Multi-optical-path correction type optical scanner

Abstract

The utility model discloses a multi-optical-path correction type optical scanner, and relates to the technical field of optical scanners. Comprising a rotary driving part and an optical scanner arranged at the driving end of the rotary driving part, and the rotary driving part is used for driving the optical scanner to rotate; the optical scanner comprises a laser emitting assembly and a laser receiving assembly; the laser receiving assembly comprises a receiving lens cone, a photoelectric receiver arranged at one end of the receiving lens cone and a receiving lens arranged at the other end of the receiving lens cone; a light refraction piece and / or a light reflection piece are / is arranged in front of the receiving lens and / or behind the receiving lens and / or on the outer surface of the receiving lens; by adopting the technical scheme provided by the invention, the multi-directional reflected laser can be corrected through the light path, so that a small-aperture photoelectric receiver can also receive and sense the laser.

Description

Technical Field

[0001] The present application relates to the technical field of optical scanners, and in particular to a multi-light path correction type optical scanner. Background Art

[0002] The laser scanner continuously emits short pulsed laser beams, receives lasers reflected by external objects, and analyzes the distance of external objects, while rotating around its own central axis to complete the optical scanning of the surrounding circle and the perception of external objects, and then repeats the process over and over again. The laser scanner is a powerful sensing device that is widely used in mobile machinery such as manned / unmanned vehicles, mobile robots, and robotic arms. In mobile machinery such as unmanned vehicles, robots, and robotic arms, which have relatively low costs and safety standards, multi-line laser scanners with complex structures and expensive prices are rarely used. Single-line laser scanners with simple structures and prices less than one-tenth of multi-line laser scanners are commonly used. Single-line laser scanners can only emit one laser beam to perceive the distribution of objects in a narrow two-dimensional plane, while the movement and working range of the machine is a three-dimensional space, which creates an application contradiction between two-dimensional perception and three-dimensional work. For example, for unmanned vehicles and mobile robots, single-line laser scanners are often installed at a height of about ten centimeters from the ground to perceive a horizontal plane about ten centimeters above the ground (if it is lower, the collision and dust falling problems are relatively large). With this configuration, a single-line laser scanner cannot detect pipelines, trenches, steps, bricks, bulk cargo, human feet and other objects on the ground that may be crushed, nor can it detect railings, pipelines, forklift crane cantilevers, truck floors and other objects suspended in the air that may collide with them. This is an economical solution that has to be used despite the risk of blind men touching an elephant despite knowing that its perception is insufficient, because multi-line laser scanners with stronger perception and much lower risks are currently too expensive to be used in large quantities.

[0003] See also Figure 1 , which is an example of the optical path and working mode of one of the single-line laser scanners. A laser transmitter emits a beam of laser 2 outward. After encountering an object R, 2 generates surface reflected light 2', part of which is received by the receiving lens F2 of the scanner (if the object is far enough, the reflected light 2' can be simplified and regarded as approximately parallel light in front of the lens), and 2' is focused to the photoelectric receiver S placed on the main optical axis of the lens to generate a laser return signal. By comparing the laser emission signal and the laser return signal, the distance from the laser scanner to the object R can be analyzed. The above optical path structure is driven by a driving motor to rotate around the central axis X at an angular velocity ω, and the optical scanning in a two-dimensional plane with the laser scanner as the center is repeated over and over again. This is an example of the optical path and working mode of one of the single-line laser scanners.

[0004] Chinese patent application publication number "CN116449340A" discloses a turntable multi-line laser scanner, which adds downward-firing laser emitters and upward-firing laser emitters on both sides of the horizontally-firing laser emitter, emitting a total of three laser lines, namely, laser beam 1 with a downward-firing angle α, laser beam 2 with a horizontal-firing angle 2, and laser beam 3 with an upward-firing angle β. It solves the problem of multi-line emission, but it has problems with receiving lasers 1', 2' and 3' reflected from objects. Figure 2 As shown, the receiving lens F2 still maintains a good focusing effect on the photoelectric receiver S for the reflected light 2' of the flat laser beam 2; but for the oblique incident reflected light 1' and 3', it cannot produce the same focusing effect, and the light is deflected away from the main optical axis and cannot enter the limited receiving aperture of the photoelectric receiver S. In this scheme, the receiving aperture of the photoelectric receiver is required to be as large as the centimeter level. However, if the receiving aperture is larger, the high-speed response capability of the photoelectric receiver will be slower, which will increase the ranging error and be detrimental to the ranging accuracy of the high-speed pulse laser; in addition, because the response speed and accuracy of the large aperture are relatively poor, the receiving aperture of the common photoelectric receivers on the market is mostly less than 1 mm, and it is difficult to buy centimeter-level large aperture models. Therefore, this scheme has two problems: large measurement error and less raw materials, and there is a certain degree of implementation difficulty. Utility Model Content

[0005] The purpose of this application is to provide a multi-light path correction optical scanner to solve at least one of the above-mentioned technical problems.

[0006] In order to solve the above technical problems, the present application provides a multi-optical path correction type optical scanner, comprising a rotary driving member and an optical scanner arranged at a driving end of the rotary driving member, wherein the rotary driving member is used to drive the optical scanner to rotate;

[0007] The optical scanner comprises a laser emitting component and a laser receiving component; the laser receiving component comprises a receiving lens barrel, a photoelectric receiver arranged at one end of the receiving lens barrel and a receiving lens arranged at the other end of the receiving lens barrel;

[0008] A light refraction member and / or a light reflection member is also provided in front of the receiving lens and / or behind the receiving lens and / or on the outer surface of the receiving lens;

[0009] In the above implementation process, the laser emitting component emits a laser, which is reflected back after encountering an obstacle, passes through the receiving lens on the laser receiving component and enters the receiving lens barrel, and the optical signal is received by the photoelectric receiver; in this scheme, a light refraction member or a light reflection member is arranged in front of the receiving lens and / or behind the receiving lens and / or on the outer surface of the receiving lens to correct the optical path of the reflected laser that deviates from the main optical axis of the receiving lens, so that a part of the laser reflected from the object that is not parallel to the main optical axis of the receiving lens can be deflected and focused onto the photoelectric receiver, and the received multi-directional reflected laser can be received and sensed by a small-aperture photoelectric receiver after the optical path correction, which makes the feasibility of practical application stronger.

[0010] Preferably, a light refraction member is provided in front of or behind the receiving lens, and the light refraction member comprises a first lens provided behind the receiving lens and / or a second lens provided in front of the receiving lens;

[0011] In the above implementation process, in this solution, a light refraction element is set in the receiving mirror lens, which can be understood as a lens. After passing through the receiving lens, a part of the reflected laser can be focused onto the photoelectric receiver through the optical path correction effect of the first lens and / or the second lens.

[0012] Preferably, a light refracting member is provided on the front surface and / or the rear surface of the receiving lens, and the light refracting member comprises a lens and is integrally arranged with the receiving lens.

[0013] In the above implementation process, this solution integrates the light refraction component and the receiving lens, so that only the receiving lens needs to be remolded during production. There is no need to manufacture additional production molds, nor is there a need for additional installation structures and optical path adjustment steps. This is more conducive to mass production in terms of cost and process, and can effectively reduce production costs and improve production efficiency.

[0014] Preferably, a light reflecting member is provided in front of the receiving lens or behind the receiving lens, and the light reflecting member comprises a plane mirror or a curved mirror;

[0015] In the above implementation process, the present solution sets a light reflecting element in front of or behind the receiving lens, so that a part of the reflected light from the object which is not parallel to the main optical axis of the receiving lens can be deflected and focused onto the photoelectric receiver.

[0016] Preferably, the light reflecting members are provided in two groups and are arranged opposite to each other.

[0017] Preferably, the laser emitting assembly has a main laser emitting direction and / or several auxiliary laser emitting directions, the optical axis of the laser receiving assembly and the main laser emitting direction are both arranged parallel to the rotation plane of the optical scanner, and the auxiliary laser emitting directions are arranged inclined relative to the rotation plane.

[0018] Preferably, the laser receiving assembly is provided with a photoelectric receiver;

[0019] In the above implementation process, the laser emitting component of this scheme has a main laser emitting direction and several auxiliary laser emitting directions. By controlling the main and auxiliary laser emitting directions to emit light in a time-sharing and orderly manner, only one photoelectric receiver is set to receive their reflected light in a time-sharing manner, instead of equipping each laser beam with a separate photoelectric receiver like the traditional multi-line scanning scheme. This effectively simplifies the internal structure and reduces production costs, because high-speed and sensitive photoelectric receivers are currently the most expensive single component in optical scanners.

[0020] Preferably, the auxiliary laser emission direction includes a downward laser emission direction and / or an upward laser emission direction, the downward laser emission direction is tilted downward relative to the rotation plane, and the upward laser emission direction is tilted upward relative to the rotation plane;

[0021] In the above implementation process, the two auxiliary laser emission directions realize the horizontal scanning of the optical scanner. On the basis of being compatible with the use of traditional single-line laser scanners, it can also scan upward and downward at the same time, thereby improving the laser scanning ranging space from two-dimensional to three-dimensional while keeping the production cost as close as possible to that of a single-line two-dimensional scanner, thereby improving the economy and simplicity and practicality of the multi-line optical scanner.

[0022] Preferably, the angle between the downward laser emission direction and the rotation plane is a first angle, the angle between the upward laser emission direction and the rotation plane is a second angle, and the absolute value range of the first angle and / or the second angle is 0.1° to 90°;

[0023] More preferably, the absolute value range of the first angle and / or the second angle is 10° to 20°.

[0024] Compared with the prior art, the beneficial effect of the present application is that: the scheme corrects the optical path of the reflected laser that deviates from the main optical axis of the receiving lens by arranging a light refraction member or a light reflection member in the space behind the receiving lens or in front of the receiving lens, or on the inner surface or outer surface of the lens. In this way, a portion of the reflected light from objects that are not parallel to the main optical axis of the receiving lens can be deflected and focused onto the photoelectric receiver. After the optical path of the received multi-directional reflected laser is corrected, it can also be received and sensed by a small-aperture photoelectric receiver, which makes the feasibility of practical application stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0026] Figure 1 It is a schematic diagram of the structure of a traditional single-line laser scanner;

[0027] Figure 2 It is a structural schematic diagram of one of the multi-line laser scanners in the prior art;

[0028] Figure 3 It is a structural schematic diagram of one embodiment of the present application;

[0029] Figure 4 It is a structural schematic diagram of one embodiment of the present application;

[0030] Among them: 10, laser emitting assembly; 11, downward laser emitting direction; 12, main laser emitting direction; 13, upward laser emitting direction; 20, laser receiving assembly; 21, receiving lens barrel; 22, receiving lens; 23, first lens; 24, second lens; 25, photoelectric receiver; 26, light reflecting part. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0032] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0033] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] In the description of the present application, it should be understood that the terms "upper", "lower", "side", "front", "rear", etc. indicate orientations or positional relationships based on the installation, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0035] In the description of this application, it should be noted that the term "and / or" is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0036] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0037] In order to further understand the content, features and effects of the utility model of the present application, the following embodiments are given as examples and described in detail with reference to the accompanying drawings:

[0038] Example

[0039] This application provides a multi-light path correction type optical scanner, which can be found in Figure 3 and 4 , which includes a rotary drive member (not shown in the figure) and an optical scanner provided at a driving end of the rotary drive member, wherein the rotary drive member is used to drive the optical scanner to rotate;

[0040] It should be noted that the specific implementation method of the rotation drive member driving the optical scanner to rotate belongs to the relatively mature existing technology, so this solution will not be further elaborated on it.

[0041] Specifically, the optical scanner includes a laser emitting component 10 and a laser receiving component 20; the laser receiving component 20 includes a receiving lens barrel 21, a photoelectric receiver 25 disposed at one end of the receiving lens barrel 21, and a receiving lens 22 disposed at the other end of the receiving lens barrel 21;

[0042] It is understandable that the photoelectric receiver 25 can be set inside the receiving lens barrel 21 or outside the receiving lens barrel 21. For example, in some embodiments, a light-transmitting hole can be opened on the receiving lens barrel 21, and the photoelectric receiver 25 is set at a position outside the barrel wall corresponding to the light-transmitting hole to facilitate external adjustment of its setting position.

[0043] Furthermore, a light refraction member and / or light reflection member 26 is provided in front of the receiving lens 22 and / or behind the receiving lens 22 and / or on the outer surface of the receiving lens 22;

[0044] In the above scheme, the laser emitting component 10 emits a laser, which is reflected back after encountering an obstacle, passes through the receiving lens 22 on the laser receiving component 20, enters the receiving lens barrel 21, and receives the light signal through the photoelectric receiver 25; in this scheme, a light refraction member or a light reflection member 26 is provided in front of the receiving lens 22 or behind the receiving lens 22 and / or on the outer surface of the receiving lens 22 to correct the optical path of the reflected laser, so that a part of the laser reflected from the object that is not parallel to the main optical axis of the receiving lens can be deflected and focused onto the photoelectric receiver 25, and the received multi-directional reflected laser can be received and sensed after the optical path correction by the small-aperture photoelectric receiver 25, which makes the feasibility of practical application stronger.

[0045] Specifically, in one embodiment, see Figure 3 A light refraction member is provided in front of and / or behind the receiving lens 22, and the light refraction member includes a first lens 23 provided behind the receiving lens and / or a second lens 24 provided behind the receiving lens 22;

[0046] In the above scheme, a light refraction element is arranged before / or after the receiving lens 22, which can be understood as a lens. After a part of the reflected laser passes through the receiving lens 22, it can be focused onto the photoelectric receiver 25 through the optical path correction effect of the first lens 23 and / or the second lens 24.

[0047] It should be noted that the above-mentioned behind the receiving lens can be understood as a position between the photoelectric receiver and the receiving lens, and in front of the receiving lens can be understood as a position between the receiving lens and the object.

[0048] Further, in some embodiments, the front surface and / or the rear surface of the receiving lens 22 is provided with a light refraction member, and the light refraction member includes a lens and is integrally provided with the receiving lens;

[0049] In the above scheme, this scheme integrates the light refraction component and the receiving lens 22, so that only the receiving lens 22 needs to be re-molded during production, and no additional production molds are required, and no additional installation structures and optical path adjustment steps are required. This is more conducive to mass production in terms of cost and process, and can effectively reduce production costs and improve production efficiency.

[0050] It is understandable that, in some embodiments, the first lens 23 and the second lens 24 may be provided at the same time, or only one of them may be provided.

[0051] For details, see Figure 4 In one embodiment, a light reflecting member 26 is provided in front of the receiving lens 22 or behind the receiving lens 22, and the light reflecting member 26 includes a plane mirror or a curved mirror;

[0052] In the above scheme, this scheme sets a light reflecting member 26 in front of or behind the receiving lens 22 so that a part of the reflected light from the object that is not parallel to the main optical axis of the receiving lens can be deflected and focused onto the photoelectric receiver 25.

[0053] Furthermore, two groups of light reflecting members 26 are provided and are arranged opposite to each other.

[0054] Specifically, the laser emitting component 10 has a main laser emitting direction 12 and / or several auxiliary laser emitting directions, the laser receiving component 20 and the optical axis 12 of the main laser emitting direction are both arranged parallel to the rotation plane of the optical scanner, and the optical axis of the auxiliary laser emitting direction is arranged inclined relative to the rotation plane.

[0055] It is understandable that, in some embodiments, only one main laser emission direction 12 may be included, or only one or more auxiliary laser emission directions may be included.

[0056] Furthermore, the laser receiving assembly 20 is provided with a photoelectric receiver 25;

[0057] In the above scheme, this scheme controls the emission directions of the main and auxiliary lasers to emit light in a time-sharing and orderly manner, and only sets one photoelectric receiver 25 to receive their reflected light in a time-sharing manner, instead of equipping each laser beam with a separate photoelectric receiver like the traditional multi-line scanning scheme. This effectively simplifies the internal structure and reduces production costs, because high-speed and sensitive photoelectric receivers are currently the most expensive single component in optical scanners.

[0058] Specifically, the auxiliary laser emission direction includes a downward laser emission direction 11 and / or an upward laser emission direction 13, the downward laser emission direction 11 is tilted downward relative to the rotation plane, and the upward laser emission direction 13 is tilted upward relative to the rotation plane;

[0059] In the above scheme, the two auxiliary laser emission directions realize the horizontal scanning of the optical scanner. On the basis of being compatible with the use of traditional single-line laser scanners, it can also scan upward and downward at the same time, thereby improving the laser scanning ranging space from two-dimensional to three-dimensional while keeping the production cost as close as possible to that of a single-line two-dimensional scanner, thereby improving the economy, simplicity and practicality of the multi-line laser scanner.

[0060] It is understandable that in some embodiments, there may be only a downward laser emission direction 11 or an upward laser emission direction 13;

[0061] Specifically, the angle between the downward laser emission direction 11 and the rotation plane is a first angle α, the angle between the upward laser emission direction 13 and the rotation plane is a second angle β, and the absolute value range of the first angle and / or the second angle is 0.1° to 90°;

[0062] Furthermore, the absolute value range of the first angle and / or the second angle is 10° to 20°.

[0063] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0064] The above description is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Any simple modification, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application are within the scope of the technical solution of the present application.

Claims

1. A multi-light path correction optical scanner, characterized in that: It comprises a rotary driving member and an optical scanner arranged at a driving end of the rotary driving member, wherein the rotary driving member is used to drive the optical scanner to rotate; The optical scanner comprises a laser emitting component and a laser receiving component; the laser receiving component comprises a receiving lens barrel, a photoelectric receiver arranged at one end of the receiving lens barrel and a receiving lens arranged at the other end of the receiving lens barrel; A light refraction element and / or a light reflection element is also provided in front of the receiving lens and / or behind the receiving lens and / or on the surface of the receiving lens.

2. The multi-light path correction optical scanner according to claim 1, characterized in that: A light refracting member is provided in front of and / or behind the receiving lens, and the light refracting member includes a first lens provided behind the receiving lens and / or a second lens provided in front of the receiving lens.

3. The multi-light path correction optical scanner according to claim 1, characterized in that: A light refracting member is disposed on the front surface and / or the rear surface of the receiving lens. The light refracting member includes a lens and is integrally arranged with the receiving lens.

4. The multi-light path correction optical scanner according to claim 1, characterized in that: A light reflecting component is provided in front of the receiving lens or behind the receiving lens, and the light reflecting component includes a plane mirror or a curved mirror.

5. The multi-light path correction optical scanner according to any one of claims 1 to 4, characterized in that: The laser receiving assembly is provided with a photoelectric receiver.

6. The multi-light path correction optical scanner according to claim 5, characterized in that: The laser emitting component has a main laser emitting direction and / or several auxiliary laser emitting directions. The optical axis of the laser receiving component and the main laser emitting direction are both arranged parallel to the rotation plane of the optical scanner, and the auxiliary laser emitting directions are all arranged inclined relative to the rotation plane.

7. The multi-light path correction optical scanner according to claim 6, characterized in that: The auxiliary laser emission direction includes a downward laser emission direction and / or an upward laser emission direction, wherein the downward laser emission direction is tilted downward relative to the rotation plane, and the upward laser emission direction is tilted upward relative to the rotation plane.

8. The multi-light path correction optical scanner according to claim 7, characterized in that: The angle between the downward laser emission direction and the rotation plane is a first angle, and the angle between the upward laser emission direction and the rotation plane is a second angle. The absolute value range of the first angle / the second angle is 0.1° to 90°.

Images