Distance measuring device

Claim 2

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means.

Claim 3

A distance measuring apparatus according to claim 1, wherein said integrating means includes an operational amplifier having an input terminal arranged to receive the signals from said light receiving means and a capacitor connected across a feedback path of said operational amplifier.

Claim 4

A distance measuring apparatus according to claim 1, wherein said integrating means includes a Miller integrator.

Claim 5

A distance measuring apparatus according to claim 1, further comprising means for latching an output signal from said detecting means when the output level of said integrating means has reached the predetermined value.

Claim 6

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and comprising means for latching an output signal from said detecting means when the output level of said integrating means has reached the predetermined value and further comprising means connected to said latching means for rendering said detecting means inoperative in response to a latching operation of said latching means.

Claim 7

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and comprising means for latching an output signal from said detecting means when the output level of said integrating means has reached the predetermined value and further comprising means connected to said latching means for rendering said detecting means inoperative in response to a latching operation of said latching means.

Claim 8

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and further comprising means for interrupting an integrating operation of said integrating means during a predetermined time interval after completion of an integrating operation on said first output signal from said light receiving means.

Claim 9

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and further comprising means for interrupting an integrating operation of said integrating means during a predetermined time interval after completion of an integrating operation on said first output signal from said light receiving means.

Claim 10

A distance measuring apparatus according to claim 1, wherein said time counting means includes a counter.

Claim 11

A distance measuring apparatus according to claim 7, wherein said distance information producing means includes a decoder responsive to the content of said counter for producing distance information according to the content of the counter.

Claim 12

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and wherein said light receiving means includes first and second light sensitive elements and an output circuit, said output circuit being arranged to have a first electrical signal from the first light sensitive element and the sum of the first electrical signal and a second electrical signal from the second light sensitive element supplied in sequence to the integrating means.

Claim 13

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and wherein said light receiving means includes first and second light sensitive elements and an output circuit, said output circuit being arranged to have a first electrical signal from the first light sensitive element and the sum of the first electrical signal and a second electrical signal from the second light sensitive element supplied in sequence to the integrating means.

Claim 14

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and further comprising second detecting means connected to said integrating means for detecting the integration level of said integrating means corresponding to the first output of said light receiving means after the lapse of the predetermined period of time from commencement of the integrating operation of said integrating means to produce distance information corresponding to a specific distance when said integration level is not exceeding a predetermined value.

Claim 15

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, and further comprising second detecting means connected to said integrating means for detecting the integration level of said integrating means corresponding to the first output of said light receiving means after the lapse of the predetermined period of time from commencement of the integrating operation of said integrating means to produce distance information corresponding to a specific distance when said integration level is not exceeding a predetermined value.

Claim 16

A distance measuring apparatus according to claim 1, wherein said light receiving means includes a semiconductor position sensing device.

Claim 17

A distance measuring apparatus according to claim 1, wherein said light projecting means includes an infrared illuminating element.

Claim 18

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, wherein said light projecting means includes an infrared illuminating element and further comprising means for rendering said integrating means operative for an integrating operation after said infrared illuminating element has reached a state of thermal equilibrium.

Claim 19

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for integrating the first output of said light receiving means for a predetermined period of time and performing reverse integration according to the second output of the light receiving means; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means, wherein said light projecting means includes an infrared illuminating element and further comprising means for rendering said integrating means operative for an integrating operation after said infrared illuminating element has reached a state of thermal equilibrium.

Claim 20

In a distance measuring apparatus having light projecting means for projecting a light on a distance measuring object over a predetermined period of time and light receiving means for receiving a reflection light from said object at a point varying according to a distance to the object, said apparatus being arranged to perform a distance detecting operation for detecting said distance on the basis of the point of the incident light on the light receiving means, the improvement comprising means for rendering said distance detecting operation operative after said light projecting means has reached a state of thermal equilibrium.

Claim 21

In a distance measuring apparatus having light projecting means for projecting a light on a distance measuring object over a predetermined period of time and light receiving means for receiving a reflection light from said object at a point varying according to a distance to the object, said apparatus being arranged to perform a distance detecting operation for detecting said distance on the basis of the point of the incident light on the light receiving means, the improvement comprising means for rendering said distance detecting operation operative after said light projecting means has reached a state of thermal equilibrium.

Claim 22

A distance measuring apparatus comprising: light receiving means for receiving light from an object whose distance is to be measured and for producing at least two different first and second unknown signals corresponding to the light intensity representative of the distance to the object; one signal line means having a single line input functionally connected to said light receiving means; control means which are connected to said light receiving means for delivering, in time series, the first and second unknown signals to said one signal line means, said control means rendering the unknown signals of said light receiving means selectively effective; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time, and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of said time counting means.

Claim 23

A distance measuring apparatus comprising: light receiving means for receiving light from an object whose distance is to be measured and for producing at least two different first and second unknown signals corresponding to the light intensity representative of the distance to the object; one signal line means having a single line input functionally connected to said light receiving means; control means which are connected to said light receiving means for delivering, in time series, the first and second unknown signals to said one signal line means, said control means rendering the unknown signals of said light receiving means selectively effective; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time, and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of said time counting means.

Claim 24

A distance measuring device according to claim 15, further comprising light projecting means for projecting light on the object.

Claim 25

A distance measuring device according to claim 16, wherein said light receiving means includes a plurality of independent light receiving elements located at separated positions for receiving light projected by said light projecting means and reflected by the object and for producing the output signal corresponding to the respective positions of said plurality of light receiving elements.

Claim 26

A distance measuring device according to claim 17, wherein said one signal line means includes an amplifier connected between said light receiving elements and said distance indicating means.

Claim 27

A distance measuring device according to claim 18, wherein said control means includes a plurality of switches connected to said light receiving elements and each one of said switches is selectively actuated for delivering in time series the output signals to one signal line means.

Claim 28

A distance measuring device according to claim 19, wherein said switches include a plurality of FETs.

Claim 29

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different unknown signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means.

Claim 30

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different unknown signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; and distance information producing means for producing information on a distance to said object on the basis of the output of time counting means.

Claim 31

A distance measuring apparatus comprising: light projecting means for projecting light onto an object whose distance is to be measured; light receiving means having a plurality of independent light receiving elements located at separated positions for receiving light projected by said light projecting means and reflected by the object and for producing in sequence at least two different unknown signals corresponding to the respective positions of said plurality of light receiving elements; integrating means for performing a forward integration on the basis of a first of said unknown signals of said light receiving means for a predetermined period of time and performing reverse integration on the basis of a second of said unknown signals of the light receiving means after completion of the forward integration; ratio detecting means functionally connected to integrating means for detecting a ratio between a performance time of said forward integration and a performance time of the reverse integration; and distance indicating means for indicating distance data to the object on the basis of said ratio from the ratio detecting means.

Claim 32

A distance measuring apparatus comprising: light projecting means for projecting light onto an object whose distance is to be measured; light receiving means having a plurality of independent light receiving elements located at separated positions for receiving light projected by said light projecting means and reflected by the object and for producing in sequence at least two different unknown signals corresponding to the respective positions of said plurality of light receiving elements; integrating means for performing a forward integration on the basis of a first of said unknown signals of said light receiving means for a predetermined period of time and performing reverse integration on the basis of a second of said unknown signals of the light receiving means after completion of the forward integration; ratio detecting means functionally connected to integrating means for detecting a ratio between a performance time of said forward integration and a performance time of the reverse integration; and distance indicating means for indicating distance data to the object on the basis of said ratio from the ratio detecting means.

Claim 33

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different unknown signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; distance information producing means for producing information on a distance to said object on the basis of the output of time counting means; control signal producing means for detecting an output level of the integrating means during a period of said forward integration so that it produces a control signal when the output level reaches a first level; and first compressing means connected to said integrating means and said control signal producing means for compressing the output level of said integrating means after the control signal is produced.

Claim 34

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different unknown signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; distance information producing means for producing information on a distance to said object on the basis of the output of time counting means; control signal producing means for detecting an output level of the integrating means during a period of said forward integration so that it produces a control signal when the output level reaches a first level; and first compressing means connected to said integrating means and said control signal producing means for compressing the output level of said integrating means after the control signal is produced.

Claim 35

A distance measuring apparatus according to claim 23, further comprising second compressing means functionally for detecting an output level of the integrating means during a period of said reverse integration and compressing the output level of said integrating means until the output level reaches said first level.

Claim 36

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different unknown signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; distance information producing means for producing information on a distance to said object on the basis of the output of time counting means; pulse generating means for applying such pulses as having a predetermined frequency to said light projecting means for intermittently energizing said light projecting means; switching means connected between said light receiving means and said integrating means for applying the unknown signals from said light receiving means in response to the pulses from said pulse generating means; and phase shifting means for shifting by 180° the phases of the pulses supplied to said light projecting means and said switching means.

Claim 37

A distance measuring apparatus comprising: light projecting means; light receiving means for producing in sequence at least two different unknown signals corresponding to the incident angle of a reflection light from a distance measuring object; integrating means for performing a forward integration on the basis of the first unknown signal of said light receiving means for a predetermined period of time and performing reverse integration according to the second unknown signal of the light receiving means after completion of the forward integration; detecting means for detecting that the output of said integrating means has reached a predetermined value during said reverse integration; time counting means for detecting the time of said reverse integration in response to the output of said detecting means; distance information producing means for producing information on a distance to said object on the basis of the output of time counting means; pulse generating means for applying such pulses as having a predetermined frequency to said light projecting means for intermittently energizing said light projecting means; switching means connected between said light receiving means and said integrating means for applying the unknown signals from said light receiving means in response to the pulses from said pulse generating means; and phase shifting means for shifting by 180° the phases of the pulses supplied to said light projecting means and said switching means.