JP4279168B2 - レンジセンサの距離演算方法 - Google Patents
レンジセンサの距離演算方法 Download PDFInfo
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- JP4279168B2 JP4279168B2 JP2004028378A JP2004028378A JP4279168B2 JP 4279168 B2 JP4279168 B2 JP 4279168B2 JP 2004028378 A JP2004028378 A JP 2004028378A JP 2004028378 A JP2004028378 A JP 2004028378A JP 4279168 B2 JP4279168 B2 JP 4279168B2
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- 238000004364 calculation method Methods 0.000 title claims description 108
- 230000003287 optical effect Effects 0.000 claims description 34
- 238000001514 detection method Methods 0.000 claims description 29
- 238000000034 method Methods 0.000 description 8
- 230000007257 malfunction Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000000691 measurement method Methods 0.000 description 4
- 238000002310 reflectometry Methods 0.000 description 3
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000004298 light response Effects 0.000 description 1
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- 230000035945 sensitivity Effects 0.000 description 1
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Description
2 投光光学系
3 受光光学系
4 受光回路
5 距離演算回路
10 反射物
A1 投射光
A2 反射光
T 発光停止時間
t 光の応答遅れ(時間)
Claims (4)
- 周波数変調した光を1ステップ毎発光してスキャニングし、被投射体からの反射光との位相差から被投射体までの距離を計測するレンジセンサにおいて、
光を1スキャン毎に、又は、1ステップ毎に異なる2種類の周波数で交互に変調すると共に、1ステップの光の発光時間帯の中に一時的に発光を停止させる発光停止時間帯を設け、この発光停止時間帯以外の発光時間帯の光信号のみで1ステップでの距離演算を行い、同じ1ステップでの発光停止時間帯と反射光の発光停止時間帯の時間ずれから反射光の応答遅れを光の何波長分であるかで検出し、この検出信号の応答遅れが距離演算を間違う可能性がないと予め設定された距離での所定の最大応答遅れ以下であるかの判断に基づいて同じ1ステップで算出した距離演算値が適正範囲にあるかを、1スキャン毎に異なる2種類の各変調周波数で判断することを特徴とするレンジセンサの距離演算方法。 - 2種類の周波数で変調された光による同じ距離演算方向での1ステップ時の距離演算値の差が所定の基準値以下で、それぞれの光信号の応答遅れが距離演算を間違う可能性がないと予め設定された距離での所定の最大応答遅れ以下のときのみ、距離演算値が適正範囲にあると判断して出力することを特徴とする請求項1記載のレンジセンサの距離演算方法。
- 2種類の周波数で変調された光による同じ距離演算方向での1ステップ時の距離演算値の差が所定の基準値より大きく、及び、それぞれの光信号の応答遅れが距離演算を間違う可能性がないと予め設定された距離での所定の最大応答遅れより大きくなるときに、レンジセンサ検出エリアの最大距離を出力することを特徴とする請求項1又は2記載のレンジセンサの距離演算方法。
- 1ステップ時の発光停止時間帯では距離演算動作をせず、この発光停止時間帯で検出される光信号を距離演算と光信号応答遅れの演算を誤らせる干渉光と認識して処理することを特徴とする請求項1〜3のいずれか1記載のレンジセンサの距離演算方法。
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JP2004028378A JP4279168B2 (ja) | 2004-02-04 | 2004-02-04 | レンジセンサの距離演算方法 |
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JP2004028378A JP4279168B2 (ja) | 2004-02-04 | 2004-02-04 | レンジセンサの距離演算方法 |
Publications (2)
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JP2005221335A JP2005221335A (ja) | 2005-08-18 |
JP4279168B2 true JP4279168B2 (ja) | 2009-06-17 |
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JP2004028378A Expired - Lifetime JP4279168B2 (ja) | 2004-02-04 | 2004-02-04 | レンジセンサの距離演算方法 |
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JP (1) | JP4279168B2 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5295511B2 (ja) * | 2007-03-23 | 2013-09-18 | 富士フイルム株式会社 | 測距装置及び測距方法 |
JP2010014502A (ja) * | 2008-07-02 | 2010-01-21 | Murata Mach Ltd | 光測距装置 |
GB2505960B (en) * | 2012-09-18 | 2015-01-07 | Guidance Ip Ltd | Determining the position of an automated guided vehicle |
EP3356854B1 (en) * | 2015-09-28 | 2024-03-27 | Baraja Pty Ltd | Spatial profiling system and method |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3218189B2 (ja) * | 1996-09-24 | 2001-10-15 | 株式会社クボタ | 測距装置 |
JP3899708B2 (ja) * | 1998-10-16 | 2007-03-28 | 株式会社デンソー | 距離測定装置 |
JP2000206244A (ja) * | 1999-01-20 | 2000-07-28 | Kubota Corp | 測距装置 |
JP2000214260A (ja) * | 1999-01-20 | 2000-08-04 | Kubota Corp | 測距装置 |
US6100540A (en) * | 1999-02-22 | 2000-08-08 | Visidyne, Inc. | Laser displacement measurement system |
JP2003090881A (ja) * | 2001-09-19 | 2003-03-28 | Nec Toshiba Space System Kk | レーザ測距装置 |
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- 2004-02-04 JP JP2004028378A patent/JP4279168B2/ja not_active Expired - Lifetime
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