CN102645654A - Distance detecting device and method - Google Patents
Distance detecting device and method Download PDFInfo
- Publication number
- CN102645654A CN102645654A CN2011100400532A CN201110040053A CN102645654A CN 102645654 A CN102645654 A CN 102645654A CN 2011100400532 A CN2011100400532 A CN 2011100400532A CN 201110040053 A CN201110040053 A CN 201110040053A CN 102645654 A CN102645654 A CN 102645654A
- Authority
- CN
- China
- Prior art keywords
- distance
- mentioned
- electric signal
- receiver
- curve
- 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.)
- Granted
Links
Images
Landscapes
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses a distance detecting device and a distance detecting method. The device and the method are used for detecting the distance to be detected to an object. The distance detecting device comprises an emitter, a first receiver and a second receiver, wherein the emitter is used for emitting light rays in the emitting direction, the first receiver is arranged at one side of the emitter and is provided with a first light incidence surface used for receiving light rays reflected by the object to generate first electric signals, and the second receiver is arranged between the emitter and the first receiver and is provided with a second incidence surface used for receiving the light rays reflected by the object to generate second electric signals, wherein the first receiver is provided with a first electric signal distance curve, the second receiver is provided with a second electric signal distance curve, in addition, the first electric signal distance curve has a first wave crest, the second electric signal distance curve has a second wave crest, and the distance corresponding to the first wave crest is greater than the distance corresponding to the second wave crest. The distance detecting device and the distance detecting method have the advantages that whether the object is positioned in the preset distance or not is determined according to the intensity relationship of two electric signals, and the distance measuring accuracy is effectively improved.
Description
Technical field
The present invention relates to a kind of distance detection device and method; Particularly, the present invention relates to a kind of closely pick-up unit and method.
Background technology
Along with science and technology is fast-developing, various instruments with span function are constantly weeded out the old and bring forth the new.From the most original tape measure, until various electronic distance measuring instruments, these instruments in response to the demand of different field to reach the span purpose.Wherein, the electronic range measurement method comprises electromagnetic positioning and electro-optical distance measurement.With the electro-optical distance measurement mode is in master's the span instrument, and comparatively popular have infrared ambulator, laser range finder and ultrasonic sensor at least.Laser range finder and ultrasonic sensor have sensitive span accuracy, but cost an arm and a leg.Though infrared ambulator is comparatively cheap, its span accuracy does not have laser range finder and ultrasonic sensor good.
Generally speaking, the infrared ambulator of traditional type includes transmitter and receiver.When transmitter produced infrared ray and penetrates to object, receiver was received from the light of reflection object, to produce electric signal.Because the traditional type infrared ambulator has only a receiver, its electric signal needs to compare with a fixed reference electric signal, to judge the spacing of infrared ambulator and object.In addition, the material of object can directly influence the power of reflection ray.If the material of object belong to be prone to light-absorbing material, cause reflection ray too a little less than, the electric signal of generation also weakens thereupon, and then influences accuracy of measurement, or even can not compare with reference electrical signal, and can't measure spacing.
Summary of the invention
A purpose of the present invention is to provide a kind of distance detection device and method, and it uses the curve of electric signal and distance, the predetermined minimum distance that decision will be measured.
Another object of the present invention is to provide a kind of distance detection device and method, it utilizes two receivers, with the mode that not influenced by reflecting material, promotes the degree of accuracy of measuring.
Another purpose of the present invention is to provide a kind of distance detection device and method, and it utilizes angle and/or position between adjustment receiver and the transmitter, accurately carries out close-in measurement.
Distance detection device of the present invention is in order to detect the testing distance to object.Distance detection device comprises transmitter, first receiver and second receiver.Transmitter is used for along transmit direction emission light.First receiver is arranged at a side of transmitter and has first incidence surface, is used to receive the light that object reflects, to produce first electric signal.Second receiver is arranged between the transmitter and first receiver and has second incidence surface, is used to receive the light that object reflects, to produce second electric signal.Wherein, First receiver has first electric signal-distance Curve; Second receiver has second electric signal-distance Curve; And first electric signal-distance Curve has primary peak, and second electric signal-distance Curve has secondary peak, and the distance of primary peak correspondence is greater than the corresponding distance of secondary peak.
It should be noted that the intersection point of the first electric signal-distance Curve and second electric signal-distance Curve pairing be preset distance apart from essence.When testing distance during less than preset distance, second electric signal is greater than first electric signal, and when testing distance during greater than preset distance, second electric signal is less than first electric signal.
In an embodiment; Transmitter has an exiting surface so that beam projecting to be provided; Has first angle between the normal direction of the normal direction of first incidence surface and the exiting surface of transmitter; And having second angle between the normal direction of the normal direction of second incidence surface and first incidence surface, first angle and second angle are according to the preset distance setting.
Distance detection method of the present invention; In order to detect the testing distance to object, this method comprises: distance detection device is provided, comprises transmitter, first receiver and second receiver; Wherein first receiver and second receiver are arranged at a side of transmitter; First receiver has first electric signal-distance Curve, and second receiver has second electric signal-distance Curve, and first electric signal-distance Curve has primary peak; Second electric signal-distance Curve has secondary peak, and the distance of primary peak correspondence is greater than the corresponding distance of secondary peak; Transmitter is launched light along transmit direction; First receiver and second receiver reception light that object reflected are to produce first electric signal and second electric signal respectively; And whether testing distance or the decision object of obtaining object according to first electric signal and second electric signal be in preset distance.
Particularly; The intersection point of the first electric signal-distance Curve and second electric signal-distance Curve is pairing to be preset distance apart from essence; When wherein testing distance is less than preset distance; Second electric signal is greater than first electric signal, and testing distance is during greater than preset distance, and second electric signal is less than first electric signal.
Compared to prior art; Distance detection device proposed by the invention and method are through first receiver and second receiver; To produce corresponding first electric signal and second electric signal, can not only detect and object between distance, more can and utilize the magnitude relationship of first electric signal and second electric signal; Whether be positioned at preset distance with the decision object, and then lifting capacity is apart from accuracy.In addition, whether the electric signal magnitude relationship that distance detection device of the present invention can be through two receivers be positioned at preset distance with the decision object, not only can not influenced by reflecting material and effective hoisting load apart from accuracy.
Therefore, the present invention propose a kind of can lifting capacity apart from accuracy and the distance detection device and the method that not influenced by reflecting material.
Can utilize following detailed Description Of The Invention and accompanying drawing further to be understood about advantage of the present invention and spirit.
Description of drawings
Shown in Figure 1 is an embodiment vertical view of distance detection device;
Shown in Figure 2 is the electric signal-distance Curve figure of first receiver and second receiver;
Electric signal-distance Curve the figure that detects first object and second object for distance detection device shown in Figure 3;
Fig. 4 is the process flow diagram of distance detection method of the present invention.
Embodiment
A specific embodiment according to the present invention provides a kind of distance detection device.In this embodiment, this distance detection device can detect to the testing distance of object and judge that object is whether in preset distance.In an embodiment, distance detection device of the present invention and method are applied to close-in measurement, but not as limit.
Please with reference to Fig. 1, shown in Figure 1 is an embodiment vertical view of distance detection device 1.In fact, the shape of distance detection device 1 can be decided according to the product actual demand, can be square, oblate or other difformity, does not exceed with shown in the embodiment.
As shown in Figure 1, distance detection device 1 includes transmitter 10, first receiver 20 and second receiver 30.First receiver 20 is arranged at a side of transmitter 10 and has first incidence surface 25; Second receiver 30 is arranged between the transmitter 10 and first receiver 20 and has second incidence surface 35.Transmitter 10 has exiting surface 15 so that beam projecting to be provided, and transmitter 10 is 2 emission light along transmit direction towards object.In practical application, transmitter 10 is preferably invisible light, not as limit.In this embodiment, transmitter is an infrared ray.First receiver 20 is used to receive the light that object 2 is reflected, and producing first electric signal, and second receiver 30 is used to receive the light that object 2 is reflected, to produce second electric signal.That is first receiver 20 and second receiver 30 are used to be received from the light that transmitter 10 is launched and reflected by object 2 towards object 2, and produce first electric signal and second electric signal of the corresponding light ray energy that receives respectively.
Particularly; First receiver 20 has first electric signal-distance Curve S1; Second receiver 30 has second electric signal-distance Curve S2, and first electric signal-distance Curve S1 has primary peak P1, and second electric signal-distance Curve S2 has secondary peak P2; Primary peak P1 corresponding apart from d1 greater than secondary peak P2 corresponding apart from d2, as shown in Figure 2.By Fig. 2 can know the intersection point of first electric signal-distance Curve S1 and second electric signal-distance Curve S2 pairing be predetermined distance d s apart from essence; When wherein testing distance is less than predetermined distance d s; Second electric signal is greater than first electric signal; And testing distance is during greater than predetermined distance d s, and second electric signal is less than first electric signal.About the relation between first electric signal-distance Curve S1, second electric signal-distance Curve S2 and preset distance and first electric signal and second electric signal, detail like the back.
As shown in Figure 1, have first angle A 1 between the normal direction of the normal direction of first incidence surface 25 of first receiver 20 and the exiting surface 15 of transmitter 10.Similarly, has second angle A 2 between the normal direction of first incidence surface 25 of the normal direction of second incidence surface 35 of second receiver 30 and first receiver 20.In addition, first receiver 20 and transmitter 10 respectively with second receiver 30 at a distance of first distance B 1 and second distance D2.
What need explanation is that first distance B 1 and second distance D2 and first angle A 1 and second angle A 2 are chosen to make that distance detection device 1 can determine according to the magnitude relationship of first electric signal and second electric signal whether object 2 is positioned at preset distance.
Particularly; Adjust the relative position and the angle of first receiver 20, second receiver 30 and transmitter 10; Make when object 2 is positioned at preset distance that first electric signal of the reflection ray energy gained of first receiver 20 and second receiver, 30 corresponding objects 2 is identical with the size of second electric signal.In this embodiment, preset distance is 5cm, and first electric signal and second electric signal belong to aanalogvoltage, but not as limit.In practical application, first distance B 1 is preferably 9mm between 8～10 millimeters (mm); Second distance D2 is preferably 14mm between 13～15mm.In addition, first angle A 1 is preferably 7 ° between 6～8 °; And second angle A 2 is preferably 2 ° between 1～3 °.
Please with reference to Fig. 2, shown in Figure 2 is the electric signal-distance Curve figure of first receiver 20 and second receiver 30.That is, utilize angle and the position of adjusting receiver, can obtain the unique relationship between object distance and the electric signal.As shown in Figure 2; Under the situation of above-mentioned preset relative position; First angle A 1 and second angle A 2 are chosen to make win receiver 20 and second receiver 30 to have the first electric signal-distance Curve S1 and the second electric signal-distance Curve S2 of different crests respectively; Wherein the first electric signal-distance Curve S1 and second electric signal-distance Curve S2 intersection is in an intersection point, and this intersection point corresponding be preset distance apart from essence.For example, in this embodiment, first angle A 1 is preferably 7 ° between 6～8 °; And second angle A 2 is preferably 2 ° between 1～3 °.
As shown in Figure 2, be the 0.5cm place in distance, second electric signal is greater than first electric signal.When distance when 0.5cm zooms out to 1.5cm, it is big that first electric signal slowly becomes, and that second electric signal becomes rapidly is big.Though distance zooms out, because of the position of second receiver 30 than first receiver 20 near transmitter 10, have more reflection ray in this distance and get into second receiver 30, so the variation of electric signal-distance Curve is comparatively obvious.When distance when 1.5cm zooms out to 3.5cm, first electric signal continues slowly to become big, and second electric signal diminishes rapidly.This is because the relation of reflection angle and distance, and the reflection ray that first receiver 20 is received is more and more, and it is fewer and feweri to get into the reflection ray of second receiver 30.
When distance when 3.5cm becomes greatly to 5cm, the reflection ray that gets into first receiver 20 and second receiver 30 is fewer and feweri, and win electric signal and second electric signal are diminished gradually.Yet, because the speed that first electric signal diminishes is slow than second electric signal, make two curves for the 5cm place intersection point arranged in distance, wherein 5cm is a preset distance.When the distance when 5cm pulls on as far as 10cm, first electric signal and second electric signal continue slowly to diminish, and the amplitude of variation of second electric signal makes second electric signal less than first electric signal greater than the amplitude of variation of first electric signal.
It should be noted that therefore based on above-mentioned condition, when object 2 was positioned at preset distance (for example 5cm), second electric signal was more than or equal to first electric signal; In the time of outside object 2 is positioned at preset distance (for example 5cm), second electric signal is less than first electric signal.Therefore, distance detection device 1 is utilized first electric signal, second electric signal, first electric signal-distance Curve and second electric signal-distance Curve, can determine whether object 2 is positioned at preset distance.In other words; The user can be set at preset distance with the minimum distance that institute's desire is measured; And according to the relative angle and/or the position of this preset distance adjustment transmitter 10, first receiver 20 and second receiver 30; And then obtain first electric signal-distance Curve S1 and second electric signal-distance Curve S2, wherein the intersection point of the first electric signal-distance Curve S1 and second electric signal-distance Curve S2 is preset distance (being 5cm in this example).Therefore, when distance detection device 1 is carried out when measuring, can be according to the magnitude relationship of first electric signal and second electric signal, whether the decision object is in preset distance.In addition, not only accurately whether judgment object 2 is in preset distance for distance detection device 1, and first receiver 20 also capable of using and/or second receiver 30 come directly detection testing distance in response to the electric signal that light signal produced of object 2 reflections.
Please with reference to Fig. 3, shown in Figure 3 is electric signal-distance Curve figure that distance detection device 1 is directed against different objects (for example first object and second object).In this embodiment, the material of first object and second object is different, that is the light that first object and second object are launched transmitter 10 has the differing absorption degree.For example, first object is a plank, and second object is a black paper.As shown in Figure 3, because second object (being black paper) has lower reflectivity compared to first object (being plank), so a little less than first electric signal of first electric signal of corresponding second object and all more corresponding first object of second electric signal and second electric signal be.
As shown in Figure 3, in this embodiment, preset distance is 5cm.That is; To first object and second object; First receiver 20 and second receiver 30 have the first electric signal-distance Curve S11 and the second electric signal-distance Curve S12 of corresponding first object respectively, and first electric signal of corresponding second object-distance Curve S21 and second electric signal-distance Curve S22.As shown in Figure 3, though under above-mentioned relative angle and locality condition, first receiver 20 and second receiver 30 are different to the electrical signal intensity of first object and second object, have similar trend.That is; As shown in Figure 3; First electric signal-distance Curve the S11 of corresponding first object and the intersection point of second electric signal-distance Curve S12, and the intersection point of first electric signal of corresponding second object-distance Curve S21 and second electric signal-distance Curve S22 all is positioned at apart from being about 5cm place.Particularly; In the preset distance (for example 5cm), no matter be that first electric signal of first electric signal-distance Curve S11 or first electric signal-distance Curve S21 is all less than second electric signal of the correspondence of second electric signal-distance Curve S12 or second electric signal-distance Curve S22; And outside the preset distance (for example 5cm), no matter be that first electric signal of first electric signal-distance Curve S11 or first electric signal-distance Curve S21 is all greater than second electric signal of the correspondence of second electric signal-distance Curve S12 or second electric signal-distance Curve S22.Therefore, distance detection device 1 of the present invention is for the detection of different objects, even object materials different (that is reflecting effect is different), distance detection device 1 is still possessed goodish span accuracy.Therefore, whether the electric signal magnitude relationship that distance detection device 1 of the present invention can be through two receivers be positioned at preset distance with the decision object, not only can effective hoisting load apart from accuracy and not influenced by reflecting material.
Fig. 4 is the process flow diagram of distance detection method of the present invention.This distance detection method comprises step 1010; Distance detection device is provided; It comprises transmitter, first receiver, reaches second receiver, and wherein first receiver and second receiver are arranged at a side of transmitter, and first receiver has first electric signal-distance Curve; Second receiver has second electric signal-distance Curve; And first electric signal-distance Curve has primary peak, and second electric signal-distance Curve has secondary peak, and the distance of primary peak correspondence is greater than the corresponding distance of secondary peak.In the distance detection device that this provided, can be as shown in Figure 1, wherein second receiver is arranged between first receiver and the transmitter, but not as limit.In addition, as stated, adjustment first receiver capable of using and second receiver be with respect to the position and the angle of transmitter, and make it have the first required electric signal-distance Curve and second electric signal-distance Curve respectively.
Step 1020 comprises transmitter and launches light along transmit direction.For example, can use RF transmitter, and launch infrared ray towards the direction of object as transmitter of the present invention.
Step 1030 comprises first receiver and second receiver and receives light that object reflected to produce first electric signal and second electric signal respectively.For example, first receiver and second receiver receive the infrared ray that object reflected, and produce corresponding electric signal respectively in response to ultrared energy.
Step 1040 comprises testing distance or decision object that relation according to first electric signal and second electric signal obtains object whether in preset distance, and wherein the intersection point of the first electric signal-distance Curve and second electric signal-distance Curve is pairing is preset distance apart from essence.Refer to the minimum distance that user's desire is measured in this described preset distance, 5cm for example, but not as limit, can be according to practical application and user's changes in demand.When step 1041 comprised testing distance less than preset distance, second electric signal was greater than first electric signal; When step 1042 comprised testing distance greater than preset distance, second electric signal was less than first electric signal.
Compared to prior art; Distance detection device proposed by the invention and method can not only detect and object between distance, more can utilize electric signal-distance Curve to set required preset distance, through first receiver and second receiver; To produce corresponding first electric signal and second electric signal; And, whether be positioned at preset distance with the decision object, and then lifting capacity is apart from accuracy by the magnitude relationship of first electric signal and second electric signal.Because the distance detection device of traditional type only has a transmitter and a receiver, the electric signal of receiver only can compare with reference electrical signal, and the measurement effect that obtains is limited, and close-in measurement more has remarkable deficiency.Therefore; Distance detection device of the present invention can not only detect and object between distance; More whether the electric signal magnitude relationship through two receivers is positioned at preset distance with the decision object, not only can effective hoisting load apart from accuracy and not influenced by reflecting material.
Utilize the detailed description of above preferred embodiment, hope can be known description characteristic of the present invention and spirit more, and is not to come scope of the present invention is limited with the above-mentioned preferred embodiment that is disclosed.On the contrary, its objective is that hope can contain in the scope of claim of being arranged in of various changes and tool equality institute of the present invention desire application.
Claims (10)
1. a distance detection device in order to detect the testing distance to object, is characterized in that, above-mentioned distance detection device comprises:
Transmitter is used for along transmit direction emission light;
First receiver is arranged at a side of above-mentioned transmitter and has first incidence surface, is used to receive the light that above-mentioned object reflects, to produce first electric signal; And
Second receiver is arranged between above-mentioned transmitter and above-mentioned first receiver and has second incidence surface, is used to receive the light that above-mentioned object reflects, producing second electric signal,
Wherein, Above-mentioned first receiver has first electric signal-distance Curve; Above-mentioned second receiver has second electric signal-distance Curve; And above-mentioned first electric signal-distance Curve has primary peak, and above-mentioned second electric signal-distance Curve has secondary peak, and the distance of above-mentioned primary peak correspondence is greater than the corresponding distance of above-mentioned secondary peak.
2. distance detection device according to claim 1 is characterized in that, the pairing distance of intersection point of above-mentioned first electric signal-distance Curve and above-mentioned second electric signal-distance Curve is a preset distance.
3. distance detection device according to claim 2; It is characterized in that above-mentioned testing distance is during less than above-mentioned preset distance, above-mentioned second electric signal is greater than above-mentioned first electric signal; Above-mentioned testing distance is during greater than above-mentioned preset distance, and above-mentioned second electric signal is less than above-mentioned first electric signal.
4. distance detection device according to claim 2; It is characterized in that; Has first angle between the normal direction of the normal direction of above-mentioned first incidence surface and the exiting surface of above-mentioned transmitter; Have second angle between the normal direction of the normal direction of above-mentioned second incidence surface and above-mentioned first incidence surface, above-mentioned first angle and above-mentioned second angle are according to above-mentioned preset distance setting.
5. distance detection device according to claim 4 is characterized in that, above-mentioned first angle is between 6～8 degree, and above-mentioned second angle is between 1～3 degree.
6. distance detection device according to claim 2; It is characterized in that; The mid point of the mid point of above-mentioned first incidence surface and above-mentioned second incidence surface is at a distance of first distance; The mid point of above-mentioned second incidence surface and the mid point of above-mentioned transmitter are at a distance of second distance, and above-mentioned first distance and above-mentioned second distance are according to above-mentioned preset distance setting.
7. distance detection device according to claim 6 is characterized in that, above-mentioned first distance is between 8～10 millimeters, and above-mentioned second distance is between 13～15 millimeters.
8. distance detection device according to claim 1 is characterized in that, above-mentioned transmitter is an infrared transmitter.
9. a distance detection method in order to detect the testing distance to object, is characterized in that, above-mentioned distance detection method comprises:
Distance detection device is provided; Comprise transmitter, first receiver and second receiver; Wherein above-mentioned first receiver and above-mentioned second receiver are arranged at a side of above-mentioned transmitter; Above-mentioned first receiver has first electric signal-distance Curve, and above-mentioned second receiver has second electric signal-distance Curve, and above-mentioned first electric signal-distance Curve has primary peak; Above-mentioned second electric signal-distance Curve has secondary peak, and the distance of above-mentioned primary peak correspondence is greater than the corresponding distance of above-mentioned secondary peak;
Above-mentioned transmitter is launched light along transmit direction;
Above-mentioned first receiver and above-mentioned second receiver receive light that above-mentioned object reflects to produce first electric signal and second electric signal respectively; And
Obtain the above-mentioned testing distance of above-mentioned object or determine above-mentioned object whether in preset distance according to above-mentioned first electric signal and above-mentioned second electric signal.
10. distance detection method according to claim 9; It is characterized in that; The pairing distance of the intersection point of above-mentioned first electric signal-distance Curve and above-mentioned second electric signal-distance Curve is above-mentioned preset distance, and above-mentioned testing distance is during less than above-mentioned preset distance, and above-mentioned second electric signal is greater than above-mentioned first electric signal; Above-mentioned testing distance is during greater than above-mentioned preset distance, and above-mentioned second electric signal is less than above-mentioned first electric signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110040053.2A CN102645654B (en) | 2011-02-16 | 2011-02-16 | Distance detecting device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110040053.2A CN102645654B (en) | 2011-02-16 | 2011-02-16 | Distance detecting device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102645654A true CN102645654A (en) | 2012-08-22 |
| CN102645654B CN102645654B (en) | 2014-03-12 |
Family
ID=46658594
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110040053.2A Active CN102645654B (en) | 2011-02-16 | 2011-02-16 | Distance detecting device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102645654B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529454A (en) * | 2013-11-06 | 2014-01-22 | 中国科学院上海天文台 | Multi-telescope laser ranging system and method |
| CN105251823A (en) * | 2015-09-17 | 2016-01-20 | 中国石油天然气集团公司 | Automatic control system and method for vertical hydraulic cold steel pipe machine |
| CN107064948A (en) * | 2016-12-06 | 2017-08-18 | 广东欧珀移动通信有限公司 | Sensor module and mobile terminal |
| CN107479057A (en) * | 2016-06-08 | 2017-12-15 | 科沃斯机器人股份有限公司 | Distance measuring sensor and its distance-finding method and self-moving device |
| WO2018149173A1 (en) * | 2017-02-14 | 2018-08-23 | Guangdong Oppo Mobile Telecommunications Corp.,Ltd. | Method of controlling display screen statuses, and apparatus |
| CN109413536A (en) * | 2018-12-20 | 2019-03-01 | 歌尔科技有限公司 | A kind of wireless headset enters box detection method, device and wireless headset charging box |
| WO2021147511A1 (en) * | 2020-01-21 | 2021-07-29 | 追创科技(苏州)有限公司 | Self-moving device and distance measurement method for said device |
| RU2799857C1 (en) * | 2020-01-21 | 2023-07-12 | Дриме Инновэйшн Текнолоджи (Сучжоу) Ко., Лтд. | Self-propelled device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11821984B2 (en) | 2019-02-04 | 2023-11-21 | Ams International Ag | Proximity sensor based on ratio change detection |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1386007A (en) * | 1971-02-22 | 1975-03-05 | Schlumberger Compteurs | Optical distance measuring methods and apparatus |
| US20070097349A1 (en) * | 2005-10-28 | 2007-05-03 | Hideo Wada | Optical distance measuring apparatus |
| CN101109630A (en) * | 2006-07-18 | 2008-01-23 | 三星电子株式会社 | Beacon to measure distance, positioning system using the same, and method of measuring distance |
| CN201393304Y (en) * | 2009-04-10 | 2010-01-27 | 华南理工大学 | Moving target tracking system based on wireless sensor network |
-
2011
- 2011-02-16 CN CN201110040053.2A patent/CN102645654B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1386007A (en) * | 1971-02-22 | 1975-03-05 | Schlumberger Compteurs | Optical distance measuring methods and apparatus |
| US20070097349A1 (en) * | 2005-10-28 | 2007-05-03 | Hideo Wada | Optical distance measuring apparatus |
| CN101109630A (en) * | 2006-07-18 | 2008-01-23 | 三星电子株式会社 | Beacon to measure distance, positioning system using the same, and method of measuring distance |
| CN201393304Y (en) * | 2009-04-10 | 2010-01-27 | 华南理工大学 | Moving target tracking system based on wireless sensor network |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103529454A (en) * | 2013-11-06 | 2014-01-22 | 中国科学院上海天文台 | Multi-telescope laser ranging system and method |
| CN105251823A (en) * | 2015-09-17 | 2016-01-20 | 中国石油天然气集团公司 | Automatic control system and method for vertical hydraulic cold steel pipe machine |
| CN105251823B (en) * | 2015-09-17 | 2017-08-04 | 中国石油天然气集团公司 | A kind of cold steel pipe machine automation control system of vertical hydraulic and method |
| CN107479057A (en) * | 2016-06-08 | 2017-12-15 | 科沃斯机器人股份有限公司 | Distance measuring sensor and its distance-finding method and self-moving device |
| CN107064948A (en) * | 2016-12-06 | 2017-08-18 | 广东欧珀移动通信有限公司 | Sensor module and mobile terminal |
| CN107064948B (en) * | 2016-12-06 | 2023-09-05 | Oppo广东移动通信有限公司 | Sensor module and mobile terminal |
| US10650789B2 (en) | 2017-02-14 | 2020-05-12 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Method and apparatus for controlling display screen statuses |
| US10643578B2 (en) | 2017-02-14 | 2020-05-05 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Method of controlling display screen statuses, and apparatus |
| WO2018149173A1 (en) * | 2017-02-14 | 2018-08-23 | Guangdong Oppo Mobile Telecommunications Corp.,Ltd. | Method of controlling display screen statuses, and apparatus |
| CN109413536A (en) * | 2018-12-20 | 2019-03-01 | 歌尔科技有限公司 | A kind of wireless headset enters box detection method, device and wireless headset charging box |
| CN109413536B (en) * | 2018-12-20 | 2020-06-30 | 歌尔科技有限公司 | Wireless earphone box-entering detection method and device and wireless earphone charging box |
| WO2021147511A1 (en) * | 2020-01-21 | 2021-07-29 | 追创科技(苏州)有限公司 | Self-moving device and distance measurement method for said device |
| CN114415660A (en) * | 2020-01-21 | 2022-04-29 | 追觅创新科技(苏州)有限公司 | Self-moving equipment and ranging method thereof |
| RU2799857C1 (en) * | 2020-01-21 | 2023-07-12 | Дриме Инновэйшн Текнолоджи (Сучжоу) Ко., Лтд. | Self-propelled device |
| CN114415660B (en) * | 2020-01-21 | 2023-08-08 | 追觅创新科技(苏州)有限公司 | Self-mobile device and ranging method thereof |
| US12105516B2 (en) | 2020-01-21 | 2024-10-01 | Dreame Innovation Technology (Suzhou) Co., Ltd. | Self-moving device and distance measuring method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102645654B (en) | 2014-03-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102645654B (en) | Distance detecting device and method | |
| CN101173986B (en) | Ultrasonic distance measuring apparatus without blind zone | |
| US20060290946A1 (en) | System and method for measuring roundness | |
| CN101413926A (en) | A kind of sound, supersonic damage-free detection method | |
| CN203535713U (en) | Device for ultrasonic detection of tapes and overlapping in banknote processing | |
| WO2004072609A3 (en) | Method and system for detecting the position of an edge of a web | |
| CN108680126A (en) | A kind of device and method of detection pipeline inner wall roughness | |
| CN201273813Y (en) | Thickness measurement instrument for CCD optical bias resistant non-invasive detection | |
| JP2011034173A5 (en) | ||
| WO2003062800A3 (en) | Portable system and method for determining one or more reflectance properties of a surface | |
| CN209116976U (en) | A kind of contactless measuring system of rock sample circumferential direction microstrain | |
| WO2023151387A1 (en) | Liquid level switch system and liquid level measurement method | |
| CN205941900U (en) | Distance measuring sensor reaches from mobile device | |
| US7138941B1 (en) | In-situ calibration of radar frequency measurement | |
| CN111381223A (en) | Method, system and device for detecting performance of laser ranging sensor | |
| JP5572970B2 (en) | Road surface condition estimating apparatus and method | |
| CN214750804U (en) | Distance zero value calibration system for monopulse measurement radar | |
| CN214224931U (en) | Threshold-adjustable near-range array correlation infrared sensor | |
| JPH0758178B2 (en) | Ultrasonic seam detector | |
| CN203687883U (en) | Prepreg online detection device | |
| EP2566067A3 (en) | Method and apparatus for signal detection | |
| CN107479057A (en) | Distance measuring sensor and its distance-finding method and self-moving device | |
| CN102679918A (en) | Ultrasonic meter ruler | |
| CN109945796A (en) | A kind of contactless measuring system and method for the microstrain of rock sample circumferential direction | |
| JP2004045188A (en) | Distance measuring equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |