JP2019152616A - 光測距センサ - Google Patents
光測距センサ Download PDFInfo
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- JP2019152616A JP2019152616A JP2018039803A JP2018039803A JP2019152616A JP 2019152616 A JP2019152616 A JP 2019152616A JP 2018039803 A JP2018039803 A JP 2018039803A JP 2018039803 A JP2018039803 A JP 2018039803A JP 2019152616 A JP2019152616 A JP 2019152616A
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- 230000003287 optical effect Effects 0.000 title claims abstract description 89
- 238000005259 measurement Methods 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000009467 reduction Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 14
- 230000004048 modification Effects 0.000 description 8
- 238000012986 modification Methods 0.000 description 8
- 239000011159 matrix material Substances 0.000 description 4
- 239000000758 substrate Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- 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
- G01S7/4808—Evaluating distance, position or velocity data
-
- 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
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/14—Mountings, adjusting means, or light-tight connections, for optical elements for lenses adapted to interchange lenses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
以下、本発明の一側面に係る実施形態(以下、「本実施形態」とも表記する)を、図面に基づいて説明する。
まず、図1を用いて、本発明が適用される場面の一例について説明する。図1は、本実施形態に係る光測距センサ1の適用場面の一例を模式的に例示し、本発明の実施形態に係る光測距センサ1の構成の一例を示す模式図である。
投光部10は、例えば、入射光L1を対象物P1に投光する投光器である。投光部10は、光を発する光源(図示せず)と、前記光源からの光を入光し、その光を光測距センサ1の外部へと導く投光用光ファイバ(図示せず)と、基板(図示せず)上に設けられた投光回路(図示せず)とを有してもよい。前記光源は、例えばLED(Light Emitting Diode)であってもよい。前記投光回路には増幅回路が含まれていてもよい。
(光測距センサ1の動作)
次に、図3および図4を用いて、光測距センサ1の動作について説明する。図3は、本発明の実施形態に係る光測距センサ1の構成の一例を示すブロック図である。図3では、処理部40の詳細を示しており、光学系20を省略している。図4は、本発明の実施形態に係る光測距センサ1の動作の一例を示すフローチャートである。
(変形例1)
図7は、本発明の変形例1に係る光測距センサ1aの構成を示す模式図である。図7に示すように、光測距センサ1aは、光測距センサ1と比べて、光学系20が光学系20aに変更されている点が異なる。光学系20aは、例えば、焦点距離を変更可能なズームレンズを含んでもよい。
図8は、本発明の変形例2に係る光測距センサ1bの構成を示す模式図である。図8に示すように、光測距センサ1bは、光測距センサ1と比べて、光学系20が光学系20bに変更されている点が異なる。光学系20bは、例えば、光学系20bが備える少なくとも1つのレンズを取り替え可能に構成された取り替え機構を有してもよい。
光測距センサ1の制御ブロック(特に処理部40)は、集積回路(ICチップ)等に形成された論理回路(ハードウェア)によって実現してもよいし、ソフトウェアによって実現してもよい。
10 投光部
20、20a、20b 光学系
30 受光部
31 受光素子
32 基板
40 処理部
410 投光制御部
420 受光制御部
430 画像認識部
440 距離算出部
450 距離判定部
D1 最大測定距離
Dmin 最小値
L1 入射光
L2 反射光
M1、M2 測定距離
P1、P2 対象物
Claims (4)
- 対象物に投光し、その反射光を受光することにより、所定の最大測定距離よりも近い領域内に配置される前記対象物との距離を測定する光測距センサであって、
複数の受光素子を有し、光学系を介して前記反射光を受光する受光部を備え、
前記最大測定距離において測定可能な、前記受光部から見たときの前記対象物の大きさの最小値が定められているとともに、
前記最大測定距離よりも近い領域内に前記最小値の大きさの対象物が配置されている場合に、2つ以上の前記受光素子が当該対象物からの反射光を受光するように、前記光学系が構成されていることを特徴とする光測距センサ。 - 前記光学系は、焦点距離を変更可能なズームレンズを含むことを特徴とする請求項1に記載の光測距センサ。
- 前記光学系は、当該光学系が備える少なくとも1つのレンズを取り替え可能に構成された取り替え機構を有することを特徴とする請求項1に記載の光測距センサ。
- 複数の前記受光素子の受光信号毎に検出対象との距離を算出し、前記検出対象との距離の中で最も短い距離を前記対象物との距離であると判定する処理を行う処理部をさらに備えることを特徴とする請求項1から3のいずれか1項に記載の光測距センサ。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018039803A JP2019152616A (ja) | 2018-03-06 | 2018-03-06 | 光測距センサ |
TW107144614A TWI695179B (zh) | 2018-03-06 | 2018-12-11 | 光測距感測器 |
KR1020180158814A KR102177993B1 (ko) | 2018-03-06 | 2018-12-11 | 광 측거 센서 |
CN201811516144.7A CN110231629A (zh) | 2018-03-06 | 2018-12-12 | 光测距传感器 |
EP18212351.3A EP3537178B1 (en) | 2018-03-06 | 2018-12-13 | Optical distance measuring sensor |
US16/219,959 US20190277948A1 (en) | 2018-03-06 | 2018-12-14 | Optical distance measuring sensor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018039803A JP2019152616A (ja) | 2018-03-06 | 2018-03-06 | 光測距センサ |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2019152616A true JP2019152616A (ja) | 2019-09-12 |
Family
ID=64665444
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018039803A Pending JP2019152616A (ja) | 2018-03-06 | 2018-03-06 | 光測距センサ |
Country Status (6)
Country | Link |
---|---|
US (1) | US20190277948A1 (ja) |
EP (1) | EP3537178B1 (ja) |
JP (1) | JP2019152616A (ja) |
KR (1) | KR102177993B1 (ja) |
CN (1) | CN110231629A (ja) |
TW (1) | TWI695179B (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022064583A1 (ja) | 2020-09-24 | 2022-03-31 | 株式会社ソニー・インタラクティブエンタテインメント | 距離情報生成装置および距離情報生成方法 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11560153B2 (en) * | 2019-03-07 | 2023-01-24 | 6 River Systems, Llc | Systems and methods for collision avoidance by autonomous vehicles |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2010164440A (ja) * | 2009-01-16 | 2010-07-29 | Stanley Electric Co Ltd | 距離画像処理装置および撮影装置 |
JP2014157044A (ja) * | 2013-02-15 | 2014-08-28 | Canon Inc | 距離検出カメラ |
US20180003807A1 (en) * | 2014-05-19 | 2018-01-04 | Rockwell Automation Technologies, Inc. | Waveform reconstruction in a time-of-flight sensor |
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DE1139736B (de) * | 1960-09-07 | 1962-11-15 | Zeiss Ikon Ag | Geraet zur Bildaufnahme bzw. -wiedergabe |
DE1278755B (de) * | 1967-01-26 | 1968-09-26 | Leitz Ernst Gmbh | Stereomikroskop |
KR100620910B1 (ko) * | 2004-03-08 | 2006-09-13 | 엠텍비젼 주식회사 | 렌즈를 교환할 수 있는 카메라를 구비한 휴대폰 |
DE202006005876U1 (de) * | 2006-04-11 | 2007-08-16 | Leuze Electronic Gmbh & Co Kg | Optischer Sensor |
WO2009031550A1 (ja) * | 2007-09-05 | 2009-03-12 | Nikon Vision Co., Ltd. | 測距装置 |
JP5116754B2 (ja) * | 2009-12-10 | 2013-01-09 | シャープ株式会社 | 光学式検出装置および電子機器 |
DE102011076491A1 (de) * | 2011-05-26 | 2012-11-29 | Esw Gmbh | Messeinrichtung zur Distanzmessung |
KR20130102400A (ko) * | 2012-03-07 | 2013-09-17 | 삼성전자주식회사 | 티오에프 센서 및 티오에프 카메라 |
US9689987B1 (en) * | 2012-06-13 | 2017-06-27 | Physical Optics Corporation | Integrative optics system, device, and method |
JP2015078946A (ja) * | 2013-10-18 | 2015-04-23 | 株式会社キーエンス | 距離測定型光電センサ及びその投光スポット制御方法 |
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-
2018
- 2018-03-06 JP JP2018039803A patent/JP2019152616A/ja active Pending
- 2018-12-11 KR KR1020180158814A patent/KR102177993B1/ko active IP Right Grant
- 2018-12-11 TW TW107144614A patent/TWI695179B/zh active
- 2018-12-12 CN CN201811516144.7A patent/CN110231629A/zh active Pending
- 2018-12-13 EP EP18212351.3A patent/EP3537178B1/en active Active
- 2018-12-14 US US16/219,959 patent/US20190277948A1/en not_active Abandoned
Patent Citations (3)
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JP2010164440A (ja) * | 2009-01-16 | 2010-07-29 | Stanley Electric Co Ltd | 距離画像処理装置および撮影装置 |
JP2014157044A (ja) * | 2013-02-15 | 2014-08-28 | Canon Inc | 距離検出カメラ |
US20180003807A1 (en) * | 2014-05-19 | 2018-01-04 | Rockwell Automation Technologies, Inc. | Waveform reconstruction in a time-of-flight sensor |
Non-Patent Citations (1)
Title |
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A.V.H.OLLIKKALA AND A.J.MAKYNEN: "Range imaging using a time-of-flight 3D camera and a cooperative object", INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE, JPN6021000178, May 2009 (2009-05-01), pages 817 - 821, XP031492748, ISSN: 0004474426 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022064583A1 (ja) | 2020-09-24 | 2022-03-31 | 株式会社ソニー・インタラクティブエンタテインメント | 距離情報生成装置および距離情報生成方法 |
Also Published As
Publication number | Publication date |
---|---|
EP3537178A1 (en) | 2019-09-11 |
EP3537178B1 (en) | 2023-04-19 |
KR20190106649A (ko) | 2019-09-18 |
US20190277948A1 (en) | 2019-09-12 |
KR102177993B1 (ko) | 2020-11-12 |
CN110231629A (zh) | 2019-09-13 |
TW201939064A (zh) | 2019-10-01 |
TWI695179B (zh) | 2020-06-01 |
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