CN107436439A - The installation method of laser ranging system and its sensitive chip - Google Patents
The installation method of laser ranging system and its sensitive chip Download PDFInfo
- Publication number
- CN107436439A CN107436439A CN201610363893.5A CN201610363893A CN107436439A CN 107436439 A CN107436439 A CN 107436439A CN 201610363893 A CN201610363893 A CN 201610363893A CN 107436439 A CN107436439 A CN 107436439A
- Authority
- CN
- China
- Prior art keywords
- sensitive chip
- chip component
- lens
- long side
- line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009434 installation Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 51
- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 8
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
Classifications
-
- 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
- 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
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The present invention provides a kind of installation method of laser ranging system and its sensitive chip, the laser ranging system, including line laser transmitter (200) and the imaging sensor being arranged in fixed seat (100), described image sensor includes lens and circuit board (400), sensitive chip component is installed with the circuit board, and the sensitive chip component is to be spliced by two sub- sensitive chips of identical (501) along long side direction, the fitting relation of the lens and sub- sensitive chip is：The lens being adapted to the imaging sensor of 1/n inches, it is correspondingly arranged the sensitive chip component being spliced by the sub- sensitive chip of two 1/2n inches, the photosurface covering laser ranging system between described two long sides of sensitive chip component presets maximum distance measurement point, the extended line intersection point with plane where the sensitive chip component respectively of default minimum distance measurement point and lens centre line.The invention enables the demand that the finding range of laser ranging system disclosure satisfy that user.
Description
Technical field
The present invention relates to a kind of laser ranging system and its installation method of sensitive chip, belong to biography
Sensor manufacturing technology field.
Background technology
Existing Indoor Robot is usually using laser ranging system as main sensors to its work
Be modeled as environment, 2008 Pasadena (Pasadena, CA, USA) by electrically and
Robot and automation international conference (the IEEE International that Electronic Engineering Association holds
Conference on Robotics and Automation) on be once disclosed an entitled " A
Low-Cost Laser Distance Sensor " article, to Laser Measuring in this article
Carried out in detail away from principle, laser ranging system characteristic and its application in robot indoors
Introduce.It is 3cm-6m that the document, which is described laser ranging system (LDS) effectively (accurate) measurement distance,
And the finding range of laser ranging system (LDS) reality is then larger than effective measurement distance.
In the prior art, line laser range unit includes the line laser transmitting set at an angle
Device and imaging sensor, the light that imaging sensor receives line laser transmitter transmitting hinder from periphery
Hinder the light that thing is fed back.According to the different size of camera lens, its finding range is also different,
Therefore the demand according to finding range is needed, is adapted to using appropriate size and with imaging sensor
Camera lens.The generally matching of the camera lens of laser ranging system have for filter the optical filter of bias light and
CMOS (Complementary Metal Oxide Semiconductor, CMOS
Semiconductor) image sensor chip, abbreviation CMOS chip.The CMOS matched in existing camera lens
Chip is single sensitive chip.In order to ensure finding range, the sense of traditional CMOS chip
Light area is larger, need to correspond to and scan and handle more data, it is impossible to meet laser ranging system
Requirement of real-time, and cost is too high.
A kind of CMOS chip is disclosed in Chinese patent CN 203672362U, it is smaller by two
Chip be spliced, while the length of its long side direction is met camera lens specification requirement, survey
It can also reach general requirement away from scope and range accuracy, and due to the size of its CMOS chip
It is smaller, accelerate the real time response speed of range unit.However, due on its short side direction
Length is less than traditional image sensor chip so that its finding range is less than traditional line laser
Range unit, according to traditional chip mounting means, i.e., the center of sensitive chip is placed
Height is contour with lens centre, then LDS finding range can be caused very narrow and small, it is impossible to meet
Build the actual demand such as figure ranging or avoidance ranging.Therefore, how the less splicing core of erection space
Piece turns into those skilled in the art's urgent problem to obtain suitable finding range.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of
The installation method of laser ranging system and its sensitive chip, by making sensitive chip component two long
Photosurface covering laser ranging system between side presets maximum distance measurement point, default most low coverage
From measurement point and lens centre line extended line respectively with plane where the sensitive chip component
Intersection point so that distance range that those skilled in the art can measure as needed determines
The installation site of sensitive chip, the finding range of laser ranging system disclosure satisfy that the need of user
Ask.
The technical problems to be solved by the invention are achieved by the following technical solution：
A kind of laser ranging system, including the line laser transmitter and image being arranged in fixed seat
Sensor, described image sensor include lens and circuit board, fixed thoughts on the circuit board
Optical chip component, and the sensitive chip component is along long side side by two sub- sensitive chips of identical
To being spliced, the fitting relation of the lens and sub- sensitive chip is：With the figure of 1/n inches
As the lens that sensor is adapted to, be correspondingly arranged by the sub- sensitive chip splicing of two 1/2n inches and
Into sensitive chip component, the photosurface covering between described two long sides of sensitive chip component swashs
Optical range finding apparatus is preset maximum distance measurement point, default minimum distance measurement point and lens centre and connected
The extended line of line respectively with the sensitive chip component where plane intersection point.
Specifically, in order to obtain more preferable finding range or prevent error when sensitive chip is installed,
Using the sensitive chip component long side near apart from line laser transmitter as upper long side, with the sense
The optical chip component long side remote apart from line laser transmitter is lower long side, the lower long side to lens
The vertical distance at center is more than or equal to the default minimum distance measurement point and lens centre line
Vertical distance of the intersection point of plane to lens centre where extended line and the sensitive chip component.
One of which situation, the lower long side are centrally located at laser ranging system and preset most low coverage
From on the extended line of measurement point and lens centre line.
Further, the lower long side is less than the photosensitive core of son to the vertical distance of lens centre
The bond length of piece.
Plane is orthogonal where the laser ranging system line laser plane of departure and sensitive chip component sets
When putting, it is assumed that O points are the center of lens, and O ' points are projection of the O points on sensitive chip component,
OO ' is distance of the lens to sensitive chip component, and laser ranging system presets maximum distance measurement
The extended line and the sensitive chip group of point, default minimum distance measurement point with lens centre line
The intersection point of plane where part is respectively B, A, and m is the upper long side of sensitive chip component to line laser
The distance of the plane of departure, n be lower long side to the vertical distance of lens centre, MN is sensitive chip
The bond length of component, OC are O points to the distance of the line laser plane of departure, laser ranging system
Default maximum distance in finding range is Dmax, and it is Dmin to preset minimum distance, then AO '=OC
× OO '/Dmin, BO '=OC × OO '/Dmax, n ＞ AO ', m ＜ OC.
Preferably, the line laser transmitter launches line laser, described two phases in the first direction
The long side direction of same sub- sensitive chip is parallel with the first direction.
The present invention also provides a kind of installation method of sensitive chip in laser ranging system, including：
Step 1：A lens, step 2 are set on the path for receiving laser：Passing through the lens
Laser path on a sensitive chip component is set, wherein, the sensitive chip component is by two
The individual sub- sensitive chip of identical is spliced along long side direction, the lens and sub- sensitive chip
Fitting relation is：The lens being adapted to the imaging sensor of 1/n inches, it is correspondingly arranged by two
The sensitive chip component that the sub- sensitive chip of 1/2n inches is spliced, in the step 2,
The photosurface between two long sides of sensitive chip component is covered laser ranging system and preset most long distance
From measurement point, default minimum distance measurement point and lens centre line extended line respectively with it is described
The intersection point of plane where sensitive chip component.
Further, using the sensitive chip component long side near apart from line laser transmitter to be upper
Long side, using the sensitive chip component long side remote apart from line laser transmitter as lower long side,
In the step 2, the lower long side to the vertical distance of lens centre is configured to more than described
Extended line and the sensitive chip component institute of the default minimum distance measurement point with lens centre line
Plane intersection point to the vertical distance of lens centre, and configure lower long side erecting to lens centre
Straight distance is less than the bond length of the sub- sensitive chip.
In summary, by the present invention in that the photosurface between two long sides of sensitive chip component covers
Lid laser ranging system is preset in maximum distance measurement point, default minimum distance measurement point and lens
The extended line of heart line respectively with the sensitive chip component where plane intersection point so that ability
The distance range that the technical staff in domain can measure as needed determines the installation position of sensitive chip
Put, the finding range of laser ranging system disclosure satisfy that the demand of user.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is carried out in detail
It is bright.
Brief description of the drawings
Fig. 1 and Fig. 2 is respectively the overall structure diagram of laser ranging system of the present invention；
Fig. 3 is the part explosive view of laser ranging system of the present invention；
Fig. 4 is the measuring principle figure of the embodiment of the present invention one；
Fig. 5 is the position view of the sensitive chip component of the embodiment of the present invention one and lens；
Fig. 6 is that the embodiment of the present invention one changes the position of sensitive chip component and lens after measurement distance
Put schematic diagram；
Fig. 7 is the measuring principle figure of the embodiment of the present invention two.
Embodiment
Fig. 1 and Fig. 2 is respectively the overall structure diagram of laser ranging system of the present invention；Fig. 3
For the part explosive view of laser ranging system of the present invention.As shown in Figure 1 to Figure 3, the present invention carries
For a kind of laser ranging system, including the line laser transmitter 200 being arranged in fixed seat 100
And imaging sensor, described image sensor include lens (not shown) and circuit board 400,
Sensitive chip component 500 is installed with the circuit board 400, and the sensitive chip component 500 is
It is spliced by the sub- sensitive chip 501 of two identicals along long side direction, the lens are felt with son
The fitting relation of optical chip 501 is：The lens being adapted to the imaging sensor of 1/n inches, it is right
The sensitive chip component that sub- sensitive chip by two 1/2n inches is spliced should be set.It is preferred that
, the long side direction of sub- sensitive chip is parallel with the direction of line laser striped, i.e., line laser is launched
Device launches the line laser of first direction, then the long side direction of two sub- sensitive chips of identical and the
One direction is parallel.Photosurface covering laser ranging between described two long sides of sensitive chip component
Device presets maximum distance measurement point (corresponding default maximum distance), default minimum distance measurement point
The extended line of (corresponding default minimum distance) and lens centre line respectively with the sensitive chip
The intersection point of plane where component.
Specifically, with the sensitive chip component 500 length near apart from line laser transmitter 200
Side is upper long side, using the sensitive chip component long side remote apart from line laser transmitter as lower length
Side, the vertical distance of the lower long side to lens centre are more than or equal to the default minimum distance and surveyed
The extended line and the intersection point of plane where the sensitive chip component of amount point and lens centre line arrive
The vertical distance of lens centre.In actual use, because sensitive chip has certain height in itself
Degree, user is general, and default minimum distance measurement point as needed sets sensitive chip component 500
Position, after installation is complete, can obtain laser ranging system according to systematic parameter can survey
The default maximum distance measurement point of amount.
The limit, the lower long side is centrally located at laser ranging system and presets minimum distance measurement
Point with the extended line of lens centre line.Namely sensitive chip component 500 is when installing, under it
The minimum vertical distance of long back gauge lens centre.
Preferably, the lower long side is less than the sub- sensitive chip to the vertical distance of lens centre
Bond length.In this way, so that sensitive chip component 500 is default recently or farthest
There is certain surplus after distance, be more beneficial for the actual installation of sensitive chip component 500.
As a result of said structure, those skilled in the art can measure as needed away from
The installation site of sensitive chip is determined from scope so that the laser ranging system disclosure satisfy that
The demand of user.
Embodiment one
Fig. 4 is the measuring principle figure of the embodiment of the present invention one；Fig. 5 is that the embodiment of the present invention one is felt
The position view of optical chip component and lens；Fig. 6 be the embodiment of the present invention one change measurement away from
From rear sensitive chip component and the position view of lens.As shown in Figures 1 to 6, in this reality
Apply in example, the set location of sensitive chip component 500 and the transmitting of laser ranging system line laser are flat
Face is orthogonal, i.e., the laser ranging system line laser plane of departure where sensitive chip component 500 with putting down
Face is orthogonal, and under this configuration, the particular location of the sensitive chip component 500 can basis
Principle of triangulation is drawn.Specifically, assuming the center that O points are lens 300, O ' points are O
Projection of the point on sensitive chip component 500, OO ' are that lens 300 arrive sensitive chip component 500
Distance (focal lengths of OO ' distances generally equal to lens), laser ranging system presets maximum distance
The extended line and the photosensitive core of measurement point, default minimum distance measurement point with lens centre line
The intersection point of plane where piece component is respectively B, A, and m is the upper long side of sensitive chip component to line
The distance of Laser emission plane, n are vertical distance of the lower long side to lens centre, and MN is photosensitive
The bond length of chip assembly, OC are O points to the distance of the line laser plane of departure, laser ranging
Default maximum distance in device finding range is Dmax, and it is Dmin to preset minimum distance, then root
Understood according to principle of triangulation：
BO '=OC × OO '/Dmax；
Dmax=OC × OO '/BO '.
Because in laser ranging system, line laser transmitter 200, the position of lens 300 are fixed,
The distance between lens 300 and sensitive chip component 500 are fixed, i.e. OO ' and OC numerical value are consolidated
It is fixed, when user needs to adjust the default maximum distance Dmax in laser ranging system finding range
When, it is only necessary to the adjustment of finding range can be achieved in the size for changing BO ', similarly, also can basis
Default minimum distance Dmin in finding range adjusts AO ' size, so as to realize ranging model
The adjustment enclosed, physical relationship are：
AO '=OC × OO '/Dmin；
Dmin=OC × OO '/AO '.
In from Fig. 4 to Fig. 6 as can be seen that when user is needed actual finding range (Dmax
And Dmin) adjust to Dmax ' and Dmin ', it is only necessary to simple adjustment sensitive chip component 500
Position, m, n are adjusted to m ', n ', specifically, AO ' is adjusted to A ' O ',
BO ' is adjusted to B ' O ', wherein A ' O '=OC × OO '/Dmin ', B ' O '=OC
× OO '/Dmax ', the position of sensitive chip component 500 need to cover laser ranging system all the time
Default maximum distance measurement point, default minimum distance measurement point and the extended line of lens centre line
Respectively with the sensitive chip component where plane intersection point.
During actual use, user typically may be used during sensitive chip component 500 is installed
Sensitive chip component 500 is set with minimum distance Dmin (default minimum distance) according to setting
Installation site, after installation is complete, laser ranging system energy can be obtained according to systematic parameter
The maximum distance enough measured, generally will be default in order to ensure the ranging effect of laser ranging system
Maximum distance measurement control is within the maximum distance that laser ranging dress can measure.
For example, when focal length (OO ') is 4.2mm (usual scope is 3.6-4.2mm),
OC is 50mm, and it is 4500mm to preset maximum distance Dmax, and it is 150mm to preset minimum distance Dmin
When, from the above：
AO '=OC × OO '/Dmin=50*4.2/150=1.4 (mm)
BO '=OC × OO '/Dmax=50*4.2/4500=0.047 (mm)
AB=AO '-BO '=1.353mm
1/4 inch of cmos chips are now used, the size of two sub- sensitive chips is
3.2mm*2.4mm, diagonal line length 4mm, i.e., the width of sub- sensitive chip is 3.2mm, is highly
2.4mm, its height are more than AB, i.e., 1/4 inch of sensitive chip component 500 can meet above-mentioned survey
Span from.In order to meet above-mentioned measurement demand, the highest setting height(from bottom) of sensitive chip component 500
AO ' is 1.4mm, for more preferable ranging effect and allows appropriate alignment error (sensitive chip
Sensitive volume try one's best the center of sensitive chip), during actual installation so that lower long side is to thoroughly
The vertical distance at mirror center slightly larger than AO ' and less than sub- sensitive chip short side length (namely son
The height of sensitive chip in itself), for example, actual installation highly for (lower long side to lens centre erect
Straight distance) 1.8-2.0mm.
When the measurement range that user needs is 200mm~2500mm, from the above：
A ' O '=OC × OO '/Dmin '=4.2*50/200=1.05 (mm)
B ' O '=OC × OO '/Dmax '=4.2*50/2500=0.084 (mm)
In order to meet above-mentioned measurement demand, by the highest setting height(from bottom) AO ' of sensitive chip component 500
Adjust to 1.05mm, wherein A ' B '=A ' O '-B ' O '=0.996mm ＜ 2.4mm, therefore on
Above-mentioned measurement range can still be measured after the adjustment by stating 1/4 inch of sensitive chip component 500.
In the present embodiment, in order that laser ranging system has more preferable range capability, set
During sensitive chip component 500, the vertical distance of lower long side to lens centre need to be more than or equal to AO ',
Preferably greater than AO ', while upper long side need to be less than in lens to the distance to the line laser plane of departure
Heart O points are to the distance of the line laser plane of departure, i.e. n ＞ AO ', m ＜ OC.
Embodiment two
Fig. 7 is the measuring principle figure of the embodiment of the present invention two.As shown in fig. 7, the present embodiment with
The difference of embodiment one is, the laser ranging system line laser plane of departure and sensitive chip component
The position of 500 place planes is changed into α angles by orthogonal.Under this configuration, the photosensitive core
The particular location of piece component 500 can equally be drawn according to principle of triangulation.
Specifically, in this example, it is assumed that O points are the center of lens 300, O ' points are O
Projection of the point on sensitive chip component 500, OO ' are that lens 300 arrive sensitive chip component 500
Distance, it is flat where the laser ranging system line laser plane of departure and sensitive chip component 500
When the position in face is orthogonal, maximum distance measurement point, default minimum distance measurement point and lens are preset
The intersection point of plane where the extended line of the line of centres and the sensitive chip component is respectively B1, A1,
The default maximum distance of laser ranging system finding range is dmax, and it is dmin to preset minimum distance,
When the laser ranging system line laser plane of departure and the position of the place plane of sensitive chip component 500
By it is orthogonal change into α angles when, preset maximum distance measurement point, default minimum distance measurement point
Extended line and the intersection point of plane where the sensitive chip component with lens centre line are respectively
B1 ', B1 ', OC are the distance that O points arrive the line laser plane of departure, presetting in finding range
Maximum distance is dmax ', and it is dmin ' to preset minimum distance, then can according to principle of triangulation
Know：A10 '=OC × OO '/dmin '-OO '/tan α, it is assumed that laser ranging system is preset
Finding range is constant, i.e. dmin=dmin ', dmax=dmax ', then A10 '=OC ×
OO '/dmin '-OO '/tan α, it is only necessary to the position of simple adjustment sensitive chip component 500,
It is adjusted to covering A1 ' B1 ' from covering A1B1.
The present invention also provides a kind of installation method of sensitive chip in laser ranging system, including：
Step 1：A lens are set on the path for receiving laser,
Step 2：A sensitive chip component is set in the laser path by the lens,
Wherein, the sensitive chip component is along long side direction by two sub- sensitive chips of identical
It is spliced, the fitting relation of the lens and sub- sensitive chip is：With the image of 1/n inches
The lens of sensor adaptation, are correspondingly arranged and are spliced by the sub- sensitive chip of two 1/2n inches
Sensitive chip component.
To make the finding range of the laser ranging system disclosure satisfy that the demand of user, in institute
State in step 2, the photosurface between two long sides of sensitive chip component is covered laser ranging dress
Put default maximum distance measurement point, default minimum distance measurement point and the extension of lens centre line
Line respectively with the sensitive chip component where plane intersection point.
Preferably, with the sensitive chip component 500 length near apart from line laser transmitter 200
Side is upper long side, with the sensitive chip component 500 length remote apart from line laser transmitter 200
Side is lower long side, matches somebody with somebody the lower long side to the vertical distance of lens centre in the step 2
It is set to more than extended line of the default minimum distance measurement point with lens centre line and the sense
The intersection point of plane where optical chip component arrives the vertical distance of lens centre, and configures time long side and arrive
The vertical distance of lens centre is less than the bond length of the sub- sensitive chip.
Specific method to set up can be drawn according to principle of triangulation, refer to the above, herein not
Repeat again.
In summary, the present invention provides a kind of installation side of laser ranging system and its sensitive chip
Method, it is pre- by making the photosurface between two long sides of sensitive chip component cover laser ranging system
If maximum distance measurement point, default minimum distance measurement point and the extended line point of lens centre line
Not with the intersection point of plane where the sensitive chip component so that those skilled in the art can be with
The distance range measured as needed determines the installation site of sensitive chip, laser ranging system
Finding range disclosure satisfy that the demand of user.
Claims (8)
1. a kind of laser ranging system, including the line laser hair being arranged in fixed seat (100)
Emitter (200) and imaging sensor, described image sensor include lens and circuit board (400),
Sensitive chip component is installed with the circuit board, and the sensitive chip component is identical by two
Sub- sensitive chip (501) be spliced along long side direction, the lens and sub- sensitive chip
Fitting relation is：The lens being adapted to the imaging sensor of 1/n inches, it is correspondingly arranged by two
The sensitive chip component that the sub- sensitive chip of 1/2n inches is spliced, it is characterised in that described
Photosurface covering laser ranging system between two long sides of sensitive chip component presets maximum distance
Measurement point, default minimum distance measurement point and lens centre line extended line respectively with the sense
The intersection point of plane where optical chip component.
2. laser ranging system as claimed in claim 1, it is characterised in that with described photosensitive
Chip assembly (500) long side near apart from line laser transmitter (200) is upper long side, with institute
It is lower long side to state the sensitive chip component long side remote apart from line laser transmitter, and the lower long side arrives
The vertical distance of lens centre is more than or equal to the default minimum distance measurement point and connected with lens centre
The intersection point of plane where the extended line of line and the sensitive chip component to lens centre it is vertical away from
From.
3. laser ranging system as claimed in claim 2, it is characterised in that the lower long side
It is centrally located at laser ranging system and presets minimum distance measurement point and the extension of lens centre line
On line.
4. laser ranging system as claimed in claim 2, it is characterised in that the lower long side
Vertical distance to lens centre is less than the bond length of the sub- sensitive chip.
5. laser ranging system as claimed in claim 2, it is characterised in that laser ranging fills
Put the setting orthogonal with plane where sensitive chip component (500) of the line laser plane of departure, it is assumed that O
Point is the center of lens (300), and O ' points are projection of the O points on sensitive chip component, OO '
Distance for lens to sensitive chip component, the default maximum distance measurement point of laser ranging system,
Extended line and the sensitive chip component institute of the default minimum distance measurement point with lens centre line
It is respectively B, A in the intersection point of plane, m is that the upper long side of sensitive chip component is launched to line laser
The distance of plane, n be lower long side to the vertical distance of lens centre, MN is sensitive chip component
Bond length, OC is O points to the distance of the line laser plane of departure, laser ranging system ranging
In the range of default maximum distance be Dmax, it is Dmin to preset minimum distance, then AO '=OC
× OO '/Dmin, BO '=OC × OO '/Dmax, n ＞ AO ', m ＜ OC.
6. laser ranging system as claimed in claim 1, it is characterised in that the line laser
Transmitter (200) launches line laser in the first direction, described two sub- sensitive chips of identical
Long side direction is parallel with the first direction.
7. the installation method of sensitive chip in a kind of laser ranging system, including：
Step 1：A lens are set on the path for receiving laser,
Step 2：A sensitive chip component is set in the laser path by the lens,
Wherein, the sensitive chip component is along long side direction by two sub- sensitive chips of identical
It is spliced, the fitting relation of the lens and sub- sensitive chip is：With the image of 1/n inches
The lens of sensor adaptation, are correspondingly arranged and are spliced by the sub- sensitive chip of two 1/2n inches
Sensitive chip component,
Characterized in that, in the step 2, make between two long sides of sensitive chip component
Photosurface covering laser ranging system presets maximum distance measurement point, default minimum distance measurement point
With the extended line of the lens centre line intersection point with plane where the sensitive chip component respectively.
8. the installation method of sensitive chip in laser ranging system as claimed in claim 7, its
It is characterised by, using the sensitive chip component long side near apart from line laser transmitter as upper long side,
Using the sensitive chip component long side remote apart from line laser transmitter as lower long side, in the step
In rapid 2, the lower long side to the vertical distance of lens centre is configured to be more than described preset most
Extended line of the close-in measurement point with lens centre line and plane where the sensitive chip component
Intersection point to the vertical distance of lens centre, and configure lower long side to the vertical distance of lens centre
Less than the bond length of the sub- sensitive chip.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610363893.5A CN107436439A (en) | 2016-05-27 | 2016-05-27 | The installation method of laser ranging system and its sensitive chip |
| PCT/CN2017/086275 WO2017202384A1 (en) | 2016-05-27 | 2017-05-27 | Laser ranging device and installation method for photosensitive chip thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610363893.5A CN107436439A (en) | 2016-05-27 | 2016-05-27 | The installation method of laser ranging system and its sensitive chip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107436439A true CN107436439A (en) | 2017-12-05 |
Family
ID=60412120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610363893.5A Pending CN107436439A (en) | 2016-05-27 | 2016-05-27 | The installation method of laser ranging system and its sensitive chip |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107436439A (en) |
| WO (1) | WO2017202384A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021184163A1 (en) * | 2020-03-16 | 2021-09-23 | 上海芯歌智能科技有限公司 | Laser measurement apparatus |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988843B (en) * | 2019-12-20 | 2022-03-08 | 武汉万集信息技术有限公司 | Laser radar and ranging method of laser radar |
| CN114252863A (en) * | 2021-12-02 | 2022-03-29 | 深圳越登智能技术有限公司 | Fixed part, line laser receiving camera module and its installation and adjustment system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007163429A (en) * | 2005-12-16 | 2007-06-28 | Roland Dg Corp | Three-dimensional distance measuring method and apparatus |
| CN203672362U (en) * | 2013-12-31 | 2014-06-25 | 科沃斯机器人科技(苏州)有限公司 | Laser distance measurement device and self-moving robot with same |
| CN104132639A (en) * | 2014-08-15 | 2014-11-05 | 上海思岚科技有限公司 | Miniature optical scanning and ranging device and method |
| CN104236521A (en) * | 2013-06-14 | 2014-12-24 | 科沃斯机器人科技(苏州)有限公司 | Line-laser ranging method applied to auto-moving robots |
| CN104639831A (en) * | 2015-01-05 | 2015-05-20 | 信利光电股份有限公司 | Camera and depth of field expanding method |
| CN105300348A (en) * | 2015-11-18 | 2016-02-03 | 南京华研科贸实业有限公司 | Laser range finding apparatus |
| CN205749900U (en) * | 2016-05-27 | 2016-11-30 | 科沃斯机器人股份有限公司 | Laser ranging system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8996172B2 (en) * | 2006-09-01 | 2015-03-31 | Neato Robotics, Inc. | Distance sensor system and method |
| TWI425182B (en) * | 2010-06-15 | 2014-02-01 | Pixart Imaging Inc | Distance measurement system and method thereof |
-
2016
- 2016-05-27 CN CN201610363893.5A patent/CN107436439A/en active Pending
-
2017
- 2017-05-27 WO PCT/CN2017/086275 patent/WO2017202384A1/en not_active Ceased
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007163429A (en) * | 2005-12-16 | 2007-06-28 | Roland Dg Corp | Three-dimensional distance measuring method and apparatus |
| CN104236521A (en) * | 2013-06-14 | 2014-12-24 | 科沃斯机器人科技(苏州)有限公司 | Line-laser ranging method applied to auto-moving robots |
| CN203672362U (en) * | 2013-12-31 | 2014-06-25 | 科沃斯机器人科技(苏州)有限公司 | Laser distance measurement device and self-moving robot with same |
| CN104132639A (en) * | 2014-08-15 | 2014-11-05 | 上海思岚科技有限公司 | Miniature optical scanning and ranging device and method |
| CN104639831A (en) * | 2015-01-05 | 2015-05-20 | 信利光电股份有限公司 | Camera and depth of field expanding method |
| CN105300348A (en) * | 2015-11-18 | 2016-02-03 | 南京华研科贸实业有限公司 | Laser range finding apparatus |
| CN205749900U (en) * | 2016-05-27 | 2016-11-30 | 科沃斯机器人股份有限公司 | Laser ranging system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021184163A1 (en) * | 2020-03-16 | 2021-09-23 | 上海芯歌智能科技有限公司 | Laser measurement apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017202384A1 (en) | 2017-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104101334B (en) | The geodesic survey reference of point cloud | |
| CN109631793B (en) | Automatic measuring method for digital photography of molded surface | |
| CN103438904B (en) | A kind of inertial positioning method and system using vision auxiliary corrective | |
| CN108827260B (en) | The measurement method based on coordinate transform, system and the device positioned by picture | |
| CN207096455U (en) | A kind of galvanometer panoramic scanning device | |
| EP2778706B1 (en) | Position correction device using visible light communication and method thereof | |
| CN105874384B (en) | Based on a variety of distance measuring methods with burnt system, method and camera system | |
| CN107436439A (en) | The installation method of laser ranging system and its sensitive chip | |
| CN101270978A (en) | Distance measuring system, distance measuring method, electronic device system, and remote controller | |
| CN107238373A (en) | Unmanned plane aerial photography measures the method and system of antenna for base station engineering parameter | |
| CN110411479B (en) | A digital calibration system and application of laser plummet | |
| CN104833342A (en) | Mobile terminal and method of establishing stereoscopic model through multipoint distance measurement | |
| KR101941501B1 (en) | Acquisition system of location information for digital map | |
| CN107819187A (en) | Alignment device for microwave antenna, microwave antenna and alignment method | |
| US8582119B2 (en) | Large scale metrology apparatus and method | |
| CN105866739A (en) | Spatial positioning system and method, positioning equipment and optical sensor module | |
| CN205749900U (en) | Laser ranging system | |
| CN102401901B (en) | Ranging system and ranging method | |
| CN101561266A (en) | Ranging measurement system, ranging measurement method, electronic device system and remote control | |
| CN117872390B (en) | Image fusion method, hyperspectral laser radar sensor and hyperspectral laser radar system | |
| CN119273839A (en) | A method for installing holographic imaging of steel structures | |
| CN119223209A (en) | A device and method for detecting and adjusting the coaxiality of a helicopter transmission system | |
| CN107490358A (en) | A kind of laser ranging system and its application method | |
| CN115371599B (en) | A high-precision ground flatness measurement system and method | |
| CN110955266A (en) | Automatic centering control method for lifting point of rocket lifting vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171205 |
|
| RJ01 | Rejection of invention patent application after publication |