| 摘要 |
PROBLEM TO BE SOLVED: To provide a wheel-carriage robot including a multipoint distance sensor, suitable for performing wide-range measurements and high-resolution measurements. SOLUTION: The multipoint distance sensor captures a plurality of images via an imaging element 112, while changing lens positions, and acquires lens positions, respectively corresponding to the images thus captured. Moreover, a component having a predetermined spatial frequency or higher is extracted for each captured image with respect to each segment of the image, and the distance to a target photographed in the segment is computed corresponding to a lens position that corresponds to an image from which a component having the highest spatial frequency has been extracted. When wide-range measurement is to be carried out, the angle of field, with respect to an identical focal position, is changed to a predetermined wide-angle region prior to the measurement. In contrast, when high-resolution measurement is to be conducted, the angle of field, with respect to an identical focal position, is changed to a predetermined telescopic region prior to the measurement. COPYRIGHT: (C)2009,JPO&INPIT
|
