WO2019058678A1 - Dispositif de mesure de distance et corps mobile équipé de celui-ci - Google Patents

Dispositif de mesure de distance et corps mobile équipé de celui-ci Download PDF

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Publication number
WO2019058678A1
WO2019058678A1 PCT/JP2018/023541 JP2018023541W WO2019058678A1 WO 2019058678 A1 WO2019058678 A1 WO 2019058678A1 JP 2018023541 W JP2018023541 W JP 2018023541W WO 2019058678 A1 WO2019058678 A1 WO 2019058678A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
unit
distance measuring
measuring device
distance
Prior art date
Application number
PCT/JP2018/023541
Other languages
English (en)
Japanese (ja)
Inventor
石丸　裕
佐伯　哲夫
仁志 直江
智浩 江川
岡本　修治
和穂 江川
Original Assignee
日本電産株式会社
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 日本電産株式会社 filed Critical 日本電産株式会社
Priority to JP2019543423A priority Critical patent/JPWO2019058678A1/ja
Priority to CN201880052842.8A priority patent/CN111033313A/zh
Publication of WO2019058678A1 publication Critical patent/WO2019058678A1/fr

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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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

Definitions

  • the propagation delay time measuring means compares the reception signal with the comparison value to recognize the time when the reception signal becomes equal to or more than the comparison value as the reception detection time point, and propagation from the time when the irradiating means emits to the reception detection time point. Clock the delay time.
  • the distance calculating means calculates the distance between the obstacle and the vehicle based on the propagation delay time.
  • the reliability can be improved.
  • the unmanned transfer vehicle 15 includes a vehicle body 1, a loading platform 2, support portions 3L and 3R, drive motors 4L and 4R, drive wheels 5L and 5R, driven wheels 6F and 6R, and a distance measurement device 7. .
  • the vehicle body 1 is composed of a base 1A and a base 1B.
  • the plate-like base portion 1B is fixed to the upper rear surface of the base 1A.
  • the pedestal portion 1B has a triangular portion Tr projecting forward.
  • the plate-like loading platform 2 is fixed to the upper surface of the platform 1B.
  • a load can be placed on the upper surface of the loading platform 2.
  • the loading platform 2 extends further to the front than the platform 1B. Thus, a gap S is formed between the front of the base 1A and the front of the loading platform 2.
  • the laser beam L1 has a rectangular shape in a plane orthogonal to the optical axis. Therefore, the above-described shape of the laser beam L1 emitted to the outside of the automatic guided vehicle 15 with the rotation of the rotary housing 78 rotates from one of the vertically long state and the horizontally long state to the other.
  • the light receiving unit 77 converts the received incident light L2 and disturbance light AL into an electrical signal by photoelectric conversion. Specifically, the light receiving unit 77 converts the intensity of the received incident light 2 and the disturbance light AL into a current value.
  • the disturbance light detection sensor 83 is adjacent to the light receiving unit 77, and detects the intensity of the disturbance light AL.
  • the disturbance light AL is, for example, light from the sun SN (sunlight), illumination light in a room where the automated guided vehicle 15 moves, or the like.
  • Sunlight and illumination light are continuous light.
  • continuous light refers to light whose output is substantially constant with respect to time
  • pulse light refers to light such that the peak of the output repeatedly appears at a predetermined cycle.
  • the unmanned transfer vehicle 15 includes a distance measuring device 7, a control unit 8, a drive unit 9, a power button 10, and a communication unit T.
  • the distance measurement device 7, the drive unit 9, the communication unit T, and the power button 10 are connected to the control unit 8.
  • the control unit 8 is provided in the control unit U (see FIG. 1).
  • the drive unit 9 has a motor driver (not shown), drive motors 4L, 4R, and the like.
  • the motor driver is provided in the control unit U.
  • the control unit 8 issues a command to the drive unit 9 to control it.
  • the drive unit 9 drives and controls the rotational speeds and rotational directions of the drive wheels 5L and 5R.
  • the present invention can be used, for example, for a distance measuring device and a mobile unit equipped with the same.

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

Abstract

L'invention concerne un dispositif de mesure de distance qui comprend : une unité de projection de lumière qui délivre, vers un sujet à mesurer, une lumière de projection qui est une lumière pulsée ; un capteur de détection de lumière de perturbation qui détecte l'intensité de lumière de perturbation qui est différente de la lumière de projection ; une unité de réception de lumière, qui reçoit la lumière de perturbation, et la lumière de projection réfléchie par le sujet, et qui convertit la lumière en un signal électrique ; une unité de comparaison, qui compare le niveau du signal électrique de la lumière de projection avec une valeur seuil prédéfinie et qui effectue une binarisation ; une unité de mesure de distance qui mesure, sur la base des résultats de comparaison obtenus à partir de l'unité de comparaison, la distance au sujet ; et une unité de variable de seuil qui fait varier la valeur seuil en fonction de l'intensité de la lumière de perturbation.
PCT/JP2018/023541 2017-09-25 2018-06-21 Dispositif de mesure de distance et corps mobile équipé de celui-ci WO2019058678A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2019543423A JPWO2019058678A1 (ja) 2017-09-25 2018-06-21 距離測定装置及びそれを備えた移動体
CN201880052842.8A CN111033313A (zh) 2017-09-25 2018-06-21 距离测量装置以及具备该距离测量装置的移动体

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017183317 2017-09-25
JP2017-183317 2017-09-25

Publications (1)

Publication Number Publication Date
WO2019058678A1 true WO2019058678A1 (fr) 2019-03-28

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Application Number Title Priority Date Filing Date
PCT/JP2018/023541 WO2019058678A1 (fr) 2017-09-25 2018-06-21 Dispositif de mesure de distance et corps mobile équipé de celui-ci

Country Status (3)

Country Link
JP (1) JPWO2019058678A1 (fr)
CN (1) CN111033313A (fr)
WO (1) WO2019058678A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022126429A1 (fr) * 2020-12-16 2022-06-23 深圳市大疆创新科技有限公司 Appareil de télémétrie, procédé de télémétrie et plate-forme mobile

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08142783A (ja) * 1994-11-24 1996-06-04 Tokai Rika Co Ltd 車両の後続車判定システム
EP1162478A1 (fr) * 2000-06-07 2001-12-12 Zohar Lightomatic Ltd. Sytème d'avertissement de proximité pour véhicules
JP2008215878A (ja) * 2007-02-28 2008-09-18 Yamaha Motor Co Ltd 受光装置、レーザレーダ装置および乗り物
JP2013115625A (ja) * 2011-11-29 2013-06-10 Ricoh Co Ltd 画像処理システム、画像処理システムを備えた車両、画像処理方法及びプログラム
JP2015068804A (ja) * 2013-10-01 2015-04-13 オムロンオートモーティブエレクトロニクス株式会社 レーザレーダ装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62217176A (ja) * 1986-03-19 1987-09-24 Fuji Photo Film Co Ltd アクテイブ式測距装置
JPH06148325A (ja) * 1992-11-04 1994-05-27 Mitsubishi Electric Corp レーザ測距装置
JPH08122435A (ja) * 1994-10-21 1996-05-17 Mitsubishi Electric Corp レーザ測距装置
JP2000356677A (ja) * 1999-06-15 2000-12-26 Topcon Corp 距離の測定装置と距離測定方法
JP2006053076A (ja) * 2004-08-12 2006-02-23 Nikon Vision Co Ltd 測距装置
CN102662176A (zh) * 2005-07-04 2012-09-12 株式会社尼康美景 距离测量设备
JP2008122223A (ja) * 2006-11-13 2008-05-29 Suzuki Motor Corp 距離計測装置
JP2011017640A (ja) * 2009-07-09 2011-01-27 Toyota Central R&D Labs Inc 距離計測装置とその距離計測装置に用いられる受光装置
US8384559B2 (en) * 2010-04-13 2013-02-26 Silicon Laboratories Inc. Sensor device with flexible interface and updatable information store
CN108474849B (zh) * 2016-02-17 2021-12-21 松下知识产权经营株式会社 距离测量装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08142783A (ja) * 1994-11-24 1996-06-04 Tokai Rika Co Ltd 車両の後続車判定システム
EP1162478A1 (fr) * 2000-06-07 2001-12-12 Zohar Lightomatic Ltd. Sytème d'avertissement de proximité pour véhicules
JP2008215878A (ja) * 2007-02-28 2008-09-18 Yamaha Motor Co Ltd 受光装置、レーザレーダ装置および乗り物
JP2013115625A (ja) * 2011-11-29 2013-06-10 Ricoh Co Ltd 画像処理システム、画像処理システムを備えた車両、画像処理方法及びプログラム
JP2015068804A (ja) * 2013-10-01 2015-04-13 オムロンオートモーティブエレクトロニクス株式会社 レーザレーダ装置

Also Published As

Publication number Publication date
CN111033313A (zh) 2020-04-17
JPWO2019058678A1 (ja) 2020-10-22

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