JPS59202012A - Optical range finder - Google Patents
Optical range finderInfo
- Publication number
- JPS59202012A JPS59202012A JP7700683A JP7700683A JPS59202012A JP S59202012 A JPS59202012 A JP S59202012A JP 7700683 A JP7700683 A JP 7700683A JP 7700683 A JP7700683 A JP 7700683A JP S59202012 A JPS59202012 A JP S59202012A
- Authority
- JP
- Japan
- Prior art keywords
- light
- photoelectric sensor
- optical axis
- light receiving
- crossing
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、組立、検査用の非接触距離計測器として、寸
だはロボット等の生産機械の非接触センサとして利用さ
れる光学距離計に関するものである。[Detailed Description of the Invention] Industrial Application Field The present invention relates to an optical distance meter that is used as a non-contact distance measuring device for assembly and inspection, or as a non-contact sensor for production machines such as robots. be.
従来例の構成とその問題点
従来、光を利用した非接触光学距離計として、各種の装
置か提案され試行されてきたが、現在その中で実用化さ
れている代表的な装置は、第１図に示す構成を採用して
いる。すなわち、半導体レーザまたＬＥＤを発光させ、
その光をスポット光（円形平行光束）２に絞り被測定物
に投光する投光手段１と、被測定物上からのスポット光
像（Ａ。Configuration of conventional examples and their problems In the past, various devices have been proposed and tried as non-contact optical rangefinders that use light, but the representative device that is currently in practical use is the first one. The configuration shown in the figure is adopted. That is, a semiconductor laser or an LED is made to emit light,
A light projecting means 1 condenses the light into a spot light (circular parallel light flux) 2 and projects the light onto the object to be measured, and a spot light image (A) from above the object to be measured.
０、Ｂ）の反射光３を受光する集光レンズ４および１次
元または２次元の光電センサ６から構成した受光手段と
、この受光手段からのデータに基いて、三角測量の原理
により投光手段１または受光レンズ４から被測定物まで
の距離を演算する距離演算回路６とから構成される。距
離測定の原理は、投光手段１から測定基準距離ｌ○の位
置にある被測定物上のスポット光像（０）か光電センサ
５」二〇〇′で結像するように光学系を構成すると、被
測定物が被測定距肉！Ｉ：ｌ！Ａ、 ｌＢのように変位
すると、それらに対するスポット光像はＡ、Ｂとなり、
そｌＡ、ｌＢが求められる。ここで、投光光軸と受光光
軸とのなす角度はθで、光電センサ５は受光光ｉ１ｉ＋
ｂに直角になるように配置されている。A light-receiving means constituted by a condensing lens 4 and a one-dimensional or two-dimensional photoelectric sensor 6 that receives the reflected light 3 of 0, B), and a light-emitting means based on the principle of triangulation based on the data from this light-receiving means. 1 or a distance calculating circuit 6 that calculates the distance from the light receiving lens 4 to the object to be measured. The principle of distance measurement is to configure an optical system so that a spot light image (0) on the object to be measured located at a measurement reference distance l○ from the light projecting means 1 is imaged by the photoelectric sensor 5''200'. Then, the object to be measured is the distance to be measured! I:l! When displaced like A and lB, the spot light images for them become A and B,
So lA and lB are found. Here, the angle between the light emitting axis and the receiving optical axis is θ, and the photoelectric sensor 5 detects the received light i1i+
It is arranged perpendicular to b.
しかし、この場合、第２図に示すように、Ａ、Ｂに対す
る光電センサ６上の像Ａ／、Ｂ’はぼけており、位置検
出精度および光電センサ５の検出感度の低下を生じ、複
雑な補正回路や増ＩＪ回路を必要とする問題点があった
。However, in this case, as shown in FIG. 2, the images A/, B' on the photoelectric sensor 6 for A and B are blurred, resulting in a decrease in position detection accuracy and detection sensitivity of the photoelectric sensor 5, and a complicated There was a problem in that a correction circuit and an IJ expansion circuit were required.
発明の目的
とにより、高精度かつ安価な光学距離側を提供するもの
である。The purpose of the invention is to provide a highly accurate and inexpensive optical distance.
発明の構成
そのための構成として、本発明はスポット光を投光する
投光手段と、前記投光手段により被測定物上に投光され
たスポット光像を検出する受光手段とを備え、投光光軸
７と受光光軸８とのなす角度θが光電センサ５′と受光
光軸８とのなす角度θに略等しくなるように光電センサ
５′を配置したものである。この構成により、スポット
光像は略光電センナ６′上に像Ａ’、Ｂ’ として結
像され像ぼけがなく、したがって光電センサとして、Ｐ
ＳＤ素子やＣＣＤ素子を用いた場合に位置検出の感度お
よび精度を飛躍的に改善できる。Structure of the Invention As a structure for this purpose, the present invention includes a light projecting means for projecting a spot light, and a light receiving means for detecting a spot light image projected onto an object to be measured by the light projecting means. The photoelectric sensor 5' is arranged so that the angle θ between the optical axis 7 and the light receiving optical axis 8 is approximately equal to the angle θ between the photoelectric sensor 5' and the light receiving optical axis 8. With this configuration, the spot light image is formed as images A' and B' approximately on the photoelectric sensor 6', and there is no image blurring.
When using an SD element or a CCD element, the sensitivity and accuracy of position detection can be dramatically improved.
なお集光レンズ４による結像位置ｄ２、厳密には曲線と
なり、その曲線に沿う光電センサを製作してもよいが、
本実施例のようにその曲線を直線で近似して、（このと
きの受光光軸８とこの直線とのなす角度がθ）、光電セ
ンサ５′を配置しても実用上問題はないし、安価に製作
できるものである。Note that the imaging position d2 by the condensing lens 4 is strictly a curve, and a photoelectric sensor that follows the curve may be manufactured.
Even if the curve is approximated by a straight line as in this embodiment (the angle between the light receiving optical axis 8 and this straight line is θ) and the photoelectric sensor 5' is arranged, there is no practical problem and it is inexpensive. It can be manufactured in
実施例の説明
以下、本発明の一実施例につき図面第２図〜第３図に沿
って説明する。DESCRIPTION OF THE EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 2 to 3 of the drawings.
投光手段として、２５ ｍＷ 、λ＝ ８３０ ｎ ｍ
の半導体レーザを１０ ＫＨｚ ＶｒＣ変調して発振さ
せ、それをコリメータレンズでスポット光（ビーム径０
．６ｒｍｎφ）に絞シ、黒皮付溶接物に投光する。寸だ
受光手段としてｆ ＝ ３０ ｍｍの凸レンズおよび干
渉フィルタを、光電センサ６′として１次元ＰＳＤ素子
を用いた。投光光軸７と受光光軸８とのなす角度θは２
６″−′と（測定基準距離ｌ。け１２０ｍｍとした。つ
ぎに、ＰＳＤ素子からの出力信号は、第３図に示すよう
に電流電圧変換回路９、ローパスフィルタ回路１０．加
算回路１１、減算回路１２、アナログ割算回路１３．８
ビ、トＡ／Ｄ変換回路１４を介して、マイクロコンビー
ータ１６に入力し、投光手段から 前記黒皮付溶接物１
での距離を表示器１６に表示するものである。この結果
、距離測定レンジ、（すなわち第２図Ａ−Ｂ間）５０ｍ
ｍを、±０．２ｒｎｍの精度で言１測することができた
。これに対し、従来のような受光光軸と直角にＰＳＤ素
子を置く装置では、±０．３〜±０．４ｒａｈの精度で
あった。As a light projecting means, 25 mW, λ=830 nm
A semiconductor laser of
．． 6rmnφ) and project the light onto the welded workpiece with black coating. A convex lens of f = 30 mm and an interference filter were used as the light receiving means, and a one-dimensional PSD element was used as the photoelectric sensor 6'. The angle θ between the light emitting optical axis 7 and the receiving optical axis 8 is 2.
6"-' and (measurement reference distance l) was set to 120 mm.Next, the output signal from the PSD element is processed by a current-voltage conversion circuit 9, a low-pass filter circuit 10, an addition circuit 11, and a subtraction circuit, as shown in FIG. Circuit 12, analog divider circuit 13.8
Via the A/D conversion circuit 14, it is input to the microconbeater 16, and from the light projecting means the black skinned welded workpiece 1
The distance is displayed on the display 16. As a result, the distance measurement range (i.e. between A and B in Figure 2) is 50 m.
m could be measured with an accuracy of ±0.2 rnm. On the other hand, in a conventional device in which the PSD element is placed perpendicular to the light receiving optical axis, the accuracy is within ±0.3 to ±0.4 rah.
発明の効果
以上のように本発明によれは、従来に比し、より一層高
精度な距離の計測が可能となり、また簡単な構成である
ため低コスト化も達成できる優れた効果を奏するもので
ある。Effects of the Invention As described above, the present invention has excellent effects in that it is possible to measure distances with even higher precision than in the past, and it also has a simple configuration that reduces costs. be.
第１図は従来の光学距離計の説明図、第２図は従来例の
欠点と本発明の光学距離計の構成を示す説明図、第３図
は本発明の一実施例におけるＰＳＤ素子の信号処理回路
を示すプロ、り図である。
１・・・・・・投光手段、２・・・・スポット光、３・
・反射光、４・・・・・・集光レンズ、５′・・・−
・・光電センサ、６・・・・・距離演算回路、７・・・
・・投光光軸、８ ・・受光光軸。
代理人の氏名 弁理士 中 尾 敏 男 ほか１名第１
図
「Ｔ
１
第２図
８Fig. 1 is an explanatory diagram of a conventional optical rangefinder, Fig. 2 is an explanatory diagram showing the drawbacks of the conventional example and the configuration of the optical rangefinder of the present invention, and Fig. 3 is a signal of a PSD element in an embodiment of the present invention. It is a professional diagram showing a processing circuit. 1... Light projecting means, 2... Spot light, 3...
・Reflected light, 4... Condensing lens, 5'...-
...Photoelectric sensor, 6...Distance calculation circuit, 7...
...Emitting optical axis, 8...Receiving optical axis. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure “T 1 Figure 2 8
Claims (1)
被測定物上に投光されたスポット光像を略等しくなるよ
うに前記光電センサを配置した光学距離旧。A light projecting means for projecting a spot light and the photoelectric sensor are arranged so that the spot light image projected onto the object to be measured by the light projecting means is substantially equal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7700683A JPS59202012A (en) | 1983-04-30 | 1983-04-30 | Optical range finder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7700683A JPS59202012A (en) | 1983-04-30 | 1983-04-30 | Optical range finder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59202012A true JPS59202012A (en) | 1984-11-15 |
Family
ID=13621671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7700683A Pending JPS59202012A (en) | 1983-04-30 | 1983-04-30 | Optical range finder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59202012A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62115315A (en) * | 1985-11-14 | 1987-05-27 | Mitsubishi Heavy Ind Ltd | Laser displacement gauge |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5337457A (en) * | 1976-09-18 | 1978-04-06 | Iwatsu Electric Co Ltd | Distance measuring device |
-
1983
- 1983-04-30 JP JP7700683A patent/JPS59202012A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5337457A (en) * | 1976-09-18 | 1978-04-06 | Iwatsu Electric Co Ltd | Distance measuring device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62115315A (en) * | 1985-11-14 | 1987-05-27 | Mitsubishi Heavy Ind Ltd | Laser displacement gauge |
| JPH0575051B2 (en) * | 1985-11-14 | 1993-10-19 | Mitsubishi Heavy Ind Ltd |
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