Optical distance measurement apparatus and method using cleaning device

• US 5,623,334 A
• Filed: 12/29/1994
• Issued: 04/22/1997
• Est. Priority Date: 12/29/1993
• Status: Expired due to Fees

• Current Assignee: Hyundai AMCO Company Limited (Hyundai Mobis Co., Ltd.)
• Original Assignee: Hyundai Electronics Industries Co. Ltd. (SK Hynix Inc.)
• Inventors: Cho, Deog S., Cho, Jung S.
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US08/365,916
• Time in Patent Office: 845 Days
• Field of Search: 356/5.01-5.15, 356/4.02, 180/167, 180/169
• US Class Current: 356/4.02
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

Optical distance measurement apparatus and method. The apparatus comprises a light emitting circuit, a light receiving circuit, a trigger signal generation circuit, a pollution sensor, a diode abnormal state sensor, a control/time-distance conversion circuit, a cleaning device and a car collision prevention device. The pollution sensor receives a part of a light beam which is emitted from the light emitting circuit and then reflected from protecting glass mounted on a front side of the apparatus, to sense a variation in a reflectivity of the protecting glass, and discriminates a polluted state of the protecting glass in accordance with the sensed result. The diode abnormal state sensor receives the part of the light beam which is emitted from the light emitting circuit and then reflected from the protecting glass, to sense an abnormal state of a light emitting laser diode in the light emitting circuit, and emits a light beam to the light receiving circuit through the protecting glass to sense an abnormal state of a light receiving photo diode in the light receiving circuit. The cleaning device removes pollution on a front surface of the protecting glass under control of the control/time-distance conversion circuit.

Claims

1. An optical distance measurement apparatus comprising:

light emitting means for emitting a high-power pulse light beam as a distance measuring medium to an object;

light receiving means for receiving a light beam reflected from the object;

trigger signal generation means, coupled to said light emitting means, for generating a trigger signal indicative of a start time point for measurement of a light moving time;

pollution sensing means for receiving a part of the light beam which is emitted from said light emitting means and then reflected from a protecting glass mounted on a front side of the apparatus, to sense a variation in a reflectivity of said protecting glass, and discriminating pollution on a front surface of said protecting glass in accordance with the sensed result;

diode abnormal state sensing means for receiving the part of the light beam which is emitted from said light emitting means and then reflected from said protecting glass, to sense an abnormal state of a light emitting laser diode in said light emitting means, and emitting a light beam to said light receiving means through said protecting glass to sense whether a light receiving photo diode in said light receiving means is in a normal or abnormal state and to output an output signal indicating whether or not the reflected light signal has been detected;

control/time-distance conversion means, coupled to said light emitting means, said light receiving means, said trigger generation means, said pollution sensing means, and said diode abnormal state sensing means, for controlling the entire operation of the apparatus in response to an output signal from said pollution sensing means and said output signal from said diode abnormal state sensing means, measuring the light moving time in response to the trigger signal from said trigger signal generation means and an output signal from said light receiving means and converting the measured light moving time into a distance to the object;

cleaning means for removing the pollution on the front surface of said protecting glass under the control of said control/time-distance conversion means; and

car collision prevention means for giving an alarm to the user and accelerating or decelerating a car under the control of said control/time-distance conversion means when a dangerous situation occurs in traveling of the car.

2. An optical distance measurement apparatus as set forth in claim 1, wherein said light emitting means includes:

said laser diode being a light source for producing the high-power pulse light beam;

a laser diode driving circuit for driving said laser diode in response to a drive signal from said control/time-distance conversion means; and

a light emitting lens for focusing the light beam from said laser diode and diffusing the focused light beam at a desired angle to emit it to the object.

3. An optical distance measurement apparatus as set forth in claim 1, wherein said light receiving means includes:

a light receiving lens for condensing the light beam reflected from the object;

an infrared-ray filter for passing only a part of the light beam condensed by said light receiving lens, corresponding to the light beam emitted from said light emitting means, to remove an external light beam therefrom;

said photo diode performing a photoelectric conversion operation for the light beam filtered by said infrared-ray filter to produce an electrical signal;

an amplifier for amplifying the electrical signal from said photo diode; and

a wave-shaping circuit for converting an output signal from said amplifier into a digital signal and outputting the converted digital signal to said control/time-distance conversion means so that it can recognize that the reflected light signal has been detected.

4. An optical distance measurement apparatus as set forth in claim 1, wherein said trigger signal generation means includes:

a time delay circuit for delaying the drive signal from said control/time-distance conversion means for a desired time and outputting the delayed drive signal as the trigger signal to said control/time-distance conversion means; and

a time delay adjustment unit for varying a time constant of said time delay circuit to adjust the delay time thereof.

5. An optical distance measurement apparatus as set forth in claim 1, wherein said pollution sensing means includes:

a photo diode for receiving the part of the light beam which is emitted from said light emitting means and then reflected from said protecting glass and converting the received light beam into an electrical signal;

an amplifier for amplifying the electrical signal from said photo diode; and

a light amount comparator for comparing an output signal from said amplifier with a reference signal and outputting the resultant signal to said control/time-distance conversion means.

6. An optical distance measurement apparatus as set forth in claim 1, wherein said diode abnormal state sensing means includes:

a laser diode for emitting the light beam to said light receiving means through said protecting glass to monitor said light receiving photo diode in said light receiving means, said light beam emitted from said laser diode being an infrared ray having a wavelength corresponding to a receiving sensitivity of said light receiving photo diode;

a laser diode driving circuit for driving said laser diode;

a photo diode for receiving the part of the light beam which is emitted from said light emitting means and then reflected from said protecting glass, to monitor said light emitting laser diode in said light emitting means, and converting the received light beam into an electrical signal;

an amplifier for amplifying the electrical signal from said photo diode; and

a wave-shaping circuit for converting an output signal from said amplifier into a digital signal and outputting the converted digital signal to said control/time-distance conversion means so that it can recognize that the reflected light signal has been detected.

7. An optical distance measurement apparatus as set forth in claim 1, wherein said cleaning means includes:

a cleaning motor driver for outputting a motor drive signal under the control of said control/time-distance conversion means;

a cleaning pad for reciprocating laterally along the front surface of said protecting glass to remove the pollution thereon; and

a cleaning motor for driving said cleaning pad in response to the motor drive signal from said cleaning motor driver.

8. An optical distance measurement method comprising the steps of:

(a) driving a laser diode to emit a light beam to an object, receiving a part of the light beam which is emitted from said laser diode and then reflected from a protecting glass and sensing pollution on a front surface of said protecting glass in accordance with the received state;

(b) sensing an error of said laser diode;

(c) sensing an error of a photo diode for receiving the light beam from said laser diode; and

(d) measuring a time delay value resulting from a temperature variation and obtaining an actual distance to the object on the basis of the measured time delay value,

wherein said step (b) of sensing the error of said laser diode includes the steps of;

(b-1) initializing a cleaning motor driver;

(b-2) discriminating whether a first microswitch is at its ON state, determining that an error is present in said cleaning motor driver, if it is discriminated that said first microswitch is not at its ON state, and then driving an error alarm unit to give an alarm;

(b-3) discriminating whether a laser diode state checking function is required, if it is discriminated at said step (b-2) that said first microswitch is at its ON state, returning the operation to said step (b-1) if it is discriminated that the laser diode state checking function is not required and moving a cleaning pad to a second microswitch if it is discriminated that the laser diode state checking function is required;

(b-4) discriminating whether said second microswitch is at its ON state when said cleaning pad reaches said second microswitch;

(b-5) driving said laser diode to emit the light beam, if it is discriminated at said step (b-4) that said second microswitch is at its ON state;

(b-6) initializing said cleaning motor driver again to move said cleaning pad to its initial position, if it is discriminated at said step (b-4) that said second microswitch is not at its ON state, discriminating whether said first microswitch is at its ON state, driving said cleaning pad to perform the laser diode state checking function, if it is discriminated that said first microswitch is at its ON state, and discriminating whether said second microswitch is at its ON state;

(b-7) determining that the error is present in said cleaning motor driver, if it is discriminated at said step (b-6) that said second microswitch is not at its ON state, driving said error alarm unit to give the alarm and performing said step (b-5) of driving said laser diode to emit the light beam, if it is discriminated at said step (b-6) that said second microswitch is at its ON state; and

(b-8) checking, after performing said step (b-5), whether said photo diode receives a part of the light beam which is emitted from said laser diode and then reflected from a reflection surface of said cleaning pad, determining that the error is present in said laser diode, if it is checked that said photo diode receives the reflected light beam, returning the operation to said step (b-1), determining that the error is present in said laser diode, if it is checked that said photo diode receives no light beam, and then driving said error alarm unit to give the alarm.

9. An optical distance measurement method as set forth in claim 8, wherein said step (d) of measuring the time delay value resulting from the temperature variation includes the steps of:

(d-1) moving a cleaning pad to a position for the time delay measurement and driving said laser diode to emit the light beam;

(d-2) checking whether said photo diode receives a part of the light beam which is emitted from, said laser diode and then reflected from a reflection surface of said cleaning pad, determining that the error is present in said laser diode, if it is checked that said photo diode receives no light beam, and then returning the operation to said step (d-1);

(d-3) measuring an offset distance value if it is checked at said step (d-2) that said photo diode receives the reflected light beam and returning said cleaning pad to its initial position;

(d-4) driving said laser diode to emit the light beam and checking whether said photo diode receives the light beam reflected from the object;

(d-5) discriminating whether an offset measurement function is required, if it is checked at said step (d-4) that said photo diode receives no light beam, returning the operation to said step (d-1) if it is discriminated that the offset measurement function is required and returning the operation to said step (d-4) if it is discriminated that the offset measurement function is not required; and

(d-6) measuring a distance value to the object if it is checked at said step (d-4) that said photo diode receives the light beam reflected from the object, obtaining the actual distance to the object by subtracting the offset distance value measured at said step (d-3) from the measured distance value to the object and then returning the operation to said step (d-5).

10. An optical distance measurement method as set forth in claim 8, wherein said step (a) of sensing the pollution on the front surface of said protecting glass includes the steps of:

(a-1) initializing a system and performing a self-diagnostic function to check whether the system is normal;

(a-2) stopping the operation if it is checked at said step (a-1) that the system is not normal and informing the user of such a situation;

(a-3) checking whether the pollution is present on the front surface of said protecting glass, if it is checked at said step (a-1) that the system is normal;

(a-4) driving a cleaning pad for a predetermined time period to clean the pollution on the front surface of said protecting glass, if it is checked at said step (a-3) that the pollution is present on the front surface of said protecting glass;

(a-5) checking whether said cleaning pad is at its initial position after being driven for the predetermined time period at said step (a-4);

(a-6) stopping the operation if it is checked at said step (a-5) that said cleaning pad is not at its initial position and informing the user of such a situation to prevent an obstruction in the transmission and reception of the light beam due to said cleaning pad from having a bad effect on the system;

(a-7) checking whether the pollution is present on the front surface of said protecting glass, if it is checked at said step (a-5) that said cleaning pad is at its initial position;

(a-8) operating a car collision prevention device if it is checked at said step (a-7) that the pollution is not present on the front surface of said protecting glass; and

(a-9) returning the operation to said step (a-4) to drive repeatedly said cleaning pad by up to a predetermined maximum number of times, if it is checked at said step (a-7) that the pollution is present on the front surface of said protecting glass, stopping the operation if the pollution is present on the front surface of said protecting glass even after said cleaning pad is repeatedly driven by up to the predetermined maximum number of times, and then informing the user of such a situation.

11. An optical distance measurement method as set forth in claim 8, wherein said step (c) of sensing the error of said photo diode includes the steps of:

(c-1) outputting an infrared ray emitting diode ON signal and checking an output signal from a diode abnormal state sensor;

(c-2) ANDing the infrared ray emitting diode ON signal and the output signal from said diode abnormal state sensor and checking whether the ANDed signal is high in level;

(c-3) determining that said photo diode is normal, if it is checked at said step (c-2) that the ANDed signal is high in level, and performing the operation normally; and

(c-4) determining that said photo diode is abnormal, if it is checked at said step (c-2) that the ANDed signal is low in level, stopping the operation and informing the user of such a situation.

12. An optical distance measurement method comprising the steps of:

(a) driving a laser diode to emit a light beam to an object receiving a part of the light beam which is emitted from said laser diode and then reflected from a protecting glass and sensing pollution on a front surface of said protecting glass in accordance with the received state;

(b) sensing an error of said laser diode;

(c) sensing an error of a photo diode for receiving the light beam from said laser diode; and

(d) measuring a time delay value resulting from a temperature variation and obtaining an actual distance to the object on the basis of the measured time delay value,

wherein said step (b) of sensing the error of said laser diode includes the steps of;

(b-1) outputting a laser diode ON signal and checking an output signal from a diode abnormal state sensor;

(b-2) ANDing the laser diode ON signal and the output signal from said diode abnormal state sensor and checking whether the ANDed signal is high in level;

(b-3) determining that said laser diode is normal, if it is checked at said step (b-2) that the ANDed signal is high in level, and performing the operation normally; and

(b-4) determining that said laser diode is abnormal, if it is checked at said step (b-2) that the ANDed signal is low in level, stopping the operation and informing the user of such a situation.