polarizing beam splitter (41), a second polarizing beam splitter (42), a photoelectric switch reflector (5), a first convex lens (61), a second convex lens (62), a first aperture (71), a second aperture (72), a first filter (81), a second filter (82), a first photoelectric sensor (91), and a second photoelectric sensor (92).

[0008] The infrared laser (1) is aligned with the center of the input end of the irregular polarization beam splitter (2). The output end of the irregular polarization beam splitter (2) has two ports. One port is aligned with the center of the first half-wave plate (31) and the first polarization beam splitter (41), and the other port is aligned with the center of the second half-wave plate (32) and the second polarization beam splitter (42). The photoelectric switch reflector (5) is placed at a certain distance outside the main body of the speed measuring robot. The center of the first photoelectric sensor (91) is aligned with the center of the side of the first polarization beam splitter (41), and the center of the second photoelectric sensor (92) is aligned with the center of the side of the second polarization beam splitter (42).

[0009] According to one embodiment of the present invention, for example, a first filtering system composed of a first convex lens (61), a first aperture (71), and a first filter (81) is placed between a first photoelectric sensor (91) and a first polarizing beam splitter (41), while ensuring that the centers of the first convex lens (61), the first aperture (71), and the first photoelectric sensor (91) are on a straight line.

[0010] Preferably, the second convex lens (62), the second aperture (72), and the second filter (82) form a second filtering system, which is placed between the second photoelectric sensor (92) and the second polarizing beam splitter (42), while ensuring that the centers of the second convex lens (62), the second aperture (72), and the second photoelectric sensor (92) are on a straight line.

[0011] According to one embodiment of the present invention, for example, the infrared laser (1) is an infrared laser with a wavelength of 850 nanometers and a power of 200 milliwatts.

[0012] According to one embodiment of the present invention, for example, the irregularly shaped polarizing beam splitter (2) is a parallelogram shape, having a plane (a) with polarizing beam splitting characteristics and a mirror reflection surface (b), (a) and (b) forming two parallel sides of the parallelogram; the natural light emitted by the laser enters the plane (a), and due to the polarizing beam splitting characteristics, the horizontally polarized part is directly emitted from the right output end, and the vertically polarized part is reflected and enters the mirror reflection surface (b), causing the vertically polarized light to be reflected again and output from the left output end, finally obtaining two beams of parallel light with mutually perpendicular polarization directions.

[0013] According to one embodiment of the present invention, for example, a first half-wave plate (31) and a second half-wave plate (32) are configured to adjust the polarization direction of polarized light.

[0014] According to one embodiment of the present invention, for example, the first polarizing beam splitter (41) and the second polarizing beam splitter (42) are configured to allow horizontally polarized light parallel to the optical plane to pass through and to reflect vertically polarized light perpendicular to the optical plane.

[0015] According to one embodiment of the present invention, for example, a photoelectric switch reflector (5) is placed on one side of the speed measuring robot so that the beam can return along the original path, and at the same time the polarization direction of the polarized light is rotated by 90 degrees, so that the horizontally polarized light originally emitted by the speed measuring robot becomes vertically polarized light when it returns.

[0016] Preferably, the first convex lens (61) and the second convex lens (62) are configured to collect the returned laser light, so that the laser light is focused to a point;

[0017] Preferably, the first aperture (71) and the second aperture (72) are configured such that by controlling the size of the aperture, the aperture is exactly equal to the size of the laser at that point, so that only the target laser passes through and stray light other than the target laser is excluded;

[0018] Preferably, the first filter (81) and the second filter (82) are configured to allow only 850 nm wavelength light to pass through, further eliminating stray light;

[0019] Preferably, the first photoelectric sensor (91) and the second photoelectric sensor (92) are configured to convert the laser signal into an electrical signal and transmit it to the circuit;

[0020] Preferably, the photoelectric switch reflector (5) is placed 5-30 meters outside the main body of the speed measuring robot.

[0021] According to one embodiment of the present invention, for example, the circuit section includes: an ESP8266 chip, a 5V to ±5V module, two IV amplifier modules, and two photoelectric sensors;

[0022] Preferably, the power supply is connected to a 5V to ±5V module via a USB interface to power the entire system;

[0023] Preferably, the 5V terminal of the 5V to ±5V module is connected to the 5V interface of the ESP8266 to power the ESP8266 module, and the ±5V port is connected to the positive 5V and negative 5V ports of the IV amplifier module to power the IV amplifier module.

[0024] Preferably, the photoelectric sensor signal pin is connected to the input terminal of the IV amplifier module, and the output terminal of the amplifier module is connected to the signal input port of the ESP8266. The amplified signal controls the ESP8266 chip to complete data processing.

[0025] Embodiments of the present invention also provide a method for measuring speed using a speed measuring robot as described above, the method comprising:

[0026] (a) Adjust the infrared laser (1); In order to make the energy of the two laser beams emitted by the irregular polarization beam splitter (2) the same, rotate the main body of the infrared laser (1) clockwise and counterclockwise to change the polarization angle of the laser so that the energy of the horizontally polarized light and the vertically polarized light emitted are the same; at the same time, adjust the divergence angle of the infrared laser (1) and change the focus of the infrared laser (1) so that it hardly diverges at a distance.

[0027] (b) When the laser enters the irregular polarization beam splitter (2), due to the characteristics of polarization beam splitting, the horizontally polarized part of the incident laser is directly emitted from the output end of the (a) surface, and the vertically polarized part is reflected and enters the mirror reflection surface of (b), so that the vertically polarized light is reflected again and output from the left output end, and finally two beams of parallel light with polarization directions perpendicular to each other are obtained.

[0028] (c) The laser beam passes through a half-wave plate. The half-wave plate is adjusted to make the polarization direction of the two beams horizontal, so as to make them horizontally polarized light, in order to match the polarization characteristics of the polarization beam splitter.

[0029] (d) Two horizontally polarized beams enter a polarizing beam splitter. Since both beams are horizontally polarized, according to the characteristics of the polarizing beam splitter, both beams pass through the polarizing beam splitter and exit from the speed measuring robot.

[0030] (e). Place a photoelectric switch reflector (5) at the other end facing the speed measuring robot, and let the emitted laser irradiate the photoelectric switch reflector (5). The inside of the photoelectric switch reflector (5) is a honeycomb structure composed of multiple reflective surfaces, so that the polarized light is reflected between the multiple reflective surfaces in the photoelectric switch reflector (5), and finally changes the polarization direction while returning along the original path. Using this characteristic, the polarized light emitted by the speed measuring robot is changed from horizontal polarized light to vertical polarized light and returns to the speed measuring robot along the original path.

[0031] (f) Two parallel vertically polarized beams are incident on the polarization beam splitter of the velocity measuring robot. Due to the characteristics of the polarization beam splitter, the returning vertically polarized beams cannot pass through and are reflected to the two detectors according to the assembly direction of the polarization beam splitter.

[0032] (g) The reflected laser enters the first filtering system, which consists of a first convex lens (61), a first aperture (71), and a first filter (81). The first convex lens (61) focuses the laser, and the first aperture (71) adjusts its radius to allow only the focused laser to pass through. The first filter (81) is placed after the first aperture (71) to further reduce stray light interference in the laser and improve the sensitivity of the photoelectric sensor.

[0033] (h). Finally, the laser is sensed by the first photoelectric sensor (91) and generates an electrical signal.

[0034] The superior technical effects of this invention include:

[0035] This invention provides a short-pitch, high-precision speed measuring device that can be placed to the side of a site. The speed measuring robot consists of a main body and a photoelectric switch reflector, facilitating portability and installation. After installation, it can be powered by a portable power source for long-term automatic and stable operation. The speed measuring robot body uses a laser with an extremely small divergence angle, enabling the device to achieve an effective speed measuring distance of 30 meters. The optical path utilizes the characteristics of polarized light to significantly shorten the distance between the two speed measuring ends, resulting in a distance of only 7.5 centimeters between the starting and ending ends of the main body, thus approximating the instantaneous speed at a single point. A custom-designed outer shell is incorporated into the device to withstand harsh environments that may be encountered during the measurement process. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the optical path structure of the speed measurement robot provided in an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram of the structure of an irregularly shaped beam splitter.

[0038] Figure 3This is a schematic diagram of the reflection principle of a photoelectric switch board.

[0039] Figure 4 This is a schematic diagram of the first filtering system, which consists of a convex lens (61), an aperture (71), and a filter (81).

[0040] Figure 5 This is a schematic diagram of the circuit structure of a speed measurement robot provided in an embodiment of the present invention.

[0041] Figure 6 A flowchart illustrating the speed measurement using a speed measurement robot provided in this embodiment of the invention. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. However, those skilled in the art will understand that this invention is not limited to the accompanying drawings and the following embodiments.

[0043] Embodiments of the present invention provide a speed measuring robot, such as Figure 1 As shown, the speed measuring robot (10) includes an infrared laser (1), an irregularly shaped polarizing beam splitter (2), a first half-wave plate (31), a second half-wave plate (32), a first polarizing beam splitter (41), a second polarizing beam splitter (42), a photoelectric switch reflector (5), a first convex lens (61), a second convex lens (62), a first aperture (71), a second aperture (72), a first filter (81), a second filter (82), a first photoelectric sensor (91), and a second photoelectric sensor (92). The infrared laser (1) is aligned with the center of the input end of the irregularly shaped polarizing beam splitter (2). The output end of the irregularly shaped polarizing beam splitter (2) has two ports, one of which is aligned with the center of the first half-wave plate (31) and the first polarizing beam splitter (41), and the other port is aligned with the center of the second half-wave plate (32) and the second polarizing beam splitter (42). The photoelectric switch reflector (5) is placed at a certain distance outside the main body of the speed measuring robot, for example, 5-30 meters away, with a maximum interval of 30 meters. The center of the first photoelectric sensor (91) is aligned with the center of the side of the first polarizing beam splitter (41), and the center of the second photoelectric sensor (92) is aligned with the center of the side of the second polarizing beam splitter (42). Figure 4 This is a schematic diagram of the first filtering system, consisting of a convex lens (61), an aperture (71), and a filter (81). Figure 4As shown, a first filtering system consisting of a first convex lens (61), a first aperture (71), and a first filter (81) is placed between a first photoelectric sensor (91) and a first polarizing beam splitter (41), while ensuring that the centers of the first convex lens (61), the first aperture (71), and the first photoelectric sensor (91) are on a straight line. A second filtering system consisting of a second convex lens (62), a second aperture (72), and a second filter (82) is placed between a second photoelectric sensor (92) and a second polarizing beam splitter (42), while ensuring that the centers of the second convex lens (62), the second aperture (72), and the second photoelectric sensor (92) are on a straight line.

[0044] Infrared laser (1): For example, an infrared laser with a wavelength of 850 nanometers and a power of 200 milliwatts can be selected. It has a small divergence angle and small spot divergence at long distances.

[0045] Irregularly shaped polarizing beam splitter (2): The characteristic of a polarizing beam splitter is that it allows horizontally polarized light parallel to the optical plane to pass through, and reflects vertically polarized light perpendicular to the optical plane. Its structural diagram is shown below. Figure 2 As shown, the polarizing beam splitter is a parallelogram shape. Figure 2 In the diagram, (a) is a plane with polarization-splitting properties, and (b) is a specular reflecting surface. (a) and (b) form two parallel sides of a parallelogram. When the natural light emitted by the laser enters the plane (a), due to the polarization-splitting properties, the horizontally polarized portion exits directly from the right output end, while the vertically polarized portion is reflected and enters the specular reflecting surface (b), causing the vertically polarized light to be reflected again and output from the left output end, ultimately resulting in two beams of parallel light with mutually perpendicular polarization directions.

[0046] First half-wave plate (31) and second half-wave plate (32): used to adjust the polarization direction of polarized light. Here, the two incident polarized beams are adjusted to be parallel to the optical plane so that the two parallel beams can pass through the polarizing beam splitter placed behind the half-wave plate.

[0047] First polarizing beam splitter (41), second polarizing beam splitter (42): The characteristic of polarizing beam splitters is that they allow horizontally polarized light parallel to the optical plane to pass through, and reflect vertically polarized light perpendicular to the optical plane.

[0048] Photoelectric switch reflector (5): placed on one side of the speed measuring robot, so that the beam can return along the original path, and at the same time, the polarization direction of the polarized light can be rotated by 90 degrees, so that the horizontally polarized light originally emitted by the speed measuring robot becomes vertically polarized light when it returns.

[0049] First convex lens (61) and second convex lens (62): collect the returning laser light and focus it to a single point.

[0050] First aperture (71) and second aperture (72): By controlling the aperture size, the aperture is made exactly equal to the size of the laser at that point, allowing only the target laser to pass through and eliminating stray light other than the target laser.

[0051] First filter (81) and second filter (82): allow only 850 nm wavelength light to pass through, further eliminating stray light.

[0052] First photoelectric sensor (91) and second photoelectric sensor (92): convert laser signals into electrical signals and transmit them to the circuit.

[0053] Speed ​​measurement robots utilize the polarization of light. Horizontally polarized light is typically used to represent light whose polarization direction is parallel to the optical plane, while vertically polarized light represents light whose polarization direction is perpendicular to the optical plane; the two are perpendicular to each other. Here, the optical plane is the plane in which the speed measurement robot is located.

[0054] The optical path utilizing polarization has the advantages of low laser energy loss, long effective detection distance, short measurement interval, integration of laser and detector on the same side, and the optical path not affecting the athlete's movement route.

[0055] Embodiments of the present invention also provide a method for measuring speed using the above-described speed measuring robot, the method comprising (two of each of the following components: half-wave plate, polarizing beam splitter, convex lens, aperture, filter, and photoelectric sensor; hereinafter, when referring to these components, two of each are arranged in parallel):

[0056] 1. Adjusting the infrared laser (1). To ensure that the two laser beams emitted from the irregularly shaped polarizing beam splitter (2) have the same energy, the main body of the infrared laser (1) needs to be rotated clockwise and counterclockwise to change the polarization angle of the laser, so that the horizontally polarized light and the vertically polarized light emitted have the same energy. At the same time, it is also necessary to adjust the divergence angle of the infrared laser (1) by changing the focal point of the infrared laser (1) so that it hardly diverges at a long distance.

[0057] 2. When the laser enters the irregular polarization beam splitter (2), due to the characteristics of polarization beam splitting, the horizontally polarized part of the incident laser is directly emitted from the output end of surface (a), and the vertically polarized part is reflected and enters the mirror reflection surface of (b), so that the vertically polarized light is reflected again and output from the left output end, and finally two beams of parallel light with mutually perpendicular polarization directions are obtained.

[0058] 3. The laser beam passes through a half-wave plate. By adjusting the half-wave plate, the polarization direction of the two beams is adjusted to be horizontal, thus becoming horizontally polarized light, in order to match the polarization characteristics of the polarizing beam splitter.

[0059] 4. Two horizontally polarized beams enter a polarizing beam splitter. Since both beams are horizontally polarized, according to the characteristics of the polarizing beam splitter, both beams can pass completely through the beam splitter and exit from the velocity measuring robot.

[0060] 5. Place a photoelectric switch reflector (5) at the opposite end of the speed measuring robot, allowing the emitted laser to irradiate the photoelectric switch reflector (5). The inside of the photoelectric switch reflector (5) is a honeycomb structure composed of multiple reflective surfaces, causing the polarized light to be reflected between the multiple reflective surfaces within the photoelectric switch reflector (5), ultimately changing its polarization direction as it returns along its original path. Utilizing this characteristic, the polarized light emitted by the speed measuring robot is changed from horizontally polarized to vertically polarized and returns to the speed measuring robot along its original path. The reflection principle of the photoelectric switch is shown in the appendix. Figure 3 .

[0061] 6. Two parallel, vertically polarized beams of light enter the polarization beam splitter of the velocity measuring robot. Due to the characteristics of the polarization beam splitter, the returning vertically polarized light cannot pass through and is reflected to the two detectors according to the assembly direction of the polarization beam splitter.

[0062] 7. The reflected laser light enters the filtering system, which consists of a first convex lens (61), a first aperture (71), and a first filter (81). The first convex lens (61) focuses the laser light, and the first aperture (71) adjusts its radius to allow only the focused laser light to pass through. The first filter (81) is placed after the first aperture (71) to further reduce stray light interference in the laser light and improve the sensitivity of the photoelectric sensor.

[0063] 8. Finally, the laser is sensed by the first photoelectric sensor (91) and generates an electrical signal.

[0064] The speed measurement robot circuit provided in this embodiment of the invention includes an ESP8266 chip, a 5V to ±5V module, two IV amplification modules, and two photoelectric sensors, as shown in the figure. Figure 5 As shown. The power supply is connected to the 5V to ±5V module via a USB interface to power the entire system. The 5V terminal of the 5V to ±5V module is connected to the 5V interface of the ESP8266 to power the ESP8266 module. The ±5V port is connected to the positive and negative 5V ports of the IV amplifier module to power the IV amplifier module. The photoelectric sensor signal pin is connected to the input terminal of the IV amplifier module, and the output terminal of the amplifier module is connected to the signal input port of the ESP8266. The amplified signal controls the ESP8266 chip to complete data processing.

[0065] 5V to ±5V module: This module converts 5V voltage to ±5V voltage, providing power to the entire system. Since the ESP8266 chip requires 5V and the IV amplifier module requires ±5V, this module is used.

[0066] Photoelectric sensor: converts the received laser signal into an electrical signal.

[0067] IV Amplification Module: Converts the current signal from the photoelectric sensor into a voltage signal and amplifies and outputs the voltage signal.

[0068] ESP8266 chip: The core module, responsible for recording time, calculating speed, and transmitting data.

[0069] The electrical process for the speed measurement robot described above to measure speed includes (e.g.) Figure 6 As shown):

[0070] The 1.5V to ±5V module is responsible for powering the speed measurement robot, providing 5V voltage to the ESP8266 chip, and supplying ±5V voltage to the IV amplification module.

[0071] 2. The photoelectric sensor receives the laser signal reflected back from the photoelectric switch reflector and converts it into a current signal.

[0072] 3. Because the current signal from the photoelectric sensor is weak, it needs to be amplified before being received by the ESP8266 chip. The output current of the photoelectric sensor is transmitted to the IV amplification module, where it is converted into a voltage signal and amplified. The amplified signal is then transmitted to the ESP8266 chip.

[0073] 4. Under normal circumstances where no one passes by, the photoelectric sensor continuously receives laser signals, and therefore the ESP8266 chip continuously receives voltage signals.

[0074] 5. When the athlete passes the speed measuring robot, the athlete cuts off the laser emitted by the robot. The photoelectric sensor does not receive the laser signal, and the electrical signal disappears.

[0075] 6. The ESP8266 chip receives the signal when the electrical signal disappears, records the moment at which it does so, and records it as the start time.

[0076] 7. Record the time after the athlete passes the second photoelectric sensor, and record it as the end time.

[0077] 8. After obtaining the time when the athlete passes the starting point and the ending point, calculate the time difference.

[0078] 9. Calculate the speed based on the pre-set laser spacing.

[0079] 10. Transmit the speed results to the local area network or display them on an 8-digit LED display.

[0080] 11. The system returns to its initial state and continues to run in order to measure the speed of subsequent athletes.

Claims

1. A speed measuring robot, characterized in that, The speed measuring robot (10) comprises a mechanical part and a circuit part, wherein the mechanical part comprises: 1 infrared laser (1), a special polarizing beam splitter prism (2), a first 1 / 2 wave plate (31), a second 1 / 2 wave plate (32), a first polarizing beam splitter prism (41), a second polarizing beam splitter prism (42), 1 photoelectric switch reflection plate (5), a first convex lens (61), a second convex lens (62), a first diaphragm (71), a second diaphragm (72), a first filter (81), a second filter (82), a first photoelectric sensor (91) and a second photoelectric sensor (92); The infrared laser (1) is aligned with the center of the input end of the special polarizing beam splitter prism (2), the output end of the special polarizing beam splitter prism (2) has two ports, one of which is aligned with the center of the first 1 / 2 wave plate (31) and the first polarizing beam splitter prism (41), and the other of which is aligned with the center of the second 1 / 2 wave plate (32) and the second polarizing beam splitter prism (42); the photoelectric switch reflection plate (5) is placed at a distance from the main body of the speed measuring robot, the center of the first photoelectric sensor (91) is aligned with the center of the side of the first polarizing beam splitter prism (41), and the center of the second photoelectric sensor (92) is aligned with the center of the side of the second polarizing beam splitter prism (42); The special polarizing beam splitter prism (2) is in the shape of a parallelogram, has a plane a with a polarizing beam splitting characteristic and a mirror surface b, and a and b constitute two edges of the parallelogram that are parallel to each other; natural light emitted by the laser enters the plane a, due to the polarizing beam splitting characteristic, the horizontally polarized part is directly emitted from the right output end, the vertically polarized part is reflected and enters the mirror surface b, so that the vertically polarized light is reflected again and is output from the left output end, and finally two parallel lights with perpendicular polarization directions are obtained.

2. The speed measuring robot of claim 1, wherein, The first filter system composed of the first convex lens (61), the first diaphragm (71) and the first filter (81) is placed between the first photoelectric sensor (91) and the first polarizing beam splitter prism (41), and the centers of the first convex lens (61), the first diaphragm (71) and the first photoelectric sensor (91) are ensured to be on a straight line. The second filter system composed of the second convex lens (62), the second diaphragm (72) and the second filter (82) is placed between the second photoelectric sensor (92) and the second polarizing beam splitter prism (42), and the centers of the second convex lens (62), the second diaphragm (72) and the second photoelectric sensor (92) are ensured to be on a straight line.

3. The speed measuring robot of claim 1, wherein, The infrared laser (1) is selected to be an infrared laser with a wavelength of 850 nanometers and a power of 200 milliwatts.

4. The speed measuring robot of claim 1, wherein, The first 1 / 2 wave plate (31) and the second 1 / 2 wave plate (32) are configured to adjust the polarization direction of the polarized light.

5. The speed measuring robot of claim 1, wherein, The first polarizing beam splitter prism (41) and the second polarizing beam splitter prism (42) are configured to make the horizontally polarized light parallel to the optical plane pass through and make the vertically polarized light perpendicular to the optical plane reflect.

6. The speed measuring robot of claim 1, wherein, The photoelectric switch reflection plate (5) is placed on one side of the speed measuring robot, so that the light beam can return along the original path, and the polarization direction of the polarized light is rotated by 90 degrees, so that the originally horizontal polarized light emitted by the speed measuring robot becomes vertical polarized light when returning; The first convex lens (61) and the second convex lens (62) are configured to collect the returned laser light and make the laser light converge to a point; The first diaphragm (71) and the second diaphragm (72) are configured to control the aperture size, so that the aperture size is equal to the size of the laser at the aperture, so that only the target laser passes through, and stray light other than the target laser is excluded; The first filter (81) and the second filter (82) are configured to only allow 850nm wavelength light to pass through, further excluding stray light; The first photoelectric sensor (91) and the second photoelectric sensor (92) are configured to convert the laser signal into an electrical signal and transmit it to the circuit; The photoelectric switch reflection plate (5) is placed 5-30 meters outside the main body of the speed measuring robot.

7. The speed measuring robot of claim 1, wherein, The circuit part includes: ESP8266 chip, 5V to ±5V module, 2 IV amplification modules and 2 photoelectric sensors; The power supply is connected to the 5V to ±5V module through the USB interface to supply power to the entire system; The 5V end of the 5V to ±5V module is connected to the 5V interface of the ESP8266 to supply power to the ESP8266 module, and the ±5V port is connected to the positive 5V and negative 5V ports of the IV amplification module to supply power to the IV amplification module. The photoelectric sensor signal pin is connected to the input end of the IV amplification module, the output end of the amplification module is connected to the signal input port of the ESP8266, and the amplified signal controls the ESP8266 chip to complete data processing.

8. A method for measuring speed using the speed measuring robot of any one of claims 1-7, the method comprising: (a). Adjusting the infrared laser (1); to make the energy of the two laser beams emitted by the special-shaped polarized light splitting prism (2) the same, rotate the main body of the infrared laser (1) clockwise and counterclockwise to change the polarization angle of the laser, so that the energy of the horizontal polarized light and the vertical polarized light emitted by the laser is the same; At the same time, adjust the divergence angle of the infrared laser (1), change the focal point of the infrared laser (1), so that it hardly diverges at a long distance; (b). The laser enters the special-shaped polarized light splitting prism (2), due to the characteristics of polarized light splitting, the horizontal polarized part of the incident laser is directly output from the a surface output end, and the vertical polarized part is reflected and enters the mirror surface of b, so that the vertical polarized light is reflected again and output from the left output end, and finally two parallel light beams with perpendicular polarization directions are obtained; (c). The laser passes through the 1 / 2 wave plate, and the 1 / 2 wave plate adjusts the polarization direction of the two light beams to the horizontal direction, becoming horizontal polarized light, so as to cooperate with the polarization characteristics of the polarized light splitting prism; (d). The two horizontal polarized light beams enter the polarized light splitting prism, and according to the characteristics of the polarized light splitting prism, both light beams pass through the polarized light splitting prism and are emitted from the speed measuring robot. (e). Place the photoelectric switch reflector plate (5) at the other end of the speed measuring robot, so that the outgoing laser irradiates on the photoelectric switch reflector plate (5); the inside of the photoelectric switch reflector plate (5) is a honeycomb structure composed of multiple reflecting surfaces, so that the polarized light is reflected between multiple reflecting surfaces in the photoelectric switch reflector plate (5), and finally changes the polarization direction while returning along the original path; by using this characteristic, the polarized light emitted by the speed measuring robot changes from horizontal polarization to vertical polarization and returns to the speed measuring robot along the original path; (f). Two parallel vertical polarized lights enter the polarization beam splitter prism of the speed measuring robot, due to the characteristics of the polarization beam splitter prism, the returned vertical polarized light cannot pass through and is reflected to the direction of two detectors according to the assembly direction of the polarization beam splitter prism; (g). The reflected laser enters the first light filtering system, which is composed of a first convex lens (61), a first diaphragm (71) and a first filter (81); the first convex lens (61) converges the laser, the first diaphragm (71) allows only the converged laser to pass through by adjusting the radius, and the first filter (81) is placed behind the first diaphragm (71) to further reduce the interference of stray light mixed in the laser and improve the sensitivity of the photoelectric sensor; (h). The final laser is sensed by the first photoelectric sensor (91) to generate an electrical signal.

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