Distance measuring equipment

• US 4,668,084 A
• Filed: 07/26/1984
• Issued: 05/26/1987
• Est. Priority Date: 08/09/1983
• Status: Expired due to Fees

• Current Assignee: Fuji Electric's Research And Development, Ltd., Fuji Electric Company Limited (Fuji Electric Systems Company Limited), Konishiroku Photo Industry Co., Ltd.
• Original Assignee: Fuji Electric's Research And Development, Ltd., Fuji Electric Company Limited (Fuji Electric Systems Company Limited), Konishiroku Photo Industry Co., Ltd.
• Inventors: Suzuki, Kiziro, Tsutsumi, Takashi, Nishibe, Takashi, Yokoyama, Shotaro
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Wallace, Linda J.
• Application Number:
  US06/634,700
• Time in Patent Office: 1,034 Days
• Field of Search: 356/1, 356/4, 354/408, 354/403
• US Class Current: 356/3.14
• CPC Class Codes: G02B 7/30 using parallactic triangle with a base line

Abstract

A distance measuring equipment wherein two images of an object are received on photosensor arrays each, two image data rows indicating a luminous intensity distribution in the object are compared with each other, and a distance to the object is measured from a mutual shift rate of both the signal rows which is required for bringing both the signal rows into coincidence at high correlation. A presence of the shift rate whereat the both image data rows indicate a high correlation is detected when it is present plurally, a part of the plural shift rate including a shift rate corresponding to the highest correlation is stored and taken.

Claims

1. A distance measuring device comprising first and second receiving means for receiving radiation from an object along different optical paths, said receiving means generating first and second groups of signals, quantizing means for quantizing said signals, said quantizing means generating first and second quantized data rows responsive to said first and second groups of signals, means for shifting at least one of said first and second rows, means for correlating a coincidence between said first and second rows each time after said shifting is completed, means for obtaining at least one shift rate which indicates a maximum coincidence, and judging means for judging a condition wherein said first and second rows are not reliable for obtaining the distance, said condition being detected based on said first group of signals which have first values and second group of signals which have second values, said first and second values corresponding to first and second distributions of said radiation, said judging means generating a first signal when said condition is detected.

12. The device of claim 1 wherein said judging means includes detecting means for detecting a maximum value of said first and second values, comparing means for comparing said value with a predetermined level, and means for judging said condition when said maximum value is not greater than said predetermined level.

13. The device of claim 1 wherein said judging means includes detecting means for detecting first and second maximum values of said first and second values respectively, comparing means for comparing said first and second maximum values with a predetermined level, and means for judging said condition when both of said first and second maximum values are not greater than said predetermined value.

14. The device of claim 1 wherein said judging means includes detecting means for detecting a first difference between a maximum value and a minimum value of said first values and a second difference between a maximum value and a minimum value of said second values, and means for judging said condition when said first and second differences are not greater than a predetermined level.

15. The device of claim 1 whrein said judging means includes detecting means for detecting a first difference between a maximum value and a minimum value of said first values and a second difference between a maximum value and a minimum value of said second values, means for judging said condition when at least one of said first and second difference is not greater than a predetermined level.

16. The device of claim 1 wherein said judging means includes detecting means for detecting first and second maximum values of said first and second values respectively, and first and second minimum values of said first and second values, respectively, and means for judging said condition when said first maximum value is not greater than said second minumum value or said second maximum value is not greater than said first minimum value.

17. The device of claim 1, wherein said first and second groups of signals are image pulses each pulse-width of which corresponds to said distributions, said judging means detecting at least one of maximum pulse-widths and minimum pulse-widths and judging said first condition based on said pulse-width.

18. The device of claim 17, wherein said judging means includes logical gate means which detects at least one of a terminal of the longest pulse and a terminal of the shortest pulse.

19. The device of claim 18, wherein each of said pulse-widths decreases in accordance as intensity of said radiation increases, said logical gate means includes an OR gate for detecting said terminal of the shortest pulse and AND gate for detecting said terminal of the longest pulse.

20. The device of claim 1, wherein said judging means includes means for detecting a start of supplying electric power to the device, and means for generating said first signal during a first measurement of the distance after said start.

21. The device of claim 1, wherein said first signal prevents the device from transfering a distance signal.

22. The device of claim 1, wherein said judging means includes detecting means for detecting a difference between a maximum value of said first and second values and a minimum value of said first and second values, and means for judging said condition when said difference is not greater than a predetermined level.

23. The device of claim 1, wherein said judging means includes detecting means for detecting a first difference between a maximum value and a minimum value of said first values and a second difference between a maximum value and a minimum value of said second values, and means for judging said condition when said first and second differences are not greater than a predetermined level.

24. The device of claim 1, wherein said judging means includes detecting means for detecting a first difference between a maximum value and a minimum value of said first values and a second difference between a maximum value and a minimum value of said second values, and means for judging said condition when at least one of said first and second differences is not greater than a predetermined level.

2. A distance measuring device comprising, first and second receiving means for receiving radiation from an object along different optical paths, said receiving means generating first and second groups of signals, quantizing means for quantizing said signals, said quantizing means generating first and second quantized data rows responsive to said first and second groups of signals, means for shifting at least one of said first and second rows, means for correlating a coincidence between said first and second rows each time after said shifting is completed, means for obtaining at least one shift rate which indicates a maximum coincidence and judging means for judging a condition wherein said shift rate indicating said maximum coincidence is plural, said judging means generating a signal when said condition is detected.

3. The device of claim 2, wherein said judging means includes means for detecting a number of said plural not being smaller than a first predetermined number and being smaller than a second predetermined number.

4. The device of claim 3, wherein said first number is two and said second number is four.

5. The device of claim 2, wherein said judging means includes means for detecting said shifting rates being discontinuous.

6. The device of claim 2, wherein said judging means includes means for detecting said shifting rates being continuous.

7. The device of claim 2, wherein said judging means includes means for detecting a number of said plural being greater than a predetermined number.

8. The device of claim 7, wherein said predetermined number is four.

9. The device of claim 7, wherein said signal generated by said judging means prevents the device from transfering a distance signal.

10. The device of claim 2, wherein said judging means includes a shift register having at least a number of stages corresponding to a number of said shifting, said shift register being adapted to store logical values in stages corresponding to said shift rates, means for counting said logical values outputted from said shift register responsive to a read pulse, and means for judging whether or not said shift rate is plural.

11. The device of claim 2, further comprising means for storing and outputting at least two said shift rates.

25. A distance measuring device comprising:

first and second receiving means for receiving radiation from an object along different optical paths, said receiving means generating first and second groups of signals, quantizing means for quantizing said signals, said quantizing means generating first and second quantized data rows responsive to said first and second groups of signals, means for shifting at least one of said first and second rows, means for correlating a coincidence between said first and second rows each time after said shifting is completed, means for obtaining at least one first shift rate which indicates a maximum coincidence and judging means for detecting a condition wherein said first shift rate is plural, said judging means generating a signal when said condition is detected, means for obtaining at least one second shift rate which indicates a maximum coincidence and means for storing said first shift rate and second shift rate.