CN106707290A - Optical distance measurement module - Google Patents
Optical distance measurement module Download PDFInfo
- Publication number
- CN106707290A CN106707290A CN201710133994.8A CN201710133994A CN106707290A CN 106707290 A CN106707290 A CN 106707290A CN 201710133994 A CN201710133994 A CN 201710133994A CN 106707290 A CN106707290 A CN 106707290A
- Authority
- CN
- China
- Prior art keywords
- light
- measured target
- module
- distance
- guide hole
- 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.)
- Withdrawn
Links
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
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (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 invention discloses an optical distance measurement module, which comprises a light source part, a light receiving part and a processor, wherein the light source part is used for producing a measuring light with the intensity modulated through a sine wave and transmitting the measuring light to a target to be measured; the light receiving part is used for receiving a return light reflected by the target to be measured, and calculating a basic distance from the target to be measured to the distance measurement module according to a phase difference between the measured return light and the measuring light; the processor is connected with the light receiving part and used for correcting the basic distance according to an acquired environmental parameter value so as to calculate to obtain a distance from the target to be measured to the distance measurement module. According to the optical distance measurement module provided by the invention, on the basis of a flight time phase methoddistance measurement principle, the distance measurement of the target to be measured is realized, and the measured distance is corrected through the acquired environmental parameter value, so that the influence of an environmental factor on the distance measurement is considered, and the accuracy and the measuring accuracy of the distance measurement can be improved.
Description
Technical field
The present invention relates to optical application technical field, more particularly to a kind of optical ranging module.
Background technology
In many application fields, such as the application scenarios such as unmanned plane fixed height, avoidance, the industry neck such as security protection or track traffic
In domain, distance-measuring equipment can be applied to.
At present, there are many kinds using the method for ligh-ranging, wherein, surveyed based on the flight time (Time of flight, TOF)
It is using one of more method away from method.Flight time telemetry includes that the pulsed time difference finds range and phase shift rangefinder, pulse
The range finding of formula time difference is, by measuring the time that laser pulse flies in space, to be multiplied with the light velocity using Dose times and obtain two
Distance between point；Ranging phase method is the return light being reflected back by the launching light of Sine Modulated and by target by measurement intensity
Between phase difference, phase difference is converted into range information and realizes range measurement, ranging phase method is compared to can obtain measurement higher
Precision.
In the prior art, the distance-measuring equipment based on " flight time " telemetry, does not account for shadow of the environmental factor to measurement
Ring, due to being influenceed by environmental factor in range measurement, cause that range measurement accuracy is low, certainty of measurement is low.
The content of the invention
It is an object of the invention to provide a kind of optical ranging module, it is right to be realized based on " flight time " ranging phase method principle
The range measurement of object, improves the measurement accuracy and certainty of measurement of range measurement.
To achieve the above object, the present invention provides following technical scheme：
A kind of optical ranging module, including：
For producing intensity to launch to the light source portion of measured target by the measurement light of sine wave modulation and by measurement light；
Phase difference for receiving the return light that is reflected back by measured target and between the return light according to measuring and measurement light
Calculate measured target to the light receiver of the basic distance of the range finding module；
It is being connected with the light receiver, for according to obtain ambient parameter value the basic distance is modified,
To be calculated measured target to the processor of the distance of the range finding module.
Alternatively, also including module body and end cap；
The module body is provided with the first guide hole and the second guide hole, the light source portion, the light receiver, the treatment
Circuit is arranged on the module body dorsad measured target side, is encapsulated by the end cap；
The measurement light that the light source portion produces is propagated along first guide hole, transmitting to measured target；
The return light being reflected back by measured target propagates to the light receiver along second guide hole.
Alternatively, also including being separately positioned on first guide hole, second guide hole towards measured target one end port
The first lens and the second lens；
The measurement light collimation that first lens are used to propagate is directional light；
Second lens are used to for the return light being reflected back by measured target to be aggregated into second guide hole.
Alternatively, the edge of first lens and second lens is provided with installation side, first lens, institute
State the second lens and fixed with the module body with click on fashion by installing side.
Alternatively, the light source portion include be arranged on first guide hole dorsad the laser of measured target one end port and
Laser end plate；The laser end plate is provided with for the via through the laser pin, is additionally provided with screw；
Screw is provided with the module body, by screw through the screw on the laser end plate and institute
The screw on module body is stated, the laser is fixed with the module body.
Alternatively, the port in first guide hole dorsad measured target one end is set to shrinkage pool, and the shrinkage pool is used to pacify
Fill the laser；
Set fluted in port edge, the projection agreed with groove is provided with the laser edge.
Alternatively, also including being arranged on the optical filter of second guide hole dorsad measured target side；
In second guide hole, dorsad measured target one end port is provided with the mounting groove for installing the optical filter.
Alternatively, first guide hole, the inwall of second guide hole are black, and are provided with dumb light striped.
Alternatively, the light receiver, the processor are set in the circuit board；
End face edge in the module body dorsad measured target side is provided with the side vertical with the end face, in institute
The end face for stating module body dorsad measured target side is additionally provided with the locating dowel vertical with the end face, on the wiring board
Location hole is provided with position corresponding with the locating dowel；
The surface of the wiring board contacts with the side, and the locating dowel passes through the location hole on the wiring board.
Alternatively, the horizontal two ends of the module body are provided with installation symmetrical, for being installed with external equipment
Post, the mounting post has the through hole of hollow type.
Alternatively, also including temperature acquisition be connected with the processor, for obtaining temperature in the range finding module
Circuit；
The processor be used for according to obtain ambient parameter value the basic distance is modified, be calculated by
Survey target includes to the distance of the range finding module：
The processor is calculated tested mesh specifically for being modified to basic distance value according to the temperature value for obtaining
Mark the distance value of the range finding module.
Alternatively, the light receiver is additionally operable to obtain ambient light intensity；
The processor be used for according to obtain ambient parameter value the basic distance is modified, be calculated by
Survey target includes to the distance of the range finding module：
The processor specifically for according to obtain ambient light intensity basic distance value is modified, be calculated by
Survey target to the distance value of the range finding module.
Alternatively, the processor to the basic distance according to the ambient parameter value for obtaining by being modified, in terms of
Calculation obtains measured target to be included to the distance of the range finding module：
The processor calculates the reflectivity of object specifically for the intensity according to return light and basic distance value, according to
The reflectivity of the object of acquisition is modified to the basic distance value, is calculated measured target to the range finding module
Distance value.
As shown from the above technical solution, optical ranging module provided by the present invention, including light source portion, light receiver and place
Reason device.Light source portion produces intensity by the measurement light of sine wave modulation, and transmitting to measured target, measurement light reaches measured target hair
Raw diffusing reflection, light receiver receives the reflected light returned by measured target, the phase between return light and measurement light according to measurement
Difference, calculates measured target to the basic distance of range finding module, and processor enters according to the ambient parameter value for obtaining to basic distance
Row amendment, to be calculated measured target to the distance of range finding module.
Optical ranging module of the present invention is based on " flight time " ranging phase method principle, realizes surveying the distance of measured target
Amount, wherein by obtain ambient parameter value measurement distance is modified, therefore measurement that environmental factor is adjusted the distance influence
Take into account, the accuracy and certainty of measurement of range measurement can be improved.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of schematic diagram of optical ranging module provided in an embodiment of the present invention；
Fig. 2 is the waveform diagram of the embodiment of the present invention optical ranging module modulation light for producing and the return light for receiving；
A kind of structural decomposition diagram of optical ranging module that Fig. 3 is provided for further embodiment of this invention；
Fig. 4 is the external structure schematic diagram of optical ranging module shown in Fig. 3；
Fig. 5 is the curve that the range error that optical ranging module provided in an embodiment of the present invention is measured is varied with temperature；
Fig. 6 is a kind of internal circuit schematic diagram of optical ranging module provided in an embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Refer to Fig. 1, a kind of optical ranging module provided in an embodiment of the present invention, including：
For producing intensity to launch to the light source portion of measured target by the measurement light of sine wave modulation and by measurement light
10；
Phase difference for receiving the return light that is reflected back by measured target and between the return light according to measuring and measurement light
Calculate measured target to the light receiver 11 of the basic distance of the range finding module；
It is being connected with the light receiver 11, for according to obtain ambient parameter value the basic distance is repaiied
Just, be calculated measured target to it is described range finding module distance processor 12.
The present embodiment optical ranging module, intensity is produced by the measurement light of sine wave modulation, transmitting to quilt by light source portion
Target is surveyed, measurement light reaches measured target and diffusing reflection occurs, and light receiver receives the reflected light returned by measured target, according to survey
Phase difference between the return light of amount and measurement light, calculates measured target to the basic distance of module of finding range, and processor is according to obtaining
The ambient parameter value for taking is modified to basic distance, to be calculated measured target to the distance of range finding module.
The present embodiment optical ranging module is based on " flight time " ranging phase method principle, realizes the distance to measured target
Measurement, wherein by obtain ambient parameter value measurement distance is modified, therefore measurement that environmental factor is adjusted the distance shadow
Sound is taken into account, can improve the accuracy and certainty of measurement of range measurement.
In the present embodiment optical ranging module, light source portion 10 includes drive circuit and light source, and light source is entered by drive circuit
Row drives and modulates, and produces continuous intensity by the measurement light of sine wave modulation.Fig. 2 is refer to, is that the present embodiment optics is surveyed
The waveform diagram of measurement light and the return light for receiving away from module transmitting.The measurement light that light source portion 10 produces has fixed tune
Frequency f processed, modulation period TMOD, the survey that the return light returned by measured target that light receiver 11 is received is produced with light source portion 10
Amount light has phase differenceSampled by measurement light and return light, measure the phase between return light and measurement light
DifferenceMeasured target to the distance of range finding module can be calculated according to equation below：
Wherein, c represents the light velocity, and f represents sine wave modulation frequency, and L represents measured target to the distance of optical ranging module.
The present embodiment optical ranging module concrete structure is elaborated below.
In a kind of specific embodiment, Fig. 3 is refer to, the optical ranging module includes light source portion, light receiver and place
Reason device, also including module body 20 and end cap 21.
Wherein, the module body 20 is provided with the first guide hole and the second guide hole, the light source portion, the light receiver,
The processor is arranged on the module body 20 dorsad measured target side, is encapsulated by the end cap 21, wherein light receiver,
Processor is set in assist side 22.
Light source portion is used to produce intensity to launch to measured target by the measurement light of sine wave modulation, by measurement light.It is described
The measurement light that light source portion produces is propagated along first guide hole, is launched.The return light being reflected back by measured target is along described
Two guide holes propagate to the light receiver.
Alternatively, the light receiver includes photoelectric sensor, is received by returning that measured target is reflected back by light receiver
Light echo.
Wherein, the first guide hole, the second guide hole flare, dorsad the side ports of measured target one are narrower, towards measured target
One side ports are wider.
Further, the optical ranging module also includes being separately positioned on first guide hole, the second guide hole court
To first lens 23 and the second lens 24 of measured target one end port；
The measurement light collimation that first lens 23 are used to propagate is directional light；
Second lens 24 are used to for the return light being reflected back by measured target to be aggregated into second guide hole.
Optionally, the first lens 23 can use ball using spherical lens or non-spherical lens, second lens 24
Face lens or non-spherical lens.
In the present embodiment, refer to shown in Fig. 3, the edge of the first lens 23 is provided with installation side, is set on side is installed
There is projection, the port of the guide hole of module body first is accordingly provided with perforation, corresponding wearing is penetrated by the projection for installing side
In hole, first lens 23 are fixed with click on fashion by installing side with the module body 20, so by the first lens
23 position on module body 20 is fixed, and can well limit the first lens 23 to the distance in light source portion, also will not be because of peace
The collimation of dress influence light beam.
The edge of second lens 24 is provided with installation side, projection is provided with side is installed, accordingly in module body
The port of 20 second guide holes is provided with perforation, is penetrated in correspondence perforation by the projection for installing side, by second lens 24
Fixed with the module body 20 with click on fashion by installing side, so the position by the second lens 24 on module body 20
It is fixed.
Preferably, first lens 23 are consistent with the diameter dimension of second lens 24, and so design makes range finding mould
The structure of group is more well-balanced, facilitates client to install.
Preferably, the inwall of first guide hole is black, and is provided with dumb light striped, and exemplary may be configured as is thin by ten
Word dumb light striped, can well prevent dazzle.The inwall of second guide hole is black, and is provided with dumb light striped, can be set
Thin cross dumb light striped is set to, effectively the parasitic reflection designed outside wave band can be gone out or absorbed, reduction enters light-receiving
The veiling glare in portion.Improve the signal to noise ratio of measurement distance.
In the present embodiment, the light source portion can use LED light source or LASER Light Source, it is to be understood that can also use
Other types of light sources.
In this specific embodiment, the light source portion uses LASER Light Source, with reference to shown in Fig. 3, specifically includes installed in institute
State the laser 25 and laser end plate 26 of the first guide hole dorsad measured target one end port；The laser end plate 26 is provided with
For the via through the pin of the laser 25, screw is additionally provided with；Screw is provided with the module body 20, is passed through
Screw passes through the screw on the laser end plate 26 and the screw on the module body 20, by the laser 25 and institute
State module body 20 to fix, the laser 25 is fixed with the module body 20 by the laser end plate 26,
Specifically, being set to shrinkage pool in the port of first guide hole dorsad measured target one end, the shrinkage pool is used to pacify
Fill the laser 25；Set fluted in port edge, the projection agreed with groove be provided with the edge of the laser 25,
Designed using this fool proof button, the position of the circumferencial direction of laser 25 is fixed, prevent it from rotating.
Laser 25 is arranged in shrinkage pool, and laser end face is contacted with step in shrinkage pool, is arrived which limit laser 25
The minimum distance of the first lens 23.
Laser is fixedly installed to the first guide hole port of module body 20 by laser end plate 26.Laser 25
Rear end face contacted with laser end plate 26, which limit the maximum distance of the lens of laser 25 to the first 23.So as to laser
The minimum distance and maximum distance of the lens of device 25 to the first 23 are all limited, by the fool proof button of the first guide hole port by laser
The position limitation of device circumferencial direction, in the range of design tolerance, can be very good collimation, it is not necessary to be adjusted again in production
Section.
The pin of laser 25 passes through laser end plate 26, can be inserted on wiring board 22.In the present embodiment, it is preferred that
Via Design on laser end plate 26 is horn shape, wherein insertion port is big, the pin of laser 25 can be enable to compare
It is easily inserted into via, even if laser pin has slight crooked in operative, can also makes pin easier
Pass through；Pass port smaller, laser pin direction can be constrained, correcting laser pin can be played a part of, can will be askew
Oblique pin correction, is more accurately inserted into wiring board.
Preferably, the laser end plate 26 is additionally provided with heat conduction perforate, and the heat for producing laser can be by heat conduction
Perforate is scattered and disappeared, it is ensured that the good radiating effect of laser.
Laser 25 is locked with module body 20 by laser end plate 26, by wiring board 22 and module body 20
After fixation, then the pin of laser 25 is welded on wiring board 22.In this mounting means, laser is very simple with the installation of wiring board
It is single, and for other range finding modules at present on the market, having plenty of needs by lead, and what is had will be by breaking curved laser pin
With circuit plate weld, need to adjust the position of laser and lens if so welding, it is concentric with lens to reach laser.But
This mounting means has limited the position of laser, it is ensured that laser is concentric with lens, it is not necessary to additional adjustment.
The optical ranging module also includes being arranged on the optical filter 27 of second guide hole dorsad measured target side, leads to
The veiling glare crossed beyond optical filter 27 filters out effect wave band, it is to avoid light disturbance.In second guide hole dorsad measured target one
End port is provided with the mounting groove for installing the optical filter 27.The form fit of mounting groove and optical filter, by that will filter
Piece is placed into the mounting groove so as to optical filter be installed.
Further, optical filter is installed in mounting groove, pad 28 is set in the lateral surface of optical filter 27, by pad 28
Optical filter 27 is pressed in mounting groove.Pad 28 can use resilient EVA material, thickness design to increased some precompressed
Amount so that can be compressed on module body 20 optical filter 27 by wiring board 26.Pad 28 is hollow type, hollow bulb
Divide and matched with photoelectric sensor photoinduction face, illumination is mapped to photoelectric sensor.This range finding module will be filtered by not needing dispensing
Mating plate is installed, process is simple.
In the present embodiment, it is preferred that the second guide hole dorsad measured target one end port, i.e., towards light receiver one end port
Aperture is designed as, effectively can be stopped outside veiling glare, to improve the signal to noise ratio of this range finding module, improve the accurate of range finding
Property.In the present embodiment, wiring board 22 is arranged on the dorsad measured target side of module body 20, is encapsulated by end cap 21.By end cap
21 encapsulation are played a part of each electronic component and to shield ambient light in protection module.
End face edge in the module body 20 dorsad measured target side is provided with the side 30 vertical with the end face,
End face in the module body 20 dorsad measured target side is additionally provided with the locating dowel 31 vertical with the end face, described
On wiring board 22 location hole is provided with the corresponding position of the locating dowel 31.Encapsulated with module body 20 by wiring board 22
When, the surface of the wiring board 22 contacts with the side 30, and the locating dowel passes through the location hole on the wiring board 22, so
The position of wiring board 22 is fixed.
It is exemplary, can be respectively provided with and end face at four edges of the dorsad end face of measured target side of module body 20
Vertical side 30, can module body 20 dorsad measured target side end face set at least two locating dowels 31.
By determining the installation site with fixing circuit board 22, the position of light receiver can be fixed, lens are with card in addition
Buckle-shaped formula is fixed with module body, and such lens are fixed with the relative position and distance of light receiver, it is ensured that the return light of reception
Light receiver can be exactly focused onto, and no longer needs focusing.Therefore this range finding module considers production redundancy in design
Enter, production cost can be saved.
Light receiver, processor are set in assist side 22, light receiver receive be reflected back by measured target return light,
And according to the basic distance of the phase difference calculating measured target between the return light and measurement light for measuring to the range finding module；Treatment
Device according to obtain ambient parameter value the basic distance is modified, to be calculated measured target to the range finding module
Distance.
Further, the present embodiment optical ranging module, the two ends of the transverse direction of module body 20 be provided with it is symmetrical,
For the mounting post 29 installed with external equipment, the mounting post has the through hole of hollow type.User can be by the mounting post
29 arbitrarily simultaneously install this range finding module in equipment.In addition, the one side in module body 20 can be set locating dowel, for example can be in mould
Group body one side sets two locating dowels, client is quickly positioned when installation.Therefore, this module mounting means is used
Embedded design, facilitates client to be embedded into consumer product, fast integration.
Therefore, the present embodiment optical ranging module is based on " flight time " ranging phase method principle, realizes to measured target
Range measurement, with high accuracy, wide-range, wide dynamic range measurement performance.This module group assembling simple structure, is easy to design
And production, it is not necessary to complicated production technology is to be capable of achieving, it is adaptable to produced in enormous quantities.And this optical ranging module is module
Change product, can be readily integrated on other products.It is practical.Can be applied to the fixed high, avoidance of unmanned plane or sweeper
Build figure, and the field such as track traffic.
Optical ranging module of the present invention is based on " flight time " ranging phase method, and the accurate of phase is measured in actually measurement
Property directly affects the accuracy of measurement distance.Due to the service behaviour temperature influence of electronic device, when actual temperature deviates mould
Transmission of the electronic device to signal exists delayed in module during the operating temperature of group, phase measurement can be caused inaccurate, eventually
The distance of measurement is caused to produce skew.
In consideration of it, in a kind of embodiment of optical ranging module of the present invention, on the basis of above-described embodiment content, also
Including temperature collection circuit be connected with the processor, for obtaining temperature in the range finding module；The treatment utensil
Body be used for according to obtain temperature value basic distance value is modified, be calculated measured target to it is described find range module away from
From value.
Processor is modified according to temperature in the module of collection to basic distance value.Specifically, can be according to equation below
Carry out temperature-compensating：
DTcorr=Dmeas-a(T-T0)2-b·(T-T0)；
Wherein, DTcorrRepresent revised distance value, DmeasThe basic distance value that expression is calculated, T0Represent range finding mould
The standard operating temperature of group, T represents temperature in the range finding module measured under current environment.Fig. 5 is referred to, is survey in the present embodiment
The curve that amount range error is varied with temperature.
When range finding module is applied in outdoor, ambient light is stronger, and ambient light is received into module is interior by photoelectric sensor, can shadow
Range accuracy is rung, can so be made under the ambient light background of varying strength, range accuracy difference is big.In consideration of it, in light of the present invention
Learn in a kind of embodiment of range finding module, the light receiver is additionally operable to obtain ambient light intensity；The processor specifically for
Ambient light intensity according to obtaining is modified to the basic distance value, is calculated measured target to the range finding module
Distance value.
The range error and the dependence of ambient light intensity produced in measurement are nonlinear, but are drawn through experiment,
Two linear fits can be showed in the range of two different bias lights.Based on above-mentioned calibration measurement, corresponding two linear systems
Number can be calculated with following linear equation：
Wherein, m0Represent the slope of curve of first range of linearity, m1Represent the slope of curve of second range of linearity, E represent away from
From error, B represents ambient light intensity, B1Represent two ambient light intensity cut off value of the range of linearity.
According to the basic distance value being calculated and the current ambient light intensity for measuring, can be calculated according to Calibration equation
Obtain revised distance value.
By after ambient light amendment, it is modified further according to the value of adjusting the distance of temperature in the module for measuring.
Further, range measurement of the reflectivity of object on module of finding range there is also influence.The reflectivity of object
Difference, even if under same distance, the light intensity that photoelectric sensor is detected can be different, the precision influence of this measurement of adjusting the distance
It is very big, can cause to measure different distance to the same different reflectivity object under.In consideration of it, in optics of the present invention
In a kind of embodiment of module of finding range, the processor calculates target specifically for the intensity according to return light and basic distance value
The reflectivity of thing, the reflectivity according to the object for obtaining is modified to the basic distance value, is calculated measured target
To the distance value of the range finding module.
The reflectivity of object can not be directly obtained by measurement, but the return light that can be detected using photoelectric sensor
Intensity is estimated.According to the luminous intensity measured under different distance, set up same under reflectivity look-up table record different reflectivity
Error under, is so compensated reflectivity to basic distance value by tabling look-up in measurement.
Preferably, in a kind of embodiment of optical ranging module of the present invention, when range measurement is carried out, the place of processor
Reason flow is as follows：
S100：The intensity of basic distance and return light is obtained from light receiver, according to the return luminous intensity for receiving, is judged
Whether the optical signal for receiving is effective.
If it is not, judging that the optical signal for receiving is invalid according to return luminous intensity, then restart measurement, and survey in next time
Increase or reduce time of measuring in amount.
S101：If so, intensity and basic distance value according to return light, search the reflection of measured target under current distance
Rate, and judge the reflectivity of measured target whether in normal range (NR).
If reflectivity is too strong, restart measurement, and time of measuring is reduced in measurement in next time；
If reflectivity is too low, restart measurement, and increase time of measuring in measurement in next time；
If reflectivity is in normal range (NR), basic distance value is modified according to reflectivity, subsequently into next step
Suddenly.
S102：According to the ambient light intensity for obtaining, judge ambient light intensity whether in normal range (NR).
If ambient light intensity is too strong, restart measurement, and time of measuring is reduced in measurement in next time；
If ambient light intensity is normal, it is modified according to ambient light intensity value of adjusting the distance；
S103：Temperature value value of adjusting the distance according to obtaining is modified.
Measured target to the distance value of range finding module is calculated, finally terminates this measurement,
Further, the present embodiment optical ranging module, refers to Fig. 6, also including for each in the range finding module
The electric power management circuit that device is powered.The range finding module is additionally provided with interface, and user can be connected by interface and external equipment
Connect, downloading data.
A kind of optical ranging module provided by the present invention is described in detail above.It is used herein specifically individual
Example is set forth to principle of the invention and implementation method, and the explanation of above example is only intended to help and understands of the invention
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
On the premise of, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into the claims in the present invention
Protection domain in.
Claims (13)
1. a kind of optical ranging module, it is characterised in that including：
For producing intensity to launch to the light source portion of measured target by the measurement light of sine wave modulation and by measurement light；
Phase difference calculating for receiving the return light that is reflected back by measured target and between the return light according to measuring and measurement light
Light receiver of the measured target to the basic distance of the range finding module；
It is being connected with the light receiver, by according to obtain ambient parameter value the basic distance is modified, in terms of
Calculation obtains measured target to the processor of the distance of the range finding module.
2. optical ranging module according to claim 1, it is characterised in that also including module body and end cap；
The module body is provided with the first guide hole and the second guide hole, the light source portion, the light receiver, the process circuit
The module body dorsad measured target side is arranged on, is encapsulated by the end cap；
The measurement light that the light source portion produces is propagated along first guide hole, transmitting to measured target；
The return light being reflected back by measured target propagates to the light receiver along second guide hole.
3. optical ranging module according to claim 2, it is characterised in that also led including being separately positioned on described first
Hole, second guide hole towards measured target one end port the first lens and the second lens；
The measurement light collimation that first lens are used to propagate is directional light；
Second lens are used to for the return light being reflected back by measured target to be aggregated into second guide hole.
4. optical ranging module according to claim 3, it is characterised in that first lens and second lens
Edge is provided with installation side, and first lens, second lens are by installing side with click on fashion and the module sheet
Body is fixed.
5. optical ranging module according to claim 2, it is characterised in that the light source portion includes being arranged on described first
The guide hole dorsad laser of measured target one end port and laser end plate；The laser end plate is provided with for through described
The via of laser pin, is additionally provided with screw；
Screw is provided with the module body, by screw through the screw and the mould on the laser end plate
Screw on group body, the laser is fixed with the module body.
6. optical ranging module according to claim 5, it is characterised in that in first guide hole dorsad measured target one
The port at end is set to shrinkage pool, and the shrinkage pool is used to install the laser；
Set fluted in port edge, the projection agreed with groove is provided with the laser edge.
7. optical ranging module according to claim 2, it is characterised in that also including being arranged on second guide hole dorsad
The optical filter of measured target side；
In second guide hole, dorsad measured target one end port is provided with the mounting groove for installing the optical filter.
8. optical ranging module according to claim 2, it is characterised in that first guide hole, second guide hole
Inwall is black, and is provided with dumb light striped.
9. the optical ranging module according to claim any one of 1-8, it is characterised in that the light receiver, the place
Reason device is set in the circuit board；
End face edge in the module body dorsad measured target side is provided with the side vertical with the end face, in the mould
The end face of group body dorsad measured target side is additionally provided with the locating dowel vertical with the end face, with institute on the wiring board
State and be provided with location hole at the corresponding position of locating dowel；
The surface of the wiring board contacts with the side, and the locating dowel passes through the location hole on the wiring board.
10. the optical ranging module according to claim any one of 1-8, it is characterised in that in the module body transverse direction
Two ends be provided with mounting post symmetrical, for being installed with external equipment, the mounting post has the through hole of hollow type.
11. optical ranging modules according to claim 1, it is characterised in that also including be connected with the processor, use
In the temperature collection circuit for obtaining temperature in the range finding module；
The processor to the basic distance according to the ambient parameter value for obtaining for being modified, to be calculated tested mesh
The distance for marking the range finding module includes：
The processor is calculated measured target and arrives specifically for being modified to basic distance value according to the temperature value for obtaining
The distance value of the range finding module.
12. optical ranging modules according to claim 1, it is characterised in that the light receiver is additionally operable to obtain environment
Luminous intensity；
The processor to the basic distance according to the ambient parameter value for obtaining for being modified, to be calculated tested mesh
The distance for marking the range finding module includes：
The processor is calculated tested mesh specifically for being modified to basic distance value according to the ambient light intensity for obtaining
Mark the distance value of the range finding module.
13. optical ranging modules according to claim 1, it is characterised in that the processor is used for according to the ring for obtaining
Border parameter value is modified to the basic distance, is included to the distance of the range finding module with being calculated measured target：
The processor calculates the reflectivity of object specifically for the intensity according to return light and basic distance value, according to acquisition
The reflectivity of object the basic distance value is modified, be calculated measured target to the distance of the range finding module
Value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133994.8A CN106707290A (en) | 2017-03-08 | 2017-03-08 | Optical distance measurement module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133994.8A CN106707290A (en) | 2017-03-08 | 2017-03-08 | Optical distance measurement module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106707290A true CN106707290A (en) | 2017-05-24 |
Family
ID=58912314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710133994.8A Withdrawn CN106707290A (en) | 2017-03-08 | 2017-03-08 | Optical distance measurement module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106707290A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018232752A1 (en) * | 2017-06-23 | 2018-12-27 | 深圳前海达闼云端智能科技有限公司 | Method, apparatus and device for detecting substance |
| CN109154657A (en) * | 2017-11-29 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Detecting devices and moveable platform |
| CN109188452A (en) * | 2018-08-22 | 2019-01-11 | 上海炬佑智能科技有限公司 | Flight time distance measuring sensor and its modulation of source method |
| CN109597054A (en) * | 2018-12-21 | 2019-04-09 | 宁波傲视智绘光电科技有限公司 | The scaling method of laser radar |
| WO2020019265A1 (en) * | 2018-07-26 | 2020-01-30 | 深圳市大疆创新科技有限公司 | Distance measurement method and apparatus, and unmanned aerial vehicle |
| CN110779681A (en) * | 2018-07-26 | 2020-02-11 | 发那科株式会社 | Distance measuring device for detecting abnormality of optical system |
| WO2020038053A1 (en) * | 2018-08-22 | 2020-02-27 | Oppo广东移动通信有限公司 | Time of flight module and control method therefor, controller and electronic apparatus |
| CN111090098A (en) * | 2019-12-31 | 2020-05-01 | 广东博智林机器人有限公司 | Distance measuring optical system |
| CN111398968A (en) * | 2018-12-28 | 2020-07-10 | 浙江舜宇智能光学技术有限公司 | TOF precision detection system and precision detection method thereof |
| CN112771409A (en) * | 2018-10-25 | 2021-05-07 | 索尼半导体解决方案公司 | Arithmetic processing device, distance measuring device, and arithmetic processing method |
| CN113406654A (en) * | 2021-07-07 | 2021-09-17 | 奥比中光科技集团股份有限公司 | ITOF (integrated digital imaging and optical imaging) distance measuring system and method for calculating reflectivity of measured object |
| WO2022161043A1 (en) * | 2021-01-26 | 2022-08-04 | 宁波飞芯电子科技有限公司 | Detection method and detection system for acquiring distance information |
| CN117053838A (en) * | 2023-10-11 | 2023-11-14 | 深圳市潼芯传感科技有限公司 | Ranging result calibration method for ranging sensor |
| CN117970350A (en) * | 2024-03-29 | 2024-05-03 | 深圳市欢创科技股份有限公司 | Ranging method, laser radar, ranging system, robot and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1082633A (en) * | 1996-09-09 | 1998-03-31 | Toyota Autom Loom Works Ltd | Distance-measuring sensor |
| CN2779424Y (en) * | 2005-03-24 | 2006-05-10 | 南京德朔实业有限公司 | Distance measurer |
| US20080117406A1 (en) * | 2006-11-22 | 2008-05-22 | Asia Optical Co., Inc. | Systems and method for distance measurement |
| CN102901970A (en) * | 2012-11-08 | 2013-01-30 | 天津理工大学 | Single-modulation continuous wave laser ranging device and method |
| JP2013108789A (en) * | 2011-11-18 | 2013-06-06 | Denso Corp | Ranging device |
| CN203535218U (en) * | 2013-11-01 | 2014-04-09 | 永康市盛骏科技有限公司 | A laser ranging optical path apparatus |
| CN106405567A (en) * | 2016-10-14 | 2017-02-15 | 海伯森技术（深圳）有限公司 | TOF based ranging system and its correction method |
| CN206848476U (en) * | 2017-03-08 | 2018-01-05 | 深圳市芯盛传感科技有限公司 | A kind of optical ranging module |
-
2017
- 2017-03-08 CN CN201710133994.8A patent/CN106707290A/en not_active Withdrawn
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1082633A (en) * | 1996-09-09 | 1998-03-31 | Toyota Autom Loom Works Ltd | Distance-measuring sensor |
| CN2779424Y (en) * | 2005-03-24 | 2006-05-10 | 南京德朔实业有限公司 | Distance measurer |
| US20080117406A1 (en) * | 2006-11-22 | 2008-05-22 | Asia Optical Co., Inc. | Systems and method for distance measurement |
| TW200823435A (en) * | 2006-11-22 | 2008-06-01 | Asia Optical Co Inc | Distant measurement systems and distant measurement methods thereof |
| US7764359B2 (en) * | 2006-11-22 | 2010-07-27 | Asia Optical Co., Inc. | Systems and method for distance measurement |
| JP2013108789A (en) * | 2011-11-18 | 2013-06-06 | Denso Corp | Ranging device |
| CN102901970A (en) * | 2012-11-08 | 2013-01-30 | 天津理工大学 | Single-modulation continuous wave laser ranging device and method |
| CN203535218U (en) * | 2013-11-01 | 2014-04-09 | 永康市盛骏科技有限公司 | A laser ranging optical path apparatus |
| CN106405567A (en) * | 2016-10-14 | 2017-02-15 | 海伯森技术（深圳）有限公司 | TOF based ranging system and its correction method |
| CN206848476U (en) * | 2017-03-08 | 2018-01-05 | 深圳市芯盛传感科技有限公司 | A kind of optical ranging module |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018232752A1 (en) * | 2017-06-23 | 2018-12-27 | 深圳前海达闼云端智能科技有限公司 | Method, apparatus and device for detecting substance |
| WO2019104560A1 (en) * | 2017-11-29 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Detecting equipment and moveable platform |
| CN109154657A (en) * | 2017-11-29 | 2019-01-04 | 深圳市大疆创新科技有限公司 | Detecting devices and moveable platform |
| US20200319308A1 (en) * | 2017-11-29 | 2020-10-08 | SZ DJI Technology Co., Ltd. | Detecting equipment and moveable platform |
| WO2020019265A1 (en) * | 2018-07-26 | 2020-01-30 | 深圳市大疆创新科技有限公司 | Distance measurement method and apparatus, and unmanned aerial vehicle |
| US11525917B2 (en) | 2018-07-26 | 2022-12-13 | Fanuc Corporation | Distance measuring apparatus which detects optical system abnormality |
| CN110779681A (en) * | 2018-07-26 | 2020-02-11 | 发那科株式会社 | Distance measuring device for detecting abnormality of optical system |
| CN110799850B (en) * | 2018-07-26 | 2021-04-02 | 深圳市大疆创新科技有限公司 | Distance measurement method and device and unmanned aerial vehicle |
| WO2020038053A1 (en) * | 2018-08-22 | 2020-02-27 | Oppo广东移动通信有限公司 | Time of flight module and control method therefor, controller and electronic apparatus |
| CN109188452A (en) * | 2018-08-22 | 2019-01-11 | 上海炬佑智能科技有限公司 | Flight time distance measuring sensor and its modulation of source method |
| CN109188452B (en) * | 2018-08-22 | 2021-07-23 | 上海炬佑智能科技有限公司 | Time-of-flight ranging sensor and light source modulation method thereof |
| CN112771409A (en) * | 2018-10-25 | 2021-05-07 | 索尼半导体解决方案公司 | Arithmetic processing device, distance measuring device, and arithmetic processing method |
| CN109597054A (en) * | 2018-12-21 | 2019-04-09 | 宁波傲视智绘光电科技有限公司 | The scaling method of laser radar |
| CN111398968A (en) * | 2018-12-28 | 2020-07-10 | 浙江舜宇智能光学技术有限公司 | TOF precision detection system and precision detection method thereof |
| CN111090098A (en) * | 2019-12-31 | 2020-05-01 | 广东博智林机器人有限公司 | Distance measuring optical system |
| WO2022161043A1 (en) * | 2021-01-26 | 2022-08-04 | 宁波飞芯电子科技有限公司 | Detection method and detection system for acquiring distance information |
| CN113406654A (en) * | 2021-07-07 | 2021-09-17 | 奥比中光科技集团股份有限公司 | ITOF (integrated digital imaging and optical imaging) distance measuring system and method for calculating reflectivity of measured object |
| WO2023279621A1 (en) * | 2021-07-07 | 2023-01-12 | 奥比中光科技集团股份有限公司 | Itof distance measurement system and method for calculating reflectivity of measured object |
| CN117053838A (en) * | 2023-10-11 | 2023-11-14 | 深圳市潼芯传感科技有限公司 | Ranging result calibration method for ranging sensor |
| CN117970350A (en) * | 2024-03-29 | 2024-05-03 | 深圳市欢创科技股份有限公司 | Ranging method, laser radar, ranging system, robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106707290A (en) | Optical distance measurement module | |
| CN2779424Y (en) | Distance measurer | |
| US10473763B2 (en) | LiDAR scanner | |
| US7684058B2 (en) | Electrooptical distance measuring device | |
| US8089618B2 (en) | Laser distance measuring device | |
| CN106338725A (en) | Optical module for low cost laser distance measurement | |
| US20060109450A1 (en) | Laser distance measuring device | |
| CN104236464A (en) | Laser vibration displacement sensor and measuring method thereof | |
| SE0500113L (en) | Land Survey System | |
| CN106291574A (en) | A kind of Minitype infrared range unit | |
| CN109696684B (en) | Self-correlation laser radar device | |
| US8964169B2 (en) | Ranging method and system | |
| WO2020177077A1 (en) | Calibration board, depth parameter calibration method, detection apparatus and calibration system | |
| CN103605133A (en) | Vehicle-mounted laser distance measuring device | |
| CN206848476U (en) | A kind of optical ranging module | |
| US20180128904A1 (en) | Lidar scanner with optical amplification | |
| CN107167813A (en) | Optical radar | |
| US9435701B2 (en) | Optical fiber strain sensor system and method | |
| CN114740457A (en) | TOF laser radar transmitting unit adjusting system and method | |
| US7764358B2 (en) | Distance measuring system | |
| JP3427187B2 (en) | Distance measuring apparatus and measuring method using modulated light | |
| CN203720351U (en) | Laser radar measuring instrument for measuring object angles and angular velocities accurately | |
| CN206057567U (en) | A kind of Minitype infrared range unit | |
| CN207937595U (en) | Laser acquisition radar optics system based on phase ranging method | |
| Lee et al. | Advanced compact 3D lidar using a high speed fiber coupled pulsed laser diode and a high accuracy timing discrimination readout circuit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170524 |