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1. 发明授权

US5399870A Position detecting method and apparatus for laser sensor 失效
标题翻译：激光传感器位置检测方法及装置
公开(公告)号：US5399870A
公开(公告)日：1995-03-21
申请号：US961901
申请日：1993-01-08
申请人： Nobitoshi Torii , Ryo Nihei , Yasuo Naito , Hiroshi Wakio , Takashi Iwamoto
发明人： Nobitoshi Torii , Ryo Nihei , Yasuo Naito , Hiroshi Wakio , Takashi Iwamoto
IPC分类号： B25J19/04 , G01B11/00 , G01C3/06 , G01S17/46 , G05D3/12 , G01N21/86
CPC分类号： G01S17/48 , G01B11/00
摘要： The present invention relates to a position detecting method and its apparatus that is capable of improving detecting accuracy in a laser sensor using a Charged Coupled Device (CCD) as a light receiving element. A sum of products of an output C.sub.i of each cell in a light receiving element and a cell position X.sub.i is obtained, and the cell outputs C.sub.i are added. When the cell output C.sub.i exceeds a predetermined threshold value, a counter is reset. When the cell output C.sub.i decreases down below the threshold value, the sample hold signal SH is counted. When the counted value of the counter becomes a predetermined value, a division circuit divides the above-obtained sum of products by the above addition value to obtain a center of gravity of the sum of products as a light receiving position. Then, thus obtained value is stored in a latch buffer. When a plurality of light receiving positions are obtained, the control unit picks out only the light receiving position of primary reflection beam from among them to identify the object position. Accordingly, the accuracy of the position detecting operation can be improved, since resolution in position detecting according to the invention is not determined on the unit of cell, but a light receiving position between adjacent cells in CCD can also be detected.
摘要翻译： PCT No.PCT / JP92 / 00630 Sec。 371日期：1993年1月8日 102（e）日期1993年1月8日PCT提交日期为1992年5月15日PCT公布。 WO92 / 20993 PCT出版物日期：1992年11月26日。本发明涉及一种位置检测方法及其装置，其能够提高使用带电耦合器件（CCD）作为光接收元件的激光传感器的检测精度。获得光接收元件中的每个单元的输出Ci和单元位置Xi的乘积之和，并且增加单元输出Ci。当单元输出Ci超过预定阈值时，计数器被复位。当单元输出Ci降低到低于阈值时，对样本保持信号SH进行计数。当计数器的计数值变为预定值时，除法电路将上述乘积之和除以上述加法值，得到作为光接收位置的乘积之和的重心。然后，将这样获得的值存储在锁存缓冲器中。当获得多个光接收位置时，控制单元从其中仅拾取一次反射光束的光接收位置以识别对象位置。因此，能够提高位置检测动作的精度，因为根据本发明的位置检测的分辨率未以单元为单位，而且还可以检测CCD中的相邻单元之间的光接收位置。

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