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1. WO2020138754 - METHOD FOR CORRECTING NONLINEAR DISTANCE ERROR OF 3-DIMENSIONAL DISTANCE MEASURING CAMERA BY USING PULSE PHASE SHIFT

Publication Number WO/2020/138754
Publication Date 02.07.2020
International Application No. PCT/KR2019/017174
International Filing Date 06.12.2019
IPC
G01S 7/497 2006.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
48of systems according to group G01S17/58
497Means for monitoring or calibrating
G01S 17/10 2006.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02Systems using the reflection of electromagnetic waves other than radio waves
06Systems determining position data of a target
08for measuring distance only
10using transmission of interrupted, pulse-modulated waves
G01S 7/483 2006.1
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
48of systems according to group G01S17/58
483Details of pulse systems
CPC
G01S 17/10
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
02Systems using the reflection of electromagnetic waves other than radio waves
06Systems determining position data of a target
08for measuring distance only
10using transmission of interrupted, pulse-modulated waves
G01S 7/483
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
48of systems according to group G01S17/00
483Details of pulse systems
G01S 7/497
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
48of systems according to group G01S17/00
497Means for monitoring or calibrating
Applicants
  • ㈜미래컴퍼니 MEERE COMPANY INC. [KR]/[KR]
Inventors
  • 손현성 SON, Hyun Sung
Agents
  • 특허법인더웨이브 THE WAVE IP LAW FIRM
Priority Data
10-2018-016922426.12.2018KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) METHOD FOR CORRECTING NONLINEAR DISTANCE ERROR OF 3-DIMENSIONAL DISTANCE MEASURING CAMERA BY USING PULSE PHASE SHIFT
(FR) PROCÉDÉ DE CORRECTION D'ERREUR DE DISTANCE NON LINÉAIRE D'UNE CAMÉRA DE MESURE DE DISTANCE TRIDIMENSIONNELLE AU MOYEN D'UN DÉPHASAGE D'IMPULSION
(KO) 펄스 위상 이동을 이용한 3차원 거리측정 카메라의 비선형 거리 오차 보정 방법
Abstract
(EN)
The present invention relates to a method for correcting the nonlinear distance error a 3-dimensional distance measuring camera by using a pulse phase shift. The present invention comprises the steps in which: a control unit adjusts the phase of an output light pulse outputted by a light-emitting unit; the light-emitting unit outputs, to a subject, the phase-adjusted output light pulse; a light-receiving unit receives a reflected-light pulse reflected from subject; and the control unit maps the adjusted phase of the output light pulse so as to correspond to an estimated actual distance, calculates a measured distance by using the time difference between a time point of the output of the output light pulse and a time point of the reception of the reflected-light pulse, and calculates and stores a distance error correction value for correcting the difference between the estimated actual distance and the measured distance. According to the present invention, space constraints generated while correcting a nonlinear distance error of a 3-dimensional distance measuring camera can be overcome, equipment costs required for distance error correction can be reduced, and a distance error correction time can be shortened.
(FR)
La présente invention concerne un procédé de correction de l'erreur de distance non linéaire d'une caméra de mesure de distance tridimensionnelle au moyen d'un déphasage d'impulsion. La présente invention comprend les étapes dans lesquelles : une unité de commande ajuste la phase d'une impulsion de lumière de sortie délivrée par une unité d'émission de lumière; l'unité d'émission de lumière délivre, à un sujet, l'impulsion de lumière de sortie ajustée en phase; une unité de réception de lumière reçoit une impulsion de lumière réfléchie réfléchie par le sujet; et l'unité de commande met en correspondance la phase ajustée de l'impulsion de lumière de sortie de façon à correspondre à une distance réelle estimée, calcule une distance mesurée au moyen de la différence de temps entre un temps de la sortie de l'impulsion de lumière de sortie et un temps de la réception de l'impulsion de lumière réfléchie, et calcule et stocke une valeur de correction d'erreur de distance pour corriger la différence entre la distance réelle estimée et la distance mesurée. Selon la présente invention, des contraintes d'espace générées tout en corrigeant une erreur de distance non linéaire d'une caméra de mesure de distance tridimensionnelle peuvent être surmontées, les coûts d'équipement nécessaires pour une correction d'erreur de distance peuvent être réduits, et un temps de correction d'erreur de distance peut être raccourci.
(KO)
본 발명은 펄스 위상 이동을 이용한 3차원 거리측정 카메라의 비선형 거리 오차 보정 방법에 관한 것이다. 본 발명은 제어부가 발광부에 의해 출력되는 출력광 펄스의 위상을 조절하는 단계. 발광부가 위상이 조절된 출력광 펄스를 피사체로 출력하는 단계, 수광부가 피사체에서 반사되는 반사광 펄스를 수신하는 단계 및 제어부가 출력광 펄스의 조절된 위상을 추정실제거리에 대응되도록 매핑하고, 출력광 펄스의 출력시점과 반사광 펄스의 수신시점의 시차를 이용하여 측정거리를 계산하고, 추정실제거리와 측정거리의 차이를 보정하기 위한 거리오차 보정값을 계산하여 저장하는 단계를 포함한다. 본 발명에 따르면, 3차원 거리측정 카메라의 비선형 거리 오차를 보정하는 과정에서 발생하는 공간제약성을 극복할 수 있고, 거리 오차 보정을 위해 요구되는 설비비용을 줄일 수 있고, 거리 오차 보정 시간을 단축시킬 수 있다.
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