LiDAR control device, LiDAR control method, and LiDAR device

Abstract

A lidar control device (100) controls a lidar device (200) having a background light cut-off filter (230). The background light cut-off filter (230) allows transmission of the reflected light of the laser outgoing light reflected by an object, i.e., the laser reflected light, and suppresses transmission of the background light incident on the lidar device (200). Among them, the lidar control device (100) has: a filter temperature acquisition unit (110) that acquires filter temperature information indicating the filter temperature of the background light cut-off filter (230); a filter characteristic acquisition unit (120) that acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter (230); a transmission wavelength acquisition unit (130) that acquires the transmission wavelength of the background light cut-off filter (230) based on the filter temperature information and the filter temperature characteristic information; and a control signal generation unit (140) that generates a control signal for causing the lidar device (200) to emit laser outgoing light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit (130).

Description

Technical Field

[0001] The present invention relates to a lidar control device, a lidar control method, and a lidar device. Background Art

[0002] There is known a lidar device that measures the distance from a predetermined reference point to a measurement target object (hereinafter simply referred to as "object") by a ToF (Time of Flight) method. In such a lidar device, in order to reduce background noise, there is a lidar device having an optical filter (hereinafter referred to as "background light cut-off filter") that suppresses background light from reaching a light-receiving unit that receives laser reflected light (hereinafter simply referred to as "laser reflected light") reflected by the object after the laser is reflected by the object.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2018-44853 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] The background light cut-off filter is sometimes composed of an optical filter having a temperature characteristic (hereinafter referred to as "filter temperature characteristic") such as an etalon. The filter temperature characteristic here is a characteristic in which when the temperature of the optical filter (hereinafter referred to as "filter temperature") changes, the wavelength of the light transmitted through the optical filter (hereinafter referred to as "transmission wavelength") changes.

[0008] When the background light cut-off filter is composed of an optical filter having a filter temperature characteristic, when the filter temperature of the background light cut-off filter changes due to the influence of the ambient temperature or the like, the transmission wavelength of the background light cut-off filter changes. When the transmission wavelength of the background light cut-off filter changes, the transmission wavelength of the background light cut-off filter becomes a state different from the wavelength of the laser emitted from the lidar device (hereinafter referred to as "emission wavelength"). When the transmission wavelength of the background light cut-off filter becomes different from the emission wavelength, the background light cut-off filter suppresses the transmission of the laser reflected light incident on the background light cut-off filter.

[0009] When the background light cut-off filter is composed of an optical filter having a filter temperature characteristic, the background light cut-off filter suppresses the transmission of the laser reflected light incident on the background light cut-off filter. Therefore, the light receiving unit of the lidar device cannot receive the laser reflected light with sufficient intensity for distance measurement. When the light receiving unit of the lidar device cannot receive the laser reflected light with sufficient intensity for distance measurement, the lidar device cannot perform high-precision distance measurement or cannot perform distance measurement itself.

[0010] The present invention is used to solve the above problems, and its object is to provide a lidar control device as follows: even when the background light cut-off filter provided in the lidar device has a filter temperature characteristic and the filter temperature of the background light cut-off filter changes, the lidar device can also be controlled so that the background light cut-off filter does not suppress the transmission of the laser reflected light incident on the background light cut-off filter.

[0011] Means for Solving the Problem

[0012] The lidar control device of the present invention controls a lidar device having a background light cut-off filter that allows the transmission of the laser reflected light, which is the reflected light of the laser emitted light reflected by the measurement target object and the laser reflected light in the background light incident on the lidar device, and suppresses the transmission of the background light. The lidar control device includes: a filter temperature acquisition unit that acquires filter temperature information indicating the filter temperature of the background light cut-off filter provided in the lidar device; a filter characteristic acquisition unit that acquires filter temperature characteristic information indicating the filter temperature characteristic of the background light cut-off filter; a transmission wavelength acquisition unit that acquires the transmission wavelength of the background light cut-off filter based on the filter temperature information acquired by the filter temperature acquisition unit and the filter temperature characteristic information acquired by the filter characteristic acquisition unit; and a control signal generation unit that generates a control signal for causing the lidar device to emit laser emitted light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit.

[0013] Advantages of the Invention

[0014] According to the present invention, even when the background light cut-off filter provided in the lidar device has a filter temperature characteristic and the filter temperature of the background light cut-off filter changes, the lidar device can also be controlled so that the background light cut-off filter does not suppress the transmission of the laser reflected light incident on the background light cut-off filter. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Figure 1 is a block diagram showing an example of the structure of the main part of the lidar system according to Embodiment 1.

[0016] ​​Figure 2 Figure 2 is a block diagram showing an example of the structure of the main part of the lidar device according to Embodiment 1.

[0017] Figure 3 Figure 3 is a block diagram showing an example of the structure of the main part of the lidar control device according to Embodiment 1.

[0018] Figure 4 Figure 4 A and Figure 4 B are diagrams showing an example of the hardware structure of the lidar control device according to Embodiment 1.

[0019] Figure 5 Figure 5 is a flowchart showing an example of the processing of the lidar control device according to Embodiment 1.

[0020] Figure 6 Figure 6 is a block diagram showing an example of the structure of the main part of the lidar system according to Embodiment 2.

[0021] Figure 7 Figure 7 is a block diagram showing an example of the structure of the main part of the lidar device according to Embodiment 2.

[0022] Figure 8 Figure 8 is a block diagram showing an example of the structure of the main part of the lidar control device according to Embodiment 2.

[0023] Figure 9 Figure 9 is a flowchart showing an example of the processing of the lidar control device according to Embodiment 2.

[0024] Figure 10 Figure 10 is a block diagram showing an example of the structure of the main part of the lidar system according to Embodiment 3.

[0025] Figure 11 Figure 11 is a block diagram showing an example of the structure of the main part of the lidar device according to Embodiment 3.

[0026] Figure 12 Figure 12 is a block diagram showing an example of the structure of the main part of the lidar control device according to Embodiment 3.

[0027] Figure 13 Figure 13 is a flowchart showing an example of the processing of the lidar control device according to Embodiment 3.​​​​​​​​​​​​​​​​​​​​​​​​

[0028] Figure 14 Figure 14 is a block diagram showing an example of the structure of the main part of the lidar system according to Embodiment 4.

[0029] Figure 15 Figure 15 is a block diagram showing an example of the structure of the main part of the lidar device according to Embodiment 4.

[0030] Figure 16 Figure 16 is a block diagram showing an example of the structure of the main part of the lidar control device according to Embodiment 4.

[0031] Figure 17 Figure 17 is a flowchart showing an example of the processing of the lidar control device according to Embodiment 4.

[0032] Figure 18 Figure 18 is a block diagram showing an example of the structure of the main part of the lidar system according to Embodiment 5.

[0033] Figure 19 Figure 19 is a block diagram showing an example of the structure of the main part of the lidar device according to Embodiment 5.

[0034] Figure 20 Figure 20 is a block diagram showing an example of the structure of the main part of the lidar control device according to Embodiment 5.

[0035] Figure 21 Figure 21 is a block diagram showing an example of the structure of the main part of the temperature correction information generation unit in the lidar control device according to Embodiment 5.

[0036] Figure 22A Figure 22A is a part of a flowchart showing an example of the processing of the lidar control device according to Embodiment 5.

[0037] Figure 22B Figure 22B is the remaining part of a flowchart showing an example of the processing of the lidar control device according to Embodiment 5.

[0038] Figure 23 Figure 23 is a block diagram showing an example of the structure of the main part of the lidar system according to Embodiment 6.

[0039] Figure 24 Figure 24 ​​​​​​​​​​​​​​​​​​​​​​​​It is a block diagram showing an example of the structure of the main part of the lidar device according to Embodiment 6.

[0040] Figure 25 Figure 25 It is a block diagram showing an example of the structure of the main part of the lidar control device according to Embodiment 6.

[0041] Figure 26 Figure 26 It is a block diagram showing an example of the structure of the main part of the temperature correction information generation unit in the lidar control device according to Embodiment 6.

[0042] Figure 27A Figure 27A It is a part of a flowchart showing an example of the processing of the lidar control device according to Embodiment 6.

[0043] Figure 27B Figure 27B It is the remaining part of a flowchart showing an example of the processing of the lidar control device according to Embodiment 6. Detailed Embodiments

[0044] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0045] Embodiment 1

[0046] Refer to Figure 1 The lidar system 10 to which the lidar control device 100 according to Embodiment 1 is applied will be described.

[0047] Figure 1 It is a block diagram showing an example of the structure of the main part of the lidar system 10 including the lidar control device 100 and the lidar device 200 according to Embodiment 1.

[0048] The lidar system 10 includes a lidar control device 100, a lidar device 200, a distance calculation device 11, and a storage device 12.

[0049] The lidar control device 100 controls the lidar device 200. Specifically, the lidar control device 100 generates a control signal for causing the lidar device 200 to emit laser light of a specified wavelength (hereinafter referred to as "laser emission light"). The lidar control device 100 outputs the generated control signal to the lidar device 200.

[0050] ​​​​​​​​The lidar device 200 emits laser emission light toward a measurement object (hereinafter simply referred to as "object"), and receives the reflected light (hereinafter referred to as "laser reflected light") of the laser emission light reflected by the object. The lidar device 200 outputs an electrical signal based on the laser reflected light and a trigger signal indicating a time point serving as a reference when the lidar device 200 emits laser emission light toward the object to the distance calculation device 11. In addition, the lidar device 200 acquires a control signal output from the lidar control device 100, adjusts the wavelength of the laser emission light according to the control signal, and emits laser emission light with the adjusted wavelength toward the object.

[0051] The distance calculation device 11 receives the trigger signal indicating the time point serving as a reference when the lidar device 200 emits laser emission light toward the object and the electrical signal based on the laser reflected light output from the lidar device 200, and calculates the distance from a predetermined reference point to the object by, for example, the ToF (Time of Flight) method. The method of calculating the distance from a predetermined reference point to the object by the ToF method or the like is well-known, and therefore, the description related to this method is omitted.

[0052] The storage device 12 stores predetermined information required for the operation of the lidar control device 100 or the lidar device 200. The lidar control device 100 or the lidar device 200 reads out the information required for the operation from the storage device 12, respectively.

[0053] Refer to Figure 2 The lidar device 200 of Embodiment 1 will be described.

[0054] Figure 2 It is a block diagram showing an example of the structure of the main part of the lidar device 200 of Embodiment 1.

[0055] The lidar device 200 includes a laser output unit 210, a transmission optical system 220, a window 221, a reception optical system 222, a trigger signal output unit 223, a background light cut-off filter 230, a light receiving unit 240, a filter temperature measurement unit 250, and a control signal acquisition unit 290.

[0056] The control signal acquisition unit 290 acquires the control signal output from the lidar control device 100.

[0057] In Embodiment 1, the control signal acquired by the control signal acquisition unit 290 is, for example, a control signal indicating the wavelength of the laser.

[0058] The laser output unit 210 outputs a laser (hereinafter referred to as "laser output light"). The laser output light output by the laser output unit 210 passes through the transmission optical system 220 and the window 221 and is emitted from the lidar device 200. That is, the wavelength of the laser output light corresponds to the wavelength of the laser emission light of the lidar device 200 (hereinafter referred to as "emission wavelength"). Since the wavelength of the laser output light corresponds to the emission wavelength, hereinafter, the wavelength of the laser output light will also be referred to as the emission wavelength.

[0059] The laser output unit 210 adjusts the wavelength of the laser output light according to the control signal obtained by the control signal obtaining unit 290, and outputs the laser output light with the adjusted wavelength.

[0060] As Figure 2 shown as an example in

[0061] The laser light source 211 outputs a laser with a specified wavelength (hereinafter referred to as "laser light source light"). The laser light source 211 is composed of a light-emitting element that converts an electrical signal received from a power supply unit (not shown) into an optical signal, for example.

[0062] The laser output unit 210 outputs a laser based on the laser light source light output by the laser light source 211 as the laser output light.

[0063] The wavelength adjustment unit 212 is adjusted according to the control signal obtained by the control signal obtaining unit 290 so that the emission wavelength becomes the wavelength indicated by the control signal.

[0064] The laser output unit 210 outputs the laser output light whose wavelength adjustment unit 212 adjusts so that the wavelength of the laser light source light (hereinafter referred to as "source wavelength") becomes the wavelength indicated by the control signal, as the laser output light based on the laser light source light.

[0065] Specifically, for example, the wavelength adjustment unit 212 is composed of a diffraction grating (not shown) that receives a laser and oscillates a laser with a wavelength different from the source wavelength, and an angle adjustment mechanism (not shown) that adjusts the incident angle of the laser light source light when the diffraction grating receives the laser light source light.

[0066] The angle adjustment mechanism adjusts the incident angle of the laser light source light received by the diffraction grating according to the angle adjustment information indicating the relationship between the incident angle of the laser light source light with respect to the diffraction grating and the wavelength of the laser oscillated by the diffraction grating, and the control signal obtained by the control signal obtaining unit 290, so that the laser output unit 210 outputs the laser output light with the wavelength indicated by the control signal. By adjusting the incident angle of the laser light source light received by the diffraction grating, the laser output unit 210 outputs the laser output light with the wavelength indicated by the control signal.

[0067] The wavelength adjustment unit 212 acquires the angle adjustment information, for example, by reading it out from the storage device 12.

[0068] A method of adjusting the wavelength of the laser oscillated by the diffraction grating by adjusting the incident angle of the laser received by the diffraction grating is well-known. Therefore, the description related to this method is omitted.

[0069] The wavelength adjustment unit 212 may also be constituted by an unillustrated temperature adjustment mechanism having unillustrated temperature adjustment devices such as a Peltier element or a heating wire for adjusting the temperature of the laser light source 211 (hereinafter referred to as "light source temperature"). Generally, a light source that outputs laser light has a temperature characteristic (hereinafter referred to as "light source temperature characteristic"). The light source temperature characteristic here is a characteristic in which the wavelength of the laser light output by the light source changes corresponding to the temperature of the light source.

[0070] The wavelength adjustment unit 212 adjusts the light source temperature through the temperature adjustment mechanism according to the predetermined light source temperature characteristic information indicating the light source temperature characteristic and the control signal acquired by the control signal acquisition unit 290 so that the light source wavelength becomes the wavelength indicated by the control signal.

[0071] A method of adjusting the temperature of the light source using temperature adjustment devices such as a Peltier element or a heating wire is well-known. Therefore, the description related to this method is omitted.

[0072] The wavelength adjustment unit 212 acquires the light source temperature characteristic information, for example, by reading it out from the storage device 12. The light source temperature characteristic information is provided, for example, by the manufacturer of the laser light source 211.

[0073] The light source temperature characteristic information acquired by the wavelength adjustment unit 212 is, for example, information that correlates the light source temperature and the light source wavelength. In addition, for example, the light source temperature characteristic information may also be information representing a relational expression between the light source temperature and the light source wavelength: assuming the light source temperature as a variable, the light source wavelength can be calculated by substituting the light source temperature.

[0074] In Embodiment 1, the light source temperature characteristic information is information representing a relational expression between the light source temperature and the light source wavelength. This relational expression is described by the following formula (1).

[0075] λ L =a L ×T L +b L …Formula (1)

[0076] Here, λ L is the light source wavelength, T L is the light source temperature, and a L and b L are predetermined constants.

[0077] When regarding T L When solving equation (1), equation (1) becomes the following equation (2).

[0078] T L = {λ L - b L} / a L … Equation (2)

[0079] The wavelength adjustment unit 212 substitutes the wavelength indicated by the control signal acquired by the control signal acquisition unit 290 into λ in equation (2). L Thereby, the target value T of the light source temperature to be adjusted is calculated. L The wavelength adjustment unit 212 adjusts the light source temperature using a temperature adjustment device so that the light source temperature becomes the calculated T. L .

[0080] In addition, the wavelength adjustment unit 212 may be constituted by an unillustrated current adjustment mechanism that adjusts the magnitude of the current flowing through the laser light source 211 (hereinafter referred to as "light source current value"). A light source that outputs laser generally has a current characteristic (hereinafter "light source current characteristic"). The light source current characteristic here refers to a characteristic in which the wavelength of the laser output by the light source changes corresponding to the magnitude of the current flowing through the light source.

[0081] The wavelength adjustment unit 212 adjusts the light source current value flowing through the laser light source 211 according to the predetermined light source current characteristic information indicating the light source current characteristic and the control signal acquired by the control signal acquisition unit 290 through the current adjustment mechanism so that the light source wavelength becomes the wavelength indicated by the control signal.

[0082] The wavelength adjustment unit 212 acquires the light source current characteristic information by reading, for example, from the storage device 12.

[0083] As an example of the method by which the wavelength adjustment unit 212 adjusts so that the output wavelength becomes the wavelength indicated by the control signal acquired by the control signal acquisition unit 290, the above three methods are shown. However, the method by which the wavelength adjustment unit 212 adjusts so that the output wavelength becomes the wavelength indicated by the control signal acquired by the control signal acquisition unit 290 is not limited to the above three methods.

[0084] In addition, the method by which the wavelength adjustment unit 212 adjusts so that the output wavelength becomes the wavelength indicated by the control signal acquired by the control signal acquisition unit 290 may be, for example, a method obtained by combining two or more different methods among the above three methods.

[0085] The transmission optical system 220 is composed of combining one or more optical components such as lenses or mirrors. The transmission optical system 220 guides the laser output light in the direction of the measurement object through the window 221.

[0086] The window 221 prevents foreign matter from entering the inside of the lidar device 200 from the outside of the lidar device 200. The window 221 transmits the laser output light guided by the transmission optical system 220 and emits the laser output light in the direction of the measurement object as laser emitted light. The laser emitted light emitted from the window 221 is reflected by the object, and the reflected light after being reflected by the object, that is, the laser reflected light, enters the window 221 as the laser reflected light. The window 221 transmits the incident laser reflected light.

[0087] The reception optical system 222 is composed of combining one or more optical components such as lenses or mirrors. The reception optical system 222 guides the laser reflected light after passing through the window 221 to the light receiving unit 240 via the background light cut-off filter 230.

[0088] The background light cut-off filter 230 is an optical filter that allows the transmission of the laser reflected light guided by the reception optical system 222 and the laser reflected light in the background light incident on the lidar device 200 via the window 221 and the reception optical system 222, and suppresses the transmission of the background light.

[0089] The light receiving unit 240 receives the laser reflected light after passing through the background light cut-off filter 230 and outputs an electrical signal based on the received laser reflected light. The light receiving unit 240 is composed of a light receiving element that converts the received optical signal into an electrical signal, for example. Specifically, the light receiving unit 240 converts the received optical signal into an electrical signal, and thereby outputs the electrical signal based on the received laser reflected light to the distance calculation device 11.

[0090] The trigger signal output unit 223 outputs a trigger signal indicating a reference time point such as the time when the laser light source 211 outputs the laser light source light, the time when the laser output unit 210 outputs the laser output light, or the time when the lidar device 200 emits the laser emitted light to the distance calculation device 11 when the lidar device 200 emits the laser emitted light toward the object.

[0091] The filter temperature measurement unit 250 measures the temperature of the background light cut-off filter 230 (hereinafter referred to as "filter temperature"). The filter temperature measurement unit 250 outputs the measured filter temperature as filter temperature information indicating the filter temperature to the lidar control device 100.

[0092] Reference Figure 3 The lidar control device 100 of Embodiment 1 will be described.

[0093] Figure 3 It is a block diagram showing an example of the structure of the main part of the lidar control device 100 of Embodiment 1.

[0094] The lidar control device 100 includes a filter temperature acquisition unit 110, a filter characteristic acquisition unit 120, a transmission wavelength acquisition unit 130, and a control signal generation unit 140.

[0095] The filter temperature acquisition unit 110 acquires filter temperature information indicating the filter temperature of the background light cut-off filter 230 provided in the lidar device 200. Specifically, the filter temperature acquisition unit 110 acquires the filter temperature information from the filter temperature measurement unit 250 provided in the lidar device 200.

[0096] The filter characteristic acquisition unit 120 acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter 230. Here, the filter temperature characteristic is a characteristic in which the wavelength of the laser reflected light transmitted through the background light cut-off filter 230 (hereinafter referred to as "transmission wavelength") changes corresponding to the temperature of the background light cut-off filter 230.

[0097] The filter characteristic acquisition unit 120 acquires the filter temperature characteristic information by reading, for example, from the storage device 12. The filter temperature characteristic information acquired by the filter characteristic acquisition unit 120 is provided, for example, by the manufacturer of the background light cut-off filter 230.

[0098] The filter temperature characteristic information acquired by the filter characteristic acquisition unit 120 is, for example, information associating the filter temperature with the transmission wavelength. In addition, for example, the filter temperature characteristic information may also be information representing a relational expression between the filter temperature and the transmission wavelength as follows: assuming the filter temperature as a variable, the transmission wavelength can be calculated by substituting the filter temperature.

[0099] In Embodiment 1, the filter temperature characteristic information is information representing a relational expression between the filter temperature and the transmission wavelength. This relational expression is described by the following formula (3).

[0100] λ F =a F ×T F +b F …Formula (3)

[0101] Here, λ F is the transmission wavelength, T F is the filter temperature, and a F and b F are predetermined constants.

[0102] The transmission wavelength acquisition unit 130 acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110 and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120. Specifically, for example, the transmission wavelength acquisition unit 130 substitutes the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 into Equation (3) indicated by the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120 to calculate the transmission wavelength, thereby acquiring the transmission wavelength of the background light cut-off filter 230.

[0103] The control signal generation unit 140 generates a control signal for causing the lidar device 200 to emit laser emission light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130. The control signal generation unit 140 outputs the generated control signal to the lidar device 200.

[0104] The control signal acquisition unit 290 in the lidar device 200 acquires the control signal output by the control signal generation unit 140.

[0105] In addition, as described above, in the first embodiment, the control signal generated by the control signal generation unit 140 is, for example, a control signal indicating the laser wavelength.

[0106] Figure 4 A and Figure 4 B are diagrams showing an example of the hardware configuration of the lidar control device 100 according to the first embodiment.

[0107] The hardware configuration of the main part of the lidar control device 100 according to the first embodiment will be described with reference to this figure.

[0108] As Figure 4 shown in A, the lidar control device 100 is composed of a computer having a processor 401 and a memory 402. A program for causing this computer to function as the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120, the transmission wavelength acquisition unit 130, and the control signal generation unit 140 is stored in the memory 402. The processor 401 reads and executes the program stored in the memory 402, thereby realizing the functions of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120, the transmission wavelength acquisition unit 130, and the control signal generation unit 140.

[0109] In addition, as Figure 4 shown in B, the lidar control device 100 may also be composed of a processing circuit 403. In this case, the functions of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120, the transmission wavelength acquisition unit 130, and the control signal generation unit 140 may also be realized by the processing circuit 403.

[0110] In addition, the lidar control device 100 may also be composed of a processor 401, a memory 402, and a processing circuit 403 (not shown). In this case, part of the functions of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120, the transmission wavelength acquisition unit 130, and the control signal generation unit 140 may be implemented by the processor 401 and the memory 402, and the remaining functions may be implemented by the processing circuit 403.

[0111] The processor 401 uses, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor).

[0112] The memory 402 uses, for example, a semiconductor memory or a magnetic disk. More specifically, the memory 402 uses a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), an SSD (Solid State Drive), or an HDD (Hard Disk Drive), etc.

[0113] The processing circuit 403 uses, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), a SoC (System-on-a-Chip), or a system LSI (Large-Scale Integration).

[0114] Refer to Figure 5 The operation of the lidar control device 100 according to Embodiment 1 will be described.

[0115] Figure 5It is a flowchart showing an example of the processing of the lidar control device 100 according to Embodiment 1. The lidar control device 100 repeatedly executes the processing of this flowchart, for example.

[0116] First, in step ST501, the filter characteristic acquisition unit 120 acquires filter temperature characteristic information.

[0117] Next, in step ST502, the filter temperature acquisition unit 110 acquires filter temperature information.

[0118] Next, in step ST503, the transmission wavelength acquisition unit 130 acquires the transmission wavelength.

[0119] Next, in step ST504, the control signal generation unit 140 generates a control signal and outputs the generated control signal.

[0120] After step ST504, the lidar control device 100 ends the processing of this flowchart. After ending the processing of this flowchart, the lidar control device 100 returns to step ST501 and repeatedly executes the processing of this flowchart.

[0121] In addition, when the lidar control device 100 repeatedly executes the processing of this flowchart from the second time, the lidar control device 100 may also omit the processing of step ST501.

[0122] Furthermore, the processing order of step ST501 and step ST502 is arbitrary.

[0123] As described above, the lidar control device 100 according to Embodiment 1 controls a lidar device 200 having a background light cut-off filter 230. The background light cut-off filter 230 allows the transmission of the reflected light of the laser emitted light reflected by the measurement target object, that is, the laser reflected light and the laser reflected light in the background light incident on the lidar device 200, and suppresses the transmission of the background light. The lidar control device 100 includes: a filter temperature acquisition unit 110 that acquires filter temperature information indicating the filter temperature of the background light cut-off filter 230 provided in the lidar device 200; a filter characteristic acquisition unit 120 that acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter 230; a transmission wavelength acquisition unit 130 that acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 120 and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120; and a control signal generation unit 140 that generates a control signal for causing the lidar device 200 to emit laser emitted light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130.

[0124] With such a configuration, even when the background light cut-off filter 230 provided in the lidar device 200 has a filter temperature characteristic and the filter temperature of the background light cut-off filter 230 changes, the lidar control device 100 can also control the lidar device 200 so that the background light cut-off filter 230 does not suppress the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0125] In addition, as described above, the lidar device 200 of Embodiment 1 includes: a background light cut-off filter 230; a laser output unit 210 that outputs laser output light based on the laser light source light output from the laser light source 211; and a light receiving unit 240 that receives the laser reflected light that has passed through the background light cut-off filter 230 and outputs an electrical signal based on the received laser reflected light. Among them, the lidar device 200 includes: a filter temperature measurement unit 250 that measures the filter temperature of the background light cut-off filter 230 and outputs the measured filter temperature as filter temperature information indicating the filter temperature to the lidar control device 100; and a wavelength adjustment unit 212 that receives a control signal generated and output by the lidar control device 100 according to the filter temperature information output by the filter temperature measurement unit 250 and adjusts the wavelength of the laser output light to be emitted according to the control signal.

[0126] With such a configuration, even when the background light cut-off filter 230 provided in the lidar device 200 has a filter temperature characteristic and the filter temperature of the background light cut-off filter 230 changes, the lidar device 200 can also prevent the background light cut-off filter 230 from suppressing the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0127] Embodiment 2

[0128] Refer to Figures 6 - 8 The lidar control device 100a, the lidar device 200a, and the lidar system 10a of Embodiment 2 will be described.

[0129] Figure 6 It is a block diagram showing an example of the structure of the main part of the lidar system 10a applying the lidar control device 100a and the lidar device 200a of Embodiment 2.

[0130] The lidar system 10a changes the lidar control device 100 and the lidar device 200 in the lidar system 10 of Embodiment 1 to a lidar control device 100a and a lidar device 200a.

[0131] That is, the lidar system 10a includes a lidar control device 100a, a lidar device 200a, a distance calculation device 11, and a storage device 12.

[0132] The difference between the lidar system 10a and the lidar system 10 of Embodiment 1 is that, in the lidar system 10, the control signal output from the lidar control device 100 to the lidar device 200 is a control signal representing the laser wavelength, whereas in the lidar system 10a, the control signal output from the lidar control device 100a to the lidar device 200a is a control signal representing the target value of the light source temperature.

[0133] In addition, in Figure 6 for the same blocks as those Figure 1 shown, the same reference numerals are used and the description is omitted.

[0134] The lidar control device 100a controls the lidar device 200a. Specifically, the lidar control device 100a generates a control signal for causing the lidar device 200a to emit laser light of a specified wavelength (hereinafter referred to as "laser emission light"). The generated control signal is output to the lidar device 200a.

[0135] The lidar device 200a emits laser emission light toward an object and receives the reflected light (hereinafter referred to as "laser reflected light") of the emitted laser emission light reflected by the object. The lidar device 200a outputs an electrical signal based on the laser reflected light and a trigger signal indicating the time point that serves as a reference when the lidar device 200a emits laser emission light toward the object to the distance calculation device 11. In addition, the lidar device 200a acquires the control signal output from the lidar control device 100a, adjusts the wavelength of the laser emission light to be emitted (hereinafter referred to as "emission wavelength") according to the control signal, and emits laser emission light of the adjusted wavelength toward the object.

[0136] The distance calculation device 11 receives the trigger signal indicating the time point that serves as a reference when the lidar device 200a emits laser emission light toward the object and the electrical signal based on the laser reflected light output from the lidar device 200a, and calculates the distance from a predetermined reference point to the object by, for example, the ToF method.

[0137] The storage device 12 stores predetermined information required for the operation of the lidar control device 100a. The lidar control device 100a reads out the information required for the operation from the storage device 12.

[0138] Figure 7 is a block diagram showing an example of the structure of the main part of the lidar device 200a of Embodiment 2.

[0139] The lidar device 200a changes the laser output unit 210 in the lidar device 200 of Embodiment 1 to a laser output unit 210a, and further adds a light source temperature measurement unit 251.

[0140] That is, the lidar device 200a includes a laser output unit 210a, a transmission optical system 220, a window 221, a reception optical system 222, a trigger signal output unit 223, a background light cutoff filter 230, a light receiving unit 240, a filter temperature measurement unit 250, a light source temperature measurement unit 251, and a control signal acquisition unit 290.

[0141] In addition, in Figure 7 , the same reference numerals are assigned to the same blocks as those shown in Figure 2 and the description thereof is omitted.

[0142] The laser output unit 210a outputs a laser (hereinafter referred to as "laser output light"). The laser output light output by the laser output unit 210a passes through the transmission optical system 220 and the window 221 and exits from the lidar device 200a. That is, the wavelength of the laser output light corresponds to the emission wavelength of the laser emission light of the lidar device 200a. Since the wavelength of the laser output light corresponds to the emission wavelength, hereinafter, the wavelength of the laser output light will also be referred to as the emission wavelength.

[0143] The laser output unit 210a adjusts the wavelength of the laser output light according to the control signal acquired by the control signal acquisition unit 290, and outputs the laser output light having the adjusted wavelength.

[0144] As shown as an example in Figure 7 the laser output unit 210a includes a laser light source 211 and a wavelength adjustment unit 212a.

[0145] The laser output unit 210a outputs a laser as the laser output light based on the laser light source light output by the laser light source 211.

[0146] The light source temperature measurement unit 251 measures the light source temperature of the laser light source 211. The light source temperature measurement unit 251 outputs the measured light source temperature as light source temperature information. Specifically, for example, the light source temperature measurement unit 251 outputs the light source temperature information to the laser output unit 210a. More specifically, for example, the light source temperature measurement unit 251 outputs the light source temperature information to the wavelength adjustment unit 212a in the laser output unit 210a.

[0147] The wavelength adjustment unit 212a adjusts the wavelength of the laser output light output from the laser output unit 210a, that is, the emission wavelength of the laser emission light emitted by the lidar device 200a, according to the control signal obtained by the control signal acquisition unit 290 and the light source temperature information output by the light source temperature measurement unit 251.

[0148] Specifically, for example, the wavelength adjustment unit 212a makes an adjustment with reference to the light source temperature indicated by the light source temperature information output by the light source temperature measurement unit 251 so that the light source temperature becomes the target value of the light source temperature indicated by the control signal obtained by the control signal acquisition unit 290.

[0149] More specifically, for example, the wavelength adjustment unit 212a makes an adjustment using a temperature adjustment device (not shown) such as a Peltier element or a heating wire so that the light source temperature indicated by the light source temperature information output by the light source temperature measurement unit 251 becomes the target value of the light source temperature indicated by the control signal obtained by the control signal acquisition unit 290.

[0150] By adjusting the light source temperature, the wavelength of the laser light source light output from the laser light source 211 having a light source temperature characteristic changes. By adjusting the wavelength adjustment unit 212a so that the light source temperature becomes the target value of the light source temperature indicated by the control signal obtained by the control signal acquisition unit 290, the laser light source 211 outputs laser light source light having a light source wavelength corresponding to the target value of the light source temperature. Therefore, the laser output unit 210a can output laser light having a light source wavelength corresponding to the target value of the light source temperature as the laser output light.

[0151] Figure 8 It is a block diagram showing an example of the structure of the main part of the lidar control device 100a according to the second embodiment.

[0152] The lidar control device 100a changes the control signal generation unit 140 in the lidar control device 100 of the first embodiment to a control signal generation unit 140a, and further adds a light source characteristic acquisition unit 150.

[0153] That is, the lidar control device 100a includes a filter temperature acquisition unit 110, a filter characteristic acquisition unit 120, a transmission wavelength acquisition unit 130, a light source characteristic acquisition unit 150, and a control signal generation unit 140a.

[0154] In addition, in Figure 8 for Figure 3 the same blocks as those shown by the blocks are denoted by the same reference numerals and description thereof is omitted.

[0155] The light source characteristic acquisition unit 150 acquires light source temperature characteristic information indicating the light source temperature characteristics of the laser light source 211. The light source characteristic acquisition unit 150 acquires the light source temperature characteristic information by reading it out from the storage device 12.

[0156] The light source temperature characteristic information has been described in Embodiment 1, so the description is omitted.

[0157] In Embodiment 2, the light source temperature characteristic information is information representing the relational expression between the light source temperature and the light source wavelength. Let this relational expression be Equation (1) or Equation (2) for description.

[0158] The control signal generation unit 140a generates a control signal for causing the lidar device 200a to emit laser emission light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130, based on the light source temperature characteristic information acquired by the light source characteristic acquisition unit 150 and the transmission wavelength acquired by the transmission wavelength acquisition unit 130.

[0159] More specifically, for example, the control signal generation unit 140a substitutes the transmission wavelength acquired by the transmission wavelength acquisition unit 130 into the relational expression between the light source temperature and the light source wavelength, that is, Equation (1) or Equation (2), shown in the light source temperature characteristic information, thereby calculating the target value of the light source temperature. The control signal generation unit 140a generates a control signal representing the calculated target value of the light source temperature. The control signal generation unit 140a outputs the generated control signal to the lidar device 200a. L The control signal acquisition unit 290 in the lidar device 200a acquires the control signal output by the control signal generation unit 140a.

[0160] In addition, the functions of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120, the transmission wavelength acquisition unit 130, the light source characteristic acquisition unit 150, and the control signal generation unit 140a in the lidar control device 100a of Embodiment 2 can be implemented by the processor 401 and the memory 402 in the hardware structure shown as an example in A and

[0161] B, or can also be implemented by the processing circuit 403. Figure 4 A and Figure 4 B, or can also be implemented by the processing circuit 403.

[0162] Refer to Figure 9 The operation of the lidar control device 100a of Embodiment 2 will be described.

[0163] Figure 9 is a flowchart showing an example of the processing of the lidar control device 100a of Embodiment 2. The lidar control device 100a repeatedly executes the processing of this flowchart, for example.

[0164] First, in step ST901, the filter characteristic acquisition unit 120 acquires filter temperature characteristic information.

[0165] Next, in step ST902, the light source characteristic acquisition unit 150 acquires light source temperature characteristic information.

[0166] Next, in step ST903, the filter temperature acquisition unit 110 acquires filter temperature information.

[0167] Next, in step ST904, the transmission wavelength acquisition unit 130 acquires the transmission wavelength.

[0168] Next, in step ST905, the control signal generation unit 140a generates a control signal and outputs the generated control signal.

[0169] After step ST905, the lidar control device 100a ends the processing of this flowchart. After the lidar control device 100a ends the processing of this flowchart, it returns to step ST901 and repeatedly executes the processing of this flowchart.

[0170] In addition, when the lidar control device 100a repeatedly executes the processing of this flowchart from the second time onwards, the lidar control device 100a may also omit the processing of step ST901 and step ST902.

[0171] Furthermore, the processing order of steps ST901 to ST903 is arbitrary.

[0172] As described above, the lidar control device 100a of Embodiment 2 controls the lidar device 200a having the background light cutoff filter 230. The background light cutoff filter 230 allows the transmission of the reflected light of the laser outgoing light reflected by the measurement target object, that is, the laser reflected light and the laser reflected light in the background light incident on the lidar device 200a, and suppresses the transmission of the background light. The lidar control device 100a includes: a filter temperature acquisition unit 110 that acquires filter temperature information indicating the filter temperature of the background light cutoff filter 230 provided in the lidar device 200a; a filter characteristic acquisition unit 120 that acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cutoff filter 230; a transmission wavelength acquisition unit 130 that acquires the transmission wavelength of the background light cutoff filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 120 and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120; and a control signal generation unit 140a that generates a control signal for causing the lidar device 200a to emit laser outgoing light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130.

[0173] Specifically, the lidar control device 100a of Embodiment 2 is configured to further include a light source characteristic acquisition unit 150 on the basis of the above structure. The light source characteristic acquisition unit 150 acquires light source temperature characteristic information indicating the temperature characteristics of the laser light source 211 of the laser output unit 210a included in the lidar device 200a. The control signal generation unit 140a generates a control signal for causing the lidar device 200a to emit laser output light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130 according to the light source temperature characteristic information acquired by the light source characteristic acquisition unit 150 and the transmission wavelength acquired by the transmission wavelength acquisition unit 130.

[0174] With such a configuration, even when the background light cut-off filter 230 provided in the lidar device 200a has filter temperature characteristics and the filter temperature of the background light cut-off filter 230 changes, the lidar control device 100a can control the lidar device 200a so that the background light cut-off filter 230 does not suppress the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0175] In addition, as described above, the lidar device 200a of Embodiment 2 includes: a background light cut-off filter 230; a laser output unit 210a that outputs laser output light based on the laser light source light output by the laser light source 211; and a light receiving unit 240 that receives the laser reflected light transmitted through the background light cut-off filter 230 and outputs an electric signal based on the received laser reflected light. The lidar device 200a includes: a filter temperature measurement unit 250 that measures the filter temperature of the background light cut-off filter 230 and outputs the measured filter temperature as filter temperature information indicating the filter temperature to the lidar control device 100a; and a wavelength adjustment unit 212a that receives a control signal generated and output by the lidar control device 100a according to the filter temperature information output by the filter temperature measurement unit 250 and adjusts the wavelength of the laser output light to be emitted according to the control signal.

[0176] Specifically, the lidar device 200a of Embodiment 2 is configured to further include a light source temperature measurement unit 251 on the basis of the above structure. The light source temperature measurement unit 251 measures the light source temperature of the laser light source 211 of the laser output unit 210a and outputs the measured light source temperature as light source temperature information. The wavelength adjustment unit 212a receives a control signal generated and output by the lidar control device 100a according to the filter temperature information output by the filter temperature measurement unit 250 and adjusts the wavelength of the laser output light to be emitted according to the control signal and the light source temperature information output by the light source temperature measurement unit 251.

[0177] With this configuration, even when the background light cut-off filter 230 provided in the lidar device 200a has a filter temperature characteristic and the filter temperature of the background light cut-off filter 230 changes, the lidar device 200a can prevent the background light cut-off filter 230 from suppressing the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0178] Embodiment 3

[0179] Refer to Figures 10 - 12 The lidar control device 100b, the lidar device 200b, and the lidar system 10b of Embodiment 3 will be described.

[0180] Figure 10 FIG. is a block diagram showing an example of the structure of the main part of the lidar system 10b that applies the lidar control device 100b and the lidar device 200b of Embodiment 3.

[0181] The lidar system 10b changes the lidar control device 100a and the lidar device 200a in the lidar system 10a of Embodiment 2 to the lidar control device 100b and the lidar device 200b.

[0182] That is, the lidar system 10b includes a lidar control device 100b, a lidar device 200b, a distance calculation device 11, and a storage device 12.

[0183] The difference between the lidar system 10b and the lidar system 10a of Embodiment 2 is that in the lidar system 10a, the control signal output from the lidar control device 100a to the lidar device 200a is a control signal representing the target value of the light source temperature, whereas in the lidar system 10b, the control signal output from the lidar control device 100b to the lidar device 200b is a signal for controlling the temperature adjustment device.

[0184] In addition, in Figure 10 , the same reference numerals are assigned to the same blocks as those shown in Figure 6 and the description thereof is omitted.

[0185] The lidar control device 100b controls the lidar device 200b. Specifically, the lidar control device 100b generates a control signal for causing the lidar device 200b to emit laser light of a specified wavelength (hereinafter referred to as "laser emission light"). The lidar control device 100b outputs the generated control signal to the lidar device 200b.

[0186] The lidar device 200b emits laser emission light toward an object, and receives the reflected light (hereinafter referred to as "laser reflected light") of the emitted laser emission light reflected by the object. The lidar device 200b outputs an electrical signal based on the laser reflected light and a trigger signal indicating the time point that serves as a reference when the lidar device 200b emits laser emission light toward the object to the distance calculation device 11. In addition, the lidar device 200b acquires a control signal output by the lidar control device 100b, adjusts the wavelength of the laser emission light to be emitted (hereinafter referred to as "emission wavelength") according to the control signal, and emits laser emission light with the adjusted wavelength toward the object.

[0187] The distance calculation device 11 receives the trigger signal indicating the time point that serves as a reference when the lidar device 200b emits laser emission light toward the object and the electrical signal based on the laser reflected light output by the lidar device 200b, and calculates the distance from a predetermined reference point to the object, for example, by the ToF method.

[0188] The storage device 12 stores predetermined information required for the operation of the lidar control device 100b. The lidar control device 100b reads out the information required for the operation from the storage device 12.

[0189] Figure 11 It is a block diagram showing an example of the structure of the main part of the lidar device 200b according to Embodiment 3.

[0190] The lidar device 200b changes the laser output unit 210a and the light source temperature measurement unit 251 in the lidar device 200a of Embodiment 2 to a laser output unit 210b and a light source temperature measurement unit 251b.

[0191] That is, the lidar device 200b includes a laser output unit 210b, a transmission optical system 220, a window 221, a reception optical system 222, a trigger signal output unit 223, a background light cut-off filter 230, a light receiving unit 240, a filter temperature measurement unit 250, a light source temperature measurement unit 251b, and a control signal acquisition unit 290.

[0192] In addition, in Figure 11 the same blocks as those shown in Figure 7 are denoted by the same reference numerals and the description thereof is omitted.

[0193] The laser output unit 210b outputs a laser (hereinafter referred to as "laser output light"). The laser output light output by the laser output unit 210b passes through the transmission optical system 220 and the window 221 and is emitted from the lidar device 200b. That is, the wavelength of the laser output light corresponds to the emission wavelength of the laser emission light of the lidar device 200b. Since the wavelength of the laser output light corresponds to the emission wavelength, hereinafter, the wavelength of the laser output light will also be referred to as the emission wavelength.

[0194] The laser output unit 210b adjusts the wavelength of the laser output light according to the control signal obtained by the control signal acquisition unit 290, and outputs the laser output light with the adjusted wavelength.

[0195] As Figure 11 shown as an example, the laser output unit 210b includes a laser light source 211 and a wavelength adjustment unit 212b.

[0196] The laser output unit 210b outputs a laser based on the laser light source light output by the laser light source 211 as the laser output light.

[0197] The wavelength adjustment unit 212b controls a temperature adjustment device such as a Peltier element or a heating wire according to the control signal obtained by the control signal acquisition unit 290. By controlling the temperature adjustment device, the wavelength adjustment unit 212b changes the light source temperature of the laser light source 211 having a light source temperature characteristic. The wavelength adjustment unit 212b adjusts the light source temperature to a specified temperature according to the control signal obtained by the control signal acquisition unit 290, whereby the laser output unit 210b can output the laser output light with a specified emission wavelength.

[0198] The light source temperature measurement unit 251b measures the light source temperature of the laser light source 211. The light source temperature measurement unit 251b outputs the measured light source temperature as light source temperature information. Specifically, the light source temperature measurement unit 251b outputs the light source temperature information to the lidar control device 100b.

[0199] Figure 12 It is a block diagram showing an example of the structure of the main part of the lidar control device 100b according to Embodiment 3.

[0200] The lidar control device 100b changes the control signal generation unit 140a in the lidar control device 100a of Embodiment 2 to the control signal generation unit 140b, and further adds a light source temperature acquisition unit 160.

[0201] That is, the lidar control device 100b includes a filter temperature acquisition unit 110, a filter characteristic acquisition unit 120, a transmission wavelength acquisition unit 130, a light source characteristic acquisition unit 150, a light source temperature acquisition unit 160, and a control signal generation unit 140b.

[0202] In addition, Figure 12 In, with Figure 8 The same blocks are denoted by the same reference numerals and their description is omitted.

[0203] The light source temperature acquisition unit 160 acquires light source temperature information indicating the light source temperature of the laser light source 211 provided in the laser output unit 210b of the laser radar device 200b. Specifically, the light source temperature acquisition unit 160 acquires the light source temperature information from the light source temperature measurement unit 251b provided in the laser radar device 200b.

[0204] The control signal generating unit 140b generates a control signal for making the laser radar device 200b emit a laser light having an output wavelength equivalent to the transmission wavelength obtained by the transmission wavelength acquisition unit 130 based on the light source temperature information obtained by the light source temperature acquisition unit 160, the light source temperature characteristic information obtained by the light source characteristic acquisition unit 150, and the transmission wavelength obtained by the transmission wavelength acquisition unit 130.

[0205] More specifically, for example, the control signal generating unit 140b uses the relationship between the light source temperature and the light source wavelength shown in the light source temperature characteristic information, that is, λ in equation (1) or equation (2) L The transmission wavelength acquired by the transmission wavelength acquisition unit 130 is substituted into the control signal generating unit 140b, thereby calculating the target value of the light source temperature. Furthermore, the control signal generating unit 140b generates a control signal for controlling the temperature adjustment device of the laser radar device 200b so that the light source temperature indicated by the light source temperature information acquired by the light source temperature acquisition unit 160 approaches the calculated target value of the light source temperature. The control signal generating unit 140a outputs the generated control signal to the laser radar device 200b.

[0206] The control signal acquisition unit 290 in the laser radar device 200b acquires the control signal output by the control signal generation unit 140b.

[0207] In addition, the functions of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120, the transmission wavelength acquisition unit 130, the light source characteristic acquisition unit 150, the light source temperature acquisition unit 160 and the control signal generation unit 140b in the laser radar control device 100b of the third embodiment can be implemented by Figure 4 A and Figure 4 B shows an example of a hardware structure in which the processor 401 and the memory 402 are implemented, or the processing circuit 403 can also be used for implementation.

[0208] Reference Figure 13 The operation of the laser radar control device 100b according to the third embodiment will be described.

[0209] Figure 13It is a flowchart showing an example of the processing of the lidar control device 100b according to Embodiment 3. The lidar control device 100b repeatedly executes the processing of this flowchart, for example.

[0210] First, in step ST1301, the filter characteristic acquisition unit 120 acquires filter temperature characteristic information.

[0211] Next, in step ST1302, the light source characteristic acquisition unit 150 acquires light source temperature characteristic information.

[0212] Next, in step ST1303, the filter temperature acquisition unit 110 acquires filter temperature information.

[0213] Next, in step ST1304, the light source temperature acquisition unit 160 acquires light source temperature information.

[0214] Next, in step ST1305, the transmission wavelength acquisition unit 130 acquires the transmission wavelength.

[0215] Next, in step ST1306, the control signal generation unit 140b generates a control signal and outputs the generated control signal.

[0216] After step ST1306, the lidar control device 100b ends the processing of this flowchart. After ending the processing of this flowchart, the lidar control device 100b returns to step ST1301 and repeatedly executes the processing of this flowchart.

[0217] In addition, when the lidar control device 100b repeatedly executes the processing of this flowchart from the second time on, the lidar control device 100b may also omit the processing of step ST1301 and step ST1302.

[0218] In addition, the processing order of steps ST1301 to ST1303 is arbitrary.

[0219] In addition, the processing of step ST1304 may be performed before the processing of step ST1306.

[0220] As described above, the lidar control device 100b of Embodiment 3 controls the lidar device 200b having the background light cut-off filter 230. The background light cut-off filter 230 allows the transmission of the reflected light of the laser outgoing light reflected by the measurement target object, that is, the laser reflected light, and the laser reflected light in the background light incident on the lidar device 200b, and suppresses the transmission of the background light. The lidar control device 100b includes: a filter temperature acquisition unit 110 that acquires filter temperature information indicating the filter temperature of the background light cut-off filter 230 provided in the lidar device 200b; a filter characteristic acquisition unit 120 that acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter 230; a transmission wavelength acquisition unit 130 that acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 120 and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120; and a control signal generation unit 140b that generates a control signal for causing the lidar device 200b to emit laser outgoing light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130.

[0221] Specifically, the lidar control device 100b of Embodiment 3 is configured to further include, on the basis of the above structure: a light source characteristic acquisition unit 150 that acquires light source temperature characteristic information indicating the temperature characteristics of the laser light source 211 of the laser output unit 210b provided in the lidar device 200b; and a light source temperature acquisition unit 160 that acquires light source temperature information indicating the light source temperature of the laser light source 211. The control signal generation unit 140b generates a control signal for causing the lidar device 200b to emit laser outgoing light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130 based on the light source temperature information acquired by the light source temperature acquisition unit 160, the light source temperature characteristic information acquired by the light source characteristic acquisition unit 150, and the transmission wavelength acquired by the transmission wavelength acquisition unit 130.

[0222] With such a configuration, the lidar control device 100b can control the lidar device 200b even when the background light cut-off filter 230 provided in the lidar device 200b has filter temperature characteristics and the filter temperature of the background light cut-off filter 230 changes, so that the background light cut-off filter 230 does not suppress the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0223] In addition, as described above, the lidar device 200b of Embodiment 3 includes: a background light cutoff filter 230; a laser output unit 210b that outputs laser output light based on the laser source light output by the laser source 211; and a light receiving unit 240 that receives the laser reflected light that has passed through the background light cutoff filter 230 and outputs an electrical signal based on the received laser reflected light. The lidar device 200b includes: a filter temperature measurement unit 250 that measures the filter temperature of the background light cutoff filter 230 and outputs the measured filter temperature as filter temperature information to the lidar control device 100b; and a wavelength adjustment unit 212b that receives a control signal generated and output by the lidar control device 100b based on the filter temperature information output by the filter temperature measurement unit 250, and adjusts the wavelength of the laser output light to be emitted according to the control signal.

[0224] Specifically, the lidar device 200b of Embodiment 3 is configured to further include a light source temperature measurement unit 251b on the basis of the above structure. The light source temperature measurement unit 251b measures the light source temperature of the laser source 211 of the laser output unit 210b, outputs the measured light source temperature as light source temperature information, and the light source temperature measurement unit 251b outputs the light source temperature information to the lidar control device 100b. The wavelength adjustment unit 212b receives a control signal generated and output by the lidar control device 100b based on the light source temperature information output by the light source temperature measurement unit 251b and the filter temperature information output by the filter temperature measurement unit 250, and adjusts the wavelength of the laser output light to be emitted according to the control signal.

[0225] With such a configuration, even when the background light cutoff filter 230 provided in the lidar device 200b has a filter temperature characteristic and the filter temperature of the background light cutoff filter 230 changes, the lidar device 200b can prevent the background light cutoff filter 230 from suppressing the transmission of the laser reflected light incident on the background light cutoff filter 230.

[0226] Embodiment 4

[0227] Refer to Figures 14 - 16 The lidar control device 100c, the lidar device 200c, and the lidar system 10c of Embodiment 4 will be described.

[0228] Figure 14 FIG. is a block diagram showing an example of the structure of the main part of the lidar system 10c that applies the lidar control device 100c and the lidar device 200c of Embodiment 4.

[0229] The lidar system 10c changes the lidar control device 100, the lidar device 200, and the distance calculation device 11 in the lidar system 10 of Embodiment 1 to a lidar control device 100c, a lidar device 200c, and a distance calculation device 11c.

[0230] That is, the lidar system 10c includes a lidar control device 100c, a lidar device 200c, a distance calculation device 11c, and a storage device 12.

[0231] The difference between the lidar system 10c and the lidar system 10 of Embodiment 1 is that in the lidar system 10 of Embodiment 1, the lidar device 200 emits laser emission light in a predetermined direction, whereas in the lidar system 10c, the lidar device 200c changes the direction of the emitted laser (hereinafter referred to as "laser emission light") over time.

[0232] In addition, in Figure 14 for Figure 1 the same blocks as those shown in

[0233] The lidar control device 100c controls the lidar device 200c. Specifically, the lidar control device 100c generates a control signal for causing the lidar device 200c to emit laser emission light of a specified wavelength. The lidar control device 100c outputs the generated control signal to the lidar device 200c. In Embodiment 4, the control signal generated by the lidar control device 100c is, for example, a control signal indicating the wavelength of the laser emission light.

[0234] The lidar device 200c changes the direction of the emitted laser emission light over time, emits the laser emission light toward an object, and receives the reflected light (hereinafter referred to as "laser reflected light") of the emitted laser emission light reflected by the object. The lidar device 200c outputs an electrical signal based on the laser reflected light and a trigger signal indicating a point in time serving as a reference when the lidar device 200c emits the laser emission light toward the object to the distance calculation device 11c. In addition, the lidar device 200c acquires the control signal output by the lidar control device 100c, adjusts the wavelength of the laser emission light to be emitted (hereinafter referred to as "emission wavelength") according to the control signal, and emits the laser emission light of the adjusted wavelength toward the object.

[0235] In addition, in Embodiment 4, the control signal output from the lidar control device 100c to the lidar device 200c is, for example, a control signal indicating the wavelength of the laser.

[0236] The distance calculation device 11c, based on the trigger signal indicating the reference time point when the lidar device 200c emits laser outgoing light towards an object and the electrical signal based on the laser reflected light output by the lidar device 200c, also receives the emission direction information indicating the direction in which the lidar device 200c emits laser outgoing light (hereinafter referred to as "emission direction"). For example, it calculates the distance in the emission direction from a predetermined reference point to the object by the ToF method. The method by which the distance calculation device 11c calculates the distance in the emission direction from a predetermined reference point to the object by the ToF method or the like is well-known, and thus, the description related to this method is omitted.

[0237] The storage device 12 stores predetermined information required for the operation of the lidar control device 100c or the lidar device 200c. The lidar control device 100c or the lidar device 200c respectively reads out the information required for the operation from the storage device 12.

[0238] Figure 15 It is a block diagram showing an example of the structure of the main part of the lidar device 200c according to Embodiment 4.

[0239] The lidar device 200c adds a scanning optical system 224, an emission direction calculation unit 260, and an emission direction output unit 261 to the lidar device 200 of Embodiment 1.

[0240] That is, the lidar device 200c includes a laser output unit 210, a transmission optical system 220, a window 221, a reception optical system 222, a trigger signal output unit 223, a scanning optical system 224, a background light cut-off filter 230, a light receiving unit 240, a filter temperature measurement unit 250, an emission direction calculation unit 260, an emission direction output unit 261, and a control signal acquisition unit 290.

[0241] In addition, in Figure 15 the same blocks as those shown in Figure 2 are labeled with the same reference numerals and the description is omitted.

[0242] The scanning optical system 224 receives the laser output light output by the laser output unit 210 and scans the laser output light. The scanning optical system 224 is composed of a polygonal mirror or the like. The laser output light after being scanned by the scanning optical system 224 passes through the transmission optical system 220 and the window 221 and is emitted from the lidar device 200c as laser outgoing light. By scanning the laser output light output by the laser output unit 210 with the scanning optical system 224, the emission direction of the laser outgoing light emitted from the lidar device 200c changes over time.

[0243] In addition, the scanning optical system 224 does not change the wavelength of the laser output light output by the laser output unit 210 when scanning the laser output light. Therefore, the wavelength of the laser output light output by the laser output unit 210 is equivalent to the wavelength of the laser emission light of the lidar device 200c, that is, the emission wavelength. Since the wavelength of the laser output light is equivalent to the emission wavelength, hereinafter, the wavelength of the laser output light will also be referred to as the emission wavelength.

[0244] The emission direction calculation unit 260 calculates the direction of the laser emission light emitted by the lidar device 200c, that is, the emission direction. The emission direction is, for example, the angle formed by the optical axis of the transmission optical system 220 and the direction in which the laser emission light emitted by the lidar device 200c advances.

[0245] Specifically, for example, the emission direction calculation unit 260 calculates the emission direction based on the state of the scanning optical system 224. More specifically, for example, the emission direction calculation unit 260 calculates the emission direction based on the rotation amount of the polygon mirror constituting the scanning optical system 224.

[0246] The emission direction output unit 261 outputs emission direction information indicating the emission direction calculated by the emission direction calculation unit 260 to the lidar control device 100c.

[0247] Figure 16 It is a block diagram showing an example of the structure of the main part of the lidar control device 100c according to Embodiment 4.

[0248] The lidar control device 100c changes the filter characteristic acquisition unit 120 and the transmission wavelength acquisition unit 130 in the lidar control device 100 of Embodiment 1 to a filter characteristic acquisition unit 120c and a transmission wavelength acquisition unit 130c, and further adds an emission direction acquisition unit 170 and an angle estimation unit 171.

[0249] That is, the lidar control device 100c includes a filter temperature acquisition unit 110, a filter characteristic acquisition unit 120c, a transmission wavelength acquisition unit 130c, an emission direction acquisition unit 170, an angle estimation unit 171, and a control signal generation unit 140.

[0250] In addition, in Figure 16 for, Figure 3 the same blocks as those shown are labeled with the same reference numerals and the description thereof is omitted.

[0251] The emission direction acquisition unit 170 acquires emission direction information indicating the direction of the laser emission light emitted by the lidar device 200c. Specifically, the emission direction acquisition unit 170 receives the emission direction information output by the emission direction output unit 261 in the lidar device 200c, and thereby acquires the emission direction information.

[0252] The angle estimation unit 171 estimates the angle at which the laser reflected light enters the background light cut-off filter 230 (hereinafter referred to as "incident angle") based on the emission direction information obtained by the emission direction acquisition unit 170. The incident angle is, for example, the angle formed by the optical axis of the receiving optical system 222 and the direction in which the laser reflected light advances when it enters the background light cut-off filter 230.

[0253] The filter characteristic acquisition unit 120c acquires filter temperature characteristic information indicating the incident angle characteristic and the filter temperature characteristic of the background light cut-off filter 230. Here, the incident angle characteristic is a characteristic in which, at a certain filter temperature, the transmission wavelength of the background light cut-off filter 230 varies corresponding to the angle of the laser incident on the background light cut-off filter 230.

[0254] The filter characteristic acquisition unit 120c acquires the filter temperature characteristic information, for example, by reading it from the storage device 12. The filter temperature characteristic information acquired by the filter characteristic acquisition unit 120c is provided, for example, by the manufacturer of the background light cut-off filter 230.

[0255] The filter temperature characteristic information acquired by the filter characteristic acquisition unit 120c is, for example, information that correlates the incident angle and the transmission wavelength for each filter temperature.

[0256] In addition, for example, the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120c may also be information representing the relationship formula of the filter temperature, the incident angle, and the transmission wavelength, such that by substituting the filter temperature and the incident angle as variables, the transmission wavelength can be calculated.

[0257] In Embodiment 4, the filter temperature characteristic information is information representing the relationship formula of the filter temperature, the incident angle, and the transmission wavelength. Let this relationship formula be the following formula (4) for explanation.

[0258] λ F =a FT ×T F +a Fθ ×θ F +b F …Formula (4)

[0259] Here, λ F is the transmission wavelength, T F is the filter temperature, θ F is the incident angle, and a FT 、a Fθ and b F are predetermined constants.

[0260] The transmission wavelength acquisition unit 130c acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the incident angle of the laser reflected light estimated by the angle estimation unit 171, and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120c.

[0261] Specifically, for example, the transmission wavelength acquisition unit 130c substitutes the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 and the incident angle of the laser reflected light estimated by the angle estimation unit 171 into Equation (4) indicated by the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120c to calculate the transmission wavelength, thereby acquiring the transmission wavelength of the background light cut-off filter 230.

[0262] The control signal generation unit 140 generates a control signal for causing the lidar device 200c to emit laser output light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130c. The control signal generation unit 140 outputs the generated control signal to the lidar device 200c.

[0263] The control signal acquisition unit 290 in the lidar device 200c acquires the control signal output by the control signal generation unit 140.

[0264] In addition, each function of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120c, the transmission wavelength acquisition unit 130c, the emission direction acquisition unit 170, the angle estimation unit 171, and the control signal generation unit 140 in the lidar control device 100c of Embodiment 4 can be implemented by the processor 401 and the memory 402 in the hardware structure exemplified by Figure 4 A and Figure 4 B, or can also be implemented by the processing circuit 403.

[0265] Refer to Figure 17 The operation of the lidar control device 100c of Embodiment 4 will be described.

[0266] Figure 17 It is a flowchart showing an example of the processing of the lidar control device 100c of Embodiment 4. The lidar control device 100c repeatedly executes the processing of this flowchart, for example.

[0267] First, in step ST1701, the filter characteristic acquisition unit 120c acquires filter temperature characteristic information.

[0268] Next, in step ST1702, the filter temperature acquisition unit 110 acquires filter temperature information.

[0269] Next, in step ST1703, the emission direction acquisition unit 170 acquires emission direction information.

[0270] Next, in step ST1704, the angle estimation unit 171 estimates the incident angle.

[0271] Next, in step ST1705, the transmission wavelength acquisition unit 130c acquires the transmission wavelength.

[0272] Next, in step ST1706, the control signal generation unit 140 generates a control signal and outputs the generated control signal.

[0273] After step ST1706, the lidar control device 100c ends the processing of this flowchart. After the lidar control device 100c ends the processing of this flowchart, it returns to step ST1701 and repeatedly executes the processing of this flowchart.

[0274] In addition, when the lidar control device 100c repeatedly executes the processing of this flowchart from the second time onwards, the lidar control device 100c may also omit the processing of step ST1701.

[0275] In addition, the processing order of steps ST1701 to ST1703 is arbitrary.

[0276] In addition, the processing of step ST1702 may be executed before the processing of step ST1705.

[0277] As described above, the lidar control device 100c of Embodiment 4 controls the lidar device 200c having the background light cut-off filter 230. The background light cut-off filter 230 allows the transmission of the reflected light of the laser emission light reflected by the measurement target object, that is, the laser reflected light and the laser reflected light in the background light incident on the lidar device 200c, and suppresses the transmission of the background light. The lidar control device 100c includes: a filter temperature acquisition unit 110 that acquires filter temperature information indicating the filter temperature of the background light cut-off filter 230 provided in the lidar device 200c; a filter characteristic acquisition unit 120 that acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter 230; a transmission wavelength acquisition unit 130c that acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 120c and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120c; and a control signal generation unit 140 that generates a control signal for causing the lidar device 200c to emit laser emission light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130c.

[0278] Specifically, the lidar control device 100c of Embodiment 4 is configured to further include, on the basis of the above structure: an emission direction acquisition unit 170 that acquires emission direction information indicating the direction in which the lidar device 200c emits laser emission light; and an angle estimation unit 171 that estimates the angle at which the laser reflected light enters the background light cut-off filter 230 according to the emission direction information acquired by the emission direction acquisition unit 170. The filter characteristic acquisition unit 120c acquires filter temperature characteristic information indicating the incident angle characteristic of the background light cut-off filter 230 and the filter temperature characteristic of the background light cut-off filter 230. The transmission wavelength acquisition unit 130c acquires the transmission wavelength of the background light cut-off filter 230 according to the filter temperature information acquired by the filter temperature acquisition unit 110, the incident angle of the laser reflected light estimated by the angle estimation unit 171, and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120c.

[0279] With such a configuration, even when the background light cut-off filter 230 of the lidar device 200c, in which the emission direction of the laser emission light emitted by the lidar device 200c changes over time, has a filter temperature characteristic and the filter temperature of the background light cut-off filter 230 changes, the lidar control device 100c can control the lidar device 200c so that the background light cut-off filter 230 does not inhibit the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0280] In addition, as described above, the lidar device 200c of Embodiment 4 includes: a background light cut-off filter 230; a laser output unit 210 that outputs laser output light based on the laser light source light output by the laser light source 211; and a light receiving unit 240 that receives the laser reflected light that has passed through the background light cut-off filter 230 and outputs an electrical signal based on the received laser reflected light. The lidar device 200c further includes: a filter temperature measurement unit 250 that measures the filter temperature of the background light cut-off filter 230 and outputs the measured filter temperature as filter temperature information indicating the filter temperature to the lidar control device 100c; and a wavelength adjustment unit 212 that receives a control signal generated and output by the lidar control device 100c according to the filter temperature information output by the filter temperature measurement unit 250 and adjusts the wavelength of the laser emission light to be emitted according to the control signal.

[0281] Specifically, the lidar device 200c according to Embodiment 4 is configured to further include, on the basis of the above structure: a scanning optical system 224 that changes the emission direction of the laser emission light; and an emission direction output unit 261 that outputs emission direction information indicating the emission direction changed by the scanning optical system 224 to the lidar control device 100c. The wavelength adjustment unit 212 receives a control signal generated and output by the lidar control device 100c according to the filter temperature information output by the filter temperature measurement unit 250 and the emission direction information output by the emission direction output unit 261, and adjusts the wavelength of the laser emission light to be emitted according to this control signal.

[0282] With such a configuration, even when the background light cutoff filter 230 of the lidar device 200c, which is arranged such that the emission direction of the laser emission light to be emitted changes over time, has a filter temperature characteristic and the filter temperature of the background light cutoff filter 230 changes, the lidar device 200c can prevent the background light cutoff filter 230 from suppressing the transmission of the laser reflected light incident on the background light cutoff filter 230.

[0283] In addition, the lidar control device 100c can also be applied to the case where the filter temperature of the background light cutoff filter 230 provided in the lidar device 200c according to Embodiment 4 is maintained at a predetermined desired temperature, or the case where the background light cutoff filter 230 does not have a filter temperature characteristic.

[0284] In the above cases, the lidar control device 100c does not have to include a filter temperature acquisition unit 110 and a filter characteristic acquisition unit 120c. In addition, in the above cases, the lidar device 200c does not have to include a filter temperature measurement unit 250.

[0285] In this case, for example, instead of the filter characteristic acquisition unit 120c, the lidar control device 100c includes an incident angle characteristic acquisition unit (not shown) that acquires incident angle characteristic information indicating the incident angle characteristic of the background light cutoff filter 230 at a specified filter temperature from a storage device 12 or the like.

[0286] Furthermore, in this case, for example, the transmission wavelength acquisition unit 130c acquires the transmission wavelength of the background light cutoff filter 230 according to the incident angle of the laser reflected light estimated by the angle estimation unit 171 and the incident angle characteristic information acquired by the incident angle characteristic acquisition unit.

[0287] With this configuration, even when the background light cut-off filter 230 of the lidar device 200c, which is provided in the lidar control device 100c and has an incident angle characteristic in the emission direction of the laser emitted from the lidar device 200c and the incident angle of the laser reflected light incident on the background light cut-off filter 230 changes over time, the lidar device 200c can be controlled so that the background light cut-off filter 230 does not suppress the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0288] Embodiment 5

[0289] Refer to Figures 18 - 20 The lidar control device 100d, the lidar device 200d, and the lidar system 10d of Embodiment 5 will be described.

[0290] Figure 18 FIG. is a block diagram showing an example of the structure of the main part of the lidar system 10d that applies the lidar control device 100d and the lidar device 200d of Embodiment 5.

[0291] The lidar system 10d changes the lidar control device 100 and the lidar device 200 in the lidar system 10 of Embodiment 1 to the lidar control device 100d and the lidar device 200d.

[0292] That is, the lidar system 10d includes a lidar control device 100d, a lidar device 200d, a distance calculation device 11, and a storage device 12.

[0293] In addition, in Figure 18 , the same reference numerals are assigned to the same blocks as those shown in Figure 1 and the description thereof is omitted.

[0294] Due to differences in the manufacturing date of the laser light source of the lidar device or the influence of the aging deterioration of the laser light source, etc., for example, the laser light source may sometimes have a light source temperature characteristic different from the light source temperature characteristic shown in the light source temperature characteristic information provided by the manufacturer of the laser light source.

[0295] In addition, due to differences in the manufacturing date of the background light cut-off filter of the lidar device or the influence of the aging deterioration of the background light cut-off filter, etc., for example, the background light cut-off filter may sometimes have a filter temperature characteristic different from the filter temperature characteristic shown in the filter temperature characteristic information provided by the manufacturer of the background light cut-off filter.

[0296] In addition, due to assembly errors or the like when assembling the lidar device, the incident angle of the laser reflected light incident on the background light cut-off filter sometimes does not become a predetermined desired incident angle. In this case, due to the incident angle characteristics of the background light cut-off filter, the background light cut-off filter sometimes suppresses the transmission of the laser reflected light.

[0297] In the lidar system 10d of Embodiment 5, in the above case, the background light cut-off filter also does not suppress the transmission of the laser reflected light incident on the background light cut-off filter.

[0298] The lidar control device 100d controls the lidar device 200d. Specifically, the lidar control device 100d generates a control signal for causing the lidar device 200d to emit laser light of a specified wavelength (hereinafter referred to as "laser emission light"). The lidar control device 100d outputs the generated control signal to the lidar device 200d.

[0299] The lidar device 200d emits laser emission light toward an object and receives the reflected light (hereinafter referred to as "laser reflected light") after the emitted laser emission light is reflected by the object. The lidar device 200d outputs an electrical signal based on the laser reflected light and a trigger signal indicating a time point that is a reference when the lidar device 200d emits laser emission light toward the object to the distance calculation device 11 and the lidar control device 100d. In addition, the lidar device 200d acquires the control signal output by the lidar control device 100d, adjusts the wavelength of the laser emission light to be emitted (hereinafter referred to as "emission wavelength") according to the control signal, and emits laser emission light of the adjusted wavelength toward the object.

[0300] In addition, in Embodiment 5, the control signal output by the lidar control device 100d to the lidar device 200d is, for example, a control signal indicating the wavelength of the laser emission light.

[0301] The distance calculation device 11 receives the trigger signal indicating a time point that is a reference when the lidar device 200d emits laser emission light toward the object and the electrical signal based on the laser reflected light output by the lidar device 200d, and calculates the distance from a predetermined reference point to the object by, for example, the ToF method.

[0302] The storage device 12 stores predetermined information required for the operation of the lidar control device 100d or the lidar device 200d. The lidar control device 100d or the lidar device 200d respectively reads out the information required for the operation from the storage device 12.

[0303] Figure 19It is a block diagram showing an example of the structure of the main part of the lidar device 200d according to Embodiment 5.

[0304] The lidar device 200d changes the light receiving unit 240 and the trigger signal output unit 223 in the lidar device 200 of Embodiment 1 into a light receiving unit 240d and a trigger signal output unit 223d, and adds a branching unit 280 and a multiplexing unit 281.

[0305] That is, the lidar device 200d includes a laser output unit 210, a transmission optical system 220, a window 221, a reception optical system 222, a trigger signal output unit 223d, a background light cut-off filter 230, a light receiving unit 240d, a filter temperature measurement unit 250, a branching unit 280, a multiplexing unit 281, and a control signal acquisition unit 290.

[0306] In addition, in Figure 19 , the same reference numerals are assigned to the same blocks as those shown in Figure 2 and the description thereof is omitted.

[0307] The branching unit 280 branches a part of the laser output light output from the laser output unit 210 into laser reference light. Specifically, the branching unit 280 branches a part of the laser output light into laser reference light, and causes the remaining part of the laser output light to be emitted from the lidar device 200d as laser emission light. The laser emission light emitted from the lidar device 200d is reflected by an object, and the laser reflected light after being reflected by the object is incident on the lidar device 200d.

[0308] The branching unit 280 is composed of a beam splitter such as a half mirror.

[0309] As shown in Figure 19 , for example, the branching unit 280 is disposed between the transmission optical system 220 and the window 221. The position where the branching unit 280 is disposed is not limited to between the transmission optical system 220 and the window 221. For example, the branching unit 280 may also be disposed between the laser output unit 210 and the transmission optical system 220. In addition, for example, the portion of the window 221 that receives the laser output light output from the laser output unit 210 may also function as the branching unit 280.

[0310] The multiplexing unit 281 multiplexes the laser reference light branched by the branching unit 280 and the laser reflected light incident on the lidar device 200d.

[0311] The multiplexing unit 281 is composed of a beam splitter such as a half mirror.

[0312] As shown in Figure 19As shown, for example, the multiplexing unit 281 is disposed between the window 221 and the receiving optical system 222. The position where the multiplexing unit 281 is disposed is configured such that the laser obtained by multiplexing the laser reference light and the laser reflected light by the multiplexing unit 281 can be incident on the background light cutoff filter 230, and it is not limited to between the window 221 and the receiving optical system 222. For example, the multiplexing unit 281 may also be disposed between the receiving optical system 222 and the background light cutoff filter 230. In addition, for example, the portion of the window 221 that receives the laser reference light and the laser reflected light may also function as the multiplexing unit 281.

[0313] The background light cutoff filter 230 receives the laser reflected light and the laser reference light that have been multiplexed by the multiplexing unit 281.

[0314] The light receiving unit 240d receives the laser reflected light and the laser reference light that have passed through the background light cutoff filter 230, converts the received laser reflected light and laser reference light into electrical signals, and outputs the electrical signals to the lidar control device 100d. In addition, the light receiving unit 240d also outputs the electrical signals to the distance calculation device 11.

[0315] The trigger signal output unit 223d outputs a trigger signal indicating a time point such as when the laser light source 211 outputs the laser light source light, when the laser output unit 210 outputs the laser output light, or when the lidar device 200d emits the laser emission light, which is a reference time point when the lidar device 200d emits the laser emission light toward the object, to the distance calculation device 11 and the lidar control device 100d.

[0316] Figure 20 It is a block diagram showing an example of the structure of the main part of the lidar control device 100d according to Embodiment 5.

[0317] The lidar control device 100d changes the transmission wavelength acquisition unit 130 and the control signal generation unit 140 in the lidar control device 100 of Embodiment 1 to a transmission wavelength acquisition unit 130d and a control signal generation unit 140d, and further adds a reference signal extraction unit 180, a trigger signal receiving unit 181, a laser wavelength determination unit 182, a temperature correction information generation unit 183, a temperature correction information acquisition unit 184, and a mode selection unit 190.

[0318] That is, the lidar control device 100d includes a filter temperature acquisition unit 110, a filter characteristic acquisition unit 120, a transmission wavelength acquisition unit 130d, a reference signal extraction unit 180, a trigger signal receiving unit 181, a laser wavelength determination unit 182, a temperature correction information generation unit 183, a temperature correction information acquisition unit 184, a mode selection unit 190, and a control signal generation unit 140d.

[0319] In addition, inFigure 20 In Figure 3 Blocks identical to the blocks shown are labeled with the same reference numerals and their descriptions are omitted.

[0320] As operation modes, the lidar control device 100d has at least two operation modes, namely a temperature correction information generation mode and a laser wavelength control mode, and the lidar control device 100d performs operations corresponding to the selected operation mode among the multiple operation modes.

[0321] The mode selection unit 190 selects one operation mode from at least two operation modes, namely the temperature correction information generation mode and the laser wavelength control mode, that the lidar control device 100d has. The lidar control device 100d performs operations corresponding to the operation mode selected by the mode selection unit 190.

[0322] The temperature correction information generation mode is an operation mode in which the lidar control device 100d generates temperature correction information.

[0323] The laser wavelength control mode is an operation mode in which the lidar control device 100d performs control for causing the lidar device 200d to emit laser emission light having a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit 130d.

[0324] The mode selection unit 190 receives information indicating the operation mode desired by the user, for example, via an operation reception unit (not shown) that receives an operation input for selecting an operation mode from the user, and selects an operation mode based on this information.

[0325] When the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the transmission wavelength acquisition unit 130d performs the same operations as the transmission wavelength acquisition unit 130 in the lidar control device 100 of Embodiment 1. Specifically, when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the transmission wavelength acquisition unit 130d acquires the transmission wavelength of the background light cutoff filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110 and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120. More specifically, for example, when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the transmission wavelength acquisition unit 130d substitutes the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 into Equation (1) indicated by the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120 to calculate the transmission wavelength, thereby acquiring the transmission wavelength of the background light cutoff filter 230.

[0326] The trigger signal reception unit 181 operates when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode.

[0327] The trigger signal receiving unit 181 receives the trigger signal output from the lidar device 200d. Specifically, for example, the trigger signal receiving unit 181 receives the trigger signal output from the trigger signal output unit 223d in the lidar device 200d.

[0328] The reference signal extraction unit 180 operates when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode.

[0329] The reference signal extraction unit 180 receives the electrical signal output from the lidar device 200d. Specifically, for example, the reference signal extraction unit 180 receives the electrical signal output from the light receiving unit 240d in the lidar device 200d. The electrical signal received by the reference signal extraction unit 180 is obtained by converting the laser that is the combined wave of the laser reflected light and the laser reference light after passing through the background light cut-off filter 230 of the lidar device 200d into an electrical signal by the light receiving unit 240d in the lidar device 200d.

[0330] The reference signal extraction unit 180 extracts the electrical signal based on the laser reference light in the received electrical signal as the reference signal. Specifically, for example, the reference signal extraction unit 180 uses a predetermined time gate based on the time point when the trigger signal receiving unit 181 receives the trigger signal to extract the electrical signal based on the laser reference light as the reference signal.

[0331] The laser wavelength determination unit 182 operates when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode.

[0332] The laser wavelength determination unit 182 determines the wavelength of the laser emission light emitted from the lidar device 200d such that each time the reference signal extraction unit 180 extracts the reference signal, laser emission light of a different wavelength is emitted from the lidar device 200d.

[0333] Specifically, for example, the laser wavelength determination unit 182 sequentially determines the wavelength of the laser emission light emitted from the lidar device 200d such that each time the reference signal extraction unit 180 extracts the reference signal, within the range of emission wavelengths that the lidar device 200d can emit, laser emission light with emission wavelengths different by a predetermined wavelength interval is emitted from the lidar device 200d.

[0334] When the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the control signal generation unit 140d generates a control signal for causing the lidar device 200d to emit laser light having the wavelength determined by the laser wavelength determination unit 182. The control signal generation unit 140d outputs the generated control signal to the lidar device 200d. The control signal acquisition unit 290 in the lidar device 200d acquires the control signal output by the control signal generation unit 140d. The lidar device 200d emits laser light having the wavelength determined by the laser wavelength determination unit 182 according to the control signal acquired by the control signal acquisition unit 290.

[0335] The temperature correction information generation unit 183 operates when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode.

[0336] The temperature correction information generation unit 183 estimates the transmission wavelength of the background light cut-off filter 230 based on the signal intensities of the plurality of reference signals cut out by the reference signal cutting unit 180. The temperature correction information generation unit 183 calculates a correction coefficient for the transmission wavelength of the background light cut-off filter 230 based on the estimated transmission wavelength and the transmission wavelength acquired by the transmission wavelength acquisition unit 130d. The temperature correction information generation unit 183 generates temperature correction information that associates the calculated correction coefficient with the filter temperature information acquired by the filter temperature acquisition unit 110.

[0337] Refer to Figure 21 The main structure of the temperature correction information generation unit 183 in the lidar control device 100d of Embodiment 5 will be described.

[0338] Figure 21 FIG. is a block diagram showing an example of the main structure of the temperature correction information generation unit 183 in the lidar control device 100d of Embodiment 5.

[0339] The temperature correction information generation unit 183 includes a transmission wavelength estimation unit 1831, a correction coefficient calculation unit 1832, and a correction information output unit 1833.

[0340] The transmission wavelength estimation unit 1831 estimates the transmission wavelength of the background light cut-off filter 230 based on the signal intensities of the plurality of reference signals cut out by the reference signal cutting unit 180.

[0341] Specifically, for example, the multiple reference signals cut out by the reference signal cutting unit 180 are respectively reference signals cut out from the electrical signals obtained when the reference signal cutting unit 180 cuts out the wavelengths determined by the laser emission wavelength determination unit 182 of the lidar device 200d. The transmission wavelength estimation unit 1831 determines the reference signal with the strongest signal intensity among the multiple reference signals cut out by the reference signal cutting unit 180 for each electrical signal obtained when the reference signal cutting unit 180 sequentially cuts out the wavelengths determined by the laser emission wavelength determination unit 182 of the lidar device 200d. The transmission wavelength estimation unit 1831 estimates that the wavelength determined by the laser emission wavelength determination unit 182 corresponding to the determined reference signal is the transmission wavelength.

[0342] The correction coefficient calculation unit 1832 calculates the correction coefficient of the transmission wavelength of the background light cut-off filter 230 based on the transmission wavelength estimated by the transmission wavelength estimation unit 1831 and the transmission wavelength obtained by the transmission wavelength acquisition unit 130d.

[0343] Specifically, for example, the correction coefficient calculation unit 1832 subtracts the transmission wavelength calculated by the transmission wavelength acquisition unit 130d by substituting the filter temperature into Equation (1) from the transmission wavelength estimated by the transmission wavelength estimation unit 1831, thereby calculating the correction coefficient.

[0344] More specifically, for example, when the filter temperature shown by the filter temperature information acquired by the filter temperature acquisition unit 110 is T F0 the correction coefficient calculated by the correction coefficient calculation unit 1832 is calculated by the following Equation (5).

[0345] K TF0 = λ′ TF0 - λ TF0 = λ′ TF0 -(a F × T F0 + b F )…Equation (5)

[0346] Here, K TF0 is the correction coefficient when the filter temperature is T F0 λ′ TF0 is the transmission wavelength estimated by the transmission wavelength estimation unit 1831 when the filter temperature is T F0 λ TF0 is the transmission wavelength obtained by the transmission wavelength acquisition unit 130d when the filter temperature is T F0

[0347] The correction information output unit 1833 generates temperature correction information that associates the correction coefficient calculated by the correction coefficient calculation unit 1832 with the filter temperature information acquired by the filter temperature acquisition unit 110.

[0348] The correction information output unit 1833 writes and stores the generated temperature correction information in the storage device 12 by outputting it to the storage device 12, for example. The correction information output unit 1833 may also hold the generated temperature correction information in the memory 402 or the like for holding.

[0349] In Embodiment 5, it is described that the correction information output unit 1833 outputs the generated temperature correction information to the storage device 12 and writes and stores it in the storage device 12.

[0350] The temperature correction information acquisition unit 184 operates when the mode selection unit 190 selects the laser wavelength control mode as the operation mode.

[0351] The temperature correction information acquisition unit 184 acquires the temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110 from among the multiple temperature correction information pre-generated by the temperature correction information generation unit 183.

[0352] Each of the multiple temperature correction information pre-generated by the temperature correction information generation unit 183 is, for example, temperature correction information corresponding to multiple filter temperatures respectively.

[0353] Specifically, for example, the temperature correction information acquisition unit 184 acquires the temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110 by reading it out from the storage device 12.

[0354] In addition, when the temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110 is not stored in the storage device 12, for example, the temperature correction information acquisition unit 184 acquires the temperature correction information corresponding to the filter temperature information of the filter temperature that is closest to the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 from among the multiple temperature correction information stored in the storage device 12.

[0355] For example, in this case, the temperature correction information acquisition unit 184 may also acquire the two temperature correction information, namely, the temperature correction information corresponding to the filter temperature information of the filter temperature that is closest to the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 and the temperature correction information corresponding to the filter temperature information of the filter temperature that is the second closest to the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110, from among the multiple temperature correction information stored in the storage device 12, and obtain the weighted average of the correction coefficients indicated by these two temperature correction information, thereby acquiring the temperature correction information.

[0356] In addition, for example, in this case, the temperature correction information acquisition unit 184 may also cause the mode selection unit 190 to select the temperature correction information generation mode as the operation mode, and cause the temperature correction information generation unit 183 to generate temperature correction information at the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110. The temperature correction information generated by the temperature correction information generation unit 183 is stored in the storage device 12, for example.

[0357] When the mode selection unit 190 selects the laser wavelength control mode as the operation mode, the transmission wavelength acquisition unit 130d acquires the transmission wavelength of the background light cutoff filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120, and the temperature correction information acquired by the temperature correction information acquisition unit 184.

[0358] Specifically, for example, when the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 is T F0 the transmission wavelength acquisition unit 130d uses the following formula (6) to acquire the transmission wavelength of the background light cutoff filter 230.

[0359] λ″ TF0 =(a F ×T F0 +b F )+K TF0 …Formula (6)

[0360] Here, λ″ TF0 is the transmission wavelength of the background light cutoff filter 230 acquired by the transmission wavelength acquisition unit 130d when the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 is T F0 .

[0361] When the mode selection unit 190 selects the laser wavelength control mode as the operation mode, the control signal generation unit 140d generates a control signal for causing the lidar device 200d to emit laser emission light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130d. The control signal generation unit 140d outputs the generated control signal to the lidar device 200d.

[0362] In addition, each function of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120, the transmission wavelength acquisition unit 130d, the reference signal extraction unit 180, the trigger signal reception unit 181, the laser wavelength determination unit 182, the temperature correction information generation unit 183, the temperature correction information acquisition unit 184, the mode selection unit 190, and the control signal generation unit 140d in the lidar control device 100d of Embodiment 5 can be implemented by the components in Embodiment 1 Figure 4 A andFigure 4 In B, the processor 401 and the memory 402 in the hardware structure of an example are implemented, or alternatively, it can also be implemented by the processing circuit 403.

[0363] Refer to Figure 22A and Figure 22B The operation of the lidar control device 100d according to Embodiment 5 will be described.

[0364] Figure 22A and Figure 22B FIG. is a flowchart showing an example of the processing of the lidar control device 100d according to Embodiment 5. The lidar control device 100d repeatedly executes the processing of this flowchart, for example.

[0365] In addition, in this flowchart, it is assumed that the lidar control device 100d according to Embodiment 5 operates in either the temperature correction information generation mode or the laser wavelength control mode for explanation.

[0366] First, in step ST2201, the mode selection unit 190 selects an operation mode.

[0367] In step ST2202, the lidar control device 100d confirms whether the operation mode selected by the mode selection unit 190 is the temperature correction information generation mode. If the operation mode is the temperature correction information generation mode, the processing of step ST2211 is executed. If the operation mode is not the temperature correction information generation mode, that is, if the operation mode is the laser wavelength control mode, the processing of step ST2241 is executed.

[0368] If the operation mode is the temperature correction information generation mode, in step ST2211, the filter characteristic acquisition unit 120 acquires filter temperature characteristic information.

[0369] After step ST2211, in step ST2212, the filter temperature acquisition unit 110 acquires filter temperature information.

[0370] After step ST2212, in step ST2213, the transmission wavelength acquisition unit 130d acquires the transmission wavelength.

[0371] After step ST2213, in step ST2221, the laser wavelength determination unit 182 determines the wavelength of the laser output light emitted from the lidar device 200d.

[0372] After step ST2221, in step ST2222, the control signal generation unit 140d generates a control signal for causing the lidar device 200d to emit laser output light having the wavelength determined by the laser wavelength determination unit 182, and outputs the generated control signal to the lidar device 200d.

[0373] After step ST2222, in step ST2223, the trigger signal receiving unit 181 receives a trigger signal.

[0374] After step ST2223, in step ST2224, the reference signal extraction unit 180 receives the electrical signal output from the lidar device 200d and extracts a reference signal from the electrical signal.

[0375] After step ST2224, in step ST2225, the laser wavelength determination unit 182 determines whether all the wavelengths that the laser wavelength determination unit 182 should determine have been determined.

[0376] The lidar control device 100d repeatedly executes the processes of steps ST2221 to ST2225 during the period until it is determined in step ST2225 that all the wavelengths that the laser wavelength determination unit 182 should determine have been determined.

[0377] In the case where it is determined in step ST2225 that all the wavelengths that the laser wavelength determination unit 182 should determine have been determined, in step ST2231, the transmission wavelength estimation unit 1831 in the temperature correction information generation unit 183 estimates the transmission wavelength of the background light cut-off filter 230.

[0378] After step ST2231, in step ST2232, the correction coefficient calculation unit 1832 in the temperature correction information generation unit 183 calculates the correction coefficient of the transmission wavelength of the background light cut-off filter 230.

[0379] After step ST2232, in step ST2233, the correction information output unit 1833 in the temperature correction information generation unit 183 generates temperature correction information that correlates the correction coefficient calculated by the correction coefficient calculation unit 1832 with the filter temperature information obtained by the filter temperature acquisition unit 110 in step ST2212.

[0380] After step ST2233, the lidar control device 100d ends the processing of this flowchart. After the lidar control device 100d ends the processing of this flowchart, it returns to step ST2201 and repeatedly executes the processing of this flowchart.

[0381] In addition, when the lidar control device 100d repeatedly executes the process of step ST2211 in this flowchart from the second time onwards, the lidar control device 100d may also omit the process of step ST2211.

[0382] In addition, it is assumed that the filter temperature does not change during the period from the end of the execution of the process of step ST2212 to the start of the execution of the process of step ST2231.

[0383] In addition, the process of step ST2213 may be executed before the process of step ST2232.

[0384] In addition, the processes of step ST2211 and step ST2212 may be executed before the process of step ST2213, and the order of the processes of step ST2211 and step ST2212 is arbitrary.

[0385] In the case where the operation mode is the laser wavelength control mode, in step ST2241, the filter characteristic acquisition unit 120 acquires filter temperature characteristic information.

[0386] After step ST2241, in step ST2242, the filter temperature acquisition unit 110 acquires filter temperature information.

[0387] After step ST2242, in step ST2243, the temperature correction information acquisition unit 184 acquires temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110.

[0388] After step ST2243, in step ST2244, the transmission wavelength acquisition unit 130d acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120, and the temperature correction information acquired by the temperature correction information acquisition unit 184.

[0389] After step ST2244, in step ST2245, the control signal generation unit 140d generates a control signal for causing the lidar device 200d to emit laser outgoing light with a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130d, and outputs the generated control signal to the lidar device 200d.

[0390] After step ST2245, the lidar control device 100d ends the processing of this flowchart. After the lidar control device 100d ends the processing of this flowchart, it returns to step ST2201 and repeatedly executes the processing of this flowchart.

[0391] In addition, when the lidar control device 100d repeatedly executes the process of step ST2241 in this flowchart from the second time, the lidar control device 100d may also omit the process of step ST2241.

[0392] In addition, the order of the processes of step ST2241 and step ST2242 is arbitrary.

[0393] As described above, the lidar control device 100d of Embodiment 5 controls the lidar device 200d having the background light cut-off filter 230. The background light cut-off filter 230 allows the transmission of the reflected light of the laser emission light reflected by the object to be measured, that is, the laser reflected light, and the laser reflected light in the background light incident on the lidar device 200d, and suppresses the transmission of the background light. The lidar control device 100d includes: a filter temperature acquisition unit 110 that acquires filter temperature information indicating the filter temperature of the background light cut-off filter 230 provided in the lidar device 200d; a filter characteristic acquisition unit 120 that acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter 230; a transmission wavelength acquisition unit 130d that acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110 and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120; and a control signal generation unit 140d that generates a control signal for causing the lidar device 200d to emit laser emission light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130d.

[0394] Specifically, on the basis of the above structure, the lidar control device 100d of Embodiment 5 includes: a reference signal extraction unit 180 that receives the laser reflected light after passing through the background light cut-off filter 230, receives the electrical signal output from the light receiving unit 240d of the lidar device 200d that outputs an electrical signal based on the received laser reflected light, and extracts, as a reference signal, the electrical signal in the electrical signal that is based on the laser reference light obtained by branching a part of the laser output light output from the laser output unit 210 of the lidar device 200d by the branch unit 280 provided in the lidar device 200d; a laser wavelength determination unit 182 that determines the wavelength of the laser output light emitted from the lidar device 200d such that each time the reference signal extraction unit 180 extracts a reference signal, laser output light of a different wavelength is emitted from the lidar device 200d; a temperature correction information generation unit 183 that estimates the transmission wavelength of the background light cut-off filter 230 based on the signal intensities of a plurality of reference signals extracted by the reference signal extraction unit 180, calculates a correction coefficient for the transmission wavelength of the background light cut-off filter 230 based on the estimated transmission wavelength and the transmission wavelength obtained by the transmission wavelength acquisition unit 130d, and generates temperature correction information that associates the calculated correction coefficient with the filter temperature information obtained by the filter temperature acquisition unit 110; a temperature correction information acquisition unit 184 that acquires the temperature correction information corresponding to the filter temperature information obtained by the filter temperature acquisition unit 110 from among a plurality of temperature correction information pre-generated by the temperature correction information generation unit 183; and a mode selection unit 190 that selects one operation mode from at least two operation modes including a temperature correction information generation mode for generating temperature correction information and a laser wavelength control mode for controlling the lidar device 200d to emit laser output light having a wavelength corresponding to the transmission wavelength obtained by the transmission wavelength acquisition unit 130d.

[0395] Furthermore, the lidar control device 100d of Embodiment 5 is configured such that, in the above structure, when the mode selection unit 190 selects the temperature correction information generation mode, the control signal generation unit 140d generates a control signal for causing the lidar device 200d to emit laser output light having the wavelength determined by the laser wavelength determination unit 182, and when the mode selection unit 190 selects the laser wavelength control mode, the transmission wavelength acquisition unit 130d acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information obtained by the filter temperature acquisition unit 110, the filter temperature characteristic information obtained by the filter characteristic acquisition unit 120, and the temperature correction information obtained by the temperature correction information acquisition unit 184, and the control signal generation unit 140d generates a control signal for causing the lidar device 200d to emit laser output light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130d.

[0396] With this configuration, when the background light cutoff filter 230 provided in the lidar device 200d suppresses the transmission of the laser reflected light incident on the background light cutoff filter 230 due to the influence of assembly errors or the like in the lidar device 200d, etc., even when the background light cutoff filter 230 has a filter temperature characteristic and the filter temperature of the background light cutoff filter 230 changes, the lidar device 200d can also be controlled so that the background light cutoff filter 230 does not suppress the transmission of the laser reflected light incident on the background light cutoff filter 230.

[0397] In addition, as described above, the lidar device 200d of Embodiment 5 includes: a background light cutoff filter 230; a laser output unit 210 that outputs laser output light based on the laser light source light output from the laser light source 211; and a light receiving unit 240d that receives the laser reflected light that has passed through the background light cutoff filter 230 and outputs an electrical signal based on the received laser reflected light. Among them, the lidar device 200d includes: a filter temperature measurement unit 250 that measures the filter temperature of the background light cutoff filter 230 and outputs the measured filter temperature as filter temperature information indicating the filter temperature to the lidar control device 100d; and a wavelength adjustment unit 212 that receives a control signal generated and output by the lidar control device 100d based on the filter temperature information output by the filter temperature measurement unit 250 and adjusts the wavelength of the laser output light to be emitted according to the control signal.

[0398] With this configuration, when the background light cutoff filter 230 provided in the lidar device 200d suppresses the transmission of the laser reflected light incident on the background light cutoff filter 230 due to the influence of assembly errors or the like in the lidar device 200d, etc., even when the background light cutoff filter 230 has a filter temperature characteristic and the filter temperature of the background light cutoff filter 230 changes, the background light cutoff filter 230 can also be made not to suppress the transmission of the laser reflected light incident on the background light cutoff filter 230.

[0399] In addition, particularly, the lidar device 200d of Embodiment 5 is configured to have a branch portion 280 on the basis of the above structure. The branch portion 280 branches a part of the laser output light output by the laser output unit 210 into laser reference light. The background light cutoff filter 230 receives the laser reflected light and the laser reference light. The light receiving unit 240d receives the laser reflected light and the laser reference light that have passed through the background light cutoff filter 230, converts the received laser reflected light and laser reference light into electrical signals, and outputs the electrical signals to the lidar control device 100d.

[0400] With this configuration, the background light cutoff filter 230 of the lidar device 200d receives the laser reference light, and the light receiving unit 240d receives the laser reference light that has passed through the background light cutoff filter 230. Therefore, the lidar control device 100d can accurately estimate the transmission wavelength of the background light cutoff filter 230 based on the reference signal based on the laser reference light.

[0401] In the lidar system 10d of Embodiment 5, it is assumed that the control signal output from the lidar control device 100d to the lidar device 200d is a control signal representing the laser wavelength for explanation. The control signal output from the lidar control device 100d to the lidar device 200d may also be a control signal representing the target value of the light source temperature as in the lidar system 10a of Embodiment 2.

[0402] In the lidar system 10d of Embodiment 5, in order to change the control signal output from the lidar control device 100d to the lidar device 200d into a control signal representing the target value of the light source temperature, for example, the following configuration is adopted. The light source temperature measurement unit 251 of Embodiment 2 is added to the lidar device 200d, and further, the laser output unit 210 in the lidar device 200d is changed to the laser output unit 210a of Embodiment 2. In addition, the light source characteristic acquisition unit 150 of Embodiment 2 is added to the lidar control device 100d, and further, the control signal generation unit 140d in the lidar control device 100d is changed to generate and output a control signal representing the target value of the light source temperature as in the control signal generation unit 140a of Embodiment 2.

[0403] In addition, the control signal output from the lidar control device 100d to the lidar device 200d may also be a signal for controlling a temperature adjustment device for adjusting the light source temperature of the laser light source 211 as in the lidar system 10b of Embodiment 3.

[0404] In the lidar system 10d of Embodiment 5, in order to change the control signal output from the lidar control device 100d to the lidar device 200d into a signal for controlling a temperature adjustment device, for example, the following configuration is adopted. The light source temperature measurement unit 251b of Embodiment 3 is added to the lidar device 200d, and further, the laser output unit 210 in the lidar device 200d is changed to the laser output unit 210b of Embodiment 3. In addition, the light source characteristic acquisition unit 150 and the light source temperature acquisition unit 160 of Embodiment 3 are added to the lidar control device 100d, and further, the control signal generation unit 140d in the lidar control device 100d is changed to generate and output a signal for controlling a temperature adjustment device for adjusting the light source temperature of the laser light source 211 as in the control signal generation unit 140b of Embodiment 3.

[0405] Embodiment 6

[0406] Refer to Figures 23 - 25 The lidar control device 100e, lidar device 200e, and lidar system 10e of Embodiment 6 will be described.

[0407] Figure 23 It is a block diagram showing an example of the structure of the main part of the lidar system 10e to which the lidar control device 100e and lidar device 200e of Embodiment 6 are applied.

[0408] The lidar system 10e changes the lidar control device 100d, lidar device 200d, and distance calculation device 11 in the lidar system 10d of Embodiment 5 to the lidar control device 100e, lidar device 200e, and distance calculation device 11c of Embodiment 4.

[0409] That is, the lidar system 10e includes a lidar control device 100e, a lidar device 200e, a distance calculation device 11c, and a storage device 12.

[0410] The difference between the lidar system 10e and the lidar system 10d of Embodiment 5 is that in the lidar system 10d of Embodiment 5, the lidar device 200d emits laser emission light in a predetermined direction, whereas in the lidar system 10e, the lidar device 200e changes the direction of the emitted laser (hereinafter referred to as "laser emission light") over time.

[0411] In addition, in Figure 23 , blocks identical to those shown in Figure 18 or Figure 14 are denoted by the same reference numerals and their description is omitted.

[0412] The lidar control device 100e controls the lidar device 200e. Specifically, the lidar control device 100e generates a control signal for causing the lidar device 200e to emit laser emission light of a specified wavelength. The lidar control device 100e outputs the generated control signal to the lidar device 200e.

[0413] The lidar device 200e changes the direction of the emitted laser light over time and emits the laser light toward an object, and receives the reflected light (hereinafter referred to as "laser reflected light") of the emitted laser light reflected by the object. The lidar device 200e outputs an electrical signal based on the laser reflected light and a trigger signal indicating a time point serving as a reference when the lidar device 200e emits the laser light toward the object to the distance calculation device 11c and the lidar control device 100e. In addition, the lidar device 200e acquires a control signal output from the lidar control device 100e, adjusts the wavelength of the laser light to be emitted (hereinafter referred to as "emission wavelength") according to the control signal, and emits the laser light with the adjusted wavelength toward the object.

[0414] In addition, in Embodiment 6, the control signal output from the lidar control device 100e to the lidar device 200e is, for example, a control signal indicating the laser wavelength.

[0415] The distance calculation device 11c, based on the trigger signal indicating the time point serving as a reference when the lidar device 200e emits the laser light toward the object and the electrical signal based on the laser reflected light output from the lidar device 200e, also receives emission direction information indicating the direction of the laser light emitted by the lidar device 200e (hereinafter referred to as "emission direction"), and calculates the distance in the emission direction from a predetermined reference point to the object by, for example, the ToF method. The method by which the distance calculation device 11c calculates the distance in the emission direction from a predetermined reference point to the object by the ToF method or the like is well known, and thus, the description related to this method is omitted.

[0416] The storage device 12 stores predetermined information required for the operation of the lidar control device 100e or the lidar device 200e. The lidar control device 100e or the lidar device 200e reads out the information required for the operation from the storage device 12, respectively.

[0417] Figure 24 It is a block diagram showing an example of the structure of the main part of the lidar device 200e of Embodiment 6.

[0418] The lidar device 200e adds the scanning optical system 224, the emission direction calculation unit 260, and the emission direction output unit 261 of Embodiment 4 to the lidar device 200d of Embodiment 5.

[0419] That is, the lidar device 200e includes a laser output unit 210, a transmission optical system 220, a window 221, a reception optical system 222, a trigger signal output unit 223d, a scanning optical system 224, a background light cut-off filter 230, a light receiving unit 240d, a filter temperature measurement unit 250, an emission direction calculation unit 260, an emission direction output unit 261, a branching unit 280, a multiplexing unit 281, and a control signal acquisition unit 290.

[0420] In addition, in Figure 24 for Figure 19 or Figure 15 the same blocks as those shown are labeled with the same reference numerals and the description thereof is omitted.

[0421] The control signal acquisition unit 290 acquires the control signal output from the lidar control device 100e.

[0422] The scanning optical system 224 receives the laser output light output from the laser output unit 210 and scans the laser output light. By scanning the laser output light output from the laser output unit 210, the emission direction of the laser emission light emitted from the lidar device 200e changes over time.

[0423] In addition, since the scanning optical system 224 does not change the wavelength of the laser output light when scanning the laser output light output from the laser output unit 210, the wavelength of the laser output light output from the laser output unit 210 is equivalent to the wavelength of the laser emission light of the lidar device 200e, that is, the emission wavelength. Since the wavelength of the laser output light is equivalent to the emission wavelength, hereinafter, the wavelength of the laser output light will also be referred to as the emission wavelength.

[0424] A part of the laser output light after being scanned by the scanning optical system 224 passes through the transmission optical system 220, the branching unit 280, the multiplexing unit 281, and the reception optical system 222 and enters the background light cut-off filter 230 as laser reference light. The remaining part of the laser output light after being scanned by the scanning optical system 224 passes through the transmission optical system 220, the branching unit 280, and the window 221 and is emitted from the lidar device 200e as laser emission light. The laser reflected light reflected by the object enters the background light cut-off filter 230 through the window 221, the multiplexing unit 281, and the reception optical system 222. That is, the background light cut-off filter 230 receives the laser reflected light and the laser reference light multiplexed by the multiplexing unit 281.

[0425] The emission direction calculation unit 260 calculates the direction of the laser emission light emitted from the lidar device 200e, that is, the emission direction.

[0426] The emission direction output unit 261 outputs emission direction information indicating the emission direction calculated by the emission direction calculation unit 260 to the lidar control device 100e.

[0427] The light receiving unit 240d receives the laser reflected light and the laser reference light that have passed through the background light cut-off filter 230, converts the received laser reflected light and laser reference light into electrical signals, and outputs the electrical signals to the lidar control device 100e.

[0428] The trigger signal output unit 223d outputs a trigger signal indicating a reference time point such as the time point when the laser light source 211 outputs laser light source light, the time point when the laser output unit 210 outputs laser output light, or the time point when the lidar device 200e emits laser emission light to the distance calculation device 11c and the lidar control device 100e when the lidar device 200e emits laser emission light toward an object.

[0429] Figure 25 It is a block diagram showing an example of the structure of the main part of the lidar control device 100e according to Embodiment 6.

[0430] The lidar control device 100e changes the transmission wavelength acquisition unit 130, the temperature correction information generation unit 183, the temperature correction information acquisition unit 184, and the filter characteristic acquisition unit 120 in the lidar control device 100d of Embodiment 5 to the transmission wavelength acquisition unit 130e, the temperature correction information generation unit 183e, the temperature correction information acquisition unit 184e, and the filter characteristic acquisition unit 120d of Embodiment 4, and further adds the emission direction acquisition unit 170 and the angle estimation unit 171 of Embodiment 4.

[0431] That is, the lidar control device 100e includes a filter temperature acquisition unit 110, a filter characteristic acquisition unit 120d, a transmission wavelength acquisition unit 130e, an emission direction acquisition unit 170, an angle estimation unit 171, a reference signal extraction unit 180, a trigger signal reception unit 181, a laser wavelength determination unit 182, a temperature correction information generation unit 183e, a temperature correction information acquisition unit 184e, a mode selection unit 190, and a control signal generation unit 140d.

[0432] In addition, in Figure 25 , for the blocks that are the same as the blocks shown in Figure 20 or Figure 16 the same reference numerals are assigned and the description is omitted.

[0433] The reference signal extraction unit 180 receives the electrical signal output by the lidar device 200e.

[0434] The trigger signal reception unit 181 receives the trigger signal output by the lidar device 200e.

[0435] The laser wavelength determination unit 182 determines the wavelength of the laser emission light emitted from the lidar device 200e such that each time the reference signal cutting unit 180 cuts out a reference signal, laser emission light of a different wavelength is emitted from the lidar device 200e.

[0436] When the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the control signal generation unit 140d generates a control signal for causing the lidar device 200e to emit laser emission light having the wavelength determined by the laser wavelength determination unit 182. The control signal generation unit 140d outputs the generated control signal to the lidar device 200e. The control signal acquisition unit 290 in the lidar device 200e acquires the control signal output by the control signal generation unit 140d. The lidar device 200e emits laser emission light having the wavelength determined by the laser wavelength determination unit 182 according to the control signal acquired by the control signal acquisition unit 290.

[0437] The filter temperature acquisition unit 110 acquires filter temperature information indicating the filter temperature of the background light cut-off filter 230 provided in the lidar device 200e.

[0438] The emission direction acquisition unit 170 acquires emission direction information indicating the direction in which the lidar device 200e emits laser emission light. Specifically, the emission direction acquisition unit 170 acquires the emission direction information by receiving the emission direction information output by the emission direction output unit 261 in the lidar device 200e.

[0439] The angle estimation unit 171 estimates the angle of incidence, that is, the incident angle, at which the laser reflected light enters the background light cut-off filter 230 based on the emission direction information acquired by the emission direction acquisition unit 170.

[0440] The filter characteristic acquisition unit 120d acquires filter temperature characteristic information indicating the incident angle characteristic of the background light cut-off filter 230 and the filter temperature characteristic of the background light cut-off filter 230.

[0441] In the sixth embodiment, similar to the fourth embodiment, the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d is information indicating the relational expression between the filter temperature, the incident angle, and the transmission wavelength. This relational expression is described by Equation (4).

[0442] When the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the transmission wavelength acquisition unit 130e acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the incident angle of the laser reflected light estimated by the angle estimation unit 171, and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d. More specifically, for example, when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the transmission wavelength acquisition unit 130e substitutes the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 and the incident angle of the laser reflected light estimated by the angle estimation unit 171 into Equation (4) indicated by the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d to calculate the transmission wavelength, thereby acquiring the transmission wavelength of the background light cut-off filter 230.

[0443] The temperature correction information generation unit 183e operates when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode.

[0444] The temperature correction information generation unit 183e estimates the transmission wavelength of the background light cut-off filter 230 based on the signal intensities of the multiple reference signals cut out by the reference signal cut-out unit 180. The temperature correction information generation unit 183e calculates the correction coefficient of the transmission wavelength of the background light cut-off filter 230 based on the transmission wavelength estimated by the temperature correction information generation unit 183e and the transmission wavelength acquired by the transmission wavelength acquisition unit 130e. The temperature correction information generation unit 183e generates temperature correction information that associates the correction coefficient calculated by the temperature correction information generation unit 183e with the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information acquired by the emission direction acquisition unit 170.

[0445] Refer to Figure 26 The structure of the main part of the temperature correction information generation unit 183e in the lidar control device 100e according to Embodiment 6 will be described.

[0446] Figure 26 FIG. is a block diagram showing an example of the structure of the main part of the temperature correction information generation unit 183e in the lidar control device 100e according to Embodiment 6.

[0447] The temperature correction information generation unit 183e includes a transmission wavelength estimation unit 1831, a correction coefficient calculation unit 1832e, and a correction information output unit 1833e.

[0448] In addition, in Figure 26 the same blocks as the blocks shown in Figure 21 are denoted by the same reference numerals and description thereof is omitted.

[0449] The wavelength estimation unit 1831 estimates the transmission wavelength of the background light cut-off filter 230 based on the signal intensities of a plurality of reference signals cut out by the reference signal cut-out unit 180.

[0450] The correction coefficient calculation unit 1832e calculates the correction coefficient of the transmission wavelength of the background light cut-off filter 230 based on the transmission wavelength estimated by the transmission wavelength estimation unit 1831 and the transmission wavelength obtained by the transmission wavelength acquisition unit 130e.

[0451] Specifically, for example, the correction coefficient calculation unit 1832e subtracts the transmission wavelength calculated by substituting the filter temperature and the incident angle into Equation (4) by the transmission wavelength acquisition unit 130e from the transmission wavelength estimated by the transmission wavelength estimation unit 1831, thereby calculating the correction coefficient.

[0452] More specifically, for example, the filter temperature obtained by the filter temperature acquisition unit 110 is T F0 and the incident angle of the laser reflected light estimated by the angle estimation unit 171 incident on the background light cut-off filter 230 is θ F0 in the case where the correction coefficient calculated by the correction coefficient calculation unit 1832e is calculated by the following Equation (7).

[0453] K TF0·θF0 = λ' TF0·θFo - λ TF0·θFo

[0454] = λ' TF0·θFo -(a F × T F0 + a Fθ × θ F0 + b F )… Equation (7)

[0455] Here, K TF0·θF0 is the correction coefficient in the case where the filter temperature is T F0 and the incident angle is θ F0 , λ' TF0·θFo is the transmission wavelength estimated by the transmission wavelength estimation unit 1831 in the case where the filter temperature is T F0 and the incident angle is θ F0 , and λ TF0.θFo is the transmission wavelength obtained by the transmission wavelength acquisition unit 130e in the case where the filter temperature is T F0 and the incident angle is θ F0 .

[0456] The correction information output unit 1833e generates temperature correction information that correlates the correction coefficient calculated by the correction coefficient calculation unit 1832 with the filter temperature information obtained by the filter temperature acquisition unit 110 and the emission direction information obtained by the emission direction acquisition unit 170. The correction information output unit 1833e writes and stores the generated temperature correction information in the storage device 12 by outputting it to the storage device 12, for example. The correction information output unit 1833e may also hold the generated temperature correction information in the memory 402 or the like for holding.

[0457] In Embodiment 6, it is assumed that the correction information output unit 1833e outputs the generated temperature correction information to the storage device 12 and writes and stores it in the storage device 12 for description.

[0458] The temperature correction information acquisition unit 184e operates when the mode selection unit 190 selects the laser wavelength control mode as the operation mode.

[0459] The temperature correction information acquisition unit 184e acquires the temperature correction information corresponding to the filter temperature information obtained by the filter temperature acquisition unit 110 and the emission direction information obtained by the emission direction acquisition unit 170 from among the plurality of temperature correction information pre-generated by the temperature correction information generation unit 183e.

[0460] Each of the plurality of temperature correction information pre-generated by the temperature correction information generation unit 183e is, for example, temperature correction information corresponding to a plurality of filter temperatures or a plurality of emission direction information.

[0461] Specifically, for example, the temperature correction information acquisition unit 184e acquires the temperature correction information corresponding to the filter temperature information obtained by the filter temperature acquisition unit 110 and the emission direction information obtained by the emission direction acquisition unit 170 by reading it out from the storage device 12.

[0462] In addition, when the temperature correction information corresponding to the filter temperature information obtained by the filter temperature acquisition unit 110 and the emission direction information obtained by the emission direction acquisition unit 170 is not stored in the storage device 12, for example, the temperature correction information acquisition unit 184e acquires the temperature correction information corresponding to the filter temperature information indicating the filter temperature closest to the filter temperature shown by the filter temperature information obtained by the filter temperature acquisition unit 110 and the emission direction information obtained by the emission direction acquisition unit 170 from among the plurality of temperature correction information stored in the storage device 12.

[0463] For example, in this case, the temperature correction information acquisition unit 184e may also acquire the temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information indicating the emission direction closest to the emission direction indicated by the emission direction information acquired by the emission direction acquisition unit 170 among the multiple temperature correction information stored in the storage device 12.

[0464] In addition, for example, in this case, the temperature correction information acquisition unit 184e may also acquire the temperature correction information corresponding to the filter temperature information indicating the filter temperature closest to the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information acquired by the emission direction acquisition unit 170, and the temperature correction information corresponding to the filter temperature information indicating the filter temperature second closest to the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information acquired by the emission direction acquisition unit 170, among the multiple temperature correction information stored in the storage device 12. Then, the weighted average of the correction coefficients indicated by these two temperature correction information is calculated to obtain the temperature correction information.

[0465] In addition, for example, in this case, the temperature correction information acquisition unit 184e may also acquire the temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information indicating the emission direction closest to the emission direction indicated by the emission direction information acquired by the emission direction acquisition unit 170, and the temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information indicating the emission direction second closest to the emission direction indicated by the emission direction information acquired by the emission direction acquisition unit 170, among the multiple temperature correction information stored in the storage device 12. Then, the weighted average of the correction coefficients indicated by these two temperature correction information is calculated to obtain the temperature correction information.

[0466] In addition, for example, in this case, the temperature correction information acquisition unit 184e may also cause the mode selection unit 190 to select the temperature correction information generation mode as the operation mode, and cause the temperature correction information generation unit 183e to generate the temperature correction information at the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction indicated by the emission direction information acquired by the emission direction acquisition unit 170.

[0467] When the laser wavelength control mode is selected as the operation mode by the mode selection unit 190, the transmission wavelength acquisition unit 130e acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the incident angle of the laser reflected light estimated by the angle estimation unit 171, the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d, and the temperature correction information acquired by the temperature correction information acquisition unit 184e.

[0468] Specifically, for example, when the filter temperature indicated by the filter temperature information acquired by the filter temperature acquisition unit 110 is T F0 , the transmission wavelength acquisition unit 130e uses the following formula (8) to acquire the transmission wavelength of the background light cut-off filter 230.

[0469] λ″ TF0·θFo =(a F ×T F0 +a Fθ ×θ F0 +b F )+K TF0·θFo …Formula (8)

[0470] Here, λ″ TF0·θFo is the transmission wavelength of the background light cut-off filter 230 acquired by the transmission wavelength acquisition unit 130e when the filter temperature is T F0 and the incident angle is θ F0 .

[0471] When the laser wavelength control mode is selected as the operation mode by the mode selection unit 190, the control signal generation unit 140d generates a control signal for causing the lidar device 200e to emit laser output light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130e. The control signal generation unit 140d outputs the generated control signal to the lidar device 200e.

[0472] The control signal acquisition unit 290 in the lidar device 200e acquires the control signal output by the control signal generation unit 140d.

[0473] In addition, each function of the filter temperature acquisition unit 110, the filter characteristic acquisition unit 120d, the transmission wavelength acquisition unit 130e, the emission direction acquisition unit 170, the angle estimation unit 171, the reference signal cut-off unit 180, the trigger signal reception unit 181, the laser wavelength determination unit 182, the temperature correction information generation unit 183e, the temperature correction information acquisition unit 184e, the mode selection unit 190, and the control signal generation unit 140d in the lidar control device 100e of Embodiment 6 can be implemented by the components in Embodiment 1 Figure 4 A and Figure 4In B, the processor 401 and the memory 402 in the hardware structure of an example are implemented, or alternatively, it can also be implemented by the processing circuit 403.

[0474] Refer to Figure 27A and Figure 27B The operation of the lidar control device 100e of Embodiment 6 will be described.

[0475] Figure 27A and Figure 27B FIG. is a flowchart showing an example of the processing of the lidar control device 100e of Embodiment 6. The lidar control device 100e repeatedly executes the processing of this flowchart, for example.

[0476] In addition, in this flowchart, it is assumed that the lidar control device 100e of Embodiment 6 operates in either the temperature correction information generation mode or the laser wavelength control mode for explanation.

[0477] First, in step ST2701, the mode selection unit 190 selects an operation mode.

[0478] In step ST2702, the lidar control device 100e confirms whether the operation mode selected by the mode selection unit 190 is the temperature correction information generation mode. If the operation mode is the temperature correction information generation mode, the process of step ST2711 is executed. If the operation mode is not the temperature correction information generation mode, that is, if the operation mode is the laser wavelength control mode, the process of step ST2741 is executed.

[0479] If the operation mode is the temperature correction information generation mode, in step ST2711, the filter characteristic acquisition unit 120d acquires filter temperature characteristic information.

[0480] After step ST2711, in step ST2712, the filter temperature acquisition unit 110 acquires filter temperature information.

[0481] After step ST2712, in step ST2713, the emission direction acquisition unit 170 acquires emission direction information.

[0482] After step ST2713, in step ST2714, the angle estimation unit 171 estimates the incident angle.

[0483] After step ST2714, in step ST2715, the transmission wavelength acquisition unit 130e acquires the transmission wavelength.

[0484] After step ST2715, in step ST2721, the laser wavelength determination unit 182 determines the wavelength of the laser emission light emitted from the lidar device 200e.

[0485] After step ST2721, in step ST2722, the control signal generation unit 140d generates a control signal for causing the lidar device 200e to emit laser light of the wavelength determined by the laser wavelength determination unit 182, and outputs the generated control signal to the lidar device 200e.

[0486] After step ST2722, in step ST2723, the trigger signal reception unit 181 receives a trigger signal.

[0487] After step ST2723, in step ST2724, the reference signal extraction unit 180 receives the electrical signal output from the lidar device 200e, and extracts a reference signal from the electrical signal.

[0488] After step ST2724, in step ST2725, the laser wavelength determination unit 182 determines whether all the wavelengths that the laser wavelength determination unit 182 should determine have been determined.

[0489] The lidar control device 100e repeatedly executes the processes of steps ST2721 to ST2725 until it is determined in step ST2725 that all the wavelengths that the laser wavelength determination unit 182 should determine have been determined.

[0490] In the case where it is determined in step ST2725 that all the wavelengths that the laser wavelength determination unit 182 should determine have been determined, in step ST2731, the transmission wavelength estimation unit 1831 in the temperature correction information generation unit 183e estimates the transmission wavelength of the background light cutoff filter 230.

[0491] After step ST2731, in step ST2732, the correction coefficient calculation unit 1832e in the temperature correction information generation unit 183e calculates a correction coefficient for the transmission wavelength of the background light cutoff filter 230.

[0492] After step ST2732, in step ST2733, the correction information output unit 1833e in the temperature correction information generation unit 183e generates temperature correction information that correlates the correction coefficient calculated by the correction coefficient calculation unit 1832e with the filter temperature information obtained by the filter temperature acquisition unit 110 in step ST2712 and the emission direction information obtained by the emission direction acquisition unit 170 in step ST2713.

[0493] After step ST2733, the lidar control device 100e ends the processing of this flowchart. After ending the processing of this flowchart, the lidar control device 100e returns to step ST2701 and repeatedly executes the processing of this flowchart.

[0494] In addition, when the lidar control device 100e repeatedly executes the process of step ST2711 in this flowchart from the second time onwards, the lidar control device 100e may also omit the process of step ST2711.

[0495] In addition, it is assumed that the filter temperature does not change during the period from the end of the execution of the process of step ST2712 to the start of the execution of the process of step ST2731.

[0496] In addition, the process of step ST2715 may be executed before the process of step ST2732.

[0497] In addition, the processes of step ST2711 to step ST2714 may be executed before the process of step ST2715.

[0498] In addition, the process of step ST2713 may be executed before the process of step ST2714, and the execution order of the processes of step ST2711 to step ST2714 is arbitrary.

[0499] When the operation mode is the laser wavelength control mode, in step ST2741, the filter characteristic acquisition unit 120d acquires filter temperature characteristic information.

[0500] After step ST2741, in step ST2742, the filter temperature acquisition unit 110 acquires filter temperature information.

[0501] After step ST2742, in step ST2743, the emission direction acquisition unit 170 acquires emission direction information.

[0502] After step ST2743, in step ST2744, the angle estimation unit 171 estimates the incident angle.

[0503] After step ST2744, in step ST2745, the temperature correction information acquisition unit 184e acquires temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information acquired by the emission direction acquisition unit 170.

[0504] After step ST2745, in step ST2746, the transmission wavelength acquisition unit 130e acquires the transmission wavelength of the background light cutoff filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the incident angle estimated by the angle estimation unit 171, the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d, and the temperature correction information acquired by the temperature correction information acquisition unit 184e.

[0505] After step ST2746, in step ST2747, the control signal generation unit 140d generates a control signal for causing the lidar device 200e to emit laser emission light having a wavelength equivalent to the transmission wavelength obtained by the transmission wavelength acquisition unit 130e, and outputs the generated control signal to the lidar device 200e.

[0506] After step ST2747, the lidar control device 100e ends the processing of this flowchart. After ending the processing of this flowchart, the lidar control device 100e returns to step ST2701 and repeatedly executes the processing of this flowchart.

[0507] In addition, when the lidar control device 100e repeatedly executes the processing of step ST2741 in this flowchart from the second time onwards, the lidar control device 100e may also omit the processing of step ST2741.

[0508] Furthermore, the processing of step ST2743 may be executed before the processing of step ST2744, and the processing order of steps ST2741 to ST2744 is arbitrary.

[0509] As described above, the lidar control device 100e of Embodiment 6 controls the lidar device 200e having the background light cut-off filter 230. The background light cut-off filter 230 allows the transmission of the reflected light of the laser emission light reflected by the measurement target object, that is, the laser reflected light and the laser reflected light in the background light incident on the lidar device 200e, and suppresses the transmission of the background light. The lidar control device 100e includes: a filter temperature acquisition unit 110 that acquires filter temperature information indicating the filter temperature of the background light cut-off filter 230 provided in the lidar device 200e; a filter characteristic acquisition unit 120d that acquires filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter 230; a transmission wavelength acquisition unit 130e that acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 120d and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d; and a control signal generation unit 140d that generates a control signal for causing the lidar device 200e to emit laser emission light having a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit 130e.

[0510] Specifically, on the basis of the above structure, the lidar control device 100e of Embodiment 6 includes: a reference signal extraction unit 180 that receives the laser reflected light after passing through the background light cut-off filter 230, receives the electrical signal output from the light receiving unit 240d of the lidar device 200e that outputs an electrical signal based on the received laser reflected light, and extracts the electrical signal based on the laser reference light in the electrical signal as a reference signal. The laser reference light is obtained by branching a part of the laser output light output from the laser output unit 210 of the lidar device 200e by the branch unit 280 of the lidar device 200e; a laser wavelength determination unit 182 that determines the wavelength of the laser output light emitted from the lidar device 200e such that each time the reference signal extraction unit 180 extracts a reference signal, laser output light of a different wavelength is emitted from the lidar device 200e; a temperature correction information generation unit 183e that estimates the transmission wavelength of the background light cut-off filter 230 based on the signal intensities of a plurality of reference signals extracted by the reference signal extraction unit 180, calculates a correction coefficient for the transmission wavelength of the background light cut-off filter 230 based on the estimated transmission wavelength and the transmission wavelength obtained by the transmission wavelength acquisition unit 130e, and generates temperature correction information that associates the calculated correction coefficient with the filter temperature information obtained by the filter temperature acquisition unit 110; a temperature correction information acquisition unit 184e that acquires the temperature correction information corresponding to the filter temperature information obtained by the filter temperature acquisition unit 110 from among a plurality of temperature correction information pre-generated by the temperature correction information generation unit 183e; a mode selection unit 190 that selects one operation mode from at least two operation modes including a temperature correction information generation mode for generating temperature correction information and a laser wavelength control mode for controlling the laser output light emitted from the lidar device 200e to have a wavelength corresponding to the transmission wavelength obtained by the transmission wavelength acquisition unit 130e; an emission direction acquisition unit 170 that acquires emission direction information indicating the direction in which the lidar device 200e emits laser output light; and an angle estimation unit 171 that estimates the incident angle at which the laser reflected light enters the background light cut-off filter 230 based on the emission direction information acquired by the emission direction acquisition unit 170.

[0511] Furthermore, the lidar control device 100e of Embodiment 6 is configured such that, in the above structure, the filter characteristic acquisition unit 120d acquires filter temperature characteristic information indicating the incident angle characteristic of the background light cut-off filter 230 and the filter temperature characteristic of the background light cut-off filter 230. The temperature correction information generation unit 183e estimates the transmission wavelength of the background light cut-off filter 230 based on the signal intensities of the multiple reference signals cut out by the reference signal cut-out unit 180, calculates a correction coefficient for the transmission wavelength of the background light cut-off filter 230 based on the estimated transmission wavelength and the transmission wavelength acquired by the transmission wavelength acquisition unit 130e, generates temperature correction information that associates the calculated correction coefficient with the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information acquired by the emission direction acquisition unit 170, and the temperature correction information acquisition unit 184e acquires, based on the filter temperature information acquired by the filter temperature acquisition unit 110 and the emission direction information acquired by the emission direction acquisition unit 170, the temperature correction information corresponding to the filter temperature information and the emission direction information among the multiple temperature correction information pre-generated by the temperature correction information generation unit 183e.

[0512] Furthermore, the lidar control device 100e of Embodiment 6 is configured such that, in the above structure, when the mode selection unit 190 selects the temperature correction information generation mode, the transmission wavelength acquisition unit 130e acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the incident angle of the laser reflected light estimated by the angle estimation unit 171, and the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d, and the control signal generation unit 140d generates a control signal for causing the lidar device 200e to emit laser emission light having the wavelength determined by the laser wavelength determination unit 182. When the mode selection unit 190 selects the laser wavelength control mode, the transmission wavelength acquisition unit 130e acquires the transmission wavelength of the background light cut-off filter 230 based on the filter temperature information acquired by the filter temperature acquisition unit 110, the incident angle of the laser reflected light estimated by the angle estimation unit 171, the filter temperature characteristic information acquired by the filter characteristic acquisition unit 120d, and the temperature correction information acquired by the temperature correction information acquisition unit 184e, and the control signal generation unit 140d generates a control signal for causing the lidar device 200e to emit laser emission light having a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit 130e.

[0513] With such a configuration, when the background light cut-off filter 230 provided in the lidar device 200e suppresses the transmission of the laser reflected light incident on the background light cut-off filter 230 due to the influence of assembly errors or the like in the lidar device 200e, and when the background light cut-off filter 230 of the lidar device 200e, in which the emission direction of the laser emission light emitted from the lidar device 200e changes over time, has a filter temperature characteristic and the filter temperature of the background light cut-off filter 230 changes, the lidar control device 100e can also control the lidar device 200e so that the background light cut-off filter 230 does not suppress the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0514] In addition, as described above, the lidar device 200e of Embodiment 6 includes: a background light cut-off filter 230; a laser output unit 210 that outputs laser output light based on the laser light source light output from the laser light source 211; and a light receiving unit 240d that receives the laser reflected light that has passed through the background light cut-off filter 230 and outputs an electrical signal based on the received laser reflected light. Among them, the lidar device 200e includes: a filter temperature measurement unit 250 that measures the filter temperature of the background light cut-off filter 230 and outputs the measured filter temperature as filter temperature information indicating the filter temperature to the lidar control device 100e; and a wavelength adjustment unit 212 that receives a control signal generated and output by the lidar control device 100e according to the filter temperature information output by the filter temperature measurement unit 250 and adjusts the wavelength of the laser emission light to be emitted according to the control signal.

[0515] In particular, the lidar device 200e of Embodiment 6 is configured to further include, on the basis of the above structure: a scanning optical system 224 that changes the emission direction of the laser emission light; and an emission direction output unit 261 that outputs emission direction information indicating the emission direction changed by the scanning optical system 224 to the lidar control device 100e. The wavelength adjustment unit 212 receives a control signal generated and output by the lidar control device 100e according to the filter temperature information output by the filter temperature measurement unit 250 and the emission direction information output by the emission direction output unit 261, and adjusts the wavelength of the laser emission light to be emitted according to the control signal.

[0516] With this configuration, when the background light cut-off filter 230 provided in the lidar device 200e suppresses the transmission of the laser reflected light incident on the background light cut-off filter 230 due to the influence of assembly errors or the like in the lidar device 200e, etc., and the background light cut-off filter 230 of the lidar device 200e has a filter temperature characteristic and the filter temperature of the background light cut-off filter 230 changes in the case where the emission direction of the laser emission light emitted from the lidar device 200e changes over time, it is also possible to prevent the background light cut-off filter 230 from suppressing the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0517] In addition, particularly, the lidar device 200e according to the sixth embodiment is configured to have a branch portion 280 on the basis of the above structure. The branch portion 280 branches a part of the laser emission light output from the laser output portion 210 into laser reference light. The background light cut-off filter 230 receives the laser reflected light and the laser reference light. The light receiving portion 240d receives the laser reflected light and the laser reference light that have passed through the background light cut-off filter 230, converts the received laser reflected light and laser reference light into electrical signals, and outputs the electrical signals to the lidar control device 100e.

[0518] With this configuration, the background light cut-off filter 230 of the lidar device 200e receives the laser reference light, and the light receiving portion 240d receives the laser reference light that has passed through the background light cut-off filter 230. Therefore, the lidar control device 100e can accurately estimate the transmission wavelength of the background light cut-off filter 230 based on the reference signal based on the laser reference light.

[0519] In addition, the lidar control device 100e can also be applied to the case where the filter temperature of the background light cut-off filter 230 provided in the lidar device 200e according to the sixth embodiment is maintained at a predetermined desired temperature, or the case where the background light cut-off filter 230 does not have a filter temperature characteristic.

[0520] In the above cases, the lidar control device 100e does not have to have the filter temperature acquisition unit 110 and the filter characteristic acquisition unit 120d. In addition, in the above cases, the lidar device 200e does not have to have the filter temperature measurement unit 250.

[0521] In this case, for example, instead of the filter characteristic acquisition unit 120d, the lidar control device 100e has an incident angle characteristic acquisition unit (not shown), and the incident angle characteristic acquisition unit acquires incident angle characteristic information indicating the incident angle characteristic of the background light cut-off filter 230 at a specified filter temperature from the storage device 12 or the like.

[0522] In this case, for example, when the mode selection unit 190 selects the temperature correction information generation mode as the operation mode, the transmission wavelength acquisition unit 130e acquires the transmission wavelength of the background light cut-off filter 230 based on the incident angle of the laser reflected light estimated by the angle estimation unit 171 and the incident angle characteristic information acquired by the incident angle characteristic acquisition unit.

[0523] Furthermore, in this case, for example, the temperature correction information generation unit 183e generates temperature correction information that correlates the correction coefficient calculated by the temperature correction information generation unit 183e with the emission direction information acquired by the emission direction acquisition unit 170.

[0524] Furthermore, in this case, for example, the temperature correction information acquisition unit 184e acquires the temperature correction information corresponding to the emission direction information acquired by the emission direction acquisition unit 170 from among the multiple pieces of temperature correction information pre-generated by the temperature correction information generation unit 183e.

[0525] Furthermore, in this case, for example, when the mode selection unit 190 selects the laser wavelength control mode as the operation mode, the transmission wavelength acquisition unit 130e acquires the transmission wavelength of the background light cut-off filter 230 based on the incident angle of the laser reflected light estimated by the angle estimation unit 171, the incident angle characteristic information acquired by the incident angle characteristic acquisition unit, and the temperature correction information acquired by the temperature correction information acquisition unit 184e.

[0526] With this configuration, when the background light cut-off filter 230 provided in the lidar device 200e suppresses the transmission of the laser reflected light incident on the background light cut-off filter 230 due to the influence of assembly errors or the like in the lidar device 200e, and when the incident angle characteristic exists for the background light cut-off filter 230 of the lidar device 200e where the emission direction of the laser emission light emitted from the lidar device 200e changes over time and the incident angle of the laser reflected light incident on the background light cut-off filter 230 changes, the lidar control device 100e can also control the lidar device 200e so that the background light cut-off filter 230 does not suppress the transmission of the laser reflected light incident on the background light cut-off filter 230.

[0527] In addition, the light-receiving units 240 of the lidar devices 200, 200a, 200b, and 200c according to Embodiments 1, 2, 3, and 4 may also receive the laser reflected light and the laser reference light that have passed through the background light cut-off filter 230, convert the received laser reflected light and laser reference light into electrical signals, and output the converted electrical signals. For example, in order for the light-receiving units 240 of the lidar devices 200, 200a, 200b, and 200c to receive the laser reflected light and the laser reference light that have passed through the background light cut-off filter 230, the lidar devices 200, 200a, 200b, and 200c, for example, have the branch unit 280 and the multiplexing unit 281 that the lidar devices 200d and 200e according to Embodiments 5 and 6 have on the basis of the structures of the lidar devices 200, 200a, 200b, and 200c. Furthermore, the light-receiving unit 240 in the lidar devices 200, 200a, 200b, and 200c is changed to the light-receiving unit 240d.

[0528] In addition, the distance calculation devices 11 and 11c according to Embodiments 5 and 6 are not limited to receiving the trigger signal output by the trigger signal output unit 223d in the lidar devices 200d and 200e and the electrical signal output by the light-receiving unit 240d, and measuring the distance to an object by the ToF method based on the trigger signal and the electrical signal. For example, the distance calculation devices 11 and 11c according to Embodiments 5 and 6 may also cut out the electrical signal corresponding to the laser reference light and the electrical signal corresponding to the laser reflected light from the electrical signal output by the light-receiving unit 240d, calculate the period between the arrival time of the laser reference light and the arrival time of the laser reflected light, and measure the distance to an object by the ToF method based on the calculated period.

[0529] In addition, the present invention can freely combine the various embodiments, or deform any structural elements of the various embodiments, or omit any structural elements in the various embodiments within the scope of the invention.

[0530] Industrial Applicability

[0531] The lidar control device of the present invention can be applied to a lidar system or a lidar device for measuring the distance to an object.

[0532] Reference Numeral Explanation

[0533] 10, 10a, 10b, 10c, 10d, 10e: lidar system; 11, 11c: distance calculation device; 12: storage device; 100, 100a, 100b, 100c, 100d, 100e: lidar control device; 110: filter temperature acquisition unit; 120, 120c, 120d: filter characteristic acquisition unit; 130, 130c, 130d, 130e: transmission wavelength acquisition unit; 140, 140a, 140b, 140d: control signal generation unit; 150: light source characteristic acquisition unit; 160: light source temperature acquisition unit; 170: emission direction acquisition unit; 171: angle estimation unit; 180: reference signal extraction unit; 181: trigger signal reception unit; 182: laser wavelength determination unit; 183, 183e: temperature correction information generation unit; 184, 184e: temperature correction information acquisition unit; 190: mode selection unit; 200, 200a, 200b, 200c, 200d, 200e: lidar device; 210, 210a, 210b: laser output unit; 211: laser light source; 212, 212a, 212b: wavelength adjustment unit; 220: transmission optical system; 221: window; 222: reception optical system; 223, 223d: trigger signal output unit; 224: scanning optical system; 230: background light cut-off filter; 240, 240d: light receiving unit; 250: filter temperature measurement unit; 251, 251b: light source temperature measurement unit; 260: emission direction calculation unit; 261: emission direction output unit; 280: branch unit; 281: multiplexing unit; 290: control signal acquisition unit; 401: processor; 402: memory; 403: processing circuit; 1831: transmission wavelength estimation unit; 1832, 1832e: correction coefficient calculation unit; 1833, 1833e: correction information output unit.

Claims

1. A lidar control device controls a lidar device having a background light cutoff filter. The background light cutoff filter allows the transmission of the reflected light of the laser outgoing light reflected by the object to be measured, i.e., the laser reflected light, and the laser reflected light in the background light incident on the lidar device, and suppresses the transmission of the background light. Characterized in that, The lidar control device has: A filter temperature acquisition unit that acquires filter temperature information indicating the filter temperature of the background light cutoff filter provided in the lidar device; A filter characteristic acquisition unit that acquires filter temperature characteristic information indicating the filter temperature characteristic of the background light cutoff filter. The filter temperature characteristic is a characteristic in which the transmission wavelength of the background light cutoff filter changes corresponding to the temperature of the background light cutoff filter; A transmission wavelength acquisition unit that acquires the transmission wavelength of the background light cutoff filter based on the filter temperature information acquired by the filter temperature acquisition unit and the filter temperature characteristic information acquired by the filter characteristic acquisition unit; And A control signal generation unit that generates a control signal for causing the lidar device to emit the laser outgoing light having a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit.

2. The lidar control device according to claim 1, Characterized in that, The lidar control device has a light source characteristic acquisition unit that acquires light source temperature characteristic information indicating the light source temperature characteristic of the laser light source of the laser output unit provided in the lidar device. The control signal generation unit generates the control signal for causing the lidar device to emit the laser outgoing light having a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit based on the light source temperature characteristic information acquired by the light source characteristic acquisition unit and the transmission wavelength acquired by the transmission wavelength acquisition unit.

3. The lidar control device according to claim 2, Characterized in that, The lidar control device has a light source temperature acquisition unit that acquires light source temperature information indicating the light source temperature of the laser light source. The control signal generation unit generates the control signal for causing the lidar device to emit the laser outgoing light having a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit based on the light source temperature information acquired by the light source temperature acquisition unit, the light source temperature characteristic information acquired by the light source characteristic acquisition unit, and the transmission wavelength acquired by the transmission wavelength acquisition unit.

4. The lidar control device according to claim 1, Characterized in that, The lidar control device has: An emission direction acquisition unit that acquires emission direction information indicating the emission direction of the laser outgoing light emitted by the lidar device; and An angle estimation unit that estimates the incident angle of the laser reflected light on the background light cutoff filter based on the emission direction information acquired by the emission direction acquisition unit. The filter characteristic acquisition unit acquires filter temperature characteristic information indicating the incident angle characteristic of the background light cutoff filter and the filter temperature characteristic of the background light cutoff filter. The transmission wavelength acquisition unit acquires the transmission wavelength of the background light cutoff filter based on the filter temperature information acquired by the filter temperature acquisition unit, the incident angle of the laser reflected light estimated by the angle estimation unit, and the filter temperature characteristic information acquired by the filter characteristic acquisition unit.

5. The lidar control device according to claim 1, characterized in that the lidar control device has: a reference signal extraction unit that receives an electrical signal output from a light receiving unit provided in the lidar device and extracts the electrical signal based on the laser reference light from the electrical signal as a reference signal, wherein the light receiving unit receives the laser reflected light that has passed through the background light cutoff filter and outputs the electrical signal based on the received laser reflected light, and the laser reference light is obtained by branching a part of the laser output light output from a laser output unit of the lidar device by a branch unit provided in the lidar device; a laser wavelength determination unit that determines the wavelength of the laser output light emitted from the lidar device such that different wavelengths of laser output light are emitted from the lidar device each time the reference signal extraction unit extracts the reference signal; a temperature correction information generation unit that estimates the transmission wavelength of the background light cutoff filter based on the signal intensities of a plurality of reference signals extracted by the reference signal extraction unit, calculates a correction coefficient for the transmission wavelength of the background light cutoff filter based on the estimated transmission wavelength and the transmission wavelength acquired by the transmission wavelength acquisition unit, and generates temperature correction information that associates the calculated correction coefficient with the filter temperature information acquired by the filter temperature acquisition unit; a temperature correction information acquisition unit that acquires the temperature correction information corresponding to the filter temperature information acquired by the filter temperature acquisition unit from among a plurality of temperature correction information pre-generated by the temperature correction information generation unit; and a mode selection unit that selects one of at least two operation modes, namely, a temperature correction information generation mode for generating the temperature correction information and a laser wavelength control mode for controlling the laser output light emitted from the lidar device to have a wavelength corresponding to the transmission wavelength acquired by the transmission wavelength acquisition unit, when the mode selection unit selects the temperature correction information generation mode, the control signal generation unit generates a control signal for causing the lidar device to emit laser output light having the wavelength determined by the laser wavelength determination unit. When the laser wavelength control mode is selected by the mode selection unit, the transmission wavelength acquisition unit acquires the transmission wavelength of the background light cutoff filter based on the filter temperature information acquired by the filter temperature acquisition unit, the filter temperature characteristic information acquired by the filter characteristic acquisition unit, and the temperature correction information acquired by the temperature correction information acquisition unit. The control signal generation unit generates a control signal for causing the laser output light of the lidar device to have a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit.

6. The lidar control device according to claim 5, wherein, the lidar control device includes a light source characteristic acquisition unit that acquires light source temperature characteristic information indicating the light source temperature characteristic of the laser light source of the laser output unit included in the lidar device; when the laser wavelength control mode is selected by the mode selection unit, the control signal generation unit generates a control signal for causing the laser output light of the lidar device to have a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit based on the light source temperature characteristic information acquired by the light source characteristic acquisition unit and the transmission wavelength acquired by the transmission wavelength acquisition unit.

7. The lidar control device according to claim 6, wherein, the lidar control device includes a light source temperature acquisition unit that acquires light source temperature information indicating the light source temperature of the laser light source; when the laser wavelength control mode is selected by the mode selection unit, the control signal generation unit generates a control signal for causing the laser output light of the lidar device to have a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition unit based on the light source temperature information acquired by the light source temperature acquisition unit, the light source temperature characteristic information acquired by the light source characteristic acquisition unit, and the transmission wavelength acquired by the transmission wavelength acquisition unit.

8. The lidar control device according to claim 5, wherein, the lidar control device includes: an emission direction acquisition unit that acquires emission direction information indicating the emission direction of the laser output light emitted by the lidar device; and an angle estimation unit that estimates the incident angle of the laser reflected light on the background light cutoff filter based on the emission direction information acquired by the emission direction acquisition unit, the filter characteristic acquisition unit acquires the filter temperature characteristic information indicating the incident angle characteristic of the background light cutoff filter and the filter temperature characteristic of the background light cutoff filter. The temperature correction information generation unit estimates the transmission wavelength of the background light cut-off filter based on the signal intensity of the multiple reference signals cut out by the reference signal cut-off unit, calculates the correction coefficient of the transmission wavelength of the background light cut-off filter according to the estimated transmission wavelength and the transmission wavelength obtained by the transmission wavelength acquisition unit, and generates the temperature correction information that associates the calculated correction coefficient with the filter temperature information obtained by the filter temperature acquisition unit and the emission direction information obtained by the emission direction acquisition unit. The temperature correction information acquisition unit acquires the temperature correction information corresponding to the filter temperature information and the emission direction information from among the multiple temperature correction information pre-generated by the temperature correction information generation unit, based on the filter temperature information obtained by the filter temperature acquisition unit and the emission direction information obtained by the emission direction acquisition unit. When the mode selection unit selects the temperature correction information generation mode, the transmission wavelength acquisition unit acquires the transmission wavelength of the background light cut-off filter based on the filter temperature information obtained by the filter temperature acquisition unit, the incident angle of the laser reflected light estimated by the angle estimation unit, and the filter temperature characteristic information obtained by the filter characteristic acquisition unit, and the control signal generation unit generates a control signal for causing the lidar device to emit the laser emission light having the wavelength determined by the laser wavelength determination unit. When the mode selection unit selects the laser wavelength control mode, the transmission wavelength acquisition unit acquires the transmission wavelength of the background light cut-off filter based on the filter temperature information obtained by the filter temperature acquisition unit, the incident angle of the laser reflected light estimated by the angle estimation unit, the filter temperature characteristic information obtained by the filter characteristic acquisition unit, and the temperature correction information obtained by the temperature correction information acquisition unit, and the control signal generation unit generates a control signal for causing the lidar device to emit the laser emission light having a wavelength corresponding to the transmission wavelength obtained by the transmission wavelength acquisition unit.

9. A lidar device, comprising: A background light cut-off filter; A laser output unit that outputs laser output light based on the laser light source light output by a laser light source; and A light receiving unit that receives the laser reflected light that has passed through the background light cut-off filter and outputs an electrical signal based on the received laser reflected light. Characterized in that: The lidar device has: A filter temperature measurement unit that measures the filter temperature of the background light cut-off filter and outputs the measured filter temperature as filter temperature information to the lidar control device; And A wavelength adjustment unit that receives a control signal generated and output by the lidar control device and adjusts the wavelength of the laser output light to be emitted according to the control signal. The control signal is used to cause the lidar device to emit the laser output light with a wavelength equivalent to the transmission wavelength of the background light cut-off filter. The transmission wavelength is obtained based on the filter temperature information output by the filter thermometer and the filter temperature characteristic information indicating the filter temperature characteristic of the background light cut-off filter. The filter temperature characteristic is the characteristic in which the transmission wavelength of the background light cut-off filter changes corresponding to the filter temperature.

10. The lidar device according to claim 9, wherein, the lidar device has a light source thermometer that measures the light source temperature of the laser light source in the laser output unit and outputs the measured light source temperature as light source temperature information, the wavelength adjustment unit receives the control signal generated and output by the lidar control device according to the filter temperature information output by the filter thermometer, and adjusts the wavelength of the laser output light to be emitted according to the control signal and the light source temperature information output by the light source thermometer.

11. The lidar device according to claim 9, wherein, the lidar device has a light source thermometer that measures the light source temperature of the laser light source in the laser output unit and outputs the measured light source temperature as light source temperature information, the light source thermometer outputs the light source temperature information to the lidar control device, the wavelength adjustment unit receives the control signal generated and output by the lidar control device according to the light source temperature information output by the light source thermometer and the filter temperature information output by the filter thermometer, and adjusts the wavelength of the laser output light to be emitted according to the control signal.

12. The lidar device according to claim 9, wherein, the lidar device has: a scanning optical system that changes the emission direction of the laser output light output by the laser output unit; and an emission direction output unit that outputs emission direction information indicating the emission direction changed by the scanning optical system to the lidar control device, the wavelength adjustment unit receives the control signal generated and output by the lidar control device according to the filter temperature information output by the filter thermometer and the emission direction information output by the emission direction output unit, and adjusts the wavelength of the laser output light to be emitted according to the control signal.

13. The lidar device according to any one of claims 9 to 12, wherein, the lidar device has a branch that branches a part of the laser output light output by the laser output unit into laser reference light, The background light cut-off filter receives the laser reference light and the reflected light of the laser emitted light after being reflected by the object to be measured, that is, the laser reflected light. The light receiving unit receives the laser reflected light and the laser reference light that have passed through the background light cut-off filter, converts the received laser reflected light and laser reference light into the electrical signals, and outputs the converted electrical signals to the lidar control device.

14. A lidar control method for controlling a lidar device having a background light cut-off filter that allows the transmission of the reflected light of the laser emitted light after being reflected by the object to be measured, that is, the laser reflected light, and the laser reflected light in the background light incident on the lidar device, and suppresses the transmission of the background light. Characterized in that The lidar control method has the following steps: A filter temperature acquisition step of acquiring filter temperature information indicating the filter temperature of the background light cut-off filter provided in the lidar device; A filter characteristic acquisition step of acquiring filter temperature characteristic information indicating the filter temperature characteristics of the background light cut-off filter, where the filter temperature characteristics are the characteristics in which the transmission wavelength of the background light cut-off filter changes corresponding to the temperature of the background light cut-off filter; A transmission wavelength acquisition step of acquiring the transmission wavelength of the background light cut-off filter according to the filter temperature acquired by the filter temperature acquisition step and the filter temperature characteristic information acquired by the filter characteristic acquisition step; and A control signal generation step of generating a control signal for causing the lidar device to emit the laser emitted light having a wavelength equivalent to the transmission wavelength acquired by the transmission wavelength acquisition step.

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