WO2019181691A1 - Dispositif de mesure de distance et corps mouvant - Google Patents

Dispositif de mesure de distance et corps mouvant Download PDF

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Publication number
WO2019181691A1
WO2019181691A1 PCT/JP2019/010301 JP2019010301W WO2019181691A1 WO 2019181691 A1 WO2019181691 A1 WO 2019181691A1 JP 2019010301 W JP2019010301 W JP 2019010301W WO 2019181691 A1 WO2019181691 A1 WO 2019181691A1
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WIPO (PCT)
Prior art keywords
signal
distance
pulse signal
measuring device
output
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PCT/JP2019/010301
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English (en)
Japanese (ja)
Inventor
岡本　修治
佐伯　哲夫
石丸　裕
和穂 江川
仁志 直江
智浩 江川
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日本電産株式会社
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Publication of WO2019181691A1 publication Critical patent/WO2019181691A1/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
    • G01S17/10—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
    • 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

Definitions

  • the present invention relates to a distance measuring device and a moving body.
  • Japanese Patent Application Laid-Open No. 2011-215005 discloses a scanning distance measuring device that can accurately calculate a distance to a measured object even when an obstacle exists between the scanned distance measuring apparatus and the measured object. Is disclosed.
  • the scanning distance measuring device includes a differential processing unit, a calculation unit, and a waveform determination unit.
  • the differentiation processing unit differentiates the reflected signal corresponding to the reflected light from the measured object detected by the light receiving unit, corresponding to the pulsed measurement light periodically deflected and scanned by the scanning unit.
  • the calculation unit calculates the position of the center of gravity of the first-order differential reflection signal based on the rise time of the first-order differentiated first-order differential reflection signal, obtains the time corresponding to the position of the center of gravity as the detection time of the reflected light, and outputs the measurement light Based on the time difference between the time and the detection time of the reflected light, the distance to the object to be measured is calculated and output.
  • the waveform determination unit reflects the rising and falling characteristics of the first-order differential reflected signal obtained by first-order differentiation of the reflected signal by the differentiation processing section, and the rising characteristics of the second-order differential reflected signal obtained by second-order differentiation of the reflected signal. It is determined whether the light is reflected light in which reflected light from a plurality of objects to be measured is superimposed.
  • the differential processing unit performs primary and secondary differential processing on the reflected signal. For this reason, the structure which can perform a differentiation process very rapidly is calculated
  • An object of this invention is to provide the technique which can obtain
  • An exemplary distance measuring device of the present invention includes a light projecting unit that emits projection light, a light receiving unit that receives reflected light generated by reflecting the projection light on an object and converts the reflected light into an electrical signal, and the electrical signal.
  • the signal processing unit compares the electrical signal with a first threshold value to generate a first pulse signal, and compares the electrical signal with a second threshold value greater than the first threshold value to generate a second pulse signal.
  • a first time-counter circuit to which the first pulse signal is input, and the first pulse signal and the second pulse signal can be input, one of which is based on a predetermined signal And a second timing circuit to which the signal output from the selector circuit is input.
  • the exemplary mobile body of the present invention has the distance measuring device having the above-described configuration.
  • the exemplary invention can determine distances to various types of objects, including glass and thin objects, with a simple configuration.
  • FIG. 1 is a schematic perspective view of a moving body according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the moving body according to the embodiment of the present invention.
  • FIG. 3 is a schematic plan view of the moving body according to the embodiment of the present invention as viewed from above.
  • FIG. 4 is a schematic vertical sectional view of the distance measuring apparatus according to the embodiment of the present invention.
  • FIG. 5 is a block diagram showing an electrical configuration of the distance measuring apparatus according to the embodiment of the present invention.
  • FIG. 6 is a block diagram showing a configuration of a signal processing unit included in the distance measuring apparatus according to the first embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating an example of a determination flow of the determination circuit.
  • FIG. 1 is a schematic perspective view of a moving body according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the moving body according to the embodiment of the present invention.
  • FIG. 3 is a schematic plan view of the
  • FIG. 8 is a flowchart illustrating an example of a distance calculation flow of the control unit.
  • FIG. 9 is a model diagram for explaining the function and effect of the distance measuring device.
  • FIG. 10 is a schematic diagram illustrating a signal example in the first case.
  • FIG. 11 is a schematic diagram illustrating a signal example in the second case.
  • FIG. 12 is a schematic diagram illustrating a signal example in the third case.
  • FIG. 13 is a block diagram illustrating a configuration of a signal processing unit included in the distance measuring apparatus according to the second embodiment of the present invention.
  • FIG. 14 is a flowchart illustrating an example of a flow for determining a distance to an object in the distance measurement apparatus according to the second embodiment.
  • FIG. 15 is a flowchart illustrating an example of a flow for determining a distance to an object in the distance measuring apparatus according to the third embodiment.
  • the distance measuring device is a laser range finder
  • the mobile body having the distance measuring device is an automatic guided vehicle used for transporting luggage.
  • the automatic guided vehicle is generally called AGV (Automatic Guided Vehicle).
  • FIG. 1 is a schematic perspective view of a moving body 15 according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the moving body 15 according to the embodiment of the present invention.
  • FIG. 3 is a schematic plan view of the moving body 15 according to the embodiment of the present invention as viewed from above.
  • the mobile body 15 travels autonomously by two-wheel drive and carries a load.
  • the moving body 15 can also rotate on the spot. *
  • the moving body 15 includes a distance measuring device 7.
  • the distance measuring device 7 is a device that measures the distance to an object to be measured by scanning a laser beam.
  • the distance measuring device 7 is used, for example, to perform self-position identification in which the moving body 15 identifies its own position.
  • the distance measuring device 7 is used for creating map information.
  • the map information is information generated to identify the position of the mobile object 15 and is position information of a stationary object at the place where the mobile object 15 travels.
  • the stationary object is a wall of the warehouse, a shelf arranged in the warehouse, or the like. *
  • the distance measuring device 7 can accurately obtain distances to various types of objects. For this reason, the mobile body 15 can perform self-position identification and generation of map information accurately. The detailed configuration of the distance measuring device 7 itself will be described later. *
  • the moving body 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, and driven wheels 6F and 6R. It has further. *
  • the vehicle body 1 has a base 1A and a base 1B.
  • the plate-like base portion 1B is fixed to the rear upper surface of the rectangular parallelepiped base portion 1A.
  • the base part 1B has a triangular part Tr protruding forward.
  • the plate-shaped 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 forward than the platform 1B.
  • 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 in the gap S.
  • the distance measuring device 7 is located in front of the apex protruding forward of the triangular portion Tr. *
  • the support portion 3L is fixed to the left side of the base portion 1A and supports the drive motor 4L.
  • the drive motor 4L is configured by an AC servo motor as an example.
  • the drive motor 4L incorporates a reduction gear (not shown).
  • the drive wheel 5L is fixed to a shaft SH that the drive motor 4L rotates. *
  • the support portion 3R is fixed to the right side of the base portion 1A and supports the drive motor 4R.
  • the drive motor 4R is configured by an AC servo motor as an example.
  • the drive motor 4R incorporates a reduction gear (not shown).
  • the drive wheel 5R is fixed to a shaft SH that the drive motor 4R rotates. *
  • 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 and 6R rotate passively according to the rotation of the drive wheels 5L and 5R. Apart from the rotation, the driven wheels 6F and 6R can rotate around an axis extending in the vertical direction.
  • the driven wheels 6F and 6R can be constituted by so-called universal casters. *
  • the moving body 15 By rotating the drive wheels 5L and 5R by the drive motors 4L and 4R, the moving body 15 can be moved forward and backward. Further, by controlling so as to provide a difference in the rotational speeds of the drive wheels 5L and 5R, the moving body 15 can be rotated clockwise or counterclockwise to change the 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 so as to be communicable by wire or wirelessly.
  • the control unit U communicates various signals with the distance measuring device 7.
  • the control unit U also performs drive control of the drive motors 4L and 4R.
  • the communication unit T performs communication based on, for example, Bluetooth (registered trademark) with an external tablet terminal (not shown). Thereby, the mobile body 15 can be remotely operated by the tablet terminal.
  • the battery B is composed of, for example, a lithium ion battery, and supplies power to each unit such as the distance measuring device 7, the control unit U, the communication unit T, and the like. *
  • the map information described above is generated, for example, by manually operating the moving body 15 using a tablet terminal.
  • the control unit U controls the traveling of the moving body 15.
  • the control unit U specifies the measured position of the target object as map information based on the distance measurement data input from the distance measuring device 7 and the position information of the moving body 15.
  • the position of the moving body 15 is specified based on drive information of the drive motors 4L and 4R configured by a servo motor, for example.
  • FIG. 4 is a schematic vertical sectional view of the distance measuring device 7 according to the embodiment of the present invention.
  • the distance measuring device 7 includes a laser light source 71, a collimating lens 72, a light projecting mirror 73, a light receiving lens 74, a light receiving mirror 75, a wavelength filter 76, a light receiving element 77, and a rotation.
  • a housing 78, a motor 79, a housing 80, a substrate 81, and wiring 82 are included. *
  • the casing 80 has a substantially cylindrical shape extending in the vertical direction in appearance, and accommodates various elements such as the laser light source 71 in the internal space.
  • the laser light source 71 is mounted on a substrate 81 fixed to the lower surface of the upper wall of the housing 80. For example, the laser light source 71 emits laser light in the infrared region downward.
  • the collimating lens 72 is disposed below the laser light source 71.
  • the collimating 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 collimating lens 72.
  • the light projecting mirror 73 is fixed to a rotary casing 78 disposed below the mirror.
  • the rotating casing 78 is fixed to a shaft 79A of a motor 79 disposed on the lower side of the casing.
  • the shaft 79A rotates around a central axis J that extends in the vertical direction. That is, the rotary casing 78 is rotated around the central axis J by the motor 79.
  • the light projection mirror 73 rotates about the central axis J.
  • the light projection mirror 73 is a movable part.
  • the light projecting mirror 73 may be referred to as the movable portion 73.
  • the light projection mirror 73 reflects the laser light emitted from the collimator lens 72 and emits it as projection light L1. Since the light projection mirror 73 rotates around the central axis J as described above, the projection light L1 is emitted from the light projection mirror 73 while changing the emission direction in the range of 360 degrees around the central axis J.
  • the distance measuring device 7 includes the movable unit 73 that varies the direction of the projection light L1 over a range of 360 degrees.
  • the housing 80 has a transmission portion 801 extending in the circumferential direction at a midway position in the vertical direction.
  • the transmission part 801 is made of a translucent resin or the like.
  • the transmission part 801 is not provided on the entire circumference of the housing 80 but is provided in a partial range in the circumferential direction. For this reason, the projection light L ⁇ b> 1 reflected by the light projecting mirror 73 is emitted to the outside of the housing 80 from a limited range in the circumferential direction of the housing 80.
  • the measurement angle range ⁇ in which the distance measuring device 7 emits laser light to the outside of the device is a range of 270 degrees around the central axis J as an example, as shown in FIG. More specifically, the range of 270 degrees is a range obtained by combining a range rotated 135 degrees clockwise from the front and a range rotated 135 degrees counterclockwise from the front, where 0 degree is the front. .
  • the projection light L1 passes through the transmission unit 801 at least in the range of 270 degrees around the central axis J. In a range where the rear transmission portion 801 is not disposed, the projection light L1 is blocked by, for example, the inner wall of the housing 80 or the wiring 82 and is not emitted to the outside of the housing 80.
  • the light receiving mirror 75 is fixed to the rotary casing 78 at a position below the light projecting mirror 73.
  • the light receiving lens 74 is fixed to the side surface of the rotating housing 78.
  • the wavelength filter 76 is positioned below the light receiving mirror 75 and is fixed to the rotary casing 78.
  • the light receiving element 77 is positioned below the wavelength filter 76 and is fixed to the rotary casing 78.
  • the projection light L1 emitted to the outside from the distance measuring device 7 is reflected by an 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 reflected light L2 and enters the light receiving lens 74.
  • the reflected light L 2 that has passed through the light receiving lens 74 is incident on the light receiving mirror 75 and reflected downward by the light receiving mirror 75.
  • the reflected light L 2 reflected by the light receiving mirror 75 passes through the wavelength filter 76 and is received by the light receiving element 77.
  • the wavelength filter 76 transmits light in the infrared region.
  • the light receiving element 77 converts the received light into an electrical signal by photoelectric conversion. *
  • the measurement range Rs in the distance measuring device 7 is surrounded by an arc formed by rotating around the central axis J by a measurement angle range ⁇ (270 degrees in this embodiment) around a predetermined radius. It is a range.
  • the projection light L1 is emitted within the measurement angle range ⁇ and the projection light L1 is reflected by an object located within the measurement range Rs, the reflected light L2 passes through the transmission unit 801 and enters the light receiving element 77. That is, the distance measuring device 7 can acquire the distance to the object.
  • the motor 79 is connected to the substrate 81 by the wiring 82 and is driven to rotate when energized from the substrate 81.
  • the motor 79 rotates the rotary casing 78 at a predetermined rotation speed.
  • the rotary casing 78 is rotated at about 3000 rpm.
  • the wiring 82 is routed along the vertical direction on the rear inner wall of the housing 80. *
  • FIG. 5 is a block diagram showing an electrical configuration of the distance measuring device 7 according to the embodiment of the present invention.
  • FIG. 5 also shows an object OJ for which distance measurement is performed by the distance measuring device 7.
  • the distance measuring device 7 includes a light projecting unit 701, a light receiving unit 702, a signal processing unit 703, and a control unit 704. *
  • the light projecting unit 701 emits the projection light L1.
  • the light projecting unit 701 includes a laser light source 71 and a laser driver (not shown) that drives the laser light source 71.
  • the laser driver is mounted on the substrate 81.
  • the light projecting unit 701 emits laser light using a laser emission pulse output from the control unit 704 as a trigger.
  • the light projecting unit 701 emits pulsed light as projection light. *
  • the light receiving unit 702 receives the reflected light L2 generated when the projection light L1 is reflected by the object OJ and converts it into an electrical signal.
  • the light receiving unit 702 includes a light receiving element 77.
  • the light receiving element 77 is composed of, for example, an avalanche photodiode.
  • the light receiving unit 702 preferably includes an amplifier circuit that amplifies the signal output from the light receiving element 77. *
  • the signal processing unit 703 processes the electrical signal output from the light receiving unit 702.
  • the signal processing unit 703 includes a circuit that processes an analog signal and a circuit that processes a digital signal. Details of the signal processing unit 703 will be described later. *
  • the control unit 704 controls the entire distance measuring device 7.
  • the control unit 704 calculates the distance to the object OJ based on the output signal from the signal processing unit 703. Specifically, the control unit 704 performs correction in consideration of the reflectance of the object OJ based on information obtained from the signal processing unit 703, and obtains the distance to the object OJ.
  • the control unit 704 also determines the distance measuring device 7 based on the rotational angle position of the motor 79 at the timing when the laser light emission pulse is output and the distance information obtained corresponding to the laser light emission pulse. The position information on the orthogonal coordinate system with reference to is generated. That is, the control unit 704 acquires the position of the object OJ with reference to the distance measuring device 7.
  • the control unit 704 can be configured by, for example, a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output port, and the like.
  • the function of the control unit 704 is realized by the CPU executing a program stored in the ROM or the like.
  • the distance measuring device 7 includes a data communication interface 705 and a motor driver 706. Information on the distance to the object OJ obtained by the control unit 704 is transmitted to the control unit U via the data communication interface 705. *
  • the motor driver 706 controls driving of the motor 79.
  • the motor 79 is rotationally driven by a motor driver 706 at a predetermined rotational speed.
  • the control unit 704 outputs a laser emission pulse every time the motor 79 rotates by a predetermined unit angle.
  • the predetermined unit angle is 1 degree.
  • the laser light source 71 emits light and the projection light L1 is emitted every time the rotary casing 78 and the light projection mirror 73 rotate by a predetermined unit angle.
  • the projection light L ⁇ b> 1 is scanned in a constant rotation direction around the central axis J.
  • the projection light L1 may be alternately scanned in the clockwise direction and the counterclockwise direction around the central axis J. *
  • FIG. 6 is a block diagram showing a configuration of a signal processing unit 703 of a distance measuring device 7 according to a first embodiment of the present invention.
  • the signal processing unit 703 processes the electrical signal output from the light receiving unit 702 and outputs it to the control unit 704.
  • the signal processing unit 703 includes a first comparator 7031, a second comparator 7032, a first timer circuit 7033, a selector circuit 7034, a second timer circuit 7035, a determination circuit 7036, a differential circuit Circuit 7037.
  • the first comparator 7031 generates the first pulse signal by comparing the electrical signal output from the light receiving unit 702 with the first threshold value.
  • the electrical signal output from the light receiving unit 702 is an analog signal.
  • the first comparator 7031 compares the signal level of the input analog signal with the first threshold value, and generates a digital signal having a high level or a low level according to the comparison result. When the signal level of the input analog signal exceeds the first threshold, the signal becomes High level, and the first pulse signal is output from the first comparator 7031.
  • the second comparator 7032 compares the electrical signal output from the light receiving unit 702 with a second threshold value that is greater than the first threshold value, and generates a second pulse signal.
  • the second comparator 7032 compares the signal level of the input analog signal with the second threshold value, and generates a digital signal having a high level or a low level according to the comparison result. When the signal level of the input analog signal exceeds the second threshold value, it becomes High level, and the second pulse signal is output from the second comparator 7032.
  • a first pulse signal is input to the first timer circuit 7033.
  • the first time measuring circuit 7033 is configured by a so-called TDC (Time-to-digital-Converter).
  • a reference pulse signal RP synchronized with the laser emission pulse is input from the control unit 704 to the first timer circuit 7033.
  • the first timer circuit 7033 measures the elapsed time from the rising timing of the reference pulse signal RP to the rising timing of the first pulse signal.
  • the first timer circuit 7033 outputs the measurement result to the control unit 704.
  • the first timer circuit 7033 outputs an output signal including the first timer information to the control unit 704. *
  • the selector circuit 7034 is provided so that a first pulse signal and a second pulse signal can be input, and outputs either one of the pulse signals based on a predetermined signal.
  • the selector circuit 7034 receives the selection signal SS from the determination circuit 7036.
  • the selector circuit 7034 outputs the first pulse signal or the second pulse signal to the second timer circuit 7035 based on the selection signal SS.
  • the second timer circuit 7035 receives the signal output from the selector circuit 7034.
  • the second timing circuit 7035 is a so-called TDC.
  • the reference pulse signal RP is also input to the second timer circuit 7035.
  • the second timer circuit 7035 measures the elapsed time from the rising timing of the reference pulse signal RP to the falling timing of the first pulse signal.
  • the second timer circuit 7035 measures the elapsed time from the rising timing of the reference pulse signal RP to the rising timing of the second pulse signal.
  • the second timing circuit 7035 outputs the measurement result to the control unit 704.
  • the second timing circuit 7035 outputs an output signal including the second timing information to the control unit 704. *
  • the determination circuit 7036 outputs a predetermined signal to the selector circuit 7034.
  • the determination circuit 7036 outputs a selection signal SS to the selector circuit 7034 and the control unit 704.
  • the differentiation circuit 7037 differentiates the electrical signal output from the light receiving unit 702.
  • the determination circuit 7036 outputs a determination result based on the differential signal output from the differentiation circuit 7037 as a predetermined signal.
  • the predetermined signal is the selection signal SS described above.
  • FIG. 7 is a flowchart illustrating an exemplary determination flow of the determination circuit 7036.
  • the determination circuit 7036 monitors whether or not a positive differential signal is input from the differentiation circuit 7037 (step S1). The determination circuit 7036 continues to monitor step S1 until it detects an input of a positive differential signal.
  • the determination circuit 7036 may be configured to detect that a positive differential signal is input when a differential signal having a signal intensity greater than zero is input. However, the determination circuit 7036 is preferably configured to detect that a positive differential signal is input when the signal strength of the differential signal exceeds a predetermined threshold value greater than zero. Thereby, erroneous determination of the determination circuit 7036 can be reduced. *
  • the determination circuit 7036 detects an input of a positive differential signal (Yes in step S1), the determination circuit 7036 confirms whether or not the second pulse signal is output from the second comparator 7032 (step S2). Specifically, when the signal output from the second comparator 7032 becomes High, the determination circuit 7036 detects the output of the second pulse signal.
  • the determination circuit 7036 When the determination circuit 7036 detects the output of the second pulse signal while the differential signal is positive (Yes in step S2), the determination circuit 7036 outputs a selection signal SS for selecting the second pulse signal to the selector circuit 7034 and the control unit 704 ( Step S3).
  • the selector circuit 7034 outputs the second pulse signal to the second timer circuit 7035.
  • the control unit 704 recognizes that the second pulse signal has been output to the second timing circuit 7035. As will be described later, the control unit 704 can perform distance calculation using correction based on the rise time difference between the first pulse signal and the second pulse signal. *
  • step S4 the determination circuit 7036 checks whether the signal strength of the differential signal is zero or less.
  • step S1 the determination circuit 7036 detects the input of a positive differential signal when the signal strength of the differential signal exceeds a predetermined threshold value greater than zero.
  • step S4 the determination circuit 7036 It may be configured to confirm whether or not the signal intensity is equal to or less than the predetermined threshold value.
  • Step S4 When the signal intensity of the differential signal is equal to or less than zero (Yes in Step S4), the determination circuit 7036 outputs a selection signal SS for selecting the first pulse signal to the selector circuit 7034 and the control unit 704 (Step S5).
  • the selector circuit 7034 outputs the first pulse signal to the second timing circuit 7035.
  • the control unit 704 recognizes that the first pulse signal has been output to the second timing circuit 7035. As will be described later, the control unit 704 can perform distance calculation using correction based on the pulse width of the first pulse signal. If the signal strength of the differential signal is positive in step 4 (No in step S4), the process returns to step S2. *
  • FIG. 8 is a flowchart illustrating an example of a distance calculation flow of the control unit 704.
  • the control unit 704 confirms whether the selector circuit 7034 has selected the first pulse signal (step S11). As described above, since the selection signal SS is input from the determination circuit 7036 to the control unit 704, the control unit 704 can determine whether the selector circuit 7034 has selected the first pulse signal. *
  • the control unit 704 selects the first correction method (step S12).
  • the control unit 704 calculates the distance to the object OJ using the first correction method (step S13).
  • the control unit 704 selects the second pulse signal (No in step S11).
  • the control unit 704 selects the second correction method (step S14).
  • the control unit 704 calculates the distance to the object OJ using the second correction method (step S13).
  • the control unit 704 obtains the distance to the object OJ based on the elapsed time from the rising timing of the reference pulse signal RP to the rising timing of the first pulse signal input from the first timing circuit 7033. That is, the control unit 704 calculates the distance by a so-called TOF (Time Of Flight) method.
  • TOF Time Of Flight
  • the control unit 704 corrects the distance to the object OJ calculated based on the time information obtained from the first time circuit 7033 using the time information obtained from the second time circuit 7035. It is configured to do.
  • the control unit 704 corrects using the first correction method.
  • a first correction amount determined from the pulse width of the first pulse signal obtained by calculating the time information from the first time circuit 7033 and the second time circuit 7035 is a value from the first time circuit 7033.
  • the distance to the object OJ calculated based on the information is corrected.
  • the first correction amount can be obtained from a functional expression or a correction amount table obtained by experiment or simulation, for example.
  • a functional expression or a correction amount table indicating the relationship between the pulse width and the first correction amount is stored in the storage unit of the control unit 704.
  • the pulse width is small
  • the object is a low reflectance
  • the distance to the object OJ calculated based on the information from the first timing circuit 7033 is expected to be larger than the original value.
  • correction is performed to reduce the distance to the object OJ calculated based on the information from the first timing circuit 7033.
  • the control unit 704 corrects using the second correction method.
  • the second correction amount is determined by the second correction amount determined by the time difference between the rise of the first pulse signal and the second pulse signal obtained by calculating the time information from the first time circuit 7033 and the second time circuit 7035.
  • the distance to the object OJ calculated based on the information from the 1 time measuring circuit 7033 is corrected.
  • the second correction amount can be obtained from a functional expression or a correction amount table obtained by experiment or simulation, for example.
  • a functional expression or a correction amount table indicating the relationship between the rise time difference and the second correction amount is stored in the storage unit of the control unit 704.
  • the distance to the object OJ calculated based on the information from the first time measuring circuit 7033 is expected to be larger than the original value, and correction to reduce the value is performed.
  • the distance to the object can be obtained by switching between the distance calculation method using the two correction method. That is, according to the present embodiment, it is possible to obtain an accurate distance to an object for various types of objects including, for example, glass and a thin object.
  • the selector circuit 7034 is provided in the signal processing unit 703, the number of timing circuits is not limited to the configuration in which the first correction method and the second correction method can be switched. It is possible to suppress the increase. *
  • FIG. 9 is a model diagram for explaining the function and effect of the distance measuring device 7.
  • the distance measuring device 7 measures the distance to the first object OJ1.
  • the first object OJ1 is, for example, a thin object such as a bar or a chair leg, or an object that transmits light such as glass.
  • the second object OJ2 is an object that exists behind the first object OJ1 when viewed from the distance measuring device 7.
  • D be the distance between the first object OJ1 and the second object OJ2. *
  • FIG. 10 is a schematic diagram illustrating a signal example in the first case.
  • a signal (a) is an analog signal output from the light receiving unit 702
  • a signal (b) is a differential signal
  • a signal (c) is a digital signal output from the first comparator 7031
  • a signal (d) is a second signal. This is a digital signal output from the comparator 7032.
  • the differential signal of the second object OJ2 is omitted.
  • the projection light L1 of the distance measuring device 7 reaches the second object OJ2 and is reflected. That is, the reflected light L2 from the first object OJ1 and the second object OJ2 is received by the light receiving unit 702.
  • the analog signal derived from the reflected light L2 from the first object OJ1 and the reflection from the second object OJ2 It is separated from the analog signal derived from the light L2.
  • the signal strength of the analog signal derived from the first object OJ1 is sufficiently large and exceeds the first threshold value TH1 and the second threshold value TH2.
  • the first pulse signal is output from the first comparator 7031.
  • a second pulse signal is output from the second comparator 7032. While the differential signal is positive, the second pulse signal is detected.
  • a second pulse signal is input to the second timer circuit 7035. That is, in the first case, the distance to the first object OJ1 is calculated using the second correction method that uses the rising time difference Tw2 between the first pulse signal and the second pulse signal. *
  • FIG. 11 is a schematic diagram illustrating a signal example in the second case.
  • a signal (a) is an analog signal output from the light receiving unit 702
  • a signal (b) is a differential signal
  • a signal (c) is a digital signal output from the first comparator 7031
  • a signal (d) is a second signal. This is a digital signal output from the comparator 7032.
  • all signals derived from the second object OJ2 are omitted. *
  • the reflected light L2 from the first object OJ1 and the second object OJ2 is received by the light receiving unit 702, but the distance D between the two objects OJ1 and OJ2 is Since it is sufficiently large, the analog signal derived from the reflected light L2 from the first object OJ1 and the analog signal derived from the reflected light L2 from the second object OJ2 are separated.
  • the signal strength of the analog signal is small and exceeds the first threshold value TH1, but does not exceed the second threshold value TH2.
  • a first pulse signal is output from the first comparator 7031.
  • the second comparator 7032 outputs a low level digital signal. That is, the second pulse signal is not detected while the differential signal is positive.
  • the first pulse signal is input to the second timing circuit 7035. That is, in the second case, the distance to the first object OJ1 is calculated by the first correction method using the pulse width Tw1 of the first pulse signal. That is, even when the second pulse signal is not output from the second comparator 7032, the distance to the first object OJ1 can be calculated by performing appropriate correction.
  • FIG. 12 is a schematic diagram illustrating a signal example in the third case.
  • a signal (a) is an analog signal output from the light receiving unit 702
  • a signal (b) is a differential signal
  • a signal (c) is a digital signal output from the first comparator 7031
  • a signal (d) is a second signal. This is a digital signal output from the comparator 7032.
  • the reflected light L2 from the first object OJ1 and the second object OJ2 is received by the light receiving unit 702.
  • the analog signal derived from the reflected light L2 from the first object OJ1 and the reflected light L2 from the second object OJ2 Is partially overlapped with the analog signal derived from.
  • the signal strength of the analog signal in which the signals derived from the reflected light L2 from the two objects OJ1 and OJ2 overlap is sufficiently large and exceeds the first threshold value TH1 and the second threshold value TH2.
  • the first pulse signal is output from the first comparator 7031.
  • a second pulse signal is output from the second comparator 7032. While the differential signal is positive, the second pulse signal is detected.
  • a second pulse signal is input to the second timer circuit 7035. That is, in the third case, the distance to the first object OJ1 is calculated using the second correction method.
  • the analog signal derived from the reflected light from the first object OJ1 and the analog signal derived from the reflected light from the second object OJ2 overlap.
  • the pulse width Tw1 of the first pulse signal is apparently wider than the pulse width of the original first pulse signal obtained from the reflected light from the first object OJ1. That is, when the distance of the first object OJ1 is calculated using the first correction method in the third case, a distance farther than the original distance is calculated.
  • the first correction method and the second correction method are appropriately switched by the action of the determination circuit 7036, it is possible to avoid the erroneous distance calculation described above.
  • the distance measuring device 7A of the second embodiment has substantially the same configuration as the distance measuring device 7 of the first embodiment. However, the distance measuring device 7A of the second embodiment includes a signal processing unit having a configuration different from that of the signal processing unit 703 of the first embodiment. *
  • FIG. 13 is a block diagram illustrating a configuration of a signal processing unit 703A included in the distance measuring device 7A according to the second embodiment of the present invention.
  • the signal processing unit 703A includes a first comparator 7031, a second comparator 7032, a first timer circuit 7033, a selector circuit 7034, and a second timer circuit 7035, as in the first embodiment. And have. However, unlike the first embodiment, the signal processing unit 703A does not include the determination circuit 7036 and the differentiation circuit 7037. *
  • the selector circuit 7034 is provided so that the first pulse signal and the second pulse signal can be input, and outputs one of the pulse signals based on a predetermined signal.
  • the predetermined signal is a signal output from the control unit 704.
  • a signal output from the control unit 704 is referred to as an instruction signal IS. *
  • control unit 704 determines the distance to the object OJ based on the result of the two distance calculations obtained by the two projection lights L1A and L1B emitted from the light projecting unit 701 with a predetermined time interval. decide.
  • the accurate distance to the object is obtained for various types of objects including, for example, glass and a thin object without providing the determination circuit 7036 and the differentiation circuit 7037. Can do. *
  • the predetermined time may be, for example, the time required from the time when the laser light source 71 emits a certain light to the next light emission.
  • the control unit 704 determines the distance to the object OJ based on the results of the two distance calculations obtained by the two continuous projection lights L1.
  • the predetermined time may be a time required for the movable portion 73 to make one rotation.
  • the control unit 704 obtains two pieces of projection light L ⁇ b> 1 ⁇ / b> A projected at a certain angle and two projection lights L ⁇ b> 1 ⁇ / b> B that are projected after the rotation of the rotary casing 78 once.
  • the distance to the object OJ is determined based on the result of the distance calculation. According to this, since the directions of the two projection lights used for determining the distance can be made uniform, it is possible to prevent a decrease in angular resolution in the distance measurement. *
  • FIG. 14 is a flowchart illustrating an example of a flow for determining a distance to an object in the distance measurement device 7A according to the second embodiment.
  • the control unit 704 transmits an instruction signal IS instructing the selector circuit 7034 to select the first pulse signal (step S21).
  • the control unit 704 transmits an instruction signal IS corresponding to the output of the laser light emission pulse serving as a trigger for projecting the first projection light L1A out of the two projection lights L1 used for determining the distance.
  • the control unit 704 calculates the first distance D1 to the object OJ based on the information obtained by the first timer circuit 7033 and the second timer circuit 7035 corresponding to the first projection light L1A (step S22). Specifically, the control unit 704 calculates the first distance D1 to the object OJ using the first correction method based on the pulse width of the first pulse signal.
  • control unit 704 transmits an instruction signal IS instructing the selector circuit 7034 to select the second pulse signal (step S23).
  • the control unit 704 transmits an instruction signal IS corresponding to the output of the laser light emission pulse serving as a trigger for projecting the second projection light L1B out of the two projection lights L1 used for determining the distance.
  • the instruction signal IS transmission process may be performed in parallel with the calculation process of the first distance D1.
  • control unit 704 After instructing the selector circuit 7034 to select the second pulse signal, the control unit 704 checks whether or not the second pulse signal is output from the selector circuit 7034 (step S24). For example, the control unit 704 can determine whether or not the second pulse signal is output from the selector circuit 7034 based on the information output from the second timing circuit 7035. *
  • the control unit 704 determines that the second pulse signal is output from the selector circuit 7034 (Yes in step S24), the control unit 704 calculates the second distance D2 (step S25).
  • the second distance D2 is a distance to the object OJ calculated based on the information acquired by the first timer circuit 7033 and the second timer circuit 7035 corresponding to the second projection light L1B.
  • the control unit 704 calculates the second distance D2 to the object OJ by the second correction method using the time difference between the rises of the first pulse signal and the second pulse signal.
  • the control unit 704 checks whether or not the absolute value of the difference between the two is equal to or less than a predetermined reference value RV (step S26). If the absolute value of the difference between the two is equal to or less than the predetermined reference value RV (Yes in step S26), the control unit 704 determines the average value of the first distance D1 and the second distance D2 as the distance to the object OJ (Ste S27). However, this is merely an example, and the control unit 704 may determine, for example, one of the first distance D1 and the second distance D2 as the distance to the object OJ instead of the average value. *
  • the control unit 704 determines whether the first distance D1 is larger than the second distance D2. Is confirmed (step S28).
  • the first distance D1 is larger than the second distance D2
  • the control unit 704 determines the second distance D2 as the distance to the object OJ (step S29).
  • the control unit 704 determines an error and makes it impossible to measure the distance to the object OJ (step S30).
  • step S24 If it is determined in step S24 that the second pulse signal is not output, the second distance D2 cannot be calculated using the second correction method. That is, the second distance calculation results in no distance value. For this reason, when it is determined that the second pulse signal is not output in Step S24 (No in Step S24), the control unit 704 determines the first distance D1 as the distance to the object OJ (Step S31). . *
  • the first pulse signal is selected by the selector circuit 7034 for the first projection light L1A, and the second pulse by the selector circuit 7034 for the second projection light L1B.
  • the pulse signal is selected.
  • the second pulse signal is selected by the selector circuit 7034 for the first projection light L1A out of the two projection lights L1, and the first selector circuit 7034 is selected for the second projection light L1B.
  • a configuration may be employed in which a pulse signal is selected. *
  • one of the distance calculation results obtained by the two predetermined projection lights L1 is obtained when the selector circuit 7034 is requested to output the first pulse signal.
  • the other is the second calculation result obtained when the selector circuit 7034 is requested to output the second pulse signal.
  • the distance to the object OJ by appropriately selecting the calculation result of the distance to the object OJ using the first correction method and the calculation result of the distance to the object OJ using the second correction method. Can be calculated. For this reason, according to this embodiment, it is possible to obtain an accurate distance to an object for various types of objects. *
  • the control unit 704 requests the selector circuit 7034 to output the first pulse signal when the second pulse signal is not output in response to the second pulse signal output request to the selector circuit 7034.
  • the first calculation result obtained in this case is determined as the distance to the object OJ. For this reason, for example, an accurate distance to an object can be obtained even for an object having a low reflectance.
  • control unit 704 determines that the second distance D2 obtained as the second calculation result is larger than the first distance D1 obtained as the first calculation result, and the second distance D2 and the first distance D1 Is greater than a predetermined threshold, the second calculation result is determined as the distance to the object OJ. According to this, even when there is another object near the back of the thin object or glass, for example, the distance to the thin object or glass can be accurately obtained.
  • the distance measuring device 7B of the third embodiment has substantially the same configuration as the distance measuring device 7A of the second embodiment.
  • the distance measuring device 7B of the third embodiment has the same signal processing unit 703A as that of the second embodiment shown in FIG.
  • the control unit 704 determines the distance to the object OJ based on the result of the two distance calculations obtained by the two projection lights L1 emitted from the light projecting unit 701 with a predetermined time interval. decide.
  • the distance measurement device 7B of the third embodiment is different from the configuration of the second embodiment in the determination flow of the distance to the object OJ. *
  • FIG. 15 is a flowchart illustrating an example of a flow for determining a distance to an object in the distance measuring device 7B according to the third embodiment.
  • the control unit 704 transmits an instruction signal IS for instructing selection of the second pulse signal to the selector circuit 7034 (step S41).
  • the control unit 704 transmits an instruction signal IS corresponding to the output of the laser light emission pulse serving as a trigger for projecting the first projection light L1A out of the two projection lights L1 used for determining the distance.
  • control unit 704 After instructing the selector circuit 7034 to select the second pulse signal, the control unit 704 checks whether or not the second pulse signal is output from the selector circuit 7034 (step S42). For example, the control unit 704 can determine whether or not the second pulse signal is output from the selector circuit 7034 based on the information output from the second timing circuit 7035. *
  • Step S43 the control unit 704 performs a first distance calculation (Step S43).
  • the first distance calculation is performed based on the information acquired by the first timer circuit 7033 and the second timer circuit 7035 corresponding to the first projection light L1A.
  • the control unit 704 calculates the first distance d1 to the object OJ using a second correction method based on the rising time difference between the first pulse signal and the second pulse signal.
  • control unit 704 transmits an instruction signal IS for instructing selection of the second pulse signal to the selector circuit 7034 (step S44).
  • the control unit 704 transmits an instruction signal IS corresponding to the output of the laser light emission pulse serving as a trigger for projecting the second projection light L1B out of the two projection lights L1 used for determining the distance.
  • the instruction signal IS may be transmitted in parallel with the first calculation of the distance d1. Further, since the signal selected by the selector circuit 7034 is not changed, the transmission of the instruction signal IS may be omitted.
  • the control unit 704 performs the second distance calculation based on the information obtained by the first timer circuit 7033 and the second timer circuit 7035 corresponding to the second projection light L1B (step S45). Specifically, the control unit 704 calculates the second distance d2 to the object OJ using the second correction method.
  • the second pulse signal is obtained with the first projection light L1A
  • it is assumed that the second pulse signal is obtained with the second projection light L1B.
  • the second pulse signal may not be obtained with the second projection light L1B. Therefore, a configuration for confirming whether or not the second pulse signal is output from the selector circuit 7034 may be added after step S44. In this case, when it is determined that the second pulse signal is not output, for example, an error determination may be performed.
  • the control unit 704 determines the average value of the two distances d1 and d2 obtained by the first and second projection lights L1 as the distance to the object OJ (step S46). *
  • step S42 When it is determined in step S42 that the second pulse signal has not been output (No in step S42), the control unit 704 cannot perform an accurate correction. Determination is made (step S47). In other words, the first distance calculation result is a result that there is no distance value. *
  • control unit 704 transmits an instruction signal IS instructing the selector circuit 7034 to select the first pulse signal (step S47).
  • the control unit 704 transmits an instruction signal IS corresponding to the output of the laser light emission pulse serving as a trigger for projecting the second projection light L1B out of the two projection lights L1 used for determining the distance.
  • the control unit 704 performs the second distance calculation based on the information obtained by the first timer circuit 7033 and the second timer circuit 7035 corresponding to the second projection light L1B (step S49). Specifically, the control unit 704 calculates the second distance d2 to the object OJ using the first correction method based on the pulse width of the first pulse signal. Note that the first distance calculation result (distance d1) has no numerical value due to a measurement error. *
  • the control unit 704 determines the distance d2 obtained corresponding to the second projection light L1B as the distance to the object OJ. (Step S50). *
  • the control unit 704 requests the output of the second pulse signal in the case of the first distance calculation in the two distance calculations, and the second distance in the two distance calculations.
  • the output of the first pulse signal or the second pulse signal is requested depending on whether or not the second pulse signal is obtained at the time of the first distance calculation.
  • the distance to the object OJ is calculated by appropriately selecting the calculation result of the distance to the object OJ using the first correction method and the calculation result of the distance to the object OJ using the second correction method. can do. For this reason, according to this embodiment, it is possible to obtain an accurate distance to an object for various types of objects. *
  • the moving body may be a device other than a transportation application such as a cleaning robot or a monitoring robot.
  • the moving body may be a vehicle such as an automobile.
  • the present invention can be used, for example, in an automated guided vehicle that transports luggage.

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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)

Abstract

L'objectif de la présente invention est de fournir un dispositif de mesure de distance au moyen duquel il est possible d'obtenir des distances à divers types d'objets comprenant du verre et des objets minces à l'aide d'une configuration simple. Ce dispositif de mesure de distance comprend une unité de projection de lumière (701) qui émet une lumière projetée (L1), une unité de réception de lumière (702) qui reçoit la lumière réfléchie (L2) générée par la lumière projetée qui est réfléchie par un objet (OJ) et qui la convertit en un signal électrique, une unité de traitement de signal (703) qui traite le signal électrique, et une unité de commande (704) qui calcule la distance à l'objet sur la base d'un signal de sortie provenant de l'unité de traitement de signal. L'unité de traitement de signal (703) comprend un premier comparateur (7031) qui compare le signal électrique avec un premier seuil pour générer un premier signal d'impulsion, un second comparateur (7032) qui compare le signal électrique avec un second seuil plus grand que le premier seuil pour générer un second signal d'impulsion, un premier circuit de synchronisation (7033) dans lequel le premier signal d'impulsion est saisi, un circuit de sélection (7034) qui est disposé de telle sorte que le premier signal d'impulsion et le second signal d'impulsion peuvent y être saisis, et qui délivre l'un des signaux d'impulsion sur la base d'un signal prescrit, et un second circuit de synchronisation (7035) dans lequel la sortie de signal provenant du circuit de sélection est saisie.
PCT/JP2019/010301 2018-03-19 2019-03-13 Dispositif de mesure de distance et corps mouvant WO2019181691A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020071465A1 (fr) * 2018-10-05 2020-04-09 日本電産株式会社 Dispositif de mesure de distance

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0365678A (ja) * 1989-08-02 1991-03-20 Nippon Soken Inc 波動を用いた距離測定装置
JPH06214025A (ja) * 1993-01-20 1994-08-05 Koden Electron Co Ltd レーザレーダ
JP2011215005A (ja) * 2010-03-31 2011-10-27 Hokuyo Automatic Co 信号処理装置、及び走査式測距装置
US20120194798A1 (en) * 2011-01-28 2012-08-02 Analog Modules Inc. Accuracy of a laser rangefinder receiver

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0365678A (ja) * 1989-08-02 1991-03-20 Nippon Soken Inc 波動を用いた距離測定装置
JPH06214025A (ja) * 1993-01-20 1994-08-05 Koden Electron Co Ltd レーザレーダ
JP2011215005A (ja) * 2010-03-31 2011-10-27 Hokuyo Automatic Co 信号処理装置、及び走査式測距装置
US20120194798A1 (en) * 2011-01-28 2012-08-02 Analog Modules Inc. Accuracy of a laser rangefinder receiver

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020071465A1 (fr) * 2018-10-05 2020-04-09 日本電産株式会社 Dispositif de mesure de distance

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