CN114200423A - Distance measuring optical system - Google Patents

Distance measuring optical system Download PDF

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Publication number
CN114200423A
CN114200423A CN202010976830.3A CN202010976830A CN114200423A CN 114200423 A CN114200423 A CN 114200423A CN 202010976830 A CN202010976830 A CN 202010976830A CN 114200423 A CN114200423 A CN 114200423A
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reflection
plane
line
reflector
point
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CN202010976830.3A
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CN114200423B (en
Inventor
洪少敏
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Suzhou Ruiniu Robot Technology Co ltd
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Suzhou Ruiniu Robot Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
    • G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
    • G02B7/1821—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors for rotating or oscillating mirrors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
    • G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
    • G02B7/198—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors with means for adjusting the mirror relative to its support

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention relates to a distance measurement optical system, which comprises a laser emitter, an object to be measured, a first reflector, an imaging lens, a supporting seat, a second reflector, a photosensitive target surface and a cylindrical lens cone, wherein the object to be measured is arranged on the supporting seat; the laser emitter emits a laser beam; irradiating the object to be measured placed in the Y-axis positive direction by using a laser beam to form an irradiation point; the laser beam is reflected by the irradiation point to form a first reflection line; the first reflection line irradiates a reflection surface at the bottom of the first reflector to form a first reflection point; the first reflection line is reflected by the first reflection point to form a second reflection line; the second reflection ray irradiates the surface of the imaging lens to form an optical center; the second reflection line penetrates through the imaging lens and irradiates on the second reflector to form a second reflection point; the second reflection line is reflected by the second reflection point to form a third reflection line; the third reflection line irradiates a photosensitive target surface above the XZ plane to form an imaging point; this technical scheme can provide the range finding optical system convenient to manufacture and simple adjustable of reflection light path.

Description

Distance measuring optical system
Technical Field
The invention belongs to the technical field related to optical detection, and particularly relates to a distance measuring optical system.
Background
The distance of an object is measured in the traditional equipment, a laser beam is adopted to irradiate the object, and the position detection sensor is realized by detecting the position of an imaging point of a lens on a photosensitive target surface according to the principle of triangulation, so that the distance information of the position of the object is obtained; on the other hand, in order to facilitate the use of the sensor, it is necessary to reduce the size as much as possible, which causes problems of complicated structure, complicated and difficult optical path adjustment, and troublesome manufacturing.
Disclosure of Invention
The invention aims to provide a distance measuring optical system which is small in equipment, simple in structure, convenient to produce and manufacture and simple and adjustable in reflection light path.
In order to achieve the purpose, the invention provides the following technical scheme: a distance measurement optical system comprises a laser emitter, an object to be measured, a first reflector, an imaging lens, a supporting seat, a second reflector and a photosensitive target surface; the laser emitter emits a laser beam; establishing an XYZ three-dimensional coordinate system by taking a laser transmitter as an origin; the emitting direction of the laser emitter is the same as the positive direction of the Y axis or forms an inclined included angle with the positive direction of the Y axis; the laser beams are located on YZ planes; irradiating the laser beam on an object to be measured placed in the positive direction of the Y axis to form an irradiation point; the laser beam is reflected by the irradiation point to form a first reflection line; the plane where the laser beam and the first reflection line are located is a first light path plane; the first optical path plane is located on an XY plane; a forty-five degree included angle is formed between the bottom reflecting surface of the first reflector and the XZ plane; the first reflection line irradiates a reflection surface at the bottom of the first reflector to form a first reflection point; the first reflection line is reflected by the first reflection point to form a second reflection line; the plane where the second reflection line and the Z axis of the coordinate system are located is a second light path plane; the second optical path plane is located on an XZ plane; the second reflection line irradiates through an optical center at the center of the imaging lens; the second reflection line penetrates through the imaging lens and irradiates on the second reflector to form a second reflection point; the second reflector is arranged on the inclined surface of the supporting seat; the second reflection line is reflected by the second reflection point to form a third reflection line; the plane where the third reflection line is located is a third light path plane; and the third reflection line irradiates the photosensitive target surface above the XZ plane to form an imaging point.
As a further improvement of the present invention, an intersection line of the first optical path plane and the reflecting surface of the first reflecting mirror forms a first folding line, and the first folding line is located on the bottom surface of the first reflecting mirror and runs parallel to the X-axis of the coordinate system.
As a further improvement of the present invention, an intersection line of the second optical path plane and the reflecting surface of the second reflecting mirror forms a second folding line; the second folding line is positioned on the inclined plane at the upper part of the second reflector, and the trend of the second folding line forms an inclined included angle with the X axis of the coordinate system.
As a further improvement of the invention, a rotating shaft is fixedly connected and installed between the laser transmitter and the first reflector; the rotating axis of the rotating shaft and the reflecting surface of the first reflector are in the same plane and are parallel to the X axis; the laser emitter, the first reflector and the rotating shaft are transversely arranged on the X-axis side by side in sequence.
As a further improvement of the invention, a cylindrical lens cone is sleeved outside the supporting seat; an imaging lens is embedded in the side surface of the cylindrical lens barrel; the upper surface of the cylindrical lens barrel is provided with a round hole; the bottom of the round hole is provided with a cylindrical supporting seat; an adjusting notch is formed in the lower surface of the supporting seat; a threaded hole is formed in the side surface of the supporting seat; and a limiting groove is formed in the side wall below the cylindrical lens barrel.
As a further improvement of the present invention, the central axial direction of the cylindrical lens barrel is perpendicular to the XZ plane of the coordinate system; the upper surface of the supporting seat is provided with an inclined surface with forty-five degrees; the photosensitive target surface is arranged right above the round hole.
As a further improvement of the invention, the bottom of the supporting seat is provided with an adjusting notch which is in a shape of a straight groove.
As a further development of the invention, the third optical path plane is perpendicular to the XZ plane.
Compared with the prior art, the invention has the beneficial effects that: the technical scheme adopts the first reflector and the second reflector to realize the sensor light path device which needs to be adjusted in multiple aspects, thus effectively realizing the miniaturization of equipment and facilitating the technical effects of debugging, production and manufacturing; according to the technical scheme, the imaging lens is rotatably installed by embedding the side surface of the cylindrical lens barrel, so that the visual angle relation between the lens and the laser beam can be conveniently adjusted; according to the technical scheme, the laser emitter and the first reflector are arranged on the same rotating shaft, and when the laser beam is required to be rotated to measure different positions on an object, the first reflector can also rotate by the same angle, so that the angle of the first reflector can be adjusted at the same time, and the technical effect of quickly measuring different position points of the object to be measured is achieved; according to the technical scheme, the imaging lens is arranged on the side wall of the cylindrical lens barrel, so that the visual angle of the lens and an object can be conveniently adjusted, the supporting seat with the second reflector is embedded into the cylindrical hole of the cylindrical lens barrel, and when an imaging point exceeds the allowable range of a photosensitive target surface and cannot be correctly imaged on the photosensitive target surface, the supporting seat can be rotationally adjusted to be adjusted to a corresponding proper position, so that the imaging point is focused on the photosensitive target surface, and the applicability and the adjustability of equipment are improved; this technical scheme cylinder barrel right side has seted up the spacing groove, and threaded hole is seted up on the supporting seat right side, when adjusting supporting seat position, just can pass the spacing groove to outside fixing bolt, twists the screw hole, then screws up it fixedly, just can play the realization and play the technological effect of quick location to supporting seat and reflector on upper portion.
Drawings
Fig. 1 is a schematic view of the optical path and the installation of the device of the object with the object to be measured at the position P according to the present invention.
Fig. 2 is a schematic view of the optical path and the installation of the device of the object with the object to be measured at the position Q according to the present invention.
Fig. 3 is a schematic view of the optical path and the equipment installation of the object with the object to be measured at the position R according to the present invention.
Fig. 4 is a schematic view of the internal structure of the cylindrical lens barrel according to the present invention.
In the figure: 1. a laser transmitter; 2. an object to be tested; 3. a first reflective mirror; 4. an imaging lens; 5. a supporting seat; 6. a second reflective mirror; 7. a photosensitive target surface; 8. a cylindrical lens barrel; 9. a circular hole; 10. adjusting the notch; 11. a threaded hole; 12. a limiting groove; 13. a rotating shaft; 14. a laser beam; 15. irradiating a point; 16. a first reflection line; 17. a first reflection point; 18. a first fold line; 19. a second reflection line; 20. a light center; 21. a second reflection point; 22. a second fold line; 23. a third reflection line; 24. and (4) imaging the dots.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: a distance measurement optical system comprises a laser emitter 1, an object to be measured 2, a first reflector 3, an imaging lens 4, a supporting seat 5, a second reflector 6 and a photosensitive target surface 7; establishing an XYZ three-dimensional coordinate system by taking the laser transmitter 1 as an origin; the emitting direction of the laser emitter 1 is the same as the positive direction of the Y axis or forms an inclined included angle with the positive direction of the Y axis; the laser beam 14 is located on the YZ plane; the laser emitter 1 emits a laser beam 14; a laser beam 14 irradiates the object 2 to be measured placed in the Y-axis positive direction to form an irradiation point 15; the laser beam 14 is reflected by the irradiation point 15 to form a first reflection line 16; the plane of the first reflection line 16 is a first optical path plane; the intersection line of the first optical path plane and the reflecting surface of the first reflector 3 forms a first folding line 18; the first optical path plane is located on the XY plane; the first reflection line 16 irradiates on the reflection surface at the bottom of the first reflector 3 to form a first reflection point 17; a forty-five degree included angle is formed between the bottom reflecting surface of the first reflective mirror 3 and the XZ plane; the first reflection line 16 is reflected by the first reflection point 17 to form a second reflection line 19; the plane where the second reflection line 19 and the Z axis of the coordinate system are located is a second light path plane; the intersection line of the second optical path plane and the reflecting surface of the second reflector 6 forms a second folding line 22; the second optical path plane is located on the XZ plane; the second reflection line 19 illuminates an optical center 20 passing through the center of the imaging lens 4; (ii) a The second reflection line 19 passes through the imaging lens 4 and irradiates on the second reflective mirror 6 to form a second reflection point 21; the second reflector 6 is arranged on the inclined surface of the supporting seat 5; the second reflection line 19 is reflected by the second reflection point 21 to form a third reflection line 23; the plane where the third reflection line 23 is located is a third optical path plane; the third optical path plane is perpendicular to the XZ plane; the third reflection line 23 is irradiated onto the photosensitive target surface 7 located above the XZ plane to form an image point 24.
As shown in fig. 1-3, wherein L1, L2, and L3 are distances from the origin to three objects to be measured from near to far; p, Q and R are three measuring points corresponding to different objects to be measured, point Q shown in FIG. 2 just falls on the main optical axis of the lens, point P in FIG. 1 and point R in FIG. 3 are located outside the main optical axis, and a rotating shaft 13 is fixedly connected between the laser transmitter 1 and the first reflective mirror 3; the laser emitter 1, the first reflector 3 and the rotating shaft 13 are transversely arranged in parallel in the X-axis direction in sequence; the side surface of the cylindrical lens barrel 8 is embedded with the imaging lens 4; the upper surface of the cylindrical lens cone 8 is provided with a round hole 9; the bottom of the round hole 9 is provided with a cylindrical supporting seat 5; the lower surface of the supporting seat 5 is provided with an adjusting notch 10; a threaded hole 11 is formed in the side surface of the supporting seat 5; a limiting groove 12 is formed on the lower side wall of the cylindrical lens barrel 8; the central axial direction of the cylindrical lens cone 8 is vertical to the XZ plane of the coordinate system; the upper surface of the supporting seat 5 is provided with an inclined surface with forty-five degrees; a second reflective mirror 6 is fixedly arranged on the upper surface of the supporting seat 5; the photosensitive target surface 7 is arranged right above the circular hole; an adjusting tool such as a screwdriver can be inserted into the adjusting notch 10 of the cylindrical lens barrel 7 to adjust the azimuth angle.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1.一种测距光学系统，其特征在于：包括激光发射器（1）、待测物（2）、第一反光镜（3）、成像镜头（4）、支撑座（5）、第二反光镜（6）和感光靶面（7）；所述激光发射器（1）发射出激光束（14）；以激光发射器（1）为原点建立XYZ三维坐标系；所述激光发射器（1）发射的方向与Y轴正向相同或与Y轴正向成倾斜夹角；所述激光束（14）位于YZ平面上；所述激光束（14）照射到放置在Y轴正向的待测物（2）上形成照射点（15）；所述激光束（14）经过照射点（15）反射形成第一反射线（16）；所述激光束（14）与所述第一反射线（16）所在的平面为第一光路平面；所述第一光路平面位于XY平面上；所述第一反光镜（3）的底部反射面与XZ平面设置有四十五度夹角；所述第一反射线（16）照射到第一反光镜（3）底部的反射面上形成第一反射点（17）；所述第一反射线（16）经过第一反射点（17）反射形成第二反射线（19）；所述第二反射线（19）与坐标系Z轴所在的平面为第二光路平面；所述第二光路平面位于XZ平面上；所述第二反射线（19）照射经过所述成像镜头（4）中心处的光心（20）；所述第二反射线（19）穿过成像镜头（4）照射在第二反光镜（6）上形成第二反射点（21）；所述第二反光镜（6）安装在所述支撑座（5）的倾斜面上；所述第二反射线（19）经过第二反射点（21）反射形成第三反射线（23）；所述第三反射线（23）所在的平面为第三光路平面；所述第三反射线（23）照射到位于XZ平面上方的感光靶面（7）上形成成像点（24）。1. A ranging optical system, characterized in that it comprises a laser transmitter (1), an object to be measured (2), a first reflector (3), an imaging lens (4), a support seat (5), a second a reflector (6) and a photosensitive target surface (7); the laser transmitter (1) emits a laser beam (14); an XYZ three-dimensional coordinate system is established with the laser transmitter (1) as the origin; the laser transmitter ( 1) The emission direction is the same as the positive direction of the Y-axis or forms an inclined angle with the positive direction of the Y-axis; the laser beam (14) is located on the YZ plane; An irradiation spot (15) is formed on the object to be tested (2); the laser beam (14) is reflected by the irradiation spot (15) to form a first reflection line (16); the laser beam (14) and the first reflection The plane where the line (16) is located is the first optical path plane; the first optical path plane is located on the XY plane; the bottom reflection surface of the first reflector (3) and the XZ plane are set at a forty-five-degree angle; The first reflection line (16) is irradiated on the reflection surface of the bottom of the first reflection mirror (3) to form a first reflection point (17); the first reflection line (16) is reflected by the first reflection point (17) to form a first reflection point (17). The second reflection line (19); the plane where the second reflection line (19) and the Z axis of the coordinate system are located is the second optical path plane; the second optical path plane is located on the XZ plane; the second reflection line (19) ) irradiates through the optical center (20) at the center of the imaging lens (4); the second reflection line (19) passes through the imaging lens (4) and irradiates on the second reflection mirror (6) to form a second reflection point (21); the second reflection mirror (6) is mounted on the inclined surface of the support base (5); the second reflection line (19) is reflected by the second reflection point (21) to form a third reflection line (23); the plane where the third reflection line (23) is located is the third optical path plane; the third reflection line (23) is irradiated on the photosensitive target surface (7) located above the XZ plane to form an imaging point (24) ). 2.根据权利要求1所述的一种测距光学系统，其特征在于：所述第一光路平面与第一反射镜（3）的反射面之交线构成第一折叠线（18），所述第一折叠线（18）位于所述第一反射镜（3）的底面上且走向与坐标系X轴相互平行。2. A ranging optical system according to claim 1, characterized in that: the intersection of the first optical path plane and the reflection surface of the first reflector (3) constitutes a first folding line (18), so The first folding line (18) is located on the bottom surface of the first reflecting mirror (3) and runs parallel to the X-axis of the coordinate system. 3.根据权利要求1所述的一种测距光学系统，其特征在于：所述第二光路平面与第二反射镜（6）的反射面之交线构成第二折叠线（22）；所述第二折叠线（22）位于所述第二反射镜（6）上部倾斜平面上且走向与坐标系X轴形成倾斜夹角。3. A ranging optical system according to claim 1, characterized in that: the intersection line of the second optical path plane and the reflection surface of the second reflector (6) constitutes a second folding line (22); The second folding line (22) is located on the upper inclined plane of the second reflecting mirror (6), and the direction forms an inclined angle with the X-axis of the coordinate system. 4.根据权利要求1所述的一种测距光学系统，其特征在于：所述激光发射器（1）与第一反光镜（3）之间固定连接安装有转轴（13）；所述转轴（13）的回转轴线与第一反光镜（3）的反射面处于相同平面内且平行于X轴；所述激光发射器（1）、转轴（13）、第一反光镜（3）横向依次并排设置在X轴方向上。4. A ranging optical system according to claim 1, characterized in that: a rotating shaft (13) is fixedly connected and installed between the laser transmitter (1) and the first reflecting mirror (3); the rotating shaft The rotation axis of (13) is in the same plane as the reflection surface of the first reflecting mirror (3) and is parallel to the X-axis; the laser transmitter (1), the rotating shaft (13), and the first reflecting mirror (3) are laterally sequentially Arranged side by side in the X-axis direction. 5.根据权利要求1所述的一种测距光学系统，其特征在于：所述支撑座（5）外部套接有圆柱镜筒（8）；所述圆柱镜筒（8）的侧面嵌入安装有成像镜头（4）；所述圆柱镜筒（8）上表面开设有圆孔（9）；所述圆孔（9）的底部安装有圆柱状的支撑座（5）；所述支撑座（5）的下表面开设加工有调节槽口（10）；所述支撑座（5）的侧面开设有螺纹孔（11）；所述圆柱镜筒（8）的下方侧壁上开设有限位槽（12）。5. A distance measuring optical system according to claim 1, characterized in that: a cylindrical lens barrel (8) is sleeved on the outside of the support base (5); the side surface of the cylindrical lens barrel (8) is embedded and installed There is an imaging lens (4); a circular hole (9) is formed on the upper surface of the cylindrical lens barrel (8); a cylindrical support seat (5) is installed at the bottom of the circular hole (9); the support seat ( 5) The lower surface of the cylindrical lens barrel (8) is provided with an adjustment notch (10); the side surface of the support seat (5) is provided with a threaded hole (11); 12). 6.根据权利要求5所述的一种测距光学系统，其特征在于：所述圆柱镜筒（8）的中心轴向与坐标系XZ平面垂直；所述支撑座（5）的上表面加工设置为四十五度的倾斜面；所述感光靶面（7）设置在圆孔的正上方。6. A distance measuring optical system according to claim 5, characterized in that: the central axis of the cylindrical lens barrel (8) is perpendicular to the XZ plane of the coordinate system; the upper surface of the support seat (5) is machined It is set as a forty-five-degree inclined surface; the photosensitive target surface (7) is set just above the circular hole. 7.根据权利要求5所述的一种测距光学系统，其特征在于：所述调节槽口（10）为一字型凹槽状。7 . The distance measuring optical system according to claim 5 , wherein the adjustment notch ( 10 ) is in the shape of a straight groove. 8 . 8.根据权利要求5所述的一种测距光学系统，其特征在于：所述第三光路平面垂直于XZ平面。8 . The optical distance measuring system according to claim 5 , wherein the third optical path plane is perpendicular to the XZ plane. 9 .
CN202010976830.3A 2020-09-17 2020-09-17 A distance measuring optical system Active CN114200423B (en)

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JP2015203619A (en) * 2014-04-14 2015-11-16 リコー光学株式会社 Laser distance metering device
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CN213210462U (en) * 2020-09-17 2021-05-14 苏州睿牛机器人技术有限公司 Distance measuring optical system

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