三次元測距装置及び移動ロボット

Three-dimensional distance measuring device and mobile robot

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional distance measuring device that can be easily installed in a compact, mobile robot. <P>SOLUTION: The three-dimensional distance measuring device 1 includes an optical section 20 and a signal processing section 30. The optical section 20 includes: a laser light receiving and emitting section 2 for receiving and emitting laser light; and a polygon mirror 3 which has a plurality of mirror surfaces, which is driven to rotate on an axis C1 orthogonal to the optical axis of the laser light emitted from the laser light receiving and emitting section 2, which irradiates an object with the laser light by reflecting the laser light emitted from the laser light receiving and emitting section 2 by the mirror surfaces, and which guides the laser light to the laser light receiving and emitting section 2 by reflecting the laser light reflected by the object. The signal processing section 30 controls the rotation of the polygon mirror 3 and the timing of irradiation with the laser light from the laser light receiving and emitting section 2 and calculates information on the distance from the timing of reception of the laser light to the object. The optical section 20 is driven by an external driving device to oscillate or rotate on an axis C2 orthogonal to the axis C1. <P>COPYRIGHT: (C)2011,JPO&INPIT
【課題】小型化及び移動ロボットに容易に搭載可能な三次元測距装置を提供する。 【解決手段】三次元測距装置1は、光学部20と信号処理部30を備える。光学部20は、レーザ光を受光及び発光するレーザ受発光部2と、複数のミラー面を有し、レーザ受発光部2から発光するレーザ光の光軸と直交する軸C1を回転軸として回転駆動され、レーザ受発光部2から照射されたレーザ光をミラー面で反射して対象物に照射すると共に、対象物から反射されたレーザ光を反射してレーザ受発光部2に導くポリゴンミラー3と、を有する。信号処理部30は、ポリゴンミラー3の回転制御とレーザ受発光部2からのレーザ光の照射タイミングの制御を行うと共に、レーザ光の受光タイミングから対象物までの距離情報を演算する。光学部20は、回転軸C1に直交する軸を回転軸C2として、外部駆動装置を用いて揺動又は回転動作される。 【選択図】図1

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    KR-101374802-B1March 13, 2014이철희Agricultural robot system
    WO-2014157877-A1October 02, 2014Lee Chul HeeAgricultural robot system