JP2021110626A - Ranging device and ranging method - Google Patents

Abstract

To enable long distance ranging by the ToF (Time of Flight) method.SOLUTION: Light emitted from a light source is focused according to a distance to a target object to form ranging light, and reflection of the ranging light reflected from the object is received to measure distance by the ToF method. The present disclosure is applicable to ranging devices.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a distance measuring device and a distance measuring method, and more particularly to a distance measuring device and a distance measuring method capable of realizing a distant distance measurement by a ToF (Time of Flight) method.

In recent years, a ToF type distance measuring sensor has been proposed (see Patent Document 1).

Special Table 2015-513825

However, in the distance measuring method described in Patent Document 1, since the distance measurement of the ToF method is realized by using a light source that diffuses uniformly, the light from the light source diffuses uniformly, so that the distance is obtained. The light source surface illuminance on the subject decreases in inverse proportion to the square of.

Therefore, it is not suitable for distance measurement over a relatively long distance. For example, when a light source that diffuses a 2W class laser diode at about 60 degrees horizontally and 45 degrees vertically is used, a distance of several meters can be measured. In addition, the distance measurement accuracy in the vicinity of the light source also deteriorates according to the distance from the light source.

Further, depending on the operating principle of distance measurement, the illuminance on the subject surface in the immediate vicinity of the light source becomes too strong, so that the amount of light received exceeds the amount of light that can be received by the sensor and reaches saturation, and distance measurement may not be possible.

The present disclosure has been made in view of such a situation, and in particular, realizes distant distance measurement in the ToF method.

The distance measuring device on one side of the present disclosure includes a light emitting unit that emits light and functions as a light source, a condensing unit that collects the light emitted by the light emitting unit to form distance measuring light, and the distance measuring unit. A light receiving unit that receives the reflected light reflected by the object to be distance-measured, a light emitting unit that controls the light emitting unit and the light receiving unit, and a light emitting timing at which the light is emitted by the light emitting unit, and the reflection of the light receiving unit. It is a distance measuring device including a control unit that measures a distance to the object based on a light receiving timing at which light is received.

The distance measuring method according to one aspect of the present disclosure is a method of measuring a distance of a distance measuring device including a light emitting unit, a condensing unit, a light receiving unit, and a control unit, in which the light emitting unit emits light to serve as a light source. The condensing unit functions to condense the emitted light to form distance measuring light, and the light receiving unit receives the reflected light reflected by the distance measuring light on the object to be distance measured, and the light receiving unit receives the reflected light. This is a distance measuring method including a step in which the control unit measures the distance to the object based on the timing at which the light is emitted and the timing at which the reflected light is received.

In one aspect of the present disclosure, light is emitted from a light source, the emitted light is condensed to form distance measuring light, and the reflected light reflected by the distance measuring light on an object to be measured is received. The light emission and the light reception are controlled, and the distance to the object is measured based on the light emission timing at which the light is emitted and the light reception timing at which the reflected light is received.

It is a figure explaining the structural example of the 1st Embodiment of the distance measuring apparatus of this disclosure. It is a flowchart explaining the distance measuring process by the distance measuring device of FIG. It is a figure explaining the structural example of the 2nd Embodiment of the distance measuring apparatus of this disclosure. It is a flowchart explaining the distance measuring process by the distance measuring device of FIG. It is a flowchart explaining the modification of the distance measurement processing by the distance measurement device of FIG. 3 (the first modification of the second embodiment). It is a figure explaining the modification of the structure in the 2nd Embodiment of the distance measuring apparatus of this disclosure (the 2nd modification of the 2nd Embodiment). It is a figure explaining the structural example of the 3rd Embodiment of the distance measuring apparatus of this disclosure. It is a flowchart explaining the distance measuring process by the distance measuring device of FIG. It is a figure explaining the 1st modification of the 3rd Embodiment of the distance measuring apparatus of this disclosure. It is a figure explaining the 2nd modification of the 3rd Embodiment of the distance measuring apparatus of this disclosure. It is a figure explaining the 3rd modification of the 3rd Embodiment of the distance measuring apparatus of this disclosure. It is a figure explaining the 4th modification of the 3rd Embodiment of the distance measuring apparatus of this disclosure. It is a figure explaining the 5th modification of the 3rd Embodiment of the distance measuring apparatus of this disclosure. It is a figure explaining the configuration example of the MEMS mirror of FIG. It is a figure explaining the configuration example of the general-purpose personal computer.

Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

Hereinafter, embodiments for carrying out the present disclosure (hereinafter referred to as embodiments) will be described. The explanation will be given in the following order.
1. 1. First Embodiment 2. Second embodiment 3. 1. First modification of the second embodiment 4. A second modification of the second embodiment 5. Third Embodiment 6. 7. First modification of the third embodiment. 2. Second modification of the third embodiment. A third modification of the third embodiment 9. A fourth modification of the third embodiment 10. A fifth modification of the third embodiment 11. Example to be executed by software

<< 1. First Embodiment >>
<Structure example of the ranging device of the present disclosure>
With reference to FIG. 1, a configuration example of the distance measuring device of the present disclosure capable of realizing distance measurement at a distance by a ToF (Time of Flight) method will be described.

The distance measuring device 11 in the upper part of FIG. 1 is composed of a control unit 31, an input unit 32, an output unit 33, a substrate 34, a light emitting unit 35, a focus lens 36, and a light receiving unit 37.

The control unit 31 controls the entire operation of the distance measuring device 11.

The control unit 31 controls the light emitting unit 35 based on the operation signal supplied from the input unit 32 to emit light for distance measurement (hereinafter referred to as distance measurement light) and collects the light via the focus lens 36. It shines, forms a range-finding light L1, and projects light onto an object 12 to be range-measured.

Further, the control unit 31 controls the light receiving unit 37 so that the distance measuring light L1 projected by the light emitting unit 35 emitting light receives the light reflected by the object 12.

Then, the control unit 31 reaches the object based on the light emission timing at which the distance measuring light is emitted by the light emitting unit 35 and the light receiving timing at which the reflected light reflected by the distance measuring light is received by the light receiving unit 37. Distance measurement is realized by calculating the distance from the round-trip time of the light to the object 12. That is, the control unit 31 realizes a ToF (Time of Flight) method of distance measurement based on the light emission timing and the light reception timing. If the control unit 31 can obtain the distance to the object 12 from the round-trip time of the light to the object 12 based on the light emission timing and the light-receiving timing, the calculation is not necessarily indispensable, and corresponds to, for example, the round-trip time. It is also possible to obtain the distance to be the calculation result in advance and store it in a table or the like, and read the distance corresponding to the round trip time from the table to obtain it.

The input unit 32 is composed of an operation button operated when a user instructs distance measurement, a keyboard, an interface for receiving operation input from various devices, and the like, and generates and controls an operation signal according to the operation content. Input to unit 31.

The output unit 33 is composed of a display and a speaker, and presents the distance measurement result supplied from the control unit 31 and information indicating whether or not the distance measurement is possible as audio or an image.

The light emitting unit 35 and the light receiving unit 37 are provided on the substrate 34, are controlled by the control unit 31, and operate by electric power supplied from a power source (not shown) or the like.

The light emitting unit 35 is composed of a laser diode or the like, is controlled by the control unit 31, and emits beam-shaped ranging light and irradiates it toward the focus lens 36 based on a signal supplied at a predetermined timing. ..

The focus lens 36 collects the projected light on the light emitting unit 35 to form a range-finding light having a thickness of a predetermined spot diameter at a predetermined distance, and is an object to be measured. Irradiate toward 12.

Further, the focus lens 36 has a detachable structure, and is replaced with a focus lens having a plurality of focal lengths capable of condensing the light projected by the light emitting unit 35 to a predetermined spot diameter at various distances. By doing so, it is possible to switch and use it.

Therefore, when the input unit 32 receives the input of the range (distance measuring range) in which the object 12 to be distance measured exists, the control unit 31 informs the output unit 33 of information on which focus lens 36 should be used. It may be presented.

For example, when the user inputs the distance D1 as the distance range information, the control unit 31 presents the information prompting the use of the focus lens 36 to the output unit 33, and when the distance D2 is input as the distance range information, the control unit 31 presents the information to the output unit 33. Information prompting the use of the focus lens 36'may be presented to the output unit 33.

The light receiving unit 37 is composed of, for example, a CMOS (Complementary Metal Oxide Semiconductor) image sensor or the like, and the ranging light projected from the light emitting unit 35 receives the reflected light reflected by the object 12, and a signal corresponding to the light reception. Is output to the control unit 31.

With such a configuration, the control unit 31 receives the light emission timing at which the light emitting unit 35 is controlled to emit the distance measuring light and the reflected light generated by the distance measuring light reflected by the object 12 by the light receiving unit 37. The round-trip time (Time of Flight) of light to the object 12 is measured based on the light receiving timing, and the distance to the object 12 based on the round-trip time is measured by calculation.

Then, the control unit 31 outputs and presents the distance measurement result when the distance to the object 12 can be measured to the output unit 33.

Further, for example, the object 12 does not exist within a predetermined distance, and the distance measurement light projected by the light emitting unit 35 emits light is diffused, so that the object 12 cannot receive the reflected light with sufficient intensity. When the distance cannot be measured, that is, when the light receiving timing cannot be detected, the control unit 31 presents information indicating that the distance cannot be measured.

(Detachment of focus lens)
In order for the light receiving unit 37 to appropriately receive the reflected light, it is sufficient that the ranging light has a surface irradiance higher than a predetermined value on the surface of the object 12 and can be received by a predetermined number of pixels. It is a condition that the light is sufficiently bright and can be received as reflected light of a sufficient size, which is generated by being irradiated as a spot of a sufficient size.

Therefore, as shown in the upper part of FIG. 1, the focus lens 36 can sufficiently receive the reflected light reflected by the light receiving unit 37 on the surface of the object 12 existing at the distance D1 from the distance measuring device 11, for example. The light emitted by the light emitting unit 35 is condensed so that the range-finding light L1 having a sufficiently bright surface irradiance and a sufficiently large spot diameter SP1 is formed.

With such a configuration, in the light receiving unit 37, the distance measuring light L1 can appropriately receive the reflected light reflected by the object 12, so that it is possible to realize an appropriate distance measuring.

However, in the case of the focus lens 36 in the upper stage of FIG. 1, when the distance measurement target is an object 12'at a distance D2 (> D1) farther than the distance D1, the distance measurement light L1 corresponds to the distance from the object 12. It diffuses and is reflected on the surface of the object 12'with a spot diameter of SP2, for example.

In this case, since the spot diameter SP2 becomes larger than the predetermined size, the surface irradiation illuminance of the spot diameter SP2 is reduced on the surface of the object 12', so that the light receiving portion 37 reflects with sufficient brightness. It cannot be received as light, and there is a risk that proper distance measurement will not be possible.

Therefore, in such a case, as shown in the lower part of FIG. 1, instead of the focus lens 36, the surface irradiance of the object 12'at the distance D2 has a sufficient brightness and a sufficient size. A focus lens 36'that can be focused as the ranging light L2 having a spot diameter of SP1 is provided, and the light emitted by the light emitting unit 35 is focused so as to suppress the spread.

By doing so, the focus lens 36'uses the light emitted by the light emitting unit 35 on the surface of the object 12' at a distance D2 with a surface irradiance of sufficient brightness and a sufficient magnitude. It is possible to collect light as distance measuring light L2 having a spot diameter of SP1.

As a result, the light receiving unit 37 can receive the reflected light of sufficient brightness from the object 12', so that appropriate distance measurement can be realized.

As the focus lens 36, in addition to the focus lenses 36 and 36'described with reference to FIG. 1, a focus lens having a spot diameter of SP1 that can obtain a surface irradiation irradiance of sufficient brightness at various distances is prepared. By switching as needed, it is possible to realize distance measurement at various distances.

The focus lens 36 may be composed of one lens or a plurality of lens groups.

Further, in FIG. 1, an example in which the focus lenses 36 and 36'form the distance measuring lights L1 and L2 having the spot diameter SP1 at the distances D1 and D2, respectively, has been described, but in reality, the distances D2 In the light receiving unit 37, the light receiving unit 37 looks smaller by the distance longer than the distance D1.

Therefore, it is necessary to consider the size of the spot diameter at the distance D2, which should be formed by the ranging light L2, but here, for the sake of simplicity, the light receiving unit 37 at any distance It is described that the spot diameter SP1 is the spot diameter that can be recognized as a sufficient size while obtaining sufficient surface irradiance.

Further, FIG. 1 describes an example in which when the spot diameter is SP1, a surface irradiation illuminance that can be sufficiently recognized by the light receiving unit 37 can be obtained and can be recognized as a sufficient size.

However, depending on the light intensity of the light emitting unit 35, the size of the light source, the light receiving sensitivity of the light receiving unit 37, and the like, the surface irradiance that can be sufficiently recognized by the light receiving unit 37 can be obtained and recognized as a sufficient size. Since the formed spot diameter changes, it is necessary to consider the light intensity of the light emitting unit 35, the size of the light source, the light receiving sensitivity of the light receiving unit 37, and the like for the spot diameter formed by the ranging light.

<Distance measurement processing by the distance measuring device shown in FIG. 1>
Next, the distance measuring process by the distance measuring device 11 of FIG. 1 will be described.

In step S11, the control unit 31 controls the output unit 33 to present information prompting the user to input the ranging range, and accepts the input.

That is, here, the user is urged to input a distance measuring range which is a range of the distance from the distance measuring device 11 to the object 12, and the user operates the input unit 32 until the distance measuring range is input. , The same process is repeated, and when the distance measuring range is input, the process proceeds to step S12.

In step S12, the control unit 31 presents information for designating the corresponding focus lens 36 and information for prompting the wearing of the focus lens 36 according to the distance measurement range input by the input unit 32 being operated.

That is, the control unit 31 has a detachable focus lens 36 and a distance measuring range having a surface irradiation illuminance that allows the distance measuring light to be sufficiently received by the light receiving unit 37 and a spot diameter having a sufficiently large size. I remember the correspondence.

Therefore, for example, in the case of the upper part of FIG. 1, when the distance measuring range corresponds to the distance D1, the control unit 31 sets the spot diameter of the distance measuring light to the spot diameter SP1 at the distance D1 of the upper part of FIG. Information that specifies the focus lens 36 that focuses on the light is presented.

Further, in the case of FIG. 1, when the distance measuring range corresponds to the distance D2, the control unit 31 focuses the spot diameter of the distance measuring light on the spot diameter SP1 at the distance D2 in the lower part of FIG. Information that specifies the lens 36'is presented.

Hereinafter, a spot diameter having a surface irradiation illuminance that allows distance measurement light to be irradiated on the surface of the object 12 and sufficiently received by the light receiving unit 37 and a sufficient size is also referred to as an appropriate spot diameter.

In step S13, the control unit 31 determines whether or not the focus lens 36 has been attached by the user by operating the input unit 32, and if it is not considered to be attached, the process returns to step S12.

That is, the processes of steps S12 and S13 are repeated until it is considered that the focus lens 36 is attached.

Then, in step S13, when the input unit 32 is operated and information indicating that the focus lens 36 is attached is input by the user, the process proceeds to step S14.

In step S14, the control unit 31 controls the light emitting unit 35 to emit the ranging light, and collects the distance measuring light through the focus lens 36 so as to have an appropriate spot diameter on the surface of the object 12. To form a range-finding light.

In step S15, the control unit 31 controls the light receiving unit 37 to receive the reflected light from the object 12 of the ranging light.

In step S16, the control unit 31 is based on the reciprocating time of the distance measuring light to the object 12 calculated from the light emission timing at which the light emitting unit 35 emits light and the light receiving timing at which the reflected light is received by the light receiving unit 37. The distance to the object 12 is measured.

In step S17, the control unit 31 determines whether or not the distance can be measured by the processing of steps S14 to S16. That is, the ranging light projected by the light emitted by the light emitting unit 35 is irradiated on the surface of the object 12 so as to have an appropriate spot diameter, and the reflected light generated thereby is received by the light receiving unit 37. , It is determined whether or not appropriate distance measurement is realized.

If it is determined that the distance can be measured appropriately in step S17, the process proceeds to step S18.

In step S18, the control unit 31 controls the output unit 33 to present information on the distance to the object 12, which is the distance measurement result.

In step S19, the control unit 31 controls the input unit 32 to determine whether or not the end of the distance measurement process is instructed, and if the end is not instructed, the process returns to step S14.

That is, by repeating the processes of steps S14 to S19 until the end is instructed, the distance measuring light is emitted and the reflected light from the object 12 is received, depending on the light emission timing and the light receiving timing. The process of measuring the distance to the object 12 and presenting the distance measurement result is repeated.

Then, in step S19, when the end is instructed, the distance measurement process ends.

On the other hand, in step S17, when it is considered that the distance measurement is not possible, that is, for example, the object 12 exists at a position farther than the distance measurement range, the distance measurement light is diffused, and an appropriate spot diameter is formed on the surface of the object 12. However, when the reflected light darker than the predetermined brightness is received by the light receiving unit 37 due to the decrease in the surface irradiance, the light receiving timing of the light receiving unit 37 is not properly detected, so that the distance measurement is appropriate. Is considered impossible.

Further, for example, the object 12 exists at a position sufficiently closer than the distance measuring range, and the reflected light on the surface of the distance measuring light object 12 is too bright, so that the level received by the light receiving unit 37 is saturated. As a result, distance measurement may not be possible even when the appropriate light reception timing cannot be detected.

In such a case, the process proceeds to step S20.

In step S20, the control unit 31 controls the output unit 33 to prevent distance measurement. Therefore, the control unit 31 presents information prompting confirmation as to whether or not the input distance measurement range is appropriate, and the process is performed in step S20. Return to S11.

In this case, the distance measurement range input by the user may not be appropriate, so the user is prompted to confirm whether the input distance measurement range is appropriate, and the input of a new distance measurement range is accepted. Subsequent processing is repeated.

Then, the processes of steps S11 to S17 and S20 are repeated until the distance can be measured, and whether or not the distance measurement range is appropriate is confirmed, and the focus lens 36 according to the distance measurement range input after the confirmation is obtained. Switch and repeat distance measurement.

Then, when the focus lens 36 is switched to an appropriate focus lens 36 and the distance measurement is realized, the process proceeds to step S18 and the distance measurement result is presented.

By the above processing, switching of the focus lens 36 is promoted according to the distance to the object 12, and by switching the focus lens 36 according to the distance measuring range, the light receiving unit 37 can receive light at various distances. Since the object 12 is irradiated with the ranging light having a spot diameter having an appropriate brightness, it is possible to appropriately realize the ranging to the object 12 at various distances.

In particular, for example, the distance to the object 12 is too long, and the spot formed by the ranging light on the surface of the object has a spot diameter larger than the appropriate spot diameter, and sufficient surface irradiation illuminance cannot be obtained. It is possible to prevent the distance from becoming impossible.

In the above, an example in which an input of a ranging range is accepted by a user and an appropriate type of the focus lens 36 is presented based on the accepted ranging range has been described. However, the presentation of the focus lens 36 has been described. It is not essential, and for example, the user may select and wear the focus lens 36 by himself / herself.

Further, regarding the distance measurement of the ToF method based on the light emission timing of the light emitting unit 35 and the light reception timing of the light receiving unit 37, either the indirect ToF (Time of Flight) method or the direct ToF method is used. May be good.

The indirect ToF method is a method of calculating the distance to an object by detecting the flight time from when the irradiation light is emitted to when the reflected light is received as a phase difference.

The direct ToF method is a method of directly measuring the flight time from the emission of the irradiation light to the reception of the reflected light and calculating the distance to the object.

Further, the distance measuring method based on the light emitting timing in the light emitting unit 35 and the light receiving timing in the light receiving unit 37 may be other than the ToF method, and may be, for example, a Structured Light method. Here, the Structured Light method is a method of irradiating pattern light as irradiation light and calculating the distance to an object based on the distortion of the received pattern.

Further, the technique of the present disclosure may be applied not only to a distance measuring device but also to a surveillance camera.

<< 2. Second Embodiment >>
In the above, by switching and using the focus lens 36 according to the distance to the object 12, the distance measuring light is irradiated so that an appropriate spot diameter is formed on the surface of the object 12 at various distances. In the above, an example of realizing distance measurement up to an object 12 in various distance measurement ranges has been described.

However, the focus lens 36 may be moved to various positions with respect to the optical axis direction of the distance measuring light so that the distance measuring light is focused on an appropriate spot diameter at various distances.

FIG. 3 shows a configuration example of the distance measuring device 11 in which the distance measuring light is focused on an appropriate spot diameter at various distances.

The distance measuring device 11 in the upper and lower stages of FIG. 3 is composed of a control unit 131, an input unit 132, an output unit 133, a substrate 134, a light emitting unit 135, a focus lens 136, a light receiving unit 137, and an actuator 138.

The control unit 131, the input unit 132, the output unit 133, the substrate 134, the light emitting unit 135, the focus lens 136, and the light receiving unit 137 are the control unit 31, the input unit 32, the output unit 33, the substrate 34, and the light emitting unit in FIG. Since the configuration is basically the same as that of the unit 35, the focus lens 36, and the light receiving unit 37, the description thereof will be omitted as appropriate.

That is, the distance measuring device 11 of FIG. 3 differs from the distance measuring device 11 of FIG. 1 in that the actuator 138 is newly provided.

The actuator 138 is controlled by the control unit 131, and the focus lens 136 is oriented in the arrow Z direction in the drawing so that an appropriate spot diameter is formed according to the ranging range in order to realize the ranging of the object 12. As shown by, the light emitting unit 135 is moved back and forth with respect to the optical axis direction.

As a result, for example, as shown in the upper part of FIG. 3, the actuator 138 moves the focus lens 136 to the position Z1, so that an appropriate spot diameter SP11 is generated on the surface of the object 12 at the distance D11. Light L11 forms.

Further, in the upper part of FIG. 3, when the distance measurement target is an object 12'at a distance D12 (> D11) farther than the distance D11, the distance measurement light L11 diffuses according to the distance from the object 12. Then, for example, it will be reflected on the surface of the object 12'in the state of the spot diameter SP12 (> Sp11).

In this case, since the spot diameter SP12 is larger than the appropriate spot diameter SP11, the surface irradiance is lowered on the surface of the object 12'and dark reflected light is received by the light receiving unit 137, which is appropriate. It may not be able to receive light as reflected light of brightness, and proper distance measurement may not be possible.

Therefore, in such a case, in the distance measuring device 11 of FIG. 3, for example, as shown in the lower part of FIG. 3, the control unit 131 controls the actuator 138 to move the focus lens 136 from the position Z1 to the position Z2. By moving the light L12, the distance measuring light L12 is suppressed from spreading and focused so that the spot diameter SP11 is appropriate for the object 12'at the distance D12.

By doing so, the focus lens 136 can collect the light emitted by the light emitting unit 135 on the surface of the object 12'at the distance D12 so as to have an appropriate spot diameter SP11. ..

As a result, the light receiving unit 137 can receive the reflected light of sufficient brightness from the object 12', so that appropriate distance measurement can be realized.

By changing the focus lens 136 to various positions in the arrow Z direction in addition to the positions Z1 and Z2 described with reference to FIG. 3, the focus lens 136 can be focused on an appropriate spot diameter SP11 in various ranging ranges. This makes it possible to realize distance measurement in various distance measurement ranges.

The focus lens 136 may be composed of one lens or may be composed of a plurality of lens groups. Further, in the present specification, an example in which the spread of the ranging light is suppressed by moving the focus lens 136 from the position Z1 to the position Z2 has been described, but the movement for expanding the spread of the ranging light has been described. The direction and the moving direction for suppressing the spread of the ranging light may be reversed depending on the configuration of the focus lens 136.

<Distance measurement processing by the distance measuring device in Fig. 3>
Next, the distance measuring process by the distance measuring device 11 of FIG. 3 will be described.

In step S31, the control unit 131 controls the output unit 133 to present information prompting the user to input the ranging range, and accepts the input.

In step S32, the control unit 131 controls the actuator 138 to adjust the input unit 132 so as to move the focus lens 136 to the corresponding position according to the input ranging range.

That is, the control unit 131 stores the correspondence between the position of the focus lens 136 in the arrow Z direction and the distance measuring range in which the distance measuring light is used as the spot diameter. Therefore, for example, in the case of the upper part of FIG. 3, when the distance measuring range corresponds to the distance D11, the control unit 31 controls the actuator 138 to appropriately transmit the distance measuring light at the distance D11 of FIG. The focus lens 36 is moved to the position Z1 that focuses on the spot diameter SP11.

Further, in the case of the lower part of FIG. 3, when the distance measuring range corresponds to the distance D12, the control unit 131 controls the actuator 138 to appropriately transmit the distance measuring light at the distance D12 of the lower part of FIG. The focus lens 136 is moved to the position Z2 that focuses on the spot diameter SP11.

In step S33, the control unit 131 controls the light emitting unit 135 to emit the ranging light to the spot diameter SP11 at a distance corresponding to the ranging range toward the object 12 via the focus lens 136. It is focused and projected so that it becomes.

In step S34, the control unit 131 controls the light receiving unit 137 to receive the reflected light from the object 12 of the ranging light.

In step S35, the control unit 131 is based on the round-trip time to the object 12 of the ranging light calculated from the timing when the light emitting unit 135 is made to emit light and the timing when the reflected light is received by the light receiving unit 137. The distance to the object 12 is measured.

In step S36, the control unit 131 determines whether or not the distance can be measured by the processing of steps S33 to S35. That is, the ranging light projected by the light emitted by the light emitting unit 135 is irradiated on the surface of the object 12 with an appropriate spot diameter, and is received by the light receiving unit 137 as reflected light of appropriate brightness, so that appropriate measurement is performed. Whether or not the distance is realized is determined.

If it is determined that the distance can be measured appropriately in step S36, the process proceeds to step S37.

In step S37, the control unit 131 controls the output unit 133 to present information on the distance to the object 12, which is the distance measurement result.

If it is determined that the distance cannot be measured in step S36, the process proceeds to step S38.

In step S38, the control unit 131 controls the output unit 133 to prevent distance measurement, and therefore presents information prompting confirmation as to whether or not the input distance measurement range is appropriate.

In step S39, the control unit 131 determines whether or not the input unit 132 is operated to instruct the focus lens 136 to move to a position farther in the distance measurement range.

In step S39, when the input unit 132 is operated and it is deemed that there is an instruction to move the focus lens 136 to a position farther in the focusing range, the process proceeds to step S40.

In step S40, the control unit 131 controls the actuator 138 to adjust the focus lens 136 so as to move the focus lens 136 to a position where the spread of the ranging light is narrowed according to the instructed ranging range.

Further, in step S39, when the input unit 132 is operated and it is deemed that there is no instruction to move the focus lens 136 to a position farther in the distance measuring range, the process proceeds to step S41.

In step S41, the control unit 131 determines whether or not the input unit 132 is operated to instruct the focus lens 136 to move to a position closer to the distance measurement range.

In step S41, when the input unit 132 is operated and it is deemed that there is an instruction to move the focus lens 136 to a position closer to the focusing range, the process proceeds to step S42.

In step S42, the control unit 131 controls the actuator 138 to move the focus lens 136 to a position where the spread of the ranging light is widened according to the instructed ranging range.

If the input unit 132 is operated in step S41 and it is considered that there is no instruction to move the focus lens 136 to a position closer to the focusing range, the process of step S42 is skipped.

In step S43, the control unit 131 controls the input unit 132 to determine whether or not the end of the distance measurement process is instructed, and if the end is not instructed, the process returns to step S33.

That is, the processes of steps S33 to S43 are repeated until the end is instructed, the distance measuring light is emitted and the reflected light from the object 12 is received, and the object is subjected to the emission timing and the light receiving timing. The distance measurement is performed up to, and the process of presenting the distance measurement result is repeated.

Furthermore, by setting the distance measurement range far or near based on the presentation of the distance measurement result or the presentation that the distance measurement is not possible, the distance measurement target in the desired distance measurement range can be obtained. The distance to the object 12 is measured.

Then, in step S43, when the end is instructed, the distance measurement process ends.

By the above processing, the user can arbitrarily set the ranging range that is the distance to the desired object 12, and can switch the position of the focus lens 136 according to the ranging range.

As a result, it is possible to irradiate the object 12 with ranging light having an appropriate spot diameter that can be received by the light receiving unit 137 at various distances, so that the distance measurement to the object 12 at various distances is appropriate. It becomes possible to realize.

<< 3. First variant of the second embodiment >>
<Modification example of distance measurement processing>
In the above, an example has been described in which the ranging light is focused so as to have an appropriate spot diameter such that reflected light suitable for ranging is generated in the ranging range desired by the user. The spread of the ranging light may be adjusted according to the illuminance of the spot of the ranging light received by the unit 137 as the reflected light.

That is, the illuminance of the spot of the ranging light received as reflected light by the light receiving unit 137 is high when the ranging range by the focus lens 136 is close to the distance of the object 12, and the ranging range by the focus lens 136 is the object 12. Far and low with respect to the distance of.

Therefore, when the surface irradiance of the spot of the ranging light received as reflected light by the light receiving unit 137 is higher than the predetermined upper limit value, the ranging range by the focus lens 136 is close to the distance of the object 12. By widening the spread and reducing the illuminance, the distance measurement range can be approached.

Further, when the surface irradiance of the spot of the ranging light received as reflected light by the light receiving unit 137 is lower than the predetermined lower limit value, the ranging range by the focus lens 136 is far from the distance of the object 12. By suppressing the spread and increasing the surface irradiance, it is possible to approach an appropriate ranging range.

Since the basic configuration of the distance measuring device 11 is the same as that of the distance measuring device 11 of FIG. 3, the description thereof will be omitted.

Next, a modified example of the distance measuring process by the distance measuring device 11 of FIG. 3 will be described.

In step S61, the control unit 131 controls the actuator 138 to adjust the focus lens 136 to move to the initial position corresponding to the default ranging range.

In step S62, the control unit 131 controls the light emitting unit 135 to emit the ranging light, and is appropriate at a distance corresponding to the initial value of the ranging range toward the object 12 via the focus lens 136. The light is focused and projected so that the spot diameter is large.

In step S63, the control unit 131 controls the light receiving unit 137 to receive the reflected light from the object 12 of the ranging light.

In step S64, the control unit 131 is based on the reciprocating time of the distance measuring light to the object 12 calculated from the light emission timing at which the light emitting unit 135 is made to emit light and the light receiving timing at which the reflected light is received by the light receiving unit 137. The distance to the object 12 is measured.

In step S65, the control unit 131 determines whether or not the distance can be measured by the processes of steps S62 to S64. That is, the ranging light projected by the light emitted by the light emitting unit 135 is irradiated on the surface of the object 12 with an appropriate spot diameter, and is received by the light receiving unit 137 as reflected light of appropriate brightness, so that appropriate measurement is performed. Whether or not the distance is realized is determined.

If it is determined that the distance can be measured appropriately in step S65, the process proceeds to step S66.

In step S66, the control unit 131 controls the output unit 133 to present information on the distance to the object 12, which is the distance measurement result.

In step S67, the control unit 131 controls the input unit 132 to determine whether or not the end of the distance measurement process is instructed, and if the end is not instructed, the process returns to step S62.

That is, in this case, the processes of steps S62 to S67 are repeated until the end is instructed, the light emission of the ranging light and the reflected light from the object 12 are received, and the object is reached according to the respective timings. The distance measurement is performed, and the process of presenting the distance measurement result is repeated.

Then, in step S67, when the end is instructed, the distance measurement process ends.

If it is determined that the distance cannot be measured in step S65, the process proceeds to step S68.

In step S68, the control unit 131 controls the output unit 133 to present information indicating a state in which distance measurement is not possible.

In step S69, the control unit 131 determines whether or not the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 137 is lower than the predetermined lower limit value and the object 12 is farther than the predetermined distance range. do.

In step S69, when the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 137 is lower than the predetermined lower limit value and the object 12 is considered to be farther than the predetermined distance range, the process is performed in step S69. Proceed to S70.

In step S70, the control unit 131 controls the actuator 138 to narrow the spread of the ranging light according to the difference between the spot illuminance and the predetermined lower limit value, reduce the spot diameter, and reduce the surface irradiance. The focus lens 136 is moved to a position where the illuminance is raised.

Further, in step S69, if the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 137 is not lower than the predetermined lower limit value, the process proceeds to step S71.

In step S71, the control unit 131 determines whether or not the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 137 is higher than the predetermined upper limit value and the object 12 is closer than the predetermined distance range. do.

In step S71, when the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 137 is higher than the predetermined upper limit value and the object 12 is considered to be closer than the predetermined distance range, the process is performed in step S71. Proceed to S72.

In step S72, the control unit 131 controls the actuator 138 to widen the spread of the ranging light and increase the spot diameter according to the difference between the illuminance of the spot and the predetermined upper limit value. Then, the focus lens 136 is moved to a position where the surface irradiance is lowered.

In step S71, if the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 137 is not higher than the predetermined upper limit value, the process of step S72 is skipped.

By the above processing, the focus lens 136 is moved so that the spot diameter is adjusted so as to have an appropriate illuminance according to the illuminance of the spot, so that the user can measure the distance to the object to be measured. It is possible to appropriately realize the distance measurement to the object 12 at various distances without being conscious of the range.

<< 4. A second modification of the second embodiment >>
<Modification example related to the configuration of the ranging device>
In the above, an example in which the distance measuring light emitted by the light emitting unit 135 is focused by the focus lens 136 and irradiated to the object 12 to be distance measured has been described. However, in addition to the focus lens 136, a mesh or a line has been described. , A DoE (diffractive optical element) that forms a dot-shaped light distribution pattern may be provided, and the distance may be measured by receiving the light distribution pattern formed by the DoE.

FIG. 6 is a modification of the configuration of the distance measuring device 11 provided with the diffractive optical element.

The distance measuring device 11 of FIG. 6 is composed of a control unit 231, an input unit 232, an output unit 233, a substrate 234, a light emitting unit 235, a focus lens 236, a light receiving unit 237, an actuator 238, and a DoE239.

The control unit 231, the input unit 232, the output unit 233, the substrate 234, the light emitting unit 235, the focus lens 236, the light receiving unit 237, and the actuator 238 are the control unit 131, the input unit 132, the output unit 133, and the substrate in FIG. Since the configuration is basically the same as that of 134, the light emitting unit 135, the focus lens 136, the light receiving unit 137, and the actuator 138, the description thereof will be omitted as appropriate.

That is, the distance measuring device 11 of FIG. 6 differs from the distance measuring device 11 of FIG. 3 in that DoE239 is newly provided.

The DoE239 is generated by emitting light from the light emitting unit 235, and the light collected through the focus lens 236 is applied to a diffraction grating to provide a light distribution pattern such as a mesh pattern, a line pattern, a stripe pattern, and a dot pattern. Is converted to, and the object 12 to be distanced is irradiated as a plurality of beam-shaped distance measuring lights.

In FIG. 6, the distance measurement light having a spread angle θ1 so that the light emitted by the light emitting unit 235 by the DoE239 is distributed to the object 12 as an object as a dot pattern composed of dots SP101 to SP116. An example of conversion to B1 to Bn is shown.

In this way, when the dots SP101 to SP116 are irradiated by DoE239, if the output power of the light emitting unit 235 is the same, the respective dots SP101 to SP116 are compared with the surface irradiance in the case of uniformly diffusing. Since the surface irradiation illuminance becomes large, it becomes possible to realize distance measurement of a distant object.

It should be noted that the arrow of the focus lens 236 is also used by the actuator 238 so that the spread angle θ1 is changed so that the spot diameter at which sufficient brightness of the surface irradiation illuminance can be obtained is obtained for the distance measuring device 11 of FIG. The point of changing the position in the Z direction is the same as in FIG.

Further, in the dot pattern shown in FIG. 6, it is possible to realize distance measurement at 16 points of dots SP101 to SP116 on the surface of the object 12.

Further, for example, in the case of dots SP101 to SP116 shown in FIG. 6, when measuring the distance of the object 12, the dots SP101, SP102, SP104, S110 to S116 are not on the object 12, so the distance is measured. There is no need for.

Therefore, in such a case, only the dots SP106, SP103 to SP114 on the object 12 are set as the ROI (Region of Interest), the light receiving timing of only the dots belonging to the ROI is acquired, and the ROI is set. Only the distance measurement of the dots to which they belong may be performed. Furthermore, the ROI may be fixed in a cohesive area such as a row unit or a specific pattern (grid, etc.), and the entire surface may not be measured for discrimination.

By such processing, it is possible to reduce the number of distance measurement operations, reduce the processing load related to the distance measurement operations, and further improve the processing speed. Further, since the reading time in the light receiving unit 237 can be shortened, the processing speed can be improved.

Since the distance measuring process is the same as the process described with reference to FIGS. 4 and 5, the description thereof will be omitted.

<< 5. Third Embodiment >>
In the above, an example has been described in which the diffusion of the ranging light is suppressed by forming the light distribution pattern by DoE239 to realize the ranging of the object 12 at a farther distance.

However, in the case of the light distribution pattern of the dot pattern as shown by the dots SP101 to SP116 of FIG. 7, the distance measurement of the object 12 is realized for the region on each dot, but the distance measurement is not possible for the other regions. Therefore, the resolution of the area to be measured is low.

Therefore, the resolution of the area to be measured may be increased by forming the range-finding light composed of the light distribution pattern by DoE and repeating the range-finding while changing the position of the light distribution pattern.

FIG. 7 is a configuration example of the distance measuring device 11 in which the distance measurement is repeated while changing the position of the pattern to increase the resolution of the area to be measured.

The distance measuring device 11 of FIG. 7 is composed of a control unit 331, an input unit 332, an output unit 333, a substrate 334, a light emitting unit 335, a focus lens 336, a light receiving unit 337, actuators 338, 339, and DoE340.

The control unit 331, the input unit 332, the output unit 333, the substrate 334, the light emitting unit 335, the focus lens 336, the light receiving unit 337, the actuator 338, and the DoE 340 are the control unit 231, the input unit 232, and the output unit 233 in FIG. , The substrate 234, the light emitting unit 235, the focus lens 236, the light receiving unit 237, the actuator 238, and the DoE 239 have basically the same configuration, and the description thereof will be omitted as appropriate.

That is, the distance measuring device 11 of FIG. 7 is different from the distance measuring device 11 of FIG. 6 in that the actuator 339 is provided.

The actuator 339 is controlled by the control unit 331, and the focus lens 336 is indicated by the vertical direction indicated by the arrow V direction and the arrow H direction in the drawing, which are orthogonal to the optical axis of the light emitted by the light emitting unit 35. Move to at least one of the horizontal directions.

By moving the focus lens 336 in the direction orthogonal to the optical axis of the light emitted by the light emitting unit 35 by the actuator 339 in this way, for example, the dots SP101 to SP116 are moved in the arrow V'direction and the arrow H'. It is possible to move in the direction.

Then, the resolution of the distance measurement result can be improved by repeatedly measuring the distance while changing the positions of the dots SP101 to SP116.

At this time, among the light receiving timings of the reflected light received by the light receiving unit 337, for example, the region where the object 12 to be distance-measured exists is regarded as the ROI (Region of Interest), and the light receiving timing of that region is regarded as ROI (Region of Interest). By reading only the distance measurement and measuring the distance, it is possible to reduce the processing load related to the distance measurement and improve the processing speed. Further, also in this example, the ROI may be fixed in a cohesive area such as a row unit or a specific pattern (grid, etc.), and the entire surface measurement for discrimination may not be performed. The read time can be shortened and the processing speed can be improved.

<Distance measurement processing of the third embodiment>
Next, the distance measuring process by the distance measuring device 11 of FIG. 7 will be described.

In step S101, the control unit 331 counts one step of the minimum moving distance when the positions of the dots SP101 to SP116 formed by the DoE340 are changed to at least one of the arrow H direction and the arrow V direction. Initializes the counter K of.

For example, when the focus lens 336 is moved to three positions in the arrow H direction and moved to three positions in the arrow V direction, the focus lens 336 is moved to a total of nine positions. Therefore, it is set to 1 to 9 as a counter K for identifying each moving position. In this case, as the focus lens 336 moves to nine positions, each of the dots SP101 to SP116 also moves to a total of nine positions in the arrow H'direction x arrow V'direction (= 3 x 3). It means to be moved.

In step S102, the control unit 331 controls the actuator 338 to move the focus lens 336 to the initial position corresponding to the default ranging range with respect to the arrow Z direction, and also controls the actuator 339 to control the arrow. The focus lens 336 is moved so that the dots SP101 to SP116 are formed at positions corresponding to the counter K in the V direction and the arrow H direction.

In step S103, the control unit 331 controls the light emitting unit 335 to emit the ranging light, and the dots SP101 to SP116 are formed toward the object 12 via the focus lens 336 and the DoE340. A range-finding light consisting of a pattern is projected.

In step S104, the control unit 331 controls the light receiving unit 337 to receive the reflected light from the object 12 of the ranging light.

In step S105, the control unit 331 reads out the light reception timing at which the reflected light from the ROI, such as the region where the object 12 to be distance-measured exists, is received from the signals received by the light receiving unit 337.

In step S106, the control unit 331 reciprocates the distance measurement light to the object 12 calculated from the light emission timing at which the light emitting unit 335 in the ROI emits light and the light receiving timing at which the reflected light is received by the light receiving unit 337. The distance to the object 12 is measured based on.

In step S107, the control unit 331 determines whether or not the distance can be measured by the processing of steps S103 to S106. That is, the ranging light projected by the light emitted by the light emitting unit 335 is irradiated on the surface of the object 12 so that each of the dots SP101 to SP116 has an appropriate spot diameter, and the light receiving unit is reflected as reflected light having an appropriate brightness. By receiving light from the 337, it is determined whether or not appropriate distance measurement has been realized.

If it is determined that the distance can be measured appropriately in step S107, the process proceeds to step S108.

In step S108, the control unit 331 controls the output unit 333 to present information on the distance to the object 12, which is the distance measurement result.

In step S109, the control unit 331 increments the counter K by 1.

In step S110, the control unit 331 determines whether or not the distance measurement at all the positions is completed based on whether or not the counter K has a value one larger than the maximum value.

If it is determined in step S110 that the distance measurement at all positions has not been completed, the process returns to step S102.

That is, the process of measuring the ROI distance while sequentially changing the position of the focus lens 336 corresponding to the counter K and storing the distance measurement result is repeated.

If it is determined that the distance cannot be measured in step S107, the process proceeds to step S111.

In step S111, the control unit 331 determines whether or not the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 337 is lower than the predetermined lower limit value and the object 12 is farther than the predetermined distance range. do.

In step S111, the illuminance of the reflected light at the spot formed as dots corresponding to the light distribution pattern of the ranging light received by the light receiving unit 337 is lower than the predetermined lower limit value, and the object 12 is below the predetermined distance range. If deemed distant, the process proceeds to step S112.

In step S112, the control unit 331 controls the actuator 338 to move the focus lens 336 in the Z direction so as to narrow the spread of the ranging light according to the difference between the spot illuminance and the predetermined lower limit value. The process proceeds to step S110.

Further, in step S111, if the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 337 is not lower than the predetermined lower limit value, the process proceeds to step S113.

In step S113, the control unit 331 has the illuminance of the reflected light at the spot formed as dots corresponding to the light distribution pattern of the distance measuring light received by the light receiving unit 337 higher than a predetermined upper limit value, and the object 12 is predetermined. Determine if it is closer than the distance range of.

In step S113, the illuminance of the reflected light at the spot formed by dots according to the light distribution pattern of the ranging light received by the light receiving unit 337 is higher than the predetermined upper limit value, and the object 12 is within the predetermined distance range. If is also considered close, the process proceeds to step S114.

In step S114, the control unit 331 controls the actuator 338 to move the focus lens 336 to a position where the spread of the ranging light is widened according to the difference between the spot illuminance and the predetermined upper limit value. Moving in the direction, the process proceeds to step S110.

In step S113, if the illuminance in the reflected light of the spot of the ranging light received by the light receiving unit 337 is not higher than the predetermined upper limit value, the process of step S114 is skipped.

That is, if the distance cannot be measured, it is highly possible that the surface irradiance at the spot is lower than the lower limit value or higher than the upper limit value. Move in the Z direction of the arrow to adjust so that the distance can be measured. Then, when the adjustment is completed, the processes of steps S102 to S110 are repeated, and the distance measurement is repeated while changing the position.

Further, in step S110, when it is considered that the distance measurement at all the positions is completed, the process proceeds to step S115.

In step S115, the control unit 331 controls the output unit 333 to output and present the distance measurement result repeatedly acquired while changing the positions of the stored dots SP101 to SP116.

In step S116, the control unit 331 controls the input unit 332 to determine whether or not the end of the distance measurement process is instructed, and if the end is not instructed, the process returns to step S101. That is, the processes of steps S101 to S116 are repeated until the end is instructed.

Then, in step S116, when the end is instructed, the distance measurement process ends.

By the above processing, the focus lens 336 is moved so that the spot diameter is adjusted so as to have an appropriate illuminance according to the illuminance of the spot as dots forming the light distribution pattern formed by DoE340. Therefore, the user can appropriately realize the distance measurement to the object 12 at various distances without being aware of the distance measurement range to the object to be distance-measured.

In this way, when irradiating SP101 to SP116 with DoE340, if the output power of the light emitting unit 235 is the same, the surface irradiance to each SP is higher than the surface irradiance when uniformly diffusing. As the size increases, it becomes possible to measure the distance of a distant object.

Further, by sequentially changing the position of the focus lens 336 in at least one of the arrow H direction and the arrow V direction by the actuator 339 at predetermined intervals, the position of each dot irradiated by the light distribution pattern formed by DoE340. It is possible to increase the resolution of the distance measurement result by repeating the distance measurement while changing the distance in at least one of the arrow H'direction and the arrow V'direction'.

<< 6. First variant of the third embodiment >>
In the above, an example in which the dot-shaped light distribution pattern formed by DoE340 is used has been described, but the light distribution pattern may be other than that.

For example, as shown in FIG. 9, the ranging light BB having a spread angle θ11 may be formed so that a line-shaped pattern BSP is formed in the horizontal direction.

FIG. 9 shows a configuration example of the distance measuring device 11 in which the distance measuring light BB having a spreading angle θ11 is formed so that the line-shaped pattern BSP is formed in the horizontal direction.

The distance measuring device 11 of FIG. 9 is composed of a control unit 351, an input unit 352, an output unit 353, a substrate 354, a light emitting unit 355, a focus lens 356, a light receiving unit 357, actuators 358, 359, and DoE 360.

The control unit 351 and the input unit 352, the output unit 353, the substrate 354, the light emitting unit 355, the focus lens 356, the light receiving unit 357, the actuators 358, 359, and the DoE 360 of FIG. 9 are the control unit 331 and the input unit of FIG. Since the configuration is basically the same as that of the 332, the output unit 333, the substrate 334, the light emitting unit 335, the focus lens 336, the light receiving unit 337, the actuators 338, 339, and the DoE340, the description thereof will be omitted as appropriate.

That is, in the distance measuring device 11 of FIG. 9, what is different from the distance measuring device 11 of FIG. 7 is the light distribution pattern distributed by DoE360.

The pattern BSP in FIG. 9 is formed in a line shape in the horizontal direction, and as shown by an arrow, it is only necessary to repeat the distance measurement while moving the pattern BSP on the object 12 in a stepwise manner in the vertical direction.

Therefore, the focus lens 356 can also be realized only by moving the focus lens 356 in the vertical direction indicated by the arrow V direction at a predetermined interval.

Further, the light distribution pattern formed by DoE360 is not limited to the one formed in a line shape in the horizontal direction, and may be formed in a line shape in another direction, for example, is formed in a line shape in the vertical direction. In this way, the distance measurement may be repeated while moving stepwise in the direction of the arrow H.

Since the distance measuring process is the same as the process described with reference to the flowchart of FIG. 8, the description thereof will be omitted.

<< 7. Second variant of the third embodiment >>
In the above, an example in which a line-shaped light distribution pattern is formed by DoE360 has been described, but the DoE is arranged so that a beam-shaped ranging light having a uniform light beam thickness is formed regardless of the distance. When the light is received as reflected light in the object 12, the light receiving unit may also be able to receive light by a plurality of pixels.

For example, as shown in FIG. 10, a beam-shaped ranging light CB having no spreading angle and having a uniform width regardless of the distance is formed so that a line-shaped pattern CBSP is formed in the horizontal direction. You may do so. In FIG. 10, it is shown that the width BW1 and the width BW2 of the distance measuring light CB are formed in the same state regardless of the distance.

Further, when the pattern CBSP is reflected by the object 12, the pattern CBSP is formed in the light receiving portion to have a thickness that allows the light receiving portion to be received by a plurality of pixels.

FIG. 10 shows distance measurement in which a beam-shaped distance measuring light CB having no spreading angle and having a uniform diameter regardless of the distance is formed so that a line-shaped pattern CBSP is formed in the horizontal direction. A configuration example of the device 11 is shown.

The distance measuring device 11 of FIG. 10 is composed of a control unit 371, an input unit 372, an output unit 373, a substrate 374, a light emitting unit 375, a focus lens 376, a light receiving unit 377, actuators 378, 379, and DoE380.

The control unit 371, input unit 372, output unit 373, substrate 374, light emitting unit 375, focus lens 376, light receiving unit 377, actuators 378, 379, and DoE380 of FIG. 10 are the control unit 351 and input unit of FIG. Since the configuration is basically the same as that of the 352, the output unit 353, the substrate 354, the light emitting unit 355, the focus lens 356, the light receiving unit 357, the actuators 358, 359, and the DoE 360, the description thereof will be omitted as appropriate.

That is, in the distance measuring device 11 of FIG. 10, what is different from the distance measuring device 11 of FIG. 9 is the light distribution pattern distributed by the DoE380.

Since the pattern CBSP in FIG. 10 is formed in a line shape in the horizontal direction and only needs to be moved in the vertical direction on the object 12 as shown by the arrow, the focus lens 376 is also shown in the arrow V direction. This can be achieved simply by repeating distance measurement while moving in the vertical direction at predetermined intervals.

Further, in this case, the width of the ranging light CB is uniform regardless of the distance.

Further, the width of the pattern CBSP is set to be a width that can be received by a plurality of pixels in the light receiving unit 377 when reflected by the object 12, so that the light receiving sensitivity in the light receiving unit 377 can be improved. It is possible to realize distance measurement at a distance and improve distance measurement accuracy.

Since the distance measuring process is the same as the process described with reference to the flowchart of FIG. 8, the description thereof will be omitted.

<< 8. Third variant of the third embodiment >>
In the above, the light is distributed by the DoE380 so as to form a beam-shaped ranging light having a uniform width regardless of the distance, and when the light is received as the reflected light in the object 12, the light receiving portion also has a plurality of pixels. An example of enabling light reception has been described.

However, the thickness (width) of the ranging light does not have to be uniform according to the distance as long as the light receiving portion can also receive light by a plurality of pixels.

For example, as shown in FIG. 11, the ranging light PB having a spreading angle may be formed so that the line-shaped pattern PBSP is formed in the horizontal direction.

Further, when the pattern PBSP is reflected by the object 12, the pattern PBSP is formed in the light receiving portion so as to have a width that allows the plurality of pixels to receive light.

FIG. 11 shows a configuration example of the distance measuring device 11 in which the distance measuring light PB having a spreading angle is formed so that the line-shaped pattern PBSP is formed in the horizontal direction.

The distance measuring device 11 of FIG. 11 is composed of a control unit 391, an input unit 392, an output unit 393, a substrate 394, a light emitting unit 395, a focus lens 396, a light receiving unit 397, actuators 398, 399, and DoE400.

The control unit 391, input unit 392, output unit 393, substrate 394, light emitting unit 395, focus lens 396, light receiving unit 397, actuator 398, 399, and DoE400 in FIG. 11 are the control unit 371 and input unit in FIG. Since the configuration is basically the same as that of the 372, the output unit 373, the substrate 374, the light emitting unit 375, the focus lens 376, the light receiving unit 377, the actuators 378, 379, and the DoE380, the description thereof will be omitted as appropriate.

That is, in the distance measuring device 11 of FIG. 11, what is different from the distance measuring device 11 of FIG. 10 is the light distribution pattern distributed by the DoE 400.

Since the pattern PBSP in FIG. 11 is formed in a horizontal line and only needs to be moved vertically on the object 12 as shown by the arrow, the focus lens 396 is also shown in the arrow V direction. This can be achieved simply by repeating distance measurement while moving in the vertical direction at predetermined intervals.

Further, in this case, the ranging light PB has a spreading angle, but a light distribution pattern composed of a pattern PBSP having a predetermined width is formed on the object 12.

Further, the width of the pattern PBSP is set to be a width that can be received by a plurality of pixels in the light receiving unit 377 when reflected by the object 12, so that the light receiving sensitivity in the light receiving unit 377 can be improved. It is possible to realize distance measurement at a distance and improve distance measurement accuracy.

Since the distance measuring process is the same as the process described with reference to the flowchart of FIG. 8, the description thereof will be omitted.

<< 9. Fourth variant of the third embodiment >>
In the above, an example in which the light emitted from the beam-shaped light source is focused by a single focus lens and converted into a light distribution pattern by DoE to form a ranging light has been described, for example. , A planar light source such as a VCSEL (Vertical Cavity Surface Emitting LASER) may be used instead of the beam-shaped light source.

FIG. 12 shows a configuration example of the ranging device 11 using a VCSEL as the light emitting unit.

The distance measuring device 11 of FIG. 12 is composed of a control unit 411, an input unit 412, an output unit 413, a substrate 414, a light emitting unit 415, a focus lens 416, a light receiving unit 417, actuators 418, 419, and DoE 420.

The control unit 411, input unit 412, output unit 413, substrate 414, light emitting unit 415, focus lens 416, light receiving unit 417, actuators 418, 419, and DoE 420 in FIG. 12 are the control unit 391 and input unit in FIG. Since the configuration is basically the same as that of the 392, the output unit 393, the substrate 394, the light emitting unit 395, the focus lens 396, the light receiving unit 397, the actuators 398, 399, and the DoE400, the description thereof will be omitted as appropriate.

That is, the distance measuring device 11 of FIG. 12 differs from the distance measuring device 11 of FIG. 11 in that the light emitting unit 415 is composed of a VCSEL and the focus lens 416 is a plurality of collimator lenses 416-1 to 416-n. It is a point composed of more.

That is, since the light emitting unit 415 is composed of the VCSEL, a planar light source is formed. Then, the light emitted from the planar light source is converted into parallel light by the plurality of collimator lenses 416-1 to 416-n forming the focus lens 416. Further, the parallel light is converted by the DoE420 into distance measuring lights B51 to Bm composed of, for example, dot-shaped pattern light as shown in FIG. 12, and is irradiated to the distance measuring target.

Also in the distance measuring device 11 of FIG. 12, the spreading angle and the irradiation direction of the distance measuring light are controlled by the actuators 418 and 419.

Since the distance measuring process is the same as the process described with reference to the flowchart of FIG. 8, the description thereof will be omitted.

<< 10. Fifth variant of the third embodiment >>
In the above, an example of using DoE in forming the light distribution pattern has been described. However, if the light distribution pattern can be formed, another configuration may be used. Instead of DoE, for example, MEMS ( Micro Electro Mechanical Systems) A mirror may be used to form the light distribution pattern.

FIG. 13 shows a configuration example of the distance measuring device 11 using a MEMS mirror instead of the DoE as a configuration for forming the light distribution pattern.

The distance measuring device 11 of FIG. 13 is composed of a control unit 451, an input unit 452, an output unit 453, a substrate 454, a light emitting unit 455, a focus lens 456, a light receiving unit 457, actuators 458, 459, and a MEMS mirror 460.

The control unit 451 and the input unit 452, the output unit 453, the substrate 454, the light emitting unit 455, the focus lens 456, and the light receiving unit 457 of FIG. 13 are the control unit 331, the input unit 332, the output unit 333, and the substrate of FIG. Since the configuration is basically the same as that of the 334, the light emitting unit 335, the focus lens 336, and the light receiving unit 337, the description thereof will be omitted as appropriate.

That is, the distance measuring device 11 of FIG. 13 differs from the distance measuring device 11 of FIG. 7 in that a MEMS mirror 460 is provided instead of the DoE 340, and the light emitting unit 455 corresponds to the MEMS mirror 460. It is a point to irradiate the emitted light.

As shown in FIG. 14, the MEMS mirror 460 has mirrors 460m-1 to 460mx formed on the surface thereof, and reflects the light emitted from the light emitting unit 455 incident through the focus lens 456. , A light distribution pattern is formed by generating a plurality of ranging lights B101 to Bx.

Further, even in such a configuration, the focus lens 456 can adjust the spread angle of the ranging light B101 to Bx by adjusting the position in the arrow Z direction by the actuator 458.

Further, the focus lens 456 can change the irradiation direction of the ranging light B101 to Bx by changing the position of the focus lens 456 in the directions of the arrows V and H by the actuator 459.

Further, the light distribution pattern can be changed depending on the shape and arrangement pattern of the mirrors 460m-1 to 460mx in FIG.

That is, in FIG. 14, an example in which a light distribution pattern of a dot pattern is formed is shown, but when the mirror 460 m is formed in a mesh shape, the light distribution pattern is formed in a mesh pattern and is formed in a line shape. At that time, the light distribution pattern is a line pattern.

That is, also in the MEMS mirror 460, the light distribution pattern can be changed substantially in the same manner as when DoE is used, depending on the shape and arrangement pattern of the mirror 460 m.

Since the distance measuring process is the same as the process described with reference to the flowchart of FIG. 8, the description thereof will be omitted.

Further, in the above description, the focus lens 336,356,376,396,416,456 is moved in the direction of the arrow V and the direction of the arrow H to repeat the distance measurement while changing the direction of the distance measurement light. As described above, while fixing the focus lens 336,356,376,396,416,456 and moving the positions of DoE340, 360, 380, 400, 420, or changing the direction of the MEMS mirror 460, The distance measurement may be repeated while changing the direction of the distance measurement light, that is, the position of the spot on the object 12.

As described above, according to the distance measuring device of the present disclosure, it is possible to realize a distant distance measurement by a ToF (Time of Flight) type distance measuring.

<< 11. Example of execution by software >>
By the way, the series of processes described above can be executed by hardware, but can also be executed by software. When a series of processes are executed by software, the programs that make up the software can execute various functions by installing a computer embedded in dedicated hardware or various programs. It is installed from a recording medium on a possible, eg, general purpose computer.

FIG. 15 shows a configuration example of a general-purpose computer. This personal computer has a built-in CPU (Central Processing Unit) 1001. The input / output interface 1005 is connected to the CPU 1001 via the bus 1004. A ROM (Read Only Memory) 1002 and a RAM (Random Access Memory) 1003 are connected to the bus 1004.

The input / output interface 1005 includes an input unit 1006 composed of input devices such as a keyboard and a mouse for which the user inputs operation commands, an output unit 1007 for outputting a processing operation screen and an image of the processing result to a display device, a program, and various data. A storage unit 1008 consisting of a hard disk drive or the like for storing, a LAN (Local Area Network) adapter or the like, and a communication unit 1009 for executing communication processing via a network represented by the Internet are connected. In addition, magnetic discs (including flexible discs), optical discs (including CD-ROM (Compact Disc-Read Only Memory), DVD (Digital Versatile Disc)), optical magnetic discs (including MD (Mini Disc)), or semiconductors. A drive 1010 that reads and writes data to and from a removable storage medium 1011 such as a memory is connected.

The CPU 1001 is read from a program stored in the ROM 1002 or a removable storage medium 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, installed in the storage unit 1008, and loaded from the storage unit 1008 into the RAM 1003. Various processes are executed according to the program. The RAM 1003 also appropriately stores data and the like necessary for the CPU 1001 to execute various processes.

In the computer configured as described above, the CPU 1001 loads the program stored in the storage unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004 and executes the above-described series. Is processed.

The program executed by the computer (CPU1001) can be recorded and provided on the removable storage medium 1011 as a package medium or the like, for example. The program can also be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.

In the computer, the program can be installed in the storage unit 1008 via the input / output interface 1005 by mounting the removable storage medium 1011 in the drive 1010. Further, the program can be received by the communication unit 1009 via a wired or wireless transmission medium and installed in the storage unit 1008. In addition, the program can be pre-installed in the ROM 1002 or the storage unit 1008.

The program executed by the computer may be a program that is processed in chronological order according to the order described in this specification, or may be a program that is processed in parallel or at a necessary timing such as when a call is made. It may be a program in which processing is performed.

The CPU 1001 in FIG. 15 is the control unit 31 of FIG. 1, the control unit 131 of FIG. 3, the control unit 231 of FIG. 6, the control unit 331 of FIG. 7, the control unit 351 of FIG. 9, and the control unit 371 of FIG. The functions of the control unit 391 of FIG. 11, the control unit 411 of FIG. 12, and the control unit 451 of FIG. 13 are realized.

Further, in the present specification, the system means a set of a plurality of components (devices, modules (parts), etc.), and it does not matter whether or not all the components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and a device in which a plurality of modules are housed in one housing are both systems. ..

The embodiment of the present disclosure is not limited to the above-described embodiment, and various changes can be made without departing from the gist of the present disclosure.

For example, the present disclosure may have a cloud computing configuration in which one function is shared by a plurality of devices via a network and jointly processed.

Further, each step described in the above-mentioned flowchart can be executed by one device or can be shared and executed by a plurality of devices.

Further, when a plurality of processes are included in one step, the plurality of processes included in the one step can be executed by one device or shared by a plurality of devices.

The present disclosure may also have the following configuration.
<1> A light emitting unit that emits light and functions as a light source,
A condensing unit that condenses the light emitted by the light emitting unit to form distance measurement light, and a condensing unit.
A light receiving unit that receives the reflected light reflected by the distance measuring light on the object to be measured.
By controlling the light emitting unit and the light receiving unit, the distance to the object is measured based on the light emitting timing at which the light is emitted by the light emitting unit and the light receiving timing at which the reflected light is received by the light receiving unit. A distance measuring device equipped with a control unit.
<2> The light collecting unit collects the light emitted by the light emitting unit, and the reflected light generated by reflecting the light at a predetermined distance in the optical axis direction of the light is received by the light receiving unit. The distance measuring device according to <1>, which forms distance measuring light so as to have a predetermined spot diameter at the predetermined distance so as to be possible.
<3> The distance measuring device according to <1>, wherein the light collecting unit has a plurality of light collecting units according to the distance to the object and can be exchanged according to the distance to the object to be measured. ..
<4> The distance measuring device according to <3>, wherein the control unit presents information prompting replacement of the condensing unit when the distance to the object cannot be measured.
<5> The condensing unit further includes a first actuator that moves the position of the light emitted by the light emitting unit in the optical axis direction.
When the control unit cannot measure the distance to the object, the control unit controls the first actuator to adjust the position of the light collecting unit, so that the reflected light is emitted according to the distance to the object. The distance measuring device according to <1>, wherein the distance measuring device is formed by adjusting the degree of condensing the light emitted by the light emitting unit so that the light receiving unit can receive light.
<6> The control unit controls the first actuator based on the specified distance so as to form a predetermined spot diameter that can be received by the light receiving unit in the vicinity of the specified distance. The distance measuring device according to <5>, wherein the position of the condensing unit is adjusted so as to condense the light emitted by the light emitting unit.
<7> The control unit controls the first actuator based on the illuminance of the reflected light received by the light receiving unit, and the illuminance of the reflected light received by the light receiving unit is higher than the upper limit value. The distance measuring device according to <5>, wherein the position of the light collecting unit is adjusted so as to be small and higher than the lower limit.
<8> Further includes a light distribution pattern conversion unit that converts the light emitted by the light emitting unit, which is collected by the light collecting unit, into distance measuring light having a predetermined light distribution pattern.
In the light receiving unit, the distance measuring light obtained by converting the distance measuring light into a predetermined light distribution pattern by the light distribution pattern conversion unit receives the reflected light reflected by the object.
In the control unit, the timing at which the light emitting unit emits the light and the reflected light are received by the light receiving unit at each position where the distance measuring light converted into the predetermined light distribution pattern is projected. The distance measuring device according to any one of <1> to <7>, which measures the distance to the object based on the timing.
<9> The distance measuring device according to <8>, wherein the control unit changes the irradiation direction of the distance measuring light of the predetermined light distribution pattern and measures the distance to the object for each changed irradiation direction. ..
<10> The distance measuring device according to <8>, wherein the light distribution pattern includes a mesh pattern, a line pattern, a stripe pattern, and a dot pattern.
<11> The distance measuring device according to <8>, wherein the light distribution pattern conversion unit is a DoE (Diffractive Optical Element) or a MEMS (Micro Electro Mechanical Systems) mirror.
<12> The control unit reads out the timing at which the reflected light is received at the light receiving unit in the region of interest among the positions where the distance measuring light converted into the predetermined light distribution pattern is projected. The measurement according to <8>, wherein the distance to the object is measured based on the timing at which the light is emitted by the light emitting unit and the timing at which the reflected light is received at the light receiving unit in the region of interest. Distance device.
<13> Further includes a second actuator that moves the condensing unit in a direction perpendicular to the optical axis direction of the light emitted by the light emitting unit.
The control unit controls the second actuator to move the light collecting unit in the direction perpendicular to the optical axis direction of the light emitted by the light emitting unit, thereby causing the predetermined light distribution. The distance measuring device according to <9>, which changes the irradiation direction of the distance measuring light of the pattern.
<14> In the light distribution pattern conversion unit, a plurality of reflected lights collected by the light collecting unit and emitted by the light emitting unit are reflected by the object at a predetermined distance in the light receiving unit. The distance measuring device according to <9>, which converts the distance measuring light into the distance measuring light having the predetermined light distribution pattern so as to have a predetermined spot diameter that can be received by the pixels.
<15> The light distribution pattern conversion unit sets a predetermined spread angle so that the light emitted by the light emitting unit collected by the light collecting unit has a predetermined spot diameter at a predetermined distance. The distance measuring device according to <14>, which converts the light into distance measuring light having a predetermined light distribution pattern having a change in the thickness of the light.
<16> The light distribution pattern conversion unit has a thickness of the light so that the light emitted by the light emitting unit collected by the light collecting unit has a predetermined spot diameter at a predetermined distance. The distance measuring device according to <14>, wherein the light is converted into distance measuring light having a predetermined light distribution pattern.
<17> The light emitting unit is a flat light source.
The distance measuring device according to <1>, wherein the condensing unit is composed of a plurality of collimator lenses and converts light from the planar light source into parallel light.
<18> The distance measuring device according to <17>, wherein the planar light source is a VCSEL (Vertical Cavity Surface Emitting LASER).
<19> Light emitting part and
Condensing part and
Light receiving part and
In the distance measuring method of a distance measuring device equipped with a control unit,
The light emitting unit emits light and functions as a light source.
The condensing unit collects the emitted light to form distance measuring light,
The light receiving unit receives the reflected light reflected by the distance measuring light on the object to be measured.
A distance measuring method including a step of measuring a distance to an object based on a timing at which the control unit emits the light and a timing at which the reflected light is received.

11 Distance measuring device, 12, 12'object, 31 control unit, 32 input unit, 33 output unit, 34 board, 35 light emitting unit, 36, 36' focus lens, 37 light receiving unit, 131 control unit, 135 light emitting unit, 136 Focus lens, 137 light receiving part, 138 actuator, 231 control part, 235 light emitting part, 236 focus lens, 237 light receiving part, 238 actuator, 239 DoE (diffraction optical element), 331 control part, 335 light emitting part, 336 focus lens, 337 Light receiving part, 338, 339 actuator, 340 DoE, 351 control part, 355 light emitting part, 356 focus lens, 357 light receiving part, 358, 359 actuator, 360 DoE, 371 control part, 375 light emitting part, 376 focus lens, 377 light receiving part , 378, 379 actuators, 380 DoE, 391 control unit, 395 light emitting unit, 396 focus lens, 397 light receiving unit, 398, 399 actuator, 400 DoE, 411 control unit, 415 light emitting unit, 416 focus lens, 416-1 to 416 -N Collimeter lens, 417 light receiving part, 418, 419 actuator, 420 DoE, 451 control part, 455 light emitting part, 456 focus lens, 457 light receiving part, 458, 459 actuator, 460 MEMS mirror

Claims (19)

A light emitting part that emits light and functions as a light source,
A condensing unit that condenses the light emitted by the light emitting unit to form distance measurement light, and a condensing unit.
A light receiving unit that receives the reflected light reflected by the distance measuring light on the object to be measured.
By controlling the light emitting unit and the light receiving unit, the distance to the object is measured based on the light emitting timing at which the light is emitted by the light emitting unit and the light receiving timing at which the reflected light is received by the light receiving unit. A distance measuring device equipped with a control unit. The light collecting unit collects the light emitted by the light emitting unit, and the reflected light generated by being reflected by the object at a predetermined distance in the optical axis direction of the light can be received by the light receiving unit. The distance measuring device according to claim 1, wherein the distance measuring light is formed so as to have a predetermined spot diameter at the predetermined distance. The distance measuring device according to claim 1, wherein the light collecting unit has a plurality of light collecting units according to the distance to the object, and can be exchanged according to the distance to the object to be measured. The distance measuring device according to claim 3, wherein the control unit presents information prompting replacement of the condensing unit when the distance to the object cannot be measured. The condensing unit further includes a first actuator that moves the position of the light emitted by the light emitting unit in the optical axis direction.
When the control unit cannot measure the distance to the object, the control unit controls the first actuator to adjust the position of the light collecting unit, so that the reflected light is emitted according to the distance to the object. The distance measuring device according to claim 1, wherein the distance measuring device is formed by adjusting the degree of condensing the light emitted by the light emitting unit so that the light receiving unit can receive light. The control unit controls the first actuator based on the specified distance, and emits light so as to form a predetermined spot diameter that can be received by the light receiving unit in the vicinity of the specified distance. The distance measuring device according to claim 5, wherein the position of the condensing unit is adjusted so as to condense the light emitted by the unit. The control unit controls the first actuator based on the illuminance of the reflected light received by the light receiving unit, and the illuminance of the reflected light received by the light receiving unit is smaller than the upper limit value. The distance measuring device according to claim 5, wherein the position of the light collecting unit is adjusted so as to be higher than the lower limit value. Further including a light distribution pattern conversion unit that converts the light emitted by the light emitting unit, which is collected by the light collecting unit, into distance measuring light having a predetermined light distribution pattern.
In the light receiving unit, the distance measuring light obtained by converting the distance measuring light into a predetermined light distribution pattern by the light distribution pattern conversion unit receives the reflected light reflected by the object.
In the control unit, the timing at which the light emitting unit emits the light and the reflected light are received by the light receiving unit at each position where the distance measuring light converted into the predetermined light distribution pattern is projected. The distance measuring device according to claim 1, wherein the distance to the object is measured based on the timing. The distance measuring device according to claim 8, wherein the control unit changes the irradiation direction of the distance measuring light of the predetermined light distribution pattern and measures the distance to the object for each changed irradiation direction. The distance measuring device according to claim 8, wherein the light distribution pattern includes a mesh pattern, a line pattern, a stripe pattern, and a dot pattern. The distance measuring device according to claim 8, wherein the light distribution pattern conversion unit is a DoE (Diffractive Optical Element) or a MEMS (Micro Electro Mechanical Systems) mirror. The control unit reads out the timing at which the reflected light is received at the light receiving unit in the region of interest at each position where the distance measuring light converted into the predetermined light distribution pattern is projected, and the control unit reads the timing of receiving the reflected light. The distance measuring device according to claim 8, wherein the distance to the object is measured based on the timing at which the light is emitted by the light emitting unit and the timing at which the reflected light is received by the light receiving unit in the region. Further including a second actuator that moves the condensing unit in a direction perpendicular to the optical axis direction of the light emitted by the light emitting unit.
The control unit controls the second actuator to move the light collecting unit in the direction perpendicular to the optical axis direction of the light emitted by the light emitting unit, thereby causing the predetermined light distribution. The distance measuring device according to claim 9, wherein the irradiation direction of the distance measuring light of the pattern is changed. In the light distribution pattern conversion unit, the light emitted by the light emitting unit collected by the light collecting unit receives the reflected light reflected by the object at the predetermined distance by a plurality of pixels in the light receiving unit. The distance measuring device according to claim 9, wherein the distance measuring device is converted into the distance measuring light having the predetermined light distribution pattern so as to have a possible predetermined spot diameter. The light distribution pattern conversion unit has a predetermined spread angle so that the light emitted by the light emitting unit collected by the light collecting unit has a predetermined spot diameter at a predetermined distance. The distance measuring device according to claim 14, which converts the distance measuring light into a distance measuring light having a predetermined light distribution pattern in which the thickness of the light changes. The light distribution pattern conversion unit has a constant thickness of the light so that the light emitted by the light emitting unit collected by the light collecting unit has a predetermined spot diameter at a predetermined distance. The distance measuring device according to claim 14, which converts the distance measuring light into a predetermined light distribution pattern. The light emitting unit is a flat light source and
The distance measuring device according to claim 1, wherein the condensing unit includes a plurality of collimator lenses and converts light from the planar light source into parallel light. The distance measuring device according to claim 17, wherein the planar light source is a VCSEL (Vertical Cavity Surface Emitting LASER). Light emitting part and
Condensing part and
Light receiving part and
In the distance measuring method of a distance measuring device equipped with a control unit,
The light emitting unit emits light and functions as a light source.
The condensing unit collects the emitted light to form distance measuring light,
The light receiving unit receives the reflected light reflected by the distance measuring light on the object to be measured.
A distance measuring method including a step of measuring a distance to an object based on a timing at which the control unit emits the light and a timing at which the reflected light is received.

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