JP6531326B2 - 光学式検知装置 - Google Patents
光学式検知装置 Download PDFInfo
- Publication number
- JP6531326B2 JP6531326B2 JP2015047195A JP2015047195A JP6531326B2 JP 6531326 B2 JP6531326 B2 JP 6531326B2 JP 2015047195 A JP2015047195 A JP 2015047195A JP 2015047195 A JP2015047195 A JP 2015047195A JP 6531326 B2 JP6531326 B2 JP 6531326B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- measurement
- irradiation area
- luminance portion
- light source
- 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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Classifications
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
-
- 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
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
図1に示すように、光学式検知装置1は、投影装置10と受光装置20を有している。
L=(cT0/2)×{(S2−S1)/(S2+S3−2S1)}(数1)
で表される。(S2+S3−2S1)は、発光期間T0以外の光、すなわち外光を相殺するための計算値である。同様に、(S2−S1)も外光の効果を取り除いている計算値である。
10 投影装置
11 光源
13 光学変換素子
14 光源ドライバ
20 受光装置
21 受光素子
22 受光レンズ
24 画素処理回路
30 制御部
d1 高輝度部
d2 低輝度部
d 光照射領域
Claims (5)
- 光源と、前記光源から強度変調された測定光を発光させる光源ドライバと、前記測定光を所定の投影パターンに変換して対象物に投影する光学変換素子と、前記対象物から反射された前記測定光を受光する受光素子と、制御部とを有し、
前記投影パターンは、前記光源から発せられた光を複数箇所に集約し前記対象物に投影して形成された光照射領域と、前記光照射領域の間を埋める光非照射領域とを有し、前記光照射領域は、光の輝度が高い高輝度部と前記高輝度部よりも光の輝度が低い低輝度部とを有しており、
前記制御部は、前記光照射領域の光を前記受光素子で受光した受光出力から前記高輝度部の光の位相差を求めて、前記受光素子から前記光照射領域までのZ方向の距離情報を演算することを特徴とする光学式検知装置。 - 前記制御部は、前記投影パターンからの反射光の光強度変化の連続性を監視することで前記対象物の輪郭を検出する請求項1記載の光学式検知装置。
- 前記制御部は、前記低輝度部からの反射光の光強度変化の連続性を監視することで前記対象物の輪郭を検出する請求項2記載の光学式検知装置。
- Z方向の距離情報と前記輪郭とから、前記対象物の立体形状が演算される請求項2または3に記載の光学式検知装置。
- 前記投影パターンはドットパターンである請求項1ないし4のいずれかに記載の光学式検知装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015047195A JP6531326B2 (ja) | 2015-03-10 | 2015-03-10 | 光学式検知装置 |
PCT/JP2016/054836 WO2016143482A1 (ja) | 2015-03-10 | 2016-02-19 | 光学式検知装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015047195A JP6531326B2 (ja) | 2015-03-10 | 2015-03-10 | 光学式検知装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016166814A JP2016166814A (ja) | 2016-09-15 |
JP6531326B2 true JP6531326B2 (ja) | 2019-06-19 |
Family
ID=56880453
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015047195A Expired - Fee Related JP6531326B2 (ja) | 2015-03-10 | 2015-03-10 | 光学式検知装置 |
Country Status (2)
Country | Link |
---|---|
JP (1) | JP6531326B2 (ja) |
WO (1) | WO2016143482A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3301477A1 (en) * | 2016-10-03 | 2018-04-04 | Xenomatix NV | System for determining a distance to an object |
EP3301480A1 (en) | 2016-10-03 | 2018-04-04 | Xenomatix NV | System and method for determining a distance to an object |
EP3343246A1 (en) | 2016-12-30 | 2018-07-04 | Xenomatix NV | System for characterizing surroundings of a vehicle |
US10768630B2 (en) * | 2017-02-09 | 2020-09-08 | International Business Machines Corporation | Human imperceptible signals |
EP3392674A1 (en) * | 2017-04-23 | 2018-10-24 | Xenomatix NV | A pixel structure |
US10768301B2 (en) * | 2017-12-15 | 2020-09-08 | Xenomatix Nv | System and method for determining a distance to an object |
US11662433B2 (en) | 2017-12-22 | 2023-05-30 | Denso Corporation | Distance measuring apparatus, recognizing apparatus, and distance measuring method |
JP7238343B2 (ja) * | 2017-12-22 | 2023-03-14 | 株式会社デンソー | 距離測定装置及び距離測定方法 |
GB2574058B (en) * | 2018-05-25 | 2021-01-13 | Envisics Ltd | Holographic light detection and ranging |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08178633A (ja) * | 1994-12-22 | 1996-07-12 | Mitsubishi Heavy Ind Ltd | 3次元形状計測装置及び計測方法 |
JP5486150B2 (ja) * | 2007-03-30 | 2014-05-07 | 富士フイルム株式会社 | 測距装置、測距方法及び測距システム |
JP6186679B2 (ja) * | 2012-08-09 | 2017-08-30 | 旭硝子株式会社 | 照明光学系、計測装置及びそれに用いられる回折光学素子 |
US9057784B2 (en) * | 2012-08-14 | 2015-06-16 | Microsoft Technology Licensing, Llc | Illumination light shaping for a depth camera |
-
2015
- 2015-03-10 JP JP2015047195A patent/JP6531326B2/ja not_active Expired - Fee Related
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2016
- 2016-02-19 WO PCT/JP2016/054836 patent/WO2016143482A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2016143482A1 (ja) | 2016-09-15 |
JP2016166814A (ja) | 2016-09-15 |
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