KR20040002162A - 레이저를 이용한 위치 측정 장치 및 방법 - Google Patents
레이저를 이용한 위치 측정 장치 및 방법 Download PDFInfo
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- KR20040002162A KR20040002162A KR1020020037604A KR20020037604A KR20040002162A KR 20040002162 A KR20040002162 A KR 20040002162A KR 1020020037604 A KR1020020037604 A KR 1020020037604A KR 20020037604 A KR20020037604 A KR 20020037604A KR 20040002162 A KR20040002162 A KR 20040002162A
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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
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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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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
Claims (11)
- 위치 측정 장치에 있어서,균등한 간격으로 평행하게 진행하는 다수개의 레이저 빔들을 발생시키기 위한 레이저 발생 장치와;상기 레이저 빔들에 의해 목표물에 형성되는 포인트들의 영상물을 획득하기 위한 영상 장치와;상기 영상물에서의 상기 포인트들 사이의 픽셀 수를 통해 상기 목표물에 대한 상대 위치를 산출하는 제어부를 포함하는 위치 측정 장치.
- 제 1 항에 있어서,상기 세 개 이상의 포인트가 단일 직선상에 위치하도록 상기 레이저 포인터들이 설치되는 위치 측정 장치.
- 제 1 항에 있어서,상기 영상 장치의 초점이 상기 레이저 포인터의 지시 방향과 동일하게 설정되는 위치 측정 장치.
- 제 1 항에 있어서,상기 세 개 이상의 포인트들 사이의 픽셀 수를 검출하고, 상기 두 개의 포인트 간 픽셀 수가 서로 동일할 때 상기 픽셀 수를 통해 상기 목표물과의 실제 거리를 산출하는 위치 측정 장치.
- 제 4 항에 있어서,상기 목표물과 상기 영상 장치 사이의 실제 거리가 다음 식으로 표현되는 위치 측정 장치.(단, L은 상기 영상 장치와 상기 목표물 사이의 실제 거리이고, x는 상기 영상물에서의 이웃한 세 개의 포인트 사이의 픽셀 수이며, k와 b는 상수)
- 제 1 항에 있어서,상기 영상물을 필터링하여 상기 포인트들의 위치만을 검출하기 위한 영상물 처리부를 더 포함하고;상기 제어부는 상기 영상물 처리부를 통해 검출된 위치 정보를 통해 상기 상대 위치를 측정하는 것이 특징인 위치 측정 장치.
- 제 1 항에 있어서,상기 위치 측정 장치가 이동 로봇에 설치되어 주변 물체에 대한 상기 이동 로봇의 상대 위치를 측정하는 위치 측정 장치.
- 위치 측정 방법에 있어서,균등한 간격으로 평행하게 진행하는 다수개의 레이저 빔들을 발생시키는 단계와;상기 레이저 빔들에 의해 목표물에 형성되는 포인트들의 영상물을 획득하는 단계와;상기 영상물에서 상기 포인트들 사이의 픽셀 수를 통해 상기 목표물과의 각도 및 거리를 산출하는 단계를 포함하는 위치 측정 방법.
- 제 8 항에 있어서,상기 세 개 이상의 포인트들 사이의 픽셀 수를 검출하고, 상기 두 개의 포인트 간 픽셀 수가 서로 동일할 때 상기 픽셀 수를 통해 상기 목표물과의 실제 거리를 산출하는 위치 측정 방법.
- 제 9 항에 있어서,상기 목표물과 상기 영상 장치 사이의 실제 거리가 다음 식으로 표현되는 위치 측정 방법.(단, L은 상기 영상 장치와 상기 목표물 사이의 실제 거리이고, x는 상기 영상물에서의 이웃한 세 개의 포인트 사이의 픽셀 수이며, k와 b는 상수)
- 제 8 항에 있어서,상기 영상물의 필터링을 통해 상기 포인트들의 위치만을 검출하여 상기 위치 측정을 실시하는 위치 측정 방법.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020020037604A KR100556612B1 (ko) | 2002-06-29 | 2002-06-29 | 레이저를 이용한 위치 측정 장치 및 방법 |
US10/289,300 US6697147B2 (en) | 2002-06-29 | 2002-11-07 | Position measurement apparatus and method using laser |
CNB021498601A CN1302290C (zh) | 2002-06-29 | 2002-11-07 | 激光测位装置及方法 |
JP2002354324A JP3659957B2 (ja) | 2002-06-29 | 2002-12-05 | レーザーを用いる位置測定装置及び方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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KR1020020037604A KR100556612B1 (ko) | 2002-06-29 | 2002-06-29 | 레이저를 이용한 위치 측정 장치 및 방법 |
Publications (2)
Publication Number | Publication Date |
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KR20040002162A true KR20040002162A (ko) | 2004-01-07 |
KR100556612B1 KR100556612B1 (ko) | 2006-03-06 |
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KR1020020037604A KR100556612B1 (ko) | 2002-06-29 | 2002-06-29 | 레이저를 이용한 위치 측정 장치 및 방법 |
Country Status (4)
Country | Link |
---|---|
US (1) | US6697147B2 (ko) |
JP (1) | JP3659957B2 (ko) |
KR (1) | KR100556612B1 (ko) |
CN (1) | CN1302290C (ko) |
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- 2002-11-07 CN CNB021498601A patent/CN1302290C/zh not_active Expired - Fee Related
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CN1302290C (zh) | 2007-02-28 |
JP3659957B2 (ja) | 2005-06-15 |
JP2004037440A (ja) | 2004-02-05 |
KR100556612B1 (ko) | 2006-03-06 |
CN1465988A (zh) | 2004-01-07 |
US20040001197A1 (en) | 2004-01-01 |
US6697147B2 (en) | 2004-02-24 |
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