JP2019002847A - Electromagnetic wave detector and information acquisition system - Google Patents

Abstract

To reduce the difference between coordinate systems in the results of detection by a plurality of detectors detecting electromagnetic waves.SOLUTION: An electromagnetic wave detector 10 has a separation unit 13, a first detection unit 17, and a second detection unit 22. The separation unit 13 separates an incoming electromagnetic wave into a first direction d1 and into a second direction d2. The first detection unit 17 detects an electromagnetic wave that goes into the first direction d1. The second detection unit 22 detects an electromagnetic wave that goes into the second direction d2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an electromagnetic wave detection device and an information acquisition system.

  In recent years, devices have been developed that obtain information about the surroundings from detection results obtained by a plurality of detectors that detect electromagnetic waves. For example, an apparatus for measuring the position of an object in an image captured by an infrared camera using a laser radar is known. (See Patent Document 1).

JP 2011-220732 A

  In such an apparatus, it is beneficial to reduce the difference in the coordinate system in the detection result by each detector.

  Accordingly, an object of the present disclosure made in view of the problems of the conventional technology as described above is to reduce a difference in coordinate systems in detection results by a plurality of detectors that detect electromagnetic waves.

In order to solve the above-described problems, the electromagnetic wave detection device according to the first aspect is
A separation unit that separates the incident electromagnetic wave so as to travel in the first direction and the second direction;
A first detector for detecting electromagnetic waves traveling in the first direction;
A second detection unit that detects the electromagnetic wave traveling in the second direction.

An information acquisition system according to the second aspect is
A separation unit that separates an incident electromagnetic wave so as to travel in a first direction and a second direction, a first detection unit that detects an electromagnetic wave traveled in the first direction, and travels in the second direction An electromagnetic wave detection device having a second detection unit for detecting the electromagnetic wave
A control device that acquires information about the periphery of the electromagnetic wave detection device based on the detection result of the electromagnetic wave by the first detection unit and the second 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 aspect 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.

  According to this indication constituted as mentioned above, the difference of the coordinate system in the detection result by a plurality of detectors which detect electromagnetic waves can be reduced.

It is a block diagram which shows schematic structure of the information acquisition system containing the electromagnetic wave detection apparatus which concerns on this embodiment. FIG. 3 is a timing chart showing electromagnetic wave emission timing and detection timing for explaining the principle of distance measurement by a distance measuring sensor that is configured by the irradiation unit, the second detection unit, and the control device of FIG. 1. FIG.

  Hereinafter, embodiments of an electromagnetic wave detection device to which the present invention is applied will be described with reference to the drawings. In a configuration in which electromagnetic waves are detected by a plurality of detectors that detect electromagnetic waves, the detection axes of the detection units are different. Therefore, even if each detector performs detection for the same region, the coordinate system in the detection result is different for each detection unit. Therefore, it is beneficial to reduce the difference in the coordinate system in the detection result by each detection unit. However, it is impossible or difficult to reduce the difference by correction. Therefore, the electromagnetic wave detection device to which the present invention is applied can reduce the difference in the coordinate system in the detection result by each detection unit by being configured to reduce the difference in detection axis in each detection unit.

  As illustrated in FIG. 1, an information acquisition system 11 including an electromagnetic wave detection device 10 according to an embodiment of the present disclosure includes an electromagnetic wave detection device 10 and a control device 12.

  In the subsequent drawings, broken lines connecting the functional blocks indicate a control signal or a flow of 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.

  The electromagnetic wave detection device 10 includes a separation unit 13, a first detection unit 14, and a second detection unit 15.

  The separation unit 13 separates the incident electromagnetic wave so as to travel in the first direction d1 and the second direction d2. In the present embodiment, the separation unit 13 reflects a part of the incident electromagnetic wave in the first direction d1, and transmits another part of the electromagnetic wave in the second direction d2.

  The separation unit 13 may transmit a part of the incident electromagnetic wave in the first direction d1 and transmit another part of the electromagnetic wave in the second direction d2. Further, the separating unit 13 may refract part of the incident electromagnetic wave in the first direction d1 and refract another part of the electromagnetic wave in the second direction d2. The separation unit 13 is, for example, a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, a deflection element, and a prism.

  The first detection unit 14 is, for example, a camera. In the present embodiment, the first detection unit 14 includes a first optical system 16 and a first detection unit 17. The first detection unit 14 may be, for example, an infrared camera that can detect the temperature in one or two dimensions.

  The first optical system 16 includes, for example, at least one of a lens and a mirror, and forms an image of the detection target ob.

  The first detection unit 17 is provided on the path of the electromagnetic wave that travels in the first direction d1 from the separation unit 13. Further, the first detection unit 17 forms an image of the image of the object ob away from the first optical system 16 via the separation unit 13 at a predetermined position or a position where the image is formed by the first optical system 16. It is provided in the vicinity of the image position. The first detection unit 17 detects the electromagnetic wave that has traveled from the separation unit 13 in the first direction d1.

  Further, the first detection unit 17 is configured so that the first traveling axis of the electromagnetic wave traveling in the first direction d1 from the separation unit 13 is parallel to the first detection axis of the first detection unit 17. The separation unit 13 may be disposed. The first traveling axis is the central axis of the electromagnetic wave that travels in the first direction d1 from the separation unit 13 and then propagates while spreading radially and enters the first detection unit 17. In the present embodiment, the first traveling axis is the optical axis of the first optical system 16. The first detection axis is an axis that passes through the center of the detection surface of the first detection unit 17 and is perpendicular to the detection surface.

  Furthermore, the 1st detection part 17 may be arrange | positioned so that the space | interval of a 1st advancing axis and a 1st detection axis may be below a 1st space | interval threshold value. Moreover, the 1st detection part 17 may be arrange | positioned so that a 1st advancing axis and a 1st detection axis may correspond. In this embodiment, the 1st detection part 17 is arrange | positioned so that a 1st advancing axis and a 1st detection axis may correspond.

  Further, the first detection unit 17 is separated so that the first angle formed by the first traveling axis and the detection surface of the first detection unit 17 is equal to or less than the first angle threshold value or a predetermined angle. It may be arranged with respect to the part 13. In the present embodiment, the first detection unit 17 is arranged so that the first angle is 90 ° as described above.

  In the present embodiment, the first detection unit 17 is a passive sensor. In the present embodiment, more specifically, the first detection unit 17 includes an element array. For example, the first 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 present embodiment, more specifically, the first detection unit 17 captures an image of visible light. The first detection unit 17 transmits the generated image information as a signal to the control device 12.

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

  The second detection unit 15 is a scanning type detection device such as LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging). In the present embodiment, the second detection unit 15 includes an irradiation unit 18, a first reflection unit 19, a second reflection unit 20, a second optical system 21, and a second detection unit 22.

  The irradiation unit 18 emits at least one of infrared rays, visible rays, ultraviolet rays, and radio waves. In the present embodiment, the irradiation unit 18 emits infrared rays. The irradiation unit 18 radiates an electromagnetic wave within the detection range of the electromagnetic wave detection device 10 through the first reflection unit 19.

  In the present embodiment, the irradiating unit 18 radiates a narrow electromagnetic wave in the form of a beam, for example, 0.5 °. Moreover, in this embodiment, the irradiation part 18 can radiate | emit electromagnetic waves in a pulse form. For example, the irradiation unit 18 includes an LED (Light Emitting Diode), an LD (Laser Diode), and the like. The irradiation unit 18 switches between emission and stop of electromagnetic waves based on the control of the control device 12 described later.

  The 1st reflection part 19 changes the irradiation position of the electromagnetic waves irradiated to the object ob by reflecting the electromagnetic waves radiated | emitted from the irradiation part 18, changing direction. That is, the first reflecting unit 19 scans the object ob with the electromagnetic wave radiated from the irradiation unit 18. Therefore, in the present embodiment, the first reflecting unit 19 constitutes a scanning type distance measuring sensor in cooperation with the second detecting unit 22 described later. The first reflecting unit 19 scans the object ob in the one-dimensional direction or the two-dimensional direction. In the present embodiment, the first reflecting unit 19 scans the object ob in the two-dimensional direction.

  The first reflecting portion 19 is disposed in the second direction d2 from the separating portion 13. The first reflection unit 19 is arranged such that the electromagnetic wave radiated and reflected from the irradiation unit 18 is transmitted through the separation unit 13 and irradiated within the detection range of the electromagnetic wave detection device 10.

  The first reflection unit 19 propagates the reflected wave of the electromagnetic wave irradiated to the object ob within the detection range to the second reflection unit 20 by reflecting the reflected wave after passing through the separation unit 13.

  The first reflection unit 19 includes, for example, a MEMS (Micro Electro Mechanical Systems) mirror, a polygon mirror, and a galvanometer mirror. In the present embodiment, the first reflecting unit 19 includes a MEMS mirror.

  The 1st reflection part 19 changes the direction which reflects electromagnetic waves based on control of the control apparatus 12 mentioned later. Moreover, the 1st reflection part 19 may have angle sensors, such as an encoder, for example, You may notify the angle which an angle sensor detects to the control apparatus 12 as direction information which reflects electromagnetic waves. In such a configuration, the control device 12 can calculate the irradiation position based on the direction information acquired from the first reflection unit 19. Moreover, the control apparatus 12 can calculate an irradiation position based on the drive signal input in order to make the 1st reflection part 19 change the direction which reflects electromagnetic waves.

  The second reflecting unit 20 is disposed between the irradiating unit 18 and the first reflecting unit 19 on the path of the beam-shaped electromagnetic wave radiated from the irradiating unit 18. The second reflection unit 20 transmits or transmits the electromagnetic wave radiated from the irradiation unit 18.

  The second reflection unit 20 includes, for example, a mirror having a pinhole or a half mirror. In this embodiment, the 2nd reflection part 20 is a mirror which has a pinhole, and lets the electromagnetic wave which the irradiation part 18 radiates | transmits a pinhole. The second reflecting unit 20 further advances the electromagnetic wave from the object ob reflected by the first reflecting unit 19 toward the second detecting unit 22 by further reflecting the electromagnetic wave.

  The second optical system 21 is disposed between the second reflection unit 20 and the second detection unit 22. The second optical system 21 focuses the electromagnetic wave from the object ob reflected by the second reflecting unit 20.

  The second detection unit 22 is provided on the path of the electromagnetic wave that travels via the second optical system 21 after the electromagnetic wave is reflected by the second reflection unit 20. The second detection unit 22 detects electromagnetic waves that have passed through the second optical system 21, that is, electromagnetic waves that have traveled in the second direction d2.

  The second detection unit 22 travels in the second direction d2 from the separation unit 13, and the second travel of the electromagnetic wave whose traveling direction is switched by the first reflection unit 19 and the second reflection unit 20. The axis may be arranged with respect to the separation unit 13 so as to be parallel to the second detection axis of the second detection unit 22. The second traveling axis is the central axis of the electromagnetic wave that travels in the second direction d2 from the separation unit 13 and then propagates while spreading radially and enters the second detection unit 22. In the present embodiment, the second traveling axis is the optical axis of the second optical system 21. The second detection axis includes an axis that passes through the center of the detection surface of the second detection unit 22 and is perpendicular to the detection surface. Further, the second detection axis includes an axis obtained by bending the vertical axis in the reflection direction at the second reflection unit 20 and an axis obtained by bending the first detection unit 19 in the reflection direction.

  Further, the second detection unit 22 may be arranged so that the interval between the second traveling axis and the second detection axis is equal to or less than the second interval threshold. The second interval threshold value may be the same value as the first interval threshold value or a different value.

  Further, the second detection unit 22, together with the first detection unit 17, has a difference between the distance between the first traveling axis and the first detection axis and the distance between the second traveling axis and the second detection axis. You may arrange | position so that it may become below a predetermined space | interval difference (for example, the diameter of the detection surface of the 1st detection part 17 and the 2nd detection part 22).

  Moreover, the 2nd detection part 22 may be arrange | positioned so that a 2nd advancing axis and a 2nd detection axis may correspond. In this embodiment, the 2nd detection part 22 is arrange | positioned so that a 2nd advancing axis and a 2nd detection axis may correspond.

  The second detection unit 22 may be arranged so that the central axis of the electromagnetic wave radiated from the irradiation unit 18 coincides with at least a part of the second detection axis.

  In addition, the second detection unit 22 is configured so that the second angle formed by the second traveling axis and the detection surface of the second detection unit 22 is equal to or less than the second angle threshold value or a predetermined angle. 13 may be arranged. Note that the second angle threshold may be the same value as or different from the first angle threshold. In addition, the second detection unit 22 and the first detection unit 17 make the difference between the first angle and the second angle equal to or smaller than a predetermined angle difference (for example, satisfy the Scheinproof principle). A). In the present embodiment, the second detection unit 22 is arranged so that the second angle is 90 ° as described above.

  In the present 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 18 toward the target ob. Note that, in the present embodiment, the second detection unit 22 is an electromagnetic wave irradiated toward the object ob by being irradiated from the irradiation unit 18 and reflected by the first reflection unit 19 and the second reflection unit 20. The reflected wave from the object ob is detected.

  The second detection unit 22 detects the same type of electromagnetic wave as the irradiation unit 18 irradiates. Therefore, in this embodiment, the 2nd detection part 22 detects infrared rays. The second detection unit 22 may detect an electromagnetic wave of a different type or the same type as the first detection unit 17. Therefore, the second detection unit 22 may detect visible light, ultraviolet light, and radio waves.

  In the present embodiment, more specifically, the second detection unit 22 includes an element constituting a distance measuring sensor. For example, the second detection unit 22 includes a single element such as an APD (Avalanche PhotoDiode), a PD (PhotoDiode), and a ranging image sensor. The second detection unit 22 may include an element array such as an APD array, a PD array, a ranging imaging array, and a ranging image sensor.

  In the present embodiment, the second detection unit 22 transmits detection information indicating that a reflected wave from the subject has been detected to the control device 12 as a signal.

  The control device 12 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 12 may include at least one of SoC (System-on-a-Chip) in which one or more processors cooperate, and SiP (System In a Package).

  The control device 12 acquires information related to the periphery of the electromagnetic wave detection device 10 based on the electromagnetic waves detected by the first detection unit 17 and the second detection unit 22 respectively. The information about the surroundings is, for example, image information, distance information, temperature information, and the like. In the present embodiment, more specifically, as described above, the control device 12 acquires the electromagnetic waves detected as an image by the first detection unit 17 as image information. Moreover, in this embodiment, the control apparatus 12 irradiates the irradiation part 18 by ToF (Time-of-Flight) system based on the detection information which the 2nd detection part 22 detects as demonstrated below. The distance information of the irradiated position is acquired.

  As shown in FIG. 2, the control device 12 inputs an electromagnetic wave radiation signal to the irradiation unit 18 to cause the irradiation unit 18 to emit a pulsed electromagnetic wave (refer to the “electromagnetic wave radiation signal” column). The irradiation unit 18 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 18 and reflected from the reflection unit and irradiated to an arbitrary irradiation region is reflected in the irradiation region. When the second detection unit 22 detects the electromagnetic wave reflected in the irradiation region (see the “electromagnetic wave detection amount” column), the second detection unit 22 notifies the control device 12 of the detection information as described above.

  The control device 12 includes, for example, a time measurement LSI (Large Scale Integrated circuit), and acquires detection information (refer to the “detection information acquisition” column) from the time T1 when the irradiation unit 18 radiates electromagnetic waves. The time ΔT until T2 is measured. The control device 12 calculates the distance to the irradiation position by multiplying the time ΔT by the speed of light and dividing by 2. Note that, as described above, the control device 12 calculates the irradiation position based on the direction information acquired from the first reflection unit 19 or the drive signal output to the first reflection unit 19 by itself. The control device 12 creates image-like distance information by calculating the distance to each irradiation position while changing the irradiation position.

  In the present 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 laser beam 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 obtains distance information by a 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. Further, the information acquisition system 11 may create distance information by another ToF method, for example, Phased ToF.

  The electromagnetic wave detection device 10 of the present embodiment configured as described above separates the incident electromagnetic wave so as to travel in the first direction d1 and the second direction d2, and the electromagnetic wave traveled in the first direction d1. A first detection unit 17 for detection and a second detection unit 22 for detecting electromagnetic waves traveling in the second direction d2 are provided. Therefore, the electromagnetic wave detection device 10 can reduce the deviation of the optical axes of the first detection unit 17 and the second detection unit 22. Thereby, the electromagnetic wave detection apparatus 10 can reduce the shift | offset | difference of a 1st detection axis and a 2nd detection axis. Therefore, the electromagnetic wave detection device 10 can reduce the shift of the coordinate system in the detection results by the first detection unit 17 and the second detection unit 22.

  Further, in the electromagnetic wave detection device 10 of the present embodiment, the first traveling axis is parallel to the first detection axis, and the second traveling axis is parallel to the second detection axis. One detection unit 17 and second detection unit 22 are arranged with respect to the separation unit 13. With such a configuration, the electromagnetic wave detection device 10 can reduce the deviation between the first detection axis and the second detection axis and can homogenize the imaging state of the electromagnetic wave on the detection surface regardless of the distance from the traveling axis. . Therefore, the electromagnetic wave detection device 10 can acquire information related to the surrounding in the homogeneous imaging state without performing information processing for homogenizing the imaging state in the control device 12.

  In the electromagnetic wave detection device 10 of the present embodiment, the first detection unit 17 is arranged with respect to the separation unit 13 so that the interval between the first traveling axis and the first detection axis is equal to or less than the first interval threshold. The second detection unit 22 is arranged with respect to the separation unit 13 so that the interval between the second traveling axis and the second detection axis is equal to or less than the second interval threshold. With such a configuration, the electromagnetic wave detection device 10 can further reduce the deviation between the first detection axis and the second detection axis.

  In the electromagnetic wave detection device 10 of the present embodiment, the difference between the distance between the first traveling axis and the first detection axis and the distance between the second traveling axis and the second detection axis is equal to or less than a predetermined distance difference. Thus, the first detection unit 17 and the second detection unit 22 are arranged with respect to the separation unit 13. With such a configuration, the electromagnetic wave detection device 10 can further reduce the deviation between the first detection axis and the second detection axis.

  Moreover, in the electromagnetic wave detection apparatus 10 of this embodiment, the 1st detection part 17 is matched so that a 1st advancing axis and a 1st detection axis may correspond, and a 2nd advancing axis and a 2nd detection axis may correspond. The second detection unit 22 is disposed with respect to the separation unit 13. With this configuration, the electromagnetic wave detection device 10 can further reduce the deviation between the first detection axis and the second detection axis.

  Further, in the electromagnetic wave detection device 10 of the present embodiment, the first angle is equal to or smaller than the first angle threshold value or a predetermined angle, and the second angle is equal to or smaller than the second angle threshold value or a predetermined angle. As described above, the first detection unit 17 and the second detection unit 22 are arranged with respect to the separation unit 13. With such a configuration, the electromagnetic wave detection device 10 reduces the deviation between the first detection axis and the second detection axis, and makes the imaging state of the electromagnetic wave on the detection surface inhomogeneous according to the distance from the traveling axis. Can be reduced. Therefore, the electromagnetic wave detection device 10 can reduce the load of information processing for homogenizing the imaging state in the control device 12.

  Moreover, in the electromagnetic wave detection apparatus 10 of this embodiment, the 1st detection part 17 and the 2nd detection part 22 isolate | separate so that the difference of a 1st angle and a 2nd angle may become below a predetermined angle difference. It is arranged with respect to the part 13. With such a configuration, the electromagnetic wave detection device 10 can further reduce the deviation of the optical axes of the first detection unit 17 and the second detection unit 22.

  Moreover, in the electromagnetic wave detection apparatus 10 of this embodiment, the central axis of the electromagnetic wave radiated | emitted from the irradiation part 18 and at least one part of a 1st detection axis correspond. With such a configuration, in the electromagnetic wave detection device 10, in specifying the irradiation position of the electromagnetic wave in the object ob, the positional deviation between the irradiation unit 18 and the first detection unit 17, and the inclination between the radiation direction and the first detection axis. There is no need to consider. Therefore, the electromagnetic wave detection device 10 can accurately calculate the irradiation position with a low load based on the drive signal or direction information of the first reflection unit 19.

  Although the present invention 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. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention.

  For example, in the present embodiment, the control device 12 constitutes the information acquisition system 11 together with the electromagnetic wave detection device 10, but the electromagnetic wave detection device 10 may be configured to include the control device 12 as a control unit.

  In the present embodiment, the electromagnetic wave detection device 10 causes the first reflection unit 19 to scan the beam-like electromagnetic wave radiated from the irradiation unit 18, thereby causing the second detection unit 22 to move to the first reflection unit 19. And function as a scanning-type active sensor. However, the electromagnetic wave detection device 10 is not limited to such a configuration. For example, the electromagnetic wave detection device 10 does not include the first reflection unit 19 and employs a half mirror for the second reflection unit 20 to radiate a radial electromagnetic wave from the irradiation unit 18 and acquire information without scanning. Even with this configuration, an effect similar to that of the present embodiment can be obtained.

  In the present embodiment, the electromagnetic wave detection device 10 has a configuration in which the first detection unit 17 is a passive sensor and the second detection unit 22 is an active sensor. However, the electromagnetic wave detection device 10 is not limited to such a configuration. For example, in the electromagnetic wave detection device 10, the same effect as that of the present embodiment can be obtained regardless of whether the first detection unit 17 and the second detection unit 22 are both active sensors or passive sensors.

DESCRIPTION OF SYMBOLS 10 Electromagnetic wave detection apparatus 11 Information acquisition system 12 Control apparatus 13 Separation part 14 1st detection unit 15 2nd detection unit 16 1st optical system 17 1st detection part 18 Irradiation part 19 1st reflection part 20 2nd Reflector 21 Second optical system 22 Second detector d1, d2 First direction, second direction ob Object

Claims (19)

A separation unit that separates the incident electromagnetic wave so as to travel in the first direction and the second direction;
A first detector for detecting electromagnetic waves traveling in the first direction;
An electromagnetic wave detection device comprising: a second detection unit configured to detect an electromagnetic wave traveling in the second direction. The electromagnetic wave detection device according to claim 1,
In the first detection unit, the first traveling axis, which is the central axis of the electromagnetic wave traveling in the first direction from the separation unit, passes through the center of the detection surface of the electromagnetic wave by the first detection unit, and the detection is performed. Arranged so as to be parallel to the first detection axis perpendicular to the surface,
In the second detection unit, the second traveling axis, which is the central axis of the electromagnetic wave traveling in the second direction from the separation unit, passes through the center of the detection surface of the electromagnetic wave by the second detection unit, and the detection is performed. An electromagnetic wave detection device disposed so as to be parallel to a second detection axis perpendicular to the surface. The electromagnetic wave detection device according to claim 2,
The first detection unit is arranged such that an interval between the first traveling axis and the first detection axis is equal to or less than a first interval threshold value.
The second detection unit is disposed such that an interval between the second traveling axis and the second detection axis is equal to or less than a second interval threshold. In the electromagnetic wave detection device according to claim 2 or 3,
The first detection unit and the second detection unit are configured such that a difference between an interval between the first traveling axis and the first detection axis and an interval between the second traveling axis and the second detection axis. An electromagnetic wave detection device arranged so that is less than a predetermined interval difference. In the electromagnetic wave detection device according to any one of claims 2 to 4,
The first detection unit is arranged so that the first traveling axis and the first detection axis coincide with each other,
The second detection unit is disposed such that the second traveling axis and the second detection axis coincide with each other. In the electromagnetic wave detection device according to any one of claims 1 to 5,
In the first detection unit, a first angle formed by a central axis of an electromagnetic wave traveling in the first direction from the separation unit and a detection surface of the first detection unit is equal to or less than a first angle threshold value. Arranged at a predetermined angle,
In the second detection unit, a second angle formed by a central axis of the electromagnetic wave traveling in the second direction from the separation unit and a detection surface of the second detection unit is equal to or less than a second angle threshold. An electromagnetic wave detection device arranged to have a predetermined angle. The electromagnetic wave detection device according to claim 6,
The first detection unit and the second detection unit are arranged such that a difference between the first angle and the second angle is equal to or less than a predetermined angle difference. In the electromagnetic wave detection device according to any one of claims 1 to 7,
The separating unit reflects a part of incident electromagnetic waves in the first direction and transmits another part of the electromagnetic waves in the second direction. In the electromagnetic wave detection device according to any one of claims 1 to 7,
The separation unit transmits a part of an incident electromagnetic wave in the first direction and transmits another part of the electromagnetic wave in the second direction. In the electromagnetic wave detection device according to any one of claims 1 to 7,
The separation unit refracts a part of incident electromagnetic waves in the first direction and refracts another part of the electromagnetic waves in the second direction. In the electromagnetic wave detection device according to any one of claims 1 to 10,
The first detection unit and the second detection unit detect electromagnetic waves of different types or the same type. The electromagnetic wave detection device according to any one of claims 1 to 11,
The first detection unit and the second detection unit each detect at least one of infrared rays, visible rays, ultraviolet rays, and radio waves. In the electromagnetic wave detection device according to any one of claims 1 to 12,
Each of the first detection unit and the second detection unit constitutes either an active sensor or a passive sensor. The electromagnetic wave detection device according to claim 13,
In the active sensor, the central axis of the electromagnetic wave radiated from the irradiation unit that radiates the electromagnetic wave within the detection range of the electromagnetic wave detection device coincides with at least a part of the detection axis of the first detection unit. apparatus. In the electromagnetic wave detection device according to any one of claims 1 to 14,
The separation unit includes at least one of a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, and a metasurface. The electromagnetic wave detection device according to any one of claims 1 to 15,
The first detection unit and the second detection unit each include at least one of a distance measurement sensor, an image sensor, and a thermo sensor. In the electromagnetic wave detection device according to any one of claims 1 to 16,
An electromagnetic wave detection apparatus, further comprising: a control unit that acquires information related to surroundings based on the detection result of the electromagnetic wave by the first detection unit and the second detection unit. The electromagnetic wave detection device according to claim 17,
The control unit acquires at least one of image information, distance information, and temperature information as information related to the surroundings. A separation unit that separates an incident electromagnetic wave so as to travel in a first direction and a second direction, a first detection unit that detects an electromagnetic wave traveled in the first direction, and travels in the second direction An electromagnetic wave detection device having a second detection unit for detecting the electromagnetic wave
A control device that acquires information related to the periphery of the electromagnetic wave detection device based on the detection result of the electromagnetic wave by the first detection unit and the second detection unit.

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