JPH02157614A - Distance measuring instrument - Google Patents
Distance measuring instrumentInfo
- Publication number
- JPH02157614A JPH02157614A JP31020088A JP31020088A JPH02157614A JP H02157614 A JPH02157614 A JP H02157614A JP 31020088 A JP31020088 A JP 31020088A JP 31020088 A JP31020088 A JP 31020088A JP H02157614 A JPH02157614 A JP H02157614A
- Authority
- JP
- Japan
- Prior art keywords
- distance
- sensor
- ccd
- reflected light
- light
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 230000003287 optical effect Effects 0.000 claims description 39
- 238000005259 measurement Methods 0.000 abstract description 10
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000001444 catalytic combustion detection Methods 0.000 description 43
- 239000011295 pitch Substances 0.000 description 7
- 230000000630 rising effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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- Measurement Of Optical Distance (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
この発明は光学式の測距装置、特にはコンパクトな構成
で測距精度を向上させた測距装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an optical distance measuring device, and particularly to a distance measuring device having a compact configuration and improved ranging accuracy.
（従来の技術）
従来の光学式測距装置としては、例えば、対象物へ向け
て光束を照射する、レーザーダイオードの如き光源と、
その光束の、対象物からの散乱反射光を収束させる受光
レンズと、収束した反射光の、対象物に対するその測距
装置の距離の変化に応じた移動方向へ延在する一個の、
一次元光センサとしての一次元ＣＣＤセンサとを具えて
なるものがあり、この装置は、その−次元ＣＣＤセンサ
上での反射光の像の位置を一次元ＣＣＤセンサで読取る
ことにより、対象物と測距装置との距離を計測して出力
する。(Prior Art) Conventional optical distance measuring devices include, for example, a light source such as a laser diode that emits a beam of light toward an object;
a light-receiving lens that converges the scattered reflected light of the light flux from the target object, and one lens that extends in the direction of movement of the converged reflected light in accordance with the change in the distance of the distance measuring device to the target object.
There is a device equipped with a one-dimensional CCD sensor as a one-dimensional light sensor, and this device detects the object by reading the position of the reflected light image on the one-dimensional CCD sensor. Measures and outputs the distance to the distance measuring device.
（発明が解決しようとする課題）
しかしながら、上記従来の装置にあっては、次元ＣＣＤ
センサを一個しか持たないことから、測距精度がその一
次元ＣＣＤセンサの識別可能な受光間隔（分解能）によ
って制約され、しかも−次元ＣＣＤセンサの分解能を上
げることとは製造上極めて困難であるため、測距精度を
充分高め得ないという問題があった。(Problem to be Solved by the Invention) However, in the above conventional device, the dimensional CCD
Since it has only one sensor, the distance measurement accuracy is limited by the discernible light receiving interval (resolution) of the one-dimensional CCD sensor, and increasing the resolution of the -dimensional CCD sensor is extremely difficult in terms of manufacturing. However, there was a problem in that distance measurement accuracy could not be sufficiently improved.
そして、これを解決すべ（例えば二個のＣＣＤセンサを
直列に用いるようにすると、同一測距範囲を二個のＣＣ
Ｄセンサに振分けるため、受光レンズからの光路を長く
する必要が生じて装置が大型化するという問題があった
。This problem can be solved (for example, by using two CCD sensors in series, the same distance measurement range can be covered by two CCD sensors).
In order to distribute the light to the D sensor, it is necessary to lengthen the optical path from the light receiving lens, resulting in a problem that the device becomes larger.
この発明は上述の課題を有利に解決した測距装置を提供
するものである。The present invention provides a distance measuring device that advantageously solves the above-mentioned problems.
（課題を解決するための手段）
この発明の測距装置は、対象物へ向けて光束を照射する
光源と、その光束の、対象物からの反射光を収束させる
受光レンズと、収束した反射光を複数に分岐させる反射
光分岐手段と、分岐した反射光の各々に対応し、当該測
距装置から対象物までの距離の変化に応じたその反射光
の移動方向へ各々延在する複数の一次元光センサと、そ
れらの一次元光センサを、互いにその延在方向へ、それ
らの一次元光センザの識別可能な受光間隔を一次元光セ
ンサの数で除した距離だけ位置ずれさせるセンサオフセ
ット手段と、を具えてなるものである。(Means for Solving the Problems) A distance measuring device of the present invention includes a light source that irradiates a light beam toward a target object, a light receiving lens that converges reflected light of the light beam from the target object, and a light receiving lens that converges the reflected light of the light beam from the target object. reflected light branching means for branching the reflected light into a plurality of parts, and a plurality of primary lights corresponding to each of the branched reflected lights and each extending in the moving direction of the reflected light according to a change in the distance from the distance measuring device to the target object. Sensor offset means for positionally shifting the original optical sensor and these one-dimensional optical sensors from each other in the direction of their extension by a distance equal to the discriminable light receiving interval of the one-dimensional optical sensors divided by the number of one-dimensional optical sensors. It is made up of the following.
（作 用）
かかる装置にあっては、光源から照射された光束の、対
象物からの散乱反射光が、受光レンズによって収束され
、さらに、反射光分岐手段によって複数に分岐されて各
々一次元光センサ上に結像する。そして、各一次元光セ
ンサは、当該測距装置から対象物までの距離の変化に応
じて移動する、分岐反射光の結像位置を検出して出力す
る。(Function) In such a device, the scattered reflected light from the object of the light beam irradiated from the light source is converged by the light receiving lens, and is further branched into a plurality of parts by the reflected light branching means, each of which is converted into one-dimensional light. Image is formed on the sensor. Then, each one-dimensional optical sensor detects and outputs the imaging position of the branched reflected light, which moves according to a change in the distance from the distance measuring device to the target object.
ここで、各一次元光センサは、センサオフセット手段に
よって、その分解能を光センサの数で除した距離だけ相
対位置を延在方向へずらされているので、その、分解能
よりも小さい距離で結像位置のずれがあっても、いずれ
かの一次元光センサがそのずれを検出する。Here, since the relative position of each one-dimensional optical sensor is shifted in the extending direction by a distance equal to its resolution divided by the number of optical sensors by the sensor offset means, an image is formed at a distance smaller than the resolution. Even if there is a positional shift, one of the one-dimensional optical sensors will detect the shift.
従ってこの装置によれば、光センサの全体としての分解
能を向上させることができ、ひいては、光路を長くして
装置を大型化することなく、コンパクトな装置で測距精
度を大幅に高めることができる。Therefore, with this device, it is possible to improve the overall resolution of the optical sensor, and in turn, it is possible to significantly improve distance measurement accuracy with a compact device without increasing the size of the device by lengthening the optical path. .
（実施例）
以下に、この発明の実施例を図面に基づき詳細に説明す
る。(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.
第１図は、この発明の測距装置の一実施例を示す構成図
であり、図中１は計測部を示す。FIG. 1 is a block diagram showing an embodiment of a distance measuring device of the present invention, and numeral 1 in the figure indicates a measuring section.
計測部１は、同一基台上に固定された、レーザー光束を
照射する光源としてのレーザー発光器２および、ビデオ
カメラ３を具えており、このビデオカメラ３は、レーザ
ー発光器２から照射されたレーザー光束４が対象物５に
当って乱反射されたその反射光６を、受光レンズ７で収
束させ、さらに、反射光分岐手段としての、受光レンズ
７の光軸に対し４５°の傾きを持つハーフミラ−８で二
方向へ分岐させて、それらの分岐された反射光６をそれ
ぞれ、一次元光センサとしての二個の一次元ＣＣＤセン
サ９およびｌＯへ導く。The measuring unit 1 includes a laser emitter 2 fixed on the same base as a light source that emits a laser beam, and a video camera 3. The laser beam 4 hits the object 5 and is diffusely reflected, and the reflected light 6 is converged by the light receiving lens 7. Furthermore, a half mirror having an inclination of 45 degrees with respect to the optical axis of the light receiving lens 7 is used as reflected light branching means. -8, and guides the branched reflected light 6 to two one-dimensional CCD sensors 9 and 1O, respectively, as one-dimensional optical sensors.
ここで、上記の一次元ＣＣＤセンサ９，１０は、レーザ
ー光束４の光軸および、それと交差する受光レンズの光
軸を含む平面内に各々その直線状に整列する光電素子を
延在させ、かつハーフミラ−８からの反射光６の光路長
さが互いに等しくなるように、ビデオカメラ３内に配置
されており、またハーフミラ−８も、上記両光軸を含む
平面（図では紙面）と直交するように配置されている。Here, the one-dimensional CCD sensors 9 and 10 have photoelectric elements arranged in a straight line extending in a plane including the optical axis of the laser beam 4 and the optical axis of the light-receiving lens intersecting the optical axis, and The half mirror 8 is arranged within the video camera 3 so that the optical path lengths of the reflected lights 6 from the half mirror 8 are equal to each other, and the half mirror 8 is also perpendicular to the plane (the plane of the paper in the figure) containing the above-mentioned two optical axes. It is arranged like this.
従って、例えば第１図に仮想線で示す如（対象物５を移
動させ、計測部１から対象物５までの距離を変化させる
と、ハーフミラ−８で分岐された反射光６の結像位置は
、両ＣＣＤセンサ９，１０上でそれぞれ、それらのＣＣ
Ｄセンサの受光素子の延在方向へＡ点からＢ点まで互い
に等しい距離だけ移動する。Therefore, for example, as shown by the imaginary line in FIG. , on both CCD sensors 9 and 10, respectively.
The sensor D moves in the extending direction of the light receiving element from point A to point B by the same distance.
両ＣＣＤセンサ９，１０は、かかる反射光像を光電素子
で検出し、その光を受けている光電素子に対応するビッ
ト番号の位置で、受けている光の強さに応じて出力レベ
ルが高くなる信号を出力する。Both CCD sensors 9 and 10 detect the reflected light image with a photoelectric element, and the output level increases depending on the intensity of the received light at the position of the bit number corresponding to the photoelectric element receiving the light. Outputs a signal.
ここで、上述の如く対象物５に対する距離の変化に基づ
＜ＣＣＤセンサ９．１０上の光像の移動量は互いに等し
いので、前記距離変化に基づく、両ＣＣＤセンサ９１０
の出力信号の、レベルが高くなるビット番号の移動量も
互いに等しくなる。Here, as described above, based on the change in the distance to the object 5, the amounts of movement of the optical images on the CCD sensors 9 and 10 are equal to each other,
The amount of movement of the bit numbers that increase the level of the output signals of is also equal to each other.
また、両ＣＣＤセンサ９．１０の識別可能な受光間隔で
ある光電素子ピッチすなわち分解能は、この例では各々
７μｍであり、かかる分解能は両ＣＣＤセンサ９．１０
の光電素子の位置が分岐された反射光６の像の端縁に対
し各々同一位置である（例えば光電素子の端縁が両ＣＣ
Ｄ共光像の端縁と一致している）と、両ＣＣＤセンサ９
．ＩＯが常に相対的には同一の信号を出力するので向上
し得ないが、両ＣＣＤセンサ９．１０の光電素子の゛位
置が互いに１／２ ピッチだけずれていれば、光像がそ
の１／２ ピッチだけ移動した場合でもいずれか一方の
ＣＣＤセンサがその移動を検出するので、センサ全体と
しては二倍に向上する。Further, in this example, the photoelectric element pitch, that is, the resolution, which is the discernable light reception interval of both CCD sensors 9.10, is 7 μm, and such resolution is
The positions of the photoelectric elements are at the same position with respect to the edges of the image of the branched reflected light 6 (for example, the edges of the photoelectric elements are at the same position on both CCs).
D coincident with the edge of the optical image) and both CCD sensors 9
．． Since the IO always outputs relatively the same signal, it cannot be improved, but if the positions of the photoelectric elements of both CCD sensors 9 and 10 are shifted from each other by 1/2 pitch, the optical image will be 1/2 of that. Even if the sensor moves by two pitches, one of the CCD sensors will detect the movement, so the overall sensor performance will be doubled.
そこで、この実施例では、一方のＣＣＤセンサ９がビデ
オカメラ３のケーシング３ａに固定されているのに対し
て、他方のＣＣＤセンサ１０はセンサオフセット手段と
してのセンサオフセット機構１１を介してケーシング３
ａに取付けられている。Therefore, in this embodiment, one CCD sensor 9 is fixed to the casing 3a of the video camera 3, while the other CCD sensor 10 is attached to the casing 3 through a sensor offset mechanism 11 as a sensor offset means.
It is attached to a.
センサオフセット機構１１は、ＣＣＤセンサ１０ヲ固定
された移動台１２と、ＣＣＤセンサ１０の受光素子の延
在方向への移動台１２の移動を案内する案内機構１３と
、移動台１２に傾斜面１４ａにて摺接するクサビ部材１
４と、移動台１２の移動方向と直交する方向へのクサビ
部材１４の移動を案内する案内機構１５と、移動台１２
をクサビ部材１４へ向けて常時付勢する弾性部材１６と
、クサビ部材１４の厚肉側である後端部にスピンドル１
７ａが当接するねじ式駆動機構、例えばマイクロメータ
１７とを具えてなり、かかるセンサオフセット機構１１
にあっては、マイクロメータ１７のスリーブ１７ｂを、
そこに表示された目盛りの指示に従って回転させ、その
スリーブ１７ｂに結合されたスピンドル１７ａを７０
ｐｍ （０，０７ｍｍ＞進退移動させると、クサビ部材
１４も７０ μｍ移動し、この移動により、クサビ部材
１４の、１／２０の傾きを持つ傾斜面１４ａに摺接する
移動台１２が、弾性部材１６に抗し、あるいはその付勢
力によって、 ３．５μｍだけ往復移動する。The sensor offset mechanism 11 includes a movable base 12 to which the CCD sensor 10 is fixed, a guide mechanism 13 that guides movement of the movable base 12 in the direction in which the light receiving element of the CCD sensor 10 extends, and an inclined surface 14a on the movable base 12. Wedge member 1 that comes into sliding contact with
4, a guide mechanism 15 that guides the movement of the wedge member 14 in a direction perpendicular to the moving direction of the moving table 12, and a guiding mechanism 15 that guides the movement of the wedge member 14 in a direction perpendicular to the moving direction of the moving table 12;
an elastic member 16 that constantly urges the wedge member 14 toward the wedge member 14;
The sensor offset mechanism 11 is provided with a screw type drive mechanism, for example, a micrometer 17, against which the sensor offset mechanism 7a abuts.
In this case, the sleeve 17b of the micrometer 17 is
Rotate the spindle 17a connected to the sleeve 17b by rotating it according to the instructions on the scale displayed there, and move the spindle 17a connected to the sleeve 17b to 70.
pm (0.07 mm> When the wedge member 14 is moved forward or backward, the wedge member 14 also moves by 70 μm, and as a result of this movement, the movable base 12, which comes into sliding contact with the inclined surface 14a having an inclination of 1/20 of the wedge member 14, moves to the elastic member 16. It moves back and forth by 3.5 μm against or due to its urging force.
従ってセンサオフセット機構１１は、ＣＣＤセンサ１０
をＣＣＤセンサ９に対し、正確に光電素子の１／２ ピ
ッチ分、機械的に位置ずれさせることができる。Therefore, the sensor offset mechanism 11
can be mechanically shifted with respect to the CCD sensor 9 by exactly 1/2 pitch of the photoelectric element.
上記ＣＣＤセンサ９，１０の出力信号はそれぞれビデオ
カメラ３内のビデオ波形出力回路１８．１９により所定
のタイミングで一画面分サンプルホールドされて、第３
図に示す如きビデオ信号とされ、その信号レベルは、ビ
デオ波形出力回路ｉ８．１９のゲインを自動的に調整す
ることにより最大で所定値ａとなる。The output signals of the CCD sensors 9 and 10 are each sample-held for one screen at a predetermined timing by the video waveform output circuits 18 and 19 in the video camera 3, and then
The video signal is as shown in the figure, and its signal level reaches a maximum of a predetermined value a by automatically adjusting the gain of the video waveform output circuit i8.19.
ビデオ波形出力回路１８．１９の出力信号は、位置検出
回路２０．２１に人力され、位置検出回路２０．２１は
それらの入力信号を、適当なしきい値を用いて二値化す
るとともに、その二値化信号の立上りと立下りとの中心
位置を求め、それらの中心位置を出力する。そして、平
均距離演算回路２２は、それらの中心位置から両ＣＣＤ
センサ９，１０が検出した対象物５に対する距離を演算
し、さらにそれらの距離の平均値を演算して平均距離を
求め、それを距離信号として出力する。The output signals of the video waveform output circuits 18.19 are input to a position detection circuit 20.21, which binarizes these input signals using an appropriate threshold value, and The center positions of the rising and falling edges of the digitized signal are determined, and these center positions are output. Then, the average distance calculation circuit 22 calculates distance between both CCDs from their center positions.
The distance to the object 5 detected by the sensors 9 and 10 is calculated, and the average value of these distances is calculated to obtain the average distance, which is output as a distance signal.
上述の如き構成を具えるこの例の測距装置にあっては、
あらかじめ、両ＣＣＤセンサ９．１０の相対位置を以下
の如くして調整してお（。In the distance measuring device of this example having the configuration as described above,
In advance, adjust the relative positions of both CCD sensors 9 and 10 as follows (.
先ず、ＣＣＤセンサ９の任意の光電素子（例えば、ｎ＋
ｌビット目）の端縁に、第２図に示す如く分岐された反
射光６の像の端縁が重なるように、ビデオカメラ３全体
を横方向へ移動させる。First, any photoelectric element of the CCD sensor 9 (for example, n+
The entire video camera 3 is moved in the lateral direction so that the edge of the image of the split reflected light 6 overlaps the edge of the (l-th bit) as shown in FIG.
ここで、光電素子の端縁と光像の端縁との一致判断は、
第３図に示すように、位置検出回路２０に二種類のしき
い値（例えば最大値ａの２７３の第１しきい値および最
大値ａの１７３の第２しきい値）を設定し、両しきい値
に基づく二つの二値化信号を比較することによって行い
、例えば図示のｎ＋１ビット目の如く、二つの二値化信
号が一致した場合に、その位置で光電素子と光像との端
縁同士が一致したと判断する。Here, the judgment of coincidence between the edge of the photoelectric element and the edge of the optical image is as follows:
As shown in FIG. 3, two types of threshold values (for example, a first threshold value of 273 for the maximum value a and a second threshold value of 173 for the maximum value a) are set in the position detection circuit 20. This is done by comparing two binarized signals based on thresholds. For example, when the two binarized signals match, as in the (n+1)th bit shown in the figure, the end of the photoelectric element and the optical image is detected at that position. It is determined that the edges match.
このように二種類のしきい値を用いれば、実際の光像の
あいまいな端縁部分による中間レベルの信号を、しきい
値が一つの場合よりも正確に判定し、光像の端縁をより
正確に捕捉することができる。By using two types of thresholds in this way, intermediate level signals due to ambiguous edges of an actual optical image can be determined more accurately than when only one threshold is used, and the edges of an optical image can be determined more accurately. It can be captured more accurately.
次にここでは、ビデオカメラ３を固定した後、ＣＣＤセ
ンサ１０についても上記と同様の方法で一致判断を行い
ながら、センサオフセット機構１１を操作し、ＣＣＤセ
ンサ１０の任意の光電素子、好ましくはＣＣＤセンサ９
と同じビット番号の光電素子の端縁に、分岐された反射
光６の像の端縁が重なるように、ＣＣＤセンサ１０のみ
移動させる。Next, after fixing the video camera 3, the sensor offset mechanism 11 is operated while making a coincidence judgment for the CCD sensor 10 in the same manner as above, and an arbitrary photoelectric element of the CCD sensor 10, preferably a CCD sensor 9
Only the CCD sensor 10 is moved so that the edge of the image of the branched reflected light 6 overlaps with the edge of the photoelectric element having the same bit number.
上記の手順によって、両ＣＣＤセンサ９．ＩＯとも光像
の端縁が光電素子の端縁に重なったら、ここではセンサ
オフセット機構１１の操作によって、ＣＣＤセンサ１０
をＣＣＤセンサ９に対し、その光電素子の１７２ ピッ
チ分機械的に位置ずれさせる。By the above procedure, both CCD sensors 9. When the edge of the optical image overlaps the edge of the photoelectric element with IO, the CCD sensor 10 is moved by operating the sensor offset mechanism 11.
is mechanically shifted relative to the CCD sensor 9 by 172 pitches of the photoelectric element.
このようにして両ＣＣＤセンサ９．１０の相対位置を調
整した後は、以下の如くして距離計測を行うことができ
る。After adjusting the relative positions of both CCD sensors 9 and 10 in this manner, distance measurement can be performed as follows.
例えば、光像の幅が２に個のビット分あり、第４図（ａ
）に示すように、ＣＣＤセンサ９のｎビット目からｎ＋
２にビット目までの２ｋ（固のビットについて二値化信
号が１になった場合には、立上りと立下りとの中心位置
はｎ十に番目となる。そしてこのとき、ＣＣＤセンサ１
０では第４図（ｂ） に示すように、１７２ビット位置
がずれてｍビット目からｍ＋２に一１ビット目までの２
に−Ｈ固のビットについて二値化信号が１になり、立上
りと立下りとの中心位置はｍ＋に一１番目となる。但し
、中心位置の計算上１未満は切揄てられる。これらの中
心位置から、平均距離演算回路２２はＣＣＤセンサ９，
１０の各々の計測した距離をＬ＋ とじて、それらの平
均値し、を計測距離として出力する。For example, if the width of the optical image is 2 bits wide, as shown in Figure 4 (a
), from the nth bit of the CCD sensor 9 to n+
If the binary signal becomes 1 for the 2k-th bit (hard bit), the center position of the rising edge and the falling edge will be the n-th bit.At this time, the CCD sensor 1
0, as shown in Figure 4(b), the 172 bit position is shifted and the 2 bits from mth bit to m+2 and 11th bit are shifted.
The binary signal becomes 1 for the -H bit, and the center position of the rising edge and falling edge becomes the 11th point at m+. However, in calculating the center position, values less than 1 are omitted. From these center positions, the average distance calculation circuit 22 detects the CCD sensors 9,
The distances measured by each of the 10 points are taken as L+, the average value thereof is taken, and the average value is output as the measured distance.
しかして、対象物に対する距離が変化して、光像の位置
が上記の状態から１７２ビット分ずれた場合には、ＣＣ
Ｄセンサ９では第５図（ａ）に示すように、ｎ＋１ビッ
ト目からｎ＋２にビット目までの２に一１個のビットに
ついて二値化信号が１になり、その立上りと立下りとの
中心位置は（ｎ＋１＋に−１）となり、未だｎ＋に番目
に止まるが、ＣＣＤセンサ１０では第５図（ｂ） に
示すように、ｍビット目からｍ＋２にビット目までの２
ｋ（固のビットについて二値化信号が１になり、立上り
と立下りとの中心位置はｍ＋に番目となる。そして、こ
れらの中心位置から平均距離演算回路２２は、ＣＣＤセ
ンサ９の計測した距離をＬｌとする一方、ＣＣＤセンサ
１０の計測した距離をＬ１＋α（αは光電素子１ピツチ
に対応する距離）とし、それらの平均値し、＋α／２を
計測距離として出力する。However, if the distance to the object changes and the position of the optical image deviates from the above state by 172 bits, the CC
In the D sensor 9, as shown in FIG. 5(a), the binary signal becomes 1 for every 2 to 11 bits from the n+1st bit to the n+2th bit, and the center of the rising and falling edges of the binary signal becomes 1. The position becomes (-1 to n+1+), and it still stops at n+, but in the CCD sensor 10, as shown in FIG.
The binarized signal becomes 1 for k (hard bits), and the center position of the rising edge and the falling edge becomes m+th. Then, the average distance calculation circuit 22 calculates the distance measured by the CCD sensor 9 from these center positions. The distance is set as Ll, while the distance measured by the CCD sensor 10 is set as L1+α (α is the distance corresponding to one pitch of the photoelectric element), and the average value thereof is output as +α/2 as the measured distance.
従ってこの測距装置によれば、ＣＣＤセンサ９゜１０の
光電素子の１７２ ピッチ分の光像位置のずれを検出す
ることができ、ひいては、ビデオカメラ３内での光路を
長くしてカメラを大型化することなく、コンパクトな装
置で測距精度を二倍に向上させることができる。Therefore, according to this distance measuring device, it is possible to detect a shift in the optical image position by 172 pitches of the photoelectric elements of the CCD sensor 9°10, and it is possible to lengthen the optical path within the video camera 3 to make the camera larger. It is possible to double the distance measurement accuracy with a compact device without having to
以上図示例に基づき説明したが、この発明は上述の例に
限定されるものでなく、例えばセンサオフセット手段と
して他の構造のものや、モータ等により電気的に作動し
得るものを用いても良い。Although the above description has been made based on the illustrated example, the present invention is not limited to the above-mentioned example, and for example, a sensor offset means having a different structure or one that can be electrically operated by a motor or the like may be used. .
また、一次元光センサの数をさらに増しても良く、この
ようにすれば、反射光量が充分得られる場合やセンサの
感度が充分高い場合にはさらに測距精度を向上させるこ
とができる。Further, the number of one-dimensional optical sensors may be further increased, and in this way, when a sufficient amount of reflected light is obtained or when the sensitivity of the sensor is sufficiently high, the distance measurement accuracy can be further improved.
（発明の効果）
かくしてこの発明の測距装置によれば、コンパクトな構
成で測距精度を大幅に高めることができる。(Effects of the Invention) Thus, according to the distance measuring device of the present invention, distance measuring accuracy can be greatly improved with a compact configuration.
第１図はこの発明の測距装置の一実施例を示す構成図、
第２図はＣＣＤセンサの光電素子端縁を光像端縁に重ね
た状態を示す説明図、
第３図は光電素子と光像との端縁が重なった状態での出
力信号状況を示す説明図、
第４図（ａ）、（ｂ）および第５図（ａ）、 （ｂ）は
距離計測時のＣＣＤセンサ上の光像の状態を示す説明図
である。
■・・・計測部 ２・・・レーザー発光器
３・・・ビデオカメラ ５・・・対象物７・・・
受光レンズ ８・・・ハーフミラ−９，１０・
・・ＣＣＤセンサ
１１・・・センサオフセット機構
第２図
第３図
第４図
ビット参号Fig. 1 is a configuration diagram showing an embodiment of the distance measuring device of the present invention, Fig. 2 is an explanatory diagram showing a state in which the edge of a photoelectric element of a CCD sensor is overlapped with the edge of an optical image, and Fig. 3 is an illustration of the photoelectric element. Figure 4 (a), (b) and Figure 5 (a), (b) are on the CCD sensor during distance measurement. FIG. 2 is an explanatory diagram showing the state of an optical image. ■...Measuring unit 2...Laser emitter 3...Video camera 5...Object 7...
Light receiving lens 8...Half mirror 9, 10.
...CCD sensor 11...Sensor offset mechanism Fig. 2 Fig. 3 Fig. 4 Bit reference
Claims (1)
光束の、対象物からの反射光を収束させる受光レンズ（
７）と、 収束した反射光を複数に分岐させる反射光分岐手段（８
）と、 分岐した反射光の各々に対応し、当該測距装置から対象
物までの距離の変化に応じたその反射光の移動方向へ各
々延在する複数の一次元光センサ（９，１０）と、 それらの一次元光センサを、互いにその延在方向へ、そ
れらの一次元光センサの識別可能な受光間隔を一次元光
センサの数で除した距離だけ位置ずれさせるセンサオフ
セット手段（１１）と、を具えてなる測距装置。1. A light source (2) that emits a beam of light toward an object, and a light receiving lens (2) that converges the reflected light of that beam from the object.
7), and a reflected light branching means (8) for branching the converged reflected light into a plurality of parts.
), and a plurality of one-dimensional optical sensors (9, 10) corresponding to each of the branched reflected lights and each extending in the direction of movement of the reflected light in response to a change in the distance from the distance measuring device to the target object. and a sensor offset means (11) for positionally shifting the one-dimensional optical sensors from each other in the direction of their extension by a distance equal to the discriminable light receiving interval of the one-dimensional optical sensors divided by the number of one-dimensional optical sensors. A distance measuring device comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31020088A JPH02157614A (en) | 1988-12-09 | 1988-12-09 | Distance measuring instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31020088A JPH02157614A (en) | 1988-12-09 | 1988-12-09 | Distance measuring instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02157614A true JPH02157614A (en) | 1990-06-18 |
Family
ID=18002384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31020088A Pending JPH02157614A (en) | 1988-12-09 | 1988-12-09 | Distance measuring instrument |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02157614A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006242833A (en) * | 2005-03-04 | 2006-09-14 | Nidec Copal Corp | Device for detecting optical angle |
| TWI628415B (en) * | 2017-09-13 | 2018-07-01 | 國立清華大學 | Positioning and measuring system based on image scale |
-
1988
- 1988-12-09 JP JP31020088A patent/JPH02157614A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006242833A (en) * | 2005-03-04 | 2006-09-14 | Nidec Copal Corp | Device for detecting optical angle |
| TWI628415B (en) * | 2017-09-13 | 2018-07-01 | 國立清華大學 | Positioning and measuring system based on image scale |
| US10535157B2 (en) | 2017-09-13 | 2020-01-14 | National Tsing Hua University | Positioning and measuring system based on image scale |
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