WO2015074594A1 - 激光测距传感器及其测距方法 - Google Patents
激光测距传感器及其测距方法 Download PDFInfo
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- WO2015074594A1 WO2015074594A1 PCT/CN2014/091848 CN2014091848W WO2015074594A1 WO 2015074594 A1 WO2015074594 A1 WO 2015074594A1 CN 2014091848 W CN2014091848 W CN 2014091848W WO 2015074594 A1 WO2015074594 A1 WO 2015074594A1
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- Prior art keywords
- motor
- teeth
- ranging
- control box
- code wheel
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000035945 sensitivity Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract 2
- 238000005259 measurement Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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Classifications
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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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
-
- 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
-
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
Definitions
- the invention relates to a laser ranging sensor and a distance measuring method thereof, and belongs to the technical field of laser measuring instruments.
- the patent document published as CN101885110A discloses a rotational position detecting device which employs two rotating bodies having different rotation periods, one or more claws are provided in the rotating body, and corresponding claws are provided.
- the sensor detects the number of rotation angles, and since it uses a plurality of rotating bodies, the manufacturing cost of the detecting device is improved, and the increase of the number of components inevitably increases the adjustment and maintenance costs.
- the technical problem to be solved by the present invention is to provide a laser ranging sensor and a ranging method thereof according to the deficiencies of the prior art, and the laser ranging sensor obtains scan data by using a code wheel synchronous scanning method, and cooperates with a rotation speed feedback adjusting unit.
- the real-time speed input control unit is automatically calculated by the photoelectric encoder, and the speed of the code wheel is accurately controlled by comparing with the preset speed threshold, thereby obtaining the distance information of the two-dimensional section of each degree in the week, and the structure is simple and the sensitivity is high.
- a laser ranging sensor includes a motor, a control box and a code wheel. Under the driving of the motor, relative rotation occurs between the control box and the code wheel, the code wheel includes a plurality of ranging teeth, and the control
- the cartridge includes a ranging unit, a detecting portion and a control unit, the detecting portion includes a correspondingly disposed light emitter and a light receiver, and the relative rotation between the control box and the code wheel causes the ranging tooth to receive from the light emitter and the light Passing through between the corresponding positions of the device;
- the motor drives the control box to rotate for scanning ranging, and records the measured distance value in the control unit, and the control unit automatically calculates the corresponding part when the code wheel rotates the set angle
- the rotation speed the control unit is connected to the rotation speed feedback adjustment unit, and the rotation speed feedback adjustment unit is configured to adjust the rotation speed of the motor to rotate the control box at a constant speed.
- the set angle is uniformly set in a plurality of ranging teeth on the circumference of the code wheel, and each adjacent two measurements are rotated. The angle through which the left edge of the tooth passes.
- the laser ranging sensor further includes a base, and the code wheel is fixed on the base On the seat.
- the output end of the motor is provided with a motor pulley, an O-ring is sleeved on the outer circumference of the motor pulley and the control box;
- the middle portion is connected to a bearing, the outer ring of the bearing is fixed to the base, and the inner ring of the bearing is fixed to the control box.
- the number of the measuring teeth on the circumference of the code wheel may be 5-15.
- one of the 5-15 measuring teeth has a tooth width that is smaller or larger than the tooth width of the other measuring teeth.
- the code wheel comprises 15 ranging teeth, the interval between the left edge of two adjacent measuring teeth is 24°, and one of the 15 measuring teeth is left.
- the right edge is spaced apart by 6°, the right edge of the right edge and the right edge of the adjacent measuring tooth are 18° apart, and the left and right edges of the other ranging teeth are all 12° apart.
- the invention also provides a distance measuring method of the above laser ranging sensor, comprising the following steps:
- Step 100 The code wheel in the distance measuring sensor rotates counterclockwise with the motor, at this time, the motor is at the initial speed N1;
- Step 200 measuring the distance value in the ranging unit by using the set angle as a ranging unit, and the photoelectric encoder automatically calculates the local rotational speed N2 of the motor in the ranging unit and sends it to the control unit;
- Step 300 preset a first threshold value N0 of the motor speed in the control unit
- Step 400 Determine whether the local rotational speed N2 is within the range of the first threshold N0, and if so, proceed to step 500; if not, the control unit resets the motor rotational speed to the initial rotational speed N1 by adjusting the circuit voltage, and returns to step 100;
- Step 500 The control unit records the distance value in step 200.
- the set angle in the step 200 is an angle of turning the same side edge of two adjacent teeth of the plurality of ranging teeth on the code wheel.
- the initial rotational speed N1 is 5 rpm to 15 rpm.
- the present invention provides a laser ranging sensor and a distance measuring method thereof.
- the laser ranging sensor obtains scan data by using a code wheel synchronous scanning method, and cooperates with a rotational speed feedback adjusting unit to automatically calculate a real-time rotational speed through a photoelectric encoder.
- the input control unit accurately controls the speed of the code wheel by comparing with the preset speed threshold, thereby obtaining the distance information of the two-dimensional section of each degree in the week, and has a simple structure and high sensitivity.
- FIG. 1 is a schematic view showing the overall structure of a laser ranging sensor of the present invention
- FIG. 2 is an internal structural diagram of a laser ranging sensor of the present invention
- Figure 3 is a plan view of the laser ranging sensor of the present invention.
- FIG. 4 is a schematic structural diagram of a code wheel according to an embodiment of the present invention.
- FIG. 1 is a schematic overall structural view of a laser ranging sensor of the present invention
- FIG. 2 is an internal structural diagram of a laser ranging sensor of the present invention.
- the present invention provides a laser ranging sensor 100 including a motor 120, a control box 130, and a code wheel 150.
- the control box 130 and the code wheel 150 are driven by the motor 120.
- the relative rotation occurs, the code wheel 150 includes a plurality of ranging teeth 151, the control box 130 includes a ranging unit 142, a detecting portion 144, and a control unit 140, and the detecting portion 144 includes a correspondingly disposed light emitter 1440 and the light receiver 1441, the relative rotation between the control box 130 and the code wheel 150 causes the distance measuring teeth 151 to pass between the corresponding positions of the light emitter 1440 and the light receiver 1441.
- the motor 120 drives the control box 130 to perform scanning ranging, and records the measured distance value in the control unit 140.
- the control unit 140 automatically calculates the corresponding local rotation speed N2 when the code wheel 150 rotates the set angle.
- the control unit 140 is connected to the rotational speed feedback adjusting unit, and the rotational speed feedback adjusting unit is configured to adjust the rotational speed of the motor 120 to rotate the control box 130 at a constant speed.
- FIG. 3 is a top plan view of a laser ranging sensor of the present invention.
- the output end of the motor 120 is provided with a motor pulley 121 and an O-ring 122 sleeve. It is provided on the outer circumference of the motor pulley 121 and the control box 130.
- a bearing 160 is coupled to a middle portion of the base 110. An outer ring of the bearing 160 is fixed to the base 110, and an inner ring of the bearing 160 is fixed to the control box 130.
- the set angle is uniformly set in the plurality of ranging teeth 151 on the circumference of the code wheel, each turn adjacent The angle through which the left edge of the two ranging teeth passes.
- the number of the measuring teeth on the circumference of the code wheel may be 5-15.
- one of the 5-15 measuring teeth has a tooth width that is smaller or larger than the tooth width of the other measuring teeth.
- FIG. 4 is a schematic structural diagram of a code wheel according to an embodiment of the present invention.
- 15 measuring teeth 151 are uniformly disposed on the circumference of the code wheel 150, and the left edge of the adjacent two ranging teeth is spaced by 24 degrees, among the 15 measuring teeth.
- There is one ranging tooth 151A whose left and right edges are spaced apart by 6°, and the tooth width of the measuring tooth is slightly smaller than that of the other measuring teeth.
- the distance between the right edge and the left edge of the adjacent right-hand measuring tooth is 18°.
- Figure 3 As shown, the center of the code wheel 150 is O, ⁇ AOB is 6°, ⁇ AOC is 18°, and the spacing between the other distance measuring teeth 151 is 12°.
- B is used as the 0° starting point, and scans once every 555.5 ⁇ s, that is, 0.2 s scan for one week, and scans for 5 weeks per second.
- a setting of the rotation speed of the motor 120 is required, for example, setting 5 revolutions/second, which is calculated to be 555.5 ⁇ s per scan, and ideally, every 555.5 ⁇ s can be obtained.
- Rotating the corresponding measurement distance once however, due to objective reasons, the local rotation speed of the motor is not uniform, and may be too fast or too slow, which results in the actual rotation time is not 555.5 ⁇ s, for example, 277.75 ⁇ s , twice as fast, then the actual measured by 555.5 ⁇ s is not the distance corresponding to the rotation, but the distance corresponding to the rotation of two degrees, resulting in inaccurate final scan measurement results.
- the present invention provides a rotation speed feedback adjustment unit in the control unit 140, uniformly disposed on the circumference of the code wheel 150, 15 distance measuring teeth, each adjacent two left edges are separated by 24 degrees, and the code wheel is divided. It is 15 equal parts.
- Each rotation of the detecting portion 144 by 24° that is, the angle between the left edges of two adjacent ranging teeth 151, as a set angle, automatically calculates the corresponding local rotational speed N2 within the 24° and The speed value is transmitted to the control unit 140, and a speed threshold value N0 range is set in the control unit 140.
- the control unit 140 does not retain the distance value measured within the set angle, that is, it is regarded as not measured, and the rotation speed of the motor 120 is reset to the initial set initial rotation speed N1 by controlling the adjustment circuit voltage, for example, 5 In revolutions/second, re-measure the distance value corresponding to each angle in the above set angle.
- the present invention also provides a method for ranging of the above laser ranging sensor, the method comprising the following steps:
- Step 100 The code wheel in the distance measuring sensor rotates counterclockwise with the motor, at this time, the motor is at the initial speed N1;
- Step 200 measuring the distance value in the ranging unit by using the set angle as a ranging unit, and the photoelectric encoder automatically calculates the local rotational speed N2 of the motor in the ranging unit and sends it to the control unit;
- Step 300 preset a first threshold value N0 of the motor speed in the control unit
- Step 400 Determine whether the local rotational speed N2 is within the range of the first threshold N0, and if so, proceed to step 500; if not, the control unit resets the motor rotational speed to the initial rotational speed N1 by adjusting the circuit voltage, and returns to step 100;
- Step 500 The control unit records the distance value in step 200.
- the set angle in the step 200 is an angle of turning the same side edge of two adjacent teeth of the plurality of ranging teeth on the code wheel.
- the initial rotational speed N1 is 5 rpm to 15 rpm.
- the number of the setting teeth 151 uniformly disposed on the circumference of the code wheel 150 is not limited to 15 in the first embodiment, that is, 1/15 of 360° is taken as one unit of measurement.
- the angle corresponding to each measuring unit in the embodiment is 72°, and the initial rotational speed N1 is also set to 15 rpm.
- the difference between this embodiment and the first embodiment is only that the number of the setting teeth is different, resulting in a difference in the unit of measurement.
- the other technical features in this embodiment are substantially the same as those in the foregoing embodiment 1, and the foregoing content may be referred to, and details are not described herein again.
- the number of measuring teeth is set to 36, that is, the 360° code wheel 150 is further subdivided into 36 measuring units or more. More, it is achievable. But theoretically speaking, the more the number of measuring teeth is set, the higher the frequency of adjustment, the higher the accuracy and accuracy of the measurement, but the more complicated the overall structure of the device; on the contrary, the more the number of measuring teeth is set Less, the lower the frequency of adjustment, the lower the accuracy and accuracy of the measurement, but the overall structure of the device can be relatively simple, reducing some costs. In order to balance the precision and the manufacturing cost, in fact, the structure in which the 15 measuring teeth are evenly arranged in the first embodiment ensures the accuracy and precision and makes the overall structure of the device less complicated.
- the present invention provides a laser ranging sensor and a distance measuring method thereof.
- the laser ranging sensor obtains scan data by using a code wheel synchronous scanning method, and cooperates with a rotational speed feedback adjusting unit to automatically calculate a real-time rotational speed through a photoelectric encoder.
- the input control unit accurately controls the speed of the code wheel by comparing with the preset speed threshold, thereby obtaining the distance information of the two-dimensional section of each degree in the week, and has a simple structure and high sensitivity.
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Abstract
Description
Claims (10)
- 一种激光测距传感器,包括电机(120)、控制盒(130)和码盘(150),其特征在于,在所述电机驱动下,所述控制盒和码盘之间发生相对旋转,所述码盘包括多个测距齿(151),所述控制盒包括测距单元(142)、检测部(144)和控制单元(140),所述检测部包括对应设置的光发射器(1440)和光接收器(1441),所述控制盒和码盘之间相对旋转使得测距齿从所述光发射器和光接收器的对应位置之间穿过;所述电机带动控制盒旋转进行扫描测距,并将测量的距离值记录在控制单元中,所述控制单元自动计算出码盘旋转设定角度时对应的局部转速,所述控制单元与转速反馈调节单元相连,所述转速反馈调节单元用于调节所述电机的转速,使所述控制盒匀速旋转。
- 如权利要求1所述的激光测距传感器,其特征在于,所述控制盒(130)沿逆时针旋转,所述设定角度为均匀设置在码盘(150)圆周上的多个测距齿中,每转过相邻两个测距齿左边缘所经过的角度。
- 如权利要求2所述的激光测距传感器,其特征在于,所述激光测距传感器还包括有基座(110),所述码盘(150)固定在所述基座(110)上。
- 如权利要求3所述的激光测距传感器,其特征在于,所述电机(120)的输出端设有电机带轮(121),一O型圈(122)套设在所述电机带轮(121)和所述控制盒(130)的外周;所述基座(110)的中部连接一轴承(160),所述轴承(160)的外圈与所述基座(110)固定,所述轴承(160)的内圈与所述控制盒(130)固定。
- 如权利要求4所述的激光测距传感器,其特征在于,所述测距齿(151)在码盘(150)圆周上的设置数量为5-15个。
- 如权利要求5所述的激光测距传感器,其特征在于,在5-15个所述测距齿(151)中有一个测距齿的齿宽小于或大于其他测距齿的齿宽。
- 如权利要求6所述的激光测距传感器,其特征在于,所述码盘(150)包括15个测距齿(151),相邻两个测距齿左边缘的间隔为24°,15个测距齿中的1个测距齿, 其左、右边缘间隔为6°,其右边缘和右侧相邻测距齿的左边缘间隔为18°,其他测距齿的左、右边缘间隔均为12°。
- 一种如权利要求1-7任一项所述的激光测距传感器的测距方法,其特征在于,该方法包括如下步骤:步骤100:测距传感器中的码盘随电机逆时针旋转,此时,电机在初始转速N1;步骤200:以设定角度为一个测距单位,测量在该测距单位内的距离值,光电编码器自动计算电机在该测距单位内的局部转速N2并发送至控制单元;步骤300:在控制单元内预设电机转速的第一阈值N0;步骤400:判断局部转速N2是否在第一阈值N0的范围内,如果是,则进入步骤500;如果否,则控制单元通过调整电路电压将电机转速重新设置为初始转速N1,回到步骤100;步骤500:控制单元记录步骤200中的距离值。
- 如权利要求8所述的测距方法,其特征在于,所述步骤200中的设定角度为转过码盘上多个测距齿中相邻两齿同侧边缘的角度。
- 如权利要求9所述的测距方法,其特征在于,所述初始转速N1为5转/秒至15转/秒。
Priority Applications (3)
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JP2016532035A JP6691650B2 (ja) | 2013-11-21 | 2014-11-21 | レーザー距離測定センサーおよびその距離測定方法 |
US15/038,328 US10175357B2 (en) | 2013-11-21 | 2014-11-21 | Laser range finding sensor and range finding method thereof |
DE112014005337.6T DE112014005337B4 (de) | 2013-11-21 | 2014-11-21 | Laser-Entfernungsmessungs-Sensor und Entfernungsmessungs-Verfahren dafür |
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CN201310591303.0A CN104655097B (zh) | 2013-11-21 | 2013-11-21 | 激光测距传感器及其测距方法 |
CN201310591303.0 | 2013-11-21 |
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JP (1) | JP6691650B2 (zh) |
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CN106597461A (zh) * | 2016-12-16 | 2017-04-26 | 西安五湖智联半导体有限公司 | 一种二维扫描测距装置 |
JP2018520371A (ja) * | 2015-06-12 | 2018-07-26 | エアロヴァイロンメント インコーポレイテッド | 回転ライダ |
US20180306606A1 (en) * | 2015-12-30 | 2018-10-25 | Xiaomi Inc. | Laser ranging device and automatic cleaning device |
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DE112014005337T5 (de) | 2016-08-04 |
CN104655097A (zh) | 2015-05-27 |
CN104655097B (zh) | 2017-04-19 |
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DE112014005337B4 (de) | 2023-01-12 |
US10175357B2 (en) | 2019-01-08 |
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JP6691650B2 (ja) | 2020-05-13 |
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