CN113252035A - Optical navigation device - Google Patents
Optical navigation device Download PDFInfo
- Publication number
- CN113252035A CN113252035A CN202010376444.0A CN202010376444A CN113252035A CN 113252035 A CN113252035 A CN 113252035A CN 202010376444 A CN202010376444 A CN 202010376444A CN 113252035 A CN113252035 A CN 113252035A
- Authority
- CN
- China
- Prior art keywords
- navigation device
- optical navigation
- light beams
- light
- sensing element
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000003287 optical effect Effects 0.000 title claims abstract description 79
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 7
- 238000004140 cleaning Methods 0.000 description 8
- 238000010408 sweeping Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention provides an optical navigation device, which comprises a plurality of light sources, a sensing element and a control circuit. The light sources are used for emitting a plurality of light beams to a surface to be measured, wherein the light beams are incident to different positions of the surface to be measured to form a plurality of areas to be measured. The sensing element is used for receiving a plurality of reflected beams of the light beams after being reflected by the surface to be measured. The control circuit is electrically connected with the light sources and the sensing element. Each reflected light beam forms a sensed image. The control circuit utilizes the correlation between the sensing images at a plurality of different times to calculate the moving track of the optical navigation device.
Description
Technical Field
The present invention relates to an optical navigation device, and more particularly to an optical navigation device.
Background
The sweeping robot has been developed for more than 20 years from 1996 to date, but has not gained the attention of consumers until recently, mainly due to the respective breakthroughs in software and hardware technologies. The evaluation of one sweeping robot has not only two indexes, namely cleaning rate and coverage rate. The cleaning effect depends on the design of the hardware structure of the fuselage, and the coverage degree depends on the algorithm and navigation technology of software. In other words, the cleaning rate represents the cleaning effect, and the coverage rate represents the cleaning efficiency of the sweeping robot, and the cleaning efficiency is not limited to the cleaning efficiency. Therefore, it is an urgent need of manufacturers to improve the cleaning efficiency by calculating and predicting the path through different navigation technologies.
Furthermore, the navigation techniques are divided into two types, passive navigation and active navigation. Passive navigation generally uses simple collision feedback, and matches with the movement of a mechanical roller to measure the distance and the end point, thereby achieving the detection of the track. However, the collision method is likely to cause damage to the furniture, and the roller movement is likely to be misjudged as not actually moving due to an object obstacle.
Active navigation is also classified into three types: inertial navigation, visual navigation (vSLAM) and Laser navigation (LDS SLAM). Inertial navigation: the inertial sensor obtains angular acceleration and linear acceleration information of the sweeping robot by using a gyroscope and an accelerometer, and obtains position information of the sweeping robot through integration. But the accuracy is also affected by problems such as gyroscope drift, calibration error, sensitivity, etc. Further, as the travel time and distance increase, the error increases.
Visual navigation: the camera is used for acquiring images of the environment, and the difference between the images is used for calculating the position information of the sweeping robot. However, this positioning method is greatly affected by the illumination condition, and the requirement for the algorithm of a complex scene is high. Because the positioning is completed by the camera, the sweeping robot can be directly lost when the sweeping robot is used indoors with too strong light or no light, and the cost is higher.
Laser navigation: the room is scanned by a laser ranging sensor to quickly acquire distance information. When the laser is projected to the barrier, a light spot is formed, and meanwhile, the image sensor can calculate the center distance to the laser ranging sensor according to the pixel sequence number of the light spot. However, the cost of laser navigation is also high, and the accuracy of correction is closely related to the detection of distance, so that the laser navigation is not easy to popularize in application.
Disclosure of Invention
The invention is directed to an optical navigation device that provides a positioning result with high accuracy and at a low cost.
The optical navigation device of an embodiment of the present invention includes a plurality of light sources, a sensing element and a control circuit. The light sources are used for emitting a plurality of light beams to a surface to be measured, wherein the light beams are incident to different positions of the surface to be measured to form a plurality of areas to be measured. The sensing element is used for receiving a plurality of reflected beams of the light beams after being reflected by the surface to be measured. The control circuit is electrically connected with the light sources and the sensing element. Each reflected light beam forms a sensed image. The control circuit utilizes the correlation between the sensing images at a plurality of different times to calculate the moving track of the optical navigation device.
In an embodiment of the invention, the control circuit controls the light sources to sequentially emit the light beams, so that the sensing elements sequentially sense the sensing images respectively generated by the light beams, and the moving angle of the optical navigation device is calculated by using the difference of the sensing images at a plurality of different time positions.
In an embodiment of the invention, the sensing element and the control circuit are integrated on the same chip.
In an embodiment of the invention, the sensing element and the control circuit are respectively included in two different chips.
In an embodiment of the invention, the sensing element includes a plurality of sensing pixels. The sensing pixels are arranged in an array.
In an embodiment of the invention, the light sources emit the light beams perpendicular to a traveling direction of the optical navigation device.
In an embodiment of the invention, the optical navigation device further includes a plurality of reflective elements. The reflecting elements are arranged on the transmission path of the light beams from the light sources to the surface to be measured.
In an embodiment of the invention, the optical navigation device further includes a plurality of lenses. A plurality of lenses are arranged on the transmission path of the light beams from the light sources to the reflecting elements.
In an embodiment of the invention, the optical navigation device further includes a plurality of imaging lenses. The imaging lenses are arranged on the transmission paths of the reflected light beams from the surface to be detected to the sensing element.
In an embodiment of the invention, the arrangement direction of the regions to be measured and the traveling direction of the optical navigation device are not parallel to each other.
In an embodiment of the invention, the arrangement direction of the regions to be measured is perpendicular to the traveling direction of the optical navigation device.
In an embodiment of the invention, the light sources are light emitting diodes or laser diodes.
Based on the above, in the optical navigation device according to the embodiment of the invention, since the optical navigation device includes the plurality of light sources, and the light beams are incident to different positions of the surface to be measured to form the plurality of regions to be measured, the optical navigation device can still provide a positioning result with high accuracy at a lower cost.
Drawings
FIG. 1 is a schematic perspective view of an optical navigation device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of an optical navigation device according to an embodiment of the present invention;
fig. 3A to 3C illustrate different examples of the movement trajectory of the optical navigation device according to the embodiment of the present invention.
Description of the reference numerals
100 optical navigation device
110 light source
120 sensing element
130 control circuit
140 reflective element
150 lens
160 imaging lens
A1 and A2 areas to be tested
B1, B2 light Beam
G, the surface to be measured
I1, I2 sense image
P1, P2 position
R1, R2 reflected light beam
Detailed Description
Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings and the description to refer to the same or like parts.
FIG. 1 is a schematic perspective view of an optical navigation device according to an embodiment of the invention. FIG. 2 is a cross-sectional view of an optical navigation device according to an embodiment of the present invention. Referring to fig. 1 and fig. 2, an optical navigation device 100 according to an embodiment of the invention includes a plurality of light sources 110, a sensing element 120, and a control circuit 130. The control circuit 130 is electrically connected to the light source 110 and the sensing element 120. In the present embodiment, the light source 110 may be a light emitting diode or a laser diode. The sensing element 120 may be a Complementary Metal-Oxide Semiconductor (CMOS) or a Charge Coupled Device (CCD). The sensing element 120 and the control Circuit 130 are disposed on a Printed Circuit Board (PCB), for example. However, the light source 110, the sensing element 120 and the control circuit 130 of the present invention are not limited to the above. In one embodiment, the sensing element 120 and the control circuit 130 can be integrated on the same chip. In another embodiment, the sensing element 120 and the control circuit 130 are separated into two chips.
For convenience of illustration, fig. 1 and 2 simply illustrate two light sources 110. The surface G to be measured in fig. 2 is, for example, a floor or a ceiling. In the embodiment, the light sources 110 are configured to emit light beams B1 and B2 onto the surface G to be measured, wherein the light beams B1 and B2 are incident on different positions P1 and P2 of the surface G to be measured to form a plurality of regions a1 and a2 to be measured. In detail, the light beams B1 and B2 are incident on the surface G to be measured to form a plurality of light spots. The area covered by each light spot can be an area to be measured A1 and A2.
In this implementation, the sensing element 120 includes a plurality of sensing pixels. In order to enable the optical navigation device 100 to effectively recognize the difference of the images formed by the light beams B1, B2 in each region a1, a2, such as the degree of change of the position of the light spot in each region a1, a2 with time, the sensing pixels may be in an array structure of m × 1, 1 × m, m × n, n × m or m × m, where m and n are positive integers greater than or equal to 2.
Furthermore, in the present embodiment, the sensing element 120 is used for receiving a plurality of reflected light beams R1 and R2 after the light beams B1 and B2 are reflected by the surface G to be measured. Each reflected beam R1, R2 forms a sensed image. The control circuit 130 utilizes the correlation between the sensing images at different times to calculate the moving track of the optical navigation device 100.
For example, fig. 3A to 3C illustrate different examples of the movement track of the optical navigation device according to the embodiment of the present invention. In fig. 3A to 3C, each light spot illustrates one sensed image at one point of time, the X direction is a straight direction, and the Y direction is a right direction. The sensing images I1, I2 are, for example, images formed by the reflected light beams R1, R2, respectively. For convenience of illustration, the reflected light beam R1 corresponds to the first light source 110 and the first light beam B1, and the reflected light beam R2 corresponds to the second light source 110 and the second light beam B2. For convenience of illustration, fig. 3A to 3C show the sensing images I1, I2 at different times in the same drawing. For example, in fig. 3A, the first light source 110 emits the first light beam B1 at a first time, and the sensing element 120 acquires the sensing image I1. The second light source 110 emits the second light beam B2 at the second time, and the sensing element 120 acquires the sensing image I2. Then, the first light source 110 emits the first light beam B1 at a third time, and the sensing element 120 obtains a sensing image I1. The second light source 110 emits the second light beam B2 at a fourth time, and the sensing element 120 acquires a sensing image I2. And so on, the light sources 110 alternately emit the light beams B1, B2 therebetween, so that the sensing element obtains a plurality of sensing images I1, I2 at different times. Further, the control circuit 130 analyzes the correlation between the sensing images I1 at different times and the correlation between the sensing images I2 at different times to calculate the relative movement amount, wherein the correlation is, for example, the difference between the positions of the light spots in the sensing images I1 and I2 at different times. For example, the difference between the sensed image I1 obtained at the first time and the sensed image I1 obtained at the third time is analyzed to calculate the moving amount of the optical navigation device 100 relative to the area a1, and the difference between the sensed image I2 obtained at the second time and the sensed image I2 obtained at the fourth time is analyzed to calculate the moving amount of the optical navigation device 100 relative to the area a 2. Then, the moving angle of the optical navigation device 100 is calculated by using the correlation between the sensing images I1 and the correlation between the sensing images I2. That is, the movement angle of the optical navigation device 100 is calculated from the movement amount of the optical navigation device 100 with respect to the area a1 to be measured and the movement amount of the optical navigation device 100 with respect to the area a2 to be measured. In fig. 3A, since the relative movement amount between the sensing images I1 is the same as the relative movement amount between the sensing images I2, the control circuit 130 can calculate the movement locus of the optical navigation device 100 as a straight line.
By analogy, in fig. 3B, the relative movement amount between the sensing images I2 is significantly smaller than the relative movement amount between the sensing images I1, and therefore, the control circuit 130 can calculate the movement track of the optical navigation device 100 as a right line (i.e., a right turn). Similarly, according to FIG. 3C, the control circuit 130 can calculate the movement track of the optical navigation device 100 as a left-going (i.e. left-turning). That is, in the present embodiment, the control circuit 130 can control the light source 110 to sequentially emit the light beams B1 and B2, so that the sensing element 120 sequentially senses the sensing images I1 and I2 generated by the light beams B1 and B2, respectively, and calculates the moving angle of the optical navigation device 100 by using the difference between the positions of the sensing images I1 and I2 at different times.
Based on the above, in the optical navigation device 100 of the embodiment of the invention, since the optical navigation device 100 includes the plurality of light sources 110, and the light beams B1 and B2 are incident on the different positions P1 and P2 of the surface G to be measured to form the plurality of regions a1 and a2, the optical navigation device 100 can still provide a positioning result with high accuracy at a low cost. Also, as the number of the light sources 110 is larger, the accuracy of the positioning result is higher. Furthermore, the optical navigation device 100 utilizes the correlation between the sensed images at different times to determine the moving track of the optical navigation device 100, thereby avoiding erroneous determination that the optical navigation device 100 does not actually move due to an obstacle.
In addition, when the light source 110 of the optical navigation device 100 selects to use a light emitting diode or a laser diode with high directivity, the control circuit 130 of the optical navigation device 100 can preferably determine the correlation between the sensing images I1 and I2 formed at different times. Moreover, the surface G to be measured can be a floor or a ceiling, so that a user can select a better surface G to be measured according to the difference of the use environments.
In the present embodiment, the light source 110 emits the light beams B1, B2 perpendicular to the direction of travel of the optical navigation device 100, such as the direction of the X-axis, and the light source 110 emits the light beams B1, B2 in the direction of the Z-axis, for example. Furthermore, the optical navigation device 100 further includes a plurality of reflective elements 140. The reflection element 140 is disposed on the transmission path of the light beams B1 and B2 from the light source 110 to the surface G to be measured.
In an embodiment, the light source 110 may not pass through the reflective element, and directly make the light beams B1 and B2 incident on the positions P1 and P2 of the surface G to be measured.
In one embodiment, the optical navigation device 100 also includes a plurality of lenses 150. The lens 150 is disposed on a transmission path of the light beams B1 and B2 from the light source 110 to the reflection element 140, so as to collimate the light beams B1 and B2 or focus the light beams B1 and B2 on the surface G to be measured. Therefore, the signal-to-noise ratio of the sensing images I1 and I2 obtained by the optical navigation device 100 can be improved, so that the positioning result is better.
In one embodiment, the optical navigation device 100 also includes a plurality of imaging lenses 160. The imaging lens 160 is disposed on the transmission path of the reflected beams R1 and R2 from the surface G to be measured to the sensing element 120. The imaging lens 160 can also improve the recognition of the sensed images I1, I2, thus making the positioning result better.
In addition, in order to make the optical navigation device 100 determine the relationship between the sensing images I1, I2 formed at different times, in the present embodiment, the arrangement direction of the regions to be measured a1, a2 and the traveling direction of the optical navigation device 100 may not be parallel to each other, and the arrangement direction of the regions to be measured a1, a2 and the traveling direction of the optical navigation device 100 are preferably perpendicular to each other. For example, the arrangement direction of the areas to be measured a1 and a2 is the direction of the Y axis, and the traveling direction of the optical navigation device 100 is the direction of the X axis.
In summary, in the optical navigation device according to the embodiment of the invention, since the optical navigation device includes a plurality of light sources and the light beams are incident to different positions of the surface to be measured to form a plurality of regions to be measured, the optical navigation device can still provide a positioning result with high accuracy at a lower cost. Also, as the number of light sources is larger, the accuracy of the positioning result is higher. Furthermore, the optical navigation device utilizes the relevance of the sensing image among a plurality of different times to judge the moving track of the optical navigation device, thereby avoiding the misjudgment that the optical navigation device does not actually move and the like caused by object obstacles.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (12)
1. An optical navigation device, comprising:
the light sources are used for emitting a plurality of light beams to a surface to be detected, wherein the light beams are incident to different positions of the surface to be detected to form a plurality of areas to be detected;
the sensing element is used for receiving a plurality of reflected beams of the plurality of light beams after being reflected by the surface to be detected; and
the control circuit is electrically connected with the plurality of light sources and the sensing element, wherein each reflected light beam forms a sensing image, and the control circuit calculates the moving track of the optical navigation device by utilizing the relevance of the plurality of sensing images at a plurality of different times.
2. The optical navigation device as claimed in claim 1, wherein the control circuit controls the light sources to sequentially emit the light beams, so that the sensing element sequentially senses the sensing images generated by the light beams, and calculates the moving angle of the optical navigation device by using the difference between the sensing images at different time positions.
3. The optical navigation device of claim 1, wherein the sensing element and the control circuit are integrated on the same chip.
4. The optical navigation device of claim 1, where the sensing element and the control circuit are separate chips.
5. The optical navigation device of claim 1, wherein the sensing element includes a plurality of sensing pixels arranged in an array.
6. The optical navigation device of claim 1, wherein the plurality of light sources emit the plurality of light beams perpendicular to a direction of travel of the optical navigation device.
7. The optical navigation device of claim 1, further comprising:
and the reflecting elements are arranged on the transmission paths of the light beams from the light sources to the surface to be measured.
8. The optical navigation device of claim 7, further comprising:
and the lenses are arranged on the transmission paths of the light beams from the light sources to the reflecting elements.
9. The optical navigation device of claim 1, further comprising:
and the imaging lenses are arranged on transmission paths of the reflected light beams from the surface to be detected to the sensing element.
10. The optical navigation device of claim 1, wherein the arrangement direction of the plurality of regions under test and the traveling direction of the optical navigation device are not parallel to each other.
11. The optical navigation device of claim 1, wherein the arrangement direction of the plurality of regions under test is perpendicular to the traveling direction of the optical navigation device.
12. The optical navigation device of claim 1, wherein the plurality of light sources are light emitting diodes or laser diodes.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US202062972652P | 2020-02-11 | 2020-02-11 | |
| US62/972,652 | 2020-02-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113252035A true CN113252035A (en) | 2021-08-13 |
Family
ID=77220026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010376444.0A Pending CN113252035A (en) | 2020-02-11 | 2020-05-07 | Optical navigation device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113252035A (en) |
| TW (1) | TWI734465B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6424407B1 (en) * | 1998-03-09 | 2002-07-23 | Otm Technologies Ltd. | Optical translation measurement |
| CN1360275A (en) * | 2000-12-21 | 2002-07-24 | 三星电机株式会社 | Optical mouse |
| CN101206541A (en) * | 2006-12-18 | 2008-06-25 | 安华高科技Ecbuip(新加坡)私人有限公司 | Methods and apparatus for navigating a surfuce |
| CN101427939A (en) * | 2008-11-21 | 2009-05-13 | 南开大学 | Electro-optical distance measurement system of non-contact measurement |
| CN101685352A (en) * | 2008-09-27 | 2010-03-31 | 昆盈企业股份有限公司 | Time difference type computer input unit, data input processing method and sensor thereof |
| CN102072710A (en) * | 2009-11-20 | 2011-05-25 | 上海微电子装备有限公司 | Optical angle measuring device and angle measuring method |
| US20120140245A1 (en) * | 2010-12-01 | 2012-06-07 | Mitutoyo Corporation | Image correlation displacement sensor |
| CN103257722A (en) * | 2012-02-20 | 2013-08-21 | 原相科技股份有限公司 | Optical navigation device |
| CN106482670A (en) * | 2016-12-09 | 2017-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of three-dimensional perspective measuring system |
| TW201723752A (en) * | 2015-04-17 | 2017-07-01 | 原相科技股份有限公司 | Optical navigation chip, optical navigation module and optical encoder |
| WO2018110568A1 (en) * | 2016-12-12 | 2018-06-21 | 日本電産シンポ株式会社 | Moving body performing obstacle avoidance operation and computer program therefor |
| CN207636816U (en) * | 2017-09-25 | 2018-07-20 | 北京石头世纪科技有限公司 | Optics module and Intelligent mobile equipment with it |
| CN110031002A (en) * | 2018-01-12 | 2019-07-19 | 原相科技股份有限公司 | Detect method, system and its sensor subsystem of obstruction |
| CN111000491A (en) * | 2018-10-08 | 2020-04-14 | 原相科技股份有限公司 | Cleaning robot capable of identifying surface types |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWM428389U (en) * | 2011-09-08 | 2012-05-01 | Li-Qiang Zhou | Tracing vehicles with stepping positioning, fixed interval steering and fixed interval speed changing functions |
| CN206678826U (en) * | 2017-03-16 | 2017-11-28 | 华侨大学 | A kind of simple tracking self-propelled vehicle |
-
2020
- 2020-05-07 CN CN202010376444.0A patent/CN113252035A/en active Pending
- 2020-05-07 TW TW109115162A patent/TWI734465B/en active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6424407B1 (en) * | 1998-03-09 | 2002-07-23 | Otm Technologies Ltd. | Optical translation measurement |
| US20030142288A1 (en) * | 1998-03-09 | 2003-07-31 | Opher Kinrot | Optical translation measurement |
| CN1360275A (en) * | 2000-12-21 | 2002-07-24 | 三星电机株式会社 | Optical mouse |
| CN101206541A (en) * | 2006-12-18 | 2008-06-25 | 安华高科技Ecbuip(新加坡)私人有限公司 | Methods and apparatus for navigating a surfuce |
| CN101685352A (en) * | 2008-09-27 | 2010-03-31 | 昆盈企业股份有限公司 | Time difference type computer input unit, data input processing method and sensor thereof |
| CN101427939A (en) * | 2008-11-21 | 2009-05-13 | 南开大学 | Electro-optical distance measurement system of non-contact measurement |
| CN102072710A (en) * | 2009-11-20 | 2011-05-25 | 上海微电子装备有限公司 | Optical angle measuring device and angle measuring method |
| US20120140245A1 (en) * | 2010-12-01 | 2012-06-07 | Mitutoyo Corporation | Image correlation displacement sensor |
| CN103257722A (en) * | 2012-02-20 | 2013-08-21 | 原相科技股份有限公司 | Optical navigation device |
| TW201723752A (en) * | 2015-04-17 | 2017-07-01 | 原相科技股份有限公司 | Optical navigation chip, optical navigation module and optical encoder |
| CN106482670A (en) * | 2016-12-09 | 2017-03-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of three-dimensional perspective measuring system |
| WO2018110568A1 (en) * | 2016-12-12 | 2018-06-21 | 日本電産シンポ株式会社 | Moving body performing obstacle avoidance operation and computer program therefor |
| TW201833702A (en) * | 2016-12-12 | 2018-09-16 | 日商日本電產新寶股份有限公司 | A vehicle performing obstacle avoidance operation and recording medium storing computer program thereof |
| CN207636816U (en) * | 2017-09-25 | 2018-07-20 | 北京石头世纪科技有限公司 | Optics module and Intelligent mobile equipment with it |
| CN110031002A (en) * | 2018-01-12 | 2019-07-19 | 原相科技股份有限公司 | Detect method, system and its sensor subsystem of obstruction |
| CN111000491A (en) * | 2018-10-08 | 2020-04-14 | 原相科技股份有限公司 | Cleaning robot capable of identifying surface types |
Also Published As
| Publication number | Publication date |
|---|---|
| TW202131125A (en) | 2021-08-16 |
| TWI734465B (en) | 2021-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100753885B1 (en) | Image obtaining apparatus | |
| JP5016245B2 (en) | Measurement system for determining the six degrees of freedom of an object | |
| US10362295B2 (en) | Optical apparatus with beam steering and position feedback | |
| US8138488B2 (en) | System and method for performing optical navigation using scattered light | |
| US7965278B2 (en) | Optical navigation device adapted for navigation on a transparent plate | |
| JP2014066728A (en) | Device and method for measuring six degrees of freedom | |
| WO2009040792A1 (en) | Wide field of view optical tracking system | |
| US7271919B2 (en) | Confocal displacement sensor | |
| US11373322B2 (en) | Depth sensing with a ranging sensor and an image sensor | |
| US20180373348A1 (en) | Systems and methods of active brightness depth calculation for object tracking | |
| US20120044213A1 (en) | Optical Touch Display System | |
| CN114509005B (en) | Coordinate measuring device with automatic target recognition function and recognition method thereof | |
| US20170038203A1 (en) | Self-propelled device and distance detector thereof | |
| JP3265449B2 (en) | Distance sensor | |
| US8279178B2 (en) | System and method for performing optical navigation using horizontally oriented imaging lens | |
| CN116295004B (en) | Optimization method of tracking strategy of coordinate measuring device | |
| CN113252035A (en) | Optical navigation device | |
| JP4755886B2 (en) | Position detection system and position detection method | |
| US20210247516A1 (en) | Optical navigation apparatus | |
| JPH01212384A (en) | Object detector by laser beam | |
| JP4034328B2 (en) | Luminescence detection device and coordinate detection device | |
| TW202102818A (en) | Auxiliary positioning system with reflective sticker | |
| EP3637044B1 (en) | Multi-image projector and electronic device having the multi-image projector | |
| JP2023101803A (en) | Scanning device and distance-measuring device | |
| KR20240022533A (en) | Position measuring devices, position measuring systems, and measuring devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20231125 Address after: Floor 3, No. 6-8, Duxing Road, Hsinchu City, Hsinchu Science Park, Taiwan, China, China Applicant after: Fitipower Integrated Technology, Inc. Address before: 7th floor, 6 / F, No.118 Ciyun Road, East District, Hsinchu, Taiwan, China Applicant before: Sunpay Technology Co.,Ltd. |