Distance measuring device and robot
AssigneeSeiko Epson Corporation
InventorKei Kamakura
Life of this patent
Estimating the term…
Abstract
A distance measuring device includes a light output unit outputting a linear laser beam, a light scanning unit including a mirror that reflects the laser beam from the light output unit while swinging and generating a pattern light on an object, a light detection unit placed in a position equal to or less than 90% of maximum swing amplitude of the mirror, and receiving the light reflected by the mirror and outputting a light reception signal, an imaging unit imaging the pattern light, a measuring unit measuring a distance to the object based on a result of imaging by the imaging unit, and a control unit controlling generation of the pattern light based on the light reception signal.
Claims7
A distance measuring device comprising:
- a light source configured to emit a linear laser beam;
- a light scanner including a mirror that reflects the linear laser beam from the light source by a reflection surface of the mirror while swinging and generating a pattern light on an object;
- a light detector facing the reflection surface of the mirror, the light detector being configured to receive reflected light from the mirror to output a light reception signal, the reflected light being generated by reflecting the linear laser beam at the mirror;
- a light shield configured to block a part of the reflected light thereby and pass a remaining part of the reflected light toward the object via a shield opening;
- an imaging sensor configured to capture the pattern light on the object to generate captured image data;
- a memory configured to store a program;
- and
- a processor configured to execute the program so as to:
- measure a distance from a reference point to the object based on the captured image data;
- and
- control the light scanner with respect to the generation of the pattern light on the object based on the light reception signal,
- wherein the light detector is located further at an upstream side along a path of the reflected light than the light shield and located adjacent to an edge of the shield opening of the light shield.
Dependencies are inferred from the claim text.