3D SOKUIKI sensor module with roundly swinging mechanism for taking wide-field range and reflection intensity image in high speed

This paper describes a three dimensional SOKUIKI sensor module with a roundly swinging mechanism for providing three dimensional coordinate data and the corresponding light-receiving intensity data on a laser reflecting point. This sensor module scans wide viewing scanning area around itself in high speed. The auther´s group had already developed and reported on the three dimensional SOKUIKI sensor module for measuring a position of the three dimensional laser reflecting point. And we have added a function for taking range and direction information and the corresponding light-receiving intensity information at the same time. We also implemented a command interface to request the three dimensional coordinate data and the light-receiving intensity data as SCIP-3D mini command system. The experimental results have shown usefulness for a wide-field range and a reflection intensity image in high speed.