JP2020085538A - Electromagnetic wave detector and information acquisition system - Google Patents

Abstract

To reduce the effects of an electromagnetic wave radiated from the outside of a desired detection range while reducing a difference in coordinate system.SOLUTION: An electromagnetic wave detector 10 comprises a first image-forming unit 15, a separation unit 23, a first detection unit 19, and a cutoff unit 24. The first image-forming unit 15 forms an incident electromagnetic wave into an image. The separation unit 23 separates an electromagnetic wave proceeding from the first image-forming unit 15 into a first direction d1 and a second direction d2. The first detection unit 19 detects an electromagnetic wave having proceeded from the separation unit 23 in the first direction d1. The cutoff unit 25 cuts off the progression of an electromagnetic wave Wos outside of a field angle range to the first image-forming unit 15. The field angle is determined in accordance with the first image-forming unit 15 and the first detection unit 19.SELECTED DRAWING: Figure 2

Description

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

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

JP, 2011-220732, A

In such a device, it is useful to reduce the influence of electromagnetic waves emitted from outside the desired detection range while reducing the difference in the coordinate system in the detection result by each detector.

Therefore, an object of the present disclosure made in view of the above-described problems of the related art is to reduce the influence of an electromagnetic wave emitted from a desired detection range while reducing the difference in the coordinate system.

In order to solve the above-mentioned problems, the electromagnetic wave detection device according to the first aspect is
A first image forming unit for forming an image of incident electromagnetic waves;
A separation unit that separates electromagnetic waves traveling from the first imaging unit into a first direction and a second direction;
A first detection unit that detects an electromagnetic wave traveling from the separation unit in the first direction;
A blocking unit that blocks an electromagnetic wave outside the range of the angle of view determined according to the first imaging unit and the first detection unit from proceeding to the first imaging unit.

The information acquisition system according to the second aspect is
A first image forming unit that forms an image of an incident electromagnetic wave, a separation unit that separates an electromagnetic wave traveling from the first image forming unit into a first direction and a second direction, and the separation unit from the first unit. To the first imaging unit for detecting an electromagnetic wave traveling in the direction of, and the first imaging unit and the first imaging unit for the electromagnetic wave outside the range of the angle of view determined according to the first detection unit. An electromagnetic wave detection device having a blocking unit for blocking the progress of
A control unit that acquires information about the surroundings based on the detection result of the electromagnetic wave by the first detection unit.

Although the solution means of the present disclosure has been described as an apparatus and a system as described above, the present disclosure can also be realized as an aspect including these, and a method, a program substantially equivalent to these, It can be realized as a storage medium recording a program, and it should be understood that these are also included in the scope of the present disclosure.

According to the present disclosure configured as described above, the influence of electromagnetic waves emitted from outside the desired detection range is reduced while reducing the difference in the coordinate system.

It is a block diagram which shows schematic structure of the information acquisition system containing the electromagnetic wave detection apparatus which concerns on one Embodiment. It is a block diagram which shows schematic structure of the electromagnetic wave detection apparatus of FIG. It is a schematic block diagram of the electromagnetic wave detection apparatus which shows the modification of the interruption|blocking part of FIG. It is a schematic block diagram of the electromagnetic wave detection apparatus which shows another modification of the interruption|blocking part of FIG. It is an external appearance perspective view of the electromagnetic wave detection apparatus which shows another modification of the interruption|blocking part of FIG. 3 is a timing chart showing the timing of emission of electromagnetic waves and the timing of detection in order to explain the principle of distance measurement by a distance measurement sensor configured by the radiation unit, the second detection unit, and the control unit of FIG. 1. FIG. 3 is a configuration diagram showing a schematic configuration of an electromagnetic wave detection device in which a blocking unit is omitted from the electromagnetic wave detection device in FIG. 2 in order to explain effects of the electromagnetic wave detection device in FIG. 2. It is a schematic block diagram of the electromagnetic wave detection apparatus which shows the modification of the 1st advancing part of FIG.

Hereinafter, an embodiment of an electromagnetic wave detection device to which the present invention is applied will be described with reference to the drawings. An electromagnetic wave detection device having a primary imaging optical system that forms an image of an incident electromagnetic wave and a separation unit that separates the electromagnetic wave that has passed through the primary imaging optical system can detect the separated electromagnetic waves separately. In such an electromagnetic wave detection device, a path for allowing an electromagnetic wave within the range of the angle of view to travel from the separation unit to the detection unit is defined. However, an electromagnetic wave that enters the separation unit from outside the angle of view can travel to the detection unit while deviating from the path. As described above, the electromagnetic wave that travels to the detection unit by deviating from the predetermined path reduces the detection accuracy of the electromagnetic wave. Therefore, the electromagnetic wave detection device to which the present invention is applied provides a detection unit for electromagnetic waves outside the range of the angle of view by providing a blocking unit that blocks the progress of the electromagnetic waves outside the range of the angle of view to the primary imaging optical system. Progress is prevented. Therefore, the influence of electromagnetic waves emitted from outside the desired detection range can be reduced.

As shown in FIG. 1, an information acquisition system 11 including an electromagnetic wave detection device 10 according to an embodiment of the present disclosure includes an electromagnetic wave detection device 10, a radiation unit 12, a scanning unit 13, and a control unit 14. There is.

In the following figures, broken lines connecting the functional blocks show the flow of control signals or information to be communicated. The communication indicated by the broken line may be wired communication or wireless communication. The solid line protruding from each functional block indicates a beam-shaped electromagnetic wave.

As shown in FIG. 2, the electromagnetic wave detection device 10 includes a first imaging unit 15, a first advancing unit 16, a second advancing unit 17 including a separating unit 23, a second imaging unit 18, and a first imaging unit 18. The detection unit 19, the second detection unit 20, and the blocking unit 24 are included.

The first image forming unit 15 includes, for example, at least one of a lens and a mirror. In the electromagnetic wave detection device 10, the first imaging unit 15 advances the incident electromagnetic wave image of the object ob, which is the subject, to the first surface s1 of the second advancing unit 17, and the first surface s1. The image is formed at a position away from s1.

The 1st advancing part 16 is located in the 2nd direction d2 from the separating part 23 mentioned later. Further, the first traveling portion 16 may be provided on the path of the electromagnetic wave that enters the first surface s1 of the second traveling portion 17 and exits from the fourth surface s4. Further, the first traveling unit 16 may be provided at or near the primary imaging position of the object ob, which is separated from the first imaging unit 15 by a predetermined distance.

In the present embodiment, the first advancing portion 16 is provided at the primary image forming position. The first traveling unit 16 has a reference plane ss on which the electromagnetic waves that have passed through the first imaging unit 15 and the second traveling unit 17 are incident. The reference surface ss is composed of a plurality of pixels px arranged along a two-dimensional shape. The reference surface ss is a surface that causes an action such as reflection and transmission of electromagnetic waves in at least one of a first state and a second state described later. The first advancing unit 16 may form an image of the electromagnetic wave of the target ob by the first image forming unit 15 on the reference plane ss. The reference surface ss may be perpendicular to the traveling axis of the electromagnetic wave emitted from the fourth surface s4.

The 1st advancing part 16 advances the electromagnetic wave which injects into the reference plane ss in a specific direction. The first advancing unit 16 sets a pixel in a first state in which the pixel advances to a first selection direction ds1 as a specific direction and a second state in which the pixel advances to a second selection direction ds2 as another specific direction. It can be switched for each px. In the present embodiment, the first state includes a first reflection state in which the electromagnetic wave incident on the reference surface ss is reflected in the first selection direction ds1. Further, the second state includes a second reflection state in which the electromagnetic wave incident on the reference surface ss is reflected in the second selection direction ds2.

In the present embodiment, the first traveling unit 16 may more specifically include a reflection surface that reflects an electromagnetic wave for each pixel px. The first traveling unit 16 may switch the first reflection state and the second reflection state for each pixel px by changing the direction of the reflection surface for each pixel px.

In the present embodiment, the first progression unit 16 may include, for example, a DMD (Digital Micro mirror Device). The DMD can switch the reflecting surface for each pixel px to any one of +12° and −12° with respect to the reference surface ss by driving a minute reflecting surface forming the reference surface ss. .. The reference surface ss may be parallel to the plate surface of the substrate on which the minute reflecting surface of the DMD is placed.

The first advancing unit 16 may switch the first state and the second state for each pixel px based on the control of the control unit 14 described later. For example, the first advancing unit 16 may simultaneously switch some of the pixels px to the first state to cause the electromagnetic waves incident on the pixels px to proceed in the first selection direction ds1, and another part of By switching the pixel px to the second state, the electromagnetic wave incident on the pixel px can proceed in the second selection direction ds2.

The second advancing section 17 is provided between the first imaging section 15 and the first advancing section 16. The second advancing section 17 has a separating section 23. The second traveling unit 17 separates the electromagnetic wave traveling from the first imaging unit 15 into the first direction d1 and the second direction d2 in the separating unit 23. The second traveling unit 17 may emit the separated electromagnetic waves toward the first detection unit 19 and the first traveling unit 16. The second traveling unit 17 causes the first traveling unit 16 to emit the electromagnetic wave whose traveling direction is changed to the first selection direction ds1 toward the second detection unit 20. The detailed structure of the second advancing portion 17 in the present embodiment will be described below.

The 2nd advancing part 17 may have at least 1st surface s1, 2nd surface s2, 3rd surface s3, 4th surface s4, 5th surface s5, and 6th surface s6. ..

Electromagnetic waves traveling from the first image forming unit 15 are incident on the first surface s1. The first surface s1 causes the electromagnetic wave incident on the second traveling portion 17 to travel toward the second surface s2. The first surface s1 may be perpendicular to the main axis of the first image forming unit 15. The first surface s1 may transmit or refract an electromagnetic wave that is incident from the first direction d1 and travel toward the second surface s2.

As will be described later, the first surface s1 causes the electromagnetic wave traveling from the separating unit 23 in the first direction d1 to travel toward the first detecting unit 19. The first surface s1 may internally reflect the electromagnetic wave traveling from the separating section 23 in the first direction d1 to travel toward the first detecting section 19. The first surface s1 may totally internally reflect the electromagnetic wave traveling from the separating section 23 in the first direction d1 and cause the electromagnetic wave to travel toward the first detecting section 19. The incident angle of the electromagnetic wave traveling from the separating section 23 in the first direction d1 on the first surface s1 may be equal to or greater than the critical angle.

The second surface s2 may include the separating portion 23, as described below. On the second surface s2, the separation unit 23 separates the electromagnetic waves traveling from the first surface s1 and causes the electromagnetic waves to travel in the first direction d1 and the second direction d2. The incident angle of the electromagnetic wave traveling from the first imaging unit 15 on the second surface s2 may be less than the critical angle.

The third surface s3 emits the electromagnetic wave traveling from the first surface s1 toward the first detection unit 19 from the second traveling unit 17.

The fourth surface s4 emits the electromagnetic wave traveling from the second surface s2 in the second direction d2 to the reference surface ss of the first traveling portion 16. Further, the fourth surface s4 reflects the electromagnetic wave reflected from the reference surface ss of the first traveling portion 16 in the first selection direction ds1 and re-incident in the third direction d3. The fourth surface s4 may be perpendicular to the second direction d2. The fourth surface s4 may be parallel to the reference surface ss of the first traveling portion 16. The fourth surface s4 may transmit or refract the electromagnetic waves that are re-incident from the reference surface ss, and may travel in the third direction d3.

The fifth surface s5 causes the electromagnetic wave that has traveled from the fourth surface s4 in the third direction d3 to travel toward the second detection unit 20. The fifth surface s5 may internally reflect the electromagnetic wave that has traveled from the fourth surface s4 in the third direction d3 to travel toward the second detection unit 20. The fifth surface s5 may totally reflect the electromagnetic wave traveling from the fourth surface s4 in the third direction d3, and may propagate the electromagnetic wave to the sixth surface s6. The incident angle of the electromagnetic wave traveling from the fourth surface s4 in the third direction d3 to the fifth surface s5 may be equal to or greater than the critical angle.

The angle of incidence of the electromagnetic wave traveling from the fourth surface s4 in the third direction d3 on the fifth surface s5 is determined by the second imaging surface 15 and the second surface s2 of the electromagnetic wave traveling from the first surface s1. May be different from the angle of incidence on. The angle of incidence of the electromagnetic wave traveling from the fourth surface s4 in the third direction d3 on the fifth surface s5 is determined by the second imaging surface 15 and the second surface s2 of the electromagnetic wave traveling from the first surface s1. May be larger than the angle of incidence on. The fifth surface s5 may be parallel to the second surface s2.

The sixth surface s6 emits the electromagnetic wave traveling from the fifth surface s5 toward the second detection unit 20, from the second traveling unit 17.

Below, the 1st surface s1 to the 6th surface s6 in this embodiment are explained with the details of the composition of the 2nd advancing part 17.

In the present embodiment, the second traveling section 17 has a first prism 21, a second prism 22, and a separating section 23.

The first prism 21 may have the first surface s1, the second surface s2, and the third surface s3 as separate different surfaces. The first prism 21 includes, for example, a triangular prism, and the first surface s1, the second surface s2, and the third surface s3 may intersect with each other.

The first prism 21 may be arranged so that the optical axis of the first imaging unit 15 and the first surface s1 are perpendicular to each other. Further, in the first prism 21, the second surface s2 is located in the traveling direction of the electromagnetic wave that passes through or refracts the first surface s1 from the first imaging unit 15 and travels in the first prism 21. May be arranged as follows. Further, the first prism 21 may be arranged such that the first surface s1 is located in the first direction d1 in which the electromagnetic wave reflected on the second surface s2 travels. Further, in the first prism 21, the third surface s3 is located in the traveling direction in which the electromagnetic wave reflected from the first surface s1 travels in the first direction d1 from the second surface s2. It may be arranged.

The second prism 22 may have at least the fourth surface s4, the fifth surface s5, and the sixth surface s6 as separate different surfaces. The second prism 22 includes, for example, a rectangular prism, and the fourth surface s4 and the fifth surface s5 and the sixth surface s6 may intersect with each other.

The second prism 22 may be arranged such that the fifth surface s5 is parallel to and faces the second surface s2 of the first prism 21. The second prism 22 has a fourth surface in the traveling direction of an electromagnetic wave that passes through the second surface s2 of the first prism 21 and travels inside the second prism 22 via the fifth surface s5. It may be arranged so that s4 is located. The second prism 22 is arranged so that the sixth surface s6 is located in the traveling direction of the electromagnetic wave reflected at the reflection angle equal to the incident angle from the third direction d3 on the fifth surface s5. You may.

The separation unit 23 may be arranged between the first prism 21 and the second prism 22. Furthermore, the separating portion 23 is in contact with the second surface s2 of the first prism 21, and may include the second surface s2 along the boundary surface with the first prism 21. Further, the separating section 23 is in contact with the fifth surface s5 of the second prism 22 and may include the fifth surface s5 along the boundary surface with the second prism 22. The separating unit 23 includes, for example, a visible light reflective coating, a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, and a deflecting element which are attached to the second surface s2 and have.

As described above, the separating unit 23 separates the electromagnetic wave traveling from the first surface s1 and traveling in the first direction d1 and the second direction d2. The separation unit 23 separates the electromagnetic waves traveling from the first surface s1 and causes the electromagnetic waves to travel in the first direction d1 and the second direction d2. The separating unit 23 may cause an electromagnetic wave having a specific wavelength to propagate in the first direction d1 among the incident electromagnetic waves and cause an electromagnetic wave having another wavelength to propagate in the second direction d2. The separating unit 23 may reflect an electromagnetic wave having a specific wavelength among the incident electromagnetic waves to travel in the first direction d1 and transmit or refract an electromagnetic wave of another wavelength to travel in the second direction d2. The separating unit 23 may totally reflect an electromagnetic wave having a specific wavelength among the incident electromagnetic waves to travel in the first direction d1, and transmit or refract an electromagnetic wave having another wavelength to travel in the second direction d2. Since the separating unit 23 includes the second surface s2, the incident angle of the electromagnetic wave traveling from the first image forming unit 15 to the separating unit 23 is the second angle of the electromagnetic wave traveling from the first image forming unit 15. Can be equal to the angle of incidence on the surface s2.

The refractive index of the separating portion 23 may be smaller than that of the second prism 22. Therefore, the electromagnetic wave that travels inside the second prism 22 and enters at an incident angle equal to or greater than the critical angle undergoes total internal reflection on the fifth surface s5. Therefore, the fifth surface s5 internally reflects the electromagnetic wave traveling inside the second prism 22 with the traveling axis in the third direction d3. In the configuration in which the incident angle of the electromagnetic wave from the third direction d3 is equal to or greater than the critical angle, the fifth surface s5 totally reflects the electromagnetic wave that internally propagates in the third direction d3 and the second detection unit 20. Proceed toward.

The second image forming unit 18 is emitted from the second prism 22 on the traveling path of the electromagnetic wave traveling from the first traveling unit 16 in the first selection direction ds1, which is the sixth surface s6 in the present embodiment. It may be located on the traveling path of the electromagnetic wave. Further, the second image forming unit 18 may be provided so that the main surface thereof is parallel to the sixth surface s6.

The second image forming unit 18 includes, for example, at least one of a lens and a mirror. The second imaging unit 18 forms a primary image on the reference plane ss of the first traveling unit 16 and focuses the electromagnetic wave emitted from the sixth surface s6 via the second traveling unit 17, It may proceed to the second detector 20. Further, the second image forming unit 18 may cause the image of the target ob as the electromagnetic wave to proceed to the second detecting unit 20 and form an image.

The first detection unit 19 detects an electromagnetic wave traveling in the first direction d1 in the separation unit 23, in the present embodiment, an electromagnetic wave emitted from the third surface s3 via the first surface s1. In order to detect the electromagnetic wave emitted from the third surface s3, the first detection unit 19 is provided on the path of the electromagnetic wave emitted from the second traveling unit 17 on the third surface s3. Good. Further, the first detection unit 19 is provided at or near the image forming position of the target ob by the first image forming unit 15 via the second advancing unit 17 including the separating unit 23. Good. The first detection unit 19 may be arranged such that the detection surface is parallel to the third surface s3.

In the present embodiment, the first detection unit 19 includes a passive sensor. In the present embodiment, more specifically, the first detection unit 19 includes an element array. For example, the first detection unit 19 may include an image sensor such as an image sensor or an imaging array, may capture an image of an electromagnetic wave formed on the detection surface, and generate image information corresponding to the captured object ob. ..

In addition, in the present embodiment, the first detection unit 19 may more specifically capture an image of visible light. The first detection unit 19 may send the generated image information as a signal to the control unit 14.

The first detection unit 19 may capture an image other than visible light, such as an image of infrared rays, ultraviolet rays, and radio waves. Further, the first detection unit 19 may include a distance measuring sensor. In this configuration, the electromagnetic wave detection device 10 can acquire image-like distance information by the first detection unit 19. Further, the first detection unit 19 may include a distance measuring sensor, a thermo sensor, or the like. With this configuration, the electromagnetic wave detection device 10 can acquire image-like temperature information by the first detection unit 19.

The second detection unit 20 emits an electromagnetic wave traveling from the first traveling unit 16 in the first selection direction ds1, which is emitted from the sixth surface s6 in the present embodiment and passes through the second imaging unit 18. Detected electromagnetic waves. In order to detect the electromagnetic wave emitted from the sixth surface s6, the second detection unit 20 is provided on the path of the electromagnetic wave emitted from the second traveling unit 17 on the sixth surface s6. Good. The second detection unit 20 is arranged at or near the secondary image forming position of the second image forming unit 18 of the image of the electromagnetic wave formed on the reference plane ss of the first traveling unit 16. You can stay.

The second detection unit 20 may be arranged so that the detection surface is parallel to the sixth surface s6. The detection surface of the second detection unit 20 may be parallel to the main surface of the second imaging unit 18.

In the present embodiment, the second detection unit 20 may be an active sensor that detects a reflected wave from the target ob of the electromagnetic wave radiated from the radiation unit 12 toward the target ob. In the present embodiment, the second detection unit 20 detects the reflected wave from the target ob of the electromagnetic wave emitted toward the target ob by being emitted from the emission unit 12 and reflected by the scanning unit 13. You can do it. As will be described later, the electromagnetic wave emitted from the emission unit 12 may be at least one of infrared rays, visible light rays, ultraviolet rays, and radio waves, and the second detection unit 20 is different from or the same kind as the first detection unit 19. Sensor for detecting electromagnetic waves of different types or the same type.

In the present embodiment, the second detection unit 20 more specifically includes an element that constitutes a distance measuring sensor. For example, the second detection unit 20 includes a single element such as an APD (Avalanche PhotoDiode), a PD (PhotoDiode), a SPAD (Single Photon Avalanche Diode), a millimeter wave sensor, a submillimeter wave sensor, and a distance measurement image sensor. . The second detection unit 20 may include an element array such as an APD array, a PD array, an MPPC (Multi Photon Pixel Counter), a ranging imaging array, and a ranging image sensor.

In the present embodiment, the second detection unit 20 transmits detection information indicating that the reflected wave from the subject has been detected to the control unit 14 as a signal. The second detection unit 20 is, more specifically, an infrared sensor that detects electromagnetic waves in the infrared band.

Note that the second detection unit 20 need only be able to detect electromagnetic waves in the configuration of the single element that constitutes the distance measurement sensor described above, and need not be imaged on the detection surface. Therefore, the second detection unit 20 does not necessarily have to be provided at or near the secondary image forming position, which is the image forming position of the second image forming unit 18. That is, in this configuration, the second detection unit 20 is emitted from the sixth surface s6 of the second traveling unit 17 at a position where electromagnetic waves from all angles of view can be incident on the detection surface. It may be arranged anywhere on the path of the electromagnetic wave that travels later via the second imaging unit 18.

The blocking unit 24 is provided closer to the subject than the first image forming unit 15. The blocking unit 24 blocks the electromagnetic waves Wos outside the range of the angle of view determined according to the first imaging unit 15 and the first detection unit 19 from proceeding to the first imaging unit 15. That is, the blocking unit 24 blocks an electromagnetic wave from outside the range formed by the center line CL of the bundle of electromagnetic waves incident on the outer edge of the detection area of the first detection unit 19.

The blocking unit 24 may be located in a range where the electromagnetic wave Wos enters the separating unit 23 from outside the range of the angle of view. For example, as shown in FIG. 3, the blocking unit 24 may be located outside the range of the angle of view and at the position where the electromagnetic wave Wos entering the separating unit 23 enters the first image forming unit 15, The blocking unit 24 does not have to be located at a position where the electromagnetic wave Wos1 traveling outside the range of the separation unit 23 is incident on the first imaging unit 15.

Further, the blocking unit 24 may be a wall perpendicular to the central axis of the first image forming unit 15 and the optical axis in this embodiment. Alternatively, as shown in FIG. 4, the blocking portion 24 may have a wall shape along the side surface of the frustum. Further, as shown in FIG. 5, the blocking unit 24 may be a part of the housing 25 of the electromagnetic wave detection device 10.

In FIG. 1, the emitting unit 12 may emit, for example, at least one of infrared rays, visible rays, ultraviolet rays, and radio waves. In the present embodiment, the radiation unit 12 emits infrared rays. The radiating unit 12 may radiate the radiated electromagnetic wave toward the target ob, directly or indirectly via the scanning unit 13. In the present embodiment, the radiation unit 12 may indirectly radiate the radiated electromagnetic wave toward the target ob through the scanning unit 13.

In the present embodiment, the radiation unit 12 may emit a beam-shaped electromagnetic wave having a narrow width, for example, 0.5°. In addition, in the present embodiment, the radiation unit 12 may radiate the electromagnetic wave in a pulse shape. For example, the radiation unit 12 includes, for example, an LED (Light Emitting Diode) and an LD (Laser Diode). The radiating unit 12 may switch between radiating and stopping the electromagnetic wave under the control of the control unit 14 described later.

The scanning unit 13 has, for example, a reflection surface that reflects electromagnetic waves, and changes the radiation position of the electromagnetic waves with which the target ob is irradiated by reflecting the electromagnetic waves emitted from the radiation unit 12 while changing the direction. Good. That is, the scanning unit 13 may scan the target ob using the electromagnetic waves emitted from the emitting unit 12. Therefore, in the present embodiment, the second detection unit 20 may cooperate with the scanning unit 13 to form a scanning distance measuring sensor. The scanning unit 13 may scan the target ob in the one-dimensional direction or the two-dimensional direction. In the present embodiment, the scanning unit 13 scans the target ob in the two-dimensional direction.

The scanning unit 13 may be configured such that at least a part of the irradiation region of the electromagnetic waves emitted and reflected by the emission unit 12 is included in the electromagnetic wave detection range of the electromagnetic wave detection device 10. Therefore, at least a part of the electromagnetic waves with which the target ob is irradiated via the scanning unit 13 can be detected by the electromagnetic wave detection device 10.

In the present embodiment, the scanning unit 13 is configured such that at least a part of the irradiation area of the electromagnetic waves emitted from the emission unit 12 and reflected by the scanning unit 13 is included in the detection range of the second detection unit 20. It is configured. Therefore, in the present embodiment, at least a part of the electromagnetic waves emitted to the target ob via the scanning unit 13 can be detected by the second detection unit 20.

The scanning unit 13 includes, for example, a MEMS (Micro Electro Mechanical Systems) mirror, a polygon mirror, a galvano mirror, and the like. In the present embodiment, the scanning unit 13 includes a MEMS mirror.

The scanning unit 13 may change the direction in which electromagnetic waves are reflected under the control of the control unit 14 described below. Further, the scanning unit 13 may have an angle sensor such as an encoder, and may notify the control unit 14 of the angle detected by the angle sensor as the direction information that reflects electromagnetic waves. In such a configuration, the control unit 14 can calculate the radiation position based on the direction information acquired from the scanning unit 13. Further, the control unit 14 can calculate the irradiation position based on the drive signal input to the scanning unit 13 to change the direction in which the electromagnetic wave is reflected.

The control unit 14 includes one or more processors and memories. The processor may include at least one of a general-purpose processor that loads a specific program and executes a specific function, and a dedicated processor that is specialized for a specific process. The dedicated processor may include an application specific integrated circuit (ASIC; Application Specific Integrated Circuit). The processor may include a programmable logic device (PLD; Programmable Logic Device). The PLD may include an FPGA (Field-Programmable Gate Array). The control unit 14 may include at least one of SoC (System-on-a-Chip) and SiP (System In a Package) in which one or more processors cooperate.

The control unit 14 may acquire information about the surroundings of the electromagnetic wave detection device 10 based on the detection results of the electromagnetic waves detected by the first detection unit 19 and the second detection unit 20, respectively. The information about the surroundings is, for example, image information, distance information, and temperature information. In the present embodiment, the control unit 14 acquires the electromagnetic waves detected by the first detection unit 19 as an image as image information, as described above. In addition, in the present embodiment, the control unit 14 irradiates the radiating unit 12 by the ToF (Time-of-Flight) method based on the detection information detected by the second detection unit 20, as described below. The distance information of the radiation position to be obtained is acquired.

As shown in FIG. 6, the control unit 14 radiates a pulsed electromagnetic wave to the radiation unit 12 by inputting the electromagnetic wave radiation signal to the radiation unit 12 (see the “electromagnetic radiation signal” column). The radiating unit 12 radiates an electromagnetic wave based on the inputted electromagnetic wave radiating signal (see the "radiating unit radiation amount" column). The electromagnetic wave emitted by the radiation unit 12 and reflected by the scanning unit 13 and applied to an arbitrary radiation region is reflected in the radiation region. The control unit 14 switches at least some of the pixels px in the image formation region in the first traveling unit 16 by the first image formation unit 15 of the reflected wave of the radiation region to the first state, and the other pixels. Switch px to the second state. Then, when the second detection unit 20 detects the electromagnetic wave reflected in the radiation area (see the “electromagnetic wave detection amount” column), the second detection unit 20 notifies the control unit 14 of the detection information as described above.

The control unit 14 has, for example, a time measurement LSI (Large Scale Integrated circuit), and acquires detection information from the time T1 when the emission unit 12 emits an electromagnetic wave (see the "Detection Information Acquisition" column). The time ΔT to T2 is measured. The control unit 14 calculates the distance to the radiation position by multiplying the time ΔT by the speed of light and dividing by 2. The control unit 14 calculates the radiation position based on the direction information acquired from the scanning unit 13 or the drive signal output to the scanning unit 13 by itself, as described above. The control unit 14 creates image-like distance information by calculating the distance to each radiation position while changing the radiation position.

In the present embodiment, the information acquisition system 11 is configured to generate distance information by Direct ToF that radiates an electromagnetic wave and directly measures the time until it returns, as described above. However, the information acquisition system 11 is not limited to such a configuration. For example, the information acquisition system 11 radiates an electromagnetic wave at a constant cycle, and based on the phase difference between the radiated electromagnetic wave and the returned electromagnetic wave, the distance information is measured by Flash ToF that indirectly measures the time until the returned electromagnetic wave. May be created. In addition, the information acquisition system 11 may create the distance information by another ToF method, for example, Phased ToF.

The electromagnetic wave detection device 10 of the present exemplary embodiment having the above-described configuration includes the separation unit 23 that separates the electromagnetic wave traveling from the first imaging unit 15 into the first direction d1 and the second direction d2. With such a configuration, the electromagnetic wave detection device 10 can detect the electromagnetic waves traveling in each of the first direction d1 and the second direction d2 by using different detection units, and thus the difference in coordinate system between the different detection units. Can be reduced.

Further, the electromagnetic wave detection device 10 of the present exemplary embodiment allows the electromagnetic wave Wos outside the range of the angle of view determined according to the first imaging unit 15 and the first detection unit 19 to travel to the first imaging unit 15. A blocking unit 24 for blocking is provided. The electromagnetic wave detection device 10 is designed so that electromagnetic waves within the angle of view range are separated by the separation unit 23 and then travel on a predetermined path. For example, in the present embodiment, a part of the electromagnetic wave within the angle of view range is reflected by the separation unit 23, further reflected by the first surface s1, emitted from the third surface s3, and then emitted by the first detection unit. It is incident on 19. However, the electromagnetic wave Wos outside the range of the angle of view may enter the first detection unit 19 while deviating from the predetermined path. For example, in the electromagnetic wave detection device 10′ in which the blocking unit 24 is omitted from the electromagnetic wave detection device 10 of the present embodiment, as illustrated in FIG. 7, a part of the electromagnetic wave Wos outside the range of the angle of view is reflected by the separation unit 23′. Thus, the light may be emitted from the third surface s3 without passing through the first surface s1 and may be incident on the first detection unit 19′. Further, a part of the electromagnetic wave Wos outside the range of the angle of view is reflected by the separating portion 23′, is reflected by the first surface s1, is further reflected by the second surface s2, and is emitted from the third surface s3. Then, it can be incident on the first detector 19 ′. In response to such an event, the electromagnetic wave detection device 10 of the present embodiment has the above-described configuration, and since the electromagnetic wave Wos outside the range of the angle of view is blocked by the electromagnetic wave detection device 10, the electromagnetic wave detection device 10 emits radiation from outside the desired detection range. Reduce the effects of electromagnetic waves.

Further, in the information acquisition system 11 of the present embodiment, the control unit 14 acquires information about the surroundings of the electromagnetic wave detection device 10 based on the electromagnetic waves detected by the first detection unit 19 and the second detection unit 20, respectively. To do. With such a configuration, the information acquisition system 11 can provide useful information based on the detected electromagnetic waves.

Although the present invention has been described based on the drawings and the embodiments, it should be noted that those skilled in the art can easily make various variations and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention.

For example, in the present embodiment, the radiation unit 12, the scanning unit 13, and the control unit 14 configure the information acquisition system 11 together with the electromagnetic wave detection device 10, but the electromagnetic wave detection device 10 includes at least one of these. May be composed of

Further, in the present embodiment, the first traveling unit 16 can switch the traveling direction of the electromagnetic wave incident on the reference surface ss between two directions of the first selection direction ds1 and the second selection direction ds2. Instead of switching to any of the directions, it may be possible to switch to three or more directions.

Further, in the first traveling unit 16 of the present embodiment, the first state and the second state are the first reflection state in which the electromagnetic waves incident on the reference surface ss are reflected in the first selection direction ds1, respectively. , And the second reflection state in which the light is reflected in the second selection direction ds2, but another mode may be adopted.

For example, as shown in FIG. 8, the second state may be a transmissive state in which an electromagnetic wave incident on the reference surface ss is transmitted to proceed in the second selection direction ds2. More specifically, the first traveling unit 160 may include a shutter having a reflective surface that reflects electromagnetic waves in the first selection direction ds1 for each pixel px. In the first traveling unit 160 having such a configuration, the reflective state as the first state and the transmissive state as the second state can be switched for each pixel px by opening and closing the shutter for each pixel px.

As the first advancing unit 160 having such a configuration, for example, an advancing unit including a MEMS shutter in which a plurality of openable and closable shutters are arranged in an array is cited. Further, as the first advancing portion 160, an advancing portion including a liquid crystal shutter capable of switching between a reflective state of reflecting electromagnetic waves and a transmissive state of transmitting electromagnetic waves according to liquid crystal alignment can be mentioned. In the first traveling unit 160 having such a configuration, by switching the liquid crystal orientation for each pixel px, the reflective state as the first state and the transmissive state as the second state can be switched for each pixel px.

In addition, in the present embodiment, the information acquisition system 11 causes the scanning unit 13 to scan the electromagnetic waves in the form of a beam emitted from the emission unit 12, so that the second detection unit 20 cooperates with the scanning unit 13 to perform scanning. It has a configuration to function as an active sensor of. However, the information acquisition system 11 is not limited to such a configuration. For example, in a radiation unit 12 having a plurality of radiation sources capable of radiating radial electromagnetic waves, a scanning type active system is provided without a scanning unit 13 by a phased scan method in which electromagnetic radiation is emitted from each radiation source while shifting the radiation timing. Even with the configuration that functions as a sensor, the same effect as that of the present embodiment can be obtained. In addition, for example, the information acquisition system 11 does not include the scanning unit 13, and a configuration in which the radiation unit 12 emits a radial electromagnetic wave and acquires information without scanning can achieve the same effect as that of the present embodiment.

In addition, in the present embodiment, the information acquisition system 11 has a configuration in which the first detection unit 19 is a passive sensor and the second detection unit 20 is an active sensor. However, the information acquisition system 11 is not limited to such a configuration. For example, in the information acquisition system 11, the same effect as that of the present embodiment can be obtained regardless of whether the first detection unit 19 and the second detection unit 20 are both active sensors or passive sensors. In the configuration in which both the first detection unit 19 and the second detection unit 20 are active sensors, the emission units 12 that emit electromagnetic waves to the target ob may be different or the same. Furthermore, the different radiating parts 12 may radiate different or same kinds of electromagnetic waves, respectively.

10, 10′ Electromagnetic wave detection device 11 Information acquisition system 12 Radiating unit 13 Scanning unit 14 Control unit 15 First imaging unit 16, 160 First advancing unit 17 Second advancing unit 18 Second imaging unit 19, 19' 1st detection part 20 2nd detection part 21 1st prism 22 2nd prism 23,23' Separation part 24 Blocking part CL Of the bundle of the electromagnetic waves which injects into the outer edge of the detection area of the 1st detection part Center line d1, d2, d3 first direction, second direction, third direction ds1, ds2 first selection direction, second selection direction ob target px pixel s1, s2, s3, s4, s5, s6 1st surface, 2nd surface, 3rd surface, 4th surface, 5th surface, 6th surface ss Reference surface Wos Outside the range of angle of view Wos1 Outside the range of angle of view, Electromagnetic waves traveling outside the separation area

Claims (42)

A first image forming unit for forming an image of incident electromagnetic waves;
A separation unit that separates electromagnetic waves traveling from the first imaging unit into a first direction and a second direction;
A first detection unit that detects an electromagnetic wave traveling from the separation unit in the first direction;
An electromagnetic wave detecting device, comprising: a first image forming unit and a blocking unit that blocks an electromagnetic wave out of a range of an angle of view determined according to the first detecting unit from proceeding to the first image forming unit. The electromagnetic wave detection device according to claim 1,
The electromagnetic wave detection device, wherein the blocking unit is located in a range where electromagnetic waves are incident on the separating unit from outside the range of the angle of view. The electromagnetic wave detection device according to claim 1 or 2,
The electromagnetic wave detection device, wherein the blocking unit is a wall perpendicular to the central axis of the first imaging unit. The electromagnetic wave detection device according to claim 1 or 2,
The electromagnetic wave detection device, wherein the blocking unit has a wall shape along the side surface of the frustum. The electromagnetic wave detection device according to any one of claims 1 to 4,
The blocking unit is a part of the housing. The electromagnetic wave detection device according to any one of claims 1 to 5,
A first advancing unit that is located in the second direction from the separating unit, has a plurality of pixels arranged along a reference plane, and advances the electromagnetic waves incident on the reference plane in the first selection direction for each pixel. An electromagnetic wave detection device further comprising: The electromagnetic wave detection device according to claim 6,
The first traveling section reflects a first electromagnetic wave incident on the reference surface in the first selection direction and a second reflective state in which the electromagnetic wave is reflected in a direction different from the first selection direction. In addition, an electromagnetic wave detection device that switches each pixel. The electromagnetic wave detection device according to claim 7,
The first traveling unit includes a reflective surface that reflects electromagnetic waves in each of the pixels, and changes the orientation of the reflective surface for each of the pixels, thereby setting the first reflective state and the second reflective state. An electromagnetic wave detection device that switches between. The electromagnetic wave detection device according to claim 7 or 8,
The first traveling unit is an electromagnetic wave detection device including a digital micromirror device. The electromagnetic wave detection device according to claim 6,
The first traveling unit switches an electromagnetic wave incident on the reference surface between a transparent state in which the electromagnetic wave is transmitted and a reflective state in which the electromagnetic wave is reflected in the first selection direction. The electromagnetic wave detection device according to claim 10,
The electromagnetic wave detecting device, wherein the first traveling unit includes a shutter including a reflection surface that reflects electromagnetic waves for each pixel, and switches the shutter between the reflective state and the transmissive state by opening and closing the shutter for each pixel. The electromagnetic wave detection device according to claim 11,
The electromagnetic wave detecting device, wherein the first traveling unit includes a MEMS shutter in which the shutters are arranged in an array. The electromagnetic wave detection device according to claim 6,
The electromagnetic wave detecting device, wherein the first traveling unit includes a liquid crystal shutter capable of switching between a reflective state in which electromagnetic waves are reflected and a transmissive state in which the electromagnetic waves are transmitted for each pixel according to liquid crystal alignment. The electromagnetic wave detection device according to any one of claims 6 to 13,
The electromagnetic wave detection device further comprising a second detection unit that detects an electromagnetic wave traveling from the first traveling unit in the first selection direction. The electromagnetic wave detection device according to claim 14,
The electromagnetic wave detection device in which the first detection unit and the second detection unit include sensors of the same type or different types. The electromagnetic wave detection device according to claim 14 or 15,
An electromagnetic wave detection device in which the first detection unit and the second detection unit detect electromagnetic waves of the same type or different types. The electromagnetic wave detection device according to any one of claims 14 to 16,
The electromagnetic wave traveling from the first traveling portion to the first selection direction is located on the traveling path of the electromagnetic wave traveling from the first traveling portion to the second traveling direction. The electromagnetic wave detection device further including a second imaging unit that advances to the detection unit. The electromagnetic wave detection device according to claim 17,
An electromagnetic wave detecting device in which the second image forming unit forms an image of an electromagnetic wave on a detection surface of the second detecting unit. The electromagnetic wave detection device according to any one of claims 6 to 18,
The first image forming unit forms an electromagnetic wave image on the reference plane. The electromagnetic wave detection device according to any one of claims 1 to 18,
The first image forming unit forms an image of the electromagnetic wave on the detection surface of the first detecting unit via the separating unit. The electromagnetic wave detection device according to any one of claims 1 to 20,
The electromagnetic wave detecting device further comprising a prism having a first surface on which an electromagnetic wave traveling from the first image forming unit is incident and a second surface including the separating unit. The electromagnetic wave detection device according to claim 21,
An electromagnetic wave detection device in which the first surface transmits or refracts an electromagnetic wave traveling from the first image forming unit and travels toward the second surface. The electromagnetic wave detection device according to claim 21 or 22,
The first surface is an electromagnetic wave detection device that internally reflects an electromagnetic wave traveling from the separation unit in the first direction and travels toward the first detection unit. The electromagnetic wave detection device according to any one of claims 21 to 23,
The first surface is an electromagnetic wave detection device that totally reflects the electromagnetic wave traveling from the separation unit in the first direction and proceeds toward the first detection unit. The electromagnetic wave detection device according to any one of claims 21 to 24,
An electromagnetic wave detection device in which an incident angle of an electromagnetic wave traveling in the first direction on the first surface is a critical angle or more. The electromagnetic wave detection device according to any one of claims 1 to 25,
An electromagnetic wave detection device, wherein the separation unit causes an electromagnetic wave having a specific wavelength to propagate in the first direction and an electromagnetic wave having another wavelength to propagate in the second direction among the incident electromagnetic waves. The electromagnetic wave detection device according to any one of claims 1 to 26,
Of the incident electromagnetic waves, the separation unit reflects electromagnetic waves of a specific wavelength to travel in the first direction and transmits or refracts electromagnetic waves of other wavelengths to travel in the second direction. apparatus. The electromagnetic wave detection device according to any one of claims 1 to 27,
Of the incident electromagnetic waves, the separating unit totally reflects the electromagnetic waves of a specific wavelength to travel in the first direction, and transmits or refracts the electromagnetic waves of other wavelengths to travel in the second direction. Detection device. The electromagnetic wave detection device according to any one of claims 1 to 28,
An electromagnetic wave detection device in which an incident angle of an electromagnetic wave traveling from the first imaging unit to the separation unit is less than a critical angle. The electromagnetic wave detection device according to any one of claims 1 to 29,
The electromagnetic wave detection device in which the first detection unit includes at least one of a distance measurement sensor, an image sensor, and a thermosensor. The electromagnetic wave detection device according to any one of claims 1 to 30,
The first detection unit is an electromagnetic wave detection device that detects at least one of infrared rays, visible rays, ultraviolet rays, and radio waves. The electromagnetic wave detection device according to any one of claims 1 to 31,
The electromagnetic wave detection device, wherein the separation unit includes at least one of a visible light reflection coating, a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, and a deflection element. The electromagnetic wave detection device according to any one of claims 1 to 32,
The electromagnetic wave detection device, wherein the first detection unit includes an active sensor or a passive sensor that detects a reflected wave from the target of the electromagnetic wave emitted from the radiation unit toward the target. The electromagnetic wave detection device according to claim 33,
An electromagnetic wave detection device further comprising the radiation unit. The electromagnetic wave detection device according to claim 33 or 34,
The said radiation|emission part is an electromagnetic wave detection apparatus which radiate|emits any of infrared rays, visible rays, ultraviolet rays, and a radio wave. The electromagnetic wave detection device according to any one of claims 33 to 35,
An electromagnetic wave detection device in which the radiation unit scans an electromagnetic wave by a phased scan method. The electromagnetic wave detection device according to any one of claims 33 to 35,
The electromagnetic wave detection device further comprising a scanning unit that scans using electromagnetic waves emitted from the emission unit. The electromagnetic wave detection device according to claim 37,
The electromagnetic wave detecting device, wherein the scanning unit includes a reflecting surface that reflects electromagnetic waves, and scans the electromagnetic waves emitted from the emitting unit by reflecting the electromagnetic waves while changing the direction of the reflecting surfaces. The electromagnetic wave detection device according to claim 37 or 38,
The electromagnetic wave detecting device, wherein the scanning unit includes any one of a MEMS mirror, a polygon mirror, and a galvano mirror. The electromagnetic wave detection device according to any one of claims 1 to 39,
The electromagnetic wave detection device further comprising a control unit that acquires information about the surroundings based on the detection result of the electromagnetic wave by the first detection unit. The electromagnetic wave detection device according to claim 40,
The electromagnetic wave detection device, wherein the control unit acquires at least one of image information, distance information, and temperature information as the information about the surroundings. An electromagnetic wave detection device according to any one of claims 1 to 39,
An information acquisition system, comprising: a control unit that acquires information about the surroundings based on a detection result of an electromagnetic wave by the first detection unit.

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