Illuminating device, driving method thereof and ranging module

Abstract

The present invention relates to an illumination device, a driving method thereof, and a distance measurement module. The illumination device includes: a light-emitting unit; a projection lens configured to project light emitted by the light-emitting unit; and a switching unit configured to switch the projected light between a first configuration for surface illumination and a second configuration for spot illumination. The illumination device according to the present invention can achieve both spot illumination and surface illumination while contributing to size reduction and price reduction.

Description

Technical Field

[0001] The present technology relates to an illumination device, a driving method thereof, and a distance measuring module, and in particular, to an illumination device, a driving method thereof, and a distance measuring module that can contribute to size reduction and price reduction while achieving both point illumination and surface illumination. Background Art

[0002] In recent years, as semiconductor technology has advanced, the size of distance measuring modules used to measure the distance to an object has also been reduced. Therefore, for example, smartphones equipped with distance measuring modules are also sold.

[0003] A time of flight (ToF) ranging module irradiates light toward an object and detects light reflected from the surface of the object, thereby calculating the distance to the object based on a measurement value obtained by measuring the flight time of the light.

[0004] Using spot light as the illumination light for an object has the advantage of improving distance measurement accuracy at high optical power density. However, it has the problem of low resolution because it is difficult to measure the distance to a portion not illuminated by the spot light.

[0005] In order to solve this problem, Patent Document 1 proposes using a light source having two modes: point light and surface light, thereby achieving the dual advantages of low multipath and high resolution.

[0006] Reference List

[0007] Patent documents

[0008] Patent Document 1: U.S. Patent Application Publication No. 2013 / 0148102 Summary of the Invention

[0009] Technical issues

[0010] However, two illumination modules, one for point illumination and the other for surface illumination, are required, which results in an increase in the size and cost of the modules.

[0011] The present technology has been proposed in view of such circumstances, and is expected to contribute to size reduction and price reduction while achieving both point irradiation and surface irradiation.

[0012] Technical Solution

[0013] According to an embodiment of the present disclosure, a system is provided, comprising: a light-emitting unit; a projection lens configured to project light emitted from the light-emitting unit; and a switching unit configured to switch the projected light between a first configuration for surface illumination and a second configuration for spot illumination. According to some aspects of the present disclosure, a system is provided, wherein the switching unit changes the focal length of the projection lens by moving the projection lens between at least a first position and a second position. According to some aspects of the present disclosure, a system is provided, wherein in the first position, the projection lens performs surface illumination. According to some aspects of the present disclosure, a system is provided, wherein in the second position, the projection lens performs spot illumination. According to some aspects of the present disclosure, a system is provided, wherein the light-emitting unit includes a light source array in which a plurality of light sources configured to emit light with a predetermined aperture size are arranged at a predetermined light source pitch. According to some aspects of the present disclosure, a system is provided, wherein a light source driver controls the position of the light-emitting unit from a first light source position for spot illumination to a second light source position for surface illumination. According to some aspects of the present disclosure, a system is provided, wherein the projection lens is a variable focus lens. According to some aspects of the present disclosure, a system is provided, wherein the switching unit is configured to switch between the first configuration and the second configuration by changing the refractive power of the projection lens. According to an embodiment of the present disclosure, a method for driving a system is provided, the method comprising: projecting light in a surface illumination configuration from a light-emitting unit of the system through the projection lens of the system; switching the projected light from the surface illumination configuration to a point illumination configuration through the switching unit of the system; and projecting light in the point illumination configuration from the light-emitting unit through the projection lens. According to some aspects of the present disclosure, a method is provided, wherein the switching unit changes the focal length of the projection lens by moving the projection lens between at least a first position and a second position. According to some aspects of the present disclosure, a system is provided, wherein in the first position, the projection lens performs surface illumination. According to some aspects of the present disclosure, a system is provided, wherein in the second position, the projection lens performs point illumination. According to some aspects of the present disclosure, a system is provided, wherein the light-emitting unit includes a light source array, in which a plurality of light sources configured to emit light with a predetermined aperture size are arranged at a predetermined light source pitch. According to some aspects of the present disclosure, a system is provided, wherein a light source driving unit controls the position of the light emitting unit from a first light source position for point illumination to a second light source position for surface illumination. According to some aspects of the present disclosure, a system is provided, wherein the projection lens is a variable focus lens. According to some aspects of the present disclosure, a system is provided, wherein the switching unit is configured to switch from the surface illumination configuration to the point illumination configuration by changing the refractive power of the projection lens.According to an embodiment of the present disclosure, there is provided a system comprising: a light-emitting portion; a projection lens configured to project light emitted from the light-emitting portion; a switching portion configured to switch between a first configuration for surface irradiation and a second configuration for point irradiation; and a light-receiving portion configured to receive reflected light. According to some aspects of the present disclosure, there is provided a system, wherein the switching portion changes the focal length of the projection lens by moving the projection lens between at least a first position and a second position. According to some aspects of the present disclosure, there is provided a system, wherein, when in the first position, the projection lens performs surface irradiation. According to some aspects of the present disclosure, there is provided a system, wherein, when in the second position, the projection lens performs point irradiation. According to an embodiment of the present technology, there is provided a lighting device, comprising: a light-emitting portion; a projection lens configured to project light emitted from the light-emitting portion; and a switching portion configured to change the focal length to switch between point irradiation and surface irradiation.

[0014] According to another embodiment of the present technology, a distance measurement module is provided, comprising: an illumination device; and a light receiving unit configured to receive reflected light, which is light emitted from the illumination device and reflected from an object. The illumination device includes: a light emitting unit; a projection lens configured to project the light emitted from the light emitting unit; and a switching unit or switch configured to change the focal length to switch between point illumination and surface illumination.

[0015] In the embodiment of the present technology, the focal length is changed to switch between point irradiation and surface irradiation.

[0016] The lighting device and the distance measurement module may be independent devices, or modules integrated into other devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 : is a block diagram showing a structural example of a distance measurement module to which one embodiment of the present technology is applied.

[0018] Figure 2 The diagram shows irradiation images of point irradiation and surface irradiation.

[0019] Figure 3 is a diagram illustrating an indirect ToF ranging method.

[0020] Figure 4 is a cross-sectional view showing a first structural example of the lighting device.

[0021] Figure 5A and Figure 5B A cross-sectional view showing the movement of the projection lens for switching between point illumination and area illumination is drawn.

[0022] Figure 6A and Figure 6B A graph showing each parameter is drawn.

[0023] Figure 7A and Figure 7B is a diagram showing spot lights overlapping with the following limits.

[0024] Figure 8A and Figure 8B This is a diagram showing spot lights overlapping at an upper limit value.

[0025] Figure 9 This is a graph showing the lower limit and upper limit of the amount of movement of the projection lens.

[0026] Figure 10 is a cross-sectional view showing a second structural example of the lighting device.

[0027] Figure 11 is a cross-sectional view showing a third structural example of the lighting device.

[0028] Figure 12 This is a graph showing the lower limit and upper limit of the refractive index of a variable focus lens.

[0029] Figure 13 FIG. 1 is a flow chart illustrating steps performed by a ranging module to measure a distance to an object.

[0030] Figure 14 is a block diagram showing a structural example of an electronic device to which the present technology is applied.

[0031] Figure 15 is a block diagram illustrating an example of a schematic structure of a vehicle control system.

[0032] Figure 16 It is a diagram for assisting in explaining an example of the installation positions of the vehicle exterior information detection unit and the imaging unit. DETAILED DESCRIPTION

[0033] Now, the mode for implementing the present technology (hereinafter referred to as "embodiment") is described. It should be noted that the following items are described in sequence:

[0034] 1. Example of the structure of the ranging module

[0035] 2. Indirect ToF ranging method

[0036] 3. First Structural Example of Illuminating Device

[0037] 4. Second Structural Example of the Illuminating Device

[0038] 5. Third structural example of the lighting device

[0039] 6. Measurement processing of ranging module

[0040] 7. Examples of electronic device structures

[0041] 8. Application examples of mobile objects

[0042] <1. Example of the structure of the ranging module>

[0043] Figure 1 : is a block diagram showing a structural example of a distance measurement module to which one embodiment of the present technology is applied.

[0044] Figure 1 The illustrated ranging module 11 may be, for example, a ranging module for performing indirect ToF ranging, and may include an illumination device 12, a light control unit 13, and a ranging sensor 14. The ranging module 11 irradiates light toward an object and receives light (reflected light) that is reflected by the object (irradiated light), thereby generating and outputting a depth map as information about the distance to the object. The ranging sensor 14 is a light receiving device for receiving the reflected light and includes a light receiving unit 15 and a signal processing unit 16.

[0045] The lighting device 12 is, for example, a device including a VCSEL array as a light source, and adjusts and emits light at a timing according to a light emission timing signal supplied from the light emission control section 13 , thereby emitting irradiation light toward an object.

[0046] Furthermore, the lighting device 12 switches between point illumination and surface illumination according to a point switching signal supplied from the light emission control unit 13 .

[0047] Figure 2 The diagram shows irradiation images of point irradiation and surface irradiation.

[0048] Spot illumination is an illumination method that irradiates light consisting of multiple circular or elliptical dots arranged regularly according to a predetermined rule. Area illumination is an illumination method that irradiates a predetermined, generally rectangular area with light having a uniform brightness within a predetermined brightness range. Hereinafter, light output through spot illumination is also referred to as "spot light," and light output through area illumination is also referred to as "uniform light."

[0049] The light control unit 13 provides a light emission timing signal having a predetermined frequency (e.g., 20 MHz) to the lighting device 12 to control the light emission of the lighting device 12. The light emission control unit 13 also provides a light emission timing signal to the light receiving unit 15, thereby driving the light receiving unit 15 when the lighting device 12 emits light.

[0050] Furthermore, the light control unit 13 controls the switching between spot illumination and surface illumination. Specifically, the light control unit 13 provides a spot switching signal indicating spot illumination or surface illumination to the lighting device 12. Furthermore, the light control unit 13 provides the spot switching signal to the signal processing unit 16, thereby switching the signal processing based on the illumination method.

[0051] The light receiving unit 15 includes a pixel array unit 22 and a drive control circuit 23 arranged in a peripheral area of the pixel array unit 22. The pixel array unit 22 includes pixels 21 arranged two-dimensionally in a matrix in the row and column directions. Each pixel 21 generates an electric charge according to the intensity of the received light and outputs a signal based on the electric charge.

[0052] The light receiving section 15 receives reflected light from an object through a pixel array section 22 in which a plurality of pixels 21 are two-dimensionally arranged. The light receiving section 15 then supplies pixel data including a detection signal based on the received light intensity of the reflected light received by each pixel 21 of the pixel array section 22 to the signal processing section 16.

[0053] The drive control circuit 23 generates a control signal for controlling driving of the pixels 21 based on the emission timing signal supplied from the emission control section 13, and supplies the control signal to each pixel 21. The drive control circuit 23 controls a light reception period in which each pixel 21 receives reflected light.

[0054] The signal processing unit 16 calculates a depth value, which is the distance from the ranging module 11 to the object, for each pixel 21 of the pixel array unit 22 based on the pixel data provided by the light receiving unit 15. The signal processing unit 16 generates a depth map that stores the depth values as the pixel values of the pixels 21 and outputs the depth map to the outside of the module.

[0055] More specifically, the signal processing unit 16 generates a first depth map under point illumination and a second depth map under surface illumination. The signal processing unit 16 generates a depth map to be output based on the two depth maps, the first depth map and the second depth map, and outputs the depth map. The first depth map under point illumination is a depth map that is less affected by multipath, but since the area illuminated by light is small, the resolution in the planar direction is low. Meanwhile, under surface illumination, since a wide area is illuminated by light, the resolution in the planar direction is high, but the multipath effect is greater than that of point illumination using point light. Therefore, a final depth map can be generated based on the two depth maps, the first depth map under point illumination and the second depth map under surface illumination, so that a high-resolution depth map that is less affected by multipath can be generated. In order to change the correction processing when generating the depth map between point illumination and surface illumination, a point switching signal indicating point illumination or surface illumination can be provided to the signal processing unit 16.

[0056] <2. Indirect ToF ranging method>

[0057] Reference Figure 3 , briefly explain the indirect ToF ranging method.

[0058] like Figure 3As shown, the lighting device 12 outputs regulated spot light or uniform light to repeatedly turn on and off the illumination for an illumination time T (one cycle = 2T). The light receiving unit 15 receives the spot light or uniform light output by the lighting device 12 after a delay time ΔT based on the distance to the object as reflected light.

[0059] Here, each pixel 21 of the pixel array section 22 includes a photodiode for photoelectrically converting reflected light and two charge accumulation sections for accumulating the charge obtained by the photodiode photoelectric conversion. The charge obtained by the photodiode photoelectric conversion is distributed to the two charge accumulation sections using distribution signals DIMIX_A and DIMIX_B. The distribution signals DIMIX_A and DIMIX_B have opposite phases.

[0060] The pixel 21 distributes the charge generated by the photodiode to the two charge accumulation sections according to the delay time ΔT, and outputs detection signals A and B based on the accumulated charge. The ratio of detection signals A and B depends on the delay time ΔT, in other words, the distance to the object. Therefore, the ranging module 11 can obtain the distance to the object (depth value) based on detection signals A and B.

[0061] In the indirect ToF method, a depth value d corresponding to the distance to the object can be obtained by the following expression (1).

[0062] [Number 1]

[0063]

[0064] In expression (1), c represents the speed of light, ΔT represents the delay time, and f represents the light adjustment frequency. In addition, in expression (1), It represents the phase shift of the reflected light [rad] and can be obtained from the ratio of detection signal A to detection signal B.

[0065] The above describes the overview of distance measurement by the distance measurement module 11. The distance measurement module 11 is characterized in that the lighting device 12 having a simple structure can switch between point illumination and surface illumination according to a point switching signal.

[0066] Now, a specific description will be given of the structure of the lighting device 12. As the structure of the lighting device 12, any of the following first to third structure examples can be adopted.

[0067] <3. First Structural Example of Illumination Device>

[0068] Figure 4 is a cross-sectional view showing a first structural example of the lighting device 12 .

[0069] Illuminating device 12 includes a light emitting portion 42 fixed to a predetermined surface of the inner circumference of a hollow quadrangular prism housing 41 and a diffractive optical element 43 fixed to a surface opposite to the surface to which light emitting portion 42 is fixed.

[0070] Furthermore, the lighting device 12 includes a projection lens 44 and lens driving units 45A and 45B. The lens driving units 45A and 45B are fixed to two surfaces of the inner circumference of the housing 41. These two surfaces face each other in a direction perpendicular to the optical axis connecting the light emitting unit 42 and the diffractive optical element 43. The lens driving units 45A and 45B move the projection lens 44 in the optical axis direction.

[0071] Figure 4 This is a cross-sectional view viewed from a direction perpendicular to the optical axis of light emitted from the light emitting portion 42 .

[0072] The light emitting section 42 includes a VCSEL array (light source array) in which a plurality of vertical cavity surface emitting lasers (VCSELs) are arranged in a plane. Each VCSEL is a light source and repeatedly turns on and off light emission in a predetermined cycle according to a light emission timing signal from the light emission control section 13, for example.

[0073] The diffractive optical element 43 replicates the light pattern (light-emitting surface) having a predetermined area and emitted from the light-emitting section 42 through the projection lens 44 in a direction perpendicular to the optical axis, thereby expanding the illuminated area. It should be noted that the diffractive optical element 43 may be omitted in some cases. For example, if the size of the VCSEL array used as the light-emitting section 42 is large, the diffractive optical element 43 may be omitted.

[0074] The projection lens 44 projects the light emitted by the light emitting section 42 onto the object to be measured. The projection lens 44 is fixed to lens driving sections 45A and 45B, and the lens driving sections 45A and 45B control the position of the projection lens 44 in the optical axis direction.

[0075] Specifically, when the point switching signal provided by the light emission control unit 13 indicates point illumination, the lens driving units 45A and 45B control the projection lens 44 to be positioned at a first lens position 51A in the direction of the optical axis. When the point switching signal indicates surface illumination, the lens driving units 45A and 45B control the projection lens 44 to be positioned at a second lens position 51B in the direction of the optical axis. The lens driving units 45A and 45B include, for example, a voice coil motor. When the current flowing through the voice coil is turned on or off according to the point switching signal, the position of the projection lens 44 switches to the first lens position 51A or the second lens position 51B. It should be noted that the lens driving units 45A and 45B may use a piezoelectric element instead of a voice coil motor to move the position of the projection lens 44 in the direction of the optical axis.

[0076] Figure 5A and Figure 5B A cross-sectional view showing the movement of the projection lens 44 for switching between point illumination and area illumination is drawn.

[0077] The lighting device 12 performs spot illumination when the distance between the light emitting unit 42 and the projection lens 44 is equal to the effective focal length EFL [mm] of the projection lens 44 .

[0078] Specifically, if Figure 5A As shown in FIG. 1 , when the position of the projection lens 44 in the optical axis direction is y0, the distance from the light emitting portion 42 including the VCSEL array to the projection lens 44 is the effective focal length EFL of the projection lens 44, and thus the lighting device 12 performs point illumination on the object. In this case, the projection lens 44 functions as a collimating lens. The projection lens 44 directs the light emitting portion 42 at a divergence angle θ. h The emitted light is converted into parallel light (light beam) having a diameter D, and the parallel light is output.

[0079] At the same time, if Figure 5B As shown, the illumination device 12 performs surface illumination when the distance between the light-emitting portion 42 and the projection lens 44 corresponds to position y1, which is closer to the light-emitting portion 42 by Δy than position y0, which corresponds to the effective focal length EFL [mm] of the projection lens 44. In other words, the illumination device 12 moves the projection lens 44 to a position where the projection lens 44 is out of focus to perform surface illumination. When the projection lens 44 is out of focus, the light emitted by the projection lens 44 spreads outward by an angle θ1 from the parallel light (light beam) having a diameter D. This angle θ1 is referred to as the "defocus divergence angle θ1."

[0080] The position y0 of the projection lens 44 corresponds to Figure 4 The first lens position 51A in the figure, position y1 corresponds to Figure 4 The second lens position 51B in.

[0081] In the first structural example, the lens driving sections 45A and 45B correspond to switching sections for changing the focal length to switch point illumination and surface illumination, and change the position of the projection lens 44 to switch point illumination and surface illumination.

[0082] When the dot switching signal supplied by the light emission control unit 13 indicates point illumination, the current flowing through the lens driving units 45A and 45B drops to zero, and the projection lens 44 is controlled to be at position y0. In contrast, when the dot switching signal supplied by the light emission control unit 13 indicates surface illumination, the current flowing through the lens driving units 45A and 45B becomes positive, and the projection lens 44 is controlled to be at position y1.

[0083] It should be noted that the control principle can be reversed. Specifically, when the point switching signal indicates point illumination, the current flowing through lens driving units 45A and 45B is positive, and projection lens 44 can be controlled to position y0. When the point switching signal indicates area illumination, the current flowing through lens driving units 45A and 45B can be reduced to zero, and projection lens 44 can be shifted to position y1 through control.

[0084] In order to ensure uniform irradiation in the surface irradiation, the lens driving units 45A and 45B are controlled so that the movement amount Δy from the position y0 to the position y1 falls within the lower limit value y min To the upper limit y max Within the range (y min ≦Δy≦y max ).

[0085] Here, the lower limit value y min and the upper limit y max are the value represented by Expression (2) and the value represented by Expression (3), respectively.

[0086] [Number 2]

[0087]

[0088]

[0089] Figure 6A and Figure 6B The parameters As, Ap, θ used for calculation in expressions (2) and (3) are plotted. h1 and θ h2 Picture.

[0090] Figure 6A It is a plan view of a portion including the light emitting section 42 of the VCSEL array as viewed from the optical axis direction. Figure 6B This is a plan view of light beams emitted from each VCSEL of the light emitting section 42 as viewed from a direction perpendicular to the optical axis direction.

[0091] like Figure 6A As shown, As represents the aperture size [mm] of each VCSEL in the light-emitting section 42 of the VCSEL array, and Ap represents the distance [mm] between the centers of the plurality of VCSELs arranged in the planar direction (the inter-light source distance). Therefore, the light-emitting section 42 is a VCSEL array in which a plurality of light sources (VCSELs) each emitting light with an aperture size As are arranged at the inter-light source distance Ap.

[0092] like Figure 6B As shown, in the spot illumination, the angle [rad] formed by adjacent spots is represented by S1, and the angle [rad] of the spot itself formed by one VCSEL is represented by S2.

[0093] In expression (2), θ h1 The divergence angle θ represents the VCSEL's far field pattern (FFP) laser intensity at a ratio of 45% to the peak intensity. h [rad]. In expression (3), θ h2 The divergence angle θ represents the VCSEL's far-field mode laser intensity at a ratio of 70% to the peak intensity. h [rad].

[0094] The lower limit value y represented by Expression (2) and Expression (3) is explained below. min and the upper limit y max Calculation method.

[0095] When switching from point illumination to area illumination, adjacent point light beams overlap with each other to achieve area illumination.

[0096] Specifically, as shown in the following expression (4), the defocus divergence angle θ1 in the surface illumination is switched so that it is larger than the angle obtained by adding half the angle S1 formed by adjacent points (S1 / 2) and half the angle S2 of the point itself (S2 / 2). This enables surface illumination that emits light uniformly over a flat area.

[0097] [Number 3]

[0098]

[0099] Here, S1 / 2 in Expression (4) can be approximately expressed by Expression (5) based on the inter-light source distance Ap of the VCSEL array and the effective focal length EFL of the projection lens 44.

[0100] [Number 4]

[0101]

[0102] In addition, S2 / 2 in Expression (4) can be approximately expressed by Expression (6) based on the aperture size As of the VCSEL and the effective focal length EFL of the projection lens 44.

[0103] [Number 5]

[0104]

[0105] Meanwhile, the defocus divergence angle θ1 in the surface irradiation can be calculated by using the movement amount Δy of the projection lens 44, the effective focal length EFL of the projection lens 44, and the divergence angle θ when the ratio [%] of the laser intensity in the far field mode of the VCSEL to the peak intensity is a predetermined value. h [rad] and the diameter D of the parallel light are expressed by Expression (7).

[0106] [Number 6]

[0107]

[0108] In Expression (7), D represents the diameter of the light beam collimated by the projection lens 44 and can be expressed by Expression (8).

[0109] [Number 7]

[0110] D=2×EFL×sin(θ h / 2) …(8)

[0111] The relationship between the movement amount Δy of the objective lens and the distance Ap between light sources of the VCSEL array can be obtained from the relationship between expressions (4) to (8).

[0112] [Number 8]

[0113]

[0114] For the expression (9) obtained as described above, the lower limit value y in the expression (2) is min The divergence angle θ of the VCSEL is h is the divergence angle θ when the ratio of laser intensity to peak intensity is 45% h1 .

[0115] like Figure 7A As shown, in the following cases, the divergence angle θ of the VCSEL h The divergence angle θ is when the ratio of the laser intensity in the far-field mode of the VCSEL to the peak intensity is 45%. h1 , the spot beams of adjacent VCSELs overlap each other at 45% of the laser intensity. Figure 7B As shown, the light intensity distribution after the spot beams of the VCSELs overlap each other is uniform at a laser intensity of approximately 80% to 100% of the peak intensity of each VCSEL.

[0116] Meanwhile, for Expression (9), the upper limit value y in Expression (3) is max The divergence angle θ of the VCSEL is h The divergence angle θ is when the ratio of the VCSEL's far-field mode laser intensity to the peak intensity is 70%. h2 .

[0117] like Figure 8A As shown, in the following cases, the divergence angle θ of the VCSEL h The divergence angle θ is when the ratio of the laser intensity in the far-field mode of the VCSEL to the peak intensity is 70%. h2, the spot beams of adjacent VCSELs overlap each other at 70% of the laser intensity. Figure 8B As shown, the light intensity distribution after the spot beams of the VCSELs overlap each other is uniform at a laser intensity of approximately 100% of the peak intensity of each VCSEL.

[0118] Therefore, when the movement amount Δy of the projection lens 44 is set to the lower limit value y in the expression (2), min and the upper limit value y in expression (3) max When the value is between , it is possible to emit uniform light with a laser intensity variation of 20% or less relative to the peak intensity. This can prevent partial reduction in laser intensity, thereby reducing the error in the measured distance at each distance measurement position during surface irradiation.

[0119] When the amount of movement Δy of the projection lens 44 is less than the lower limit value y in expression (2) min In this case, the overlapping portion of the point lights is small and the light intensity of some overlapping portions is low, so a basically uniform brightness cannot be obtained, which will result in a large distance error at the portion with low light intensity.

[0120] When the amount of movement Δy of the projection lens 44 is greater than the upper limit value y in expression (3) max In the case of , in some cases, although uniformity can be achieved when the laser intensity varies by 20% or less relative to the peak intensity in surface irradiation, the movement amount Δy of the projection lens 44 is large.

[0121] Figure 9 The lower limit value y of the movement amount Δy of the projection lens 44 when the distance between the light sources Ap of the VCSEL array changes from 0.03mm to 0.06mm is marked. min and the upper limit y max Picture.

[0122] exist Figure 9 In FIG. 4 , the horizontal axis represents the distance Ap between light sources of the VCSEL array, and the vertical axis represents the movement amount Δy of the projection lens 44 .

[0123] exist Figure 9 , calculate the lower limit y min and the upper limit y max , where the divergence angle θ of the VCSEL corresponding to 45% of the peak intensity h1 The divergence angle θ of the VCSEL is 0.314 rad, corresponding to 70% of the peak intensity h2 is 0.209 rad, the effective focal length EFL of the projection lens 44 is 2.5 mm, and the diameter D of the light beam emitted by the VCSEL aligned by the projection lens 44 is 0.012 mm.

[0124] exist Figure 9 In the calculation example shown, for example, when the distance Ap between light sources of the VCSEL array is 45 μm, when the movement amount Δy of the projection lens 44 is set within a range of approximately 0.1 mm to 0.15 mm (0.1 mm ≦ Δy ≦ 0.15 mm), surface illumination can emit light with a uniformity of 80% or more.

[0125] As described above, in the first configuration example, the lens driving units 45A and 45B move the projection lens 44 by the amount Δy during surface irradiation. At this time, the lens driving units 45A and 45B control the projection lens 44 so that the amount Δy from the lens position (first lens position) y0 for point irradiation to the lens position (second lens position) y1 for surface irradiation falls within the range of the lower limit y of the distance Ap between the light sources of the VCSEL array. min To the upper limit y max Within the range (y min ≦Δy≦y max ).

[0126] <4. Second Structural Example of Illumination Device>

[0127] Figure 10 is a cross-sectional view showing a second structural example of the lighting device 12 .

[0128] As in the first structural example Figure 4 , Figure 10 The cross-sectional view is a cross-sectional view viewed from a direction perpendicular to the optical axis.

[0129] exist Figure 10 In, with Figure 4 Portions corresponding to those of the illustrated first structural example are denoted by the same reference numerals, and description thereof is appropriately omitted.

[0130] exist Figure 4 In the structure of the first structural example shown, the projection lens 44 is moved in the optical axis direction to change the distance between the VCSEL array as the light emitting section 42 and the projection lens 44 , thereby switching between point illumination and surface illumination.

[0131] In contrast, Figure 10 In the second configuration example shown, the VCSEL array as the light emitting section 42 is moved in the optical axis direction to change the distance between the VCSEL array as the light emitting section 42 and the projection lens 44 .

[0132] Specifically, the projection lens 44 is fixed to the lens holder 71, and the lens holder 71 is fixed to the housing 41. Thus, the projection lens 44 is immovable.

[0133] Meanwhile, the light emitting portion 42 is fixed to light source driving portions 72A and 72B, which control the position of the light emitting portion 42 in the optical axis direction.

[0134] Specifically, when the point switching signal provided by the light control unit 13 indicates point illumination, the light source drivers 72A and 72B control the light emitting unit 42 to be positioned at a first light source position 81A along the optical axis. When the point switching signal indicates surface illumination, the light source drivers 72A and 72B control the light emitting unit 42 to be positioned at a second light source position 81B along the optical axis. The light source drivers 72A and 72B include, for example, voice coil motors. When the current flowing through the voice coil is turned on or off based on the point switching signal, the position of the light emitting unit 42 shifts to the first light source position 81A or the second light source position 81B. It should be noted that the light source drivers 72A and 72B may use a piezoelectric element instead of a voice coil motor to shift the position of the light emitting unit 42 along the optical axis.

[0135] In the second structural example, the light source driving sections 72A and 72B correspond to switching sections for changing the focal length to switch point illumination and surface illumination, and change the position of the light emitting section 42 to switch point illumination and surface illumination.

[0136] When the point switching signal supplied by the light emission control unit 13 indicates point illumination, the current flowing through the light source driving units 72A and 72B drops to zero, and the light emitting unit 42 is controlled to be positioned at the first light source position 81A in the optical axis direction. In contrast, when the point switching signal supplied by the light emission control unit 13 indicates surface illumination, the current flowing through the light source driving units 72A and 72B becomes positive, and the light emitting unit 42 is controlled to be positioned at the second light source position 81B in the optical axis direction.

[0137] It should be noted that the control principle can be reversed. Specifically, when the point switching signal indicates point illumination, the current flowing through the light source driving units 72A and 72B can be positive, and the light emitting unit 42 can be controlled to be positioned at the first light source position 81A in the direction of the optical axis. When the point switching signal indicates surface illumination, the current flowing through the light source driving units 72A and 72B can be reduced to zero, and the light emitting unit 42 can be shifted and positioned at the second light source position 81B in the direction of the optical axis.

[0138] When the position of the light emitting unit 42 in the optical axis direction is the first light source position 81A, the distance between the projection lens 44 and the light emitting unit 42 is the effective focal length EFL of the projection lens 44. When the position of the light emitting unit 42 in the optical axis direction is the second light source position 81B, the distance between the projection lens 44 and the light emitting unit 42 is a distance shorter than the effective focal length EFL of the projection lens 44 by the amount of movement Δy of the projection lens 44. In order to ensure uniform illumination during surface illumination, the light source driving units 72A and 72B control the amount of movement Δy so that it falls within the lower limit value y.min To the upper limit y max Within the range (y min ≦Δy≦y max ). As in the first structural example, the lower limit value y min and the upper limit y max It is expressed by Expression (2) and Expression (3).

[0139] As described above, in the second configuration example, the light source driving units 72A and 72B move the light emitting unit 42 by the movement amount Δy during surface irradiation. At this time, the light source driving units 72A and 72B control the light source driving units 72A and 72B so that the movement amount Δy from the first light source position 81A for point irradiation to the second light source position 81B for surface irradiation falls within the lower limit y of the inter-light source distance Ap based on the VCSEL array. min To the upper limit y max within the range of (ymin≦Δy≦ymax).

[0140] <5. Third Structural Example of Illumination Device>

[0141] Figure 11 is a cross-sectional view showing a third structural example of the lighting device 12 .

[0142] As in the first structural example Figure 4 , Figure 11 The cross-sectional view is a cross-sectional view viewed from a direction perpendicular to the optical axis.

[0143] exist Figure 11 In the drawings, parts corresponding to those of the first structural example or the second structural example described above are denoted by the same reference numerals, and description thereof is appropriately omitted.

[0144] In the first or second structural examples, either the light emitting unit 42 or the projection lens 44 is moved in the optical axis direction to change the focal length, thereby switching between point illumination and surface illumination. It should be noted that in variations of the first and second structural examples, both the light emitting unit 42 and the projection lens 44 can be moved in the optical axis direction to control the amount of movement Δy.

[0145] In contrast, Figure 11 In the third structural example shown, the light emitting portion 42 is directly fixed to the housing 41, and the projection lens 44 is fixed to the housing 41 via a lens fixing member 71. Both the light emitting portion 42 and the projection lens 44 are immovable.

[0146] In the third structural example, a lens fixing portion 92 on which a zoom lens 91 is mounted is further provided on the front surface (light-emitting side surface) of the diffractive optical element 43. Light emitted from the light-emitting portion 42 passes through the projection lens 44, the diffractive optical element 43, and the zoom lens 91 and is irradiated onto the object.

[0147] The variable focus lens 91 can be a lens whose shape can be changed. For example, the variable focus lens 91 can be an elastic membrane filled with a liquid such as silicone oil or water, and deformed by receiving pressure from a voice coil motor. Alternatively, the shape of the lens material of the variable focus lens 91 can be changed by applying high voltage to the lens material or applying voltage to a piezoelectric material. When the shape of the lens material changes, the focal length can be changed. Alternatively, the refractive index of the liquid crystal layer of the variable focus lens 91 can be changed by applying voltage to the liquid crystal sealed in the lens material, thereby changing the focal length.

[0148] More specifically, when the point switching signal provided by the light emission control unit 13 indicates point illumination, the zoom lens 91 is controlled to adopt the first shape 101A. When the point switching signal indicates surface illumination, the zoom lens 91 is controlled to adopt the second shape 101B.

[0149] When the lens shape of the zoom lens 91 is the first shape 101A, the refractive power (power) of the lens is zero or negative. Meanwhile, when the lens shape of the zoom lens 91 is the second shape 101B, the refractive power (power) of the lens is positive.

[0150] The variable focus lens 91 corresponds to a switching portion, and is configured to change the shape (curvature) or refractive index of the lens to control the refractive power of the lens, thereby switching between point illumination and surface illumination.

[0151] When the point switching signal supplied by the light emission control unit 13 indicates point illumination, the current flowing through the variable focus lens 91 drops to zero, and the variable focus lens 91 is controlled to a first shape 101A corresponding to zero refractive power. In contrast, when the point switching signal supplied by the light emission control unit 13 indicates surface illumination, the current flowing through the variable focus lens 91 takes a positive value, and the variable focus lens 91 is controlled to a second shape 101B corresponding to a refractive power having a positive value greater than zero.

[0152] It should be noted that the control principle can be reversed. Specifically, when the point switching signal indicates point illumination, the current flowing through the zoom lens 91 can take a positive value, and the zoom lens 91 can be controlled to the first shape 101A. When the point switching signal indicates surface illumination, the current flowing through the zoom lens 91 can be reduced to zero, and the zoom lens 91 can be controlled to the second shape 101B.

[0153] In order to ensure uniform illumination in the surface illumination, the variable focus lens 91 is controlled so that the refractive power (power) of the lens Y p Falls at the lower limit Y pmin To the upper limit Y pmax Within the range (Y pmin ≦Y p≦Y pmax ).

[0154] Here, the lower limit value Y pmin and upper limit value Y pmax The value represented by Expression (10) and the value represented by Expression (11) are respectively adopted.

[0155] [Number 9]

[0156]

[0157]

[0158] In expressions (10) and (11), θ h =45% represents the divergence angle θ when the ratio of the laser intensity in the far-field mode of the VCSEL to the peak intensity is 45%. h [rad], θ h =70% represents the divergence angle θ when the ratio of the laser intensity in the far-field mode of the VCSEL to the peak intensity is 70%. h [rad]. In addition, A / EFL 2 It represents a coefficient used for conversion into the refractive power (power) of the lens, and A represents a predetermined constant.

[0159] Figure 12 It shows the refractive power Y of the variable focus lens 91 when the distance Ap between the light sources of the VCSEL array changes from 0.03 mm to 0.06 mm. p The lower limit value Y pmin and upper limit value Y pmax Picture.

[0160] exist Figure 12 In the figure, the horizontal axis represents the distance Ap between the light sources of the VCSEL array, and the vertical axis represents the refractive power Y of the variable focus lens 91. p .

[0161] exist Figure 12 , calculate the lower limit value Y pmin and upper limit value Y pmax , where the divergence angle θ of the VCSEL corresponding to 45% of the peak intensity h =45% is 0.314 rad, corresponding to the divergence angle θ of the VCSEL at 70% of the peak intensity h =70% is 0.209 rad, the effective focal length EFL of the projection lens 44 is 2.5 mm, the diameter D of the light beam emitted by the VCSEL aligned by the projection lens 44 is 0.012 mm, and the constant A is 1093.3.

[0162] exist Figure 12In the calculation example shown, for example, when the distance Ap between light sources of the VCSEL array is 45 μm, the refractive power Y of the variable focus lens 91 is p When set within a range of approximately 17.5 diopters to 26 diopters (0.1 mm≦Δy≦0.15 mm), surface illumination can emit light with a uniformity of 80% or more.

[0163] As described above, in the third structural example, the variable focus lens 91 can change the shape (curvature) or refractive index of the lens in the surface illumination. At this time, the variable focus lens 91 controls the shape (curvature) or refractive index of the lens so that the refractive power Y of the lens p Falls at the lower limit Y pmin To the upper limit Y pmax Within the range (Y pmin ≦Y p ≦Y pmax ).

[0164] <6. Measurement Processing of the Ranging Module>

[0165] Reference Figure 13 , which illustrates a measurement process performed by the distance measurement module 11 to measure the distance to an object.

[0166] This process starts, for example, when the start of measurement is instructed by the control unit of the host device including the ranging module 11 .

[0167] First, in step S1 , the light emission control unit 13 supplies a spot switching signal indicating spot irradiation to the lighting device 12 and the signal processing unit 16 .

[0168] In step S2 , the light emission control section 13 supplies a light emission timing signal having a predetermined frequency (for example, 20 MHz) to the lighting device 12 and the light receiving section 15 .

[0169] In step S3, the lighting device 12 controls the light emitting unit 42, the projection lens 44, or the zoom lens 91 based on the point switching signal indicating point irradiation from the light emitting control unit 13. Specifically, when the lighting device 12 is configured as Figure 4 In the case of the first structural example shown, the lens position of the projection lens 44 is shifted to the first lens position 51A by control. Figure 10 In the case of the second structural example shown, the light source position of the light emitting portion 42 is shifted to the first light source position 81A by control. Figure 11 In the case of the third structural example shown, the lens shape of the variable focus lens 91 is changed by control to a first shape 101A corresponding to zero refractive power.

[0170] In step S4, the lighting device 12 controls the light emitting unit 42 to emit light based on the light emission timing signal from the light emission control unit 13, thereby irradiating the object with the irradiation light. In this way, the lighting device 12 emits light by point irradiation.

[0171] In step S5 , the distance measuring sensor 14 receives reflected light of the illumination light in the spot illumination reflected by the object, and generates a first depth map in the spot illumination.

[0172] More specifically, each pixel 21 of the light receiving unit 15 receives reflected light from an object under the control of the drive control circuit 23. Each pixel 21 outputs detection signals A and B to the signal processing unit 16 as pixel data. Detection signals A and B are obtained by distributing the charge generated by the photodiode to two charge accumulation units according to a delay time ΔT. Based on the pixel data provided by the light receiving unit 15, the signal processing unit 16 calculates a depth value representing the distance from the ranging module 11 to the object for each pixel 21 of the pixel array unit 22, thereby generating a depth map that stores the depth values of each pixel 21. The signal processing unit 16 has already received the spot switching signal indicating spot illumination in the process of step S3. Therefore, the signal processing unit 16 performs depth map generation processing corresponding to spot illumination to generate a first depth map.

[0173] In step S6 , the light emission control unit 13 supplies a point switching signal indicating surface illumination to the lighting device 12 and the signal processing unit 16 .

[0174] In step S7, the light emission control section 13 supplies a light emission timing signal having a predetermined frequency to the lighting device 12 and the light receiving section 15. When the light emission timing signal is continuously supplied in and after the process of step S2, the process of step S7 is omitted.

[0175] In step S8, the lighting device 12 controls the light emitting unit 42, the projection lens 44, or the zoom lens 91 based on the point switching signal indicating the surface illumination from the light emitting control unit 13. Specifically, when the lighting device 12 is configured as Figure 4 In the case of the first structural example shown, the lens position of the projection lens 44 can be shifted to the second lens position 51B by control. Figure 10 In the case of the second structural example shown, the light source position of the light emitting portion 42 can be shifted to the second light source position 81B by control. Figure 11 In the case of the third structural example shown, the lens shape of the variable focus lens 91 can be changed by control to correspond to the second shape 101B having a refractive power with a positive value greater than zero.

[0176] In step S9, the lighting device 12 controls the light emitting unit 42 to emit light based on the light emission timing signal from the light emission control unit 13, thereby irradiating the object with the irradiation light. In this way, the lighting device 12 emits light by surface illumination.

[0177] In step S10, the distance measuring sensor 14 receives reflected light from the surface illumination light reflected by the object and generates a second depth map for the surface illumination. The signal processing unit 16 has already received the point switching signal indicating the surface illumination in step S6. Therefore, the signal processing unit 16 performs depth map generation processing corresponding to the surface illumination to generate a second depth map.

[0178] In step S11 , the signal processing unit 16 generates a depth map to be output based on two depth maps, namely, the first depth map in point irradiation and the second depth map in area irradiation, and outputs the depth map.

[0179] In step S12, the distance measurement module 11 determines whether to end the measurement. For example, if the master device has provided a command to end the measurement, the distance measurement module 11 determines to end the measurement.

[0180] When it is determined in step S12 that the measurement is not to be ended (ie, the measurement is continued), the process returns to step S1 and the processes of steps S1 to S12 as described above are repeated. Meanwhile, when it is determined in step S12 that the measurement is to be ended, Figure 13 The measurement process is completed.

[0181] It should be noted that in the above process, the depth map generation based on point illumination is performed first, and then the depth map generation based on area illumination is performed. This order can also be reversed. Specifically, the depth map generation based on area illumination can be performed first, and then the depth map generation based on point illumination is performed.

[0182] Through the above measurement process, the ranging module 11 switches between point illumination and area illumination, generating two depth maps: a first depth map for point illumination and a second depth map for area illumination. The ranging module 11 then generates a final depth map for output based on the first and second depth maps. This allows for the generation of a high-resolution depth map while minimizing the effects of multipath.

[0183] The distance measurement module 11 can achieve both point illumination (point lighting) and surface illumination (surface illumination) using a single lighting unit. Specifically, the lighting device 12, which functions as a lighting device, controls the light emitting unit 42, the projection lens 44, or the zoom lens 91 to achieve both point illumination and surface illumination. This helps reduce the size and price of the lighting device 12.

[0184] <7. Example of electronic device structure>

[0185] The distance measurement module 11 can be installed on an electronic device, for example, a smart phone, a tablet terminal, a mobile phone, a personal computer, a game console, a television, a wearable terminal, a digital camera or a digital video camera.

[0186] Figure 14 is a block diagram showing a structural example of a smartphone as an electronic device equipped with a distance measurement module.

[0187] like Figure 14 As shown, the smartphone 201 includes a distance measurement module 202, a camera 203, a display 204, a speaker 205, a microphone 206, a communication module 207, a sensor unit 208, a touch screen 209, and a control unit 210, which are connected to each other via a bus 211. In addition, the control unit 210 functions as an application processing unit 221 and an operating system processing unit 222 by the CPU executing the program.

[0188] Figure 1 The distance measurement module 11 in the embodiment is used for the distance measurement module 202. For example, the distance measurement module 202 is arranged on the front surface of the smartphone 201. The distance measurement module 202 measures the distance of the user of the smartphone 201, thereby being able to output a depth value of the surface shape of the user's face, hand, finger, etc. as a distance measurement result.

[0189] The camera 203 is arranged on the front surface of the smartphone 201 and captures an image of a target who is a user of the smartphone 201 to obtain an image in which the user appears. It should be noted that although not shown, the camera 203 may also be arranged on the rear surface of the smartphone 201.

[0190] The display 204 displays an operation screen where the application processing unit 221 and the operating system processing unit 222 execute processing, an image captured by the camera 203, etc. When the smartphone 201 is used to make a call, for example, the speaker 205 and the microphone 206 output the voice of others and collect the user's voice.

[0191] The communication module 207 performs communication via a communication network. The sensor unit 208 senses speed, acceleration, proximity, etc. The touch screen 209 acquires a touch operation of a user on the operation screen displayed on the display 204 .

[0192] The application processing unit 221 performs processing for various services provided by the smartphone 201. For example, the application processing unit 221 can perform processing to create a face that virtually reproduces the user's facial expressions using computer graphics based on the depth map provided by the ranging module 202, and control the display 204 to display the face. Furthermore, the application processing unit 221 can perform processing to create three-dimensional shape data of any three-dimensional object based on the depth map provided by the ranging module 202, for example.

[0193] The operating system processing unit 222 performs processing for implementing the basic functions and operations of the smartphone 201. For example, the operating system processing unit 222 can perform processing for authenticating the user's face based on the depth map provided by the ranging module 202 and unlocking the smartphone 201. Furthermore, the operating system processing unit 222 can perform processing for recognizing the user's gestures based on the depth map provided by the ranging module 202 and inputting various operations based on the gestures.

[0194] For example, by employing the distance measurement module 11 including the lighting device 12 that is reduced in size and price, the smartphone 201 thus configured can detect distance measurement information more accurately while reducing the installation area of the distance measurement module 11 .

[0195] <8. Application Examples of Mobile Objects>

[0196] The technology according to the present disclosure (the present technology) is applicable to various products. For example, the technology according to the present disclosure can be implemented as a device installed on any type of mobile object such as an automobile, an electric vehicle, a hybrid vehicle, a motorcycle, a bicycle, a personal mobility device, an airplane, an unmanned aerial vehicle, a ship, and a robot.

[0197] Figure 15 : is a block diagram showing an example of a schematic structure of a vehicle control system as an example of a mobile body control system (to which the technology according to the embodiment of the present disclosure can be employed).

[0198] The vehicle control system 12000 includes a plurality of electronic control units connected to each other via a communication network 12001. Figure 15 In the illustrated example, a vehicle control system 12000 includes a drive system control unit 12010, a main body system control unit 12020, an exterior information detection unit 12030, an interior information detection unit 12040, and an integrated control unit 12050. Furthermore, a microcomputer 12051, a sound / image output unit 12052, and an in-vehicle network interface (I / F) 12053 are shown as the functional configuration of the integrated control unit 12050.

[0199] The drive system control unit 12010 controls the operation of devices related to the vehicle's drive system according to various programs. For example, the drive system control unit 12010 functions as a control device for a drive force generating device (such as an internal combustion engine, a drive motor, etc.) for generating the vehicle's drive force, a drive force transmission mechanism for transmitting the drive force to the wheels, a steering mechanism for adjusting the vehicle's steering angle, and a braking device for generating the vehicle's braking force.

[0200] The main body system control unit 12020 controls the operation of various devices installed in the vehicle body according to various programs. For example, the main body system control unit 12020 functions as a control device for a keyless entry system, a smart key system, power windows, and various lights such as the headlights, backup lights, brake lights, turn signals, and fog lights. In this case, radio waves transmitted from a mobile device in place of a key or signals from various switches can be input to the main body system control unit 12020. The main body system control unit 12020 receives these input radio waves or signals and controls the vehicle's door locks, power windows, lights, and the like.

[0201] The vehicle exterior information detection unit 12030 detects information about the exterior of the vehicle including the vehicle control system 12000. For example, the vehicle exterior information detection unit 12030 is connected to the imaging unit 12031. The vehicle exterior information detection unit 12030 causes the imaging unit 12031 to image the exterior of the vehicle and receives the imaged image. Based on the received image, the vehicle exterior information detection unit 12030 can detect objects such as people, vehicles, obstacles, signs, and symbols on the road, or detect the distance to such objects.

[0202] The imaging unit 12031 is an optical sensor that receives light and outputs an electrical signal corresponding to the amount of light received. The imaging unit 12031 can output the electrical signal as an image or as information about the measured distance. The light received by the imaging unit 12031 can be visible light or invisible light such as infrared light.

[0203] The in-vehicle information detection unit 12040 detects information about the vehicle interior. For example, the in-vehicle information detection unit 12040 is connected to a driver status detection unit 12041 that detects the driver's condition. For example, the driver status detection unit 12041 includes a camera that captures the driver's image. Based on the detection information input from the driver status detection unit 12041, the in-vehicle information detection unit 12040 can calculate the driver's fatigue level or concentration, or determine whether the driver is dozing off.

[0204] The microcomputer 12051 can calculate control target values for the driving force generation device, the steering mechanism, or the braking device based on information about the interior or exterior of the vehicle obtained by the vehicle exterior information detection unit 12030 or the vehicle interior information detection unit 12040, and output control commands to the drive system control unit 12010. For example, the microcomputer 12051 can perform cooperative control for implementing functions of an advanced driver assistance system (ADAS), including collision avoidance or shock absorption of the vehicle, follow-up driving based on following distance, speed maintenance driving, vehicle collision warning, lane departure warning, and the like.

[0205] In addition, the microcomputer 12051 can perform collaborative control for automatic driving (enabling the vehicle to drive autonomously without relying on the driver's operation) by controlling the driving force generation device, steering mechanism, braking device, etc. based on the information about the outside or inside of the vehicle obtained through the outside information detection unit 12030 or the inside information detection unit 12040.

[0206] In addition, the microcomputer 12051 can output a control command to the main system control unit 12020 based on information about the exterior of the vehicle obtained by the exterior information detection unit 12030. For example, the microcomputer 12051 can perform cooperative control for preventing glare by controlling the headlights to change from high beam to low beam based on the position of a preceding vehicle or an oncoming vehicle detected by the exterior information detection unit 12030.

[0207] The sound / image output unit 12052 transmits an output signal of at least one of sound and image to an output device capable of visually or auditorily indicating information to a user of the vehicle or to the outside of the vehicle. Figure 15 In the example of FIG, an audio speaker 12061, a display portion 12062, and a device panel 12063 are shown as output devices. The display portion 12062 may include, for example, at least one of an in-vehicle display and a head-up display.

[0208] Figure 16 This is a diagram showing an example of the installation position of the camera unit 12031.

[0209] exist Figure 16 , the camera unit 12031 includes camera units 12101 , 12102 , 12103 , 12104 and 12105 .

[0210] Camera units 12101, 12102, 12103, 12104, and 12105 are positioned, for example, on the front nose, side mirrors, rear bumper, and rear doors of vehicle 12100, as well as above the windshield inside the vehicle. Camera unit 12101 located on the front nose and camera unit 12105 located above the windshield inside the vehicle primarily capture images of the front of vehicle 12100. Camera units 12102 and 12103 located on the side mirrors primarily capture images of the sides of vehicle 12100. Camera unit 12104 located on the rear bumper or rear door primarily captures images of the rear of vehicle 12100. Camera unit 12105 located above the windshield inside the vehicle primarily detects vehicles ahead, pedestrians, obstacles, signals, traffic signs, lanes, and the like.

[0211] in addition, Figure 16Examples of the imaging ranges of imaging units 12101 through 12104 are shown. Imaging range 12111 represents the imaging range of imaging unit 12101 located at the front nose. Imaging ranges 12112 and 12113 represent the imaging ranges of imaging units 12102 and 12103 located at the side mirrors, respectively. Imaging range 12114 represents the imaging range of imaging unit 12104 located at the rear bumper or rear door. For example, a bird's-eye view of vehicle 12100 as viewed from above can be obtained by superimposing image data captured by imaging units 12101 through 12104.

[0212] At least one of the imaging units 12101 to 12104 may have a function of acquiring distance information. For example, at least one of the imaging units 12101 to 12104 may be a stereo camera composed of a plurality of imaging elements, or may be an imaging element having pixels for phase difference detection.

[0213] For example, microcomputer 12051 can determine the distance to each three-dimensional object within imaging ranges 12111 to 12114 and its temporal change (relative speed to vehicle 12100) based on the distance information obtained from imaging units 12101 to 12104. It can then extract the closest three-dimensional object (specifically, one located on the path of vehicle 12100 and traveling in substantially the same direction as vehicle 12100 at a predetermined speed (e.g., equal to or greater than 0 km / h)) as the preceding vehicle. Furthermore, microcomputer 12051 can pre-set a desired following distance from the preceding vehicle and perform automatic braking control (including follow-stop control) and automatic acceleration control (including follow-start control). This enables coordinated control for automated driving (e.g., enabling the vehicle to travel autonomously without driver input).

[0214] For example, based on the distance information obtained from the imaging units 12101 to 12104, the microcomputer 12051 can classify the three-dimensional object data related to three-dimensional objects into three-dimensional object data for two-wheeled vehicles, standard vehicles, large vehicles, pedestrians, utility poles, and other three-dimensional objects, select the classified three-dimensional object data, and use the selected three-dimensional object data to automatically avoid obstacles. For example, the microcomputer 12051 identifies obstacles around the vehicle 12100 as obstacles that the driver of the vehicle 12100 can visually identify and obstacles that are difficult for the driver of the vehicle 12100 to visually identify. In addition, the microcomputer 12051 determines a collision risk indicating the risk of collision with each obstacle. If the collision risk is equal to or greater than a set value and a collision is likely, the microcomputer 12051 outputs a warning to the driver via the audio speaker 12061 or the display unit 12062, and the drive system control unit 12010 performs forced deceleration or evasive steering. The microcomputer 12051 thus assists driving and avoids collisions.

[0215] At least one of the imaging units 12101 to 12104 may be an infrared camera that detects infrared rays. The microcomputer 12051 can, for example, identify pedestrians by determining whether a pedestrian is present in the images captured by the imaging units 12101 to 12104. This pedestrian identification is achieved, for example, by extracting feature points from the images captured by the imaging units 12101 to 12104, which are infrared cameras, and then performing pattern matching on a series of feature points representing the outline of an object to determine whether the object is a pedestrian. When the microcomputer 12051 determines that a pedestrian is present in the images captured by the imaging units 12101 to 12104 and identifies the pedestrian, the audio / video output unit 12052 controls the display unit 12062 to display a square outline superimposed on the identified pedestrian for emphasis. The audio / video output unit 12052 may also control the display unit 12062 to display an icon representing the pedestrian at a desired location.

[0216] An example of a vehicle control system employing the technology disclosed herein has been described above. The technology disclosed herein can be applied to the exterior vehicle information detection unit 12030 or the interior vehicle information detection unit 12040 in the above-described configuration. Specifically, by utilizing the ranging module 11 to measure distance in the exterior vehicle information detection unit 12030 or the interior vehicle information detection unit 12040, processing for identifying the driver's posture is performed, enabling the operation of various devices (e.g., an audio system, a navigation system, and an air conditioning system) based on the posture, or enabling more accurate detection of the driver's condition. Furthermore, for example, by utilizing the ranging module 11 to measure distance, uneven road surfaces can be identified and reflected in the suspension control. By utilizing the ranging module 11 including the reduced size and reduced price lighting device 12, it is possible to more accurately detect ranging information while reducing the installation area of the ranging module 11.

[0217] It should be noted that in addition to the indirect ToF ranging module, the technology according to the present disclosure can be applied to a direct ToF ranging module or a structured light ranging module. In addition, the technology according to the present disclosure can be applied to any lighting device configured to switch between point illumination and surface illumination.

[0218] The embodiments of the present technology are not limited to the above-described embodiments, and various changes can be made within the scope of the gist of the present technology.

[0219] The various techniques of the present invention described herein can be implemented independently of one another, as long as they do not conflict. Of course, the various techniques of the present invention can be implemented in any combination. For example, part or all of the present technology described in any embodiment can be implemented in combination with part or all of the present technology described in other embodiments. In addition, part or all of any of the above-mentioned techniques can be implemented in combination with other techniques not described above.

[0220] In addition, for example, a configuration described as one device (or processing unit) may be divided into multiple devices (or processing units). Conversely, a configuration described above as multiple devices (or processing units) may be arranged in one device (or processing unit). In addition, it is of course possible to add configurations other than those described above to the configurations of each device (or each processing unit). Moreover, as long as the configuration and operation of the entire system are substantially the same, the configurations of some devices (or processing units) may be partially included in the configurations of other devices (or other processing units).

[0221] Here, a "system" refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all components are in the same cabinet. Therefore, multiple devices housed in separate cabinets and connected to each other via a network, as well as a single device consisting of multiple modules housed in a single cabinet, are both "systems."

[0222] In addition, for example, the program described above can be executed by any device. In this case, it is sufficient that the device has a desired function (for example, a functional block) and can thus obtain desired information.

[0223] It should be noted that the effects described here are merely exemplary and non-limiting, and effects other than those described here may be provided.

[0224] It should be noted that the present technology can adopt the following configurations. (1)

[0226] A lighting device, comprising:

[0227] luminous part;

[0228] a projection lens configured to project light emitted from the light emitting portion; and

[0229] The switching portion is configured to change the focal length to switch between point illumination and surface illumination. (2)

[0231] A lighting device according to item (1),

[0232] The switching unit moves the projection lens to a position where the projection lens is not focused, thereby performing surface illumination. (3)

[0234] A lighting device according to item (1) or (2),

[0235] The switching unit includes a lens driving unit configured to control the position of the projection lens, and

[0236] The lens driving unit changes the position of the projection lens to switch between point illumination and surface illumination. (4)

[0238] A lighting device according to item (3),

[0239] The light emitting portion includes a light source array, in which a plurality of light sources configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch. (5)

[0241] A lighting device according to item (4),

[0242] The lens driving unit controls the position of the projection lens so that a movement amount from a first lens position for point illumination to a second lens position for surface illumination is equal to or greater than a predetermined lower limit value based on a predetermined light source interval. (6)

[0244] A lighting device according to item (5),

[0245] Among them, the following expressions are satisfied:

[0246] [Number 10]

[0247]

[0248] Among them, y min represents a predetermined lower limit value, EFL represents the effective focal length of the projection lens, Ap represents a predetermined light source spacing, As represents a predetermined aperture size, θ h1 It indicates the divergence angle when the ratio of laser intensity to peak intensity is 45%. (7)

[0250] A lighting device according to item (5) or (6),

[0251] The lens driving unit controls the position of the projection lens so that a movement amount from a first lens position for point illumination to a second lens position for surface illumination is equal to or smaller than a predetermined upper limit value based on a predetermined light source interval. (8)

[0253] A lighting device according to item (7),

[0254] Among them, the following expressions are satisfied:

[0255] [Number 11]

[0256]

[0257] Among them, y max represents a predetermined upper limit value, EFL represents the effective focal length of the projection lens, Ap represents a predetermined light source spacing, As represents a predetermined aperture size, θ h2 It indicates the divergence angle when the ratio of laser intensity to peak intensity is 70%. (9)

[0259] The lighting device according to any one of items (4) to (8), further comprising:

[0260] A diffractive optical element is configured to replicate a light emission pattern having a predetermined area emitted from a light source array in a direction perpendicular to the optical axis direction, thereby expanding an irradiated area. (10)

[0262] The lighting device according to any one of items (1) to (9),

[0263] The current flowing through the lens drive unit drops to zero during surface irradiation and takes a positive value during point irradiation. (11)

[0265] The lighting device according to any one of items (3) to (10),

[0266] Wherein, the lens driving unit includes a voice coil motor or a piezoelectric element. (12)

[0268] A lighting device according to item (1),

[0269] The switching unit includes a light source driving unit configured to control the position of the light emitting unit, and

[0270] The light source driving unit changes the position of the light emitting unit to switch between point illumination and surface illumination. (13)

[0272] A lighting device according to item (12),

[0273] The light emitting portion includes a light source array, in which a plurality of light sources each configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch, and

[0274] The light source driving section controls the position of the light emitting section so that a movement amount from a first light source position for point irradiation to a second light source position for surface irradiation is equal to or greater than a predetermined lower limit value based on a predetermined light source pitch. (14)

[0276] A lighting device according to item (13),

[0277] The light source driving unit controls the position of the light emitting unit so that the movement amount from the first light source position for point irradiation to the second light source position for surface irradiation is equal to or less than a predetermined upper limit value based on a predetermined light source spacing. (15)

[0279] A lighting device according to item (14),

[0280] Among them, the following expressions are satisfied:

[0281] [Number 12]

[0282]

[0283]

[0284] Among them, y min Indicates the predetermined lower limit value, y max represents a predetermined upper limit value, EFL represents the effective focal length of the projection lens, Ap represents a predetermined light source spacing, As represents a predetermined aperture size, θ h1The divergence angle when the ratio of laser intensity to peak intensity is 45%, θ h2 It indicates the divergence angle when the ratio of laser intensity to peak intensity is 70%. (16)

[0286] A lighting device according to item (1),

[0287] Wherein, the switching unit includes a variable focus lens, and

[0288] The variable focus lens changes the refractive index of the lens, thereby switching between point illumination and surface illumination. (17)

[0290] A lighting device according to item (16),

[0291] The light emitting portion includes a light source array, in which a plurality of light sources each configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch, and

[0292] The variable focus lens can change the shape or refractive index of the lens so that the refractive index of the lens takes a value equal to or greater than a predetermined lower limit value based on a predetermined inter-light source distance under surface illumination. (18)

[0294] A lighting device according to item (17),

[0295] The variable focus lens can change the shape or refractive index of the lens so that the refractive index of the lens takes a value equal to or less than a predetermined upper limit value based on the predetermined distance between light sources under surface illumination. (19)

[0297] A lighting device according to item (18),

[0298] Among them, the following expressions are satisfied:

[0299] [Number 13]

[0300]

[0301]

[0302] Among them, y min Indicates the predetermined lower limit value, y max represents a predetermined upper limit value, EFL represents the effective focal length of the projection lens, Ap represents a predetermined light source spacing, As represents a predetermined aperture size, θ h1 The divergence angle when the ratio of laser intensity to peak intensity is 45%, θ h2 represents the divergence angle when the ratio of laser intensity to peak intensity is 70%, and A represents a predetermined constant. (20)

[0304] A ranging module, comprising:

[0305] lighting fixtures, and

[0306] a light receiving portion configured to receive reflected light which is light emitted from the lighting device and reflected by an object,

[0307] The lighting device comprises:

[0308] luminous part;

[0309] a projection lens configured to project light emitted from the light emitting portion; and

[0310] The switching portion is configured to change the focal length to switch between point illumination and surface illumination. (twenty one)

[0312] A system comprising:

[0313] luminous part;

[0314] a projection lens configured to project light emitted from the light emitting portion; and

[0315] A switching portion is configured to switch the projected light between a first configuration for area illumination and a second configuration for point illumination. (twenty two)

[0317] The system according to item (21), wherein the switching section changes the focal length of the projection lens by moving the projection lens between at least a first position and a second position. (twenty three)

[0319] The system according to item (22), wherein, when in the first position, the projection lens performs surface illumination. (twenty four)

[0321] The system according to item (22), wherein, in the second position, the projection lens performs point illumination. (25)

[0323] The system according to item (21), wherein the light emitting portion includes a light source array in which a plurality of light sources configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch. (26)

[0325] A system according to item (25), wherein the light source driving section controls the position of the light emitting section from a first light source position for point irradiation to a second light source position for surface irradiation. (27)

[0327] The system according to item (21), wherein the projection lens is a variable focus lens. (28)

[0329] The system according to item (27), wherein the switching section is configured to switch between the first configuration and the second configuration by changing the refractive power of the projection lens. (29)

[0331] A method for driving a system, the method comprising:

[0332] irradiating a configured light from a light emitting portion of the system through a projection lens of the system onto a projection surface;

[0333] switching the projected light from the surface irradiation configuration to a point irradiation configuration by a switching portion of the system; and

[0334] The light in the point irradiation configuration is projected from the light emitting portion through the projection lens. (30)

[0336] The method according to item (29), wherein the switching section changes the focal length of the projection lens by moving the projection lens between at least a first position and a second position. (31)

[0338] The method according to item (30), wherein, when in the first position, the projection lens performs surface illumination. (32)

[0340] The method according to item (30), wherein, when in the second position, the projection lens performs point illumination. (33)

[0342] The method according to item (30), wherein the light emitting portion includes a light source array, in which a plurality of light sources configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch. (34)

[0344] The method according to item (30), wherein the light source driving section controls the position of the light emitting section from a first light source position for point irradiation to a second light source position for surface irradiation. (35)

[0346] The method according to item (29), wherein the projection lens is a variable focus lens. (36)

[0348] The method according to item (35), wherein the switching section is configured to switch from the surface illumination configuration to the point illumination configuration by changing the refractive power of the projection lens. (37)

[0350] A system comprising:

[0351] luminous part;

[0352] a projection lens configured to project light emitted from the light emitting portion;

[0353] a switching portion configured to switch between a first configuration for area irradiation and a second configuration for spot irradiation; and

[0354] The light receiving portion is configured to receive the reflected light. (38)

[0356] The system according to item (37), wherein the switching portion changes the focal length of the projection lens by moving the projection lens between at least a first position and a second position. (39)

[0358] A system according to item (38), wherein, when in the first position, the projection lens performs surface illumination. (40)

[0360] A system according to item (38), wherein, in the second position, the projection lens performs point illumination.

[0361] Reference Signs List

[0362] 11 Distance measuring module, 12 Illumination device, 13 Lighting control unit, 14 Distance measuring sensor, 15 Light receiving unit, 16 Signal processing unit, 42 Light emitting unit, 43 Diffractive optical element, 44 Projection lens, 45A, 45B lens driving unit, 72A, 72B light source driving unit, 91 Variable focus lens, 201 Smartphone, 202 Distance measuring module

[0363] CROSS-REFERENCE TO RELATED APPLICATIONS

[0364] This application claims priority from Japanese Priority Patent Application JP 2019-153489, filed on August 26, 2019, which is hereby incorporated by reference herein in its entirety.

Claims

1. A lighting device, comprising: luminous part; a projection lens configured to project light emitted from the light emitting portion; as well as a switching portion configured to switch the projected light between a first configuration for area illumination and a second configuration for point illumination, The light emitting portion includes a light source array, in which a plurality of light sources configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch. The switching unit includes a driving unit for controlling the position of the projection lens. wherein the driving unit controls the position of the projection lens so that the amount of movement from the first lens position for point irradiation to the second lens position for surface irradiation takes a value that is equal to or greater than a predetermined lower limit value based on a predetermined light source spacing and is equal to or less than a predetermined upper limit value based on a predetermined light source spacing, and Among them, the following expressions are satisfied: ， ， Among them, y min represents the predetermined lower limit value, y max represents the predetermined upper limit value, EFL represents the effective focal length of the projection lens, Ap represents the predetermined light source spacing, As represents the predetermined opening size, θ h1 The divergence angle when the ratio of laser intensity to peak intensity is 45%, θ h2 Indicates the divergence angle when the ratio of laser intensity to peak intensity is 70%.

2. The lighting device according to claim 1, wherein The switching section changes the focal length of the projection lens by moving the projection lens between at least the first lens position and the second lens position.

3. A method for driving a lighting device, the method comprising: irradiating the configured light from the light emitting portion of the lighting device through the projection lens projection surface of the lighting device; Switching the projected light from the surface irradiation configuration to a point irradiation configuration by a switching portion of the lighting device; and The light of the point irradiation configuration is projected from the light emitting portion through the projection lens, The light emitting portion includes a light source array, in which a plurality of light sources configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch. The switching unit includes a driving unit for controlling the position of the projection lens. wherein the driving unit controls the position of the projection lens so that the amount of movement from the first lens position for point irradiation to the second lens position for surface irradiation takes a value that is equal to or greater than a predetermined lower limit value based on a predetermined light source spacing and is equal to or less than a predetermined upper limit value based on a predetermined light source spacing, and Among them, the following expressions are satisfied: ， ， Among them, y min represents the predetermined lower limit value, y max represents the predetermined upper limit value, EFL represents the effective focal length of the projection lens, Ap represents the predetermined light source spacing, As represents the predetermined opening size, θ h1 The divergence angle when the ratio of laser intensity to peak intensity is 45%, θ h2 Indicates the divergence angle when the ratio of laser intensity to peak intensity is 70%.

4. The driving method according to claim 3, wherein: The switching section changes the focal length of the projection lens by moving the projection lens between at least the first lens position and the second lens position.

5. A ranging module, comprising: luminous part; a projection lens configured to project light emitted from the light emitting portion; a switching portion configured to switch between a first configuration for area irradiation and a second configuration for spot irradiation; as well as a light receiving portion configured to receive the reflected light, The light emitting portion includes a light source array, in which a plurality of light sources configured to emit light with a predetermined opening size are arranged at a predetermined light source pitch. The switching unit includes a driving unit for controlling the position of the projection lens. wherein the driving unit controls the position of the projection lens so that the amount of movement from the first lens position for point irradiation to the second lens position for surface irradiation takes a value that is equal to or greater than a predetermined lower limit value based on a predetermined light source spacing and is equal to or less than a predetermined upper limit value based on a predetermined light source spacing, and Among them, the following expressions are satisfied: ， ， Among them, y min represents the predetermined lower limit value, y max represents the predetermined upper limit value, EFL represents the effective focal length of the projection lens, Ap represents the predetermined light source spacing, As represents the predetermined opening size, θ h1 The divergence angle when the ratio of laser intensity to peak intensity is 45%, θ h2 Indicates the divergence angle when the ratio of laser intensity to peak intensity is 70%. The distance measurement module according to claim 5 , wherein: The switching section changes the focal length of the projection lens by moving the projection lens between at least the first lens position and the second lens position.

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