CN116540246A - Distance measuring device, automatic door system, opening/closing system, and distance measuring method - Google Patents

Abstract

The object of the present invention is to reduce the amount of processing for distance measurement. The detection device (30) of the present invention comprises: a light emitting element (31) and an image sensor (33), wherein the image sensor (33) is provided with a plurality of pixel units (33A) provided with light receiving elements (33 Aa) in a two-dimensional manner. The image sensor (33) includes a position output unit that outputs a position of a pixel unit (33A) provided with a light receiving element (33 Aa) in the image sensor (33) when the light receiving amount of the light receiving element (33 Aa) exceeds a first threshold value. The detection device (30) comprises: a position determination unit (34B) that determines whether or not the position is located on the reflection trajectory when a line, which is formed by connecting, on the image sensor (33), a point on the image sensor (33) at which a reflected light beam, which is reflected by the object from the irradiation light beam, is imaged while changing the distance from the object, is used as the reflection trajectory; and a distance deriving unit (34C) that derives the distance to the object using the relationship between the position and the distance to the object when the position is located on the reflection trajectory.

Description

Distance measuring device, automatic door system, opening/closing system, and distance measuring method

Technical Field

The present disclosure relates to a distance measuring device and the like that measure a distance to an object.

Background

Distance measuring devices for measuring a distance from an object have been widely used. In such a distance measuring device, it is sometimes required to shorten the time until the distance measurement as much as possible. In order to solve such a problem, patent document 1 and patent document 2 disclose techniques for reducing the processing amount (calculation amount) for distance measurement.

[ Prior Art literature ]

[ patent literature ]

Patent document 1: japanese patent application laid-open No. 2021-518535

Patent document 2: japanese patent application laid-open No. 2021-522730

Disclosure of Invention

[ problem to be solved by the invention ]

However, with respect to the technology of patent document 1 and patent document 2, there is room for further improvement.

An object of one aspect of the present disclosure is to realize a distance measuring device and a distance measuring method that can reduce the throughput for distance measurement.

[ means for solving the problems ]

In order to solve the problem, a distance measuring device according to an aspect of the present disclosure includes: more than one light emitting element; and an image sensor in which a plurality of pixel units including the light receiving element are two-dimensionally arranged, the image sensor including a position output unit that outputs a position of the pixel unit including the light receiving element in the image sensor when a light receiving amount in the light receiving element exceeds a first threshold, the distance measuring device including: a position determination unit that determines whether or not the position is located on the reflection trajectory when a line, which is formed by connecting, on the image sensor, a point on the image sensor where a reflected light beam, which is reflected by the object from the light-emitting element, is imaged by the irradiation light beam, is changed while changing a distance from the object; and a distance deriving unit that derives a distance to the object using a relationship between the position and the distance to the object when the position is located on the reflection trajectory.

According to the above configuration, the distance deriving process is performed only for the pixel portion whose light receiving amount exceeds the first threshold value. Therefore, the amount of processing for distance derivation can be reduced.

Further, the distance deriving process is performed only when the position of the light receiving element among the light receiving elements whose light receiving amount exceeds the first threshold value is located on the reflection track. Therefore, the entire image sensor does not need to be scanned, and therefore the amount of processing for distance derivation can be further reduced.

In the distance measuring device according to an aspect of the present disclosure, an event generating unit may be disposed for each of the plurality of pixel units, the event generating unit may generate an event when the light receiving amount in each of the light receiving elements exceeds the first threshold value, and the position output unit may output a position of the pixel unit in the image sensor, at which the event generating unit generated the event.

In the distance measuring device according to one aspect of the present disclosure, the first threshold and the second threshold may be set to a ratio to a reference light reception amount, the reference light reception amount is updated to the light reception amount after the occurrence of the event, the light reception amount indicated by the first threshold is larger than the reference light reception amount by a first ratio amount of the reference light reception amount, the light reception amount indicated by the second threshold is smaller than the reference light reception amount by a second ratio amount of the reference light reception amount, and the event generating unit may generate the event when the light reception amount in the light receiving element exceeds the first threshold but also falls below the second threshold.

According to the above configuration, an event can be generated when the reflected light beam is no longer imaged and the light receiving amount in the light receiving element becomes the light receiving amount before the event is generated.

In the distance measuring device according to one aspect of the present disclosure, the event generating unit may generate an event capable of identifying whether the light receiving amount exceeds the first threshold or falls below the second threshold.

According to the above configuration, it is possible to identify whether an event is generated due to a large light receiving amount or a small light receiving amount.

In the distance measuring device according to an aspect of the present disclosure, the absolute value of the first ratio for setting the first threshold may be larger than the absolute value of the second ratio for setting the second threshold, and the distance measuring device may include a same pixel event determination unit that determines whether or not the light receiving amount in the same light receiving element is lower than the second threshold after exceeding the first threshold within a predetermined time, and the position determination unit may determine whether or not a position of the pixel portion having the light receiving element determined by the same pixel event determination unit to be lower than the second threshold after exceeding the first threshold is located on the reflection trace.

According to the above configuration, it is possible to confirm whether or not the light receiving element whose light receiving amount exceeds the first threshold value and the light receiving element which is subsequently lower than the second threshold value are identical. Therefore, it is possible to confirm that the light receiving amount in the light receiving element exceeds the first threshold value due to the irradiation of the light beam, and it is possible to accurately identify the position of the pixel portion where the event occurs due to the irradiation of the light beam. In addition, since the processing is performed only when an event occurs due to the suspension of the irradiation beam, the processing amount can be reduced.

In the distance measuring device according to one aspect of the present disclosure, the image sensor may include a time output unit that outputs a time at which the event is generated by the event generating unit.

According to the above configuration, the time when the event is generated can be identified.

In the distance measuring device according to one aspect of the present disclosure, the image sensor may include a light receiving amount output unit that outputs information indicating a light receiving amount of the light receiving element when the event generating unit generates the event.

According to the above configuration, the brightness when an event occurs can be recognized.

In the distance measuring device according to an aspect of the present disclosure, at least one of the following may be used: comprising a plurality of the light emitting elements, and a beam splitter for splitting light irradiated from the light emitting elements into a plurality of the irradiation light beams.

According to the above configuration, a plurality of irradiation light beams can be generated, and therefore, the measurement area of the distance measuring device can be enlarged.

In the distance measuring device according to an aspect of the present disclosure, the light emitting direction of the light emitting element may be such that the reflection paths formed by the plurality of irradiation light beams do not overlap.

According to the above configuration, the phenomenon that a plurality of reflected light beams are mixed together on the image sensor due to overlapping of the reflection tracks can be eliminated, and thus the accuracy of measurement can be improved.

In the distance measuring device according to one aspect of the present disclosure, the light emitting directions of the one or more light emitting elements may be such that the reflection paths formed by the plurality of irradiation light beams that are simultaneously irradiated do not overlap.

According to the above configuration, the phenomenon that a plurality of reflected light beams are mixed together on the image sensor due to overlapping of the reflection tracks can be eliminated, and thus the accuracy of measurement can be improved.

An aspect of the present disclosure relates to an automatic door system including: the distance measuring device; a detecting device that detects a passer using the distance measured by the distance measuring device; and an automatic door that opens and closes based on a detection result of the detection unit.

An opening/closing system according to an aspect of the present disclosure includes: the distance measuring device; a detection device that detects a passer and a passer using the distance measured by the distance measurement device; and at least one of a shutter and a gate, which is opened and closed based on a detection result of the detection device.

In order to solve the above-described problem, a distance measurement method according to an aspect of the present disclosure is a distance measurement method for measuring a distance to a measurement object in a distance measurement device including a light emitting element and an image sensor in which a plurality of pixels including a light receiving element are two-dimensionally arranged, the distance measurement method including: a position output step of outputting a position of the pixel having the light receiving element in the image sensor when a light receiving amount in each of the plurality of light receiving elements exceeds a first threshold; a position determination step of determining whether or not the position is located on the reflection trajectory when a line, which is formed by connecting, on the image sensor, a point on the image sensor where a reflected light beam, which is reflected by the object from the light-emitting element, is imaged by the irradiation light beam, is changed while changing a distance from the object; and a distance deriving step of deriving a distance to the object using a relationship between the position and the distance to the object when the position is located on the reflection trajectory.

According to the above configuration, the distance deriving process is performed only for the light receiving element whose light receiving amount exceeds the first threshold value. Therefore, the amount of processing for distance derivation can be reduced.

Further, the distance deriving process is performed only in a case where the position of the light receiving element among the light receiving elements whose light receiving amount exceeds the first threshold value is located on the reflection trajectory. Therefore, the entire image sensor does not need to be scanned, and therefore the amount of processing for distance derivation can be further reduced.

[ Effect of the invention ]

According to an aspect of the present disclosure, the processing amount for distance measurement can be reduced.

Drawings

Fig. 1 is a block diagram showing a main part configuration of an automatic door system according to embodiment 1 of the present disclosure.

Fig. 2 is an external view of the automatic door system.

Fig. 3 is a front view of the image sensor included in the automatic door system.

Fig. 4 is a diagram for explaining an example of an event generated by the event generating unit included in the image sensor.

Fig. 5 is a diagram for explaining a reflection trace according to embodiment 1 of the present disclosure.

Fig. 6 is a flowchart showing an example of processing of a distance measurement method for measuring a distance to a measurement target according to embodiment 1 of the present disclosure.

Fig. 7 is a flowchart showing another example of processing of the distance measurement method for measuring the distance to the measurement target according to embodiment 1 of the present disclosure.

Fig. 8 is a block diagram showing a main part configuration of a brake opening/closing system according to embodiment 2 of the present disclosure.

Fig. 9 is a diagram showing an example of a light emission pattern of an irradiation beam irradiated to the detection region D.

Fig. 10 is a view showing a light emission pattern when the reflection trace is overlapped when the detection device and the detection area are viewed from above the automatic door system.

Fig. 11 is a view showing the reflection trace of each irradiation beam in the light emission pattern shown in fig. 10.

Fig. 12 is a view showing a light emission pattern in a case where reflection tracks are not overlapped when the detection device and the detection area are viewed from above the automatic door system.

Fig. 13 is a diagram showing the reflection trace of each irradiation beam in the light emission pattern shown in fig. 12.

Detailed Description

[ embodiment 1 ]

An embodiment of the present disclosure is described in detail below. Fig. 1 is a block diagram showing a main part configuration of an automatic door system 1 according to the present embodiment. Fig. 2 is an external view of the automatic door system 1. Fig. 2 is a view of the automatic door 10 from the outside, showing a state in which the first sliding door 11 and the second sliding door 12, which will be described later, are closed.

The following description will be given by taking an example in which the detection device 30 is disposed in the automatic door system 1, but the application of the detection device 30 is not limited thereto. The distance measuring function of the detecting device 30 can be used for a system requiring distance measurement in addition to the automatic door system 1.

As shown in fig. 1 and 2, the automatic door system 1 includes an automatic door 10, a detection device 30, and a door opening/closing control unit 40.

The automatic door 10 includes a first sliding door 11 and a second sliding door 12. The first sliding door 11 and the second sliding door 12 are controlled to open and close by a door opening and closing control unit 40 described later.

The detection device 30 includes one or more light emitting elements 31, a beam splitter 32, an image sensor 33, and a control unit 34.

The light emitting element 31 irradiates the detection region of the detection device 30 with light as an irradiation beam. The light emitting element 31 irradiates light in a pulse manner for a predetermined time.

The beam splitter 32 splits the light irradiated from the light emitting element 31 into a plurality of lights (irradiation light beams). The light irradiated from the light emitting element 31 is split by the beam splitter 32, thereby forming a light emission pattern of the irradiation light beam irradiated from the detection device 30. The details of the light emitting pattern will be described later. Since the light emitted from the light emitting element 31 can be split into a plurality of irradiation light fluxes by the beam splitter 32, a plurality of irradiation light fluxes can be generated from 1 light emitting element 31. This can expand the detection area of the detection device 30.

The image sensor 33 is a sensor that images a reflected light beam, which is reflected by the object, of the irradiation light beam irradiated from the light emitting element 31. Fig. 3 is a front view of the image sensor 33. As shown in fig. 3, the image sensor 33 includes a plurality of pixel units 33A arranged two-dimensionally, and each pixel unit 33A includes a light receiving element 33Aa. Thus, in the image sensor 33, a plurality of light receiving elements 33Aa are two-dimensionally arranged. The plurality of light receiving elements 33Aa receive reflected light beams reflected by the object from the irradiation light beams irradiated from the light emitting elements 31, whereby the reflected light beams are imaged in the image sensor 33. The plurality of light receiving elements 33Aa are optically separated from each other, and the temporal motion is separated.

As shown in fig. 1, a threshold value determination unit 33Ab and an event generation unit 33Ac are disposed for each of the plurality of pixel units 33A. For simplicity, only 2 pixel sections 33A are illustrated in fig. 1.

The threshold determination unit 33Ab determines whether or not the light receiving amount in each light receiving element 33Aa exceeds a predetermined threshold (hereinafter referred to as a first threshold). The threshold determination unit 33Ab determines whether or not the light receiving amount in each light receiving element 33Aa is lower than a predetermined threshold (hereinafter referred to as a second threshold).

The event generating unit 33Ac generates an event when the threshold determining unit 33Ab determines that the light receiving amount in each light receiving element 33Aa exceeds the first threshold, or when the threshold determining unit 33Ab determines that the light receiving amount in each light receiving element 33Aa is lower than the second threshold. Hereinafter, an event generated by the light receiving amount in the light receiving element 33Aa exceeding the first threshold value may be referred to as a positive event, and an event generated by the light receiving amount in the light receiving element 33Aa being lower than the second threshold value may be referred to as a negative event.

Fig. 4 is a diagram for explaining an example of the event generated by the event generating unit 33 Ac. As shown in fig. 4, for example, it is assumed that the reflected light beam is not imaged from time t0 to time t1 and the reflected light beam is imaged from time t1 to time t2 in a certain light receiving element 33 Aa. In the period from time t0 to time t1, the reflected light beam is not imaged by the certain light receiving element 33Aa, but since external light (for example, sunlight) is received, there is light imaging with a predetermined light receiving amount (referred to herein as light receiving amount RA).

In this case, the threshold determination unit 33Ab sets the first threshold (hereinafter referred to as a first threshold P1) from time t0 to time t1 to be a ratio to the light reception amount RA. That is, the threshold determination unit 33Ab sets the light reception amount obtained by adding the first proportion (for example, 20%) of the light reception amount RA to the light reception amount RA so that the light reception amount RA is larger than the reference light reception amount as the first threshold P1.

The threshold determination unit 33Ab sets the second threshold (hereinafter referred to as a second threshold P2) from time t0 to time t1 to be a ratio to the light receiving amount RA. That is, the threshold determination unit 33Ab sets the light reception amount obtained by subtracting the second proportion (for example, 10%) of the light reception amount RA from the light reception amount RA to be the second threshold P2 so that the light reception amount RA is smaller than the reference light reception amount.

The threshold value determination unit 33Ab sets the absolute value of the first ratio for setting the first threshold value to be larger than the absolute value of the second ratio for setting the second threshold value. In the example of the first threshold value P1 and the second threshold value P2, the absolute value of the first ratio is 20, and the absolute value of the second ratio is 10, so that the setting condition is satisfied.

When the threshold determination unit 33Ab determines that the light receiving amount in the certain light receiving element 33Aa is larger than the light receiving amount RB of the first threshold P1 due to the reflected light beam imaging, the event generation unit 33Ac generates a positive event at time t 1.

When an event occurs, the threshold determination unit 33Ab updates the first threshold and the second threshold. In the example shown in fig. 4, the threshold value determination unit 33Ab updates the first threshold value and the second threshold value at time t1 when a positive event occurs. The threshold determination unit 33Ab sets a first threshold value (hereinafter referred to as a first threshold value P3) after the time t1 to be a ratio to the light receiving amount RB, which is the light receiving amount after the positive event. That is, the threshold determination unit 33Ab sets the light reception amount obtained by adding the first proportion of the light reception amount RB to the light reception amount RB so as to be larger than the reference light reception amount, as the first threshold P3.

The threshold determination unit 33Ab sets a second threshold value (hereinafter referred to as a second threshold value P4) after the time t1 to be a ratio to the light receiving amount RB. That is, the threshold determination unit 33Ab sets the light reception amount obtained by subtracting the second ratio of the light reception amount RB from the light reception amount RB so that the light reception amount RB, which is the light reception amount after the positive event, is smaller than the reference light reception amount, as the second threshold P4.

When the threshold determination unit 33Ab determines that the reflected light beam is no longer imaged and the light reception amount in the certain light receiving element 33Aa is smaller than the light reception amount RA of the second threshold P4, that is, when the threshold determination unit 33Ab determines that a negative event is generated.

Here, as described above, the first threshold value and the second threshold value are set such that the absolute value of the first ratio for setting the first threshold value is larger than the absolute value of the second ratio for setting the second threshold value. Therefore, the event generating unit 33Ac can generate a negative event when the reflected light beam is no longer imaged and the light reception amount RA at time t2, in which the light reception amount in the certain light receiving element 33Aa is the light reception amount RA from time t0 to time t1, is lower than the second threshold P4.

The event generating unit 33Ac generates an event so as to be able to identify whether the event is generated by the light receiving amount exceeding the first threshold (i.e., a positive event) or the event is generated by the light receiving amount being lower than the second threshold (i.e., a negative event).

The image sensor 33 further includes a position output unit 33B, an event time output unit 33C (time output unit), and a light receiving amount output unit 33D.

The position output unit 33B outputs the position of the pixel unit 33A having the light receiving element 33Aa in the image sensor 33 when the light receiving amount in each of the plurality of light receiving elements 33Aa exceeds the first threshold. Specifically, the position output unit 33B outputs the position of the pixel unit 33A, which has generated the event by the event generating unit 33Ac, in the image sensor 33 to the control unit 34. The position output section 33B outputs the two-dimensional coordinates as a position in the image sensor 33.

The event time output unit 33C outputs the time when the event is generated by the event generation unit 33Ac to the control unit 34. The control unit 34 can recognize the time when the event occurred based on the output from the event time output unit 33C.

The light receiving amount output unit 33D outputs information indicating the light receiving amount of the light receiving element 33Aa of the pixel unit 33A that generated the event when the event is generated by the event generation unit 33Ac to the control unit 34. From the output from the light receiving amount output section 33D, the brightness at the time of occurrence of an event can be recognized.

The control unit 34 controls each unit of the detection device 30. The control unit 34 includes a same pixel event determination unit 34A, a position determination unit 34B, a distance derivation unit 34C, and a detection unit 34D.

When the event generating unit 33Ac generates a plurality of events, the same pixel event determining unit 34A determines whether or not a negative event is generated after a positive event is generated within a predetermined time in the same light receiving element 33 Aa. In other words, the same pixel event determination unit 34A determines whether or not the light receiving amount in the same light receiving element 33Aa is lower than the second threshold after exceeding the first threshold within a predetermined time. The predetermined time may be, for example, a pulse irradiation time of the irradiation beam irradiated by the light emitting element 31. In this way, it can be determined that the pixel portion 33A in which the negative event is generated after the positive event is generated in the same pixel portion 33A in the period of the pulse irradiation time by the same pixel event determination portion 34A is the pixel portion 33A in which the reflected light beam is imaged.

The same pixel event determination unit 34A outputs the position information of the pixel unit 33A determined that the positive event has occurred and then the negative event has occurred to the position determination unit 34B.

The position determination unit 34B determines whether or not the position of the pixel unit 33A, which is output from the position output unit 33B and has generated the event by the event generation unit 33Ac, is located on a reflection track described later.

Fig. 5 is a diagram for explaining the reflection trace. As shown in fig. 5, in the image sensor 33, a line, which is formed by connecting, on the image sensor 33, a point on the image sensor 33 where a reflected light beam, which is reflected by the object, of the irradiation light beam is imaged while changing the distance from the object, is stored in advance as a reflection trace for each irradiation light beam emitted from the light emitting element 31 and divided by the spectroscope 32. Fig. 5 shows a reflection trace A1 and a reflection trace A2 associated with 2 irradiation beams among the plurality of irradiation beams.

Here, when the irradiation areas of the plurality of irradiation light fluxes simultaneously emitted from the light emitting element 31 are close, reflection tracks of the plurality of irradiation light fluxes may overlap, and in this case, it is impossible to determine which of the reflection tracks is formed by the irradiation light fluxes, and thus it is impossible to accurately calculate the distance.

Accordingly, in one aspect of the present disclosure, it is preferable that the light emitted from the light emitting elements 31 is adjusted so that the light emitting directions of one or more light emitting elements 31 are formed so that reflection tracks formed by a plurality of irradiation light beams simultaneously irradiated do not overlap. For example, when it is desired to irradiate a plurality of irradiation beams simultaneously to an irradiation region that is close in a first direction (for example, a horizontal direction), by irradiating a plurality of irradiation beams to regions that are separated from each other by a predetermined distance or more in a direction (for example, a vertical direction) different from the first direction, it is possible to avoid overlapping of reflection tracks formed by the plurality of irradiation beams. As a result, it is possible to specify on which reflection locus the irradiation beam forms the pixel portion 33A on which the event has occurred, and therefore it is possible to improve the accuracy of measurement. In addition, when a plurality of irradiation beams are irradiated at different timings, reflection tracks formed by the plurality of irradiation beams may not overlap.

In one embodiment of the present disclosure, the light emitted from the light emitting elements 31 may be adjusted so that the light emitting directions of one or more light emitting elements 31 are not overlapped with each other, and reflection paths formed by any of the irradiation light beams may not overlap with each other. That is, the light emitted from the light emitting element 31 may be adjusted so that all reflection tracks formed by the plurality of irradiation light beams do not overlap. Thus, even if a plurality of light fluxes are simultaneously irradiated, the reflection tracks formed by the plurality of irradiation light fluxes can be prevented from overlapping, and thus the accuracy of measurement can be improved.

As described above, the position determination unit 34B determines whether or not the position of the pixel unit 33A where the event is generated by the event generation unit 33Ac is located on any one of the reflection tracks. The position determination unit 34B outputs the position to the distance deriving unit 34C when the position of the pixel unit 33A is located on any one of the reflection tracks.

In one embodiment of the present disclosure, the position determination unit 34B may determine whether or not the pixel unit 33A is located on any one of the reflection tracks, only with respect to the pixel unit 33A, which has determined that the positive event has occurred and then that the negative event has occurred, by the same pixel event determination unit 34A. Here, the light receiving element 33Aa receiving the light beam exceeding the first threshold value by the irradiation beam should receive the light beam below the second threshold value after the irradiation of the irradiation beam is completed. According to the above configuration, it is possible to determine whether the light receiving element 33Aa whose light receiving amount exceeds the first threshold value is identical to the light receiving element 33Aa whose light receiving amount is subsequently lower than the second threshold value. Therefore, it is possible to confirm that the light receiving amount in the light receiving element 33Aa exceeds the first threshold value due to the irradiation beam, and it is possible to accurately identify the position of the pixel portion 33A where the event occurs due to the irradiation beam. In addition, since the processing is performed only when an event occurs due to the suspension of the irradiation beam, the processing amount can be reduced.

The distance deriving unit 34C derives the distance to the measurement target using the position of the pixel unit 33A located on any one of the reflection tracks outputted from the position determining unit 34B. As described above, the reflection trace is a line connecting points at which the reflected light beam is imaged on the image sensor 33 while changing the distance from the object. The distance deriving unit 34C stores in advance the distance between the image sensor 33 and the object in association with the position of the pixel unit 33A for each pixel unit 33A located on the reflection trace. In addition, not only the distance between the image sensor 33 and the object but also the distance between the automatic door system 1, in which the detection device 30 including the image sensor 33 is disposed, and the object may be stored in advance in correspondence with the position of the pixel portion 33A.

When the position of the pixel unit 33A is received from the position determination unit 34B, the distance deriving unit 34C reads the distance between the image sensor 33 and the object corresponding to the position, and thereby derives the distance from the image sensor 33 to the object to be measured. That is, the distance deriving unit 34C derives the distance from the image sensor 33 to the object using the relationship between the position of the pixel unit 33A and the distance to the object when the position of the pixel unit 33A located on any one of the reflection tracks outputted from the position determining unit 34B is located on the reflection track. The distance deriving unit 34C outputs the derived distance from the image sensor 33 to the measurement object to the detecting unit 34D.

The detection unit 34D detects the passer using the distance from the image sensor 33 to the measurement object output from the distance deriving unit 34C. In other words, the detection unit 34D determines whether or not the passer is detected using the distance from the image sensor 33 to the measurement target output from the distance deriving unit 34C. For example, the detection unit 34D may be regarded as detecting the passer when the distance from the image sensor 33 to the measurement target is shorter than a predetermined distance. The detection unit 34D outputs the detection result of the passer to the door opening/closing control unit 40.

The door opening/closing control unit 40 controls the opening/closing operation of the automatic door 10 based on the detection result of the passers-by located near the automatic door 10, which is detected by the detection unit 34D. For example, the door opening/closing control unit 40 may cause the automatic door 10 to perform the opening operation when receiving the detection result that the passer is located near the automatic door 10 from the detection unit 34D.

As described above, in the automatic door system 1 according to the present embodiment, the light emitting element 31, the spectroscope 32, the image sensor 33, the same pixel event determination unit 34A, the position determination unit 34B, and the distance deriving unit 34C function as distance measuring devices. The automatic door system 1 further includes a detection unit 34D, and the detection unit 34D detects a passer using the distance measured by the distance measuring device. That is, the detection device 30 has functions as a distance measuring device that measures a distance from the image sensor 33 to the measurement object and a detection device that detects a passer. The automatic door system 1 further includes a door opening/closing control unit 40, and the door opening/closing control unit 40 controls the opening/closing operation of the automatic door 10 based on the detection result of the passer detected by the detection unit 34D. In other words, in the automatic door system 1, the automatic door 10 is opened and closed based on the detection result of the passer determined using the distance measured by the distance measuring device.

Next, a distance measuring method of measuring a distance to a measurement object by the detection device 30 will be described. Hereinafter, a distance measurement method using only positive events and a distance measurement method using both positive and negative events will be described.

Fig. 6 is a flowchart showing an example of processing of the distance measurement method using only positive events. As shown in fig. 6, in the distance measurement method using only the positive event, first, light is irradiated from the light emitting element 31 according to an instruction from the control unit 34 (step S1, irradiation step). The light emitted from the light emitting element 31 is split into a plurality of irradiation light fluxes by the beam splitter 32, and is irradiated to the detection region D in a predetermined light emission pattern.

Next, in each pixel section 33A, the threshold determination section 33Ab determines whether or not the light receiving amount of the light receiving element 33Aa exceeds a first threshold (step S2). If the light receiving amount does not exceed the first threshold (no in step S2), the process returns to step S1.

On the other hand, if the light receiving amount exceeds the first threshold (yes in step S2), the event generating unit 33Ac generates a positive event in the pixel unit 33A including the light receiving element 33Aa (step S3, event generating step). When the event generating unit 33Ac generates a positive event, the position output unit 33B outputs the position of the pixel unit 33A that generated the positive event to the position determination unit 34B.

Next, the position determination unit 34B determines whether or not the position of the pixel unit 33A output by the position output unit 33B, that is, the position of the pixel unit 33A where the event generation unit 33Ac generated the positive event, is located on any one of the reflection tracks (step S4, position determination step).

If the position of the pixel portion 33A where the event is generated by the event generating portion 33Ac is not located on any of the plurality of reflection tracks (no in step S4), the process returns to step S1.

On the other hand, if the position of the pixel portion 33A on which the event is generated by the event generating portion 33Ac is located on any one of the reflection tracks (yes in step S4), the distance deriving portion 34C derives the distance to the measurement object using the position of the pixel portion 33A located on any one of the reflection tracks outputted by the position determining portion 34B (step S5, distance deriving step).

As described above, in the detection device 30 according to the present embodiment, the distance deriving process is performed only for the pixel portion 33A where the event is generated by the event generating portion 33 Ac. Therefore, the amount of processing for distance derivation can be reduced as compared with the conventional technique in which distance derivation processing is performed for all pixels.

In the detection device 30, it is determined whether or not the position of the pixel portion 33A where the event has occurred is located on the reflection trace, and the distance deriving process is performed only when the position of the pixel portion 33A is located on the reflection trace. Therefore, the entire image sensor 33 does not need to be scanned, and therefore the amount of processing for distance derivation can be further reduced.

Further, in the detection device 30, the distance deriving unit 34C derives the distance from the image sensor 33 to the measurement target by reading the distance between the image sensor 33 and the target, which is stored in advance and corresponds to the position of the pixel unit 33A. This can further reduce the amount of processing for distance derivation.

Fig. 7 is a flowchart showing an example of processing of a distance measurement method using both positive and negative events. As shown in fig. 7, in the distance measurement method using both the positive event and the negative event, first, light is irradiated from the light emitting element 31 according to an instruction from the control unit 34 (step S11, irradiation step). The light emitted from the light emitting element 31 is split into a plurality of irradiation light fluxes by the beam splitter 32, and is irradiated to the detection region D in a predetermined light emission pattern.

Next, in each pixel section 33A, the threshold determination section 33Ab determines whether or not the light receiving amount of the light receiving element 33Aa exceeds a first threshold (step S12). If the light receiving amount does not exceed the first threshold (no in step S12), the process returns to step S11.

On the other hand, if the light receiving amount exceeds the first threshold (yes in step S12), the event generating unit 33Ac generates a positive event in the pixel unit 33A including the light receiving element 33Aa (step S13, event generating step). When the event generating section 33Ac generates a positive event, the position output section 33B outputs the position of the pixel section 33A where the positive event has been generated to the control section 34.

Next, the position determination unit 34B determines whether or not the position of the pixel unit 33A output by the position output unit 33B, that is, the position of the pixel unit 33A where the event generation unit 33Ac generated the positive event, is located on any one of the reflection tracks (step S14, position determination step). If the position of the pixel portion 33A where the event is generated by the event generating portion 33Ac is not located on any of the plurality of reflection tracks (no in step S4), the process returns to step S11.

On the other hand, if the position of the pixel portion 33A where the event is generated by the event generating portion 33Ac is located on any one of the reflection tracks (yes in step S14), the control portion 34 stores the position of the pixel portion 33A (step S15).

Next, when the light irradiation from the light emitting element is completed (step S16), the threshold determination unit 33Ab determines whether or not the light receiving amount of the light receiving element 33Aa is lower than the second threshold in each pixel unit 33A (step S17). If the light receiving amount is not lower than the second threshold (no in step S17), the process returns to step S11.

On the other hand, if the light receiving amount is lower than the second threshold (yes in step S17), the event generating unit 33Ac generates a negative event in the pixel unit 33A including the light receiving element 33Aa (step S18, event generating step). When the event generating section 33Ac generates a negative event, the position output section 33B outputs the position of the pixel section 33A where the negative event has been generated to the control section 34.

Next, the same pixel event determination unit 34A determines whether or not the position of the negative event-generating pixel unit 33A output from the position output unit 33B is the same as the position of the positive event-generating pixel unit 33A stored in step S15 (step S19). If the position of the negative event-generating pixel unit 33A outputted from the position output unit 33B is different from the position of the positive event-generating pixel unit 33A stored in step S15 (no in step S19), the routine returns to step S11.

On the other hand, if the position of the pixel portion 33A where the negative event is generated, which is output from the position output portion 33B, is the same as the position of the pixel portion 33A where the positive event is generated, which is stored in step S15 (yes in step S19), the distance deriving portion 34C derives the distance to the measurement object using the position of the pixel portion 33A located on any one of the reflection tracks, which is output from the position determining portion 34B (step S20, distance deriving step).

In the distance calculation method using both the positive event and the negative event, it is possible to determine in the same pixel section 33A whether or not the light receiving amount in the same pixel section 33A is lower than the second threshold after exceeding the first threshold. Therefore, it can be confirmed that the light receiving amount in the pixel portion 33A exceeds the first threshold value due to the irradiation beam, and the position of the pixel portion 33A where the event occurs due to the irradiation beam can be accurately identified. In addition, since the processing is performed only when a negative event occurs by stopping the irradiation of the irradiation beam, the processing amount can be reduced.

[ embodiment 2 ]

Another embodiment of the present disclosure is described below. For convenience of explanation, members having the same functions as those described in the above embodiments are given the same reference numerals, and the explanation thereof will not be repeated.

In embodiment 1, the description is given of the mode in which the detection device 30 is applied to an automatic door system, but in this embodiment, the description is given of the mode in which the detection device 30 is applied to a shutter opening/closing system (opening/closing system).

Fig. 8 is a block diagram showing a main part configuration of the brake switch system 2 according to the present embodiment. As shown in fig. 8, the shutter opening and closing system 2 includes a shutter 50 and a shutter opening and closing control unit 60 instead of the automatic door 10 and the door opening and closing control unit 40 in embodiment 1.

The brake opening/closing control unit 60 controls the opening/closing operation of the brake 50 based on the detection result of the passers in the vicinity of the brake 50 detected by the detection unit 34D. For example, the brake opening/closing control unit 60 may cause the brake 50 to open when receiving a detection result from the detection unit 34D that the passer or the passer is located near the brake 50.

In the shutter opening/closing system 2 of the present embodiment, the opening/closing operation of the shutter 50 is controlled based on the detection result of the detection device 30, similarly to the automatic door system 1 of embodiment 1. Therefore, the distance from the passer or the passer to the brake 50 can be measured with a smaller throughput than in the conventional brake opening/closing system.

In the above-described embodiments 1 and 2, the description has been made of the mode in which the detection device 30 is applied to an automatic door system or a shutter opening/closing system, but the detection device 30 can be applied to other door and window opening/closing systems such as a shutter opening/closing system that controls opening/closing of a shutter.

[ structural example in which reflection tracks do not overlap ]

Next, a configuration example in which reflection tracks do not overlap will be described with reference to fig. 9 to 13. First, an irradiation beam irradiated from the detection device 30 will be described with reference to fig. 9. Fig. 9 is a diagram showing an example of a light emission pattern of an irradiation beam irradiated to the detection region D. As described above, the light irradiated from the light emitting element 31 of the detection device 30 is split by the beam splitter 32. The divided light becomes a plurality of irradiation light beams as shown in fig. 9 and is irradiated to the detection region D. Each point B shown in fig. 9 represents the irradiation position of each irradiation beam in the detection region D. Thus, each point B can be said to be the position of the irradiation beam in the detection area D. In the example shown in fig. 9, each point B is arranged in the detection area D at a predetermined interval in the direction parallel to the automatic door 10, and the point B arranged parallel to the automatic door 10 at a predetermined interval is also arranged in the direction away from the automatic door 10. This is an example of a light emission pattern of the irradiation beam.

Next, an example when reflection tracks overlap will be described with reference to fig. 10 and 11. Fig. 10 is a view showing a light emission pattern of the detection device 30 and the detection area D when the state of the detection device is observed from above the automatic door system 1. As shown in fig. 10, a straight line connecting the points B in the detection area D in the direction of the automatic door 10 is a first straight line L1, and a straight line connecting the light emitting element 31 and the image sensor 33 is a second straight line L2. In other words, the point B indicating the position of the irradiation beam is arranged on the first straight line L1. In addition, the light emitting element 31 and the image sensor 33 are arranged on the second straight line L2. In the example shown in fig. 10, the first straight line L1 is 6 lines from the first straight line L1A to the first straight line L1G. Here, the first straight lines L1A to L1G are collectively referred to as a first straight line L1.

Fig. 11 shows the reflection trace of each irradiation beam in the light emission pattern shown in fig. 10. As an example, fig. 11 shows a reflection trace when the distance to the object is moved between 0.5m and 4 m. In fig. 11, reflection traces R corresponding to the points B shown in fig. 10 are shown, respectively.

1101 in fig. 11 is a reflection trace R when the distance to the object is moved from 2m to 4 m. Reference numeral 1102 denotes a reflection trace R when the distance to the object is moved from 1.5m to 4 m. 1103 is a reflection trace R when the distance to the object is moved from 0.5m to 4 m.

As shown in 1101 of fig. 11, if the distance to the object is between 2m and 4m, the reflection tracks R do not overlap. Thus, the distance to the object can be accurately derived at this time. As shown in 1102 of fig. 11, the reflection trace R does not overlap even when the distance to the object is 1.5m to 4 m. Thus, the distance to the object can be derived at this time. However, as shown in 1103 of fig. 11, when the distance to the object is changed from 0.5m to 4m, the reflection tracks R overlap. Therefore, the distance to the object cannot be accurately derived at this time.

For example, in the example shown in 1103 of fig. 11, the extending direction of the line segment of the reflection track R1 (fig. 11) corresponding to the irradiation beam of the point B1 (fig. 10) is the same as the extending direction of the line segment of the reflection track R2 (fig. 11) corresponding to the irradiation beam of the point B2 (fig. 10), and the reflection track R1 and the reflection track R2 cannot be distinguished.

Therefore, it is clear that, when the first straight line L1 indicating the light emission pattern of the irradiation beam and the second straight line L2 indicating the positional relationship between the light emitting element 31 and the image sensor 33 are in a parallel relationship as shown in fig. 10, the reflection trace R overlaps, and the distance to the object cannot be accurately derived. Further, even if the same moving distance is used, the shorter the distance to the object is, the longer the reflection trajectory is, and therefore, the higher the possibility that the reflection trajectory R overlaps when the distance to the object having a short distance to the detection device 30 is required to be derived.

In order to solve the above-described problems, the present inventors have studied the positional relationship between the light emitting element 31 and the image sensor 33 and the positional relationship between the light emitting pattern of the irradiation beam, and have found that the overlapping of the reflection tracks can be avoided. The following describes the structure found by the inventors of the present application.

The positional relationship between the light emitting element 31 and the image sensor 33 and the positional relationship between the light emission pattern of the irradiation light beam, which have been found by the present inventors, will be described with reference to fig. 12 and 13. Fig. 12 is a view showing a light emission pattern of the detection device 30 and the detection area D when the state of the detection device is observed from above the automatic door system 1. As shown in fig. 12, in this configuration example, a first straight line L1 connecting the point B in the detection area D in the direction of the automatic door 10 and a second straight line L2 connecting the light emitting element 31 and the image sensor 33 are not parallel, but have an angle α. Fig. 13 shows a reflection trace in this configuration example.

Fig. 13 shows, as an example, a reflection trace R when the distance to the object is moved between 0.5m and 4m, as in fig. 11 described above. Fig. 13 shows a reflection trace R when the distance to the object is moved from 2m to 4m 1301. Reference numeral 1302 denotes a reflection trace R when the distance to the object is moved from 1.5m to 4 m. 1303 is a reflection trace R when the distance to the object is moved from 0.5m to 4 m.

In fig. 13 1301, 1302, 1303, unlike the example of fig. 11 described above, the reflection tracks R do not overlap at any distance between 0.5m and 4m up to the object.

For example, although the extending direction of the line segment of the reflection trace R3 (fig. 13) corresponding to the irradiation beam of the point B3 (fig. 12) and the extending direction of the line segment of the reflection trace R4 (fig. 13) corresponding to the irradiation beam of the point B4 (fig. 12) are the same, no overlapping occurs. In the example shown in 1303 in fig. 13, the reflection track R3 can be distinguished from the reflection track R4.

Therefore, in the present configuration example in which the first straight line L1 indicating the light emission pattern of the irradiation beam and the second straight line L2 indicating the positional relationship between the light emitting element 31 and the image sensor 33 are in a non-parallel relationship, it is clear that the reflection trace R does not overlap, and the distance to the object can be accurately derived.

The angle α is preferably less than 90 degrees, or may be less than 45 degrees. Since the second straight line L2 is a straight line connecting the light emitting element 31 and the image sensor 33, an angle α of 90 degrees means that the light emitting element 31 and the image sensor 33 are arranged in the vertical direction with respect to the first straight line L1. This causes the detection device 30 including the light emitting element 31 and the image sensor 33 to become bulky. Therefore, by making the angle α smaller than 90 degrees, and further smaller than 45 degrees, the distance to the object can be accurately derived while preventing the detector 30 from becoming bulky.

As described above, the structure found by the present inventors is the structure described below: when the straight line connecting the positions (points B) of the irradiation light beams in the detection region D, that is, the straight line connecting the positions of the irradiation light beams is the first straight line L1 and the straight line connecting the light emitting element 31 and the image sensor 33 is the second straight line L2, the directions of the first straight line L1 and the second straight line L2 are different, that is, the first straight line L1 and the second straight line L2 are not parallel.

In other words, the structure is as follows: the irradiation light beams divided into a plurality of are arranged on a plurality of parallel first straight lines L1, and the direction of the first straight lines L1 is different from the direction of a second straight line L2 connecting the light emitting element 31 and the image sensor 33.

With this structure, the overlapping of the reflection tracks can be avoided in any case where the measurement distance is from near to far. Therefore, the detection device 30 can accurately derive the distance to the object even when the distance to the object is from near to far.

[ summary ]

A distance measuring device according to aspect 1 of the present invention includes: more than one light emitting element; and an image sensor in which a plurality of pixel units each including a light receiving element are two-dimensionally arranged, the image sensor including a position output unit that outputs a position of the pixel unit including the light receiving element in the image sensor when a light receiving amount in the light receiving element exceeds a first threshold, the distance measuring device including: a position determination unit that determines whether or not the position is located on the reflection trajectory when a line, which is formed by connecting, on the image sensor, a point on the image sensor where a reflected light beam, which is reflected by the object from the light-emitting element, is imaged by the irradiation light beam, is changed while changing a distance from the object; and a distance deriving unit that derives a distance to the object using a relationship between the position and the distance to the object when the position is located on the reflection trajectory.

In the distance measuring device according to aspect 2 of the present invention, in aspect 1, an event generating unit that generates an event when the amount of light received by each light receiving element exceeds the first threshold value is disposed for each of the plurality of pixel units, and the position output unit outputs a position of the pixel unit in the image sensor, at which the event generating unit generated the event.

In the distance measuring device according to aspect 3 of the present invention, in the aspect 1 or 2, the first threshold and the second threshold are set to a ratio to a reference light reception amount, the reference light reception amount is updated to the generated light reception amount after the occurrence of the event, the light reception amount indicated by the first threshold is larger than the reference light reception amount by a first ratio amount of the reference light reception amount, the light reception amount indicated by the second threshold is smaller than the reference light reception amount by a second ratio amount of the reference light reception amount, and the event generating unit generates the event when the light reception amount in the light receiving element is lower than the second threshold in addition to the first threshold.

In the distance measuring device according to aspect 4 of the present invention, in any one of aspects 1 to 3, the event generating unit generates an event that can identify whether the light receiving amount exceeds the first threshold or falls below the second threshold.

A distance measuring device according to aspect 5 of the present invention is the distance measuring device according to any one of aspects 1 to 4, wherein an absolute value of the first ratio for setting the first threshold value is larger than an absolute value of the second ratio for setting the second threshold value, and the distance measuring device includes a same pixel event determination unit that determines whether or not the light receiving amount in the same light receiving element is lower than the second threshold value after exceeding the first threshold value within a predetermined time, and the position determination unit determines whether or not a position of a pixel portion having the light receiving element determined by the same pixel event determination unit to be lower than the second threshold value after exceeding the first threshold value is located on the reflection trajectory.

In the distance measuring device according to aspect 6 of the present invention, in any one of aspects 1 to 5, the image sensor includes a time output unit that outputs a time when the event is generated by the event generating unit.

In the distance measuring device according to aspect 7 of the present invention, in any one of aspects 1 to 6, the image sensor includes a light receiving amount output unit that outputs information indicating a light receiving amount of the light receiving element when the event generating unit generates the event.

A distance measuring device according to aspect 8 of the present invention is any one of aspects 1 to 7, and at least one of the following: comprising a plurality of the light emitting elements, and a beam splitter for splitting light irradiated from the light emitting elements into a plurality of the irradiation light beams.

In the distance measuring device according to aspect 9 of the present invention, in any one of aspects 1 to 8, the light emitting direction of the light emitting element is formed such that the reflection paths formed by the plurality of irradiation light beams do not overlap.

In the distance measuring device according to aspect 10 of the present invention, in any one of aspects 1 to 9, the light emission directions of the one or more light emitting elements are formed so that the reflection paths formed by the plurality of irradiation light beams that are simultaneously irradiated do not overlap.

In the distance measuring device according to aspect 11 of the present invention, in any one of aspects 1 to 10, the plurality of irradiation light fluxes formed by the plurality of light emitting elements or the irradiation light fluxes divided into a plurality of light fluxes by the spectroscope are arranged on a plurality of parallel first straight lines, and a direction of the first straight lines is different from a direction of a second straight line connecting the light emitting elements and the image sensor.

In the distance measuring device according to aspect 12 of the present invention, in any one of aspects 1 to 11, an angle formed between the first straight line and the second straight line is smaller than 90 degrees.

In the distance measuring device according to aspect 13 of the present invention, in any one of aspects 1 to 12, an angle formed between the first straight line and the second straight line is less than 45 degrees.

An automatic door system according to aspect 14 of the present invention includes: any one of the distance measuring devices of the above-mentioned modes 1 to 13; and an automatic door that opens and closes based on a detection result of a passer determined using the distance measured by the distance measuring device.

An opening/closing system according to aspect 15 of the present invention includes: any one of the distance measuring devices of the above-mentioned modes 1 to 13; and at least one of a shutter and a gate, which is opened and closed based on a detection result of the passer and the passer determined by using the distance measured by the distance measuring device.

A distance measurement method according to aspect 16 of the present invention is a distance measurement method for measuring a distance to a measurement target in a distance measurement device including a light emitting element and an image sensor in which a plurality of pixel units including a light receiving element are two-dimensionally arranged, the distance measurement method including: a position output step of outputting a position of the pixel section having the light receiving element in the image sensor when a light receiving amount in the light receiving element exceeds a first threshold; a position determination step of determining whether or not the position is located on the reflection trajectory when a line, which is formed by connecting, on the image sensor, a point on the image sensor where a reflected light beam, which is reflected by the object from the light-emitting element, is imaged by the irradiation light beam, is changed while changing a distance from the object; and a distance deriving step of deriving a distance to the object using a relationship between the position and the distance to the object when the position is located on the reflection trajectory.

The present disclosure is not limited to the above embodiments, and various modifications may be made within the scope of the claims, and embodiments in which technical means disclosed in the different embodiments are appropriately combined are also included in the technical scope of the present disclosure.

[ description of symbols ]

1: automatic door system

2: brake opening and closing system

10: automatic door

30: detection device (distance measuring device)

31: light-emitting element

32: light splitter

33: image sensor

33A: pixel unit

33Aa: light receiving element

33Ab: threshold value determination unit

33Ac: event generating unit

33B: position output unit

33C: event time output unit (time output unit)

33D: light receiving amount output unit

34: control unit

34A: same pixel event determination unit

34B: position determination unit

34C: distance deriving part

34D: detection unit

40: door opening/closing control unit

50: stop brake

60: switch control part of brake

Claims (16)

1. A distance measuring device, comprising:

more than one light emitting element; and

an image sensor having a plurality of pixel units each including a light receiving element is arranged two-dimensionally,

the image sensor includes a position output unit that outputs a position of the pixel portion including the light receiving element in the image sensor when a light receiving amount in the light receiving element exceeds a first threshold, and

The distance measuring apparatus includes:

a position determination unit that determines whether or not the position is located on the reflection trajectory when a line, which is formed by connecting, on the image sensor, a point on the image sensor where a reflected light beam, which is reflected by the object from the light-emitting element, is imaged by the irradiation light beam, is changed while changing a distance from the object; and

and a distance deriving unit that derives a distance to the object using a relationship between the position and the distance to the object when the position is located on the reflection trajectory.

2. The distance measuring device according to claim 1, wherein,

an event generating section that generates an event when the light receiving amount in each light receiving element exceeds the first threshold value is arranged for each of the plurality of pixel sections,

the position output section outputs a position of the pixel section in the image sensor where the event is generated by the event generating section.

3. The distance measuring device according to claim 2, wherein,

the first threshold value and the second threshold value are set to be ratios with respect to a reference light receiving amount, the reference light receiving amount is updated to the generated light receiving amount after the generation of the event,

A first proportion of the reference light receiving amount, which is larger than the reference light receiving amount, of the light receiving amount represented by the first threshold, a second proportion of the reference light receiving amount, which is smaller than the reference light receiving amount, of the light receiving amount represented by the second threshold,

the event generating unit generates the event when the light receiving amount in the light receiving element exceeds the first threshold value and also when the light receiving amount is lower than the second threshold value.

4. A distance measuring device according to claim 3, wherein,

the event generating unit generates an event that can identify whether the light receiving amount exceeds the first threshold or falls below the second threshold.

5. The distance measuring apparatus according to claim 4, wherein,

the absolute value of the first proportion used to set the first threshold is greater than the absolute value of the second proportion used to set the second threshold,

the distance measuring device includes a same-pixel event determination unit that determines whether or not the light receiving amount in the same light receiving element is lower than the second threshold value after exceeding the first threshold value within a predetermined time,

the position determination unit determines whether or not a position of a pixel portion including a light receiving element in which the same light receiving element is determined by the same pixel event determination unit to be lower than the second threshold value after exceeding the first threshold value is located on the reflection trace.

6. The distance measuring device according to claim 2, wherein,

the image sensor includes a time output unit that outputs a time at which the event is generated by the event generation unit.

7. The distance measuring device according to claim 2, wherein,

the image sensor includes a light receiving amount output unit that outputs information indicating the light receiving amount of the light receiving element when the event is generated by the event generating unit.

8. The distance measuring device according to claim 1, wherein,

the distance measuring device is at least any one of the following:

comprising a plurality of the light emitting elements, and a beam splitter for splitting light irradiated from the light emitting elements into a plurality of the irradiation light beams.

9. The distance measuring device according to claim 8, wherein,

the light emitting direction of the light emitting element is formed such that the reflection tracks formed by the plurality of irradiation light beams do not overlap.

10. The distance measuring device according to claim 8, wherein,

the light emitting directions of the one or more light emitting elements are formed so that the reflection tracks formed by the plurality of irradiation light beams irradiated simultaneously do not overlap.

11. The distance measuring device according to claim 8, wherein,

the plurality of irradiation beams formed by the plurality of light emitting elements or the irradiation beam divided into a plurality of by the beam splitter are arranged on a plurality of parallel first straight lines,

the direction of the first straight line is different from the direction of a second straight line connecting the light emitting element and the image sensor.

12. The distance measuring apparatus according to claim 11, wherein,

the angle formed by the first straight line and the second straight line is smaller than 90 degrees.

13. The distance measuring apparatus according to claim 12, wherein,

the angle formed by the first straight line and the second straight line is smaller than 45 degrees.

14. An automatic door system, comprising:

the distance measuring device according to any one of claims 1 to 13; and

an automatic door is provided with a plurality of door bodies,

the automatic door is opened and closed based on a detection result of a passer determined using the distance measured by the distance measuring device.

15. An opening and closing system, comprising:

the distance measuring device according to any one of claims 1 to 13; and

at least any one of the blocking gate and the gate,

At least one of the shutter and the gate is opened and closed based on a detection result of the passer and the passer determined using the distance measured by the distance measuring device.

16. A distance measurement method for measuring a distance to a measurement object in a distance measurement device including a light emitting element and an image sensor in which a plurality of pixel units including a light receiving element are two-dimensionally arranged, the distance measurement method comprising:

a position output step of outputting a position of the pixel section having the light receiving element in the image sensor when a light receiving amount in the light receiving element exceeds a first threshold;

a position determination step of determining whether or not the position is located on the reflection trajectory when a line, which is formed by connecting, on the image sensor, a point on the image sensor where a reflected light beam, which is reflected by the object from the light-emitting element, is imaged by the irradiation light beam, is changed while changing a distance from the object; and

and a distance deriving step of deriving a distance to the object using a relationship between the position and the distance to the object when the position is located on the reflection trajectory.