WO2019064750A1 - Dispositif de mesure de distance et corps mobile - Google Patents

Dispositif de mesure de distance et corps mobile Download PDF

Info

Publication number
WO2019064750A1
WO2019064750A1 PCT/JP2018/023727 JP2018023727W WO2019064750A1 WO 2019064750 A1 WO2019064750 A1 WO 2019064750A1 JP 2018023727 W JP2018023727 W JP 2018023727W WO 2019064750 A1 WO2019064750 A1 WO 2019064750A1
Authority
WO
WIPO (PCT)
Prior art keywords
distance
unit
measurement
light
output level
Prior art date
Application number
PCT/JP2018/023727
Other languages
English (en)
Japanese (ja)
Inventor
岡本　修治
佐伯　哲夫
仁志 直江
智浩 江川
石丸　裕
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 CN201880053346.4A priority Critical patent/CN111033303A/zh
Priority to JP2019544268A priority patent/JPWO2019064750A1/ja
Publication of WO2019064750A1 publication Critical patent/WO2019064750A1/fr

Links

Images

Classifications

    • 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
    • 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
    • G01S7/484—Transmitters
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a distance measuring device and a moving body.
  • Patent Document 1 discloses the following laser radar.
  • the laser radar of Patent Document 1 includes a laser light source, an optical scanning unit, a light detector, and a distance measuring unit.
  • the laser light source emits a laser beam.
  • the light scanning unit scans laser light in a target area.
  • the photodetector receives the laser beam reflected at the target area.
  • the distance measuring unit measures the distance to the obstacle in the target area based on the signal output from the light detector.
  • a noise signal due to stray light in the housing is generated in the signal from the light detector.
  • the light reception pulse output from the light detector due to the reflected light from the obstacle appears at a position close to the noise signal. Therefore, the light reception pulse overlaps with the noise signal to generate a composite wave.
  • the distance is measured based on the timing at which the composite wave exceeds the threshold voltage, this timing is earlier than the timing that should be originally detected, resulting in an error in the measurement distance.
  • the present invention provides a distance measuring device capable of performing distance measurement in detail on an object in a short distance range and also capable of distance measurement in a far long distance range as much as possible.
  • An exemplary distance measuring device includes a light emitting unit including a light emitting unit and performing a rotational scan with projection light, a light receiving unit, and an object to be measured based on emission of the projection light and light reception by the light receiving unit. And a light emission control unit for controlling the light emitting unit, wherein the light emission control unit performs the projection for every n cycles (n is an integer of 1 or more) of the rotational scan. The output level of the projection light and the emission interval of the projection light are changed with the average power of the light being constant.
  • distance measurement is performed in detail for an object in a short distance range, and distance measurement in a far long distance range is also possible.
  • FIG. 1 is a schematic overall perspective view of an automatic guided vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of an automated guided vehicle according to an embodiment of the present invention.
  • FIG. 3 is a plan view of the automatic guided vehicle according to the embodiment of the present invention as viewed from above.
  • FIG. 4 is a schematic side sectional view of a distance measuring device according to an embodiment of the present invention.
  • FIG. 5 is a block diagram showing an electrical configuration of the distance measuring device according to the embodiment of the present invention.
  • FIG. 6 is a block diagram showing the electrical configuration of the automatic guided vehicle according to the embodiment of the present invention.
  • FIG. 7 is a waveform diagram showing an example of light emission control.
  • FIG. 8 is a diagram showing an example of a close range in which distance measurement is possible.
  • FIG. 9 is a diagram showing an example of a far distance range where distance measurement is possible.
  • FIG. 10 is a diagram illustrating an example of short distance obstacle detection.
  • FIG. 11 is a diagram illustrating an example of long distance obstacle detection.
  • FIG. 12 is a waveform diagram showing an example of light emission control after switching.
  • FIG. 13 is a diagram showing an example of a scanning range by light emission control after switching.
  • FIG. 14 is a view showing an example of a short distance range in which a distance can be measured in a carriage traveling in a passage.
  • FIG. 15 is a view showing an example of a far distance range in which a distance can be measured in a carriage traveling in a path.
  • FIG. 16 is a waveform chart showing an example of light emission control in which the output level is changed in three steps.
  • the distance measuring device is configured as a laser range finder
  • the unmanned conveyance vehicle which is an application which conveys a luggage
  • An unmanned carrier is generally referred to as an AGV (Automatic Guided Vehicle).
  • FIG. 1 is a schematic overall perspective view of an unmanned transportation vehicle 15 according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of an unmanned transfer vehicle 15 according to an embodiment of the present invention.
  • FIG. 3 is a plan view of the automatic guided vehicle 15 according to the embodiment of the present invention as viewed from above.
  • the unmanned transfer vehicle 15 travels autonomously by two-wheel drive and transports a load.
  • 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 rear upper 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 distance measuring device 7 is disposed at a position in front of the apex of the triangular portion Tr of the pedestal portion 1B in the gap S.
  • the distance measuring device 7 is configured as a laser range finder, and measures a distance to a measurement object while scanning a laser beam.
  • the distance measurement device 7 is used for obstacle detection, map information creation, and self-position identification described later. The detailed configuration of the distance measuring device 7 itself will be described later.
  • the support 3L is fixed on the left side of the base 1A and supports the drive motor 4L.
  • the drive motor 4L is constituted by an AC servomotor as an example.
  • the drive motor 4L incorporates a speed reducer (not shown).
  • the drive wheel 5L is fixed to the rotating shaft of the drive motor 4L.
  • the support 3R is fixed on the right side of the base 1A and supports the drive motor 4R.
  • the drive motor 4R is formed of an AC servomotor as an example.
  • the drive motor 4R incorporates a speed reducer (not shown).
  • the drive wheel 5R is fixed to the rotating shaft of the drive motor 4R.
  • the driven wheel 6F is fixed to the front side of the base 1A.
  • the driven wheel 6R is fixed to the rear side of the base 1A.
  • the driven wheels 6F, 6R passively rotate according to the rotation of the drive wheels 5L, 5R.
  • the unmanned transfer vehicle 15 can be moved forward and backward by rotationally driving the drive wheels 5L, 5R by the drive motors 4L, 4R. Further, by controlling the rotational speeds of the drive wheels 5L and 5R to be different, the unmanned transfer vehicle 15 can be turned clockwise or counterclockwise to change its direction.
  • the base 1A accommodates the control unit U, the battery B, and the communication unit T therein.
  • the control unit U is connected to the distance measuring device 7, the drive motors 4L and 4R, the communication unit T, and the like.
  • the control unit U communicates various signals with the distance measuring device 7 as described later.
  • the control unit U also performs drive control of the drive motors 4L and 4R.
  • the communication unit T communicates with an external tablet terminal (not shown), and conforms to Bluetooth (registered trademark), for example. Thereby, the unmanned transfer vehicle 15 can be remotely operated by the tablet terminal.
  • the battery B is configured of, for example, a lithium ion battery, and supplies power to each unit such as the distance measurement device 7, the control unit U, the communication unit T, and the like.
  • FIG. 4 is a schematic side sectional view of the distance measuring device 7.
  • the distance measuring device 7 configured as a laser range finder includes a laser light source 71, a collimator lens 72, a light projecting mirror 73, a light receiving lens 74, a light receiving mirror 75, a wavelength filter 76, a light receiving unit 77, and A housing 78, a motor 79, a housing 80, a substrate 81, and a wire 82 are provided.
  • the housing 80 has a substantially cylindrical shape extending in the vertical direction in appearance, and accommodates various configurations including the laser light source 71 in the internal space.
  • the laser light source 71 is mounted on the lower surface of the substrate 81 fixed to the lower surface of the upper end portion of the housing 80.
  • the laser light source 71 emits, for example, laser light in the infrared region downward.
  • the collimator lens 72 is disposed below the laser light source 71.
  • the collimator lens 72 emits the laser light emitted from the laser light source 71 downward as parallel light.
  • a light projecting mirror 73 is disposed below the collimator lens 72.
  • the projection mirror 73 is fixed to the rotating housing 78.
  • the rotating housing 78 is fixed to the shaft 79 A of the motor 79 and is rotationally driven by the motor 79 around the rotation axis J.
  • the light projection mirror 73 is also rotationally driven around the rotation axis J.
  • the light projection mirror 73 reflects the laser beam emitted from the collimator lens 72, and emits the reflected laser beam as the projection light L1. Since the light projection mirror 73 is rotationally driven as described above, the projection light L1 is emitted while changing the emission direction in the range of 360 degrees around the rotation axis J.
  • the housing 80 has a transmitting portion 801 midway in the vertical direction.
  • the transmitting portion 801 is made of a translucent resin or the like.
  • the projection light L1 reflected and emitted by the light projection mirror 73 passes through the transmission portion 801, passes through the gap S, and is emitted to the outside from the unmanned transfer vehicle 15.
  • the predetermined rotational scanning angle range ⁇ is set to 270 degrees around the rotation axis J as an example. More specifically, the range of 270 degrees includes 180 degrees forward and 45 degrees respectively to the left and right.
  • the projection light L1 passes through the transmission portion 801 at least in the range of 270 degrees around the rotation axis J. In the range in which the rear transmitting portion 801 is not disposed, the projection light L1 is blocked by the inner wall of the housing 80 or the wiring 82 or the like.
  • the light receiving mirror 75 is fixed to the rotating housing 78 at a position below the light projecting mirror 73.
  • the light receiving lens 74 is fixed to the circumferential side surface of the rotary housing 78.
  • the wavelength filter 76 is located below the light receiving mirror 75, and is fixed to the rotating housing 78.
  • the light receiving unit 77 is located below the wavelength filter 76 and is fixed to the rotating housing 78.
  • the projection light L1 emitted from the distance measuring device 7 is reflected by the object to be measured and becomes diffused light.
  • a part of the diffused light passes through the gap S and the transmitting portion 801 as incident light L 2 and is incident on the light receiving lens 74.
  • the incident light L2 transmitted through the light receiving lens 74 is incident on the light receiving mirror 75 and is reflected downward by the light receiving mirror 75.
  • the reflected incident light L 2 passes through the wavelength filter 76 and is received by the light receiving unit 77.
  • the wavelength filter 76 transmits light in the infrared region.
  • the light receiving unit 77 converts the received light into an electrical signal by photoelectric conversion.
  • the rotary housing 78 When the rotary housing 78 is rotationally driven by the motor 79, the light receiving lens 74, the light receiving mirror 75, the wavelength filter 76, and the light receiving unit 77 are rotationally driven together with the light projecting mirror 73.
  • the predetermined radius changes in accordance with the output level of the projection light L1.
  • the motor 79 is connected to the substrate 81 by the wiring 82 and is rotationally driven by being energized from the substrate 81.
  • the motor 79 rotates the rotating housing 78 at a predetermined rotational speed.
  • the rotating housing 78 is rotationally driven at about 3000 rpm.
  • the wiring 82 is routed around the rear inner wall of the housing 80 along the vertical direction.
  • FIG. 5 is a block diagram showing the electrical configuration of the distance measuring device 7.
  • the distance measuring device 7 includes a laser light emitting unit 701, a laser light receiving unit 702, a distance measuring unit 703, a first arithmetic processing unit 704, a data communication interface 705, and a second arithmetic processing unit. 706, a drive unit 707, and a motor 79.
  • the laser light emitting unit 701 has a laser light source 71 (FIG. 4), an LD driver (not shown) for driving the laser light source 71, and the like.
  • the LD driver is mounted on the substrate 81.
  • the light emitting unit 701, the light emitting mirror 73, the rotary housing 78, and the motor 79 constitute a light emitting unit.
  • the light projector performs rotational scanning with the projection light L1.
  • the laser light receiving unit 702 includes a light receiving unit 77, and a comparator (not shown) that receives an electrical signal output from the light receiving unit 77.
  • the comparator is mounted on the light receiving unit 77, compares the level of the electric signal with a predetermined threshold level, and outputs a measurement pulse which is set to the high level or the low level according to the comparison result.
  • the distance measurement unit 703 receives the measurement pulse output from the laser light receiving unit 702.
  • the laser emission unit 701 emits a pulse-like laser beam using the laser emission pulse output from the first arithmetic processing unit 704 as a trigger.
  • the projection light L1 is emitted.
  • the incident light L2 is received by the laser light receiving unit 702.
  • a measurement pulse is generated according to the amount of light received by the laser light receiving unit 702, and the measurement pulse is output to the distance measurement unit 703.
  • the reference pulse output together with the laser emission pulse by the first arithmetic processing unit 704 is input to the distance measuring unit 703.
  • the distance measuring unit 703 can acquire the distance to the measurement object OJ by measuring the elapsed time from the rising timing of the reference pulse to the rising timing of the measurement pulse. That is, the distance measurement unit 703 measures the distance by the so-called TOF (Time Of Flight) method.
  • the measurement result of the distance is output from the distance measurement unit 703 as measurement data.
  • the drive unit 707 rotationally controls the motor 79.
  • the motor 79 is rotationally driven by the drive unit 707 at a predetermined rotational speed.
  • the first arithmetic processing unit 704 outputs a laser emission pulse each time the motor 79 rotates by a predetermined unit angle.
  • the laser light emitting unit 701 emits light each time the rotating housing 78 and the light projecting mirror 73 rotate by a predetermined unit angle, and the projection light L1 is emitted.
  • pulsed projection light L1 is projected every 0.25 degrees. That is, eight shots are performed between two degrees.
  • the first arithmetic processing unit 704 determines orthogonal coordinates based on the distance measuring device 7 based on the rotational angle position of the motor 79 at the timing when the laser emission pulse is output and the measurement data obtained corresponding to the laser emission pulse. Generate location information on the system. That is, based on the rotation angle position of the light projection mirror 73 and the measured distance, the position of the measurement object OJ is acquired. The acquired position information is output from the first arithmetic processing unit 704 as measurement distance data. Thus, the distance image of the measurement object OJ can be acquired by scanning with the projection light L1 in the rotational scanning angle range ⁇ .
  • the amount of light received by the laser light receiving unit 702 is changed by the reflectance of light at the measurement target OJ.
  • the measurement target object OJ is a black object and the light reflectance decreases
  • the light reception amount decreases and the rising of the measurement pulse is delayed.
  • the distance measurement unit 703 measures the distance longer.
  • the light reflectance of the measurement object OJ causes the measured distance to change even if the distance is actually the same.
  • the first arithmetic processing unit 704 corrects the measurement data according to the length of the measurement pulse to improve the distance measurement accuracy.
  • the first arithmetic processing unit 704 uses the corrected measurement data when generating the measurement distance data.
  • the measured distance data output from the first arithmetic processing unit 704 is transmitted to the unmanned transfer vehicle 15 shown in FIG. 6 described later via the data communication interface 705.
  • the second arithmetic processing unit 706 determines whether or not the measurement target is positioned in predetermined areas R1 and R2 described later based on the measurement distance data. Specifically, if the position of a certain measurement target indicated by the measurement distance data is positioned in the predetermined areas R1 and R2, it is determined that the measurement target is positioned in the predetermined areas R1 and R2. When it is determined that the measurement target is located in the predetermined areas R1 and R2, the second arithmetic processing unit 706 outputs a detection signal which is a flag as the High level. On the other hand, when the measurement object is not located in the predetermined areas R1 and R2, a detection signal at Low level is output. The detection signal is transmitted to the unmanned transfer vehicle 15 shown in FIG. 6 described later.
  • FIG. 6 is a block diagram showing the electrical configuration of the automatic guided vehicle 15.
  • the automatic guided vehicle 15 has a distance measurement device 7, a control unit 8, a drive unit 9, and a communication unit T.
  • the control unit 8 is provided in the control unit U (FIG. 1).
  • the drive unit 9 includes a motor driver (not shown), drive motors 4L and 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 control unit 8 communicates with a tablet terminal (not shown) via the communication unit T.
  • the control unit 8 can receive an operation signal corresponding to the content operated on the tablet terminal via the communication unit T.
  • the control unit 8 receives the measured distance data output from the distance measuring device 7.
  • the control unit 8 can create map information based on the measured distance data.
  • the map information is information generated to perform self-position identification for specifying the position of the unmanned carrier 15.
  • the map information is generated as position information of a stationary object at a location where the unmanned carrier 15 travels. For example, when the unmanned transfer vehicle 15 travels in a warehouse, the stationary object is a wall of the warehouse, a shelf arranged in the warehouse, or the like.
  • the map information is generated, for example, when a manual operation of the AGV 15 is performed by a tablet terminal.
  • an operation signal corresponding to the operation of, for example, a joystick of the tablet terminal is transmitted to the control unit 8 through the communication unit T, and the control unit 8 instructs the drive unit 9 according to the operation signal.
  • the traveling control of the carrier 15 is performed.
  • the control unit 8 specifies the position of the measurement object at the location where the unmanned transfer vehicle 15 travels as map information. .
  • the position of the unmanned transfer vehicle 15 is identified based on the drive information of the drive unit 9.
  • the map information generated as described above is stored by the storage unit 85 of the control unit 8.
  • the control unit 8 compares the measured distance data input from the distance measuring device 7 with the map information stored in advance in the storage unit 85 to identify the self-location of the unmanned transfer vehicle 15 to identify its own position. Do. That is, the control unit 8 functions as a position identification unit. By performing the self position identification, the control unit 8 can perform autonomous traveling control of the unmanned transfer vehicle 15 along a predetermined route.
  • emission control of the projection light L1 performed in the distance measuring device 7 of the present embodiment will be described.
  • the light emission control of the projection light L1 is performed by the first arithmetic processing unit 704 controlling the laser light emitting unit 701. That is, the first arithmetic processing unit 704 functions as a light emission control unit.
  • FIG. 7 is a view showing an example of light emission control of the projection light L1 according to the present embodiment.
  • the horizontal axis represents time
  • the vertical axis represents the output level of the projection light L1.
  • the projection light L1 emits light as a pulse.
  • the output level and the light emission interval of the emitted light are changed, and the width of the pulse is not changed.
  • the output level of the pulse is made higher and the light emission interval of the pulse is made longer than the cycle T1.
  • the first arithmetic processing unit 704 as the light emission control unit changes the output level and the light emission interval of the projection light L1 while keeping the average power of the projection light L1 constant for each cycle of the rotational scan.
  • the light emission interval is doubled. Since the rotational speed of the rotational scan is constant, the projection light L1 is emitted at a period T2 at every rotation angle twice as large as the period T1. For example, if it is assumed that light is emitted once every 0.25 degree in period T1, light is emitted once every 0.5 degree in period T2.
  • the angular resolution of the cycle T1 is higher than that of the cycle T2.
  • distance measurement can be performed on an object in the short distance range Rn, and at this time, since the angular resolution is high, detailed distance measurement becomes possible.
  • the cycle T2 of the high output level as shown in FIG. 9, distance measurement can be performed on an object in the long distance range Rf. At that time, as described above, since the average power is fixed, it is possible to perform measurement in a long distance range as much as possible.
  • the first arithmetic processing unit 704 calculates the average value of the distances measured for each of the two light emission pulses that are temporally adjacent to each other in the low output level cycle T1. Measurement distance data based on the calculated and calculated average value may be output from the data communication interface 705. At this time, the first arithmetic processing unit 704 outputs measurement distance data based on the distance measured for each light emission pulse in the cycle T2 of the high output level. That is, in the cycle T2, the average value of the distances is not calculated.
  • control is performed to change the output level and the light emission interval every one cycle, but the control is not limited to this. Even if control is performed to change every two or more cycles, such as every two cycles. Good. In the case of every two cycles, after the control of the cycle T1 is performed twice, the control of the cycle T2 is performed twice.
  • a predetermined area around the AGV 15 is defined in advance as a predetermined area R1.
  • the predetermined area R1 includes a range of a predetermined distance in front of the unmanned transfer vehicle 15, and a range of a predetermined distance on the left and right sides.
  • the control unit 8 detects the relative moving direction of the measurement object OJ with respect to the unmanned transfer vehicle 15 whether the measurement object OJ is a moving object or not. .
  • the control unit 8 instructs the drive unit 9 to stop the unmanned transfer vehicle 15 .
  • the control unit 8 functions as an obstacle detection unit that detects the measurement object OJ as an obstacle based on the measurement distance data, and can accurately detect an obstacle within a short distance range.
  • a region having an arc-shaped outer edge positioned inside the arc-shaped outer edge of the long distance range Rf is specified. It predefines as area R2.
  • the control unit 8 detects that the measurement object OJ is positioned within the predetermined area R2 based on the measurement distance data acquired in the cycle T2. a detection signal at the high level is sent to the control unit 8 . Then, the control unit 8 detects the relative moving direction of the measurement object OJ with respect to the unmanned transfer vehicle 15 whether the measurement object OJ is a moving object or not based on the measurement distance data acquired in the cycle T2. .
  • the control unit 8 instructs the drive unit 9 to decelerate the unmanned transfer vehicle 15 .
  • the control unit 8 as the obstacle detection unit can detect an obstacle in a long distance range.
  • switching of light emission control as described below may be performed.
  • the control unit 8 detects the measurement object OJ moving in the far distance range based on the measurement distance data acquired in the cycle T2 of the high output level, the control unit 8 notifies the first arithmetic processing unit 704.
  • FIG. 13 shows a case where the measurement object OJ moving in the far distance range Rf is detected as an obstacle.
  • the first arithmetic processing unit 704 having received the notification switches the control from the control shown in FIG. 7 to the control shown in FIG. 12, for example.
  • control is performed to change the output level of the light emission pulse and the light emission interval in one cycle T of the rotational scanning.
  • the control in one cycle T is repeated.
  • the range t1 of low output level, the range t2 of high output level adjacent after the range t1, and the range t3 of low output level adjacent after the range t2 Is included.
  • the light emission interval is longer than the ranges t1 and t3.
  • the width of the light emission pulse is constant. Thereby, the average power Pa in each of the ranges t1 to t3 is the same.
  • the output level is doubled in the range t2 compared to the ranges t1 and t3, the light emission interval is doubled.
  • the range t1 of FIG. 12 corresponds to the short-distance scanning range R11 shown in FIG.
  • the range t2 in FIG. 12 corresponds to the long-distance scan range R12 shown in FIG.
  • the range t3 in FIG. 12 corresponds to the short-distance scanning range R13 shown in FIG.
  • the scanning range R12 includes the detected position of the moving measurement object OJ.
  • control unit 8 can grasp the situation of the moving measurement object OJ based on the measured distance data acquired in the range t2. Since the distance measurement is performed in the range t2 every one cycle T, the situation of the measurement object OJ can be frequently grasped.
  • control unit 8 notifies the first calculation processing unit 704, so that the first calculation processing unit 704 performs control as shown in FIG.
  • the control of 12 may be switched to the control of FIG.
  • the average value of the distances measured for each light emission pulse is calculated and calculated for each two adjacent light emission pulses in time. Measured distance data based on the average value may be output from the data communication interface 705. At this time, the first arithmetic processing unit 704 outputs measurement distance data based on the distance measured for each light emission pulse in the high output level range t2. That is, in the range t2, the average value of the distances is not calculated.
  • control unit 8 can perform self-position identification based on the comparison between the map information stored in the storage unit 85 and the measurement distance data. At this time, the light emission control shown in the example of FIG. 7 described above can be used.
  • the scanning range is the short range Rn in the cycle T1 of the low output level. Only the distance is measured. Therefore, even if the measured distance data acquired in the cycle T1 and the map information are collated, the self position becomes unknown.
  • the scanning range is the far-distance range Rf, so the distance can be measured not only on the passage 50 but also on the wall 51 located at the back of the passage 50. Therefore, if the measured distance data acquired in the cycle T2 is compared with the map information, it becomes possible to identify the self position by the detection of the wall 51 which is a characteristic object.
  • the output level is changed in two stages for each cycle.
  • the output level may be changed in three or more steps for each cycle.
  • the output level and the light emission interval are the same as cycle T1 in cycle T11
  • the output level and the light emission interval are the same as cycle T2 in cycle T13
  • the output level and light emission are in cycle T12 between cycles T11 and T13.
  • the interval is a size between the cycles T11 and T13.
  • an average value of the distances measured for the respective light emission pulses is calculated for each two adjacent light emission pulses, and the calculated average value is calculated.
  • Based measurement distance data may be output from the data communication interface 705.
  • the first arithmetic processing unit 704 outputs measurement distance data based on the distance measured for each light emission pulse at the cycle T13 of the highest output level. That is, in the cycle T13, the average value of the distances is not calculated.
  • the distance measuring device (7) of the present embodiment includes the light emitting part (701) and the light emitting part that performs rotational scanning with the projection light (L1); A distance measuring unit (703) for measuring the distance to the measurement object based on the emission of the projection light and the light reception by the light receiving unit, and a light emission control unit (704) for controlling the light emitting unit Prepare.
  • the light emission control unit changes the output level of the projection light and the light emission interval of the projection light while keeping the average power of the projection light constant every n cycles (n is an integer of 1 or more) of the rotational scan.
  • distance measurement is performed in detail for an object in a short distance range, and distance measurement in a far long distance range is also possible.
  • the measurement distance data output unit 704, 705 for outputting measurement distance data based on the distance measurement result by the distance measurement unit (703), and the measurement distance data output unit has the lowest output level.
  • a measurement distance data output unit 704, 705 for outputting measurement distance data based on the distance measurement result by the distance measurement unit (703), and the measurement distance data output unit has the lowest output level.
  • the measurement distance data I assume an average value of the distance measurement results based on light emission units temporally adjacent to each other is used as the measurement distance data, and in the cycle with the highest output level, the distance measurement result for each light emission unit is measured as the measurement distance data I assume.
  • the light emission control unit (704) changes the output level in three or more steps. Thereby, distance measurement in the range of the middle distance which suppressed the fall of angular resolution becomes possible.
  • the mobile unit (15) includes any one of the measurement distance data output units (704 and 705) that outputs measurement distance data based on the distance measurement result by the distance measurement unit (703).
  • the distance measuring device (7) of a structure and the obstruction detection part (8) which detects an obstruction based on the said measurement distance data are provided.
  • an obstacle can be detected with high accuracy in the short distance range, and an obstacle can be detected in the long distance range.
  • the light emission control unit (704) performs the projection in one cycle of the rotational scan. It switches to the control which changes the output level of light. In the control, the output level of the predetermined range including the position of the obstacle detected in the rotational scanning range is higher than that of the other ranges.
  • the average power is the same in the range where the output level is low and the range where the output level is high, and in the control, the measurement distance data output unit (704, 705) has the output level low.
  • the range an average value of the distance measurement results based on light emission units adjacent in time is taken as the measurement distance data, and in a range where the output level is high, the distance measurement results for each light emission unit are combined with the measurement distance data Do.
  • the mobile unit (15) includes any one of the measurement distance data output units (704 and 705) that outputs measurement distance data based on the distance measurement result by the distance measurement unit (703).
  • the distance measuring device (7) of a structure and the position identification part (8) which performs self-position identification based on collation with map information and the said measurement distance data are provided.
  • the said moving body is a conveyance vehicle. This is because it is common for a transport vehicle to travel in a place where an obstacle exists or to travel autonomously.
  • an unmanned transport vehicle has been described as an example of the moving body.
  • the moving body may be applied to devices other than transport applications such as a cleaning robot and a monitoring robot.
  • the present invention can be used, for example, in an automatic guided vehicle for carrying a load.

Landscapes

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

Abstract

La solution selon l'invention porte sur un dispositif de mesure de distance qui est configuré pour être pourvu de : une unité de projection de lumière qui comprend une unité d'émission de lumière et qui effectue un balayage rotatif à l'aide d'une lumière de projection ; une unité de réception de lumière ; une unité de mesure de distance qui mesure la distance jusqu'à un objet à mesurer, sur la base de l'émission de la lumière de projection et de la réception de lumière effectuée par l'unité de réception de lumière ; et une unité de commande d'émission qui commande l'unité d'émission de lumière, dans laquelle, tous les n cycles (n est un entier supérieur ou égal à 1) du balayage rotatif, l'unité de commande d'émission change le niveau de sortie de la lumière de projection et l'intervalle d'émission de la lumière de projection, tout en maintenant fixe la puissance moyenne de la lumière de projection.
PCT/JP2018/023727 2017-09-27 2018-06-22 Dispositif de mesure de distance et corps mobile WO2019064750A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880053346.4A CN111033303A (zh) 2017-09-27 2018-06-22 距离测定装置、以及移动体
JP2019544268A JPWO2019064750A1 (ja) 2017-09-27 2018-06-22 距離測定装置、および移動体

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017186205 2017-09-27
JP2017-186205 2017-09-27

Publications (1)

Publication Number Publication Date
WO2019064750A1 true WO2019064750A1 (fr) 2019-04-04

Family

ID=65901283

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/023727 WO2019064750A1 (fr) 2017-09-27 2018-06-22 Dispositif de mesure de distance et corps mobile

Country Status (3)

Country Link
JP (1) JPWO2019064750A1 (fr)
CN (1) CN111033303A (fr)
WO (1) WO2019064750A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020110801A1 (fr) * 2018-11-30 2020-06-04 株式会社小糸製作所 Capteur de télémétrie, feu de véhicule et procédé de télémétrie
JP2021047093A (ja) * 2019-09-19 2021-03-25 コーデンシ株式会社 物体検出装置及び物体検出方法
KR102386499B1 (ko) * 2021-07-16 2022-04-20 센서텍(주) 거리 측정 시스템
JP2023527206A (ja) * 2020-06-30 2023-06-27 オーロラ・オペレイションズ・インコーポレイティッド パルス波ｌｉｄａｒ用のシステムおよび方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10239432A (ja) * 1997-02-24 1998-09-11 Omron Corp 距離測定装置
US20160100521A1 (en) * 2014-10-10 2016-04-14 Irobot Corporation Autonomous Robot Localization
JP2016057141A (ja) * 2014-09-09 2016-04-21 株式会社リコー 距離測定装置、移動体装置及び距離測定方法
WO2017060965A1 (fr) * 2015-10-06 2017-04-13 パイオニア株式会社 Dispositif de commande de lumière, procédé de commande, programme, et support de stockage

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3418686A4 (fr) * 2016-02-19 2019-10-23 Pioneer Corporation Structure de données caractéristiques, dispositif de commande, dispositif de stockage, procédé de commande, programme et support de stockage

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10239432A (ja) * 1997-02-24 1998-09-11 Omron Corp 距離測定装置
JP2016057141A (ja) * 2014-09-09 2016-04-21 株式会社リコー 距離測定装置、移動体装置及び距離測定方法
US20160100521A1 (en) * 2014-10-10 2016-04-14 Irobot Corporation Autonomous Robot Localization
WO2017060965A1 (fr) * 2015-10-06 2017-04-13 パイオニア株式会社 Dispositif de commande de lumière, procédé de commande, programme, et support de stockage

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020110801A1 (fr) * 2018-11-30 2020-06-04 株式会社小糸製作所 Capteur de télémétrie, feu de véhicule et procédé de télémétrie
JPWO2020110801A1 (ja) * 2018-11-30 2021-10-14 株式会社小糸製作所 測距センサおよび車両用灯具、測距方法
JP7339277B2 (ja) 2018-11-30 2023-09-05 株式会社小糸製作所 測距センサおよび車両用灯具、測距方法
JP2021047093A (ja) * 2019-09-19 2021-03-25 コーデンシ株式会社 物体検出装置及び物体検出方法
JP7264474B2 (ja) 2019-09-19 2023-04-25 コーデンシ株式会社 物体検出装置及び物体検出方法
JP2023527206A (ja) * 2020-06-30 2023-06-27 オーロラ・オペレイションズ・インコーポレイティッド パルス波ｌｉｄａｒ用のシステムおよび方法
KR102386499B1 (ko) * 2021-07-16 2022-04-20 센서텍(주) 거리 측정 시스템

Also Published As

Publication number Publication date
JPWO2019064750A1 (ja) 2020-11-05
CN111033303A (zh) 2020-04-17

Similar Documents

Publication Publication Date Title
WO2019064750A1 (fr) Dispositif de mesure de distance et corps mobile
JP6819098B2 (ja) 物体検出装置、センシング装置及び移動体装置
US9891432B2 (en) Object detection device and sensing apparatus
US20160170412A1 (en) Autonomous mobile device and method for controlling same
KR101866084B1 (ko) 매트릭스 구조를 갖는 라이다 시스템의 발광 제어장치
JP2016133341A (ja) 物体検出装置、センシング装置、移動体装置及び物体検出方法
TWI684084B (zh) 移動裝置
US20230100073A1 (en) Systems and Methods for Modifying LIDAR Field of View
US20230133767A1 (en) Lidar device and method for operating same
JPWO2020071465A1 (ja) 距離測定装置
WO2018173595A1 (fr) Dispositif de déplacement
JP2010256179A (ja) 測距方法及び車載測距装置
KR102595870B1 (ko) 초소형 라이다 센서
KR102527887B1 (ko) 라이다 센서용 광학계
WO2020195333A1 (fr) Circuit de mesure de distance, dispositif de télémétrie et corps mobile
WO2018173594A1 (fr) Dispositif de mesure de distance et véhicule de transport
WO2019181691A1 (fr) Dispositif de mesure de distance et corps mouvant
WO2020045445A1 (fr) Dispositif de mesure de distance, groupe de dispositifs de mesure de distance et système de dispositif de mesure de distance
WO2019058678A1 (fr) Dispositif de mesure de distance et corps mobile équipé de celui-ci
WO2019058679A1 (fr) Dispositif de mesure de distance et corps mobile doté de celui-ci
WO2019064742A1 (fr) Dispositif de mesure de distance et corps mobile
US20210382177A1 (en) System for monitoring surroundings of vehicle
WO2019064741A1 (fr) Dispositif de mesure de distance et corps mobile
WO2019181692A1 (fr) Dispositif de mesure de distance et corps mobile
WO2020045474A1 (fr) Unité à capteur et corps mobile

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18862563

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019544268

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18862563

Country of ref document: EP

Kind code of ref document: A1