JPWO2020026512A1 - Laser radar device and frame data correction system - Google Patents

Abstract

The laser radar device 1 deflects and scans a laser beam that emits light at a predetermined timing with respect to a predetermined target area 9, and the light emitting / receiving unit 10 that receives the reflected light and the light emitting / receiving unit emit the laser light. The distance calculation unit 22 that calculates the distance value from the time until the reflected light is received to the target in the irradiation direction, and each of the distance values calculated by the distance calculation unit correspond to deflection scanning. To acquire the distance value of one pixel, the frame data generation unit 23 that generates the frame data of the distance image assigned as pixels to the two-dimensional array, the motion detection unit 24 that detects the movement of the light emitting / receiving unit due to disturbance, and the motion detection unit 24. It is provided with an association unit 25 that associates the detection result detected by the motion detection unit with the one pixel in synchronization with the light emission / reception unit of the frame data for each pixel of the frame data.

Description

The present invention relates to a laser radar device and a frame data correction system.

In recent years, a laser radar (LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging)) device that projects a laser beam that emits pulsed light onto a target and receives reflected light from the target to detect the distance to the target. Is used. By scanning the laser beam on a two-dimensional surface, one frame of distance image data can be obtained.

The invention described in Patent Document 1 is based on an imaging unit that acquires an image of a range including a measurement object, a distance measuring unit that two-dimensionally scans and measures a predetermined range in synchronization with image acquisition, and a tilt sensor and an acceleration sensor. A posture detection unit is provided, and the measurement result (distance measurement value) and the detection result of the posture detection unit are associated with each pixel of the scan locus associated with the acquired image.

Japanese Unexamined Patent Publication No. 2017-215240

The laser radar device uses the principle of TOF (Time Of Flight), that is, calculates the distance from the object from the time it takes for the irradiated light beam to hit the object and the reflected light to return.
Therefore, the object of distance measurement differs depending on the laser irradiation angle.
The amount of deviation of the laser radar device increases as the distance increases even if the laser irradiation angle is slightly different. In order to accurately detect the distance to the target, it is necessary to control the laser irradiation angle with high accuracy, but if the laser irradiation angle shifts due to disturbance such as external vibration or impact, the original target is not. You end up measuring very different objects. When the laser irradiation angle deviates from the planned distance measurement, the distance value is placed at the coordinates corresponding to the planned distance measurement direction, although the direction in which the distance measurement was planned is different from the actual distance measurement direction. Coordinate deviation of the distance value occurs.
Further, as is well known, the laser radar device deflects and scans the laser beam and acquires the distance value in a time division manner. Therefore, the force vector when vibration or shock is applied to the laser radar device is different for each pixel in the frame, and appropriate correction cannot be made unless it is detected in accurate synchronization with the distance value of each pixel. There is a problem.
In the invention described in Patent Document 1, the detection result of the posture detection unit associated with each pixel is only to calculate the horizontal distance and height information and add it to the pixel, and the correction of the distance image is performed. Not done. Further, it is unclear whether the detection result of the attitude detection unit is obtained in synchronization with the distance measurement of each pixel by the laser radar device, and the above problem cannot be solved.

The present invention has been made in view of the above problems in the prior art, and even if the coordinate deviation of the distance value occurs due to the disturbance, the coordinate deviation of the distance value is reduced, and more accurate frame data of the distance image can be obtained. The challenge is to make it feasible.

The invention according to claim 1 for solving the above problems includes a light emitting / receiving unit that deflects and scans a laser beam that emits light at a predetermined timing with respect to a predetermined target region and receives the reflected light.
A distance calculation unit that calculates a distance value from the time until the light emitting / receiving unit emits laser light and receives the reflected light to the target in the irradiation direction.
A frame data generation unit that generates frame data of a distance image in which each of the distance values calculated by the distance calculation unit is assigned as pixels to a two-dimensional array corresponding to the deflection scanning.
A motion detection unit that detects the movement of the light emitting / receiving unit due to disturbance,
For each pixel of the frame data, an association is made to associate the detection result detected by the motion detection unit with the one pixel in synchronization with the light emission / reception by the light emitting / receiving unit for acquiring the distance value of one pixel. It is a laser radar device including an association part to perform.

The invention according to claim 2 is the laser radar device according to claim 1, wherein the motion detection unit includes at least an acceleration sensor and a gyro sensor.

The laser according to claim 1, wherein the related portion associates one detection result with a pixel group acquired by simultaneous emission timing by the light emitting / receiving unit. It is a radar device.

In the invention according to claim 4, the related portion has a detection result detected by the motion detection unit in synchronization with the emission timing of the laser beam by the light emitting / receiving unit for acquiring the distance value of one pixel. The laser radar device according to any one of claims 1 to 3, wherein is associated with the one pixel.

According to the fifth aspect of the present invention, the related portion is detected by the motion detection unit a plurality of times within the measurement period by the light emitting / receiving unit for acquiring the distance value of one pixel. The laser radar device according to any one of claims 1 to 3, wherein the average value of is associated with the one pixel.

According to the sixth aspect of the present invention, the related portion calculates the throwing result from the detection result detected by the motion detecting unit within the measurement period by the light emitting / receiving unit for acquiring the distance value of one pixel. The laser radar device according to any one of claims 1 to 3, wherein the displacement amount of the light receiving unit is associated with the one pixel.

The invention according to claim 7 further includes a correction unit that corrects a deviation due to the disturbance of the arrangement of each pixel of the frame data based on the detection result associated with the association unit. The laser radar apparatus according to any one of 6.

The invention according to claim 8 is the laser radar device according to claim 7, wherein the correction unit discards pixels located outside the specified effective pixel range in the corrected frame data.

In the invention according to claim 9, when a plurality of pixels compete with each other at the same position due to correction of the pixel arrangement, the correction unit selects the pixel having the smallest correction amount from the plurality of pixels as an effective pixel. The laser radar device according to claim 7 or 8, wherein the other pixels are discarded.

According to the invention of claim 10, when a plurality of pixels compete with each other at the same position due to the correction of the pixel arrangement, the correction unit is acquired by the simultaneous light emission timing by the light emitting / receiving unit including the pixel at the position. The laser radar device according to claim 8, wherein effective pixels are selected from the plurality of pixels and the other pixels are discarded so that the number of pixels in the pixel group is larger.

According to the invention of claim 11, when the correction of the pixel arrangement causes a pixel deficiency within the specified effective pixel range, the correction unit supplements the pixel with the pixel deficiency or based on the immediately preceding frame data. The laser radar device according to any one of claims 7 to 10.

According to a twelfth aspect of the present invention, a deviation due to the disturbance of the arrangement of each pixel of the frame data output by the laser radar device according to any one of claims 1 to 6 is caused by the related portion. It is a frame data correction system including a correction unit that corrects based on the associated detection result.

The invention according to claim 13 is the frame data correction system according to claim 12, wherein the correction unit discards pixels located outside the specified effective pixel range among the corrected frame data.

According to the invention of claim 14, when a plurality of pixels compete with each other at the same position due to the correction of the pixel arrangement, the correction unit selects the pixel having the smallest correction amount from the plurality of pixels as an effective pixel. The frame data correction system according to claim 12 or 13, wherein the other pixels are discarded.

According to the fifteenth aspect of the present invention, when a plurality of pixels compete with each other at the same position due to the correction of the pixel arrangement, the correction unit is acquired by the simultaneous light emission timing by the light emitting / receiving unit including the pixel at the position. The frame data correction system according to claim 13, wherein effective pixels are selected from the plurality of pixels and the other pixels are discarded so that the number of pixels in the pixel group is larger.

In the invention according to claim 16, when the correction of the pixel arrangement causes a pixel deficiency within the specified effective pixel range, the correction unit supplements the pixel with the pixel deficiency or based on the immediately preceding frame data. The frame data correction system according to any one of claims 12 to 15.

According to the present invention, even if the coordinate deviation of the distance value occurs due to the disturbance, it is possible to generate more accurate frame data of the distance image in which the coordinate deviation of the distance value is reduced.

It is a block diagram of the laser radar apparatus which concerns on one Embodiment of this invention. It is a block diagram of the frame data which concerns on one Embodiment of this invention. It is a figure which shows the principle of light scanning and distance measurement by the laser radar apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of the time change of the light emission / reception signal and the triaxial acceleration value on the same time axis in the laser radar apparatus which concerns on one Embodiment of this invention. It is a block diagram including the acceleration value of the frame data which concerns on one Embodiment of this invention. It is a perspective view which shows the state that the measurement direction of a laser radar apparatus shifts by a disturbance. It is a figure which shows the measurement target example of the laser radar apparatus. FIG. 7A is a diagram showing a distance image in which a deviation occurs by scanning FIG. 7A. It is a figure explaining the principle of correcting the irradiation angle deviation in a vertical direction. FIG. A shows an example of a distance image before correction by a laser radar device according to an embodiment of the present invention, and FIG. B shows an example of a distance image after correction. It is a figure which shows an example of the distance image corrected by the laser radar apparatus which concerns on one Embodiment of this invention. It is an enlarged view which shows a part of FIG. It is a figure of the distance image which clearly shows the part where the pixel yawn occurs with respect to the distance image of FIG.

An embodiment of the present invention will be described below with reference to the drawings. The following is an embodiment of the present invention and does not limit the present invention.

As shown in FIG. 1, the laser radar device 1 of the present embodiment includes a light emitting / receiving unit 10, a timing control unit 21, a distance calculation unit 22, a frame data generation unit 23, a motion detection unit 24, and an association unit. 25 and a correction unit 26 are provided.
The light emitting / receiving unit 10 includes a light emitting unit 11, a light receiving unit 12, and a scanning unit 13. The light emitting unit 11 has a laser light source. The timing control unit 21 gives a predetermined timing signal in response to the operation of the deflection mirror of the scanning unit 13 to the light emitting unit 11 and the distance calculation unit 22. The light emitting unit 11 emits pulses in response to the timing signal from the timing control unit 21. The laser beam from the light emitting unit 11 is deflected and scanned by the scanning unit 13 to irradiate a predetermined target area 9. The light receiving unit 12 receives the reflected light of the laser light reflected on the object in the target area 9.
The distance calculation unit 22 calculates the distance value from the time until the light emitting / receiving unit 10 emits the laser light and receives the reflected light to the target in the irradiation direction.
The frame data generation unit 23 generates frame data of a distance image in which each of the distance values calculated by the distance calculation unit 22 is assigned as pixels to a two-dimensional array corresponding to the deflection scanning of the light emitting / receiving unit 10. ..

The specifications of the deflection scan and the frame data as an example in this embodiment are as follows.
The laser beam emitted simultaneously by the light emitting unit 11 has 10 pixels in the vertical direction, and the deflection mirror of the scanning unit 13 is a polygon mirror having five surrounding surfaces (different tilt angles with respect to the center of rotation), and 1000 times during the scanning period on one mirror surface. It emits a pulse. Therefore, as shown in FIG. 2, the frame data FA constitutes a distance image composed of 50 pixels in the vertical direction and 1000 pixels in the horizontal direction. A distance value calculated by the distance calculation unit 22 is assigned to each pixel. The data consisting of 10 pixels in the vertical direction and 1000 pixels in the horizontal direction acquired by scanning on the mirror surface of 1 is referred to as band data. The frame data FA includes band data F1 acquired by scanning on the first surface of the mirror, band data F2 acquired by scanning on the second surface of the mirror, and bands acquired by scanning on the third surface of the mirror. The data F3, the band data F4 acquired by scanning on the fourth surface of the mirror, and the band data F5 acquired by scanning on the fifth surface of the mirror are arranged vertically.
As shown in FIG. 3, one rotation period of the polygon mirror is 100 ms, and 20 μs, which is 1 / 5,000 of the polygon mirror, is the measurement period T1 by the light emitting / receiving unit 10 for acquiring the distance value of one pixel, and the emission pulse. It corresponds to the period from the start of light emission of P1 to immediately before the light emission of the next light emission pulse P2. During the measurement period T1, the light receiving signals S1-S10 for 10 vertical pixels are received in parallel by the light receiving channels Ch1-10 of 10, and the distance values are calculated for each.

The motion detection unit 24 detects the movement of the light emitting / receiving unit 10 due to disturbances such as vibration and shock. The motion detection unit 24 includes an acceleration sensor and a gyro sensor. FIG. 4 shows an example of the time change of the light emission / reception signal by the light emitting / receiving unit 10 and each acceleration value in the three-axis XYZ directions on the same time axis.
The association unit 25 associates the detection result detected by the motion detection unit 24 with the one pixel in synchronization with the light emission / reception by the light emitting / receiving unit 10 for acquiring the distance value of one pixel. The association unit 25 associates each pixel of the frame data FA. In this example, one detection result is associated with 10 vertical pixels for simultaneous emission. That is, the association unit 25 associates one detection result by the motion detection unit 24 with the pixel group (vertical 10 pixels in this example) acquired by the simultaneous light emission timing by the light emitting / receiving unit 10.
FIG. 5 shows an example of a data structure including the association of the detection results by the motion detection unit 24.
In FIG. 5, "pixel 1: 1" is the first vertical and first horizontal pixel, "pixel 1: 2" is the first vertical and second horizontal pixel, and "pixel 50: 1000" is the 50th vertical and 1000 horizontal. Indicates the second pixel. Each distance value (d1 # 1 to d5- # 1000) is stored corresponding to each pixel.
Accelerometer values (X1 # 1, Y1 # 1, Z1 # 1 ...) in each of the three axial directions are stored corresponding to 10 vertical pixels for simultaneous emission. In FIG. 5, the acceleration value is typically stored corresponding to the pixel at the highest position among the vertical 10 pixels for simultaneous light emission. Of course, the acceleration value may be stored in each pixel. By following this example, the data size can be kept small.

As shown in FIG. 4, since the force (vibration or shock) in the XYZ direction acquired by the acceleration sensor is generally low frequency, it does not change significantly within the measurement period T1 of one pixel. In this example, the acceleration value is acquired at the timing t1 of the laser emission. That is, the association unit 25 detects the detection result detected by the motion detection unit 24 in synchronization with the emission timing t1 of the laser beam by the light emitting / receiving unit 10 for acquiring the distance value of one pixel. Associate with. Further, the association unit 25 sets the average value of the detection results detected by the motion detection unit 24 a plurality of times, such as timing t1, t2, t3, t4, t5, within the measurement period T1. It may be associated with a pixel.
Regardless of this example, acceleration values may be acquired at a plurality of timings and correction may be performed using the calculation results. For example, since the acceleration value is information on the magnitude and direction of the force at a certain moment, the displacement amount (movement amount) calculated by integrating the time change of the acceleration value twice can be used as the correction value. .. That is, the association unit 25 associates the displacement amount of the light emitting / receiving unit 10 calculated from the detection result (time change during the period T1) detected by the motion detection unit 24 within the measurement period T1 with the one pixel. May be good. Further, the correction value may be calculated from the magnitude and direction of the force using a conversion table created in advance.

When a disturbance such as vibration or shock is applied to the laser radar device 1, the actual measurement area FAb deviates from the original target area FAa corresponding to the frame data FA as shown in FIG. In this way, the area FAb different from the original target area FAa is irradiated with the laser beam for measurement.
However, the frame data generation unit 23 applies the distance value obtained by the actual measurement to the pixels in the array corresponding to the planned target region FAa.
As a result, frame data of an inaccurate distance image with a deviation as shown in FIG. 7B is generated with respect to the original object shown in FIG. 7A.

The correction unit 26 corrects (reconstructs pixel data) the frame data generated by the frame data generation unit 23 by fitting as scheduled based on the detection result of the motion detection unit 24 associated with each pixel. That is, the correction unit 26 corrects the deviation due to the disturbance of the arrangement of each pixel of the frame data based on the detection result associated with the association unit 25.
Then, the correction unit 26 generates the frame data in the effective pixel range corresponding to the original target area FAa. The correction process by the correction unit 26 may be performed by software processing in the CPU in the laser radar device 1 or by a logic circuit called ASIC or FPGA, or frame data from the laser radar device 1 which is different from the laser radar device 1. May be carried out on the receiving system (frame data correction system).

In this correction process, (1) the amount of displacement (displacement distance) of each XYZ from the reference position and (2) the amount of angular deviation θ of the mirror surface are obtained, and correction is performed based on the results.
First, the calculation method of (1) above will be described. Accelerometer information in the X, Y, and Z directions output from the acceleration sensor is sampled at regular intervals starting from a certain timing, which is regarded as a stationary state of the laser radar device 1. Each acceleration information is integrated twice to calculate and hold the displacement amount, and it is constantly updated.
∬ x / y / z = x / y / x Displacement amount The displacement amount obtained by this calculation is finally applied to the data after the correction in (2) above is performed. Since the X / Y direction is horizontal movement, it is simply treated as the amount of movement of pixels. The Z direction is corrected for the distance value held by each pixel measured by the laser radar device 1.
In reality, the amount of displacement differs depending on how the force is applied, so it may be calculated using the detection values of a plurality of acceleration sensors mounted in the laser radar device 1, or the mechanical shape and center of gravity of the laser radar device 1. A conversion table may be created in advance from the position, and the displacement amount may be obtained from a single sensor value.

Subsequently, the above (2) will be described. From the mechanical identification of the mirror, a table for calculating the angle deviation amount θ of the mirror surface from the acceleration amount in the XYZ direction is created in advance. The amount of angular deviation θ consists of two components, θh, which is a horizontal component, and θv, which is a vertical component.
A case in which the angle is deviated only in the vertical direction will be described with reference to FIG.
The expected angle θve is predetermined for each pixel. Further, the actually measured distance d to the target 40 can be measured by the function up to the frame data generation unit 23. The position 41 is the position of the target 40 that is erroneously recognized by the functions from the expected angle θve and the actual measurement distance d to the frame data generation unit 23. The purpose is to correct this position 41 as shown by the arrow 42. Since the position 41 erroneously recognized by the functions up to the frame data generation unit 23 and the actually measured target 40 exist on the circumference centered on the laser radar device 1, the correction amount is not limited to the vertical component. When the distance to the target 40 is long, it can be approximated as only the vertical component. In this example, a method of calculating by an approximation that is easy to calculate will be described.
The distance d x sin (expected angle θve + deviation angle θv) gives "a",
Calculate "b" with the distance d x sin (expected angle θve), and correct with "a"-"b" as the correction amount.
For the horizontal component, the correction amount of the horizontal component is calculated and corrected in the same way.

First, when the frame data measured as a function up to the frame data generation unit 23 of the laser radar device 1 is corrected by applying the correction amount obtained by the concept of (2) above, the pixel movement and data disposal described later are performed. The selection is made. By applying the correction in the XYZ direction of (1) above to the result, all the correction processes are completed.

FIG. 9 shows an image when the correction value calculated for each pixel is applied to each pixel. FIG. 9A is an image diagram based on the frame data output by the frame data generation unit 23 before the correction. FIG. 9B is an image diagram based on the frame data output by the correction unit 26 after the correction. Each pixel is moved by [i] pixel in the X direction and [j] pixel in the Y direction based on the correction value. The correction in the Z direction is applied to the distance value of the pixel.

The correction unit 26 corrects the arrangement of all the pixels, and then trims the pixels to create frame data in the original target area FAa as shown in FIG. That is, the correction unit 26 discards the pixels located outside the specified effective pixel range (FAa) of the corrected frame data. At this time, the regions (pixels) 45, 46, 47 surrounded by the alternate long and short dash line are a plurality of areas (pixels) 45, 46, 47. Since the pixels compete at the same position, selection is performed from a plurality of pixels. For example, when a plurality of pixels compete with each other at the same position due to correction of the pixel arrangement, the correction unit 26 selects the pixel having the smallest correction amount from the plurality of pixels as an effective pixel and discards the other pixels.
As another method, when a plurality of pixels compete with each other at the same position due to the correction of the pixel arrangement, the correction unit 26 obtains a pixel group obtained by simultaneous light emission timing by the light emitting / receiving unit 10 including the pixel at the position. Effective pixels are selected from a plurality of pixels so that the number of pixels of the above is larger, and the other pixels are discarded. It is assumed that the pixel group 50 and the pixel group 51 acquired by simultaneous light emission on the [n + 1] plane of the mirror overlap in the region 52. The area 52 is an area in which a plurality of pixels compete at the same position. When the pixel group 51 is selected as the pixel in the area 52, the pixel in the area 53 of the pixel group 51 is outside the effective pixel range (FAa), so the pixel acquired by simultaneous emission with the pixel in the area 52. The number will decrease. In addition, the number of pixels acquired by simultaneous light emission with the pixels in the region 54 in the pixel group 50 is reduced. On the other hand, when the pixel group 50 is selected as the pixel in the region 52, the pixels in the region 52 and the region 54 are the pixel group 50 acquired by simultaneous emission, so that the pixels acquired by the simultaneous emission timing. The number of pixels in the group is larger. As described above, since the pixel group acquired by the simultaneous light emission timing does not have a deviation between the constituent pixels, accurate frame data can be generated by preserving as much as possible.

Further, in the frame data after the arrangement is corrected, there is a pixel arrangement frame in which the distance value does not exist as in the areas 60 and 61 painted in gray in FIG. 12, that is, a pixel is missing. In this case, the correction unit 26 may complement with the immediately preceding data in consideration of continuity with the immediately preceding frame data, or may output the frame data as it is with missing pixels.

As described above, according to the laser radar apparatus of the present embodiment, even if the coordinate deviation of the distance value occurs due to the disturbance, the frame data of the distance image in which the coordinate deviation of the distance value is reduced is generated. Can be done.

The present invention can be used in a laser radar (LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging)) device.

1 Laser radar device 9 Target area 10 Light emitting / receiving unit 11 Light emitting unit 12 Light receiving unit 13 Scanning unit 21 Timing control unit 22 Distance calculation unit 23 Frame data generation unit 24 Motion detection unit 25 Related unit 26 Correction unit 50 Pixel group 51 Pixel group FA frame data FAa Original target area FAb Actual measurement area T1 Measurement period

Claims (16)

A light emitting / receiving unit that deflects and scans a laser beam that emits light at a predetermined timing with respect to a predetermined target area and receives the reflected light.
A distance calculation unit that calculates a distance value from the time until the light emitting / receiving unit emits laser light and receives the reflected light to the target in the irradiation direction.
A frame data generation unit that generates frame data of a distance image in which each of the distance values calculated by the distance calculation unit is assigned as pixels to a two-dimensional array corresponding to the deflection scanning.
A motion detection unit that detects the movement of the light emitting / receiving unit due to disturbance,
For each pixel of the frame data, an association is made to associate the detection result detected by the motion detection unit with the one pixel in synchronization with the light emission / reception by the light emitting / receiving unit for acquiring the distance value of one pixel. A laser radar device with associated parts to perform. The laser radar device according to claim 1, wherein the motion detection unit includes at least an acceleration sensor and a gyro sensor. The laser radar device according to claim 1 or 2, wherein the related portion associates one detection result with a pixel group acquired by simultaneous light emission timings by the light emitting / receiving unit. The related portion associates the detection result detected by the motion detection unit with the one pixel in synchronization with the emission timing of the laser beam by the light emitting / receiving unit for acquiring the distance value of one pixel. The laser radar device according to any one of claims 1 to 3. The related unit sets the average value of the detection results detected by the motion detection unit a plurality of times within the measurement period by the light emitting / receiving unit for acquiring the distance value of one pixel. The laser radar apparatus according to any one of claims 1 to 3, which is associated with. The related portion calculates the displacement amount of the light emitting / receiving unit calculated from the detection result detected by the motion detecting unit within the measurement period by the light receiving / receiving unit for acquiring the distance value of one pixel. The laser radar apparatus according to any one of claims 1 to 3, which is associated with the pixel of the above. The invention according to any one of claims 1 to 6, further comprising a correction unit that corrects the deviation of the arrangement of each pixel of the frame data due to the disturbance based on the detection result associated with the association unit. Laser radar device. The laser radar device according to claim 7, wherein the correction unit discards pixels located outside the specified effective pixel range of the corrected frame data. When a plurality of pixels compete with each other at the same position due to correction of the pixel arrangement, the correction unit selects the pixel having the smallest correction amount from the plurality of pixels as an effective pixel and discards the other pixels. 7. The laser radar apparatus according to claim 8. In the correction unit, when a plurality of pixels compete with each other at the same position due to the correction of the pixel arrangement, the number of pixels of the pixel group acquired by the simultaneous light emission timing by the light emitting / receiving unit including the pixel at the position is increased. The laser radar device according to claim 8, wherein effective pixels are selected from the plurality of pixels so as to increase the number of pixels, and the other pixels are discarded. Claims 7 to 10 claim that the correction unit complements pixels based on the frame data immediately before or while the pixels are missing when the pixels are missing within the specified effective pixel range due to the correction of the pixel arrangement. The laser radar device according to any one of them. The deviation of the arrangement of each pixel of the frame data output by the laser radar device according to any one of claims 1 to 6 due to the disturbance is based on the detection result associated with the related portion. A frame data correction system equipped with a correction unit for correction. The frame data correction system according to claim 12, wherein the correction unit discards pixels located outside the specified effective pixel range of the corrected frame data. When a plurality of pixels compete with each other at the same position due to correction of the pixel arrangement, the correction unit selects the pixel having the smallest correction amount from the plurality of pixels as an effective pixel and discards the other pixels. Item 12. The frame data correction system according to claim 13. In the correction unit, when a plurality of pixels compete with each other at the same position due to the correction of the pixel arrangement, the number of pixels of the pixel group acquired by the simultaneous light emission timing by the light emitting / receiving unit including the pixel at the position is increased. The frame data correction system according to claim 13, wherein effective pixels are selected from the plurality of pixels so as to increase the number of pixels, and the other pixels are discarded. Claims 12 to 15 claim that when the correction of the pixel arrangement causes a pixel deficiency within the specified effective pixel range, the correction unit supplements the pixel with the pixel deficiency or based on the immediately preceding frame data. The frame data correction system described in any one of them.

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