WO2022138088A1 - Sensor system - Google Patents

Sensor system Download PDF

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Publication number
WO2022138088A1
WO2022138088A1 PCT/JP2021/044581 JP2021044581W WO2022138088A1 WO 2022138088 A1 WO2022138088 A1 WO 2022138088A1 JP 2021044581 W JP2021044581 W JP 2021044581W WO 2022138088 A1 WO2022138088 A1 WO 2022138088A1
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Prior art keywords
information
shutter
unit
light
dirt
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PCT/JP2021/044581
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French (fr)
Japanese (ja)
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高範 難波
誠晃 佐藤
清隆 望月
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株式会社小糸製作所
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Application filed by 株式会社小糸製作所 filed Critical 株式会社小糸製作所
Priority to JP2022572069A priority Critical patent/JPWO2022138088A1/ja
Publication of WO2022138088A1 publication Critical patent/WO2022138088A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60SSERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00Cleaning of vehicles
    • B60S1/62Other vehicle fittings for cleaning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497Means for monitoring or calibrating

Definitions

  • the present invention relates to a sensor system.
  • a cleaner system equipped with a cleaner is known from Patent Document 1 and the like.
  • the output of the sensor changes as the vehicle travels. If dirt such as mud or dust adheres to the sensor, the output of the sensor does not change even though the vehicle is running. Therefore, based on such a difference, it can be determined that dirt has adhered to the region where the output of the sensor does not change when the vehicle is running.
  • a dirt determination method cannot be used while the vehicle is stopped. Further, such a dirt determination method cannot be used for a sensor that does not move with respect to the ground, such as a surveillance camera.
  • the present invention provides a sensor system that can detect the adhesion of dirt even if the sensor is stationary with respect to the ground.
  • the sensor system is Based on a light emitting unit that emits light within a predetermined range through a transmissive unit that transmits light, a light receiving unit that receives light reflected by the light emitted from the light emitting unit that hits an object, and light received by the light receiving unit.
  • a sensor having a point group information output unit that outputs point group information including position information of the object, distance information to the object, and reflection intensity from the object.
  • a stain determination unit that detects stains adhering to the transmission portion based on the point cloud information, and a stain determination unit.
  • a shutter that can be switched between a closed state in which the reference surface covers the surface of the transmissive portion opposite to the light emitting portion and an open state in which the reference surface does not cover the transmissive portion. It has a reference information recording unit that records reference information, which is the point cloud information acquired when the shutter is closed while the transmission unit is clean. When the point cloud information acquired when the shutter is closed is different from the reference information, the dirt determination unit determines that dirt is attached.
  • FIG. 1 is a system block diagram of the sensor system 1 according to the embodiment of the present invention.
  • the sensor system 1 includes a LiDAR 10 (an example of a sensor), a shutter 20, a dirt determination unit 31, and a reference information recording unit 32.
  • FIG. 2 is a cross-sectional view of LiDAR 10.
  • the LiDAR 10 includes a light emitting unit 11, a light receiving unit 12, an outer lens 13 (an example of a transmissive unit), and a housing 14. An opening is provided in front of the housing 14, and an outer lens 13 covers this opening.
  • a light emitting unit 11 and a light receiving unit 12 are provided inside the space composed of the housing 14 and the outer lens 13.
  • the light emitting unit 11 emits light within a detection region (predetermined range) defined in front of the LiDAR 10.
  • the light emitting unit 11 emits light in order toward a plurality of points in the detection region.
  • the light emitted from the light emitting unit 11 and reflected by the object in the detection region passes through the outer lens 13 and is incident on the light receiving unit 12.
  • the light receiving unit 12 outputs the detection result corresponding to the detection of the reflected light to the point cloud information output unit 15.
  • the point cloud information output unit 15 (see FIG. 1) outputs point cloud information including position information, distance information, and reflection intensity information for a plurality of points in the detection area.
  • the position information is information indicating at which point (called a detection point) in the detection region the light emitted from the light emitting unit 11 and reflected toward the light receiving unit 12 is reflected, and the position of the detection point. ..
  • the detection region is divided in advance into a matrix such as 10000 ⁇ 10000, the light emitting unit 11 is configured to emit light to points in the divided region, and the light emitting unit 11 is located at the upper right of these plurality of points. It is assumed that the light is emitted in order from the point to the point located in the lower left. In this case, the position information indicating to which point the light is received in the order in which the light is received is included is included.
  • the point cloud information output unit 15 outputs a pair of information consisting of distance information and reflection intensity information in order, and the order in which these information is output is the position information.
  • the light emitting unit 11 may include a light source and a mirror whose direction can be changed, and can be configured so that the direction in which the light emitting unit 11 emits light can be specified by the direction of the mirror. In this case, the direction in which the light reflected by the mirror travels becomes the position information.
  • the position information in this case can be expressed by a horizontal angle and a vertical angle in the direction in which the light travels.
  • the point cloud information output unit 15 outputs point cloud information including position information of a detection point based on the direction of the mirror of the light emitting unit 11, distance information, and reflection intensity information.
  • the distance information is information indicating the distance between the light receiving unit 12 and the object existing at the detection point.
  • the distance information is calculated based on the speed of light and the time from when the light emitting unit 11 emits light toward the detection point until the light receiving unit 12 receives the reflected light from the detection point.
  • the reflection intensity information is information indicating the intensity of light when the light receiving unit 12 receives the reflected light from this detection point.
  • the shutter 20 is attached to the LiDAR 10.
  • the shutter 20 has a shielding member 21 and a shutter driving unit 22 for driving the shielding member 21.
  • the shutter 20 can switch between two states, a closed state in which the shielding member 21 covers the outer lens 13, and an open state in which the shielding member 21 does not cover the outer lens 13.
  • the shielding member 21 has a reference surface 21a facing the surface of the outer lens 13 in the closed state.
  • the closed state is a state in which the reference surface 21a covers the surface of the outer lens 13 opposite to the light emitting portion 11.
  • the open state is a state in which the outer lens 13 is not covered by the reference surface 21a. In the closed state, the shielding member 21 does not need to cover the entire surface of the outer lens 13.
  • the shielding member 21 may cover at least the region of the outer lens 13 through which the light incident on the light receiving portion 12 is transmitted.
  • the shield member 21 in the closed state is shown by a solid line
  • the shield member 21 in the open state is shown by a two-dot chain line.
  • the shielding member 21 is attached via the hinge component 23.
  • the shutter drive unit 22 switches between a closed state and an open state by rotating the shielding member 21 around the axis of the hinge component 23.
  • the shutter drive unit 22 can be configured by a motor, an actuator, or the like.
  • the shutter 20 is in an open state in a normal state, and is configured to be in a closed state only when the shutter drive unit 22 is operated.
  • an elastic member such as a spring constantly exerts a force on the shielding member 21 to open the shielding member 21.
  • the shutter driving unit 22 exerts a driving force that overcomes the elastic restoring force of the elastic member to bring the elastic member into the closed state.
  • the reference information recording unit 32 records the reference information which is the point cloud information acquired when the shutter 20 is closed while the outer lens 13 (transmission unit) is in a clean state.
  • the reference information is point cloud information obtained based on the light reflected by the reference surface 21a (see FIG. 2) when the shutter 20 is closed and the outer lens 13 is clean.
  • FIG. 3 is a flowchart of the process executed by the sensor system 1.
  • the dirt determination unit 31 of the sensor system 1 determines whether or not the shutter 20 is in the closed state (step S01). If the shutter 20 is in the open state (step S01: No), an error is output as the stain determination cannot be executed, and the process ends. If the shutter 20 is in the closed state (step S01: Yes), the dirt determination unit 31 operates the LiDAR 10 to acquire point cloud information from the point cloud information output unit 15 (step S02). The point cloud information acquired at this time is called the judgment target point cloud information.
  • the dirt determination unit 31 reads the reference information from the reference information recording unit 32 (step S03). Further, the dirt determination unit 31 compares the determination target point cloud information with the reference information and determines whether or not they are different (step S04). When it is determined that the determination target point cloud information is different from the reference information (step S04: Yes), the stain determination unit 31 determines that the stain is attached (step S05). When it is determined that the determination target point cloud information does not differ from the reference information (step S04: No), the stain determination unit 31 determines that no stain is attached (step S06).
  • the point cloud information includes position information, distance information, and reflection intensity information.
  • the dirt determination unit 31 identifies the point cloud information whose position information matches from the determination target point cloud information and the reference information, and compares the distance information and the reflection intensity information of the specified point cloud information. For example, when the order of the data indicates the position information, the first distance information in the reference information and the first distance information in the determination target point cloud information are compared. Further, the first reflection intensity information in the reference information and the first reflection intensity information in the determination target point cloud information are compared.
  • the point group information includes the position information as the horizontal angle and the vertical angle
  • the horizontal angle of the reference information and the horizontal angle of the judgment target point group information match, and the vertical angle of the reference information
  • the distance information of the reference information and the distance information of the judgment target point group information, which match the vertical angle of the judgment target point group information are compared.
  • the reflection intensity information of the reference information and the reflection intensity information of the judgment target point cloud information are compared.
  • the light emitted from the light emitting unit 11 is reflected by the reference surface 21a.
  • the light emitted from the light emitting unit 11 is reflected by the dirt. Since the dirt is located closer to the light receiving portion 12 than the reference surface 21a, the distance information when the dirt is attached is shorter than the distance information when the dirt is not attached. Further, since the dirt reflects the light from the light emitting unit 11 diffusely, the reflection intensity information when the dirt is attached is lower than the reflection intensity information when the dirt is not attached.
  • the reference surface 21a is configured so that the reflectance of the reference surface 21a is different from the reflectance of the dirt, the reflection intensity information when the dirt is attached is the reflection intensity when the dirt is not attached. Different from information.
  • the dirt determination unit 31 determines that the two are different, and dirt is attached to the outer lens 13. Can be configured to determine. Further, when the number of point cloud information in which the compared reflection intensity information differs by a predetermined value or more is equal to or more than a predetermined number, the stain determination unit 31 determines that the two are different, and determines that the outer lens 13 is dirty. It can be configured to determine.
  • the stain determination unit 31 is different from each other. It can be configured to determine that the outer lens 13 is dirty and to determine that the outer lens 13 is dirty. Alternatively, when the number of abnormal points is more than a predetermined number based on the position information of the point cloud information (called an abnormal point) in which the compared distance information differs by a predetermined value or more, dirt adheres to the position of these abnormal points. It can be configured to determine that.
  • the identification of the abnormal point may be different from the compared reflection intensity information by a predetermined value or more, the compared distance information is different by a predetermined value or more, and the compared reflection intensity information is different by a predetermined value or more. May be.
  • the sensor system 1 of the present embodiment it is possible to determine whether or not dirt has adhered to the sensor that does not move with respect to the ground. Further, since the dirt can be determined by using the shutter 20 that protects the sensor when the sensor is not in use, the sensor system 1 has both a member that protects the sensor and a member for determining dirt. It can be configured simply.
  • the shutter 20 When the sensor system 1 is mounted on the vehicle, for example, when the switch for turning off the power of the vehicle is activated, the shutter 20 is switched to the closed state, and then the dirt determination shown in FIG. 3 is executed. Can be configured to Alternatively, when the occupant operates the switch while the vehicle is stopped, the shutter 20 is switched to the closed state, and the dirt determination can be executed. Alternatively, when the sensor system 1 is mounted on a vehicle capable of automatic driving using a sensor, the shutter 20 is switched to the closed state when the occupant of the vehicle switches from the automatic driving mode to the manual driving mode, and a dirt determination is made. Can be configured to run.
  • the shutter 20 can be periodically switched to the closed state to execute the dirt determination.
  • the shutter 20 can be configured to execute the dirt determination at a fixed time of the day, such as 5 am when the traffic is light.
  • the movable portion 24a of the shutter closing sensor 24 does not come into contact with the shielding member 21.
  • the movable portion 24a of the shutter closing sensor 24 is pushed by the shielding member 21 and outputs a signal indicating that the shutter 20 is in the closed state. It is possible to determine the closed state of the shutter 20 according to the distance information of the LiDAR 10, but if the LiDAR 10 is dirty, it becomes difficult to make an accurate determination. Therefore, it is preferable to use a sensor other than the sensor that is the target of dirt determination to determine whether or not the shutter 20 is in the closed state.
  • a gap is provided between the reference surface 21a of the shielding member 21 and the outer lens 13 so as not to come into contact with each other. If the shutter 20 is closed with dirt attached to the outer lens 13, the dirt on the outer lens 13 also adheres to the reference surface 21a. This is because it is difficult to accurately determine the stain because the determination is made using the dirty reference surface 21a at the time of the stain determination.
  • the reference surface 21a is preferably separated from the outer lens 13 by at least 0.1 mm or more. This is because if the reference surface 21a and the light emitting unit 11 are too close to each other, normal point cloud information may not be obtained due to diffused reflection due to short-distance emission.
  • the reflectance of the reference surface 21a of the shutter 20 may be 50% or less.
  • the reflectance of the reference surface 21a of the shutter 20 is preferably 30% or less, more preferably 20% or less, still more preferably 10% or less. Since the reference surface 21a is located near the light emitting portion 11 in the closed state of the shutter 20, the reflection intensity of the light reflected by the reference surface 21a tends to increase. Therefore, it is preferable that the reflectance of the reference surface 21a is low.
  • the stain determination unit 31 may be configured to emit light to the light emitting unit 11 with a weaker output when the shutter 20 is in the closed state than when the shutter 20 is in the open state.
  • the dirt determination unit 31 closes the shutter 20 when the stop signal indicating that the vehicle is stopped is acquired from the vehicle. It is preferable that the shutter 20 is in the open state so that external information can be acquired by the sensor when the vehicle is running, and the shutter 20 can be switched to the closed state when the vehicle is stopped.
  • the present invention is not limited to this example.
  • the present invention is applied to a sensor that is attached to an installation object installed on the ground such as a traffic light or a street light and acquires traffic information such as the speed and number of vehicles passing there, or a sensor system 1 having a surveillance camera. You may.
  • the shutter 20 having the shielding member 21 that rotates around the hinge component 23 has been described, but the present invention is not limited to this example.
  • the shutter may be configured such that the shielding member slides to move to a position that covers the outer lens, or that the shutter can be switched from the wound open state such as a roll screen to the closed state that covers the outer lens.
  • a sensor system capable of detecting the adhesion of dirt even if the sensor is stationary with respect to the ground.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
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Abstract

A sensor system (1) includes: a sensor for outputting point group information including position information of an object, distance information to the object, and a reflection intensity from the object; a dirt determining unit (31) for detecting dirt on the basis of the point group information; a shutter (20) which covers a surface of a transmissive portion on the opposite side to a light emitting unit (11) by means of a reference surface (21a), and which is capable of switching between a closed state and an open state; and a reference information recording unit (32) in which reference information, being the point group information acquired with the shutter (20), when clean, in the closed state, is recorded. The dirt determining unit (31) determines that dirt is attached when the point group information acquired with the shutter (20) in the closed state differs from the reference information.

Description

センサシステムSensor system
 本発明は、センサシステムに関する。 The present invention relates to a sensor system.
 特許文献1などにより、クリーナを搭載したクリーナシステムが知られている。 A cleaner system equipped with a cleaner is known from Patent Document 1 and the like.
日本国特開2001-171491号公報Japanese Patent Application Laid-Open No. 2001-171491
 ところで、車両に搭載されたセンサにおいては、車両の走行に連れてセンサの出力が変化する。センサに泥やほこりなどの汚れが付着してしまうと、車両が走行しているにもかかわらずセンサの出力が変化しない。そこでこのような相違に基づき、車両の走行時にセンサの出力が変化しない領域に汚れが付着したと判定できる。
 しかし、車両の停止中にはこのような汚れの判定手法を用いることができない。また、監視カメラなど地面に対して動かないセンサにもこのような汚れの判定手法を用いることができない。
By the way, in the sensor mounted on the vehicle, the output of the sensor changes as the vehicle travels. If dirt such as mud or dust adheres to the sensor, the output of the sensor does not change even though the vehicle is running. Therefore, based on such a difference, it can be determined that dirt has adhered to the region where the output of the sensor does not change when the vehicle is running.
However, such a dirt determination method cannot be used while the vehicle is stopped. Further, such a dirt determination method cannot be used for a sensor that does not move with respect to the ground, such as a surveillance camera.
 そこで本発明は、地面に対して静止した状態のセンサであっても汚れの付着を検出できるセンサシステムを提供する。 Therefore, the present invention provides a sensor system that can detect the adhesion of dirt even if the sensor is stationary with respect to the ground.
 本発明の一側面に係るセンサシステムは、
 光を透過する透過部を介して所定範囲に光を出射する発光部と、前記発光部から出射された光が物体に当たって反射した光を受光する受光部と、前記受光部が受光した光に基づき、前記物体の位置情報と前記物体までの距離情報と前記物体からの反射強度を含む点群情報を出力する点群情報出力部と、を有するセンサと、
 前記点群情報に基づき前記透過部に付着した汚れを検出する汚れ判定部と、
 基準面によって前記透過部の前記発光部とは反対側の面を覆う閉状態と、前記基準面によって前記透過部を覆わない開状態と、に切り替え可能なシャッタと、
 前記透過部が清浄な状態で前記シャッタを閉状態としたときに取得した前記点群情報である基準情報を記録した基準情報記録部と、を有し、
 前記汚れ判定部は、前記シャッタが閉状態のときに取得した前記点群情報が、前記基準情報と異なるときに、汚れが付着していると判定する。
The sensor system according to one aspect of the present invention is
Based on a light emitting unit that emits light within a predetermined range through a transmissive unit that transmits light, a light receiving unit that receives light reflected by the light emitted from the light emitting unit that hits an object, and light received by the light receiving unit. A sensor having a point group information output unit that outputs point group information including position information of the object, distance information to the object, and reflection intensity from the object.
A stain determination unit that detects stains adhering to the transmission portion based on the point cloud information, and a stain determination unit.
A shutter that can be switched between a closed state in which the reference surface covers the surface of the transmissive portion opposite to the light emitting portion and an open state in which the reference surface does not cover the transmissive portion.
It has a reference information recording unit that records reference information, which is the point cloud information acquired when the shutter is closed while the transmission unit is clean.
When the point cloud information acquired when the shutter is closed is different from the reference information, the dirt determination unit determines that dirt is attached.
センサシステムのシステムブロック図である。It is a system block diagram of a sensor system. カメラの断面図である。It is a sectional view of a camera. センサシステムが実行する処理のフローチャートである。It is a flowchart of the process executed by a sensor system.
 以下、本発明の実施形態について図面を参照しながら説明する。尚、実施形態の説明において既に説明された部材と同一の参照番号を有する部材については、説明の便宜上、その説明は省略する。また、本図面に示された各部材の寸法は、説明の便宜上、実際の各部材の寸法とは異なる場合がある。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. For convenience of explanation, the description of the member having the same reference number as the member already described in the description of the embodiment will be omitted. Further, the dimensions of each member shown in this drawing may differ from the actual dimensions of each member for convenience of explanation.
 また、本実施形態の説明では、説明の便宜上、「左右方向」、「前後方向」、「上下方向」について適宜言及する。これらの方向は、車両について設定された相対的な方向である。ここで、「上下方向」は、「上方向」及び「下方向」を含む方向である。「前後方向」は、「前方向」及び「後方向」を含む方向である。「左右方向」は、「左方向」及び「右方向」を含む方向である。 Further, in the description of the present embodiment, for convenience of explanation, "horizontal direction", "front-back direction", and "vertical direction" are appropriately referred to. These directions are relative directions set for the vehicle. Here, the "vertical direction" is a direction including the "upward direction" and the "downward direction". The "front-back direction" is a direction including the "forward direction" and the "rear direction". The "left-right direction" is a direction including "left direction" and "right direction".
 図1は、本発明の実施形態に係るセンサシステム1のシステムブロック図である。図1に示すように、センサシステム1は、LiDAR10(センサの一例)と、シャッタ20と、汚れ判定部31と、基準情報記録部32を備えている。 FIG. 1 is a system block diagram of the sensor system 1 according to the embodiment of the present invention. As shown in FIG. 1, the sensor system 1 includes a LiDAR 10 (an example of a sensor), a shutter 20, a dirt determination unit 31, and a reference information recording unit 32.
 図2は、LiDAR10の断面図である。図2に示すように、LiDAR10は、発光部11と、受光部12と、アウタレンズ13(透過部の一例)と、ハウジング14を備えている。ハウジング14の前方に開口が設けられており、アウタレンズ13がこの開口を覆っている。ハウジング14とアウタレンズ13で構成される空間の内部に、発光部11と受光部12が設けられている。 FIG. 2 is a cross-sectional view of LiDAR 10. As shown in FIG. 2, the LiDAR 10 includes a light emitting unit 11, a light receiving unit 12, an outer lens 13 (an example of a transmissive unit), and a housing 14. An opening is provided in front of the housing 14, and an outer lens 13 covers this opening. A light emitting unit 11 and a light receiving unit 12 are provided inside the space composed of the housing 14 and the outer lens 13.
 発光部11は、LiDAR10の前方に定義される検出領域(所定範囲)内に光を出射する。発光部11は、検出領域内の複数の点に向けて順に光を出射させる。発光部11から出射され、検出領域内の物体によって反射された光は、アウタレンズ13を透過して受光部12に入射する。受光部12は反射光の検出に応じた検出結果を点群情報出力部15へ出力する。
 点群情報出力部15(図1参照)は、検出領域内の複数の点について、位置情報と、距離情報と反射強度情報を含む点群情報を出力する。
The light emitting unit 11 emits light within a detection region (predetermined range) defined in front of the LiDAR 10. The light emitting unit 11 emits light in order toward a plurality of points in the detection region. The light emitted from the light emitting unit 11 and reflected by the object in the detection region passes through the outer lens 13 and is incident on the light receiving unit 12. The light receiving unit 12 outputs the detection result corresponding to the detection of the reflected light to the point cloud information output unit 15.
The point cloud information output unit 15 (see FIG. 1) outputs point cloud information including position information, distance information, and reflection intensity information for a plurality of points in the detection area.
 位置情報とは、発光部11から出射されて受光部12に向けて反射された光は検出領域内のどの点(検出点と呼ぶ)で反射されたか、その検出点の位置を示す情報である。
 例えば検出領域があらかじめ10000×10000などのマトリクス状に分割されており、発光部11は分割した領域内の点に光を出射するように構成され、発光部11はこれら複数の点の右上に位置する点から左下に位置する点に向かって順に光を出射するように構成されているとする。この場合、光を受光した順番がどの点に向けて出射したかという位置情報を含むことになる。この場合、点群情報出力部15は、距離情報と反射強度情報からなる一対の情報を順番に出力し、これらの情報の出力する順番が位置情報となる。
 あるいは、発光部11が、光源と、向きを変えることのできるミラーを含み、ミラーの向きによって発光部11が光を出射する方向を特定できるように構成することができる。この場合、ミラーによって反射させた光の進む方向が位置情報となる。この場合の位置情報とは、光の進む方向を水平角と垂直角とで表現することができる。点群情報出力部15は、発光部11のミラーの向きに基づく検出点の位置情報と、距離情報と、反射強度情報からなる点群情報を出力する。
The position information is information indicating at which point (called a detection point) in the detection region the light emitted from the light emitting unit 11 and reflected toward the light receiving unit 12 is reflected, and the position of the detection point. ..
For example, the detection region is divided in advance into a matrix such as 10000 × 10000, the light emitting unit 11 is configured to emit light to points in the divided region, and the light emitting unit 11 is located at the upper right of these plurality of points. It is assumed that the light is emitted in order from the point to the point located in the lower left. In this case, the position information indicating to which point the light is received in the order in which the light is received is included is included. In this case, the point cloud information output unit 15 outputs a pair of information consisting of distance information and reflection intensity information in order, and the order in which these information is output is the position information.
Alternatively, the light emitting unit 11 may include a light source and a mirror whose direction can be changed, and can be configured so that the direction in which the light emitting unit 11 emits light can be specified by the direction of the mirror. In this case, the direction in which the light reflected by the mirror travels becomes the position information. The position information in this case can be expressed by a horizontal angle and a vertical angle in the direction in which the light travels. The point cloud information output unit 15 outputs point cloud information including position information of a detection point based on the direction of the mirror of the light emitting unit 11, distance information, and reflection intensity information.
 距離情報とは、受光部12と検出点に存在する物体との距離を示す情報である。距離情報は、光速と、発光部11が検出点に向けて光を発してから受光部12が検出点からの反射光を受光するまでの時間に基づいて算出される。
 反射強度情報とは、この検出点からの反射光を受光部12が受光した時の光の強度を示す情報である。
The distance information is information indicating the distance between the light receiving unit 12 and the object existing at the detection point. The distance information is calculated based on the speed of light and the time from when the light emitting unit 11 emits light toward the detection point until the light receiving unit 12 receives the reflected light from the detection point.
The reflection intensity information is information indicating the intensity of light when the light receiving unit 12 receives the reflected light from this detection point.
 シャッタ20は、LiDAR10に取り付けられている。シャッタ20は、遮蔽部材21と、遮蔽部材21を駆動するシャッタ駆動部22を有している。
 シャッタ20は、遮蔽部材21がアウタレンズ13を覆う閉状態と、遮蔽部材21がアウタレンズ13を覆わない開状態の二つの状態を切り替えることができる。遮蔽部材21は、閉状態においてアウタレンズ13の表面に向かい合う基準面21aを有している。言い換えれば、閉状態とは、基準面21aによってアウタレンズ13の発光部11とは反対側の面を覆う状態である。開状態とは、基準面21aによってアウタレンズ13を覆わない状態である。なお閉状態において、遮蔽部材21はアウタレンズ13の全面を覆う必要はない。閉状態において、遮蔽部材21はアウタレンズ13のうち少なくとも受光部12に入射する光が透過する領域を覆っていればよい。なお、図2において、閉状態の遮蔽部材21を実線で、開状態の遮蔽部材21を二点鎖線で示している。
The shutter 20 is attached to the LiDAR 10. The shutter 20 has a shielding member 21 and a shutter driving unit 22 for driving the shielding member 21.
The shutter 20 can switch between two states, a closed state in which the shielding member 21 covers the outer lens 13, and an open state in which the shielding member 21 does not cover the outer lens 13. The shielding member 21 has a reference surface 21a facing the surface of the outer lens 13 in the closed state. In other words, the closed state is a state in which the reference surface 21a covers the surface of the outer lens 13 opposite to the light emitting portion 11. The open state is a state in which the outer lens 13 is not covered by the reference surface 21a. In the closed state, the shielding member 21 does not need to cover the entire surface of the outer lens 13. In the closed state, the shielding member 21 may cover at least the region of the outer lens 13 through which the light incident on the light receiving portion 12 is transmitted. In FIG. 2, the shield member 21 in the closed state is shown by a solid line, and the shield member 21 in the open state is shown by a two-dot chain line.
 図示した例において、遮蔽部材21はヒンジ部品23を介して取り付けられている。シャッタ駆動部22は、遮蔽部材21をヒンジ部品23の軸線回りに回転させることにより、閉状態と開状態とを切り替える。シャッタ駆動部22は、モータやアクチュエータなどにより構成することができる。
 また、シャッタ20は、通常状態において開状態であり、シャッタ駆動部22が作動したときにのみ閉状態となるように構成されている。例えば、ばねなどの弾性部材により遮蔽部材21に常時力を作用させて開状態とさせておく。閉状態にしたい場合に、この弾性部材の弾性復元力に打ち勝って閉状態とさせる駆動力をシャッタ駆動部22によって作用させる。
In the illustrated example, the shielding member 21 is attached via the hinge component 23. The shutter drive unit 22 switches between a closed state and an open state by rotating the shielding member 21 around the axis of the hinge component 23. The shutter drive unit 22 can be configured by a motor, an actuator, or the like.
Further, the shutter 20 is in an open state in a normal state, and is configured to be in a closed state only when the shutter drive unit 22 is operated. For example, an elastic member such as a spring constantly exerts a force on the shielding member 21 to open the shielding member 21. When the closed state is desired, the shutter driving unit 22 exerts a driving force that overcomes the elastic restoring force of the elastic member to bring the elastic member into the closed state.
 図1に戻り、基準情報記録部32は、アウタレンズ13(透過部)が清浄な状態でシャッタ20を閉状態としたときに取得した点群情報である基準情報を記録している。具体的には、基準情報とは、シャッタ20が閉状態かつアウタレンズ13が清浄な状態において、基準面21a(図2参照)によって反射された光に基づき得られた点群情報である。 Returning to FIG. 1, the reference information recording unit 32 records the reference information which is the point cloud information acquired when the shutter 20 is closed while the outer lens 13 (transmission unit) is in a clean state. Specifically, the reference information is point cloud information obtained based on the light reflected by the reference surface 21a (see FIG. 2) when the shutter 20 is closed and the outer lens 13 is clean.
 次に、汚れ判定部31による汚れの判定方法を説明する。図3は、センサシステム1が実行する処理のフローチャートである。図3に示したように、まず、センサシステム1の汚れ判定部31は、シャッタ20が閉状態か否かを判定する(ステップS01)。シャッタ20が開状態であれば(ステップS01:No)、汚れ判定を実行できないとしてエラーを出力して処理を終了する。
 シャッタ20が閉状態であれば(ステップS01:Yes)、汚れ判定部31はLiDAR10を作動させて点群情報出力部15から点群情報を取得する(ステップS02)。このときに取得した点群情報を、判定対象点群情報と呼ぶ。
Next, a method for determining stains by the stain determination unit 31 will be described. FIG. 3 is a flowchart of the process executed by the sensor system 1. As shown in FIG. 3, first, the dirt determination unit 31 of the sensor system 1 determines whether or not the shutter 20 is in the closed state (step S01). If the shutter 20 is in the open state (step S01: No), an error is output as the stain determination cannot be executed, and the process ends.
If the shutter 20 is in the closed state (step S01: Yes), the dirt determination unit 31 operates the LiDAR 10 to acquire point cloud information from the point cloud information output unit 15 (step S02). The point cloud information acquired at this time is called the judgment target point cloud information.
 次に、汚れ判定部31は基準情報記録部32から基準情報を読み出す(ステップS03)。さらに汚れ判定部31は、判定対象点群情報と基準情報とを比較して両者が異なっているか否かを判定する(ステップS04)。判定対象点群情報が基準情報と異なると判定した場合(ステップS04:Yes)、汚れ判定部31は汚れが付着していると判定する(ステップS05)。判定対象点群情報が基準情報と異ならないと判定した場合(ステップS04:No)、汚れ判定部31は汚れが付着していないと判定する(ステップS06)。 Next, the dirt determination unit 31 reads the reference information from the reference information recording unit 32 (step S03). Further, the dirt determination unit 31 compares the determination target point cloud information with the reference information and determines whether or not they are different (step S04). When it is determined that the determination target point cloud information is different from the reference information (step S04: Yes), the stain determination unit 31 determines that the stain is attached (step S05). When it is determined that the determination target point cloud information does not differ from the reference information (step S04: No), the stain determination unit 31 determines that no stain is attached (step S06).
 上述したように点群情報には、位置情報と、距離情報と、反射強度情報とが含まれている。汚れ判定部31は、判定対象点群情報と基準情報の中から、位置情報が一致する点群情報を特定し、特定した点群情報の距離情報どうしおよび反射強度情報どうしを比較する。
 例えば、データの順番が位置情報を示している場合、基準情報における一番目の距離情報と、判定対象点群情報における一番目の距離情報とを比較する。また、基準情報における一番目の反射強度情報と、判定対象点群情報における一番目の反射強度情報とを比較する。
 あるいは、点群情報に、水平角と垂直角としての位置情報が含まれている場合、基準情報の水平角と判定対象点群情報の水平角とが一致し、かつ、基準情報の垂直角と判定対象点群情報の垂直角とが一致する、基準情報の距離情報と判定対象点群情報の距離情報とを比較する。また、基準情報の反射強度情報と判定対象点群情報の反射強度情報とを比較する。
As described above, the point cloud information includes position information, distance information, and reflection intensity information. The dirt determination unit 31 identifies the point cloud information whose position information matches from the determination target point cloud information and the reference information, and compares the distance information and the reflection intensity information of the specified point cloud information.
For example, when the order of the data indicates the position information, the first distance information in the reference information and the first distance information in the determination target point cloud information are compared. Further, the first reflection intensity information in the reference information and the first reflection intensity information in the determination target point cloud information are compared.
Alternatively, when the point group information includes the position information as the horizontal angle and the vertical angle, the horizontal angle of the reference information and the horizontal angle of the judgment target point group information match, and the vertical angle of the reference information The distance information of the reference information and the distance information of the judgment target point group information, which match the vertical angle of the judgment target point group information, are compared. In addition, the reflection intensity information of the reference information and the reflection intensity information of the judgment target point cloud information are compared.
 汚れがアウタレンズ13に付着していなければ、発光部11から出射した光は基準面21aで反射される。汚れがアウタレンズ13に付着している場合、発光部11から出射した光は汚れで反射される。汚れは基準面21aよりも受光部12の近くに位置するため、汚れが付着した場合の距離情報は汚れが付着していない場合の距離情報よりも短くなる。また、汚れは発光部11からの光を乱反射するため、汚れが付着した場合の反射強度情報は汚れが付着していない場合の反射強度情報よりも低くなる。あるいは、基準面21aの反射率が汚れの反射率と異なる値となるように基準面21aが構成されている場合、汚れが付着した場合の反射強度情報は汚れが付着していない場合の反射強度情報と異なる。 If dirt is not attached to the outer lens 13, the light emitted from the light emitting unit 11 is reflected by the reference surface 21a. When dirt is attached to the outer lens 13, the light emitted from the light emitting unit 11 is reflected by the dirt. Since the dirt is located closer to the light receiving portion 12 than the reference surface 21a, the distance information when the dirt is attached is shorter than the distance information when the dirt is not attached. Further, since the dirt reflects the light from the light emitting unit 11 diffusely, the reflection intensity information when the dirt is attached is lower than the reflection intensity information when the dirt is not attached. Alternatively, when the reference surface 21a is configured so that the reflectance of the reference surface 21a is different from the reflectance of the dirt, the reflection intensity information when the dirt is attached is the reflection intensity when the dirt is not attached. Different from information.
 そこで、例えば、比較した距離情報が所定値以上異なっている点群情報の数が所定個数以上ある場合、汚れ判定部31は両者が異なっていると判定し、アウタレンズ13に汚れが付着していると判定するように構成することができる。
 また、比較した反射強度情報が所定値以上異なっている点群情報の数が所定個数以上ある場合、汚れ判定部31は両者が異なっていると判定し、アウタレンズ13に汚れが付着していると判定するように構成することができる。
 さらには、比較した距離情報が所定値以上異なっており、かつ、比較した反射強度情報が所定値以上異なっている点群情報の数が所定個数以上ある場合、汚れ判定部31は両者が異なっていると判定し、アウタレンズ13に汚れが付着していると判定するように構成することができる。
 あるいは、比較した距離情報が所定値以上異なっている点群情報(異常点と呼ぶ)の位置情報に基づき、異常点が所定個数以上連なっている場合に、これら異常点の位置に汚れが付着していると判定するように構成することができる。なお異常点の特定を、比較した反射強度情報が所定値以上異なっているとしてもよいし、比較した距離情報が所定値以上異なっており、かつ、比較した反射強度情報が所定値以上異なっているとしてもよい。
Therefore, for example, when the number of point cloud information in which the compared distance information differs by a predetermined value or more is a predetermined number or more, the dirt determination unit 31 determines that the two are different, and dirt is attached to the outer lens 13. Can be configured to determine.
Further, when the number of point cloud information in which the compared reflection intensity information differs by a predetermined value or more is equal to or more than a predetermined number, the stain determination unit 31 determines that the two are different, and determines that the outer lens 13 is dirty. It can be configured to determine.
Further, when the compared distance information is different by a predetermined value or more and the number of point cloud information in which the compared reflection intensity information is different by a predetermined value or more is a predetermined number or more, the stain determination unit 31 is different from each other. It can be configured to determine that the outer lens 13 is dirty and to determine that the outer lens 13 is dirty.
Alternatively, when the number of abnormal points is more than a predetermined number based on the position information of the point cloud information (called an abnormal point) in which the compared distance information differs by a predetermined value or more, dirt adheres to the position of these abnormal points. It can be configured to determine that. It should be noted that the identification of the abnormal point may be different from the compared reflection intensity information by a predetermined value or more, the compared distance information is different by a predetermined value or more, and the compared reflection intensity information is different by a predetermined value or more. May be.
 このように本実施形態のセンサシステム1によれば、地面に対して動かないセンサにおいて汚れが付着したか否かを判定することができる。
 また、センサの非使用時にセンサを保護するシャッタ20を用いて汚れの判定を行うことができるため、センサシステム1がセンサを保護する部材と汚れ判定を行うための部材の両方を有する構成と比べて、シンプルに構成することができる。
As described above, according to the sensor system 1 of the present embodiment, it is possible to determine whether or not dirt has adhered to the sensor that does not move with respect to the ground.
Further, since the dirt can be determined by using the shutter 20 that protects the sensor when the sensor is not in use, the sensor system 1 has both a member that protects the sensor and a member for determining dirt. It can be configured simply.
 なお、センサシステム1が車両に搭載されている場合、例えば車両の電源をOFFにするスイッチが作動されたときに、シャッタ20が閉状態に切り替わり、その後に図3に示した汚れ判定が実行されるように構成することができる。あるいは、車両の停車時に乗員がスイッチを操作すると、シャッタ20が閉状態に切り替わり、汚れ判定が実行されるように構成することができる。あるいは、センサを用いた自動運転が可能な車両にセンサシステム1が搭載されている場合、車両の乗員が自動運転モードから手動運転モードに切り替えた際に、シャッタ20が閉状態に切り替わり、汚れ判定が実行されるように構成することができる。 When the sensor system 1 is mounted on the vehicle, for example, when the switch for turning off the power of the vehicle is activated, the shutter 20 is switched to the closed state, and then the dirt determination shown in FIG. 3 is executed. Can be configured to Alternatively, when the occupant operates the switch while the vehicle is stopped, the shutter 20 is switched to the closed state, and the dirt determination can be executed. Alternatively, when the sensor system 1 is mounted on a vehicle capable of automatic driving using a sensor, the shutter 20 is switched to the closed state when the occupant of the vehicle switches from the automatic driving mode to the manual driving mode, and a dirt determination is made. Can be configured to run.
 また、センサシステム1が監視カメラなど地面に設置された構造物に搭載されている場合、定期的に、シャッタ20が閉状態に切り替えられて汚れ判定が実行されるように構成することができる。例えば、交通量の少ない朝5時など、一日のうちの決まった時間に汚れ判定が実行されるように構成することができる。 Further, when the sensor system 1 is mounted on a structure installed on the ground such as a surveillance camera, the shutter 20 can be periodically switched to the closed state to execute the dirt determination. For example, it can be configured to execute the dirt determination at a fixed time of the day, such as 5 am when the traffic is light.
 なお、シャッタ20が閉状態か否かの判定に際して、機械式の接点スイッチであるシャッタ閉センサ24を用いてもよい(図2参照)。遮蔽部材21が開状態にあるとき、シャッタ閉センサ24の可動部24aは遮蔽部材21に接触しない。遮蔽部材21が閉状態にあるとき、シャッタ閉センサ24の可動部24aは遮蔽部材21に押されてシャッタ20が閉状態であることを示す信号を出力する。LiDAR10の距離情報に応じてシャッタ20の閉状態を判定するように構成することもできるが、LiDAR10が汚れている場合には精度よく判定することが難しくなる。このため、汚れの判定の対象となるセンサ以外のセンサにてシャッタ20が閉状態か否かを判定できる構成とするとよい。 A shutter closing sensor 24, which is a mechanical contact switch, may be used to determine whether or not the shutter 20 is in the closed state (see FIG. 2). When the shielding member 21 is in the open state, the movable portion 24a of the shutter closing sensor 24 does not come into contact with the shielding member 21. When the shielding member 21 is in the closed state, the movable portion 24a of the shutter closing sensor 24 is pushed by the shielding member 21 and outputs a signal indicating that the shutter 20 is in the closed state. It is possible to determine the closed state of the shutter 20 according to the distance information of the LiDAR 10, but if the LiDAR 10 is dirty, it becomes difficult to make an accurate determination. Therefore, it is preferable to use a sensor other than the sensor that is the target of dirt determination to determine whether or not the shutter 20 is in the closed state.
 なお、シャッタ20が閉状態において、遮蔽部材21の基準面21aとアウタレンズ13とが接触しないように、両者の間に隙間が設けられていることが好ましい。アウタレンズ13に汚れが付着したままシャッタ20が閉状態となってしまうと、アウタレンズ13の汚れが基準面21aにも付着してしまう。汚れ判定時に汚れた基準面21aを用いて判定することになってしまうため、汚れの判定を精度よく行うことが難しくなるからである。 In the closed state of the shutter 20, it is preferable that a gap is provided between the reference surface 21a of the shielding member 21 and the outer lens 13 so as not to come into contact with each other. If the shutter 20 is closed with dirt attached to the outer lens 13, the dirt on the outer lens 13 also adheres to the reference surface 21a. This is because it is difficult to accurately determine the stain because the determination is made using the dirty reference surface 21a at the time of the stain determination.
 シャッタ20が閉状態であるとき、基準面21aはアウタレンズ13から少なくとも0.1mm以上離れていることが好ましい。基準面21aと発光部11とが近すぎると、近距離出射に伴う乱反射で正常な点群情報を取得できなくなるおそれがあるためである。 When the shutter 20 is in the closed state, the reference surface 21a is preferably separated from the outer lens 13 by at least 0.1 mm or more. This is because if the reference surface 21a and the light emitting unit 11 are too close to each other, normal point cloud information may not be obtained due to diffused reflection due to short-distance emission.
 なお、シャッタ20の基準面21aの反射率は50%以下であってもよい。シャッタ20の基準面21aの反射率は好ましくは30%以下であり、より好ましくは20%以下であり、さらに好ましくは10%以下である。シャッタ20の閉状態において、基準面21aは発光部11の近くに位置しているため、基準面21aで反射した光の反射強度が大きくなりやすい。そこで、基準面21aの反射率は低い方が好ましい。 The reflectance of the reference surface 21a of the shutter 20 may be 50% or less. The reflectance of the reference surface 21a of the shutter 20 is preferably 30% or less, more preferably 20% or less, still more preferably 10% or less. Since the reference surface 21a is located near the light emitting portion 11 in the closed state of the shutter 20, the reflection intensity of the light reflected by the reference surface 21a tends to increase. Therefore, it is preferable that the reflectance of the reference surface 21a is low.
 汚れ判定部31は発光部11に、シャッタ20が閉状態であるときはシャッタ20が開状態であるときよりも弱い出力で光を出射させるように構成してもよい。 The stain determination unit 31 may be configured to emit light to the light emitting unit 11 with a weaker output when the shutter 20 is in the closed state than when the shutter 20 is in the open state.
 なおセンサシステム1が車両に搭載されている場合、汚れ判定部31は、車両から車両が停止していることを示す停止信号を取得している時にシャッタ20を閉状態にさせることが好ましい。車両の走行時にはセンサにより外部の情報を取得できるようにシャッタ20を開状態としておき、車両の停止時にシャッタ20を閉状態に切り替え可能に構成されていることが好ましい。 When the sensor system 1 is mounted on the vehicle, it is preferable that the dirt determination unit 31 closes the shutter 20 when the stop signal indicating that the vehicle is stopped is acquired from the vehicle. It is preferable that the shutter 20 is in the open state so that external information can be acquired by the sensor when the vehicle is running, and the shutter 20 can be switched to the closed state when the vehicle is stopped.
 なお、上述した実施形態においては、センサシステム1が車両に搭載される例を説明したが、本発明はこの例に限られない。
 信号機や街路灯などの地面に設置された設置物に取り付けられ、その場を通過する車両の速度や台数などの交通情報を取得するセンサ、あるいは、監視カメラを有するセンサシステム1に本発明を適用してもよい。
In the above-described embodiment, an example in which the sensor system 1 is mounted on a vehicle has been described, but the present invention is not limited to this example.
The present invention is applied to a sensor that is attached to an installation object installed on the ground such as a traffic light or a street light and acquires traffic information such as the speed and number of vehicles passing there, or a sensor system 1 having a surveillance camera. You may.
 また上述した実施形態においては、ヒンジ部品23回りに回転する遮蔽部材21を有するシャッタ20を説明したが、本発明はこの例に限られない。例えばシャッタは、遮蔽部材がスライドしてアウタレンズを覆う位置まで移動する構成や、ロールスクリーンのように巻き回された開状態から引き出すことでアウタレンズを覆う閉状態に切り替えられる構成としてもよい。 Further, in the above-described embodiment, the shutter 20 having the shielding member 21 that rotates around the hinge component 23 has been described, but the present invention is not limited to this example. For example, the shutter may be configured such that the shielding member slides to move to a position that covers the outer lens, or that the shutter can be switched from the wound open state such as a roll screen to the closed state that covers the outer lens.
 以上、本発明の実施形態について説明をしたが、本発明の技術的範囲が本実施形態の説明によって限定的に解釈されるべきではないのは言うまでもない。本実施形態は単なる一例であって、特許請求の範囲に記載された発明の範囲内において、様々な実施形態の変更が可能であることが当業者によって理解されるところである。本発明の技術的範囲は特許請求の範囲に記載された発明の範囲及びその均等の範囲に基づいて定められるべきである。 Although the embodiments of the present invention have been described above, it goes without saying that the technical scope of the present invention should not be construed in a limited manner by the description of the present embodiments. It is understood by those skilled in the art that the present embodiment is merely an example, and various embodiments can be modified within the scope of the invention described in the claims. The technical scope of the present invention should be determined based on the scope of the invention described in the claims and the equivalent scope thereof.
 本出願は、2020年12月25出願の日本特許出願(特願2020-217244)に基づくものであり、その内容はここに参照として取り込まれる。 This application is based on a Japanese patent application filed on December 25, 2020 (Japanese Patent Application No. 2020-217244), the contents of which are incorporated herein by reference.
 本発明によれば、地面に対して静止した状態のセンサであっても汚れの付着を検出できるセンサシステムが提供される。 According to the present invention, there is provided a sensor system capable of detecting the adhesion of dirt even if the sensor is stationary with respect to the ground.
1 センサシステム
11 発光部
12 受光部
13 アウタレンズ
14 ハウジング
15 点群情報出力部
20 シャッタ
21 遮蔽部材
21a 基準面
22 シャッタ駆動部
23 ヒンジ部品
24 シャッタ閉センサ
24a 可動部
31 汚れ判定部
32 基準情報記録部
1 Sensor system 11 Light emitting unit 12 Light receiving unit 13 Outer lens 14 Housing 15 Point cloud information output unit 20 Shutter 21 Shielding member 21a Reference surface 22 Shutter drive unit 23 Hinge parts 24 Shutter closing sensor 24a Movable unit 31 Dirt determination unit 32 Reference information recording unit

Claims (5)

  1.  光を透過する透過部を介して所定範囲に光を出射する発光部と、前記発光部から出射された光が物体に当たって反射した光を受光する受光部と、前記受光部が受光した光に基づき、前記物体の位置情報と前記物体までの距離情報と前記物体からの反射強度を含む点群情報を出力する点群情報出力部と、を有するセンサと、
     前記点群情報に基づき前記透過部に付着した汚れを検出する汚れ判定部と、
     基準面によって前記透過部の前記発光部とは反対側の面を覆う閉状態と、前記基準面によって前記透過部を覆わない開状態と、に切り替え可能なシャッタと、
     前記透過部が清浄な状態で前記シャッタを閉状態としたときに取得した前記点群情報である基準情報を記録した基準情報記録部と、を有し、
     前記汚れ判定部は、前記シャッタが閉状態のときに取得した前記点群情報が、前記基準情報と異なるときに、汚れが付着していると判定する、センサシステム。
    Based on a light emitting unit that emits light within a predetermined range through a transmissive unit that transmits light, a light receiving unit that receives light reflected by the light emitted from the light emitting unit that hits an object, and light received by the light receiving unit. A sensor having a point group information output unit that outputs point group information including position information of the object, distance information to the object, and reflection intensity from the object.
    A stain determination unit that detects stains adhering to the transmission portion based on the point cloud information, and a stain determination unit.
    A shutter that can be switched between a closed state in which the reference surface covers the surface of the transmissive portion opposite to the light emitting portion and an open state in which the reference surface does not cover the transmissive portion.
    It has a reference information recording unit that records reference information, which is the point cloud information acquired when the shutter is closed while the transmission unit is clean.
    The dirt determination unit is a sensor system that determines that dirt is attached when the point cloud information acquired when the shutter is in the closed state is different from the reference information.
  2.  前記基準面の反射率は50%以下である、請求項1に記載のセンサシステム。 The sensor system according to claim 1, wherein the reflectance of the reference plane is 50% or less.
  3.  前記シャッタが前記閉状態であるとき、前記基準面は前記透過部から少なくとも0.1mm以上離れている、請求項1に記載のセンサシステム。 The sensor system according to claim 1, wherein the reference surface is at least 0.1 mm or more away from the transmissive portion when the shutter is in the closed state.
  4.  前記汚れ判定部は前記発光部に、前記シャッタが前記閉状態であるときは前記シャッタが前記開状態であるときよりも弱い出力で光を出射させる、請求項1に記載のセンサシステム。 The sensor system according to claim 1, wherein the dirt determination unit emits light to the light emitting unit with a weaker output when the shutter is in the closed state than when the shutter is in the open state.
  5.  前記汚れ判定部は、車両から前記車両が停止していることを示す停止信号を取得している時に前記シャッタを前記閉状態にさせる、請求項1に記載のセンサシステム。 The sensor system according to claim 1, wherein the dirt determination unit closes the shutter when a stop signal indicating that the vehicle is stopped is acquired from the vehicle.
PCT/JP2021/044581 2020-12-25 2021-12-03 Sensor system WO2022138088A1 (en)

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Citations (6)

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JP2013211653A (en) * 2012-03-30 2013-10-10 Jvc Kenwood Corp Imaging apparatus
JP2016078724A (en) * 2014-10-20 2016-05-16 日立建機株式会社 Work machine for mine
JP2019185347A (en) * 2018-04-09 2019-10-24 株式会社デンソー Object recognition device and object recognition method
US20200177872A1 (en) * 2018-12-04 2020-06-04 Ford Global Technologies, Llc Vehicle sensor calibration
WO2020170680A1 (en) * 2019-02-18 2020-08-27 株式会社小糸製作所 Dirt detection system, lidar unit, sensing system for vehicle, and vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009080003A (en) * 2007-09-26 2009-04-16 Sumitomo Electric Ind Ltd Imaging apparatus and lens failure diagnosis system
JP2013211653A (en) * 2012-03-30 2013-10-10 Jvc Kenwood Corp Imaging apparatus
JP2016078724A (en) * 2014-10-20 2016-05-16 日立建機株式会社 Work machine for mine
JP2019185347A (en) * 2018-04-09 2019-10-24 株式会社デンソー Object recognition device and object recognition method
US20200177872A1 (en) * 2018-12-04 2020-06-04 Ford Global Technologies, Llc Vehicle sensor calibration
WO2020170680A1 (en) * 2019-02-18 2020-08-27 株式会社小糸製作所 Dirt detection system, lidar unit, sensing system for vehicle, and vehicle

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