JP2024045643A - Scanning device, scanning device control method, program, recording medium, and distance measuring device - Google Patents

Abstract

[Problem] To provide a scanning device and distance measuring device that can accurately scan and measure distance to an object even when used in various environments. [Solution] A scanning device having a light-projecting unit that projects light in a variable direction and a light-receiving unit that receives light projected from the light-projecting unit and reflected by an object, the light-projecting unit switches between a first light-projecting mode in which the light is projected in a variable direction with a first direction as the main scanning direction and a second direction different from the first direction as the sub-scanning direction, and a second light-projecting mode in which the light is projected in a variable direction with the second direction as the main scanning direction and the first direction as the sub-scanning direction, based on the environment around the scanning device. [Selected Figure] Figure 1

Description

The present invention relates to a scanning device that performs optical scanning, a method of controlling the scanning device, a control program and recording medium for the scanning device, a distance measuring device that performs optical distance measurement, and map data.

2. Description of the Related Art Distance measuring devices have been known that measure the distance to an object by irradiating light onto the object and detecting the light reflected by the object. Furthermore, an optical scanning distance measuring device is known that can perform optical scanning of a target object and obtain information regarding the shape and orientation of the target object in addition to the distance to the target object.

For example, Patent Document 1 discloses an optical distance measuring device that has a light reflecting surface and an optical scanning unit that can perform a Lissajous scan of light incident on the light reflecting surface within a target area, a light receiving unit that receives light emitted from a light source unit and reflected by an object, and a distance measuring unit that measures the distance to the object.

JP 2011-53137 A

A scanning type distance measuring device, for example, performs optical scanning on a specified scanning area and performs optical distance measurement based on the scanning results. Therefore, it is assumed that a large number of objects are present within the scanning area. Furthermore, for example, when the distance measuring device is mounted on a moving body, the conditions of the scanning area (i.e., the area to be measured) change from moment to moment, such as the road environment. Taking into consideration the case where the scanning type distance measuring device is used in such an environment, it is preferable that the scanning type distance measuring device can accurately scan and measure the distance to all objects present in the scanning area.

The present invention has been made in view of the above points, and provides a scanning device and a distance measuring device that can accurately scan and range an object even when used in various environments. This is one of the objectives. Further, the present invention provides a method for controlling a scanning device that can accurately scan an object even when used in various environments, a control program, and a recording medium on which the control program is recorded. This is one of the objectives. Another object of the present invention is to provide map data that includes information that allows accurate scanning and distance measurement of objects even when used in various environments.

The invention according to claim 1 is a scanning device having a light projecting section that projects light in a variable direction, and a light receiving section that receives the light projected from the light projecting section and reflected by an object. The light projection section has a first light projection mode in which the light is projected in a variable direction with the first direction as the main scanning direction and a second direction different from the first direction as the sub scanning direction; The scanning device is characterized in that switching between the second light projection mode and the second light projection mode in which light is projected in a variable direction with the second direction as the main scanning direction and the first direction as the sub-scanning direction is performed based on the surrounding environment of the scanning device. shall be.

The invention described in claim 10 is characterized by having the scanning device described in claim 1.

Further, the invention according to claim 11 provides a first light projection system that projects light in a variable direction with a first direction as a main scanning direction and a second direction different from the first direction as a sub-scanning direction. and a second light projection mode that projects light in a variable direction with the second direction as the main scanning direction and the first direction as the sub-scanning direction; A method for controlling a scanning device having a light receiving section that receives light reflected by a target object, the method comprising controlling the first and second light projection modes of the light projecting section based on the surrounding environment of the scanning device. It is characterized by switching.

Further, the invention according to claim 12 provides a computer with a first direction that projects light in a variable direction with a first direction as a main scanning direction and a second direction different from the first direction as a sub-scanning direction. and a second light projection mode that projects light in a variable direction with the second direction as the main scanning direction and the first direction as the sub-scanning direction; A scanning device having a light receiving section that receives light emitted and reflected by an object is controlled to switch between first and second light projection modes of the light projecting section based on the surrounding environment of the scanning device. It is characterized in that it functions as a control unit.

Moreover, the invention according to claim 13 is characterized in that the program according to claim 12 is recorded.

1 is a diagram showing an overall configuration of a distance measuring device according to a first embodiment; FIG. 3 is a top view of a deflection element in the distance measuring device according to the first embodiment. FIG. 3 is a diagram showing a scanning mode of the distance measuring device according to the first embodiment. FIG. 3 is a diagram showing a scanning mode of the distance measuring device according to the first embodiment. FIG. 3 is a diagram showing a mode switching table in the distance measuring device according to the first embodiment. 4 is a diagram illustrating an example of a data structure of map information acquired by the distance measuring device according to the first embodiment; 4 is a diagram illustrating an example of a data structure of map information acquired by the distance measuring device according to the first embodiment; 4 is a diagram illustrating an example of a data structure of map information acquired by the distance measuring device according to the first embodiment; 3A and 3B are diagrams illustrating a scanning pattern of the distance measuring device according to the first embodiment. FIG. 13 is a top view of a deflection element in a distance measuring device according to a modified example of the first embodiment.

The following describes in detail an embodiment of the present invention.

Figure 1 is a schematic layout diagram of a distance measuring device 10 according to the first embodiment. The distance measuring device 10 is a scanning type distance measuring device that performs optical scanning of a predetermined area (hereinafter referred to as the scanning area) R0 and measures the distance to an object OB present within the scanning area R0. Figure 1 is also a block diagram of the control unit 17. The distance measuring device 10 will be described using Figure 1. Note that Figure 1 shows a schematic diagram of the scanning area R0 and the object OB.

First, the distance measuring device 10 has a light projecting unit 11 that projects light in a variable direction, and a light receiving unit 12 that receives the light projected from the light projecting unit 11 and reflected by the object OB. In this embodiment, the light projecting unit 11 has a light source 13 that emits pulsed light L1, and a deflection element 14 that deflects the pulsed light L1 in a variable direction and projects it as scanning light (sometimes referred to as emitted light) L2 toward the scanning region R0. Also, in this embodiment, the light source 13 generates laser light having a peak wavelength in the infrared region as the pulsed light L1, and emits it intermittently.

In this embodiment, the deflection element 14 performs a periodic operation to periodically change the deflection direction of the pulsed light L1. The deflection element 14 outputs the pulsed light L1 while bending the traveling direction of the pulsed light L1, and periodically changes the bending direction. The deflection element 14 projects the deflected pulsed light L1 as scanning light L2 toward the scanning region R0.

In this embodiment, the deflection element 14 includes a swinging mirror 14A that swings around two swing axes that are orthogonal to each other and reflects the pulsed light L1. In this embodiment, the deflection element 14 periodically changes the reflection direction of the pulsed light L1 by swinging the swinging mirror 14A.

Note that the scanning region R0 is a virtual three-dimensional space onto which the scanning light L2 is projected from the deflection element 14. In FIG. 1, the outer edge of the scanning area R0 is schematically shown with a broken line.

For example, the scanning region R0 is a direction range in the width direction and height direction along a direction corresponding to a variable range of the deflection direction of the pulsed light L1 corresponding to the swing direction around the two swing axes of the swing mirror 14A. and a range in the distance direction (i.e., depth range) in which the scanning light L2 can maintain a predetermined intensity.

Further, when a virtual plane located a predetermined distance away from the deflection element 14 in the scanning region R0 is defined as the scanning plane R1, the scanning plane R1 can be defined as a two-dimensional area. The scanning light L2 is projected toward the scanning region R0 so as to scan the scanning surface R1.

As shown in FIG. 1, when an object OB (that is, an object or substance that reflects or scatters the pulsed light L1) exists in the scanning region R0, the scanning light L2 is reflected by the object OB. or scattered. A part of the scanning light L2 reflected by the object OB travels as reflected light L3 on almost the same optical path as the scanning light L2 in the opposite direction to the scanning light L2, and returns to the deflection element 14. come.

The reflected light L3 is bent by the deflection element 14. After the reflected light L3 is bent by the deflection element 14, it travels along substantially the same optical path as the pulsed light L1 in a direction opposite to the pulsed light L1.

The light receiving unit 12 includes a light receiving element 15 that receives reflected light L3, which is the scanning light L2 reflected by the object OB and returned to the deflection element 14. The light receiving element 15 includes at least one photoelectric conversion element that detects the reflected light L3 and generates an electrical signal according to the reflected light L3. The light receiving unit 12 generates the electrical signal generated by the light receiving element 15 as a result of receiving the reflected light L3.

In this embodiment, the optical path of the pulsed light L1 between the light source 13 and the deflection element 14 includes an optical separation element BS that separates the reflected light L3 and guides it to the light receiving element 15. For example, the optical separation element BS is a beam splitter that separates the pulsed light L1 and the reflected light L3 by transmitting the pulsed light L1 and reflecting the reflected light L3. In order to improve the efficiency of light utilization, the optical separation element BS may not be provided, and the light projecting unit 11 and the light receiving unit 12 may be arranged approximately coaxially, and the light projecting unit 11 and the light receiving unit 12 may be configured so that the position of incidence of the pulsed light L1 on the oscillating mirror 14A and the position of incidence of the reflected light L3 on the oscillating mirror 14A are slightly offset.

The distance measuring device 10 includes an imaging unit 16 that captures the scanning area R0 or a portion of it (hereinafter referred to as the imaging area) R2. The imaging unit 16 is, for example, an infrared camera. Note that in FIG. 1, the imaging area R2 is shown diagrammatically by a dashed line. The imaging unit 16 generates and outputs images of the scanning area R0 at a predetermined interval, for example.

Note that it is preferable that the light projecting section 11 and the imaging section 16 are arranged close to each other and facing substantially the same direction, for example. Preferably, the scanning area R0 and the imaging area R2 are configured to be approximately the same area. In other words, the position and outline of the object OB in the scanning plane R1 as seen from the light projecting unit 11 and the position and outline of the object OB in the scanning plane R1 as seen from the imaging unit 16 should match as much as possible. preferable.

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

The control unit 17 includes an environment information acquisition unit 21 that acquires information indicating the environment around the distance measuring device 10 (hereinafter referred to as environment information). In this embodiment, the environmental information acquisition section 21 acquires information regarding the geographical environment around the light projecting section 11 and the light receiving section 12, including the scanning region R0. In this specification, information regarding the geographic environment refers to, for example, information regarding the natural environment such as topography and hydrology, and information regarding the artificial environment such as roads, houses, and farmland.

The environmental information acquisition unit 21 acquires, for example, information regarding the current position of the distance measuring device 10 (light projecting unit 11 and light receiving unit 12). For example, the environmental information acquisition unit 21 may include a positioning device (not shown) that performs positioning of the distance measuring device 10. Then, the environmental information acquisition unit 21 acquires, for example, environmental information around the distance measuring device 10.

In this embodiment, the environmental information acquisition section 21 includes a map information acquisition section 21A that acquires map information that is information about a map around the distance measuring device 10. Further, in this embodiment, the environmental information acquisition unit 21 acquires from the imaging unit 16 an image captured by the imaging unit 16 . In this embodiment, the environmental information acquisition unit 21 acquires this information as environmental information around the distance measuring device 10.

The control section 17 includes a light projection mode control section 22 that controls the light projection mode of the light projection section 11 based on environmental information around the distance measuring device 10 acquired by the environmental information acquisition section 21 . In this embodiment, the light projection mode control section 22 includes a deflection mode control section 22A that controls the deflection mode of the pulsed light L1 in the deflection element 14, which in this embodiment controls the swing mode of the swinging mirror 14A.

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

Further, in this embodiment, the light projection mode control section 22 includes a pulse interval control section 22B that controls the emission interval of the pulsed light L1 from the light source 13. Specifically, the pulse interval control unit 22B generates a drive signal that controls the emission mode of the pulsed light L1 by driving the light source 13 to emit the pulsed light L1 and switching between emission and non-emission of the pulsed light L1. do. The pulse interval control section 22B supplies the drive signal to the light source 13.

The control unit 17 has a distance measurement unit 23 that measures the distance to the object OB based on the result of receiving the reflected light L3 by the light receiving element 15. In this embodiment, the distance measurement unit 23 detects a pulse indicating the reflected light L3 from the electrical signal generated by the light receiving element 15. The distance measurement unit 23 also measures the distance to the object OB (or a part of its surface area) by a time-of-flight method based on the time difference between the projection timing of the scanning light L2 and the reception timing of the reflected light L3. The distance measurement unit 23 also generates data (distance measurement data) indicating the measured distance information.

Further, in the present embodiment, the distance measuring unit 23 distinguishes the scanning area R0 (scanning surface R1) into a plurality of distance measuring points (scanning points or light projection points), and performs the measurement of each of the plurality of distance measuring points. An image (distance measurement image) of the scanning area R0 is generated that shows the distance result (distance value) as a pixel. In the present embodiment, the distance measuring unit 23 associates the distance measuring point with information indicating the displacement (swinging position) of the swinging mirror 14A of the deflection element 14, and the distance measuring unit 23 associates the ranging point with information indicating the displacement (swinging position) of the swinging mirror 14A of the deflection element 14, and Image data that is a two-dimensional map showing distance is generated.

The distance measuring unit 23 generates a distance measurement image for each scanning period, which is, for example, the period of change in the projection direction of the scanning light L2, i.e., the period of scanning the scanning area R0. The distance measuring unit 23 may also have a display unit (not shown) that displays the generated distance measurement images as a video in chronological order.

Note that the scanning period refers to, for example, when the distance measuring device 10 periodically performs optical scanning on the scanning area R0, the state of an arbitrary displacement of the swinging mirror 14A of the deflection element 14 is changed to the state of the displacement again after that. This refers to the period until the condition returns to normal.

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

The swinging section 32 includes a pair of torsion bars that have one end fixed to the inner circumference of the frame section 31, extend along the first swing axis AX, and have elasticity in the circumferential direction of the first swing axis AX. Has TX. Further, the swinging section 32 has a swinging frame SX connected to the other end of the pair of torsion bars TX so as to be swingable around the first swinging axis AX inside the pair of torsion bars TX. . The swing frame SX swings around the first swing axis AX by twisting the pair of torsion bars TX along the circumferential direction of the first swing axis AX.

The swinging portion 32 has one end fixed to the inner peripheral portion of the swinging frame SX, extends along the second swinging axis AY, and has elasticity in the circumferential direction of the second swinging axis AY. It has a torsion bar TY. Further, the swinging section 32 includes a swinging plate SY connected to the other end of the pair of torsion bars TY so as to be swingable around a second swinging axis AY inside the pair of torsion bars TY. .

The rocking plate SY rocks around the second rocking axis AY as the pair of torsion bars TY twists around the circumferential direction of the second rocking axis AY. In addition, the rocking plate SY rocks around the first and second rocking axes AX and AY as the rocking frame SX rocks around the first rocking axis AX.

The deflection element 14 has a driving force generating unit 33 that generates a swinging force (i.e., the driving force of the deflection element 14) that electromagnetically swings the swinging unit 32. The driving force generating unit 33 includes a permanent magnet MG arranged on the frame unit 31, metal wiring (first coil) CX wired on the swinging frame SX along the outer periphery of the swinging frame SX, and metal wiring (second coil) CY wired on the swinging plate SY along the outer periphery of the swinging plate SY.

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

Further, the two magnet pieces that face each other in the direction along the swing axis AX are arranged so that the portions showing mutually opposite polarities face each other. Similarly, two magnet pieces facing each other in the direction along the swing axis AY are arranged so that the portions showing mutually opposite polarities face each other.

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

Further, the metal wirings CX and CY are connected to the control section 17. The light projection mode control section 22 of the control section 17 applies drive signals DX and DY to the metal wirings CX and CY. The driving force generating section 33 generates an electromagnetic force that causes the swinging section 32 to swing by applying the drive signals DX and DY.

Note that the driving force generation unit 33 may be configured to electromagnetically generate the swinging force of the swinging mirror 14A. The driving force generation unit 33 may generate, for example, a swinging force that electrostatically, piezoelectrically, or thermally swings the swinging plate SY.

Furthermore, the deflection element 14 has a light reflection film 34 formed on the oscillating plate SY. The light reflecting film 34 swings around the first and second swing axes AX and AY in accordance with the swing of the swing plate SY. In this embodiment, the light reflecting film 34 functions as a swinging mirror 14A in the deflection element 14.

3 and 4 are diagrams showing the light projection mode of the scanning light L2 that the light projection section 11 has. 3 and 4 are diagrams showing the waveforms of the drive signals DX and DY and the locus of the scanning light L2 on the scanning surface R1 in the first and second light projection modes M1 and M2, respectively. The operation of the light projecting section 11 (the light source 13 and the deflection element 14) will be explained using FIGS. 3 and 4.

In this embodiment, in the first light projection mode M1, the light source 13 is configured to emit laser light as pulsed light L1. Also, in the first light projection mode M1, the deflection element 14 oscillates the oscillating mirror 14A in a resonant manner around the first oscillation axis AX, and in a non-resonant manner around the second oscillation axis AY.

The resonant frequency of the deflection element 14 is determined by, for example, the mass of the deflection element 14 and the torsional spring constants of the torsion bars TX and TY. In addition, for example, when the oscillating mirror 14A is oscillated while resonating, it can be oscillated with a shorter oscillation period and a larger oscillation amplitude than in the non-resonant case.

For example, the pulse interval control section 22B of the control section 17 supplies the light source 13 with a drive signal that causes the light source 13 to generate pulsed laser light at predetermined time intervals. The deflection mode control unit 22A of the control unit 17 also sends the metal wiring CX, as a drive signal DX, the sine of the frequency corresponding to the resonance frequency around the first swing axis AX of the swing mirror 14A in the deflection element 14. A wave signal DX1 is supplied.

On the other hand, the deflection mode control unit 22A of the control unit 17 sends the metal wiring CY, as a drive signal DY, a saw with a frequency different from the resonant frequency around the second swing axis AY of the swing mirror 14A in the deflection element 14. A wave signal DY1 is supplied. As a result, the swinging mirror 14A swings around the first swing axis AX at a high speed (with a short swing period) and around the second swing axis AY at a low speed (with a long swing period). oscillate (with a period).

Therefore, in this embodiment, in the first light projection mode M1, the light projection unit 11 performs raster scanning on the scanning area R0, with the first direction D1 corresponding to the displacement direction of the oscillating mirror 14A of the deflection element 14 around the first oscillation axis AX as the main scanning direction, and the second direction D2 corresponding to the displacement direction of the oscillating mirror 14A of the deflection element 14 around the second oscillation axis AY as the sub-scanning direction. Therefore, when the scanning surface R1 is viewed from the deflection element 14, the scanning light L2 is projected to draw a trajectory TR1 as shown in FIG. 3. Note that the main scanning direction refers to, for example, a direction in which the scanning period is shorter (the oscillation is faster) than the sub-scanning direction.

Further, in the first light projection mode M1, the light projection section 11 performs scanning corresponding to a substantially rectangular scanning surface R11 with the first direction D1 as the long side direction and the second direction D2 as the short side direction. The scanning light L2 is projected onto the region R0. Further, in the first light projection mode M1, the light projection section 11 sequentially projects the pulsed light L1 along the first direction D1, and repeatedly performs this light projection operation along the second direction D2. It has a light projection mode like this.

In the following, the first direction D1 may be referred to as the vertical direction or y-axis direction of the scanning surface R1, and the second direction may be referred to as the horizontal direction or x-axis direction of the scanning surface R1. For example, when the distance measuring device 10 is positioned so that the second oscillation axis AY of the oscillating mirror 14A is oriented along the vertical direction, the first direction D1 corresponds to the vertical direction, and the second direction D2 corresponds to the horizontal direction. In the following, the first light projection mode M1 may be referred to as the vertical raster scanning mode.

Next, as shown in FIG. 4, in the second light projection mode M2, the light projection unit 11 projects scanning light L2 in a manner that performs raster scanning in which the second direction D2 is the main scanning direction and the first direction D1 is the sub-scanning direction.

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

On the other hand, in the second projection mode M2, the deflection element 14 oscillates the oscillating mirror 14A in a resonant manner around the second oscillation axis AY and in a non-resonant manner around the first oscillation axis AX.

For example, as shown in FIG. 4, the deflection mode control unit 22A of the control unit 17 supplies a sawtooth wave signal DX2 having a frequency different from the resonant frequency around the first oscillation axis AX of the oscillating mirror 14A in the deflection element 14 as the drive signal DX to the metal wiring CX.

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

Therefore, in this embodiment, in the second projection mode M2, the light projection unit 11 performs raster scanning on the scanning area R0 with the second direction D2 as the main scanning direction and the first direction D1 as the sub-scanning direction. Therefore, when the scanning surface R1 is viewed from the deflection element 14, the scanning light L2 is projected to trace a trajectory TR2 as shown in FIG. 4.

In the second light projection mode M2, the light projector 11 projects scanning light L2 onto a scanning region R0 corresponding to a substantially rectangular scanning surface R12 whose long side is in the second direction D2 and whose short side is in the first direction D1. In the second light projection mode M2, the light projector 11 has a light projection mode in which the pulsed light L1 is sequentially projected along the second direction D2, and this light projection operation is repeated along the first direction D1. In other words, the second light projection mode M2 is a horizontal raster scanning mode in which a raster scan is performed with the horizontal direction as the main scanning direction.

In this way, in this embodiment, the light-projecting unit 11 switches between the first and second light-projecting modes M1 and M2 by switching between oscillating the oscillating mirror 14A while resonating around the first oscillation axis AX and oscillating the oscillating mirror 14A while resonating around the second oscillation axis AY.

In addition, in vertical raster scanning mode M1, the variable range of the projection direction of scanning light L2 along the vertical direction D1 is wider than the variable range of the projection direction of scanning light L2 along the horizontal direction D2. In addition, in horizontal raster scanning mode M2, the variable range of the projection direction of scanning light L2 along the horizontal direction D2 is wider than the variable range of the projection direction of scanning light L2 along the vertical direction D1. That is, in this embodiment, the variable range of the projection direction of light projected from light projector 11 along the main scanning direction is wider than the variable range of the projection direction of light projected from light projector 11 along the sub-scanning direction.

In the above, the case where the second direction D2 is perpendicular to the first direction D1 has been described. However, the second direction D2 may be different from the first direction D1. The light-projecting unit 11 may have a first light-projecting mode M1 in which the first direction D1 is the main scanning direction and a second direction D2 different from the first direction D1 is the sub-scanning direction to project light in a variable direction, and a second light-projecting mode M2 in which the second direction D2 is the main scanning direction and the first direction D1 is the sub-scanning direction to project light in a variable direction.

Figure 5 is a diagram showing an example of a control table for the light projection mode PM in the light projection mode control unit 22. In this embodiment, the light projection mode control unit 22 switches between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 based on the environmental information EI around the distance measuring device 10 acquired by the environmental information acquisition unit 21.

In this embodiment, the case where the distance measuring device 10 is mounted on a moving body such as a vehicle will be described. In this embodiment, the environmental information acquisition unit 21 acquires information on the environment around the moving body while the moving body is moving as environmental information around the distance measuring device 10. Then, the light projection mode control unit 22 controls the light projection mode PM of the light projection unit 11 based on the information on the moving environment of the moving body.

More specifically, in this embodiment, when the environmental information acquisition unit 21 acquires, as the environmental information EI, information indicating that the moving body (distance measuring device 10) is traveling on a narrow road, the projection mode control unit 22 controls the operation of the deflection element 14 so as to project the scanning light L2 in the vertical raster scanning mode M1.

Similarly, when information indicating that the moving object is traveling on a road with a wall (that both sides of the road are surrounded by walls) is acquired as the environmental information EI, the light projection mode control unit 22 , the operation of the deflection element 14 is controlled so as to project the scanning light L2 in the vertical raster scanning mode M1. For example, in the two situations described above, even if a wide range is scanned in the lateral direction D2, it is unlikely that useful information can be obtained over the entire area. Therefore, it is preferable to set the vertical raster scanning mode M1 having a wide scanning area R11 in the vertical direction D1.

Next, when information indicating that the moving object is traveling uphill is acquired as environmental information EI, the light projection mode control unit 22 controls the operation of the deflection element 14 to project the scanning light L2 in vertical raster scanning mode M1. When traveling uphill, visibility in the direction of travel of the moving object is poor, and it is often preferable for safety reasons to obtain scanning information of a wide area in that direction of travel. Therefore, it is preferable to set the vertical raster scanning mode M1, which has a wide scanning area R11 in the vertical direction D1 corresponding to the direction of travel.

Further, when information indicating that the moving object is traveling on an expressway is acquired as the environmental information EI, the light projection mode control unit 22 projects the scanning light L2 in the vertical raster scanning mode M1. The operation of the deflection element 14 is controlled. When traveling on an expressway, conditions in the moving direction of a moving object change rapidly, so it is often preferable for safety to obtain scanning information over a wide area in the moving direction. Therefore, it is preferable to set the vertical raster scanning mode M1 having a wide scanning area R11 in the vertical direction D1 corresponding to the traveling direction.

On the other hand, when information indicating that the moving object is traveling inside a tunnel is acquired as environmental information EI, the light projection mode control unit 22 controls the operation of the deflection element 14 to project the scanning light L2 in horizontal raster scanning mode M2. When traveling inside a tunnel, even if a wide range is scanned in the vertical direction D1 corresponding to the traveling direction of the moving object, it is unlikely that useful information can be obtained over the entire area. Therefore, it is preferable to set the horizontal raster scanning mode M2, which has a wide scanning area R12 in the horizontal direction D2.

In addition, when information indicating that the moving object is traveling on a wide road, a road with many lanes, or around a junction is acquired as environmental information EI, the projection mode control unit 22 controls the operation of the deflection element 14 to project the scanning light L2 in the horizontal raster scanning mode M2. In these situations, it is preferable for safety reasons to obtain scanning information of a wide area in the left-right direction of the moving object. Therefore, it is preferable to set the horizontal raster scanning mode M2, which has a wide scanning area R12 in the horizontal direction D2 corresponding to the left-right direction.

Further, when information indicating that the moving object is traveling on a road with a sidewalk or around an intersection is acquired as the environmental information EI, the light projection mode control unit 22 controls the scanning light L2 in the horizontal raster scanning mode M2. The operation of the deflection element 14 is controlled so as to project light. In these situations, it is assumed that pedestrians or other vehicles will come out from the side. Therefore, it is preferable for safety to obtain scanning information over a wide area in the horizontal direction of the moving object. Therefore, it is preferable to set the horizontal raster scanning mode M2 having a wide scanning area R12 in the horizontal direction D2 corresponding to the horizontal direction.

In this way, the environmental information acquisition unit 21 acquires information regarding the state of roads around the distance measuring device 10 (the moving body on which the distance measuring device 10 is mounted). Then, the light projection mode control section 22 controls the light projection mode PM of the light projection section 11 based on the information regarding the aspect of the road. Therefore, the light projecting section 11 switches between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 based on the aspect of the road around the light projecting section 11.

Note that the above-mentioned environment information EI and the manner in which the light projection mode PM is controlled by the light projection mode control unit 22 based on the environmental information EI are merely examples. For example, the distance measuring device 10 is not limited to being mounted on a moving object and moving together with the moving object.

For example, the distance measuring device 10 may be fixed to various locations, whether indoors or outdoors, and used to perform scanning and distance measurement using a fixed area as the scanning area R0. In this case, the environmental information acquisition unit 22 may acquire, as environmental information EI, information on the topography and indoor environment around the location where the distance measuring device 10 is installed. The light projecting unit 11 of the distance measuring device 10 may be configured to be able to switch between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2, for example, based on the environment around the light projecting unit 11 and the light receiving unit 12.

6A, FIG. 6B, and FIG. 6C are diagrams schematically showing the data structure of data (hereinafter referred to as map data) DT indicating map information acquired by the map information acquisition unit 21A of the environmental information acquisition unit 21. The map data DT acquired by the map information acquisition unit 21A may include various data as shown in FIGS. 6A to 6C.

Specifically, as shown in FIG. 6A, the map data DT includes data (hereinafter, area data) DT11 including information (hereinafter, area information) RI that identifies a specific area on the map, and data (hereinafter, environmental data) DT2 including environmental information EI for each point.

In the example shown in FIG. 6A, the area information RI includes a link ID that identifies a link in the road network. Furthermore, the environmental data DT2 includes, for example, the environmental information EI as described above using FIG. For example, the environmental data DT2 includes information regarding the form of the link that includes the point. Further, for example, the environmental data DT2 includes information regarding the width of the link, information regarding the number of lanes of the link, and information regarding the slope of the link.

The map data DT also includes information (hereinafter referred to as recommended mode information) SI indicating a recommended light projection mode PM when the distance measuring device 10 projects the scanning light L2 and associated with the area information RI. (hereinafter referred to as recommended mode data) DT3. The recommended mode data DT3 includes, as recommended mode information SI, information indicating, for example, which light projection mode PM of the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 is recommended.

For example, the environmental information acquisition unit 21 performs positioning of a moving object on which the distance measuring device 10 is mounted, identifies the link ID of the link on which the moving object is traveling, and determines the link ID of the link on which the moving object is traveling, and It is determined whether the link ID matches the link ID specified by the data DT12. For example, when the link ID of the link being traveled matches the link ID in the map data DT, the light projection mode control unit 22 sets the light projection mode PM in consideration of the recommended mode information SI associated with the link ID. can be controlled.

Furthermore, the map data DT may have a data structure as shown in FIG. 6B. In the example shown in FIG. 6B, the region data DT12 includes information indicating the coordinates (coordinate group) of three or more points that specify the predetermined region as region information RI. Note that, for example, in the example shown in FIG. 6B, an area surrounded by four points can be specified. Further, as the environmental information EI associated with this area, for example, information indicating that an intersection or a merging point exists within the area, etc. can be mentioned.

In this case, the environmental information acquisition unit 21 determines whether the coordinates of the location where the moving object equipped with the distance measuring device 10 is traveling and the area where the moving object is scheduled to move are within the area specified by the area data DT12. If it is determined that the moving object is traveling within the area, the light projection mode control unit 22 can control the light projection mode PM taking into account the recommended mode information SI associated with the area data DT12.

The map data DT may have a data structure as shown in FIG. 6C. In the example shown in FIG. 6C, the map data DT has data (hereinafter referred to as position data) DT13 including information (hereinafter referred to as position information) PI that identifies the position of a specific point on the map. Furthermore, the environmental data DT2 (environmental information EI) and the recommended mode data DT3 (recommended mode information SI) are associated with the position information PI in the position data DT13.

For example, the position information PI in the position data DT13 includes a node ID that identifies a node in a road network. Furthermore, the environmental information EI in the environmental data DT2 includes, for example, information indicating that the location is one where the recommended light projection mode PM may change. For example, the environmental information EI includes information indicating that the location is one where the number of lanes on the road changes, and information indicating that the location is one where accidents frequently occur.

For example, when environmental information EI indicating that the number of lanes is decreasing and increasing is associated with a node ID, vertical raster scanning mode M1 and horizontal raster scanning mode M2 are associated with the node ID as recommended mode information SI. Also, when environmental information EI indicating that the node ID is an accident-prone area is associated with the node ID as recommended mode information SI, horizontal raster scanning mode M2 is associated with the node ID as recommended mode information SI.

In the above, a case has been described in which the map data DT includes the environmental information EI (environmental data DT2). However, it is sufficient that the map data DT associates the area information RI or the position information PI with the recommended mode information SI.

In this manner, in this embodiment, the map information acquisition section 21A of the environmental information acquisition section 21 acquires, as map information, information regarding the preferred light projection mode PM depending on the position of the distance measuring device 10.

When the light projection mode control unit 22 acquires map data DT including data such as that shown in Figures 6A to 6C, the light projection mode control unit 22 may control the light projection mode PM of the light projection unit 11 according to the recommended mode data DT3 included in the map data DT.

Furthermore, the light projection mode control unit 22 takes into consideration the peripheral image of the distance measuring device 10 acquired by the peripheral image acquisition unit 21B of the environmental information acquisition unit 21 while referring to the recommended mode data DT3 included in the map data DT. Then, the final light projection mode PM may be determined. In this case, for example, a more preferable light projection mode PM can be determined based on the actual road environment. However, the light projection mode control unit 22 does not need to consider the peripheral image when controlling the light projection mode PM.

Note that the map information acquired by the map information acquisition unit 21A does not need to be the above map data DT. For example, the map information acquisition unit 21A may acquire information that does not include the recommended mode data DT3 as the map information. Furthermore, the map information acquisition unit 21A may acquire information that does not include the environmental information EI as the map information. That is, the map information acquisition unit 21A may acquire, for example, map information around the range finder 10 as information about the environment around the range finder 10.

Thus, in this embodiment, the distance measuring device 10 has a light-projecting unit 11 having a vertical raster scanning mode M1 in which light is projected in a variable direction with the vertical direction D1 as the main scanning direction and the horizontal direction D2 as the sub-scanning direction, and a horizontal raster scanning mode M2 in which light is projected in a variable direction with the horizontal direction D2 as the main scanning direction and the vertical direction D1 as the sub-scanning direction, and a light-receiving unit 12 that receives the light projected from the light-projecting unit 11 and reflected by the object OB.

The distance measuring device 10 includes an environmental information acquisition unit 21 that acquires environmental information EI around the distance measuring device 10, and a projector that switches between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 based on the environmental information EI. It has a light projection mode control section 22 that controls the light section 11, and a distance measuring section 23 that measures the distance to the object OB based on the result of receiving the reflected light L3 by the light receiving section 12. Therefore, it is possible to provide the distance measuring device 10 that can accurately scan and measure the distance of the object OB even when used in various environments.

Figure 7 is a diagram showing the waveforms of the drive signals DX and DY and the trajectory of the scanning light L2 on the scanning surface R1 in a third light-projection mode M3, which is another light-projection mode of the light-projection unit 11. The light-projection unit 11 may have the third light-projection mode M3 as shown in Figure 7.

In the third light projection mode M3, the light source 13 is configured to emit laser light as pulsed light L1, similar to the first and second light projection modes M1 and M2. In the third light projection mode M3, the deflection element 14 oscillates the oscillating mirror 14A while resonating it around both the first and second oscillation axes AX and AY.

For example, the deflection mode control unit 22A of the control unit 17 sends the metal wiring CX, as the drive signal DX, the sine of the frequency corresponding to the resonance frequency around the first swing axis AX of the swing mirror 14A in the deflection element 14. A wave signal DX1 is supplied. Then, the deflection mode control unit 22A sends a sine wave signal DY2 of a frequency corresponding to the resonance frequency around the second swing axis AY of the swing mirror 14A in the deflection element 14 as a drive signal DY to the metal wiring CY. supply.

The oscillating mirror 14A therefore oscillates at high speed around both the first and second oscillation axes AX and AY. Therefore, in this embodiment, in the third projection mode M3, the scanning light L2 when the scanning surface R1 is viewed from the deflection element 14 is projected along a trajectory TR that draws a Lissajous curve as shown in FIG. 7. In other words, the third projection mode M3 is a Lissajous scanning mode that performs a Lissajous scan.

For example, the Lissajous scanning mode M3 can be used as a light projection mode for the distance measuring device 10 to scan a wide area of the distance measuring device 10, and can also be used as a light projection mode for recognizing the surrounding environment. Specifically, in the Lissajous scanning mode M3, the oscillating mirror 14A is oscillated in both directions at high speed and with a large amplitude. Therefore, the scanning region R13 is wider than in the vertical raster scanning mode M1 and the horizontal raster scanning mode M2. Therefore, it is suitable for performing wide-area scanning and recognizing the surrounding environment of the distance measuring device 10.

In other words, for example, the light projecting unit 11 may project the scanning light L2 while switching between the vertical raster scanning mode M1, the horizontal raster scanning mode M2, and the Lissajous scanning mode M3 based on the environmental information EI.

The environmental information acquisition unit 21 may also acquire environmental information EI around the distance measuring device 10 based on past scanning results of the scanning area R0 (e.g., scanning results of the scanning area R13 using the Lissajous scanning mode M3). That is, the environmental information acquisition unit 21 is not limited to acquiring environmental information EI around the distance measuring device 10 using map information acquired by the map information acquisition unit 21A or an image captured by the imaging unit 16. The environmental information acquisition unit 21 may acquire information about the environment around the distance measuring device 10, for example, information about the geographical environment around the distance measuring device 10.

That is, the light projecting unit 11 operates, for example, in a vertical raster scanning mode M1 in which light is projected in a variable direction with the vertical direction D1 as the main scanning direction and the horizontal direction D2 as the sub-scanning direction, and the horizontal direction D2 as the main scanning direction. It is only necessary to be configured to switch between the horizontal raster scanning mode M2 in which light is projected in a variable direction with the vertical direction D1 as the sub-scanning direction based on the surrounding environment of the distance measuring device 10. The light projector 11 may be configured to switch between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2, for example, based on the geographical environment around the distance measuring device 10.

The light-projecting unit 11 may be configured to switch between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 based on the environment around the distance measuring device 10, which is obtained from map information around the distance measuring device 10, for example.

Further, the light projecting unit 11 operates in a vertical raster scanning mode, for example, based on the environment around the range finder 10 obtained from an image captured around the range finder 10 in addition to the information or map information regarding the geographical environment. It is only necessary to be configured to switch between M1 and horizontal raster scanning mode M2.

Further, in this embodiment, the light projecting unit 11 swings around the light source 13 and the first and second swing axes AX and AY, which are different from each other, so that the pulsed light L1 is directed in the vertical direction D1 and the horizontal direction D2. A case has been described in which the swinging mirror 14A is provided to reflect the light along the direction in a variable manner. The light projector 11 then causes the swinging mirror 14A to resonate around the first swing axis AX, or to resonate the swing mirror 14A around the second swing axis AY. A case has been described in which the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 are switched by switching between swinging and swinging. However, the configuration of the light projecting section 11 is not limited to this.

For example, the light projecting unit 11 may be configured to variably deflect the pulsed light L1 with two oscillating mirrors, thereby variably projecting the scanning light L2 along the vertical direction D1 and the horizontal direction D2. FIG. 8 is a top view of the deflection element 14M in the light projecting unit 11A of a distance measuring device 10A according to a modified example of this embodiment. The distance measuring device 10A has the same configuration as the distance measuring device 10, except for the configuration of the light projecting unit 11A. Furthermore, the light projecting unit 11A has the same configuration as the light projecting unit 11, except for the configuration of the deflection element 14M.

In this modification, the deflection element 14M of the light projector 11A includes a first mirror element 18 having a first swinging mirror 18A swinging around the first swing axis AX, and a second mirror element 18 having a first swinging mirror 18A swinging around the first swinging axis AX. A second mirror element 19 includes a second swinging mirror 19A that swings around a moving axis AY.

The first mirror element 18 has a frame portion 41, an oscillating portion 42 supported by the frame portion 41 so as to be oscillable around a first oscillating axis AX, and a reflective film 43 provided on the oscillating portion 42 and functioning as the first oscillating mirror 18A. For example, the oscillating portion 42 has a pair of torsion bars TX supported on the inside of the frame portion 41 and extending along the first oscillating axis AX, and an oscillating plate SX1 connected to the inside of the torsion bars TX and capable of oscillating around the first oscillating axis AX. The reflective film 43 is provided on the oscillating plate SX1 and has a configuration similar to that of the reflective film 34 of the deflection element 14.

Further, the second mirror element 19 is provided on the frame part 44, the swing part 45 supported by the frame part 44 so as to be swingable around the second swing axis AY, and It has a reflective film 46 that functions as a second swinging mirror 19A. For example, the swinging section 45 has a configuration corresponding to a case where only the pair of torsion bars TY of the deflection element 14 and the swinging plate SY are provided inside the frame section 44. Further, the reflective film 46 is provided on the rocking plate SY, and has the same configuration as the reflective film 34 of the deflection element 14.

The control unit 17 also supplies a drive signal DX to the first mirror element 18 and a drive signal DY to the second mirror element 19. In this modified example, the light projecting unit 11A first reflects the pulsed light L1 by the first oscillating mirror 18A, and then reflects the pulsed light L1 that has passed through the first oscillating mirror 18A by the second oscillating mirror 19A, thereby projecting the pulsed light L1 in a variable direction along the vertical direction D1 and the horizontal direction D2.

In this modification, the light projection mode PM of the light projection section 11A is set to the vertical raster scanning mode M1 (see FIG. ), horizontal raster scanning mode M2 (FIG. 4), and Lissajous scanning mode M3 (FIG. 7).

In other words, in this modified example, the light projecting unit 11A has a light source 13, a first oscillating mirror 18A that oscillates around a first oscillating axis AX to reflect the emitted light (pulsed light L1) from the light source 13 in a variable direction along the vertical direction D1, and a second oscillating mirror 19A that oscillates around a second oscillating axis AY that extends in a direction different from the axial direction of the first oscillating axis AX to reflect the emitted light that has passed through the first oscillating mirror 18A in a variable direction along the horizontal direction D2.

The light projector 11A also switches between the vertical raster scanning mode M1 and the horizontal raster scanning mode M2 by switching between oscillating the first oscillating mirror 18A while resonating, and oscillating the second oscillating mirror 19A while resonating.

Furthermore, as described above, the distance measuring device 10 or 10A is highly effective when it is mounted on a moving object such as a vehicle or when it has a movable configuration. Specifically, in a situation where the environment in which the distance measuring device 10 is placed changes, the preferred light projection mode PM also changes. Therefore, for example, by continuously scanning while selecting a light projection mode suitable for an environment that changes from moment to moment, it is possible to continuously perform highly accurate scanning and distance measurement.

For example, the environmental information acquisition unit 21 may acquire the environmental information EI for each scanning period. Furthermore, the light projection mode control unit 22 may be configured to switch the light projection mode PM, for example, each time the conditions for switching the light projection mode PM change, for example, each time the state of the road on which the mobile body travels changes.

In this way, the distance measuring device 10 or 10A can achieve great results, for example, when the light projecting unit 11 or 11A is mounted on a moving body or configured to be movable. As described above, even when the distance measuring device 10 is used in a fixed position, accurate scanning and distance measurement can be performed by adjusting the scanning mode according to the environment around the distance measuring device 10.

Further, the light projecting unit 11 transmits the scanning light L2 so that the variable range of the projection direction of the scanning light L2 along the main scanning direction is wider than the variable range of the projection direction of the scanning light L2 along the sub-scanning direction. When projecting light, a preferable scanning area can be determined depending on the environment, and the effect obtained is greater. For example, when mounted on a moving body, the shape of the preferred scanning area changes depending on the changing road environment. Therefore, by changing the scanning region R0 for each light projection mode PM by the light projecting section 11 according to the change in the shape of the preferred scanning region, it is possible to obtain efficient and useful scanning information over the entire scanning region R0.

In addition, in this embodiment, the light projecting unit 11 has a configuration that can change the emission mode of the pulsed light L1 from the light source 13, for example, by the pulse interval 22B of the light projection mode control unit 22. For example, the light projecting unit 11 may change the emission mode of the light from the light source 13 based on the environment around the distance measuring device 10. This makes it possible to change the projection mode of the scanning light L2 in the scanning region R0 even within the same light projection mode PM.

For example, in the vertical raster scanning mode M1, the pulse interval control unit 22B may divide the scanning surface R11 (scanning region R0) into a plurality of partial regions in the horizontal direction D2, which is the sub-scanning direction, and change the emission interval of the pulsed light L1 from the light source 13 so as to change the emission interval of the scanning light L2 for each partial region based on the environmental information EI for each partial region. Also, for example, the pulse interval control unit 22B may adjust the emission mode of the pulsed light L1 from the light source 13 so that no scanning light L2 is emitted at all in any of the partial regions.

When the scanning region R0 is divided into a plurality of partial regions in the sub-scanning direction and the scanning light L2 is not projected onto any of the partial regions, the scanning can be completed when the scanning result of the partial region in the scanning region R0 onto which the scanning light L2 is projected is obtained. Therefore, by switching the emission mode of the pulsed light L1, the effective scanning time within the scanning period is shortened.

Further, the output interval of the pulsed light L1 may be adjusted so that the scanning light L2 is projected at a relatively high density to the partial region onto which the scanning light L2 is projected. Therefore, for example, the light projection mode control unit 22 selects a partial area to be scanned intensively within the scanning area R0 based on the acquisition result of the environmental information EI, and applies high-density scanning light only to the partial area. The light projection mode PM may be controlled to project light L2. As a result, for example, scanning and ranging can be performed on a road with a partially complex shape within a period shorter than the scanning cycle.

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

Thus, in this embodiment, the distance measuring device 10 has a light-projecting unit 11 that projects light in a variable direction, a light-receiving unit 12 that receives the light projected from the light-projecting unit 11 and reflected by the object OB, and a distance measuring unit 23 that measures the distance to the object OB based on the light reception result by the light-receiving unit 12.

In addition, the light-projecting unit 11 switches between a first light-projecting mode M1 in which light is projected in a variable direction, with a first direction D1 as the main scanning direction and a second direction D2 different from the first direction D1 as the sub-scanning direction, and a second light-projecting mode M2 in which light is projected in a variable direction, with the second direction D2 as the main scanning direction and the first direction D1 as the sub-scanning direction, based on the environment around the distance measuring device 10.
Therefore, it is possible to provide a distance measuring device 10 that can accurately perform scanning and distance measurement for an object OB even when used in various environments.

In this embodiment, the control unit 17 has been described as having a distance measuring unit 23. However, the control unit 17 does not have to have a distance measuring unit 23. The same effect can be obtained even when the result of receiving the reflected light L3 by the light receiving unit 12 is used for purposes other than distance measurement, such as detecting an object OB. Therefore, the distance measuring device 10 may function as a scanning device without having a distance measuring unit 23. Even in this case, the result of receiving the reflected light L3 by the light receiving unit 12 can be used for various purposes as a highly accurate scanning result.

In other words, for example, the scanning device according to the present embodiment includes a light projector 11 that projects light in a variable direction, and a light receiver that receives light projected from the light projector 11 and reflected by the object OB. It has a section 12. Further, the light projecting unit 11 is a first light projecting unit that projects light in a variable direction with a first direction D1 as a main scanning direction and a second direction D2 different from the first direction D1 as a sub scanning direction. Switching between mode M1 and a second light projection mode M2 in which light is projected in a variable direction with the second direction D2 as the main scanning direction and the first direction D1 as the sub-scanning direction is controlled by the scanning device. Based on the surrounding environment. Therefore, it is possible to provide a scanning device that can accurately scan the object OB even when used in various environments.

The present invention can also be implemented as a control method for a scanning device by controlling the light projecting unit 11 and the light receiving unit 12, for example, as in the control unit 17. For example, the control method for a scanning device according to this embodiment is a method for controlling a scanning device having a light projecting unit 11 having a first light projecting mode M1 in which a first direction D1 is the main scanning direction and a second direction D2 different from the first direction D1 is the sub-scanning direction, and a second light projecting mode M2 in which a second direction D2 is the main scanning direction and the first direction D1 is the sub-scanning direction, and a light receiving unit 12 that receives light projected from the light projecting unit 11 and reflected by an object OB, and includes a step of controlling the light projecting unit 11 to switch between the first and second light projecting modes M1 and M2 based on the environment around the scanning device. This makes it possible to provide a control method for a scanning device that can accurately scan an object OB even when used in various environments.

The present invention can also be implemented as, for example, a program that programs the operation of the control unit 17. For example, the program according to this embodiment causes a computer to function as a control unit 17 that controls a scanning device having a light projecting unit 11 having a first light projection mode M1 in which light is projected in a variable direction with a first direction D1 as the main scanning direction and a second direction D2 different from the first direction D1 as the sub-scanning direction, and a second light projection mode M2 in which light is projected in a variable direction with the second direction D2 as the main scanning direction and the first direction D1 as the sub-scanning direction, and a light receiving unit 12 that receives light projected from the light projecting unit 11 and reflected by an object OB, based on the surrounding environment of the scanning device to switch between the first and second light projection modes M1 and M2 of the light projecting unit 11.

Further, the program may be recorded on a recording medium. Therefore, it is possible to provide a control program for a scanning device that can accurately scan an object OB even when used in various environments, and a recording medium on which the control program is recorded.

Furthermore, the present invention can be implemented as data such as map data DT. For example, the map data according to the present embodiment includes area data DT11 or DT12 including area information RI, which is information that specifies at least one area on a map, and a first direction D1 that is the main scanning direction and a first direction D1 that is the main scanning direction. A first light projection mode M1 in which light is projected in a variable direction with a second direction D2 different from the direction D1 as the sub-scanning direction, and a second direction D2 as the main scanning direction and the first direction D1 as the sub-scanning direction. When a scanning device that scans an object OB and has a second light projection mode M2 that projects light in a variable direction as a direction, the first and second light projection modes The recommended mode data DT3 includes recommended mode information SI that indicates a recommended light projection mode PM of the two light projection modes M1 and M2 and is associated with the area information RI.

Further, for example, the map data according to the present embodiment includes area data DT13 including position information PI, which is information specifying the position of at least one point on the map, and a first direction D1 that is the main scanning direction and a first direction D1 that is the main scanning direction. A first light projection mode M1 in which light is projected in a variable direction with a second direction D2 different from the first direction D1 as the sub-scanning direction, and a second direction D2 as the main scanning direction and the first direction D1 as the main scanning direction. When a scanning device that scans the object OB and has a second light projection mode M2 that projects light in a variable direction in the sub-scanning direction projects light, and recommended mode data DT3 including recommended mode information SI that indicates a recommended light projection mode PM of the second light projection modes M1 and M2 and is information associated with position information PI. have Therefore, it is possible to provide map data that includes information that allows accurate scanning and distance measurement of the object OB even when used in various environments.

10, 10A Distance measuring device 11, 11A Light projecting unit 12 Light receiving unit

Claims (1)

a light projection unit that projects light in a variable direction;
a light receiving unit that receives light projected from the light projecting unit and reflected by an object,
The scanning device is characterized in that the light-projecting unit switches between a first light-projecting mode in which a first direction is a main scanning direction and a second direction different from the first direction is a sub-scanning direction, and a second light-projecting mode in which the second direction is a main scanning direction and the first direction is a sub-scanning direction, and the light-projecting mode in which the second direction is a main scanning direction and the first direction is a sub-scanning direction, and the light-projecting mode is a variable direction, based on the environment surrounding the scanning device.

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