JP2901748B2 - Distance measuring device - Google Patents
Distance measuring deviceInfo
- Publication number
- JP2901748B2 JP2901748B2 JP31101190A JP31101190A JP2901748B2 JP 2901748 B2 JP2901748 B2 JP 2901748B2 JP 31101190 A JP31101190 A JP 31101190A JP 31101190 A JP31101190 A JP 31101190A JP 2901748 B2 JP2901748 B2 JP 2901748B2
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- JP
- Japan
- Prior art keywords
- light
- output
- light receiving
- target object
- receiving 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.)
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Description
【発明の詳細な説明】 （ａ）産業上の利用分野 この発明は、対象物体に対して光を投光する投光素子
と、投光素子の投光方向に垂直な方向に投光素子から一
定基線長離れた位置で対象物体における反射光を受光し
て受光量に応じた信号を出力する受光素子と、を備えた
三角測距方式の距離測定装置に関する。DETAILED DESCRIPTION OF THE INVENTION (a) Industrial application field The present invention relates to a light projecting element for projecting light to a target object, and a light projecting element extending in a direction perpendicular to the light projecting direction of the light projecting element. The present invention relates to a triangular distance measuring device including a light receiving element that receives reflected light from a target object at a position separated by a fixed base length and outputs a signal corresponding to the amount of received light.
（ｂ）従来の技術 三角測距方式によって対象物体までの距離を測定する
距離測定装置では、一般に第６図に示すように、投光素
子１の光を投光レンズ４を介して対象物体３に投光し、
この対象物体３における反射光を受光レンズ５を介して
受光素子２によって受光する。この投光レンズ４と受光
レンズ５とは投光素子１の投光方向に対して垂直な方向
に基線長Ｌだけ離れて設置されている。この構成におい
て、投光レンズ４から対象物体３までの距離が変わる
と、対象物体３において反射した光の受光レンズ５に対
する入射角が変わり、受光素子２における受光点（受光
範囲の中心）が変わり、受光素子２は受光点の位置に応
じた信号を出力する。この受光素子２の出力を検出する
ことによって投光部と対象物体との距離Ｒを検出するよ
うにしている。(B) Conventional technology In a distance measuring device that measures the distance to a target object by a triangular distance measurement method, generally, as shown in FIG. Light to
The light reflected by the target object 3 is received by the light receiving element 2 via the light receiving lens 5. The light projecting lens 4 and the light receiving lens 5 are set apart from each other by a base line length L in a direction perpendicular to the light projecting direction of the light projecting element 1. In this configuration, when the distance from the light projecting lens 4 to the target object 3 changes, the incident angle of the light reflected on the target object 3 with respect to the light receiving lens 5 changes, and the light receiving point (center of the light receiving range) of the light receiving element 2 changes. The light receiving element 2 outputs a signal corresponding to the position of the light receiving point. By detecting the output of the light receiving element 2, the distance R between the light projecting unit and the target object is detected.
（ｃ）発明が解決しようとする課題 しかしながら、上記従来の距離測定装置では、第７図
に示すように装置10の内部において距離Ｒの測定方向に
垂直な方向に長手方向を一致させて受光素子２を備えて
いるため、受光素子２の受光面においてその長手方向に
垂直な方向、即ち同図中矢印Ｚ方向に対象物体３が移動
すると、対象物体３からの反射光の受光範囲が第８図に
実線で示す受光範囲S1から同図中破線で示す受光範囲S2
に移動し、受光素子２が十分な光量の反射光を受光する
ことができなくなり、距離Ｒが一定であっても受光素子
２の出力が低下する。ところが、従来の距離測定装置で
は、このような受光状態の変化を検出できるようにした
ものがなく、対象物体３が距離の測定方向に垂直な方向
に移動した際に距離の誤検出を生じる問題があった。(C) Problems to be Solved by the Invention However, in the above-mentioned conventional distance measuring device, as shown in FIG. When the target object 3 moves in the direction perpendicular to the longitudinal direction of the light receiving surface of the light receiving element 2, that is, in the direction indicated by the arrow Z in the figure, the light receiving range of the reflected light from the target object 3 becomes 8th. light show from the light receiving range S 1 indicated by a solid line in the drawings in the broken line in the drawing range S 2
And the light receiving element 2 cannot receive a sufficient amount of reflected light, and the output of the light receiving element 2 decreases even when the distance R is constant. However, there is no conventional distance measuring device capable of detecting such a change in the light receiving state, and the problem of erroneous distance detection when the target object 3 moves in a direction perpendicular to the distance measuring direction. was there.
この発明の目的は、受光素子の受光面において受光素
子の長手方向（基線長方向）に垂直な方向に複数列の受
光領域を構成し、各列の出力を比較することによって対
象物体が距離の測定方向に垂直な方向について適正な位
置にあるか否かを判別できるようにし、対象物体が適正
な位置から変位している場合には入光素子の検出出力を
無効にし、距離の誤検出を防止できる距離測定装置を提
供することにある。An object of the present invention is to form a plurality of rows of light receiving areas on a light receiving surface of a light receiving element in a direction perpendicular to the longitudinal direction (base line length direction) of the light receiving element, and to compare the outputs of the respective rows so that the target object can detect the distance. In the direction perpendicular to the measurement direction, it is possible to determine whether or not it is at an appropriate position.If the target object is displaced from the appropriate position, the detection output of the light-receiving element is invalidated, and erroneous distance detection is performed. An object of the present invention is to provide a distance measuring device capable of preventing the distance.
（ｄ）課題を解決するための手段 この発明の距離測定装置は、対象物体に対して光を投
光する投光素子と、投光素子の投光方向に垂直な方向に
投光素子から一定基線長離れた位置で対象物体における
反射光を受光して受光量に応じた信号を出力する受光素
子と、を備えた三角測定方式の距離測定装置において、 前記受光素子の受光領域をその受光面で前記基線長方
向に直交する方向に複数列に構成し、各列の出力がほぼ
等しい時にのみ受光素子の出力を測距出力とする出力判
別手段を設けたことを特徴とする。(D) Means for Solving the Problems A distance measuring apparatus according to the present invention includes a light projecting element for projecting light to a target object, and a constant distance from the light projecting element in a direction perpendicular to the light projecting direction of the light projecting element. A light-receiving element that receives reflected light from the target object at a position away from the base line and outputs a signal corresponding to the amount of received light, and a triangulation-type distance measuring device including: a light-receiving area of the light-receiving element; And a plurality of rows in a direction orthogonal to the base line length direction, and an output discriminating means is provided for making the output of the light receiving element a distance measurement output only when the output of each row is substantially equal.
（ｅ）作用 この発明においては、投光素子の光の対象物体におけ
る反射光を受光素子において受光し、対象物体までの距
離を測定する三角測距が行われる。受光素子はその長手
方向に垂直な方向に複数列に構成されており、各列の出
力がほぼ等しいか否かの判別が行われる。一般に距離測
定装置は対象物体が距離の測定方向に垂直な方向につい
て適正な位置にある場合に、その反射光が受光素子の受
光量域内でその長手方向に垂直な方向の中間に位置する
ように設置される。この状態で対象物体が距離の測定方
向に垂直な方向（受光素子の長手方向に垂直な方向）に
変位した場合、反射光の受光範囲は受光素子の長手方向
に垂直な方向に変位する。このため、受光素子の受光領
域を構成する各列における受光量が変わり、各列の出力
に大きな差異を生じる。したがって、受光領域を構成す
る各列の出力を比較することによって対象物体が適正な
位置になるか否かを判別でき、対象物体が適正な位置に
ある場合にのみ、即ち受光領域を構成する各列の出力が
ほぼ等しい場合にのみ受光素子の出力を測距出力として
有効に取り扱うことができる。(E) Function In the present invention, triangular distance measurement for measuring the distance to the target object is performed by receiving the reflected light of the light of the light projecting element at the target object at the light receiving element. The light receiving elements are arranged in a plurality of columns in a direction perpendicular to the longitudinal direction, and it is determined whether or not the outputs of the respective columns are substantially equal. Generally, the distance measuring device is arranged such that when the target object is at an appropriate position in the direction perpendicular to the distance measuring direction, the reflected light is located in the light receiving area of the light receiving element in the middle of the direction perpendicular to the longitudinal direction. Will be installed. In this state, if the target object is displaced in a direction perpendicular to the distance measurement direction (direction perpendicular to the longitudinal direction of the light receiving element), the light receiving range of the reflected light is displaced in a direction perpendicular to the longitudinal direction of the light receiving element. For this reason, the amount of light received in each column constituting the light receiving region of the light receiving element changes, and a large difference occurs in the output of each column. Therefore, it is possible to determine whether or not the target object is at a proper position by comparing the outputs of the respective columns constituting the light receiving region. Only when the target object is at the proper position, that is, each of the light receiving regions, Only when the outputs of the columns are substantially equal, the output of the light receiving element can be effectively handled as the distance measurement output.
（ｆ）実施例 第１図は、この発明の実施例である距離測定装置に備
えられる受光素子の受光面を示す図である。(F) Embodiment FIG. 1 is a diagram showing a light receiving surface of a light receiving element provided in a distance measuring device according to an embodiment of the present invention.
受光素子（多分割フォトダイオード）２の受光面はそ
の長手方向に垂直な方向について２列に構成され、更に
各列は長手方向に３分割にされ、それぞれ受光領域2a〜
2cおよび受光領域2a′〜2c′にされている。対象物体が
距離の測定方向に垂直な方向について適正な位置にある
場合には、対象物体からの反射光は図中実線で示す受光
範囲S1のように受光素子２の長手方向の垂直な方向の中
央に位置する。この状態で対象物体が距離測定装置に対
して接近または離隔することにより、受光範囲S1は受光
面の長手方向に変位する。一方、対象物体が距離の測定
方向に垂直な方向について正常な位置にない場合には、
その反射光は図中破線で示す受光範囲S2のように受光さ
れる。対象物体の反射光が受光素子２において受光範囲
S2で示す状態に受光されると、受光面を構成する各列の
受光領域の検出出力が異なることになる。The light receiving surface of the light receiving element (multi-segmented photodiode) 2 is formed in two rows in a direction perpendicular to the longitudinal direction, and each row is further divided into three in the longitudinal direction.
2c and the light receiving areas 2a 'to 2c'. If the object is in the proper position in the direction perpendicular to the measuring direction of the distance, the reflected light from the object to the longitudinal direction of the vertical direction of the light receiving element 2 as receiving range S 1 indicated by a solid line in FIG. Located in the center of. By target object approaches or away from the distance measuring apparatus in this state, the receiving area S 1 is displaced in the longitudinal direction of the light receiving surface. On the other hand, if the target object is not at a normal position in the direction perpendicular to the distance measurement direction,
The reflected light is received as receiving range S 2 shown by the broken line in FIG. The reflected light of the target object is received in the light receiving element 2
Once received by the state shown by S 2, so that the detection output of the light receiving area of each column constituting the light receiving surface is different.
第２図は、上記距離測定装置の構成を示すブロック図
である。FIG. 2 is a block diagram showing a configuration of the distance measuring device.
受光素子２において受光面を構成する受光領域2a〜2
c,2a′〜2c′のそれぞれから受光量に応じた出力信号Va
〜Vc,Va′〜Vc′が出力される。第１列の受光領域2a〜2
cのうち受光領域2aおよび受光領域2bの出力VaおよびVb
が加算回路11に入力され、受光領域2bおよび2cの出力Vb
およびVcが加算回路12に入力される。この加算回路11,1
2の出力が除算回路13に入力され、加算回路11,12におけ
る出力和の比が求められる。この除算回路13の演算結果
が測距出力Ｖとして出力される。The light receiving areas 2a to 2 forming the light receiving surface in the light receiving element 2
output signal Va corresponding to the amount of received light from each of c, 2a 'to 2c'
~ Vc, Va '~ Vc' are output. First row light receiving areas 2a-2
Of Va, outputs Va and Vb of light receiving area 2a and light receiving area 2b
Is input to the addition circuit 11, and the output Vb of the light receiving areas 2b and 2c
And Vc are input to the addition circuit 12. This addition circuit 11,1
The output of 2 is input to the division circuit 13, and the ratio of the output sum in the addition circuits 11 and 12 is obtained. The calculation result of the division circuit 13 is output as the distance measurement output V.
また、第１列の受光領域2a〜2cの出力Va〜Vcは加算回
路14に入力される。一方、第２列の受光領域2a′〜2c′
の出力Va′〜Vc′は加算回路15に入力される。この加算
回路14,15における加算結果である出力和Σ１およびΣ
２は減算回路16に入力され、両出力和の差の絶対値が求
められる。この減算回路16の出力は比較器17において基
準電圧Vthと比較される。この比較器17における基準電
圧Vthは十分小さな値に設定されている。前述の除算回
路13における除算結果はスイッチSWを介して測距出力Ｖ
として出力されるが、比較器17の出力信号はこのスイッ
チSWに供給される。スイッチSWは比較器17の出力信号応
が“Hi"の時測距出力Ｖの出力経路を閉成し、比較器17
の出力信号が“Lo"レベルの時同経路を開成する。The outputs Va to Vc of the light receiving areas 2a to 2c in the first column are input to the adding circuit 14. On the other hand, the light receiving areas 2a 'to 2c' in the second row
Are output to an adder circuit 15. The output sums Σ1 and で, which are the addition results of the adders 14 and 15,
2 is input to the subtraction circuit 16, and the absolute value of the difference between the two outputs is obtained. The output of the subtraction circuit 16 is compared in the comparator 17 with the reference voltage Vth . The reference voltage Vth in the comparator 17 is set to a sufficiently small value. The result of the division in the above-mentioned division circuit 13 is output to the ranging output V via the switch SW.
The output signal of the comparator 17 is supplied to this switch SW. The switch SW closes the output path of the distance measurement output V when the output signal response of the comparator 17 is "Hi".
When the output signal of is at "Lo" level, the same path is opened.
以上の構成により対象物体が距離の測定方向に垂直な
方向について適正な位置にあり、その反射光が第１図中
実線で示す受光範囲S1のような状態に受光されている場
合は、受光素子２における第１列の受光領域2a〜2cの出
力和（加算回路14の出力Σ１）と第２列の受光領域2a′
〜2c′の出力和（加算回路15の出力Σ２）とがほぼ等し
くなり、演算回路16の出力はほぼ０になる。このため、
比較器17の出力信号は“Hi"レベルになり、スイッチSW
が出力経路を閉成して測距出力Ｖが出力される。In the configuration proper position in the direction perpendicular target object in the measuring direction of the distance by the above, if the reflected light is received by the conditions such as the light receiving range S 1 shown in FIG. 1 in solid lines, the light-receiving In the element 2, the output sum of the light receiving areas 2a to 2c in the first column (the output Σ1 of the adding circuit 14) and the light receiving area 2a 'in the second column
2c '(the output Σ2 of the adder circuit 15) becomes substantially equal, and the output of the arithmetic circuit 16 becomes substantially zero. For this reason,
The output signal of the comparator 17 becomes “Hi” level and the switch SW
Closes the output path and the distance measurement output V is output.
一方、対象物体が距離の測定方向に垂直な方向につい
て適正な位置にない場合、即ち対象物体からの反射光が
受光素子２において第１図中破線で示す受光範囲S2のよ
うな状態に受光されている場合には、受光素子２におい
て第１列の受光領域2a〜2cの出力和と第２列の受光2a′
〜2c′の出力和とが一致しなくなり、比較器17において
除算回路16の出力が基準電圧Vthを上回る。この時、比
較器17の出力信号は“Lo"レベルになり、スイッチSWが
出力経路を開成して測距出力Ｖは出力されない。On the other hand, if the object is not in the proper position in the direction perpendicular to the measuring direction of the distance, i.e. the light receiving state such as receiving range S 2 of the light reflected from the target object shown in FIG. 1 the broken lines in the light-receiving element 2 In this case, in the light receiving element 2, the output sum of the light receiving areas 2a to 2c in the first row and the light receiving 2a 'in the second row
2c 'does not match, and the output of the dividing circuit 16 in the comparator 17 exceeds the reference voltage Vth . At this time, the output signal of the comparator 17 becomes "Lo" level, the switch SW opens the output path, and the distance measurement output V is not output.
上記の動作によって対象物体が距離の測定方向に垂直
な方向について適正な位置にあり、受光素子２において
第１列の受光領域2a〜2cの出力和と第２列の受光領域2
a′〜2c′の出力和とがほぼ等しい場合においてのみ測
距出力Ｖが出力され、誤差を含まない適正な測距出力Ｖ
のみが出力され、正確な距離の測定を実現できる。By the above operation, the target object is at an appropriate position in the direction perpendicular to the direction of measuring the distance, and in the light receiving element 2, the output sum of the light receiving areas 2a to 2c in the first row and the light receiving area 2 in the second row
The distance measurement output V is output only when the output sums of a 'to 2c' are substantially equal, and an appropriate distance measurement output V including no error is output.
Output only, and accurate distance measurement can be realized.
なお、受光素子２の分割数は３に限るものではない。 The number of divisions of the light receiving element 2 is not limited to three.
第３図は、この発明の別の実施例に係る距離測定装置
に備えられる受光素子の受光面を示す図である。FIG. 3 is a diagram showing a light receiving surface of a light receiving element provided in a distance measuring device according to another embodiment of the present invention.
同図に示すように受光素子21は２本の半導体位置検出
器（以下PSDという）21a,21bによって構成されている。
このPSD21a,21bは公知のように受光面における受光点の
位置に応じた電流を出力するものである。本実施例の受
光素子21においては、２本のPSD21a,21bの各両端の電流
I1,I2およびI1′,I2′が取り出される。As shown in the figure, the light receiving element 21 is composed of two semiconductor position detectors (hereinafter referred to as PSD) 21a and 21b.
The PSDs 21a and 21b output a current according to the position of the light receiving point on the light receiving surface, as is well known. In the light receiving element 21 of the present embodiment, the current at each end of the two PSDs 21a and 21b
I 1 , I 2 and I 1 ′, I 2 ′ are extracted.
第４図は、上記第２の実施例に係る距離測定装置の構
成を示すブロック図である。FIG. 4 is a block diagram showing the configuration of the distance measuring device according to the second embodiment.
一方のPSD21aの両端出力I1,I2の出力差をその出力和
で除した値が除算回路22で演算され、この演算結果が測
距出力ＩとしてスイッチSWを経由して出力される。ま
た、２本のPSD21a,21bのそれぞれの両端出力の出力和が
加算回路23,24により求められ、この加算結果Σ1,Σ２
が減算回路25に入力される。減算回路25はPSD21aの出力
和Σ１とPSD21bの出力和Σ２との差の絶対値を求め、こ
れを比較器26に出力する。比較器26は減算回路25の出力
を基準電圧Vthと比較する。この基準電圧Vthとしては十
分に小さい値が設定されている。比較器26の出力信号は
スイッチSWに供給されており、スイッチSWは比較器26の
出力信号が“Hi"の時に出力経路を閉成し、出力信号が
“Lo"レベル時に出力経路を開成する。A value obtained by dividing the output difference between the two outputs I 1 and I 2 of the one PSD 21a by the sum of the outputs is calculated by the division circuit 22, and the calculation result is output as the distance measurement output I via the switch SW. Also, the output sums of both ends of the two PSDs 21a and 21b are obtained by the adders 23 and 24, and the addition results Σ 1 and Σ 2 are obtained.
Is input to the subtraction circuit 25. Subtraction circuit 25 obtains the absolute value of the difference between the output sum sigma 2 output sum sigma 1 and PSD21b of PSD21a, and outputs it to the comparator 26. Comparator 26 compares the output of subtraction circuit 25 with reference voltage Vth . A sufficiently small value is set as the reference voltage Vth . The output signal of the comparator 26 is supplied to the switch SW. The switch SW closes the output path when the output signal of the comparator 26 is “Hi”, and opens the output path when the output signal is “Lo”. .
以上の構成によりPSD21aの出力和とPSD21bの出力和と
がほぼ等しい時、即ち対象物体が距離の測定方向に垂直
な方向に正常な位置にあり、その反射光の受光点がPSD2
1aとPSD21bとの中央部に位置する場合には、PSD21bの出
力和Σ１とPSD21の出力和Σ２とがほぼ等しくなって、
除算回路25の出力が０になり、比較器26の出力信号が
“Hi"となる。これによって、スイッチSWは出力経路を
閉成し、除算回路22において求められた出力比が測距出
力Ｉとして出力される。With the above configuration, when the output sum of the PSD 21a and the output sum of the PSD 21b are substantially equal, that is, the target object is at a normal position in the direction perpendicular to the distance measurement direction, and the light receiving point of the reflected light is PSD2.
In the case of being located at the center between 1a and PSD 21b, the output sum Σ 1 of PSD 21b and the output sum Σ 2 of PSD 21 are substantially equal,
The output of the divider 25 becomes 0, and the output signal of the comparator 26 becomes "Hi". As a result, the switch SW closes the output path, and the output ratio obtained in the division circuit 22 is output as the distance measurement output I.
なお、上記回路を第５図に示すように構成してもよ
い。即ちPSD21aの両端出力の出力差を出力和で除算する
除算回路22とともに、PSD21bの両端出力の出力差を出力
和で除算する除算回路27を設け、両除算回路22,27の除
算結果Is,Is′を減算回路28に入力し、この減算回路28
おいて両除算結果の差の絶対値を求める。この減算回路
28の演算結果を比較器26に入力するようにしている。こ
のように構成した場合においても、対象物体が距離の測
定方向に垂直な方向の適正な位置にある場合にのみ受光
素子の出力が測距出力Ｉとして有効にされる。The above circuit may be configured as shown in FIG. That is, a division circuit 27 for dividing the output difference between both ends of the PSD 21a by the output sum is provided together with the division circuit 22 for dividing the output difference between both ends of the PSD 21a by the output sum, and the division results Is and Is of the two division circuits 22, 27 are provided. ′ To a subtraction circuit 28,
Then, the absolute value of the difference between the two division results is obtained. This subtraction circuit
The calculation result of 28 is input to the comparator 26. Even in such a configuration, the output of the light receiving element is made valid as the distance measurement output I only when the target object is at an appropriate position in the direction perpendicular to the distance measurement direction.
なお、第２図、第４図および第５図のそれぞれにおい
て減算回路16,25,28を除算回路によって構成することも
できる。In each of FIGS. 2, 4 and 5, the subtraction circuits 16, 25 and 28 may be constituted by division circuits.
（ｇ）発明の効果 この発明によれば、対象物体が距離の測定方向に垂直
な方向の適正な位置にある場合にのみ受光素子の出力を
測距出力として有効にすることができ、その他の場合に
おいて誤差を含む受光素子の出力を無効にし、常に正確
な距離の測定を行うことができる利点がある。(G) Effects of the Invention According to the present invention, the output of the light receiving element can be made valid as the distance measurement output only when the target object is at an appropriate position in the direction perpendicular to the distance measurement direction. In this case, there is an advantage that the output of the light receiving element including an error is invalidated, and an accurate distance measurement can always be performed.
第１図はこの発明の実施例である距離測定装置に備えら
れる受光素子の受光面を示す面、第２図は同距離測定装
置の回路構成を示す図である。第３図はこの発明の別の
実施例に係る距離測定装置に備えられる受光素子の受光
面を示す図、第４図は同別の距離測定装置における回路
構成を示す図、第５図は同別の距離測定装置における回
路構成の別の実施例を示す図である。また、第６図はこ
の発明の実施例を含む一般的な距離測定装置における投
光素子、受光素子および対象物体の位置関係を示す図、
第７図は同一般的な距離測定装置の使用状態を示す図で
ある。更に、第８図は従来の距離測定装置における受光
素子の受光面の受光状態を示す図である。 １……投光素子、２……受光素子、３……対象物体、 14,15……加算回路、16……減算回路、 17……比較器、SW……スイッチ。FIG. 1 is a diagram showing a light receiving surface of a light receiving element provided in a distance measuring device according to an embodiment of the present invention, and FIG. 2 is a diagram showing a circuit configuration of the distance measuring device. FIG. 3 is a diagram showing a light receiving surface of a light receiving element provided in a distance measuring device according to another embodiment of the present invention, FIG. 4 is a diagram showing a circuit configuration in another distance measuring device, and FIG. FIG. 9 is a diagram illustrating another example of a circuit configuration in another distance measuring device. FIG. 6 is a diagram showing a positional relationship between a light projecting element, a light receiving element, and a target object in a general distance measuring device including an embodiment of the present invention;
FIG. 7 is a diagram showing a use state of the general distance measuring device. FIG. 8 is a diagram showing a light receiving state of a light receiving surface of a light receiving element in a conventional distance measuring device. 1 light-emitting element, 2 light-receiving element, 3 target object, 14, 15 addition circuit, 16 subtraction circuit, 17 comparator, SW switch.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平２−55912（ＪＰ，Ａ) 特開 平１−167608（ＪＰ，Ａ) 特開 昭63−44115（ＪＰ，Ａ) (58)調査した分野(Int.Cl.6，ＤＢ名) G01C 3/00 - 3/32 G01B 11/00 - 11/30 ────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-2-55912 (JP, A) JP-A-1-167608 (JP, A) JP-A-63-44115 (JP, A) (58) Survey Field (Int.Cl. 6 , DB name) G01C 3/00-3/32 G01B 11/00-11/30
Claims (1)
と、投光素子の投光方向に垂直な方向に投光素子から一
定基線長離れた位置で対象物体における反射光を受光し
て受光量に応じた信号を出力する受光素子と、を備えた
三角測距方式の距離測定装置において、 前記受光素子の受光領域をその受光面で前記基線長方向
に直交する方向に複数列に構成し、各列の出力がほぼ等
しい時にのみ受光素子の出力を測距出力とする出力判別
手段を設けたことを特徴とする距離測定装置。A light projecting element for projecting light onto a target object, and a light reflected by the target object received at a position at a fixed base line distance from the light projecting element in a direction perpendicular to the light projecting direction of the light projecting element. And a light-receiving element that outputs a signal corresponding to the amount of received light, and a triangular distance measurement type distance measuring device comprising: a plurality of light-receiving regions of the light-receiving element in a direction orthogonal to the base line length direction on a light-receiving surface thereof. And an output discriminating means for setting the output of the light receiving element to a distance measurement output only when the output of each column is substantially equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31101190A JP2901748B2 (en) | 1990-11-15 | 1990-11-15 | Distance measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31101190A JP2901748B2 (en) | 1990-11-15 | 1990-11-15 | Distance measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04181113A JPH04181113A (en) | 1992-06-29 |
| JP2901748B2 true JP2901748B2 (en) | 1999-06-07 |
Family
ID=18012049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31101190A Expired - Fee Related JP2901748B2 (en) | 1990-11-15 | 1990-11-15 | Distance measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2901748B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4753068B2 (en) * | 2005-09-15 | 2011-08-17 | 独立行政法人産業技術総合研究所 | POSITION DETECTION DEVICE FOR MOBILE BODY AND MOBILE ROBOT |
| JP6081238B2 (en) | 2013-03-12 | 2017-02-15 | 本田技研工業株式会社 | Moving body |
-
1990
- 1990-11-15 JP JP31101190A patent/JP2901748B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04181113A (en) | 1992-06-29 |
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