WO2017122637A1 - Télémètre et procédé de télémétrie - Google Patents

Télémètre et procédé de télémétrie Download PDF

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Publication number
WO2017122637A1
WO2017122637A1 PCT/JP2017/000488 JP2017000488W WO2017122637A1 WO 2017122637 A1 WO2017122637 A1 WO 2017122637A1 JP 2017000488 W JP2017000488 W JP 2017000488W WO 2017122637 A1 WO2017122637 A1 WO 2017122637A1
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WO
WIPO (PCT)
Prior art keywords
light
signal
optical device
frequency
distance
Prior art date
Application number
PCT/JP2017/000488
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English (en)
Japanese (ja)
Inventor
正光 錦戸
大槻　豊
Original Assignee
京セラ株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 京セラ株式会社 filed Critical 京セラ株式会社
Publication of WO2017122637A1 publication Critical patent/WO2017122637A1/fr

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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
    • 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
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

Definitions

  • the present disclosure relates to a distance measuring apparatus and a distance measuring method for measuring a distance by changing a light amount of an optical device.
  • Examples of the distance measuring device include an ultrasonic device, a millimeter wave device, and a laser light device.
  • the distance measurement method there are a TOF (Time Of Flight) method, an FMCW (Frequency Modulated Continuous Wave) method, and the like.
  • the TOF method is a method of measuring a distance by measuring a time until a transmitted signal is reflected by an object and returns.
  • the FMCW method is a method for measuring a distance by measuring a frequency difference between a transmitted FM modulated signal wave and an FM modulated signal wave reflected back from an object.
  • Patent Document 1 describes an automobile radar device using the FMCW method.
  • the distance measuring apparatus includes an optical device, a light receiving unit, and a calculation unit.
  • the optical device outputs light whose frequency of vibration of light quantity changes according to a signal whose frequency changes.
  • the light receiving unit detects reflected light that is reflected from the object by the output light of the optical device.
  • the calculation unit calculates the distance to the object from the frequency difference between the output light and the reflected light.
  • the optical device may be an LED.
  • the optical device may be a car headlight.
  • the distance measuring method uses an optical device that outputs light having a fixed wavelength.
  • a signal whose frequency changes periodically is generated.
  • the optical device outputs output light in which the frequency of vibration of the light amount changes according to the signal.
  • the reflected light reflected from the object is detected by the output light of the optical device.
  • the distance to the object is measured from the frequency difference between the output light and the reflected light.
  • the ultrasonic device has a shorter distance measurement range than the millimeter wave device and the laser light device.
  • the ultrasonic device has low ranging accuracy when the relative speed is high as compared with the millimeter wave device and the laser beam device.
  • Ultrasonic devices have poor directivity compared to millimeter wave devices and laser light devices, and are not suitable for distance measurement in a minute region.
  • Millimeter wave devices are expensive because they handle high frequencies compared to ultrasonic devices and optical devices. Millimeter-wave devices have a higher degree of circuit design difficulty than ultrasonic devices and optical devices. Millimeter-wave devices have laws and regulations in each country depending on the frequency, and must be handled strictly.
  • the FMCW system is a system that measures the distance by measuring the frequency difference between the transmitted wave and the reflected wave.
  • the FMCW method is capable of highly accurate distance measurement, and is used in various modules as a general distance measurement method. Since the FMCW method uses an FM modulated wave, a device that outputs a signal having a fixed frequency cannot be used.
  • the signal generator 110 generates a chirp signal whose frequency changes periodically as shown in FIG. 2A.
  • the chirp signal generated by the signal generator 110 is a digital signal. Similar to the FMCW system, this chirp signal is a signal whose frequency increases (up chirp) with time and then decreases with time (down chirp).
  • FIG. 2A illustrates a chirp signal only when up-chirping.
  • a DA converter (DAC; Digital-to-Analog-Converter) 112 converts a chirp signal, which is a digital signal, into an analog signal.
  • the DAC 112 outputs an analog signal to an amplifier (AMP) 114.
  • AMP amplifier
  • the light output from the LED 116 becomes an amplitude-modulated wave whose light emission amount changes periodically.
  • the object 10 reflects the output light emitted from the LED 116.
  • the output light reflected by the object 10 may be referred to as reflected light.
  • the distance measuring device 100 detects reflected light by the light receiving unit 120.
  • the light receiving unit 120 includes, for example, a photodiode.
  • the light receiving unit 120 emits a detection signal corresponding to the detected amount of reflected light.
  • the detection signal is, for example, a signal whose voltage value or current amount changes according to the amount of light emission.
  • the waveform of the detection signal changes in voltage value or current amount according to the change in the amount of reflected light to be detected.
  • the reflected light received by the light receiving unit 120 is delayed in time from the output light by the propagation time required for reciprocal propagation to the object 10.
  • the light receiving unit 120 outputs a detection signal having a waveform delayed from the output light by the propagation time to an AGC circuit (AGC; Automatic Gain Control) 122 at the next stage.
  • AGC Automatic Gain Control
  • the AGC 122 automatically adjusts the gain according to the signal and controls the output level.
  • the AGC 122 may adjust the output level to be constant.
  • the AGC 122 amplifies the detection signal in accordance with a gain corresponding to the amount of light attenuated until the output light of the LED 116 is reflected by the object 10 and detected by the light receiving unit 120.
  • An analog signal having a waveform delayed in time corresponding to the control signal shown in FIG. 2B is obtained.
  • the mixer (MX) 126 performs digital integration processing on the digital signal output from the ADC 124 and the chirp signal generated by the signal generator 110. These two signals are chirp signals that increase or decrease in frequency. The frequency difference between the two signals changes due to the time delay from the chirp signal.
  • the MX 126 outputs a signal mainly including a frequency component corresponding to a frequency difference between two digital signals.
  • the output signal from the MX 126 may be referred to as a synthesized wave.
  • the filter 128 removes a frequency component unnecessary for distance measurement, and outputs a signal to the FFT processing unit 132 at the next stage.
  • the filter 128 can mainly remove high frequency.
  • the FFT processing unit 132 performs Fourier transform on the output signal of the filter 128 and outputs the result to the calculation unit 134. In the Fourier-transformed waveform, a peak appears in the frequency component corresponding to the frequency difference.
  • the computing unit 134 detects this peak and converts it into a distance from the distance measuring device 100 to the object 10.
  • the computing unit 134 can calculate the distance to the object 10 from the frequency difference between the output light and the reflected light.
  • the distance measuring device 100 uses the LED 116 that outputs light of a fixed wavelength to periodically change the frequency in the oscillation of the light emission amount. By doing so, a frequency difference (beat component) corresponding to the distance to the object is generated between the output light of the LED 116 and the reflected light from which the output light is reflected by the object.
  • the distance measuring device 100 can perform highly accurate distance measurement equivalent to the FMCW method by converting this frequency difference into distance.
  • the distance measuring device 100 can also obtain the relative velocity with respect to the object 10 by calculating the Doppler shift from the frequency difference between the up-chirp and the down-chirp.
  • the distance measuring device 100 Since the distance measuring device 100 does not need to change the frequency of light, the distance measuring device 100 can perform distance measurement with an accuracy equivalent to the FMCW method using an LED. Since the LED is used, the cost of the distance measuring device can be reduced.
  • the present disclosure can be used as a distance measuring device and a distance measuring method for measuring a distance by changing a light amount of an optical device.

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

Abstract

Selon la présente invention, une configuration d'un télémètre selon la présente invention comprend un dispositif optique (116), une unité de réception de lumière (120) et une unité de calcul (134). Le dispositif optique (116) émet une lumière de sortie. La lumière de sortie est configurée de telle sorte que la fréquence d'oscillation de la quantité d'émission de lumière change périodiquement en réponse à un signal ayant une fréquence changeant périodiquement. L'unité de réception de lumière (120) détecte la lumière réfléchie, qui est la lumière de sortie du dispositif optique (116) réfléchie par un objet cible (10). L'unité de calcul (134) calcule la distance à l'objet (10) sur la base de la différence de fréquence entre la lumière de sortie et la lumière réfléchie.
PCT/JP2017/000488 2016-01-12 2017-01-10 Télémètre et procédé de télémétrie WO2017122637A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-003526 2016-01-12
JP2016003526A JP2019039671A (ja) 2016-01-12 2016-01-12 測距装置および測距方法

Publications (1)

Publication Number Publication Date
WO2017122637A1 true WO2017122637A1 (fr) 2017-07-20

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WO (1) WO2017122637A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019116549A1 (fr) * 2017-12-15 2019-06-20 日本電気株式会社 Dispositif de télémétrie et procédé de commande

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5608514A (en) * 1995-04-19 1997-03-04 The United States Of America As Represented By The Secretary Of The Army High range resolution ladar
JPH09152482A (ja) * 1995-12-01 1997-06-10 Olympus Optical Co Ltd 距離測定装置
JP2001183458A (ja) * 1999-12-28 2001-07-06 Tadanori Miyauchi 距離センサ
WO2004061476A1 (fr) * 2002-12-27 2004-07-22 Mitsubishi Denki Kabushiki Kaisha Radar laser
JP2005010130A (ja) * 2003-06-18 2005-01-13 Kumataka Engineering:Kk 距離等測定装置
JP2006021720A (ja) * 2004-07-09 2006-01-26 Nissan Motor Co Ltd 距離計測機能付きランプ装置
JP2006172210A (ja) * 2004-12-16 2006-06-29 Matsushita Electric Works Ltd 車両用距離画像センサおよびそれを用いる障害物監視装置
JP2015129646A (ja) * 2014-01-06 2015-07-16 株式会社豊田中央研究所 レーダ装置および距離速度測定方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5608514A (en) * 1995-04-19 1997-03-04 The United States Of America As Represented By The Secretary Of The Army High range resolution ladar
JPH09152482A (ja) * 1995-12-01 1997-06-10 Olympus Optical Co Ltd 距離測定装置
JP2001183458A (ja) * 1999-12-28 2001-07-06 Tadanori Miyauchi 距離センサ
WO2004061476A1 (fr) * 2002-12-27 2004-07-22 Mitsubishi Denki Kabushiki Kaisha Radar laser
JP2005010130A (ja) * 2003-06-18 2005-01-13 Kumataka Engineering:Kk 距離等測定装置
JP2006021720A (ja) * 2004-07-09 2006-01-26 Nissan Motor Co Ltd 距離計測機能付きランプ装置
JP2006172210A (ja) * 2004-12-16 2006-06-29 Matsushita Electric Works Ltd 車両用距離画像センサおよびそれを用いる障害物監視装置
JP2015129646A (ja) * 2014-01-06 2015-07-16 株式会社豊田中央研究所 レーダ装置および距離速度測定方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019116549A1 (fr) * 2017-12-15 2019-06-20 日本電気株式会社 Dispositif de télémétrie et procédé de commande
JPWO2019116549A1 (ja) * 2017-12-15 2020-12-03 日本電気株式会社 測距装置及び制御方法
JP7010304B2 (ja) 2017-12-15 2022-01-26 日本電気株式会社 測距装置及び制御方法
US11719817B2 (en) 2017-12-15 2023-08-08 Nec Corporation Distance-measuring apparatus and control method

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