Title:
距離センサ、走行体、ロボット及び３次元計測装置
Document Type and Number:
Japanese Patent JP6727539
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a distance sensor that can achieve both of improvement in resolving power of a measurement distance, and increase in a measurable distance.SOLUTION: A distance sensor includes a three-dimensional information acquisition unit 203, a TOF computation unit 303, a parallax computation unit 304, a cycle determination unit 305, an output unit 306, a control unit 307, and a distance calculation unit 308 and the like. The TOF computation 303 is configured to obtain a delay time Td of a light reception pulse with respect to a light emitting pulse using an output of an image sensor 29a, and the parallax computation unit 304 is configured to obtain parallax of an object, using the output of the image sensor 29a and an output of an image sensor 29b. The cycle determination unit 305 is configured to discriminate by how many cycles light reflected upon the object is delayedly received with respect to a cycle in a modulation frequency of intensity of detection light from a measurement result of the parallax computation unit 304. The distance calculation unit 308 is configured to correct a computation result in the TOF computation unit 303 on the basis of the discrimination result of the cycle determination unit 305.SELECTED DRAWING: Figure 9
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Inventors:
Hiromasa Tanaka
Shuhei Takahashi
Two bottles Yasushi
Samurai Ogawa
Masahiro Ito
Yoichi Ichikawa
Koji Masuda
Shuhei Takahashi
Two bottles Yasushi
Samurai Ogawa
Masahiro Ito
Yoichi Ichikawa
Koji Masuda
Application Number:
JP2016042130A
Publication Date:
July 22, 2020
Filing Date:
March 04, 2016
Export Citation:
Assignee:
株式会社リコー
International Classes:
G01S17/87; G01C3/06; G01S17/894
Domestic Patent References:
| JP2016017799A | ||||
| JP2008008687A |
Foreign References:
| US20130242058 | ||||
| WO2012137434A1 | ||||
| US20130222550 |
Attorney, Agent or Firm:
Atsushi Tateishi