JP6767107B2 - 角度検出装置及び測量装置 - Google Patents
角度検出装置及び測量装置 Download PDFInfo
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- JP6767107B2 JP6767107B2 JP2015238381A JP2015238381A JP6767107B2 JP 6767107 B2 JP6767107 B2 JP 6767107B2 JP 2015238381 A JP2015238381 A JP 2015238381A JP 2015238381 A JP2015238381 A JP 2015238381A JP 6767107 B2 JP6767107 B2 JP 6767107B2
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- 238000001514 detection method Methods 0.000 claims description 67
- 238000005259 measurement Methods 0.000 claims description 65
- 238000004364 calculation method Methods 0.000 claims description 22
- 230000003287 optical effect Effects 0.000 description 12
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 10
- 238000005286 illumination Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34776—Absolute encoders with analogue or digital scales
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- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
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- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying 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)
- Length Measuring Devices By Optical Means (AREA)
- Optical Transform (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Description
θ=[(tj −ti )/((ti+1 )−ti )]×(φ(i+1 )−φi )+φi で得られる。
2 測定装置本体
12 回転部
13 偏向ミラー
14 水平角エンコーダ
16 検出部
19 水平モータ
20 鉛直モータ
24 撮像素子
25 測距部
27 発光部
28 測距受光素子
33 鉛直角エンコーダ
35 演算制御部
36 角度測定部
41 クロック信号発生部
42 トリガ信号発生部
43 角度演算部
44 カウンタ回路
45 角度検出部
51 発光素子
52 走査盤
55 制御信号
56 角度トリガ信号
57 主検出角度
58 受光検出信号
59 カウント信号
Claims (3)
- 等速回転する回転部に設けられたアブソリュートエンコーダと、クロック信号発生部と、カウンタ回路と、角度演算部と、トリガ信号発生部とを具備し、
該トリガ信号発生部から発せられた角度トリガ信号が所定時間間隔で前記アブソリュートエンコーダ及び前記カウンタ回路に入力され、
前記アブソリュートエンコーダは各角度トリガ信号毎の回転角度を主検出角度として前記角度演算部に入力し、
前記カウンタ回路は前記角度トリガ信号が入力される度にクロックカウント数をリセットし、
前記回転部の回転角度を検出する為の回転角測定トリガ信号が前記カウンタ回路に入力されることで、該カウンタ回路は前記角度トリガ信号が入力された時点から前記回転角測定トリガ信号が入力される迄のクロックカウント数を前記角度演算部に出力し、
該角度演算部は前記回転角測定トリガ信号が入力された時点の前後の前記アブソリュートエンコーダからの主検出角度を保存し、
該主検出角度と前記クロックカウント数に基づき前記回転部の回転角度を検出し、
前記回転角測定トリガ信号が入力されない場合は、順次保存した前記主検出角度を消去する様構成した角度検出装置。 - 前記回転部が停止状態、或は該回転部の回転速度が前記アブソリュートエンコーダの角度検出応答速度より遅い回転速度である場合は、該アブソリュートエンコーダが検出する主検出角度を前記回転部の回転角度とする請求項1に記載の角度検出装置。
- 測距光をパルス発光し、照射する投光部と、反射測距光を受光して受光信号を発すると共に前記反射測距光を受光した時点に前記回転角測定トリガ信号を発する受光部と、該受光部からの受光信号に基づき測距を行う測距部と、前記測距光を水平方向に偏向し、等速で水平方向、鉛直方向に回転され、前記測距光を回転照射する回転偏向部と、該回転偏向部の回転角度を検出する請求項1に記載の角度検出装置と、前記測距部、前記回転偏向部を制御し、前記測距光を走査し、前記受光部からの受光信号に基づき測定点の3次元データを演算する演算制御部とを具備する測量装置。
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JP2015238381A JP6767107B2 (ja) | 2015-12-07 | 2015-12-07 | 角度検出装置及び測量装置 |
US15/361,703 US10267659B2 (en) | 2015-12-07 | 2016-11-28 | Angle detecting device and surveying instrument |
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JP2015238381A JP6767107B2 (ja) | 2015-12-07 | 2015-12-07 | 角度検出装置及び測量装置 |
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JP2017106730A JP2017106730A (ja) | 2017-06-15 |
JP6767107B2 true JP6767107B2 (ja) | 2020-10-14 |
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Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6650726B2 (ja) * | 2015-10-20 | 2020-02-19 | 株式会社トプコン | 測定装置 |
JP6650727B2 (ja) | 2015-10-20 | 2020-02-19 | 株式会社トプコン | 傾斜角測定装置 |
JP6691419B2 (ja) * | 2016-04-15 | 2020-04-28 | 株式会社トプコン | 超音波モータの制御方法及びそのための測量機 |
EP3570065B1 (en) * | 2018-05-16 | 2021-02-24 | Miele & Cie. KG | 3d scanning lidar sensor |
CN113970752A (zh) * | 2020-07-22 | 2022-01-25 | 商汤集团有限公司 | 一种目标检测方法、装置、电子设备及存储介质 |
CN117249846B (zh) * | 2023-11-17 | 2024-02-09 | 浙江明哲电子科技有限公司 | 一种编码器预解码处理方法、系统及存储介质 |
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JPS60157014A (ja) | 1984-01-26 | 1985-08-17 | Tokyo Optical Co Ltd | エンコ−ダ読取信号の内挿方法および装置 |
JP3700325B2 (ja) * | 1997-05-21 | 2005-09-28 | 松下電器産業株式会社 | 駆動源制御方法 |
DE10054070A1 (de) * | 2000-10-31 | 2002-05-08 | Heidenhain Gmbh Dr Johannes | Positionsmeßgerät und Verfahren zur Bestimmung einer Position |
US7215808B2 (en) * | 2004-05-04 | 2007-05-08 | Kla-Tencor Technologies Corporation | High throughout image for processing inspection images |
DE102006009773A1 (de) * | 2006-03-01 | 2007-09-06 | Eastman Kodak Co. | Verfahren zum Vermeiden eines Passerfehlers beim Drucken |
JP2008032562A (ja) * | 2006-07-28 | 2008-02-14 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
EP2434312B1 (de) * | 2010-09-24 | 2013-01-16 | Sick AG | Laserscanner mit einstückiger Lichtablenkeinheit mit Winkelmaßverkörperung |
JP5653715B2 (ja) | 2010-10-27 | 2015-01-14 | 株式会社トプコン | レーザ測量機 |
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US20170160108A1 (en) | 2017-06-08 |
JP2017106730A (ja) | 2017-06-15 |
US10267659B2 (en) | 2019-04-23 |
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