CN104792303B - Distance measuring device and distance measuring method - Google Patents
Distance measuring device and distance measuring method Download PDFInfo
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- CN104792303B CN104792303B CN201510245287.9A CN201510245287A CN104792303B CN 104792303 B CN104792303 B CN 104792303B CN 201510245287 A CN201510245287 A CN 201510245287A CN 104792303 B CN104792303 B CN 104792303B
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- light beam
- range unit
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- distance measuring
- distance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention discloses a distance measuring device which has a detection range, and aims to measure the distance of at least one article in the detection range. The distance measuring device comprises a light emitting element, a diffusion element, an adjusting element and an image sensing element, wherein the light emitting element is used for emitting a light beam; the diffusion element is configured on a transmission path of the light beam and used for converting the light beam into a distance measuring light beam with specific patterns for radiating the article; the adjusting element is used for adjusting the incidence position and the incidence angle of the light beam which is fed into the diffusion element; the image sensing element has a view field; the view field covers the detection range. The distance measuring device has a relatively large detection distance. The invention further discloses a method for measuring the distance by using the distance measuring device, and another distance measuring device.
Description
Technical field
The invention relates to a kind of range unit, and in particular to a kind of optical range unit and range finding side
Method.
Background technology
In recent years, three-dimensional (three dimension) range unit has been widely used in the measurement of distance, and its principle is
Specific measuring beam is sent by radium-shine emitter, then the optical information of this measuring beam is sensed by Image Sensor
(for example sense time, the position of light beam, the shape of light beam, the size of light beam, the intensity of light beam, the phase place of light beam of light beam
Deng), so as to the distance of each object in the detection range for parsing three-dimensional range unit.
The detectable distance of existing range unit is all fixed and cannot changed.But in actual applications, with application
The difference of environment, it is often necessary to change the detectable distance of range unit, therefore existing range unit cannot meet application demand.
On the other hand, when detection object farther out apart from when, the energy for being irradiated to the light beam of object is weaker, if so
Existing range unit is made with detectable distance farther out, it is necessary to configure the light-emitting component of higher-wattage.But, using height
Power light-emitting element can cause the cost of manufacture of existing range unit to increase, while being also unfavorable for energy saving and environmental conservation.
The content of the invention
The present invention provides a kind of range unit, its can increase on the premise of the power of light-emitting component is not improved can detect away from
From.
The present invention also provides a kind of distance-finding method, and it can increase detectable on the premise of the power of light-emitting component is not improved
Distance.
The present invention separately provides a kind of range unit, and it has the advantages that detectable distance can be adjusted.
It is that, up to above-mentioned advantage, the present invention proposes a kind of range unit, and it has detection range, and this range unit measures this
The distance of at least object in detection range.This range unit includes light-emitting component, diffused component, regulating element and image
Sensing element.Light-emitting component launches light beam.Diffused component is configured on the bang path of light beam, and is transformed the light beam into spy
The distance measuring light beam of pattern is determined, to expose to object.Regulating element adjusts the incoming position of the light beam for being incident to diffused component and enters
Firing angle.Image Sensor has visual field (field of view, FOV), and detection range is covered in this visual field.
In one embodiment of this invention, above-mentioned regulating element includes actuator, and this actuator is connected to light-emitting component,
To rotate light-emitting component.
In one embodiment of this invention, above-mentioned actuator is motor or microcomputer electric component (microelectro
mechanical systems device,MEMS device)。
In one embodiment of this invention, above-mentioned regulating element includes reflecting element and actuator.Reflecting element is configured at
Between diffused component and light-emitting component, light beam is reflexed to into diffused component.Actuator is connected to reflecting element, to rotate reflection
Part.
In one embodiment of this invention, above-mentioned range unit further includes amasthenic lens, and this amasthenic lens is configured to be sent out
Between optical element and diffused component, and on the bang path of light beam.
In one embodiment of this invention, above-mentioned amasthenic lens is zoom lens.
In one embodiment of this invention, above-mentioned range unit further includes moving member, and this moving member is connected to diffusion unit
Part, and drive diffused component to move.
In one embodiment of this invention, above-mentioned light-emitting component is radium-shine emitter or light emitting diode.
In one embodiment of this invention, above-mentioned diffused component is diffusion sheet, diffraction element or equal mating plate.
In one embodiment of this invention, the first central shaft of above-mentioned distance measuring light beam and the visual field of Image Sensor
Second central shaft is parallel.
In one embodiment of this invention, the first central shaft of above-mentioned distance measuring light beam and the visual field of Image Sensor
There is angle between second central shaft.
In one embodiment of this invention, above-mentioned range unit further includes beam splitter, is configured at diffused component and shadow
As between sensing element.
In one embodiment of this invention, by first central shaft and shadow of the part distance measuring light beam of above-mentioned beam splitter
As second central shaft by the visual field after above-mentioned beam splitter turnover of sensing element is parallel or overlaps.
It is that, up to above-mentioned advantage, the present invention proposes a kind of distance-finding method, it is adaptable to aforesaid range unit.This distance-finding method bag
Include following steps.First, detection range is divided into into multiple detection zones.Then, adjust by regulating element and be incident to diffusion unit
The incoming position and angle of incidence of the light beam of part, so that distance measuring light beam sequentially exposes to these detection zones, and by image sensing
Element sensing distance measuring light beam is in multiple optical informations of these detection zones.Afterwards, judged to be located at inspection according to these optical informations
The distance of the object in the range of survey.
It is that, up to above-mentioned advantage, the present invention proposes a kind of range unit, and it has detection range, and this range unit measures this
The distance of at least object in detection range.This range unit includes light-emitting component, diffused component, amasthenic lens and image
Sensing element.Light-emitting component launches light beam.Diffused component is configured on the bang path of light beam, and is transformed the light beam into spy
The distance measuring light beam of pattern is determined, to expose to object.Amasthenic lens is configured between light-emitting component and diffused component, and positioned at light beam
Bang path on.The distance between the focal length and diffused component of amasthenic lens and amasthenic lens at least one be variable
's.Image Sensor has visual field, and detection range is covered in this visual field.
The range unit and distance-finding method of the embodiment of the present invention by the detection range of range unit because being divided into multiple detections
Region, and by regulating element adjust be incident to diffused component light beam incoming position and angle of incidence so that light beam sequentially according to
Penetrate these detection zones and carry out range measurement.Thus, can increase detectable in the case of the power of light-emitting component is not increased
Distance.Additionally, in the range unit of another embodiment of the present invention, due to the focal length and diffused component and focus lamp of amasthenic lens
At least one is variable to the distance between head, so the advantage that detectable distance can be adjusted can be reached, so that range finding
Device can more meet the demand of practical application.
It is that the above and other objects, features and advantages of the present invention can be become apparent, preferred embodiment cited below particularly,
And coordinate accompanying drawing, it is described in detail below.
Description of the drawings
Fig. 1 is the schematic perspective view of the range unit of one embodiment of the invention.
Fig. 2 is the flow chart of the distance-finding method of one embodiment of the invention.
Fig. 3 is the schematic diagram for splitting detection range in one embodiment of the invention.
Fig. 4 is the schematic top plan view of the range unit of another embodiment of the present invention.
Fig. 5 is the schematic top plan view of the range unit of another embodiment of the present invention.
Fig. 6 is the schematic top plan view of the range unit of another embodiment of the present invention.
Fig. 7 is the schematic top plan view of the range unit of another embodiment of the present invention.
Fig. 8 is the schematic top plan view of the range unit of another embodiment of the present invention.
Fig. 9 is the schematic top plan view of the range unit of another embodiment of the present invention.
【Main element symbol description】
22：Detection zone 101：Detection range 103：First central shaft
100、100a、100b、100c、100d、100e、100f：Range unit
105：Second central shaft 105 '：Second central shaft of the visual field after turnover
110：Light-emitting component 112：Light beam 112a：Distance measuring light beam
120：Diffused component 130,130b：Regulating element 132：Actuator
134：Reflecting element 140：Image Sensor 142：Visual field
142’：Visual field 150 after turnover：Amasthenic lens 160：Moving member
170：Beam splitter α：Angle
Specific embodiment
Fig. 1 is the schematic perspective view of the range unit of one embodiment of the invention.Refer to Fig. 1, the range finding dress of the present embodiment
Put 100 and there is detection range 101, for measuring the distance of at least object in detection range 101.Range unit 100 includes
Light-emitting component 110, diffused component 120, regulating element 130 and Image Sensor 140.Light-emitting component 110 launches light beam
112.Diffused component 120 is configured on the bang path of light beam 112, and light beam 112 is converted into into the range finding with specific pattern
Light beam 112a, to expose to object.Regulating element 130 adjusts the incoming position of the light beam 112 for being incident to diffused component 120 and enters
Firing angle.Image Sensor 140 has the visual field 142 for covering detection range 101.
Above-mentioned light-emitting component 110 is, for example, radium-shine emitter, light emitting diode or other suitable light-emitting components, and is expanded
Scattered element 120 is, for example, diffusion sheet, diffraction element or equal mating plate etc., but is not limited.Additionally, the regulating element of the present embodiment
130 is, for example, actuator (such as motor or microcomputer electric component), its connection light-emitting component 110.This regulating element 130 orders about luminous
Element 110 is rotated around X-axis and Z axis, to adjust the incoming position and angle of incidence of the light beam 112 for being incident to diffused component 120, and then
Change the position that distance measuring light beam 112a is radiated in detection range 101.
Above-mentioned Image Sensor 140 can be charge coupled cell (charged coupled device) or golden oxygen half
Image Sensor (CMOS image sensor) etc., but be not limited.In the present embodiment, distance measuring light beam 112a has
First central shaft 103, and the visual field 142 of Image Sensor 140 has the second central shaft 105, and the first central shaft 103 and the
For example there is an angle α, this angle α is e.g. less than 90 degree between two central shafts 105.When distance measuring light beam 112a is irradiated in object
When can form specific speckle (speckle pattern) in body surface, and Image Sensor 140 can sense detection model
The optical information for enclosing 101 distance measuring light beam 112a (for example senses time, the position of distance measuring light beam 112a of distance measuring light beam 112a
Put, the shape of distance measuring light beam 112a, the size of distance measuring light beam 112a, the intensity of distance measuring light beam 112a, the phase of distance measuring light beam 112a
Position etc.), so can parse the distance of object according to these optical informations.Additionally, in light-emitting component 110 and diffused component
Amasthenic lens 150 also can be set between 120.
Hereafter by the distance-finding method for coordinating schema to illustrate the range unit 100 of the present embodiment.Fig. 2 is one embodiment of the invention
Distance-finding method flow chart, and Fig. 3 be in one embodiment of the invention split detection range schematic diagram.Fig. 1 be refer to figure
3, the distance-finding method of the present embodiment comprises the following steps.First, as shown in step S110 and Fig. 3, detection range 101 is divided into into many
Individual detection zone 22.For example, detection range 101 is divided into n × n detection zone 22 (i, j), and wherein n is positive integer, i
It is the positive integer less than or equal to n, j is the positive integer less than or equal to n.
Then, as shown in step S120, adjust by regulating element 130 and be incident to the light beam 112 of diffused component 120 and enter
Position and angle of incidence are penetrated, so that distance measuring light beam 112a sequentially exposes to these detection zones 22, and by Image Sensor 140
Sensing distance measuring light beam 112a is in multiple optical informations of these detection zones 22.Specifically, the present embodiment is, for example, to make range finding
Light beam 112a sequentially exposes to the detection zone 22 of the first row, and (1, j) (wherein j=1,2 ... n), then exposes to the second row successively
Detection zone 22 (2, j) (wherein j=1,2 ... n), the like, then expose to successively line n detection zone 22 (n,
J) (wherein j=1,2 ... n).So far, whole detection range 101 is irradiated to by distance measuring light beam 112a.In distance measuring light beam 112a
During irradiating each detection zone 22 successively, can examine in these by the sensing distance measuring light beam 112a of Image Sensor 140
Survey multiple optical informations in region 22.
Afterwards, as shown in step S130, judged to be located at detection model according to the optical information that Image Sensor 140 is sensed
Enclose the distance of the object in 101.
Above-mentioned step S110 to S130 can be by being electrically connected to light-emitting component 110, regulating element 130 and image sensing unit
The control element (not shown) of part 140 is manipulating.Additionally, control element in can also store multiple REFERENCE INFORMATIONs, with by than
The optical information sensed compared with these REFERENCE INFORMATIONs and Image Sensor 140 is judging the distance of object.These are with reference to money
News be, for example, distance measuring light beam 112a be radiated at positioned at the object of known distance when, the optics that Image Sensor 140 is sensed
Information.
It should be noted that, the plane residing for finding range 101 depicted in Fig. 1 is, for example, that range unit 100 can be measured
The maximum distance for arriving, not limit object just can be measured necessarily at the plane.For example, it is radiated at detection when predetermined
(when object is illuminated by before being transferred to the plane, then the distance of this object also may be used for 1, distance measuring light beam 112a 1) in region 22
It is measured.
In the range unit 100 and its distance-finding method of the present embodiment, due to adjusting light beam 112 by regulating element 130
The incoming position and angle of incidence of incident diffused component 120, enables distance measuring light beam 112a to be sequentially radiated at the multiple of detection range 101
Detection zone 22.Thus, the range of exposures for being radiated at the distance measuring light beam 112a of single detection zone 22 is less, energy is also relatively strong,
Therefore the range unit 100 and its distance-finding method of the present embodiment can increase on the premise of the power of light-emitting component 110 is not improved
Detectable distance.Further, since the range unit 100 and its distance-finding method of the present embodiment are by the way of subregion measurement, institute
Can detect that the distance of the different piece relative to range unit 100 of object, and then extrapolate the profile of object.Certainly, adopt
The mode measured with subregion also can respectively detect the distance of the multiple objects in detection range 101.
It is noted that in another embodiment, amasthenic lens 150 can be zoom lens.By adjustment amasthenic lens
150 focal length can change the focal position of light beam 112, to change spot size when distance measuring light beam 112a is irradiated to object, enter
And reach the effect for the detectable distance for changing range unit 100.
Fig. 4 is the schematic top plan view of the range unit of another embodiment of the present invention.Refer to Fig. 4, the range finding of the present embodiment
Device 100a is similar to above-mentioned range unit 100, and the amasthenic lens 150 at difference being range unit 100a is to focus mirror
Head, and range unit 100a further includes the moving member 160 for being connected to diffused component 120, and this moving member 160 drives diffused component
120 movements.Specifically, moving member 160 can drive diffuser 120 towards close to or away from the direction of amasthenic lens 150 movement, with
Change distance measuring light beam 112a is irradiated to spot size during object, and then reaches the detectable distance for changing range unit 100a
Effect.
It is noted that in the range unit of another embodiment, amasthenic lens 150 can be zoom lens, and spread
The distance between element 120 and amasthenic lens 150 are also variable.Thus, can by change amasthenic lens 150 focal length and/
Or mobile diffused component 120 is changing the detectable distance of range unit.
Fig. 5 is the schematic top plan view of the range unit of another embodiment of the present invention.Refer to Fig. 5, the range finding of the present embodiment
Device 100b is similar to above-mentioned range unit 100, is regulating element at difference.The regulating element 130b of range unit 100b
Including actuator 132 and reflecting element 134.Reflecting element 134 is configured between diffused component 120 and light-emitting component 110, by light
Beam 112 reflexes to diffused component 120.Actuator 132 is connected to reflecting element 134, to rotate reflecting element 134, and then changes incident
To the incoming position and angle of incidence of the light beam 112 of diffused component 120, to reach effect of subregion range finding.This actuator 132 can be
Motor, microcomputer electric component or other suitable actuators.
Fig. 6 is the schematic top plan view of the range unit of another embodiment of the present invention.Refer to Fig. 6, the range finding of the present embodiment
Device 100c and the ornaments angle that the difference of range unit 100 is Image Sensor 140.In the present embodiment, range finding light
First central shaft 103 of beam 112a is parallel with the second central shaft 105 of the visual field of Image Sensor 140.
Fig. 7 is the schematic top plan view of the range unit of another embodiment of the present invention.Refer to Fig. 7, the range finding of the present embodiment
Device 100d is that range unit 100d further includes beam splitter 170 with the difference of above-mentioned range unit 100.Beam splitter
170 are configured between diffused component 120 and Image Sensor 140, and beam splitter 170 penetrates can some light, and instead
Penetrate some light.In the present embodiment, distance measuring light beam 112a is formed by the segment beam 112 for penetrating beam splitter 170, and
Visual field 142 ' is that the visual field 142 of the partial image sensing element 140 transferred by the element 170 that is split is formed.
Due to the effect of beam splitter 170, the visual field 142 of Image Sensor 140 element 170 that can be split is transferred, quilt
Visual field after beam splitter 170 is transferred is indicated with label 142 '.In the present embodiment, the second central shaft of visual field 142 '
105 ' is, for example, first central shaft 103 of parallel distance measuring light beam 112a.In another embodiment, the second central shaft of visual field 142 '
105 ' can be overlap with first central shaft 103 of distance measuring light beam 112a.
Range unit 100a, 100b, 100c, 100d of above-mentioned multiple embodiments and range unit 100 have similar excellent
Point, here will be repeated no longer.
Fig. 8 is the schematic top plan view of the range unit of another embodiment of the present invention.Refer to Fig. 8, the range finding of the present embodiment
Device 100e is similar to above-mentioned range unit 100, is that range unit 100e eliminates regulating element 130 at difference, and surveys
Amasthenic lens 150 away from device 100e is zoom lens.That is, range unit 100e does not have the function of Subarea detecting, but
Have the advantages that detectable distance can be adjusted.
Fig. 9 is the schematic top plan view of the range unit of another embodiment of the present invention.Refer to Fig. 9, the range finding of the present embodiment
Device 100f is similar to above-mentioned range unit 100a, is that range unit 100f eliminates regulating element 130 at difference, but expands
Scattered element 120 has a moving member 160.That is, range unit 100f does not have a function of Subarea detecting, but with can examine
Find range from the advantage that can be adjusted.In the range unit of another embodiment, amasthenic lens 150 can be zoom lens, and spread unit
The distance between part 120 and amasthenic lens 150 are variable.Thus, can be by the focal length and/or shifting for changing amasthenic lens 150
Dynamic diffused component 120 is changing the detectable distance of range unit.
In sum, range unit of the invention and distance-finding method at least have one of following advantages：
1. the range unit and distance-finding method of the present invention be by the detection range of range unit because being divided into multiple detection zones,
And the incoming position and angle of incidence of the light beam for being incident to diffused component are adjusted by regulating element, so that light beam sequentially irradiates these
Detection zone and carry out range measurement.Thus, finding range and can be increased in the case of the power of light-emitting component is not increased
Detecting distance.
2. in the range unit of the present invention, due between the focal length and diffused component and amasthenic lens of amasthenic lens away from
It is variable from least one, so the advantage that detectable distance can be adjusted can be reached, so that range unit more can meet
The demand of practical application.
Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention, any to be familiar with this skill
Skill person, without departing from the spirit and scope of the present invention, when a little change can be made with retouching, therefore protection scope of the present invention
When being defined by those as defined in claim.
Claims (9)
1. a kind of range unit, with a detection range, for measuring the distance of at least one object in the detection range, is somebody's turn to do
Range unit includes：
One light-emitting component, launches light beam；And
One Image Sensor, with a visual field, it is characterised in that：
The range unit is further included：
One diffused component, is configured on the bang path of the light beam, and the diffused component is by the Beam Transformation into specific pattern
The distance measuring light beam of case, to expose to the object；And
One amasthenic lens, is configured between the light-emitting component and the diffused component, and on the bang path of the light beam, should
At least one is variable for the distance between the focal length of amasthenic lens and the diffused component and the amasthenic lens, to change
The distance measuring light beam is irradiated to spot size during object, wherein, the field range is more than the whole detection range.
2. range unit as claimed in claim 1, it is characterised in that the amasthenic lens is zoom lens.
3. range unit as claimed in claim 1, it is characterised in that further include a moving member, be connected to the diffused component,
The moving member drives the diffused component movement.
4. range unit as claimed in claim 1, it is characterised in that the light-emitting component is radium-shine emitter or light-emitting diodes
Pipe.
5. range unit as claimed in claim 1, it is characterised in that the diffused component is selected from diffusion sheet, diffraction element or
Mating plate.
6. range unit as claimed in claim 1, it is characterised in that the first central shaft of the distance measuring light beam and the image sensing
Second central shaft of the visual field of element is parallel.
7. range unit as claimed in claim 1, it is characterised in that the first central shaft of the distance measuring light beam and the image sensing
There is an angle between second central shaft of the visual field of element.
8. range unit as claimed in claim 1, it is characterised in that further include a beam splitter, is configured at diffusion unit
Between part and the Image Sensor.
9. range unit as claimed in claim 8, it is characterised in that by the of the part of the beam splitter distance measuring light beam
One central shaft is parallel with second central shaft by the visual field after the beam splitter turnover of the Image Sensor or overlaps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510245287.9A CN104792303B (en) | 2010-09-01 | 2010-09-01 | Distance measuring device and distance measuring method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010269040.8A CN102384736B (en) | 2010-09-01 | 2010-09-01 | Distance measurement device and distance measurement method |
| CN201510245287.9A CN104792303B (en) | 2010-09-01 | 2010-09-01 | Distance measuring device and distance measuring method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010269040.8A Division CN102384736B (en) | 2010-09-01 | 2010-09-01 | Distance measurement device and distance measurement method |
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| CN104792303A CN104792303A (en) | 2015-07-22 |
| CN104792303B true CN104792303B (en) | 2017-04-26 |
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| CN201510245287.9A Active CN104792303B (en) | 2010-09-01 | 2010-09-01 | Distance measuring device and distance measuring method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107192334A (en) * | 2016-03-15 | 2017-09-22 | 信泰光学(深圳)有限公司 | The range unit of adjustable luminous flux |
| CN105807285B (en) * | 2016-04-21 | 2019-07-12 | 深圳市金立通信设备有限公司 | Multizone distance measuring method, range unit and terminal |
| CN106168668A (en) * | 2016-05-24 | 2016-11-30 | 北京工业大学 | A kind of optical rangefinder spatial modulation solution code system |
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|---|---|---|---|---|
| US5148211A (en) * | 1989-10-20 | 1992-09-15 | Fuji Photo Film Co., Ltd. | Stabilized range finder for use with an electronically controlled camera |
| JP2006038571A (en) * | 2004-07-26 | 2006-02-09 | Keyence Corp | Optical displacement gauge |
| CN1877362A (en) * | 2005-06-06 | 2006-12-13 | 欧姆龙株式会社 | Distance measuring device for a vehicle |
| WO2009090593A1 (en) * | 2008-01-16 | 2009-07-23 | Philips Intellectual Property & Standards Gmbh | Laser sensor system based on self-mixing interference |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2660929B2 (en) * | 1989-04-19 | 1997-10-08 | ファナック株式会社 | Arc sensor using CCD solid-state imaging device |
| JP2937397B2 (en) * | 1990-03-30 | 1999-08-23 | 株式会社トプコン | Lightwave rangefinder |
| JP3915742B2 (en) * | 2003-06-20 | 2007-05-16 | 株式会社デンソー | Vehicle object recognition device |
| JP4963544B2 (en) * | 2005-10-11 | 2012-06-27 | 株式会社ブイ・テクノロジー | Minute height measuring device |
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2010
- 2010-09-01 CN CN201010269040.8A patent/CN102384736B/en active Active
- 2010-09-01 CN CN201510245287.9A patent/CN104792303B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5148211A (en) * | 1989-10-20 | 1992-09-15 | Fuji Photo Film Co., Ltd. | Stabilized range finder for use with an electronically controlled camera |
| JP2006038571A (en) * | 2004-07-26 | 2006-02-09 | Keyence Corp | Optical displacement gauge |
| CN1877362A (en) * | 2005-06-06 | 2006-12-13 | 欧姆龙株式会社 | Distance measuring device for a vehicle |
| WO2009090593A1 (en) * | 2008-01-16 | 2009-07-23 | Philips Intellectual Property & Standards Gmbh | Laser sensor system based on self-mixing interference |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102384736B (en) | 2015-06-17 |
| CN104792303A (en) | 2015-07-22 |
| CN102384736A (en) | 2012-03-21 |
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