JPS63309882A - Optical obstacle detecting device - Google Patents
Optical obstacle detecting deviceInfo
- Publication number
- JPS63309882A JPS63309882A JP62145333A JP14533387A JPS63309882A JP S63309882 A JPS63309882 A JP S63309882A JP 62145333 A JP62145333 A JP 62145333A JP 14533387 A JP14533387 A JP 14533387A JP S63309882 A JPS63309882 A JP S63309882A
- Authority
- JP
- Japan
- Prior art keywords
- circuit
- obstacle
- signal
- light
- light receiving
- 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.)
- Granted
Links
- 230000003287 optical effect Effects 0.000 title claims description 12
- 238000001514 detection method Methods 0.000 claims description 12
- 239000000284 extract Substances 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004020 luminiscence type Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は、特に車両の後方の障害物を検出するのに適
した光学式障害物検出装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an optical obstacle detection device particularly suitable for detecting obstacles behind a vehicle.
自動車等において後退する場合、後方の障害物を事前に
検出して安全を図ることが必要である。When backing up in a car, etc., it is necessary to detect obstacles behind in advance to ensure safety.
その際、障害物を自動的に検出できれば便利であり、従
来この種の検出装置として光学式のものが知られている
。これは、例えば自動庫の後部に発光部及び受光部を設
け、受光部から検出用の変調光を発射し、この変調光が
障害物に当って反射した反射光を受光部で受光すること
により障害物を検出するようにしたものである。At this time, it would be convenient if obstacles could be detected automatically, and optical detection devices are conventionally known as this type of detection device. This can be done by, for example, installing a light emitting part and a light receiving part in the rear of the automatic storage, emitting modulated light for detection from the light receiving part, and receiving the reflected light when this modulated light hits an obstacle and is reflected by the light receiving part. It is designed to detect obstacles.
しかしながら、従来の光学式障害物検出装置にあっては
、変調光が障害物に当って戻ってきた反射光を受光部で
検出するだけであるため、障害物の位置を正確に検出す
ることができず、確実に障害物を検出することができな
いという問題点があった。However, in conventional optical obstacle detection devices, the modulated light hits the obstacle and the reflected light that returns is detected by the light receiving section, so it is not possible to accurately detect the location of the obstacle. Therefore, there was a problem that obstacles could not be reliably detected.
この発明は、このような問題点に着目してなされたもの
で、障害物の位置を正確に検出することができ、確実に
障害物を検出できる光学式障害物検出装置を提供するこ
とを目的としている。This invention was made with attention to such problems, and an object of the present invention is to provide an optical obstacle detection device that can accurately detect the position of an obstacle and can reliably detect the obstacle. It is said that
この発明の光学式障害物検出装置は、発光ダイオードか
ら一定周期の変調光を出射させる出力駆動回路と、その
変調光が障害物で反射した時の反射光を受光する受光素
子と、この受光素子の出力から前記一定周期のイ１ｉ号
を取り出す同調回路と、取り出した信号を前記一定周期
で入力しその信号のレベルから障害物の位置を演算する
演算回路とを備えたものである。The optical obstacle detection device of the present invention includes an output drive circuit that emits modulated light with a constant period from a light emitting diode, a light receiving element that receives reflected light when the modulated light is reflected by an obstacle, and this light receiving element. The system is equipped with a tuning circuit that extracts the constant period I1i from the output of the circuit, and an arithmetic circuit that inputs the extracted signal at the constant period and calculates the position of the obstacle from the level of the signal.
この発明の光学障害物検出装置においては、障害物に当
って反射した変調光が受光素子に入射し、その受光素子
の出力から変調周期に同期して変調信号が取り出され、
この信号のレベルから障害物の位置が演算される。In the optical obstacle detection device of the present invention, the modulated light reflected by the obstacle is incident on the light receiving element, and a modulated signal is extracted from the output of the light receiving element in synchronization with the modulation period,
The position of the obstacle is calculated from the level of this signal.
第１図はこの発明に係る光学式障害物検出装置の回路構
成を示すブロック図である。図において、１．２はそれ
ぞれ発振周波数ｆ。、ｆ、を持つ発振器、Ｑｌ、Ｑ２は
ＡＮＤ回路及びＸＯＲ回路で、ＡＮＤ回路Ｑ、は発振器
１，２の出力が入力され、ＸＯＲ回路Ｑ２はＡＮＤ回路
Ｑ＋の出力とライティングスイッチ３からの信号か入力
される。４はＸＯＲ回路Ｑ２の出力に基づいてＬＥＤ
（発光ダイオード）５から一定周期の変調光を出射させ
る出力駆動回路、６ａ、６ｂ。FIG. 1 is a block diagram showing the circuit configuration of an optical obstacle detection device according to the present invention. In the figure, 1.2 is the oscillation frequency f. , f, and the oscillators Ql and Q2 are an AND circuit and an is input. 4 is an LED based on the output of the XOR circuit Q2
(Light-emitting diode) Output drive circuits 6a and 6b that emit modulated light at a constant period from 5.
６ｃはその変調光が障害物（図示せず）で反射した時の
反射光を受光する受光素子、７ａ、７ｂ。6c is a light receiving element 7a, 7b that receives reflected light when the modulated light is reflected by an obstacle (not shown);
７Ｃは各受光素子６ａ、６ｂ、６ｃの出力から上記一定
周期の信号を取り出して増幅する同調増幅器、８ａ、８
ｂ、８ｃはその増幅された信号をＡ／Ｄ （アナログ／
ディジタル）変換して演算回路９に入力するＡ／Ｄ変換
器で、各受光素イ６ａ、６ｂ、６ｃからの信号はラッチ
回路１０により上記一定周期毎に順次演棹回路９に取り
込まれ、この演算回路９で各信号のレベルが比較されて
障害物の位置が演算される。１１は障害物が検出された
時に警報を表示する警報表示回路である。なお、図では
３個の受光素子６ａ、６ｂ。7C is a tuning amplifier 8a, 8 which extracts and amplifies the above-mentioned constant cycle signal from the output of each light receiving element 6a, 6b, 6c.
b, 8c convert the amplified signal into an A/D (analog/
The signal from each light receiving element 6a, 6b, 6c is sequentially taken in by the latch circuit 10 into the arithmetic circuit 9 at the above-mentioned constant period. The arithmetic circuit 9 compares the levels of each signal and calculates the position of the obstacle. 11 is an alarm display circuit that displays an alarm when an obstacle is detected. In addition, in the figure, there are three light receiving elements 6a and 6b.
６ｃＬ、か示していないが、この受光素子は多数配列さ
れており、ＬＥＤ５も多数配置されている。Although 6cL is not shown, a large number of these light receiving elements are arranged, and a large number of LEDs 5 are also arranged.
第２図は上記ＬＥＤ ５及び受光素子６ａ〜６ｃを有す
る発光部、受光部を備えた自動車のりャコンビネーショ
ンランプの外形図である。FIG. 2 is an external view of an automobile rear combination lamp equipped with a light-emitting section and a light-receiving section having the LED 5 and light-receiving elements 6a to 6c.
ＬＥＤ５はストップ、ゾールランプ１２を形成している
ＬＥＤと兼用となっている。また、第３図（ａ）、（ｂ
）はＬＥＤ５と受光素子６ａ〜６Ｃの配置例を示したも
ので、ＬＥＤ５は多数平面的に配置され、受光素子６ａ
〜６Ｃは一定間隔をあけ゛Ｃ線状に配置されている。そ
して、受光素ｆ−６ａ〜６ｃにＬＥＤ５の変調光が直接
入射しないように両者間には遮光板１３が設けられてい
る。The LED 5 also serves as an LED forming the stop lamp 12. In addition, Fig. 3 (a), (b)
) shows an example of the arrangement of the LED 5 and the light receiving elements 6a to 6C.
~6C are arranged in a C line at regular intervals. A light shielding plate 13 is provided between the light receiving elements f-6a to 6c so that the modulated light of the LED 5 does not directly enter the light receiving elements f-6a to 6c.
次に、第４図のタイミングチャートを用いて動作を説明
する。第４図はＬＥＤ５からの変調光及び各受光素子６
ａ〜６ｃから演算回路９へ入力される信号の波形を示し
たものである。Next, the operation will be explained using the timing chart of FIG. Figure 4 shows the modulated light from the LED 5 and each light receiving element 6.
The waveforms of the signals input from a to 6c to the arithmetic circuit 9 are shown.
前述したように、発振器１．２はそれぞれｆ、、ｆ、の
発振周波数を持っており、発振器２は周期Ｔ ’（Ｔ＝
Ｔ＋ ＋Ｔ２ ） 、デユーティ比Ｔ、／Ｔで発振して
いる。この二つの発振信号はＡＮＤ回路Ｑ１で混合され
、ＸＯＲ回路Ｑ２の一方の端子入力される。ＸＯＲ回路
Ｑ２の他方の端子には、モード切換用のう、イティング
スイッチ３からの信号が入力される。そして、ＸＯＲ回
路Ｑ２の出力信号は出力駆動回路４へ入力され、この出
力駆動回路４によりストップ、ゾールランプ１２のＬＥ
Ｄ５が点滅する。つまり、Ｌ Ｅ Ｄ ５はキャリア周
波数ｆ。の信号をＴ、、Ｔ２の幅を持つ連続パルス信号
で変調した信号により点滅し、自動車の後方へＲ害物検
出用の変調光を発射する。この時、−ト記ライティング
スイッチ３により昼間と夜間とでモートが切り換わり、
ＬＥＤ５の点滅状態が変化する。ｒ！Ｕち、昼間の場合
は第４図（ａ）に示すように、ＯＮ（点灯）時間Ｔ、を
ＯＦＦ （消灯）時間Ｔ２より充分短がくしくＴＩ ＜
＜７２ ） 、肉眼でＬＥＤ５の点灯が認識さ、ｔｌな
いようにしており、また夜間の場合には、第４図（ｂ）
に示すようにＯＮＮ１３をＯＦＦＦＦ時間上２充分長（
シ（Ｔ ＋ ＞＞Ｔｔ ） 、ストップ、ゾールランプ
１２の光度の低ドが認識されないようにしている。As mentioned above, oscillators 1.2 each have an oscillation frequency of f, , f, and oscillator 2 has a period T' (T=
T+ +T2), and oscillates with a duty ratio of T and /T. These two oscillation signals are mixed by an AND circuit Q1 and inputted to one terminal of an XOR circuit Q2. A signal from the switching switch 3 for mode switching is input to the other terminal of the XOR circuit Q2. Then, the output signal of the XOR circuit Q2 is input to the output drive circuit 4, and the output drive circuit 4 stops the output signal of the sol lamp 12.
D5 flashes. In other words, L E D 5 is the carrier frequency f. This signal is modulated with a continuous pulse signal having a width of T, , T2, and the modulated light for detecting an R harmful object is emitted toward the rear of the vehicle. At this time, the lighting switch 3 switches the mote between daytime and nighttime.
The blinking state of LED 5 changes. r! In the daytime, as shown in Fig. 4(a), the ON (lighting) time T should be sufficiently shorter than the OFF (lights out) time T2 so that TI<
<72), the illumination of LED5 is not recognized with the naked eye, and in the case of nighttime, the illumination of LED5 is not recognized, and in the case of nighttime,
As shown in the figure, ONN13 is set for 2 sufficient lengths on the OFF time (
(T+>>Tt), stop, and low light intensity of the Sol lamp 12 are prevented from being recognized.
一方、各受光素子６ａ〜６ｃは周期Ｔの信号に同期して
順次ＯＮ状態となり、このＯＮ時間Ｔ３は周期Ｔの範囲
（Ｔ、ｌ≦Ｔ）で適当に設定されている。そして、自動
車の後り一に障害物が存在し、ＬＥＤ５からの変調光が
この障害物に当ると乱反射し、その反射光が各受光素子
６ａ〜６Ｃに入射する。芥受光素７’−６ａ〜６ｃは、
入射した光を電気信号に変換し、同、Ｊｌ増幅器７８〜
７Ｃはその電気信号の中からＬＥＤ５の発光化月と同じ
周波数ｆ。の信号のみを検波、増幅して、直流レベル１
５号に変換する。この時、ラッチ回路１０は発振器２の
信号（周期Ｔ）に同期して同調増幅器７ａ〜７Ｃの出力
を順次０Ｎ１０ＦＦＬ、ており、このラッチ回路１０に
より制御された上記直流レベル信号（光レベル信号）は
、Ａ／Ｄ変換器８ａ〜８Ｃによりそのレベルに応じたデ
ジタル信号に変換され、演算回路９に各ポルトから入力
される。On the other hand, each of the light receiving elements 6a to 6c is sequentially turned on in synchronization with a signal of period T, and this ON time T3 is appropriately set within the range of period T (T, l≦T). Then, there is an obstacle at the rear of the vehicle, and when the modulated light from the LED 5 hits this obstacle, it is diffusely reflected, and the reflected light enters each of the light receiving elements 6a to 6C. The photodetector elements 7'-6a to 6c are
The incident light is converted into an electrical signal, and the Jl amplifier 78~
7C is the same frequency f from the electric signal as the luminescence of LED5. Detects and amplifies only the signal of DC level 1
Convert to No. 5. At this time, the latch circuit 10 sequentially outputs 0N10FFL from the tuned amplifiers 7a to 7C in synchronization with the signal (period T) of the oscillator 2, and the above DC level signal (optical level signal) controlled by the latch circuit 10. are converted into digital signals according to their levels by the A/D converters 8a to 8C, and inputted to the arithmetic circuit 9 from each port.
演算回路９は、Ａ／Ｄ変換器８ａ〜８Ｃから入力された
デジタル４３号、つまり各受光素子６ａ〜６Ｃに入射し
た反射光のレベルからその反射物体である障害物の有無
、距離９位置（方向）を演算し、音でドライバーに警告
を発したり、表示回路１１の表示板にその位置、距離な
どを表示する。The arithmetic circuit 9 calculates the presence or absence of an obstacle that is a reflecting object, and the distance 9 position ( direction), issues a sound warning to the driver, and displays the position, distance, etc. on the display board of the display circuit 11.
その際、各受光信号のレベルを比較することにより、障
害物の位置をより正確に検出することができる。At this time, by comparing the levels of each light reception signal, the position of the obstacle can be detected more accurately.
ここで、上記実施例ではストップ、テールランプ１２の
光源（ＬＥＤ５）を発光素子としているので、設置スペ
ースが小さく、安価で大光量が得られる。また、ＬＥＤ
５は全て同一の４５号で駆動てきるので、出力駆動回路
４は簡単な回路構成とすることがτきる。In the above embodiment, since the light source (LED 5) of the stop lamp 12 is a light emitting element, the installation space is small and a large amount of light can be obtained at low cost. Also, LED
5 can all be driven by the same number 45, the output drive circuit 4 can have a simple circuit configuration.
なお、第５図に示すように、Ｒ（右）側とＬ（左）側の
りャコンビネーションランプは、ＣＰＵ等を用いた同一
の制御回路１４で駆動させても良い。また、受光素子６
ａ〜６ｃの位置によって受光光量が多少異なる場合もあ
るので、演算回路９で各素子毎に補正して障害物の位置
を演算することが望ましい。As shown in FIG. 5, the R (right) side and L (left) side combination lamps may be driven by the same control circuit 14 using a CPU or the like. In addition, the light receiving element 6
Since the amount of received light may differ somewhat depending on the position of a to 6c, it is desirable that the arithmetic circuit 9 corrects each element and calculates the position of the obstacle.
〔発明の効果〕
以上説明したように、この発明によれば、障害物からの
反射光が入射する受光素子−の出力から元の４８号の周
期に同期して変調伝号を取り出し、その信号のレベルか
ら障害物の位置を演算しているため、障害物の位置を正
確に検出でき、また確実に障害物を検出することができ
るという効果がある。[Effects of the Invention] As explained above, according to the present invention, a modulated signal is extracted from the output of the light receiving element on which the reflected light from the obstacle is incident in synchronization with the original No. 48 cycle, and the signal is Since the position of the obstacle is calculated from the level of , the position of the obstacle can be detected accurately and the obstacle can be detected reliably.
第１図はこの発明の一実施例を示すブロック図、第２図
は第１図のＬＥＤ及び受光素子を備えたりャコンビネー
ションランプの外形図、第３図（ａ）、（ｂ）はＬＥＤ
と受光素子の配置例を示す構成図、第４図（ａ）、（ｂ
）は第１図の回路の動作を示すタイムチャート、第５図
は左右のりャコンビネーションランプを同一の制御回路
で駆動する例を示す説明図である。
１．２−・・・・・発掘器
４・・・・・・出力駆動回路
５・・・・・・ＬＥＤ （発光ダイオード）６ａ、６ｂ
、６ｃ・・・・・・受光素子７ ａ、 ７ ｂ、 ７
ｃ−・−−−−同調増幅器９−−−−−−演算回路
１０・・・・・・ラッチ回路
１１・・・・・・警報表示回路
１２・・・・・・ストップ、テールランプ１３−・・・
・・遮光板
出願人 スタンレー電気株式会社
第４図
Ｔ＋ ７２
第５図Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is an external view of a combination lamp equipped with the LED and light receiving element shown in Fig. 1, and Figs. 3 (a) and (b) are LEDs.
A configuration diagram showing an example of the arrangement of the light receiving element
) is a time chart showing the operation of the circuit in FIG. 1, and FIG. 5 is an explanatory diagram showing an example in which the left and right rear combination lamps are driven by the same control circuit. 1.2-... Excavator 4... Output drive circuit 5... LED (light emitting diode) 6a, 6b
, 6c... Light receiving elements 7 a, 7 b, 7
c------Tuned amplifier 9------Arithmetic circuit 10---Latch circuit 11---Alarm display circuit 12---Stop, tail lamp 13------・・・
...Shading plate applicant Stanley Electric Co., Ltd. Figure 4 T+ 72 Figure 5
Claims (3)
る出力駆動回路と、その変調光が障害物で反射した時の
反射光を受光する受光素子と、この受光素子の出力から
前記一定周期の信号を取り出す同調回路と、取り出した
信号を前記一定周期で入力しその信号のレベルから障害
物の位置を演算する演算回路とを備えたことを特徴とす
る光学式障害物検出装置。(1) An output drive circuit that emits modulated light of a constant period from a light emitting diode, a light receiving element that receives reflected light when the modulated light is reflected by an obstacle, and a signal of the constant period from the output of this light receiving element. What is claimed is: 1. An optical obstacle detection device comprising: a tuning circuit that extracts the signal; and an arithmetic circuit that inputs the extracted signal at the constant period and calculates the position of the obstacle from the level of the signal.
周期の信号を該周期に同期して順次入力し、それらの入
力信号のレベルを比較して障害物の位置を演算すること
を特徴とする特許請求の範囲第１項記載の光学式障害物
検出装置。(2) The calculation circuit sequentially inputs signals of a certain period from each of the plurality of light receiving elements in synchronization with the period, and calculates the position of the obstacle by comparing the levels of these input signals. An optical obstacle detection device according to claim 1.
信号を各素子毎に補正して障害物の位置を演算すること
を特徴とする特許請求の範囲第１項または第２項記載の
光学式障害物検出装置。(3) The calculation circuit calculates the position of the obstacle by correcting the input signal from each of the plurality of light receiving elements for each element, according to claim 1 or 2. optical obstacle detection device.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62145333A JPS63309882A (en) | 1987-06-12 | 1987-06-12 | Optical obstacle detecting device |
| US07/174,773 US4891624A (en) | 1987-06-12 | 1988-03-29 | Rearward vehicle obstruction detector using modulated light from the brake light elements |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62145333A JPS63309882A (en) | 1987-06-12 | 1987-06-12 | Optical obstacle detecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63309882A true JPS63309882A (en) | 1988-12-16 |
| JPH0555824B2 JPH0555824B2 (en) | 1993-08-18 |
Family
ID=15382746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62145333A Granted JPS63309882A (en) | 1987-06-12 | 1987-06-12 | Optical obstacle detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63309882A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0364838U (en) * | 1989-10-30 | 1991-06-25 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59139518A (en) * | 1983-01-31 | 1984-08-10 | 松下電工株式会社 | Photoelectric switch |
| JPS60207081A (en) * | 1984-03-31 | 1985-10-18 | Toshiba Corp | Proximity sensing apparatus |
| JPS6156585A (en) * | 1984-08-27 | 1986-03-22 | Sony Corp | Clock generator circuit for compensator of time axis |
-
1987
- 1987-06-12 JP JP62145333A patent/JPS63309882A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59139518A (en) * | 1983-01-31 | 1984-08-10 | 松下電工株式会社 | Photoelectric switch |
| JPS60207081A (en) * | 1984-03-31 | 1985-10-18 | Toshiba Corp | Proximity sensing apparatus |
| JPS6156585A (en) * | 1984-08-27 | 1986-03-22 | Sony Corp | Clock generator circuit for compensator of time axis |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0364838U (en) * | 1989-10-30 | 1991-06-25 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0555824B2 (en) | 1993-08-18 |
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