JP2020001562A - Detection device, method of preventing substance deposition on detection device, program, and recording medium - Google Patents

Abstract

To provide a detection device capable of preventing deposition of substances that obstruct guiding of electromagnetic waves to thereby ensure correct detection operation, and also to provide a method of preventing deposition of substances on the detection device, a program, and a recording medium.SOLUTION: The detection device includes: a detection unit having an electromagnetic wave reception unit to detect substances on the basis of an electromagnetic wave reception result of the reception unit; an information acquisition unit for acquiring whether information relating to whether conditions; and an instruction unit for issuing an operation instruction for operation of a prevention device which prevents the substances from depositing on the reception unit on the basis of the whether information.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a detection device for optically detecting an object using electromagnetic waves, a method for preventing a substance from adhering to the detection device, a program, and a recording medium.

  2. Description of the Related Art Conventionally, a detection device that optically detects an object by transmitting and receiving an electromagnetic wave has been known. In addition, by using the detection result, the detection device can configure, for example, a distance measurement device that measures a distance to an object, and can configure an imaging device that captures an image of a predetermined area. . For example, Patent Document 1 discloses an optical radar cleaning device including a cleaning unit that cleans a laser transmission / reception window when a laser transmission / reception window for transmitting / receiving laser light is dirty.

JP 2017-3541

  In the case of optically detecting an object, if there is a substance that interferes with transmission and reception of electromagnetic waves between the detection device and the object to be detected, for example, insects, leaves, sand, raindrops, etc. In some cases, it may not be possible to accurately irradiate the object with the electromagnetic wave or to receive the electromagnetic wave reflected by the object accurately.

  In particular, for example, when dust or insects adhere to a transmission unit or a reception unit of an electromagnetic wave in the detection device, accurate transmission and reception of the electromagnetic wave may not be performed. Therefore, accurate object detection may not be performed.

  The present invention has been made in view of the above points, and it is possible to prevent the adhesion of a substance that is an obstacle to electromagnetic wave guiding, and to perform a detection device capable of performing an accurate detection operation and a substance to the detection device. An object is to provide a method, a program, and a recording medium for preventing adhesion.

  The invention according to claim 1 has an electromagnetic wave reception unit, a detection unit that detects an object based on a reception result of the electromagnetic wave by the reception unit, an information acquisition unit that acquires weather information related to a weather state, and based on the weather information. And an instruction unit for issuing an operation instruction for operating the prevention device for preventing the substance from adhering to the receiving unit.

  According to a seventh aspect of the present invention, there is provided a detecting unit having an electromagnetic wave receiving unit for detecting an object based on a reception result of the electromagnetic wave by the receiving unit, an information obtaining unit for obtaining weather information on a weather state, And an adhesion preventing unit that performs an operation of preventing the substance from adhering to the receiving unit based on the above.

  The invention according to claim 10 is a method for preventing a substance from adhering to a detection device having an electromagnetic wave reception unit and having a detection unit for detecting an object based on a result of reception of the electromagnetic wave by the reception unit. A step of acquiring weather information relating to the weather state, and a step of issuing an operation instruction for operating a prevention device for preventing a substance from adhering to the receiving unit based on the weather information.

  According to an eleventh aspect of the present invention, the computer includes: an information acquisition unit that acquires weather information relating to a weather state; and an electromagnetic wave reception unit in a detection device that detects an object by receiving an electromagnetic wave based on the weather information. And an instruction unit for issuing an operation instruction for operating the prevention device for preventing the substance from adhering to the device.

  According to a twelfth aspect of the present invention, a program according to the eleventh aspect is recorded.

FIG. 2 is a block diagram of the distance measuring device according to the first embodiment. FIG. 3 is a diagram illustrating a configuration example of a distance measuring unit in the distance measuring apparatus according to the first embodiment. FIG. 3 is an explanatory diagram of an operation of the distance measuring apparatus according to the first embodiment with respect to a distance measurement obstacle. FIG. 4 is a diagram illustrating an operation flow of the distance measuring apparatus according to the first embodiment with respect to a distance measurement obstacle. FIG. 4 is an explanatory diagram of an operation of detecting a ranging obstacle in the ranging device according to the first embodiment. FIG. 4 is a diagram illustrating a switching table of a mode of ejecting a fluid to a distance measurement obstacle in the distance measurement device according to the first embodiment. FIG. 5 is a diagram illustrating a configuration of a distance measuring apparatus according to a first modification of the first embodiment. FIG. 7 is a diagram illustrating a configuration of a distance measuring apparatus according to a second modification of the first embodiment. FIG. 9 is a block diagram of a distance measuring device according to a third modification of the first embodiment. FIG. 9 is a block diagram of a distance measuring apparatus according to a second embodiment. FIG. 9 is a diagram illustrating an operation flow of the distance measuring apparatus according to the second embodiment with respect to a distance measurement obstacle. FIG. 10 is an explanatory diagram of an operation of the distance measuring apparatus according to the second embodiment with respect to a distance measurement obstacle. FIG. 10 is an explanatory diagram of an operation of the distance measuring apparatus according to the second embodiment with respect to a distance measurement obstacle. FIG. 11 is a diagram illustrating a switching table of a mode of ejecting a fluid to a distance measuring space in the distance measuring apparatus according to the second embodiment. FIG. 14 is a block diagram of a distance measuring device according to a modification of the second embodiment. FIG. 10 is a block diagram of a distance measuring apparatus according to a third embodiment. FIG. 14 is a diagram illustrating an operation flow for a distance measurement obstacle of the distance measurement apparatus according to the third embodiment. FIG. 14 is a diagram illustrating a switching table of a mode of ejecting a fluid to a ranging space in the ranging device according to the third embodiment. FIG. 14 is a block diagram of a distance measuring device according to a modification of the third embodiment.

  Hereinafter, various embodiments of the present invention will be described in detail. In the following embodiments, a case where the present invention is applied to a distance measuring device will be described. However, the present invention can be applied to various detection devices that detect an object optically.

  FIG. 1 is a block diagram of a distance measuring device (detection device) 10 according to the first embodiment. In the present embodiment, a case will be described in which the distance measuring device 10 is mounted on a moving object VE and the distance measuring device 10 has a movable structure. The distance measuring apparatus 10 includes a distance measuring unit (object detecting unit) 20 that transmits and receives electromagnetic waves to measure a distance to an object (a distance measuring object as a detection object).

  In the present embodiment, the distance measuring unit 20 includes an electromagnetic wave transmitting unit (hereinafter, simply referred to as a transmitting unit) 21 that transmits an electromagnetic wave toward a predetermined region (a region to be measured (region to be detected)). An electromagnetic wave receiving unit (hereinafter, simply referred to as a receiving unit) 22 that receives an electromagnetic wave existing in an area to be measured, and a distance measuring unit that measures a distance to an object based on a reception result of the electromagnetic wave by the receiving unit 22 ( A distance measurement processing unit) 23 as a detection processing unit.

  The distance measuring device 10 sends a signal to the transmitting unit 21 and the receiving unit 22 for a distance measuring obstacle (detected obstacle, hereinafter simply referred to as an obstacle) to the transmitting unit 21 and the receiving unit 22 in the distance measuring unit 20. It has a collision prevention unit 30 that performs an operation of preventing collision. In the present embodiment, the obstacle is an object, a substance, or a living thing that acts as an obstacle to electromagnetic wave transmission and reception performed by the distance measuring unit 20. In the present embodiment, the obstacle is a floating object floating in the area to be measured or a flying object flying in the area. For example, floating objects are dust and leaves of trees, and flying objects are insects and the like.

  The collision prevention unit 30 includes an obstacle detection unit 31 that detects an obstacle, an operation condition setting unit 32 that sets conditions for a collision prevention operation to be performed on the detected obstacle, and a collision prevention operation based on the set conditions. And an operation execution unit 33 that executes the operation.

  The obstacle detection unit 31 acquires, for example, a reception result of an electromagnetic wave, a measurement result of a target object, and the like from the distance measurement unit 20, and detects an obstacle based on these. Note that the obstacle detection unit 31 may include, for example, various sensors and cameras, and may be configured to detect an obstacle independently of the distance measurement unit 20. The obstacle detecting unit 31 detects, for example, the position of the obstacle based on the distance measuring unit 20, the relative moving speed of the obstacle, and the properties (eg, shape, size, material, etc.) of the obstacle.

  The operating condition setting unit 32 acquires the detection result of the obstacle (for example, information on the above-described obstacle) from the obstacle detecting unit 31 and sets the operating condition of the operation executing unit 33 according to the obstacle. For example, the operation condition setting unit 32 sets a start condition and a stop condition of the collision prevention operation and an operation mode according to the detection result of the obstacle. For example, the operating condition setting unit 32 sets preferable conditions for efficiently and reliably preventing collision with an obstacle.

  The operation executing unit 33 performs an operation of preventing a collision of the distance measuring unit 20 with the transmitting unit 21 and the receiving unit 22 with respect to an obstacle. The operation execution unit 33 acquires information on the setting of the operation condition from the operation condition setting unit 32, and performs an operation of preventing collision with an obstacle under the operation condition. In the present embodiment, the operation execution unit 33 includes an ejection device that ejects a fluid such as compressed air and water toward an obstacle and an area to be measured.

  The distance measuring device 10 has an information acquisition unit 40 that acquires various information for reliably preventing the collision between the obstacle and the distance measurement unit 20 by the collision prevention unit 30. In the present embodiment, the distance measuring device 10 is mounted on a moving object VE, for example, a vehicle. The information acquisition unit 40 acquires various information related to the moving object VE.

  In the present embodiment, the information acquiring unit 40 includes a moving situation information acquiring unit 41 that acquires moving situation information that is information relating to a moving situation of the moving object VE, and a surrounding situation information that is information relating to a situation around the moving object VE. And a surrounding situation information acquiring unit 42 for acquiring the information. In the present embodiment, the information acquisition unit 40 includes a map information acquisition unit 43 that acquires map information around the moving object VE.

  The moving situation information acquiring unit 41 acquires, for example, information on the current position, the moving speed, the moving direction, and the like of the moving object VE (the distance measuring unit 20) as the moving situation information. The peripheral situation information acquisition unit 42, for example, as the peripheral situation information, relates to information about other moving bodies or pedestrians moving around the moving body VE, and various events occurring around the moving body VE. Get information. For example, the information acquisition unit 40 may acquire the above-described various information from the mobile VE or from an external server or the like.

  The collision prevention unit 30 adjusts the obstacle detection condition and adjusts the condition of the collision prevention operation using various types of information acquired by the information acquisition unit 40. For example, the obstacle detection unit 31 determines an area (for example, a direction range or a distance range) of an obstacle to be detected based on a moving speed and a moving direction of the distance measuring unit 20, a situation around the distance measuring unit 20, and the like. Can be adjusted. In addition, for example, the operation condition setting unit 32 can adjust a start condition (for example, a relative distance to an obstacle) of the collision prevention operation based on the moving speed of the distance measurement unit 20.

  FIG. 2 is a diagram illustrating a configuration example of the distance measuring unit 20. An example of a detailed configuration of the distance measuring unit 20 will be described with reference to FIG. In the present embodiment, the distance measuring unit 20 scans an area to be measured (hereinafter, referred to as a distance measuring area) R0 with an electromagnetic wave, and measures a distance to an object MOB existing in the scanning area R0. . That is, the distance measuring device 10 is a scanning type distance measuring device.

  Specifically, in the present embodiment, the distance measuring unit 20 includes an electromagnetic wave source LS that generates and emits a pulsed electromagnetic wave as a primary electromagnetic wave L1. In this embodiment, the electromagnetic wave source LS emits a pulsed laser beam having a peak wavelength in an infrared region as a primary electromagnetic wave L1. For example, in the present embodiment, the electromagnetic wave source LS emits a laser beam having a point-like or linear beam shape as the primary electromagnetic wave L1.

  The distance measuring unit 20 includes a mirror element MD that deflects the primary electromagnetic wave L1 emitted from the electromagnetic wave source LS in a variable direction and transmits the primary electromagnetic wave L1 as a transmission wave L2 toward the distance measurement region R0. In this embodiment, the mirror element MD has a swing mirror ML that swings around at least one swing axis and reflects the primary electromagnetic wave L1. The mirror element MD changes the reflection direction of the primary electromagnetic wave L1 continuously and periodically. The primary electromagnetic wave L1 reflected by the mirror element MD is projected as a transmission wave L2 toward the distance measurement area R0.

  Note that the distance measurement area R0 is a virtual 3 having a direction range corresponding to a variable range of the reflection direction of the primary electromagnetic wave L1 by the mirror element and a depth corresponding to a distance capable of maintaining the distance at which the transmission wave L2 can measure the distance. It is a dimensional space. In FIG. 2, a part of the outer edge of the distance measurement area R0 is indicated by a broken line.

  For example, as shown in FIG. 2, when the target MOB exists on the waveguide of the transmission wave L2 (the optical path of the laser beam in the present embodiment) in the ranging area R0, the transmission wave L2 is included in the target MOB. Irradiated. When the object MOB is an object having reflectivity to the transmission wave L2, the transmission wave L2 is reflected by the object MOB.

  The distance measuring unit 20 receives a secondary electromagnetic wave (hereinafter, sometimes referred to as a reception wave) L3 in which the scanning wave L2 is reflected by the object MOB, and receives an electric signal (hereinafter, referred to as a reception signal) corresponding to the reception wave L3. In some cases) includes a photoelectric conversion element (light receiving element) PE that generates SR. The photoelectric conversion element PE outputs the reception signal SR as a reception result of the reception wave L3.

  In the present embodiment, the distance measuring unit 20 has a light separating element SP provided on the waveguide of the primary electromagnetic wave L1 between the electromagnetic wave source LS and the mirror element MD. The light splitting element SP is, for example, a beam splitter.

  In the present embodiment, the primary electromagnetic wave L1 from the electromagnetic wave source LS passes through the light separating element SP and is guided to the mirror element MD. On the other hand, of the reception wave L3 from the object MOB, the electromagnetic wave returning to the mirror element MD via the same waveguide as the transmission wave L2 is reflected by the mirror element MD and then separated by the light separation element SP. It is led to the photoelectric conversion element PE.

  In the present embodiment, the distance measuring unit 20 has a housing HS that houses the electromagnetic wave source LS, the mirror element MD, the photoelectric conversion element PE, and the light separation element SP. The housing HS has an optical window WD that is transparent to the transmission wave L2 and the reception wave L3. The optical window WD includes an emission unit (emission window) through which the transmission wave L2 is emitted from the housing HS toward the distance measurement region R0, and an incidence unit through which the reception wave L3 is incident from the distance measurement region R0 into the housing HS. (Incident window).

  In the present embodiment, the transmission wave L2 passes through the optical window WD and is emitted from the surface S1 of the optical window WD to the outside of the housing HS. Further, the received wave L3 enters the housing HS from the surface S1 of the optical window WD. In other words, the surface S1 of the optical window WD functions as an emission surface of the transmission wave L2 and an incidence surface of the reception wave L3. Hereinafter, the surface S1 of the optical window WD may be referred to as an incident surface, an exit surface, or an entrance / exit surface of the electromagnetic wave in the distance measuring unit 20.

  Further, in the present embodiment, the electromagnetic wave source LS, the light separating element SP, the mirror element MD, and the optical window WD constitute a transmitting section 21 of the transmitting wave L2 (electromagnetic wave) in the distance measuring section 20. Further, the optical window WD, the mirror element MD, the light separating element SP, and the photoelectric conversion element PE constitute a receiving section 22 of the received wave L3 (electromagnetic wave) in the distance measuring section 20.

  The distance measuring unit 20 includes a distance measuring unit 23 that measures a distance to the object MOB based on the reception signal SR generated by the photoelectric conversion element PE. For example, the distance measuring unit 23 analyzes the received signal SR and detects an electromagnetic wave pulse indicating the received wave L3. Further, the distance measuring unit 23 measures the distance to the target MOB (or a partial surface area thereof) by a time-of-flight method based on a time difference between the emission timing of the transmission wave L2 and the reception timing of the reception wave L3. Measure.

  In the present embodiment, the distance measuring unit 23 distinguishes the ranging area R0 into a plurality of ranging points, and indicates a ranging result (distance value) of each of the plurality of ranging points as a pixel. An image (ranging image) of the region R0 is generated. In the present embodiment, the distance measurement unit 23 associates the distance measurement point with information indicating the phase (oscillation position) of the oscillating mirror ML of the mirror element MD, and associates the two-dimensional map or 3D with the distance measurement area R0. Generate image data indicating a dimensional map.

  Further, the distance measurement unit 23 sets, for example, a change cycle of the emission direction of the transmission wave L2, that is, a scan cycle that scans the distance measurement area R0 as a generation cycle of the distance measurement image, and one measurement cycle for each scan cycle. Generate a distance image.

  Note that the scanning cycle is, for example, when the mirror element MD periodically performs optical scanning on the distance measurement region R0, the state of the phase of an arbitrary oscillating mirror ML in the mirror element MD is thereafter changed to the phase of the phase again. It means the period until returning to the state. Further, the distance measurement unit 23 may include a display unit (not shown) that displays a plurality of distance measurement images generated for each cycle as a moving image in a time series.

  The configuration of the distance measuring unit 20 described above is merely an example. For example, the transmission wave L2 may be emitted from an optical window different from the optical window WD. That is, the emission part of the transmission wave L2 and the incidence part of the reception wave L3 may be different parts. In this case, for example, the transmitting unit 21 and the receiving unit 22 may be made of completely separated optical elements, and the housing HS may have a plurality of optical windows WD.

  Further, the distance measuring section 20 may not have the electromagnetic wave source LS. That is, the distance measuring section 20 may not have the electromagnetic wave transmitting section 21. The distance measuring unit 20 may have at least the electromagnetic wave receiving unit 22 and may be configured to detect the target MOB and measure the distance to the target MOB by receiving the electromagnetic wave by the receiving unit 22.

  Further, the distance measurement device 10 may not have the distance measurement function, and may be configured as a detection device of the target object MOB. In this case, the distance measuring unit 20 does not need to have the distance measuring unit 23, and may output the reception signal SR that is the photoelectric conversion result of the photoelectric conversion element PE as the detection signal. In this case, the distance measurement unit 20 functions as a detection unit for the object MOB. In this case, if the distance measuring unit 20 as a detecting unit includes an electromagnetic wave transmitting unit 21 and a receiving unit 22 and is configured to detect the target object MOB based on the result of the electromagnetic wave reception by the receiving unit 22. Good.

  FIG. 3 is a diagram schematically illustrating the configuration of the collision prevention unit 30. FIG. 3 shows a floating object F1 (a leaf is shown in the figure) and a flying object F2 (a butterfly is shown in the figure) as obstacles BLO existing in the ranging area R0 of the ranging section 20. First, the obstacle detection unit 31 of the collision prevention unit 30 has a detection region R1 of the obstacle BLO different from the distance measurement region R0 of the distance measurement unit 20.

  The detection region R1 is a three-dimensional space having a predetermined direction range (range in the width direction and height direction) and a distance range (range in the depth direction) based on the transmission unit 21 or the reception unit 22 of the distance measurement unit 20. is there. For example, the detection region R1 of the obstacle detection unit 31 has a wider directional range than the distance measurement region R0 of the distance measurement unit 20. Note that the relationship between the detection region R1 and the distance measurement region R0 is not limited to this. For example, the detection area R1 may have the same direction range as the distance measurement area R0.

  The operation execution unit 33 is configured and arranged so that the fluid FL can be ejected toward the distance measurement region R0 and the detection region R1. As a result, the operation execution unit 33 performs an operation of removing the obstacle BLO from the ranging area R0 and the detection area R1.

  FIG. 4 is a diagram illustrating an example of the flow of the collision prevention operation of the obstacle BLO by the collision prevention unit 30. The detailed operation of the collision prevention unit 30 will be described with reference to FIG. First, the collision prevention unit 30 detects the obstacle BLO (that is, the collision prevention target) by the obstacle detection unit 31 (step S11). In the present embodiment, the obstacle detection unit 31 detects the floating object F1 or the flying object F2 existing in the detection region R1 as the obstacle BLO.

  Next, the obstacle detection unit 31 determines whether the distance between the obstacle BLO and the transmission unit 21 and the reception unit 22 in the distance measurement unit 20 is equal to or less than a predetermined distance (Step S12). If the obstacle detection unit 31 determines that the obstacle BLO exists at a position that is equal to or less than a predetermined distance from the transmission unit 21 and the reception unit 22, whether the obstacle BLO is relatively approaching the transmission unit 21 and the reception unit 22. It is determined whether or not it is (step S13).

  In this embodiment, when the obstacle BLO exists at a position within a predetermined distance from the transmitting unit 21 and the receiving unit 22 and the obstacle BLO is relatively approaching the transmitting unit 21 and the receiving unit 22 (step When S12 and S13 are YES), the operation execution unit 33 injects the fluid FL to the obstacle BLO (Step S14).

  Subsequently, the obstacle detection unit 31 determines whether the obstacle BLO has moved outside the detection area R1 (Step S15). Then, when it is determined that the obstacle BLO has moved out of the detection region R1, the operation executing unit 33 stops the injection of the fluid FL (Step S16).

  In the present embodiment, when it is determined in step S12 that the distance between the obstacle BLO and the transmission unit 21 and the reception unit 22 is equal to or greater than the predetermined distance, the collision prevention unit 30 ends the collision prevention operation. . If it is determined in step S13 that the obstacle BLO has not relatively approached the transmission unit 21 and the reception unit 22, the process returns to step S12 and the communication between the obstacle BLO and the transmission unit 21 and the reception unit 22 is performed. The distance is determined again. If it is determined in step S15 that the obstacle BLO has not moved outside the detection area R1, the injection of the fluid FL is continued (return to step S14).

  The collision prevention unit 30 performs a collision prevention operation in such a flow, for example. The above operation is only an example. For example, when the distance measuring device 10 is mounted on the moving object VE, the detection area R1 is an area in the traveling direction of the moving object VE, and when an obstacle BLO exists in the detection area R1, the transmission unit has a high probability. It is expected that the obstacle BLO collides with the reception unit 21 and the reception unit 22. In this case, steps S12 and S13 may be omitted, and when the obstacle BLO is detected, the fluid FL may be ejected regardless of the relative distance or the moving direction of the obstacle BLO.

  FIG. 5 is a diagram illustrating an operation of detecting the obstacle BLO by the obstacle detection unit 31. The obstacle detection unit 31 distinguishes and detects the distance measurement target MOB and the obstacle BLO based on, for example, an image captured by an imaging device of the obstacle detection unit 31 or a distance measurement image acquired from the distance measurement unit 20. In the present embodiment, a case will be described in which the obstacle detection unit 31 has an imaging device, captures an image of the detection region R1, and detects an obstacle BLO using the captured image and the distance measurement image.

  Specifically, first, at timing t1, the obstacle detection unit BLO analyzes the acquired image to detect (extract) candidates for the obstacle BLO. For example, as shown in FIG. 5, the obstacle detection unit 31 detects three candidates C1, C2, and C3 in the detection region R1. For example, the candidates C1, C2, and C3 are a sign, a butterfly, and an oncoming vehicle, respectively, which are present on the road R0 on which the vehicle as the moving object VE is traveling.

  The obstacle detection unit 31 starts tracking the candidates C1 to C3 at the timing t1. For example, the obstacle detection unit 31 starts recording the movement trajectory TR in the detection region R1 in each of the candidates C1 to C3. At timing t1, the obstacle detection unit 31 does not determine that the obstacle BLO has been detected.

  Subsequently, at a timing t2, which is a timing later than the timing t1, the obstacle detection unit 31 analyzes the image acquired at the timing t2, and analyzes the movement trajectory TR of the candidates C1 to C3. For example, when one image is obtained at each of the timings t1 and t2, the obstacle detection unit 31 detects the moving direction of the candidates C1 to C3 between the timings t1 and t2. In addition, the obstacle detection unit 31 does not determine that the obstacle BLO has been detected here, and continues tracking the candidates C1 to C3.

  Next, at a timing t3, which is a timing later than the timing t2, the obstacle detection unit 31 analyzes the image acquired at the timing t3, and performs an analysis between the timings t1, t2, and t3 of the candidates C1 to C3. The movement trajectory TR is analyzed.

  In the present embodiment, the obstacle detection unit 31 determines whether or not the movement trajectory TR of each of the candidates C1 to C3 within a predetermined time is regular. This is because it is assumed that the floating object F1 or the flying object F2 assumed as the obstacle BLO will randomly change its position in the air. For example, the obstacle detection unit 31 determines whether or not the movement trajectory TR of each of the candidates C1 to C3 is regular by analyzing three or more images in chronological order.

  Then, at timing t3, the obstacle detection unit 31 determines that the movement trajectory TR of the candidate C2 is irregular. In this case, the obstacle detection unit 31 determines that the candidate C2 is the obstacle BLO. Then, the obstacle detection unit 31 determines that the candidate C2 has been detected as the obstacle BLO. Note that the obstacle detection unit 31 determines that the movement trajectory TR is regular for the candidates C1 and C3, and does not determine that the candidates are the obstacle BLO.

  The obstacle detection unit 31 detects the obstacle BLO in this manner. This operation is, for example, an operation corresponding to step S11 in FIG. In the present embodiment, the obstacle detection unit 31 continues tracking the candidate C2 until the candidate C2 is removed from the detection area R1 (until step S15). On the other hand, the obstacle detection unit 31 may end the tracking of the candidates C1 and C3.

  The distance of the obstacle BLO, which is the boundary of the conditional branch in step S12, to the transmitting unit 21 or the receiving unit 22, for example, can be set in advance as an initial setting, and is adjusted by the operating condition setting unit 32. Can be. This corresponds to the distance between the obstacle BLO and the transmission unit 21 or the reception unit 22, which is the start condition of the collision prevention operation (the start condition of the injection of the fluid FL).

  In addition, the range of the detection region R1, which is the region where the obstacle detection unit 31 detects the obstacle BLO, can be adjusted. For example, when the moving object VE is moving at a predetermined speed or higher, the detection region R1 may be adjusted so that the distance range (range in the depth direction) of the detection region R1 is relatively large. Thereby, for example, it is possible to cope with an obstacle BLO that may collide in a short time even if the distance is long.

  On the other hand, for example, when the moving object VE is moving at a speed lower than the predetermined speed, the detection region R1 may be adjusted so that the range in the width direction of the detection region R1 is relatively large. Thus, for example, it is possible to cope with an obstacle BLO that may enter the ranging area R0 of the moving object VE from a lateral direction with respect to the traveling direction of the moving object VE.

  In the above description, the case where the obstacle detection unit 31 determines the detection area R1 which is the detection target area and detects the floating object F1 or the flying object F2 existing in the detection area R1 as the obstacle BLO. did. However, the obstacle detection unit 31 may not be configured to determine the detection region R1.

  The obstacle detection unit 31 only needs to be configured to detect the floating object F1 or the flying object F2 existing at least near the distance measurement unit 20 (the transmission unit 21 or the reception unit 22). Further, for example, the obstacle detecting unit 31 is provided with a predetermined signal when the transmission direction of the transmission wave L2 periodically changes as in the present embodiment or when the distance measuring unit 20 is mounted on the moving object VE. What is necessary is just to detect the floating object F1 or the flying object F2 existing in the direction range of. In addition, the range of directions in which the floating object F1 and the flying object F2 are detected may be variously adjusted.

  FIG. 6 is a diagram illustrating an example of a setting table of the mode of the collision prevention operation of the operation execution unit 33 by the operation condition setting unit 32. The operation condition setting unit 32 sets the condition of the operation mode so as to perform the collision prevention operation in a different mode according to the obstacle BLO.

  Specifically, for example, the operating condition setting unit 32 performs collision prevention so as to switch the injection intensity in accordance with the distance to the transmitting unit 21 or the receiving unit 22 of the distance measuring unit 20 at the obstacle BLO when detected. The mode of operation can be set. Specifically, for example, when the obstacle BLO is separated from the transmitting unit 21 or the receiving unit 22 by 10 m or more, the operation condition setting unit 32 performs the operation executing unit 33 so as to eject the fluid FL with relatively weak intensity. May be set.

  Similarly, as shown in FIG. 6, the operating condition setting unit 32 determines whether the obstacle BLO is separated from the transmitting unit 21 or the receiving unit 22 by a distance of less than 9 m, and if the obstacle BLO is separated by a distance of less than 5 m, The operation setting of the operation execution unit 33 may be performed such that the fluid FL is ejected with relatively moderate and strong intensities, respectively.

  Further, for example, the operation condition setting unit 32 can set the mode of the collision prevention operation such that the injection intensity is switched according to the size of the obstacle BLO. Specifically, for example, when the obstacle BLO has a size (width or length) of 5 cm or more, the operation condition setting unit 32 causes the operation execution unit 33 to inject the fluid FL with relatively high intensity. May be set.

  Similarly, when the obstacle BLO has a size of 2 cm or more, and has a size of less than 2 cm, the operating condition setting unit 32 injects the fluid FL with relatively moderate and weak intensity, respectively. The operation setting of the operation execution unit 33 may be performed in advance. By setting the mode of the collision prevention operation in this manner, the collision prevention operation can be performed effectively and with low power consumption.

  Note that the operation setting table shown in FIG. 6 is merely an example. For example, the operating condition setting unit 32 may switch the setting of the operating mode in consideration of other parameters, for example, the assumed weight, density, type (solid or liquid, etc.) of the obstacle BLO. Further, the mode of the collision prevention operation may be constant. The operation execution unit 33 may perform the collision prevention operation based on the detection of the obstacle BLO.

  As described above, the distance measuring apparatus 10 prevents the collision before the obstacle BLO, which acts as a waveguide obstacle of the electromagnetic wave transmitted and received by the distance measuring unit 20, collides with and adheres to the transmitting unit 21 and the receiving unit 22. Perform the operation. Therefore, it is possible to provide the distance measuring apparatus 10 which can prevent a substance which becomes an obstacle to electromagnetic wave guiding and can perform an accurate distance measuring operation.

  In the present embodiment, the case where the distance measuring device 10 is mounted on the moving object VE has been described. However, the range finder 10 is not limited to being mounted on the moving object VE. For example, the distance measuring device 10 may be fixed to a streetlight, a sign, a building, or the like. In this case, the distance measuring device 10 can prevent the flying object F2 such as an insect from adhering, for example.

  Further, in the present embodiment, a case has been described in which the distance measuring device 10 has a configuration that can be moved by being mounted on a moving object VE such as a vehicle. However, the distance measuring device 10 may be configured to be movable by, for example, carrying a terminal equipped with the distance measuring device 10 by an operator of the terminal. In other words, for example, the distance measuring device 10 may have a configuration in which the distance measuring unit 20 can move in various modes. In this case, for example, the collision prevention unit 30 may adjust the detection region R1 of the obstacle BLO according to the moving speed and the moving direction of the distance measuring unit 20.

  Further, in the present embodiment, the case where the operation execution unit 33 of the collision prevention unit 30 is configured to eject the fluid FL has been described. However, the configuration of the collision prevention unit 30 is not limited to this. For example, the operation executing unit 33 may include a movable and light-transmitting shutter provided in front of the distance measuring unit 20. The collision prevention unit 30 may be configured to perform an operation of preventing the collision of the electromagnetic wave of the obstacle BLO with the input / output surface S1.

  In the present embodiment, a case is described in which the collision prevention unit 30 performs an operation of preventing the collision of the obstacle BLO with both the transmission unit 21 of the transmission wave L2 and the reception unit 22 of the reception wave L3 in the distance measurement unit 20. explained. However, as described above, the distance measuring unit 20 may have the transmitting units 21 and 22 separated from each other, or may not have the transmitting unit 21. In this case, the collision prevention unit 30 may perform an operation of preventing at least the collision of the obstacle BLO with the reception unit 22.

  As described above, in the present embodiment, for example, the distance measuring device 10 (detection device) has at least the electromagnetic wave reception unit 22 and performs object detection and distance measurement based on the reception result of the electromagnetic wave by the reception unit 22. It has a distance measurement unit 20 (detection unit) and a collision prevention unit 30 that prevents a collision of the floating object F1 or the flying object F2 near the reception unit 22 with the reception unit 22. Therefore, it is possible to provide the distance measuring device 10 (detection device) that can prevent the adhesion of various substances that can be a waveguide obstacle of the electromagnetic wave and perform the accurate distance measurement operation (detection operation).

  FIG. 7 is a diagram schematically illustrating a configuration of the distance measuring apparatus 11 according to the first modification of the first embodiment. The distance measuring device 11 has the same configuration as the distance measuring device 10 except for the configuration of the collision prevention unit 30A. The collision prevention unit 30A has the same configuration as the collision prevention unit 30 except for the configuration of the operation execution unit 33A.

  The operation execution unit 33A of the collision prevention unit 30A is configured to eject the fluid FL in a direction along the input / output surface S1 of the electromagnetic wave in the distance measurement unit 20. The operation execution unit 33A has a configuration suitable for injecting the fluid FL over the entire region near the electromagnetic wave input / output surface S1. The operation execution unit 33 may be configured, for example, as an operation execution unit 33A.

  FIG. 8 is a diagram schematically illustrating a configuration of the distance measuring apparatus 12 according to the second modification of the first embodiment. The ranging device 12 has the same configuration as the ranging device 10 except for the configuration of the collision prevention unit 30B. The collision prevention unit 30B has the same configuration as the collision prevention unit 30 except for the configuration of the operation execution unit 33B.

  The operation execution unit 33B of the collision prevention unit 30B is configured to change the ejection direction of the fluid FL. The operation execution unit 33B has a configuration corresponding to both the case where the fluid FL is ejected near the electromagnetic wave input / output surface S1 and the case where the fluid FL is ejected with high intensity toward the obstacle BLO. The operation execution unit 33 may be configured, for example, as an operation execution unit 33B.

  FIG. 9 is a block diagram of a distance measuring device 13 according to a third modification of the first embodiment. The ranging device 13 has the same configuration as that of the ranging device 10 except that the ranging device 13 is connected to a collision prevention device (hereinafter simply referred to as an prevention device) 30D provided outside the ranging device 13. .

  For example, a case has been described in which the distance measuring apparatus 10 includes the operation execution unit 33 that executes the collision prevention operation as the collision prevention unit 30. However, the collision prevention unit 30 may not be mounted on the distance measuring device 10. The distance measurement device 13 is configured to give an operation instruction to an operation execution unit 33 provided outside as a prevention device 30D.

  Specifically, the distance measuring device 13 includes a collision prevention operation instructing unit (hereinafter simply referred to as an instruction unit) 30C for instructing a collision prevention operation, instead of the collision prevention unit 30. The instruction unit 30C includes, for example, an obstacle detection unit 31 and an operation condition setting unit 32 of the collision prevention unit 30.

  In addition, the instruction unit 30C is an instruction information that is an information for instructing a collision prevention operation on the obstacle BLO under the conditions set by the operation condition setting unit 32 based on the detection result of the obstacle BLO by the obstacle detection unit 31. Is transmitted to the prevention device 30D.

  As in the present modification, the distance measuring device 13 includes an instruction unit 30C that issues an operation instruction for preventing collision to the external prevention device 30D. In this case, the instruction unit 30C may issue an operation instruction to the prevention device 30D based on various information.

  For example, the instruction unit 30C operates the prevention device 30D for preventing the floating object F1 or the flying object F2 near the transmission unit 21 and the reception unit 22 in the distance measurement unit 20 from colliding with the transmission unit 21 and the reception unit 22. What is necessary is just to issue the operation instruction | indication to make it perform. When the obstacle detection unit 31 detects the floating object F1 or the flying object F2 within a predetermined direction range (for example, the detection region R1) from the transmission unit 12 and the reception unit 22 by the obstacle detection unit 31, the instructing unit 30D transmits the instruction to the prevention device 30D. An operation instruction may be issued.

  Further, for example, in the instruction unit 30C, as shown in step S13 of FIG. 4, for example, the floating object F1 or the flying object F2 is relatively approaching the transmission unit 21 and the reception unit 22 by the obstacle detection unit 31. In this case, an operation instruction may be issued to the prevention device 30D.

  Further, for example, as shown in step S12 of FIG. 4, for example, the instruction unit 30C determines that the distance between the floating object F1 or the flying object F2 and the transmission unit 21 and the reception unit 22 is equal to or less than a predetermined distance by the obstacle detection unit 31. In this case, an operation instruction may be issued to the prevention device 30D.

  Further, for example, as shown in step S15 in FIG. 4, for example, the instruction unit 30C prevents the floating object F1 or the flying object F2 from being moved out of the detection area R1 (a predetermined direction range) by the obstacle detection unit 31. What is necessary is just to issue a stop instruction to stop the operation to the device 30D.

  In addition, for example, as illustrated in FIG. 6, for example, the instruction unit 30 </ b> C operates the prevention device 30 </ b> D in a different manner depending on the distance between the floating object F <b> 1 or the flying object F <b> 2 and the transmission unit 21 and the reception unit 22. An operation instruction may be issued to the user. In addition, for example, as shown in FIG. 6, for example, the instruction unit 30C may issue an operation instruction to operate the prevention device 30D in a different manner depending on the properties of the floating object F1 or the flying object F2.

  In addition, when issuing an instruction to operate the prevention device 30D in various modes, the instruction unit 30C may issue an instruction having different contents according to the aspect, or may issue instructions at different timings. That is, the mode in which the prevention device 30D (the operation execution unit 33) operates includes that they operate at mutually different timings.

  In the case where the distance measuring unit 20 of the distance measuring device 13 has a movable structure, such as when the distance measuring device 13 is mounted on the moving object VE, the instruction unit 30C is, for example, the distance measuring unit 20 or the moving distance measuring unit. The detection range of the floating object F1 or the flying object F2 by the obstacle detection unit 31 (for example, the width direction range (direction range) and the depth direction range (distance range) of the detection region R1) according to the moving speed and the moving direction of the body VE. ) May be configured to be adjusted.

  As described above, the distance measurement device 13 (detection device) has, for example, at least the electromagnetic wave reception unit 22 and performs the object detection and the distance measurement based on the reception result of the electromagnetic wave by the reception unit 22 (detection device). And an instruction unit 30C that issues an operation instruction to the floating object F1 or the flying object F2 near the reception unit 22 to operate the prevention device 30D that prevents the collision with the reception unit 22. Therefore, it is possible to provide the distance measuring device 13 (detection device) that can prevent the adhesion of a substance that becomes an obstacle to electromagnetic wave guiding and perform an accurate distance measurement operation (detection operation).

  In addition, the present invention can be implemented as a method for preventing the substance from adhering to the distance measuring unit 20 by the operation flow as shown in FIG. For example, the method according to the present invention includes a distance measuring device 13 (detection device) having at least a reception unit 22 for electromagnetic waves and a distance measurement unit 20 (detection unit) for detecting an object based on a result of reception of the electromagnetic waves by the reception unit 22. ), Which issues an operation instruction to a floating object F1 or a flying object F2 near the receiving unit 22 to operate a prevention device 30D for preventing collision with the receiving unit 22. (For example, the prevention device 30D performs operations corresponding to steps S11 and S14). Thus, it is possible to provide a method for preventing a substance that may be an obstacle to electromagnetic wave guiding, and for maintaining the detection device so as to perform an accurate distance measurement operation (detection operation).

  In addition, the present invention can be implemented as a program that causes a computer to function as the collision prevention unit 30 of the distance measurement device 10 or the instruction unit 30C of the distance measurement device 13. For example, the program according to the present invention may be configured to control a computer in response to a floating object F1 or a flying object F2 existing in the vicinity of an electromagnetic wave receiving unit 22 in a detection device that detects an object by receiving an electromagnetic wave. It functions as an instruction unit 30C that issues an operation instruction to operate the prevention device 30D that prevents collision (for example, executes operations corresponding to steps S11 and S14).

  Further, the present invention can be implemented, for example, as a recording medium on which the above-described program is recorded. Accordingly, it is possible to provide a maintenance program for a detection device and a recording medium on which the program is recorded so as to prevent the adhesion of a substance that interferes with electromagnetic wave propagation and perform an accurate distance measurement operation (detection operation). Can be.

  FIG. 10 is a block diagram of the distance measuring device 14 according to the second embodiment. FIG. 10 shows a block of the moving object VE on which the distance measuring device 14 is mounted. The distance measuring device 14 has the same configuration as the distance measuring device 10 except for the configurations of the information acquisition unit 50 and the adhesion preventing unit 60. The distance measuring device 14 includes a distance measuring unit 20, an information acquiring unit 50 that acquires various information including weather information, and an adhesion preventing unit 60 that prevents adhesion of a substance that becomes an obstacle BLO based on at least the weather information. And

  Specifically, in the present embodiment, the information acquisition unit 50 includes a weather information acquisition unit 51 that acquires weather information that is various information relating to a weather state. In the present embodiment, the information obtaining unit 50 includes a current position information obtaining unit 52 that obtains current position information that is information on the current position of the distance measuring unit 20 (in this embodiment, the current position of the moving object VE). Having. Further, in the present embodiment, the information acquisition unit 50 includes a route information acquisition unit 53 that acquires route information that is information on a planned travel route of the moving object VE.

  For example, the weather information acquisition unit 51 communicates with a server having external weather information, and acquires, from the server, weather information on an area around the mobile VE and an area on a planned route. Further, for example, the current position information acquisition unit 52 acquires information on the current position of the moving object VE from the moving object VE, or acquires information on the current position of the distance measuring unit 20 by itself having a positioning device. .

  In addition, for example, the route information acquisition unit 53 transmits the destination of the mobile VE, the route to the destination, the expected time of travel, and the destination and passage from the mobile VE and the communication terminal of the passenger of the mobile VE. Information on the arrival time of each point is acquired as route information.

  Further, in the present embodiment, the distance measuring device 14 transmits a substance (for example, an obstacle BLO, that is, an electromagnetic wave) to the transmission unit 21 and the reception unit 22 of the distance measurement unit 20 based on the weather information, the current position information, and the route information. It has an adhesion preventing unit 60 for preventing adhesion of (a substance that becomes a waveguide obstacle of the transmission wave L2 or the reception wave L3).

  For example, in the present embodiment, the adhesion prevention unit 60 includes an operation condition setting unit 61 that sets operation conditions to perform different adhesion prevention operations according to the information acquired by the information acquisition unit 50, and An operation execution unit 62 that performs an adhesion prevention operation under a condition. For example, the operation execution unit 62 has the same configuration as the operation execution unit 33 of the collision prevention unit 30 in the distance measuring device 10.

  FIG. 11 is a diagram illustrating an example of an operation flow of the information acquisition unit 50 and the adhesion prevention unit 60 in the distance measurement device 14. First, in the present embodiment, the information acquisition unit 50 of the distance measuring device 14 acquires the current position information of the moving object VE (Step S21). Next, the information acquisition unit 50 acquires the route information of the moving object VE (Step S22). Subsequently, the information acquisition unit 50 acquires weather information of an area including a planned movement point where the moving object VE is expected to arrive after a predetermined time (referred to as a planned movement area in the present embodiment) ( Step S23).

  Subsequently, the adhesion prevention unit 60 determines whether the planned movement area is in a weather state where the adhesion of the obstacle BLO is predicted (step S24). For example, the operating condition setting unit 61 of the adhesion preventing unit 60 stores a weather condition in which the adhesion of the obstacle BLO is predicted in advance. Then, when the weather information acquired for the planned movement area includes information indicating that the weather state is present, it is determined that the adhesion of the obstacle BLO is predicted when moving the planned movement area.

  Next, when determining that the planned movement area is in a weather state in which the adhesion of the obstacle BLO is predicted, the adhesion prevention unit 60 determines whether the distance to the planned movement area is less than a predetermined distance ( Step S25). For example, the operation condition setting unit 61 calculates the distance on the planned movement path between the current position of the moving object VE and the planned movement area (planned movement point) based on the information from the information acquisition unit 50. Then, the operation condition setting unit 61 determines whether or not the approached movement area is approached to a distance shorter than the distance that is the operation start condition stored in advance.

  Then, when it is determined that the distance to the expected movement area is less than the predetermined distance, the adhesion prevention unit 60 faces the distance measurement area R0 of the distance measurement unit 20 or the electromagnetic wave input / output surface S1 at the time of the determination. The injection of the fluid FL is started (Step S26). In the present embodiment, the adhesion preventing unit 60 stops the injection of the fluid FL when the movement is out of the expected movement area. The distance measuring device 14 measures the distance to the object MOB while preventing the obstacle BLO from adhering to the distance measuring unit 20 in this way, for example.

  For example, when it is determined in step S24 that the expected movement area is not in a weather state in which the adhesion of the obstacle BLO is predicted, the information acquisition unit 50 and the adhesion prevention unit 60 may end the operation. Further, for example, if it is determined in step S25 that the distance to the planned movement area is equal to or longer than the predetermined distance, the process may return to step S23 and acquire the weather information of the planned movement area again.

  FIG. 12A is a diagram schematically illustrating a state of the distance measuring device 14 when weather information indicating that it is raining in the scheduled movement area A1 is acquired. FIG. 12B illustrates the range finder 14 when the moving object VE approaches a position less than a predetermined distance from the planned movement area A1 when the weather information indicating that it is raining in the planned movement area A1 is acquired. It is a figure which shows a state typically.

  When moving in the movement planned area A <b> 1 in a rainy state, it is predicted that raindrops will adhere to the transmission unit 21 and the reception unit 22 of the distance measurement unit 20 as the obstacle BLO. Therefore, it is preferable that the raindrops are prevented from adhering to the transmission unit 21 and the reception unit 22 (the transmission / reception surface S1 of the transmission wave L2 and the reception wave L3) when moving in the movement expected area A1.

  For example, in the state illustrated in FIG. 12A, the information acquisition unit 50 acquires information indicating that it is raining in the scheduled movement area A1. Then, the adhesion prevention unit 60 starts jetting the fluid FL when approaching a position less than the predetermined distance from the movement expected area A1. Therefore, as shown in FIG. 12B, when reaching the scheduled movement area A1, the operation execution unit 62 of the adhesion preventing unit 60 ejects the fluid FL toward the distance measurement area R0. Thereby, it is possible to effectively suppress the attachment of the raindrops to the entrance / exit surface S1 when moving in the movement expected area A1.

  FIG. 13 is a diagram illustrating an example of a table for switching the mode of the adhesion prevention operation by the operation condition setting unit 61. As illustrated in FIG. 13, the operation condition setting unit 61 sets the operation conditions of the operation execution unit 62 so that the operation execution unit 62 performs the adhesion prevention operation in a different manner according to the acquired weather information.

  For example, when acquiring the information indicating that it is raining, the operating condition setting unit 62 sets a condition such that the compressed air is jetted at a normal intensity. When acquiring information indicating that snow is falling, the operating condition setting unit 62 sets conditions such that water is jetted in addition to compressed air.

  Similarly, when acquiring the information indicating that the dense fog is occurring, the operating condition setting unit 62 sets the condition such that the compressed air is injected with high intensity. In addition, when acquiring, as past information, information indicating that it has been raining until immediately before, the operating condition setting unit 62 sets conditions such that compressed air is injected with a low intensity.

  In addition, when it rained in the past, a case where a puddle is formed on the road is assumed. Therefore, even if it is not raining in the scheduled movement area A1 at the scheduled movement time, it can be assumed that water drops serving as obstacles BLO adhere to the distance measuring unit 20. As described above, as weather information, not only future weather information but also current and past weather information is useful. Therefore, it is preferable to perform the operation setting using various weather information regardless of the time or the like.

  As described above, the adhesion prevention unit 60 is configured to perform the adhesion prevention operation in a different manner according to the weather condition indicated by the weather information. Therefore, the operation of preventing the adhesion of the obstacle BLO can be performed efficiently and with power saving.

  In this embodiment, a case will be described in which the information acquisition unit 50 acquires the current position information and the route information of the distance measuring unit 20 and the moving body VE, and the adhesion prevention unit 60 performs the adhesion prevention operation based on the information. did. However, the configurations of the information acquisition unit 50 and the adhesion prevention unit 60 are not limited to this.

  For example, the information acquisition unit 50 does not need to acquire the current position information or the route information. The adhesion prevention unit 60 may perform the adhesion prevention operation based on the weather information. For example, the distance measuring device 14 may not be mounted on the moving object VE, but may be fixed to a streetlight or a sign. In this case, a certain effect can be obtained even when the adhesion preventing operation is performed based only on the weather information (for example, future weather conditions).

  In consideration of the fact that the distance measuring device 16 having a movable structure accurately prevents the adhesion of the obstacle BLO, the current position information or the route information is acquired in addition to the weather condition, and the adhesion is performed based on the information. It is preferable to perform a prevention operation. That is, for example, the information acquisition unit 50 acquires current position information regarding the current position of the distance measuring unit 20 (detection unit), and the adhesion prevention unit 60 performs an adhesion prevention operation based on the current position information and the weather information. Is preferred.

  In addition, for example, the information acquisition unit 50 acquires the path information on the movement path of the distance measuring unit 20 (detection unit) and the moving object VE, and the adhesion prevention unit 60 performs the adhesion prevention operation based on the path information and the weather information. Is preferably performed.

  When the route information is used, it is preferable to perform the adhesion preventing operation before reaching the planned movement area A1 based on the weather information of the planned movement area A1. In other words, the information acquiring unit 50 acquires, as the weather information, information on the weather state after the predetermined time in the planned moving area A1 including the planned moving point of the moving object VE after the predetermined time, for example. It is preferable that 60 performs the adhesion preventing operation before the moving object VE reaches the planned movement area A1, based on the weather condition of the planned movement area A1 after the predetermined time. However, the adhesion preventing operation may be performed based on at least the weather condition of the expected moving area.

  Further, in the present embodiment, the case where the adhesion preventing unit 60 performs the operation of preventing the adhesion of the obstacle BLO in different modes according to the weather condition has been described. However, the configuration of the adhesion preventing unit 60 is not limited to this. The adhesion preventing unit 60 only needs to be configured to operate based on at least weather information.

  Also in the present embodiment, the adhesion prevention unit 60 performs an operation of preventing the adhesion of the obstacle BLO to both the transmission unit 21 of the transmission wave L2 and the reception unit 22 of the reception wave L3 in the distance measurement unit 20. It is not limited to. That is, the attachment prevention unit 60 may perform an operation of preventing attachment of the obstacle BLO to at least the reception unit 22.

  As described above, in the present embodiment, the distance measuring device 14 (detection device) includes at least the electromagnetic wave receiving unit 22, and performs the object detection and the distance measuring based on the reception result of the electromagnetic wave by the receiving unit 22. (Detection unit), an information acquisition unit 50 that acquires weather information related to the weather condition, and an adhesion prevention unit 60 that prevents the substance from adhering to the reception unit 22 based on the weather information. Therefore, it is possible to provide the distance measuring device 14 (detection device) that can prevent the adhesion of various substances that can be a waveguide obstacle of the electromagnetic wave and perform the accurate distance measurement operation (detection operation).

  FIG. 14 is a block diagram of a distance measuring device 15 according to a modification of the second embodiment. The distance measuring device 15 has the same configuration as that of the distance measuring device 14 except that the distance measuring device 15 is connected to an adhesion preventing device (hereinafter, simply referred to as an preventing device) 60B provided outside the distance measuring device 15. .

  As in the present modification, the operation execution unit 62 of the adhesion preventing unit 60 may not be mounted on the distance measuring device 14. The distance measuring device 15 is configured to give an operation instruction to an operation execution unit 62 provided outside as a prevention device 60B.

  Specifically, distance measuring device 15 includes an adhesion prevention operation instructing unit (hereinafter, simply referred to as an instruction unit) 60A that instructs prevention device 60B to perform an adhesion prevention operation, instead of adhesion prevention unit 60. The instructing unit 60A is, for example, an operation condition setting unit 61 of the adhesion preventing unit 60 and an operation for preventing the obstacle BLO from adhering to the distance measuring unit 20 under the conditions set by the operation condition setting unit 61 based on the weather information. And an instruction information transmitting unit 63 that transmits instruction information that is information instructing to the prevention device 60B.

  As in the present modified example, the distance measuring device 15 has an instruction unit 60A that issues an operation instruction for preventing adhesion to an external prevention device 60B. In this case, the instruction unit 60A may issue an operation instruction to the prevention device 60B based on various information acquired by the information acquisition unit 50, for example, weather information.

  For example, when the information acquisition unit 50 acquires the current position information regarding the current position of the distance measurement unit 20, the instruction unit 60A may issue an operation instruction to the prevention device 60B based on the current position information and the weather information.

  Further, for example, when the distance measurement unit 20 is mounted on the moving object VE and the information acquisition unit 50 acquires the route information on the planned movement route of the distance measurement unit 20, the instructing unit 60A performs the operation based on the route information and the weather information. Then, an operation instruction may be issued to the prevention device 60B.

  Further, for example, when the information acquisition unit 50 acquires, as weather information, information on the weather state after the predetermined time in the planned movement area A1 including the planned movement point after the predetermined time of the distance measurement unit 20, the instruction unit 60A May issue an operation instruction to the prevention device 60B based on the weather condition of the scheduled movement area A1 after the predetermined time.

  In addition, for example, when issuing an operation instruction based on the weather condition of the scheduled movement area A1, the instruction unit 60A may issue the operation instruction before the distance measuring unit 20 reaches the movement expected area A1. Further, for example, the instruction unit 60A may issue an operation instruction to operate the prevention device 60B in a different manner according to the weather condition.

  As described above, the distance measurement device 15 (detection device) has at least the electromagnetic wave reception unit 22 and performs the distance detection unit 20 (detection unit) that performs object detection and distance measurement based on the reception result of the electromagnetic wave by the reception unit 22. And an information acquisition unit 50 that acquires weather information relating to the weather state, and an instruction unit 60A that issues an operation instruction to operate the prevention device 60B that prevents the substance from adhering to the reception unit 22 based on the weather information. . Therefore, it is possible to provide the distance measuring device 15 (detection device) capable of preventing the adhesion of a substance that becomes an obstacle to electromagnetic wave guiding and performing an accurate distance measurement operation (detection operation).

  In addition, the present invention can be implemented as a method for preventing a substance from adhering to the distance measuring unit 20 by an operation flow as shown in FIG. 11, for example. For example, the method according to the present invention includes a distance measuring device 15 (detection device) including at least a reception unit 22 for electromagnetic waves, and a distance measurement unit 20 (detection unit) for detecting an object based on a reception result of the electromagnetic waves by the reception unit 22. A) a method of obtaining weather information relating to the weather condition (for example, step S23), and a prevention device for preventing the substance from adhering to the receiving unit 22 based on the weather information. (For example, causing the prevention device 60B to execute step S26). As a result, it is possible to provide a method for preventing a substance that becomes an obstacle to electromagnetic wave propagation from adhering and maintaining the distance measuring device (detection device) so as to perform an accurate distance measurement operation (detection operation).

  Further, the present invention can be implemented as a program that causes a computer to function as the information acquisition unit 50, the adhesion prevention unit 60, or the instruction unit 60A. For example, the program according to the present invention sends a computer to an information acquisition unit 50 that acquires weather information relating to a weather state and an electromagnetic wave reception unit 22 in a distance measuring device 15 (detection device) that detects an object by receiving an electromagnetic wave. And an instruction unit 60A for issuing an operation instruction to operate the prevention device 60B for preventing the substance from adhering.

  Further, the present invention can be implemented, for example, as a recording medium on which the above-described program is recorded. Thus, the maintenance program of the distance measuring device (detection device) for preventing the adhesion of the substance that may interfere with the electromagnetic wave guiding and performing the accurate distance measurement operation (detection operation), and a record in which the program is recorded A medium can be provided.

  FIG. 15 is a block diagram of the distance measuring device 16 according to the third embodiment. FIG. 15 shows a block of the moving object VE on which the distance measuring device 16 is mounted. The ranging device 16 has the same configuration as the ranging device 10 or 14 except for the configurations of the information acquisition unit 70 and the adhesion preventing unit 80. The distance measuring device 16 includes a distance measuring unit 20, an information acquiring unit 70 that acquires various information including geographical information, and an adhesion preventing unit that prevents adhesion of a substance serving as an obstacle BLO based on at least the geographical information. A unit 80.

  Specifically, in the present embodiment, the information acquisition unit 70 includes a geographic information acquisition unit 71 that acquires geographic information, which is various information related to the geographic environment. The information relating to the geographic environment refers to, for example, information relating to a natural environment such as terrain, and information relating to an artificial environment such as roads, houses and farmland. For example, the geographic information acquisition unit 71 communicates with a server having external geographic information, and acquires geographic information about the area around the mobile VE and the area on the planned route from the server.

  Further, in the present embodiment, the information acquisition unit 70 includes a current position information acquisition unit 72 and a route that have the same configuration as the current position information acquisition unit 52 and the route information acquisition unit 53 of the information acquisition unit 50 in the distance measuring device 14. An information acquisition unit 73 is provided.

  Further, in the present embodiment, the distance measuring device 16 transmits a substance (for example, an obstacle BLO, that is, an obstacle BLO, An adhesion preventing unit 80 is provided for preventing the adhesion of an electromagnetic wave (a substance that interferes with the waveguide of the transmission wave L2 or the reception wave L3).

  For example, in the present embodiment, the adhesion prevention unit 80 includes an operation condition setting unit 81 that sets operation conditions to perform different adhesion prevention operations in accordance with the information acquired by the information acquisition unit 70, and An operation execution unit 82 that performs an adhesion prevention operation under a condition. For example, the operation execution unit 62 has the same configuration as the operation execution unit 33 of the collision prevention unit 30 in the distance measuring device 10.

  FIG. 16 is a diagram illustrating an example of an operation flow of the information acquisition unit 70 and the adhesion prevention unit 80 in the distance measuring device 16. First, in the present embodiment, the information acquisition unit 70 of the distance measuring device 16 acquires the current position information of the moving object VE (Step S31). Next, the information acquisition unit 70 acquires the route information of the moving object VE (Step S32). Subsequently, the information acquisition unit 70 acquires geographic information of an area including a planned movement point where the moving object VE is expected to reach after a predetermined time (referred to as a planned movement area in the present embodiment). (Step S33).

  Subsequently, the attachment prevention unit 80 determines whether or not the planned movement area is a geographic environment in which the attachment of the obstacle BLO is predicted (step S34). For example, the operating condition setting unit 81 of the adhesion preventing unit 80 stores a geographical environment in which the adhesion of the obstacle BLO is predicted in advance. Then, when the geographic information acquired for the planned movement area includes information indicating the geographical environment, it is determined that the attachment of the obstacle BLO is predicted when moving the planned movement area.

  Next, when determining that the planned movement area is the geographical environment in which the adhesion of the obstacle BLO is predicted, the adhesion prevention unit 80 determines whether the distance to the planned movement area is less than a predetermined distance ( Step S35). For example, the operation condition setting unit 81 calculates the distance on the planned movement path between the current position of the moving object VE and the planned movement area (planned movement point) based on the information from the information acquisition unit 50. Then, the operation condition setting unit 81 determines whether or not the approaching movement area is approached to a distance shorter than the distance that is the operation start condition stored in advance.

  Then, when it is determined that the distance to the expected movement area is less than the predetermined distance, the adhesion preventing unit 80 faces the distance measurement area R0 of the distance measurement unit 20 or the electromagnetic wave input / output surface S1 at the time of the determination. The injection of the fluid FL is started (Step S36). In the present embodiment, the adhesion preventing unit 80 stops the injection of the fluid FL when it goes out of the expected movement area. The distance measuring device 16 measures the distance to the object MOB while preventing the obstacle BLO from adhering to the distance measuring unit 20 in this way, for example.

  For example, if it is determined in step S34 that the area to be moved is not in the geographical environment where the attachment of the obstacle BLO is predicted, the operation of the information acquisition unit 70 and the attachment prevention unit 80 may be terminated. Further, for example, when it is determined in step S35 that the distance to the planned movement area is equal to or longer than the predetermined distance, the process may return to step S33 and acquire the geographic information of the planned movement area again.

  FIG. 17 is a diagram illustrating an example of a table for switching the mode of the adhesion prevention operation by the operation condition setting unit 81. As shown in FIG. 17, the operation condition setting unit 81 sets the operation conditions of the operation execution unit 82 so that the operation execution unit 82 performs the adhesion prevention operation in a different manner according to the acquired geographic information.

  For example, when the operation condition setting unit 82 acquires information indicating that the expected movement area (for example, see the expected movement area A1 in FIG. 12A) is an unpaved road, compressed air is injected with normal intensity. The following conditions are set. This is because when the vehicle travels on an unpaved road, dust tends to fly, and it is predicted that sand particles as the obstacle BLO will adhere to the electromagnetic wave input / output surface S1 in the distance measuring unit 20.

  In addition, for example, when acquiring information indicating that a sand beach is present around the expected movement area, the operating condition setting unit 82 sets conditions such that compressed air is injected with a high injection intensity. This is because, when a vehicle travels on a road around a sandy beach, for example, a road along a coastline, it is predicted that sand particles and wave splashes as obstacles BLO adhere to the electromagnetic wave input / output surface S1 in the distance measuring unit 20. Because.

  In addition, for example, when acquiring the information indicating that the expected moving area is a road in the forest, the operating condition setting unit 82 sets the condition such that the compressed air is injected with high intensity. This is because when a vehicle travels on a road in a forest, it is predicted that leaves and water droplets of trees as obstacles BLO will adhere to the electromagnetic wave input / output surface S1 in the distance measuring unit 20.

  As described above, the adhesion prevention unit 80 is configured to perform the adhesion prevention operation in a different manner according to various geographical environments indicated by the geographic information. Therefore, the operation of preventing the adhesion of the obstacle BLO can be performed efficiently and with power saving.

  In this embodiment, a case will be described in which the information acquisition unit 70 acquires the current position information and the route information of the distance measuring unit 20 and the moving object VE, and the adhesion prevention unit 80 performs the adhesion prevention operation based on the information. did. However, the configurations of the information acquisition unit 70 and the adhesion prevention unit 80 are not limited to this.

  For example, the information acquisition unit 70 need not acquire the current position information or the route information. The adhesion prevention unit 80 may perform an adhesion prevention operation based on geographic information. For example, the distance measuring device 16 may not be mounted on the moving object VE, but may be fixed to a streetlight or a sign. In this case, a certain effect can be obtained even when the anti-adhesion operation is performed based solely on geographic information (for example, the geographical environment of the place where the streetlight is installed).

  In consideration of the fact that the distance measuring device 16 having a movable structure accurately prevents the adhesion of the obstacle BLO, the current position information or the route information is acquired in addition to the weather condition, and the adhesion is performed based on the information. It is preferable to perform a prevention operation. That is, for example, the information acquisition unit 70 acquires current position information regarding the current position of the distance measuring unit 20 (detection unit), and the adhesion prevention unit 80 performs an adhesion prevention operation based on the current position information and the weather information. Is preferred.

  In addition, for example, the information acquisition unit 70 acquires the path information on the movement path of the distance measuring unit 20 (detection unit) and the moving object VE, and the adhesion prevention unit 80 performs the adhesion prevention operation based on the path information and the weather information. Is preferably performed.

  When the route information is used, it is preferable to perform the adhesion preventing operation before reaching the planned movement area based on the geographical information of the planned movement area. In other words, the information acquisition unit 50 acquires, as geographic information, information on the geographical environment of the planned moving area including the planned moving point of the mobile VE after a predetermined time, for example, and the anti-adhesion unit 80 sets the planned moving area It is preferable that the adhesion prevention operation is performed before the moving object VE reaches the expected movement area, based on the geographical environment of. However, the attachment prevention operation may be performed based on at least the geographical environment of the area to be moved.

  Further, in the present embodiment, the case where the adhesion preventing unit 80 performs the operation of preventing the adhesion of the obstacle BLO in different modes according to the geographical environment has been described. However, the configuration of the adhesion preventing unit 80 is not limited to this. The adhesion preventing unit 80 only needs to be configured to operate based on at least geographic information.

  Also in the present embodiment, the adhesion prevention unit 80 performs an operation of preventing the adhesion of the obstacle BLO to both the transmission unit 21 of the transmission wave L2 and the reception unit 22 of the reception wave L3 in the distance measurement unit 20. It is not limited to. That is, the attachment prevention unit 80 may perform an operation of preventing attachment of the obstacle BLO to at least the reception unit 22.

  As described above, in the present embodiment, the distance measuring device 16 (detection device) includes at least the electromagnetic wave receiving unit 22, and performs the object detection and the distance measurement based on the result of the electromagnetic wave reception by the receiving unit 22. (Detection unit), an information acquisition unit 70 that acquires geographical information about the geographical environment, and an adhesion prevention unit 80 that prevents adhesion of a substance to the reception unit 22 based on the geographical information. Therefore, it is possible to provide the distance measuring device 16 (detection device) that can prevent the adhesion of various substances that can be a waveguiding obstacle of the electromagnetic wave and perform an accurate distance measurement operation (detection operation).

  FIG. 18 is a block diagram of a distance measuring device 17 according to a modification of the third embodiment. The distance measuring device 17 has the same configuration as the distance measuring device 16 except that the distance measuring device 17 is connected to an adhesion preventing device (hereinafter simply referred to as an preventing device) 80B provided outside the distance measuring device 17. .

  As in the present modification, the operation execution unit 82 of the adhesion preventing unit 80 may not be mounted on the distance measuring device 16. The distance measuring device 17 is configured to give an operation instruction to an operation execution unit 62 provided outside as a prevention device 80B.

  Specifically, distance measuring device 17 includes an adhesion prevention operation instructing unit (hereinafter simply referred to as an instruction unit) 80A that instructs prevention device 80B to perform an adhesion prevention operation, instead of adhesion prevention unit 80. The instructing unit 80A is, for example, an operation condition setting unit 81 of the adhesion preventing unit 80 and a condition for setting the operation condition setting unit 81 to prevent adhesion of the obstacle BLO to the distance measuring unit 20 based on geographical information. An instruction information transmitting unit 83 that transmits instruction information, which is information for instructing the operation, to the prevention device 80B.

  As in the present modification, the distance measuring device 17 includes an instruction unit 80A that issues an operation instruction for preventing adhesion to an external prevention device 80B. In this case, the instruction unit 80A may issue an operation instruction to the prevention device 80B based on various information acquired by the information acquisition unit 70, for example, geographical information.

  For example, when the information acquisition unit 70 acquires the current position information regarding the current position of the distance measurement unit 20, the instruction unit 80A may issue an operation instruction to the prevention device 80B based on the current position information and the weather information.

  Further, for example, when the distance measuring unit 20 is mounted on the moving object VE and the information acquiring unit 70 acquires the route information on the planned movement route of the distance measuring unit 20, the instruction unit 80A performs the processing based on the route information and the weather information. Then, an operation instruction may be issued to the prevention device 80B.

  Further, for example, when the information acquisition unit 70 acquires, as geographic information, information on the geographic environment of the planned movement area including the planned movement point after a predetermined time of the distance measuring unit 20, the instruction unit 80A sets the planned movement area The operation instruction may be issued to the prevention device 80B based on the geographical environment of.

  Further, for example, when issuing an operation instruction based on the geographical environment of the planned movement area, the instruction unit 80A may issue the operation instruction before the distance measuring unit 20 reaches the planned movement area. Further, for example, the instruction unit 80A may issue an operation instruction to operate the prevention device 80B in a different manner according to the geographical environment.

  As described above, the distance measuring device 17 (detection device) includes at least the electromagnetic wave reception unit 22 and performs the distance detection unit 20 (detection unit) that performs object detection and distance measurement based on the reception result of the electromagnetic wave by the reception unit 22. An information acquisition unit 70 for acquiring geographical information relating to a geographic environment, and an instruction unit 80A for issuing an operation instruction for operating a prevention device 80B for preventing attachment of a substance to the reception unit 22 based on the geographical information. Having. Therefore, it is possible to provide the distance measuring device 17 (detection device) that can prevent the adhesion of a substance that becomes an obstacle to electromagnetic wave guiding and perform an accurate distance measurement operation (detection operation).

  In addition, the present invention can be implemented as a method for preventing a substance from adhering to the distance measuring unit 20 by an operation flow as shown in FIG. 16, for example. For example, the method according to the present invention includes a distance measuring device 17 (detecting device) including at least a receiving unit 22 for electromagnetic waves, and a distance measuring unit 20 (detecting unit) for detecting an object based on a result of receiving the electromagnetic waves by the receiving unit 22. A) preventing the substance from adhering to the receiving unit 22 based on the step of acquiring geographical information related to the geographical environment (for example, step S33), based on the geographical information. Issuing an operation instruction to operate the prevention device 80B (for example, causing the prevention device 80B to execute step S26). As a result, it is possible to provide a method for preventing a substance that becomes an obstacle to electromagnetic wave propagation from adhering and maintaining the distance measuring device (detection device) so as to perform an accurate distance measurement operation (detection operation).

  The present invention can also be implemented as a program that causes a computer to function as the information acquisition unit 70, the adhesion prevention unit 80, or the instruction unit 80A. For example, the program according to the present invention includes a computer, which is an information acquisition unit 70 for acquiring geographical information relating to a geographical environment, and an electromagnetic wave reception unit 22 in a distance measuring device 17 (detection device) that detects an object by receiving electromagnetic waves. And an instruction unit 80A for issuing an operation instruction to operate the prevention device 80B for preventing the substance from adhering to the device.

  Further, the present invention can be implemented, for example, as a recording medium on which the above-described program is recorded. Thus, the maintenance program of the distance measuring device (detection device) for preventing the adhesion of the substance that may interfere with the electromagnetic wave guiding and performing the accurate distance measurement operation (detection operation), and a record in which the program is recorded A medium can be provided.

10, 11, 12, 13, 14, 15, 16, 17 Distance measuring device (detection device)
20 Distance measuring unit (detection unit)
30 anti-collision unit 30C anti-collision operation instruction unit 30D anti-collision device 60 anti-adhesion unit 60A anti-adhesion operation instruction unit 60B anti-adhesion device 80 anti-adhesion unit 80A anti-adhesion operation instruction unit 80B anti-adhesion device

Claims (12)

A detection unit having an electromagnetic wave reception unit and performing object detection based on a reception result of the electromagnetic wave by the reception unit,
An information acquisition unit that acquires weather information related to the weather state,
A detection unit that issues an operation instruction to operate a prevention device that prevents a substance from adhering to the reception unit based on the weather information. The information acquisition unit acquires current position information regarding a current position of the detection unit,
The detection device according to claim 1, wherein the instruction unit issues the operation instruction based on the current position information and the weather information. The detection unit is mounted on a moving body,
The information obtaining unit obtains route information on a planned route of the detection unit,
The detection device according to claim 1, wherein the instruction unit issues the operation instruction based on the route information and the weather information. The information acquisition unit acquires information on a weather state after the predetermined time in a planned movement region including a planned movement point after a predetermined time of the detection unit as the weather information,
The detection device according to claim 3, wherein the instruction unit issues the operation instruction based on the weather condition of the area to be moved after the predetermined time.   The detection device according to claim 4, wherein the instruction unit issues the operation instruction before the detection unit reaches the movement planned area.   The detection device according to claim 1, wherein the instruction unit issues an operation instruction to operate the prevention device in a different manner according to the weather condition. A detection unit having an electromagnetic wave reception unit and performing object detection based on a reception result of the electromagnetic wave by the reception unit,
An information acquisition unit that acquires weather information related to the weather state,
A detection device, comprising: an adhesion preventing unit that performs an operation of preventing adhesion of a substance to the receiving unit based on the weather information. The detection unit is mounted on a moving body,
The information acquisition unit acquires current position information about a current position of the detection unit and route information about a scheduled route of the detection unit,
The detection device according to claim 7, wherein the instruction unit issues the operation instruction based on the current position information, the route information, and the weather information.   The said adhesion prevention part is comprised so that a fluid may be jetted toward the said substance, The detection apparatus of Claim 7 or 8 characterized by the above-mentioned. A method for preventing a substance from adhering to a detection device having a detection unit having an electromagnetic wave reception unit and a detection unit for detecting an object based on a reception result of the electromagnetic wave by the reception unit,
Obtaining weather information about the weather condition;
Issuing an operation instruction to operate a prevention device that prevents the substance from adhering to the receiving unit based on the weather information. Computer
An information acquisition unit that acquires weather information related to the weather state,
A program that functions as an instruction unit that issues an operation instruction to operate a prevention device that prevents adhesion of a substance to a reception unit of electromagnetic waves in a detection device that receives an electromagnetic wave and detects an object based on the weather information.   A recording medium on which the program according to claim 11 is recorded.

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