Range detecting method and apparatus

• US 4,178,098 A
• Filed: 01/05/1978
• Issued: 12/11/1979
• Est. Priority Date: 01/06/1977
• Status: Expired due to Term

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Niwa, Yukichi, Tsuda, Shin, Asano, Noriyuki, Owada, Mitsutoshi, Yamagata, Takaaki
• Primary Examiner(s): Buczinski, S. C.
• Application Number:
  US05/867,343
• Time in Patent Office: 705 Days
• Field of Search: 356/1, 356/4, 354/25, 250/201, 250/204
• US Class Current: 356/3.15
• CPC Class Codes: G02B 7/30 using parallactic triangle with a base line

Abstract

A range detecting method and apparatus in which a first and a second image of an object each having a relative positional parallax corresponding to the object distance formed by a range finding optical system are purely electrically scanned by the use of one or more photosensor arrays and the resulting image scan signals in analog form relating to the first and second images are applied to first and second analog storing devices for storage therein, in which coincidence or non-coincidence between the analog image scan signals is detected by coincidence detecting drive while one of these image scan signals is shifted bit by bit relative to the other image scan signal, thereby counting an amount of shift bits required until the image scan signals of the same bit number relating to the first and second images are rendered most appropriately coincident with each other, whereby the object distance may be known from such amount of shift bits.

Claims

1. A method of detecting a range of an object comprising the steps of:

(A) deriving first and second images of the object along different sightlines;

(B) electrically sensing the first and second images to produce electrical analog data for each image element of the first and second images;

(C) storing the analog data of the first image on a first set of a plurality of N successive elements;

(D) successively correlating the analog data of said second image on each of a plurality of different sets of N successive elements with the analog data of said first image on the N successive elements, said correlating step including successively storing, on one set by set basis, the analog data on each of said plurality of sets of the N successive elements of the second image;

(E) successively storing the location, of each of the plurality of sets of the N successive elements of the second image whose analog data is correlated with the analog data on the N successive elements of the first image;

(F) detecting, through said correlation step, a set of the N successive elements of the second image which can be regarded as being in substantial coincidence with the N successive elements of the first image; and

(G) determining the range of the object on the basis of the location of the stored data with respect to the location of the second image, of the set of the N successive elements of the second image which has been regarded as being in substantial coincidence with the N successive elements of the first image.

2. A method according to claim 1, wherein the detection step comprises:

detecting each difference between the analog data on each of the N successive elements of the first image and the analog data on each corresponding image element of each set of the N successive elements of the second image;

adding the absolute values of the differences on each of the plurality of sets of N pairs of corresponding image elements; and

detecting the minimum among the added values, thereby providing a set of the N successive elements of the second image whose added value is the minimum, as a set which is in substantial coincidence with the N successive elements of the first image.

3. A method according to claim 1, wherein the detection step comprises:

multiplying the analog data on each of the N successive elements of the first image by the analog data on each corresponding image element of each set of the N successive elements of the second image;

adding the productions of the multiplication on each of the plurality of sets of N pairs of corresponding image elements;

detecting whether the added value reaches a predetermined level; and

providing a set of the N successive elements of the second image whose added value reaches a predetermined level as a set which is in substantial coincidence with the N successive elements of the first image.

4. A method according to claim 1, wherein said location storing step includes counting address number, within the second image, of each set of the N successive elements of the second image whose analog data is stored.

5. A method according to claim 4, wherein said determination step includes latching the counted address number, at the time when the set of the N successive elements of the second image which can be regarded as being in substantial coincidence with the N successive elements of the first image has been detected through said detection step.

6. An apparatus for detecting a range of an object comprising:

(A) optical means arranged to form first and second images of the object along different sightlines;

(B) image sensing means arranged to receive the first and second images to produce electrical analog data for each image element of the first and second images;

(C) first data storing means adapted for storing the analog data of the first image on a first set of a plurality of N successive elements;

(D) correlating means for successively correlating the analog data of the second image on each of a plurality of different sets of N successive elements with the analog data of the first image on the N successive elements, said correlating means including second data storing means for successively storing, on one set by set basis, the analog data on each of said plurality of sets of the N successive elements of the second image;

(E) location storing means for successively storing the location of each of the plurality of sets of the N successive elements of the second image whose analog data is correlated by the correlating means with the analog data on the N successive elements of the first image;

(F) detecting means for detecting, through said correlation by said correlation means, a set of the N successive elements of the second image which can be regarded as being in substantial coincidence with the N successive elements of the first image; and

(G) range determining means for determining the range of the object on the basis of the location of the stored data with respect to the location of the second image, of the set of the N successive elements of the second image which has been regarded as being in substantial coincidence with the N successive elements of the first image.

7. An apparatus according to claim 6, wherein said detecting means includes

first circuit means for detecting each difference between the analog data on each of the N successive elements of the first image and the analog data on each corresponding image element of each set of the N successive elements of the second image;

second circuit means for adding the absolute values of the differences on each of the plurality of sets of N pairs of corresponding image elements; and

third circuit means for detecting the minimum among the added values, thereby providing a set of the N successive elements of the second image whose added value is the minimum, as a set which is in substantial coincidence with the N successive elements of the first image.

8. An apparatus according to claim 6, wherein said detecting means includes

first circuit means for multiplying the analog data on each of the N successive elements of the first image by the analog data on each corresponding image element of each set of the N successive elements of the second image, and adding the productions of the multiplication and providing the total thereof on each of the plurality of sets of N pairs of corresponding image elements;

and

second circuit means for detecting whether the total reaches a predetermined level,

the set of the N successive elements of the second image whose total reaches the predetermined level being regarded as a set which is in substantial coincidence with the N successive elements of the first image.

9. An apparatus according to claim 6, wherein said data storing means is a first analog shift register with N storing locations for storing the analog data for the N successive elements of the first image, and wherein said correlating means is a second analog shift register with N storing locations of successively storing, on one set by one set basis, said analog data for each of the plurality of sets of the N successive elements of the second image.

10. An apparatus according to claim 9, wherein said first and second analog shift registers are each serial in-parallel out type analog shift registers.

11. An apparatus according to claim 10, wherein said detecting means comprises:

first circuit means for detecting each difference between the analog data on each of the N successive elements of the first image, provided by said first analog shift register, and the analog data on each corresponding image element of each set of the N successive elements of the second image, provided by said second analog shift register, said first circuit means being coupled to said first and second analog shift registers;

second circuit means for adding the absolute values of the differences on each of the plurality of set of N pairs of corresponding image elements; and

third circuit means for detecting the minimum among the added values, thereby providing a set of the N successive elements of the second image whose added value is the minimum, as a set which is in substantial coincidence with the N successive elements of the first image.

12. An apparatus according to claim 10, wherein said detection means comprises:

first circuit means for multiplying the analog data on each of the N successive elements of the first image provided by said first analog shift register by the analog data on each corresponding image element of each set of the N successive elements of the second image provided by said second shift register, and adding the productions of the multiplication and providing the total thereof on each of the plurality of sets of N pairs of corresponding image elements, said first circuit means being coupled to said first and second analog shift registers; and

second circuit means for detecting whether the total reaches a predetermined level,

the set of the N successive elements of the second image whose total reaches the predetermined level being regarded as a set which is in substantial coincidence with the N successive elements for the first image.

13. An apparatus according to claim 6, wherein said optical means comprises:

first optical channel means for focusing the first image onto a first portion of the image sensing means;

second optical channel means for focusing said second image onto a second portion of said image sensing means, said second optical channel means being disposed away from said first optical channel means so that the first and second image are derived along different sightlines.

14. An apparatus according to claim 13, wherein said image sensing means comprises a first array of photo-sensors for receiving the first image and a second array of photo-sensors for receiving the second image.

15. An apparatus according to claim 14, wherein said first array of photo-sensors includes a first number of photo-sensors, and said second array of photo-sensors includes a second number of photo-sensors, the second number being larger than the first number.

16. An apparatus according to claim 13, wherein said image sensing means comprises an array of photo-sensors for receiving both of said first and second images.

17. An apparatus according to claim 16, wherein said array of photo-sensors includes:

a first region including a first number of photo-sensors for receiving the first image; and

a second region including a second number of photo-sensors for receiving the second image, the second number being larger than the first number.

18. An apparatus according to claim 6, wherein said image sensing means includes a plurality of image sensing elements for sensing the image elements of said first and second images and producing an analog output as said analog data on each image elements of the first and second images;

said apparatus further comprising driver circuit means for electrically driving each of said image sensing elements of the image sensing means, said driver circuit means being coupled to the image sensing means and providing intermittent start pulses and intermittent drive pulses.

19. An apparatus according to claim 18, wherein said location storing means includes pulse counting means for counting the number of the drive pulses provided by said driver circuit means to said image sensing means.

20. An apparatus according to claim 19, wherein said range determining means comprises latching means for latching a counted number of said pulse counting means, when the set of the N successive elements of the second image which can be regarded as being in substantial coincidence with the N successive elements of the first is detected.

21. An apparatus according to claim 18, further comprising adjusting circuit means for adjusting a light receiving time period of each of said image sensing elements of the image sensing means, said adjusting circuit means being responsible to an analog output produced from said image sensing means, and being coupled to said driver circuit means to adjust in accordance with the level of said analog output the time period of the start pulses to be provided from said driver circuit means to said image sensing means.

22. An apparatus according to claim 21, wherein said adjusting circuit means includes:

first circuit means, coupled to said driver circuit means, for producing first reference clock pulses for determining timing of the drive pulses to be provided from said driver circuit means to said image sensing means;

second circuit means, coupled to said driver circuit means, for producing second reference clock pulses for determining timing of the start pulses to be provided from said driver circuit means to said image sensing means;

third circuit means for detecting a peak level of the analog output produced by said image sensing means; and

fourth circuit means, coupled to said third circuit means, for adjusting timing of the second reference clock pulses generated by said second circuit means in response to an output of said third circuit means,

thereby adjusting the timing of the second reference clock pulses generated by said second circuit means, thus adjusting time period of the start pulses to be applied from said driver circuit means to said image sensing means.

23. An apparatus according to claim 22, wherein said second circuit means is coupled to said first circuit means to generate the second reference clock pulses for every predetermined number of the first reference clock pulses generated by said first circuit means;

and said fourth circuit means is coupled to said first circuit means to adjust the timing of the first reference clock pulses to be generated by said first reference clock pulses, thereby to adjust the timing of the second reference clock pulses generated by said second circuit means.