Sensor device

Abstract

To enable a sensor device to switch between a mode for detecting an object using a wide-angle lens and a mode for detecting the object using a telephoto lens.SOLUTION: A control unit 300 sets the number of steps in the second direction Y that the spot irradiation position follows when the length of the entire field of view F in the second direction Y is a predetermined first length to be greater than the number of steps in the second direction Y that the spot irradiation position follows when the length of the entire field of view F in the second direction Y is a second length which is shorter than the first length. Additionally, the control unit 300 sets the range that the spot irradiation position follows when the size of the entire field of view F as seen from the third direction Z is a first size to be wider than the range that the spot irradiation position follows when the size of the entire field of view F as seen from the third direction Z is a second size which is smaller than the first size.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a sensor device. [Background technology]

[0002] In recent years, various sensor devices such as LiDAR (Light Detection and Ranging) have been developed. The sensor device includes a scanning unit such as a MEMS (Micro Electro Mechanical Systems) mirror and a light detection unit that detects reflected light from a spot generated by the scanning unit.

[0003] Patent Document 1 describes an example of a sensor device. The sensor device includes a plurality of light receiving elements and an optical element that guides reflected light to each of the plurality of light receiving elements at a predetermined time interval. The pixels of each light receiving element are shifted by a distance of half the pixel pitch in terms of the position at which the image formed by the reflected light is formed. By combining the image data generated by each light detection unit, an object can be detected with a higher resolution than when a single light detection unit is used. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-15611 A Summary of the Invention [Problem to be solved by the invention]

[0005] In recent years, sensor devices are sometimes required not only to detect objects with high resolution, but also to detect objects with a wide-angle lens or a telephoto lens. When both the function of detecting objects with a wide-angle lens and the function of detecting objects with a telephoto lens are required, it is desirable for both functions to be realized by a single sensor device.

[0006] One example of a problem to be solved by the present invention is switching a sensor device between a mode in which an object is detected by a wide-angle lens and a mode in which an object is detected by a telephoto lens. [Means for solving the problem]

[0007] The invention described in claim 1 is A scanning unit; a light detection unit that detects reflected light from a spot generated by the scanning unit; a control unit that changes a drive waveform of a scanning angle of the scanning unit for moving an irradiation position of the spot according to a size of an entire visual field of the light detection unit; The sensor device includes:

[0008] One aspect of the present invention is The control device is equipped with a control unit that changes the driving waveform of the scanning angle of the scanning unit to move the irradiation position of the spot depending on the size of the overall field of view of the light detection unit that detects the reflected light of the spot generated by the scanning unit.

[0009] One aspect of the present invention is The computer This is a control method in which the driving waveform of the scanning angle of the scanning unit for moving the irradiation position of the spot generated by the scanning unit is changed depending on the size of the overall field of view of the light detection unit that detects the reflected light of the spot.

[0010] One aspect of the present invention is On the computer, This is a program that has the function of varying the driving waveform of the scanning angle of the scanning unit for moving the irradiation position of the spot depending on the size of the overall field of view of the light detection unit that detects the reflected light of the spot generated by the scanning unit.

[0011] One aspect of the present invention is A storage medium storing the above program. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view showing a sensor device according to an embodiment. [Diagram 2] 13 is a diagram for explaining a first example of control by the control unit when the size of the entire visual field when viewed from the third direction is a predetermined first size. FIG. [Diagram 3] 13 is a diagram for explaining a first example of control by the control unit when the size of the entire visual field when viewed from the third direction is a predetermined first size. FIG. [Figure 4] A figure for explaining a first example of control by the control unit when the size of the overall field of view when viewed from a third direction is a second size that is smaller than the first size of the overall field of view when viewed from the third direction in the example shown in Figure 2. [Diagram 5] A figure for explaining a first example of control by the control unit when the size of the overall field of view when viewed from a third direction is a second size that is smaller than the first size of the overall field of view when viewed from the third direction in the example shown in Figure 2. [Figure 6] 13 is a diagram for explaining a second example of control by the control unit when the size of the entire visual field when viewed from the third direction is a predetermined first size. FIG. [Figure 7] A figure for explaining a second example of control by the control unit when the size of the overall field of view when viewed from the third direction is a second size smaller than the first size of the overall field of view when viewed from the third direction in the example shown in Figure 6. [Figure 8] A figure for explaining a second example of control by the control unit when the size of the overall field of view when viewed from the third direction is a second size smaller than the first size of the overall field of view when viewed from the third direction in the example shown in Figure 6. [Figure 9] FIG. 2 is a diagram illustrating an example of a hardware configuration of a control unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In all the drawings, the same components are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0014] In this specification, ordinal numbers such as "first," "second," "third," etc., unless otherwise specified, are used merely to distinguish between similarly named configurations and do not imply any particular characteristics (e.g., order or importance) of the configurations.

[0015] FIG. 1 is a perspective view showing a sensor device 10 according to an embodiment.

[0016] In FIG. 1, the arrows indicating the first direction X, the second direction Y, and the third direction Z indicate that the direction from the base end of the arrow to the tip end is the positive direction of the direction indicated by the arrow, and the direction from the tip of the arrow to the base end is the negative direction of the direction indicated by the arrow.

[0017] The first direction X is a direction parallel to the horizontal direction perpendicular to the vertical direction. When viewed from the negative direction of the third direction Z, the positive direction of the first direction X is a direction from right to left in the horizontal direction, and the negative direction of the first direction X is a direction from left to right in the horizontal direction. The second direction Y is a direction parallel to the vertical direction. The positive direction of the second direction Y is a direction from bottom to top in the vertical direction, and the negative direction of the second direction Y is a direction from top to bottom in the vertical direction. The third direction Z is a direction parallel to the horizontal direction and perpendicular to the first direction X. When viewed from the negative direction of the first direction X, the positive direction of the third direction Z is a direction from left to right in the horizontal direction, and the negative direction of the third direction Z is a direction from right to left in the horizontal direction. The relationship between the first direction X, the second direction Y, the third direction Z, the horizontal direction, and the vertical direction is not limited to the above example. The relationship between the first direction X, the second direction Y, the third direction Z, the horizontal direction, and the vertical direction varies depending on the arrangement of the sensor device 10. For example, the second direction Y may be parallel to the horizontal direction.

[0018] The sensor device 10 includes a transmission system 100, a receiving system 200, and a control unit 300. In this embodiment, the sensor device 10 is a biaxial type LiDAR in which the optical axis of light transmitted from the transmission system 100 toward an entire field of view F (described later) and the optical axis of light reflected from the entire field of view F and received by the receiving system 200 are offset from each other. The transmission system 100 includes a light source unit 110, a scanning unit 120, and a transmission system lens 130. The receiving system 200 includes a light detection unit 210 and a receiving system lens 220. The control unit 300 controls the transmission system 100 and the receiving system 200.

[0019] The light source unit 110 is, for example, a pulse laser. The wavelength of the light emitted from the light source unit 110 is, for example, infrared. The light source unit 110 emits light repeatedly over time. The timing of emitting the light from the light source unit 110 is controlled by the control unit 300. As shown by the dashed line extending from the light source unit 110 through the scanning unit 120 toward the entire field of view F described later in FIG. 1, the light emitted from the light source unit 110 passes through the transmission system lens 130 and is reflected by the scanning unit 120 toward the entire field of view F.

[0020] In this embodiment, the scanning unit 120 is a MEMS mirror. The scanning unit 120 may be a scanning unit other than a MEMS mirror. The scanning unit 120 reflects the light emitted from the light source unit 110 toward a virtual plane perpendicular to the third direction Z and onto which the entire field of view F is projected, and generates a spot S, which is light projected onto the virtual plane. The scanning unit 120 moves the position at which the spot S is generated within the virtual plane in two directions, the first direction X and the second direction Y.

[0021] In this embodiment, the transmission system lens 130 is a zoom lens having a plurality of lenses arranged along the optical axis of the light emitted from the light source unit 110. The control unit 300 controls the distance between the plurality of lenses to control the size of the spot S projected on a virtual plane perpendicular to the third direction Z. Specifically, the size of the spot S increases as the composite focal length decreases by changing the distance between the plurality of lenses. On the other hand, the size of the spot S decreases as the composite focal length increases by changing the distance between the plurality of lenses. The transmission system lens 130 may be a lens different from a zoom lens.

[0022] In this embodiment, the light detection unit 210 is a two-dimensional array sensor. The light detection unit 210 detects reflected light of a spot S. The light detection unit 210 has a plurality of pixels P arranged in a matrix along two directions, a first direction X and a second direction Y. In the example shown in Fig. 1, an entire field of view F in which the entire plurality of pixels P detect light through a receiving system lens 220 is projected onto a virtual plane perpendicular to a third direction Z.

[0023] Within the entire field of view F, a plurality of fields of view f per pixel of the light detection unit 210 are arranged in a matrix in two directions, the first direction X and the second direction Y, corresponding to a plurality of pixels P. When viewed from the negative direction of the third direction Z, the position of each field of view f relative to the center of the entire field of view F is inverted in the first direction X and the second direction Y by the receiving system lens 220 with respect to the position of each pixel P relative to the center of the light detection unit 210. In the example shown in Fig. 1, the pixel P detecting the reflected light of the spot S irradiated onto the entire field of view F is indicated by being filled in black.

[0024] In this embodiment, the receiving lens 220 is a zoom lens having a plurality of lenses arranged from the light detection unit 210 toward the overall field of view F. The control unit 300 controls the distance between the plurality of lenses to control the size of the overall field of view F projected on a virtual plane perpendicular to the third direction Z and the size of the plurality of fields of view f arranged in a matrix in two directions, the first direction X and the second direction Y, within the overall field of view F. Specifically, the size of the overall field of view F and the plurality of fields of view f increases as the composite focal length decreases by changing the distance between the plurality of lenses. On the other hand, the size of the overall field of view F and the plurality of fields of view f decreases as the composite focal length increases by changing the distance between the plurality of lenses. The receiving lens 220 may be a lens different from a zoom lens.

[0025] 2 and 3 are diagrams for explaining a first example of control by the control unit 300 when the size of the entire field of view F when viewed from the third direction Z is a predetermined first size.

[0026] First, FIG. 2 will be described.

[0027] In Figure 2, the circle with an X indicating the third direction Z indicates that the direction from the front of the paper to the back is the positive direction of the third direction Z, and the direction from the back of the paper to the front is the negative direction of the third direction Z.

[0028] In FIG. 2, when viewed from the negative direction of the third direction Z, a plurality of substantially square fields of view f are arranged in a matrix in two directions, the first direction X and the second direction Y.

[0029] In the example shown in FIG. 2, the light emitted from the light source unit 110 is a line-shaped beam that is longer in the second direction Y than in the first direction X. The length of the spot S in the first direction X is substantially equal to the length of the first direction X of the field of view f. The length of the spot S in the second direction Y is substantially four times the length of the second direction Y of the field of view f. In FIG. 2, an arrow passing through a plurality of fields of view f indicates that the irradiation position of the spot S moves from the base end to the tip end of the arrow. Hereinafter, the irradiation position of the spot S is referred to as the spot irradiation position as necessary. In FIG. 2, four spots S irradiated at different times are shown.

[0030] The control unit 300 controls the range (FOV) of the spot irradiation position when viewed from the third direction Z by controlling the amplitude of the driving waveform of the scanning angle of the scanning unit 120 for moving the spot irradiation position. Specifically, the length of the first direction X of the range of the spot irradiation position when viewed from the third direction Z is determined according to the amplitude of the driving waveform of the scanning angle of the scanning unit 120 for moving the spot irradiation position in the first direction X. The length of the second direction Y of the range of the spot irradiation position when viewed from the third direction Z is determined according to the amplitude of the driving waveform of the scanning angle of the scanning unit 120 for moving the spot irradiation position in the second direction Y.

[0031] Next, referring to FIG.

[0032] The upper timing chart of Fig. 3 shows a timing chart of the pulse trigger of the light source unit 110. The number of triggers depicted in the uppermost timing chart of Fig. 3 is shown diagrammatically, and does not suggest the number of spots S irradiated on the multiple fields of view f shown in Fig. 2.

[0033] The lower timing chart of Fig. 3 shows a driving waveform of the scan angle AY of the scanning unit 120. The scan angle AY is a scan angle of the scanning unit 120 for moving the position where the spot S is irradiated in the second direction Y. In the lower timing chart of Fig. 3, as the scan angle AY increases, the position where the spot S is irradiated moves toward the negative direction of the second direction Y, and as the scan angle AY decreases, the position where the spot S is irradiated moves toward the positive direction of the second direction Y.

[0034] Next, the control by the control unit 300 will be described with reference to FIG. 2 and FIG.

[0035] In the time period from the beginning to the end of one frame, the control unit 300 alternately repeats the movement of the spot irradiation position from the positive direction to the negative direction in the first direction X and the movement of the spot irradiation position from the negative direction to the positive direction in the first direction X. Hereinafter, as necessary, the movement of the spot irradiation position from the positive direction to the negative direction in the first direction X is referred to as the negative direction movement of the spot irradiation position in the first direction X, and the movement of the spot irradiation position from the negative direction to the positive direction in the first direction X is referred to as the positive direction movement of the spot irradiation position in the first direction X. In the time period between the time period of the negative direction movement of the spot irradiation position in the first direction X and the time period of the positive direction movement of the spot irradiation position in the first direction X, the control unit 300 increases the scanning angle AY to move the spot irradiation position from the positive direction to the negative direction in the second direction Y by a distance substantially equal to the length of the second direction Y of the spot S. The movement of the spot irradiation position in the negative direction in the first direction X is performed twice, and the movement of the spot irradiation position in the positive direction in the first direction X is performed twice. The control unit 300 controls the emission timing of light from the light source unit 110 in a time period during which the spot irradiation position moves in the negative direction in the first direction X and a time period during which the spot irradiation position moves in the positive direction in the first direction X, thereby making the irradiation pitch of the spot S in the first direction X substantially coincide with the arrangement pitch of the multiple fields of view f in the first direction X. As a result, the spot S is caused to irradiate each field of view f through which the spot irradiation position passes in a time period during which the spot irradiation position moves in the negative direction in the first direction X and a time period during which the spot irradiation position moves in the positive direction in the first direction X.

[0036] In a time period from the start to the end of one frame, the control unit 300 makes the range traced by the spot irradiation position when viewed from the third direction Z substantially coincide with the entire field of view F when viewed from the third direction Z. Specifically, the control unit 300 makes the length in the first direction X of the range traced by the spot irradiation position when viewed from the third direction Z substantially equal to the length in the first direction X of the entire field of view F when viewed from the third direction Z. The control unit 300 makes the length in the second direction Y of the range traced by the spot irradiation position when viewed from the third direction Z substantially equal to the length in the second direction Y of the entire field of view F when viewed from the third direction Z.

[0037] The control unit 300 returns the scan angle AY to its initial value, and ends the control for one frame. The control unit 300 repeats the above-mentioned control for each of the subsequent frames.

[0038] The control by the control unit 300 is not limited to the examples shown in FIGS.

[0039] For example, the irradiation pitch of the spot S in the first direction X in the time period of the negative movement of the spot irradiation position in the first direction X and the time period of the positive movement of the spot irradiation position in the first direction X may not match the arrangement pitch of the multiple fields of view f in the first direction X. For example, when the speed of the negative movement of the spot irradiation position in the first direction X or the speed of the positive movement of the spot irradiation position in the first direction X is relatively fast and the time interval of the emission timing of the light from the light source unit 110 cannot be shortened much due to factors such as eye safety, the irradiation pitch of the spot S in the first direction X may be larger than the arrangement pitch of the multiple fields of view f in the first direction X. In this case, in a certain time period, the multiple spots S may be irradiated in the first direction X at a pitch larger than the arrangement pitch in the first direction X of the multiple fields of view f, and in another time period after the time period, the spot S may be irradiated at a position located between the first direction X of the positions where the spots S were irradiated in the previous time period.

[0040] Also, for example, the control unit 300 may move the spot irradiation position from the negative direction to the positive direction in the second direction Y by a distance longer than the length of the spot S in the second direction Y in a time period between a time period in which the spot irradiation position is moved in the negative direction in the first direction X and a time period in which the spot irradiation position is moved in the positive direction in the first direction X.

[0041] 2, the length of the spot S in the first direction X is substantially equal to the length of the first direction X of the field of view f. However, the length of the spot S in the first direction X may be different from the length of the first direction X of the field of view f. For example, the length of the spot S in the first direction X may be an integer multiple of the length of the first direction X of the field of view f.

[0042] Figures 4 and 5 are diagrams for explaining a first example of control by the control unit 300 in a case where the size of the entire visual field F when viewed from the third direction Z is a second size that is smaller than the first size of the entire visual field F when viewed from the third direction Z in the example shown in Figure 2. The first example described using Figures 4 and 5 is similar to the example described using Figures 2 and 3, except for the following points.

[0043] The control unit 300 switches the size of the overall field of view F when viewed from the third direction Z in the example shown in Fig. 2 and the size of the overall field of view F when viewed from the third direction Z in the example shown in Fig. 4 by controlling the receiving system lens 220. The lengths of the overall field of view F and the field of view f in the first direction X and the second direction Y in the example shown in Fig. 4 are substantially half the lengths of the overall field of view F and the field of view f in the first direction X and the second direction Y in the example shown in Fig. 2.

[0044] The size of the spot S when viewed from the third direction Z in the example shown in Fig. 4 is substantially equal to the size of the spot S when viewed from the third direction Z in the example shown in Fig. 2. In the example shown in Fig. 4, the length of the spot S in the first direction X is substantially twice the length of the first direction X of the field of view f. The length of the spot S in the second direction Y is substantially eight times the length of the second direction Y of the field of view f.

[0045] In a time period from the beginning to the end of one frame, the control unit 300 sequentially moves the spot irradiation position in the negative direction in the first direction X and moves the spot irradiation position in the positive direction in the first direction X. In a time period between the time period of the negative movement of the spot irradiation position in the first direction X and the time period of the positive movement of the spot irradiation position in the first direction X, the control unit 300 increases the scanning angle AY to move the spot irradiation position from the positive direction to the negative direction in the second direction Y by a distance substantially equal to the length of the spot S in the second direction Y. The control unit 300 controls the emission timing of light from the light source unit 110 in the time period of the negative movement of the spot irradiation position in the first direction X and the time period of the positive movement of the spot irradiation position in the first direction X, thereby making the irradiation pitch of the spot S in the first direction X substantially coincide with the arrangement pitch of the multiple fields of view f in the first direction X. As a result, the spot S is irradiated to each field of view f through which the spot irradiation position passes during the time period in which the spot irradiation position moves in the negative direction in the first direction X and during the time period in which the spot irradiation position moves in the positive direction in the first direction X.

[0046] In a time period from the start to the end of one frame, the control unit 300 makes the range traced by the spot irradiation position when viewed from the third direction Z substantially coincide with the entire field of view F when viewed from the third direction Z. Specifically, the control unit 300 makes the length in the first direction X of the range traced by the spot irradiation position when viewed from the third direction Z substantially equal to the length in the first direction X of the entire field of view F when viewed from the third direction Z. The control unit 300 makes the length in the second direction Y of the range traced by the spot irradiation position when viewed from the third direction Z substantially equal to the length in the second direction Y of the entire field of view F when viewed from the third direction Z.

[0047] The control by the control unit 300 is not limited to the examples shown in Fig. 4 and Fig. 5. For example, the length of the spot S in the second direction Y is relatively long, and the spot S may be irradiated to all of the fields of view f by moving the spot irradiation position in the negative direction in the first direction X or moving the spot irradiation position in the positive direction in the first direction X only once. In this case, the spot irradiation position may be moved in the negative direction in the first direction X or moved in the positive direction in the first direction X only once per frame.

[0048] Next, the example shown in FIGS. 2 and 3 will be compared with the example shown in FIGS.

[0049] The control unit 300 varies the driving waveform of the scanning angle for moving the spot irradiation position according to the size of the entire visual field F when viewed from the third direction Z. Specifically, the control unit 300 increases the number of steps in the second direction Y that the spot irradiation position follows when the length of the entire visual field F in the second direction Y is a predetermined first length as shown in Fig. 2, compared with the number of steps in the second direction Y that the spot irradiation position follows when the length of the entire visual field F in the second direction Y is a second length shorter than the first length as shown in Fig. 4. In addition, the control unit 300 increases the range that the spot irradiation position follows when the size of the entire visual field F when viewed from the third direction Z is a first size as shown in Fig. 2, compared with the range that the spot irradiation position follows when the size of the entire visual field F when viewed from the third direction Z is a second size smaller than the first size as shown in Fig. 4.

[0050] In the mode shown in Figures 2 and 3, the sensor device 10 has a larger overall field of view F when viewed from the third direction Z than in the mode shown in Figures 4 and 5. In the mode shown in Figures 4 and 5, the sensor device 10 has a smaller overall field of view F when viewed from the third direction Z than in the mode shown in Figures 2 and 3. Therefore, in response to the control of the control unit 300, the sensor device 10 can be switched between a mode in which an object is detected with a wide-angle lens as shown in Figures 2 and 3, and a mode in which an object is detected with a telephoto lens as shown in Figures 4 and 5.

[0051] In the above-described examples, the drive waveform of the scan angle AY is a step function in both the example shown in Fig. 3 and the example shown in Fig. 5. However, the drive waveform of the scan angle AY may be, for example, a triangular wave or a sawtooth wave.

[0052] 6 is a diagram for explaining a second example of control by the control unit 300 when the size of the entire field of view F when viewed from the third direction Z is a predetermined first size. The second example described with reference to FIG. 6 is similar to the first example described with reference to FIG. 2 and FIG. 3, except for the following points. In the second example described with reference to FIG. 6, the timing chart of the pulse trigger of the light source unit 110 is the same as the timing chart in the upper part of FIG. 3, and the driving waveform of the scan angle AY of the scanning unit 120 is the same as the timing chart in the lower part of FIG. 3.

[0053] In the example shown in Fig. 6, the light emitted from the light source unit 110 is a multi-beam. The length of the spot S in the second direction Y is substantially four times the length of the field of view f in the second direction Y. The spot S has four portions aligned in the second direction Y. In the example shown in Fig. 6, the arrangement pitch of these four portions in the second direction Y is substantially equal to the arrangement pitch of the multiple fields of view f in the second direction Y.

[0054] The control unit 300 moves the spot irradiation position in a manner similar to the manner in which the spot irradiation position is moved as described with reference to FIGS.

[0055] Figures 7 and 8 are diagrams for explaining a second example of control by the control unit 300 in a case where the size of the entire visual field F when viewed from the third direction Z is a second size that is smaller than the first size of the entire visual field F when viewed from the third direction Z in the example shown in Figure 6. The second example described using Figures 7 and 8 is similar to the first example described using Figures 4 and 5, except for the following points.

[0056] 7, the length of the spot S in the second direction Y is substantially seven times the length of the field of view f in the second direction Y. The arrangement pitch in the second direction Y of four portions of the spot S aligned in the second direction Y is substantially twice the arrangement pitch in the second direction Y of the multiple fields of view f.

[0057] In a time period from the beginning to the end of the first half of one frame, the control unit 300 alternately repeats a negative movement of the spot irradiation position in the first direction X and a positive movement of the spot irradiation position in the first direction X. After the end of the negative movement of the spot irradiation position in the first direction X and before the start of the positive movement of the spot irradiation position in the first direction X, the control unit 300 increases the scanning angle AY to move the spot irradiation position from the positive direction to the negative direction in the second direction Y by a distance substantially half the arrangement pitch in the second direction Y of the multiple portions of the spot S aligned in the second direction Y. After the end of the positive movement of the spot irradiation position in the first direction X and before the start of the negative movement of the spot irradiation position in the first direction X, the control unit 300 increases the scanning angle AY to move the spot irradiation position from the positive direction to the negative direction in the second direction Y by a distance substantially equal to the length of the spot S in the second direction Y. The spot irradiation position is moved in the negative direction in the first direction X twice, and the spot irradiation position is moved in the positive direction in the first direction X twice. The control unit 300 controls the emission timing of light from the light source unit 110 in the time period of the negative movement of the spot irradiation position in the first direction X and the time period of the positive movement of the spot irradiation position in the first direction X, thereby making the irradiation pitch of the spot S in the first direction X substantially coincide with the arrangement pitch of the multiple fields of view f in the first direction X. As a result, the spot S is irradiated onto each field of view f through which the spot irradiation position passes in the time period of the negative movement of the spot irradiation position in the first direction X and the time period of the positive movement of the spot irradiation position in the first direction X.

[0058] In the example shown in Fig. 7 and Fig. 8, the control unit 300 causes the above four parts of the spot S to be irradiated at the spot irradiation position during the time period during which the spot irradiation position moves in the negative direction in the first direction X. The control unit 300 causes at least one of the above four parts to be irradiated at a position located in the second direction Y between the positions where the above four parts were irradiated during the time period during which the spot irradiation position moves in the negative direction in the first direction X. The control by the control unit 300 is not limited to the example shown in Fig. 7 and Fig. 8. For example, the number of the parts of the spot S arranged in the second direction Y may be other than four.

[0059] 9 is a diagram illustrating an example of a hardware configuration of the control unit 300. The control unit 300 is implemented using an integrated circuit 400. The integrated circuit 400 is, for example, a System-on-a-Chip (SoC).

[0060] The integrated circuit 400 includes a bus 402, a processor 404, a memory 406, a storage device 408, an input / output interface 410, and a network interface 412. The bus 402 is a data transmission path for the processor 404, the memory 406, the storage device 408, the input / output interface 410, and the network interface 412 to transmit and receive data to and from each other. However, the method of connecting the processor 404, the memory 406, the storage device 408, the input / output interface 410, and the network interface 412 to each other is not limited to a bus connection. The processor 404 is an arithmetic processing device realized by using a microprocessor or the like. The memory 406 is a memory realized by using a RAM (Random Access Memory) or the like. The storage device 408 is a storage device realized by using a ROM (Read Only Memory), a flash memory, or the like.

[0061] The input / output interface 410 is an interface for connecting the integrated circuit 400 to peripheral devices. The input / output interface 410 is connected to the transmission system 100 and the reception system 200.

[0062] The network interface 412 is an interface for connecting the integrated circuit 400 to a network. This network is, for example, a Controller Area Network (CAN) network. The method for connecting the network interface 412 to the network may be a wireless connection or a wired connection.

[0063] The storage device 408 stores program modules for implementing the functions of the control unit 300. The processor 404 implements the functions of the control unit 300 by reading these program modules into the memory 406 and executing them.

[0064] The hardware configuration of the integrated circuit 400 is not limited to the configuration shown in Fig. 9. For example, the program module may be stored in the memory 406. In this case, the integrated circuit 400 may not include the storage device 408.

[0065] Although the embodiments of the present invention have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted. [Explanation of symbols]

[0066] 10 Sensor device 100 Transmission system 110 Light source section 120 Scanning unit 130 Transmitting lens 200 Receiving system 210 Light detection unit 220 Receiving lens 300 Control section 400 Integrated Circuits 402 Bus 404 Processor 406 Memory 408 Storage Devices 410 Input / Output Interface 412 Network Interface AY Scan Angle F. Overall view P pixels S Spot X 1st direction Y Second direction Z 3rd direction f field of view

Claims

[Claim 1] A scanning unit; a light detection unit that detects reflected light from a spot generated by the scanning unit; a control unit that changes a drive waveform of a scanning angle of the scanning unit for moving an irradiation position of the spot according to a size of an entire visual field of the light detection unit; A sensor device comprising:

Images