Receiving device for TOF laser ranging, ranging system and robot

Abstract

The utility model discloses a receiving device for TOF laser ranging, a ranging system and a robot, and relates to the technical field of laser ranging devices. The receiving device for TOF laser ranging comprises a receiving device shell, an inner support and a circuit board, the inner support is arranged in the receiving device shell, a receiving cavity is formed in the inner support, and a lens, an optical filter and a light reflecting structure are installed in the receiving cavity. According to the receiving device for TOF laser ranging, the light reflecting structure is additionally arranged between the receiving sensor and the optical filter in the receiving device, light distribution is optimized through the light reflecting structure, the short-distance light utilization rate is increased, short-distance light receiving is increased under the condition that existing optics is not changed, meanwhile, the device is low in improvement cost, and the device is suitable for large-scale popularization and application. And only the inner wall of the receiving cavity needs to be subjected to light reflection treatment.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser ranging device technical field, concretely is a kind of receiving device, ranging system and robot for TOF laser ranging. BACKGROUND

[0002] In the industrial field, laser ranging technology becomes indispensable tool by high precision and high efficiency, and the principle of TOF ranging and triangulation is particularly widely used. Triangulation calculates distance through the geometric relationship between the light spot formed by laser beam on target and camera view angle, and is suitable for near distance high-precision measurement. And TOF ranging is based on the round-trip time of laser pulse to determine distance, and is commonly used for middle and long distance ranging, such as material positioning on industrial automatic production line.

[0003] However, the receiving device of the existing TOF ranging system often adopts paraxial placement mode. Although this layout can optimize middle and long distance measurement, it is easy to cause the receiving device to fail to capture the emitted laser pulse due to the incomplete overlap of the emitted light and the receiving field of view at near distance, thereby forming a measurement blind area. This not only limits the application of TOF ranging system in seamless switching between near distance and long distance, but also may cause safety hazards or measurement errors due to the existence of blind area. In view of the shortcomings of the prior art, the utility model provides a receiving device, ranging system and robot for TOF laser ranging to solve the above problems. UTILITY MODEL CONTENT

[0004] In view of the shortcomings of the prior art, the utility model provides a receiving device, ranging system and robot for TOF laser ranging, and a reflecting structure is additionally arranged between the receiving sensor and the optical filter inside the receiving device. The reflecting structure optimizes light distribution and improves near distance light utilization, so that the near distance light collection is increased without changing the existing optics. At the same time, the device has low modification cost, and only needs to perform light reflection treatment on the inner wall of the receiving cavity, thereby solving the problems in the prior art.

[0005] To achieve the above purpose, the utility model is implemented by the following technical solutions: a receiving device for TOF laser ranging, comprising a receiving device shell, an inner support and a circuit board.

[0006] The inner support is arranged inside the receiving device shell, and the inner support is provided with a receiving cavity inside. The receiving cavity is provided with a lens, an optical filter and a reflecting structure inside. The lens is arranged at the outermost side of the receiving cavity.

[0007] The circuit board is arranged inside the receiving device shell, and the circuit board is provided with a receiving sensor.

[0008] Preferably, the reflecting structure is provided with a central hole, and the central hole is light-transmitting.

[0009] Preferably, the inner wall of the middle hole of the light reflection structure adopts a diffuse reflection sticker.

[0010] Preferably, the inner wall of the middle hole of the light reflection structure adopts a high reflection sticker.

[0011] Preferably, the shape of the light reflection structure adopts a circular ring structure.

[0012] Preferably, the shape of the light reflection structure adopts a square hollow structure.

[0013] Preferably, the light reflection structure is provided as the inner wall of the receiving cavity itself, and the inner wall of the receiving cavity is provided as a reflective material.

[0014] Preferably, the receiving device shell is provided with a protective baffle and an inspection plate, and the protective baffle is used for protecting the lens.

[0015] Preferably, the receiving device shell is provided with a control panel, the control panel is connected with a circuit board, and the control panel is provided with a button and a display screen.

[0016] The utility model discloses a second aspect provides a kind of ranging system for TOF laser ranging, including the receiving device for TOF laser ranging.

[0017] The utility model discloses a kind of receiving device for TOF laser ranging, ranging system and robot, it has the beneficial effects as follows:

[0018] The receiving device for TOF laser ranging, the light reflection structure is added between the receiving sensor and the optical filter in the receiving device, the light reflection structure optimizes light distribution, improves the utilization rate of close-range light, so that the close-range light collection is increased without changing the existing optics, and the device is low in cost, and only needs to be light-reflecting in the receiving cavity inner wall. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating labor.

[0020] Figure 1 It is the whole structure schematic diagram of the utility model;

[0021] Figure 2 It is the internal structure schematic diagram of the receiving device shell of the utility model;

[0022] Figure 3 is a sectional view of the inner support of the utility model;

[0023] Figure 4 is a position schematic view of the reflective structure of the utility model;

[0024] Figure 5 is a light receiving schematic view of the utility model;

[0025] Figure 6 is a square reflective structure schematic view of the utility model;

[0026] Figure 7 is a circular reflective structure schematic view of the utility model.

[0027] In the figure: 1, receiving device shell;11, protective baffle;12, maintenance plate;13, control panel;131, button;132, display screen;2, inner support;21, receiving cavity;211, lens;212, optical filter;213, reflective structure;3, circuit board;31, receiving sensor. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantage of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model is described clearly and completely, obviously, the described embodiments are a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0029] The receiving device for TOF laser ranging, the ranging system and the robot provided in the embodiments of the application solve the problem that the receiving device in the existing TOF ranging system commonly adopts the off-axis arrangement of the transceiving lens. Although this layout can optimize the measurement of the middle and long distances, at the near distance, due to the incomplete overlap of the emitted light and the receiving field of view, the receiving device is prone to fail to capture the emitted laser pulse, thereby forming a measurement blind area.

[0030] In order to better understand the above technical scheme, the above technical scheme will be described in detail in combination with the drawings of the specification and specific embodiments.

[0031] Embodiment 1:

[0032] The embodiments of the utility model disclose a kind of receiving device for TOF laser ranging, according to the attached Figure 1 to the attached Figure 7 As shown in the figure, including receiving device shell 1, inner support 2 and circuit board 3;

[0033] The receiving device shell 1 is made of high-strength and light-weight material, such as aluminum alloy or engineering plastic, as a protective structure of the whole receiving device, to ensure the durability and portability of the device in complex environments.

[0034] The inner support 2 is the core support structure of the receiving device, and is internally provided with a receiving cavity 21 for mounting key components such as a lens 211, a filter 212 and a reflecting structure 213; the design of the receiving cavity 21 needs to ensure that light can accurately and efficiently enter the receiving sensor 31. The lens 211 is used for focusing light to improve receiving efficiency; the filter 212 is used for filtering out light of non-target wavelengths to reduce interference; and the reflecting structure 213 is used for optimizing light distribution to improve the strength of a close-range receiving signal.

[0035] The circuit board 3 is the control center of the receiving device, responsible for signal processing, data transmission and communication with external devices of the receiving sensor 31, and is provided with the receiving sensor 31 for converting received optical signals into electrical signals.

[0036] The receiving sensor 31 is the core component of the receiving device, responsible for receiving and converting optical signals into electrical signals.

[0037] The receiving sensor 31 usually adopts high-performance photoelectric conversion devices such as photodiodes, avalanche photodiodes and single-photon avalanche diodes, and has the characteristics of high speed and high sensitivity.

[0038] The shell 1 is provided with a protective baffle 11 and a maintenance plate 12, the protective baffle 11 is used for protecting the lens 211 from physical damage and dust pollution; the maintenance plate 12 is convenient for maintenance and replacement of internal components.

[0039] The second aspect of the utility model provides a ranging system for TOF laser ranging, which comprises a receiving device for TOF laser ranging.

[0040] Embodiment 2:

[0041] The utility model discloses a kind of receiving devices for TOF laser ranging, according to the attached Figure 1 to the attached Figure 7 As shown in the drawing, including receiving device shell 1, inner support 2 and circuit board 3;

[0042] The inner support 2 is arranged inside the receiving device shell 1, and the inner support 2 is internally provided with a receiving cavity 21, and the receiving cavity 21 is internally mounted with a lens 211, a filter 212 and a reflective structure 213.

[0043] The circuit board 3 is arranged inside the receiving device shell 1, and the circuit board 3 is provided with a receiving sensor 31.

[0044] The reflective structure 213 is provided with a central hole and the central hole is light-transmissive. The central hole of the reflective structure 213 is designed to allow light to directly penetrate, and the surrounding part is used for reflecting and scattering light, thereby optimizing the distribution of light in the receiving cavity 21.

[0045] The inner wall of the central hole of the reflective structure 213 adopts a diffuse reflection sticker. The inner wall of the central hole adopts a diffuse reflection sticker, which can uniformly scatter light in all directions, increase the contact area of light with the receiving sensor 31, and improve the receiving sensitivity.

[0046] Through the application of the diffuse reflection sticker, the receiving device is more uniform in light distribution, effectively reduces the receiving dead angle caused by the concentration of light, improves the capture ability of the receiving sensor 31 to weak light signals, and thereby improves the accuracy and stability of distance measurement.

[0047] Embodiment 3:

[0048] The utility model discloses an embodiment of a kind of receiving device for TOF laser ranging, according to the attached Figure 1 to the attached Figure 7 As shown in the drawings, including receiving device shell 1, inner support 2 and circuit board 3.

[0049] The reflective structure 213 is provided with a central hole and the central hole is light-transmissive. The inner wall of the central hole of the reflective structure 213 adopts a high reflection sticker. The high reflection sticker has very high reflectivity, which can almost completely reflect light back into the receiving cavity 21, reducing the loss of light. Unlike diffuse reflection, the high reflection sticker can achieve directional reflection of light, so that light is more concentrated on the receiving sensor 31.

[0050] Through the application of the high reflection sticker, the receiving device is more efficient in light utilization, improving the receiving efficiency of the receiving sensor 31.

[0051] The directional reflection effect makes the distance measurement performance of the receiving device in a specific direction significantly improved, and is suitable for scenes requiring high-precision distance measurement.

[0052] Embodiment 4:

[0053] The utility model discloses an embodiment of a kind of receiving device for TOF laser ranging, according to the attached Figure 1 to the attached Figure 7As shown, it comprises a receiving device shell 1, an inner support 2 and a circuit board 3;

[0054] The shape of the light reflecting structure 213 adopts a circular ring structure. The circular ring structure makes the light reflecting structure 213 form a ring-shaped light reflecting area in the receiving cavity 21, which helps the uniform distribution of light in the receiving cavity 21. The circular ring structure can guide the light to enter the receiving sensor 31 in a more optimized path, reducing the scattering and loss of light, so that the receiving sensor increases the reception of near distance stray light.

[0055] Embodiment 5:

[0056] The utility model embodiment discloses a kind of receiving devices for TOF laser ranging, according to attached Figure 1 to attached Figure 7 As shown, it comprises a receiving device shell 1, an inner support 2 and a circuit board 3;

[0057] The shape of the light reflecting structure 213 adopts a square hollow structure. The square hollow structure makes the light reflecting structure 213 form a square light reflecting area in the receiving cavity 21, which helps the concentrated reflection of light in a specific direction.

[0058] The design of square hollow structure significantly improves the ranging performance of the receiving device in a specific direction, which is suitable for scenarios that require directional ranging.

[0059] By adjusting the size and shape of the square hollow structure, the light distribution requirements in different application scenarios can be flexibly adapted, improving the versatility and flexibility of the receiving device.

[0060] Embodiment 6:

[0061] The utility model embodiment discloses a kind of receiving devices for TOF laser ranging, according to attached Figure 1 to attached Figure 7 As shown, it comprises a receiving device shell 1, an inner support 2 and a circuit board 3;

[0062] The inner support 2 is arranged inside the receiving device shell 1, and the inner support 2 is provided with a receiving cavity 21 inside, and the receiving cavity 21 is installed with a lens 211, a filter 212 and a light reflecting structure 213 inside;

[0063] The light reflecting structure 213 is arranged as the inner wall of the receiving cavity 21 itself, the inner wall of the receiving cavity 21 is arranged as a reflecting material, and the reflecting material adopts white frosted acrylic, ABS or PC material.

[0064] It is to be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0065] The basic principle and main features of the present application and the advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principle of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A receiving device for TOF laser ranging, characterized in that The application relates to a receiving device for TOF laser ranging. The receiving device housing (1) is internally provided with an inner support (2), the inner support (2) is internally provided with a receiving cavity (21), the receiving cavity (21) is internally provided with a lens (211), a filter (212) and a light reflection structure (213), and the lens (211) is arranged at the outermost side of the receiving cavity (21). The circuit board (3) is arranged in the receiving device housing (1), and the circuit board (3) is provided with a receiving sensor (31). The light reflection structure (213) is provided with a middle hole which is light-transmissive.

2. The receiving device for TOF laser ranging according to claim 1, characterized in that, The inner wall of the middle hole of the light reflection structure (213) is provided with a diffuse reflection sticker.

3. The receiving device for TOF laser ranging according to claim 2, characterized in that, The inner wall of the middle hole of the light reflection structure (213) is provided with a high reflection sticker.

4. The receiving device for TOF laser ranging according to claim 2, wherein, The shape of the light reflection structure (213) is a circular ring structure.

5. The receiving device for TOF laser ranging according to claim 2, wherein, The shape of the light reflection structure (213) is a square hollow structure.

6. The receiving device for TOF laser ranging according to claim 2, wherein, The light reflection structure (213) is arranged as the inner wall of the receiving cavity (21), the inner wall of the receiving cavity (21) is arranged as a reflection material.

7. The receiving device for TOF laser ranging according to claim 1, wherein, The receiving device housing (1) is provided with a protective baffle (11) and an inspection plate (12), the protective baffle (11) is used for protecting the lens (211), the receiving device housing (1) is provided with a control panel (13), the control panel (13) is connected with the circuit board (3), the control panel (13) is provided with a button (131) and a display screen (132).

8. The receiving device for TOF laser ranging according to claim 7, characterized in that, The application relates to a receiving device for TOF laser ranging.

9. A ranging system for TOF laser ranging, characterized in that The application relates to a ranging system for TOF laser ranging.

10. A robot for TOF laser ranging, characterized in that ​

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