Measurement device, control device, and program

Abstract

The purpose of the present invention is to reduce limitations on installation sites. This measurement device (1) is provided with a light-emitting / receiving means (10) and a control device (50). The light-emitting receiving unit (10) has: a light-emitting unit (21) that emits light in accordance with a control signal; a light-receiving unit (31) that receives reflected light of the light emitted by the light-emitting unit and outputs a light-receiving signal; and a storage unit (41) that stores the correction data. A control device (50) is interchangeably connected to the light emission receiving unit (10), outputs the control signal to the light emission receiving unit (10), and measures the coordinates of a reflection point at which the reflected light is generated on the basis of the light reception signal acquired from the light emission receiving unit (10). When the light-emitting receiving unit (10) is connected to the control device (50), the control device (50) reads the correction data from the storage unit (41) of the light-emitting receiving unit (10), and measures the coordinates on the basis of the correction data.

Description

Technical Field

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

[0002] LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) is known as a measuring device that detects a three-dimensional shape in a measuring area by irradiating the measuring area with measuring light and receiving reflected light (measurement light reflected by an object in the measuring area).

[0003] Patent Document 1: Japanese Patent Application No. 2021-500554 Summary of the invention Problems to be solved by the invention

[0004] In the conventional measuring device, a light emitting unit for irradiating measuring light to the measuring area, a light receiving unit for receiving reflected light from the measuring area, and a control unit for controlling the light emitting unit and calculating the coordinates of the object in the measuring area based on the light receiving signal of the light receiving unit are integrally configured. As a result, it is difficult to mount the measuring device on a vehicle or the like where there are many restrictions on the installation location.

[0005] An object of the present invention is to reduce restrictions on installation locations. Means for solving problems

[0006] One embodiment of the present invention for achieving the above-mentioned purpose provides a measuring device, comprising: a light-emitting receiving unit, comprising: a light-emitting portion, emitting light according to a control signal; a light-receiving portion, receiving reflected light of the light emitted by the light-emitting portion and outputting a light-receiving signal; and a storage portion, storing correction data; and a control device, which can be replaceably connected to the light-emitting receiving unit, outputs the control signal to the light-emitting receiving unit, and measures the coordinates of a reflection point generating the reflected light based on the light-receiving signal obtained from the light-emitting receiving unit, and when the light-emitting receiving unit is connected to the control device, the control device reads the correction data from the storage portion of the light-emitting receiving unit, and measures the coordinates based on the correction data.

[0007] In addition, the problems disclosed in the present application and solutions thereto will be made clear by the sections of the embodiments for carrying out the invention and the accompanying drawings. Effects of the Invention

[0008] According to the present invention, restrictions on installation locations can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1A and Figure 1B It is an explanatory diagram of the measuring device 1 according to the first embodiment. Figure 2 It is an explanatory diagram of the light emitting section 21 and the light receiving section 31 of the light emitting and receiving unit 10 . Figure 3 This is a diagram for explaining the measurement method. Figure 4 It is an explanatory diagram of the reference table of the correction unit 54. Figure 5A This is a diagram for explaining a method of acquiring light emission correction data. Figure 5B This is a diagram for explaining a method of acquiring light reception correction data. Figure 5C This is a diagram for explaining a method of acquiring coordinate correction data. Fig. 6A and Figure 6B It is an explanatory diagram of the process when the control device 50 acquires the correction data from the light-emitting and receiving unit 10 . Fig. 7A and Figure 7B It is an explanatory diagram of the second embodiment. Fig. 8A and Figure 8B It is an explanatory diagram of the third embodiment. Fig.9A and Fig. 9B It is a diagram illustrating actions under specified conditions. Fig.10 It is an explanatory diagram of the structure of a comparative example. DETAILED DESCRIPTION

[0010] Hereinafter, the mode for implementing the present invention will be described with reference to the drawings. In the following description, the same or similar configurations are denoted by common reference numerals, and repeated descriptions are omitted.

[0011] ===First Embodiment=== <Composition> Figure 1A and Figure 1B It is an explanatory diagram of the measuring device 1 according to the first embodiment.

[0012] The measuring device 1 is a device for measuring an object within a measuring area 91. Figure 1A, a case where measurement areas 91 are set in front, rear, and sides of the vehicle, respectively. The measurement device 1 measures the object in the measurement area 91 by irradiating the measurement light to the measurement area 91 and receiving the reflected light from the measurement area 91. The measurement device 1 is sometimes also called a radar device (LiDAR: Light Detection and Ranging, Laser Imaging Detection and Ranging). Here, the measurement device 1 measures the three-dimensional coordinates (X coordinate, Y coordinate, and Z coordinate) of the reflection point that generates the reflected light. However, the measurement device 1 may also measure only the distance to the reflection point (Z coordinate). Alternatively, the measurement device 1 may measure point group data by measuring the three-dimensional coordinates of multiple reflection points, and may also analyze the point group data to identify the attributes of the object, etc.

[0013] The measuring device 1 includes a light-emitting receiving unit 10 and a control device 50. Here, the measuring device 1 includes four light-emitting receiving units 10. However, the number of light-emitting receiving units 10 of the measuring device 1 is not limited to four, and may be one or more than four. In the present embodiment, the light-emitting receiving unit 10 is configured as a unit independent of the control device 50, and the light-emitting receiving unit 10 can be replaceably mounted relative to the control device 50. Here, four light-emitting receiving units 10 are arranged in the vehicle so that the measuring areas 91 are set in front, rear, and sides of the vehicle, respectively.

[0014] The light emitting and receiving unit 10 irradiates the measurement area 91 with the measurement light, and receives the reflected light from the measurement area 91. The light emitting and receiving unit 10 includes a light emitting unit 21, a light receiving unit 31, and a storage unit 41.

[0015] Figure 2 1 is an explanatory diagram of the light emitting section 21 and the light receiving section 31 of the light emitting and receiving unit 10. The light emitting and receiving unit 10 in the figure has the light emitting section 21 and the light receiving section 31, and has the light emitting optical system 22 and the light receiving optical system 32. The light emitting section 21 and the light emitting optical system 22 constitute an irradiation unit, and the light receiving section 31 and the light receiving optical system 32 constitute a light receiving unit.

[0016] The light emitting unit 21 emits measuring light. The light emitting unit 21 is composed of one or more light emitting elements 211. The light emitting element 211 is an element that converts an electrical signal into an optical signal, and is an element that emits laser light. Here, the light emitting unit 21 is composed of a plurality of light emitting elements 211 arranged two-dimensionally along the X direction and the Y direction. The light emitting unit 21 emits light according to a control signal from the control device 50. The light emitting unit 21 can make each light emitting element 211 emit light individually, or can make a plurality of light emitting elements 211 emit light together. The light projection optical system 22 is an optical system that irradiates the light emitted from the light emitting unit 21 to the measuring area 91. The light emitted from a certain light emitting element 211 is irradiated to the corresponding area of ​​the measuring area 91 via the light projection optical system 22. In addition, the light projection optical system 22 can also be provided with a rotating mirror (for example, a polygonal mirror), and the light emitted by the light emitting unit 21 (light emitting element 211) is scanned over the measuring area 91 by the rotating mirror.

[0017] The light receiving unit 31 receives reflected light and outputs a light receiving signal. The light receiving unit 31 is composed of one or more light receiving elements 311. The light receiving element 311 is an element that converts an optical signal into an electrical signal. Here, the light receiving unit 31 is composed of a plurality of light receiving elements 311 arranged two-dimensionally along the X direction and the Y direction. The light receiving unit 31 outputs a light receiving signal corresponding to the amount of light received. Here, each light receiving element 311 of the light receiving unit 31 outputs a light receiving signal corresponding to the amount of light received. The light receiving optical system 32 is an optical system that enables the light receiving unit 31 to receive reflected light from the measurement area 91. Each light receiving element 311 of the light receiving unit 31 corresponds to a specified area of ​​the measurement area 91 via the light receiving optical system 32, and receives light (reflected light) from the corresponding area.

[0018] Each light receiving element 311 of the light receiving unit 31 corresponds to a specified light emitting element 211 of the light emitting unit 21. Light emitted from a certain light emitting element 211 is received by the corresponding light receiving element 311 via the light projection optical system 22 and the light receiving optical system 32. Therefore, the light emitting unit 21 and the light receiving unit 31 are integrally formed, and the positional relationship is maintained. That is, in the light emitting and receiving unit 10, the light emitting unit 21 and the light receiving unit 31 are fixed to a common frame (not shown) to maintain the positional relationship between the light emitting unit 21 and the light receiving unit 31.

[0019] In addition, the light-emitting receiving unit 10 does not include a control unit for controlling the light-emitting timing of the light-emitting unit 21. The light-emitting unit 21 of the light-emitting receiving unit 10 is driven according to a control signal input from the control device 50. In addition, the light-emitting receiving unit 10 does not include a processing unit for performing calculation processing based on the light-receiving signal of the light-receiving unit 31 (a signal output by the light-receiving element 311 according to the amount of light received). The light-emitting receiving unit 10 outputs the light-receiving signal of the light-receiving unit 31 to the control device 50, and the control device 50 performs calculation processing based on the light-receiving signal (for example, calculation processing for calculating coordinates). Here, the light-emitting receiving unit 10 outputs an analog signal equivalent to the light-receiving signal to the control device 50. However, the light-receiving unit 31 (light-receiving element 311) may be configured to output a digital signal as the light-receiving signal, and the light-emitting receiving unit 10 may be configured to output a digital signal as the light-receiving signal to the control device 50.

[0020] Storage unit 41 (see Figure 1B ) is composed of a component for storing data. Here, the storage unit 41 is composed of a ROM. In the first embodiment, the storage unit 41 stores correction data.

[0021] The correction data is data used for correction of the measurement process. The correction data is sometimes also called calibration data. The correction data includes, for example, light emission correction data for correction of the light emitting unit 21, light receiving correction data for correction of the light receiving unit 31, and calculation correction data (for example, coordinate correction data) for correction of calculation processing based on the light receiving signal (for example, calculation processing for calculating coordinates). For example, the light emission correction data is data for correcting the intensity deviation of the light emitted by the light emitting element 211 (in other words, data indicating the intensity deviation of the light emitted by the light emitting element 211). In addition, for example, the light receiving correction data is data for correcting the deviation of the light receiving signal output by the light receiving element 311 relative to the amount of light received (in other words, data indicating the deviation of the signal value of the light receiving signal output by the light receiving element 311). In addition, for example, the calculation correction data is data for correcting the positional deviation of the coordinates of the reflection point (coordinate correction data). In addition, the correction data only needs to include at least one of the light emission correction data, the light receiving correction data, and the calculation correction data (coordinate correction data), and may not include all of them.

[0022] The light-emitting receiving unit 10 is not provided with a processing unit that performs calculation processing based on the data (here, correction data) stored in the storage unit 41. As described later, the data stored in the storage unit 41 is read out by the control device 50, and the control device 50 performs calculation processing based on the data (here, correction processing based on the correction data).

[0023] The control device 50 is a device for controlling the light-emitting receiving unit 10. The control device 50 controls the light-emitting unit 21 of the light-emitting receiving unit 10 (causing the light-emitting unit 21 to emit light) by outputting a control signal to the light-emitting receiving unit 10. In addition, the control device 50 obtains a light-receiving signal from the light-receiving unit 10, and calculates the coordinates of the reflection point based on the light-receiving signal. The control device 50 has a computing device and a storage device, which are not shown in the figure. The computing device is, for example, a computing processing device such as a CPU or a GPU. A part of the computing device can be composed of an analog computing circuit. The storage device is composed of a main storage device and an auxiliary storage device, and is a device for storing programs and data. The computing device executes the program stored in the storage device to perform various processes. Here, the control device 50 is composed of an ECU (Electronic Control Unit) mounted on the vehicle.

[0024] The control device 50 includes a light emission control unit 51, a signal acquisition unit 52, a measurement unit 53, and a correction unit 54. In addition, by introducing a program into the ECU (equivalent to the control device 50) of the vehicle and executing the program by the ECU, the ECU (control device 50) realizes the light emission control function (light emission control unit 51), the signal acquisition function (signal acquisition unit 52), the measurement function (measurement unit 53), and the correction function (correction unit 54).

[0025] The light control unit 51 generates a control signal for controlling the light emitting unit 21 and outputs it to the light receiving unit 10 (light control function). The light control unit 51 outputs a control signal for controlling the timing of light emission from the light emitting unit 21, the intensity of light emitted from the light emitting unit 21, etc. to the light receiving unit 10.

[0026] The signal acquisition unit 52 acquires the light receiving signal from the light emitting and receiving unit 10 (signal acquisition function). For example, the signal acquisition unit 52 converts the light receiving signal, which is an analog signal, into a digital value. The signal acquisition unit 52 transmits the light receiving signal acquired from the light emitting and receiving unit 10 to the measuring unit 53 (and the correcting unit 54).

[0027] The measuring unit 53 measures the coordinates of the reflection point based on the light reception signal acquired by the signal acquisition unit 52 (measurement function). Here, the measuring unit 53 calculates the distance to the reflection point (Z coordinate) based on the light reception signal.

[0028] Figure 3 This is a diagram for explaining the measurement method. The upper side of the figure shows the control signal. The measurement light is emitted from the light emitting unit 21 (light emitting element 211) at the timing of the pulse included in the control signal. The light emitted from the light emitting unit 21 is irradiated to the measurement area 91 via the light projection optical system 22. The light reflected by the surface (reflection point) of the object in the measurement area 91 is received by the light receiving unit 31 (light receiving element 311) via the light receiving optical system 32. The light receiving element 311 receives the pulsed reflected light. The lower side of the figure shows the light receiving signal. The light receiving unit 31 (light receiving element 311) outputs a light receiving signal corresponding to the amount of light received. The measuring unit 53 detects the arrival timing of the reflected light based on the light receiving signal. In addition, the measuring unit 53 detects the time Tf from the irradiation light to the arrival of the reflected light based on the timing of the pulse of the control signal (light emission timing) and the arrival timing of the light. The time Tf is equivalent to the time for the light to go back and forth between the measuring device 1 and the reflection point. And, the measuring unit 53 calculates the distance to the reflection point (Z coordinate of the reflection point) based on the time Tf. In addition, when the time from the irradiation light to the arrival of the reflected light is Tf and the speed of light is C, the distance L is: L=C×Tf / 2.

[0029] The measuring unit 53 can measure not only the distance to the reflection point (Z coordinate of the reflection point), but also the three-dimensional coordinates (X coordinate, Y coordinate and Z coordinate) of the reflection point. In addition, the measuring unit 53 calculates the X coordinate and Y coordinate of the reflection point based on the position of the area on the measurement area 91 corresponding to the light emitting unit 21 and the light receiving unit 31. In addition, the measuring device 1 can also measure the point group data by measuring the three-dimensional coordinates of multiple reflection points, and can also analyze the point group data to identify the attributes of the object.

[0030] The correction unit 54 obtains data from the storage unit 41 of the light-emitting receiving unit 10. In the first embodiment, the correction unit 54 obtains the correction data from the storage unit 41 of the light-emitting receiving unit 10. The correction unit 54 monitors whether a new light-emitting receiving unit 10 is connected to the port 501 of the control device 50, and when it is detected that a new light-emitting receiving unit 10 is connected to the port 501 of the control device 50, the correction unit 54 reads the correction data from the storage unit 41 of the light-emitting receiving unit 10 via the port 501.

[0031] The correction unit 54 performs correction processing (correction function) based on the correction data. Here, the correction unit 54 corrects at least one of the processes performed by the light emission control unit 51, the signal acquisition unit 52, and the measurement unit 53 based on the correction data. For example, the correction unit 54 corrects the control signal output by the light control unit 51 based on the light correction data, and corrects the intensity deviation of the light emitted by the light emitting element 211 of the light emitting unit 21. For example, the correction unit 54 corrects the control signal for the light emitting element 211 that emits light with an intensity stronger than a reference so as to weaken the light and emit it. In addition, the correction unit 54 corrects the control signal for the light emitting element 211 that emits light with an intensity weaker than a reference so as to strengthen the light and emit it. In this way, the correction unit 54 corrects the control signal output by the light control unit 51 based on the light correction data so that each light emitting element 211 emits light of a specified intensity (reference intensity). By correcting the control signal, the correction unit 54 corrects the control signal output by the light control unit 51 based on the light correction data, so that each light emitting element 211 emits light of a specified intensity (reference intensity). Figure 3 The light control unit 51 outputs the control signal corrected based on the light correction data to the light receiving unit 10, and the light receiving unit 10 emits light corresponding to the corrected control signal from the light emitting unit 21, thereby emitting light of a specified intensity (corrected intensity; reference intensity) from the light emitting unit 21. Furthermore, the correction unit 54 corrects the light receiving signal based on the light receiving correction data, and corrects the deviation of the signal value of the light receiving signal output by the light receiving element 311 of the light receiving unit 31. For example, the correction unit 54 corrects the light receiving signal of the light receiving element 311 that outputs the light receiving signal indicating a light receiving amount greater than a reference, so that the light receiving amount indicated by the light receiving signal decreases. Furthermore, the correction unit 54 corrects the light receiving signal of the light receiving element 311 that outputs the light receiving signal indicating a light receiving amount less than a reference, so that the light receiving amount indicated by the light receiving signal increases. In this way, the correction unit 54 corrects the light receiving signal output by the light receiving unit 31 based on the light receiving correction data, so that the light receiving signal indicates a prescribed light receiving amount relative to the light receiving amount serving as a reference. Furthermore, by correcting the received signal, the correction unit 54 corrects the light receiving signal. Figure 3 The pulse height of the light-receiving signal is shown. In addition, after the measuring unit 53 calculates the coordinates of the reflection point based on the light receiving signal, the correction unit 54 corrects the coordinates calculated by the measuring unit 53 based on the coordinate correction data. For example, when the coordinates calculated by the measuring unit 53 include installation errors of the elements (light emitting element 211 and light receiving element 311), errors caused by aberrations of the optical system (light projection optical system 22 and light receiving optical system 32), etc., the correction unit 54 corrects the coordinates calculated by the measuring unit 53 based on the coordinate correction data to suppress the influence of the errors.

[0032] Figure 4 It is an explanatory diagram of the reference table of the correction unit 54. The control device 50 has a plurality of ports 501 for connecting the light-emitting and receiving units 10 (see Figure 1B Here, the control device 50 has four ports 501. In the reference table, the port number and the calibration data correspond to each other. For example, the calibration data A corresponds to the port No. 1, and the calibration data B corresponds to the port No. 2.

[0033] The control device 50 (calibration unit 54) measures the coordinates using the light-emitting receiving unit 10 connected to the port 501 based on the calibration data corresponding to the port 501. For example, when the control device 50 measures the coordinates using the light-emitting receiving unit 10 connected to the port 1, the control device 50 calibrates the control signal of the light-emitting receiving unit 10 connected to the port 1 based on the calibration data A, or calibrates the light-receiving signal obtained from the light-emitting receiving unit 10 via the port 1, or calibrates the coordinates calculated based on the light-receiving signal obtained via the port 1. Thus, calibration corresponding to the characteristics of each light-emitting receiving unit 10 can be performed. In addition, the setting method of the reference table will be described later.

[0034] <About Generation of Calibration Data> In the inspection process before shipment of the light emitting and receiving unit 10, the characteristics (individual difference) of the light emitting and receiving unit 10 are inspected, and correction data corresponding to the characteristics of the light emitting and receiving unit 10 is generated. In the inspection process, the light emitting and receiving unit 10 is connected to an inspection control device 60 different from the control device 50 described above.

[0035] Figure 5A 41 is an explanatory diagram of a method for obtaining light emission correction data. The inspection control device 60 outputs a control signal serving as a reference to each light emitting element 211 of the light emitting unit 21 of the light emitting receiving unit 10. The light emitting receiving unit 10 emits light from each light emitting element 211 according to the control signal serving as a reference. However, there is a deviation in the intensity of light emitted from each light emitting element 211. The light emission inspection device 61 inspects the intensity of light emitted from each light emitting element 211, and outputs the inspection result to the inspection control device 60. The inspection control device 60 generates correction data (light emission correction data) for each light emitting element 211 based on the intensity of light emitted from each light emitting element 211, and stores the correction data in the storage unit 41.

[0036] Figure 5B 1 is an explanatory diagram of a method for obtaining light receiving correction data. The reference light irradiation device 62 irradiates light (reference light) of a reference intensity. Each light receiving element 311 of the light receiving unit 31 of the light receiving unit 10 receives the reference light and outputs a light receiving signal. However, there is a deviation in the amount of light received represented by the light receiving signal output by each light receiving element 311. The inspection control device 60 generates correction data (light receiving correction data) for each light receiving element 311 based on the amount of light received represented by the light receiving signal, and stores the correction data in the storage unit 41.

[0037] In addition, the light emission correction data and the light reception correction data are obtained separately here, but the present invention is not limited to this. For example, on the basis of arranging a reflector with a specified reflectivity opposite to the light emitting and receiving unit 10, the inspection control device 60 outputs a control signal as a reference to each light emitting element 211 of the light emitting unit 21 of the light emitting and receiving unit 10, and causes each light receiving element 311 of the light receiving unit 31 to receive reflected light, and obtains a light reception signal of each light receiving element 311. Then, the inspection control device 60 generates correction data (light reception correction data) for each light receiving element 311 based on the amount of light received represented by the light reception signal, and stores the correction data in the storage unit 41. In this way, only the light reception correction data may be stored in the storage unit 41, and the light emission correction data may not be stored in the storage unit 41.

[0038] Figure 5C : is an explanatory diagram of a method for obtaining coordinate correction data. On the basis of configuring a target plate 63 having a target indicating a reference position in a predetermined positional relationship relative to the light-emitting receiving unit 10, the inspection control device 60 outputs a control signal to each light-emitting element 211 of the light-emitting unit 21 of the light-emitting receiving unit 10, and causes the light-receiving unit 31 to receive reflected light, obtains a light-receiving signal from the light-receiving unit 31, and calculates the coordinates of the reflection point based on the light-receiving signal. Then, the inspection control device 60 generates correction data (coordinate correction data) for correcting the coordinates of the reflection point based on the difference between the position (coordinates) of the target of the target plate 63 configured in a predetermined positional relationship relative to the light-emitting receiving unit 10 and the position (coordinates) of the target obtained based on the coordinates of the reflection point, and stores the correction data in the storage unit 41.

[0039] <About obtaining calibration data> Fig. 6A and Figure 6B It is an explanatory diagram of the process when the control device 50 acquires the correction data from the light-emitting and receiving unit 10 .

[0040] As described above, the light-emitting and receiving unit 10 is configured to be replaceable with respect to the control device 50. When a new light-emitting and receiving unit 10 is connected to the control device 50 (see Fig. 6A ), the control device 50 reads the calibration data from the storage unit 41 of the light receiving unit 10 ( Figure 6B). In addition, the calibration unit 54 of the control device 50 monitors whether a new light-emitting receiving unit 10 is connected to the port 501 of the control device 50. When a new light-emitting receiving unit 10 is detected to be connected to the port 501 of the control device 50, the calibration data is read from the storage unit 41 of the light-emitting receiving unit 10 via the port 501. The calibration data includes, for example, light-emitting calibration data, light-receiving calibration data, and coordinate calibration data. The control device 50 (calibration unit 54) calibrates the control signal output from the light-emitting control unit 51 based on the light-emitting calibration data, or calibrates the light-receiving signal output from the light-receiving unit 31 based on the light-receiving calibration data, or calibrates the coordinates of the reflection point calculated based on the light-receiving signal based on the coordinate calibration data, thereby measuring the coordinates based on the calibration data.

[0041] The control device 50 has a plurality of ports 501, and the calibration unit 54 monitors whether a new light-emitting receiving unit 10 is connected to each port 501. When a new light-emitting receiving unit 10 is detected to be connected to a certain port 501, the calibration unit 54 associates the port number (e.g., port 1) with the calibration data (e.g., calibration data A) read from the storage unit 41 of the light-emitting receiving unit 10 via the port 501, and generates Figure 4 The reference table shown (in other words, the information in the reference table is updated).

[0042] <About Comparative Example> Fig.10 It is an explanatory diagram of the structure of a comparative example.

[0043] The light emitting unit 21, the light receiving unit 31 and the control unit 50' for calculating the coordinates based on the light receiving signal of the measuring device 1' of the comparative example are integrally constituted. In the comparative example, the coordinates are measured by the measuring device 1', and the measurement results are transmitted to the ECU (therefore, in the comparative example, the ECU does not measure the coordinates). Compared with the above-mentioned light emitting and receiving unit 10, the measuring device 1' of the comparative example includes the control unit 50', so the frame is enlarged, and it may be difficult to mount the measuring device on a vehicle with many restrictions on the installation location. In addition, compared with the above-mentioned light emitting and receiving unit 10, the measuring device 1' of the comparative example includes the control unit 50', so the price is higher. Therefore, in the comparative example, when the light emitting unit 21 and the light receiving unit 31 fail, it is necessary to replace the entire measuring device 1' including the control unit 50', which costs money. In contrast, the light-emitting and receiving unit 10 of the present embodiment does not include the control unit 50' compared to the measuring device 1' of the comparative example, so it can be miniaturized. In addition, in the present embodiment, since the light-emitting and receiving unit 10 is replaceably connected to the control device 50, when the light-emitting unit 21 or the light-receiving unit 31 fails, it is sufficient to replace the light-emitting and receiving unit 10 that has failed, so the failure can be dealt with at a low cost.

[0044] However, if the light-emitting receiving unit 10 and the control device 50 are independent structures, the storage location of the correction data becomes a problem. In contrast, in the first embodiment, the correction data is stored in the storage unit 41 of the light-emitting receiving unit 10. Thus, the light-emitting unit 21 and the light-receiving unit 31 and the storage unit 41 storing the correction data corresponding to the characteristics of the light-emitting unit 21 and the light-receiving unit 31 can be integrated. In addition, in the first embodiment, the control device 50 is configured to read the correction data from the storage unit 41 of the light-emitting receiving unit 10 when the light-emitting receiving unit 10 is connected to the control device 50. Thus, even if the correction data is stored in the light-emitting receiving unit 10 independent of the control device 50, the control device 50 can measure the coordinates based on the correction data.

[0045] Furthermore, in the comparative example, when measuring a plurality of measurement areas 91, it is necessary to prepare a plurality of measurement devices 1' equipped with a control unit 50', so it may be difficult to mount the plurality of measurement devices on a vehicle with many restrictions on the installation location. Furthermore, in the comparative example, when measuring a plurality of measurement areas 91, it is necessary to prepare a plurality of measurement devices 1' equipped with a control unit 50', so it is costly. In contrast, in the present embodiment, a plurality of light-emitting and receiving units 10 can be connected to one control unit 50, and the light-emitting and receiving units 10 can be miniaturized compared to the measurement device 1' of the comparative example, so it is easy to install a plurality of light-emitting and receiving units 10 even in a vehicle with many restrictions on the installation location. Furthermore, the light-emitting and receiving units 10 of the present embodiment are cheaper than the measurement device 1' of the comparative example, so it is possible to measure the measurement areas 91 at a plurality of positions at a low cost.

[0046] ===Second Embodiment=== In the first embodiment, the calibration data is stored in the storage unit 41 of the light emitting and receiving unit 10. However, the storage location of the calibration data is not limited thereto. In the second embodiment, the calibration data is stored outside the measuring device 1.

[0047] Fig. 7A and Figure 7B It is an explanatory diagram of the second embodiment.

[0048] The light-emitting and receiving unit 10 is assigned an identification number, and the identification number is stored in the storage unit 41 of the light-emitting and receiving unit 10. When calibration data is generated in the inspection process before shipment of the light-emitting and receiving unit 10 (see Figure 5A to Figure 5C), so that the data set corresponding to the identification number of the light-emitting receiving unit 10 of the inspection object and the calibration data of the light-emitting receiving unit 10 is registered in the database of the external server 70. The calibration data corresponding to the light-emitting receiving units 10 manufactured in the factory are registered in the database of the external server 70 in correspondence with the identification number of the light-emitting receiving unit 10. In addition, the external server 70 may be, for example, a server managed by the manufacturer of the light-emitting receiving unit 10, a server managed by the manufacturer of the car equipped with the measuring device 1, or a server on the cloud.

[0049] As in the first embodiment, the light emitting and receiving unit 10 is configured to be replaceable with respect to the control device 50. When a new light emitting and receiving unit 10 is connected to the control device 50 (see Fig. 7A ), the control device 50 (calibration unit 54) reads the identification number (refer to Figure 7B ). In addition, the control device 50 (correction unit 54) monitors whether a new light-emitting receiving unit 10 is connected to the port 501 of the control device 50, and when it is detected that a new light-emitting receiving unit 10 is connected to the port 501 of the control device 50, the identification number is read from the storage unit 41 of the light-emitting receiving unit 10 via the port 501.

[0050] The light receiving unit 10 of the second embodiment includes a communication unit (not shown) capable of communicating with the external server 70. After the calibration unit 54 obtains the identification number from the storage unit 41 of the light receiving unit 10, the calibration unit 54 transmits the identification number to the external server 70 via the communication unit to request calibration data (see Figure 7B When the external server 70 receives the identification number from the control device 50, it refers to the database based on the identification number and sends the correction data corresponding to the identification number to the control device 50 (refer to Figure 7B ). When the control device 50 receives the correction data from the external server 70, it transmits the correction data to the correction unit 54. The correction data includes, for example, light emission correction data, light reception correction data, and coordinate correction data. The control device 50 (correction unit 54) corrects the control signal output from the light emission control unit 51 based on the light emission correction data, corrects the light reception signal output from the light receiving unit 31 based on the light reception correction data, or corrects the coordinates of the reflection point calculated based on the light reception signal based on the coordinate correction data, thereby measuring the coordinates based on the correction data.

[0051] In the second embodiment, the control device 50 may also include a plurality of ports 501. In this case, the calibration unit 54 monitors whether a new light-emitting receiving unit 10 is connected to each port 501. When a new light-emitting receiving unit 10 is detected to be connected to a certain port 501, the calibration unit 54 obtains the port number and the identification number read from the storage unit 41 of the light-emitting receiving unit 10 via the port 501. The calibration unit 54 sends the identification number to the external server 70 to request calibration data, obtains calibration data corresponding to the identification number from the external server 70, associates the port number with the calibration data, and generates Figure 4 Then, the control device 50 (calibration unit 54 ) measures the coordinates using the light-emitting and receiving unit 10 connected to the port 501 based on the calibration data corresponding to the port 501 .

[0052] ===Third Embodiment=== Fig. 8A and Figure 8B It is an explanatory diagram of the third embodiment.

[0053] The light-emitting and receiving unit 10 is assigned an identification number. When calibration data is generated in a pre-shipment inspection process of the light-emitting and receiving unit 10 (see Figure 5A to Figure 5C ), the identification number of the light-receiving unit 10 and the correction data of the light-receiving unit 10 are stored in the storage unit 41 of the light-receiving unit 10 to be inspected. At this time, the correction data stored in the storage unit 41 of the light-receiving unit 10 is encrypted. The key for decrypting the encrypted correction data is registered in the database of the external server 70 in correspondence with the identification number. That is, in the third embodiment, when the correction data is generated in the inspection process before the light-receiving unit 10 is shipped (refer to Figure 5A to Figure 5C ), a data set corresponding to the identification number of the light-emitting receiving unit 10 of the inspection object and the key of the correction data stored in the storage unit 41 of the light-emitting receiving unit 10 and encrypted is registered in the database of the external server 70.

[0054] In the third embodiment, the light emitting and receiving unit 10 is also configured to be replaceable with respect to the control device 50. In the third embodiment, when a new light emitting and receiving unit 10 is connected to the control device 50 (see Fig. 8A ), the control device 50 (calibration unit 54) reads the identification number and the encrypted calibration data from the storage unit 41 of the light receiving unit 10 (refer to Figure 8B). In addition, the control device 50 (correction unit 54) monitors whether a new light-emitting receiving unit 10 is connected to the port 501 of the control device 50, and when it is detected that a new light-emitting receiving unit 10 is connected to the port 501 of the control device 50, the identification number is read from the storage unit 41 of the light-emitting receiving unit 10 via the port 501.

[0055] In the third embodiment, after obtaining the identification number from the storage unit 41 of the light-emitting and receiving unit 10, the calibration unit 54 transmits the identification number to the external server 70 via the communication unit (not shown) to request the key (see Figure 8B ). When the external server 70 receives the identification number from the control device 50, it refers to the database based on the identification number and sends the key corresponding to the identification number to the control device 50 (refer to Figure 8B ). When receiving the key from the external server 70, the control device 50 passes the key to the correction unit 54. The correction unit 54 decrypts the encrypted correction data using the key, thereby obtaining the correction data.

[0056] According to the third embodiment, it is possible to suppress the use of imitation products of the light-emitting receiving unit 10. In addition, in this embodiment, since the control unit 50' is not provided in the light-emitting receiving unit 10, the structure of the light-emitting receiving unit 10 is simpler than the measuring device 1' of the comparative example, and thus it is possible to effectively avoid the imitation of the light-emitting receiving unit 10. Figure 1A As shown, when the measuring device 1 is mounted on a vehicle, it is important to avoid the use of inferior imitations.

[0057] In the third embodiment, the control device 50 may also include a plurality of ports 501. In this case, the calibration unit 54 monitors whether a new light-emitting receiving unit 10 is connected to each port 501. When a new light-emitting receiving unit 10 is detected to be connected to a certain port 501, the calibration unit 54 obtains the port number, the identification number read from the storage unit 41 of the light-emitting receiving unit 10 via the port 501, and the encrypted calibration data. The calibration unit 54 sends the identification number to the external server 70 to request a key, obtains the key corresponding to the identification number from the external server 70 to decrypt the calibration data, and generates a corresponding calibration data by making the port number correspond to the calibration data. Figure 4 Then, the control device 50 (calibration unit 54 ) measures the coordinates using the light-emitting and receiving unit 10 connected to the port 501 based on the calibration data corresponding to the port 501 .

[0058] ===Conclusion=== The measuring device 1 includes a light-emitting receiving unit 10 and a control device 50. The light-emitting receiving unit 10 includes a light-emitting section 21, a light-receiving section 31, and a storage section 41. The control device 50 outputs a control signal to the light-emitting receiving unit 10, and measures the coordinates of the reflection point based on the light-receiving signal obtained from the light-emitting receiving unit 10. The light-emitting receiving unit 10 is replaceably connected to the control device 50. The light-emitting receiving unit 10 is different from the comparative example (refer to Fig.10 ) can be miniaturized compared to the measuring device 1' of the present embodiment, so the measuring device 1 of this embodiment can reduce the restrictions on the installation location.

[0059] In the first and third embodiments, the correction data is stored in the storage unit 41 of the light emitting and receiving unit 10. Thus, the light emitting unit 21 and the light receiving unit 31 and the storage unit 41 storing the correction data corresponding to the characteristics of the light emitting unit 21 and the light receiving unit 31 can be integrated. In addition, in the first and third embodiments, the control device 50 is configured to read the correction data from the storage unit 41 of the light emitting and receiving unit 10 when the light emitting and receiving unit 10 is connected to the control device 50. Thus, even if the correction data is stored in the light emitting and receiving unit 10 independent of the control device 50, the control device 50 can measure the coordinates based on the correction data. On the other hand, in the second embodiment, the calibration data is stored in the external server 70, and the identification number is stored in the storage unit 41 of the light receiving unit 10. In the second embodiment, the control device 50 is configured to read the identification number from the storage unit 41 of the light receiving unit 10 and obtain the calibration data corresponding to the identification number from the external server 70 when the light receiving unit 10 is connected to the control device 50. Thus, even if the calibration data is managed at a location different from the control device 50, the control device 50 can measure the coordinates based on the calibration data.

[0060] The control device 50 outputs the control signal corrected based on the correction data (light correction data) to the light receiving unit 10. The light receiving unit 10 emits light corresponding to the corrected control signal from the light emitting unit 21. Thus, the deviation of the light emitted from the light emitting unit 21 can be corrected, and the measurement accuracy of the coordinates can be improved. Furthermore, the control device 50 corrects the light receiving signal based on the correction data (light receiving correction data) and measures the coordinates based on the corrected light receiving signal. This can correct the deviation of the light receiving signal output from the light receiving unit 31 and improve the measurement accuracy of the coordinates. Furthermore, the control device 50 corrects the coordinates calculated based on the light receiving signal based on the correction data (coordinate correction data). This can suppress the influence of errors included in the calculated coordinates and improve the measurement accuracy of the coordinates.

[0061] The control device 50 can be connected to a plurality of light-emitting and receiving units 10, obtain light-receiving signals from each light-emitting and receiving unit 10, and measure coordinates based on each light-receiving signal. Fig.10 ) compared to the measuring device 1', it is possible to reduce restrictions on the installation location. In addition, when the light-emitting receiving unit 10 is connected to the port 501, the control device 50 stores the calibration data corresponding to the port 501 to which the light-emitting receiving unit 10 is connected (see Figure 4 ), based on the calibration data corresponding to the port 501, the coordinates are measured using the light-emitting receiving unit 10 connected to the port 501. Thus, for each light-emitting receiving unit 10 connected to the control device 50, the coordinates corresponding to the characteristics of each light-emitting receiving unit 10 can be measured.

[0062] In the third embodiment, the encrypted correction data is stored in the storage unit 41 of the light-emitting receiving unit 10. When the light-emitting receiving unit 10 is connected to the control device 50, the control device 50 reads the encrypted correction data from the storage unit 41 of the light-emitting receiving unit 10 and obtains the correction data by decrypting the encrypted correction data. Thus, the use of imitation products of the light-emitting receiving unit 10 can be suppressed.

[0063] The control device 50 of the first to third embodiments is configured to be connectable to the light emitting and receiving unit 10, and includes a light emitting control unit 51, a signal acquiring unit 52, a measuring unit 53, and a correction unit 54. When the light emitting and receiving unit 10 is connected, the correction unit 54 acquires the correction data corresponding to the light emitting and receiving unit 10, and corrects at least one of the light emitting control unit 51, the signal acquiring unit 52, and the measuring unit 53 based on the correction data. Thus, the coordinates can be measured based on the correction data corresponding to the characteristics of the light emitting unit 21 and the light receiving unit 31. In addition, the programs of the first to third embodiments enable the control device 50 to realize the light emission control function, the signal acquisition function, the measurement function, and the calibration function. Thus, the coordinates can be measured based on the calibration data corresponding to the characteristics of the light emitting unit 21 and the light receiving unit 31. In addition, by introducing such a program into the ECU (equivalent to the control device 50) of the vehicle and connecting the light emitting and receiving unit 10 to the ECU, the above-mentioned measurement device 1 can be constructed.

[0064] Fig.9A and Fig. 9B: is an operation explanation diagram under specified conditions. In the following description, a condition is set in which a specified distance is separated between the light-emitting receiving unit 10 and the object, and the measurement area 91 indicated by the dotted line in the figure is set to be under a certain condition. In addition, in the following description, a state in which the first data is stored in the storage unit 41 of the light-emitting receiving unit 10 is referred to as a "first state", and a state in which the second data different from the first data is stored in the storage unit 41 is referred to as a "second state". For example, in the case of the light-emitting receiving unit 10 of the first embodiment, the correction data A is stored in the storage unit 41 in the first state, and the correction data B is stored in the storage unit 41 in the second state. In addition, in the case of the light-emitting receiving unit 10 of the second embodiment, the identification number A is stored in the storage unit 41 in the first state, and the identification number B is stored in the storage unit 41 in the second state. Fig.9A This is an operation explanation diagram for the case where the light-emitting receiving unit 10 is operated as a single unit. If the measurement area 91 is under the prescribed conditions, when the prescribed control signal is input to the light-emitting receiving unit 10, the light-emitting receiving unit 10 outputs a prescribed light-receiving signal in either the first state or the second state, and the light-receiving signal output from the light-emitting receiving unit 10 does not change in the first state or the second state. That is, even if the data in the storage unit 41 of the light-emitting receiving unit 10 is rewritten, the operation of the light-emitting receiving unit 10 as a single unit does not change, and the light-emitting receiving unit 10 only performs the prescribed operation as a single unit. Fig. 9B Yes Fig.9A 1 and 2. The operation diagram of the case where the light receiving unit 10 is connected to the control device 50. When the light receiving unit 10 is connected to the control device 50 under the specified conditions in the measurement area 91, at least one of the control signal and the measurement result (coordinates of the object) changes between the first state and the second state. That is, in the first state and the second state, although the light receiving unit 10 performs the specified operation (see Fig.9A ), but the output of the control device 50 changes between the first state and the second state. Fig.9A and Fig. 9B The situation can verify the data in the storage unit 41 of the light-emitting receiving unit 10 to change the action of the control device 50 (correct the action of the control device 50).

[0065] The above detailed description of the embodiments of the present invention is not limited to the above embodiments, but includes various modifications. In addition, the above embodiments are embodiments that describe the structure in detail in order to easily explain the present invention, and are not limited to all the structures described. In addition, a part of the structure of the above embodiments may be added, deleted, or replaced with other structures.

[0066] This international application claims the benefit of priority based on Japanese Patent Application No. 2022-134636 filed on August 26, 2022, and the entire contents of Japanese Patent Application No. 2022-134636 are incorporated herein by reference.

[0067] The above description of specific embodiments of the present invention is provided for the purpose of illustration. They are not intended to be exhaustive, nor are they intended to limit the present invention directly to the described embodiments. It is obvious to those skilled in the art that many modifications and changes can be made based on the above described contents. Description of reference numerals:

[0068] 1: measuring device; 1': measuring device of comparative example; 10: light-emitting receiving unit; 21: light-emitting section; 211: light-emitting element; 22: optical system for projecting light; 31: light-receiving section; 311: light-receiving element; 32: optical system for receiving light; 41: storage section; 50: control device; 50': control section; 501: port; 51: light-emitting control section; 52: signal acquisition section; 53: measuring section; 54: calibration section; 60: inspection control device; 61: light-emitting inspection device; 62: reference light irradiation device; 63: target board; 70: external server; 91: measuring area.

Claims

1. A measuring device, characterized in that: have: The light-emitting receiving unit comprises: a light-emitting part that emits light according to a control signal; a light-receiving part that receives reflected light of the light emitted by the light-emitting part and outputs a light-receiving signal; and a storage part that stores the correction data; as well as a control device that is replaceably connected to the light-emitting receiving unit, outputs the control signal to the light-emitting receiving unit, and measures the coordinates of the reflection point generating the reflected light based on the light-receiving signal obtained from the light-emitting receiving unit, The control device reads the correction data from the storage unit of the light-emitting receiving unit when the light-emitting receiving unit is connected to the control device. The control device measures the coordinates based on the calibration data.

2. The measuring device according to claim 1, characterized in that The control device outputs the control signal corrected based on the correction data to the light receiving unit, The light-emitting receiving unit emits light corresponding to the corrected control signal from the light-emitting portion.

3. The measuring device according to claim 1, characterized in that The control device corrects the light reception signal based on the correction data, and measures the coordinates based on the corrected light reception signal.

4. The measuring device according to claim 1, characterized in that The control device corrects the coordinates based on the correction data.

5. The measuring device according to any one of claims 1 to 4, characterized in that The control device can be connected to a plurality of the light-emitting receiving units. The control device obtains the light receiving signal from each of the light-emitting receiving units. The control device measures the coordinates based on each of the light reception signals.

6. The measuring device according to claim 5, characterized in that The control device has a plurality of ports for replaceably connecting the light-emitting receiving units. When the light-emitting receiving unit is connected to the port of the control device, the control device stores the correction data read from the light-emitting receiving unit corresponding to the port to which the light-emitting receiving unit is connected, The control device measures the coordinates using the light-emitting and receiving unit connected to the port based on the calibration data corresponding to the port.

7. The measuring device according to any one of claims 1 to 4, characterized in that The storage unit stores encrypted correction data. When the light-emitting and receiving unit is connected to the control device, the control device reads the encrypted correction data from the storage unit of the light-emitting and receiving unit, and obtains the correction data by decrypting the encrypted correction data.

8. A measuring device, characterized in that: have: The light-emitting receiving unit comprises: a light-emitting part that emits light according to a control signal; a light-receiving part that receives reflected light of the light emitted by the light-emitting part and outputs a light-receiving signal; and a storage part that stores an identification number; as well as a control device that is replaceably connected to the light-emitting receiving unit, outputs the control signal to the light-emitting receiving unit, and measures the coordinates of the reflection point generating the reflected light based on the light-receiving signal obtained from the light-emitting receiving unit, The control device reads the identification number from the storage unit of the light-emitting receiving unit when the light-emitting receiving unit is connected to the control device. The control device obtains calibration data corresponding to the identification number from an external server, The control device measures the coordinates based on the calibration data.

9. A control device capable of connecting to a light-emitting receiving unit having a light-emitting portion and a light-receiving portion, characterized in that: have: a light emitting control unit, which outputs a control signal to the light receiving unit for causing light to be emitted from the light emitting unit; A signal acquisition unit, which acquires the light receiving signal of the light receiving unit from the light emitting receiving unit; a measuring unit that measures the coordinates of a reflection point where the reflected light is generated based on the light reception signal; and The calibration unit acquires calibration data corresponding to the light-emitting and receiving unit when the light-emitting and receiving unit is connected, and calibrates at least one of the light-emitting control unit, the signal acquisition unit, and the measurement unit based on the calibration data.

10. A program, characterized in that The program enables a control device capable of connecting a light-emitting receiving unit having a light-emitting part and a light-receiving part to realize the following functions: a light emitting control function for outputting a control signal to the light emitting receiving unit for causing light to be emitted from the light emitting portion; A signal acquisition function for acquiring a light receiving signal of the light receiving unit from the light receiving unit; A measuring function, based on the light receiving signal, measuring the coordinates of the reflection point where the reflected light is generated; The correction function acquires correction data corresponding to the light-emitting receiving unit when the light-emitting receiving unit is connected, and corrects at least one of the light-emitting control function, the signal acquisition function and the measurement function based on the correction data.

11. A measuring device, characterized in that: have: The light-emitting receiving unit comprises: a light-emitting part that emits light according to a control signal; a light-receiving part that receives reflected light of the light emitted by the light-emitting part and outputs a light-receiving signal; and a storage part; as well as a control device that is replaceably connected to the light-emitting receiving unit, outputs the control signal to the light-emitting receiving unit, and generates a measurement result based on the light-receiving signal obtained from the light-emitting receiving unit, When a state in which first data is stored in the storage unit is set as a first state, and a state in which second data different from the first data is stored in the storage unit is set as a second state, Under a predetermined condition, when a predetermined control signal is input to the light-emitting receiving unit, the light-receiving signal output from the light-emitting receiving unit does not change between the first state and the second state. When the light emitting and receiving unit is connected to the control device under the predetermined condition, at least one of the control signal and the measurement result changes between the first state and the second state.

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