JP2020027043A - Scanner, method for controlling scanner, program, recording medium, and distance measuring device - Google Patents

Abstract

To provide a scanner and a distance measuring device that can accurately scan and measure the distance to various objects.SOLUTION: A scanner comprises: a light projection unit 11 that has a first light projection mode of direction variably projecting light with a first direction as a main scanning direction and a second direction different from the first direction as a sub scanning direction, and a second light projection mode of direction variably projecting light with the second direction as a main scanning direction and the first direction as a sub scanning direction; a light receiving unit 12 that receives light projected from the light projection unit 11 and reflected on an object; a contour detection unit 21 that detects the contour of the object; a light projection mode control unit 22 that controls the light projection unit 11 to switch between the first light projection mode and second light projection mode on the basis of the contour of the object; and an integration unit 23 that integrates a plurality of results of reception of light reflected on the object performed by the light receiving unit 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a scanning device that performs optical scanning, a scanning device control method, a scanning device control program and a recording medium, and a distance measuring device that performs optical ranging.

  2. Description of the Related Art A ranging device that irradiates a target with light and detects light reflected by the target to measure a distance to the target has been known. In addition, there is known an optical scanning type distance measuring device capable of performing optical scanning of an object and obtaining information on the shape and orientation of the object in addition to the distance to the object.

  For example, Patent Literature 1 discloses a light scanning unit having a light reflecting surface and capable of performing Lissajous scanning of light incident on the light reflecting surface in a target region, and light emitted from a light source unit and reflected by an object. An optical ranging device including a light receiving unit that receives light and a distance measuring unit that measures the distance of the object is disclosed.

JP 2011-53137 A

  The scanning type distance measuring device performs, for example, optical scanning on a predetermined scanning region, and performs optical distance measurement based on the scanning result. Therefore, it is assumed that many objects exist in the scanning area. Further, for example, when the distance measuring device is mounted on a moving body, the state of the scanning area, that is, the area to be measured is changed every moment. It is preferable that the scanning type distance measuring device can accurately perform scanning and distance measurement for all objects existing in the scanning region in consideration of, for example, a case where the distance measuring device is used in such an environment. .

  SUMMARY An advantage of some aspects of the invention is to provide a scanning device and a distance measurement device capable of accurately performing scanning and distance measurement on various objects. I have. Another object of the present invention is to provide a control method of a scanning device capable of accurately scanning various objects, a control program, and a recording medium on which the control program is recorded. I have.

  According to the first aspect of the present invention, there is provided a first light emitting mode in which light is variably emitted in a first direction as a main scanning direction and a second direction different from the first direction as a sub scanning direction. A second light projection mode having a second direction as a main scanning direction and a first direction as a sub scanning direction, and a second light projection mode for projecting light in a variable direction. A light receiving unit that receives light reflected by the object, a contour detection unit that detects the contour of the object, and a light emitting unit that switches between the first and second light emitting modes based on the contour of the object. And a integrating unit that integrates a plurality of light receiving results of the light reflected by the object by the light receiving unit.

  According to a ninth aspect of the present invention, there is provided the scanning device according to the first aspect, and a distance measuring unit that measures a distance to an object based on a light reception result integrated by the integrating unit. And

  According to a tenth aspect of the present invention, there is provided a first light-emitting device that emits light in a variable direction with a first direction being a main scanning direction and a second direction different from the first direction being a sub-scanning direction. A light projecting unit having a second light projecting mode in which light is variably projected with the mode and the second direction as a main scanning direction and the first direction as a sub scanning direction, and light emitted from the light projecting unit. A method for controlling a scanning device having a light receiving unit that receives light reflected by an object and an integrating unit that integrates a plurality of light reception results by the light receiving unit of light reflected by the object, comprising: And a step of controlling the light projecting unit to switch between the first and second light projecting modes based on the contour of the object.

  According to an eleventh aspect of the present invention, the computer is configured such that the first direction is a main scanning direction and the second direction different from the first direction is a sub-scanning direction. A light projecting section having a light projecting mode, a second light projecting mode for projecting light in a variable direction with the second direction being the main scanning direction and the first direction being the sub scanning direction, and projecting from the light projecting section. A scanning device having a light receiving unit that receives light reflected by the object and a light integrating unit that integrates a plurality of light reception results by the light receiving unit of the light reflected by the object is provided on a contour of the object. It is characterized by functioning as a control unit for controlling the light emitting unit to switch between the first and second light emitting modes based on the light emitting mode.

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

FIG. 1 is a diagram illustrating an entire configuration of a distance measuring apparatus according to a first embodiment. FIG. 3 is a top view of a deflection element in the distance measuring apparatus according to the first embodiment. FIG. 3 is a diagram illustrating a scanning mode of the distance measuring apparatus according to the first embodiment. FIG. 3 is a diagram illustrating a scanning mode of the distance measuring apparatus according to the first embodiment. FIG. 4 is a diagram illustrating a mode switching table in the distance measuring apparatus according to the first embodiment. FIG. 5 is an explanatory diagram of an operation of a control unit in the distance measuring apparatus according to the first embodiment. FIG. 5 is an explanatory diagram of an operation of an integrating unit in the distance measuring apparatus according to the first embodiment. FIG. 9 is a top view of a deflection element in a distance measuring apparatus according to a modification of the first embodiment.

  Hereinafter, embodiments of the present invention will be described in detail.

  FIG. 1 is a schematic layout diagram of the distance measuring apparatus 10 according to the first embodiment. The distance measuring device 10 is a scanning type distance measuring device that performs optical scanning of a predetermined region (hereinafter, referred to as a scanning region) R0 and measures a distance to an object OB existing in the scanning region R0. FIG. 1 is a block diagram of the control unit 17. The distance measuring device 10 will be described with reference to FIG. FIG. 1 schematically shows the scanning region R0 and the object OB.

  First, the distance measuring apparatus 10 includes a light projecting unit 11 that projects light in a variable direction, and a light receiving unit 12 that receives light projected from the light projecting unit 11 and reflected by the object OB. In the present embodiment, the light projecting unit 11 directs the light source 13 for emitting the pulse light L1 and the scanning light R2 as scanning light (sometimes referred to as emission light) L2 while deflecting the pulse light L1 in a variable direction. And a deflection element 14 for projecting light. In the present embodiment, the light source 13 generates a laser beam having a peak wavelength in the infrared region as the pulse beam L1, and emits the laser beam intermittently.

  Further, in the present embodiment, the deflection element 14 performs a periodic operation to periodically change the deflection direction of the pulse light L1. The deflection element 14 emits the pulse light L1 while bending the traveling direction thereof, and periodically changes the bending direction. The deflection element 14 emits the deflected pulse light L1 as scanning light L2 toward the scanning region R0.

  In this embodiment, the deflecting element 14 has an oscillating mirror 14A that oscillates about two oscillating axes orthogonal to each other and reflects the pulse light L1. In this embodiment, the deflecting element 14 periodically changes the reflection direction of the pulse light L1 by oscillating the oscillating mirror 14A.

  The scanning region R0 is a virtual three-dimensional space where the scanning light L2 is projected from the deflection element 14. In FIG. 1, the outer edge of the scanning region R0 is schematically shown by a broken line.

  For example, the scanning region R0 is a width range and a height range in a direction corresponding to a variable range of the deflection direction of the pulsed light L1 corresponding to the swinging directions of the swinging mirror 14A around the two swinging axes. And a range in the distance direction in which the scanning light L2 can maintain a predetermined intensity (that is, a depth range), which can be defined as a conical space.

  In addition, when a virtual plane separated by a predetermined distance from the deflection element 14 in the scanning region R0 is set as the scanning surface R1, the scanning surface R1 can be defined as a two-dimensional region. The scanning light L2 is emitted toward the scanning region R0 so as to scan the scanning surface R1.

  Then, as shown in FIG. 1, when an object OB (that is, an object or a substance having reflectivity or scattering property with respect to the pulse light L1) exists in the scan region R0, the scan light L2 is reflected by the object OB. Or scattered. A part of the scanning light L2 reflected by the object OB travels along the same optical path as the scanning light L2 in the direction opposite to the scanning light L2 as reflected light L3, and returns to the deflecting element 14. come.

  The reflected light L3 is bent by the deflection element 14. After being bent by the deflecting element 14, the reflected light L3 travels in the substantially same optical path as the pulse light L1 in the direction opposite to the pulse light L1.

  The light receiving unit 12 includes a light receiving element that receives the reflected light L3, which is the scanning light L2 that has been reflected by the object OB and returned to the deflection element 14. The light receiving element includes at least one photoelectric conversion element that generates an electric signal according to the reflected light L3. The light receiving unit 12 generates an electric signal generated by the light receiving element as a result of receiving the reflected light L3.

  In this embodiment, on the optical path of the pulse light L1 between the light source 13 and the deflecting element 14, there is provided a light separating element BS for separating the reflected light L3 and guiding the reflected light L3 to the light receiving section 12. For example, the light separating element BS is a beam splitter that separates the pulse light L1 and the reflected light L3 by transmitting the pulse light L1 and reflecting the reflected light L3. In order to improve the light use efficiency, the light separating element BS is not provided, the light projecting unit 11 and the light receiving unit 12 are arranged substantially coaxially, and the incident position of the pulse light L1 on the oscillating mirror 14A is determined. The light projecting unit 11 and the light receiving unit 12 may be configured so that the position where the reflected light L3 is incident on the oscillating mirror 14A is slightly shifted.

  The distance measuring device 10 includes an imaging unit 16 that captures an image of the scanning region R0 or a part thereof (hereinafter, referred to as an imaging region) R2. The imaging unit 16 includes, for example, an infrared camera. In FIG. 1, the imaging region R2 is schematically shown by a broken line. The imaging unit 16 generates and outputs an image of the scanning region R0 at a predetermined interval, for example.

  In addition, it is preferable that the light projecting unit 11 and the imaging unit 16 are arranged, for example, close to each other, and face substantially the same direction. It is preferable that the scanning region R0 and the imaging region R2 are configured to be substantially the same region. That is, the position and outline of the object OB in the scanning plane R1 as viewed from the light projecting unit 11 and the position and outline of the object OB in the scanning plane R1 as viewed from the imaging unit 16 match as much as possible. preferable.

  Next, the distance measuring device 10 controls the operations of the light projecting unit 11, the light receiving unit 12, and the imaging unit 16, and measures the distance to the object OB based on the result of receiving the reflected light L3 by the light receiving unit 12. And a control unit 17 for performing the operation.

  The control unit 17 includes a contour detection unit 21 that detects a contour of the object OB. In the present embodiment, the contour detection unit 21 acquires an image of the scanning region R0 from the imaging unit 16, and detects the contour of the target object OB based on this image.

  The control unit 17 includes a light projection mode control unit 22 that controls the light projection mode of the light projection unit 11 based on the contour of the target object OB detected by the contour detection unit 21. In the present embodiment, the light projection mode control unit 22 includes a deflection mode control unit 22A that controls the deflection mode of the pulse light L1 in the deflection element 14, and in this embodiment, the swing mode of the swing mirror 14A.

  Specifically, the deflection mode control unit 22A generates drive signals DX and DY for driving the deflection element 14 to swing the swing mirror 14A around two swing axes. The deflection mode control unit 22A controls the swing mode of the swing mirror 14A by supplying the drive signals DX and DY to the deflection element 14 while controlling the mode.

  In the present embodiment, the light projection mode control unit 22 includes a pulse interval control unit 22B that controls an emission interval of the pulse light L1 by the light source 13. Specifically, the pulse interval control unit 22B generates a drive signal for controlling the emission mode of the pulse light L1 by driving the light source 13 to emit the pulse light L1 and switching between emission and non-emission of the pulse light L1. I do. The pulse interval control unit 22B supplies the drive signal to the light source 13.

  The control unit 17 integrates the respective light receiving results of the reflected light L3 corresponding to the predetermined plurality of pulse lights L1 among the plurality of pulse lights L1 (scanning light L2) emitted into the scanning region R0, and generates one signal. It has an integrating section 23 for receiving light. In the present embodiment, the integration unit 23 integrates the respective light reception results of the reflected light L3 corresponding to the scanning light L2 continuously emitted within a predetermined period along a predetermined direction, and performs one light reception. Generate as a result.

  The control unit 17 includes a distance measuring unit 24 that measures the distance to the object OB based on the result of receiving the reflected light L3 by the light receiving unit 12 and the result of integration by the integrating unit 23. In the present embodiment, the distance measuring unit 24 detects a pulse indicating the reflected light L3 from the electric signal generated by the light receiving unit 12 and the integrating unit 23. In addition, the distance measuring unit 24 calculates the distance to the object OB (or a partial surface area thereof) by a time-of-flight method based on a time difference between the timing of projecting the scanning light L2 and the timing of receiving the reflected light L3. Is measured. Further, the distance measuring unit 24 generates data (distance measurement data) indicating the measured distance information.

  In the present embodiment, the distance measuring unit 24 distinguishes the scanning region R0 (scanning surface R1) into a plurality of distance measuring points (scanning points or light projecting points), and measures each of the plurality of distance measuring points. An image (distance measurement image) of the scanning region R0 indicating the distance result (distance value) as a pixel is generated. In the present embodiment, the distance measuring unit 24 associates the distance measuring point with information indicating the displacement (oscillation position) of the oscillating mirror 14A of the deflecting element 14, and transmits the information to the target unit OB in the scanning area R0. Image data, which is a two-dimensional map indicating a distance, is generated.

  Further, the distance measuring unit 24 sets, for example, a change cycle of the projection direction of the scanning light L2, that is, a scanning cycle that is a cycle of scanning the scanning region R0 as a generation cycle of the ranging image, and performs one measurement for each scanning cycle. Generate a distance image. Further, the distance measurement unit 24 may include a display unit (not shown) that displays the generated plurality of distance measurement images as a moving image in chronological order.

  Note that, for example, in the case where the distance measuring device 10 periodically performs optical scanning on the scanning region R0, the scanning cycle means that an arbitrary displacement state of the oscillating mirror 14A of the deflecting element 14 is thereafter changed again. It means the period until returning to the state.

  FIG. 2 is a top view of the deflection element 14. In this embodiment, the deflecting element 14 is a MEMS (Micro Electro Mechanical System) mirror having an oscillating mirror 14A that oscillates around first and second oscillating axes AX and AY. First, in the present embodiment, the deflecting element 14 has a frame portion 31 and a swing portion 32 supported by the frame portion 31 and swinging around first and second swing axes AX and AY. .

  The swing portion 32 has a pair of torsion bars, one end of which is fixed to the inner peripheral portion of the frame portion 31, extends along the first swing axis AX, and has elasticity in the circumferential direction of the first swing axis AX. Has TX. The swing portion 32 has a swing frame SX connected to the other end of the pair of torsion bars TX so as to be able to swing around the first swing axis AX inside the pair of torsion bars TX. . The swing frame SX swings around the first swing axis AX when the pair of torsion bars TX is twisted along the circumferential direction of the first swing axis AX.

  In addition, the swing portion 32 has one end fixed to the inner peripheral portion of the swing frame SX, extends along the second swing axis AY, and has elasticity in the circumferential direction of the second swing axis AY. Has a torsion bar TY. The swing portion 32 has a swing plate SY connected to the other end of the pair of torsion bars TY so as to be able to swing around the second swing axis AY inside the pair of torsion bars TY. .

  The swing plate SY swings around the second swing axis AY by twisting the pair of torsion bars TY along the circumferential direction of the second swing axis AY. The swing plate SY swings around the first and second swing axes AX and AY when the swing frame SX swings around the first swing axis AX.

  The deflecting element 14 has a driving force generating unit 33 that generates oscillating power (that is, driving force of the deflecting element 14) that electromagnetically oscillates the oscillating unit 32. The driving force generation unit 33 includes: a permanent magnet MG disposed on the frame unit 31; a metal wiring (first coil) CX arranged on the swing frame SX along the outer periphery of the swing frame SX; Metal wiring (second coil) CY wired along the outer periphery of the swing plate SY on the moving plate SY.

  In the present embodiment, the permanent magnet MG is composed of a plurality of magnet pieces provided on the frame portion 31 outside the swing portion 32. In the present embodiment, four magnet pieces are respectively arranged along the swing axes AX and AY and at positions outside the pair of torsion bars TX and TY.

  The two magnet pieces facing each other in the direction along the swing axis AX are arranged such that portions having opposite polarities face each other. Similarly, the two magnet pieces facing each other in the direction along the swing axis AY are arranged such that portions having opposite polarities face each other.

  In the present embodiment, when a current flows through the metal wiring CX, a pair of torsion bars TX is caused to interact with the magnetic field generated by the two magnet pieces of the permanent magnet MG arranged in the direction along the swing axis AY. Twisting in the circumferential direction, the swing frame SX swings around the swing axis AX. Similarly, the pair of torsion bars TY is twisted by the electric field caused by the current flowing through the metal wiring CY and the magnetic field generated by the two magnet pieces of the permanent magnet MG arranged in the direction along the swing frame AX, and the swing plate SY swings. It swings around the axis of movement AY.

  Further, the metal wirings CX and CY are connected to the control unit 17. The light projection mode control unit 22 of the control unit 17 applies drive signals DX and DY to the metal wirings CX and CY. The driving force generation unit 33 generates an electromagnetic force for rocking the rocking unit 32 by applying the driving signals DX and DY.

  Note that the driving force generating unit 33 may be configured to electromagnetically generate the oscillating power of the oscillating mirror 14A. The driving force generation unit 33 may generate, for example, an oscillating force to oscillate the oscillating plate SY electrostatically, piezoelectrically, or thermally.

  The deflecting element 14 has a light reflecting film 34 formed on the rocking plate SY. The light reflection film 34 swings around the first and second swing axes AX and AY according to the swing of the swing plate SY. In the present embodiment, the light reflecting film 34 functions as a swing mirror 14A in the deflecting element 14.

  FIG. 3 and FIG. 4 are diagrams illustrating a light projection mode of the scanning light L2 included in the light projection unit 11. FIGS. 3 and 4 are diagrams showing the waveforms of the drive signals DX and DY and the trajectory of the scanning light L2 on the scanning surface R1 in the first and second light projection modes M1 and M2, respectively. The operation of the light projecting unit 11 (the light source 13 and the deflection element 14) will be described with reference to FIGS.

  In the present embodiment, in the first light projection mode M1, the light source 13 is configured to emit laser light as pulse light L1. In the first light projection mode M1, the deflecting element 14 causes the oscillating mirror 14A to oscillate while resonating around the first oscillating axis AX, and oscillates around the second oscillating axis AY. Is rocked in a non-resonant manner.

  The resonance frequency of the deflecting element 14 is determined by, for example, the mass of the deflecting element 14, the torsion spring constant of the torsion bars TX and TY, and the like. Further, for example, when the swing mirror 14A swings while resonating, the swing mirror 14A can swing with a shorter swing cycle and a larger swing amplitude than in the case of non-resonance.

  For example, the pulse interval control unit 22B of the control unit 17 supplies the light source 13 with a drive signal for generating a laser beam pulsed at a predetermined time interval. In addition, the deflection mode control unit 22A of the control unit 17 sends, to the metal wiring CX, a sine of a frequency corresponding to a resonance frequency around the first swing axis AX of the swing mirror 14A of the deflection element 14 as the drive signal DX. A wave signal DX1 is provided.

  On the other hand, the deflection mode control unit 22A of the control unit 17 controls the metal wiring CY as a drive signal DY with a sawtooth of a frequency different from the resonance frequency of the deflection element 14 around the second oscillation axis AY of the oscillation mirror 14A. The wave signal DY1 is supplied. As a result, the swing mirror 14A swings at a high speed (with a short swing cycle) around the first swing axis AX, and at a low speed (with a long swing around the second swing axis AY). Oscillating).

  Therefore, in the present embodiment, in the first light projection mode M1, the light projecting unit 11 moves the scanning area R0 with respect to the displacement direction of the swing mirror 14A of the deflection element 14 around the first swing axis AX. The first direction D1, which is the direction corresponding to the first scanning direction, is the main scanning direction, and the second direction D2, which is the direction corresponding to the displacement direction of the oscillating mirror 14A around the second oscillating axis AY in the deflecting element 14, is the sub-scanning direction. Perform raster scanning in the scanning direction. Accordingly, when the scanning surface R1 is viewed from the deflecting element 14, the scanning light L2 is emitted so as to draw a locus TR1 as shown in FIG. Note that the main scanning direction refers to, for example, a direction in which the scanning cycle is shorter (oscillates at a higher speed) than the sub-scanning direction.

  In the first light projection mode M1, the light projection unit 11 scans a substantially rectangular scanning surface R11 having the first direction D1 as a long side direction and the second direction D2 as a short side direction. The scanning light L2 is projected onto the region R0. Further, in the first light projection mode M1, the light projection unit 11 sequentially emits the pulse light L1 along the first direction D1, and repeats the light projection operation along the second direction D2. It has such a light emitting mode.

  Hereinafter, the first direction D1 may be referred to as the vertical direction or the y-axis direction of the scanning plane R1, and the second direction may be referred to as the horizontal direction or the x-axis direction of the scanning plane R1. Further, for example, when the distance measuring device 10 is arranged so that the second swing axis AY of the swing mirror 14A is in the direction along the vertical direction, the first direction D1 corresponds to the vertical direction, and the second direction D1 corresponds to the second direction. Direction D2 corresponds to the horizontal direction. In the following, the first light projection mode M1 may be referred to as a vertical raster scanning mode.

  Next, as shown in FIG. 4, in the second light projection mode M2, the light projection unit 11 performs raster scanning in which the second direction D2 is set as the main scanning direction and the first direction D1 is set as the sub scanning direction. The scanning light L2 is emitted in such a manner as to perform the above.

  Specifically, in the present embodiment, the light source 13 is configured to emit laser light as pulsed light L1 at predetermined time intervals also in the second light projection mode M2.

  On the other hand, in the second light projection mode M2, the deflecting element 14 causes the oscillating mirror 14A to oscillate while resonating around the second oscillating axis AY, and oscillates around the first oscillating axis AX. Is rocked in a non-resonant manner.

  For example, as shown in FIG. 4, the deflection mode control unit 22A of the control unit 17 transmits a drive signal DX to the metal wiring CX as a resonance signal about the first swing axis AX of the swing mirror 14A in the deflection element 14. A sawtooth signal DX2 having a frequency different from the frequency is supplied.

  In addition, the deflection mode control unit 22A of the control unit 17 supplies a sine of a frequency corresponding to a resonance frequency around the second oscillation axis AY of the oscillation mirror 14A of the deflection element 14 to the metal wiring CY as the drive signal DY. The wave signal DY2 is supplied. As a result, the swing mirror 14A swings slowly (with a long swing cycle) around the first swing axis AX, and at a high speed (with a short swing cycle) around the second swing axis AY. Oscillating).

  Therefore, in the present embodiment, in the second light projection mode M2, the light projection unit 11 sets the second direction D2 as the main scanning direction and the first direction D1 as the sub scanning direction with respect to the scanning region R0. Is performed. Accordingly, when the scanning surface R1 is viewed from the deflecting element 14, the scanning light L2 is emitted so as to draw a locus TR2 as shown in FIG.

  In the second light projection mode M2, the light projection unit 11 scans a substantially rectangular scanning surface R12 having the second direction D2 as a long side direction and the first direction D1 as a short side direction. The scanning light L2 is projected onto the region R0. In the second light projection mode M2, the light projection unit 11 sequentially emits the pulse light L1 along the second direction D2, and repeats the light projection operation along the first direction D1. It has such a light emitting mode. That is, the second light projection mode M2 is a horizontal raster scanning mode in which raster scanning is performed with the horizontal direction as the main scanning direction.

  As described above, in the present embodiment, the light projecting unit 11 swings the swing mirror 14A while resonating around the first swing axis AX, or swings the swing mirror 14A to the second swing. The first and second light projection modes M1 and M2 are switched by switching between swinging while resonating around the axis AY.

  In the above, the case where the second direction D2 is a direction perpendicular to the first direction D1 has been described. However, the second direction D2 may be any direction as long as it is different from the first direction D1. The light projection unit 11 is a first light projection mode M1 that variably emits light with the first direction D1 as a main scanning direction and a second direction D2 different from the first direction D1 as a sub scanning direction. And a second light projection mode M2 in which light is variably projected using the second direction D2 as a main scanning direction and the first direction D1 as a sub scanning direction.

  FIG. 5 is a diagram illustrating an example of a control table of the light emission mode PM in the light emission mode control unit 22. In the present embodiment, the light projection mode control unit 22 compares the component in the vertical direction D1 and the component in the horizontal direction D2 in the contour of the target object OB detected by the contour detection unit 21 to execute the vertical raster scanning mode. Switching between M1 and horizontal raster scanning mode M2.

  More specifically, in the present embodiment, the deflection mode control unit 22A of the light projection mode control unit 22 determines that the component in the vertical direction D1 in the contour of the object OB is larger than the component in the horizontal direction D2. The operation of the deflecting element 14 is controlled so that the scanning light L2 is emitted in the vertical raster scanning mode M1. On the other hand, when the component in the horizontal direction D2 in the contour of the target object OB is larger than the component in the vertical direction D1, the deflection mode control unit 22A deflects the scanning light L2 so as to project the scanning light L2 in the horizontal raster scanning mode M2. The operation of the element 14 is controlled. In other words, the light projection mode control unit 22 controls the light projection mode PM based on the directional component in the contour of the object OB.

  FIG. 6 is a diagram schematically illustrating operations of the contour detection unit 21 and the light projection mode control unit 22. In the present embodiment, the contour detection unit 21 acquires, from the imaging unit 16, an image IM0 obtained by imaging the scanning region R0, that is, the region where the scanning light L2 is projected. In the present embodiment, a case where a plurality of trees OB1 are included as the object OB in the image IM0 will be described.

  In the present embodiment, the contour detection unit 21 detects an edge of an image (hereinafter, sometimes referred to as a captured image) IM0 obtained by capturing the scanning region R0. In the present embodiment, the contour detection unit 21 generates, for example, an image (hereinafter, sometimes referred to as an edge extracted image) IM1 obtained by extracting the edge EG of the captured image IM0.

  Then, in the edge extraction image IM1, the light projection mode control unit 22 calculates the sum EG (D1) of the components of the edge EG in the vertical direction D1 and the sum EG (D2) of the components of the horizontal method D2. Then, the projection mode control unit 22 determines which of the sum EG (D1) of the components in the vertical direction D1 and the sum EG (D2) of the components in the horizontal direction D2 is larger.

  For example, in the captured image IM0 shown in FIG. 6, there are many stem components of the tree OB1, and the direction is close to the vertical direction D1. Therefore, in the present embodiment, the projection mode control unit 22 determines that the sum EG (D1) of the components in the vertical direction D1 at the edge EG of the captured image IM0 is larger than the sum EG (D2) of the components in the horizontal direction D2 ( It is determined that EG (D1)> EG (D2)).

  In this case, the deflection mode control unit 22A of the light projection mode control unit 22 controls the swing mode of the swing mirror 14A in the deflection element 14 so as to project the scanning light L2 in the vertical raster scanning mode M1. Therefore, the scanning light L2 is projected onto the scanning region R0 (scanning surface R1) along the locus TR1 of the raster scanning with the vertical direction D1 as the main scanning direction.

  In this way, the contour detection unit 21 detects the contour of the target object OB by detecting the edge of the captured image IM0. Then, the light projection mode control unit 22 controls the light projection unit 11 to switch between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 based on the edge EG of the captured image IM0. In the present embodiment, the light projection mode control unit 22 determines the sum EG (D1) of components in the vertical direction (first direction) D1 of the edge EG of the captured image IM0 and the width EG (D1) of the edge EG of the captured image IM0. Based on the sum EG (D2) of the components in the direction (second direction) D2, the light projecting unit 11 is controlled to switch between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2.

  FIG. 7 is a diagram schematically illustrating a specific example of the integration process performed by the integration unit 23. FIG. 7 is a diagram schematically showing scanning points S1 on the scanning surface R11 integrated in the vertical raster scanning mode M1 and scanning points S2 on the scanning surface R12 integrated in the horizontal raster scanning mode M2. .

  In this embodiment, the integrating unit 23 sets a plurality of continuous scanning points as one integrated scanning point GS, and integrates the light receiving results of the reflected light L3 at the series of scanning points to obtain one light receiving result. That is, in the present embodiment, the integrating unit 23 corresponds to the scanning light L2 continuously emitted along the main scanning direction from the light emitting unit 11 within a predetermined period (hereinafter, referred to as an integration period). The results of receiving the reflected light L3 from the object OB are integrated to form one received light result.

  Specifically, as shown in FIG. 7, for example, in the vertical raster scanning mode M1, the scanning light L2 is projected along a locus TR1 that performs raster scanning with the vertical direction D1 as the main scanning direction. .

  For example, the projection timings of four continuous scanning lights L2 in the vertical raster scanning mode M1 are timings t11, t12, t13, and t14, and the irradiation points on the scanning surface R11 of the scanning light L2 projected at these timings. Are scanning points S1 (t11), S1 (t12), S1 (t13), and S1 (t14), respectively. In this case, these four scanning points S1 (t11), S1 (t12), S1 (t13) and S1 (t14) are four scanning points arranged along the vertical direction D1 which is the main scanning direction.

  The integrating unit 23 sets the entirety of the four scanning points S1 (t11), S1 (t12), S1 (t13), and S1 (t14) as one scanning point (hereinafter, referred to as an integrated scanning point) GS1. Generate a result. Specifically, the integration unit 23 generates the light reception result (generated by the light receiving unit 12) of the reflected light L3 corresponding to these four scanning points S1 (t11), S1 (t12), S1 (t13), and S1 (t14). Of the received light signal) to generate an electric signal indicating one light reception result.

  In addition, in the present embodiment, the integration unit 23 performs the integration process periodically for each integration cycle. Therefore, in this embodiment, the scanning surface R11 is distinguished into a plurality of integrated scanning points GS1 each of which is elongated in the vertical direction D1. Then, the integration unit 23 generates an electric signal indicating the scanning result of the scanning surface R11 as a set of the reception results of the reflected light L3 for each of the plurality of integration scanning points GS1.

  On the other hand, in the horizontal raster scanning mode M2, the projection timings of the four continuous scanning lights L2 are defined as timings t21, t22, t23 and t24, and the irradiation points on the scanning surface R11 of the scanning light L2 projected at these timings. Are scanning points S2 (t21), S2 (t22), S2 (t23) and S2 (t24), respectively. In this case, these four scanning points S2 (t21), S2 (t22), S2 (t23) and S2 (t24) are four scanning points arranged along the horizontal direction D2 which is the main scanning direction.

  The integrating unit 23 sets one of the four scanning points S2 (t21), S2 (t22), S2 (t23) and S2 (t24) as one scanning point (hereinafter referred to as an integrated scanning point) GS2. Generate a result. Specifically, the integration unit 23 generates a light reception result (generated by the light receiving unit 12) of the reflected light L3 corresponding to these four scanning points S2 (t21), S2 (t22), S2 (t23), and S2 (t24). Of the received light signal) to generate an electric signal indicating one light reception result.

  In addition, in the present embodiment, the integration unit 23 performs the integration process periodically for each integration cycle. Therefore, in this embodiment, the scanning surface R12 is distinguished into a plurality of integrated scanning points GS2 each of which is elongated in the horizontal direction D2. Then, the integration unit 23 generates an electric signal indicating the scanning result of the scanning surface R12 as a set of the reception results of the reflected light L3 for each of the plurality of integration scanning points GS2.

  As described above, in the present embodiment, the integration unit 23 calculates the light reception result by the light receiving unit 12 of the reflected light L3 corresponding to the scanning light L2 continuously emitted from the light emitting unit 11 along the main scanning direction. The results are integrated to form one scan result. Further, as described above, the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 (that is, the main scanning direction in the present embodiment) are switched based on the contour of the object OB. When the distance measuring device 10 performs such integration processing, the distance measuring accuracy of the object OB is greatly improved.

  Specifically, in the present embodiment, when the component of the contour of the object OB in the vertical direction D1 is large, the light receiving results of the reflected light L3 corresponding to the plurality of scanning points S1 in the vertical direction D1 are integrated, and the target object OB is integrated. When the component in the horizontal direction D2 of the outline of the OB is large, the light receiving results of the reflected light L3 corresponding to the plurality of scanning points S2 in the horizontal direction D2 are integrated. Thus, there is a high possibility that the integration processing is performed on the scanning light L2 continuously projected along the contour (edge) of the target object OB. Therefore, the integration of a plurality of scanning points arranged so as to straddle the boundary between the object OB and another object, for example, the boundary between the object OB and the background behind it, is significantly suppressed.

  If an object OB having a contour having a large component in the vertical direction D1 is scanned with the horizontal direction D2 as a main scanning direction and the scanning results of a plurality of scanning points arranged along the horizontal direction D2 are integrated, There is a high possibility that a plurality of scanning points are selected so as to straddle the boundary between the object OB and another object and the integration process is performed. Then, if the distance measurement is performed based on the integration result of the scanning points straddling the boundary of the object, the result of the distance measurement will be inaccurate. Therefore, the scanning accuracy and the distance measuring accuracy of the scanning surface R1 decrease.

  On the other hand, in the present embodiment, the light projecting unit 11 uses the result of the edge detection of the image of the object OB by the contour detecting unit 21 and uses the direction in which the direction component of the edge EG is large as the main scanning direction. The scanning light L2 is emitted. In addition, the integrating unit 23 generates one scanning result for each integrated scanning point GS by using a plurality of scanning points along the main scanning direction as the integrated scanning points GS. Therefore, all of the plurality of scanning points constituting the integrated scanning point GS are irradiated with the scanning light L2 on the object OB (that is, one object) with high probability. Therefore, by performing the integration processing of the scanning points, it is possible to obtain a stable and accurate distance measurement result to the target object OB and a part of its surface area.

  Further, in this embodiment, in any of the projection modes PM, the integration process is performed on the reflected light L3 corresponding to a plurality of scanning points continuously arranged in the main scanning direction. The plurality of scanning points are scanning points corresponding to each of the scanning lights L2 (pulse light L1) continuously emitted in time.

  Here, the integrating unit 23 stores the received light results of the already received reflected light L3 until all the reflected lights L3 to be integrated are received, in order to integrate the received light results of the plurality of reflected lights L3. Has memory. However, in the present embodiment, the integration unit 23 stores only the reflected light L3 to be integrated by performing integration processing on a plurality of scanning points that are spatially and temporally continuous along the main scanning direction. There is no need to store the result of receiving the reflected light L3 outside the target. In other words, there is no need to simultaneously store the results of receiving the reflected light L3 for the plurality of integrated scanning points GS. Therefore, the integrating unit 23 can perform the integrating process with a memory having a minimum capacity.

  On the other hand, scanning points adjacent in a direction other than the main scanning direction, for example, scanning points that are continuous in the sub-scanning direction are discontinuous scanning points in time. Therefore, for example, in order to integrate the light receiving results of the reflected light L3 corresponding to the scanning points that are continuous in the sub-scanning direction, all the scanning points for reciprocating at least once in the scanning region R0 along the main scanning direction are required. It is necessary to store the received light result of the corresponding reflected light L3, that is, the received light result of the reflected light L3 not to be integrated. For this purpose, a memory having a much larger capacity than the memory required for the integration processing for the scanning points that are continuous in the main scanning direction is required.

  In this way, the integrating unit 23 integrates the light receiving results of the reflected light L3 corresponding to the plurality of scanning lights L2 projected along the main scanning direction to form one light receiving result, so that the memory with a small capacity can be used. Highly accurate scanning results and ranging results can be obtained.

  Note that, for example, the contour detection unit 21 may detect the contour of the target object OB based on a scan result of the past scan region R0. That is, the outline detection unit 21 is not limited to the case where the outline of the target object OB is detected using the captured image IM0 captured by the imaging unit 16. When the contour detection unit 21 detects the contour of the object OB based on the past scanning result, the distance measuring device 10 does not need to include the imaging unit 16.

  For example, as a specific method for detecting the contour of the target object OB based on the past scanning results, scanning points whose measured distance values are close to each other are grouped as a cluster, and the contour of the cluster is defined as the target object OB. May be considered as a contour.

  In the present embodiment, the light projecting unit 11 swings around the light source 13 and the first and second swing axes AX and AY different from each other, so that the pulse light L1 is shifted in the vertical direction D1 and the horizontal direction D2. The case where the swing mirror 14A that reflects light in a variable direction along the axis has been described. The light projecting unit 11 causes the swing mirror 14A to swing while resonating around the first swing axis AX, or while causing the swing mirror 14A to resonate around the second swing axis AY. The case where the first and second light projection modes M1 and M2 are switched by swinging or switching is described. However, the configuration of the light projecting unit 11 is not limited to this.

  For example, the light projecting unit 11 is configured to variably deflect the pulse light L1 by two oscillating mirrors so as to variably project the scanning light L2 in the vertical direction D1 and the horizontal direction D2. May be. FIG. 8 is a top view of the deflecting element 14M in the light projecting unit 11A of the distance measuring apparatus 10A according to the modification of the present embodiment. The distance measuring device 10A has the same configuration as the distance measuring device 10 except for the configuration of the light projecting unit 11A. The light projecting unit 11A has the same configuration as the light projecting unit 11 except for the configuration of the deflection element 14M.

  In this modification, the deflecting element 14M of the light projecting unit 11A includes a first mirror element 18 having a first oscillating mirror 18A oscillating around a first oscillating axis AX, and a second oscillating mirror 18A. A second mirror element 19 having a second oscillating mirror 19A that oscillates about the moving axis AY.

  The first mirror element 18 is provided on the frame portion 41, a swing portion 42 supported by the frame portion 41 so as to be able to swing around the first swing axis AX, and a And a reflection film 43 functioning as one oscillating mirror 18A. For example, the swing portion 42 is supported inside the frame portion 41, and is connected to a pair of torsion bars TX extending along the first swing axis AX. A swing plate SX1 swingable around the AX. The reflection film 43 is provided on the rocking plate SX1 and has the same configuration as the reflection film 34 of the deflection element 14.

  Further, the second mirror element 19 is provided on the frame portion 44, a swing portion 45 supported by the frame portion 44 so as to be able to swing around the second swing axis AY, and on the swing portion 45. And a reflection film 46 functioning as a second oscillating mirror 19A. For example, the swing unit 45 has a configuration corresponding to a case where only the pair of torsion bars TY and the swing plate SY of the deflection element 14 are provided inside the frame unit 44. The reflection film 46 is provided on the rocking plate SY, and has the same configuration as the reflection film 34 of the deflection element 14.

  Further, the control unit 17 supplies a drive signal DX to the first mirror element 18 and supplies a drive signal DY to the second mirror element 19. In the present modification, the light projecting unit 11A first reflects the pulse light L1 by the first oscillating mirror 18A, and then applies the pulse light L1 passing through the first oscillating mirror 18A to the second oscillating mirror. By being reflected by 19A, the pulse light L1 is variably projected along the vertical direction D1 and the horizontal direction D2.

  In this modification, the light projection mode PM of the light projection unit 11A is set to the vertical raster scanning mode M1 (FIG. 3) depending on which of the first swing mirror 18A and the second swing mirror 19A resonates. ) And the horizontal raster scanning mode M2 (FIG. 4).

  In other words, in this modification, the light projecting unit 11A swings the light source 13 and the first swing axis AX to emit light (pulse light L1) from the light source 13 in the vertical direction D1. The first oscillating mirror 18A that variably reflects along the first axis and the second oscillating axis AY that extends in a direction different from the axial direction of the first oscillating axis AX to oscillate the first oscillating mirror. And a second oscillating mirror 19A that variably reflects the emitted light that has passed through the oscillating mirror 18A in the horizontal direction D2.

  In addition, the light projecting unit 11A switches between swinging the first swinging mirror 18A while resonating it, or swinging the second swinging mirror 19A while causing it to resonate, thereby forming the vertical raster scanning mode M1. And the horizontal raster scanning mode M2.

  In the above description, the case where the light projecting unit 11 or 11A projects the scanning light L2 in a variable direction along the vertical direction D1 and the horizontal direction D2 by the oscillating mirror has been described. However, for example, instead of the first swing mirror 18A, the light projecting unit 11A may have a rotating mirror such as a polygon mirror, or may have a movable lens. Good.

  In other words, for example, the light projecting unit 11 variably emits light with the first direction D1 as a main scanning direction and a second direction D2 different from the first direction D1 as a sub-scanning direction. A first light projection mode M1 and a second light projection mode M2 in which light is variably projected using the second direction D2 as a main scanning direction and the first direction D1 as a sub scanning direction. Just do it.

  Further, in the present embodiment, a case where the integrating unit 23 integrates the light receiving results of the reflected light L3 corresponding to the scanning light L2 continuously projected along the main scanning direction to form one light receiving result. did. However, the configuration of the integration process of the reflected light L3 by the integration unit 23 is not limited to this. For example, in the case where the memory has a sufficient capacity, the integrating unit 23 determines, at the scanning points adjacent to each other along a direction other than the main scanning direction, for example, both the vertical direction D1 and the horizontal direction D2 according to the contour of the object OB. The results of receiving the reflected light L3 corresponding to the scanning points adjacent to each other may be integrated.

  Further, the distance measuring device 10 or 10A can be used in various environments. Above all, the distance measuring device 10 or 10A exerts a great effect when it has a movable configuration or when it is mounted on a moving body such as a vehicle. Specifically, in a situation where the area to be measured changes, it is required to perform accurate scanning and ranging in a short time. Therefore, for example, by continuously performing scanning while selecting a projection mode suitable for integration by performing contour detection, high-precision scanning and ranging can be continuously performed.

  For example, the contour detection unit 21 may detect the contour of the object OB for each scanning cycle. For example, every time the condition for switching the light projection mode PM changes, the light projection mode control unit 22 calculates, for example, the sum EG (D1) of the components in the vertical direction D1 of the edge EG of the captured image IM0 and the component in the horizontal direction D2. May be configured to switch the light projection mode PM every time the magnitude relationship with the sum EG (D2) changes. In addition, the integration unit 23 may perform the integration process with a fixed number of scanning points at fixed time intervals in the scanning cycle as the integration scanning point GS, or may select the scanning point as the integration scanning point GS based on the contour detection result. The number of scanning points to be performed or the number thereof may be adjusted.

  As described above, the distance measuring device 10 or 10A can provide a great effect when, for example, the light projecting unit 11 or 11A is mounted on a movable body or is configured to be movable. Even when the distance measuring device 10 is fixedly used, accurate scanning and distance measurement can be performed by adjusting the scanning mode and the integration process according to the contour of the object OB in the scanning region R0. It can be carried out.

  In the present embodiment, the light projecting unit 11 has a configuration in which the emission mode of the pulse light L1 by the light source 13 can be changed by, for example, the pulse interval 22B of the light projecting mode control unit 22. Thus, even in the same light projection mode PM, the light projection mode of the scanning light L2 in the scanning region R0 can be changed.

  For example, in the vertical raster scanning mode M1, the pulse interval control unit 22B divides the scanning surface R11 (scanning region R0) into a plurality of partial regions in the horizontal direction D2, which is the sub-scanning direction, and sets the target object OB for each partial region. The emission interval of the pulse light L1 by the light source 13 may be changed so that the emission interval of the scanning light L2 is changed for each of the partial regions based on the contour. Further, for example, the pulse interval control unit 22B may adjust the emission mode of the pulse light L1 by the light source 13 so that the scanning light L2 is not projected at all in any of the partial regions.

  When the scanning region R0 is divided into a plurality of partial regions in the sub-scanning direction and the scanning light L2 is not projected on any of the partial regions, the scanning result of the partial region of the scanning region R0 where the scanning light L2 is projected is obtained. At this point, scanning can be completed. Therefore, by switching the emission mode of the pulse light L1, the substantial scanning time in the scanning cycle is shortened.

  Further, the emission interval of the pulse light L1 may be adjusted so that the scanning light L2 is projected at a relatively high density with respect to the partial area where the scanning light L2 is projected. Therefore, for example, the light projection mode control unit 22 selects a partial area to be intensively scanned in the scanning area R0 based on the detection result of the contour of the target object OB, and has a high density only in the partial area. The light projection mode may be controlled so as to project the scanning light L2. Thus, for example, scanning and ranging can be performed on the object OB having a complicated shape or a large number of objects within a period shorter than the scanning cycle.

  The light projection mode control unit 22 does not need to control the emission interval of the pulse light L1. That is, the light projection mode control unit 22 only needs to include at least the deflection mode control unit 22A, and may be configured to switch at least between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2.

  As described above, in the present embodiment, the distance measuring apparatus 10 changes the direction of light by setting the first direction D1 as the main scanning direction and setting the second direction D2 different from the first direction D1 as the sub-scanning direction. A first light projection mode M1 for projecting light, a second light projection mode M2 for projecting light in a variable direction with the second direction D2 as a main scanning direction and the first direction D1 as a sub scanning direction, And a light receiving unit 12 that receives light emitted from the light emitting unit 11 and reflected by the object OB.

  In addition, the distance measuring device 10 includes a contour detection unit 21 that detects a contour of the object OB, and a light projecting unit 11 that switches between the first and second light projection modes M1 and M2 based on the contour of the object OB. , A integrating unit 23 that integrates a plurality of light receiving results of the reflected light from the object OB by the light receiving unit 12, and an object OB based on the light receiving result integrated by the integrating unit 23. And a distance measuring unit 24 for measuring the distance to the distance. Therefore, it is possible to provide the distance measuring apparatus 10 capable of accurately performing scanning and distance measurement for various objects OB.

  In the present embodiment, the case where the control unit 17 includes the distance measurement unit 24 has been described. However, the control unit 17 may not have the distance measuring unit 24. The same effect can be obtained even when the result of integration of the reflected light L3 by the integration unit 23 is used for purposes other than distance measurement, for example, detection of the object OB. Therefore, the distance measuring device 10 may function as a scanning device without the distance measuring unit 24. Even in this case, the integration result by the integration unit 23 can be used for various applications as a highly accurate scanning result.

  In other words, for example, the scanning device according to the present embodiment variably emits light with the first direction D1 as the main scanning direction and the second direction D2 different from the first direction D1 as the sub-scanning direction. A first light emitting mode M1 for emitting light, and a second light emitting mode M2 for emitting light in a variable direction with the second direction D2 as a main scanning direction and the first direction D1 as a sub-scanning direction. And a light receiving unit 12 that receives light emitted from the light projecting unit 11 and reflected by the object OB.

  Further, the scanning device according to the present embodiment is configured such that the contour detection unit 21 detects the contour of the object OB, and the first and second light projection modes M1 and M2 are switched based on the contour of the object OB. A light projection mode control unit 22 that controls the light unit 11 and a plurality of light reception results by the light reception unit 12 of reflected light from the object OB corresponding to the plurality of lights projected from the light projection unit 11 are integrated to obtain 1 And an accumulator 23 for two light reception results. Therefore, it is possible to provide a scanning device that can accurately scan various objects OB.

  Further, the present invention can be implemented as a control method of a scanning device by controlling the light projecting unit 11 and the light receiving unit 12 like the control unit 17, for example. For example, in the control method of the scanning device according to the present embodiment, the light is variably projected using the first direction D1 as the main scanning direction and the second direction D2 different from the first direction D1 as the sub-scanning direction. A first light projecting mode M1 and a second light projecting mode M2 in which light is variably projected with the second direction D2 as a main scanning direction and the first direction D1 as a sub-scanning direction. 11, a light receiving unit 12 for receiving light projected from the light projecting unit 11 and reflected by the object OB, and an integrating unit for integrating a plurality of light receiving results by the light receiving unit 12 of light reflected by the object OB 23. A method for controlling a scanning device comprising: detecting a contour of an object OB; and switching between the first and second light projection modes M1 and M2 based on the contour of the object OB. Controlling the light emitting unit 11; To. Thus, it is possible to provide a control method of a scanning device that can accurately scan various objects OB.

  Further, the present invention can be implemented, for example, as a program of the operation of the control unit 17. For example, the program according to the present embodiment causes the computer to emit light in a variable direction with the first direction D1 as the main scanning direction and the second direction D2 different from the first direction D1 as the sub-scanning direction. A light projection unit 11 having a first light projection mode M1 and a second light projection mode M2 in which light is variably projected using the first direction D1 as a sub-scanning direction and the second direction D2 as a main scanning direction. A light receiving unit 12 for receiving light emitted from the light projecting unit 11 and reflected by the object OB; and an integrating unit 23 for integrating a plurality of light receiving results by the light receiving unit 12 of light reflected by the object OB. The scanning device having the functions described above functions as the control unit 17 that controls the light projection unit 11 to switch between the first and second light projection modes M1 and M2 based on the contour of the object OB.

  Further, the program may be recorded on a recording medium. Therefore, it is possible to provide a control program for a scanning device capable of accurately scanning various objects OB and a recording medium on which the control program is recorded.

10, 10A Distance measuring device 11, 11A Light emitting unit 12 Light receiving unit 21 Contour detecting unit 22 Light emitting mode control unit

Claims (12)

A first light projection mode in which light is variably projected in a first direction as a main scanning direction and a second direction different from the first direction as a sub-scanning direction; A light projection unit having a second light projection mode in which light is variably projected in a scanning direction and the first direction is a sub-scanning direction;
A light receiving unit that receives light that is projected from the light emitting unit and reflected by the object,
A contour detection unit that detects a contour of the object,
A light-projection mode control unit that controls the light-projection unit to switch between the first and second light-projection modes based on the contour of the object;
A multiplying unit for multiplying a plurality of light reception results of the light reflected by the object by the light receiving unit. The contour detection unit detects the contour of the object by performing edge detection of an image of an area in which light is projected from the light projection unit,
2. The light emitting mode control unit according to claim 1, wherein the light emitting mode control unit controls the light emitting unit to switch between the first and second light emitting modes based on a detection result of an edge of the image. Scanning device.   The light projection mode control unit is configured to control the first and second components based on a sum of components of the edge of the image in the first direction and a sum of components of the edge of the image in the second direction. The scanning device according to claim 2, wherein the light emitting unit is controlled so as to switch between the two light emitting modes.   The integrating section integrates the light receiving results of the reflected light from the object corresponding to the light continuously emitted along the main scanning direction from the light emitting section within a predetermined period, and performs one light receiving operation. The scanning device according to claim 1, wherein a result is obtained. The light projecting unit oscillates around the first and second swing axes different from each other with respect to the light source, so that the light emitted from the light source is variably reflected in the first and second directions. An oscillating mirror,
The light projecting unit swings while swinging the swing mirror around the first swing axis, or swings while swinging the swing mirror around the second swing axis. The scanning apparatus according to any one of claims 1 to 4, wherein the first and second light projection modes are switched by switching between the first and second light projection modes. A light source, a first swinging mirror that swings around a first swinging axis, and reflects light emitted from the light source in a directionally variable manner along a first direction; By oscillating around a second oscillating axis extending in a direction different from the axial direction of the first oscillating axis, the emitted light passing through the first oscillating mirror is moved along the second direction. A second oscillating mirror that reflects the light in a variable direction.
The light projecting unit switches between the first and second oscillating mirrors to oscillate while resonating, or the second oscillating mirror to oscillate while resonating, whereby the first and second oscillating mirrors are oscillated. 5. The scanning device according to claim 1, wherein the light emitting mode is switched.   The scanning device according to claim 5, wherein the light projecting unit changes a light emission mode of the light source based on a detection result of the contour of the object by the contour detecting unit.   The scanning device according to claim 1, wherein the light projecting unit is mounted on a movable body or configured to be movable. A scanning device according to any one of claims 1 to 8,
A distance measuring unit for measuring a distance to the object based on a light receiving result integrated by the integrating unit. A first light projection mode in which light is variably projected in a first direction as a main scanning direction and a second direction different from the first direction as a sub-scanning direction, and the second direction is main scanning. A light projecting unit having a second light projecting mode for projecting light in a direction variable with the first direction as a sub-scanning direction, and light projected from the light projecting unit and reflected by an object A light receiving unit that receives light, and an integrating unit that integrates a plurality of light receiving results of the light reflected by the object by the light receiving unit, comprising:
Detecting the contour of the object;
Controlling the light projecting unit to switch between the first and second light projecting modes based on the contour of the object. Computer
A first light projection mode in which light is variably projected in a first direction as a main scanning direction and a second direction different from the first direction as a sub-scanning direction, and the second direction is main scanning. A light projecting unit having a second light projecting mode for projecting light in a direction variable with the first direction as a sub-scanning direction, and light projected from the light projecting unit and reflected by an object A scanning device having a light receiving unit that receives light and an integrating unit that integrates a plurality of light reception results of the light reflected by the object by the light receiving unit,
A program that functions as a control unit that controls the light emitting unit to switch between the first and second light emitting modes based on an outline of the object.   A recording medium on which the program according to claim 11 is recorded.

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