阅读说明：本技术 一种光学测距模组 (Optical ranging module ) 是由 李鹏 覃佳能 曹亮亮 于 2018-09-13 设计创作，主要内容包括：本发明公开了一种光学测距模组,包括：光发射器,用于出射经过调制的光脉冲序列；光束整形器,用于对所述光脉冲序列进行整形后出射,使得出射的光脉冲序列在第一方向上的发散角大于在第二方向上的发散角的N倍,所述第一方向、所述第二方向和所述光脉冲序列的光轴的方向分别两两相互垂直,所述N大于1；光接收器,用于接收所述光脉冲序列经物体反射回的至少部分返回光,根据所述光脉冲序列和所述至少部分返回光的相位差确定所述光学测距模组与所述物体之间的距离；其中,所述光学测距模组在所述第二方向上的视场FOV大于在所述第一方向上的FOV。(The invention discloses an optical ranging module, which comprises: a light emitter for emitting a modulated optical pulse train; the light beam shaper is used for shaping the light pulse sequence and then emitting the light pulse sequence, so that the divergence angle of the emitted light pulse sequence in a first direction is larger than N times of the divergence angle in a second direction, the directions of the optical axes of the first direction, the second direction and the light pulse sequence are respectively pairwise vertical to each other, and N is larger than 1; the optical receiver is used for receiving at least part of return light reflected by the optical pulse sequence through the object, and determining the distance between the optical ranging module and the object according to the phase difference between the optical pulse sequence and the at least part of the return light; wherein the FOV of the field of view of the optical ranging module in the second direction is greater than the FOV in the first direction.)

1. An optical ranging module, comprising:

a light emitter for emitting a modulated optical pulse train;

the light beam shaper is used for shaping the light pulse sequence and then emitting the light pulse sequence, so that the divergence angle of the emitted light pulse sequence in a first direction is larger than N times of the divergence angle in a second direction, the directions of the optical axes of the first direction, the second direction and the light pulse sequence are respectively pairwise vertical to each other, and N is larger than 1;

the optical receiver is used for receiving at least part of return light reflected by the optical pulse sequence through the object, and determining the distance between the optical ranging module and the object according to the phase difference between the optical pulse sequence and the at least part of the return light;

wherein the FOV of the field of view of the optical ranging module in the second direction is greater than the FOV in the first direction.

2. The optical ranging module of claim 1 having a rectangular FOV with a long side parallel to the first direction and a short side parallel to the second direction.

3. The optical ranging module of claim 1 or 2, wherein the first direction is a vertical direction and the second direction is a horizontal direction.

4. The optical ranging module of claim 1 or 2, wherein N is between 1.2 and 3;

and/or the presence of a gas in the gas,

the divergence angle of the outgoing light beam in the first direction is not more than 3 degrees.

5. The optical ranging module of claim 1 or 2, wherein the light receiver receives the at least part of the return light with a larger angle of reception in the first direction than in the second direction.

6. The optical ranging module of claim 5, wherein the receiving angle of the optical receiver in the first direction is 0.7 to 1.5 times the divergence angle of the optical pulse train in the first direction;

and/or;

the receiving angle of the optical receiver in the second direction is 0.7 times to 1.5 times the divergence angle of the optical pulse train in the second direction.

7. The optical ranging module of claim 6, wherein the receiving angle of the optical receiver in the first direction is 1 to 1.5 times the divergence angle of the optical pulse train in the first direction;

and/or;

the receiving angle of the optical receiver in the second direction is 1 to 1.5 times the divergence angle of the optical pulse train in the second direction.

8. The optical ranging module as claimed in claim 1 or 2, wherein the light emitting surface of the light emitter is in a strip shape, and the length direction of the light emitting surface of the light emitter is along the first direction;

and/or the presence of a gas in the gas,

the optical detection surface of the optical receiver is in a strip shape, and the length direction of the optical detection surface of the optical receiver is along the first direction.

9. The optical ranging module of claim 1, wherein the light emitter comprises a light emitting diode.

10. The optical ranging module of claim 1 further comprising a shaper mount in the shape of a tapered tube, the shaper mount comprising opposing first and second openings;

wherein the first opening is configured to cooperate with the light emitter, and the second opening is configured to cooperate with the beam shaper, such that the light emitter is spaced from the beam shaper by a predetermined distance when the light emitter and the beam shaper respectively cooperate with the first opening and the second opening.

11. The optical ranging module of claim 10, wherein the light emitter and the light receiver are arranged in parallel;

the side wall of the shaper support is made of a light-tight material, or the side wall of the shaper support is also used for reflecting incident light beams.

12. The optical ranging module of claim 1 wherein the beam shaper comprises a lens module comprising:

a first collimating surface and a second collimating surface sequentially positioned on a central axis of the lens module;

wherein at least part of the first collimating surface is a cylinder translated from a first curve in a first cross-section generally in a direction parallel to the first axis by rotating around the first axis and at least part of the second collimating surface is a cylinder translated from a second curve in a second cross-section generally in a direction parallel to the first axis;

the first axis is positioned on one side of the first collimation surface, which faces away from the second collimation surface, and is parallel to the second direction; the first cross-section comprises at least one cross-section in which the first axis is located; the second cross-section comprises at least one cross-section perpendicular to the first axis;

the beam shaping lens is used for shaping an incident light beam, wherein the first collimating surface is used for collimating the incident light beam on a first section; the second collimating surface is used for collimating the light beam from the first collimating surface on a second cross section.

13. The optical ranging module of claim 1 further comprising a light transmissive medium covering the light detection surface of the light receiver and in seamless contact with the light detection surface; wherein the refractive index of the light-transmitting medium is greater than 1, and the surface of the light-transmitting medium comprises a curved surface.

14. The optical ranging module of claim 13, wherein the refractive index of the light-transmissive medium is not less than 1.3.

Technical Field

The invention relates to the technical field of optical application, in particular to an optical ranging module.

Background

The distance measuring device can be applied to a plurality of application fields, such as application scenes of unmanned aerial vehicle height setting, obstacle avoidance and the like, and industrial fields of security protection or rail transit and the like. At present, there are many methods using optical ranging, and among them, a Time of flight (TOF) ranging method is one of the more applied methods. The flight time ranging method comprises pulse time difference ranging and phase ranging, wherein the pulse time difference ranging is to measure the flight time of laser pulses in space and obtain the distance between two points by multiplying the measurement time and the light speed; the phase method distance measurement is realized by measuring the phase difference between the emission light with the intensity subjected to sinusoidal modulation and the return light reflected by a target and converting the phase difference into distance information, and the phase method distance measurement can obtain higher measurement precision than the phase method distance measurement.

Disclosure of Invention

The embodiment of the invention provides an optical ranging module, which comprises:

a light emitter for emitting a modulated optical pulse train;

the light beam shaper is used for shaping the light pulse sequence and then emitting the light pulse sequence, so that the divergence angle of the emitted light pulse sequence in a first direction is larger than N times of the divergence angle in a second direction, the directions of the optical axes of the first direction, the second direction and the light pulse sequence are respectively pairwise vertical to each other, and N is larger than 1;

the optical receiver is used for receiving at least part of return light reflected by the optical pulse sequence through the object, and determining the distance between the optical ranging module and the object according to the phase difference between the optical pulse sequence and the at least part of the return light;

wherein the FOV of the field of view of the optical ranging module in the second direction is greater than the FOV in the first direction.

Optionally, the optical ranging module has a rectangular FOV, wherein a long side of the rectangular FOV is parallel to the first direction and a short side is parallel to the second direction.

Optionally, the first direction is a vertical direction, and the second direction is a horizontal direction.

Optionally, said N is between 1.2 and 3;

and/or the presence of a gas in the gas,

the divergence angle of the outgoing light beam in the first direction is not more than 3 degrees.

Optionally, when the light receiver receives the at least part of the return light, a reception angle in the first direction is larger than a reception angle in the second direction.

Optionally, the receiving angle of the optical receiver in the first direction is 0.7 to 1.5 times the divergence angle of the optical pulse train in the first direction;

and/or;

the receiving angle of the optical receiver in the second direction is 0.7 times to 1.5 times the divergence angle of the optical pulse sequence in the second direction;

optionally, the receiving angle of the optical receiver in the first direction is 1 to 1.5 times the divergence angle of the optical pulse train in the first direction;

and/or;

the receiving angle of the optical receiver in the second direction is 1 to 1.5 times the divergence angle of the optical pulse sequence in the second direction;

optionally, the light emitting surface of the light emitter is in a strip shape, and the length direction of the light emitting surface of the light emitter is along the first direction;

and/or the presence of a gas in the gas,

the optical detection surface of the optical receiver is in a strip shape, and the length direction of the optical detection surface of the optical receiver is along the first direction.

Optionally, the light emitter comprises a light emitting diode.

Optionally, the optical ranging module further comprises a shaper mount in the shape of a tapered tube, the shaper mount comprising opposing first and second openings;

wherein the first opening is configured to cooperate with the light emitter, and the second opening is configured to cooperate with the beam shaper, such that the light emitter is spaced from the beam shaper by a predetermined distance when the light emitter and the beam shaper respectively cooperate with the first opening and the second opening.

Optionally, the optical transmitter is arranged in parallel with the optical receiver;

the side wall of the shaper support is made of a light-tight material, or the side wall of the shaper support is also used for reflecting incident light beams.

Optionally, the beam shaper comprises a lens module, the lens module comprising:

a first collimating surface and a second collimating surface sequentially positioned on a central axis of the lens module;

wherein at least part of the first collimating surface is a cylinder translated from a first curve in a first cross-section generally in a direction parallel to the first axis by rotating around the first axis and at least part of the second collimating surface is a cylinder translated from a second curve in a second cross-section generally in a direction parallel to the first axis;

the first axis is positioned on one side of the first collimation surface, which faces away from the second collimation surface, and is parallel to the second direction; the first cross-section comprises at least one cross-section in which the first axis is located; the second cross-section comprises at least one cross-section perpendicular to the first axis;

the beam shaping lens is used for shaping an incident light beam, wherein the first collimating surface is used for collimating the incident light beam on a first section; the second collimating surface is used for collimating the light beam from the first collimating surface on a second cross section.

Optionally, the optical ranging module further includes a light-transmitting medium covering the light detection surface of the light receiver and in seamless contact with the light detection surface; wherein the refractive index of the light-transmitting medium is greater than 1, and the surface of the light-transmitting medium comprises a curved surface.

Optionally, the refractive index of the light-transmitting medium is not less than 1.3.

According to the technical scheme, the embodiment of the invention has the following advantages:

the FOV of the optical ranging module in the first direction is larger than the FOV in the second direction, so that the optical ranging module can acquire larger angular resolution in the second direction (for example, the horizontal direction) when being installed on a robot (for example, a sweeping robot) or other equipment which needs a distance sensor to detect the surrounding environment and detect the surrounding environment, and the imaging performance of the surrounding environment when the optical ranging module is used for detecting can be improved.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of an optical ranging module according to an embodiment of the present invention;

FIG. 2 is a schematic waveform diagram of a pulse beam emitted by the optical ranging module and a received return light;

FIG. 3 is a diagram of an embodiment of a light emitting surface of a light emitter in an optical ranging module;

FIG. 4 is a diagram illustrating an embodiment of a light emitting surface of a light receiver in an optical ranging module;

FIG. 5 is a schematic structural diagram of an embodiment of a beam-shaping lens provided in an embodiment of the present invention;

FIG. 6 is a schematic view of one embodiment of a cross-section of the lens shown in FIG. 5 in plane X-L;

FIG. 7 is a schematic view of one embodiment of a cross-section of the lens shown in FIG. 5 in plane Y-L;

fig. 8 is a schematic structural diagram of an embodiment of an optical receiver according to the present invention;

fig. 9 is a schematic structural diagram of a light receiver according to another embodiment of the present invention;

fig. 10 is a schematic structural diagram of a light receiver according to another embodiment of the present invention;

fig. 11 is a schematic structural diagram of a light receiver according to another embodiment of the present invention;

fig. 12 is a schematic structural diagram of a light receiver according to another embodiment of the present invention;

fig. 13 is a schematic structural diagram of a light receiver according to another embodiment of the present invention;

fig. 14 is a schematic structural diagram of a light receiver according to another embodiment of the present invention;

fig. 15 is a perspective view of the optical ranging module shown in fig. 1.

Detailed Description

In order to make the technical solutions of the present invention better understood, 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.