JPS6162885A - Distance/speed meter - Google Patents
Distance/speed meterInfo
- Publication number
- JPS6162885A JPS6162885A JP59185837A JP18583784A JPS6162885A JP S6162885 A JPS6162885 A JP S6162885A JP 59185837 A JP59185837 A JP 59185837A JP 18583784 A JP18583784 A JP 18583784A JP S6162885 A JPS6162885 A JP S6162885A
- Authority
- JP
- Japan
- Prior art keywords
- light
- distance
- reflected
- measured
- beam splitter
- 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.)
- Pending
Links
Classifications
-
- 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
- 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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は比較的近距離にある対象物の距離とその位置に
おける対象物のｊη（動の速度を測定するｎ１測機器分
野に関するものである３、
従来例の構成とその問題点
光パルスの反射時間遅Ｊ１や、強度変調さ１１だ反射光
の位相ずれにより距離を測定する手段は従来より知られ
ているが、いずわも光源にけＨｅ −Ｎ ｅ等の管球レ
ーザを用い、変調にはＫＤＰ等の夕）部変調器を用いて
いるため大がかりな装置となり持ち運びに不便７１寸１
：かりでなく、電源の容厳も犬きく、小型で携帯可能な
電源内蔵の測定器は実現がむつか１７か−、ノこ。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to the field of measuring instruments that measure the distance of objects at a relatively short distance and the velocity of jη (movement) of the object at that position. Conventional configuration and its problems Means for measuring distance based on the reflection time delay J1 of a light pulse or the phase shift of intensity-modulated reflected light have been known for a long time. - Since a tube laser such as Ne is used and a modulator such as KDP is used for modulation, the device is large and inconvenient to carry.
：It is difficult to realize a small, portable measuring device with a built-in power supply, as the power supply is also very demanding.
一方、ドツプラ効果を利用したレーザドツプラ連１α吉
ｌも光源に１．ｌ、Ｈｅ −Ｎ ｅを用いるものが殆ん
どで、従−４て先に述へた如き問題点を有している。On the other hand, the laser Doppler series 1αKiI, which utilizes the Doppler effect, also uses 1. Most of them use He-N e, and they have the problems mentioned above.
発明の目的
］＼発明し」、ｉＳｉ＋述１〜／Ｃ欠点を改善するとと
もに、距離ノー速度を同一の光学係で同時に測定するこ
とが「１目Ｉ′ｉＫな１１°１ｊｌＡｆ＋速度ｔ１を提
供することを目的とする。OBJECTIVE OF THE INVENTION] In order to improve the drawbacks of iSi+ mentioned 1-/C, it is possible to simultaneously measure the distance and velocity with the same optical system, thereby providing 11°1jlAf+velocity t1. The purpose is to
発明の構成
」＼発明し１：、・Ｉｔ行ヒ−ムにされたり干渉性の光
が受）Ｙｌ ’Ａｉｒを１ｉｉｉえ／び一部つのビーム
スプリッタを通過し被測＞ｉ：：物の表１１１１−Ｃ反
射して戻る際−力のビームスプリッタと受）Ｙ、器で距
離を、他方のビームスプリッタと受光器で速度を検出す
る構成となっている。Structure of the Invention\Invention 1:, It row beam or coherent light is received) Table 1111-C When reflecting back - Force beam splitter and receiver) The configuration is such that the distance is detected by the beam splitter and the receiver, and the speed is detected by the other beam splitter and receiver.
距打ｎ １ｌｌｌｌ定ｒ１、パルス光の反射時間遅れあ
るいは強度変調さＪ］だ反射）’ｌ’；のイ〜ン相ずれ
により行い、速度検出（・−１、他のビーノ、スプリッ
タで一部分岐された出射光とドツプラ／ノドを受けだ反
射光を同ビームスプリッタで重畳して受光器に入射させ
ることに」：り行われる。光源には光フイードバツク効
果により、波長、温度特性が安定化された半導体レーザ
を用いることにより小型軽計化される。Distance n 1llllll constant r1, pulsed light reflection time delay or intensity modulation J] is carried out by the phase shift of 'l';, speed detection (-1, other beano, partial branching with splitter This is done by superimposing the emitted light and the reflected light received by the Doppler/Node using the same beam splitter and inputting it into the receiver.The light source has stabilized wavelength and temperature characteristics due to the optical feedback effect. By using a semiconductor laser, the device can be made smaller and lighter.
実施例の説明
以下実施例を図によって説明する。発振波長が安定化さ
れた半導体レーザ光源１は駆動部２によりパルス変調あ
るいは強度変調される。レンズ３で平行ビームとなった
変調光４はビームスプリッタ６．５′を通過し、被測定
物６の表面で反射する。DESCRIPTION OF EMBODIMENTS Examples will now be described with reference to the drawings. A semiconductor laser light source 1 whose oscillation wavelength has been stabilized is pulse-modulated or intensity-modulated by a driving section 2 . The modulated light 4, which has been turned into a parallel beam by the lens 3, passes through the beam splitter 6.5' and is reflected by the surface of the object to be measured 6.
発振周波数ｆ。の光は反射の際被測定物の運動に基づく
ドツプラシフトを受は発振周波数がｆ。Ｉ−Δｆの反射
光７となって返って来る。反射光７の一部はビームスプ
リッタ５で受光器へ導かれ、判定回路部９において出射
パルス光に対する反射パルス光の時間遅れあるいは強度
変調反射光の位相ずれを判定し、被測定物の距離を算出
する。今光速として真空中のそれを採用すれば（空気の
屈折率１ｌ−Ｊ、光波長により１．０００３±０．００
００３の範囲で変化するが１としても大きな誤差原因と
はならないン１１］Ｓの）で、パルス遅延の生ずる距離
は３０確に相当ｌ−１刊定回路部９かＩｎｓの時間分解
能を有するものと−ずＪ’ｌ ｉＩ：１３０ ｎｒ＋の
距離差が判定可能となる。Oscillation frequency f. When reflected, the light undergoes a Doppler shift based on the movement of the object to be measured, and the oscillation frequency is f. It returns as reflected light 7 of I-Δf. A part of the reflected light 7 is guided to a light receiver by a beam splitter 5, and a determination circuit 9 determines the time delay of the reflected pulsed light with respect to the emitted pulsed light or the phase shift of the intensity modulated reflected light, and determines the distance to the object to be measured. calculate. Now, if we adopt the speed of light in vacuum (the refractive index of air is 1l-J, and the wavelength of light is 1.0003±0.00
It varies within the range of 003, but even if it is 1, it does not cause a large error (11]S), and the distance at which the pulse delay occurs is equivalent to 30 sec. It becomes possible to determine the distance difference of Tozu J'l iI:130 nr+.
−力、強度変調さＪまた光のイ１シ相ずれにより距離合
−刊定するｋｌｌ’あいＣＩ、距離りは次式で表わされ
るここで Ｎ：整数（通常１）
φ：出射光と反射光の位相差 である
今５００１１１＋の強度変調光は６０ｃｍの波長を有ｌ
〜、１°の分解能で位相差が判定できるとすると、距離
分解能は０．８ｍｍとなり高精度の測定力ｉ１能となる
。- Force, intensity modulation J Also, the distance is determined jointly by the phase shift of the light.The distance is expressed by the following formula: where: N: integer (usually 1) φ: emitted light and reflected light The phase difference of light is now 500111+ intensity modulated light has a wavelength of 60 cm.
Assuming that the phase difference can be determined with a resolution of 1°, the distance resolution will be 0.8 mm, resulting in a highly accurate measurement power i1.
従−）でパルスの遅延を観察する方法と位相ずれを検１
１０−る方θ、はぞＪ］それの目的に応じて選定して用
いわけ団い。How to observe pulse delay and detect phase shift using
10-Ruhou θ, Hazo J] Select and use groups according to their purpose.
次に、周波数ｆ。十Δｆの反射光子の一部はビーｌ、ス
プリッタ５′に」、・いても分岐され受光器８′へ導か
、ｔする。受）Ｙ、器８′には出ｑ１光４の一部がビー
ムスプリツタ５′テ分岐され鏡１０で反射されて入射す
る周θｌ ＩＩｌ、１’０の尾イ、重畳されている。検
出回路部被測定物の速度を知ることができる。Next, the frequency f. A part of the reflected photons of 1.DELTA.f are split off into the beam splitter 5' and guided to the photoreceiver 8'. A part of the output light 4 is split by the beam splitter 5', reflected by the mirror 10, and is superimposed on the incident beam θl IIl, 1'0 and the tail A of the receiver 8'. Detection circuit section The speed of the object to be measured can be determined.
今、被測定物Ｖの速度で動いているとするとドツプラ効
果による光周波数のシフトΔｆは次式で光の波長と１７
で１１Ｚｍ の光源を用いたばあい、１ｍｍ／ｓｅｃ
と１ ｋ ｍ／ｓｅｃの速度で動いている被測定物はそ
れぞれ２ ｋｌ＋＋および２ＧＨｚ の光周波数シフ
トを引き起す。これらの周波数範囲は通常のスペクトル
分析器で測定できる範囲である。Now, assuming that the object to be measured is moving at the speed of the object V, the shift Δf of the optical frequency due to the Doppler effect is expressed by the following equation, which is the wavelength of light and 17
When using a light source of 11 Zm, 1 mm/sec
and an object moving at a speed of 1 km/sec induces an optical frequency shift of 2 kl++ and 2 GHz, respectively. These frequency ranges are within the range that can be measured with an ordinary spectrum analyzer.
なお、本発明においてはレーザ光源１としては周波数の
安定なものが望捷しく、光フイードバツク機能を有する
レーザ光源を使用して周波数の安物の距離と速度を同時
に検出でき、かつ光源部に半導体レーザを用いているた
め、測定ヘッド部（第１図の９，１１を除く部分）が携
帯可能なコンパクトな形にすることができ、距離、速度
泪Ｊ−して産集利用に友いに貢献するものである。In addition, in the present invention, it is desirable that the laser light source 1 has a stable frequency, and a laser light source with an optical feedback function can be used to detect the distance and speed at the same time, and a semiconductor laser in the light source section can be used. Because of this, the measuring head (excluding parts 9 and 11 in Figure 1) can be made into a portable and compact form, which contributes to the use of harvest collection by measuring distance and speed. It is something to do.
Ｉンｌ ｉ、、ｌ：本発明の一実施例の距離、測度の検
１１１装置の概略描成を示す図である。
１・・・半導体レーザ、２・・・同上レーザ駆動部、３
・−・同１．レーザ光を平行ビームにするレンズ、４・
・・才行ビーノ、（光周波数ｆ。）、５，５′ ・・
・・ビーｌ、スプリッタ、６・・・・被測安物、７・・
・・・反射光・１４周波数１゜−ＩΔＪ）、８，８′・
・・・受光器、９・・・・光パルスＩ’Ａｌｆｔ１ 、
ｉｊｌ ｉ）又ｒ土強度変調光位相ずれ判定回路部、１
０−・・ 鏡、１１・・・・・・光周波数のドツプラシ
フト検出回路部。
代、Ｔ＋１！人の氏名 弁理上 中 尾 敏 男 ほか
１名嘗
■
竪
１ぜ
？Inl i,,l: A diagram showing a schematic depiction of a distance and measure detection 111 apparatus according to an embodiment of the present invention. 1... Semiconductor laser, 2... Laser drive section same as above, 3
・-・Same 1. Lens that converts laser light into a parallel beam, 4.
...Saiko Bino, (light frequency f.), 5,5'...
... beer l, splitter, 6... cheap item to be measured, 7...
...Reflected light・14 frequency 1゜−IΔJ), 8,8′・
... Light receiver, 9... Light pulse I'Alft1,
i) Intensity modulated light phase shift determination circuit section, 1
0-...Mirror, 11... Optical frequency Doppler shift detection circuit section. Generation, T+1! Person's name: On the patent attorney Toshi Nakao and 1 other person■ Tate 1ze?
Claims (4)
し、前記平行ビームの光軸上に二つのビームスプリッタ
とこれらビームスプリッタにより分岐された光に対応す
る二つの受光器を備え、第１のビームスプリッタは前記
第１のビームスプリッタを通過して被測定物の表面で反
射した光が前記第１のビームスプリッタに対応する受光
器に導かれるように配置され、第２のビームスプリッタ
は前記光源からの出射光の一部と、前記第２のビームス
プリッタを通過して被測定物の表面で反射した光が重畳
されて前記第２のビームスプリッタに対応する受光器に
導かれるよう配置されたことを特徴とする距離速度計。(1) having a light source and means for converting the light from the light source into parallel beams, and comprising two beam splitters on the optical axis of the parallel beams and two light receivers corresponding to the light split by these beam splitters; The first beam splitter is arranged so that the light that passes through the first beam splitter and is reflected on the surface of the object to be measured is guided to the light receiver corresponding to the first beam splitter, and the second beam splitter is such that a part of the light emitted from the light source and the light that has passed through the second beam splitter and reflected on the surface of the object to be measured are superimposed and guided to a light receiver corresponding to the second beam splitter. A distance speedometer characterized by being placed.
半導体レーザを用いた特許請求の範囲第１項記載の距離
速度計。(2) The distance and velocity meter according to claim 1, which uses a semiconductor laser having a light feedback function as a light source.
速度検出情報としてドップラ効果による光周波数変化を
組合せて用いたことを特徴とする特許請求の範囲第１項
記載の距離速度計。(3) Delay time of reflected light pulse as distance detection information,
2. The distance and velocity meter according to claim 1, characterized in that optical frequency changes due to the Doppler effect are used in combination as speed detection information.
光の位相差を、速度検出情報としてドップラ効果による
光周波数変化を組合せて用いることを特徴とする特許請
求の範囲第１項記載の距離速度計。(4) The distance according to claim 1, characterized in that the phase difference between the intensity-modulated emitted light and the reflected light is used as the distance detection information in combination with the optical frequency change due to the Doppler effect as the speed detection information. speedometer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59185837A JPS6162885A (en) | 1984-09-05 | 1984-09-05 | Distance/speed meter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59185837A JPS6162885A (en) | 1984-09-05 | 1984-09-05 | Distance/speed meter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6162885A true JPS6162885A (en) | 1986-03-31 |
Family
ID=16177743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59185837A Pending JPS6162885A (en) | 1984-09-05 | 1984-09-05 | Distance/speed meter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6162885A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63111489A (en) * | 1986-10-20 | 1988-05-16 | チャールズ、ピー、ウォン | Device for measuring displacement of reflective intensity target moving from reference position |
| FR2949263A1 (en) * | 2009-08-24 | 2011-02-25 | Astrium Sas | MEASURING A SPEED OF MOVING A MOBILE ELEMENT |
| JP2012533748A (en) * | 2009-07-22 | 2012-12-27 | ファロ テクノロジーズ インコーポレーテッド | Method for optically scanning and measuring an object |
| JP2015125062A (en) * | 2013-12-26 | 2015-07-06 | 株式会社豊田中央研究所 | Rader system and direction measuring method of velocity |
| US9074883B2 (en) | 2009-03-25 | 2015-07-07 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| JP2015129646A (en) * | 2014-01-06 | 2015-07-16 | 株式会社豊田中央研究所 | Radar device and method for measuring distance and speed |
| USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
| US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
| US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US9618620B2 (en) | 2012-10-05 | 2017-04-11 | Faro Technologies, Inc. | Using depth-camera images to speed registration of three-dimensional scans |
| US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US9684078B2 (en) | 2010-05-10 | 2017-06-20 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
| WO2017187484A1 (en) * | 2016-04-25 | 2017-11-02 | 株式会社日立製作所 | Object imaging device |
| US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
| US10175037B2 (en) | 2015-12-27 | 2019-01-08 | Faro Technologies, Inc. | 3-D measuring device with battery pack |
| US10281259B2 (en) | 2010-01-20 | 2019-05-07 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
-
1984
- 1984-09-05 JP JP59185837A patent/JPS6162885A/en active Pending
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63111489A (en) * | 1986-10-20 | 1988-05-16 | チャールズ、ピー、ウォン | Device for measuring displacement of reflective intensity target moving from reference position |
| USRE45854E1 (en) | 2006-07-03 | 2016-01-19 | Faro Technologies, Inc. | Method and an apparatus for capturing three-dimensional data of an area of space |
| US9074883B2 (en) | 2009-03-25 | 2015-07-07 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
| US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
| JP2012533748A (en) * | 2009-07-22 | 2012-12-27 | ファロ テクノロジーズ インコーポレーテッド | Method for optically scanning and measuring an object |
| FR2949263A1 (en) * | 2009-08-24 | 2011-02-25 | Astrium Sas | MEASURING A SPEED OF MOVING A MOBILE ELEMENT |
| WO2011023878A1 (en) | 2009-08-24 | 2011-03-03 | Astrium Sas | Measuring the traveling speed of a mobile element |
| US10281259B2 (en) | 2010-01-20 | 2019-05-07 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
| US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US10060722B2 (en) | 2010-01-20 | 2018-08-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
| US9684078B2 (en) | 2010-05-10 | 2017-06-20 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
| US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
| US9739886B2 (en) | 2012-10-05 | 2017-08-22 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US9746559B2 (en) | 2012-10-05 | 2017-08-29 | Faro Technologies, Inc. | Using two-dimensional camera images to speed registration of three-dimensional scans |
| US9618620B2 (en) | 2012-10-05 | 2017-04-11 | Faro Technologies, Inc. | Using depth-camera images to speed registration of three-dimensional scans |
| US10203413B2 (en) | 2012-10-05 | 2019-02-12 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US11035955B2 (en) | 2012-10-05 | 2021-06-15 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
| US11112501B2 (en) | 2012-10-05 | 2021-09-07 | Faro Technologies, Inc. | Using a two-dimensional scanner to speed registration of three-dimensional scan data |
| US9817121B2 (en) | 2013-12-26 | 2017-11-14 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Radar apparatus and method of determining sign of velocity |
| JP2015125062A (en) * | 2013-12-26 | 2015-07-06 | 株式会社豊田中央研究所 | Rader system and direction measuring method of velocity |
| JP2015129646A (en) * | 2014-01-06 | 2015-07-16 | 株式会社豊田中央研究所 | Radar device and method for measuring distance and speed |
| US10175037B2 (en) | 2015-12-27 | 2019-01-08 | Faro Technologies, Inc. | 3-D measuring device with battery pack |
| WO2017187484A1 (en) * | 2016-04-25 | 2017-11-02 | 株式会社日立製作所 | Object imaging device |
| JPWO2017187484A1 (en) * | 2016-04-25 | 2018-12-20 | 株式会社日立製作所 | Object imaging device |
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