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WO2022201502A1 - Dispositif capteur - Google Patents

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Publication number
WO2022201502A1
WO2022201502A1 PCT/JP2021/012907 JP2021012907W WO2022201502A1 WO 2022201502 A1 WO2022201502 A1 WO 2022201502A1 JP 2021012907 W JP2021012907 W JP 2021012907W WO 2022201502 A1 WO2022201502 A1 WO 2022201502A1
Authority
WO
WIPO (PCT)
Prior art keywords
view
field
control unit
scanning angle
spot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/012907
Other languages
English (en)
Japanese (ja)
Inventor
琢也 白戸
琢麿 柳澤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pioneer Corp
Pioneer Smart Sensing Innovations Corp
Original Assignee
Pioneer Corp
Pioneer Smart Sensing Innovations Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corp, Pioneer Smart Sensing Innovations Corp filed Critical Pioneer Corp
Priority to PCT/JP2021/012907 priority Critical patent/WO2022201502A1/fr
Publication of WO2022201502A1 publication Critical patent/WO2022201502A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates

Definitions

  • the present invention relates to sensor devices.
  • the sensor device includes a scanning unit such as a MEMS mirror, and a light detection unit that detects the reflected light of the spot generated by the scanning unit.
  • a scanning unit such as a MEMS mirror
  • a light detection unit that detects the reflected light of the spot generated by the scanning unit.
  • Patent Document 1 describes an example of a sensor device.
  • the sensor device includes a plurality of light receiving elements and an optical element that guides reflected light to each of the plurality of light receiving elements at predetermined time intervals.
  • the imaging position of the image by the reflected light is shifted by half the pitch of the pixels.
  • Patent Document 1 it may be required to detect an object with high resolution by a sensor device.
  • a sensor device it may be required to detect an object with high resolution by a sensor device.
  • the structure of the receiving system of the sensor device may become complicated.
  • One example of the problem to be solved by the present invention is to detect an object with high resolution.
  • the invention according to claim 1, a scanning unit; a light detection unit that detects the reflected light of the spot generated by the scanning unit; At least one of a plurality of first fields of view per pixel at a predetermined first time of the photodetector and at least one of a plurality of second fields of view per pixel at a second time different from the first time of the photodetector. and a control unit that shifts in the predetermined direction by a distance greater than 0 times and less than 1 time the length of the first field of view or the second field of view in the predetermined direction;
  • a sensor device comprising:
  • FIG. 1 is a perspective view showing a sensor device according to an embodiment
  • FIG. It is a figure for demonstrating an example of the shift
  • a first field of view arranged in a first direction among a plurality of first fields of view projected onto the second virtual plane shown in FIG. 2 and a plurality of first fields of view projected onto the second virtual plane shown in FIG.
  • FIG. 10 is a diagram showing a second field of view arranged in a first direction in the second field of view; It is a figure for demonstrating the 1st example of control by a control part. It is a figure for demonstrating the 1st example of control by a control part.
  • FIG. 5 is a diagram for explaining a second example of control by a control unit;
  • FIG. 5 is a diagram for explaining a second example of control by a control unit;
  • FIG. 11 is a diagram for explaining a third example of control by a control unit;
  • FIG. 11 is a diagram for explaining a third example of control by a control unit;
  • FIG. 11 is a diagram for explaining a fourth example of control by the control unit;
  • FIG. 11 is a diagram for explaining a fourth example of control by the control unit;
  • FIG. 12 is a diagram for explaining a fifth example of control by the control unit;
  • FIG. 12 is a diagram for explaining a fifth example of control by the control unit; It is a figure which illustrates the hardware constitutions of a control part. It is a figure which shows the sensor apparatus which concerns on a modification.
  • FIG. 1 is a perspective view showing the sensor device 10 according to the embodiment.
  • arrows indicating a first direction X, a second direction Y, and a third direction Z indicate that the direction from the base end to the tip end of the arrow is the positive direction of the direction indicated by the arrow, and It indicates that the direction from the distal end to the proximal end is the negative direction of the direction indicated by the arrow.
  • the first direction X is one direction parallel to the horizontal direction perpendicular to the vertical direction.
  • the second direction Y is a direction parallel to the vertical direction.
  • the positive direction of the second direction Y is the direction from bottom to top in the vertical direction
  • the negative direction of the second direction Y is the direction from top to bottom in the vertical direction.
  • a third direction Z is a direction parallel to the horizontal direction and perpendicular to the first direction X. As shown in FIG.
  • the positive direction of the third direction Z is from left to right in the horizontal direction
  • the negative direction of the third direction Z is from right to left in the horizontal direction. It is the direction to go.
  • the relationship between the first direction X, the second direction Y, the third direction Z, the horizontal direction, and the vertical direction is not limited to the example described above.
  • the relationship between the first direction X, the second direction Y, the third direction Z, the horizontal direction, and the vertical direction varies depending on the arrangement of the sensor device 10 .
  • the third direction Z may be parallel to the vertical direction.
  • the sensor device 10 includes a transmission system 100, a reception system 200 and a control section 300.
  • the sensor device 10 has an optical axis of light transmitted from the transmission system 100 toward the overall visual field F described later, and an optical axis of light reflected from the overall visual field F and received by the receiving system 200. , are offset from each other in a biaxial LiDAR.
  • the transmission system 100 has a light source section 110 , a scanning section 120 and a transmission system lens 130 .
  • the receiving system 200 has a photodetector 210 and a receiving system lens 220 .
  • a control unit 300 controls the transmission system 100 and the reception system 200 .
  • the light source unit 110 is, for example, a pulse laser.
  • the wavelength of the light emitted from the light source unit 110 is infrared rays, for example.
  • the light source unit 110 emits light repeatedly in terms of time.
  • the emission timing of light from the light source section 110 is controlled by the control section 300 .
  • light emitted from the light source unit 110 passes through the transmission system lens 130 and passes through the scanning unit 120, as indicated by the dashed line extending from the light source unit 110 through the scanning unit 120 toward the entire field of view F, which will be described later. is reflected toward the entire field of view F by .
  • the scanning unit 120 is a MEMS mirror.
  • the scanning unit 120 may be a scanning unit other than the MEMS mirror.
  • the scanning unit 120 reflects light emitted from the light source unit 110 toward a virtual plane that is perpendicular to the third direction Z and on which the entire visual field F is projected, and the light is projected onto the virtual plane.
  • a spot S is generated.
  • the scanning unit 120 moves the position where the spot S is generated in the virtual plane in two directions, the first direction X and the second direction Y. As shown in FIG.
  • the transmission system lens 130 controls, for example, the spread angle of the light emitted from the light source section 110 and the aspect ratio of the spot S.
  • the transmission system lens 130 may be a lens different from the zoom lens.
  • the photodetector 210 is a two-dimensional array sensor.
  • the light detection section 210 detects the reflected light of the spot S.
  • the photodetector 210 has a plurality of pixels P arranged in a matrix along two directions, the first direction X and the second direction Y.
  • the entire field of view F in which light is detected by the entire plurality of pixels P through the receiving system lens 220, is projected onto a virtual plane perpendicular to the third direction Z.
  • FIG. 1 the entire field of view F, in which light is detected by the entire plurality of pixels P through the receiving system lens 220, is projected onto a virtual plane perpendicular to the third direction Z.
  • a plurality of fields of view f per pixel of the photodetector 210 are arranged in a matrix in two directions, the first direction X and the second direction Y, corresponding to the plurality of pixels P.
  • the position of each field of view f with respect to the center of the entire field of view F is determined by the reception system lens 220 in the first direction X and inverted in the second direction Y.
  • the pixels P detecting the reflected light of the spot S irradiated to the entire visual field F are indicated by black painting.
  • the controller 300 moves the photodetector 210 in a direction perpendicular to the third direction Z. As the control unit 300 moves the photodetector 210 in the direction perpendicular to the third direction Z, the plurality of fields of view f per pixel of the photodetector 210 are also moved in the direction perpendicular to the third direction Z.
  • FIG. 1 The controller 300 moves the photodetector 210 in a direction perpendicular to the third direction Z.
  • the field of view f per pixel of the photodetector 210 at a predetermined first time is referred to as a first field of view f1
  • the field of view f per pixel of the photodetector 210 at a second time different from the first time is referred to as a first field of view f1.
  • the receiving system lens 220 forms an image of the entire field of view F on the photodetector 210 .
  • the receiving system lens 220 may be a zoom lens.
  • FIG. 2 is a diagram for explaining an example of the deviation between the first field of view f1 and the second field of view f2.
  • FIG. 3 shows one stage of the first field of view f1 arranged in the first direction X among the plurality of stages of the first field of view f1 projected onto the second virtual plane IP2 shown in FIG.
  • FIG. 10 is a diagram showing a second field of view f2 arranged in a first direction X among a plurality of second fields of view f2 projected onto a virtual plane IP2;
  • the circle with a black dot indicating the second direction Y is the positive direction of the second direction Y from the back of the paper to the front, and the negative direction of the second direction Y is the direction from the front to the back of the paper.
  • the circle with X indicating the third direction Z indicates that the direction from the front to the back of the paper is the positive direction of the third direction Z, and the direction from the back to the front of the paper is the negative direction of the third direction Z. It shows that
  • the photodetector 210 at the first time is indicated by a solid line
  • the photodetector 210 at the second time is indicated by a dashed line.
  • the center of the photodetector 210 in the first direction X at the first time and the center of the photodetector 210 in the first direction X at the second time are shifted in the first direction X by a distance D.
  • the first virtual plane IP1 is a virtual plane that is perpendicular to the third direction Z and located at a relatively short distance in the third direction Z from the photodetector 210 .
  • the second virtual plane IP2 is a virtual plane that is perpendicular to the third direction Z and located at a relatively long distance in the third direction Z from the photodetector 210 .
  • solid lines extending from the photodetector 210 at the first time toward the first virtual plane IP1 and the second virtual plane IP2 indicate boundaries of the first field of view f1.
  • broken lines extending from the photodetector 210 at the second time toward the first virtual plane IP1 and the second virtual plane IP2 indicate boundaries of the second field of view f2.
  • the deviation in the first direction X between the first field of view f1 and the second field of view f2 projected on the first virtual plane IP1 is the center of the first direction X of the photodetector 210 at the first time. and the center of the photodetector 210 in the first direction X at the second time, the size of the first field of view f1 or the second field of view f2 in the first direction X under the influence of the distance D in the first direction X is less than 0.5 times.
  • the deviation in the first direction X between the first field of view f1 and the second field of view f2 projected onto the second virtual plane IP2 is 210 in the first direction X and the center of the photodetector 210 in the first direction X at the second time. It can be set to approximately 0.5 times the magnitude of f2 in the first direction X. Even when the second virtual plane IP2 is at infinity in the third direction Z from the photodetector 210, the deviation in the first direction X between the first field of view f1 and the second field of view f2 projected on the second virtual plane IP2 is , approximately 0.5 times the size in the first direction X of the first field of view f1 or the second field of view f2.
  • FIG. 4 and 5 are diagrams for explaining a first example of control by the control unit 300.
  • FIG. 4 and 5 are diagrams for explaining a first example of control by the control unit 300.
  • FIG. 4 and 5 are diagrams for explaining a first example of control by the control unit 300.
  • FIG. 4 will be explained.
  • the spot S indicated by the black circle indicates the spot S irradiated substantially at the center of the first direction X and the second direction Y of the first field f1.
  • a spot S indicated by a white circle indicates the spot S irradiated substantially at the center of the first direction X and the second direction Y of the second field of view f2.
  • the spot S does not have to be irradiated exactly at the center of the first direction X and the second direction Y of the first field of view f1 or the second field of view f2.
  • the spot S is positioned exactly at the center of the first direction X and the second direction Y of the first field of view f1 or the second field of view f2 as long as the entire spot S is located inside the first field of view f1 or the second field of view f2. You may irradiate to the position shifted from.
  • the arrows passing through the plurality of first fields of view f1 and the plurality of second fields of view f2 indicate the order of the direction from the base end of the arrow to the tip of the plurality of first fields of view f1 and the plurality of second fields of view f2. It shows that the spot S is irradiated on each.
  • each second field of view f2 is 0.5 times the size of the first field of view f1 or the second field of view f2 in the first direction X when aligned in the second direction Y with respect to each first field of view f1.
  • each first field of view f1 and each second field of view f2 are the same field of view f of the photodetector 210 and are substantially the same square.
  • the shape of each first field f1 and each second field f2 is not limited to the example shown in FIG.
  • high-resolution areas HA the central two stages of the six stages in the second direction Y of the plurality of first fields of view f1 will be referred to as high-resolution areas HA as necessary.
  • first normal area O1A two of the six stages in the second direction Y of the plurality of first fields of view f1 located on the positive side in the second direction Y with respect to the high-resolution area HA.
  • two of the six stages in the second direction Y of the plurality of first fields of view f1 located on the negative direction side in the second direction Y with respect to the high-resolution area HA will be referred to as a second normal area O2A, if necessary. .
  • FIG. 5 will be explained.
  • the timing chart at the top of FIG. 5 shows the timing chart of the pulse trigger of the light source section 110.
  • the solid-line trigger indicates that the light emitted by the trigger is applied to the first field of view f1
  • the broken-line trigger indicates that the light emitted by the trigger is emitted. It shows that the second field of view f2 is illuminated.
  • the number of triggers depicted in the timing chart at the top of FIG. It does not imply the number of S.
  • the second timing chart from the top in FIG. 5 shows the timing chart of the first scanning angle AX of the scanning unit 120.
  • the first scanning angle AX is the scanning angle of the scanning unit 120 for moving the position irradiated with the spot S parallel to the first direction X.
  • the third timing chart from the top in FIG. 5 shows the timing chart of the second scanning angle AY of the scanning unit 120.
  • the second scanning angle AY is the scanning angle of the scanning unit 120 for moving the position irradiated with the spot S parallel to the second direction Y.
  • the bottom timing chart in FIG. 5 shows the timing chart of the first coordinate CX in the first direction X of the photodetector 210 .
  • the visual field f per pixel of the photodetector 210 moves toward the negative direction of the first direction X, and the first coordinate CX decreases.
  • the field of view f per pixel of the photodetector 210 moves in the positive direction of the first direction X as much as possible.
  • control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the first normal area O1A, the high resolution area HA, and the second normal area O2A.
  • the control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, so that the spot S is divided into the first normal area O1A, the high resolution area HA and the second Each first visual field f1 in the normal area O2A is irradiated.
  • control unit 300 decreases the second scanning angle AY and increases the first coordinate CX.
  • control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the high resolution area HA.
  • the control unit 300 decreases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HA with the spot S. ing.
  • control unit 300 resets the second scanning angle AY and the first coordinate CX to initial values.
  • One frame is acquired by the control described above by the control unit 300 .
  • the control unit 300 irradiates the spot S toward all the first fields of view f1 located in the high resolution area HA, and then irradiates all the second fields of view f1 located in the high resolution area HA.
  • a spot S is emitted toward f2. For this reason, compared to the case where the spot S is alternately irradiated to the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX, It is not necessary to shorten the time interval of light emission from the light source unit 110 .
  • the light emission time interval of the light source unit 110 may not be shortened below a certain interval. Therefore, in the examples shown in FIGS. 4 and 5, the spot S is alternately in the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX. As compared with the case of irradiating , restrictions due to factors such as eye-safety can be reduced.
  • FIGS. 6 and 7 are diagrams for explaining a second example of control by the control unit 300.
  • FIG. The second example described using FIGS. 6 and 7 is the same as the first example described using FIGS. 4 and 5 except for the following points.
  • the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the first normal area O1A.
  • the control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 irradiates each first visual field f1 of the first normal area O1A with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX. I am letting
  • control unit 300 increases the second scanning angle AY.
  • control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the high resolution area HA.
  • the control unit 300 keeps the second scanning angle AY constant while increasing and decreasing the first scanning angle AX once.
  • the control unit 300 increases the first coordinate CX in the time interval after the end of the increase of the first scanning angle AX and before the start of the decrease of the first scanning angle AX.
  • the control unit 300 increases the second scanning angle AY and decreases the first coordinate CX in the time interval after the end of decreasing the first scanning angle AX and before the start of increasing the first scanning angle AX.
  • the control unit 300 irradiates each first visual field f1 of the high resolution area HA with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval of the first scanning angle AX.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HA with the spot S.
  • control unit 300 increases the second scanning angle AY.
  • control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the second normal area O2A.
  • the control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 irradiates each first visual field f1 of the second normal area O2A with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX. I am letting
  • the control unit 300 irradiates the spots S toward a plurality of first fields of view f1 arranged in the first direction X in each stage located in the high resolution area HA, and then A plurality of second fields of view f2 arranged in the direction X are irradiated with spots S. For this reason, compared to the case where the spot S is alternately irradiated to the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX, It is not necessary to shorten the time interval of light emission from the light source unit 110 .
  • the light emission time interval of the light source unit 110 may not be shortened below a certain interval. Therefore, in the examples shown in FIGS. 6 and 7, the spot S is alternately in the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX. As compared with the case of irradiating , restrictions due to factors such as eye-safety can be reduced.
  • FIGS. 8 and 9 are diagrams for explaining a third example of control by the control unit 300.
  • the third example described using FIGS. 8 and 9 is the same as the first example described using FIGS. 4 and 5 except for the following points.
  • the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the first normal area O1A.
  • the control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 irradiates each first visual field f1 of the first normal area O1A with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX. I am letting
  • the control unit 300 increases the second scanning angle AY.
  • the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the high resolution area HA.
  • the control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 alternately repeats an increase in the first coordinate CX and a decrease in the first coordinate CX in the increase time interval and the decrease time interval of the first scanning angle AX.
  • the control unit 300 irradiates the first visual field f1 and the second visual field f2 of the high-resolution area HA with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval of the first scanning angle AX.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby causing the spot S to be placed in each of the first visual field f1 and each of the second visual fields f2 in the high resolution area HA. I am irradiating.
  • the driving waveform of the second scanning angle AY in the examples shown in FIGS. 8 and 9 can be the same as the driving waveform of the second scanning angle AY when the spot S is not irradiated to the second field of view f2.
  • control unit 300 controls the first field of view f1 and the second field of view f2 in one increasing time period of the first scanning angle AX or one decreasing time period of the first scanning angle AX.
  • the spots S are alternately irradiated toward the .
  • all the second fields of view f2 located in the high-resolution area HA may be irradiated with the spots S, or , compared with the case where a plurality of first fields of view f1 arranged in the first direction X are irradiated with the spots S, and then a plurality of second fields of view f2 arranged in the first direction X are irradiated with the spots S.
  • the time interval at which the spot S is irradiated to the first field f1 and the second field f2 which are positioned offset in the first direction X while partially overlapping in the third direction Z can be shortened.
  • FIGS. 10 and 11 are diagrams for explaining a fourth example of control by the control unit 300.
  • FIG. The fourth example described using FIGS. 10 and 11 is the same as the first example described using FIGS. 4 and 5 except for the following points.
  • each second field of view f2 is 0.5 times the size of the first field of view f1 or the second field of view f2 in the second direction Y in a state aligned in the first direction X with respect to each first field of view f1. , in the negative direction of the second Y direction.
  • Each first field of view f1 and each second field of view f2 are the same field of view f of the photodetector 210 and are substantially the same square.
  • the shape of each first field f1 and each second field f2 is not limited to the example shown in FIG.
  • the third to fifth stages from the positive direction side in the second direction Y will be referred to as a high resolution area HB, as required.
  • first normal area O1B two of the six stages in the second direction Y of the plurality of first fields of view f1 located on the positive side in the second direction Y with respect to the high-resolution area HB.
  • one of the six stages in the second direction Y of the plurality of first fields of view f1 located on the negative direction side in the second direction Y with respect to the high-resolution area HB will be referred to as a second normal area O2B, if necessary. .
  • the timing chart at the bottom of FIG. 11 shows the timing chart of the second coordinate CY in the second direction Y of the photodetector 210 .
  • the visual field f per pixel of the photodetector 210 moves toward the negative direction of the second direction Y, and the second coordinate CY decreases.
  • the visual field f per pixel of the photodetector 210 moves in the positive direction of the second direction Y as much as possible.
  • FIG. 10 Next, control by the control unit 300 will be described with reference to FIGS. 10 and 11.
  • FIG. 10
  • control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the first normal area O1B, the high resolution area HB, and the second normal area O2B.
  • the control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, so that the spot S is divided into the first normal area O1B, the high resolution area HB and the second Each first visual field f1 in the normal area O2B is irradiated.
  • control unit 300 decreases the second scanning angle AY and increases the second coordinate CY.
  • control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the high resolution area HB.
  • the control unit 300 decreases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HB with the spot S. ing. In the timing chart at the bottom of FIG.
  • the control unit 300 moves the spot S to each of the second scanning angles of the high resolution area HB.
  • the second scanning angle AY when the field of view f2 is irradiated is the first field of view f1 and the second field of view f2 with respect to the second scanning angle AY when the spot S is irradiated to each of the first fields of view f1 in the high-resolution area HB. are made different according to the deviation in the second direction Y from .
  • the control unit 300 irradiates the spot S toward all the first fields of view f1 located in the high-resolution area HB, and then irradiates all the second fields of view f1 located in the high-resolution area HB.
  • a spot S is emitted toward f2.
  • the time interval of light emission from the light source unit 110 when irradiating the spot S in the first visual field f1 or the second visual field f2 located in the high resolution area HB is set to the first normal area O1B or the second normal area O2B. There is no need to change the time interval of light emission from the light source unit 110 when irradiating the spot S on the first visual field f1 positioned at .
  • FIGS. 12 and 13 are diagrams for explaining a fifth example of control by the control unit 300.
  • FIG. The fifth example described using FIGS. 12 and 13 is the same as the fourth example described using FIGS. 10 and 11 except for the following points.
  • the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the first normal area O1B.
  • the control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX.
  • the control unit 300 irradiates each first visual field f1 of the first normal area O1B with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX. I am letting
  • the control unit 300 increases the second scanning angle AY.
  • the control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the high resolution area HB.
  • the second scanning angle AY is increased according to the amount of deviation in the second direction Y between the first field of view f1 and the second field of view f2.
  • the control unit 300 increases the second coordinate CY in the time period after the end of the increase of the first scanning angle AX and before the start of the decrease of the first scanning angle AX.
  • the control unit 300 decreases the second coordinate CY in the time period after the end of the decrease of the first scanning angle AX and before the start of the increase of the first scanning angle AX.
  • the control unit 300 irradiates each first visual field f1 of the high resolution area HB with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval of the first scanning angle AX.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HB with the spot S.
  • control unit 300 increases the second scanning angle AY.
  • control unit 300 decreases the first scanning angle AX in the second normal area O2B.
  • the control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby causing the spot S to irradiate each first visual field f1 of the second normal area O2B.
  • the control unit 300 irradiates the spots S toward a plurality of first fields of view f1 arranged in the first direction X in each stage located in the high resolution area HB, and then A plurality of second fields of view f2 arranged in the direction X are irradiated with spots S.
  • the time interval of light emission from the light source unit 110 when irradiating the spot S in the first visual field f1 or the second visual field f2 located in the high resolution area HB is set to the first normal area O1B or the second normal area O2B. There is no need to change the time interval of light emission from the light source unit 110 when irradiating the spot S on the first visual field f1 positioned at .
  • control unit 300 After the control described using FIGS. 5 to 13, for example, the control unit 300 generates image data generated by the detection result of the first field of view f1, image data generated by the detection result of the second field of view f2, is synthesized.
  • the object can be detected with higher resolution than when the object is detected using only one of the first field of view f1 and the second field of view f2.
  • the image data generated by the detection result of the first field of view f1 at the first time of the single photodetector 210 and the single photodetection and the image data generated by the detection result of the second field of view f2 at the second time of the unit 210 can be synthesized. Therefore, the structure of the receiving system 200 can be simplified as compared with the case of using a plurality of photodetectors.
  • FIG. 14 is a diagram illustrating the hardware configuration of the control unit 300. As shown in FIG. The controller 300 is implemented using an integrated circuit 400 .
  • the integrated circuit 400 is, for example, a SoC (System-on-a-Chip).
  • Integrated circuit 400 has bus 402 , processor 404 , memory 406 , storage device 408 , input/output interface 410 and network interface 412 .
  • the bus 402 is a data transmission path through which the processor 404, memory 406, storage device 408, input/output interface 410 and network interface 412 exchange data with each other.
  • the method of connecting processor 404, memory 406, storage device 408, input/output interface 410 and network interface 412 together is not limited to bus connections.
  • the processor 404 is an arithmetic processing device implemented using a microprocessor or the like.
  • the memory 406 is a memory implemented using a RAM (Random Access Memory) or the like.
  • the storage device 408 is a storage device implemented using ROM (Read Only Memory), flash memory, or the like.
  • the input/output interface 410 is an interface for connecting the integrated circuit 400 with peripheral devices.
  • a transmission system 100 and a reception system 200 are connected to the input/output interface 410 .
  • a network interface 412 is an interface for connecting the integrated circuit 400 to a network.
  • This network is, for example, a CAN (Controller Area Network) network.
  • a method for connecting the network interface 412 to the network may be a wireless connection or a wired connection.
  • the storage device 408 stores program modules for realizing the functions of the control unit 300 .
  • the processor 404 implements the functions of the control unit 300 by reading these program modules into the memory 406 and executing them.
  • the hardware configuration of the integrated circuit 400 is not limited to the configuration shown in FIG.
  • program modules may be stored in memory 406 .
  • integrated circuit 400 may not include storage device 408 .
  • FIG. 15 is a diagram showing a sensor device 10A according to a modification.
  • the sensor device 10A according to the modification is the same as the sensor device 10 according to the embodiment except for the following points.
  • the transmission system 100A has a first light source section 112A, a second light source section 114A, a scanning section 120, a first transmission system lens 132A, and a second transmission system lens 134A.
  • the scanning unit 120 As shown by the dashed line extending from the first light source unit 112A through the scanning unit 120 toward the entire visual field F in FIG. are reflected toward the entire field of view F by the scanning unit 120 . As shown by the dashed line extending from the second light source unit 114A through the scanning unit 120 toward the entire field of view F in FIG. are reflected toward the entire field of view F by the scanning unit 120 .
  • the scanning unit 120 reflects the light emitted from the first light source unit 112A toward the virtual plane perpendicular to the third direction Z and onto which the entire visual field F is projected, and the light projected onto the virtual plane. is generated as the first spot S1.
  • the scanning unit 120 reflects the light emitted from the second light source unit 114A, which is perpendicular to the third direction Z, toward the projection virtual plane in the entire visual field F, and projects the light onto the virtual plane.
  • a second spot S2 is generated.
  • the first light source section 112A and the second light source section 114A make light incident on the scanning section 120 from different directions when viewed from the scanning section 120 according to the shift between the first field of view f1 and the second field of view f2.
  • the controller 300 moves the photodetector 210 so that the first field of view f1 and the second field of view f2 are shifted in the first direction X from each other. Therefore, the first light source unit 112A and the second light source unit 114A are configured to generate the first spot S1 and the second spot S1 generated by the light emitted from the first light source unit 112A and the second light source unit 114A and reflected by the scanning unit 120.
  • S2 are arranged so as to be offset from each other in the first direction X.
  • the control unit 300 moves the light detection unit 210 so that the first field of view f1 and the second field of view f2 are shifted in the second direction Y
  • the first light source unit 112A and the second light source unit 114A A first spot S1 and a second spot S2 generated by light emitted from the unit 112A and the second light source unit 114A and reflected by the scanning unit 120 may be arranged to be shifted in the second direction Y from each other.
  • Control unit 300 controls the emission timing of light from first light source unit 112A, the emission timing of light from second light source unit 114A, and scanning unit 120, thereby controlling the light emitted from first light source unit 112A.
  • the light emitted from the second light source unit 114A is emitted from the second light source unit 114A by the scanning unit 120 and applied to the second visual field f2.
  • At least one first field of view f1 and at least one second field of view f2 are separated by a distance of 0.5 times the size of the first field of view f1 or the second field of view f2 in the first direction X. , in the first direction X, or in the second direction Y by a distance of 0.5 times the size in the second direction Y of the first field of view f1 or the second field of view f2.
  • the magnitude of the distance deviation between the first field of view f1 and the second field of view f2 is not limited to 0.5 times the size of the first field of view f1 or the second field of view f2.
  • the at least one first field of view f1 and the at least one second field of view f2 are defined by a distance greater than 0 and less than 1 times the size of the first field of view f1 or the second field of view f2 in the first direction X. It may be shifted in the direction X, or may be shifted in the second direction Y by a distance greater than 0 and less than 1 times the size of the first field of view f1 or the second field of view f2 in the second direction Y. Furthermore, the direction of deviation between the first field of view f1 and the second field of view f2 is not limited to the first direction X or the second direction Y, and may be a direction oblique to the first direction X or the second direction Y. good.
  • the shift in the predetermined direction between the first field of view f1 and the second field of view f2 is the predetermined direction of the first field of view f1 or the second field of view f2. It is more than 0 times and less than 1 times the length of the direction.
  • the visual field f per pixel of the photodetector 210 is shifted to two positions according to time.
  • the visual field f per pixel of the photodetector 210 may be shifted to three or more positions according to time.
  • the visual field f per pixel at each position is more than 0 times and less than 1 time the size of the visual field f at any position. distance is off.
  • the field of view f at each position is irradiated with a spot under the control of the controller 300 .

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Huit premiers champs visuels (f1), selon la présente invention et alignés dans une première direction (X), sont alignés en six rangées dans une seconde direction (Y). En outre, chaque second champ visuel (f2) est décalé par rapport à chaque premier champ visuel (f1) dans la direction opposée à la première direction (X) d'une distance égale à 0,5 fois la taille dans la première direction (X) du premier champ visuel (f1) ou du second champ visuel (f2). Un point (S) est illuminé dans le premier champ visuel (f1) et le second champ visuel (f2) positionnés dans une zone à haute résolution (HA).
PCT/JP2021/012907 2021-03-26 2021-03-26 Dispositif capteur Ceased WO2022201502A1 (fr)

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JP2010151697A (ja) * 2008-12-26 2010-07-08 Konica Minolta Sensing Inc ３次元形状計測装置および方法
JP2013015338A (ja) * 2011-06-30 2013-01-24 Fujitsu Ltd 監視装置および監視方法
JP2018537680A (ja) * 2015-12-20 2018-12-20 アップル インコーポレイテッドＡｐｐｌｅ Ｉｎｃ． 光検出測距センサ
US20190376782A1 (en) * 2018-06-11 2019-12-12 Sick Ag Optoelectronic Sensor and Method for Detecting Three-Dimensional Image Data
JP2020523566A (ja) * 2017-08-31 2020-08-06 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 物体を感知する方法及びセンサシステム
JP2021507268A (ja) * 2017-12-18 2021-02-22 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 物体を多次元捕捉するためのマルチパルスｌｉｄａｒシステム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008109477A (ja) * 2006-10-26 2008-05-08 Fuji Electric Holdings Co Ltd 画像生成装置および画像生成方法
JP2010151697A (ja) * 2008-12-26 2010-07-08 Konica Minolta Sensing Inc ３次元形状計測装置および方法
JP2013015338A (ja) * 2011-06-30 2013-01-24 Fujitsu Ltd 監視装置および監視方法
JP2018537680A (ja) * 2015-12-20 2018-12-20 アップル インコーポレイテッドＡｐｐｌｅ Ｉｎｃ． 光検出測距センサ
JP2020523566A (ja) * 2017-08-31 2020-08-06 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 物体を感知する方法及びセンサシステム
JP2021507268A (ja) * 2017-12-18 2021-02-22 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 物体を多次元捕捉するためのマルチパルスｌｉｄａｒシステム
US20190376782A1 (en) * 2018-06-11 2019-12-12 Sick Ag Optoelectronic Sensor and Method for Detecting Three-Dimensional Image Data

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