JP6515472B2 - Detection device, control device, detection method, and program - Google Patents

Description

  The present invention relates to optical communication, and more particularly to a detection apparatus, a control apparatus, a detection method, and a program for detecting light for communication.

  In recent years, observation instruments that can be mounted on satellites and aircraft have become more sophisticated. Along with that, the amount of information acquired by observation equipment is increasing. Therefore, an optical space communication system using an optical beam capable of high-speed communication has been proposed as a system for communicating information acquired by an observation device. For example, in 2006, the optical intersatellite communication experiment satellite "Kirari" succeeded for the first time in the world optical space communication between satellites.

  In optical space communication, in order to realize high-speed communication, it is necessary to make the antennas of the communication stations face each other precisely. Furthermore, in order to realize the precise opposing state, an acquisition tracking feedback control system is required. Acquisition tracking tracking control system measures the inclination of the received light beam, and based on the measurement value, a light deflection device (antenna or fine pointing mechanism (FPM: Fine Pointing Mechanism) for controlling the direction of the light beam. Feedback control of the direction of).

  In feedback control, speeding up control of the sensor and driver (antenna or FPM) can realize large disturbance compression characteristics. And in order to improve the performance of feedback control, a sensor capable of measuring the inclination of the light beam at high speed is required.

  As a corresponding sensor, there is a Quadrant Detector (QD) sensor composed of light receiving elements divided into four regions. The QD sensor can measure at high speed. However, if the light beam spot falls within any one of the four divided regions, the QD sensor can not correctly detect the tilt of the light beam. In this case, the QD sensor can only detect the approximate direction of the light beam. That is, the QD sensor has a problem that the measurement area is narrow.

  On the other hand, as another sensor, there is a two-dimensional area sensor (see, for example, Patent Document 1). A system provided with a two-dimensional area sensor calculates the angle of incident light (incident light beam) based on the position of the light beam spot on the two-dimensional area sensor. The two-dimensional area sensor can calculate the direction even when the light beam spot enters any area of the sensor. That is, the two-dimensional area sensor is characterized in that the measurement area is wide. The two-dimensional area sensor described in Patent Document 1 is configured using a multiported CCD (Charge Coupled Device).

JP-A-11-068665

  However, the two-dimensional area sensor measures and outputs acquired data at timing synchronized with the frame rate. Due to the nature of this sensor, a two-dimensional area sensor usually has a measurement delay of at least one frame from the acquisition of the signal to the output. In feedback control, this measurement delay is the control delay time. Thus, the apparatus provided with the two-dimensional area sensor described in Patent Document 1 has a problem that the measurement delay is large.

  An object of the present invention is to provide a detection device, a control device, a detection method and a program which solve the above problems and improve the measurement delay of the position of the light beam spot.

  A detection apparatus according to one aspect of the present invention includes a two-dimensional area sensor that detects the intensity of an incident light beam spot, and a narrower range than the entire range including a signal or a central range from the two-dimensional area sensor. Readout means for reading out a signal in a narrow range and outputting the read out signal as sensor data, and first operation means for calculating the position of the light beam spot in the two-dimensional area sensor based on the sensor data of the entire range Position calculating means including a second calculating means for calculating the position of the light beam spot in the two-dimensional area sensor based on the narrow range sensor data, and the light which is the calculation result of the position calculating means Operation switching means for switching the operation of the reading means and the position calculation means based on the position of the beam spot.

  The control device according to one aspect of the present invention is a two-dimensional area sensor that detects the intensity of the incident light beam spot, and a narrower range than the entire range including the entire range of signals or the central portion from the two-dimensional area sensor. Reading means for reading a signal in a narrow range and outputting the read signal as sensor data; and first computing means for computing the position of the light beam spot in the two-dimensional area sensor based on the sensor data of the entire range A position calculating means including a second calculating means for calculating the position of the light beam spot in the two-dimensional area sensor based on the narrow range sensor data; and the light beam which is the calculation result of the position calculating means A detection device including operation switching means for switching the operation of the reading means and the position calculation means based on the position of a spot; Comprising a controlled unit for incident light beam spot location, and a control operation unit for executing an operation for controlling the controlled device based on the position of the light beam spot is detected result of the detection device.

  A detection method according to one aspect of the present invention detects the intensity of an incident light beam spot, and detects a narrow range signal from a two-dimensional area sensor or a narrow range signal narrower than the entire range including the central portion. The read out signal is output as sensor data, the position of the light beam spot in the two-dimensional area sensor is calculated based on the sensor data of the whole range, and the light beam spot in the two-dimensional area sensor is based on the sensor data in the narrow range The position of the light beam spot is calculated, and the operation of readout and position calculation is switched based on the position of the light beam spot which is the calculation result.

  A program according to one aspect of the present invention includes a process of detecting the intensity of an incident light beam spot, and a narrow range signal which is narrower than the entire range including the entire range signal from the two-dimensional area sensor or the central portion. And the position of the light beam spot in the two-dimensional area sensor is calculated based on the processing of outputting the read out signal as sensor data, and the sensor data of the entire range, and the two-dimensional area sensor The computer is made to execute processing of calculating the position of the light beam spot and processing of switching the operation of reading out and position calculation based on the position of the light beam spot which is the calculation result.

  According to the present invention, it is possible to improve the measurement delay of the position of the light beam spot.

FIG. 1 is a block diagram showing an example of the configuration of a control device including a detection device according to a first embodiment of the present invention. FIG. 2 is a block diagram showing an example of the configuration of the detection device according to the first embodiment. FIG. 3 is a diagram showing a method of reading from a general two-dimensional area sensor. FIG. 4 is a diagram showing a reading method of the reading unit according to the first embodiment. FIG. 5 is a time chart showing an example of the operation of the detection apparatus according to the first embodiment. FIG. 6 is a time chart showing an example of the operation of the detection apparatus according to the first embodiment. FIG. 7 is a block diagram showing an example of another configuration of the detection device according to the first embodiment. FIG. 8 is a block diagram showing an example of the configuration of a detection apparatus according to the second embodiment. FIG. 9 is a diagram showing a reading method of the multiport reading unit according to the second embodiment. FIG. 10 is a diagram illustrating another example of the reading method of the multiport reading unit according to the second embodiment. FIG. 11 is a time chart showing an example of the operation of the detection apparatus according to the second embodiment. FIG. 12 is a block diagram showing an example of the configuration of a detection apparatus according to the third embodiment. FIG. 13 is a diagram for explaining the gravity center calculation according to the third embodiment.

FIG. 14 is a block diagram showing an example of the configuration of a detection apparatus according to the fourth embodiment. FIG. 15 is a block diagram showing an example of the configuration of a detection apparatus according to the fifth embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  Each drawing is for describing an embodiment of the present invention. However, the present invention is not limited to the description of each drawing. Moreover, the same number may be attached | subjected to the same structure as each drawing, and the description of the repetition may be abbreviate | omitted. Further, in the drawings used for the following description, the configuration of parts not related to the description of the present invention may be omitted or not shown.

First Embodiment
FIG. 1 is a block diagram showing an example of a configuration of a control device 100 including a detection device 200 according to a first embodiment of the present invention.

  Control device 100 includes a controlled unit 300, a detection device 200, and a control calculation unit 400.

  The controlled unit 300 deflects the direction of incident light (light beam) incident on the two-dimensional area sensor 210 included in the detection device 200 based on the control signal from the control calculation unit 400. For example, the controlled unit 300 is a drive mirror whose tilt is controlled by an electromagnetic coil.

  The control operation unit 400 executes an operation for controlling the controlled unit 300 based on the detection result (operation value) of the detection device 200. Then, the control calculation unit 400 transmits the calculation result to the controlled unit 300 as a control signal. For example, the control calculation unit 400 is an information processing apparatus including a central processing unit (CPU) and a storage device.

  The detection apparatus 200 outputs the position of the incident light on the two-dimensional area sensor 210 to the control and operation unit 400 as a detection result (operation value) based on the incident light (light beam) from the controlled unit 300. Hereinafter, the light beam irradiated onto the two-dimensional area sensor 210 is referred to as a light beam spot S.

  Next, the detection device 200 will be further described with reference to the drawings.

  First, the configuration of the detection device 200 will be described.

  FIG. 2 is a block diagram showing an example of the configuration of the detection apparatus 200 according to the first embodiment.

  The detection device 200 includes a two-dimensional area sensor 210, a reading unit 220, an operation switching unit 230, and a position operation unit 240.

  The two-dimensional area sensor 210 is a photoelectric conversion element that includes two-dimensionally arranged detection elements (cells) and converts light incident on the cells into an electrical signal. The two-dimensional area sensor 210 converts incident light incident through the controlled unit 300 into charge. The two-dimensional area sensor 210 outputs the converted charge to the readout unit 220 as a sensor signal.

  The reading unit 220 reads a sensor signal from the two-dimensional area sensor 210. The reading unit 220 outputs a signal corresponding to a frame rate or a signal for setting a sensor shutter speed to the two-dimensional area sensor 210 in order to determine the timing of reading. However, the reading unit 220 reads sensor signals from the two-dimensional area sensor 210 as described below.

  FIG. 3 is a diagram showing a method of reading from a general two-dimensional area sensor. As shown in FIG. 3, the reading method from a general two-dimensional area sensor is line by line from a line (line at the output start position in the figure) near any one vertex (corner) or edge of the periphery. , In order, read out the sensor signal from the cell. In FIG. 3, a solid line indicates a readout line, and a broken line indicates movement to the next readout line. The solid line and the broken line are the same in the following drawings.

  FIG. 4 is a diagram showing a reading method from the two-dimensional area sensor 210 in the reading unit 220 according to the present embodiment. As shown in FIG. 4, the reading unit 220 first reads a sensor signal from the center line (the line at the output start position in the figure) of the two-dimensional area sensor 210. Next, the reading unit 220 reads sensor signals from cells in the central portion (region near the center) of the two-dimensional area sensor 210, and then reads sensor signals from cells in the peripheral portion. The light beam spot (S) shown in FIG. 4 is an example of the light beam spot S on the two-dimensional area sensor 210. The reading unit 220 may use the method shown in FIG. 4 for reading in a narrow range, which will be described later, and may use the method shown in FIG. 3 for reading the entire range.

  The reading unit 220 converts the sensor signal into data that can be processed by the position calculation unit 240, and outputs the data as sensor data to the position calculation unit 240. The reading unit 220 changes the range read from the two-dimensional area sensor 210 based on the instruction of the operation switching unit 230.

  The position calculation unit 240 calculates the position of the light beam spot S in the two-dimensional area sensor 210 based on the sensor data received from the reading unit 220. However, the position calculation unit 240 of the present embodiment executes calculation for different read ranges in the two-dimensional area sensor 210. Then, based on the instruction from the operation switching unit 230, the position operation unit 240 switches operations for different read ranges (hereinafter, also simply referred to as ranges). There are no particular restrictions on the types of ranges and the number of ranges to be calculated by the position calculation unit 240. In the following description, as an example, as shown in FIG. 2, the position calculation unit 240 performs an operation on two ranges.

  That is, the position calculation unit 240 includes an entire range calculation unit 241 and a narrow range calculation unit 242.

  The all range calculation unit 241 calculates the position of the light beam spot based on the data corresponding to the whole range of the two-dimensional area sensor 210. The entire range calculation unit 241 is a first calculation unit.

  The narrow range computing unit 242 computes the position of the light beam spot S based on the data from the cell at the central portion of the two-dimensional area sensor 210 which is a predetermined range from the first central line of the reading of the reading unit 220. Therefore, the narrow range computing unit 242 can start computing the position of the light beam spot S before the reading unit 220 finishes reading all the sensor signals from the two-dimensional area sensor 210. Further, the narrow range computing unit 242 uses sensor data of a part of the two-dimensional area sensor 210 for computation. Therefore, the narrow range computing unit 242 has a smaller amount of data to be used in the computation than the full range computing unit 241, and can shorten the computation time. The narrow range computing unit 242 is a second computing unit.

  The position calculation unit 240 transmits information (calculation value) of the position of the light beam spot S in the two-dimensional area sensor 210, which is the calculation result, to the control calculation unit 400 and the calculation switching unit 230.

  The operation switching unit 230 determines whether the position of the light beam spot S on the two-dimensional area sensor 210 is at the center based on the operation value received from the position operation unit 240. Then, the operation switching unit 230 transmits a switching signal for switching the operation to the reading unit 220 and the position operation unit 240 according to the position of the light beam spot S.

  Next, the operation of the detection apparatus 200 will be described with reference to the drawings.

  FIG. 5 is a time chart showing an example of an operation using the full range calculation unit 241 in the detection apparatus 200 according to the present embodiment.

  The two-dimensional area sensor 210 acquires sensor values (charges) of all cells every one sensor cycle (corresponding to one frame rate), stores it in a register or the like, and outputs it. The two-dimensional area sensor 210 repeats this operation.

  The reading unit 220 reads sensor signals after the two-dimensional area sensor 210 acquires sensor values of all cells in the first cycle. Next, the reading unit 220 converts the sensor signal into sensor data, and then transmits the sensor data to the position calculating unit 240 (full range calculating unit 241). The entire range calculation unit 241 calculates the position of the light beam spot based on the received data. The position calculation unit 240 transmits the calculation result (calculation value) to the control calculation unit 400.

  Then, the control operation unit 400 executes an operation for control based on the operation value.

  As shown in FIG. 5, when the full range calculation unit 241 is used, the control delay amount of the control device 100 including the detection device 200 is longer than one sensor cycle.

  FIG. 6 is a time chart showing an example of an operation using the narrow range calculation unit 242 in the detection device 200 according to the present embodiment.

  The two-dimensional area sensor 210 acquires (stores) sensor values (charges) of all cells for each sensor cycle, and then outputs the sensor values. The two-dimensional area sensor 210 repeats this operation.

  The reading unit 220 reads the sensor signal after the two-dimensional area sensor 210 acquires the sensor value of the central cell, converts the sensor signal to sensor data, and then calculates the sensor data to the position calculating unit 240 (narrow range calculating unit 242) Send to The narrow range computing unit 242 computes the position of the light beam spot based on the received data. The position calculation unit 240 transmits the calculation result (calculation value) to the control calculation unit 400.

  Then, the control operation unit 400 executes an operation for control based on the operation value.

  As shown in FIG. 6, when the narrow range computing unit 242 is used, the detecting device 200 can start the computation in the position computing unit 240 without waiting for the data acquisition of all the cells of the two-dimensional area sensor 210 to be completed. That is, the detection apparatus 200 can accelerate the start of the calculation.

  In addition, when the narrow range computing unit 242 is used in the detection apparatus 200, the amount of data used for the computation is small. That is, the detection device 200 can reduce the time required for transmitting the calculation value to the control calculation unit 400 after the two-dimensional area sensor 210 starts acquiring the sensor value.

  Then, the detection device 200 switches the operation shown in FIGS. 5 and 6 described above.

  Specifically, the detection device 200 operates as follows.

  At the start of detection, the operation switching unit 230 instructs the reading unit 220 and the position operation unit 240 to perform an operation (the operations in FIGS. 3 and 5) for the entire range of the two-dimensional area sensor 210. That is, the reading unit 220 transmits all sensor data from the two-dimensional area sensor 210 to the position calculating unit 240. In the position calculator 240, the entire range calculator 241 calculates the position of the light beam spot S. The position calculation unit 240 transmits the calculation result (calculation value) to the control calculation unit 400 and also to the calculation switching unit 230.

  The operation switching unit 230 determines whether the position of the light beam spot calculated by the position operation unit 240 is at the center of the two-dimensional area sensor 210. When it is not the central portion, the operation switching unit 230 does not particularly execute an operation. In the case of the central portion, the arithmetic switching unit 230 instructs the reading unit 220 and the position arithmetic unit 240 to perform an operation at the central portion (the operation in FIGS. 4 and 6). Based on this instruction, the reading unit 220 transmits center data to the position calculating unit 240. The narrow range calculation unit 242 of the position calculation unit 240 calculates the position of the light beam spot S based on the data of the central part. The position calculation unit 240 transmits the calculation result (calculation value) to the control calculation unit 400 and also to the calculation switching unit 230.

  As described above, the central portion used by the operation switching unit 230 for the determination is the processing range of the reading unit 220 and the narrow range operation unit 242. The setting of the ranges in the reading unit 220, the calculation switching unit 230, and the narrow range calculation unit 242 may be set in the detection device 200 in advance. However, the calculation switching unit 230 may use a range narrower than the processing range of the reading unit 220 and the narrow range calculation unit 242 for determination in order to secure a margin. Alternatively, the calculation switching unit 230 may instruct the reading unit 220 and the narrow range calculation unit 242 of the position calculation unit 240 to select the range of the central part.

  As described above, after capturing the light beam spot S substantially at the center of the two-dimensional area sensor 210, the detection apparatus 200 can achieve reduction of the processing time of the reading unit 220 and the processing time of the position calculating unit 240.

[Description of effect]
As described above, the detection device 200 according to the present embodiment can achieve the effect of improving the measurement delay of the position of the light beam spot.

  The reason is as follows.

  The reading unit 220 reads data from the central portion of the two-dimensional area sensor 210 toward the peripheral portion. When the position of the light beam spot is at the center of the two-dimensional area sensor 210, the operation switching unit 230 instructs the reading unit 220 and the position operation unit 240 to operate at the center of the two-dimensional area sensor 210. In the central operation, the reading unit 220 accelerates the start time of reading from the two-dimensional area sensor 210. In addition, the position calculation unit 240 performs calculation based on the data of the central portion to shorten the calculation time. As a result, after the light beam spot S enters the center of the two-dimensional area sensor 210, the detection device 200 measures the time from the start of measurement by the two-dimensional area sensor 210 to the transmission of the calculated value to the control calculator 400. Can be shortened. That is, the detection apparatus 200 can improve the delay in measurement (calculation) of the position of the light beam spot.

  Therefore, the control delay time in the control device 100 including the detection device 200 is shortened. Then, the control performance of the control device 100 is improved.

[Modification]
The detection apparatus 200 described above is configured as follows.

  For example, each component of the detection apparatus 200 may be configured by a hardware circuit.

  In addition, the detection device 200 may be configured using a plurality of information processing devices in which each configuration of the detection device 200 is connected via a network or a bus.

  In addition, the detection apparatus 200 may configure a plurality of components by one hardware.

  Further, the detection device 200 may be realized as a computer device including a CPU, a ROM (Read Only Memory), a RAM, and a (Random Access Memory). The detection device 200 may be realized as a computer device further including an input / output connection circuit (IOC: Input / Output Circuit) and an interface circuit (IFC: Interface Circuit) in addition to the above configuration.

  FIG. 7 is a block diagram showing an example of the configuration of a detection apparatus 600 according to the present modification.

  The detection device 600 includes a CPU 610, a ROM 620, a RAM 630, an internal storage device 640, an IOC 650, an IFC 680, and an IFC 690, and constitutes a computer device.

  The CPU 610 reads a program from the ROM 620. Then, the CPU 610 controls the RAM 630, the internal storage device 640, the IOC 650, the IFC 680, and the IFC 690 based on the read program. Then, a computer including the CPU 610 controls these components to realize each function as the detection device 200 shown in FIG. More specifically, the CPU 610 implements the respective functions as the reading unit 220, the position calculating unit 240, and the calculation switching unit 230 shown in FIG.

  The CPU 610 may use the RAM 630 or the internal storage device 640 as temporary storage of a program when realizing each function.

  The CPU 610 may also read a program included in the storage medium 700 storing a program readable by a computer using a storage medium reading device (not shown). Alternatively, the CPU 610 may receive a program from an external device (not shown) via the IFC 680 or IFC 690, save the program in the RAM 630, and operate based on the saved program.

  The ROM 620 stores programs executed by the CPU 610 and fixed data. The ROM 620 is, for example, a P-ROM (Programmable-ROM) or a flash ROM.

  The RAM 630 temporarily stores programs and data that the CPU 610 executes. The RAM 630 is, for example, a D-RAM (Dynamic-RAM).

  The internal storage device 640 stores data and programs that the detection device 600 stores for a long time. Further, the internal storage device 640 may operate as a temporary storage device of the CPU 610. The internal storage device 640 is, for example, a hard disk device, a magneto-optical disk device, a solid state drive (SSD), or a disk array device.

  Here, the ROM 620 and the internal storage device 640 are non-volatile storage media. On the other hand, the RAM 630 is a volatile storage medium. The CPU 610 can operate based on a program stored in the ROM 620, the internal storage device 640, or the RAM 630. That is, the CPU 610 can operate using a non-volatile storage medium or a volatile storage medium.

  The IOC 650 mediates data between the CPU 610 and the input device 660 and the display device 670. The IOC 650 is, for example, an IO interface card or a USB (Universal Serial Bus) card.

  The input device 660 is a device that receives an input instruction from the operator of the detection device 600. The input device 660 is, for example, a keyboard, a mouse or a touch panel.

  The display device 670 is a device that displays information to the operator of the detection device 600. The display device 670 is, for example, a liquid crystal display.

  The IFC 680 mediates connection with the two-dimensional area sensor 210. The IFC 680 is, for example, a dedicated circuit, an A / D (Analog Digital) converter, or a USB (Universal Serial Bus) card.

  The IFC 690 mediates connection with the control operation unit 400. The IFC 690 is, for example, a LAN (Local Area Network) card or a PCI (Peripheral Component Interface) card.

  The detection device 600 configured in this way can be connected to the two-dimensional area sensor 210 to obtain the same effect as the detection device 200.

  The reason is that the CPU 610 of the detection device 600 can realize the same function as the detection device 200 based on a program.

Second Embodiment
FIG. 8 is a block diagram showing an example of the configuration of a detection apparatus 201 according to the second embodiment. In addition, in FIG. 8, about the structure similar to 1st Embodiment, the same code | symbol is attached | subjected and the detailed description is abbreviate | omitted. The detection device 201 may be configured using a computer device shown in FIG.

  The detection device 201 differs from the detection device 200 in that it includes a multi-port two-dimensional area sensor 211 and a multi-port read unit 221 instead of the two-dimensional area sensor 210 and the read unit 220.

  Similar to the two-dimensional area sensor 210, the multiport two-dimensional area sensor 211 is a photoelectric conversion element that converts light into an electrical signal. However, the multiport two-dimensional area sensor 211 can obtain sensor values of a plurality of regions in parallel, and output a plurality of sensor values in parallel using a plurality of signal lines.

  The multiport reading unit 221 reads the sensor signal as in the reading unit 220. However, the multiport reading unit 221 reads a plurality of sensor signals in parallel from the multiport two-dimensional area sensor 211.

  FIG. 9 is a diagram showing a method of reading out from the multiport two-dimensional area sensor 211 by the multiport readout unit 221. As shown in FIG.

  As shown in FIG. 9, the multiport readout unit 221 reads out sensor signals from the central portions of a plurality of areas set in the multiport two-dimensional area sensor 211. FIG. 9 shows an example in which the multiport two-dimensional area sensor 211 is divided into two areas. However, the present embodiment is not limited to this. For example, the detection device 201 may divide the multiport two-dimensional area sensor 211 into more than two areas.

  FIG. 10 is a diagram showing another method of reading out from the multiport two-dimensional area sensor 211 by the multiport readout unit 221. As shown in FIG.

  As shown in FIG. 10, the multiport reading unit 221 may read sensor signals from the center of four areas set in the multiport two-dimensional area sensor 211, for example.

  Next, the operation of the detection device 201 will be described.

  FIG. 11 is a diagram showing a time chart in the case of using the narrow range calculation unit 242 of the detection device 201 according to the present embodiment.

  As illustrated in FIG. 11, the detection device 201 performs acquisition of a plurality of sensor signals, transmission of sensor data, and calculation processing in the position calculation unit 240 in parallel. The parallel processing in the position calculation unit 240 may be realized using multithread or multitask processing in a general information processing apparatus.

[Description of effect]
Thus, the detection device 202 according to the present embodiment can exhibit the effect of further improving the measurement delay.

  The reason is as follows.

  The multiport reading unit 221 of the detection device 202 reads sensor signals in parallel from the central portion of the multiport two-dimensional area sensor 211. Then, the position calculation unit 240 calculates in parallel. Therefore, the detection device 201 can further reduce the time until the calculation value is calculated.

Third Embodiment
FIG. 12 is a block diagram showing an example of the configuration of a detection apparatus 202 according to the third embodiment. In FIG. 12, the same components as those of the first embodiment are designated by the same reference numerals and their detailed description will be omitted. The detection device 202 may be configured using a computer device shown in FIG.

  The detection device 202 is different from the detection device 200 in that it includes a gravity center calculation unit 243 instead of the position calculation unit 240.

  The gravity center calculation unit 243 calculates the gravity center position of the sensor data. Note that either the entire range calculation unit 241 or the narrow range calculation unit 242 included in the gravity center calculation unit 243 may execute the gravity center calculation. Alternatively, the entire range calculation unit 241 and the narrow range calculation unit 242 may execute the gravity center calculation.

  The operation of the gravity center calculation unit 243 will be described with reference to the drawings.

  The gravity center computing unit 243 computes the gravity center position of the light beam spot S in the two-dimensional area sensor 210. The center of gravity calculation in the center of gravity calculation unit 243 is not particularly limited. For example, the gravity center calculation unit 243 may use the calculation of the gravity center shown below.

  FIG. 13 is a diagram showing the coordinates set in the two-dimensional area sensor 210 used for the gravity center calculation described below.

  In FIG. 13, the X axis is in the horizontal direction, and the Y axis is in the vertical direction. Further, the y coordinate of the upper end of the two-dimensional area sensor 210 is “−1”, and the y coordinate of the lower end is “1”. Further, the x coordinate of the left end is “−1”, and the x coordinate of the right end is “1”. The coordinates of the center are "0, 0". The gravity center calculator 243 calculates the gravity center of the light beam spot S at the coordinates shown in FIG.

  Therefore, the gravity center calculation unit 243 calculates the coordinates (X, Y) of the gravity center of the light beam spot S by using Equation 1 shown below.

[Equation 1]

In Equation 1, n is the number of detection elements (cells) in the x-axis direction of the two-dimensional area sensor 210. m is the number of detection elements (cells) in the y-axis direction of the two-dimensional area sensor 210. I _ij is sensor data (or sensor signal value (charge value)) corresponding to the i-th element in the x-axis direction and the j-th element (cell) in the y-axis direction. Further, x (j) and y (i) are Equation 2 shown below.

[Equation 2]

  The barycenter calculation shown in Equation 1 is a denominator which is a sum of sensor data of all cells obtained by multiplying sensor data acquired by each cell of the two-dimensional area sensor 210 by values of x-axis and y-axis coordinates and summing them. It is an operation to divide by. As described above, the center-of-gravity calculation calculates the center position of the light beam spot S based on sensor data across a plurality of cells. Therefore, in the center-of-gravity calculation, it is possible to calculate the position with an accuracy finer than the size of one cell of the two-dimensional area sensor 210. That is, as the position calculation of the light beam spot S, the center of gravity calculation can calculate the position with high accuracy.

  In the region where the light beam spot S is not incident, there is no signal. The addition in this area corresponds to the addition of noise components in the above-described centroid calculation. Then, the distribution of the light intensity of the light beam spot S is the strongest at the central portion and decreases toward the peripheral portion. Therefore, setting the range of the sensor data used for the calculation to the central portion of the light beam spot S as in the narrow range calculation unit 242 can reduce noise components. That is, the detection device 202 can achieve the improvement of the measurement accuracy in the narrow range calculation unit 242.

[Description of effect]
Thus, in addition to the effects of the first embodiment, the present embodiment can obtain the effect of improving the measurement accuracy.

  The reason is as follows.

  The gravity center calculation unit 243 calculates the gravity center of the light beam sensor S as the position of the light beam spot S in the two-dimensional area sensor 210. This is because the gravity center calculation can calculate a position finer than the size of the cell of the two-dimensional area sensor 210. Further, the narrow range computing unit 242 does not use the sensor data of the peripheral portion where the noise component increases in the computation.

Fourth Embodiment
FIG. 14 is a block diagram showing an example of the configuration of a detection apparatus 203 according to the fourth embodiment. In FIG. 14, the same components as those in the first embodiment are given the same reference numerals, and the detailed description thereof is omitted. The detection device 203 may be configured using a computer device shown in FIG.

  The detection device 203 is different from the detection device 200 in that it includes a maximum luminance point search operation unit 244 in place of the position operation unit 240.

  The maximum luminance point search calculation unit 244 searches for the position (coordinates) of the cell having the largest sensor data (brightness) value among all the cells in the range used for the calculation of the two-dimensional area sensor 210. Then, the maximum luminance point search calculation unit 244 sets the position of the cell of the maximum luminance (maximum luminance point) as the position of the light beam spot S. The distribution of the light intensity of the light beam spot is generally the strongest at the center and decreases toward the periphery. Therefore, the maximum brightness point search calculation unit 244 can calculate (search) the position of the light beam spot S using a simple calculation of cell search of maximum brightness. Since the maximum luminance point search operation unit 244 uses a simple operation of searching for the maximum value, high-speed processing is possible.

  Note that either the entire range calculation unit 241 or the narrow range calculation unit 242 included in the maximum brightness point search calculation unit 244 may execute a search operation of the maximum brightness point. Alternatively, the entire range calculation unit 241 and the narrow range calculation unit 242 may execute the search operation of the maximum luminance.

  Thus, in addition to the effects of the first embodiment, the present embodiment can obtain the effect of further improving the measurement delay.

  The reason is as follows.

  This is because the maximum luminance point search operation unit 244 uses the search of the maximum luminance point with a low calculation load as the operation of the position of the light beam spot S.

Fifth Embodiment
As described above, the gravity center calculation unit 243 has high measurement accuracy. However, the gravity center calculation unit 243 has a large amount of calculation. On the other hand, the maximum luminance point search operation unit 244 can perform high-speed operation. However, in the maximum luminance point search operation unit 244, the measurement accuracy is limited to the size of the cell.

  Therefore, the detection device 204 according to the fifth embodiment includes a maximum luminance point search calculation unit 244 as the entire range calculation unit 241 and a gravity center calculation unit 243 as the narrow range calculation unit 242.

  FIG. 15 is a block diagram showing an example of the configuration of a detection apparatus 204 according to the fifth embodiment. In FIG. 15, the same components as those of the first embodiment are designated by the same reference numerals and their detailed description will be omitted. The detection device 204 may be configured using a computer device shown in FIG.

  The detection device 204 is different from the detection device 200 in that the position calculation unit 240 includes a maximum luminance point search calculation unit 244 as the entire range calculation unit 241 and a gravity center calculation unit 243 as the narrow range calculation unit 242. .

  The position calculation unit 240 switches between the maximum luminance point search calculation unit 244 and the gravity center calculation unit 243, as described below, based on the instruction of the calculation switching unit 230.

  In the initial stage of drawing in the light beam spot S, that is, until the light beam spot S is driven to a predetermined narrow range (central portion), the detection device 204 may realize measurement accuracy to such an extent that the light beam spot S can be driven to the predetermined narrow range. That is, at this stage, the detection device 204 can perform the measurement accuracy and the operation with the measurement accuracy of the maximum luminance point search operation unit 244. Therefore, the operation switching unit 230 instructs the reading unit 220 and the position operation unit 240 to operate in the entire range.

  On the other hand, after the light beam spot S is driven to a narrow range (central portion), the detection device 204 needs to realize detection with high measurement accuracy and a short control delay amount. Therefore, the operation switching unit 230 instructs the reading unit 220 and the position operation unit 240 to operate in a narrow range.

  As described above, when using the sensor data of the full range of the two-dimensional area sensor 210, the detection device 204 uses the maximum luminance point search operation unit 244 with a small computational load, and when using sensor data of a narrow range, high accuracy. The gravity center calculation unit 243 is used.

[Description of effect]
Thus, in addition to the effects of the first embodiment, the present embodiment can further improve the measurement delay and obtain the effect of improving the measurement accuracy.

  The reason is as follows.

  When the position of the light beam spot S is drawn to the center of the two-dimensional area sensor 210, the detection device 204 uses the maximum luminance point search operation unit 244 as the entire range operation unit 241 to detect the position of the light beam spot S. Calculate Based on this operation, the detection device 204 improves the delay of the calculation process of the entire range in which there are many data to be calculated.

  Then, when the position of the light beam spot S enters the central portion of the two-dimensional area sensor 210, the detection device 204 calculates the position of the light beam spot S using the gravity center calculation unit 243 as the narrow range calculation unit 242. Do. Because of the execution as the narrow range computing unit 242, the amount of data to be processed is small. Therefore, the detection device 204 improves the measurement delay even when using the gravity center calculation unit 243. Furthermore, since the detection device 204 uses the gravity center calculation unit 243, the measurement accuracy can be improved.

  Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. The configuration and details of the present invention can be modified in various ways that can be understood by those skilled in the art within the scope of the present invention.

  The present invention is applicable to sensors and control systems that perform high-speed and / or high-accuracy capture and tracking. Further, the present invention is applicable not only to optical space communication but also to, for example, a laser guiding device.

Reference Signs List 100 control device 200 detection device 201 detection device 202 detection device 204 detection device 204 detection device 210 two-dimensional area sensor 211 multiport two-dimensional area sensor 220 readout unit 221 multiport readout unit 230 arithmetic switching unit 240 position arithmetic unit 241 full range arithmetic Unit 242 Narrow range operation unit 243 Center of gravity operation unit 244 Maximum brightness point search operation unit 300 Controlled unit 400 Control operation unit 600 Detection device 610 CPU
620 ROM
630 RAM
640 Internal storage 650 IOC
660 Input device 670 Display device 680 IFC
690 IFC
700 storage media

Claims (9)

A two-dimensional area sensor for detecting the intensity of the incident light beam spot;
The two-dimensional area sensor reads out a wide range signal or a narrow range signal which is narrower than the whole range including the central portion, the narrow range signal is read from the central portion to the peripheral portion, and the read signal is read Reading means for outputting as sensor data;
First computing means for computing the position of the light beam spot in the two-dimensional area sensor based on sensor data of the entire range, and the light beam spot in the two-dimensional area sensor based on sensor data of the narrow range Position calculation means including a second calculation means for calculating the position of
And d ) operation switching means for instructing the reading means to switch the read range to the full range or the narrow range based on the position of the light beam spot which is the calculation result of the position calculating means. The operation switching means is
If the initial state or the position of the light beam spot is not included in the narrow range, the readout means is instructed to read out the entire range of signals ;
The detection device according to claim 1, wherein when the position of the light beam spot is included in the narrow range, the reading unit is instructed to read out the signal of the narrow range . The reading means
The detection apparatus according to claim 1, wherein a plurality of signals are read out in parallel from the two-dimensional area sensor. The detection apparatus according to any one of claims 1 to 3, wherein the position calculation unit calculates the position of the center of gravity of the light beam spot in the two-dimensional area sensor as the position of the light beam spot. The position calculation means
The detection device according to any one of claims 1 to 4, wherein a position of a cell which takes a maximum value of detection values in the two-dimensional area sensor is calculated as the position of the light beam spot. The first computing means is
As the position of the light beam spot, the position of the cell which takes the maximum value of the detection value in the two-dimensional area sensor is calculated;
The second computing means
The detection apparatus according to any one of claims 1 to 3, wherein the position of the center of gravity of the light beam spot in the two-dimensional area sensor is calculated as the position of the light beam spot. A detection device according to any one of claims 1 to 6,
Controlled means for causing the light beam spot to be incident on the detection device;
A control operation unit that executes an operation for controlling the controlled unit based on the position of the light beam spot that is the detection result of the detection unit. Detecting the intensity of the light beam spot incident on the two-dimensional area sensor ;
The two-dimensional area sensor reads out a wide range signal or a narrow range signal which is narrower than the whole range including the central portion, the narrow range signal is read from the central portion to the peripheral portion, and the read signal is read Output as sensor data,
The position of the light beam spot in the two-dimensional area sensor is calculated based on the sensor data of the entire range, and the position of the light beam spot in the two-dimensional area sensor is calculated based on the sensor data of the narrow range;
A detection method , wherein a range to be read out is switched to the entire range or the narrow range based on the position of the light beam spot which is a calculation result. A process of detecting the intensity of the light beam spot incident on the two-dimensional area sensor ;
The two-dimensional area sensor reads out a wide range signal or a narrow range signal which is narrower than the whole range including the central portion, the narrow range signal is read from the central portion to the peripheral portion, and the read signal is read Processing to output as sensor data,
A process of calculating the position of the light beam spot in the two-dimensional area sensor based on sensor data of the entire range, and calculating the position of the light beam spot in the two-dimensional area sensor based on sensor data of the narrow range When,
A program for causing a computer to execute a process of switching a range to be read out based on a position of the light beam spot, which is a calculation result, to the entire range or the narrow range .

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