WO2022201501A1

WO2022201501A1 - Sensor device

Info

Publication number: WO2022201501A1
Application number: PCT/JP2021/012906
Authority: WO
Inventors: 琢也白戸; 琢麿柳澤
Original assignee: パイオニア株式会社; パイオニアスマートセンシングイノベーションズ株式会社
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2022-09-29

Abstract

Eight first visual fields (f1) arranged along a first direction (X) are arranged in each of six levels in a second direction (Y). Second visual fields (f2) are offset with respect to the first visual fields (f1) in the minus direction of the first direction (X) by a distance that is 0.5 times the size in the first direction (X) of the first visual fields (f1) or the second visual fields (f2). Spots (S) are irradiated in the first visual fields (f1) and second visual fields (f2) that are positioned in a high-resolution area (HA).

Description

sensor device

The present invention relates to sensor devices.

In recent years, various sensor devices such as LiDAR (Light Detection And Ranging) have been developed. The sensor device includes a scanning unit such as a MEMS mirror, and a light detection unit that detects the reflected light of the spot generated by the scanning unit.

Patent Document 1 describes an example of a sensor device. The sensor device includes a plurality of light receiving elements and an optical element that guides reflected light to each of the plurality of light receiving elements at predetermined time intervals. In the pixels of each light-receiving element, the imaging position of the image by the reflected light is shifted by half the pitch of the pixels. By synthesizing the image data generated by each photodetector, an object can be detected with higher resolution than when a single photodetector is used.

JP 2017-15611 A

For example, as described in Patent Document 1, it may be required to detect an object with high resolution by a sensor device. On the other hand, when an optical element that guides reflected light to each of a plurality of photodetectors at predetermined time intervals as described in Patent Document 1 is used, the structure of the receiving system of the sensor device may become complicated.

One example of the problem to be solved by the present invention is to detect an object with high resolution.

The invention according to claim 1,
a scanning unit;
a plurality of light detection units that detect reflected light from the spots generated by the scanning unit;
with
a length of each of a plurality of first fields of view per pixel of a first photodetector among the plurality of photodetectors and a length of each pixel of a second photodetector among the plurality of photodetectors in a predetermined direction; the length of each of the plurality of second fields of view in the predetermined direction is substantially equal,
At least one of the plurality of first fields of view of the first photodetector and at least one of the second fields of view of the second photodetector are aligned in the predetermined direction of the first field of view or the second field of view. The sensor device is displaced in the predetermined direction by a distance greater than 0 times and less than 1 time the length.

1 is a perspective view showing a sensor device according to an embodiment; FIG. It is a figure for demonstrating an example of the shift|offset|difference of a 1st visual field and a 2nd visual field. A first field of view arranged in a first direction among a plurality of first fields of view projected onto the second virtual plane shown in FIG. 2 and a plurality of first fields of view projected onto the second virtual plane shown in FIG. FIG. 10 is a diagram showing a second field of view arranged in a first direction in the second field of view; It is a figure for demonstrating the 1st example of control by a control part. It is a figure for demonstrating the 1st example of control by a control part. FIG. 5 is a diagram for explaining a second example of control by a control unit; FIG. 5 is a diagram for explaining a second example of control by a control unit; FIG. 11 is a diagram for explaining a third example of control by a control unit; FIG. 11 is a diagram for explaining a third example of control by a control unit; FIG. 11 is a diagram for explaining a fourth example of control by the control unit; FIG. 11 is a diagram for explaining a fourth example of control by the control unit; FIG. 12 is a diagram for explaining a fifth example of control by the control unit; FIG. 12 is a diagram for explaining a fifth example of control by the control unit; It is a figure which illustrates the hardware constitutions of a control part. It is a figure which shows the sensor apparatus which concerns on a modification.

Hereinafter, embodiments and modifications of the present invention will be described with reference to the drawings. In addition, in all the drawings, the same constituent elements are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

In the present specification, ordinal numbers such as "first", "second", "third", etc., unless otherwise specified, are merely used to distinguish similarly named configurations. , does not imply any particular feature (eg, order or importance) of the configurations.

FIG. 1 is a perspective view showing the sensor device 10 according to the embodiment.

In FIG. 1, arrows indicating a first direction X, a second direction Y, and a third direction Z indicate that the direction from the base end to the tip end of the arrow is the positive direction of the direction indicated by the arrow, and It indicates that the direction from the distal end to the proximal end is the negative direction of the direction indicated by the arrow.

The first direction X is one direction parallel to the horizontal direction perpendicular to the vertical direction. When viewed from the negative direction of the third direction Z, the positive direction of the first direction X is from right to left in the horizontal direction, and the negative direction of the first direction X is from left to right in the horizontal direction. It is the direction to go. The second direction Y is a direction parallel to the vertical direction. The positive direction of the second direction Y is the direction from bottom to top in the vertical direction, and the negative direction of the second direction Y is the direction from top to bottom in the vertical direction. A third direction Z is a direction parallel to the horizontal direction and perpendicular to the first direction X. As shown in FIG. When viewed from the negative direction of the first direction X, the positive direction of the third direction Z is from left to right in the horizontal direction, and the negative direction of the third direction Z is from right to left in the horizontal direction. It is the direction to go. The relationship between the first direction X, the second direction Y, the third direction Z, the horizontal direction, and the vertical direction is not limited to the example described above. The relationship between the first direction X, the second direction Y, the third direction Z, the horizontal direction, and the vertical direction varies depending on the arrangement of the sensor device 10 . For example, the third direction Z may be parallel to the vertical direction.

The sensor device 10 includes a transmission system 100, a reception system 200 and a control section 300. In the present embodiment, the sensor device 10 has an optical axis of light transmitted from the transmission system 100 toward a first overall field of view F1 or a second overall field of view F2, which will be described later. This is a biaxial LiDAR in which the optical axis of the light reflected from the receiving system 200 and the optical axis of the light received by the receiving system 200 are deviated from each other. The transmission system 100 has a light source section 110 , a scanning section 120 and a transmission system lens 130 . The receiving system 200 has a first photodetecting section 212 , a second photodetecting section 214 , a first receiving system lens 222 and a second receiving system lens 224 . A control unit 300 controls the transmission system 100 and the reception system 200 .

The light source unit 110 is, for example, a pulse laser. The wavelength of the light emitted from the light source unit 110 is infrared rays, for example. The light source unit 110 emits light repeatedly in terms of time. The emission timing of light from the light source section 110 is controlled by the control section 300 . In FIG. 1, the light emitted from the light source unit 110 passes through the transmission system lens, as indicated by the dashed lines extending from the light source unit 110 through the scanning unit 120 toward a first overall field of view F1 and a second overall field of view F2, which will be described later. It passes through 130 and is reflected by the scanning unit 120 toward the first overall field of view F1 and the second overall field of view F2.

In this embodiment, the scanning unit 120 is a MEMS mirror. The scanning unit 120 may be a scanning unit other than the MEMS mirror. The scanning unit 120 reflects light emitted from the light source unit 110 toward a virtual plane that is perpendicular to the third direction Z and onto which the first overall visual field F1 and the second overall visual field F2 are projected. A spot S, which is light projected onto a plane, is generated. The scanning unit 120 moves the position where the spot S is generated in the virtual plane in two directions, the first direction X and the second direction Y. As shown in FIG.

In this embodiment, the transmission system lens 130 controls, for example, the spread angle of the light emitted from the light source section 110 and the aspect ratio of the spot S.

In this embodiment, the first photodetector 212 is a two-dimensional array sensor. The first photodetector 212 detects the reflected light of the spot S. As shown in FIG. The first photodetector 212 has a plurality of first pixels P1 arranged in a matrix along two directions, the first direction X and the second direction Y. As shown in FIG. In the example shown in FIG. 1, a first overall field of view F1 in which light is detected through the first reception system lens 222 by all of the plurality of first pixels P1 is projected onto a virtual plane perpendicular to the third direction Z. In the example shown in FIG.

Within the first entire field of view F1, a plurality of first fields of view f1 per pixel of the first photodetector 212 are arranged in two directions, the first direction X and the second direction Y, corresponding to the plurality of first pixels P1. They are lined up in a matrix. When viewed from the negative direction of the third direction Z, the position of each first field of view f1 with respect to the center of the first overall field of view F1 is the first The light is inverted in the first direction X and the second direction Y by the receiving system lens 222 . In the example shown in FIG. 1, the first pixels P1 detecting the reflected light of the spot S irradiated to the first entire visual field F1 are indicated by black painting.

In this embodiment, the second photodetector 214 is a two-dimensional array sensor. The second photodetector 214 detects the reflected light of the spot S. As shown in FIG. The second photodetector 214 has a plurality of second pixels P2 arranged in a matrix along two directions, the first direction X and the second direction Y. As shown in FIG. In the example shown in FIG. 1, a second whole field of view F2 in which light is detected by the second pixels P2 through the second receiving system lens 224 is projected onto a virtual plane perpendicular to the third direction Z. In the example shown in FIG.

Within the second entire field of view F2, a plurality of second fields of view f2 per pixel of the second photodetector 214 are arranged in two directions, the first direction X and the second direction Y, corresponding to the plurality of second pixels P2. They are lined up in a matrix. When viewed from the negative direction of the third direction Z, the position of each second field of view f2 with respect to the center of the second overall field of view F2 is the second The light is inverted in the first direction X and the second direction Y by the receiving system lens 224 . In the example shown in FIG. 1, the second pixels P2 detecting the reflected light of the spot S irradiated to the second entire visual field F2 are indicated by black painting.

The first photodetector 212 and the second photodetector 214 are arranged in parallel in the first direction X when viewed from the negative direction of the third direction Z. Specifically, the first photodetector 212 is positioned on the positive direction side of the first direction X with respect to the second photodetector 214 , and the second photodetector 214 is located on the first photodetector 212 . is located on the negative direction side of the first direction X with respect to .

The center of the first overall visual field F1 and the center of the second overall visual field F2 are displaced from each other in the first direction X when viewed from the negative direction of the third direction Z. Specifically, when viewed from the negative direction of the third direction Z, the center of the first overall visual field F1 is located on the positive direction side of the first direction X with respect to the center of the second overall visual field F2, The center of the second overall field of view F2 is located on the negative direction side of the first direction X with respect to the center of the first overall field of view F1.

FIG. 2 is a diagram for explaining an example of the deviation between the first field of view f1 and the second field of view f2. FIG. 3 shows one stage of the first field of view f1 arranged in the first direction X among the plurality of stages of the first field of view f1 projected onto the second virtual plane IP2 shown in FIG. FIG. 10 is a diagram showing a second field of view f2 arranged in a first direction X among a plurality of second fields of view f2 projected onto a virtual plane IP2;

In FIG. 2, the circle with a black dot indicating the second direction Y is the positive direction of the second direction Y from the back of the paper to the front, and the negative direction of the second direction Y is the direction from the front to the back of the paper. It shows that In FIG. 3, the circle with X indicating the third direction Z indicates that the direction from the front to the back of the paper is the positive direction of the third direction Z, and the direction from the back to the front of the paper is the negative direction of the third direction Z. It shows that

In FIG. 2, the center of the first photodetector 212 in the first direction X and the center of the second photodetector 214 in the first direction X are shifted in the first direction X by a distance D.

In FIG. 2, the first virtual plane IP1 is a virtual plane that is perpendicular to the third direction Z and positioned relatively close in the third direction Z from the first photodetector 212 and the second photodetector 214. be. The second virtual plane IP2 is a virtual plane perpendicular to the third direction Z and positioned relatively far in the third direction Z from the first photodetector 212 and the second photodetector 214 .

In FIG. 2, solid lines extending from the first photodetector 212 toward the first virtual plane IP1 and the second virtual plane IP2 indicate boundaries of the first visual field f1. Broken lines extending from the second photodetector 214 toward the first virtual plane IP1 and the second virtual plane IP2 indicate boundaries of the second field of view f2.

As shown in FIG. 2, the deviation in the first direction X between the first field of view f1 and the second field of view f2 projected onto the first virtual plane IP1 is the center of the first photodetector 212 in the first direction X 2. Under the influence of the distance D in the first direction X between the center of the first direction X of the photodetector 214, 0.5 of the size in the first direction X of the first field of view f1 or the second field of view f2 less than double. On the other hand, as shown in FIGS. 2 and 3, the deviation in the first direction X between the first field of view f1 and the second field of view f2 projected onto the second virtual plane IP2 is The influence of the distance D in the first direction X between the center in the first direction X and the center in the first direction X of the second photodetector 214 is hardly affected, and the first field of view f1 or the first field of view f2 It can be set to roughly 0.5 times the size in the X direction. Even when the second virtual plane IP2 is at infinity in the third direction Z from the first photodetector 212 and the second photodetector 214, the first field of view f1 and the second field of view f2 projected on the second virtual plane IP2 can be set to approximately 0.5 times the size in the first direction X of the first field of view f1 or the second field of view f2.

4 and 5 are diagrams for explaining a first example of control by the control unit 300. FIG.

First, FIG. 4 will be explained.

In FIG. 4, the spot S indicated by the black circle indicates the spot S irradiated substantially at the center of the first direction X and the second direction Y of the first field f1. A spot S indicated by a white circle indicates the spot S irradiated substantially at the center of the first direction X and the second direction Y of the second field of view f2. The spot S does not have to be irradiated exactly at the center of the first direction X and the second direction Y of the first field of view f1 or the second field of view f2. For example, the spot S is positioned exactly at the center of the first direction X and the second direction Y of the first field of view f1 or the second field of view f2 as long as the entire spot S is located inside the first field of view f1 or the second field of view f2. You may irradiate to the position shifted from.

In FIG. 4, the arrows passing through the plurality of first fields of view f1 and the plurality of second fields of view f2 indicate the order of the direction from the base end of the arrow to the tip of the plurality of first fields of view f1 and the plurality of second fields of view f2. It shows that the spot S is irradiated on each.

In the example shown in FIG. 4, eight first fields of view f1 aligned in the first direction X are aligned in the second direction Y in six stages. In addition, each second field of view f2 is 0.5 times the size of the first field of view f1 or the second field of view f2 in the first direction X when aligned in the second direction Y with respect to each first field of view f1. , in the negative direction of the first direction X. In the example shown in FIG. 4, the shape of each first field of view f1 and the shape of each second field of view f2 are substantially the same square. Therefore, the length of each first field of view f1 in the first direction X and the length of each second field of view f2 in the first direction X are substantially equal. For example, one of the length of each first field of view f1 in the first direction X and the length of each second field of view f2 in the first direction X is the length of each first field of view f1 in the first direction X and the length of each second field of view f1 in the first direction X. It is 95% or more and 105% or less of the length of the first direction X of the second visual field f2. The shape of each first field of view f1 and the shape of each second field of view f2 are not limited to the example shown in FIG. In FIG. 4, for the sake of explanation, the boundaries of the second fields of view f2 irradiated with the spot S as described later are indicated by dashed lines among all the second fields of view f2.

Hereinafter, the central two stages of the six stages in the second direction Y of the plurality of first fields of view f1 will be referred to as high-resolution areas HA as necessary.

Hereinafter, two of the six stages in the second direction Y of the plurality of first fields of view f1 located on the positive side in the second direction Y with respect to the high-resolution area HA will be referred to as a first normal area O1A, if necessary. .

Hereinafter, two of the six stages in the second direction Y of the plurality of first fields of view f1 located on the negative direction side in the second direction Y with respect to the high-resolution area HA will be referred to as a second normal area O2A, if necessary. .

Next, FIG. 5 will be explained.

The timing chart in the upper part of FIG. 5 shows the timing chart of the pulse trigger of the light source section 110 . In the timing chart of the pulse trigger of the light source unit 110, the solid-line trigger indicates that the light emitted by the trigger is applied to the first field of view f1, and the broken-line trigger indicates that the light emitted by the trigger is emitted. It shows that the second field of view f2 is illuminated. The number of triggers depicted in the upper timing chart of FIG. does not imply the number of

The timing chart in the middle of FIG. 5 shows the timing chart of the first scanning angle AX of the scanning unit 120. FIG. The first scanning angle AX is the scanning angle of the scanning unit 120 for moving the position irradiated with the spot S parallel to the first direction X. As shown in FIG. In the timing chart in the middle of FIG. 5, as the first scanning angle AX increases, the position irradiated with the spot S moves toward the negative direction of the first direction X, and as the first scanning angle AX decreases. , the position irradiated with the spot S moves in the first direction X in the positive direction.

The timing chart in the lower part of FIG. 5 shows the timing chart of the second scanning angle AY of the scanning section 120 . The second scanning angle AY is the scanning angle of the scanning unit 120 for moving the position irradiated with the spot S parallel to the second direction Y. FIG. In the timing chart at the bottom of FIG. 5, as the second scanning angle AY increases, the position irradiated with the spot S moves toward the negative direction of the second direction Y, and as the second scanning angle AY decreases, The position irradiated with the spot S moves in the second direction Y, which is the positive direction.

Next, control by the control unit 300 will be described with reference to FIGS. 4 and 5. FIG.

First, the control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the first normal area O1A, the high resolution area HA, and the second normal area O2A. The control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, so that the spot S is divided into the first normal area O1A, the high resolution area HA and the second Each first visual field f1 in the normal area O2A is irradiated.

Next, the control unit 300 decreases the second scanning angle AY. Next, the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the high resolution area HA. The control unit 300 decreases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HA with the spot S. ing. Specifically, the control unit 300 sets the light emission start time of the light source unit 110 in the increasing time interval of the first scanning angle AX when the spots S are irradiated to the respective second fields of view f2. The shift in the first direction X between the first field of view f1 and the second field of view f2 relative to the start time of emission of light from the light source unit 110 in the increasing time interval of the first scanning angle AX when the first field of view f1 is illuminated delayed accordingly. Further, the control unit 300 sets the light emission start time of the light source unit 110 in the decreasing time interval of the first scanning angle AX when the spot S is irradiated to each of the second visual fields f2. According to the shift in the first direction X between the first field of view f1 and the second field of view f2, rather than the start time of light emission from the light source unit 110 in the decreasing time interval of the first scanning angle AX when the first scanning angle AX is irradiated at f1. , is early.

Next, the control unit 300 restores the second scanning angle AY to its initial value. One frame is acquired by the control described above by the control unit 300 .

In the example shown in FIGS. 4 and 5, the control unit 300 irradiates the spot S toward all the first fields of view f1 located in the high resolution area HA, and then irradiates all the second fields of view f1 located in the high resolution area HA. A spot S is emitted toward f2. For this reason, compared to the case where the spot S is alternately irradiated to the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX, It is not necessary to shorten the time interval of light emission from the light source unit 110 . Depending on factors such as eye safety, the light emission time interval of the light source unit 110 may not be shortened below a certain interval. Therefore, in the examples shown in FIGS. 4 and 5, the spot S is alternately in the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX. As compared with the case of irradiating , restrictions due to factors such as eye-safety can be reduced.

6 and 7 are diagrams for explaining a second example of control by the control unit 300. FIG. The second example described using FIGS. 6 and 7 is the same as the first example described using FIGS. 4 and 5 except for the following points.

First, the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the first normal area O1A. The control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 irradiates each first visual field f1 of the first normal area O1A with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX. I am letting

Next, the control unit 300 increases the second scanning angle AY. Next, the control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the high resolution area HA. The control unit 300 keeps the second scanning angle AY constant while increasing and decreasing the first scanning angle AX once. The control unit 300 increases the second scanning angle AY in the time interval after the end of decreasing the first scanning angle AX and before the start of increasing the first scanning angle AX. The control unit 300 irradiates each first visual field f1 of the high resolution area HA with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval of the first scanning angle AX. The control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HA with the spot S.

Next, the control unit 300 increases the second scanning angle AY. Next, the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the second normal area O2A. The control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 irradiates each first visual field f1 of the second normal area O2A with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX. I am letting

In the examples shown in FIGS. 6 and 7, the control unit 300 irradiates the spots S toward a plurality of first fields of view f1 arranged in the first direction X in each stage located in the high resolution area HA, and then A plurality of second fields of view f2 arranged in the direction X are irradiated with spots S. For this reason, compared to the case where the spot S is alternately irradiated to the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX, It is not necessary to shorten the time interval of light emission from the light source unit 110 . Depending on factors such as eye safety, the light emission time interval of the light source unit 110 may not be shortened below a certain interval. Therefore, in the examples shown in FIGS. 6 and 7, the spot S is alternately in the first field of view f1 and the second field of view f2 in one increasing time interval of the first scanning angle AX or one decreasing time interval of the first scanning angle AX. As compared with the case of irradiating , restrictions due to factors such as eye-safety can be reduced.

In the example shown in FIGS. 6 and 7, after all the first fields of view f1 located in the high-resolution area HA are irradiated with the spots S, all the second fields of view f2 located in the high-resolution area HA are irradiated with the spots S. Compared to the case of irradiating, the time interval at which the spot S is irradiated to the first field f1 and the second field f2 which are positioned offset in the first direction X while being partially overlapped in the third direction Z is shortened. be able to.

8 and 9 are diagrams for explaining a third example of control by the control unit 300. FIG. The third example described using FIGS. 8 and 9 is the same as the first example described using FIGS. 4 and 5 except for the following points.

Next, the control unit 300 increases the second scanning angle AY. Next, the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the high resolution area HA. The control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 irradiates the first visual field f1 and the second visual field f2 of the high-resolution area HA with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval of the first scanning angle AX. I am letting The control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby causing the spot S to be placed in each of the first visual field f1 and each of the second visual fields f2 in the high resolution area HA. I am irradiating.

The driving waveform of the second scanning angle AY in the examples shown in FIGS. 8 and 9 can be the same as the driving waveform of the second scanning angle AY when the spot S is not irradiated to the second field of view f2.

In addition, in the examples shown in FIGS. 8 and 9, the control unit 300 controls the first field of view f1 and the second field of view f2 in one increasing time period of the first scanning angle AX or one decreasing time period of the first scanning angle AX. The spots S are alternately irradiated toward the . Therefore, after irradiating all the first fields of view f1 located in the high-resolution area HA with the spots S, all the second fields of view f2 located in the high-resolution area HA may be irradiated with the spots S, or , compared with the case where a plurality of first fields of view f1 arranged in the first direction X are irradiated with the spots S, and then a plurality of second fields of view f2 arranged in the first direction X are irradiated with the spots S. , the time interval at which the spot S is irradiated to the first field f1 and the second field f2 which are positioned offset in the first direction X while partially overlapping in the third direction Z can be shortened.

10 and 11 are diagrams for explaining a fourth example of control by the control unit 300. FIG. The fourth example described using FIGS. 10 and 11 is the same as the first example described using FIGS. 4 and 5 except for the following points.

In the example shown in FIG. 10, eight first fields of view f1 aligned in the first direction X are aligned in the second direction Y in six stages. In addition, each second field of view f2 is 0.5 times the size of the first field of view f1 or the second field of view f2 in the second direction Y in a state aligned in the first direction X with respect to each first field of view f1. , in the negative direction of the second Y direction. In the example shown in FIG. 10, the shape of each first field of view f1 and the shape of each second field of view f2 are substantially the same square. Therefore, the length of each first field of view f1 in the second direction Y and the length of each second field of view f2 in the second direction Y are substantially equal. For example, one of the length of each first field of view f1 in the second direction Y and the length of each second field of view f2 in the second direction Y corresponds to the length of each first field of view f1 in the second direction Y and the length of each first field of view f1 in the second direction Y. It is 95% or more and 105% or less of the length of the second direction Y of the second visual field f2. The shape of each first field of view f1 and the shape of each second field of view f2 are not limited to the example shown in FIG. In FIG. 10, for the sake of explanation, the boundaries of the second fields of view f2 irradiated with the spots S as described later are indicated by dashed lines among all the second fields of view f2.

Hereinafter, of the six stages in the second direction Y of the plurality of first fields of view f1, the third to fifth stages from the positive direction side in the second direction Y will be referred to as a high resolution area HB, as required.

Hereinafter, two of the six stages in the second direction Y of the plurality of first fields of view f1 located on the positive side in the second direction Y with respect to the high-resolution area HB will be referred to as a first normal area O1B, if necessary. .

Hereinafter, one of the six stages in the second direction Y of the plurality of first fields of view f1 located on the negative direction side in the second direction Y with respect to the high-resolution area HB will be referred to as a second normal area O2B, if necessary. .

Next, control by the control unit 300 will be described with reference to FIGS. 10 and 11. FIG.

First, the control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the first normal area O1B, the high resolution area HB, and the second normal area O2B. The control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, so that the spot S is divided into the first normal area O1B, the high resolution area HB and the second Each first visual field f1 in the normal area O2B is irradiated.

Next, the control unit 300 decreases the second scanning angle AY. Next, the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the high resolution area HB. The control unit 300 decreases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 controls the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HB with the spot S. ing. In the timing chart at the bottom of FIG. 11, the control unit 300 causes the spot S to be positioned in each of the second fields of view of the high-resolution area HB, as indicated by the two second scanning angles AY indicated by two opposing arrows. The second scanning angle AY when the spot S is irradiated to the first field of view f1 and the second field of view f2 of the high resolution area HB are made different according to the deviation in the second direction Y of .

In the example shown in FIGS. 10 and 11, the control unit 300 irradiates the spot S toward all the first fields of view f1 located in the high-resolution area HB, and then irradiates all the second fields of view f1 located in the high-resolution area HB. A spot S is emitted toward f2. For this reason, the time interval of light emission from the light source unit 110 when irradiating the spot S in the first visual field f1 or the second visual field f2 located in the high resolution area HB is set to the first normal area O1B or the second normal area O2B. There is no need to change the time interval of light emission from the light source unit 110 when irradiating the spot S on the first visual field f1 positioned at .

12 and 13 are diagrams for explaining a fifth example of control by the control unit 300. FIG. The fifth example described using FIGS. 12 and 13 is the same as the fourth example described using FIGS. 10 and 11 except for the following points.

First, the control unit 300 sequentially increases the first scanning angle AX and decreases the first scanning angle AX in the first normal area O1B. The control unit 300 increases the second scanning angle AY in the time interval between the increasing time interval and the decreasing time interval of the first scanning angle AX. The control unit 300 irradiates each first visual field f1 of the first normal area O1B with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval and the decreasing time interval of the first scanning angle AX. I am letting

Next, the control unit 300 increases the second scanning angle AY. Next, the control unit 300 alternately repeats an increase in the first scanning angle AX and a decrease in the first scanning angle AX in the high resolution area HB. As indicated by hatching at four locations in the lower timing chart of FIG. 13, the control unit 300 controls the time interval between the increasing time interval of the first scanning angle AX and the decreasing time interval of the first scanning angle AX , the second scanning angle AY is increased according to the amount of deviation in the second direction Y between the first field of view f1 and the second field of view f2. The control unit 300 irradiates each first visual field f1 of the high resolution area HB with the spot S by controlling the emission timing of the light from the light source unit 110 in the increasing time interval of the first scanning angle AX. The control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby irradiating each second field of view f2 of the high resolution area HB with the spot S.

Next, the control unit 300 increases the second scanning angle AY. Next, the control unit 300 decreases the first scanning angle AX in the second normal area O2B. The control unit 300 controls the emission timing of the light from the light source unit 110 in the decreasing time interval of the first scanning angle AX, thereby causing the spot S to irradiate each first visual field f1 of the second normal area O2B.

In the example shown in FIGS. 12 and 13, the control unit 300 irradiates the spots S toward a plurality of first fields of view f1 arranged in the first direction X in each stage located in the high resolution area HB, and then A plurality of second fields of view f2 arranged in the direction X are irradiated with spots S. For this reason, the time interval of light emission from the light source unit 110 when irradiating the spot S in the first visual field f1 or the second visual field f2 located in the high resolution area HB is set to the first normal area O1B or the second normal area O2B. There is no need to change the time interval of light emission from the light source unit 110 when irradiating the spot S on the first visual field f1 positioned at .

In the example shown in FIGS. 12 and 13, after all the first fields of view f1 located in the high-resolution area HB are irradiated with the spots S, all the second fields of view f2 located in the high-resolution area HB are irradiated with the spots S. Compared to the case of irradiating, the time interval at which the spot S is irradiated to the first field of view f1 and the second field of view f2 which are positioned offset from each other in the second direction Y while partially overlapping in the third direction Z is shortened. be able to.

After the control described using FIGS. 5 to 13, for example, the control unit 300 generates image data generated by the detection result of the first field of view f1, image data generated by the detection result of the second field of view f2, is synthesized. In this case, the object can be detected with higher resolution than when the object is detected using only one of the first field of view f1 and the second field of view f2.

Furthermore, in the present embodiment, the first photodetector 212 does not use an optical element that guides the reflected light of the spot S to each of the first photodetector 212 and the second photodetector 214 at predetermined time intervals. The image data generated by the detection result and the image data generated by the detection result of the second photodetector 214 can be synthesized. Therefore, the structure of the receiving system 200 is simplified compared to the case of using an optical element that guides the reflected light of the spot S to each of the first photodetector 212 and the second photodetector 214 at predetermined time intervals. be able to.

FIG. 14 is a diagram illustrating the hardware configuration of the control unit 300. As shown in FIG. The controller 300 is implemented using an integrated circuit 400 . The integrated circuit 400 is, for example, a SoC (System-on-a-Chip).

Integrated circuit 400 has bus 402 , processor 404 , memory 406 , storage device 408 , input/output interface 410 and network interface 412 . The bus 402 is a data transmission path through which the processor 404, memory 406, storage device 408, input/output interface 410 and network interface 412 exchange data with each other. However, the method of connecting processor 404, memory 406, storage device 408, input/output interface 410 and network interface 412 together is not limited to bus connections. The processor 404 is an arithmetic processing device implemented using a microprocessor or the like. The memory 406 is a memory implemented using a RAM (Random Access Memory) or the like. The storage device 408 is a storage device implemented using ROM (Read Only Memory), flash memory, or the like.

The input/output interface 410 is an interface for connecting the integrated circuit 400 with peripheral devices. A transmission system 100 and a reception system 200 are connected to the input/output interface 410 .

A network interface 412 is an interface for connecting the integrated circuit 400 to a network. This network is, for example, a CAN (Controller Area Network) network. A method for connecting the network interface 412 to the network may be a wireless connection or a wired connection.

The storage device 408 stores program modules for realizing the functions of the control unit 300 . The processor 404 implements the functions of the control unit 300 by reading these program modules into the memory 406 and executing them.

The hardware configuration of the integrated circuit 400 is not limited to the configuration shown in FIG. For example, program modules may be stored in memory 406 . In this case, integrated circuit 400 may not include storage device 408 .

FIG. 15 is a diagram showing a sensor device 10A according to a modification. The sensor device 10A according to the modification is the same as the sensor device 10 according to the embodiment except for the following points.

The transmission system 100A has a first light source section 112A, a second light source section 114A, a scanning section 120, a first transmission system lens 132A, and a second transmission system lens 134A.

As shown by broken lines extending from the first light source unit 112A through the scanning unit 120 toward the first overall visual field F1 and the second overall visual field F2 in FIG. The light passes through the 1 transmission system lens 132A and is reflected by the scanning unit 120 toward the first overall field of view F1 and the second overall field of view F2. As shown by broken lines extending from the second light source unit 114A through the scanning unit 120 toward the first overall visual field F1 and the second overall visual field F2 in FIG. The light passes through the second transmission system lens 134A and is reflected by the scanning unit 120 toward the first overall field of view F1 and the second overall field of view F2.

The scanning unit 120 reflects the light emitted from the first light source unit 112A toward the virtual plane perpendicular to the third direction Z and onto which the first entire visual field F1 is projected, and the light is projected onto the virtual plane. A first spot S1, which is a light beam, is generated. The scanning unit 120 reflects the light emitted from the second light source unit 114A toward the projection virtual plane perpendicular to the third direction Z and the second entire visual field F2, and projects the light onto the virtual plane. is generated as the second spot S2.

The first light source section 112A and the second light source section 114A make light incident on the scanning section 120 from different directions when viewed from the scanning section 120 according to the shift between the first field of view f1 and the second field of view f2. In the example shown in FIG. 15, the first field of view f1 and the second field of view f2 are shifted in the first direction X from each other. Therefore, the first light source unit 112A and the second light source unit 114A are configured to generate the first spot S1 and the second spot S1 generated by the light emitted from the first light source unit 112A and the second light source unit 114A and reflected by the scanning unit 120. S2 are arranged so as to be offset from each other in the first direction X. As shown in FIG. When the first field of view f1 and the second field of view f2 are deviated from each other in the second direction Y, the first light source unit 112A and the second light source unit 114A are emitted from the first light source unit 112A and the second light source unit 114A for scanning. The first spot S1 and the second spot S2 generated by the light reflected by the unit 120 may be arranged to be offset in the second direction Y from each other.

Control unit 300 controls the emission timing of light from first light source unit 112A, the emission timing of light from second light source unit 114A, and scanning unit 120, thereby controlling the light emitted from first light source unit 112A. The light emitted from the second light source unit 114A is emitted from the second light source unit 114A by the scanning unit 120 and applied to the second visual field f2.

Although the embodiments and modifications of the present invention have been described above with reference to the drawings, these are examples of the present invention, and various configurations other than those described above can be adopted.

For example, in the embodiment, at least one first field of view f1 and at least one second field of view f2 are separated by a distance of 0.5 times the size of the first field of view f1 or the second field of view f2 in the first direction X. , in the first direction X, or in the second direction Y by a distance of 0.5 times the size in the second direction Y of the first field of view f1 or the second field of view f2. However, the magnitude of the distance deviation between the first field of view f1 and the second field of view f2 is not limited to 0.5 times the size of the first field of view f1 or the second field of view f2. The at least one first field of view f1 and the at least one second field of view f2 are defined by a distance greater than 0 and less than 1 times the size of the first field of view f1 or the second field of view f2 in the first direction X. It may be shifted in the direction X, or may be shifted in the second direction Y by a distance greater than 0 and less than 1 times the size of the first field of view f1 or the second field of view f2 in the second direction Y. Furthermore, the direction of deviation between the first field of view f1 and the second field of view f2 is not limited to the first direction X or the second direction Y, and may be a direction oblique to the first direction X or the second direction Y. good. That is, when the direction of deviation between the first field of view f1 and the second field of view f2 is defined as a predetermined direction, the length of the first field of view f1 in the predetermined direction and the length of the second field of view f2 in the predetermined direction are substantially equal. It's becoming Further, the deviation in the predetermined direction between the first field of view f1 and the second field of view f2 is more than 0 times and less than 1 time the length of the first field of view f1 or the second field of view f2 in the predetermined direction.

Also, in the embodiment, two photodetectors are used in the sensor device 10 . However, the sensor device 10 may use three or more photodetectors. When three or more photodetectors are used, the field of view per pixel of each photodetector is offset by a distance greater than 0 and less than 1 times the size of the field of view of any photodetector. The field of view of each photodetector is irradiated with a spot under the control of the controller 300 .

10 sensor device 10A sensor device 100 transmission system 100A transmission system 110 light source unit 112A first light source unit 114A second light source unit 120 scanning unit 130 transmission system lens 132A first transmission system lens 134A second transmission system lens 200 reception system 212 first Photodetector 214 Second photodetector 222 First receiving system lens 224 Second receiving system lens 300 Control unit 400 Integrated circuit 402 Bus 404 Processor 406 Memory 408 Storage device 410 Input/output interface 412 Network interface AX First scanning angle AY 2 scanning angles F1 First overall field of view F2 Second overall field of view HA High resolution area HB High resolution area IP1 First virtual plane IP2 Second virtual plane O1A First normal area O1B First normal area O2A Second normal area O2B Second normal Region P1 First pixel P2 Second pixel S Spot S1 First spot S2 Second spot X First direction Y Second direction Y Second scanning angle Z Third direction f1 First field of view f2 Second field of view

Claims

a scanning unit;
a plurality of light detection units that detect reflected light from the spots generated by the scanning unit;
with
a length of each of a plurality of first fields of view per pixel of a first photodetector among the plurality of photodetectors and a length of each pixel of a second photodetector among the plurality of photodetectors in a predetermined direction; the length of each of the plurality of second fields of view in the predetermined direction is substantially equal,
At least one of the plurality of first fields of view of the first photodetector and at least one of the second fields of view of the second photodetector are aligned in the predetermined direction of the first field of view or the second field of view. The sensor device is displaced in the predetermined direction by a distance greater than 0 times and less than 1 time the length.
In the sensor device according to claim 1,
The sensor device further comprising a controller that irradiates the spot toward each of the first field of view and the second field of view.
In the sensor device according to claim 2,
The sensor device, wherein the control unit irradiates the spots toward the plurality of second fields of view after irradiating the spots toward the plurality of first fields of view.
In the sensor device according to claim 2,
The sensor device, wherein the control unit alternately irradiates the spots toward the first field of view and the second field of view.
In the sensor device according to any one of claims 1 to 4,
a first light source unit that emits light to the scanning unit;
a second light source unit that irradiates the scanning unit with light from a direction different from that of the first light source unit;
A sensor device further comprising:
In the sensor device according to any one of claims 1 to 5,
The sensor device, wherein the predetermined direction is any one of a vertical direction, a horizontal direction, and a direction oblique to the vertical direction or the horizontal direction.