Distance sensor module, equipment and distance measuring method

Abstract

The invention discloses a distance sensor module, equipment and a distance measuring method. The distance sensor module comprises a light source part which emits an irradiation light spot to an object to be measured; the light shaping part is arranged on the side, facing the to-be-measured object, of the light source part, and the light shaping part changes the irradiation light spot into a linear light spot; the receiving part and the light source part are arranged on the same plane, and the light receiving side of the receiving part faces the object to be detected; the first focusing lens is arranged on one side, facing the to-be-measured object, of the receiving part; the light source part, the light shaping part, the receiving part and the first focusing lens are all arranged in the shell. The distance sensor module can achieve the purpose of distance measurement by reducing the internal structure, is simple in structure, and can improve the quality of a light source emitted by the light source part through the arrangement of the first focusing lens and the light shaping part, thereby improving the measurement precision of the distance sensor module.

Description

Technical Field

[0001] The present invention relates to the field of distance measurement technology, and in particular to a distance sensor module, equipment and distance measurement method. Background Art

[0002] A distance sensor, also known as a displacement sensor, is a type of sensor that is used to sense the distance between it and an object to complete a preset function, such as determining whether to perform the next action based on the distance.

[0003] In the distance sensors in the related technologies, the photosensitive elements at the receiving end are usually CCD, CMOS, PSD, etc., which are expensive; while ordinary infrared ranging sensors and ultrasonic ranging sensors are greatly affected by environmental interference and have large errors. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] In view of this, the present invention provides a distance sensor module, a device and a distance measurement method, wherein the distance sensor module can reduce the internal structure to achieve the purpose of distance measurement, has a simple structure, and can improve the quality of the light source emitted by the light source part through the arrangement of the first focusing lens and the light shaping part, thereby improving the measurement accuracy of the distance sensor module.

[0006] Specifically, the following technical solutions are included:

[0007] An embodiment of the first aspect of the present invention provides a distance sensor module, the distance sensor module comprising:

[0008] A light source unit, emitting an irradiation light spot toward the object to be measured;

[0009] A light shaping unit is arranged on a side of the light source unit facing the object to be measured, and the light shaping unit transforms the irradiated light spot into a straight line light spot;

[0010] A receiving part, which is arranged on the same plane as the light source part, and the light receiving side of the receiving part faces the object to be measured;

[0011] A first focusing lens is arranged on a side of the receiving portion facing the object to be measured;

[0012] The light source unit, the light shaping unit, the receiving unit and the first focusing lens are all arranged in a housing.

[0013] Optionally, the first focusing lens and the light shaping unit are located in the same plane.

[0014] Optionally, a side of the shell facing the object to be measured is provided as a baffle, and a material of the baffle is polycarbonate epoxy resin.

[0015] Optionally, the distance sensor module further includes:

[0016] A BT board, wherein the light source unit and the receiving unit are arranged on the BT board, and the BT board is configured to supply power to the light source unit and the receiving unit. An external processing circuit is connected to the BT board, and the BT board is configured to convert the photocurrent signal of the receiving unit into an analog signal through the processing circuit and then output it.

[0017] Optionally, the light source unit is at least one near-infrared light source, and a wavelength of the near-infrared light source is 850nm to 905nm.

[0018] Optionally, the light shaping unit comprises: a second focusing lens and a micro cylindrical array arranged on the second focusing lens, a plurality of prisms are arranged in parallel on the second focusing lens, and one side of the micro cylindrical array faces the object to be measured; or

[0019] The light shaping unit includes: a second focusing lens and a micro cylindrical array, wherein the micro cylindrical array is located on a side of the second focusing lens facing the object to be measured.

[0020] Optionally, the receiving unit includes: a pair of triangular photodiodes, the hypotenuses of the pair of triangular photodiodes are arranged opposite to each other, the light receiving surfaces of the pair of triangular photodiodes are arranged on the same side, and the light receiving surfaces are arranged toward the first focusing lens.

[0021] An embodiment of the second aspect of the present invention provides a device, including:

[0022] Such as the distance sensor module mentioned above;

[0023] A housing, wherein the distance sensor module is arranged on the housing.

[0024] An embodiment of the third aspect of the present invention provides a distance measurement method, using the above-mentioned distance sensor module, the distance measurement method comprises the following steps:

[0025] Irradiate the object to be tested with an infrared straight line spot;

[0026] The infrared straight line light spot reflected by the object to be tested is focused and irradiated onto the receiving part;

[0027] The receiving unit converts the optical signal into a photoelectric signal;

[0028] Based on the change of the photoelectric signal, the distance between the distance sensor module and the object to be measured is obtained.

[0029] Optionally, the receiving part includes a first triangular photodiode and a second triangular photodiode, a first focusing lens is provided between the receiving part and the object to be measured, and the distance L1 between the distance sensor module and the object to be measured is obtained as:

[0030] L1=X1L2 / X2;

[0031] Wherein, X1 is the distance between the line spot and the central axis of the first focusing lens, which is a known value; L2 is the distance between the first focusing lens and the receiving part, which is a known value; X2 is the distance that the spot moves on the receiving part;

[0032] X2=(I pd2 -I pd1 )L / (I pd2 +I pd1 );

[0033] In the formula, I pd1 is the photocurrent received by the first triangular photodiode; I pd2 is the photocurrent received on the second triangular photodiode; L is the distance from the center of the receiving part to both sides, that is, the position when the ratio of the photocurrent of the first triangular photodiode to the photocurrent of the first triangular photodiode is 1.

[0034] The distance sensor module, device and distance measurement method provided by the embodiments of the present invention include a light source unit and a light shaping unit arranged on the side of the light source unit facing the object to be measured, and the light spot of the light source unit is converted into a straight line light spot and then irradiated onto the object to be measured. The straight line light spot has the characteristics of strong directionality and high light spot uniformity, so the difference of the optical signal received by the subsequent receiving unit is more obvious, so that the distance sensor module can measure the distance more accurately; the distance sensor module also includes a first focusing lens, which is located on the light receiving side of the receiving unit, and the light receiving side of the receiving unit faces the object to be measured, so that the reflected light After the straight-line light spot passes through the first focusing lens, the straight-line light spot can be more accurately converged to the same point on the receiving part, thereby improving the quality and clarity of the straight-line light spot projected onto the receiving part; the receiving part is a double-triangle photodiode, and by calculating the fixed ratio of two similar triangles formed by the movement of the straight-line light spot and the fixed ratio of the photocurrents of the two triangle photodiodes, the distance between the distance sensor module and the ground can be obtained without being affected by the color of the object to be measured, and thus less affected by the environment, thereby reducing the interference of the environment on the distance sensor module and improving the measurement accuracy of the distance sensor module.

[0035] At the same time, the present application uses relatively simple and common optical elements to realize the functions of the distance sensor module, thereby reducing the production cost of the distance sensor module, improving economy, enhancing market competitiveness, and contributing to a virtuous cycle of product optimization.

[0036] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 is a schematic diagram of a distance sensor module according to an embodiment of the present invention;

[0039] Figure 2 is a schematic diagram of a receiving unit according to an embodiment of the present invention;

[0040] Figure 3 is a flowchart of steps of a distance measurement method according to an embodiment of the present invention;

[0041] Figure 4 The figure is a specific schematic diagram of a distance measurement method according to an embodiment of the present invention.

[0042] in, Figure 1 and Figure 2 The corresponding relationship between the reference numerals and the component names is as follows:

[0043] 100 distance sensor module, 110 light source unit, 120 light shaping unit, 121 second focusing lens, 122 micro cylindrical array, 130 first focusing lens, 140 receiving unit, 141 first triangular photodiode, 142 second triangular photodiode, 150 BT board, 160 housing, 200 object to be measured. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Before further describing the embodiments of the present invention in detail, the directional nouns involved in the embodiments of the present invention, such as "upper part", "lower part" and "side part", do not have the meaning of limiting the protection scope of the present invention.

[0046] To make the technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0047] Figure 1 FIG. 4 is a schematic diagram of a distance sensor module according to an embodiment of the present invention.

[0048] like Figure 1 As shown, the first embodiment of the present invention provides a distance sensor module 100, the distance sensor module 100 includes:

[0049] The light source unit 110 emits an irradiation light spot toward the object to be tested 200;

[0050] The light shaping unit 120 is disposed on a side of the light source unit 110 facing the object to be measured 200, and the light shaping unit 120 transforms the irradiated light spot into a straight line light spot;

[0051] The receiving unit 140 is disposed on the same plane as the light source unit 110 , and the light receiving side of the receiving unit 140 faces the object to be measured 200 ;

[0052] The first focusing lens 130 is disposed on a side of the receiving portion 140 facing the object to be measured 200;

[0053] The light source unit 110 , the light shaping unit 120 , the receiving unit 140 and the first focusing lens 130 are all disposed in the housing 160 .

[0054] The distance sensor module 100 includes a light source unit 110 and a light shaping unit 120 disposed on the side of the light source unit 110 facing the object to be measured 200. The light spot of the light source unit 110 is converted into rays and then irradiated onto the object to be measured 200. The straight line light spot has the characteristics of strong directionality and high light spot uniformity. Therefore, the difference of the optical signal received by the subsequent receiving unit 140 is more obvious, so that the distance sensor module 100 can measure the distance more accurately. The distance sensor module 100 also includes a first focusing lens 130, which is located on the light receiving side of the receiving unit 140, and the light receiving side of the receiving unit 140 faces the object to be measured. 200, after the reflected straight line light spot passes through the first focusing lens 130, the straight line light spot can be more accurately converged to the same point on the receiving part 140, thereby improving the quality and clarity of the straight line light spot projected onto the receiving part 140; the receiving part 140 is a double triangle photodiode, which is not affected by the color of the object to be measured by calculating the fixed ratio of the two similar triangles formed by the movement of the straight line light spot and the fixed ratio of the photocurrents of the two triangle photodiodes, and is less affected by the environment, thereby reducing the interference of the environment on the distance sensor module 100 and improving the measurement accuracy of the distance sensor module 100. At the same time, the present application uses relatively simple and common optical elements to realize the functions of the distance sensor module 100, reduce the production cost of the distance sensor module 100, improve economic efficiency, enhance market competitiveness, and contribute to a virtuous cycle of product optimization.

[0055] Specifically, the light source unit 110 emits an irradiation light spot to the light shaping unit 120, and the light spot is transformed into a straight line light spot by the light shaping unit 120 and then irradiated onto the object to be measured 200, so that the light energy irradiated onto the object to be measured 200 is stronger, so that the reflected light energy is also stronger, thereby improving the accuracy and stability of distance measurement by the distance sensor module 100, and even long-distance distance measurement can receive light energy that is easy for the receiving unit 140 to receive. The straight line light spot reflected by the object to be measured 200 is focused on the receiving unit 140 after passing through the first focusing lens 130, and the reflected straight line light spot is better converged on the receiving unit 140, thereby improving the straight line light spot energy received by the receiving unit 140, thereby improving the accuracy and reliability of obtaining the distance through the receiving unit 140. At the same time, after the receiving unit 140 converts the optical signal into a photocurrent signal, the distance change between the distance sensor module 100 and the object to be measured 200 is obtained according to the change of the photocurrent.

[0056] In a feasible implementation manner, the first focusing lens 130 and the light shaping unit 120 are located in the same plane.

[0057] If the first focusing lens 130 is located above the light shaping unit 120, it will affect the uniformity and height of the light spot of the line, thereby affecting the measurement accuracy of the distance sensor module 100. If the first focusing lens 130 is located below the light shaping unit 120, due to the refraction of the light beam, the distance between the first focusing lens 130 and the light shaping unit 120 will increase, thereby increasing the size of the entire distance sensor module 100. Therefore, the present application allows the central axis of the first focusing lens 130 (the central axis perpendicular to the optical axis) and the light shaping unit 120 to be located in the same plane, and the triangulation distance measurement method is realized through this optical design, and then the distance between the object to be measured and the distance sensor module 100 can be accurately obtained through the distance sensor module 100, which can be unaffected by the color of the object to be measured, avoid interference, and ensure the distance measurement accuracy.

[0058] It should be noted that the first focusing lens 130 is an aspherical lens, which can reduce the difference in convergence ability between the center and the edge area, thereby reducing spherical aberration, improving the convergence ability of the light beam, increasing the energy of the reflected light beam, and thereby increasing the energy of the light beam received by the receiving unit 140, which is more helpful to improve the ranging accuracy of the distance sensor module 100, as well as the stability and reliability of ranging, and is helpful to achieve long-distance ranging. In this embodiment, the ranging range of the distance sensor module 100 is 10 cm to 150 cm.

[0059] In a feasible implementation manner, a side of the housing 160 facing the object to be tested 200 is configured as a baffle, and the material of the baffle is epoxy resin.

[0060] Among them, the side of the shell 160 facing the object to be measured 200 is a baffle, that is, the emitting side of the light source unit 110 is a baffle, and the material of the baffle is epoxy resin, which can ensure that the light source in the light source unit 110 is reliably emitted while preventing visible light from entering the distance sensor module 100, ensuring that the distance sensor module 100 only receives the straight line light spot reflected by the object to be measured 200, thereby improving the measurement accuracy of the distance sensor module 100.

[0061] It should be noted that epoxy resin is usually selected as the material of the baffle. Epoxy resin is a high molecular polymer, which refers to a general term for a class of polymers containing two or more epoxy groups in the molecule. It is a condensation product of epichlorohydrin and bisphenol A or polyol. Due to the chemical activity of the epoxy group, it can be opened with a variety of compounds containing active hydrogen, cured and cross-linked to form a network structure, so it is a thermosetting resin. Epoxy resin can be transparent, white, gray, black, yellow, brown, etc. The present application uses a baffle made of black epoxy resin, which can prevent visible light from entering the distance sensor module 100 and affecting the focus of the first focusing lens 130 without affecting the emission of the one-line light spot.

[0062] In a feasible implementation manner, the distance sensor module 100 further includes:

[0063] The BT board 150, the light source unit 110 and the receiving unit 140 are arranged on the BT board 150, and the BT board 150 is configured to supply power to the light source unit 110 and the receiving unit 140. An external processing circuit is connected to the BT board 150, and the BT board 150 is configured to convert the photocurrent signal of the receiving unit 140 into an analog signal through the processing circuit and then output it.

[0064] Among them, the BT board 150 is a substrate material made of BT resin as the base material, which is mainly used for printed circuit boards (PCBs). On the one hand, it supports the light source unit 110 and the receiving unit 140, and on the other hand, it converts the photoelectric signal received by the receiving unit 140 into an analog signal after calculation through the external processing circuit thereon and then outputs it.

[0065] It should be noted that the analog signal is usually a voltage signal, and the output voltage signal is inversely proportional to the detection distance, that is, the longer the detection distance, the lower the output voltage signal.

[0066] In a feasible implementation manner, the light source unit 110 is at least one near-infrared light source, and the wavelength of the near-infrared light source is 850 nm to 905 nm.

[0067] Among them, this embodiment adopts a near-infrared light source with a wavelength of 850nm to 905nm as the light source part 110, which can realize the measurement of distance in a low-light environment. At the same time, the LED light source or Vcsel light source used by the near-infrared light source has the advantages of low power, long life and low energy consumption, and will not cause light pollution to the environment, thereby improving the service life and application range of the distance sensor module 100.

[0068] In a feasible implementation, the light shaping unit 120 includes: a second focusing lens 121 and a micro cylindrical array 122 disposed on the second focusing lens 121, wherein the micro cylindrical array 122 is disposed parallel to the second focusing lens 121, and one side of the micro cylindrical array 122 faces the object to be measured 200; or

[0069] The light shaping unit includes: a second focusing lens 121 and a micro cylindrical array 122 . The micro cylindrical array 122 is located on a side of the second focusing lens 121 facing the object to be measured 200 .

[0070] The light shaping part 120 may be made in one piece, such as a plurality of micro cylindrical arrays 122 are arranged in parallel on the side of the second focusing lens 121 facing the object to be measured 200, and the plurality of micro cylindrical arrays 122 protrude from the surface of the second focusing lens 121, and the second focusing lens 121 and the plurality of micro cylindrical arrays 122 are made by integral injection molding. Alternatively, the light shaping part 120 may be a split part, in which a micro cylindrical array 122 is arranged on the side of the second focusing lens 121 facing the object to be measured 200, the micro cylindrical array 122 is on the same plane, and the plurality of cylindrical lenses 122 are arranged in parallel with the baffle.

[0071] It is understandable that, since the overall size of the distance sensor of the present application is small, the size of the components therein is even smaller, and the size of the micro cylindrical array 122 matches the size of the second focusing lens 121. Therefore, the size of the micro cylindrical array 122 is small, and thus becomes micro.

[0072] It should be noted that the infrared light spot emitted by the light source unit 110 is converted into an infrared straight line light spot through the light shaping unit 120. Since the straight line light spot has better directionality and uniformity, it can be irradiated onto the object to be measured 200 more accurately, reduce errors, and thus improve the measurement accuracy of the distance sensor module 100; the infrared straight line light spot has stronger directionality than the light spot, which can reduce the interference of dust, smoke, etc. in the environment on the measurement, and further improve the stability and reliability of the ranging; the infrared straight line light spot has good penetration and anti-interference ability in a complex environment, and can maintain high measurement accuracy and stability in a harsh environment; the infrared straight line light spot has a high propagation speed in the air, and can irradiate and reflect onto the object to be measured 200 more quickly, shorten the measurement time, and improve the ranging efficiency.

[0073] Figure 2 is a schematic diagram of a receiving unit according to an embodiment of the present invention;

[0074] In a feasible implementation, the receiving unit 140 includes: a pair of triangular photodiodes, the hypotenuses of the pair of triangular photodiodes are arranged opposite to each other, the light receiving surfaces of the pair of triangular photodiodes are arranged on the same side, and the light receiving surfaces are arranged toward the first focusing lens 130 .

[0075] The receiving unit 140 includes a pair of triangular photodiodes, namely a first triangular photodiode 141 and a second triangular photodiode 142. As the distance between the distance sensor module 100 and the object to be measured 200 increases, the radiation beam gradually moves from one end of the pair of triangular photodiodes to the other end. Figure 2As shown in the direction of the middle arrow, the radiation beam focused by the first focusing lens 130 onto the receiving part 140 moves, which will reduce the sum of the photocurrents received by the first triangular photodiode 141 and the second triangular photodiode 142 (due to the increase in distance, the energy of the radiation beam is weakened), and at the same time, the ratio of the photocurrent of the second triangular photodiode 142 to the photocurrent of the first triangular photodiode 141 gradually increases. In other words, due to the moving direction of the radiation beam, the energy of the radiation entering the second triangular photodiode 142 gradually increases, and the energy on the first triangular photodiode 141 gradually decreases.

[0076] It can be understood that the gold wire of the double triangle photodiode is connected to the BT board. The total photocurrent received by a pair of triangle photodiodes is I 0 , the photocurrent of the first triangular photodiode 141 is I pd1 , the photocurrent of the second triangular photodiode 142 is I pd2 , then I 0 =I pd1 +I pd2 As the distance between the distance sensor module 100 and the object to be measured 200 increases, the energy of the reflected light decreases, and the sum of the photocurrents of the pair of triangular photodiodes decreases, that is, the photocurrent is inversely proportional to the distance of the object to be measured 200. At the same time, as the distance of the object to be measured 200 increases, the line light spot gradually moves from one end of the pair of triangular photodiodes to the other end, and the area of ​​the line light spot irradiated on the first triangular photodiode 142 decreases, so I pd1 gradually decreases, while the area illuminated on the second triangular photodiode increases, I pd2 gradually increases, that is, the ratio of the photocurrent in the second triangular photodiode 142 region to the photocurrent in the first triangular photodiode 141 region I pd2 / I pd1 From small to large, it increases as the distance from the object to be measured 200 increases, that is, I pd2 / I pd1 It is proportional to the distance of the object to be measured 200.

[0077] It can be seen that the distance sensor module 100 of the present application meets the requirements of high-precision distance measurement, and has a simple component structure and low cost, which reduces the production cost of the distance sensor module 100, improves the economy of the enterprise, and thus increases market competitiveness, increases the diversity of the distance sensor module 100, and provides customers with more choices.

[0078] A second embodiment of the present invention provides a device, comprising:

[0079] As the distance sensor module 100 described above;

[0080] The housing is provided with the distance sensor module 100 .

[0081] Among them, one device may be a cleaning robot, which measures the distance between the cleaning robot and obstacles through the distance sensor module 100 and avoids obstacles in time. The device may also be an unmanned forklift, which realizes the functions of autonomous navigation and obstacle avoidance through the distance sensor module 100. The device may also be a robot on a production line, which helps the robot to accurately locate, grasp and carry the processed objects. Without listing them one by one, the distance sensor module 100 has applications in various fields.

[0082] Figure 3 FIG. 4 is a flow chart of steps of a distance measurement method according to an embodiment of the present invention.

[0083] like Figure 3 As shown, the third embodiment of the present invention provides a distance measurement method, using the above-mentioned distance sensor module, the distance measurement method includes the following steps:

[0084] Step 1, irradiating infrared rays to the object to be tested;

[0085] Step 2, the infrared rays reflected by the object to be tested are focused and irradiated onto the receiving part;

[0086] Step 3, the receiving unit converts the optical signal into a photoelectric signal;

[0087] Step 4: Based on the change of the photoelectric signal, the distance between the distance sensor module and the object to be measured is obtained.

[0088] Among them, after the light spot is emitted by the light source unit 110, the light spot is converted into a straight line light spot by the light shaping unit 120 and then irradiated onto the object to be measured 200. The light source unit 110 is a near-infrared light source, which can measure the distance in a low-illuminance environment. At the same time, the ray beam has the characteristics of strong directionality and high uniformity, so the subsequent received light signal is stronger, so that the distance sensor module 100 can measure the distance more accurately; the straight line light spot after reflection is focused on the receiving unit 140 by the first focusing lens 130, so that the rays can converge to the same point more accurately, thereby improving the quality and clarity of the rays projected onto the receiving unit 140, and further improving the distance measurement accuracy of the distance sensor module 100; the receiving unit 140 converts the light signal into a photoelectric signal, and the receiving unit 140 usually includes a first triangular photodiode 141 and a second triangular photodiode 142. Through the changes of the light beams on the two and the changes in the intensity of the light beam energy caused by the distance change, the distance change between the distance sensor module 100 and the object to be measured 200 can be obtained; the distance signal value is finally output according to the change of the photoelectric signal.

[0089] It should be noted that the light source unit 110 emits an irradiation spot to the light shaping unit 120, and the light spot is converted into rays by the light shaping unit 120 and then irradiated onto the object to be measured 200, so that the energy of the light irradiated onto the object to be measured 200 is stronger, so that the energy of the reflected light is also stronger, thereby improving the accuracy and stability of distance measurement by light, and even long-distance distance measurement can receive light energy that is easy for the receiving unit 140 to receive. The light reflected by the object to be measured 200 is focused on the receiving unit 140 after passing through the first focusing lens 130, and the reflected rays are better converged on the receiving unit 140, thereby improving the light energy received by the receiving unit 140, and thereby improving the accuracy and reliability of obtaining the distance through the receiving unit 140. At the same time, after the receiving unit 140 converts the optical signal into a photoelectric signal, the distance change between the distance sensor module 100 and the object to be measured 200 is obtained according to the change of the photocurrent.

[0090] In a feasible implementation, the receiving part includes a first triangular photodiode and a second triangular photodiode, and a first focusing lens 130 is provided between the receiving part and the object to be measured. The distance L1 between the distance sensor module 100 and the object to be measured 200 is obtained as:

[0091] L1=X1L2 / X2;

[0092] Wherein, X1 is the distance between the line spot and the central axis of the first focusing lens, which is a known value; L2 is the distance between the first focusing lens and the receiving part, which is a known value; X2 is the distance that the spot moves on the receiving part;

[0093] X2=(I pd2 -I pd1 )L / (I pd2 +I pd1 );

[0094] In the formula, I pd1 is the photocurrent received by the first triangular photodiode; I pd2 is the photocurrent received on the second triangular photodiode; L is the distance from the center of the receiving part to both sides, that is, the position when the ratio of the photocurrent of the first triangular photodiode to the photocurrent of the first triangular photodiode is 1.

[0095] Specifically, the total photocurrent received by a pair of triangular photodiodes is I 0 , the photocurrent of the first triangular photodiode 141 is I pd1 , the photocurrent of the second triangular photodiode 142 is I pd2 , then I 0 =I pd1 +I pd2As the distance between the distance sensor module 100 and the object to be measured 200 increases, the energy of the reflected light decreases, and the sum of the photocurrents of the pair of triangular photodiodes decreases, that is, the photocurrent is inversely proportional to the distance of the object to be measured 200. At the same time, as the distance of the object to be measured 200 increases, the line light spot gradually moves from one end of the pair of triangular photodiodes to the other end, and the area of ​​the line light spot irradiated on the first triangular photodiode 142 decreases, so I pd1 gradually decreases, while the area illuminated on the second triangular photodiode increases, I pd2 gradually increases, that is, the ratio of the photocurrent in the second triangular photodiode 142 region to the photocurrent in the first triangular photodiode 141 region I pd2 / I pd1 From small to large, it increases as the distance from the object to be measured 200 increases, that is, I pd2 / I pd1 It is proportional to the distance of the object to be measured 200.

[0096] Based on the above principle, we can know that I pd1 / I pd2 =(L+X2) / (L-X2), where L is the distance from the midpoint of a pair of triangular photodiodes to the two sides, i.e., I pd1 / I pd2 =1; X2 is the vertical distance between the line spot and the midpoint of a pair of triangular photodiodes, that is, the moving distance of the line spot. 0 =I pd1 +I pd2 Substitute into Formula I pd1 / I pd2 =(L+X2) / (L-X2), finally we get X2

[0097] X2=(I pd2 -I pd1 )L / (I pd2 +I pd1 )......(1);

[0098] In this embodiment, Figure 4 As shown, according to the principle of triangulation:

[0099] L1 / X1=L2 / X2;

[0100] It can be deduced that

[0101] L1X2=X1L2;

[0102] Then the distance L1 is obtained as

[0103] L1=X1L2 / X2......(2)

[0104] In formula 2, X1 and L2 are both known values. Substituting X2 in formula 1 into the formula, the distance between the object to be measured 200 and the distance sensor module 100 is finally obtained. pd2 and I pd1 It is the value that can be obtained by connecting a pair of triangular photodiodes to the BT board.

[0105] In the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless otherwise clearly defined.

[0106] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only.

[0107] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A distance sensor module, characterized in that: The distance sensor module comprises: A light source unit, emitting an irradiation light spot toward the object to be measured; A light shaping unit, arranged on a side of the light source unit facing the object to be measured, and the light shaping unit transforms the irradiated light spot into a straight line light spot; A receiving part, which is arranged on the same plane as the light source part, and the light receiving side of the receiving part faces the object to be measured; A first focusing lens is arranged on a side of the receiving portion facing the object to be measured; The light source unit, the light shaping unit, the receiving unit and the first focusing lens are all arranged in a housing.

2. The distance sensor module according to claim 1, characterized in that: The first focusing lens and the light shaping unit are located on the same plane.

3. The distance sensor module according to claim 1, characterized in that: A baffle is arranged on a side of the shell facing the object to be measured, and the material of the baffle is epoxy resin.

4. The distance sensor module according to claim 1, characterized in that: The distance sensor module also includes: A BT board, wherein the light source unit and the receiving unit are arranged on the BT board, and the BT board is configured to supply power to the light source unit and the receiving unit. An external processing circuit is connected to the BT board, and the BT board is configured to convert the photocurrent signal of the receiving unit into an analog signal through the processing circuit and then output it.

5. The distance sensor module according to any one of claims 1 to 4, characterized in that: The light source unit is at least one near-infrared light source, and the wavelength of the near-infrared light source is 850nm to 905nm.

6. The distance sensor module according to any one of claims 1 to 4, characterized in that: The light shaping unit comprises: a second focusing lens and a micro cylindrical array arranged on the second focusing lens, wherein the micro cylindrical array is arranged parallel to the second focusing lens, and one side of the micro cylindrical array faces the object to be measured; or The light shaping unit includes: a second focusing lens and a micro cylindrical array, wherein the micro cylindrical array is located on a side of the second focusing lens facing the object to be measured.

7. The distance sensor module according to any one of claims 1 to 4, characterized in that: The receiving part includes: a pair of triangular photodiodes, the hypotenuses of the pair of triangular photodiodes are arranged opposite to each other, the light receiving surfaces of the pair of triangular photodiodes are arranged on the same side, and the light receiving surfaces are arranged toward the first focusing lens.

8. A device, characterized in that The device comprises: The distance sensor module according to any one of claims 1 to 7; A housing, wherein the distance sensor module is arranged on the housing.

9. A distance measurement method, using the distance sensor module according to any one of claims 1 to 7, characterized in that: The distance measurement method comprises the following steps: Irradiate the object to be tested with an infrared straight line spot; The infrared straight line light spot reflected by the object to be tested is focused and irradiated onto the receiving part; The receiving unit converts the optical signal into a photoelectric signal; Based on the change of the photoelectric signal, the distance between the distance sensor module and the object to be measured is obtained.

10. The distance measurement method according to claim 9, characterized in that: The receiving part includes a first triangular photodiode and a second triangular photodiode. A first focusing lens is provided between the receiving part and the object to be measured. The distance L1 between the distance sensor module and the object to be measured is obtained as follows: L1=X1L2 / X2; Wherein, X1 is the distance between the line spot and the central axis of the first focusing lens, which is a known value; L2 is the distance between the first focusing lens and the receiving part, which is a known value; X2 is the distance that the spot moves on the receiving part; X2=(I pd2 -I pd1 )L / (I pd2 +I pd1 ); In the formula, I pd1 is the photocurrent received by the first triangular photodiode; I pd2 is the photocurrent received on the second triangular photodiode; L is the distance from the center of the receiving part to both sides, that is, the position when the ratio of the photocurrent of the first triangular photodiode to the photocurrent of the first triangular photodiode is 1.

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