JPH0429813U - - Google Patents
Info
- Publication number
- JPH0429813U JPH0429813U JP6957490U JP6957490U JPH0429813U JP H0429813 U JPH0429813 U JP H0429813U JP 6957490 U JP6957490 U JP 6957490U JP 6957490 U JP6957490 U JP 6957490U JP H0429813 U JPH0429813 U JP H0429813U
- Authority
- JP
- Japan
- Prior art keywords
- phase difference
- calculation unit
- spatial filter
- weight function
- memory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Measurement Of Distances Traversed On The Ground (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は本考案の第１の実施例にかかる空間フ
イルタ距離測定装置の構成図、第２図は前回及び
今回のサンプリング時の空間フイルタ出力波形を
示すグラフ、第３図は従来技術にかかる空間フイ
ルタ距離測定装置の構成図、第４図は位相空間を
示す説明図、第５図は荷重関数とハニング関数と
の積を示すグラフである。
図面中、１は路面、２は光学系、３はラインセ
ンサ、４は読出回路、５は空間フイルタ演算部、
６はＡ／Ｄ変換器、７は位相差演算部、８は累算
器、９，１０は乗算器、１１は位相差メモリ、１
２はアドレス変換回路、１３はメモリ、１４はア
ドレス読出回路、１５ａ，１５ｂは荷重関数メモ
リである。
Fig. 1 is a configuration diagram of a spatial filter distance measuring device according to the first embodiment of the present invention, Fig. 2 is a graph showing the spatial filter output waveform at the previous and current sampling times, and Fig. 3 is according to the prior art. FIG. 4 is an explanatory diagram showing the phase space, and FIG. 5 is a graph showing the product of the weight function and the Hanning function. In the drawing, 1 is a road surface, 2 is an optical system, 3 is a line sensor, 4 is a readout circuit, 5 is a spatial filter calculation unit,
6 is an A/D converter, 7 is a phase difference calculation unit, 8 is an accumulator, 9 and 10 are multipliers, 11 is a phase difference memory, 1
2 is an address conversion circuit, 13 is a memory, 14 is an address reading circuit, and 15a and 15b are weight function memories.
Claims (1)
と、該光電変換素子から所定周期でサンプリング
して順に出力する読出回路と、該読出回路からサ
ンプリング毎に順に出力される電気信号に正弦波
、余弦波を荷重関数として別々に掛け合わせて所
定範囲内で積分することにより、任意の周波数成
分を抽出する空間フイルタ演算部と、該空間フイ
ルタ演算部により抽出された二つの信号を二次元
の座標とするベクトルの位相平面上での原点を中
心とする位相差をサンプリング毎に演算する位相
差演算部と、前記位相差演算部により求められた
位相差に比例する移動距離を演算する距離演算部
とを有する空間フイルタによる距離測定装置にお
いて、前回のサンプリング時に前記距離測定装置
により演算された位相差を記憶する位相差メモリ
と、該位相差メモリに記憶された位相差により位
相を進めた正弦波、余弦波を今回のサンプリング
時の荷重関数として記憶する荷重関数メモリと、
前記荷重関数メモリに記憶された荷重関数に基づ
いて前記空間フイルタ演算部、前記位相差演算部
で演算された位相差に前回のサンプリング時にお
ける位相差を加えて今回のサンプリング時の位相
差として出力する加算器とを設け、前記加算器に
より出力された位相差に基づいて前記距離演算部
で移動距離を演算することを特徴とする空間フイ
ルタによる距離測定装置。 A photoelectric conversion element that converts incident light into an electrical signal, a readout circuit that samples the photoelectric conversion element at a predetermined period and sequentially outputs it, and a sine wave and cosine waveform in the electrical signal sequentially output from the readout circuit for each sampling. A spatial filter calculation unit that extracts an arbitrary frequency component by multiplying the waves separately as a weight function and integrating them within a predetermined range, and a two-dimensional coordinate system that converts the two signals extracted by the spatial filter calculation unit into two-dimensional coordinates. a phase difference calculation unit that calculates a phase difference centered on the origin on a phase plane of the vector for each sampling, and a distance calculation unit that calculates a moving distance proportional to the phase difference obtained by the phase difference calculation unit. A distance measuring device using a spatial filter, comprising: a phase difference memory that stores a phase difference calculated by the distance measuring device during the previous sampling; and a sine wave whose phase is advanced by the phase difference stored in the phase difference memory. a weight function memory that stores the cosine wave as a weight function at the current sampling time;
The phase difference at the previous sampling time is added to the phase difference calculated by the spatial filter calculation unit and the phase difference calculation unit based on the weight function stored in the weight function memory, and the result is output as the phase difference at the current sampling time. 1. A distance measuring device using a spatial filter, characterized in that the distance calculating section calculates a moving distance based on the phase difference outputted by the adder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6957490U JP2500222Y2 (en) | 1990-07-02 | 1990-07-02 | Distance measuring device with spatial filter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6957490U JP2500222Y2 (en) | 1990-07-02 | 1990-07-02 | Distance measuring device with spatial filter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0429813U true JPH0429813U (en) | 1992-03-10 |
| JP2500222Y2 JP2500222Y2 (en) | 1996-06-05 |
Family
ID=31604998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6957490U Expired - Lifetime JP2500222Y2 (en) | 1990-07-02 | 1990-07-02 | Distance measuring device with spatial filter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2500222Y2 (en) |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6136161B2 (en) | 2012-09-21 | 2017-05-31 | ヤマハ株式会社 | Heating equipment storage device |
| JP6143641B2 (en) | 2013-10-23 | 2017-06-07 | 川崎重工業株式会社 | Saddle riding |
-
1990
- 1990-07-02 JP JP6957490U patent/JP2500222Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP2500222Y2 (en) | 1996-06-05 |
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