Distance measurement device

• US 5,699,151 A
• Filed: 06/26/1995
• Issued: 12/16/1997
• Est. Priority Date: 06/28/1994
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Akasu, Masahira
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/494,769
• Time in Patent Office: 904 Days
• Field of Search: 356/5.01, 356/5.05
• US Class Current: 356/5.01
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 7/483 Details of pulse systems
• CPC Class Codes: G01S 7/487 Extracting wanted echo signals , e.g. pulse detection
• CPC Class Codes: G01S 7/495 Counter-measures or counter-counter-measures using electronic or electro-optical means
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A distance measurement device comprising a light-sending unit for sending pulsed light toward an object of measurement where a distance thereto is measured, a light-receiving unit for receiving incident light including pulsed reflection light reflected by the object, a distance measurement unit for measuring the time from the sending of the pulsed light to the receiving of the incident light and calculating the distance to the object, and an interference detection unit for determining whether interference light exists in the incident light, based on the intensity of the incident light.

Claims

1. A distance measurement device comprising:

light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured;

light-receiving means for receiving incident light including pulsed reflection light reflected by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object; and

interference detection means for determining whether interference light exists in said incident light, based on the intensity of said incident light;

wherein said interference detection means determines whether interference light exists in said incident light, by comparing the intensity of said incident light with a set value preset according to a distance.

2. A distance measurement device comprising:

light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured;

light-receiving means for receiving incident light including pulsed reflection light reflected by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object; and

interference detection means for determining whether interference light exists in said incident light, based on the intensity of said incident light;

wherein said interference detection means stores a plurality of distance data measured by said distance measurement means and a plurality of intensity data of incident light corresponding to said plurality of distance data, and determines whether interference light exists in said incident light, based on fluctuations in said distance data and said intensity data of said incident light.

3. A distance measurement device comprising:

light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured;

light-receiving means for receiving incident light including pulsed reflection light reflected by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object; and

interference detection means for determining whether interference light exists in said incident light, based on the intensity of said incident light;

wherein said interference detection means determines whether interference light exists in said incident light, by detecting from said pulsed light sent by said light-sending means the intensity of said incident light after a distance measurement time equivalent to a distance measurable range of said distance measurement means.

4. A distance measurement device comprising:

light-sending means for periodically sending pulsed light toward an object of measurement where a distance thereto is measured;

light-receiving means for receiving incident light including pulsed reflection light reflected by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light to obtain time data and calculating the distance to said object to obtain distance data; and

interference detection means for determining whether interference light exists in said incident light, by detecting, from excess time data which exceeds a predetermined time among said time data, the periodicity of the excess time data.

5. The distance measurement device as set forth in claim 4, which further comprises data invalidation means for calculating, based on the incident timing and occurrence period of incident light when determined as interference light by said interference detection means, a chance that the interference light overlaps the pulsed reflection light from the sending of said pulsed light of the light-sending means, within a predetermined time, and for making invalid distance data obtained when the interference light overlaps the pulsed reflection light.

6. A distance measurement device comprising:

light-sending means for periodically sending pulsed light toward an object of measurement where a distance thereto is measured, wherein timing of the sending of said pulsed light is synchronized with a clock pulse;

light receiving means for receiving incident light including pulsed reflection light reflected by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object;

light-sending stop means for stopping the sending of the pulsed light at least by the next light-sending timing after the distance measurement by said distance measurement means; and

interference detection means for determining whether interference light exists in said incident light, based on incident light that is incident on said light-receiving means between said next light-sending timing at which the sending of the pulsed light of the light-sending means is stopped by said light-sending stop means and the next after the next light-sending timing at which the sending of the pulsed light is restarted.

7. The distance measurement device as set forth in claim 6, wherein said interference detection means determines that interference light exists in the incident light, when the incident light is incident on said light-receiving means between said next light-sending timing at which the sending of the pulsed light of the light-sending means is stopped by said light-sending stop means and the next after the next light-sending timing at which the sending of the pulsed light is restarted.

8. The distance measurement device as set forth in claim 6, wherein said interference detection means stores as intensity data of incident light the intensity of incident light of said light-receiving means obtained at the time of the distance measurement of said distance measurement means, compares said intensity data of the incident light with the intensity of incident light that is incident on said light-receiving means between said next light-sending timing at which the sending of the pulsed light of the light-sending means is stopped by said light-sending stop means and the next after the next light-sending timing at which the sending of the pulsed light is restarted, and determines whether interference light exists in the incident light.

9. The distance measurement device as set forth in claim 6, wherein said light-sending stop means stops the sending of said pulsed light, and said interference detection means determines whether interference light exists in the incident light, based on whether there is the periodicity of incident light that is incident on said light-receiving means between said next light-sending timing at which the sending of the pulsed light of the light-sending means is stopped by said light-sending stop means and the next after the next light-sending timing at which the sending of the pulsed light is restarted.

10. A distance measurement device comprising:

light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured;

light-sending output control means for controlling an output of said pulsed light;

light-receiving means for receiving incident light including pulsed reflection light reflected by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object; and

interference detection means for storing the intensity of said pulsed light and the intensity of said incident light as intensity data of said pulsed light and intensity data of said incident light, and for determining whether interference light exists in said incident light, based on said intensity data of said pulsed light and said intensity data of said incident light as the output of said pulsed light is changed by said light-sending output control means.

11. The distance measurement device as set forth in claim 10, wherein said interference detection means determines that interference light does not exist in the incident light, when the intensity of the incident light is increased and decreased as the intensity of the pulsed light is increased and decreased.

12. A distance measurement device comprising:

scan light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured, while scanning a predetermined range in a one-dimensional or two-dimensional direction;

light-receiving means for receiving incident light including pulsed reflection light reflected in each scanning direction by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object in said each scanning direction as distance data; and

interference detection means for determining whether interference light exists in said reflection light, based on the intensity data and distance data of said incident light;

wherein said interference detection means determines whether interference light exists in said incident light, based on a fluctuation in distance data in one scan.

13. A distance measurement device comprising:

scan light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured, while scanning a predetermined range in a one-dimensional or two-dimensional direction;

light-receiving means for receiving incident light including pulsed reflection light reflected in each scanning direction by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object in said each scanning direction as distance data; and

interference detection means for determining whether interference light exists in said reflection light, based on the intensity data and distance data of said incident light;

wherein said interference detection means determines whether interference light exists in said reflection light, by calculating, for each direction, a fluctuation in distance data obtained by a plurality of scans.

14. A distance measurement device comprising:

scan light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured, while scanning a predetermined range in a one-dimensional or two-dimensional direction;

light-receiving means for receiving incident light including pulsed reflection light reflected in each scanning direction by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object in said each scanning direction as distance data; and

interference detection means for determining whether interference light exists in said reflection light, based on the intensity data and distance data of said incident light;

wherein said interference detection means determines whether interference light exists in said incident light, based on intensity or distance data of reflection light in an end of horizontal scan and in the vicinity of a central portion, among distance data obtained by a plurality of scans.

15. A distance measurement device comprising:

scan light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured, while scanning a predetermined range in a one-dimensional or two-dimensional direction;

light-receiving means for receiving incident light including pulsed reflection light reflected in each scanning direction by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object in said each scanning direction as distance data; and

interference detection means for determining whether interference light exists in said reflection light, based on the intensity data and distance data of said incident light;

wherein said scan light-sending means stops the sending of the pulsed light for a predetermined time during a scan, and said interference detection means determines whether interference light exists in said incident light, based on incident light that is incident on said light-receiving means during the stop of the sending of the pulsed light.

16. The distance measurement device as set forth in claim 15, wherein said scan light-sending means stops the sending of the pulsed light during a return of a scan.

17. A distance measurement device comprising:

scan light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured, while scanning a predetermined range in a one-dimensional or two-dimensional direction;

light-receiving means for receiving incident light including pulsed reflection light reflected in each scanning direction by said object;

distance measurement means for calculating based on the time from the sending of said pulsed light to the receiving of said incident light and based on said scanning direction, a direction of said incident light and also the distance to said object in said direction of said incident light as distance data; and

interference detection means for determining whether interference light exists in said incident light, based on a direction of light that is incident from a range of acceptance angle covering the scan range of said scan light-sending means and based on said direction of said incident light.

18. The distance measurement device as set forth in claim 17, which further comprises data invalidation means for making invalid distance data corresponding to an incident direction of interference light, when said interference detection means determines that the interference light exists in incident light.

21. The distance measurement device as set forth in claim 17 or 19, which further comprises distance data replacement means for replacing distance data made invalid when said interference detection means determines that interference light exits, with distance data in the incident direction of interference light at the time of a previous scan.

22. The distance measurement device as set forth in claim 17 or 19, which further comprises distance data interpolation means which calculates distance data of the incident direction of interference light based on distance data of a direction adjacent to the incident direction of interference light, when said interference detection means determines that interference light exits, and replaces the distance data made invalid with the calculated distance data.

19. A distance measurement device comprising:

scan light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured, while scanning a predetermined range in a one-dimensional or two-dimensional direction;

light-receiving means which has a predetermined directivity and receives incident light including pulsed reflection light reflected in each scanning direction by said object;

distance measurement means for calculating, based on the time from the sending of said pulsed light to the receiving of said incident light and based on said scanning direction, a direction of said incident light and also the distance to said object in said direction of said incident light as distance data; and

interference detection means which has a second predetermined directivity different from said predetermined directivity of said light-receiving means, scans the scan range to receive second incident light not including said pulsed reflection light, and determines whether interference light exists, based on said second incident light.

20. The distance measurement device as set forth in claim 19, which further comprises data invalidation means which stores a direction of said second incident light as second incident light direction data, calculates an incident direction of interference light based on the stored second incident light direction data, when said interference detection means determines that interference light exists, and makes invalid the distance data corresponding to said incident direction of interference light.

23. A distance measurement device comprising:

light-sending means for sending pulsed light toward an object of measurement where a distance thereto is measured, at the light-sending timing synchronized with a clock pulse;

light-receiving means for receiving incident light including pulsed reflection light reflected by said object;

distance measurement means for measuring the time from the sending of said pulsed light to the receiving of said incident light and calculating the distance to said object;

light-sending stop means for stopping the sending of the pulsed light at the next light-sending timing after the distance measurement by said distance measurement means;

interference detection means for determining whether interference light exists; and

interference avoidance means for shifting the next light-sending timing and the light-sending timing thereafter, when said interference detection means determines that interference light exists.

24. The distance measurement device as set forth in claim 23, wherein said interference avoidance means delays or quickens said light-sending timing for more than a distance measurement time equivalent to a distance measurable range.

25. The distance measurement device as set forth in claim 23, wherein the time that said interference avoidance means shifts said light-sending timing is an arbitrary value.

26. The distance measurement device as set forth in claim 23, wherein said interference avoidance means shifts said light-sending timing immediately after the light-receiving timing at which said light-receiving means receives interference light.

27. The distance measurement device as set forth in claim 23, wherein said interference detection means detects the incident timing and period of interference light as well as determining whether interference light exists, and said interference avoidance means calculates, based on said incident timing and period of interference light, a chance that interference light overlaps pulsed light within a distance measurement time equivalent to a distance measurable range after said light-sending means sends pulsed light, and delays or quickens the light-sending timing so that interference light does not overlap pulsed light within said distance measurement time equivalent to a distance measurable range after said light-sending means sends pulsed light.