TWI637149B - Distance measuring device and distance detecting method thereof - Google Patents
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Abstract
一種測距裝置包含至少三個偵測器及一處理器。至少三個偵測器分別偵測來自一被偵測物的至少三個信號分量，以得到該至少三個不同的能量。處理器電連接該至少三個偵測器，儲存一偵測器距離，該偵測器距離定義是該二偵測器間的距離。該處理器根據該至少三個信號的能量與該偵測器距離，進行運算以得到一指示該測距裝置與被偵測物間的直線投影距離。A ranging device includes at least three detectors and a processor. At least three detectors respectively detect at least three signal components from a detected object to obtain the at least three different energies. The processor is electrically connected to the at least three detectors and stores a detector distance, and the detector distance is defined as a distance between the two detectors. The processor performs an operation to obtain a linear projection distance between the ranging device and the detected object according to the energy of the at least three signals and the detector distance.
Description
本發明是有關於一種距離偵測技術，特別是指一種利用至少三個反射信號的能量來估算與被偵測物距離的測距裝置與其距離偵測方法。The invention relates to a distance detecting technology, in particular to a distance measuring device and a distance detecting method for estimating the distance from a detected object by using energy of at least three reflected signals.
現有距離偵測技術的缺點就是：缺乏以低成本的可靠偵測裝置確切得知載具與被偵測物間的實際距離，雖然高階的Lidar可以達成此目的；然而成本太高，因此，如何以低成本計算出載具與被偵測物間的實際距離，是重要的研究方向。The shortcoming of the existing distance detection technology is that there is a lack of a reliable detection device with low cost to know the actual distance between the vehicle and the detected object, although the high-order Lidar can achieve this purpose; however, the cost is too high, therefore, how Calculating the actual distance between the vehicle and the object to be detected at low cost is an important research direction.
因此，本發明之一目的，即在提供一種以低成本解決習知所遭遇問題的距離偵測方法。Accordingly, it is an object of the present invention to provide a distance detecting method that solves the problems encountered in the conventional art at low cost.
於是，本發明距離偵測方法，由一測距裝置執行，該測距裝置包括至少三個偵測器和一處理器，且該距離偵測方法包含以下步驟：Therefore, the distance detecting method of the present invention is performed by a ranging device, the ranging device includes at least three detectors and a processor, and the distance detecting method comprises the following steps:
該至少三個偵測器分別偵測來自一被偵測物的至少三個信號分量，以得到該至少三個不同的能量；The at least three detectors respectively detect at least three signal components from a detected object to obtain the at least three different energies;
該處理器儲存一偵測器距離，該偵測器距離定義是該二偵測器間的距離；The processor stores a detector distance, and the detector distance is defined as a distance between the two detectors;
該處理器根據該至少三個信號的能量與偵測器距離，進行運算以得到指示該測距裝置與被偵測物間的直線投影距離，而藉此亦可計算得到被偵測物的角度。The processor performs an operation to obtain a linear projection distance between the ranging device and the detected object according to the energy of the at least three signals and the detector distance, thereby calculating the angle of the detected object. .
本發明之另一目的，即在提供一種測距裝置。Another object of the present invention is to provide a distance measuring device.
本發明測距裝置包含至少三個偵測器及一處理器。至少三個偵測器分別偵測來自一被偵測物的至少三個信號，以得到該至少三個信號的能量。處理器電連接該至少三個偵測器，儲存一偵測器距離，該偵測器距離定義是該二偵測器間的距離。該處理器根據該至少三個信號的能量與該偵測器距離，進行運算以得到指示該測距裝置與被偵測物間的直線投影距離，而藉此亦可計算得到被偵測物的角度。The distance measuring device of the present invention comprises at least three detectors and a processor. At least three detectors respectively detect at least three signals from a detected object to obtain energy of the at least three signals. The processor is electrically connected to the at least three detectors and stores a detector distance, and the detector distance is defined as a distance between the two detectors. The processor performs an operation according to the distance between the energy of the at least three signals and the detector to obtain a linear projection distance between the ranging device and the detected object, thereby calculating the detected object. angle.
本發明之功效在於：更準確的計算該測距裝置與被偵測物間的距離。The effect of the invention is to more accurately calculate the distance between the distance measuring device and the object to be detected.
在本發明被詳細描述之前，應當注意在以下的說明內容中，類似的元件是以相同的編號來表示。Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same reference numerals.
參閱圖1，本發明測距裝置之一實施例，包含至少三個偵測器S1~S3、一發射器T和一電連接該至少三個偵測器S1~S3的處理器C。Referring to FIG. 1, an embodiment of the ranging device of the present invention includes at least three detectors S1 S S3, a transmitter T, and a processor C electrically connected to the at least three detectors S1 S S3.
如圖2及圖3所示，該測距裝置執行一種距離偵測方法，該距離偵測方法包括以下步驟：As shown in FIG. 2 and FIG. 3, the distance measuring device performs a distance detecting method, and the distance detecting method includes the following steps:
步驟（A）：該載具的發射器T發射出一信號，該信號由多個信號分量所組成，且該多個信號分量的一部分在一被偵測物O反射。由於本發明測距裝置可應用於掃地機器人、汽車或其他各種移動載具上，在碰撞被偵測物前的事先預警，且以下運算為方便說明，假設被偵測物O的信號反射點P為同一點。Step (A): The transmitter T of the carrier emits a signal consisting of a plurality of signal components, and a part of the plurality of signal components is reflected by the detected object O. Since the distance measuring device of the present invention can be applied to a sweeping robot, a car or other various mobile vehicles, a prior warning before the collision of the detected object, and the following operation is convenient for explanation, assuming that the signal reflection point P of the detected object O For the same point.
步驟（B）：該至少三個偵測器S1~S3分別偵測來自一被偵測物的至少三個信號分量，以得到該至少三個不同的能量，該至少三個信號分量是被反射後的該信號集合的一部份。三個信號偵測器分別是第一偵測器S1、第二偵測器S2、第三偵測器S3，該至少三個信號分別是第一信號、第二信號、第三信號，也就是當偵測器接收到信號時，該第一信號分量、第二信號分量、第三信號分量的能量分別是Ea、Eb、Ec。信號分量能量的強弱會與訊號傳送距離的平方成反比。Step (B): the at least three detectors S1 S S3 respectively detect at least three signal components from a detected object to obtain the at least three different energy, and the at least three signal components are reflected A part of the set of signals after that. The three signal detectors are a first detector S1, a second detector S2, and a third detector S3, respectively, and the at least three signals are a first signal, a second signal, and a third signal, that is, When the detector receives the signal, the energy of the first signal component, the second signal component, and the third signal component are Ea, Eb, and Ec, respectively. The strength of the signal component energy is inversely proportional to the square of the signal transmission distance.
步驟（C）：該處理器C儲存一偵測器距離，該偵測器距離定義是該二偵測器間的距離。Step (C): The processor C stores a detector distance, and the detector distance is defined as the distance between the two detectors.
步驟（D）：該處理器C根據該至少三個信號分量的能量與該偵測器距離，進行運算以得到一指示該測距裝置與被偵測物間的直線投影距離，參閱圖2，其中，偵測器 S1S2S3須位於同一直線L，由該信號反射點P正投影到載具上直線L的一正投影點P’，該直線投影距離的定義是測距裝置上的一投影點P’與被偵測物O的信號反射點P間的直線距離，參數Ea是第一偵測器S1所偵測到的能量、參數Eb是第二偵測器S2所偵測到的能量、參數Ec是該第三偵測器S3所偵測到的能量、參數La是該第一偵測器S1與該被偵測物O的信號反射點P的直線距離、參數Lb是該第二偵測器S2與該被偵測物的信號反射點P的直線距離、參數Lc是該第三偵測器S3與該被偵測物的信號反射點P的直線距離、參數x是偏移量也就是該第三偵測器S3與正投影點P’ 的直線距離、參數α是該投影點P’與該第一偵測器S1的直線距離、參數β是該投影點P’與該第二偵測器S2的直線距離、參數D是該直線投影距離，參數Lc是該第三偵測器S3與該被偵測物O的信號反射點P的直線距離，如圖4所示，該步驟（D）包括以下子步驟：Step (D): The processor C performs an operation according to the distance between the energy of the at least three signal components and the detector to obtain a linear projection distance between the ranging device and the detected object. Referring to FIG. 2, The detector S1S2S3 shall be located on the same straight line L, and the signal reflection point P is projected onto a positive projection point P' of the straight line L on the vehicle. The definition of the linear projection distance is a projection point P on the distance measuring device. 'The linear distance from the signal reflection point P of the detected object O, the parameter Ea is the energy detected by the first detector S1, the parameter Eb is the energy detected by the second detector S2, the parameter Ec is the energy detected by the third detector S3, the parameter La is the linear distance between the first detector S1 and the signal reflection point P of the detected object O, and the parameter Lb is the second detection. The linear distance between the S2 and the signal reflection point P of the object to be detected, the parameter Lc is the linear distance between the third detector S3 and the signal reflection point P of the object to be detected, and the parameter x is the offset, that is, The linear distance between the third detector S3 and the orthographic projection point P', the parameter α is the projection point P' and the first detector S1 The linear distance, the parameter β is the linear distance between the projection point P′ and the second detector S2, the parameter D is the linear projection distance, and the parameter Lc is the signal of the third detector S3 and the detected object O. The linear distance of the reflection point P, as shown in FIG. 4, the step (D) includes the following sub-steps:
子步驟（D1）：處理器C根據第一信號分量與第二信號分量的能量比，運算出一第一距離平方比，如式一，該第一距離平方比的定義是第二偵測器S2與被偵測物O的信號反射點P的距離平方與第一偵測器S1與被偵測物O的信號反射點P的距離平方的比值。Sub-step (D1): The processor C calculates a first distance squared ratio according to the energy ratio of the first signal component to the second signal component. As shown in Equation 1, the first distance squared ratio is defined as a second detector. The ratio of the square of the distance between S2 and the signal reflection point P of the detected object O and the square of the distance between the first detector S1 and the signal reflection point P of the object O to be detected.
式一： Equation 1:
其中，該第一距離平方比的定義是第二偵測器S2與被偵測物O的距離平方與第一偵測器S1與被偵測物的距離平方的比值。The first distance squared ratio is defined as a ratio of the square of the distance between the second detector S2 and the detected object O and the square of the distance between the first detector S1 and the detected object.
子步驟（D2）：處理器C根據第二信號分量與第三信號分量的能量比，運算出一第二距離平方比，如式二，該第二距離平方比的定義是第三偵測器S3與被偵測物O的信號反射點P的距離平方與第二偵測器S2與被偵測物O的信號反射點P的距離平方的比值。Sub-step (D2): the processor C calculates a second distance squared ratio according to the energy ratio of the second signal component to the third signal component, as in Equation 2, the second distance squared ratio is defined as a third detector. The ratio of the square of the distance between S3 and the signal reflection point P of the detected object O and the square of the distance between the second detector S2 and the signal reflection point P of the detected object O.
式二： Equation 2:
其中，參數Eb是第二偵測器S2所偵測到的能量、參數Ec是該第三偵測器S3所偵測到的能量、參數Lb是該第二偵測器S2與該被偵測物O的信號反射點P的直線距離、參數Lc是該第三偵測器S3與該被偵測物O的信號反射點P的直線距離、參數x是該偏移量、參數D是該直線投影距離、參數α是該投影點P’與該第一偵測器S1的直線距離。The parameter Eb is the energy detected by the second detector S2, the parameter Ec is the energy detected by the third detector S3, and the parameter Lb is the second detector S2 and the detected The linear distance of the signal reflection point P of the object O, the parameter Lc is the linear distance between the third detector S3 and the signal reflection point P of the detected object O, the parameter x is the offset, and the parameter D is the straight line The projection distance and the parameter α are the linear distances of the projection point P′ from the first detector S1.
子步驟（D3）：處理器C根據第一距離平方比、第二距離平方比、偵測器間的直線距離，運算出一偏移量，該偏移量的定義是被偵測物於測距裝置的投影點P’與第三偵測器S3的信號反射點P的目標距離。Sub-step (D3): The processor C calculates an offset according to the first distance square ratio, the second distance square ratio, and the linear distance between the detectors, and the offset is defined as the detected object. The target distance from the projection point P' of the device to the signal reflection point P of the third detector S3.
子步驟（D4）：處理器C根據第一距離平方比、偵測器間的距離、偏移量，運算出一目標距離，該目標距離定義是測距裝置與被偵測物O的信號反射點P的最短距離，如式五。子步驟（D3）與子步驟（D4）的詳細運算方式如下公式推導說明。Sub-step (D4): The processor C calculates a target distance according to the first distance square ratio, the distance between the detectors, and the offset, and the target distance is defined as a signal reflection of the distance measuring device and the detected object O. The shortest distance of point P, as in Equation 5. The detailed operation of sub-step (D3) and sub-step (D4) is derived by the following formula.
式三：α=d+xEquation 3: α=d+x
式四：β=2d+xEquation 4: β=2d+x
由式一推得式五： Formula 5 is derived from Formula 1:
其中，參數K1是第二偵測器S2與被偵測物的信號反射點P的距離平方與第一偵測器S1與被偵測物O的信號反射點P的距離平方的比值、參數α是該投影點與該第一偵測器S1的直線距離、參數β是該投影點P’與該第二偵測器S2的直線距離、參數D是該目標距離。The parameter K1 is the ratio of the square of the distance between the second detector S2 and the signal reflection point P of the detected object and the square of the distance between the first detector S1 and the signal reflection point P of the detected object O, and the parameter α. It is the linear distance between the projection point and the first detector S1, the parameter β is the linear distance between the projection point P′ and the second detector S2, and the parameter D is the target distance.
將式五代回式二，可推得Put the five generations back into the second, you can push
式六： Equation 6:
將α=d+x，β=2d+x代入式六可推得Substituting α=d+x, β=2d+x into equation six can be derived
可推得式七： Can be derived from the formula seven:
參數K1是第二偵測器S2與被偵測物O的信號反射點P的距離平方與第一偵測器S1與被偵測物O的距離平方的比值、參數K2是第三偵測器S3與被偵測物O的信號反射點P的距離平方與第二偵測器S2與被偵測物O的信號反射點P的距離平方的比值、參數d是該偵測器距離、參數x是該偏移量。The parameter K1 is the ratio of the square of the distance between the second detector S2 and the signal reflection point P of the detected object O and the square of the distance between the first detector S1 and the detected object O, and the parameter K2 is the third detector. The ratio of the squared distance between S3 and the signal reflection point P of the detected object O and the square of the distance between the second detector S2 and the signal reflection point P of the detected object O. The parameter d is the detector distance and the parameter x. Is the offset.
將式七的x代回式三、式四，先得到α、β的值，再代回式五，則可得到D的值。The x of the seventh formula is returned to the third and fourth formulas, and the values of α and β are obtained first, and then the value of D is obtained by substituting the fifth.
步驟（E）：該處理器根據該直線投影距離D與參數La~Lc、參數β、參數α、參數x分別計算出一第一角度、一第二角度，及一第三角度，其中，該第一角度的定義為第一偵測器對應該被偵測物O的角度，該第二角度的定義為第二偵測器對應該被偵測物O的角度，該第三角度的定義為第三偵測器對應該被偵測物O的角度。Step (E): the processor calculates a first angle, a second angle, and a third angle according to the linear projection distance D and the parameters La~Lc, the parameter β, the parameter α, and the parameter x, wherein the The first angle is defined as the angle of the first detector corresponding to the object O to be detected, and the second angle is defined as the angle of the second detector corresponding to the object O to be detected. The third angle is defined as The angle of the third detector corresponding to the object O to be detected.
參閱圖5~7，本發明距離偵測方法，更可應用於一個三維空間的距離偵測，其中，該等偵測器分別是一第一偵測器S1、一第二偵測器S2、一第三偵測器S3、一第四偵測器S4、一第五偵測器S5，該第一至第三偵測器S1~S3延一第一軸向設置，該第二及第四及第五偵測器S2、S4、S5延一第二軸向設置，該第一軸向正交於該第二軸向，被偵測物O的信號反射點P不在S1~S5所形成偵側平面上，如圖8所示，該距離偵測方法包括以下步驟：Referring to FIG. 5-7, the distance detecting method of the present invention is further applicable to distance detection in a three-dimensional space, wherein the detectors are a first detector S1 and a second detector S2, respectively. a third detector S3, a fourth detector S4, a fifth detector S5, the first to third detectors S1~S3 are extended by a first axial setting, the second and fourth And the fifth detectors S2, S4, and S5 are extended by a second axial direction, the first axial direction is orthogonal to the second axial direction, and the signal reflection point P of the detected object O is not formed by the S1~S5 On the side plane, as shown in FIG. 8, the distance detecting method includes the following steps:
步驟（F）：該第一至第三偵測器S1~S3與該處理器C根據步驟（B）~(D)所運算得到一第一偵測距離D1及一第二平面投影距離α2。其中，圖5及圖6的第一偵測距離D1對應上述實施例的圖2中根據二維演算法（距離偵測方法）所計算出的參數D，圖5及圖6的參數α2對應上述實施例的圖2中根據二維演算法（距離偵測方法）所計算出的參數α。Step (F): The first to third detectors S1 to S3 and the processor C calculate a first detection distance D1 and a second plane projection distance α2 according to steps (B) to (D). The first detection distance D1 of FIG. 5 and FIG. 6 corresponds to the parameter D calculated according to the two-dimensional algorithm (distance detection method) in FIG. 2 of the above embodiment, and the parameter α2 of FIG. 5 and FIG. 6 corresponds to the above. The parameter α calculated according to the two-dimensional algorithm (distance detection method) in Fig. 2 of the embodiment.
步驟（G）：該第二及第四及第五偵測器S2、S4、S5與該處理器C根據步驟（B）~(D)運算得到一第二偵測距離D2及一第一平面投影距離α1。圖5及圖6的參數D2對應上述實施例的圖2中將偵測器S1、S2、S3改為偵測器S4、S2、S5所計算出的參數D，參數α1則是對應參數α。其中，參數D1的定義是信號反射點P到第一軸向的垂直距離，參數D2的定義是信號反射點P到第二軸向的垂直距離，參數α1是參數D2在偵測平面的一投影長度，參數α2是參數D1在偵測平面的一投影長度。Step (G): the second, fourth, and fifth detectors S2, S4, and S5 and the processor C calculate a second detection distance D2 and a first plane according to steps (B) to (D). The projection distance is α1. The parameter D2 of FIG. 5 and FIG. 6 corresponds to the parameter D calculated by the detectors S1, S2, and S3 in FIG. 2 in the above embodiment, and the parameter α1 is the corresponding parameter α. Wherein, the parameter D1 is defined as the vertical distance of the signal reflection point P to the first axial direction, the parameter D2 is defined as the vertical distance of the signal reflection point P to the second axial direction, and the parameter α1 is a projection of the parameter D2 on the detection plane. Length, parameter α2 is a projection length of parameter D1 on the detection plane.
步驟（H）：該處理器C根據該第一偵測距離D1、該第二偵測距離D2、該第一平面投影距離α1與該第二平面投影距離α2，進行運算以得到一指示該測距裝置與被偵測物T間的三維空間座標。參閱圖7，該處理器C根據該第一偵測距離D1與該第二平面投影距離α2得到一空間高度 ，與一該第一偵測距離與偵測平面的夾角 ，該三維空間座標表示為（α2、α1、h），或是該處理器C也可根據根據該第二偵測距離D2與該第一平面投影距離α1得到一空間高度 ，與一指示該第二偵測距離與偵測平面的夾角 。 Step (H): The processor C performs an operation to obtain an indication according to the first detection distance D1, the second detection distance D2, the first plane projection distance α1, and the second plane projection distance α2. A three-dimensional coordinate between the device and the object T to be detected. Referring to FIG. 7, the processor C obtains a space height according to the first detection distance D1 and the second plane projection distance α2. And an angle between the first detection distance and the detection plane The three-dimensional space coordinates are represented as (α2, α1, h), or the processor C may also obtain a space height according to the second detection distance d1 from the first plane according to the second detection distance D2. And an angle indicating the second detection distance and the detection plane .
綜上所述，由於剩餘能量會受一、距離因素與二、被偵測物吸收發射信號能量的程度，這二種因素影響，上述實施例利用偵測器S1~S3所接收到至少三個信號分量間的能量比來計算測距裝置與被偵測物O間的距離，可避免只使用單一接收器於不同環境接收發射信號；由於不同被偵測物吸收發射信號能量的程度不一所導致的距離判斷錯誤（如二個被偵測物的吸收能量各是10%、30%，但由於與二個被偵測物的距離不一樣，偵測器收到單一發射信號的能量都是剩50%，就會計算錯誤，得到與二個被偵測物的距離是一樣），而得到更準確的距離，故確實能達成本發明之目的。In summary, since the remaining energy is affected by the distance factor and the extent to which the detected object absorbs the energy of the transmitted signal, the above embodiment uses the detectors S1 to S3 to receive at least three. The energy ratio between the signal components is used to calculate the distance between the distance measuring device and the object to be detected O, so as to avoid using only a single receiver to receive the transmitted signal in different environments; the degree of energy absorbed by the different detected objects is not the same. The resulting distance is incorrectly judged (for example, the absorbed energy of the two detected objects is 10% and 30%, respectively, but because the distance from the two detected objects is different, the energy of the detector receiving a single transmitted signal is With 50% remaining, the error is calculated and the distance from the two detected objects is the same, and a more accurate distance is obtained, so that the object of the present invention can be achieved.
惟以上所述者，僅為本發明之實施例而已，當不能以此限定本發明實施之範圍，凡是依本發明申請專利範圍及專利說明書內容所作之簡單的等效變化與修飾，皆仍屬本發明專利涵蓋之範圍內。However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the equivalent equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still The scope of the invention is covered.
O‧‧‧被偵測物O‧‧‧Detected objects
P‧‧‧信號反射點 P‧‧‧ signal reflection point
P’‧‧‧投影點 P’‧‧‧projection point
L‧‧‧直線 L‧‧‧ Straight line
S1‧‧‧第一偵測器 S1‧‧‧First detector
S2‧‧‧第二偵測器 S2‧‧‧Second detector
S3‧‧‧第三偵測器 S3‧‧‧ third detector
T‧‧‧發射器 T‧‧‧ launcher
C‧‧‧處理器 C‧‧‧ processor
A‧‧‧發射步驟 A‧‧‧ launching steps
B‧‧‧偵測步驟 B‧‧‧Detection steps
C‧‧‧儲存步驟 C‧‧‧Storage steps
D‧‧‧運算步驟 D‧‧‧Operation steps
E‧‧‧角度計算步驟 E‧‧‧ Angle calculation steps
F‧‧‧運算第一偵測距離步驟 F‧‧‧Computation first detection distance step
G‧‧‧運算第二偵測距離步驟 G‧‧‧Operation second detection distance step
H‧‧‧運算三維座標步驟 H‧‧‧3D coordinate steps
D1‧‧‧第一距離平方比步驟 D1‧‧‧ first distance squared step
D2‧‧‧第二距離平方比步驟 D2‧‧‧Second distance squared ratio step
D3‧‧‧偏移量步驟 D3‧‧‧ offset step
D4‧‧‧目標距離步驟 D4‧‧‧Target distance step
本發明之其他的特徵及功效，將於參照圖式的實施方式中清楚地呈現，其中： 圖1是本發明測距裝置之一實施例的一方塊圖； 圖2是該實施例的距離偵測方法的一距離示意圖；及 圖3是該實施例的一流程圖； 圖4是該實施例子步驟的一流程圖； 圖5是三維空間的距離偵測方法的偵測器分佈的一示意圖； 圖6是該距離偵測方法於三維空間的一距離示意圖； 圖7是該距離偵測方法於三維空間的另一距離示意圖； 圖8是該實施例的於三維空間的一流程圖。Other features and advantages of the present invention will be apparent from the embodiments of the present invention. FIG. 1 is a block diagram of an embodiment of the distance measuring device of the present invention. FIG. 2 is a distance detecting of the embodiment. A distance diagram of the method of measurement; and FIG. 3 is a flowchart of the embodiment; FIG. 4 is a flow chart of the steps of the embodiment; FIG. 5 is a schematic diagram of the detector distribution of the distance detection method of the three-dimensional space; 6 is a schematic diagram of a distance of the distance detecting method in a three-dimensional space; FIG. 7 is a schematic diagram of another distance of the distance detecting method in a three-dimensional space; FIG. 8 is a flow chart of the embodiment in a three-dimensional space.
Claims (8)
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| US20060114146A1 (en) * | 2002-12-12 | 2006-06-01 | Daimlerchrysler Ag | Multi-targeting method and multi-targeting sensor device for locating short-range target objects in terms of distance and angle |
| US8730457B2 (en) * | 2010-12-01 | 2014-05-20 | Sick Ag | Sensor arrangement for object recognition |
| TWI580930B (en) * | 2015-12-30 | 2017-05-01 | Tilt angle and distance measurement method |
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| US20060114146A1 (en) * | 2002-12-12 | 2006-06-01 | Daimlerchrysler Ag | Multi-targeting method and multi-targeting sensor device for locating short-range target objects in terms of distance and angle |
| US8730457B2 (en) * | 2010-12-01 | 2014-05-20 | Sick Ag | Sensor arrangement for object recognition |
| TWI580930B (en) * | 2015-12-30 | 2017-05-01 | Tilt angle and distance measurement method |
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