WO2019159933A1 - Electromagnetic wave detection device and information acquisition system - Google Patents

Abstract

An electromagnetic wave detection device has a first image formation unit, a progression unit, a second image formation unit, and a first detection unit. The first image formation unit forms an image of an incident electromagnetic wave. A plurality of pixels along a reference surface are disposed in the progression unit. The progression unit causes an electromagnetic wave that is incident on the reference surface from the first image formation unit to progress in a first direction. The second image formation unit forms an image of the electromagnetic wave that has progressed in the first direction. The first detection unit detects the electromagnetic wave that is incident from the second image formation unit. The angle between the progression axis at each angle of view of an electromagnetic wave that has passed through the first image formation unit, and the main axis of the first image formation unit, is within a prescribed value.

Description

Electromagnetic wave detection device and information acquisition system Cross-reference of related applications

This application claims the priority of Japanese Patent Application No. 2018-027323 filed in Japan on February 19, 2018 and Japanese Patent Application No. 2018-109593 filed in Japan on June 7, 2018. The entire disclosures of these earlier applications are incorporated herein by reference.

This disclosure relates to an electromagnetic wave detection device and an information acquisition system.

There is known an apparatus including an element that switches a traveling direction of an electromagnetic wave incident on each pixel, such as a DMD (Digital Micromirror Device). For example, an apparatus is known in which an image of an object is first temporarily formed on a DMD surface, and then the image primarily formed on the DMD surface is further formed on a CCD (Charge-Coupled Device) surface through a lens (patent). Reference 1).

Japanese Patent No. 3507865

The electromagnetic wave detection device according to the first aspect is:
A first imaging unit that images an incident electromagnetic wave;
A plurality of pixels are arranged along a reference plane, and an advancing unit that advances an electromagnetic wave incident on the reference plane from the first imaging unit in a first direction for each pixel;
A second imaging unit that images the electromagnetic wave traveling in the first direction;
A first detector that detects electromagnetic waves incident from the second imaging unit,
An angle formed by a traveling axis at each angle of view of the electromagnetic wave that has passed through the first imaging unit and the principal axis of the first imaging unit is within a predetermined value.

An information acquisition system according to the second aspect is
A plurality of pixels are arranged along a reference plane and a first imaging unit that forms an incident electromagnetic wave, and an electromagnetic wave incident on the reference plane from the first imaging unit is provided for each pixel. A traveling portion that travels in the direction, a second imaging portion that images the electromagnetic waves traveling in the first direction, a first detection portion that detects the electromagnetic waves incident from the second imaging portion, An electromagnetic wave detection device, wherein an angle formed by a traveling axis at each angle of view of the electromagnetic wave that has passed through the first imaging unit and a principal axis of the first imaging unit is within a predetermined value;
And a control device that acquires information about the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the first detection unit.

An information acquisition system according to the third aspect is
A plurality of pixels are arranged along a reference plane and a first imaging unit that forms an incident electromagnetic wave, and an electromagnetic wave incident on the reference plane from the first imaging unit is provided for each pixel. A traveling portion that travels in the direction, a second imaging portion that images the electromagnetic waves traveling in the first direction, a first detection portion that detects the electromagnetic waves incident from the second imaging portion, A third imaging unit that forms an image of the electromagnetic wave traveling in the second direction; and a second detection unit that detects the electromagnetic wave incident from the third imaging unit. An electromagnetic wave detection device in which an angle formed between a traveling axis at each angle of view of the electromagnetic wave that has passed through the imaging unit and the principal axis of the first imaging unit is within a predetermined value;
And a control device that acquires information about the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the second detection unit.

An information acquisition system according to the fourth aspect is
A plurality of pixels are arranged along a reference plane and a first imaging unit that forms an incident electromagnetic wave, and an electromagnetic wave incident on the reference plane from the first imaging unit is provided for each pixel. A traveling portion that travels in the direction, a second imaging portion that images the electromagnetic waves traveling in the first direction, a first detection portion that detects the electromagnetic waves incident from the second imaging portion, A third detection unit that detects the electromagnetic wave traveling in the third direction, and a traveling axis at each angle of view of the electromagnetic wave that has passed through the first imaging unit, and the first imaging unit An electromagnetic wave detection device having an angle with the main axis within a predetermined value;
And a control device that acquires information about the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the third detection unit.

As described above, the solution of the present disclosure has been described as an apparatus and a system. However, the present disclosure can also be realized as an embodiment including these, and a method, a program, It should be understood that the present invention can also be realized as a storage medium storing a program, and these are also included in the scope of the present disclosure.

In the electromagnetic wave detection device that does not provide a stop near the front focal point of the primary imaging optical system, a configuration that allows the electromagnetic wave propagating along the traveling direction that the traveling portion travels to enter the secondary imaging optical system without omission FIG. In an electromagnetic wave detection device that does not have a stop near the front focal point of the primary imaging optical system, along the traveling direction in which the traveling unit advances while avoiding interference between the primary imaging optical system and the secondary imaging optical system. It is a block diagram which shows the structure which makes the electromagnetic wave which propagates inject into a secondary imaging optical system. It is a block diagram which shows schematic structure of the information acquisition system containing the electromagnetic wave detection apparatus which concerns on 1st Embodiment. It is a block diagram which shows schematic structure of the electromagnetic wave detection apparatus of FIG. It is a block diagram which shows the modification of the 1st image formation part of FIG. FIG. 4 is a timing chart showing electromagnetic wave emission timing and detection timing for explaining the principle of distance measurement by a distance measuring sensor formed by the irradiation unit, the second detection unit, and the control unit of FIG. 3. FIG. 4 is an optical path diagram for explaining the spread of electromagnetic waves propagating in a first direction and a second direction advanced by a traveling portion in the electromagnetic wave detection device of FIG. 3. In an electromagnetic wave detection apparatus in which the main surface of the primary imaging optical system, the reference surface of the traveling unit, the main surface of the secondary imaging optical system, and the detection surface of the detection unit are parallel, It is a figure which shows the field angle range of a next imaging optical system. FIG. 5 is a diagram illustrating a field angle range of a second image forming unit of an image formed on a first detection surface in the electromagnetic wave detection device of FIG. 4. It is a block diagram which shows schematic structure of the electromagnetic wave detection apparatus which concerns on 2nd Embodiment.

It is beneficial to homogenize the intensity of the secondary imaged electromagnetic wave while downsizing the entire device. The present disclosure relates to homogenizing the intensity of a secondary imaged electromagnetic wave without increasing the size of the entire apparatus. According to the present disclosure, it is possible to homogenize the intensity of the electromagnetic wave that has undergone secondary imaging without increasing the size of the entire apparatus. Hereinafter, embodiments of an electromagnetic wave detection device to which the present disclosure is applied will be described with reference to the drawings. A primary imaging optical system that forms an image of incident electromagnetic waves, an electromagnetic wave propagated from the primary imaging optical system and incident on the reference plane, which can travel in a direction different from the incident direction for each pixel, and is connected to the reference plane by the traveling section. The secondary imaging optical system that forms the imaged electromagnetic wave on the detection unit, and the electromagnetic wave detection device in which the detection unit is arranged can detect the electromagnetic wave that has undergone secondary imaging in the detection unit. However, since the traveling part does not refract the incident electromagnetic wave like a relay lens, the electromagnetic wave image formed on the reference plane travels in the traveling direction while spreading. Therefore, in order to make the electromagnetic wave incident on the traveling portion incident on the secondary imaging optical system without omission, it is necessary to apply a large secondary imaging optical system 19 'as shown in FIG. It becomes difficult to reduce the size. Furthermore, in a configuration in which DMD is applied to the advancing portion, use of a large secondary imaging optical system 19 ′ may cause interference with the primary imaging optical system 15 ′, which may make actual manufacture difficult. . This is because the DMD switching angle is relatively small, and the angle between the direction from the primary imaging optical system 15 ′ to the DMD and the direction in which the DMD travels is also small. Further, as shown in FIG. 2, the primary imaging optical system 15 ″ and the secondary imaging optical system 15 ″ are reduced by shortening the back flange length of the primary imaging optical system 15 ″ and reducing the size of the secondary imaging optical system 19 ″. The interference of the imaging optical system 19 '' can be avoided and the apparatus can be miniaturized. However, vignetting may occur in the electromagnetic waves reflected by some pixels, and the intensity of the secondary image may be biased. Therefore, the electromagnetic wave detection device to which the present disclosure is applied generates vignetting in some pixels without using a large secondary imaging optical system by reducing the spread of the electromagnetic wave traveling in the traveling direction from the reference plane. The possibility of this can be reduced.

As illustrated in FIG. 3, the information acquisition system 11 including the electromagnetic wave detection device 10 according to the first embodiment of the present disclosure includes the electromagnetic wave detection device 10, the irradiation unit 12, the reflection unit 13, and the control device 14. Has been.

In the following figures, the broken lines connecting the functional blocks indicate the flow of control signals or information to be communicated. The communication indicated by the broken line may be wired communication or wireless communication. A solid line protruding from each functional block indicates a beam-like electromagnetic wave.

As illustrated in FIG. 4, the electromagnetic wave detection device 10 includes a first opening 23, a first imaging unit 15, a separation unit 16, a traveling unit 18, a second imaging unit 19, and a first detection unit 20. , A third imaging unit 21, a second detection unit 22, and a third detection unit 17.

The first opening 23 defines, for example, an opening and allows a part of the electromagnetic wave incident on the opening to pass therethrough. The first opening 23 may be an aperture stop, for example, and may function as a stop of the first imaging unit 15 that adjusts the amount of electromagnetic waves that pass through.

The first opening 23 may be disposed in the vicinity of the position of the front focal point by the first imaging unit 15. The vicinity of the position of the front focal point is the position of the stop that makes the angle formed by the principal ray on the image side of each field angle of the first imaging unit 15 and the principal axis of the first imaging unit 15 within a predetermined value. . In other words, the vicinity of the position of the front focal point means that the angle between the principal ray on the image side with the maximum field angle of the first imaging unit 15 and the principal axis of the first imaging unit 15 falls within a predetermined value. Position. The predetermined value may be 15 °, for example. Furthermore, the first opening 23 may be disposed at the position of the front focal point of the first imaging unit 15 and may form an image side telecentric optical system together with the first imaging unit 15. As shown in FIG. 5, the first opening 23 is formed on the image side together with the first imaging unit 15 when the traveling axes of the electromagnetic waves passing through the first imaging unit 15 are substantially parallel to each other. The telecentric optical system need not be configured.

The first image forming unit 15 forms an image of the electromagnetic wave incident from the first opening 23. In the first imaging unit 15, the angle formed by the traveling axis at each angle of view of the electromagnetic wave that has passed through the first imaging unit 15 and the principal axis of the first imaging unit 15 is within the above-described predetermined value. Are arranged as follows. The first imaging unit 15 may be arranged so that the traveling axis and the main axis are parallel to each other. For example, as shown in FIG. 5, the first imaging unit 15 causes the traveling axis of the electromagnetic wave incident from each angle of view to pass through the center of the imaging unit in the previous stage and then pass to the imaging unit in the subsequent stage. May be arranged.

The first imaging unit 15 may be arranged so that the axis of the opening ap and the main axis are parallel to each other at a position facing the opening ap formed in the housing of the electromagnetic wave detection device 10. The axis of the opening ap is the axis of the cylinder in a configuration in which the opening ap is defined by a cylinder such as a lens barrel, and in the configuration formed in the casing itself, the axis of the casing around the opening ap. It is a line perpendicular to the wall surface and passing through the center of the opening ap. In the first embodiment, the opening ap is different from the opening defined by the first opening 23, but may be the same.

The first imaging unit 15 includes, for example, at least one of a lens and a mirror. The first imaging unit 15 forms an image of an incident electromagnetic wave that passes through the first opening 23 from the object ob that is a subject. The first imaging unit 15 may be a retrofocus type lens system.

The separating unit 16 is provided between the first imaging unit 15 and the primary imaging position that is the imaging position of the object ob by the first imaging unit 15. The separating unit 16 separates the electromagnetic wave incident from the first imaging unit 15 so as to travel in the traveling unit direction da toward the traveling unit 18 and in the third direction d3 toward the third detecting unit 17. The separation unit 16 may separate the incident electromagnetic wave so that the first frequency electromagnetic wave travels in the traveling direction da and the second frequency electromagnetic wave travels in the third direction d3.

The separating unit 16 separates the incident electromagnetic wave so as to travel in the third direction d3 and the traveling unit direction da by at least one of reflection, separation, and refraction. In the first embodiment, for example, the separation unit 16 reflects a part of the incident electromagnetic wave in the third direction d3 and transmits another part of the electromagnetic wave in the traveling part direction da. For example, the separation unit 16 may transmit a part of the incident electromagnetic wave in the third direction d3 and reflect another part of the electromagnetic wave in the traveling part direction da. Further, for example, the separation unit 16 may refract part of the incident electromagnetic wave in the third direction d3 and transmit another part of the electromagnetic wave in the traveling part direction da. Further, for example, the separation unit 16 may transmit a part of the incident electromagnetic wave in the third direction d3 and refract another part of the electromagnetic wave in the traveling part direction da. Further, for example, the separation unit 16 may refract part of the incident electromagnetic wave in the third direction d3 and refract another part of the electromagnetic wave in the traveling part direction da.

The separation unit 16 may include, for example, at least one of a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, a deflection element, and a prism.

The traveling unit 18 is provided on the path of electromagnetic waves traveling from the separating unit 16 in the traveling unit direction da. Further, the traveling unit 18 is provided in the primary imaging position of the object ob by the first imaging unit 15 in the traveling unit direction da or in the vicinity of the primary imaging position.

In the first embodiment, the advancing portion 18 is provided at the primary imaging position. The traveling unit 18 has a reference surface ss on which the electromagnetic wave that has passed through the first imaging unit 15 and the separation unit 16 is incident. The reference plane ss is composed of a plurality of pixels px arranged along a two-dimensional shape. The reference surface ss is a surface that causes an action such as reflection and transmission on the electromagnetic wave in at least one of a first state and a second state to be described later. The reference plane ss may be perpendicular to the central axis of the electromagnetic wave traveling in the traveling section direction da from the separation section 16.

The advancing unit 18 can be switched for each pixel px between a first state in which the electromagnetic wave incident on the reference surface ss is advanced in the first direction d1 and a second state in which the electromagnetic wave is advanced in the second direction d2. is there. In the first embodiment, the first state is a first reflection state in which an electromagnetic wave incident on the reference surface ss is reflected in the first direction d1. The second state is a second reflection state in which the electromagnetic wave incident on the reference surface ss is reflected in the second direction d2.

In the first embodiment, more specifically, the advancing unit 18 includes a reflecting surface that reflects electromagnetic waves for each pixel px. The advancing unit 18 switches the first reflection state and the second reflection state for each pixel px by changing the direction of the reflection surface for each pixel px.

In the first embodiment, the progression unit 18 includes, for example, a DMD (Digital Micromirror Device). The DMD can switch the reflective surface to either the + 12 ° or −12 ° inclination state with respect to the reference surface ss for each pixel px by driving a minute reflecting surface constituting the reference surface ss. . Note that the reference surface ss is parallel to the plate surface of the substrate on which the minute reflecting surface of the DMD is placed.

The progression unit 18 switches between the first state and the second state for each pixel px based on the control of the control device 14 to be described later. For example, the advancing unit 18 can simultaneously advance an electromagnetic wave incident on the pixel px in the first direction d1 by switching a part of the pixels px to the first state, and set another part of the pixels px to the first state. By switching to the state of 2, the electromagnetic wave incident on the pixel px can be advanced in the second direction d2.

The second imaging unit 19 is disposed in the first direction d1 from the traveling unit 18. The second imaging unit 19 includes, for example, at least one of a lens and a mirror. The second imaging unit 19 may be arranged such that the main surface is inclined with respect to the reference plane ss of the traveling unit 18. Further, the second imaging unit 19 may be arranged so that the main axis passes within the range of the reference plane ss of the traveling unit 18. Furthermore, the second imaging unit 19 may be arranged such that the principal axis passes through the center pixel px, that is, the center pixel px. The second imaging unit 19 forms an image of the object ob as an electromagnetic wave whose traveling direction is switched in the traveling unit 18.

The first detection unit 20 is disposed on the path of the electromagnetic wave that travels in the first direction d1 by the traveling unit 18 and then travels through the second imaging unit 19. The first detection unit 20 is disposed at or near the secondary imaging position by the second imaging unit 19 of the electromagnetic wave image formed on the reference plane ss of the traveling unit 18. The first detection unit 20 may be arranged so that the detection surface is inclined with respect to the reference surface ss, that is, the extended surfaces of the detection surface and the reference surface ss intersect each other. Further, the first detection unit 20 may be arranged so as to be inclined with respect to the main surface of the second imaging unit 19. The first detection unit 20 may be arranged so that the main axis of the second imaging unit 19 passes within the range of the detection surface of the first detection unit 20. Furthermore, the first detection unit 20 may be arranged so that the main axis of the second imaging unit 19 passes through the center of the detection surface of the first detection unit 20.

The first detection unit 20 may be arranged such that the extension surface of the detection surface intersects the extension surfaces of the reference surface ss and the main surface of the second imaging unit 19 on a single straight line. Accordingly, the reference surface ss, the main surface of the second imaging unit 19, and the detection surface of the first detection unit 20 may be arranged so as to satisfy the Scheinproof principle. The first detection unit 20 detects an electromagnetic wave that has passed through the second imaging unit 19, that is, an electromagnetic wave that has traveled in the first direction d1.

In the first embodiment, the first detection unit 20 is a passive sensor. In the first embodiment, more specifically, the first detection unit 20 includes an element array. For example, the first detection unit 20 includes an image sensor such as an image sensor or an imaging array, captures an image of an electromagnetic wave formed on the detection surface, and generates image information corresponding to the captured object ob.

In the first embodiment, more specifically, the first detection unit 20 captures an image of visible light. The first detection unit 20 transmits the generated image information as a signal to the control device 14.

Note that the first detection unit 20 may capture images other than visible light, such as infrared, ultraviolet, and radio wave images. The first detection unit 20 may include a distance measuring sensor. In this configuration, the electromagnetic wave detection device 10 can acquire image-like distance information by the first detection unit 20. The first detection unit 20 may include a thermosensor. In this configuration, the electromagnetic wave detection device 10 can acquire image-like temperature information by the first detection unit 20.

The third imaging unit 21 is disposed in the second direction d2 from the traveling unit 18. The third imaging unit 21 includes, for example, at least one of a lens and a mirror. The third imaging unit 21 may be arranged such that the main surface is inclined with respect to the reference plane ss of the traveling unit 18. Further, the third imaging unit 21 may be arranged such that the main axis passes within the range of the reference plane ss of the traveling unit 18. Furthermore, the third imaging unit 21 may be arranged so that the principal axis passes through the center pixel px, that is, the center of the reference plane ss. The third imaging unit 21 forms an image of the object ob as an electromagnetic wave whose traveling direction is switched in the traveling unit 18.

The second detection unit 22 is disposed on the path of the electromagnetic wave that travels in the second direction d2 by the traveling unit 18 and then travels through the third imaging unit 21. The second detection unit 22 is disposed at or near the secondary imaging position of the third imaging unit 21 of the electromagnetic wave image formed on the reference plane ss of the traveling unit 18. Further, the second detection unit 22 may be arranged such that the detection surface is inclined with respect to the reference surface ss, that is, the extended surfaces of the detection surface and the reference surface ss intersect each other. The second detection unit 22 may be arranged so as to be inclined with respect to the main surface of the third imaging unit 21. In addition, the second detection unit 22 may be arranged so that the main axis of the third imaging unit 21 passes within the range of the detection surface of the second detection unit 22. Furthermore, the second detection unit 22 may be arranged so that the main axis of the third imaging unit 21 passes through the center of the detection surface of the second detection unit 22.

The second detection unit 22 may be arranged such that the extension surface of the detection surface intersects the extension surfaces of the reference surface ss and the main surface of the third imaging unit 21 on a single straight line. Accordingly, the reference surface ss, the main surface of the third imaging unit 21, and the detection surface of the second detection unit 22 may be arranged so as to satisfy the Scheinproof principle. The second detection unit 22 detects the electromagnetic wave that has passed through the third imaging unit 21, that is, the electromagnetic wave that has traveled in the second direction d2.

In the first embodiment, the second detection unit 22 is an active sensor that detects a reflected wave from the target ob of the electromagnetic wave irradiated from the irradiation unit 12 toward the target ob. In the first embodiment, the second detection unit 22 reflects the electromagnetic wave irradiated from the irradiation unit 12 and reflected toward the target ob by being reflected by the reflection unit 13 from the target ob. Is detected. As will be described later, the electromagnetic wave irradiated from the irradiation unit 12 is at least one of infrared rays, visible rays, ultraviolet rays, and radio waves, and the second detection unit 22 is different from or similar to the first detection unit 20. It is a sensor and detects different types or similar types of electromagnetic waves.

In the first embodiment, more specifically, the second detection unit 22 includes elements constituting a distance measuring sensor. For example, the second detection unit 22 includes a single element such as an APD (Avalanche PhotoDiode), PD (PhotoDiode), SPAD (Single Photon Avalanche Diode), a millimeter wave sensor, a submillimeter wave sensor, and a ranging image sensor. . The second detection unit 22 may include an element array such as an APD array, a PD array, an MPPC (Multi-Photon-Pixel-Counter), a ranging imaging array, and a ranging image sensor.

In the first embodiment, the second detection unit 22 transmits detection information indicating that a reflected wave from the subject has been detected to the control device 14 as a signal. More specifically, the second detection unit 22 is an infrared sensor that detects electromagnetic waves in the infrared band.

In addition, the 2nd detection part 22 should just be able to detect electromagnetic waves in the structure which is a single element which comprises the distance sensor mentioned above, and does not need to be imaged on a detection surface. Therefore, the second detection unit 22 does not necessarily have to be provided in the secondary imaging position or the vicinity of the secondary imaging position, which is the imaging position by the third imaging unit 21. That is, in this configuration, the second detection unit 22 has a third connection after traveling in the traveling unit direction da by the traveling unit 18 at a position where electromagnetic waves from all angles of view can enter the detection surface. It may be arranged anywhere on the path of the electromagnetic wave traveling through the image unit 21.

The third detection unit 17 is provided on the path of the electromagnetic wave that travels from the separation unit 16 in the third direction d3. Further, the third detection unit 17 is provided at or near the imaging position of the object ob by the first imaging unit 15 in the third direction d3 from the separation unit 16. The third detection unit 17 detects electromagnetic waves that have traveled from the separation unit 16 in the third direction d3.

In the first embodiment, the third detection unit 17 is a passive sensor. In the first embodiment, more specifically, the third detection unit 17 includes an element array. For example, the third detection unit 17 includes an image sensor such as an image sensor or an imaging array, captures an image of an electromagnetic wave formed on the detection surface, and generates image information corresponding to the captured object ob.

In the first embodiment, the third detector 17 captures a visible light image more specifically. The third detection unit 17 transmits the generated image information as a signal to the control device 14.

Note that the third detection unit 17 may capture images other than visible light, such as infrared, ultraviolet, and radio wave images. The third detection unit 17 may include a distance measuring sensor. In this configuration, the electromagnetic wave detection device 10 can acquire image-like distance information by the third detection unit 17. The third detection unit 17 may include a distance measuring sensor or a thermo sensor. In this configuration, the electromagnetic wave detection device 10 can acquire image-like temperature information by the third detection unit 17.

The irradiation unit 12 emits at least one of infrared rays, visible rays, ultraviolet rays, and radio waves. In the first embodiment, the irradiation unit 12 emits infrared rays. The irradiation unit 12 irradiates the radiated electromagnetic wave directly or indirectly through the reflection unit 13 toward the object ob. In 1st Embodiment, the irradiation part 12 irradiates the electromagnetic wave to radiate | emit indirectly through the reflection part 13 toward the object ob.

In the first embodiment, the irradiation unit 12 emits a narrow electromagnetic wave in the form of a beam, for example, 0.5 °. In the first embodiment, the irradiation unit 12 can emit electromagnetic waves in a pulsed manner. For example, the irradiation unit 12 includes an LED (Light Emitting Diode) and an LD (Laser Diode). The irradiation unit 12 switches between emission and stop of electromagnetic waves based on the control of the control device 14 described later.

The reflection unit 13 changes the irradiation position of the electromagnetic wave irradiated to the object ob by reflecting the electromagnetic wave radiated from the irradiation unit 12 while changing the direction. That is, the reflection unit 13 scans the object ob with the electromagnetic wave radiated from the irradiation unit 12. Therefore, in the first embodiment, the second detection unit 22 forms a scanning distance measuring sensor in cooperation with the reflection unit 13. Note that the reflection unit 13 scans the object ob in a one-dimensional direction or a two-dimensional direction. In the first embodiment, the reflecting unit 13 scans the object ob in the two-dimensional direction.

The reflection unit 13 is configured such that at least a part of the irradiation region of the electromagnetic wave radiated and reflected from the irradiation unit 12 is included in the electromagnetic wave detection range in the electromagnetic wave detection device 10. Therefore, at least a part of the electromagnetic wave irradiated to the object ob through the reflection unit 13 can be detected by the electromagnetic wave detection device 10.

In the first embodiment, the reflection unit 13 includes at least a part of the irradiation region of the electromagnetic wave emitted from the irradiation unit 12 and reflected by the reflection unit 13 in the detection range of the second detection unit 22. It is configured. Therefore, in the first embodiment, at least a part of the electromagnetic wave irradiated to the object ob via the reflection unit 13 can be detected by the second detection unit 22.

The reflection unit 13 includes, for example, a MEMS (Micro Electro Mechanical Systems) mirror, a polygon mirror, and a galvano mirror. In the first embodiment, the reflection unit 13 includes a MEMS mirror.

The reflection unit 13 changes the direction in which the electromagnetic wave is reflected based on the control of the control device 14 to be described later. Moreover, the reflection part 13 may have angle sensors, such as an encoder, for example, and may notify the angle which an angle sensor detects to the control apparatus 14 as direction information which reflects electromagnetic waves. In such a configuration, the control device 14 can calculate the irradiation position based on the direction information acquired from the reflection unit 13. Moreover, the control apparatus 14 can calculate an irradiation position based on the drive signal input in order to make the reflection part 13 change the direction which reflects electromagnetic waves.

The control device 14 includes one or more processors and a memory. The processor may include at least one of a general-purpose processor that reads a specific program and executes a specific function, and a dedicated processor specialized for a specific process. The dedicated processor may include an application specific integrated circuit (ASIC). The processor may include a programmable logic device (PLD). The PLD may include an FPGA (Field-Programmable Gate Array). The control device 14 may include at least one of SoC (System-on-a-Chip) and SiP (System-in-a-Package) in which one or a plurality of processors cooperate.

The control device 14 acquires information about the periphery of the electromagnetic wave detection device 10 based on the electromagnetic waves detected by the first detection unit 20, the second detection unit 22, and the third detection unit 17, respectively. The information about the surroundings is, for example, image information, distance information, temperature information, and the like. In the first embodiment, as described above, the control device 14 acquires the electromagnetic wave detected as an image by the first detection unit 20 or the third detection unit 17 as image information. In the first embodiment, the control device 14 uses the ToF (Time-of-Flight) method to irradiate the irradiation unit 12 based on detection information detected by the second detection unit 22 as described below. The distance information of the irradiation position irradiated on is acquired.

As shown in FIG. 6, the control device 14 causes the irradiation unit 12 to emit a pulsed electromagnetic wave by inputting the electromagnetic wave emission signal to the irradiation unit 12 (see the “electromagnetic wave emission signal” column). The irradiation unit 12 irradiates an electromagnetic wave based on the input electromagnetic wave radiation signal (see the “irradiation unit radiation amount” column). An electromagnetic wave emitted from the irradiation unit 12 and reflected from the reflection unit 13 and irradiated to an arbitrary irradiation region is reflected in the irradiation region. The control device 14 switches at least a part of the pixels px in the imaging region in the traveling unit 18 by the first imaging unit 15 of the reflected wave of the irradiation region to the first state, and sets the other pixels px to the first state. Switch to state 2. Then, when the first detection unit 20 detects the electromagnetic wave reflected in the irradiation region (see the “electromagnetic wave detection amount” column), the first detection unit 20 notifies the control device 14 of the detection information as described above.

The control device 14 includes, for example, a time measurement LSI (Large Scale Integrated Circuit), and the time when the detection information is acquired (see the “detection information acquisition” column) from the time T1 when the irradiation unit 12 radiates the electromagnetic wave. The time ΔT until T2 is measured. The control device 14 calculates the distance to the irradiation position by multiplying the time ΔT by the speed of light and dividing by 2. In addition, the control apparatus 14 calculates an irradiation position based on the direction information acquired from the reflection part 13 or the drive signal which self outputs to the reflection part 13 as mentioned above. The control device 14 creates image-like distance information by calculating the distance to each irradiation position while changing the irradiation position.

In the first embodiment, as described above, the information acquisition system 11 is configured to create distance information by Direct ToF that directly measures the time until the electromagnetic wave is irradiated and returned. However, the information acquisition system 11 is not limited to such a configuration. For example, the information acquisition system 11 irradiates an electromagnetic wave with a fixed period, and distance information is obtained by Flash ToF that indirectly measures the time until it returns from the phase difference between the irradiated electromagnetic wave and the returned electromagnetic wave. You may create it. Moreover, the information acquisition system 11 may create distance information by another ToF method, for example, Phased ToF.

In the electromagnetic wave detection device 10 of the first embodiment configured as described above, the first imaging unit 15 is configured so that the electromagnetic wave incident on the first imaging unit 15 is incident on the reference plane ss of the traveling unit 18. The angle formed between the advancing axis at each angle of view and the principal axis of the first imaging unit 15 is within a predetermined value. With such a configuration, as shown in FIG. 7, in the electromagnetic wave detection device 10, the first image forming unit 15 has a relatively small spread from the principal axis of the principal ray at each field angle. Therefore, the electromagnetic wave detection device 10 can reduce the spread of electromagnetic waves that travel from the reference plane ss toward the second imaging unit 19 and the third imaging unit 21. Therefore, the electromagnetic wave detection device 10 can avoid an increase in the size of the second imaging unit 19 and the third imaging unit 21 that cause the electromagnetic wave incident on the traveling unit 18 to enter without causing vignetting. Therefore, the electromagnetic wave detection device 10 can homogenize the intensity of the electromagnetic waves of the secondary image formed on the second imaging unit 19 and the third imaging unit 21 without increasing the size of the whole. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

Further, in the electromagnetic wave detection device 10 of the first embodiment, the first opening 23 and the first imaging unit 15 are arranged so as to constitute an image side telecentric optical system. With such a configuration, the electromagnetic wave detection device 10 can minimize the spread of the electromagnetic wave traveling in the traveling portion direction da from the reference plane ss. Therefore, the electromagnetic wave detection device 10 can homogenize the intensity of the electromagnetic wave of the image that is secondarily imaged on the second image forming unit 19 and the third image forming unit 21 while further preventing the entire size from increasing. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

Moreover, in the electromagnetic wave detection apparatus 10 of 1st Embodiment, the advancing part 18, the 2nd image formation part 19, and the 1st detection part 20 are respectively the reference plane ss and the detection surface of the 1st detection part 20. The extension surfaces intersect with each other, and the main axis of the second imaging unit 19 is disposed so as to pass through the reference surface ss and the detection surface of the first detection unit 20. As a configuration different from the electromagnetic wave detection device 10 of the first embodiment, as shown in FIG. 8, the main surface of the primary imaging optical system 15 ′ ″ that forms an image of the electromagnetic wave on the reference surface of the traveling portion 18 ′ ″ A configuration in which the reference surface of the traveling portion 18 ′ ″, the main surface of the secondary imaging optical system 19 ′ ″, and the detection surface of the detection portion 20 ′ ″ are all arranged in parallel is conceivable. In such a configuration, the field angle range away from the main axis is used for detection in the field angle range of the secondary imaging optical system 19 '' '. Generally, the resolution is lower in the field angle range away from the main axis of the imaging system than in the vicinity of the main axis. On the other hand, in the first embodiment, with the configuration as described above, as shown in FIG. 9, the reference surface ss of the advancing unit 18, the main surface of the second imaging unit 19, and the first detection unit 20. The detection surface can be arranged to satisfy the conditions of the Scheinproof principle. Accordingly, the electromagnetic wave detection device 10 disposes the second image forming unit 19 from the position facing the traveling unit 18 while arranging the second image of the image by the first image forming unit 15 on the reference plane ss. An electromagnetic wave image near the main axis of the image unit 19 may be included in the detection surface of the first detection unit 20 to form an image. Thereby, the electromagnetic wave detection device 10 can improve the resolution of the image of the electromagnetic wave detected by the first detection unit 20. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

In the electromagnetic wave detection device 10 of the first embodiment, the main axis of the second imaging unit 19 passes through the center of the reference surface ss and the center of the detection surface of the first detection unit 20. With such a configuration, the electromagnetic wave detection device 10 can preferentially include an electromagnetic wave image in a range closer to the principal axis of the second imaging unit 19 on the detection surface of the first detection unit 20 to form an image. . Therefore, the electromagnetic wave detection device 10 can maximize the resolution of the electromagnetic wave image detected by the first detection unit 20. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

Further, in the electromagnetic wave detection device 10 of the first exemplary embodiment, the extended surfaces of the reference plane ss, the main surface of the second imaging unit 19 and the detection surface of the first detection unit 20 are all on the same straight line. Crossed. With this configuration, in the electromagnetic wave detection device 10, the reference surface ss of the traveling unit 18, the main surface of the second imaging unit 19, and the detection surface of the first detection unit 20 satisfy the conditions of the Scheinproof principle. Fulfill. Accordingly, the electromagnetic wave detection device 10 reliably improves the resolution of the electromagnetic wave image detected by the first detection unit 20. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

Also, the electromagnetic wave detection device 10 of the first embodiment can switch the electromagnetic wave between the first state and the second state for each pixel px. With such a configuration, the electromagnetic wave detection device 10 has the main axis of the first imaging unit 15 as the main axis of the second imaging unit 19 in the first direction d1 in which the electromagnetic wave travels in the first state, and In the second state, it is possible to match the main axis of the third imaging unit 21 in the second direction d2 in which the electromagnetic wave travels. Therefore, the electromagnetic wave detection device 10 shifts the main axes of the first detection unit 20 and the second detection unit 22 by switching the pixel px of the traveling unit 18 to either the first state or the second state. It can be reduced. Thereby, the electromagnetic wave detection apparatus 10 can reduce the shift | offset | difference of the coordinate system in the detection result by the 1st detection part 20 and the 2nd detection part 22. FIG. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

In addition, the electromagnetic wave detection device 10 of the first embodiment has a third imaging unit 21 and a second detection unit 22. With such a configuration, the electromagnetic wave detection device 10 can cause the second detection unit 22 to detect information based on the electromagnetic wave for each portion of the target ob that emits the electromagnetic wave incident on each pixel px. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

In the electromagnetic wave detection device 10 according to the first embodiment, the traveling unit 18, the third imaging unit 21, and the second detection unit 22 include the reference plane ss, the main surface of the third imaging unit 21, And the detection surface of the 2nd detection part 22 and each extended surface are arrange | positioned so that all may cross | intersect on the same straight line. With such a configuration, the reference surface ss of the advancing unit 18, the main surface of the third imaging unit 21, and the detection surface of the second detection unit 22 can be arranged so as to satisfy the Scheinproof principle. . Therefore, in the electromagnetic wave detection device 10, the third image forming unit 21 is shifted from the position facing the traveling unit 18, and an electromagnetic wave image near the main axis of the third image forming unit 21 is second detected. It can be detected on the detection surface of the unit 22. Thereby, the electromagnetic wave detection device 10 can improve the resolution of the image of the electromagnetic wave detected by the second detection unit 22.

Further, the electromagnetic wave detection device 10 of the first embodiment separates the electromagnetic wave incident from the first imaging unit 15 so as to travel in the traveling direction da and the third direction d3. With such a configuration, the electromagnetic wave detection device 10 is configured such that the main axis of the first imaging unit 15 is the central axis of the electromagnetic wave that has traveled in the traveling portion direction da and the central axis of the electromagnetic wave that has traveled in the third direction d3. It becomes possible to match. Therefore, the electromagnetic wave detection device 10 can reduce the shift of the coordinate system between the first detection unit 20 and the second detection unit 22 and the third detection unit 17. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

In addition, the electromagnetic wave detection device 10 of the first embodiment includes a third detection unit 17. With such a configuration, the electromagnetic wave detection device 10 can separately detect an electromagnetic wave that is the same image as the image formed on the first detection unit 20. In addition, such a structure and effect are the same also about the electromagnetic wave detection apparatus of 2nd Embodiment mentioned later.

Further, in the electromagnetic wave detection device 10 of the first embodiment, the first imaging unit 15 is a retrofocus type lens system. With such a configuration, the electromagnetic wave detection device 10 has a short focal length and a long back flange length of the first imaging unit 15, so that the traveling unit 18 adopts the first imaging unit 15 having a wide angle. , The possibility of interference between the electromagnetic waves traveling in the first direction d1 and the second direction d2 and the first imaging unit 15 can be reduced.

Further, in the information acquisition system 11 of the first embodiment, the control device 14 is based on the electromagnetic waves detected by the first detection unit 20, the second detection unit 22, and the third detection unit 17, respectively. Information about the periphery of the electromagnetic wave detection device 10 is acquired. With such a configuration, the information acquisition system 11 can provide useful information based on the detected electromagnetic waves.

Next, an electromagnetic wave detection device according to the second embodiment of the present disclosure will be described. In the second embodiment, the first implementation is performed in the attitudes of the advancing unit and the third detection unit with respect to the first imaging unit and the positions and orientations of the third imaging unit and the second detection unit with respect to the progression unit. It is different from the form. The second embodiment will be described below with a focus on differences from the first embodiment. In addition, the same code | symbol is attached | subjected to the site | part which has the same structure as 1st Embodiment.

As illustrated in FIG. 10, the electromagnetic wave detection device 100 according to the second embodiment includes a first opening 23, a first imaging unit 150, a separation unit 16, a traveling unit 180, and a second imaging unit 19. , First detection unit 20, third imaging unit 210, second detection unit 220, and third detection unit 170. The configuration of the information acquisition system 11 according to the second embodiment other than the electromagnetic wave detection device 100 is the same as that of the first embodiment. The configurations and functions of the first opening 23, the separation unit 16, the second imaging unit 19, and the first detection unit 20 in the second embodiment are the same as those in the first embodiment.

In the second embodiment, unlike the first embodiment, the first imaging unit 150 may be arranged such that the main axis is inclined with respect to the axis of the opening ap and the main axis passes through the opening ap. . The structure and function of the first image forming unit 150 are the same as those of the first image forming unit 150 of the first embodiment.

In the second embodiment, unlike the first embodiment, the progression unit 180 is configured such that the reference plane ss is inclined with respect to a virtual plane vp through which the principal axis of the first imaging unit 150 passes, that is, the virtual unit 180 You may arrange | position so that the extension surface of each of the plane vp and the reference plane ss may cross | intersect. Note that the virtual plane vp may be a plane that is separated from the first imaging unit 150 by a predetermined distance and perpendicular to the axis of the opening ap. Note that the predetermined distance is a distance from the first imaging unit 150 to the object plane, the interval of which is determined with respect to the traveling unit 180 and the reference plane ss is the image plane.

Further, the advancing unit 180 is configured so that the main surface of the first imaging unit 150 and the extended surfaces of the reference surface ss of the advancing unit 180 intersect, that is, the reference surface ss is the main surface of the first imaging unit 150. It may be arranged so as to be inclined with respect to. In the second embodiment, the inclined arrangement of the reference plane ss with respect to the main surface of the first imaging unit 150 is (incident angle) when the separation in the traveling unit direction da by the separation unit 16 is refraction. Means a tilted arrangement of the reference surface ss of the traveling unit 180 rotated in the opposite direction of refraction about the position of the separating unit 16 by the refraction angle) with respect to the main surface of the first imaging unit 150. In the second embodiment, the inclined arrangement of the reference surface ss with respect to the main surface of the first imaging unit 150 is such that the separation in the advancing unit direction da by the separation unit 16 is reflection. The reference surface ss is inclined with respect to the main surface of the first imaging unit 150 in a plane-symmetrical posture on the reflecting surface.

Further, the advancing unit 180 may be arranged so that the main axis of the first imaging unit 150 passes through the range of the reference plane ss of the advancing unit 180. Furthermore, the traveling unit 180 may be arranged so that the main axis of the first imaging unit 150 passes through the center of the reference plane ss of the traveling unit 180.

Further, the advancing unit 180 may be arranged so that the extended surface of the reference surface ss intersects the main surface of the first imaging unit 150 and the virtual plane vp on a single straight line. Accordingly, the main surface, the reference surface ss, and the virtual plane vp of the first imaging unit 150 are arranged so as to satisfy the conditions of the Scheinproof principle.

Furthermore, in the second embodiment, the advancing unit 180 may be arranged so that the second direction d2 that the advancing unit 180 advances is perpendicular to the reference plane ss. Except for the above-described posture, the structure and function of the progression unit 180 are the same as those of the progression unit 18 of the first embodiment.

In the second embodiment, as in the first embodiment, the second imaging unit 19 is inclined in the first direction d1 traveled by the traveling unit 180 and the main surface is inclined to the reference plane ss of the traveling unit 180. May be arranged as follows. Other arrangement conditions, structures, and functions of the second imaging unit 19 in the second embodiment are the same as those of the second imaging unit 19 in the first embodiment.

In the second embodiment, as in the first embodiment, the first detection unit 20 uses the second imaging unit 19 to obtain a secondary image of the electromagnetic wave image formed on the reference surface ss of the traveling unit 180. It is arranged in the vicinity of the image position or the secondary image formation position. In the second embodiment, as in the first embodiment, the first detection unit 20 includes an extension surface of the detection surface that is an extension surface of each of the reference surface ss and the main surface of the second imaging unit 19. You may arrange | position so that it may cross | intersect on a single straight line. Therefore, also in the second embodiment, as in the first embodiment, the reference surface ss, the main surface of the second imaging unit 19, and the detection surface of the first detection unit 20 are based on the Scheinproof principle. It may be arranged to satisfy the condition. Other arrangement conditions, structures, and functions of the first detection unit 20 in the second embodiment are the same as those of the first detection unit 20 in the first embodiment.

In the second embodiment, unlike the first embodiment, the third imaging unit 210 may be arranged such that the main surface is parallel to the reference surface ss of the advancing unit 180. Other arrangement conditions, structures, and functions of the third imaging unit 210 in the second embodiment are the same as those of the third imaging unit 21 in the first embodiment.

In the second embodiment, unlike the first embodiment, the second detection unit 220 may be arranged such that the detection surface is perpendicular to the main axis of the third imaging unit 210. Other arrangement conditions, structures, and functions of the second detection unit 220 in the second embodiment are the same as those of the second detection unit 22 in the first embodiment.

In the second embodiment, the third detection unit 170 differs from the first embodiment in that the main surface of the first imaging unit 150 and the extended surfaces of the detection surfaces of the third detection unit 170 intersect each other. In other words, the detection surface may be arranged so as to be inclined with respect to the main surface of the first imaging unit 150. In the second embodiment, the inclined arrangement of the detection surface with respect to the main surface of the first imaging unit 150 is (incident angle) when the separation in the third direction d3 by the separation unit 16 is refraction. Means a tilted arrangement of the detection surface of the third detection unit 170 with respect to the main surface of the first imaging unit 150 rotated about the position of the separation unit 16 in the opposite direction of refraction by the refraction angle). In the second embodiment, the inclined arrangement of the detection surface with respect to the main surface of the first imaging unit 150 is performed when the separation in the third direction d3 by the separation unit 16 is reflection. Means an inclined arrangement of the detection surface with respect to the main surface of the first imaging unit 150 in a plane-symmetric posture on the reflection surface.

Further, in the third detection unit 170 and the first imaging unit 150, the extension surfaces of the main surface of the first imaging unit 150 and the detection surface of the third detection unit 170 are on a virtual plane vp. , May be arranged to intersect. Therefore, the main surface of the first imaging unit 150, the detection surface of the third detection unit 170, and the virtual plane vp may be arranged so as to satisfy the conditions of the Scheinproof principle. Other arrangement conditions, structures, and functions of the third detection unit 170 in the second embodiment are the same as those of the third detection unit 17 in the first embodiment.

As described above, in the electromagnetic wave detection device 100 according to the second embodiment, the first imaging unit 150 and the progression unit 180 are spaced apart from the progression unit 180 and have the reference plane ss as the image plane. The virtual plane vp that is the object plane of the imaging unit 150 and the extension planes of the reference plane ss of the traveling unit 180 intersect each other, and the main axis of the first imaging unit 150 is arranged to pass through the reference plane ss. . With this configuration, the object plane that is a predetermined distance away from the first imaging unit 150, the main surface of the first imaging unit 150, the reference plane ss of the traveling unit 180, and the second imaging unit The 19 main surfaces and the detection surface of the first detection unit 20 can be arranged to satisfy the conditions of the Scheinproof principle. Therefore, in the electromagnetic wave detection device 100, even in a configuration in which the first imaging unit 150 is not disposed at a position facing the traveling unit 180, the object on the virtual plane vp through which the main axis of the first imaging unit 150 passes, The image of the electromagnetic wave near the main axis by the first imaging unit 150 may be included in the reference plane ss of the traveling unit 180 to form an image. Thereby, in the electromagnetic wave detection device 100, the third imaging unit 210 can be disposed at a position facing the traveling unit 180. As a result, the main axis of the third imaging unit 210 passes through the reference plane ss of the traveling unit 180 while the reference surface ss of the traveling unit 180 and the main surface of the third imaging unit 210 are parallel. The third imaging unit 210 can be arranged. With such an arrangement, the electromagnetic wave detection device 100 can form an image in the field angle range near the principal axis of the third imaging unit 210 on the second detection unit 220, so that the second detection unit 220 detects the image. It is possible to improve the resolution of the electromagnetic wave image.

In the electromagnetic wave detection device 100 of the second embodiment, the main axis of the first image forming unit 150 passes through the center of the reference plane ss. With such a configuration, the electromagnetic wave detection device 100 can preferentially cause an electromagnetic wave image in a range close to the principal axis of the first imaging unit 150 to be incident on the reference surface ss of the traveling unit 180. Therefore, the electromagnetic wave detection device 100 can propagate an electromagnetic wave image in a range close to the principal axis of the first imaging unit 150 to the first detection unit 20 and the second detection unit 220. Therefore, the electromagnetic wave detection device 100 can maximize the resolution of the electromagnetic wave image detected by the first detection unit 20 and the second detection unit 220.

Further, in the electromagnetic wave detection device 100 of the second embodiment, the reference plane ss of the traveling unit 180 and the extended surfaces of the main surfaces of the first imaging unit 150 all intersect on the same straight line. With this configuration, in the electromagnetic wave detection device 100, the reference surface ss of the traveling unit 180 and the main surface of the first imaging unit 150 can be arranged so as to satisfy the conditions of the Scheinproof principle. Therefore, the electromagnetic wave detection device 100 can further improve the resolution of the electromagnetic wave image detected by the first detection unit 20 and the second detection unit 220.

Although the present disclosure has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various variations and modifications based on the present disclosure. Accordingly, it should be noted that these variations and modifications are included in the scope of the present disclosure.

For example, in the first embodiment and the second embodiment, the irradiation unit 12, the reflection unit 13, and the control device 14 constitute the information acquisition system 11 together with the electromagnetic wave detection devices 10 and 100. 10, 100 may be configured to include at least one of these, for example, using the control device 14 as a control unit.

Further, in the first embodiment and the second embodiment, the traveling units 18 and 180 can switch the traveling direction of the electromagnetic wave incident on the reference surface ss to two directions of the first direction d1 and the second direction d2. However, it may be possible to switch to three or more directions instead of switching to one of the two directions.

In the advancing units 18 and 180 of the first embodiment and the second embodiment, the first state and the second state reflect the electromagnetic wave incident on the reference plane ss in the first direction d1, respectively. The first reflection state and the second reflection state in which the light is reflected in the second direction d2 may be other forms.

For example, the first state may be a passing state in which an electromagnetic wave incident on the reference surface ss is allowed to pass and travel in the first direction d1. More specifically, the progression units 18 and 180 may include a shutter having a reflection surface that reflects the electromagnetic wave in the second direction d2 for each pixel px. In the advancing units 18 and 180 having such a configuration, the passing state or the transmitting state as the first state and the reflecting state as the second state are switched for each pixel px by opening and closing the shutter for each pixel px. obtain. Examples of the advancing units 18 and 180 having such a configuration include a MEMS shutter in which a plurality of shutters that can be opened and closed are arranged in an array on a plane.

Further, the advancing portions 18 and 181 may include a liquid crystal shutter capable of switching between a reflection state in which electromagnetic waves are reflected and a transmission state in which electromagnetic waves are transmitted in accordance with the liquid crystal alignment. In the advancing units 18 and 180 having such a configuration, the transmission state as the first state and the reflection state as the second state can be switched for each pixel px by switching the liquid crystal alignment for each pixel px.

Further, in the first embodiment and the second embodiment, the information acquisition system 11 causes the reflection unit 13 to scan the beam-shaped electromagnetic wave radiated from the irradiation unit 12, thereby causing the second detection units 22 and 220 to be scanned. Is configured to function as a scanning-type active sensor in cooperation with the reflector 13. However, the information acquisition system 11 is not limited to such a configuration. For example, even if the information acquisition system 11 does not include the reflection unit 13 and radiates a radial electromagnetic wave from the irradiation unit 12 and acquires information without scanning, an effect similar to that of the first embodiment can be obtained.

In the first embodiment and the second embodiment, in the information acquisition system 11, the first detection unit 20 and the third detection units 17 and 170 are passive sensors, and the second detection unit 220 is active. It has the structure which is a sensor. However, the information acquisition system 11 is not limited to such a configuration. For example, in the information acquisition system 11, the first detection unit 20, the second detection unit 22, 220, and the third detection unit 17, 170 are all active sensors or passive sensors. Even if any one of them is a passive sensor, an effect similar to that of the first and second embodiments can be obtained.

An electromagnetic wave detection device according to an embodiment of the present disclosure is:
A first opening through which a portion of incident electromagnetic waves passes;
A first imaging unit that images an electromagnetic wave incident from the first opening;
A plurality of pixels are arranged along a reference plane, and an advancing unit that advances an electromagnetic wave incident on the reference plane from the first imaging unit in a first direction for each pixel;
A second imaging unit that images the electromagnetic wave traveling in the first direction;
A first detector that detects electromagnetic waves incident from the second imaging unit,
The first opening is disposed in the vicinity of the position of the front focal point by the first imaging unit.

An electromagnetic wave detection device according to another embodiment of the present disclosure is:
A first imaging unit that images an incident electromagnetic wave;
A plurality of pixels are arranged along a reference plane, and an advancing unit that advances an electromagnetic wave incident on the reference plane from the first imaging unit in a first direction for each pixel;
A second imaging unit that images the electromagnetic wave traveling in the first direction;
A first detector that detects electromagnetic waves incident from the second imaging unit,
The principal ray on the image side of each angle of view of the first imaging unit and the angle formed by the principal axis of the first imaging unit are within 15 °.

The first opening and the first imaging unit are arranged so as to constitute an image side telecentric optical system.

An extension surface of each of the reference surface and the detection surface of the first detection unit intersects, and a main axis of the second imaging unit passes through the reference surface and the detection surface of the first detection unit;
The object plane of the first imaging unit having an interval with respect to the advancing unit and the reference plane as an image plane intersects the extended plane of the reference plane, and the principal axis of the first imaging unit is An arrangement passing through the reference plane;
At least one of the is satisfied.

An arrangement in which the principal axis of the second imaging unit passes through the center of the reference surface and the center of the detection surface of the first detection unit;
An arrangement in which the principal axis of the first imaging unit passes through the center of the reference plane;
At least one of the is satisfied.

An arrangement in which the extended surfaces of the reference surface, the main surface of the second imaging unit, and the detection surface of the first detection unit all intersect on the same straight line;
An arrangement in which the extended surfaces of the main surface of the reference surface and the first imaging portion intersect,
At least one of the is satisfied.

An arrangement in which the reference surface, the main surface of the second imaging unit, and the detection surface of the first detection unit satisfy the Sineproof principle,
An arrangement in which the main surface of the first imaging unit and the reference surface satisfy the Sineproof principle;
At least one of the is satisfied.

The advancing unit has, for each pixel, a first state in which an electromagnetic wave incident on the reference plane from the first imaging unit is advanced in the first direction and a second state in which the electromagnetic wave is advanced in the second direction. Can be switched to.

The electromagnetic wave detecting device is
A third imaging unit that images the electromagnetic wave traveling in the second direction;
And a second detection unit that detects an electromagnetic wave incident from the third imaging unit.

The reference plane, the main surface of the third imaging unit, and the detection surface of the second detection unit are arranged such that the extended surfaces all intersect on the same straight line.

The reference surface, the main surface of the third imaging unit, and the detection surface of the second detection unit are arranged to satisfy the Scheinproof principle.

The progression unit includes a reflection surface for each pixel, and the direction of the reflection surface can be changed for each pixel.

The progression unit switches the first state and the second state for each pixel by changing the direction of the reflection surface for each pixel.

The advancing unit includes a digital micromirror device in which a plurality of mirrors are arranged in a plane, and changes the direction of each mirror of the digital micromirror device for each pixel, so that the first state for each pixel And switching the second state.

The advancing portion includes a reflection surface for each pixel, and the reflection surface can be opened and closed for each pixel.

The advancing unit switches the first state and the second state for each pixel by opening and closing the reflection surface for each pixel.

The advancing unit includes a MEMS shutter in which a plurality of shutters capable of opening and closing the reflection surface for each pixel are arranged in a plane, and opening and closing each shutter of the MEMS shutter, thereby the first shutter for each pixel. And the second state are switched.

The advancing unit can switch a reflection state of reflecting an electromagnetic wave and a transmission state of transmitting an electromagnetic wave for each pixel according to liquid crystal alignment.

The progression unit switches the first state and the second state for each pixel by switching the reflection state and the transmission state for each pixel according to the liquid crystal alignment.

The advancing unit includes a liquid crystal shutter that can switch between the reflective state and the transmissive state according to the liquid crystal alignment, and switching the liquid crystal alignment of the liquid crystal shutter allows the first state and the The second state is switched.

The first detection unit includes at least one of PD, APD, SPAD, MPPC, image sensor, infrared sensor, millimeter wave sensor, submillimeter wave sensor, ranging image sensor, ranging sensor, and thermo sensor.

The first detection unit detects at least one of infrared rays, visible rays, ultraviolet rays, and radio waves.

The second detection unit includes a sensor of the same type or a different type from that of the first detection unit.

The electromagnetic wave detecting device is
The apparatus further includes a separation unit that separates the electromagnetic wave incident from the first imaging unit so as to travel in the traveling direction and the third direction.

The separating unit separates the electromagnetic wave having the first frequency from the electromagnetic wave incident from the first imaging unit to the traveling unit and the second frequency electromagnetic wave to travel in the third direction.

The separation unit separates an incident electromagnetic wave so as to travel in the traveling direction and the third direction by at least one of reflection, transmission, and refraction.

The separating unit transmits a part of the incident electromagnetic wave to the traveling unit and reflects another part of the electromagnetic wave in the third direction.

The separation unit reflects a part of the incident electromagnetic wave to the traveling unit and transmits another part of the electromagnetic wave in the third direction.

The separating unit transmits a part of the incident electromagnetic wave to the traveling unit and refracts another part of the electromagnetic wave in the third direction.

The separating unit refracts a part of the incident electromagnetic wave to the traveling unit and transmits another part of the electromagnetic wave in the third direction.

The separation unit refracts a part of the incident electromagnetic wave to the traveling part and refracts another part of the electromagnetic wave in the third direction.

The separation unit includes at least one of a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, a deflection element, and a prism.

The electromagnetic wave detecting device is
A third detector for detecting the electromagnetic wave traveling in the third direction is further provided.

The first imaging unit is a retrofocus type lens system.

The electromagnetic wave detecting device is
The apparatus further includes a control unit that acquires information related to the surroundings based on the electromagnetic waves detected by the first detection unit.

The electromagnetic wave detecting device is
The apparatus further includes a control unit that acquires information related to the surroundings based on the electromagnetic waves detected by the second detection unit.

The electromagnetic wave detecting device is
The apparatus further includes a control unit that acquires information about the surroundings based on the electromagnetic waves detected by the third detection unit.

An information acquisition system according to an embodiment of the present disclosure includes:
The electromagnetic wave detection device;
And a control device that acquires information about the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the first detection unit.

An information acquisition system according to another embodiment of the present disclosure includes:
The electromagnetic wave detection device;
And a control device that acquires information about the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the second detection unit.

An information acquisition system according to another embodiment of the present disclosure includes:
The electromagnetic wave detection device;
And a control device that acquires information about the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the third detection unit.

DESCRIPTION OF SYMBOLS 10, 100 Electromagnetic wave detection apparatus 11 Information acquisition system 12 Irradiation part 13 Reflection part 14 Control part 15 1st image formation part 15 ', 15'',15''' Primary image formation optical system 16 Separation part 17 3rd detection Unit 18, 180, 18 ', 18''' progression unit 19 second imaging unit 19 ', 19'',19''' secondary imaging optical system 20 first detection unit 20 '''detection unit 21 3rd imaging part 22 2nd detection part 23 1st opening part ap opening da Progressing part direction d1, d2, d3 1st direction, 2nd direction, 3rd direction ob Object px pixel ss effect | action Plane vp virtual plane

Claims (42)

A first imaging unit that images an incident electromagnetic wave;
A plurality of pixels are arranged along a reference plane, and an advancing unit that advances an electromagnetic wave incident on the reference plane from the first imaging unit in a first direction for each pixel;
A second imaging unit that images the electromagnetic wave traveling in the first direction;
A first detector that detects electromagnetic waves incident from the second imaging unit,
An electromagnetic wave detection device, wherein an angle formed by a traveling axis at each angle of view of the electromagnetic wave that has passed through the first imaging unit and a principal axis of the first imaging unit is within a predetermined value. The electromagnetic wave detection device according to claim 1,
A first opening disposed near the position of the front focal point by the first imaging unit, through which a part of the incident electromagnetic wave passes,
The first image forming unit forms an image of an electromagnetic wave incident from the first opening. The electromagnetic wave detection device according to claim 2,
The first opening and the first imaging unit constitute an image side telecentric optical system. In the electromagnetic wave detection device according to any one of claims 1 to 3,
The predetermined value is 15 °. In the electromagnetic wave detection device according to any one of claims 1 to 4,
The traveling axis and the main axis are parallel to each other. In the electromagnetic wave detection device according to any one of claims 1 to 5,
An extension surface of each of the reference surface and the detection surface of the first detection unit intersects, and a main axis of the second imaging unit passes through the reference surface and the detection surface of the first detection unit;
The object plane of the first imaging unit having an interval with respect to the advancing unit and the reference plane as an image plane intersects the extended plane of the reference plane, and the principal axis of the first imaging unit is An arrangement passing through the reference plane;
At least one of the electromagnetic wave detection devices is satisfied. The electromagnetic wave detection device according to claim 6,
An arrangement in which the principal axis of the second imaging unit passes through the center of the reference surface and the center of the detection surface of the first detection unit;
An arrangement in which the principal axis of the first imaging unit passes through the center of the reference plane;
At least one of
Electromagnetic wave detection device. In the electromagnetic wave detection device according to claim 6 or 7,
An arrangement in which the extended surfaces of the reference surface, the main surface of the second imaging unit, and the detection surface of the first detection unit all intersect on the same straight line;
An arrangement in which the extended surfaces of the main surface of the reference surface and the first imaging portion intersect,
At least one of
Electromagnetic wave detection device. In the electromagnetic wave detection device according to any one of claims 6 to 8,
An arrangement in which the reference surface, the main surface of the second imaging unit, and the detection surface of the first detection unit satisfy the Sineproof principle,
An arrangement in which the main surface of the first imaging unit and the reference surface satisfy the Sineproof principle;
At least one of
Electromagnetic wave detection device. In the electromagnetic wave detection device according to any one of claims 1 to 9,
The advancing unit has, for each pixel, a first state in which an electromagnetic wave incident on the reference plane from the first imaging unit is advanced in the first direction and a second state in which the electromagnetic wave is advanced in the second direction. Electromagnetic wave detection device that can be switched to. The electromagnetic wave detection device according to claim 10,
A third imaging unit that images the electromagnetic wave traveling in the second direction;
An electromagnetic wave detection apparatus further comprising: a second detection unit that detects an electromagnetic wave incident from the third imaging unit. The electromagnetic wave detection device according to claim 11,
The electromagnetic wave detection device, wherein the reference plane, the main surface of the third imaging unit, and the detection surface of the second detection unit are arranged such that their extended surfaces all intersect on the same straight line. The electromagnetic wave detection device according to claim 11 or 12,
The electromagnetic wave detection device, wherein the reference surface, the main surface of the third imaging unit, and the detection surface of the second detection unit are arranged to satisfy the conditions of the Scheinproof principle. In the electromagnetic wave detection device according to any one of claims 10 to 13,
The advancing unit includes a reflection surface for each pixel, and the direction of the reflection surface can be changed for each pixel. The electromagnetic wave detection device according to claim 14,
The advancing unit switches the first state and the second state for each pixel by changing the direction of the reflecting surface for each pixel. The electromagnetic wave detection device according to claim 15,
The advancing unit includes a digital micromirror device in which a plurality of mirrors are arranged in a plane, and changes the direction of each mirror of the digital micromirror device for each pixel, so that the first state for each pixel And an electromagnetic wave detection device for switching the second state. In the electromagnetic wave detection device according to any one of claims 10 to 13,
The advancing unit includes a reflection surface for each pixel, and the reflection surface can be opened and closed for each pixel. The electromagnetic wave detection device according to claim 17,
The advancing unit switches the first state and the second state for each pixel by opening and closing the reflection surface for each pixel. The electromagnetic wave detection device according to claim 18,
The advancing unit includes a MEMS shutter in which a plurality of shutters capable of opening and closing the reflection surface for each pixel are arranged in a plane, and opening and closing each shutter of the MEMS shutter, thereby the first shutter for each pixel. An electromagnetic wave detection device that switches between the second state and the second state. In the electromagnetic wave detection device according to any one of claims 10 to 13,
The advancing unit is capable of switching a reflection state of reflecting an electromagnetic wave and a transmission state of transmitting an electromagnetic wave for each pixel according to liquid crystal alignment. The electromagnetic wave detection device according to claim 20,
The advancing unit switches the first state and the second state for each pixel by switching the reflection state and the transmission state for each pixel in accordance with the liquid crystal alignment. The electromagnetic wave detection device according to claim 21,
The advancing unit includes a liquid crystal shutter that can switch between the reflective state and the transmissive state according to the liquid crystal alignment, and switching the liquid crystal alignment of the liquid crystal shutter allows the first state and the An electromagnetic wave detection device for switching the second state. The electromagnetic wave detection device according to any one of claims 1 to 22,
The first detection unit includes at least one of PD, APD, SPAD, MPPC, image sensor, infrared sensor, millimeter wave sensor, submillimeter wave sensor, ranging image sensor, ranging sensor, and thermo sensor. apparatus. The electromagnetic wave detection device according to any one of claims 1 to 22,
The first detection unit is an electromagnetic wave detection device that detects at least one of infrared rays, visible rays, ultraviolet rays, and radio waves. The electromagnetic wave detection device according to claim 11,
The second detection unit includes an electromagnetic sensor of the same type or a different type from the first detection unit. In the electromagnetic wave detection device according to any one of claims 1 to 25,
An electromagnetic wave detection apparatus further comprising: a separation unit that separates the electromagnetic wave incident from the first imaging unit so as to travel in the traveling unit and the third direction. The electromagnetic wave detection device according to claim 26,
The separation unit separates an electromagnetic wave having a first frequency from the electromagnetic wave incident from the first imaging unit to the traveling unit and an electromagnetic wave having a second frequency to travel in the third direction.
Electromagnetic wave detection device. The electromagnetic wave detection device according to claim 26 or 27,
The separation unit separates an incident electromagnetic wave so as to travel in the traveling direction and the third direction by at least one of reflection, transmission, and refraction. The electromagnetic wave detection device according to any one of claims 26 to 28,
The separation unit is configured to transmit a part of incident electromagnetic waves to the traveling unit and reflect another part of the electromagnetic waves in the third direction. The electromagnetic wave detection device according to any one of claims 26 to 28,
The separating unit reflects a part of incident electromagnetic waves to the traveling unit and transmits another part of the electromagnetic waves in the third direction. The electromagnetic wave detection device according to any one of claims 26 to 28,
The separation unit transmits a part of incident electromagnetic waves to the advancing unit and refracts another part of the electromagnetic waves in the third direction. The electromagnetic wave detection device according to any one of claims 26 to 28,
The separation unit refracts a part of an incident electromagnetic wave to the traveling part and transmits another part of the electromagnetic wave in the third direction. The electromagnetic wave detection device according to any one of claims 26 to 28,
The separation unit refracts a part of an incident electromagnetic wave to the traveling part and refracts another part of the electromagnetic wave in the third direction. The electromagnetic wave detection device according to any one of claims 26 to 33,
The separation unit includes at least one of a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, a deflection element, and a prism. In the electromagnetic wave detection device according to any one of claims 26 to 34,
An electromagnetic wave detection apparatus further comprising a third detection unit that detects an electromagnetic wave traveling in the third direction. The electromagnetic wave detection device according to any one of claims 1 to 35,
The first image forming unit is a retrofocus type lens system. The electromagnetic wave detection device according to any one of claims 1 to 36,
An electromagnetic wave detection apparatus, further comprising: a control unit that acquires information related to surroundings based on the electromagnetic wave detected by the first detection unit. The electromagnetic wave detection device according to claim 11,
An electromagnetic wave detection apparatus further comprising a control unit that acquires information related to the surroundings based on the electromagnetic wave detected by the second detection unit. The electromagnetic wave detection device according to claim 35,
An electromagnetic wave detection device further comprising: a control unit that acquires information related to surroundings based on the electromagnetic wave detected by the third detection unit. An electromagnetic wave detection device according to any one of claims 1 to 36;
A control device that acquires information related to the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the first detection unit. An electromagnetic wave detection device according to claim 11,
A control device that acquires information related to the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the second detection unit. An electromagnetic wave detection device according to claim 35;
A control device that acquires information related to the periphery of the electromagnetic wave detection device based on the electromagnetic wave detected by the third detection unit.

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