JP2023116279A - Projector, light receiver, and measuring device - Google Patents

Abstract

To provide a projector, a light receiver, and a measuring device capable of flexibly coping with requested light distribution size and measurement precision.SOLUTION: A projector (or a light receiver) includes: a light emitting unit (or a light receiving unit) having a first light emitting part and a second light emitting part (or a first light receiving part and a second light receiving part) in which a positional relation is fixed; a first light projection optical system (or a first light reception optical system) for projecting light emitted from the first light emitting part to a first light projection area (or for condensing light from a first light reception area into the first light reception part); and a second light projection optical system (or a second light reception optical system) having a different focal distance from that of the first light projection optical system (or the first light reception optical system) for projecting light emitted from the second light emitting part to a second light projection area including an area differing from the first light projection area (or for condensing light from a second light reception area including an area differing from the first light reception area into a second light reception part).SELECTED DRAWING: Figure 3A

Description

The present invention relates to projectors, receivers and measuring devices.

With the progress of AD (Autonomous Driving) and ADAS (Advanced Driver Assistance System), as one of the measuring devices used for grasping the surrounding environment and estimating self-location, floodlight (irradiation light, a light beam (laser beam)) that irradiates an object to be measured, and a receiver that receives the reflected light (return light) that is reflected back from the object to be measured. Research and development of LiDAR (Light Detection and Ranging), a measurement device that provides information about the target by measuring the distance to the target based on the difference between the timing at which the light is emitted and the timing at which the receiver receives the reflected light. is underway.

Flash LiDAR is one type of LiDAR that performs multi-point observation for the purpose of grasping the shape of an object. Flash LiDAR does not include mechanical components such as motors or MEMS (Micro Electro Mechanical Systems), and is a leading LiDAR in fields where durability is required, such as when used for automotive purposes to realize AD and ADAS. considered as a candidate.

Patent Literature 1 describes a LIDAR system mounted on a vehicle. A LIDAR system consists of an illuminator (laser projector) that projects a light beam generated by a light source toward a target scene, a receiver that receives the light reflected from an object, and a controller that calculates distance information about the object from the reflected light ( processor), which scans a particular pattern of light across a desired range and field of view (FOV). Convert measurements to represent a point-by-point 3D map of an environment.

Japanese Patent Publication No. 2020-527724

The size of the light distribution (FOV (Field Of View): viewing angle, beam profile) of the flash LiDAR projector is determined by the size of the light-emitting part of the projector and the optical system that adjusts the projected light (hereinafter referred to as the "projection optical system"). ) is determined by the focal length. In addition, the size of the light distribution of the light receiver of the flash LiDAR (hereinafter referred to as "light distribution size") depends on the size of the light receiving section of the light receiver and the optical system for condensing the reflected light to the light receiving section (hereinafter referred to as "light optical system"). Therefore, when applying flash LiDAR for a particular purpose, it is necessary to ensure that the light distribution size achieved meets the specifications required by the system in which it is applied.

As a method for adjusting the light distribution size, for example, it is conceivable to arrange a plurality of flash LiDARs side by side. However, in that case, the number of parts and an increase in cost become a problem. In addition, for example, it is necessary to flexibly meet needs such as wanting to improve measurement accuracy (improving long-distance visibility) for a specific visual field range (projection area, light-receiving area).

SUMMARY OF THE INVENTION It is an object of the present invention to provide a light projector, a light receiver, and a measuring apparatus that can flexibly respond to the required light distribution size and measurement accuracy. do.

One aspect of the present invention for achieving the above object is a light emitting unit having a first light emitting section and a second light emitting section whose positional relationship is fixed, and a light emitted from the first light emitting section is projected onto a first light projecting area. and the first light projection optical system that projects light emitted from the second light emitting unit onto a second light projection area that includes an area different from the first light projection area. and a second projection optical system having a different focal length from the optical system.

In addition, the problems disclosed by the present application and their solutions will be clarified by the description of the mode for carrying out the invention and the drawings.

According to the present invention, it is possible to provide a light projector, a light receiver, and a measuring device that can flexibly respond to the required light distribution size and measurement accuracy.

It is a figure which shows the schematic structure of a measuring apparatus. It is a figure explaining the relationship between a light emission part, a light projection optical system, and a light projection area. It is a figure explaining the relationship between a light-receiving part, a light-receiving optical system, and a light-receiving area. It is a figure explaining the relationship between a light emission unit, a light projection optical system, and a light projection area. It is a figure explaining the relationship between a light emission unit, a light projection optical system, and a light projection area. It is a figure explaining the relationship between a light emission unit, a light projection optical system, and a light projection area. It is a figure explaining the relationship between a light emission unit, a light projection optical system, and a light projection area. It is a figure explaining the relationship between a light emission unit, a light projection optical system, and a light projection area. It is a figure explaining the relationship between a light-receiving unit, a light-receiving optical system, and a light-receiving area. It is a figure explaining the relationship between a light-receiving unit, a light-receiving optical system, and a light-receiving area. It is a figure explaining the relationship between a light-receiving unit, a light-receiving optical system, and a light-receiving area. It is a figure explaining the relationship between a light-receiving unit, a light-receiving optical system, and a light-receiving area. It is a figure explaining the relationship between a light-receiving unit, a light-receiving optical system, and a light-receiving area.

EMBODIMENT OF THE INVENTION Hereinafter, it demonstrates, referring drawings for the form for implementing this invention. In the following description, the same or similar configurations may be denoted by common reference numerals, and redundant description may be omitted.

[First embodiment]
<Measuring device>
FIG. 1 shows a schematic configuration (block diagram) of a measuring device 100 shown as one embodiment. The exemplified measuring apparatus 100 includes a function as a flash LiDAR (Flash Light Detection and Ranging), and includes a projector that irradiates an object with projected light (irradiation light, light beam (laser light)), and a projector that emits projected light for measurement. and a light receiver for receiving reflected light (return light) that is reflected back from the object. The measuring device 100 measures the difference between the timing at which the projector emits the projected light and the timing at which the receiver receives the reflected light (time of flight of the laser beam, hereinafter referred to as "TOF" (Time Of Flight)). to provide information about the object.

The measuring device 100 is installed in a vehicle equipped with AD (Autonomous Driving) or ADAS (Advanced Driver Assistance System), for example. The measuring device 100, for example, assists in the detection of people, vehicles, and objects, ensures the safety of the driver of the vehicle and those around the vehicle, and reduces damage to objects around the vehicle while driving. provide a variety of useful information for

As shown in the figure, the exemplified measuring apparatus 100 includes a light emitting unit 11, a light projection control device 112, a current source 113, a light projecting optical system 14, a light receiving optical system 15, a light receiving unit 16, a TOF measuring device 117, and an arithmetic device. 150, and a communication I/F 160. Among them, the light emitting unit 11, the light projection control device 112, the current source 113, and the light projecting optical system 14 constitute the aforementioned light projector, and the light receiving optical system 15 and the light receiving unit 16 constitute the aforementioned light receiver.

A light-emitting unit 11 that constitutes a light projector has a plurality of light-emitting sections 111 that are arranged in a fixed positional relationship. Here, "having a fixed positional relationship" means, for example, that the plurality of light emitting units 111 are fixed to the same member (semiconductor substrate or the like).

The light emitting unit 111 is, for example, a surface emitting type laser emitting element (for example, VCSEL (Vertical Cavity Surface Emitting Laser); hereinafter referred to as a “surface emitting element”)), or a plurality of surface emitting elements that are one-dimensional or It is a surface emitting element array (for example, a VCSEL array) two-dimensionally arranged on a substrate (semiconductor substrate, ceramic substrate, etc.).

The light projection control device 112 generates a control signal for controlling the current source 113 that supplies the drive current of the surface light emitting element of the light emitting unit 111 and inputs it to the current source 113, thereby causing the current source 113 to drive the surface light emitting element. controls the current (drive current) supplied to the In addition, the light projection control device 112 measures a signal indicating the timing at which the surface light emitting element of the light emitting unit 11 emits light (the timing at which the projected light is emitted from the surface light emitting element; hereinafter referred to as “projection timing”). Input to device 117 . The light projection control device 112, for example, periodically and repeatedly causes the surface light emitting elements to emit light by controlling the on/off of the current flowing through each of the surface light emitting elements of the light emitting unit 11 periodically.

The current source 113 supplies current corresponding to the control signal input from the light projection control device 112 to the surface light emitting element of the light emitting section 111 . The current source 113 supplies, for example, a periodic square-wave current to the surface emitting elements for turning on and off the current flowing through each of the surface emitting elements.

The projection optical system 14 adjusts the light distribution of the projected light, for example, by applying an optical action (refraction, scattering, diffraction, etc.) to the projected light emitted from the light emitting unit 11 . The projection optical system 14 is configured using optical components such as various lenses such as a collimator lens, a diffraction grating, and a reflector (mirror).

The light-receiving optical system 15 collects the reflected light returning from the object 50 onto the light-receiving section 161 of the light-receiving unit 16 . The light receiving optical system 15 is configured using, for example, various lenses such as a condenser lens, various filters such as a wavelength filter, and optical components such as a reflector (mirror).

The light-receiving unit 16 has a plurality of light-receiving sections 161 arranged with a fixed positional relationship. It should be noted that "the positional relationship between them is fixed" means, for example, that the plurality of light receiving sections 161 are fixedly arranged on the same member (semiconductor substrate or the like).

The light receiving unit 161 is configured using, for example, a photodetector such as a SPAD (Single Photon Avalanche Diode), a photodiode, or a balanced photodetector. The light receiving section 161 photoelectrically converts the reflected light incident from the light receiving optical system 15 to generate a current (hereinafter referred to as “light receiving current”) corresponding to the intensity of the reflected light. The light receiving unit 161 inputs to the TOF measuring device 117 a signal indicating the timing at which the reflected light is received (hereinafter referred to as “light receiving timing”) and the generated light receiving current.

The TOF measurement device 117 obtains the TOF based on the signal indicating the light projection timing input from the light emission control device 112 and the signal indicating the light reception timing input from the light receiving unit 161 . The TOF measurement device 117 is configured using, for example, a time measurement IC (Integrated Circuit) equipped with a TDC (Time to Digital Converter) circuit. The TOF measurement device 117 inputs the obtained TOF and the received light current input from the light receiving unit 161 to the arithmetic device 150 .

The arithmetic unit 150 is configured using a processor (CPU (Central Processing Unit), MPU (Micro Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), etc.). be. The calculation device 150 generates information used for various measurements such as detection of the target object 50 and distance measurement based on the received light current and the TOF input from the TOF measurement device 117 . The above information is, for example, a histogram used in Time Correlated Single Photon Counting, a distance to each point of the object 50, a point cloud (point cloud information) etc. The computing device 150 also controls the light projection control device 112 and the light receiving unit 16 . The computing device 150, for example, controls the light projection control device 112 and the light reception unit 16, thereby controlling the light projection timing and the light reception timing so as to speed up or optimize the processing related to histogram generation. . The information generated by the computing device 150 is provided (transmitted) to devices that use the information (hereinafter referred to as “various devices 40”) via a communication I/F 160 (I/F: Interface). .

Various utilization devices 40, for example, create an environment map by point cloud, self-position estimation (SLAM (Simultaneous Localization and Mapping)) using a scan matching algorithm (NDT (Normal Distributions Transform), ICP (Iterative Closest Point), etc.) etc.

FIG. 2A is a schematic diagram illustrating the relationship between the light emitting unit 111, the light projecting optical system 14, and a light projecting area formed by them (hereinafter referred to as "light projecting area 51"). The light projection area 51 is determined by the size (shape, size) of the light emitting section 111 and the focal length of the light projection optical system 14 . Further, the measurement accuracy (resolution, for example, the measurement accuracy of the distance to the object 50) of the measuring apparatus 100 is determined according to the focal length of the projection optical system 14, and the longer the focal length, the higher the measurement accuracy. However, the longer the focal length of the projection optical system 14, the narrower the projection area 51 becomes.

FIG. 2B is a schematic diagram illustrating the relationship between the light receiving section 161, the light receiving optical system 15, and a light receiving area formed by them (hereinafter referred to as "light receiving area 52"). As shown in the figure, the light receiving area 52 is determined by the size (shape, size) of the light receiving section 161 and the focal length of the light receiving optical system 15 . Further, the measurement accuracy (resolution, for example, the measurement accuracy of the distance to the object 50) of the measuring apparatus 100 is determined according to the focal length of the light receiving optical system 15, and the longer the focal length, the higher the measurement accuracy. However, the longer the focal length of the light receiving optical system 15, the narrower the light receiving area.

As described above, the sizes of the light emitting area 51 and the light receiving area 52 are restricted by the size of the light emitting unit 111 and the size of the light receiving unit 161. Therefore, for example, an off-the-shelf product is used as the light emitting unit 111 and the light receiving unit 161. In that case, the light projection area 51 to the light reception area 52 do not necessarily match the purpose and application of the measuring apparatus 100 . In addition, depending on the purpose and application of the measurement apparatus 100, it is desired to improve the measurement accuracy of a specific visual field range (projection area, light receiving area) more than other visual field ranges (for example, when flash LiDAR is applied to AD or ADAS) For example, when you want to improve the measurement accuracy in a specific field of view such as the distance of the oncoming lane), it is necessary to respond flexibly to such needs.

Therefore, in the measurement apparatus 100 of the present embodiment, the above problems and needs are addressed by configuring the light projector and the light receiver as described below.

<Floodlight>
FIG. 3A is a schematic diagram illustrating the relationship between the elements of the light projector (the light emitting unit 11 and the light projecting optical system 14) in the measurement apparatus 100 of this embodiment and the light projection area 51 formed by the light projector. In the figure, for convenience of explanation, the elements of the light projector (the light emitting unit 11 and the light projecting optical system 14) are viewed from a direction perpendicular to the optical axis of the light emitting section 111 (viewed from the +y side). Also, the projection area is a diagram viewed from the direction of the optical axis (a diagram viewed from the -z side). The arrows shown in the figure indicate the correspondence between the light emitting section 111 and the light projection area 51 (the same applies to FIGS. 3B to 3E). Note that the size of the light emitting unit 11 is exaggerated in FIG.

As shown in the figure, the exemplified light projector includes a light-emitting unit 11 having three light-emitting portions (a first light-emitting portion 111a, a second light-emitting portion 111b, and a third light-emitting portion 111c) whose mutual positional relationship is fixed; It includes three projection optical systems 14 (first projection optical system 14a, second projection optical system 14b, and third projection optical system 14c).

The first light projection optical system 14a distributes the light beam emitted from the first light emitting unit 111a to the first light projection area 51a. In the drawing, the dashed-dotted line represents the optical axis of the light emitting unit 111 or the projection optical system 14 .

As shown in the figure, the first light projecting optical system 14a is arranged with its optical axis offset with respect to the optical axis of the first light emitting unit 111a. In this example, the optical axis of the first light projecting optical system 14a is offset further away from the second light emitting section 111b (-x direction) than the optical axis of the first light emitting section 111a. By offsetting the optical axis of the first light projecting optical system 14a with respect to the optical axis of the first light emitting unit 111a in this way, the first light projecting area 51a can be expanded along the x-axis compared to the case where no offset is made. can be done.

The second light projecting optical system 14b distributes the light beam emitted from the second light emitting unit 111b to a second light projecting area 51b including an area different from the first light projecting area 51a. In this example, the vicinity of the end of the first light projection area 51a and the vicinity of the end of the second light projection area 51b overlap each other. By partially overlapping the adjacent areas in this way, the first light projection area 51a and the second light projection area 51a may differ from each other due to manufacturing errors of the light emitting unit 11 and errors occurring when the light emitting unit 11 is mounted on a vehicle or the like. It is possible to prevent a dead area (unmeasurable area) from being generated between the optical area 51b.

The third light projecting optical system 14c distributes the light beam emitted from the third light emitting unit 111c to a third light projecting area 51c including an area different from the first light projecting area 51a and the second light projecting area 51b. . In this example, the vicinity of the end of the second light projection area 51b and the vicinity of the end of the third light projection area 51c overlap each other. By partially overlapping the adjacent areas in this way, the second light projection area 51b and the third light projection area 51b may be different from each other due to errors that occur when manufacturing the light emitting unit 11 or mounting the light emitting unit 11 on a vehicle or the like. It is possible to prevent the occurrence of a dead area (unmeasurable area) between the area 51c and the area 51c.

For the overlapping light projection areas 51, the light projection control device 112, for example, performs control to turn on only one of the light emitting units 111 so that the non-overlapping light projection areas and the intensity of the projected light are uniform. It is possible to reduce the power consumption as well as to achieve the reduction in efficiency.

As shown in the figure, the third light projecting optical system 14c is arranged with its optical axis offset with respect to the optical axis of the third light emitting section 111c. In this example, the optical axis of the third light projecting optical system 14c is offset further away from the second light emitting section 111b (+x direction) than the optical axis of the third light emitting section 111c. By offsetting the optical axis of the third light projecting optical system 14c with respect to the optical axis of the third light emitting unit 111c in this way, the third light projecting area 51c can be expanded along the x-axis compared to the case where no offset is made. can be done.

As shown in the figure, in this example, the second light projection area 51b exists between the first light projection area 51a and the third light projection area 51c. Further, the second light projecting optical system 14b has a different focal length from the first light projecting optical system 14a and the third light projecting optical system 14c. In this example, the focal length of the second light projecting optical system 14b is set longer than that of the first light projecting optical system 14a and the third light projecting optical system 14c. Therefore, the measurement accuracy of the second light projection area 51b is higher than that of the first light projection area 51a and the third light projection area 51c. As a result, for example, the effective measurement distance of the measuring device 100 can be increased (precision can be ensured over longer distances). In this example, the focal length of the second light projecting optical system 14b is set longer than that of the first light projecting optical system 14a and the third light projecting optical system 14c. Therefore, the focal length of each projection optical system may be set arbitrarily.

As described above, according to the exemplified light projector, it is possible to expand the light projection area 51 using one light emitting unit 11 having a plurality of light emitting portions 111 whose mutual positional relationship is fixed. For this reason, for example, a commercially available light emitting unit 11 in which a plurality of light emitting parts 111 are arranged one-dimensionally or two-dimensionally is used, and the number of parts is reduced so as to satisfy the specifications required by the application of the measuring device 100, and the cost is reduced. It is possible to adjust the light distribution while suppressing the In addition, since a wide light projection area can be realized by using the light emitting unit 11 with a high degree of integration of the light emitting section 111, the size of the measurement apparatus 100 can be reduced. In addition, by individually setting the focal length of the light projection optical system 14, it is possible to flexibly and easily meet the need to improve the measurement accuracy of a specific light projection area 51 more than other light projection areas 51. can. Further, since the projection optical systems 14a to 14c are provided for the respective light emitting units 111a to 111c, the projection optical systems 14a to 14c can be arranged in a positional relationship that does not interfere with each other.

By the way, in the example of FIG. 3A, a part of the first light projection area 51a and a part of the third light projection area 51c overlap with the second light projection area 51b. , the entirety of the second light projection area 51b may overlap at least one of the first light projection area 51a and the third light projection area 51c.

Further, if errors in manufacturing the measurement device 100 and errors in installation in a vehicle or the like do not matter, for example, as shown in FIG. may In this case, the light projection area can be made wider (maximum).

Further, in the above example, the light emitting units 111 and the light projecting optical systems 14 are provided in one-to-one correspondence, but the light from the plurality of light emitting units 111 may be distributed by the same light projecting optical system 14 . For example, FIG. 3D shows the same light distribution as in FIG. This is a case of realizing by the light projecting optical system 14a and the second light projecting optical system 14b). FIG. 3E shows a case where the light distribution similar to that of FIG. 3C is realized by the three light emitting units 111 and the two light projection optical systems 14 (the first light projection optical system 14a and the second light projection optical system 14b). is.

In these examples, light distribution of the light beams emitted from the first light emitting unit 111a and the second light emitting unit 111b is performed using one first light projecting optical system 14a. A first light projection area 51a and a third light projection area 51c are formed. Further, the light distribution of the light beam emitted from the third light emitting section 111c is performed by the second light projecting optical system 14b having a focal length different from that of the first light projecting optical system 14a. A second light projection area 51b is formed by. With such a configuration, the number of projection optical systems can be reduced, and the size and cost of the measurement apparatus 100 can be reduced.

<Receiver>
FIG. 4A is a schematic diagram illustrating the relationship between the elements of the light receiver (the light receiving unit 16 and the light receiving optical system 15) in the measurement apparatus 100 of this embodiment and the light receiving area formed by the light receiver. In the figure, for convenience of explanation, the elements of the light receiver (the light receiving unit 16 and the light receiving optical system 15) are viewed from a direction perpendicular to the optical axis of the light receiving section 161 (viewed from the +y side). Also, the light receiving area is a view viewed from the direction of the optical axis (viewed from the -z side). The arrows shown in the figure indicate the correspondence between the light receiving section 161 and the light receiving area 52 (the same applies to FIGS. 4B to 4E). Note that the size of the light receiving unit 16 is exaggerated in FIG.

As shown in the figure, the light receiver includes a light receiving unit 16 having three light receiving portions (a first light receiving portion 161a, a second light receiving portion 161b, and a third light receiving portion 161c) whose positional relationship is fixed; It includes three light receiving optical systems 15 (first light receiving optical system 15a, second light receiving optical system 15b, and third light receiving optical system 15c).

In this example, the first light receiving optical system 15a collects the reflected light from the first light receiving area 52a onto the first light receiving section 161a. In the drawing, the dashed-dotted line represents the optical axis of the light receiving section 161 or the light receiving optical system 15 .

As shown in the figure, the first light receiving optical system 15a is arranged with its optical axis offset with respect to the optical axis of the first light receiving section 161a. In this example, the optical axis of the first light receiving optical system 15a is offset to the side (-x direction) farther from the second light receiving section 161b than the optical axis of the first light receiving section 161a. By offsetting the optical axis of the first light-receiving optical system 15a with respect to the optical axis of the first light-receiving unit 161a in this way, the first light-receiving area 52a can be expanded along the x-axis compared to the case where no offset is made. .

The second light receiving optical system 15b collects the reflected light from the second light receiving area 52b including an area different from the first light receiving area 52a onto the second light receiving section 161b. In this example, the vicinity of the end portion of the first light receiving area 52a and the vicinity of the end portion of the second light receiving area 52b overlap each other. By partially overlapping the adjacent areas in this manner, the first light receiving area 52a and the second light receiving area may differ from each other due to manufacturing errors of the light receiving unit 16 and errors occurring when the light receiving unit 16 is mounted on a vehicle or the like. 52b can be prevented from forming a dead area (unmeasurable area).

The third light receiving optical system 15c collects the reflected light from the third light receiving area 52c including an area different from the first light receiving area 52a and the second light receiving area 52b onto the third light receiving section 161c. In this example, the vicinity of the end portion of the second light receiving area 52b and the vicinity of the end portion of the third light receiving area 52c are arranged to overlap. By partially overlapping the adjacent areas in this manner, the second light receiving area 52b and the third light receiving area 52c may be separated from each other due to an error in manufacturing the light receiving unit 16 or an error occurring when the light receiving unit 16 is mounted on a vehicle or the like. It is possible to prevent the occurrence of a dead area (unmeasurable area) between

As shown in the figure, the third light receiving optical system 15c is arranged with its optical axis offset with respect to the optical axis of the third light receiving section 161c. In this example, the optical axis of the third light receiving optical system 15c is offset further away from the second light receiving section 161b (+x direction) than the optical axis of the third light receiving section 161c. By offsetting the optical axis of the third light-receiving optical system 15c with respect to the optical axis of the third light-receiving unit 161c in this way, the third light-receiving area 52c can be expanded along the x-axis compared to the case where no offset is made. .

As shown in the figure, in this example, the second light receiving area 52b exists between the first light receiving area 52a and the third light receiving area 52c. The focal length of the second light receiving optical system 15b is different from that of the first light receiving optical system 15a and the third light receiving optical system 15c. In this example, the focal length of the second light receiving optical system 15b is set longer than that of the first light receiving optical system 15a and the third light receiving optical system 15c. Therefore, the measurement accuracy of the second light receiving area 52b is higher than that of the first light receiving area 52a and the third light receiving area 52c. As a result, for example, the effective measurement distance of the measuring device 100 can be increased (precision can be ensured over longer distances). In this example, the focal length of the second light receiving optical system 15b is set longer than that of the first light receiving optical system 15a and the third light receiving optical system 15c. It may be arbitrarily set according to the required specifications.

As described above, according to the illustrated light receiver, the light receiving area 52 can be expanded by using one light receiving unit 16 having a plurality of light receiving portions 161 whose positional relationship is fixed. For this reason, for example, a commercially available light receiving unit 16 in which a plurality of light receiving units 161 are arranged one-dimensionally or two-dimensionally is used, and the number of parts is reduced so as to satisfy the specifications required by the application of the measuring apparatus 100, and the cost is reduced. It is possible to adjust the light distribution while suppressing the In addition, since a wide light receiving area can be realized by using the light receiving unit 16 with a high degree of integration of the light receiving section 161, the size of the measuring apparatus 100 can be reduced. In addition, by individually setting the focal length of the light receiving optical system, it is possible to flexibly and easily meet the need to increase the measurement accuracy of a specific light receiving area more than other light receiving areas. Further, since the light receiving optical systems 15a to 15c are provided for the respective light receiving portions 161a to 161c, the light receiving optical systems 15a to 15c can be arranged in a positional relationship that does not interfere with each other.

By the way, in the example of FIG. 4A, a part of the first light receiving area 52a and a part of the third light receiving area 52c overlap with the second light receiving area 52b. The entire light receiving area 52b may overlap at least one of the first light receiving area 52a and the third light receiving area 52c.

In addition, if the manufacturing error of the measurement device 100 or the error at the time of installation in a vehicle or the like does not matter, for example, as shown in FIG. good too. In this case, the light receiving area can be made wider (maximum).

Further, in the above example, the light receiving unit 161 and the light receiving optical system 15 are provided in one-to-one correspondence, but the light from the plurality of light receiving units 161 may be collected by the same light receiving optical system 15 . For example, FIG. 4D shows the same collection of light as in FIG. This is the case realized by the light receiving optical system 15a and the second light receiving optical system 15b). FIG. 4E shows a case where the same light collection as in FIG. 4C is realized by the three light receiving units 161 and the two light receiving optical systems 15 (the first light receiving optical system 15a and the second light receiving optical system 15b). .

In these examples, the single first light receiving optical system 15a collects reflected light from the first light receiving area 52a and the third light receiving area 52c to the first light receiving section 161a and the third light receiving section 161c. Further, the second light receiving optical system 15b having a focal length different from that of the first light receiving optical system 15a collects the reflected light from the second light receiving area 52b to the second light receiving portion 161b. As a result, the number of light receiving optical systems can be reduced, and the size and cost of the measuring apparatus 100 can be reduced.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments and includes various modifications. In addition, the above-described embodiment describes the configuration in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to those having all the described configurations. Moreover, it is possible to add, delete, or replace a part of the configuration of the above embodiment with another configuration.

For example, in the above description, a case of configuring three light projecting areas (or three light receiving areas) has been described, but the present invention can also be applied to a case of configuring two light projecting areas (or two light receiving areas), or a case of configuring four light receiving areas. The present invention can also be applied to the configuration of the above light projecting areas (or four or more light receiving areas).

Further, for example, the new mechanisms of the light projector and the light receiver described above may adopt both mechanisms in the measurement apparatus 100, or may adopt only one of them.

50 Object 51a First Projection Area 51b Second Projection Area 51c Third Projection Area 52a First Light Receiving Area 52b Second Light Receiving Area 52c Third Light Receiving Area 100 Measuring Device 11 Light Emitting Unit , 111 light-emitting unit, 112 light projection control device, 113 current source, 14 light-projecting optical system, 15 light-receiving optical system, 16 light-receiving unit, 161 light-receiving unit, 117 TOF measuring device, 150 arithmetic device, 160 communication I/F, 40 Various equipment

Claims (18)

a light-emitting unit having a first light-emitting portion and a second light-emitting portion whose positional relationship is fixed;
a first light projecting optical system that projects light emitted from the first light emitting unit onto a first light projecting area;
A second light projection having a focal length different from that of the first light projection optical system, wherein the light emitted from the second light emitting unit is projected onto a second light projection area including an area different from the first light projection area. an optical system;
A floodlight with a A light projector according to claim 1,
The first light projecting optical system is provided with its optical axis offset from the optical axis of the first light emitting unit,
floodlight. A light projector according to claim 1,
A control device for individually controlling the lighting of the first light emitting unit and the second light emitting unit,
The control device controls so that the first light emitting unit and the second light emitting unit are not lit at the same time in an area where the first light emitting area and the second light emitting area overlap.
floodlight. A light projector according to claim 1,
The light emitting unit further includes a third light emitting section and a third light projecting optical system having a focal length different from that of the second light projecting optical system,
The third light projecting optical system projects the light emitted from the third light emitting unit onto a third light projecting area including an area different from the first light projecting area and the second light projecting area. provided,
wherein the second light projection area is arranged between the first light projection area and the third light projection area;
floodlight. A light projector according to claim 4,
The optical axis of the third light projecting optical system is offset from the optical axis of the third light emitting unit,
floodlight. A light projector according to claim 4,
wherein the first to third projection areas do not have overlapping areas;
floodlight. A light projector according to claim 4,
The second projection optical system has a longer focal length than the first projection optical system and the third projection optical system,
floodlight. A light projector according to claim 4,
A control device for individually controlling the lighting of the first to third light emitting units,
The control device is
For an area where the first light emitting area and the second light emitting area overlap, controlling so that the first light emitting unit and the second light emitting unit are not lit at the same time,
For an area where the second light emitting area and the third light emitting area overlap, controlling so that the second light emitting unit and the third light emitting unit are not lit at the same time,
floodlight. A light projector according to claim 1,
The light emitting unit further has a third light emitting section,
The first light projecting optical system projects light emitted from the first light emitting unit to a first light projecting area including an area different from the second light emitting area, and emits the light from the second light emitting unit. provided to project light onto a third light projection area including an area different from the first light projection area and the second light projection area;
The second light projection optical system is provided to project light emitted from the third light emitting unit onto a second light projection area,
wherein the second light projection area is arranged between the first light projection area and the third light projection area;
floodlight. A measuring device configured using the projector according to any one of claims 1 to 9,
the light projector;
a light receiver that receives reflected light from a measurement target of the light projected from the light projector;
with
measuring the distance to the measurement object based on the light reception result of the light receiver;
measuring device. a light-receiving unit having a first light-receiving section and a second light-receiving section with a fixed positional relationship;
a first light-receiving optical system for condensing the light incident from the first light-receiving area onto the first light-receiving part;
a second light-receiving optical system having a focal length different from that of the first light-receiving optical system, the second light-receiving optical system condensing light incident on the second light-receiving part from a second light-receiving area including an area different from the first light-receiving area;
a receiver having a A receiver according to claim 11, comprising:
The first light receiving optical system is provided with its optical axis offset from the optical axis of the first light receiving unit.
receiver. A receiver according to claim 11, comprising:
The light-receiving unit further includes a third light-receiving section and a third light-receiving optical system having a different focal length from the second light-receiving optical system,
The third light receiving optical system is provided so as to collect light from a third light receiving area including an area different from the first light receiving area and the second light receiving area to the third light receiving section,
The second light receiving area is arranged between the first light receiving area and the third light receiving area,
receiver. 14. The receiver of claim 13, comprising:
The optical axis of the third light-receiving optical system is offset from the optical axis of the third light-receiving unit,
receiver. 14. The receiver of claim 13, comprising:
the first to third light receiving areas do not have overlapping areas;
receiver. 14. The receiver of claim 13, comprising:
The second light receiving optical system has a longer focal length than the first light receiving optical system and the third light receiving optical system,
receiver. A receiver according to claim 11, comprising:
The light receiving unit further has a third light receiving section,
The first light-receiving optical system converges light incident from the first light-receiving area on the second light-receiving part, and collects light from a third light-receiving area including an area different from the first light-receiving area and the second light-receiving area. Provided so as to converge incident light on the first light receiving unit,
The second light-receiving optical system is provided so as to cause light incident from the second light-receiving area to enter the third light-receiving section,
The second light receiving area is arranged between the first light receiving area and the third light receiving area,
receiver. A measuring device configured using the photoreceiver according to any one of claims 11 to 17,
a floodlight;
the light receiver that receives the reflected light from the measurement target of the light projected from the light projector;
with
measuring the distance to the measurement object based on the light reception result of the light receiver;
measuring device.

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