CN106291574A - A kind of Minitype infrared range unit - Google Patents
A kind of Minitype infrared range unit Download PDFInfo
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- CN106291574A CN106291574A CN201610815620.XA CN201610815620A CN106291574A CN 106291574 A CN106291574 A CN 106291574A CN 201610815620 A CN201610815620 A CN 201610815620A CN 106291574 A CN106291574 A CN 106291574A
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- infrared
- light
- outer housing
- range unit
- minitype
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- 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
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- 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 application relates to a kind of Minitype infrared range unit, including outer housing, inner support, bottom, infrared light emission module and electro-optical distance measurement module, bottom is fixed on the peristome of shield base, inner support is fixed on inside outer housing, infrared light emission module and electro-optical distance measurement module are fixed on inner support, infrared light emission module sends infrared acquisition light, infrared acquisition light is reflected after running into testee, electro-optical distance measurement module receives the infrared acquisition light through reflection, calculates the distance between described Minitype infrared range unit and testee based on time-of-flight method.Wherein, infrared light emission light source, for dissipating infrared light supply, outer housing is provided with guiding device, for reducing the detection blind area of infrared acquisition light.The Minitype infrared range unit volume of the application is little, lightweight, it is low to consume energy, and has outdoor environment resistant light characteristic, the data smoothing of measurement, is applied especially to the terrain following determining high measurement and aircraft of aircraft, and can effectively reduce range hole.
Description
Technical field
The application relates to a kind of electro-optical distance measurement device, particularly relates to a kind of based on flight time (Time of Flight, letter
Claim TOF) the Minitype infrared range unit of method, the height being particularly used for measuring between aircraft and ground, the landform of aircraft with
With.
Background technology
In prior art, modal optical ranging method is triangle telemetry, and main employing LASER Light Source sends detection
Light.But, use triangulation: (1) is affected relatively big, when outside work, it is impossible to accurately measure distance by ambient light；
(2) need LASER Light Source and range cells are configured with certain angle and distance and the support knot being in same plane
Structure, thus limits the design of structure so that the volume of range unit is bigger.
Further, using the range of triangle method of LASER Light Source or using the pulsed-beam time-of-flight methods range finding of point light source of single
In, at objects such as detection complex objects, such as thick grass, due to LASER Light Source or the high collimation of point light source of single, for low latitude
During the height on Air Vehicle Detection self and ground, range measurement can produce very great fluctuation process.
It addition, in existing optical ranging method, send visit photometric beams generally with returning that reception device is received
Light echo bundle not on same optical axis, and, send visits photometric beams usually close to the light beam of collimation, and such structure can be led
Cause when the distance of barrier Yu range unit is close, receive the barrier in the device angle of visual field and can not be detected light beam irradiation
Arrive, it may appear that detection blind area, so that closely interior barrier dysmetria really or cannot be detected by range unit.
Summary of the invention
The deficiency existed for prior art: (1) is affected relatively big by ambient light, when working under outdoor high light, it is impossible to
Accurately measure distance；(2) range unit volume is big；(3) objects such as such as thick grass are being detected, due to LASER Light Source or single-point light
The high collimation in source, when the height on low flyer detection self and ground, range measurement can produce very great fluctuation process；(4)
Closely there is detection blind area in range unit, in order to solve in existing measuring method the problems referred to above one or all,
An aspect according to the application, it is provided that a kind of Minitype infrared range unit based on time-of-flight method.
A kind of Minitype infrared range unit involved by the application, including outer housing, inner support, bottom, infrared light emission mould
Block and electro-optical distance measurement module, wherein, bottom is fixed on the peristome of shield base, and inner support is fixed on inside outer housing, infrared light
Transmitter module and electro-optical distance measurement module are fixed on inner support.Infrared light emission module sends infrared acquisition light, and infrared acquisition light is met
Being reflected after testee, electro-optical distance measurement module receives the infrared acquisition light through reflection, and this described Minitype infrared is found range
Device calculates the distance between described Minitype infrared range unit and testee based on time-of-flight method.
In an embodiment wherein, infrared light emission module being fixedly installed infrared light supply, infrared light supply sends
The infrared acquisition light dissipated.
In an embodiment wherein, described bottom is fixed on shield base, and outer housing and bottom form cavity body structure, described
Inner support is fixed on inside cavity, and the infrared acquisition light Exit positions that described outer housing is corresponding does not have opening, and described outer housing
The infrared acquisition light incoming position that corresponding electro-optical distance measurement module receives through testee reflection does not the most have opening.
In an embodiment wherein, outer housing all by visible ray cut-off infrared transmitting materials make, or described outside
Cover is all made up of the bandpass filter material that centre wavelength is 850nm.
In an embodiment wherein, infrared acquisition light Exit positions corresponding to outer housing and through testee reflection
Infrared acquisition light incoming position is made up of visible ray cut-off infrared transmitting materials, or the infrared acquisition corresponding to described outer housing
Light Exit positions and through testee reflection infrared acquisition light incoming position by the bandpass filter material that centre wavelength is 850nm
Material is made.
In an embodiment wherein, the infrared acquisition light light path that infrared light emission module is sent is provided with infrared light
Diversing lens, these infrared light emission lens are fixed on inner support；Arrange in the reception infrared light light path of described electro-optical distance measurement module
Having infrared optical receiver lens, this infrared optical receiver lens is fixed on inner support.
In an embodiment wherein, outer housing has guiding device, and described guiding device projection is arranged at outer housing, described outside
Guiding device on cover is positioned in the infrared acquisition light light path that described infrared light supply is sent, and described guiding device is used for reducing institute
State the infrared light detecting blind area of Minitype infrared range unit.
In an embodiment wherein, guiding device is column structure, or is hemispherical configuration, or is 1/4th
Cylindrical structure.
In an embodiment wherein, electro-optical distance measurement module be fixedly installed range finding chip EPC600, EPC610 or
EPC660。
In an embodiment wherein, electro-optical distance measurement module includes the photoelectric sensor receiving infrared acquisition light, described light
Electric transducer is an independent photoelectric sensor or is the one piece of planar array being made up of multiple photoelectric sensors that work alone
Photoelectric sensor.
In an embodiment wherein, Minitype infrared range unit is used for determining the height between aircraft and ground, or
For aircraft terrain following.
In an embodiment wherein, guiding device is semicylinder structure, is projected on outer housing infrared acquisition light-transmissive surface
Inner surface arrange, and this guiding device is positioned in the infrared acquisition light light path that infrared light supply is sent.
In an embodiment wherein, semicylinder structure is arranged near electro-optical distance measurement module direction.
In an embodiment wherein, guiding device is quadrant column structure, protrudes from outer housing infrared acquisition light
The inner surface of transmission plane is arranged, and is positioned in the infrared acquisition light light path that infrared light supply is sent.
In an embodiment wherein, this quadrant column structure is integrally located at the side of infrared light supply optical axis, and
And it is positioned at the side, close electro-optical distance measurement module direction of infrared light supply optical axis.
In an embodiment wherein, the round side of this quadrant cylinder is located remotely from the side of electro-optical distance measurement module
To, and the straight sided of this quadrant cylinder is located close to the direction of electro-optical distance measurement module.
In an embodiment wherein, guiding device is extended by the straight sided of quadrant cylinder, forms into stage body knot
Structure, described extension ends in the field of view of receiver angle range border of electro-optical distance measurement module.
The application Minitype infrared based on time-of-flight method range unit: the test philosophy that (1) was sent out based on the flight time, makes
Infrared light emission module and electro-optical distance measurement module need not the angle requirement fixed so that structure design is simple, takes up room
Little, and do not drive the devices such as motor, power consumption is little, and service life is long；(2) infrared light supply used sends has certain area
Dissipating infrared acquisition light, it is possible to detect the range information in certain surface area, the photoelectric sensor of electro-optical distance measurement module is collected
Reflection infrared light in the range of certain visual angle, carried out in spatial resolution is average simultaneously, is equivalent to search coverage
Carry out the detection of average departure distance values, when detecting the complex objects such as such as thick grass, there is the distance value obtaining smoothing；(3) by
In using ranging technology based on TOF, computing formula is:
Wherein, D is the distance value calculated, and C is light speed in a vacuum, and f is the frequency of modulated signal, and DCS0 ~ DCS3 is
Signal sampling amplitude, the detection light sent is the rectangle through ovennodulation or sinusoidal signal, owing to entering during distance calculates
Having gone the calculating subtracted each other, DCS0-DCS2 and DCS3-DCS1 can be with the interference of wiping out background light；And range unit can also root
According to the environmental light intensity detected, convert signal light intensity, improve signal to noise ratio with this, therefore have outdoor anti-high light characteristic.(4) outside
Guiding device is set on cover, effectively reduces the in-plant detection blind area of range unit.
Accompanying drawing explanation
Fig. 1 is the application Minitype infrared range unit overall structure schematic diagram.
Fig. 2 is the application Minitype infrared range unit inner support structural representation.
Fig. 3 is the application Minitype infrared range unit detonation configuration schematic diagram.
Fig. 4 is the application Minitype infrared range unit cover structure schematic diagram.
Fig. 5 is guiding device structural representation in the application Minitype infrared range unit outer housing.
Fig. 6 is that the application is not provided with in the blind area light path contrast schematic diagram arranging guiding device.
Fig. 7 is the application wherein embodiment guiding device structure and light path schematic diagram thereof.
Detailed description of the invention
The embodiment of the present application provides a kind of Minitype infrared range unit, as shown in accompanying drawing 1-4, including outer housing 10, interior
Frame 20, bottom 30, infrared light emission module and electro-optical distance measurement module.Bottom 30 is fixed on the peristome bottom outer housing 10, interior
It is internal that support 20 is fixed on outer housing 10, and infrared light emission module and electro-optical distance measurement module are fixed on inner support 20.
After Minitype infrared range unit receives work order, electro-optical distance measurement module sends modulated signal and sends out to infrared light
Penetrating module, infrared light emission module sends the peak wavelength through modulated signal modulation at the infrared acquisition light of 850nm, and this is infrared
Detection light transmission outer housing, shines in the environment of outside need detection.Infrared acquisition light is reflected after running into testee, passes through
The infrared acquisition light of testee reflection is again passed through outer housing, incides inside outer housing.Electro-optical distance measurement module receives through reflection
Infrared acquisition light, this Minitype infrared range unit calculates described Minitype infrared range unit and measured object based on time-of-flight method
Distance between body.The application have employed time-of-flight method and measures distance, can detect environment middle-range Minitype infrared range finding dress
Put the testee at 15 meters.It addition, by the frequency controlling modulated signal, the detection range of measurement apparatus further expands.
Wherein, infrared light emission module being fixedly installed infrared light supply 40, described infrared light supply sends has certain horizontal stroke
Sectional area dissipate infrared acquisition light light beam.In a preferred embodiment, described infrared light supply 40 is LED light source.The most optional
Embodiment in, the number of LED light source is 2 or more.In a preferred embodiment, infrared light emission module has 4
Individual infrared LED light source.Further, symmetrical centered by above-mentioned LED light source photoelectric sensor 50 in range finder module rectangle
Shape is arranged, and 4 LED light sources are positioned in the right angle electrical of rectangle.In an alternate embodiment of the invention, infrared in infrared light emission module
The optical axis of radiant 40 is parallel with the optical axis at the field of view of receiver angle of electro-optical distance measurement module.
Due to infrared light supply 40 send there is certain cross-sectional area dissipate infrared acquisition light light beam, but light source has relatively
The big angle of divergence, in order to the diverging light sent by infrared light supply is assembled, launches shell with small divergence angle, in preferred embodiment
In, also in the infrared acquisition light light path that infrared light supply sends, it is provided with infrared light emission lens 21, sends out by optimizing infrared light
Penetrate the diameter of lens 21, thickness and radius of curvature, after infrared light emission lens 21, infrared light supply the infrared acquisition sent
The angle of divergence of light is reduced to 2 degree or less, and this infrared acquisition light shone in environment has certain cross-sectional area.Its
In, infrared light emission lens 21 are collecting lens, are fixedly installed on inner support.In an embodiment wherein, this infrared light is sent out
Penetrating lens is biconvex lens, and the two sides of lens has different curvature.Owing to infrared acquisition light has certain cross-sectional area, right
Search coverage is equivalent to carry out the detection of average departure distance values, when measuring the complex objects such as such as thick grass, have smooth away from
Distance values.
In order to the outer detection light being more reflected by the object is collected electro-optical distance measurement module, connecing of electro-optical distance measurement module
Receiving and be provided with infrared optical receiver lens 22 in infrared acquisition light light path, this infrared optical receiver lens 22 is collecting lens, will be by thing
The infrared acquisition light that body is reflected back focuses in electro-optical distance measurement module, and this infrared optical receiver lens 22 is fixedly installed on inner support.
In a preferred embodiment, infrared optical receiver lens is the two panels collecting lens front and back arranged.
Bottom is fixed on shield base, and outer housing forms cavity body structure with bottom, and inner support is fixed on inside cavity.This outer housing
Infrared acquisition light-transmissive surface 11, i.e. at the infrared acquisition light Exit positions that outer housing is corresponding, not there is opening, and described outer housing
The infrared acquisition light incoming position that corresponding electro-optical distance measurement module receives through testee reflection does not the most have opening.This does not has
The enclosure design of opening, will be fixed on the infrared light emission module of inner support, electro-optical distance measurement module, infrared light emission lens and red
Outer optical receiver lens etc. are protected.In a preferred embodiment, the overall one-body molded making of this outer housing.
After bottom and outer housing fix, it is additionally provided with for passing through data wire on cover bottom sides or bottom with the exception that
Aperture 80 outside, define the cavity of closing, effectively stop the impact on internal structure such as extraneous water, dust.Above-mentioned for number
Can also be sealed against by sealing device according at the aperture 80 that line passes through so that inside range unit, be entirely closed structure.
Described data wire is used for data transmission and the power supply function of supplying power etc. of internal range unit and external equipment.
An aspect according to the application, outer housing is all ended infrared transmitting materials by visible ray and makes, or described
Outer housing is all made up of the bandpass filter material that centre wavelength is 850nm.The selection of above-mentioned material, is to remove ambient light pair
The impact of infrared acquisition light, improves signal to noise ratio.In an embodiment wherein, outer housing is without being all made up of light transmissive material, only
Need the infrared acquisition light Exit positions corresponding to outer housing and through testee reflection infrared acquisition light incoming position from
Light cut-off infrared transmitting materials is made, or infrared acquisition light Exit positions corresponding to described outer housing and through testee
The infrared acquisition light incoming position of reflection is made up of the bandpass filter material that centre wavelength is 850nm.
In a preferred embodiment, in order to eliminate the detection blind area of Minitype infrared range unit, it is additionally provided with at outer housing and leads
Electro-optical device 90.Such as shown in Fig. 5, this guiding device 90 is used for, at the closely place of range unit, such as at distance ranging device
0-15 cm range, will pass through the infrared acquisition anaclasis field of view of receiver angle range to electro-optical distance measurement device of this guiding device
In so that even if when the distance of barrier Yu range unit is close, the barrier received in the device angle of visual field also can be detected
Light beam is irradiated to.This guiding device projection is arranged at outer housing, and the guiding device on described outer housing is positioned at described infrared light supply and is sent out
In the infrared acquisition light light path gone out, described guiding device is blind for the infrared light detecting reducing described Minitype infrared range unit
District.Guiding device is column structure, or described projection is hemispherical configuration.
As shown in Figure 6, the detection blind area schematic diagram that guiding device 90 is set and is not provided with guiding device 90.When being not provided with leading
In the case of electro-optical device 90, detection blind area A is relatively big, such as the infrared acquisition light of Fig. 6 mid-infrared light transmitter module mid-infrared light source 40
The region that light path does not overlaps with electro-optical distance measurement module field of view of receiver, i.e. in Fig. 6, solid line infrared acquisition light light path receives with solid line and regards
The field non-intersection of scope.When adding, guiding device is after 90s, and detection blind area B is less so that the light path generating unit of infrared light supply 40
Share extrinsic deflection, as shown in phantom in Figure 6, infrared light supply 40, on the basis of original light path shown in solid, adds dotted line
Shown search coverage, due to the setting of guiding device 90 so that the detection blind area of Minitype infrared range unit reduces, i.e. infrared light
Infrared acquisition light light path shown in the dotted line of source 40 and the solid line non-intersection of field of view of receiver scope.As can be seen here, guiding device 90
Arrange, the detection blind area of range unit can be reduced.
In an embodiment wherein, this guiding device is half cylindrical structure, is projected on outer housing infrared acquisition light saturating
The inner surface penetrating face 11 is arranged, and this guiding device is positioned in the infrared acquisition light light path that infrared light supply is sent.Alternatively,
This semicolumn is projected on the inner surface of outer housing infrared acquisition light-transmissive surface 11, in the infrared acquisition light light path that infrared light supply is sent
On, and arrange near electro-optical distance measurement module direction.
Alternatively, in order to not affect infrared acquisition light with low-angle outgoing, more infrared acquisition light is allowed to go out with low-angle
Being mapped to remote testee, be arranged to quadrant cylinder 91 structure, it is red that this quadrant cylinder 91 protrudes from outer housing
Outer detection light-transmissive surface 11 inner surface, and be positioned in the infrared acquisition light light path that infrared light supply sends.An enforcement wherein
In example, this quadrant column structure is integrally located at the side of infrared light supply optical axis, and this quadrant column structure is overall
It is positioned at the close electro-optical distance measurement module side of infrared light supply optical axis.In an embodiment wherein, this quadrant cylinder
Circle side is located remotely from the direction of electro-optical distance measurement module, and the straight sided of this quadrant cylinder is located close to electro-optical distance measurement mould
The direction of block.
In an alternate embodiment of the invention, in order to avoid the straight sided of this quadrant cylinder 91 is to the infrared infrared spy sent
The reflection of light-metering, is extended this guiding device by the straight sided of quadrant cylinder, be arranged to as it is shown in fig. 7, by four/
The platform body structure that one cylinder 91 and extension 92 are constituted, the reception that this extension 92 ends in electro-optical distance measurement module regards
Rink corner range boundary, it is to avoid on the impact receiving infrared acquisition light.
This guiding device is made up of the light transmissive material identical with outer housing, or is made by transparent material.
Alternatively, between the infrared acquisition light Exit positions corresponding to outer housing inside and infrared acquisition light incoming position,
It is additionally provided with the directs detection light preventing outgoing infrared acquisition light and reflected by barrier and the gear of interference occurs mutually
Electro-optical device.In a preferred embodiment, this light-baffling device is a rounded cylindrical structure protruding from outer cover inner surface.
A kind of Minitype infrared range unit involved by the application, also includes first circuit board and second circuit board.Wherein,
Infrared light emission module and electro-optical distance measurement module are fixedly installed on first circuit board.When Minitype infrared range unit receives work
After instructing, the electro-optical distance measurement module being fixed on first circuit board sends modulated signal by first circuit board and sends out to infrared light
Penetrate module, drive the infrared light supply in infrared light emission module to send infrared acquisition light under drive circuit agreement.First circuit
Plate is fixed on inner support, thus infrared light emission module is fixed with electro-optical distance measurement module.Second circuit board is mainboard, mainly
For for infrared light emission module, electro-optical distance measurement module for power supply on first circuit board, read photoelectric sensor data simultaneously, calculate
And export final measurement.In a preferred embodiment, first circuit board is fixed on inner support, and second circuit board is fixed on
On bottom, first, second circuit board be arranged in parallel.In other examples, first circuit board and the position of second circuit board
Being not limited to this, first, second circuit board can all be fixed on inner support, or first, second circuit board is positioned at and props up
Space between frame and bottom.In an embodiment wherein, first circuit board and second circuit board are integrated in same circuit board
On.First, second circuit board is not limited to be disposed in parallel relation to one another, and in an embodiment wherein, second circuit board is perpendicular to first
Circuit board is arranged.
Wherein, being provided with range finding chip in electro-optical distance measurement module, in a preferred embodiment, this range finding chip is
EPC600 or be EPC610 or for EPC660.
Wherein, electro-optical distance measurement module includes the photoelectric sensor receiving the infrared acquisition light being reflected by the object back, this photoelectricity
Sensor is an independent photoelectric sensor or is the one block of planar array light being made up of multiple photoelectric sensors that work alone
Electric transducer.
Wherein in an embodiment, Minitype infrared range unit is used for walking robot, sweeping robot or unmanned plane,
Or similar intelligent machine mobile device.
Wherein in an embodiment, Minitype infrared range unit is for measuring the height between aircraft and ground.This flight
Device for example, unmanned plane, especially for plant protection unmanned plane.
Wherein in an embodiment, Minitype infrared range unit is used for aircraft terrain following.
Wherein in an embodiment, the environment such as humidity or rainwater can be run into during the use of aircraft, by outward
The design of shell so that this Minitype infrared range unit has the waterproof protective grade of IP65, IP66 or IP67.
The foregoing is only the preferred embodiment of the application, be not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.All within spirit herein and principle, that is made any repaiies
Change, equivalent, improvement etc., within should be included in the protection domain of the application.
Claims (10)
1. a Minitype infrared range unit, it is characterised in that include outer housing, inner support, bottom, infrared light emission module and light
Electricity range finder module, wherein, bottom is fixed on the peristome of shield base, and inner support is fixed on inside outer housing, infrared light emission mould
Block and electro-optical distance measurement module are fixed on inner support,
Described infrared light emission module sends infrared acquisition light, and infrared acquisition light is reflected after running into testee, electro-optical distance measurement
Module receives the infrared acquisition light through reflection, and described Minitype infrared range unit calculates described small-sized based on time-of-flight method
Distance between infrared distance measurement device and testee.
A kind of Minitype infrared range unit the most according to claim 1, it is characterised in that in described infrared light emission module
Being fixedly installed infrared light supply, described infrared light supply sends the infrared acquisition light dissipated.
A kind of Minitype infrared range unit the most according to claim 1, it is characterised in that described bottom is fixed at the bottom of outer housing
Portion, outer housing forms cavity body structure with bottom, and described inner support is fixed on inside cavity, and the infrared acquisition light that described outer housing is corresponding goes out
Penetrate position and not there is opening, and electro-optical distance measurement module corresponding to described outer housing receives the infrared acquisition through testee reflection
Light incoming position does not the most have opening.
A kind of Minitype infrared range unit the most according to claim 3, it is characterised in that described outer housing is all by visible ray
Cut-off infrared transmitting materials is made, or described outer housing is all made up of the bandpass filter material that centre wavelength is 850nm.
A kind of Minitype infrared range unit the most according to claim 3, it is characterised in that infrared corresponding to described outer housing
Detection light Exit positions and the infrared acquisition light incoming position reflected through testee are ended infrared light material by visible ray
Material is made, or infrared acquisition light Exit positions and the infrared acquisition light reflected through testee corresponding to described outer housing enters
Penetrate position to be made up of the bandpass filter material that centre wavelength is 850nm.
A kind of Minitype infrared range unit the most according to claim 3, it is characterised in that described infrared light emission module institute
Being provided with infrared light emission lens in the infrared acquisition light light path sent, these infrared light emission lens are fixed on inner support；Described
Being provided with infrared optical receiver lens in the reception infrared light light path of electro-optical distance measurement module, this infrared optical receiver lens props up in being fixed on
Frame.
7. according to a kind of Minitype infrared range unit one of claim 1-6 Suo Shu, it is characterised in that described outer housing has leads
Electro-optical device, described guiding device projection is arranged at outer housing, and the guiding device on described outer housing is positioned at described infrared light supply and is sent
Infrared acquisition light light path on, described guiding device is for reducing the infrared light detecting blind area of described Minitype infrared range unit.
A kind of Minitype infrared range unit the most according to claim 7, it is characterised in that described guiding device is column knot
Structure, or described projection is hemispherical configuration, or be quadrant column structure, or be semicylinder structure.
A kind of Minitype infrared range unit the most according to claim 7, it is characterised in that electro-optical distance measurement module is fixedly installed
There are range finding chip EPC600, EPC610 or EPC660.
A kind of Minitype infrared range unit the most according to claim 7, it is characterised in that described electro-optical distance measurement module bag
Including the photoelectric sensor receiving infrared acquisition light, described photoelectric sensor is an independent photoelectric sensor or is by multiple
One piece of planar array photoelectric sensor that the photoelectric sensor that works alone is constituted.
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| CN106872961A (en) * | 2017-04-08 | 2017-06-20 | 北醒（北京）光子科技有限公司 | A kind of optical lens, optical distance measurement apparatus and distance-finding method, range-measurement system |
| CN106896367A (en) * | 2017-05-04 | 2017-06-27 | 北醒（北京）光子科技有限公司 | A kind of optical distance measurement apparatus and optical ranging system |
| CN107462895A (en) * | 2017-09-20 | 2017-12-12 | 北醒（北京）光子科技有限公司 | A kind of infrared distance measuring device |
| CN107505607A (en) * | 2017-09-20 | 2017-12-22 | 北醒（北京）光子科技有限公司 | A kind of infrared distance measuring device and TIR lens |
| WO2018184374A1 (en) * | 2017-04-08 | 2018-10-11 | 北醒（北京）光子科技有限公司 | Optical ranging device and optical ranging system |
| WO2019047340A1 (en) * | 2017-09-08 | 2019-03-14 | 北醒（北京）光子科技有限公司 | Optical distance measurement device |
| WO2019056432A1 (en) * | 2017-09-20 | 2019-03-28 | 北醒（北京）光子科技有限公司 | Infrared distance measurement device and tir lens |
| CN110537211A (en) * | 2017-04-21 | 2019-12-03 | 综合设计有限公司 | Optical system for being monitored to people by the movement in channel |
| CN111090082A (en) * | 2019-08-30 | 2020-05-01 | 上海禾赛光电科技有限公司 | Laser radar and method for detecting using the same |
| CN111381241A (en) * | 2020-03-31 | 2020-07-07 | 深圳市银星智能科技股份有限公司 | Laser radar and cleaning robot |
| US10969473B2 (en) | 2017-09-20 | 2021-04-06 | Benewake (Beijing) Co., Ltd. | Infrared range-measurement device and TIR lens |
| CN113614566A (en) * | 2019-03-27 | 2021-11-05 | 松下知识产权经营株式会社 | Distance measurement method, distance measurement device, and program |
| WO2023070313A1 (en) * | 2021-10-26 | 2023-05-04 | 京东方科技集团股份有限公司 | Time-of-flight camera module and display device |
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