Object detection system and object detection method
First Claim
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1. An object detection system comprising:
- light radiation means for radiating light of a two-dimensional pattern to an object;
light sweeping means for carrying out a sweeping operation by continuously changing the radiation direction of said light of a two-dimensional pattern within a space determined in advance;
light reflection means attached to a predetermined location on said object to serve as a detection subject and used for reflecting said light of a two-dimensional pattern in a direction opposite to said radiation direction of said light of a two-dimensional pattern;
reflected-light detection means for detecting said light reflected by said light reflection means to appear as light arriving at said reflected-light detection means; and
reflected-light analysis means for computing vertical-direction and horizontal-direction angles on the basis of a signal representing said reflected light detected by said reflected-light detection means,wherein,said two-dimensional pattern is configured to include code series generated by using two-dimensional M-sequence random numbers indicating the nonexistence and existence of a square pattern,said reflected-light analysis means computes;
one of said vertical-direction and horizontal-direction angles of said light reflection means by identifying said code series, and the other vertical-direction and horizontal-direction angle of said light reflection means by detecting a phase shift of said identified code series.
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Abstract
Disclosed herein is an object detection system including, a light radiation section, a light sweeping block, a light reflection body, a reflected-light detection section, and a reflected-light analysis section.
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Citations
6 Claims
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1. An object detection system comprising:
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light radiation means for radiating light of a two-dimensional pattern to an object; light sweeping means for carrying out a sweeping operation by continuously changing the radiation direction of said light of a two-dimensional pattern within a space determined in advance; light reflection means attached to a predetermined location on said object to serve as a detection subject and used for reflecting said light of a two-dimensional pattern in a direction opposite to said radiation direction of said light of a two-dimensional pattern; reflected-light detection means for detecting said light reflected by said light reflection means to appear as light arriving at said reflected-light detection means; and reflected-light analysis means for computing vertical-direction and horizontal-direction angles on the basis of a signal representing said reflected light detected by said reflected-light detection means, wherein, said two-dimensional pattern is configured to include code series generated by using two-dimensional M-sequence random numbers indicating the nonexistence and existence of a square pattern, said reflected-light analysis means computes;
one of said vertical-direction and horizontal-direction angles of said light reflection means by identifying said code series, and the other vertical-direction and horizontal-direction angle of said light reflection means by detecting a phase shift of said identified code series. - View Dependent Claims (2, 3, 4)
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5. An object detection method comprising the steps of:
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radiating light of a two-dimensional pattern to an object; carrying out a sweeping operation by continuously changing the radiation direction of said light of a two-dimensional pattern within a space determined in advance; letting a detection subject attached to a predetermined location on said object reflect said light of a two-dimensional pattern in a direction opposite to said radiation direction of said light of a two-dimensional pattern; detecting said reflected light arriving from said detection subject; and computing vertical-direction and horizontal-direction angles, which are each formed by a line connecting light radiation means for radiating said light of a two-dimensional pattern to said detection subject and a reference line in a vertical or horizontal direction respectively, on the basis of a signal representing said detected reflected light, wherein, said two-dimensional pattern is configured to include code series generated by using two-dimensional M-sequence random numbers indicating the nonexistence and existence of a square pattern, one of said vertical-direction and horizontal-direction angles is computed by identifying said code series, and the other vertical-direction and horizontal-direction angle is computed by detecting a phase shift of said identified code series.
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6. An object detection system comprising:
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a light radiation section configured to radiate light of a two-dimensional pattern to an object; a light sweeping block configured to carry out a sweeping operation by continuously changing the radiation direction of said light of a two-dimensional pattern within a space determined in advance; a light reflection body attached to a predetermined location on said object to serve as a detection subject and used for reflecting said light of a two-dimensional pattern in a direction opposite to said radiation direction of said light of a two-dimensional pattern; a reflected-light detection section configured to detect said light reflected by said light reflection body to appear as light arriving at said reflected-light detection section; and a reflected-light analysis section configured to compute vertical-direction and horizontal-direction angles, which are each formed by a line connecting said light radiation section to said light reflection body and a reference line in a vertical or horizontal direction respectively, on the basis of a signal representing said reflected light detected by said reflected-light detection section, wherein, said two-dimensional pattern is configured to include code series generated by using two-dimensional M-sequence random numbers indicating the nonexistence and existence of a square pattern, said reflected-light analysis section finds a vertical-direction azimuth of said light reflection body by division to compute a value according to a ratio of the output level of light generated by a specific one of said code series to the output level of light generated by another one of said code series.
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Specification