JP2020165682A - Automatic mobile device - Google Patents

Abstract

To make it possible to reduce a size compared with a conventional configuration.SOLUTION: An automatic mobile device comprises a detection device 1. The detection device 1 includes: a light projection unit 102 for projecting light to a detection region; a lens 1032 for collecting light projected by the light projection unit 102 and then reflected in the detection region; an image sensor 1033 having a plurality of photodetectors for receiving the light collected by the lens 1032 for each of the photodetectors; a distance operation unit 104 for calculating a distance to an object 10 present in the detection region by a TOF method for each light reception position where the photodetector is located based on a light reception result by the image sensor 1033; and an object position operation unit for calculating a position of the object 10 based on the distance for each light reception position calculated by the distance operation unit 104.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic moving device including a detection device for detecting the position of an object existing in a detection area.

Conventionally, an area sensor (range sensor) that detects the position of an object existing in the detection area has been known (see, for example, Patent Document 1). This area sensor is mounted on an automatic moving device such as an AGV (Automated Guided Vehicle).

Patent No. 55988831

However, the area sensor has a mechanical rotation mechanism that rotates a mirror that reflects laser light. Therefore, in the automatic moving device on which the area sensor is mounted, the area on which the area sensor is mounted cannot be reduced, and the total length of the automatic moving device becomes long.
Further, when a small area sensor is used, the area sensor is often mounted from the upper surface by a mounting member in order to secure a detection area of the area sensor. Therefore, when replacing the area sensor mounted on the automatic moving device, the operator must first remove the housing of the automatic moving device, which is troublesome.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an automatic moving device that can be miniaturized with respect to a conventional configuration.

The automatic moving device according to the present invention includes a detection device, and the detection device collects a light projecting unit that projects light into a detection area and a light projecting light projected by the light projecting unit and reflected in the detection area. An image sensor that has a lens and a plurality of light receiving elements and receives the light collected by the lens for each light receiving element, and an object existing in the detection region by the TOF method based on the light receiving result by the image sensor. A distance calculation unit that calculates the distance of each light receiving position where the light receiving element is located, and an object position calculation unit that calculates the position of the object based on the distance for each light receiving position calculated by the distance calculation unit. It is characterized by that.

According to the present invention, since the configuration is as described above, the size can be reduced as compared with the conventional configuration.

It is a figure which shows an example of the state which the detection device which concerns on Embodiment 1 is mounted on the automatic movement device. It is a figure which shows the configuration example of the detection apparatus which concerns on Embodiment 1. FIG. 3A and 3B are diagrams showing a configuration example of the sensor head according to the first embodiment, FIG. 3A is a diagram showing an example of the internal structure of the sensor head, and FIG. 3B shows an example of the appearance of the sensor head. It is a figure. It is a flowchart which shows the operation example of the detection apparatus which concerns on Embodiment 1. FIG. It is a timing chart which shows the operation example of the light emitting part and the light receiving part in Embodiment 1. FIG. 6A and 6B are diagrams for explaining an operation example of the distance calculation unit and the position calculation unit in the first embodiment, and FIG. 6A is a diagram showing an example of the relationship between the light receiving position and the light receiving time. FIG. 6B is a diagram showing an example of the relationship between the light receiving position and the distance. 7A and 7B are diagrams for explaining an operation example of the distance calculation unit and the position calculation unit in the first embodiment, and FIG. 7A is a diagram showing an example of the relationship between the light receiving position and the light receiving time. FIG. 7B is a diagram showing an example of the relationship between the light receiving position and the distance. It is a figure which shows the specific example of the operation of the detection apparatus which concerns on Embodiment 1. FIG. It is a figure which shows an example of the light-receiving result by a light-receiving part and the calculation result by a distance calculation part in Embodiment 1. FIG. 10A and 10B are diagrams for explaining the width calculation by the detection device according to the second embodiment, FIG. 10A is a diagram showing an example of the positional relationship between the object and the light receiving portion, and FIG. 10B is a diagram showing an example of the positional relationship between the object and the light receiving portion. It is a figure which shows an example of the relationship between a position and a distance.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing an example of a state in which the detection device 1 according to the first embodiment is mounted on the automatic moving device 2.
As shown in FIG. 1, the automatic moving device 2 includes a detecting device 1 that does not have a mechanical rotation mechanism. Further, as shown in FIG. 1, the detection device 1 is attached from the front surface (light emitting / receiving surface) of the sensor head 112, which will be described later, by an attachment member 3 such as a screw. Further, the automatic moving device 2 has an opening 202 facing the installation surface 201 of the detecting device 1. A transparent member 203 such as glass is attached to the opening 202.

Next, a configuration example of the detection device 1 will be described with reference to FIG.
The detection device 1 detects an object (detection target) 10 existing in the detection region. This detection device 1 is used as an industrial (industrial) sensor. Further, in the first embodiment, it is assumed that the surface of the object 10 to be detected is parallel (including the meaning of substantially parallel) to the light receiving surface of the image sensor 1033 described later. As shown in FIG. 2, the detection device 1 includes a measurement control unit 101, a light projecting unit 102, a light receiving unit 103, a distance calculation unit 104, a position calculation unit 105, an MPU (Micro Processing Unit) 106, and an input / output unit 107. It includes a communication unit 108, a display unit 109, and an operation unit 110. Further, the detection device 1 is configured as a reflection type in which the light receiving unit 103 receives the light projected by the light emitting unit 102 and reflected in the detection region.

The light projecting unit 102 and the light receiving unit 103 form a measuring unit 111. Further, in FIG. 3, the measurement control unit 101, the light projecting unit 102, the light receiving unit 103, the distance calculation unit 104, the position calculation unit 105, and the MPU 106 are mounted on the sensor head 112. A filter 1121 is provided on the front surface of the sensor head 112 shown in FIG. Note that in FIG. 3, the measurement control unit 101, the distance calculation unit 104, and the position calculation unit 105 are not shown.
Further, the input / output unit 107, the communication unit 108, the display unit 109, and the operation unit 110 form an interface unit 113.

The measurement control unit 101 generates a control signal based on the control information input via the MPU 106. The control signal is a signal that controls the light projection timing of the light projection unit 102 according to the light reception operation of the image sensor 1033. The control signal generated by the measurement control unit 101 is output to the light projecting unit 102.

The light projecting unit 102 projects pulsed light onto the detection region in accordance with the control signal from the measurement control unit 101. The beam shape of the light projected by the light projecting unit 102 is preset. In FIG. 3, the light projecting unit 102 includes a light projecting board (not shown) 1021 which is a circuit board, a light emitting element 1022 that emits light, an aperture 1023 which is an aperture arranged in front of the light emitting element 1022, and light emitting light. It is composed of a diffuser 1024 that emits light from the element 1022 and diffuses the light that has passed through the aperture 1023. Further, the width of the light projected by the light projecting unit 102 and the projecting period are determined by the assumed distance to the object 10 or the moving speed. Further, the light projecting unit 102 may modulate the light to be projected.

The light receiving unit 103 receives the light projected by the light projecting unit 102 and reflected in the detection region. In FIG. 3, the light receiving unit 103 is composed of a light receiving board (not shown) 1031 which is a circuit board, a lens 1032, and an image sensor 1033.

The lens 1032 collects the light projected by the light projecting unit 102 and reflected in the detection region. This lens 1032 is a non-telecentric lens.

The image sensor 1033 has a plurality of light receiving elements, and receives the light collected by the lens 1032 for each of the light receiving elements. In the following, it is assumed that the image sensor 1033 is a linear type and a plurality of light receiving elements are arranged in a one-dimensional direction. The linear type image sensor 1033 can support the high-speed response required for industrial sensors. The information indicating the light receiving result by the image sensor 1033 is output to the distance calculation unit 104.
The image sensor 1033 uses, for example, the time when the light is received by each light receiving element (light receiving time) as the information indicating the light receiving result, based on the time when the light is projected by the light projecting unit 102 (light emitting time). ) May output information indicating the delay time. When the light projecting unit 102 modulates the light, the image sensor 1033 receives the light projected by the light projecting unit 102 and each light receiving element as information indicating the light receiving result. Information indicating the phase difference with light may be output.

The distance calculation unit 104 calculates the distance from the image sensor 1033 to the object 10 for each light receiving position where the light receiving element is located, by the TOF (Time Of Flight) method based on the light receiving result by the image sensor 1033. Information (distance information) indicating the distance for each light receiving position calculated by the distance calculation unit 104 is output to the position calculation unit 105 and the MPU 106.

The position calculation unit 105 calculates the position of the image of the object 10 imaged on the image sensor 1033 based on the distance for each light receiving position calculated by the distance calculation unit 104. Information (position information) indicating the position of the image of the object 10 calculated by the position calculation unit 105 is output to the MPU 106.

The MPU 106 calculates the position of the object 10 based on the distance for each light receiving position calculated by the distance calculation unit 104 and the position of the image of the object 10 calculated by the position calculation unit 105. At this time, the MPU 106 calculates the position of the object 10 based on the position of the image of the object 10 imaged on the image sensor 1033, the distance from the image sensor 1033 to the object 10, and the focal length of the lens 1032. The information indicating the position of the object 10 calculated by the MPU 106 is output to the interface unit 113.

Further, the MPU 106 calculates the width of the object 10 based on the distance for each light receiving position calculated by the distance calculation unit 104 and the position of the image of the object 10 calculated by the position calculation unit 105. At this time, the MPU 106 calculates the width of the object 10 based on the width of the image of the object 10 imaged on the image sensor 1033, the distance from the image sensor 1033 to the object 10, and the focal length of the lens 1032. The information indicating the width of the object 10 calculated by the MPU 106 is output to the interface unit 113. The calculation of the width of the object 10 by the MPU 106 is not an essential process and does not have to be performed.

The position calculation unit 105 and the MPU 106 were calculated by the "object position calculation unit that calculates the position of the object 10 based on the distance for each light receiving position calculated by the distance calculation unit 104" and the "distance calculation unit 104". An object width calculation unit that calculates the width of the object 10 based on the distance for each light receiving position is configured.

Further, the measurement control unit 101, the distance calculation unit 104, and the position calculation unit 105 are realized by a processing circuit such as a system LSI (Large Scale Integration), a CPU (Central Processing Unit) that executes a program stored in a memory, or the like. Will be done.

The input / output unit 107 inputs various settings to the detection device 1, generates control information, and outputs the control information to the MPU 106. This control information includes, for example, a trigger signal instructing the light projection by the light projecting unit 102, a stop signal instructing the stop of the laser light when the laser light is used in the light projecting unit 102, and the like. ..
Further, the input / output unit 107 outputs the information input from the MPU 106. At this time, the input / output unit 107 may perform analog output, for example, or may perform on output when the threshold value is determined and the threshold value is exceeded.

The communication unit 108 communicates with an external device via a network such as Ethernet (registered trademark), and transmits information input from, for example, the MPU 106 to the external device.
The display unit 109 displays various operations. In addition, the display unit 109 displays the information input from the MPU 106. For example, when displaying the position of the object 10, the display unit 109 sets the zero point on the optical axis of the light receiving unit 103 and numerically displays how far the object 10 is from the optical axis.
The operation unit 110 accepts user operations and, for example, switches the display of the display unit 109 or makes various settings for the detection device 1.

Next, an operation example of the detection device 1 according to the first embodiment will be described with reference to FIG. In the following, the case where the MPU 106 calculates the position and width of the object 10 will be shown.
In the operation example of the detection device 1, as shown in FIG. 4, first, the light projecting unit 102 projects pulsed light onto the detection region according to the control signal from the measurement control unit 101 (step ST1). The light projected by the light projecting unit 102 is reflected by the object 10 existing in the detection region and is incident on the image sensor 1033 via the lens 1032. When a background such as a wall exists in the detection region, the light projected by the light projecting unit 102 is also reflected by the background and is incident on the image sensor 1033 via the lens 1032.

Next, the image sensor 1033 receives the incident light for each light receiving element (step ST2). As shown in FIG. 5, the light (light receiving pulse) reception timing of each light receiving element (Pixel No. 0 to No. n) of the image sensor 1033 is the light projection of the light (light emitting pulse) by the light projecting unit 102. The timing is delayed according to the distance to the object 10. In the following, the image sensor 1033 shall output information indicating the light receiving time (delay time) of each light receiving element as the information indicating the light receiving result. With this image sensor 1033, for example, the relationship between the light receiving position and the light receiving time as shown in FIGS. 6A and 7A can be obtained.

Next, the distance calculation unit 104 calculates the distance to the object 10 for each light receiving position where the light receiving element is located by the TOF method based on the light receiving result by the image sensor 1033 (step ST3).

At this time, the distance calculation unit 104 first, based on the light reception result by the image sensor 1033, from the following equation (1), reaches the position (reflection point) where the light received by the light receiving element is reflected for each light receiving position. Calculate the distance. In the formula (1), d _i represents the distance to the reflection point of the light received by the i th light receiving element, c is indicates the speed of light, t _di is shows the light receiving time at the i-th light receiving element There is.
_{d i = c × t di /} 2 (1)

Here, the distance from the light receiving position obtained by the equation (1) to the reflection point is the distance in the direction inclined by θ _{i with} respect to the optical axis of the light receiving unit 103. Note that θ _i is a known angle formed by a line segment connecting the optical axis position on the lens 1032 and the i-th light receiving position and the optical axis. Therefore, the distance calculation unit 104 converts the calculated distance to the reflection point into a distance parallel to the optical axis of the light receiving unit 103 (including the meaning of substantially parallel) by using θ _i for each light receiving position.

Then, the distance calculation unit 104 obtains the distance to the object 10 from the distance to the reflection point obtained by the above conversion for each light receiving position. Here, the distance calculation unit 104 excludes the distance to the reflection point obtained by the above conversion, which corresponds to the distance from the image sensor 1033 to the background. Further, in the first embodiment, since the surface of the object 10 to be detected is parallel to the light receiving surface of the image sensor 1033, the distance to the object 10 is the same value for each light receiving position. The distance calculation unit 104 can obtain distance information as shown in FIGS. 6B and 7B, for example.

Next, the position calculation unit 105 calculates the position of the image of the object 10 imaged on the image sensor 1033 based on the distance information obtained by the distance calculation unit 104 (step ST4). For example, FIGS. 6B and 7B show position information when the position calculation unit 105 detects the position of the edge of the image.

Next, the MPU 106 calculates the position of the object 10 based on the distance information obtained by the distance calculation unit 104 and the position information obtained by the position calculation unit 105 (step ST5).

At this time, the MPU 106 calculates the position of the object 10 from the following equation (2). In the formula (2), x ₁ indicates the position of the object 10, and x ₂ indicates the position of the image of the object 10 (light receiving position). Further, d indicates the distance between the object 10 and the image sensor 1033, and f indicates the distance (focal length) between the lens 1032 and the image sensor 1033. Note that {(df) / f} in the equation (2) is the magnification of the optical system.
x ₁ = {(df) / f} x x ₂ (2)

Further, the MPU 106 calculates the width of the object 10 based on the distance information obtained by the distance calculation unit 104 and the position information obtained by the position calculation unit 105 (step ST6).

At this time, the MPU 106 calculates the width of the object 10 from the following equation (3). In equation (3), w ₁ indicates the width of the object 10, and w ₂ indicates the width of the image of the object 10. If the position calculation unit 105 does not detect the positions at both ends of the image, the MPU 106 does not perform the width calculation process.
w ₁ = {(df) / f} × w ₂ (3)

Here, the detection device 1 according to the first embodiment is configured as a reflection type in which the sensor (light emitting unit 102 and light receiving unit 103) and the detection region are arranged to face each other. As a result, in the detection device 1 according to the first embodiment, the sensor needs to be installed only on one side of the detection region, and the optical axis alignment between the light emitting unit 102 and the light receiving unit 103 becomes unnecessary, and the light is transmitted. Installation conditions are looser than when using a mold. Further, the detection device 1 according to the first embodiment has a wide detection range. Further, since the detection device 1 according to the first embodiment can calculate the distance between the image sensor 1033 and the object 10, the position and width of the object 10 can be calculated even by using a non-telecentric lens, as compared with the conventional configuration. It is possible to reduce the cost.

Next, a specific example of the operation of the detection device 1 according to the first embodiment will be described with reference to FIGS. 8 and 9. In the following, as shown in FIG. 8, the detection device 1 determines the distance from the image sensor 1033 to the object 10 and the position of the edge of the object 10 (P ₁ which is the distance from the optical axis to the edge of the object 10). It shall be calculated. Further, the pixel pitch (distance between light receiving elements) of the image sensor 1033 is 20 [μm], the number of pixels (number of light receiving elements) is 256 pixels, and the focal length of the lens 1032 is 20 [mm]. Further, the distance to the background present in the detection region from the image sensor 1033 _{(d b} shown in FIG. 8) is assumed to be 3 [m].
Under these conditions, when the light projecting unit 102 projects pulsed light toward the background, for example, as shown in FIG. 9, the light receiving time (delay time) is obtained for each light receiving element by the image sensor 1033, and the distance is obtained. The calculation unit 104 obtains the distance to the reflection point for each light receiving position. Since the distance from the image sensor 1033 to the background is 3 [m], the distance calculation unit 104 outputs 1.995 [m] as the distance from the image sensor 1033 to the object 10 from FIG.

Further, the position calculation unit 105 calculates the position of the edge of the image of the object 10 imaged on the image sensor 1033 from the calculation result by the distance calculation unit 104. In the case of FIGS. 8 and 9, the pixels corresponding to the optical axis positions are Pixel No. It is 128, and the pixel immediately before the pixel corresponding to the position of the edge of the object 10 is Pixel No. It is 200. Therefore, the position calculation unit 105 has a Pixel No. From 128 to Pixel No. From the distance up to 200, 0.00147 [m] is output as the position of the edge of the image of the object 10 (the distance from the optical axis to the edge of the image of the object 10).

Next, the MPU 106 calculates the position of the edge of the object 10 from the calculation results of the distance calculation unit 104 and the position calculation unit 105. In the case of FIG. 9, the magnification of the optical system is 98.75. Then, the MPU 106 sets the position of the edge of the object 10 (P ₁ which is the distance from the optical axis to the edge of the object 10) by multiplying the position of the edge of the image of the object 10 by the magnification of the optical system. Outputs 145 [m].

In the above, the case where a linear type image sensor 1033 in which a plurality of light receiving elements are arranged in a one-dimensional direction is used is shown. However, the present invention is not limited to this, and an image sensor 1033 in which a plurality of light receiving elements are arranged in a two-dimensional direction may be used. As a result, the detection device 1 can calculate not only the width of the object 10 existing in the detection region but also the height.

Here, the conventional area sensor has a mechanical rotation mechanism that rotates a mirror that reflects laser light. On the other hand, the detection device 1 according to the first embodiment does not use the rotation mechanism as described above. Therefore, the detection device 1 according to the first embodiment can be miniaturized and has high resistance to vibration and impact.
That is, the detection device 1 according to the first embodiment can make the thickness in the optical axis direction (A direction shown in FIG. 1) thinner than that of the conventional area sensor. Further, the detection device 1 according to the first embodiment can make the thickness in the direction perpendicular to the optical axis (the B direction shown in FIG. 1) thinner than that of the conventional area sensor.

As described above, according to the first embodiment, the automatic moving device 2 includes the detection device 1, and the detection device 1 is composed of a light projecting unit 102 that projects light into the detection region and a light projecting unit 102. An image sensor 1032 having a lens 1032 that collects light that is projected and reflected in the detection region, an image sensor 1033 that has a plurality of light receiving elements and receives the light collected by the lens 1032 for each light receiving element, and an image sensor. Based on the light receiving result by 1033, the distance calculation unit 104 that calculates the distance to the object 10 existing in the detection region for each light receiving position where the light receiving element is located and the light receiving light calculated by the distance calculation unit 104 by the TOF method. It is provided with an object position calculation unit that calculates the position of the object 10 based on the distance for each position. As a result, the automatic moving device 2 can be miniaturized with respect to the conventional configuration.

Further, since the detection device 1 according to the first embodiment does not have a mechanical rotation mechanism, it can be mounted by the mounting member 3 from the front surface of the sensor head 112. As a result, in the detection device 1 according to the first embodiment, the restriction when the user assembles the detection device 1 to the automatic movement device 2 is reduced. Further, in the detection device 1 according to the first embodiment, there is little influence on other devices when assembling to the automatic moving device 2, and the user opens the transparent member 203 even after the device is completed, for example. By removing it from the unit 202, the detection device 1 can be easily assembled by retrofitting.

Embodiment 2.
In the first embodiment, the case where the surface of the object 10 to be detected is parallel to the light receiving surface of the image sensor 1033 is shown. On the other hand, the second embodiment shows a configuration in which the width of the object 10 can be calculated even if the surface of the object 10 to be detected is oblique to the light receiving surface of the image sensor 1033.
The configuration example of the detection device 1 according to the second embodiment is the same as the configuration example of the detection device 1 according to the first embodiment shown in FIG.

The distance calculation unit 104 does not perform the conversion process using θ _i to a distance parallel to the optical axis.
Further, the MPU 106 has a width from one end of the image of the object 10 imaged on the image sensor 1033 to the optical axis position, a width from the other end of the image to the optical axis position, and reflection from the one end to one end of the object 10. The distance to the point, the distance from the other end to the reflection point which is the other end of the object 10, the distance from the one end to the optical axis position on the lens 1032, and the distance from the other end to the optical axis position on the lens 1032. The width of the object 10 is calculated based on the distance of.
Further, it is desirable that the lens 1032 is a wide-angle lens.

The MPU 106 in the second embodiment calculates the width of the object 10 from the following equations (4) to (6). As shown in FIG. 10, in equations (4) to (6), w ₀ indicates the width of the object 10. Further, L ₁ indicates the width from one end (corresponding to the first light receiving position) of the image of the object 10 coupled to the image sensor 1033 to the optical axis position, and L ₂ is the other end (second) of the image. The width from the light receiving position of) to the optical axis position is shown. Further, d _{1 m} indicates the distance from the first light receiving position to the reflection point (first edge) which is one end of the object 10, and d _{2 m} is the reflection which is the other end of the object 10 from the second light receiving position. It shows the distance to the point (second edge). Further, d ₁ indicates the distance between the first edge and the optical axis position on the lens 1032, and d ₂ indicates the distance between the second edge and the optical axis position on the lens 1032. There is. Further, d _1f indicates the distance between the optical axis position on the lens 1032 and the first light receiving position, and d _2f indicates the distance between the optical axis position on the lens 1032 and the second light receiving position. It shows. In addition, d _1f and d _2f are known. As a result, the MPU 106 can calculate the width of the object 10 even if the object 10 is oblique to the light receiving surface of the image sensor 1033.

In the present invention, within the scope of the invention, it is possible to freely combine the embodiments, modify any component of each embodiment, or omit any component in each embodiment. ..

1 Detection device 2 Automatic movement device 3 Mounting member 10 Object 101 Measurement control unit 102 Light emitting unit 103 Light receiving unit 104 Distance calculation unit 105 Position calculation unit 106 MPU
107 Input / output unit 108 Communication unit 109 Display unit 110 Operation unit 111 Measuring unit 112 Sensor head 113 Interface unit 201 Installation surface 202 Opening 203 Transparent member 1021 Light emitting board 1022 Light emitting element 1023 Aperture 1024 Diffuser 1031 Light receiving board 1032 Lens 1033 Image Sensor 1121 filter

Claims (8)

Equipped with a detection device
The detection device
A light projecting unit that projects light into the detection area,
A lens that collects the light that is projected by the light projecting unit and reflected in the detection area.
An image sensor having a plurality of light receiving elements and receiving light collected by the lens for each light receiving element.
A distance calculation unit that calculates the distance to an object existing in the detection region for each light receiving position where the light receiving element is located by the TOF method based on the light receiving result by the image sensor.
An automatic moving device including an object position calculation unit that calculates the position of the object based on the distance for each light receiving position calculated by the distance calculation unit. The object position calculation unit calculates the position of the object based on the position of the image of the object imaged on the image sensor, the distance from the image sensor to the object, and the focal length of the lens. The automatic moving device according to claim 1. The automatic moving device according to claim 1 or 2, further comprising an object width calculation unit that calculates the width of the object based on the distance for each light receiving position calculated by the distance calculation unit. The object width calculation unit calculates the width of the object based on the width of the image of the object imaged on the image sensor, the distance from the image sensor to the object, and the focal length of the lens. 3. The automatic moving device according to claim 3. The object width calculation unit is a width from one end of the image of the object imaged on the image sensor to the optical axis position, a width from the other end of the image to the optical axis position, and one end of the object from the one end. The distance to a certain reflection point, the distance from the other end to the reflection point which is the other end of the object, the distance from the one end to the optical axis position on the lens, and the optical axis from the other end to the lens. The automatic moving device according to claim 3, wherein the width of the object is calculated based on the distance to the position. The automatic moving device according to any one of claims 1 to 5, wherein the light receiving elements are arranged in a one-dimensional direction. The automatic moving device according to any one of claims 1 to 6, wherein the lens is a non-telecentric lens. The automatic moving device according to any one of claims 1 to 7, wherein the detection device is mounted by a mounting member from the light receiving / receiving surface side.

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