CN108983254A - Two-dimentional range unit and distance measuring method based on light stream sensor - Google Patents
Two-dimentional range unit and distance measuring method based on light stream sensor Download PDFInfo
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- CN108983254A CN108983254A CN201810896472.8A CN201810896472A CN108983254A CN 108983254 A CN108983254 A CN 108983254A CN 201810896472 A CN201810896472 A CN 201810896472A CN 108983254 A CN108983254 A CN 108983254A
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- light stream
- range unit
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The present invention provides a kind of two-dimentional range unit based on light stream sensor, which includes: substrate；Light stream sensor, light stream sensor are disposed on the substrate；Controller, controller are connect with light stream sensor by serial line interface；Lens, lens are arranged on the camera lens of light stream sensor；And light source, light source is installed on substrate at a predetermined angle and is driven by light stream sensor, so that the plane for the light direct irradiation camera lens face that light source generates, wherein, in two-dimentional range unit after two-dimensional surface generates displacement, the output request of light stream sensor trigger data.The two-dimentional range unit that the present invention also provides a kind of using above-mentioned based on light stream sensor carries out the distance measuring method of range measurement.
Description
Technical field
The present invention relates to fields of measurement more particularly to a kind of two-dimentional range unit and utilization based on light stream sensor are above-mentioned
The distance measuring method of device progress range measurement.
Background technique
It can be commonly used in occasions such as engineering-built, calculating meterings and arrive ranging.The distance measuring method of mainstream mainly has three at present
Kind, the first is benchmark comparison method, by that with graduated length measuring device, full-length can be replicated and and testee
It is compared, such as the measuring tools such as ruler, tape measure；Second is to be converted range information in the way of laser, ultrasonic wave etc.
To be measured after the time of light or Acoustic Wave Propagation；The third is to be converted the length of testee to using measuring wheel or encoder
Multiple perimeters of measuring wheel circumference, carry out range measurement by way of counting.
As can be seen that existing distance measuring method has the disadvantages that ranging dimension is single, one-dimensional length can only be carried out
Measurement；Traditional distance mearuring equipment measurement accuracy is difficult to get both with range, and measuring range is limited, due to production technology,
Measuring tool range with high accuracy is generally all smaller, and range it is high accuracy of measurement tool it is smaller, such as vernier caliper and volume
Ruler, and the laser class or ultrasound class ranging tool of electronic technology is utilized, since light and sound wave can decay with transmission range, when
Error is larger when measurement distance is longer, and the cost of both schemes is also relatively high, although measuring wheel is not theoretically by range
Limitation, but measuring wheel can change perimeter because of friction, error can be made to increase after long range measurements；Existing ranging scheme is general
It is contact type measurement, measurement process is slow, and the application condition that manual operation introduces is more, and measurement accuracy can be because of mechanical wear
And decline；Tool used by existing ranging scheme is not convenient enough, and structure is complicated for some machine tools；It is existing to be passed using light stream
The scheme of sensor does not have the correction of survey line drift angle, there is biggish measurement error.Therefore, need to provide a kind of energy in existing measuring technique
Enough range units for improving measurement convenience and reducing measurement error.
Summary of the invention
In order to overcome at least one aspect of the above problem, the embodiment of the present invention provides a kind of two based on light stream sensor
It ties up range unit and carries out the distance measuring method of range measurement using above-mentioned two-dimentional range unit, two orthogonal sides can be measured simultaneously
To distance so that measurement it is more accurate, compared with traditional scheme, measurement process is more convenient, and operation fault tolerance is higher.
According to an aspect of the present invention, a kind of two-dimentional range unit based on light stream sensor is provided, comprising: substrate；
Light stream sensor, the light stream sensor setting is on the substrate；Controller, the controller and the light stream sensor are logical
Cross serial line interface connection；Lens, the lens are arranged on the camera lens of the light stream sensor；And light source, the light source with
Predetermined angular installation drives on the substrate and by the light stream sensor, so that the light direct irradiation that the light source generates
The plane of the camera lens face, wherein in the two-dimentional range unit after two-dimensional surface generates displacement, the light stream sensor
Trigger data output request.
Some embodiments of two-dimentional range unit according to the present invention based on light stream sensor, two-dimentional range unit also wrap
Obliquity sensor is included, the obliquity sensor is arranged on the substrate, the obliquity sensor and the controller communication link
It connects, the obliquity sensor is provided with intrinsic direction.
Some embodiments of two-dimentional range unit according to the present invention based on light stream sensor, the reality of two-dimentional range unit
When the border direction of motion and plan line direction generate angle, the obliquity sensor transmits the angle to the controller.
Some embodiments of two-dimentional range unit according to the present invention based on light stream sensor, controller receive the folder
Error is corrected after angle.
Some embodiments of two-dimentional range unit according to the present invention based on light stream sensor, light stream sensor include number
Pin is requested according to output, the data output request pin detects that the two-dimentional range unit is mobile in the light stream sensor
After interrupt the controller.
According to another aspect of the present invention, a kind of utilization two-dimentional ranging based on light stream sensor as described above is provided
The distance measuring method of device progress range measurement, comprising the following steps: S1, the two-dimentional range unit is initialized；S2, make
It is described two dimension range unit moved in parallel along survey line, the light stream sensor obtain respectively X, the first displacement in Y-direction and
Second displacement amount；S3, controller read first displacement and the second displacement amount and judge whether to stop measurement, if stopping
It only measures, enters step S4, otherwise repeatedly step S2 and carry out first displacement and the second displacement amount respectively tired
Add；And S4, total displacement amount measured according to cumulative the first displacement and second displacement.
Some embodiments of distance measuring method according to the present invention, step S2 include: S2.1, make the two-dimentional range unit edge
Survey line moves in parallel, and the light stream sensor drives the light source luminescent, and the light that the light source issues is through surface diffusing reflection to be measured
To the lens of the light stream sensor；S2.2, the light stream sensor acquire mobile image, and extract the opposite picture of characteristic point
Plain position.
Some embodiments of distance measuring method according to the present invention, step S1 include: the control for making the two-dimentional range unit
Device initialization；The controller initializes light stream sensor by serial line interface；And obliquity sensor is initialized, it is arranged
First initial angle and the second initial angle.
Some embodiments of distance measuring method according to the present invention read first displacement and described in the controller
After second displacement amount further include: read the first angle and second angle of the obliquity sensor；By the first angle with
First initial angle is compared, and obtains the first result；And by the second angle and second initial angle into
Row compares, and obtains the second result.
Some embodiments of distance measuring method according to the present invention, the controller is according to first result to described first
Displacement is modified, and is modified according to second result to the second displacement amount.
Some embodiments of distance measuring method according to the present invention, the controller is to revised first displacement and second
Displacement carries out threshold decision, for determining the direction of motion and incremental displacement value of the two-dimentional range unit.
Compared with prior art, the present invention one of at least has the following advantages that:
(1) measurement dimension is increased, the distance of two orthogonal directions can be measured simultaneously, so that measurement result is more quasi-
Really, compared with traditional scheme, measurement process is more convenient, and operation fault tolerance is higher；
(2) contact measured object can not had to, use scope is more extensive；
(3) size is small, easy to carry, and structure is simple, is easily integrated into other application apparatus；
(4) at low cost.
Detailed description of the invention
By the description made for the present invention of below with reference to attached drawing, other objects and advantages of the present invention will be aobvious and easy
See, and can help that complete understanding of the invention will be obtained.
Fig. 1 is the structural schematic diagram of the two-dimentional range unit according to an embodiment of the present invention based on light stream sensor；
Fig. 2 is the main view of the two-dimentional range unit according to an embodiment of the present invention based on light stream sensor；
Fig. 3 is the schematic diagram of the two-dimentional range unit according to an embodiment of the present invention based on light stream sensor；
Fig. 4 is the error analysis figure of the two-dimentional range unit according to an embodiment of the present invention based on light stream sensor；
Fig. 5 is the algorithm flow chart of distance measuring method according to an embodiment of the present invention；
Fig. 6 A is one-dimensional ranging schematic diagram according to an embodiment of the present invention；
Fig. 6 B is two-dimentional ranging schematic diagram according to an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.Unless otherwise defined, the technical term or scientific term that the present invention uses should be tool in fields of the present invention
The ordinary meaning for thering is the personage of general technical ability to be understood.
With the development of electronic technology, many experts and scholars propose some novel distance measuring methods.Mouse conduct is most normal
The human-computer interaction device seen can position in the enterprising row distance of two-dimensional surface by internal light stream sensor, there is the latent of ranging
Matter.Some researchers have carried out tachometric survey using the light stream sensor inside mouse and one-dimensional distance measures, generally all straight
The optical path for having used mouse is connect, obtained error is all bigger, substantially all 5% or so.Biggish error is because mouse is high
Focus is spent, agreement is mainly to be optimized by human-computer interaction, can not directly meet the needs of ranging.
It to sum up can be seen that, using the light stream sensor in mouse, analyze its error source, redesign a set of suitable for surveying
Away from device and method, have many advantages.The invention proposes a kind of two-dimentional range unit and benefit based on light stream sensor
The distance measuring method of range measurement is carried out with above-mentioned apparatus, and the distance of two orthogonal directions can be measured simultaneously, and by
In having used obliquity sensor, the precision of measurement result can be greatly improved.
The embodiment of the present invention is further described with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of the two-dimentional range unit according to an embodiment of the present invention based on light stream sensor, and Fig. 2 is
The main view of two-dimentional range unit according to an embodiment of the present invention based on light stream sensor.It is based on light stream combined with Figure 1 and Figure 2,
The two-dimentional range unit of sensor includes: substrate 1；Light stream sensor 2 on substrate 1 is set；Pass through string with light stream sensor 2
The controller 3 of line interface connection；Lens 4 on the camera lens of light stream sensor 2 are set；And it is mounted on substrate at a predetermined angle
The light source 5 driven on 1 and by light stream sensor 2, in this way, the plane for the light direct irradiation camera lens face that light source 5 generates,
In, in two-dimentional range unit after two-dimensional surface generates displacement, the output request of 2 trigger data of light stream sensor.
Fig. 3 is the index path of the two-dimentional range unit according to an embodiment of the present invention based on light stream sensor.Such as Fig. 3 institute
Show, light stream sensor 2 may include cmos image sensor 23, digital signal processing unit 22, digital interface logic unit 24,
The components such as Power Management Unit 21 and camera lens 25.Black arrow is the direction of optical transport in Fig. 3.The light warp issued from light source 5
Cross camera lens 25 pair plane reflection after by lens 4 enter light stream sensor 2.The cmos image of light stream sensor 2 senses
Device 23 and camera lens 25 are equipped in the digital signal processing unit 22 of light stream sensor 2 and were optimized for acquiring image information
Digital signal processing algorithm can carry out signature analysis and extraction to 23 acquired image information of cmos image sensor.This
Light stream sensor 2 uses PAW3205 model in embodiment, and certainly, the type of light stream sensor includes in other examples
But it is not limited to following various types: PAW3212, PAW3515, PAW3325, ADNS3000, ADNS5050, ATC7515 etc..This reality
The serial line interface for applying the light stream sensor 2 in example includes SCLK and SDIO, and SCLK is the clock of serial line interface, and SDIO is that light stream passes
The data input and output pin of sensor 2, controller 3 pass light stream realizing by way of reading and writing the register of light stream sensor 2
The active configuration and reading data of sensor 2.
Controller 3 uses MSP430FR2433 in the present embodiment, certainly, in other examples, the type of controller 3
Including but not limited to following various types: STM32Fx series, ATmega series, STC series etc..
Substrate 1 can be printed circuit board in the present embodiment, and light source 5 can be light emitting diode, and light emitting diode is by light
Flow sensor 2 drives, and light emitting diode and printed circuit board are at predetermined angular, such as can be 30 degree, such light emitting diode
The light of sending can directly illuminate the plane of camera lens bottom, and light is directly over diffusing reflection and enters light stream sensor 2, in addition, being
The more preferable demand for realizing non-contact range measurement, lens 4 eliminate light guide sheet, preferably acquire figure convenient for light stream sensor 2
As information.All components are mounted on printed circuit board, and row's needle can be used as bracket in the surrounding of printed circuit board.
According to preferred embodiment, two-dimentional range unit further includes obliquity sensor 6, and obliquity sensor 6 is arranged in substrate 1
On, obliquity sensor 6 and controller 3 communicate to connect, and obliquity sensor 6 is provided with intrinsic direction.Obliquity sensor 6 is generally
MEMS device, i.e. MEMS, the device have intrinsic three-dimensional, such as X, Y and Z-direction, can measure static state
Acceleration of gravity is for detecting whether two-dimentional range unit tilts.
When the actual direction of two-dimentional range unit and the intrinsic direction of obliquity sensor 6 generate angle, obliquity sensor 6 will
Angle is transmitted to controller 3.It is exportable relative to obliquity sensor 6 itself when the inclination angle of two-dimentional range unit changes
Gu directive inclination value.
Controller 3 corrects error after receiving angle.Fig. 4 is according to an embodiment of the present invention based on light stream sensing
The error analysis figure of the two-dimentional range unit of device.As shown in figure 4, L1 indicates that expected survey line, L2 indicate that practical survey line, L3 indicate school
Survey line after just.Obliquity sensor 6 is ADXL345 in the present embodiment, can also make other types in other examples certainly
Obliquity sensor.The present invention corrects the error generated in ranging campaign using obliquity sensor 6.Ideally,
The drift angle of distance-measuring equipment and survey line should be 0, that is to say and do not generate any drift angle, such as A, D section of Fig. 4.But it is moved through in measurement
Cheng Zhong, it is difficult to guarantee that distance-measuring equipment and survey line do not generate drift angle, such as B, C section of Fig. 4, after generating drift angle, test result will be than reality
Actual value is bigger than normal.The present invention can be corrected displacement relative to the drift angle of survey line using obliquity sensor 6, eliminate this system mistake
Difference.D in Fig. 4 indicates B sections of drift angle, and β indicates C sections of drift angle.It can be by B, C sections of actual measurement distance multiplied by corresponding drift angle
Cosine value as correction after distance.
Light stream sensor 2 includes data output request pin, and data output request pin detects two in light stream sensor 2
Interrupt control unit 3 after dimension range unit is mobile.Light stream sensor 2 is communicated with controller 3 by serial line interface, and with one
The data of pin response light stream sensor with interrupt function export request.The serial line interface of light stream sensor 2 is two-wire system
Data-interface, in addition, pin of the light stream sensor 2 also with a data output request, can sense generating relative to light stream
Trigger data output request after displacement on device X, Y-direction, X, Y-direction refer to the measurement direction of light stream sensor 2.When light stream passes
Sensor 2 detect it is mobile after data exported into request pin be placed in low level, and then interrupt control unit 3, to read data.
According to another aspect of the present invention, a kind of ranging side being carried out range measurement using above-mentioned two-dimensional device is provided
Method, comprising the following steps:
S1, two-dimentional range unit is initialized.Here, the modules to two-dimentional range unit can carry out respectively
Initialization.
According to preferred embodiment, step S1 includes:
Initialize the controller 3 of two-dimentional range unit.After two-dimentional range unit powers on, at the beginning of controller 3 first realizes itself
Beginningization, including clock setting, IO setting and peripheral hardware setting.
Controller 3 initializes light stream sensor 2 by serial line interface, including communication condition detects, CPI is arranged,
DPI setting and suspend mode setting.
Obliquity sensor 6 is initialized, the first initial angle and the second initial angle are set.First initial angle indicates X
The initial angle in direction, the second initial angle indicate the initial angle of Y-direction.
S2, move in parallel two-dimentional range unit along survey line, light stream sensor 2 obtains X, first in Y-direction respectively
Shifting amount and second displacement amount.
According to preferred embodiment, step S2 the following steps are included:
S2.1, move in parallel two-dimentional range unit along survey line, light stream sensor 2 drives light source 5 to shine, and light source 5 issues
Lens 4 of the light through surface diffusing reflection to be measured to light stream sensor 2.Such as two-dimentional range unit can be held, along survey line in quilt
Planar movement is surveyed, light stream sensor 2 can drive light source 5 to shine, the bottom for the illumination light flow sensor 2 that light source 5 issues, light
By in tested plane diffusing reflection to the condenser lens 4 of 2 bottom of light stream sensor.
S2.2, light stream sensor 2 acquire mobile image, and extract the relative pixel locations of characteristic point.Light stream sensor 2
Internal cmos image sensor is imaged with per second thousand speed, and imaging results are high in digital signal processing unit
Speed analysis, digital signal processing unit extract the relative pixel locations of characteristic point, when mobile two-dimentional range unit, measured object
The characteristic point in body surface face moves on the image, and this movement can be captured by the digital signal processing unit of light stream sensor 2 and be calculated,
And it updates into register.
S3, controller read the first displacement and second displacement amount and simultaneously judge whether to stop measurement, if stopping measurement into
Enter step S4, otherwise repeatedly step S2 and the first displacement and second displacement amount adds up respectively.Light stream sensor 2 can be drawn
Low data output request pin, controller 3 make an immediate response light stream sensor 2, from the register read X-direction of light stream sensor 2
The first displacement and Y-direction second displacement amount.
According to preferred embodiment, after controller reads the first displacement and second displacement amount further include: reading is inclined
The first angle and second angle of angle transducer 6.Controller 3 requests angle-data to obliquity sensor 6, and two-dimentional range unit exists
The actual angle of X-direction is first angle, and the actual angle of two-dimentional range unit in the Y direction is second angle, is read respectively
First angle and second angle.First angle is compared with the first initial angle, obtains the first result；And by second jiao
Degree is compared with the second initial angle, obtains the second result.In the X direction, it is carried out with first angle and the first initial angle
Compare, obtains the difference of the two as the first result；In the Y direction, it is compared, is obtained with second angle with the second initial angle
To the two difference as the second result.First result and the second result are the mistakes that two-dimentional measuring device is generated in measurement
Difference.
Controller is modified the first displacement according to the first result, is repaired according to the second result to second displacement amount
Just.
Controller 3 carries out threshold decision to revised first displacement and second displacement amount, for determining two-dimentional ranging
The direction of motion and incremental displacement value of device, i.e. amount of displacement.If displacement is greater than threshold value, moved toward positive direction.And
Displacement is greater than threshold value, can report to the back-end change in displacement by modes such as UART/SPI or I/O codings, later light stream sensor
2 continue to test displacement, and controller continues waiting for interrupting.
S4, total displacement amount is measured according to cumulative the first displacement and second displacement.
If one-dimensional ranging then calculates total displacement amount according to Pythagorean theorem；If two-dimentional ranging, then both direction away from
From being cumulative the first displacement and second displacement amount respectively.
Fig. 5 is the algorithm flow chart of distance measuring method according to an embodiment of the present invention.
Delta_x, delta_y respectively refer to the X obtained from light stream sensor 2, and the real-time displacement amount of Y-direction that is to say
First displacement and second displacement amount, the direction along X, Y-direction are positive number, are on the contrary then negative, sum_x, sum_y difference
Referring to that controller X, Y-direction are displaced accumulation amount, sta_x, sta_y respectively refer to the first initial angle and the second initial angle, mea_x,
Mea_y respectively refers to the real-time angular value that controller receives the two-dimentional range unit measured after change in displacement, that is to say first angle
And second angle, threshold refer to controller to the judgment threshold of accumulation amount, the selection and the demand phase of subsequent processing of the threshold value
Close, dis_x, dis_y be respectively X, Y-direction displacement it is cumulative, be the accumulated value since 0 ing, d is that one-dimensional final measurement is tied
Fruit.
As shown in figure 5, controller 3 receives MOTSWK signal, the data transfer request letter that light stream sensor 2 issues that is to say
Number, controller 3 reads delta_x, delta_y, and executes following operation:
Sum_x=sum_x+delta_x*cos (sta_x-mea_x),
Sum_y=sum_y+delta_y*cos (sta_y-mea_y).
Then judgment threshold judges sum_x > threshold or sum_y > threshold or sum_x <-
Threshold or sum_y <-threshold, if meeting the direction sum_x > threshold, x, count is incremented and exports, if meeting
Count is incremented and exports in the direction sum_y > threshold, y, subtracts 1 and defeated if meeting the direction-threshold, x sum_x < and counting
Out, subtract 1 if meeting the direction-threshold, y sum_y < and counting and export.
Continue to measure if necessary, controller waits MOTSWK to interrupt again；If terminating measurement, result is exported aobvious
Show.Measurement terminates, and by the modes notification controller such as key or UART/SPI, controller removes the temporary of own variable register
Value prepares measurement next time, or closes instrument.
Fig. 6 A is one-dimensional ranging schematic diagram according to an embodiment of the present invention.As shown in Figure 6A, two-dimentional range unit is along dotted line
Shown direction is mobile, in the process of moving, due to the offset of operator, range unit can be made also to generate in the Y direction
Mobile, therefore, measurement result is
Fig. 6 B is two-dimentional ranging schematic diagram according to an embodiment of the present invention.As shown in Figure 6B, in figure be a rectangle, enable X,
Two axis of Y is parallel with two vertical edges of rectangle respectively, diagonally streaks.The distance of both direction be respectively dis_x and
dis_y。
The embodiment of the invention provides the two-dimentional non-contact distance-measurement device and method based on light stream sensor, compared to existing
Technology, the embodiment of the present invention have the advantage that
1. increasing measurement dimension, the distance of two orthogonal directions can be measured simultaneously, so that measurement result is more accurate,
Compared with traditional scheme, measurement process is more convenient, and operation fault tolerance is higher；
2. increasing the correction of survey line drift angle, the displacement error of generation can be corrected in ranging process；
3. light stream sensor uses displacement variable to controller reporting, so can theoretically keep degree of precision
On the basis of, it is not limited by range, range gets both with precision；
4. the present invention is a kind of solution of non-cpntact measurement, use scope is wider, such as can be used for high-speed motion
Object linear measure longimetry, do not use mechanical movement facilities in total solution, wear error be substantially not present；
5. apparatus of the present invention are small-sized, easy to carry, and structure is simple, can be easy to be integrated in other applications
In equipment；
6. cost is relatively low by the present invention.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (11)
1. a kind of two-dimentional range unit based on light stream sensor characterized by comprising
Substrate；
Light stream sensor, the light stream sensor setting is on the substrate；
Controller, the controller are connect with the light stream sensor by serial line interface；
Lens, the lens are arranged on the camera lens of the light stream sensor；And
Light source, the light source is installed on the substrate at a predetermined angle and is driven by the light stream sensor, so that described
The plane of camera lens face described in the light direct irradiation that light source generates,
Wherein, in the two-dimentional range unit after two-dimensional surface generates displacement, the light stream sensor trigger data output is asked
It asks.
2. two dimension range unit according to claim 1, which is characterized in that the two dimension range unit further includes that inclination angle passes
Sensor, on the substrate, the obliquity sensor and the controller communicate to connect, described to incline for the obliquity sensor setting
Angle transducer is provided with intrinsic direction.
3. it is according to claim 2 two dimension range unit, which is characterized in that it is described two dimension range unit the direction of motion with
When predetermined line direction generates angle, the obliquity sensor transmits the angle to the controller.
4. two dimension range unit according to claim 3, which is characterized in that the controller receives right after the angle
Error is corrected.
5. two dimension range unit according to claim 1, which is characterized in that the light stream sensor includes that data output is asked
Pin is sought, the data output request pin interrupts institute after the light stream sensor detects that the two-dimentional range unit is mobile
State controller.
6. a kind of two-dimentional range unit using according to any one of claims 1 to 5 based on light stream sensor carries out distance
The distance measuring method of measurement, it is characterised in that the following steps are included:
S1, the two-dimentional range unit is initialized；
S2, move in parallel the two-dimentional range unit along survey line, the light stream sensor obtains X, first in Y-direction respectively
Displacement and second displacement amount；
S3, controller read first displacement and the second displacement amount and judge whether to stop measurement, if stopping measurement
S4 is then entered step, otherwise repeatedly step S2 and first displacement and the second displacement amount are added up respectively；With
And
S4, total displacement amount is measured according to cumulative the first displacement and second displacement.
7. distance measuring method according to claim 6, which is characterized in that step S2 includes:
S2.1, move in parallel the two-dimentional range unit along survey line, the light stream sensor drives the light source luminescent, described
Lens of the light through surface diffusing reflection to be measured to the light stream sensor that light source issues；
S2.2, the light stream sensor acquire mobile image, and extract the relative pixel locations of characteristic point.
8. distance measuring method according to claim 6, which is characterized in that step S1 includes:
Make the controller initialization of the two-dimentional range unit；
The controller initializes light stream sensor by serial line interface；And
Obliquity sensor is initialized, the first initial angle and the second initial angle are set.
9. distance measuring method according to claim 8, which is characterized in that the controller read first displacement and
After the second displacement amount further include:
Read the first angle and second angle of the obliquity sensor；
The first angle is compared with first initial angle, obtains the first result；And by the second angle
It is compared with second initial angle, obtains the second result.
10. distance measuring method according to claim 9, which is characterized in that the controller is according to first result to institute
It states the first displacement to be modified, the second displacement amount is modified according to second result.
11. distance measuring method according to claim 10, which is characterized in that the controller is to revised first displacement
Threshold decision is carried out with second displacement amount, for determining the direction of motion and incremental displacement value of the two-dimentional range unit.
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