Distance measuring device and distance measuring method

Patent metadata

Field	Value
Publication number	US-2021333376-A1
Application number	US-202117331021-A
Country	US
Kind code	A1
Filing date	May 26, 2021
Priority date	Mar 17, 2017
Publication date	Oct 28, 2021
Grant date	—

Abstract

A distance measuring device includes a calculating section that calculates, based on phase information acquired by a first device and a second device, at least one of which is movable, a distance between the first device and the second device. The first device includes a first transceiver that transmits three or more first carrier signals and receives three or more second carrier signals using an output of a first reference signal source. The second device includes a second transceiver that transmits the three or more second carrier signals and receives the three or more first carrier signals using an output of a second reference signal source. The calculating section calculates the distance based on a phase detection result obtained by reception of the first and second carrier signals and corrects the calculated distance based on information concerning an amplitude ratio of the first carrier signals received by the second transceiver.

First claim

What is claimed is:

1 . A distance measuring device that calculates a distance on a basis of carrier phase detection, the distance measuring device comprising a calculating section configured to calculate, on a basis of phase information acquired by a first device and a second device, at least one of which is movable, a distance between the first device and the second device, wherein
the first device includes
a first reference signal source, and
a first transceiver configured to transmit three or more first carrier signals having frequencies different from one another and receive three or more second carrier signals respectively having frequencies substantially same as the frequencies of the three or more first carrier signals using an output of the first reference signal source,
the second device includes
a second reference signal source configured to operate independently from the first reference signal source, and
a second transceiver configured to transmit the three or more second carrier signals and receive the three or more first carrier signals using an output of the second reference signal source,
the calculating section calculates the distance by a phase calculation using a phase detection result obtained by reception of the first and second carrier signals having a substantially same frequency and corrects the calculated distance on a basis of at least one information of information concerning an amplitude ratio of the first carrier signals received by the second transceiver and information concerning an amplitude ratio of the second carrier signals received by the first transceiver, and the calculating section acquires the phase information and the information concerning the amplitude ratio after the first transceiver transmits a first wave and a second wave of the first carrier signals, the second transceiver transmits a first wave and a second wave of the second carrier signals, the first transceiver receives a first wave and a second wave of the second carrier signals, and the second transceiver receives a first wave and a second wave of the first carrier signals, and the first transceiver transmits a third wave of the first carrier signals, the second transceiver receives a third wave of the first carrier signals, and at least one of the second transceiver transmitting a third wave of the second carrier signals or the first transceiver receiving the third wave of the second carrier signals.

2 . The distance measuring device according to claim 1 , wherein
the calculating section acquires the phase information on a basis of the first wave and the second wave of the first carrier signals and the first wave and the second wave of the second carrier signals, and the calculating section calculates at least one of a group including amplitude ratios of the first wave and the third wave of the first carrier signals, and amplitude ratios of the second wave and the third wave of the first carrier signals, of a group including amplitude ratios of the first wave and the third wave of the second carrier signals, and amplitude ratios of the second wave and the third wave of the second carrier signals.

3 . The distance measuring device according to claim 1 , wherein
the first transceiver transmits the first wave of the first carrier signal using the output of the first reference signal source, the second transceiver receives the first wave transmitted from the first transceiver and thereafter transmits the first wave of the second carrier signal and subsequently transmits the first wave of the second carrier signal again using the output of the second reference signal source, the first transceiver receives, twice, the first wave transmitted from the second transceiver and thereafter transmits the first wave of the first carrier signal again and subsequently transmits the second wave of the first carrier signal using the output of the first reference signal source, the second transceiver receives, in order, the first wave and the second wave transmitted from the first transceiver and thereafter transmits the second wave of the second carrier signal and subsequently transmits the second wave of the second carrier signal again using the output of the second reference signal source, the first transceiver receives, twice, the second wave transmitted from the second transceiver and thereafter transmits the second wave of the first carrier signal again using the output of the first reference signal source, the first and second transceivers are configured such that,
the second transceiver receives the second wave transmitted from the first transceiver in a second time and thereafter transmits the third wave of the second carrier signal using the output of the second reference signal source, and the first transceiver receives the third wave transmitted from the second transceiver using the output of the first reference signal source, or
the first transceiver receives the second wave transmitted from the second transceiver in a second time using the output of the first reference signal source and thereafter transmits the third wave of the second carrier signal, and the second transceiver receives the third wave transmitted from the first transceiver.

4 . The distance measuring device according to claim 1 , wherein
the first transceiver transmits the first wave of the first carrier signal using the output of the first reference signal source after carrier sense of the first wave of the first carrier signal, the second transceiver receives the first wave transmitted from the first transceiver and thereafter transmits a first wave of the second carrier signal and subsequently transmits the first wave of the second carrier signal again after carrier sense of the first wave of the second carrier signal using the output of the second reference signal source, the first transceiver receives, twice, the first wave transmitted from the second transceiver and thereafter transmits the first wave of the first carrier signal again and subsequently transmits a second wave of the first carrier signal after carrier sense of the second wave of the first carrier signal using the output of the first reference signal source, the second transceiver receives, in order, the first wave and the second wave transmitted from the first transceiver and thereafter transmits a second wave of the second carrier signal and subsequently transmits the second wave of the second carrier signal again after carrier sense of the second wave of the second carrier signal using the output of the second reference signal source, the first transceiver receives, twice, the second wave transmitted from the second transceiver and thereafter transmits the second wave of the first carrier signal again using the output of the first reference signal source, the first and second transceivers are configured such that,
the second transceiver receives the second wave transmitted from the first transceiver in a second time and thereafter transmits a third wave of the second carrier signal after carrier sense of the third wave of the second carrier signal using the output of the second reference signal source, and the first transceiver receives the third wave transmitted from the second transceiver using the output of the first reference signal source, or
the first transceiver receives the third wave transmitted from the second transceiver using the output of the first reference signal source and thereafter transmits a third wave of the second carrier signal, and the second transceiver receives the third wave transmitted from the first transceiver.

5 . A distance measuring device that calculates a distance between a first device and a second device, at least one of which is movable, on a basis of phases of first to sixth known signals transmitted with a

Assignees

• Toshiba Kk

Inventors

• Shimizu Yutaka
• Ootaka Shoji
• Seto Ichiro
• Nonin Katsuya

Classifications

• G01S13/84 Primary

  for distance determination by phase measurement · CPC title

• G01S13/38

  wherein more than one modulation frequency is used · CPC title

• G01S13/36

  with phase comparison between the received signal and the contemporaneously transmitted signal · CPC title

• G01S7/4912 Primary

  Receivers · CPC title

• G01S17/32

  using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated · CPC title