JPH03158785A - Range finder - Google Patents
Range finderInfo
- Publication number
- JPH03158785A JPH03158785A JP29841889A JP29841889A JPH03158785A JP H03158785 A JPH03158785 A JP H03158785A JP 29841889 A JP29841889 A JP 29841889A JP 29841889 A JP29841889 A JP 29841889A JP H03158785 A JPH03158785 A JP H03158785A
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- Prior art keywords
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- outputs
- Prior art date
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- 230000001934 delay Effects 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 3
- 230000000644 propagated effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 1
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- Radar Systems Or Details Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は被測定物体までの距離を測定する測距装置に関
し、特に一定周波数の変調信号で変調された電磁波を被
測定物体に出射して被測定物体で反射されて戻ってくる
反射波を受信し該反射波の復調信号と前記変調信号の位
相差から被測定物体までの距離を測定する測距装置に関
する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a distance measuring device that measures the distance to an object to be measured. The present invention relates to a distance measuring device that receives a reflected wave that is reflected back from an object to be measured and measures the distance to the object from the phase difference between a demodulated signal of the reflected wave and the modulated signal.
（従来の技術）
第２図は従来の測距装置を示すブロック図である。この
従来の測距装置２１は発振器３１と、送信器３２と、受
信器３３と、位相比較器３４と、ローパスフィルタ３５
とで構成される０発振器３１は一定周波数の変調信号１
２１を出力し、送信器３２は発振器３１から出力される
変調信号１２１を受けて該変調信号１２１で変調された
送信波１３１を被測定物体２２へ出射する。受信器３３
は被測定物体２２で反射して戻ってくる反射波１３２を
受信し、変調信号１２１と同じ周波数の復調信号１２２
に変換して出力する０位相比較器３４は発振器３１から
出力される変調信号１２１と受信器３３から出力される
復調信号１２２とを受け、変調信号１２１と復調信号１
２２どの位相差を検出して該位相差に比例する電圧信号
１２３を出力する。ローパスフィルタ３５は位相比較器
３４から出力される電圧信号１２３を波形整形し、その
電圧信号１２３の電圧値から被測定物体２２までの距離
を求めていた。(Prior Art) FIG. 2 is a block diagram showing a conventional distance measuring device. This conventional distance measuring device 21 includes an oscillator 31, a transmitter 32, a receiver 33, a phase comparator 34, and a low-pass filter 35.
The 0 oscillator 31 composed of
The transmitter 32 receives the modulation signal 121 output from the oscillator 31 and emits a transmission wave 131 modulated by the modulation signal 121 to the object to be measured 22 . receiver 33
receives the reflected wave 132 reflected by the object to be measured 22 and returns, and generates a demodulated signal 122 having the same frequency as the modulated signal 121.
The phase comparator 34 receives the modulated signal 121 outputted from the oscillator 31 and the demodulated signal 122 outputted from the receiver 33, and converts the modulated signal 121 and the demodulated signal 1
22 detects which phase difference and outputs a voltage signal 123 proportional to the phase difference. The low-pass filter 35 shapes the waveform of the voltage signal 123 output from the phase comparator 34, and determines the distance to the object to be measured 22 from the voltage value of the voltage signal 123.
ここで、発振器１から出力される変調信号１２１の周波
数をｆ、被測定物体までの距離をＲ，電磁波の速度をＣ
とすると、変調信号１２１と復調信号１２２の位相差Δ
φは、
■
の関係式で与えられる。上式で明らかなように位相差Δ
φが距ＭＲに比例するから、位相比較回路３４から出力
される電圧信号１２３が距ｕＲに比例することになる。Here, the frequency of the modulation signal 121 output from the oscillator 1 is f, the distance to the object to be measured is R, and the speed of the electromagnetic wave is C.
Then, the phase difference Δ between the modulated signal 121 and the demodulated signal 122 is
φ is given by the following relational expression. As is clear from the above equation, the phase difference Δ
Since φ is proportional to the distance MR, the voltage signal 123 output from the phase comparison circuit 34 is proportional to the distance uR.
（発明が解決しようとする課題）
前述の従来の測距装置は、発振器３１から出力される変
調信号１２１と受信器３３から出力される復調信号１２
２との位相差を検出して該位相差に比例したアナログ信
号である電圧信号１２３で距離の測定を行うから、広い
範囲の距離を測定するためには位相比較器３４のダイナ
ミックレンジが広くなければならなかった。また、距離
の測定を高精度にするためには、位相比較器３４に入力
する変調信号１２１と復調信号１２２のレベル変動を抑
える必要があり、位相比較器３４は非直線性が小さくか
つスゲールファクタの温度変化のないしのである必要が
あった。このように従来の測距装置には解決すべき課題
があった。(Problems to be Solved by the Invention) The conventional distance measuring device described above uses a modulated signal 121 outputted from an oscillator 31 and a demodulated signal 12 outputted from a receiver 33.
2, and the distance is measured using the voltage signal 123, which is an analog signal proportional to the phase difference. Therefore, in order to measure distances over a wide range, the phase comparator 34 must have a wide dynamic range. I had to. In addition, in order to measure distance with high accuracy, it is necessary to suppress level fluctuations of the modulated signal 121 and demodulated signal 122 input to the phase comparator 34, and the phase comparator 34 has small nonlinearity and It was necessary that there be no temperature change as a factor. As described above, conventional distance measuring devices have problems that need to be solved.
（課題を解決するための手段）
前述の課題を解決するために本発明が提供する手段は、
一定周波数の変調信号で変調した電磁波を被測定物体に
出射して該被測定物本で反射して戻ってくる反射波を受
信し前記変調信号と同じ周波数の信号に変換して復調信
号として出力し、前記変調信号と前記復調信号との位相
差から前記被測定物体までの距離を測定する測距装置で
あって、一定周波数の変調信号を出力する発振器と、該
発振器から出力される変調信号で変調した電磁波を被測
定物体に出射する送信器と、前記被測定物体で反射して
戻ってくる反射波を受信し前記変調信号と同じ周波数の
信号に変換して復調信号として出力する受信器と、制ｍ
信号を出力する電圧制御発振器と、前記発振器から出力
される変調信号と前記電圧制御発振器から出力される制
御信号とを受け周波数が前記２つの信号の周波数差であ
る基準信号を出力する第１のミキサーと、前記受信器か
ら出力される復調信号と前記電圧制御発振器から出力さ
れる制御信号とを受け周波数が前記基準信号と同じであ
る情報信号を出力する第２のミキサーと、前記第１のミ
キサーから出力される基準信号または前記第２にのミキ
サーから出力される情報信号のうちの一方を受けて該信
号を遅延させて出力する遅延線と、いずれか一方が前記
遅延線で遅延された前記基準信号と前記情報信号とを受
けて該２つの信号の位相差を電圧信号として出力し該電
圧信号で前記電圧制御発振器から出力される制御信号の
周波数を変化させる位相比較器とからなることを特徴と
する。(Means for Solving the Problems) Means provided by the present invention to solve the above-mentioned problems are as follows:
Emit an electromagnetic wave modulated with a modulation signal of a constant frequency to an object to be measured, receive the reflected wave that is reflected back from the object, convert it into a signal with the same frequency as the modulation signal, and output it as a demodulated signal. and a distance measuring device that measures the distance to the object to be measured based on the phase difference between the modulated signal and the demodulated signal, the distance measuring device comprising: an oscillator that outputs a modulated signal of a constant frequency; and a modulated signal outputted from the oscillator. a transmitter that emits an electromagnetic wave modulated by the object to be measured, and a receiver that receives the reflected wave that is reflected back from the object to be measured, converts it into a signal with the same frequency as the modulated signal, and outputs it as a demodulated signal. and control m
a voltage controlled oscillator that outputs a signal, and a first that receives a modulation signal output from the oscillator and a control signal output from the voltage controlled oscillator and outputs a reference signal whose frequency is the frequency difference between the two signals. a mixer; a second mixer that receives the demodulated signal output from the receiver and the control signal output from the voltage controlled oscillator and outputs an information signal having the same frequency as the reference signal; a delay line that receives either a reference signal output from the mixer or an information signal output from the second mixer, delays the signal and outputs the signal; and one of the signals is delayed by the delay line. comprising a phase comparator that receives the reference signal and the information signal, outputs the phase difference between the two signals as a voltage signal, and changes the frequency of the control signal output from the voltage controlled oscillator with the voltage signal; It is characterized by
（実施例） 次に実施例を挙げて本発明を説明する。(Example) Next, the present invention will be explained with reference to Examples.
第１図は本発明の一実施例を示すブロック図である０本
実施例の測距装置２１は発振器１と、送信器２と、ミキ
サー３，７と、ローパスフィルタ４．８と、遅延線５と
、受信器６と、位相比較器９と、ループアンプ１０と、
電圧制御発振器１１とで構成される０発振器１は一定周
波数ｆ１の変調信号１０１を出力する。送信器２は発振
器１から出力される変調信号１０１を受けて、該変調信
号で変調された送信波１１１を被測定物体２２に出射す
る。ミキサー３は発振器１から出力される変調信号１０
１と、電圧制御発振器１１から出力される周波数で２の
制御信号１０２とを受け、変調信号１０１と制御信号１
０２を混合してそれら２つの信号の周波数差（ｆｌ−ｆ
□）の周波数の基準信号１０３を出力する。ローパスフ
ィルタ４はミキサー３から出力される基準信号１０３を
波形整形する。遅延１１５はローパスフィルタ４から出
力される基準信号１０３を受け、時間Ｔｄだけ遅延させ
て出力する。受信器６は被測定物体２２で反射して戻っ
てくる反射波１１２を受信して、変調信号１０１と同じ
周波数の信号に変換して復調信号１０６として出力する
。ミキサー７は受信器６から出力される復調信号１０６
と電圧制御発振器１１から出力される周波数で１の制御
信号１０２とを受け、復調信号１０６と基準信号１０２
とを混合し周波数がミキサー３から出力される基準信号
１０３と同じ周波数の情報信号１０７を出力する。ロー
パスフィルタ８はミキサー７から出力される情報信号１
０７を波形整形して出力する０位相比較器９は遅延線５
から出力された基準信号１０３とローパスフィルタ８か
ら出力された情報信号１０７とを受け、それら２つの信
号の位相差を検帛して該位相差に比例した電圧信号１０
９を出力する。ループアンプ１０は位相比較器９から出
力される電圧信号１０９を受け、その信号を増幅して電
圧制御発振器１１に出力する。電圧制御発振器１１はル
ープアンプ１０で増幅された電圧信号１１゛０を受けて
該電圧信号１１０が零になるように、すなわち位相比較
器９に入力する基準信号１０３と情報信号１０７の位相
が同じになるようにミキサー３．７に入力する制御信号
１０２の周波数ｆ２を変化させる。ここで、被測定物体
２２までの距ＭＲ，電磁波の速度をＣとすると
となり、距離Ｒは発振器１から出力される変調信号１０
１の周波数ｆ、と、電圧制御発振器１１から出力される
制御信号１０２の周波数ｆ２と、遅延線５の遅延時間か
ら求めることができる。FIG. 1 is a block diagram showing an embodiment of the present invention. A distance measuring device 21 of this embodiment includes an oscillator 1, a transmitter 2, mixers 3 and 7, a low-pass filter 4.8, and a delay line. 5, a receiver 6, a phase comparator 9, a loop amplifier 10,
An oscillator 1 composed of a voltage controlled oscillator 11 outputs a modulation signal 101 having a constant frequency f1. The transmitter 2 receives the modulation signal 101 output from the oscillator 1 and emits a transmission wave 111 modulated with the modulation signal to the object to be measured 22 . Mixer 3 receives modulated signal 10 output from oscillator 1
1 and a control signal 102 of 2 at the frequency output from the voltage controlled oscillator 11, the modulation signal 101 and the control signal 1
02 and calculate the frequency difference between those two signals (fl-f
A reference signal 103 having a frequency of □) is output. The low-pass filter 4 shapes the waveform of the reference signal 103 output from the mixer 3. The delay 115 receives the reference signal 103 output from the low-pass filter 4, delays it by a time Td, and outputs it. The receiver 6 receives the reflected wave 112 reflected by the object to be measured 22 and returns, converts it into a signal having the same frequency as the modulated signal 101, and outputs it as a demodulated signal 106. Mixer 7 receives demodulated signal 106 output from receiver 6
and a control signal 102 of 1 at a frequency output from the voltage controlled oscillator 11, and a demodulated signal 106 and a reference signal 102.
The information signal 107 having the same frequency as the reference signal 103 output from the mixer 3 is output. The low-pass filter 8 is the information signal 1 output from the mixer 7.
The 0 phase comparator 9 that shapes the waveform of 07 and outputs it is connected to the delay line 5.
The reference signal 103 outputted from the low-pass filter 8 and the information signal 107 outputted from the low-pass filter 8 are received, the phase difference between these two signals is detected, and a voltage signal 10 proportional to the phase difference is generated.
Outputs 9. Loop amplifier 10 receives voltage signal 109 output from phase comparator 9, amplifies the signal, and outputs it to voltage controlled oscillator 11. The voltage controlled oscillator 11 receives the voltage signal 11'0 amplified by the loop amplifier 10 so that the voltage signal 110 becomes zero, that is, the phase of the reference signal 103 input to the phase comparator 9 and the information signal 107 are the same. The frequency f2 of the control signal 102 input to the mixer 3.7 is changed so that Here, if the distance MR to the object to be measured 22 and the speed of the electromagnetic wave are C, then the distance R is the modulated signal 10 output from the oscillator 1.
1, the frequency f2 of the control signal 102 output from the voltage controlled oscillator 11, and the delay time of the delay line 5.
本実施例は位相比較器９へ入力される２つの信号の位相
が常に等しくなるように制御する零位相法であるから、
位相比較器９は広い直線性をもったものでなくてもよく
、また入力信号のレベル変動に影響されにくい、被測定
物体２２までの距離は発振器１から出力される変調信号
１０１と電圧制御発振器から出力される制御信号１０２
のそれぞれの周波数から簡単に求めることができる。Since this embodiment is a zero-phase method that controls the phases of two signals input to the phase comparator 9 to be always equal,
The phase comparator 9 does not need to have wide linearity and is not easily affected by level fluctuations of the input signal. Control signal 102 output from
can be easily determined from each frequency.
（発明の効果）
以上に詳しく説明したように本発明は、送信器から受信
器まで伝搬する間に生ずる送信信号と復調信号との間の
位相差をなくする零位相法を用いるから、位相比較器に
広い直線性を必要とせず、位相比較器に入力する信号に
レベル変動があっても高精度の距離測定ができる。また
、測定距離は発振器および電圧制御発振器の信号周波数
から簡単に求めることができる０本発明には以上のよう
な効果がある。(Effects of the Invention) As explained in detail above, the present invention uses a zero-phase method that eliminates the phase difference between the transmitted signal and the demodulated signal that occurs during propagation from the transmitter to the receiver, so phase comparison is possible. The device does not require wide linearity, and it is possible to measure distances with high precision even if there are level fluctuations in the signal input to the phase comparator. Further, the measurement distance can be easily determined from the signal frequency of the oscillator and the voltage controlled oscillator.The present invention has the above effects.
第１図は本発明の一実施例を示すブロック図、第２図は
従来の距離測定装置を示すブロック図である。
１・・・発振器、２・・・送信器、３・・・ミキサー４
・・・ローパスフィルタ、５・・・遅延線、６・・・受
信器、７・・・ミキサー、８・・・ローパスフィルタ、
９・・・位相比較器、１０・・・ループアンプ、１１・
・・電圧制御発振器、２１・・・測距装置、２２・・・
被測定物体、３１・・・発振器、３２・・・送信器、３
３・・・受信器、３４・・・位相比較器、３５・・・ロ
ーパスフィルタ、１０１・・・変調信号、１０２・・・
制御信号、１０３・・・基準信号、１０６・・・復調信
号、１０７・・・情報信号、１０９．１１０・・・電圧
信号、１１１・・・送信波、１１２・・・反射波、１２
１・・・変調信号、１２２・・・復調信号、１２３・・
・電圧信号、１３１・・・送信波、１３２・・・反射波
。FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a block diagram showing a conventional distance measuring device. 1... Oscillator, 2... Transmitter, 3... Mixer 4
...Low pass filter, 5...Delay line, 6...Receiver, 7...Mixer, 8...Low pass filter,
9... Phase comparator, 10... Loop amplifier, 11.
...Voltage controlled oscillator, 21... Distance measuring device, 22...
Object to be measured, 31... Oscillator, 32... Transmitter, 3
3... Receiver, 34... Phase comparator, 35... Low pass filter, 101... Modulation signal, 102...
Control signal, 103... Reference signal, 106... Demodulated signal, 107... Information signal, 109.110... Voltage signal, 111... Transmitted wave, 112... Reflected wave, 12
1... Modulation signal, 122... Demodulation signal, 123...
- Voltage signal, 131... Transmitted wave, 132... Reflected wave.
Claims (1)
出射して該被測定物体で反射して戻ってくる反射波を受
信し前記変調信号と同じ周波数の信号に変換して復調信
号として出力し、前記変調信号と前記復調信号との位相
差から前記被測定物体までの距離を測定する測距装置に
おいて、一定周波数の変調信号を出力する発振器と、該
発振器から出力される変調信号で変調した電磁波を被測
定物体に出射する送信器と、前記被測定物体で反射して
戻ってくる反射波を受信し前記変調信号と同じ周波数の
信号に変換して復調信号として出力する受信器と、制御
信号を出力する電圧制御発振器と、前記発振器から出力
される変調信号と前記電圧制御発振器から出力される制
御信号とを受け周波数が前記２つの信号の周波数差であ
る基準信号を出力する第１のミキサーと、前記受信器か
ら出力される復調信号と前記電圧制御発振器から出力さ
れる制御信号とを受け周波数が前記基準信号と同じであ
る情報信号を出力する第２のミキサーと、前記第１のミ
キサーから出力される基準信号または前記第２のミキサ
ーから出力される情報信号のうちの一方を受けて該信号
を遅延させて出力する遅延線と、いずれか一方が前記遅
延線で遅延された前記基準信号と前記情報信号とを受け
て該２つの信号の位相差を電圧信号として出力し該電圧
信号で前記電圧制御発振器から出力される制御信号の周
波数を変化させる位相比較器とからなることを特徴とす
る測距装置。Emit an electromagnetic wave modulated with a modulation signal of a constant frequency to an object to be measured, receive the reflected wave reflected by the object to be measured, convert it into a signal of the same frequency as the modulation signal, and output it as a demodulated signal. , in a distance measuring device that measures the distance to the object to be measured based on the phase difference between the modulated signal and the demodulated signal, an oscillator that outputs a modulated signal of a constant frequency; a transmitter that emits electromagnetic waves to an object to be measured; a receiver that receives reflected waves that are reflected back from the object to be measured; converts the waves into a signal having the same frequency as the modulated signal; and outputs the signal as a demodulated signal; and a control device. a voltage controlled oscillator that outputs a signal, and a first that receives a modulation signal output from the oscillator and a control signal output from the voltage controlled oscillator and outputs a reference signal whose frequency is the frequency difference between the two signals. a mixer; a second mixer that receives the demodulated signal output from the receiver and the control signal output from the voltage controlled oscillator and outputs an information signal having the same frequency as the reference signal; a delay line that receives one of the reference signal output from the mixer or the information signal output from the second mixer, delays the signal and outputs the signal; and the delay line, one of which is delayed by the delay line. and a phase comparator that receives a reference signal and the information signal, outputs the phase difference between the two signals as a voltage signal, and changes the frequency of the control signal output from the voltage controlled oscillator using the voltage signal. Features a distance measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29841889A JPH03158785A (en) | 1989-11-16 | 1989-11-16 | Range finder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29841889A JPH03158785A (en) | 1989-11-16 | 1989-11-16 | Range finder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03158785A true JPH03158785A (en) | 1991-07-08 |
Family
ID=17859448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29841889A Pending JPH03158785A (en) | 1989-11-16 | 1989-11-16 | Range finder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03158785A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06289129A (en) * | 1993-04-02 | 1994-10-18 | Nec Corp | Distance measuring device |
| JP2011196924A (en) * | 2010-03-23 | 2011-10-06 | Panasonic Electric Works Co Ltd | Obstacle detection device |
-
1989
- 1989-11-16 JP JP29841889A patent/JPH03158785A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06289129A (en) * | 1993-04-02 | 1994-10-18 | Nec Corp | Distance measuring device |
| JP2011196924A (en) * | 2010-03-23 | 2011-10-06 | Panasonic Electric Works Co Ltd | Obstacle detection device |
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