Electro-optical distance measuring device

摘要

An electro-optical distance measuring device having a photodetection unit comprising a plurality of pixels arranged in a predetermined arrangement is disclosed. A signal processing unit has a storage unit for storing the detection result in correspondence with each of the pixels, wherein the signal processing control unit sequentially changes a position of the division for every cycle wave at which the photodetection amount is detected and continues detections until a detected range becomes at least one cycle or more. The arithmetic processing unit calculates a waveform for at least one cycle stored in the storage unit for each pixel, obtains a phase difference of the waveform with respect to the irradiated distance measuring light, and calculates the distance based on the phase difference.

主权项

1. An electro-optical distance measuring device, comprising:
a first oscillator generating a first frequency, a second oscillator generating a second frequency adjacent to said first frequency, a projection unit for modulating a distance measuring light to a frequency of said first frequency and for irradiating said modulated light toward an object to be measured; a photodetection unit for receiving a reflected distance measuring light from said object to be measured, a signal processing unit for storing a photodetection signal from said photodetection unit, an arithmetic processing unit for calculating a distance to said object to be measured based on said photodetection signal stored in said signal processing unit, and a signal processing control unit for controlling said photodetection unit and said signal processing unit and for acquiring said photodetection signal in order to calculate said distance for each pixel, wherein said photodetection unit comprises a plurality of pixels arranged in a predetermined arrangement and an output unit being provided corresponding to each of said pixels, for accumulating said photodetection signal from each of said pixels as a difference frequency signal based on said second frequency, for detecting a photodetection amount of said photodetection signal corresponding to one division among divisions to which one cycle is divided by predetermined number and for outputting, a detection result on said time series, wherein said signal processing unit has a storage unit for storing said detection result in correspondence with each of said pixels, wherein said signal processing control unit sequentially changes a position of the division for every cycle wave at which said photodetection amount is detected and continues detections until a detected range becomes at least for one cycle or more, and wherein said arithmetic processing unit calculates a waveform for at least one cycle wave based on the detection result of at least one cycle stored in said storage unit for each pixel, calculates the difference frequency signal of the distance measuring light based on said second frequency with respect to said irradiated distance measuring light, obtains the phase difference between both of said difference frequency signals, and calculates said distance based on said phase difference.