Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/42—Devices characterised by the use of electric or magnetic means
  • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
  • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
  • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
  • G01P3/486—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by photo-electric detectors
• • 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
  • G01D5/28—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 deflection of beams of light, e.g. for direct optical indication
  • G01D5/30—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 deflection of beams of light, e.g. for direct optical indication the beams of light being detected by photocells
• • 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
  • G01D5/3473—Circular or rotary encoders
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/42—Devices characterised by the use of electric or magnetic means
  • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
• • 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

Definitions

• the present invention transmits a laser beam toward a rotating plate (hereinafter referred to as an optical pattern rotating plate) on which an optical pattern is formed, and converts the reflected light received by the optical receiver into a frequency domain.
• the present invention relates to a remote sensing device that performs frequency analysis.
• a laser beam is irradiated toward an optical pattern rotating plate as a measurement target, the reflected light of the measurement target power is received, and the received signal is received.
• the characteristic information of the measurement object is extracted by performing frequency analysis after conversion to the frequency domain (see, for example, JP 2005-037206).
• the carrier frequency candidate value is the frequency having the maximum amplitude in the carrier frequency region.
• the carrier frequency candidate value is obtained by using the fact that the difference between the carrier frequency and the side frequency is the rotational frequency.
• the carrier frequency candidate value may not be correctly selected. Disclosure of the invention
• An object of the present invention is to provide a remote capable of correctly selecting a carrier frequency candidate value even when the carrier frequency does not become the maximum value when the reflected light is frequency modulated (FM modulated) by the optical pattern rotating plate. It is to provide a sensing device and a frequency analysis method thereof.
• a remote sensing device transmits an optical device toward a rotating plate on which an optical pattern to be measured is formed and receives the reflected light by an optical receiver, and the light
• a frequency change unit that converts a received signal obtained by the receiver into a frequency domain signal
• a frequency analyzer that analyzes a frequency component of the frequency domain signal obtained by the frequency change
• the frequency analyzer selects a candidate value of the side frequency from the signal in the frequency region, and the rotation frequency is determined by majority of the intervals.
• the approximate value is obtained, a candidate value of the approximate value force carrier frequency is obtained, and the rotation frequency is selected based on the candidate value of the rotation frequency.
• a candidate value of the side frequency is selected from the signal converted into the frequency domain, and the approximate value of the rotation frequency is determined by majority of those intervals.
• FIG. 1 is a block diagram showing a configuration of an embodiment of a remote sensing device according to the present invention.
• FIG. 2 is a diagram for explaining that, in the remote sensing device shown in FIG. 1, the carrier frequency candidate values are distributed like two peaks when the modulation index of modulation is large.
• FIG. 3 is a flowchart showing a processing flow of the remote sensing device shown in FIG.
• FIG. 4 is a diagram for explaining the processing of the step of extracting the approximate value of the rotation frequency shown in FIG.
• FIG. 5 is a diagram for explaining the processing contents of the step of extracting candidate values of carrier frequencies shown in FIG. 3.
• FIG. 6 is a diagram for explaining a carrier frequency selection method of extracting candidate values of carrier frequencies shown in FIG.
• FIG. 1 is a diagram showing a schematic configuration of an embodiment of a remote sensing device according to the present invention.
• reference numeral 11 denotes an optical pattern rotating plate to be measured, which forms a transmission Z non-transmission pattern radially from the center of rotation and rotates at a predetermined speed.
• 12 is a remote sensing device, and an optical system device 121 inside it receives a laser light source 1211 that emits laser light and reflected light of the emitted laser light and converts it into an electrical signal.
• An optical receiver 1212 for outputting is provided.
• the laser light emitted from the laser light source 1211 is irradiated toward the optical pattern rotating plate 11 that is a measurement target, and is reflected by the rotating plate 11 while being chobbed by the rotation of the optical pattern.
• the reflected light is received by the optical receiver 1212 as a pulse train.
• the received signal obtained here is input to the frequency converter 122 and converted from a time domain signal to a frequency domain signal by a fast Fourier transform (FFT) having a predetermined accuracy.
• FFT fast Fourier transform
• the frequency domain signal thus obtained is subjected to frequency analysis by the frequency analyzer 123.
• the analysis result is appropriately displayed on the display device 124.
• the carrier frequency of the optical pattern rotating plate 11 is calculated, and a candidate value having a possibility of the rotation frequency is calculated from the carrier frequency. Then, the rotation frequency is selected based on the candidate values for the rotation frequency, and the obtained carrier frequency and rotation frequency results are displayed.
• the rotational frequency component may not be able to obtain the carrier frequency force. In this case, the fact that the difference between the side frequency and the carrier frequency becomes the rotational frequency is used.
• the maximum value in the carrier frequency region is the carrier frequency frc of the optical pattern rotating plate 11.
• frs candidate value frs, (n) frc / n.
• frs' (n) frc / n.
• frs ′ (n) frc / nd.
• step S4 After obtaining the carrier frequency, processing is performed as shown in FIG. 3 instead of obtaining the rotation frequency.
• candidate values for the side frequency are selected, the approximate value of the rotation frequency is obtained by majority decision of those intervals (step S1), and then the candidate value for the carrier frequency is obtained (step S2).
• the rotation frequency is selected based on the candidate rotation frequency values (step S3), and the obtained carrier frequency and rotation frequency are combined. The result is calculated and displayed (step S4).
• step S1 and step S2 which are characteristic parts of the above steps, will be described in detail.
• step S1 as shown in FIG. 4, up to several frequencies (five in the example of FIG. 4) having a large amplitude in the carrier frequency region are extracted in order from the largest.
• the approximate value of the rotation frequency is determined by the majority of the frequency intervals (limited to the rotation frequency region).
• step S2 as shown in FIG. 5, the frequency with the maximum amplitude is extracted in the vicinity of the frequency that is an integer multiple of the approximate rotational frequency from the frequency with the maximum amplitude in the carrier frequency region.
• the amplitude value V in the frequency domain of the side frequency component with respect to the carrier frequency is always left-right symmetrical. Using this feature, as shown in Fig. 6, the frequency with the highest degree of left-right symmetry is selected as the carrier frequency.
• the evaluation function En for evaluating the symmetry is shown below. However,
• [0016] indicates an average value from V (lh-2) to V (lh + 2)! /.
• the rotation frequency frs can be obtained from the carrier frequency frc and the division number nd by the following equation.
• frs frc / nd
• the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the spirit of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.
• the remote sensing device according to the present invention is applied to, for example, a laser radar.

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• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Engineering & Computer Science (AREA)
• Electromagnetism (AREA)
• Power Engineering (AREA)
• Computer Networks & Wireless Communication (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Optical Radar Systems And Details Thereof (AREA)
• Optical Transform (AREA)

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Citations (1)

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• 2004
  • 2004-09-09 JP JP2004262702A patent/JP4580720B2/ja not_active Expired - Fee Related
• 2005
  • 2005-09-09 WO PCT/JP2005/016650 patent/WO2006028219A1/ja not_active Ceased
  • 2005-09-09 EP EP05782002.9A patent/EP1681572B1/en not_active Expired - Lifetime
• 2006
  • 2006-03-02 US US11/365,860 patent/US7161733B2/en not_active Expired - Lifetime

Patent Citations (1)

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