JPH1151609A - Distance measuring device, distance measuring method, and transmission medium - Google Patents

Abstract

(57) [Problem] To process data at high speed in a distance measuring device. SOLUTION: Time information obtained by scanning a measurement object with a laser beam by a distance measuring device 100 is supplied to an interface unit 200. Interface section 200
The lookup table reference unit 201 reads distance information corresponding to the input time information from the lookup table, and supplies the distance information to the distance information processing apparatus 300 via the distance information storage unit 202. The distance information processing device 300 reads the output distance information via the distance information input unit 301 and outputs the distance information to the distance information processing unit 303. The distance information processing unit 303 displays and outputs the supplied distance information to the distance information display unit 305. When a new lookup table is generated in the distance information processing unit 303,
After being stored in the lookup table storage unit 306 and subjected to predetermined processing in the lookup table processing unit 307, the lookup table reference unit 201
And the table is updated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device, a distance measuring method, and a transmission medium, and more particularly to a distance measuring device for measuring a distance by scanning a measuring object with a slit beam, and a distance measuring device. A method and a transmission medium.

[0002]

2. Description of the Related Art Conventionally, as a method of measuring the distance of a three-dimensional object, a scanning mirror is rotated to scan slit light along the surface of the object to be measured. There is known a distance measuring method for detecting a point in time when the cell passes through a cell constituting an imaging surface and measuring a position of a surface of a measurement target object.

In such a method, in order to obtain the position of the object to be measured from the signal output from the imaging unit, calculation is performed by a computer using software describing a calculation formula, or a look-up calculated in advance. The up table is stored in a memory inside the computer, and data corresponding to the input data is read and output.

[0004]

However, in these methods, the amount of calculation and the occupied memory space increase as the number of cells provided in the imaging section increases, which places a heavy burden on the computer. There is a problem that a great deal of time is required for arithmetic processing.

In particular, when the memory inside the computer is used as a look-up table, and when the number of cells is large, the memory consumption by the look-up table becomes enormous. There is a problem that the entire processing is greatly affected due to the occurrence of a swap or the like.

Further, in the conventional measuring device, the above-mentioned lookup table is fixed, so that, for example, the signal output from the imaging unit is changed according to the position of the object to be measured without changing the geometrical conditions. In order to generate a new look-up table to be converted into a display color, the calibration process must be performed again to create a new look-up table, which is troublesome.

Therefore, in order to save the above-mentioned trouble, a second look-up table for converting a position into a display color is generated, and data conversion is performed using the above-described table and the second table. There is a way to do it. However, such a method has a problem that a new memory space for storing the second table is required.

The present invention has been made in view of the above situation, and has as its object to improve the operation speed of a distance measuring device and reduce the occupied memory area.

Another object of the present invention is to easily generate a new look-up table and reduce the load on a computer.

[0010]

According to a first aspect of the present invention, there is provided a distance measuring apparatus, comprising: a scanning unit for scanning an object with light; and a reflected light scanned by the scanning unit and reflected on a surface of the object. A first conversion unit for converting an electric signal into an electric signal by an imaging surface including a plurality of cells, and a second conversion unit for converting the electric signal output from the first conversion unit into information regarding a scanning direction of the scanning unit. Means, storage means for storing predetermined information specified by the information on the scanning direction and the position of the cell, and information on the scanning direction and predetermined information specified by the position of the cell are read from the storage means. It is characterized by comprising reading means and output means for outputting predetermined information read from the reading means to an external device.

According to a fifth aspect of the present invention, there is provided a distance measuring method, comprising: a scanning step of scanning an object with light; and a plurality of cells configured to scan light reflected by the surface of the object by the scanning step. A first conversion step of converting the electrical signal output from the first conversion step into an electrical signal by the imaging surface to be converted, a second conversion step of converting the electrical signal output from the first conversion step into information on the scanning direction of the scanning step, and A storage step of storing information and predetermined information specified by the position of the cell; a reading step of reading from the storage step the information related to the scanning direction and the predetermined information specified by the position of the cell; And outputting predetermined information read from the external device to an external device.

A transmission medium according to a sixth aspect of the present invention comprises a scanning step of scanning light with respect to an object, and a plurality of cells which scan light reflected by the surface of the object by the scanning step. A first conversion step of converting the electric signal output from the first conversion step into an electric signal by the imaging surface, a second conversion step of converting the electric signal output from the first conversion step into information about the scanning direction of the scanning step, and information about the scanning direction. A storage step of storing predetermined information specified by the position of the cell; a reading step of reading information from the storage step; information on the scanning direction, and predetermined information specified by the position of the cell; An output step of outputting the read predetermined information to an external device.

In the measuring apparatus according to the first aspect, the measuring method according to the fifth aspect, and the transmission medium according to the sixth aspect, the object is scanned with light, and the object is scanned and scanned. The reflected light reflected on the surface is converted into an electric signal by an imaging surface composed of a plurality of cells, and the electric signal generated by the conversion is converted into information on a scanning direction. Storing predetermined information specified by the position, information on the scanning direction,
Read predetermined information specified by the position of the cell,
The read predetermined information is output to an external device. The object is scanned with slit-shaped light, and the reflected light scanned and reflected on the surface of the object is converted into an electric signal by an imaging surface formed by a plurality of cells. The signal is converted into time information from the start of scanning, information on the distance to the object specified by the time information and the position of the cell is stored in a memory as a look-up table, information on the scanning direction, Predetermined information specified by the position of the cell is read, and the read predetermined information is output to a personal computer as an external device.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram for explaining the principle used in the distance measuring method and device of the present invention.
FIG. 2 is a diagram showing a part of the geometric relationship of FIG. 1 in detail. Here, a case where the distance from the first plane position S0 to the surface of the measurement target object is measured will be considered.

First, when the reference plane is located at the first plane position S0, the slit light reflected from the reference plane is generated by the imaging unit 1.
The timing at which light enters each cell of 01-2 (first conversion means) (that is, passes through the cell) is determined, and then the reference plane is translated by a predetermined distance d from the position of the first plane.
The timing at which the slit light reflected from the reference plane when placed at the plane position S1 is incident on each cell of the imaging unit 101-2 is obtained, and the third plane in which the reference plane is separated from the second plane position by the same distance d as the predetermined distance is obtained. The slit light reflected from the reference plane when placed at the plane position S2 is reflected by the imaging unit 101-2.
The timing at which the light enters each cell is determined.

Scanning mirror 106-2 (scanning means: hereinafter,
Abbreviated as a mirror) rotates at a constant speed around the point M ₀ ,
Angle θε from the origin position of rotating mirror 106-2
Is given by the following equation (1) using the counter value Cε reset at the origin position.

[0017]

(Equation 1)

The light receiving cells or imaging cells P _ij in the imaging unit 101-2, are arranged two-dimensionally, each cell has a unique line-of-sight direction dependent on the optical system 6 such as a lens. Here, the distance from the reference plane at the first plane position S0 to one point on the surface of the measurement object that intersects the line of sight of each cell is measured.

An arbitrary imaging cell P _ij in the imaging section 101-2
And the first, second, and third plane positions S0, S
1 and the respective intersection points P with the reference plane located at S2
_0, and P ₁ and P _2, the angle from the origin position of the mirror 106-2 when the slit light is incident on these points respectively theta _S0, when the theta _S1 and theta _S2, intersections P ₀ and the intersection point P ₁ A and the distance a between the intersection P ₁ and the intersection P ₂
Is expressed by the following equation (2).

[0020]

(Equation 2)

The angle θ ₁ between the line segment P ₀ M ₀ and the line segment M ₀ P ₁ and the angle θ ₂ between the line segment P ₁ M ₀ and the line segment M ₀ P ₂ are given by the following equation (3). It can be shown by equation (4).

[0022]

(Equation 3)

[0023]

(Equation 4)

The intersection point of the perpendicular line drawn down from the rotation center M ₀ of the mirror 106-2 in the line of sight and the extension of the line segment P ₀ P ₂ is P _f , and the angle θ _B is given by the following equation (5). And the angle indicated by

[0025]

(Equation 5)

Assuming that the measurement point of the object to be measured at a distance m from the point P ₀ on the straight line P ₀ P ₂ is P _x and the angle θ _x is an angle represented by the following equation (6):

[0027]

(Equation 6)

The distance x from the reference plane located in the first plane position S0 to the point P _x is from equation (2) can be shown by the following equation (7).

[0029]

(Equation 7)

[0030] B a length of a line P ₂ P _f, a length of a line M ₀ P _f is C, the following equation (8), equation (9) and (1
0) is established.

[0031]

(Equation 8)

[0032]

(Equation 9)

[0033]

(Equation 10)

From the equations (8), (9) and (10), the following equation (11) is obtained.

[0035]

[Equation 11]

From equations (10) and (11), tan
θ _B can be expressed by the following equation (12).

[0037]

(Equation 12)

The length n from the point P _x to the point P ₂ and the point P
The length m from _x to the point P ₁ is given by the equation (11) and the equation (1).
From 2), it is expressed by the following equations (13) and (14).

[0039]

(Equation 13)

[0040]

[Equation 14]

[0041] Accordingly, the distance x from the reference plane located in the first plane position S0 to the measurement point P _x of the measurement target object, the formula (1), from equation (2), equations (7) and (14) , Can be expressed by the following equation (15).

[0042]

(Equation 15)

In equation (15), the count value C ₁ is
When the reference plane is located at the first plane position S0, the slit light reflected from the reference plane is the cell P _{ij of the} imaging unit 101-2.
Angle theta _S0 and a reference plane and reflected from the reference plane when placed in the second plane position S1 spaced by a distance d from the first plane position slit light imaging of the mirror 106-2 for entering the 101- It represents an angle difference theta ₁ which is a difference between the angle theta _S1 mirrors 106-2 to entering the second cell P _ij, the count value C ₂ is a reference when the reference plane is arranged in a second plane position S1 mirror 106 for slit light reflected from the plane is incident on the cell P _ij of the imaging unit 101-2
The angle theta _S1 -2, distance reference plane from the second plane position d
The slit light reflected from the reference plane when placed at the third plane position S2 separated by the same distance d from the imaging unit 101
Is the difference between the angle theta _S2 mirrors 106-2 to enter the cell P _ij -2 angle theta ₂ shows the count value C _x is
When the reference plane is located at the third plane position S2, the slit light reflected from the reference plane is the cell P _{ij of the} imaging unit 101-2.
Mirror 106 for the angle theta _S2 mirrors 106-2 to incident slit light reflected from the surface of the measured object when placing the measured object enters the cell P _ij of the imaging unit 101-2 The angle θ which is the difference from the angle θ _{sx of} −2
Indicates _x .

The parameter k indicating the relationship between the rotation angle of the mirror 106-2 and the count value is obtained by arranging the reference plane at a known plane position other than the first to third plane positions S0 to S2, It can be determined using equation (15).

FIG. 2 is a block diagram showing a configuration example of the embodiment of the present invention.

In this figure, the distance measuring device 100
Sensor unit 101, time information adding unit 102 (second conversion unit), time information temporary storage unit 103, time information control unit 10
4. Laser scanning control unit 105 and laser projection unit 1
06.

The interface unit 200 comprises a look-up table 201 (storage means, reading means), a distance information storage section 202, and a look-up table input section 203 (update means).

The distance information processing device 300 is constituted by, for example, a personal computer or a workstation, and includes a distance information input section 301, a selector 30
2. Distance information processing unit 303, distance information input unit 304, distance information display unit 305, lookup table storage unit 30
6, a lookup table processing unit 307, and a lookup table output unit 308.

The sensor unit 101 of the distance measuring device 100
It is composed of the lens 101-1 and the imaging unit 101-2 shown in FIG. The imaging unit 101-2 is, for example, an optical element in which a minimum unit (cell) formed by a combination of a photodiode and a simple signal processing circuit is regularly arranged in a matrix, and has a slit shape projected from the laser projection unit 106. Is detected, and each cell outputs, for example, a trigger signal or the like at the time of passage.

The time information adding unit 102 includes a sensor unit 101
At the timing when the above-described trigger signal is output from each of the cells, for example, the elapsed time from the start of the scanning of the laser beam is obtained as the count value of the counter from the time information control unit 104 and output from the sensor unit 101. The data is added to the output data and output.

The time information temporary storage unit 103 stores, for example,
It is configured by a RAM (Static Random Access Memory), and is configured to input and temporarily store time information for each cell output from the time information adding unit 102. That is, the time information temporary storage unit 103 serves as a buffer.

The time information control unit 104 includes the laser light emitting unit 1
Reference numeral 06 controls the timing of scanning the laser, and sequentially outputs the elapsed time from the start of the scanning to the time information adding unit 102. When controlling the start of scanning of the laser projection unit 106, a trigger signal indicating the start of scanning, for example, is output.

The laser scanning control unit 105 controls the laser projection unit 106 in accordance with a trigger signal output from the time information control unit 104 to scan a laser beam.

The laser projecting section 106 includes the laser diode 106-1 and the mirror 106-2 shown in FIG. The laser projecting unit 106 drives the mirror 106-2 according to a signal from the laser scanning control unit 105, rotates the mirror 106-2 at a constant angular velocity, and turns on or off the laser diode 106-1.
The control of F is performed.

The interface unit 200 is mounted, for example, as an extension board of a personal computer or a workstation.

The lookup table reference unit 201 of the interface unit 200 is, for example, a DRAM (Dynamic RA).
M) and stores a table for converting the time information of each cell output from the distance measuring device 100 into the corresponding distance information. When time information is input from the distance measurement device 100, the lookup table reference unit 201 reads and outputs distance data corresponding to each cell.

The distance information storage unit 202 stores, for example, an SRA
M, and temporarily stores the data output from the lookup table reference unit 201 and outputs the stored data corresponding to the processing speed of the distance information processing apparatus 300. . In addition,
This distance information storage unit 202 is stored in, for example, a large capacity DRA.
With the configuration using M or the like, a large amount of data output from the lookup table reference unit 201 can be stored.

The look-up table input unit 203 inputs a look-up table newly generated by the distance information processing device 300, and inputs a look-up table stored in the look-up table 201
The data is updated by a newly generated look-up table.

Distance information input unit 3 of distance information processing unit 300
Numeral 01 inputs the distance information output from the interface unit 200.

In the normal processing (distance measurement processing), the selector 302 selects the distance information input unit 301 side, inputs distance information, and supplies the distance information to the distance information processing unit 303. When performing the calibration process, the selector 302 selects the time information temporary storage unit 103 side of the distance measurement device 100, inputs time information, and outputs the time information to the distance information processing unit 303. It has been done.

In the above-described normal processing, the distance information processing unit 303 processes the input distance information according to the purpose, for example, to find the center of gravity of the object, or to find the maximum or minimum point of the distance. Distance information display unit 305 as necessary
Output. In the case of the calibration process, a look-up table is created based on the relationship between the time information for each cell and the actual distance (information input from the distance information input unit 304), and the look-up table is stored. The data is output to the unit 306.

The distance information display unit 305 is, for example, a CRT
A (Cathode Ray Tube) display is configured to display and output a result output from the distance information processing unit 303.

The look-up table storage unit 306 is composed of, for example, a hard disk drive or the like. The look-up table output from the distance information processing unit 303 is recorded as a file, and a desired file is read out if necessary. The data is supplied to the up-table processing unit 307.

The look-up table processing unit 307 performs predetermined processing described later on the look-up table read from the look-up table storage unit 306, or performs lookup processing on the read-out look-up table as it is. The data is supplied to the table output unit 308.

The lookup table output section 308 outputs the lookup table supplied from the lookup table processing section 307 to the interface section 200.

Next, the operation at the time of calibration of the embodiment shown in FIG. 3 will be described with reference to the flowchart shown in FIG.

FIG. 4 is a flowchart for explaining an example of the calibration process executed in the distance information processing apparatus 300 according to the embodiment shown in FIG.

When this processing is started, in step S1, the selector 302 of the distance information processing apparatus 300
The connection is changed to the time information temporary storage unit 103 side.
Then, the process proceeds to step S2.

[0069] In step S2, when the reference plane was placed in S0, the count value C corresponding to the angle theta _S0 of the mirror 106-2 when the scanning beam is incident on each cell P _ij
S0 (time information output from the time information adding unit 102) is obtained. Next, when the reference plane is arranged at S1, the mirror 106 when the scanning light is incident on each cell _Pij
The count value C _S1 corresponding to the angle θ _S1 of −2 is obtained. Then, a difference (C _S1 −C _S0 ) between C _S1 and C _S0 is obtained for each cell, and the obtained value is set as C ₁ .

In step S3, when the reference plane is set at _S1 , the count value C corresponding to the angle θ _S1 of the mirror 106-2 when the scanning light is incident on each cell P _ij .
_S1 is required. Then, when the reference plane is arranged in S2, the count value C _S2 corresponding to an angle theta _S2 of the mirror 106-2 when the scanning beam is incident on each cell P _ij is obtained. Then, the difference between C _S2 and C _S1 (C _S2 −
C _S1 ) is determined for each cell, and the obtained value is defined as C ₂ .

In step S4, when the reference plane is set at _S2 , the count value C corresponding to the angle θ _S2 of the mirror 106-2 when the scanning light is incident on each cell P _ij .
_S2 is required. Next, when the reference plane is arranged at an arbitrary distance x, the count value C _SX corresponding to the angle θ _SX of the mirror 106-2 when the scanning light is incident on each cell P _ij .
Is required. Then, the difference between these C _SX and C _S2 (C _SX
−C _S2 ) is determined for each cell, and the obtained value is defined as C _X.

In the following step S5, C ₁ , C ₂ , C
_X and the distance x and distance d to the object input from the distance information input unit 304 are substituted into Expression (15), and the value of the constant k for each cell is obtained.

In step S6, a range in which the count value _CX can be taken is calculated for each cell. That is, the first to third
Is set as a fixed position, the range of the count value is calculated for each cell.

In step S7, distance information processing section 303
Is, for each cell, the count value C _X and the distance x to the object
Is calculated. Then, the process proceeds to step S8, where the count value C _X calculated in step S7 and the distance x
Is output to the lookup table storage unit 306 as a lookup table. As a result, the lookup table storage unit 306 assigns a predetermined file name to the supplied lookup table and stores it.

The look-up table created as described above converts the count value C _X (time information) into a distance x (distance information). By performing the processing, the count value C _X is changed to a display color (or
It is also possible to generate a look-up table that is further converted to data of color density.

The lookup table generated by the above processing is supplied to the lookup table input unit 203 via the lookup table output unit 308. As a result, the lookup table input unit 203 updates the previous lookup table stored in the lookup table reference unit 201 with the supplied new lookup table.

Therefore, the lookup table storage unit 30
6 is subjected to predetermined processing by the lookup table processing unit 307, so that a conversion table into desired information (for example, display color density) can be generated. . As a result, different tables can be generated as needed based on the same file, so that it is not necessary to execute calibration every time the table is changed.

The positions S0 to S on the first to third planes
2 in parallel with the imaging unit 101-2, that is, by arranging the reference plane in parallel with the imaging surface of the imaging unit 101-2, a plurality of cells arranged in the vertical direction in the imaging unit 101-2. , A common lookup table can be used. That is, for example, as shown in FIG. 5, when the imaging unit 101-2 is composed of eight cells in the horizontal direction, eight lookup tables T1
Or T8 only needs to be provided.

FIG. 6 is a look-up for converting the count value into the distance for each of the eight cells in the horizontal direction of the imaging unit 101-2 of 8 × 16 (8 cells in the horizontal direction × 16 cells in the vertical direction). 4 shows an example of the contents of a table. In this example, a is set to 90 mm, and about 3 mm from the imaging unit 101-2.
The distance from S0 is shown with the position of 3 cm as the first plane position S0.

Next, the normal operation of the embodiment shown in FIG. 3 will be described.

By the processing described above, a look-up table is created, and the look-up table reference section 20
After the data is stored in 1, the measurement processing is started when the object is placed at a predetermined position.

In this case, first, the selector 302 is connected to the distance information input unit 301 side, so that the distance information can be supplied to the distance information processing unit 303.

When the supply of the trigger signal from the time information control unit 104 to the laser scanning control unit 105 is started, the laser scanning control unit 105
To start emitting the laser beam from the laser diode 106-1 and rotate the mirror 106-2 at a constant angular velocity.

As a result, a slit-like laser beam is emitted from the laser diode 106-1 and the mirror 1
Since the light is reflected in a predetermined direction by 06-2, the surface of the object is scanned. The laser beam reflected on the surface of the object is converged on a predetermined cell of the imaging unit 101-2 by the lens 101-1.

As shown in FIG. 5, the imaging unit 101-2
The cell, which is constituted by eight cells in the horizontal direction and into which the laser beam reflected on the surface of the object is incident, generates and outputs a trigger signal at that time.

The trigger signal output from the imaging unit 101-2 is supplied to a time information adding unit 102, where time information is added. That is, the time information adding unit 102 converts the time information (counter value of the counter) output from the time information control unit 104 at the time when the trigger signal is output from each cell into the information (i , J) and output. For example, (i, j) from a cell = (2,3), when the value of the counter trigger signal is output when the C _a, the time information adding unit 102, data {i, j, C _a is output. Here, ｛｝ means that the values of the variables in ｛｝ are concatenated as one data.

The time information temporary storage unit 103 sequentially stores the data output from the time information addition unit 102,
When the data corresponding to all the cells is stored, the data is sequentially output to the interface unit 200.
The order of the output is, for example, (i, j) =
The data corresponding to the (1,1) cell (the upper left cell in FIG. 5) is sequentially read out in the vertical direction, and when the reading of the cells in the first column is completed, the second, third,.・ 、
What is necessary is just to read the 8th column similarly.

The lookup table reference unit 201 stores the data {i,
j and _Ca are extracted from j, _Ca }. Then, the value of i, and selects the corresponding look-up table from among the T1 to T8, subsequently, read from the look-up table selected data corresponding to C _a. Further, {i, j} is added to the data read from the look-up table as a header and output to the distance information storage unit 202. That is, if the data read from the lookup table is d, the lookup table reference unit 2
01, data {i, j, d} will be output. By performing such processing on data from all cells, time information is converted into distance information.

Data output from lookup table reference section 201 is temporarily stored in distance information storage section 202, and then output to distance information processing apparatus 300.

The distance information input section 301 of the distance information processing apparatus 300 receives the data output from the distance information storage section 202 and outputs the data via the selector 302 to the distance information processing section 30.
Supply 3

The distance information processing unit 303 sequentially reads the data {i, j, d} input from the distance information input unit 301, and performs a predetermined process on the value of the data d (for example, by using d as the display color value). To the distance information display unit 3
A dot or the like is displayed at a position corresponding to i and j of 05.

As a result, a figure corresponding to the surface shape of the object is displayed on the distance information display section 305.

According to the above-described embodiment, the look-up table conventionally processed by software is converted into hardware on the interface unit 200, so that not only the processing time can be shortened, but also the processing time can be reduced. It is possible to suppress the consumption of the main memory of a personal computer or a workstation that is executing software processing.

In the calibration process,
The lookup table generated by the distance information processing unit 303 is stored in the lookup table storage unit 307, which is a hard disk drive.
It does not occupy the memory (for example, RAM) of the distance information processing device 300.

[0095] In the above example, the count value C _1, C ₂ and C _x, but seeking distance x by referring to the lookup table of FIG. 5, the count value C _1, C ₂ and C _x
Rotation angle theta ₁ of the mirrors 106-2 corresponds to, using the theta ₂ and theta _x, the rotation angle theta _1, the look-up table and inputs the theta ₂ and theta _x or an input of the rotation angle theta _x The distance x may be determined using a lookup table.

Further, the distance x may be obtained by using values indicating the rotation angles θ ₁ , θ ₂ and θ _x of the mirror 106-2 other than the count values C ₁ , C ₂ and C _x .

Further, in the above embodiment, the parameter k
Is determined by arranging the reference plane at a known plane position other than the first to third plane positions S0 to S2 and using Equation (15). Good.

In the above example, reference planes are sequentially arranged at first to third plane positions S0 to S2 which are parallel to each other and at equal intervals, and the distance to the object to be measured is measured. The distance measurement can also be performed by sequentially arranging the reference planes at four or more plane positions.

Further, in the above embodiment, the three-dimensional coordinate position of the surface of the object to be measured is determined based on the first plane position S0, but the surface of the object to be measured is determined based on the position of the distance measuring device. In order to determine the three-dimensional coordinate position, the positional relationship between the first plane position and the distance measuring device may be determined in advance.

Finally, in the specification, the transmission medium is:
In addition to information recording media such as FD and CD-ROM, network transmission media such as the Internet and digital satellites are included.

[0101]

As described above, according to the measuring apparatus according to the first aspect, the measuring method according to the fifth aspect, and the transmission medium according to the sixth aspect, the object is scanned with light. Then, the reflected light that is scanned and reflected on the surface of the object is converted into an electric signal by an imaging surface configured by a plurality of cells, and the electric signal generated by the conversion is converted into information regarding a scanning direction, The information on the scanning direction and the predetermined information specified by the cell position are stored, the information on the scanning direction and the predetermined information specified by the cell position are read, and the read predetermined information is stored in an external device. Since the data is output to the device, the processing can be executed at a high speed and the load on the device can be reduced.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining a measurement principle of the present invention.

FIG. 2 is a diagram for explaining a geometric relationship in FIG. 1;

FIG. 3 is a block diagram illustrating a configuration example of an embodiment of the present invention.

FIG. 4 is a flowchart illustrating an example of a process performed in the embodiment illustrated in FIG. 3;

FIG. 5 is a diagram illustrating a configuration example of a lookup table.

6 is a diagram showing an example of data stored in a look-up table shown in FIG.

[Explanation of symbols]

101-2 Imaging unit (first conversion unit), 102 Time information addition unit (second conversion unit), 106-2 Mirror (scanning unit), 201 Lookup table reference unit (storage unit, reading unit), 203 Lookup table input unit (update means)

Claims (7)

[Claims] 1. A distance measuring apparatus that scans an object with light and measures a distance to the object by reflected light, wherein: a scanning unit that scans the object with light; A first conversion unit that converts reflected light reflected on the surface of the object into an electric signal by an imaging surface including a plurality of cells; and an electric signal output from the first conversion unit. A second conversion unit that converts the information into the information about the scanning direction of the scanning unit, a storage unit that stores information about the scanning direction, and predetermined information specified by a position of the cell, and information about the scanning direction. Reading means for reading the predetermined information specified by the position of the cell from the storage means, and reading the predetermined information read from the reading means,
An output device for outputting to an external device. 2. The distance measuring apparatus according to claim 1, wherein the predetermined information is information on a distance to the object. 3. The distance measuring device according to claim 1, wherein the external device is a personal computer or a workstation. 4. The distance measuring apparatus according to claim 1, further comprising an updating unit that updates the predetermined information stored in the storage unit. 5. A distance measuring method for scanning an object with light and measuring a distance to the object by reflected light, wherein: a scanning step of scanning the object with light; A first conversion step of converting reflected light reflected on the surface of the object into an electric signal by an imaging surface formed by a plurality of cells; and an electric signal output from the first conversion step, A second step of converting the information into information on a scanning direction in the scanning step;
And a storage step of storing information on the scanning direction and predetermined information specified by the position of the cell; and information on the scanning direction and the predetermined information specified by the position of the cell. A distance measuring method, comprising: a reading step of reading information from the storage step; and an output step of outputting the predetermined information read from the reading step to an external device. 6. A transmission medium for transmitting a computer program used in a distance measuring device that scans an object with light and measures a distance to the object by reflected light, wherein the object is scanned with light. A first converting step of converting reflected light scanned by the scanning step and reflected on the surface of the target object into an electric signal by an imaging surface formed by a plurality of cells; Converting the electrical signal output from the converting step into information on the scanning direction in the scanning step.
And a storage step of storing information on the scanning direction and predetermined information specified by the position of the cell; and information on the scanning direction and the predetermined information specified by the position of the cell. A transmission medium for transmitting a program comprising: a reading step of reading information from the storage step; and an output step of outputting the predetermined information read from the reading step to an external device. 7. A measuring method for storing a program transmitted from the transmission medium according to claim 6, and measuring a distance using the program.