JPS61155905A - Distance detector - Google Patents

Abstract

PURPOSE:To detect the distance up to an object to be measured and the surface state such as surface inclination of the object to be measured by a single distance detector, by detecting the distance from the optical axis of the light image formed on the surface of the object to be measured and projected onto the observation surface thereof. CONSTITUTION:Laser beam 2 generated from a laser diode 1 being a laser beam generation means is splitted into two laser beams 2, 2' by a biprism 3. Laser beams 2, 2' pass the point separated by a distance Ro from the optical axis 4 of an observation lens L at the part where said observation lens L is positioned and respectively projected to the direction forming an angle alpha with respect to the optical axis of the observation lens L to form bright spots T1, T2 on the surface of an article 5 to be measured. The light image formed by said bright points is projected onto an observation surface 6 by the observation lens L to form bright spots I1, I2. The distances (X1, X2) from the optical axes of the bright spots I1, I2 are detected by photosensitive elements P1, P2 for detecting an image arranged on the observation surface 6.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to a distance detector that optically detects the distance to a typeface surface to be measured and the inclination of the typeface surface to be measured, and in particular to a distance detector for detecting the distance to a typeface surface to be measured and the inclination of the typeface surface to be measured. The present invention relates to a distance detector useful as a senna or surface tracking glove incorporated into a vehicle.

(Prior art) A machine that can flexibly work in a three-dimensional space, that is, a lower unit, needs to measure the position, posture, shape, deformation, etc. of an object, but in this measurement, it is necessary to acquire distance information. is essential. In this case, it is important to be able to obtain distance information while minimizing the effects of restricting the movement of the object or causing deformation of the object. An optical distance detection method is being considered that can measure this distance from a distance without contact.

A senna for rope pits or a glove for shape measurement is required to be as small, lightweight, and highly stable as possible. The principle of triangulation is used for optical distance detection. According to this principle of triangulation, distance information can be determined based on geometric conditions, and stable distance measurement becomes possible. With the recent development of microelectronics and electronics, compact and lightweight distance detectors have begun to be developed, but none of them have been small enough and lightweight enough to satisfy actual requirements. however,
The distance detection device described in the specification of Japanese Patent Application No. Shojg-/670g♂ recently proposed by the present inventor satisfies the actual requirements as a sensor for A and F, but is sufficiently small, lightweight, and highly stable. It is expected to be a high-performance distance detector. The distance detector described in the specification of the above-mentioned patent application measures the distance to a single point on the surface of the force to be measured.

(Problem to be solved by the invention) In robot or surface tracking,! jl? ! II
It is necessary to detect not only the constant surface distance of the constant obstacle surface, but also the condition B (inclination, etc.) of the surface of the object to be measured. Although it is possible to detect inclinations by arranging a plurality of distance detectors as described in the above-mentioned Japanese Patent Application Specification, the problem arises that the distance detection device becomes large and expensive.

An object of the present invention is to provide a compact, lightweight, and highly stable distance detector that is capable of detecting inclinations, etc., which are required when tracking a surface, by itself.

(Means for Solving the Problems) The above purpose is to provide a TA measurement lens that projects an optical image formed on one body surface of the object to be measured onto an observation surface, and a TA measurement lens that projects the optical image formed on the surface of one body of the object to be measured onto the observation surface at different points on the body surface of the object to be measured. a light beam generating means for forming the light image by projecting a light beam along a plane symmetrical with respect to the optical axis of the lens, and the light image disposed on the observation surface and projected onto the VL measurement surface. This is achieved by the distance detector of the present invention, which comprises a photodetector that detects the distance from the optical axis.

(Function) The present invention is basically based on the principle of triangulation, and the basic function of the present invention will be explained using FIG. 1.

The light beam 2 generated by the radar diode 1, which is the light beam generating means, is split into two light beams 2.2' by the f+7 principle 3. These light beams 2.2' are The object to be measured passes through a point at a distance Ro from the optical axis 4 of the observation lens L in the part where the observation lens L is located, and is projected in a direction forming an αO angle with respect to the optical axis 4 of the observation lens L. A bright spot T, T2, is generated on the 50th surface.

The light images created by these bright spots are projected onto the observation surface 6 by the observation lens, and the bright spots 1. , +2 are generated.

The distance of these bright spots 1□, 12 from the optical axis 4 (Xyo,
) is detected by a photosensitive element P2 arranged on the observation surface 6 for detecting the image position.

Bright spot below 0. The position of T2 is given by the following equation.

Further, the average slope (Δ2/ΔR) of the specimen surface is given by the following equation.

(Example) The distance detector explained in Fig. 1 is an example of a two-dimensional distance detector that detects the distance of only two points on the object surface to be measured, but it detects the distance of three or more points. It can be expanded to three-dimensional objects.

In this case, FIG. 1 can also be considered to be a sectional view of a plane including the optical axis 4t. Furthermore, a surface that is tilted can also be considered as a surface that is symmetrical with respect to the optical axis. Typical examples include a square pyramidal surface, a cylindrical surface, and a conical surface. A-th
When used for sotographs, etc., it is desirable to have isodirectional detection performance, and in this case, it is preferable that the symmetrical surface be a cylindrical surface or a conical surface. Hereinafter, a three-dimensional distance detector in which the surface symmetrical to the optical axis is a cylindrical surface or a conical surface will be described. FIG. 42 is a perspective view of another embodiment of the invention. The Rade light "22" squeezed out from the Rade diode 21 is transformed into a conical light beam 22' by the conical lens 23. This light beam 22' is projected onto the surface of the object to be measured 50 and an optical image is formed. This light image is projected onto the observation surface 6 by the observation lens L to form an image 1, and the position of this image 10 is detected by the image position detection photosensitive element P3 arranged on the observation surface 6. The image position detection photosensitive element P3 is configured to detect the radial position r of the image 10 on the observation surface at each angle.The angular direction θ is continuously detected. However, in reality, it is practical to have a structure in which a plurality of one-dimensional image position detection photosensitive elements such as COD are arranged at equal angular intervals as shown in Fig. 2.Object to be measured The position of the bright spot T3 forming the optical image on 3<2<
θ) and R(su) are given by the following equations, where r(θ) is the position of the bright spot 13 on the observation surface 6 corresponding to this bright spot T3.

Detecting the maximum or minimum direction of 2(θ) K
Additionally, it is also possible to detect the maximum inclination direction of a surface of a single object to be measured, which is extremely convenient for robot tracing control. The position of the bright spot on the cut surface of the object to be measured obtained from equation (4) usually has a slightly different value due to distortion of the lens or optical system, placement error of each element, etc. Therefore, in practice, instead of using equation (4), Wit! By storing accurate distances for each radial position in a table, more accurate distance detection becomes possible. in this case,
Among the total distortion errors including the optical system and the electrical system, those that are reproducible are to be comprehensively corrected.In the embodiment shown in FIG. 1, the conical beam 22 ′
is projected through the annular slit 24 of the dtR lens and eL, but various other methods are possible depending on the method of projecting the light beam. For example, as shown in FIG. 3, if the optical components are arranged so that the crossover point C, where the light beam 22 is once converged to a single point by the conical lens 23, coincides with the fish gathering position F of the observation lens L, then the solid line A light beam with a cylindrical surface shape (α=O) can be projected as shown in FIG.
By moving the light beam closer or farther away, the shape of the light beam 22' can be changed to a conical surface (α>0) that widens toward the end, as shown by the dotted line, or a conical surface that converges (α <0>.Also, by using a pyramidal lens instead of a conical lens, the light beam 22' can be shaped into a prismatic or pyramidal surface.

In FIG. 5, a ring-shaped lens 25 is arranged around the observation lens L, and a conical beam 2 is generated by a conical lens 23.
6 is projected in a desired direction through this ring-shaped lens 25.

In the embodiments shown in Figures 2 to ≠, a light beam was used that formed an annular optical image on the surface of one object to be measured, but as shown in Figure 5, a plurality of light beams were used. The radar diodes 21 and 21' are placed around the observation lens eL, which projects a narrowly focused linear light beam 27 in a certain specific angular direction onto the observation surface corresponding to the projected direction. A configuration may also be adopted in which a photosensitive element P for image position detection is arranged.

Furthermore, as shown in FIG. 6, it is also possible to project the light beam or observe the image using a cow-transparent mirror 27, and to arrange the radar diode 21 separately from the observation surface 6. be.

Note that the light beams are not projected simultaneously onto different locations on the surface of the object to be measured, but as shown in FIG.
It is also possible to cover the entire circumference by rotating the seven radar diodes 21 and the seven photosensitive elements P around the optical axis 4. The scope of the present invention is intended to include such embodiments.

Furthermore, in the present invention, known means other than a Raded diode can be used as the light beam generating means. In short, any material that can form a light beam along a plane that is symmetrical with respect to the optical axis of the observation lens (does not have to be simultaneous) may be used. Also, CCD and PS can be used as photodetectors.
Position information of images other than photosensitive elements such as D (position detection element) (
Any device can be used as long as it can capture the peak position, center of gravity, etc.). Furthermore, a vehicle inspection lens or an iJ lens, which is also illustrated as an observation lens.
! Needless to say, any lens constructed by combining several lenses can be used.

(Effects of the Invention) The distance detector of the present invention can detect the distance to the object to be measured and the state of the inclination of the object to be measured by itself, and is small, lightweight, and highly stable. Therefore, it is extremely useful as a 0&T sensor, etc.

[Brief explanation of drawings]

Fig. 1 shows an embodiment of the present invention, and is a plan view showing a two-dimensional distance detector, Fig. 2 is a perspective view showing a three-dimensional embodiment of the invention, and Figs. 3 to 7 are FIG. 3 is a plan view showing another embodiment of the present invention. 1.21...Laser diode, 2...Light beam, 3...Pipe rhythm, 4...Optical axis, 5...Measurement object, 6...Observation surface, P...Light Sensing element, L... Observation lens. Engraving of drawings (no changes in content) Figure 1 Figure 3 Figure 4 Figure 7 Figure 1 Gi? ffi″E * (R< ) 60.5.
23 Manabu Shiga, Director General of the Japan Patent Office, 1985, 1, Indication of the case 1982 Patent Application No. 278682 2, Title of the invention Distance detector 3, Person making the amendment Relationship with the case Applicant name ( 679) RIKEN 46 agent

Claims (1)

[Scope of Claims] An observation lens that projects a light image formed on a surface of an object to be measured onto an observation surface; a light beam generating means that projects a light beam along a plane to form the light image; and a light beam generating means disposed on the observation surface and a distance from the optical axis of the light image projected onto the observation surface; A distance detector comprising a photodetector for detecting.