JP7338645B2 - object detector - Google Patents

Description

The present disclosure relates to object detection devices.

Patent Document 1 discloses a scanning laser radar as an object detection device that projects laser light and receives light reflected by an object to detect the presence or absence of the object and information about the object such as the distance to the object. disclosed.

JP 2019-128221 A

In the object detection device as described above, in addition to the actuator for scanning, a temperature adjuster for adjusting the temperature of the light-emitting portion and the temperature of the light-receiving portion are provided for stable emission and reception of laser light. It is conceivable to have a plurality of components that consume large amounts of current, such as a temperature regulator, a temperature regulator for regulating the temperature of the windows for emitting and receiving laser light. In order to simultaneously supply the peak current consumed by each of these components to each component, a power supply configured with a battery that allows the total value of the peak current of each component, an overcurrent protection circuit, etc. is required. increase in size. In addition, when the peak current consumption timing of each component fluctuates and the current output from the power supply fluctuates greatly, the output voltage of the power supply accordingly fluctuates greatly.

According to one aspect of the present disclosure, an object detection device (10, 10C) is provided. This object detection device includes a light emitting section (30) that emits laser light as irradiation light, a light receiving section (40) that receives light including reflected light of the irradiation light, and an object detected by the light emitting section and the light receiving section. a plurality of components (50, 60, 70, 90) operable to detect information about components (50, 60, 70, 90), a common power supply (20) that supplies power to the plurality of components, and the current output from the common power supply is less than a predetermined upper limit current, a control unit (80) for controlling the operation of a plurality of components, wherein the plurality of components includes at least one reference component (50) having a peak current period in which the increasing current period occurs at regular intervals. and the control unit controls the peak current period from the common power supply to other Adjust the current supplied to the component.
According to this object detection device, the current output from the common power supply can be set to be less than the predetermined upper limit current, so it is possible to suppress the increase in size of the common power supply and the output voltage of the common power supply can be reduced. fluctuation can be suppressed.

1 is a schematic configuration diagram of an object detection device according to a first embodiment; FIG. 4 is a timing chart showing examples of drive currents in the first embodiment; 4 is a timing chart showing drive currents as a comparative example; 6 is a timing chart showing examples of drive currents in the second embodiment; The schematic block diagram of the object detection apparatus which concerns on 3rd Embodiment.

A. First embodiment:
An object detection device is a scanning radar that emits laser light as irradiation light, receives light including reflected light from an object, and detects information about the object such as the presence or absence of the object and the distance to the object. (also called “LiDAR: Light Detection and Ranging”).

As shown in FIG. 1, the object detection apparatus 10 of the embodiment includes a common power source 20, a light emitting section 30, a light receiving section 40, a scanning section 50, a light emitting section temperature adjusting section 60, and a window temperature adjusting section 70. , and a control unit 80 .

The light emitting unit 30 includes a light emitting element that emits laser light and a light emission control circuit that controls the light emitting element (not shown). Irradiation light emitted from the light emitting unit 30 is emitted to the outside of the object detection device 10 through a scanner mirror 56 of the scanning unit 50 and a window 12 provided in the housing, which will be described later.

The scanning unit 50 includes a scanner mirror 56 that reflects the irradiation light emitted from the light emitting unit 30 , a scanner motor 54 that rotates the scanner mirror 56 , and a motor drive circuit 52 that drives the scanner motor 54 . The scanner motor 54 is, for example, a rotary solenoid, is driven by the motor drive circuit 52 under the control of the control unit 80, and repeats normal rotation and reversal within a predetermined angle range (also called "view angle range"). . As a result, by rotating the scanner mirror 56 , the scanning unit 50 can reciprocally scan the illumination light within the angular scanning range defined by the window 12 . Note that the scanner motor 54 is not limited to a rotary solenoid, and may be any actuator that can repeat forward and reverse rotation within an angular range corresponding to the scanning range and reciprocally scan the irradiation light.

If there is an object such as a person or a car (hereinafter also referred to as “object”) within the scanning range, the irradiation light emitted from the light emitting unit 30 is irregularly reflected on the surface of the object, and part of the light is reflected as reflected light by the window. 12 to the scanner mirror 56. This reflected light is reflected by the scanner mirror 56 together with other external light, and is received by the light receiving section 40 .

The light receiving unit 40 includes a plurality of light receiving elements and a light receiving control circuit (not shown), and outputs a light receiving signal according to the light receiving state of the plurality of light receiving elements to the control unit 80 according to the control of the control unit 80 . Based on the light reception signal received from the light receiving unit 40, the control unit 80 detects information about the object such as the presence or absence of the object and the distance to the object.

The light emitting part temperature adjuster 60 includes a light emitting part temperature adjuster 64 that adjusts the temperature of the light emitting part 30 and a light emitting part temperature adjuster drive circuit 62 that drives the light emitting part temperature adjuster 64 . The light emitting unit temperature adjuster 64 is driven by the light emitting unit temperature adjuster drive circuit 62 under the control of the control unit 80 to adjust the temperature of the light emitting unit 30 . Thereby, the light emitting unit 30 can generate laser light within a stable wavelength band that can be received by the light receiving unit 40 . Various temperature regulators such as a temperature regulator capable of heating and cooling can be applied to the light-emitting portion temperature regulator 64, in addition to temperature regulators such as heaters and Peltier elements.

The window temperature adjuster 70 includes a window temperature adjuster 74 that adjusts the temperature of the window 12 and a window temperature adjuster drive circuit 72 that drives the window temperature adjuster 74 . The window temperature adjuster 74 is driven by the window temperature adjuster drive circuit 72 under the control of the controller 80 to adjust the temperature of the window 12 . As a result, freezing and fogging of the window 12 can be removed, and the irradiation light can be stably emitted to the outside and the reflected light can be incident to the inside. Various temperature adjusters can be applied to the window temperature adjuster 74 as well as the light emitting part temperature adjuster 64 . In the following description, the light emitting part temperature adjuster 64 and the window temperature adjuster 74 are temperature adjusters that adjust the temperature by turning them on and off like heaters.

The common power supply 20 includes a battery 22 , a DC voltage conversion circuit (denoted as “DCDC” in the drawing) 24 , and an overcurrent protection circuit (denoted as “OCP” in the drawing) 26 . The DC voltage conversion circuit 24 converts the DC voltage output from the battery 22 into a DC voltage that can be supplied to the motor drive circuit 52, the light emitting unit temperature adjuster drive circuit 62, and the window temperature adjuster drive circuit 72. . The overcurrent protection circuit 26 cuts off power supply to each circuit when an overcurrent is detected as the current to be supplied to each circuit. The light emitting unit 30, the light receiving unit 40, and the control unit 80 are connected to the motor drive circuit 52, the light emitting unit temperature adjuster drive circuit 62, and the window temperature adjuster drive circuit 72, or connected to the battery 22. Power is supplied through the illustrated power supply circuit, but the illustration is omitted for convenience of explanation of the embodiment.

The control unit 80 is composed of, for example, a microcomputer, and the CPU executes a program prepared in advance to control the motor driving circuit 52 of the light emitting unit 30, the light receiving unit 40, and the scanning unit 50 necessary for object detection. Control of the light-emitting part temperature adjuster driving circuit 62 of the light-emitting part temperature adjusting part 60 and the window temperature adjuster driving circuit 72 of the window temperature adjusting part 70 is executed. In particular, the control unit 80 controls the motor drive circuit 52, the light-emitting unit temperature adjuster drive circuit 62, and the window temperature adjuster drive circuit 72 to control the peak value of the current supplied from the battery 22, as described below. (hereinafter also referred to as “peak current”).

In the case of reciprocating scanning of the irradiation light as described above, the motor driving circuit 52 switches the rotation direction of the scanner motor 54 in a scanning cycle (also called a "frame cycle"). At this time, in the scanner motor 54, as shown in FIGS. 2 and 3, the motor driving current required within a certain period Tds when the scanning direction is switched at the beginning of the scanning cycle Ts is A current that is several to ten times or more times as large as a normal current is required. In addition, as shown in FIGS. 2 and 3, the light-emitting portion temperature adjuster 64 and the window temperature adjuster 74 also require a drive current during the period in which the temperature adjustment operation is performed, as shown in FIGS. requires a larger current than Each drive current shown in FIGS. 2 and 3 is schematically shown for ease of explanation, and each actual drive current is a current that fluctuates in each corresponding period. , is a larger current in each corresponding period overall than in the other periods. In addition, the peak value (hereinafter also referred to as “peak current”) generated during the period Tds of the motor drive current is the peak value (peak current) of the drive current during the operation period of the light-emitting part temperature adjuster and the operation of the window temperature adjuster. The power consumption of the scanner motor 54 is larger than the power consumption of the light-emitting part temperature adjuster 64 and the power consumption of the window temperature adjuster 74 .

Here, when the light-emitting part temperature adjuster 64 and the window temperature adjuster 74 operate redundantly during the period Tds when the motor drive current reaches the peak current, and during periods other than the period Tds, the light-emitting part temperature adjuster 64 and the case where the window temperature adjuster 74 operates redundantly will be described as a comparison mode. In the period Tds, as shown in FIG. 3, the peak value of the motor drive current (peak current) and the peak value of the current generated during the operation period of the light-emitting unit temperature adjuster ) and the peak value of the current generated during the operation period of the window temperature adjuster (hereinafter also referred to as the "peak current of the window temperature adjuster drive current"). Further, in a period other than the period Tds, as shown in FIG. 3, the drive current is sufficiently smaller than that in the period Tds, the peak current of the light-emitting part temperature adjuster drive current, and the peak current of the window temperature adjuster drive current. Current may be required. As a result, the battery 22 is required to allow output of electric power corresponding to the total drive current. Therefore, there is a problem that the size of the power supply used as the battery 22 is increased. Further, as shown in FIG. 3, the operation timings of the scanner motor 54, the light-emitting unit temperature adjuster 64, and the window temperature adjuster 74 increase the variation in the sum of the overlapping drive currents. There is also the problem that the Moreover, if separate power sources are used instead of the common power source 20 for the scanning unit 50, the light emitting unit temperature adjusting unit 60, and the window temperature adjusting unit 70, there is a problem that the size of the device is increased.

On the other hand, in the object detection device 10 of the embodiment, during the period Tds shown in FIG. device 74 is controlled so as not to operate (turn on). That is, in the period Tds when the motor drive current reaches its peak current, the control unit 80 controls the period Tds when the light emitting unit temperature adjuster drive current reaches its peak current and the period when the window temperature adjuster drive current reaches its peak current so as not to overlap. ,Control. As a result, in the period Tds, the total drive current required as the output current of the common power supply 20 can be made only the peak current of the motor drive current. In addition, during periods other than the period Tds shown in FIG. 2, the control unit 80 controls the light emitting unit temperature adjuster 64 and the window temperature adjuster 74 so as not to operate (turn on) redundantly. In other words, the control unit 80 controls the periods other than the period Tds so that the period during which the light-emitting unit temperature adjuster drive current reaches the peak current and the period during which the window temperature adjuster drive current reaches the peak current do not overlap. As a result, in periods other than the period Tds, the total drive current required as the output current of the common power supply 20 is reduced to a fraction of the peak current to a few tenths or less of the motor drive current and the temperature adjustment of the light emitting part. Only the peak currents of either the regulator drive current or the window temperature regulator drive current overlap.

Therefore, in the object detection device 10, the current required as the output current of the common power supply 20 in the scanning period Ts can be reduced to less than the predetermined upper limit current, and compared to the case of the comparative embodiment shown in FIG. can be reduced. This makes it possible to reduce the size of connectors and wiring that connect the power supply and each component. Moreover, it is possible to solve the problem of increasing the size of the battery used as the battery 22 and the power source composed of the overcurrent protection circuit and the like. Moreover, the problem that the output voltage of the battery 22 fluctuates greatly can be improved. Further, since the common power supply 20 is used for the scanning unit 50, the light emitting unit temperature adjusting unit 60, and the window temperature adjusting unit 70, the problem of increasing the size of the apparatus can be improved.

Note that the motor drive current in the period Tds is a current that includes a peak current that is several to ten-odd times larger than the current in the other period (Ts-Tds), and is a current that is larger than the average current of the motor drive current. It can be treated as such. Therefore, the period Tds during which the motor drive current reaches the peak current may be treated as an increased current period during which the motor drive current is larger than the average current. Also, the drive current for the light-emitting unit temperature regulator during the period when the light-emitting unit temperature regulator is turned on is a current containing a sufficiently large peak current compared to the drive current for the light-emitting unit temperature regulator during the period when the light-emitting unit temperature regulator is turned off. There is no problem even if it treats it as a big current compared with the average current of the light emission part regulator drive current. Therefore, the period during which the driving current for the temperature regulator of the light emitting part is the peak current can be treated as the increasing current period during which the driving current for the temperature regulator of the light emitting part is larger than the average current. The window temperature adjuster drive current is also the same as the light emitting part temperature adjuster drive current, and during the period when the window temperature adjuster drive current is the peak current, the window temperature adjuster drive current is greater than the average current. It should be treated as a current period. In addition, when the temperature regulator is operated (turned on), the configuration may be such that the adjustment amount is controlled, that is, the current amount of the drive current is adjusted.

In the above description, the scanning unit 50, the light emitting unit temperature adjusting unit 60, and the window temperature adjusting unit 70 correspond to the “plurality of components” in this embodiment, the scanning unit 50 corresponds to the “reference component”, and the light emitting unit temperature adjuster The unit 60 and the window temperature adjustment unit 70 correspond to "other components". The motor drive current corresponds to "current consumption in the scanning unit", the light emitting unit temperature controller drive current corresponds to "current consumption in the temperature adjustment unit", and the window temperature controller drive current corresponds to "current consumption in the window temperature adjustment unit". Equivalent to The period during which the motor drive current reaches its peak corresponds to the "current peak period during which the current consumption of the scanning section is greater than the average current at a constant period", and "the current consumption of the scanning section is higher than the average current." It corresponds to the “increase current period” in which the current becomes large. The period during which the drive current of the light-emitting part temperature adjuster is the peak current corresponds to the "current peak period during which the current consumption of the light-emitting part temperature adjuster is greater than the average current, that is, the increasing current period", and the window temperature adjustment The period during which the device driving current reaches the peak current corresponds to "the current peak period during which the current consumption of the window temperature adjustment unit is higher than the average current, that is, the increasing current period".

B. Second embodiment:
The object detection device of the second embodiment is the same as the object detection device 10 of the first embodiment, except for the method of controlling each temperature adjustment unit, as described below. Therefore, illustration and description of the configuration of the object detection device of the second embodiment are omitted.

In the first embodiment, during a period (Ts-Tds) other than the period Tds which is the peak current period of the scanning unit 50, the light emitting unit temperature adjuster 64 and the window temperature adjuster 74 are controlled so as not to operate redundantly. The increased current period during which the drive current of the light-emitting part temperature adjuster reaches a peak current and the increase current period during which the drive current of the window temperature adjuster reaches a peak current are prevented from overlapping (see FIG. 2). That is, the timing of supplying the drive current for the light emitting unit temperature adjuster from the common power supply 20 and the timing of supplying the drive current for the window temperature adjuster from the common power supply 20 are adjusted so as not to overlap.

On the other hand, as shown in FIG. 4, during a period (Ts-Tds) other than the period Tds, the light-emitting part temperature adjuster 64 and the window temperature adjuster 74 are operated redundantly to drive the light-emitting part temperature adjuster. The current amount of the current and the current amount of the window temperature adjuster drive current may be adjusted so that the output current of the common power supply 20 is reduced below a predetermined upper limit current. For example, the amount of each drive current may be adjusted by controlling the amount of temperature adjustment for each target temperature so that the total amount of each drive current does not exceed the upper limit current. Also in this case, the same effect as in the first embodiment can be obtained.

Note that the period (Ts-Tds) during which the drive current to each temperature regulator is adjusted is larger than the average current of each drive current, considering the period Tds in which the drive current does not flow. corresponding to an increasing current period of

In the second embodiment described above, the timing chart shown in FIG. 4 shows an example in which the drive current to each temperature regulator is adjusted over the entire period (Ts-Tds). , but it is not limited to this. For example, the drive current to each temperature controller overlaps in some period, and in the overlapping period, the total amount of drive current to each temperature controller does not exceed the upper limit current. The amount of temperature adjustment for the target temperature of the regulator may be controlled. Specifically, for example, the operation of each temperature regulator is controlled to be on/off, and the current amount of each drive current is adjusted during a period in which the on operation of each temperature regulator overlaps. Also good.

C. Third embodiment:
As shown in FIG. 5, the object detection device 10C of the third embodiment has a light-receiving part temperature adjustment section 90 in addition to the configuration of the object detection device 10 of the first embodiment (see FIG. 1). It differs from the object detection device 10 . The light receiving portion temperature adjuster 90 includes a light receiving portion temperature adjuster 94 that adjusts the temperature of the light receiving portion 40 and a light receiving portion temperature adjuster drive circuit 92 that drives the light receiving portion temperature adjuster 94 . The light-receiving part temperature adjuster 94 is driven by the light-receiving part temperature adjuster driving circuit 92 under the control of the control part 80 to adjust the temperature of the light-receiving part 40 .

The operations of the light emitting unit temperature adjusting unit 60, the window temperature adjusting unit 70, and the light receiving unit temperature adjusting unit 90 are performed during the period Tds, which is the peak current period of the scanning unit 50, as described in the first embodiment (see FIG. 2). During a period (Ts-Tds) other than the time period (Ts-Tds), control may be performed so that the light-emitting part temperature adjuster 64, the window temperature adjuster 74, and the light-receiving part temperature adjuster 94 do not operate redundantly. That is, there are an increasing current period during which the driving current for the light-emitting part temperature regulator reaches its peak current, an increasing current period during which the driving current for the window temperature regulator reaches its peak current, and an increasing current period during which the driving current for the light-receiving part temperature regulator reaches its peak current. It should be controlled so that they do not overlap. Further, as described in the second embodiment (see FIG. 4), the light-emitting portion temperature adjuster 64, the window temperature adjuster 74, and the light-receiving portion temperature adjuster 94 are redundantly operated to The amount of drive current, the amount of window temperature adjuster drive current, and the amount of light receiving portion temperature adjuster drive current may be adjusted.

Each of the plurality of light-receiving elements of the light-receiving section 40 normally has a band-pass filter (not shown), and receives light having a wavelength that has passed through the band-pass filter. The bandpass characteristics of a bandpass filter generally vary depending on temperature. Therefore, if the temperature of the light receiving section 40 is adjusted by the light emitting section temperature adjusting section 60, the characteristics of the band-pass filter can be stabilized. Thereby, the light receiving state of the plurality of light receiving elements of the light receiving section 40 can be stabilized.

In addition, when the light-receiving part temperature adjusting part 90 is provided, the light-emitting part temperature adjusting part 60 can be omitted. In this case, for example, the temperature of the light receiving unit 40 is adjusted so that the band pass characteristics of the band pass filter of the light receiving unit 40 include the wavelength band of the laser light that changes according to the temperature change of the light emitting unit 30. Just do it. Even in this way, it is possible to stabilize the light receiving state of the plurality of light receiving elements of the light receiving section 40 .

In the above description, the scanning unit 50, the light emitting unit temperature adjusting unit 60, the window temperature adjusting unit 70, and the light receiving unit temperature adjusting unit 90 correspond to the “plurality of components” in this embodiment, and the scanning unit 50 corresponds to the “reference configuration.” Elements", the light emitting part temperature adjusting section 60, the window temperature adjusting part 70, and the light receiving part temperature adjusting part 90 correspond to the "other components".

D. Other embodiments:
(1) In the above-described first and second embodiments, the configuration including the scanning unit 50, the light emitting unit temperature adjusting unit 60, and the window temperature adjusting unit 70 as components to which the common power supply supplies current is described as an example. However, it is not limited to this. For example, the configuration may be such that the window temperature adjustment section 70 or the light emitting section temperature adjustment section 60 is omitted. In this case, the current from the common power supply 20 to each component is adjusted so that the peak current period of the scanning unit 50 does not overlap with the increasing current period of the light emitting unit temperature adjusting unit 60 or the window temperature adjusting unit 70 included as a component. It is sufficient to adjust the supply timing or the amount of current supplied.

In the above-described third embodiment, the scanning unit 50, the light emitting unit temperature adjusting unit 60, the window temperature adjusting unit 70, and the light receiving unit temperature adjusting unit 90 are provided as components to which the common power supply supplies current. Although it is described, it is not limited to this. Either one or both of the light emitting part temperature adjusting section 60 and the window temperature adjusting section 70 may be omitted. When the light-receiving part temperature adjusting unit 90 is included as a component, current is supplied from the common power supply 20 to the components so that the increasing current period of the light-receiving part temperature adjusting unit 90 does not overlap with the peak current period of the scanning unit 50. It is sufficient to adjust the timing or the amount of current supply. In addition, when one of the light receiving part temperature adjusting part 90, the light emitting part temperature adjusting part 60, and the window temperature adjusting part 70 is included as a component, during the peak current period of the scanning part 50, the light receiving part temperature adjusting part 90 Adjust the current supply timing or current supply amount from the common power supply 20 to each component so that the increased current period and the increased current period of either the light emitting unit temperature adjustment unit 60 or the window temperature adjustment unit 70 do not overlap. do it.

Further, the components of the object detection device are not limited to the scanning unit 50, the light emitting unit temperature adjusting unit 60, the window temperature adjusting unit 70, and the light receiving unit temperature adjusting unit 90. Components such as a cleaning device that cleans windows and an angle adjustment device that adjusts the angle of the entire object detection device in the vertical direction and the horizontal direction may be applied as components to which power is supplied from the common power supply. . In other words, an increased current period in which laser light is projected as irradiation light, light including reflected light of the irradiation light is received, and information about an object is detected, and current consumption is greater than the average current. It is applicable to various components having

(2) In the first embodiment, the scanning unit 50 with the highest power consumption is used as a reference component, and the light emitting unit temperature adjusting unit 60 and the window temperature adjusting unit 70 are used as other components. Then, with reference to the peak current period of the motor drive current of the scanning unit 50, the timing of supplying current from the common power supply 20 to the light emitting unit temperature adjusting unit 60 and the window temperature adjusting unit 70, which are other components, that is, the light emitting unit The operation timings of the temperature adjustment section 60 and the window temperature adjustment section 70 are adjusted. However, it is not limited to this.

For example, when the peak current of the light emitting unit temperature adjusting unit 60 is the largest and the power consumption is the largest, the peak current period of the scanning unit 50 and the peak current period of the window temperature adjusting unit 70 do not overlap based on the peak current period. As shown, the operation timings of the scanning unit 50 and the window temperature adjusting unit 70 may be adjusted. The same is true when the window temperature adjustment unit 70 has the highest peak current and the highest power consumption. Moreover, it is the same also in 2nd Embodiment and 3rd Embodiment. Also, a plurality of constituent elements may be used as reference constituent elements.

(3) From the description of the above embodiment and other embodiments (1) and (2), the object detection device of the present disclosure may be configured as follows. That is, to detect information about an object by projecting laser light as irradiation light and receiving light including reflected light of the irradiation light so that the current output from the common power supply is less than the predetermined upper limit current. and may control the operation of a plurality of components having periods of increased current during which the current consumption is greater than the average current.

(4) The present disclosure can also be implemented in various forms other than the object detection device. For example, it can be realized in the form of a vehicle including an object detection device, an object detection method, a computer program for realizing these devices and methods, a storage medium storing such a computer program, or the like.

(5) The controller and techniques described in the present disclosure are provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be realized by Alternatively, the controls and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control units and techniques described in this disclosure can be implemented by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

The present disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from the scope of the present disclosure. For example, the technical features of the embodiments corresponding to the technical features in each form described in the outline of the invention are used to solve some or all of the above problems, or Alternatively, replacements and combinations can be made as appropriate to achieve all. Also, if the technical features are not described as essential in this specification, they can be deleted as appropriate.

DESCRIPTION OF SYMBOLS 10, 10C... Object detection apparatus, 12... Window, 20... Common power supply, 22... Battery, 24... Direct-current voltage conversion circuit (DCDC), 26... Overcurrent protection circuit (OCP), 30... Light-emitting part, 40... Light-receiving part , 50 Scanning section 52 Motor drive circuit 54 Scanner motor 56 Scanner mirror 60 Light-emitting section temperature adjuster 62 Light-emitting section temperature adjuster drive circuit 64 Light-emitting section temperature adjuster 70 Window temperature adjuster 72 Window temperature adjuster drive circuit 74 Window temperature adjuster 80 Control part 90 Light receiver temperature adjuster 92 Light receiver temperature adjuster drive circuit 94 Light receiver temperature adjuster vessel

Claims (9)

An object detection device (10, 10C),
a light emitting unit (30) that emits laser light as irradiation light;
a light receiving unit (40) for receiving light including reflected light of the irradiation light;
A plurality of components (50, 60, 70, 90) operable to detect information about an object by the light emitting portion and the light receiving portion , wherein the average current consumption during operation is greater than the average current a plurality of components (50, 60, 70, 90) having increasing current periods resulting in current;
a common power supply (20) for powering the plurality of components;
a control unit (80) for controlling the operation of the plurality of components so that the current output by the common power supply is less than a predetermined upper limit current;
with
The plurality of components includes at least one reference component (50) having a peak current period in which the increasing current period occurs at regular intervals;
The control unit supplies power from the common power supply to other components based on the peak current period so that the peak current period of the reference component does not overlap with the increasing current period of other components other than the reference component. adjust the current supplied to
Object detection device. In the object detection device according to claim 1,
The object detection device, wherein the control unit adjusts the timing of supplying the current from the common power supply to the other component during the period between the peak current periods. In the object detection device according to claim 1,
The object detection device, wherein the controller adjusts the amount of current supplied from the common power supply to the other component during a period between the peak current periods. In the object detection device according to any one of claims 1 to 3,
a scanning unit (50) for reciprocally scanning the irradiation light corresponding to the reference component;
a light emitting part temperature adjusting part (60) for adjusting the temperature of the light emitting part, corresponding to the other component;
An object detection device comprising: In the object detection device according to any one of claims 1 to 3,
a scanning unit (50) for reciprocally scanning the irradiation light corresponding to the reference component;
a light-receiving part temperature adjustment part (90) that adjusts the temperature of the light-receiving part, corresponding to the other component;
An object detection device comprising: In the object detection device according to any one of claims 1 to 3,
a scanning unit (50) for reciprocally scanning the irradiation light corresponding to the reference component;
a light-emitting part temperature adjusting part (60) for adjusting the temperature of the light-emitting part, a light-receiving part temperature adjusting part (90) for adjusting the temperature of the light-receiving part, corresponding to the other components;
An object detection device comprising: In the object detection device according to any one of claims 4 to 6,
Furthermore, a window (12) through which the irradiated light is emitted to the outside and the reflected light is incident from the outside,
The other component further includes a window temperature adjustment unit (70) that adjusts the temperature of the window,
Object detection device. In the object detection device according to any one of claims 1 to 3,
Furthermore, a window (12) through which the irradiated light is emitted to the outside and the reflected light is incident from the outside;
a scanning unit (50) for reciprocally scanning the irradiation light corresponding to the reference component;
a window temperature adjustment unit (70) that adjusts the temperature of the window, corresponding to the other component;
An object detection device comprising: In the object detection device according to any one of claims 2 to 8,
The object detection device, wherein the power consumption of the reference component is greater than the power consumption of the other components.

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