JP2006171006A - パルスレーザ測距装置およびその測定方法 - Google Patents
パルスレーザ測距装置およびその測定方法 Download PDFInfo
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- JP2006171006A JP2006171006A JP2005363927A JP2005363927A JP2006171006A JP 2006171006 A JP2006171006 A JP 2006171006A JP 2005363927 A JP2005363927 A JP 2005363927A JP 2005363927 A JP2005363927 A JP 2005363927A JP 2006171006 A JP2006171006 A JP 2006171006A
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- 238000000034 method Methods 0.000 title claims description 11
- 230000003252 repetitive effect Effects 0.000 claims description 5
- 238000000691 measurement method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 description 28
- 238000004364 calculation method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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- 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
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
-
- 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
- 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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
外乱周波数fSTOR=100Hz,…,120Hz毎に、
トリガ周波数fTRIGGER が、m=1,2,3,…として、次式[数1]の周波数帯域
外乱周波数fSTOR=100Hz,…,120Hz毎に、
トリガ周波数fTRIGGER が、m=1,2,3,…として、次式[数2]の周波数帯域
fMISCH = fTRIGGER ・n
(ただし、n = 1,2,3,…)
とみなすことができ、より大きい距離にわたる高い精度の測距に適合させるため、パルス反射混合方式は、低周波パルス列の信号部分は、探査信号によって正しい位相で重畳することを保証する。
次に、図面につき本発明の好適な実施例を説明する。
2 マイクロコントローラ
3 アルゴリズム
4 測定対象
5 重畳モジュール
6 測定パルス
7 基準パルス
9 測定ステップ
10 計算ステップ
11 重畳ステップ
12 トリガ信号
13 外乱
Claims (4)
- 測定パルス(6)と基準パルス(7)との間の時間差(τ)によって測定対象(4)までの距離(X)を計算するため、マイクロコントローラ(2)により制御されるアルゴリズム(3)を有する携行式のパルスレーザ測距装置(1)の測定方法であり、前記時間差(τ)から距離(X)を計算するステップとして、複数の繰り返しパルス列をトリガ周波数fTRIGGER で周期的に重畳する重畳ステップ(11)を行う測定方法において、
外乱周波数fSTOR=100Hz,…,120Hz毎に、
トリガ周波数fTRIGGER が、m=1,2,3,…として、次式[数2]の周波数帯域
- パルス反射混合方法で混合によって生ずる低周波の混合パルス繰返周波数(fMISCH)は、前記トリガ周波数fTRIGGER の整数倍に一致するものとした請求項2記載のパルスレーザ測距装置の測定方法。
- 前記トリガ周波数fTRIGGER は、低周波の混合パルス繰返周波数(fMISCH)に一致するものとした請求項3記載のパルスレーザ測距装置の測定方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004060622.6A DE102004060622B4 (de) | 2004-12-16 | 2004-12-16 | Impuls-Laserdistanzhandmessgerät |
DE102004060622.6 | 2004-12-16 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006171006A true JP2006171006A (ja) | 2006-06-29 |
JP5466803B2 JP5466803B2 (ja) | 2014-04-09 |
Family
ID=36084148
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005363927A Active JP5466803B2 (ja) | 2004-12-16 | 2005-12-16 | パルスレーザ測距装置およびその測定方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7548829B2 (ja) |
EP (1) | EP1679527B1 (ja) |
JP (1) | JP5466803B2 (ja) |
AT (1) | ATE422677T1 (ja) |
DE (1) | DE102004060622B4 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9677881B2 (en) | 2013-12-19 | 2017-06-13 | Symbol Technologies, Llc | Method and apparatus for identifying an edge of an object using laser distance measurement |
WO2017068878A1 (ja) * | 2015-10-19 | 2017-04-27 | ソニー株式会社 | 測距装置及び撮像システム |
US10845470B2 (en) | 2016-11-16 | 2020-11-24 | Waymo Llc | Methods and systems for protecting a light detection and ranging (LIDAR) device |
Citations (11)
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JPS6238310A (ja) * | 1985-08-12 | 1987-02-19 | Nippon Kogaku Kk <Nikon> | 測距装置 |
JPS62182683A (ja) * | 1986-02-06 | 1987-08-11 | Honda Motor Co Ltd | パルスレ−ダ装置 |
JPS62269240A (ja) * | 1986-05-16 | 1987-11-21 | Sharp Corp | ノイズ除去装置 |
JPS642026A (en) * | 1987-06-25 | 1989-01-06 | Agency Of Ind Science & Technol | Heterodyne detecting method utilizing generation of light pulse train due to semiconductor laser |
JPH02281246A (ja) * | 1989-04-21 | 1990-11-16 | Olympus Optical Co Ltd | 遠隔操作可能なカメラ |
JPH0552957A (ja) * | 1991-08-22 | 1993-03-02 | Olympus Optical Co Ltd | 距離測定装置 |
JPH0865717A (ja) * | 1994-08-19 | 1996-03-08 | Iwatsu Electric Co Ltd | ダイヤル検出装置 |
JPH09159688A (ja) * | 1995-12-08 | 1997-06-20 | Hino Motors Ltd | 速度センサおよび経過時間測定システム |
JPH10228060A (ja) * | 1998-03-30 | 1998-08-25 | Olympus Optical Co Ltd | カメラ |
JPH1138137A (ja) * | 1997-07-23 | 1999-02-12 | Denso Corp | 距離測定装置 |
JP2002323562A (ja) * | 2001-03-16 | 2002-11-08 | Hilti Ag | 電気光学的な距離測定方法及び装置 |
Family Cites Families (20)
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US3497301A (en) * | 1966-11-08 | 1970-02-24 | Donald F Buchla | Optical range measuring apparatus |
DE2834954A1 (de) * | 1978-08-10 | 1980-02-21 | Honeywell Gmbh | Entfernungs- und geschwindigkeitsmesseinrichtung mit rauschfrequenzmoduliertem sender |
DE3103567A1 (de) * | 1981-02-03 | 1982-08-12 | MITEC Moderne Industrietechnik GmbH, 8012 Ottobrunn | Entfernungsmessverfahren nach dem prinzip der laufzeitmessung eines messlichtimpulses und vorrichtung zu seiner durchfuehrung |
DE3219423C2 (de) * | 1981-06-09 | 1986-04-30 | MTC, Meßtechnik und Optoelektronik AG, Neuenburg/Neuchâtel | Entfernungsmeßverfahren und Vorrichtung zu seiner Durchführung |
CH662187A5 (de) * | 1981-09-29 | 1987-09-15 | Kern & Co Ag | Verfahren zur elektrooptischen distanzmessung, sowie distanzmessgeraet zur durchfuehrung des verfahrens. |
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-
2004
- 2004-12-16 DE DE102004060622.6A patent/DE102004060622B4/de active Active
-
2005
- 2005-11-29 AT AT05111414T patent/ATE422677T1/de active
- 2005-11-29 EP EP05111414A patent/EP1679527B1/de active Active
- 2005-12-14 US US11/304,934 patent/US7548829B2/en active Active
- 2005-12-16 JP JP2005363927A patent/JP5466803B2/ja active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6238310A (ja) * | 1985-08-12 | 1987-02-19 | Nippon Kogaku Kk <Nikon> | 測距装置 |
JPS62182683A (ja) * | 1986-02-06 | 1987-08-11 | Honda Motor Co Ltd | パルスレ−ダ装置 |
JPS62269240A (ja) * | 1986-05-16 | 1987-11-21 | Sharp Corp | ノイズ除去装置 |
JPS642026A (en) * | 1987-06-25 | 1989-01-06 | Agency Of Ind Science & Technol | Heterodyne detecting method utilizing generation of light pulse train due to semiconductor laser |
JPH02281246A (ja) * | 1989-04-21 | 1990-11-16 | Olympus Optical Co Ltd | 遠隔操作可能なカメラ |
JPH0552957A (ja) * | 1991-08-22 | 1993-03-02 | Olympus Optical Co Ltd | 距離測定装置 |
JPH0865717A (ja) * | 1994-08-19 | 1996-03-08 | Iwatsu Electric Co Ltd | ダイヤル検出装置 |
JPH09159688A (ja) * | 1995-12-08 | 1997-06-20 | Hino Motors Ltd | 速度センサおよび経過時間測定システム |
JPH1138137A (ja) * | 1997-07-23 | 1999-02-12 | Denso Corp | 距離測定装置 |
JPH10228060A (ja) * | 1998-03-30 | 1998-08-25 | Olympus Optical Co Ltd | カメラ |
JP2002323562A (ja) * | 2001-03-16 | 2002-11-08 | Hilti Ag | 電気光学的な距離測定方法及び装置 |
Also Published As
Publication number | Publication date |
---|---|
US20060142969A1 (en) | 2006-06-29 |
EP1679527A1 (de) | 2006-07-12 |
US7548829B2 (en) | 2009-06-16 |
JP5466803B2 (ja) | 2014-04-09 |
EP1679527B1 (de) | 2009-02-11 |
ATE422677T1 (de) | 2009-02-15 |
DE102004060622A1 (de) | 2006-07-06 |
DE102004060622B4 (de) | 2015-01-22 |
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