3D measurement sensor
First Claim
1. A three-dimensional measurement sensor which obtains information for calculation of a three-dimensional shape through a light-sectioning method, the sensor comprising:
- a light detector array in which light detectors are placed in a matrix form;
a row signal line which is provided for each row of the light detector array and which is connected to an output of each light detector belonging to a corresponding row;
a row scan circuit which selects light detectors of the light detector array in units of columns, causes output of an output signal of each selected light detector to a corresponding row signal line, and sequentially switches a column to be selected from one end of the row to another end of the row during a row scan period which is sufficiently short such that an image of slit light which is scanned for the light-sectioning method on the light detector array can be assumed to be substantially stationary;
a light reception position detector circuit which is provided for each row signal line, which detects, for each row scan period, a peak of a signal flowing through a corresponding row signal line in the row scan period, and which determines information of a light reception position on the row of the light detector array in the row scan period on the basis of a timing of detection of the peak; and
an output circuit which outputs the information of the light reception position determined by each light reception position detector circuit for each row scan period.
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Accused Products
Abstract
In a matrix of light detectors forming a part of a three-dimensional measurement sensor, outputs of light detectors belonging to a same row are connected to a common signal line. An output of each light detector is read, through scanning by the horizontal scan circuit, to the signal line from left to right in order, during a horizontal scan period which is sufficiently short such that slit light of a light-sectioning method can be assumed to be substantially stationary. A position detector determines a time from start of the horizontal scan period until detection of a maximum peak of a signal in the signal line. The time indicates a distance from an end of the row from which scanning is started to the light detector detecting the peak of the slit light. A recording processor records a value of a distance determined by the position detector in correspondence to a value of a counter indicating a projection angle of the slit angle.
16 Citations
9 Claims
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1. A three-dimensional measurement sensor which obtains information for calculation of a three-dimensional shape through a light-sectioning method, the sensor comprising:
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a light detector array in which light detectors are placed in a matrix form; a row signal line which is provided for each row of the light detector array and which is connected to an output of each light detector belonging to a corresponding row; a row scan circuit which selects light detectors of the light detector array in units of columns, causes output of an output signal of each selected light detector to a corresponding row signal line, and sequentially switches a column to be selected from one end of the row to another end of the row during a row scan period which is sufficiently short such that an image of slit light which is scanned for the light-sectioning method on the light detector array can be assumed to be substantially stationary; a light reception position detector circuit which is provided for each row signal line, which detects, for each row scan period, a peak of a signal flowing through a corresponding row signal line in the row scan period, and which determines information of a light reception position on the row of the light detector array in the row scan period on the basis of a timing of detection of the peak; and an output circuit which outputs the information of the light reception position determined by each light reception position detector circuit for each row scan period. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification