JP2820573B2 - Distance measuring device - Google Patents
Distance measuring deviceInfo
- Publication number
- JP2820573B2 JP2820573B2 JP4229685A JP22968592A JP2820573B2 JP 2820573 B2 JP2820573 B2 JP 2820573B2 JP 4229685 A JP4229685 A JP 4229685A JP 22968592 A JP22968592 A JP 22968592A JP 2820573 B2 JP2820573 B2 JP 2820573B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- light receiving
- receiving lens
- shielding plate
- distance measuring
- 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.)
- Expired - Fee Related
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【０００１】[0001]
【産業上の利用分野】この発明は光を照射し、その反射
光を検出して対象物体までの距離を検出する距離測定装
置に係り、特に対象物からの反射光以外の光の検出を防
止して信頼性の高い距離測定を行うことができる距離測
定装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device which irradiates light and detects its reflected light to detect the distance to a target object, and in particular, prevents the detection of light other than the reflected light from the target object. And a distance measuring device capable of performing highly reliable distance measurement.
【０００２】[0002]
【従来の技術】レーザ光などの光を対象物体に向けて照
射し、この照射光の対象物体による反射光を凸レンズ又
は凹面鏡及び受光素子などの光学手段で受光し、レーザ
光の照射から受光までの遅延時間を検出して対象物体ま
での距離を測定する装置は既に公知である。図３はレー
ザダイオードを使用した従来の測定装置の一例を示すブ
ロック図であり、１は照光鏡筒、２はこの照光鏡筒の底
部に取りつけられたレーザダイオード、３はこのレーザ
ダイオードが発するレーザ光を照光角として所定の角度
θtに集束して、照射光Ｌt とするための凸レンズであ
り、照光鏡筒１の開口端部に取りつけられている。なお
前記照射角θt は対象物体の大きさとその距離を考慮し
て決定される。2. Description of the Related Art Light such as laser light is directed toward a target object, and reflected light of the irradiated light from the target object is received by optical means such as a convex lens or a concave mirror and a light receiving element. A device for detecting the delay time of the target and measuring the distance to the target object is already known. FIG. 3 is a block diagram showing an example of a conventional measuring apparatus using a laser diode. Reference numeral 1 denotes an illuminating barrel, 2 denotes a laser diode mounted on the bottom of the illuminating barrel, and 3 denotes a laser emitted by the laser diode. and focused at a predetermined angle theta t light as illumination angle, a convex lens for the irradiation light L t, is attached to the open end of the illumination lens barrel 1. Note the irradiation angle theta t is determined in consideration of the distance the size of the target object.
【０００３】又、図３において４は受光鏡筒で、その底
部には受光素子としてのフォトダイオード５が取りつけ
られ、開口端部には照射光Ｌt の対象物体からの反射光
Ｌrをフォトダイオード５に集光させるための凸レンズ
６が取りつけられている。なお、反射光Ｌr の受光角θ
r は照射角θt よりわずかに大き目となるようフォトダ
イオード５の受光径と、凸レンズ６の焦点距離により決
められる。[0003] Further, in FIG. 3. 4-receiving barrel, its the bottom attached photodiode 5 as a light receiving element, photo reflected light L r from the object of the irradiation light L t is the open end A convex lens 6 for focusing light on the diode 5 is attached. It should be noted that the acceptance angle of the reflected light L r θ
r is a light-receiving diameter of the photo diode 5 so as to be slightly larger than the irradiation angle theta t, is determined by the focal length of the convex lens 6.
【０００４】更に図３において７はコントローラでこの
コントローラ７は、レーザダイオード２に接続され、レ
ーザダイオード２をパルス駆動するためのパルス発生器
８と、フォトダイオード５に接続され、フォトダイオー
ド５の受光出力を増幅整形するためのパルス検出器９
と、パルス発生器８及びパルス検出器９に接続され、照
射パルスと受光パルス間の遅延時間から対象物までの距
離を演算する信号処理回路１０より構成される。１１は
表示装置で、前述のようにして得られた距離情報を具体
的な数字やグラフとして表示するものである。Further, in FIG. 3, reference numeral 7 denotes a controller which is connected to the laser diode 2 and is connected to a pulse generator 8 for driving the laser diode 2 in a pulsed manner and a photodiode 5 so that the photodiode 5 receives light. Pulse detector 9 for amplifying and shaping the output
And a signal processing circuit 10 which is connected to the pulse generator 8 and the pulse detector 9 and calculates the distance to the target from the delay time between the irradiation pulse and the light reception pulse. A display device 11 displays the distance information obtained as described above as specific numbers or graphs.
【０００５】次に従来の距離測定装置の動作を図４で説
明する。図４Ａは照射パルス光を示すものでパルス幅ｔ
ｗ、周期ｔｐでレーザダイオード２を駆動している。図
４Ｂは受光パルスを示すもので、照射パルスより時間ｔ
だけ遅れて受光される。この遅延時間ｔは対象物体まで
の往復距離に相当する時間差であるから対象物体までの
距離をＲとすればＲ＝Ｃ・ｔ／２で求められる。ここ
で、Ｃはレーザ光の伝播速度でＣ＝３×１０8 ｍ／ｓで
ある。Next, the operation of the conventional distance measuring device will be described with reference to FIG. FIG. 4A shows the irradiation pulse light, and the pulse width t
w, the laser diode 2 is driven at the cycle tp. FIG. 4B shows a light receiving pulse, and the time t from the irradiation pulse.
The light is received with a delay. Since the delay time t is a time difference corresponding to the reciprocating distance to the target object, if the distance to the target object is R, it can be obtained by R = C · t / 2. Here, C is the propagation speed of the laser beam, and is C = 3 × 10 8 m / s .
【０００６】ところで、受光角θr は前述の通り通常照
光角θt よりわずかに広く設定され、これは受光レンズ
の焦点距離ｆと、フォトダイオードの受光径Ｄs(図５参
照）により決まる。即ちθr ＝２ｔａｎ-1（Ｄ s ／２
ｆ）となる。[0006] the acceptance angle theta r is slightly wider set than previously described normal illumination angle theta t, which is the focal length f of the light receiving lens, determined by the light-receiving diameter D s of the photodiode (see FIG. 5). That is, θ r = 2 tan −1 ( D s / 2
f ).
【０００７】[0007]
【発明が解決しようとする課題】従来の距離測定装置は
以上のように構成され、従って受光角θr の外側にある
光はフォトダイオード５には到達しないわけであるが、
太陽光などの極めて輝度の高い光源の場合は受光鏡筒４
内の内面反射によりフォトダイオード５に到達し、直流
出力を生じ、ひどい場合には光電変換の飽和を生じて距
離測定不能となる場合がある。図５はこの状態を示した
図で、受光角θr の域外にある太陽Ｓからの光が受光鏡
筒４の内面で反射されてフォトダイオード５に到達して
いる。受光鏡筒４の内面はもちろん無光沢の黒色塗装或
は無反射材料で反射防止の処理がなされているが、完全
に光を吸収して無反射となる材料は現実には存在せず、
わずかの反射が生じる。受光角外の光源の輝度が低い場
合にはこれによる内面反射は無視できるが、太陽光など
の極端に明るい光源の場合はこれによる反射光も強いた
め、前述したような障害を生じるという問題点がある。THE INVENTION Problems to be Solved by the conventional distance measuring device is constructed as described above, therefore the light that is outside of the acceptance angle theta r is not not reach the photodiode 5,
In the case of an extremely bright light source such as sunlight, the light receiving column 4
When the light reaches the photodiode 5 due to internal reflection inside, a DC output is generated. In severe cases, the photoelectric conversion is saturated, and the distance measurement may not be performed. Figure 5 is a diagram showing the state, light from the sun S on the outside of the acceptance angle theta r reaches the photodiode 5 is reflected by the inner surface of the light-receiving barrel 4. The inner surface of the light-receiving barrel 4 is of course subjected to anti-reflection treatment with matte black paint or non-reflective material, but there is no material that completely absorbs light and is non-reflective.
A slight reflection occurs. When the brightness of the light source outside the acceptance angle is low, the internal reflection caused by this is negligible. However, in the case of an extremely bright light source such as sunlight, the reflected light is strong, which causes the above-described obstacle. There is.
【０００８】一方、これの対策として、例えば実開昭５
９−４１７７１号公報に示されているように受光レンズ
６の前にハニカム構造体を設置する方法や、実開昭６２
−１８０７８４号公報に示されているように同じく受光
レンズ６の前に遮光板を設置する方法が提案されてい
る。図６はこれらを示す図であるが、現実に光を完全に
吸収する材料が存在しないため、遮光板Ｇ内での内面反
射により同様の障害を生じる。即ち、図６に於て、受光
角θr の域外のＳ1 の位置に太陽があった場合、その光
は遮光板Ｇで１回反射され、受光レンズ６に向かう。
又、太陽の位置がＳ2 の場合は遮光板で２回反射された
光が受光レンズ６に入射する。これを避けるためには遮
光板の奥行ｍを大きくするか、遮光板Ｇの数を増やして
ピッチｐを細かくする必要があるが、前者は距離測定装
置の奥行寸法の増大をきたす事になるし、又、後者は遮
光板の板厚による有効受光量の減少を招き、距離測定能
力を低下させてしまうという問題点があった。On the other hand, as a countermeasure against this, for example,
As disclosed in Japanese Patent Application Laid-Open No. 9-41771, a method of installing a honeycomb structure in front of a light receiving lens 6 is disclosed in
A method of installing a light-shielding plate in front of the light-receiving lens 6 has also been proposed as disclosed in Japanese Patent Application Publication No. 180784. FIG. 6 is a diagram showing these, but since there is no material that actually completely absorbs light, a similar obstacle occurs due to internal reflection in the light shielding plate G. That is, At a 6, when there is sun position of S 1 of outside the acceptance angle theta r, the light is reflected once by the light shielding plate G, toward the light receiving lens 6.
When the position of the sun is S 2 , the light reflected twice by the light shielding plate enters the light receiving lens 6. In order to avoid this, it is necessary to increase the depth m of the light-shielding plate or increase the number of the light-shielding plates G to make the pitch p fine, but the former increases the depth dimension of the distance measuring device. In the latter case, there is a problem that the effective light receiving amount is reduced due to the thickness of the light shielding plate, and the distance measuring ability is reduced.
【０００９】この発明は前述したような問題点を解消す
るためになされたもので、受光鏡筒内の内面反対を防止
できて距離測定の信頼性を高め、且つ装置全体を小型化
できる測定装置を得ることを目的としている。SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is possible to prevent the inside of a light receiving lens barrel from being reversed, thereby improving the reliability of distance measurement and reducing the size of the entire apparatus. The purpose is to get.
【００１０】[0010]
【課題を解決するための手段】この発明に係る距離測定
装置は受光レンズと前記受光素子間の空間内に、前記受
光レンズの有効外径と前記受光素子の光電変換素子外径
を結ぶ線よりわずかに大きい開口部を頂部とする、少な
くとも一部円錐または角錐状に成型された薄板よりなる
遮光板を、頂部である小径開口部を前記受光レンズ側
に、大径開口部を前記受光素子側にして少なくとも１以
上配置したものである。A distance measuring apparatus according to the present invention comprises a line connecting the effective outer diameter of the light receiving lens and the outer diameter of the photoelectric conversion element of the light receiving element in a space between the light receiving lens and the light receiving element. A slightly larger opening having a top portion, a light shielding plate made of a thin plate molded at least partially in a cone or pyramid shape, a small-diameter opening portion serving as a top portion on the light receiving lens side, and a large diameter opening portion on the light receiving element side. And at least one or more.
【００１１】[0011]
【作用】この発明に係る距離測定装置は遮光板の構造が
円錐又は角錐状であり、その開口径が受光素子側から受
光レンズ側に向かって小さくなるようにしてあるので、
受光角外からの輝度の高い光線が入射しても受光素子に
入射することを防止できる。In the distance measuring device according to the present invention, the structure of the light-shielding plate is conical or pyramid-shaped, and the aperture diameter is reduced from the light-receiving element side toward the light-receiving lens side.
Even if a high-luminance light beam from outside the light-receiving angle enters, it can be prevented from entering the light-receiving element.
【００１２】[0012]
実施例１．以下、この発明の実施例１を図について説明
する。図１は実施例１に係る受光鏡筒の断面図である。
図１に於て４，５，６は図３又は図５に示したものと同
じである。Ｄは受光レンズ６の有効外径を示す。フォト
ダイオード５においてＤS はその受光面外径を示す。Ｇ
1，Ｇ2は表面に反射防止処理を施した薄板よりなる遮光
板で円錐状に凸状成型されて、その小径部である頂部を
取り除いて開口形状としたものであり、実施例１ではこ
れを２枚組合わせて使用している。Embodiment 1 FIG. Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a sectional view of the light receiving lens barrel according to the first embodiment.
1, 4, 5 and 6 are the same as those shown in FIG. 3 or FIG. D indicates the effective outer diameter of the light receiving lens 6. D S represents the light-receiving surface external diameter in the photodiode 5. G
1, G 2 is is convex shaped conically with a light shielding plate formed of a thin plate subjected to antireflection treatment on the surface, which has a opening shape by removing the top which is a small diameter portion, which in the first embodiment Are used in combination.
【００１３】なお、この小径部の開口径は受光レンズ６
の外径Ｄとフォトダイオード５の外径Ｄs を結ぶ線をさ
えぎらない程度に、これよりわずかに大きくなってい
る。また、この遮光板Ｇ1，Ｇ2はそれぞれ図に示す通り
受光レンズ６とフォトダイオード５の光路中に於て、そ
の小径開口部を受光レンズ６側に、大径開口部をフォト
ダイオード５側にして配置されている。The opening diameter of the small diameter portion is determined by the light receiving lens 6.
Of a degree that does not block the line connecting the outer diameter D s of the outer diameter D and the photodiode 5, it is slightly larger than this. As shown in the figure, the light shielding plates G 1 and G 2 have the small-diameter opening on the light-receiving lens 6 side and the large-diameter opening on the photodiode 5 side in the optical path of the light-receiving lens 6 and the photodiode 5. It is arranged to.
【００１４】更に、遮光板Ｇ1、Ｇ2の円錐部の角度δ
は、設置する場所、受光角θr などを考慮して決める必
要があるが実施例１では１５°程度とした。Further, the angle δ of the conical portions of the light shielding plates G 1 , G 2.
Is the location to be installed, it is necessary to decide in consideration of the light receiving angle theta r was the 15 ° about the first embodiment.
【００１５】以下に実施例１の動作について説明する。
図１に於て、今、仮りに受光角θrの域外に太陽Ｓ1 が
あったとすると受光レンズ６を透過した光は遮光板Ｇ2
に当り反射光ｒ1 となる。同様に太陽がＳ2 の位置にあ
った場合は遮光板Ｇ1 でｒ2の反射光となり更に遮光板
Ｇ2 でさえぎられる。太陽がＳ3 の位置の場合は受光鏡
筒４内部で反射光ｒ3 を生じるが遮光板Ｇ1 で遮られい
ずれもフォトダイオード５には入射しない。これらの効
果は遮光板Ｇ1，Ｇ2を円錐状としたために生じるもの
で、これを円筒状にしたものでは一部の反射光はフォト
ダイオード５に入射してしまう。なお、図２はこれら遮
光板Ｇ1，Ｇ2の外形状を示すための斜視図である。The operation of the first embodiment will be described below.
At a 1, now, the light transmitted through the light receiving lens 6 to that there is a sun S 1 to outside of the acceptance angle theta r the temporary light shielding plate G 2
And reflected light r 1 . Likewise the sun when there to the position of S 2 is blocked by the light shielding plate G 1 in addition shielding plate G 2 becomes reflected light r 2. Sun does not enter the photodiode 5 either blocked by the light receiving lens barrel 4 is internally generated reflected light r 3 by the light shielding plate G 1 in the case of the position of the S 3. These effects occur because the light shielding plates G 1 and G 2 are formed in a conical shape. When the light shielding plates G 1 and G 2 are formed in a cylindrical shape, a part of the reflected light enters the photodiode 5. FIG. 2 is a perspective view showing the outer shapes of the light shielding plates G 1 and G 2 .
【００１６】実施例２．前述した実施例１では遮光板Ｇ
1，Ｇ2を、頂部を開口した円錐状としたがこれはフォト
ダイオード５の受光部が円形であったためであり、これ
が角形であれば遮光板の凸状形状は角錐とし、その開口
形状も角形としてもよい。又、太陽光などのように受光
角外の有害光源の位置が常に装置の上部に限られる場合
には遮光板の形状は円錐又は角錐状にする必要はなく、
遮光板は光軸より下側相当部分のみとし、光軸より上部
の部分を省略してもさしつかえない。Embodiment 2 FIG. In the first embodiment described above, the light shielding plate G
1 and G 2 are conical with an opening at the top because the light receiving portion of the photodiode 5 is circular. If this is square, the convex shape of the light shielding plate is a pyramid and the opening shape is also It may be rectangular. Also, when the position of the harmful light source outside the receiving angle is always limited to the upper part of the device such as sunlight, the shape of the light shielding plate does not need to be a cone or a pyramid,
The light-shielding plate may be only a portion corresponding to a portion below the optical axis, and a portion above the optical axis may be omitted.
【００１７】[0017]
【発明の効果】以上のようにこの発明によれば、受光レ
ンズと前記受光素子間の空間内に、前記受光レンズの有
効外径と前記受光素子の光電変換素子外径を結ぶ線より
わずかに大きい開口部を頂部とする、少なくとも一部円
錐または角錐状に成型された薄板よりなる遮光板を、頂
部である小径開口部を前記受光レンズ側に、大径開口部
を前記受光素子側にして少なくとも１以上配置したので
受光鏡筒内の内面反射を防止できて距離測定の信頼性を
高め、且つ装置全体を小型化できる距離測定装置を得る
ことができるという効果を奏する。As described above, according to the present invention, the space between the light receiving lens and the light receiving element is slightly smaller than the line connecting the effective outer diameter of the light receiving lens and the photoelectric conversion element outer diameter of the light receiving element. With the large opening as the top, at least a part of the light-shielding plate made of a thin plate molded into a conical or pyramid shape, the small diameter opening at the top on the light receiving lens side, and the large diameter opening on the light receiving element side. Since at least one or more are arranged, it is possible to prevent the internal reflection in the light-receiving barrel, thereby improving the reliability of the distance measurement and obtaining a distance measuring device capable of miniaturizing the entire device.
【図１】この発明の実施例１による距離測定装置の受光
鏡筒を示す断面図である。FIG. 1 is a sectional view showing a light receiving barrel of a distance measuring device according to Embodiment 1 of the present invention.
【図２】この発明の実施例１による遮光板の斜視図であ
る。FIG. 2 is a perspective view of a light shielding plate according to Embodiment 1 of the present invention.
【図３】従来の距離測定装置全体を示すブロック図であ
る。FIG. 3 is a block diagram showing an entire conventional distance measuring device.
【図４】照光パルスと受光パルスの関係を示す図であ
る。FIG. 4 is a diagram showing a relationship between an illumination pulse and a light receiving pulse.
【図５】従来の遮光板がない場合に有害光がフォトダイ
オードに入射する場合を説明する説明図である。FIG. 5 is an explanatory diagram illustrating a case where harmful light enters a photodiode without a conventional light shielding plate.
【図６】従来の遮光板を使用した受光部分を示す断面図
である。FIG. 6 is a cross-sectional view showing a light receiving portion using a conventional light shielding plate.
４ 受光鏡筒 ５ フォトダイオード ６ 受光レンズ Ｇ1，Ｇ2 遮光板4 Light receiving barrel 5 Photodiode 6 Light receiving lens G 1 , G 2 light shielding plate
Claims (1)
からの反射光を受光レンズとこの受光レンズの焦点位置
に配設された受光素子とにより受光してその伝播遅延時
間から前記対象物までの距離を測定する距離測定装置に
おいて、 前記受光レンズと前記受光素子間の空間内に、前記受光
レンズの有効外径と前記受光素子の光電変換素子外径を
結ぶ線よりわずかに大きい開口部を頂部とする、少なく
とも一部円錐または角錐状に成型された薄板よりなる遮
光板を、頂部である小径開口部を前記受光レンズ側に、
大径開口部を前記受光素子側にして少なくとも１以上配
置したことを特徴とする距離測定装置。1. An object is irradiated with light, and reflected light from the object is received by a light receiving lens and a light receiving element disposed at a focal position of the light receiving lens. In a distance measuring device that measures a distance to an object, in a space between the light receiving lens and the light receiving element, a line slightly larger than a line connecting an effective outer diameter of the light receiving lens and a photoelectric conversion element outer diameter of the light receiving element. With the opening at the top, a light-shielding plate made of a thin plate molded at least partially in a cone or pyramid shape, the small-diameter opening at the top on the light-receiving lens side,
A distance measuring device, wherein at least one or more large-diameter openings are arranged on the light receiving element side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4229685A JP2820573B2 (en) | 1992-08-28 | 1992-08-28 | Distance measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4229685A JP2820573B2 (en) | 1992-08-28 | 1992-08-28 | Distance measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0674763A JPH0674763A (en) | 1994-03-18 |
| JP2820573B2 true JP2820573B2 (en) | 1998-11-05 |
Family
ID=16896095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4229685A Expired - Fee Related JP2820573B2 (en) | 1992-08-28 | 1992-08-28 | Distance measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2820573B2 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3603779B2 (en) * | 2000-11-01 | 2004-12-22 | 株式会社日立製作所 | Electron detection device, charged particle beam device, semiconductor integrated circuit device, and processing, observation, and inspection method of the semiconductor integrated circuit device |
| JP5478389B2 (en) * | 2010-07-07 | 2014-04-23 | 東日本旅客鉄道株式会社 | Wheel shape measuring device |
| JP5699506B2 (en) * | 2010-09-24 | 2015-04-15 | 株式会社デンソーウェーブ | Laser radar equipment |
| JP2012225821A (en) * | 2011-04-21 | 2012-11-15 | Ihi Corp | Laser sensor device |
| JP6292533B2 (en) | 2013-12-06 | 2018-03-14 | 株式会社リコー | Object detection device and sensing device |
| JP5886394B1 (en) * | 2014-09-24 | 2016-03-16 | シャープ株式会社 | Laser radar equipment |
| KR101809009B1 (en) * | 2017-08-02 | 2017-12-15 | 주식회사 제덱스 | Apparatus for detecting materials on transparent or translucent film |
| JP7505422B2 (en) * | 2021-03-11 | 2024-06-25 | 株式会社デンソー | Photodetector |
-
1992
- 1992-08-28 JP JP4229685A patent/JP2820573B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0674763A (en) | 1994-03-18 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |