Photodetection system

Abstract

To set respective identification information according to the installed positions of multiple photodetectors when they are installed on one object.SOLUTION: When a processor 11 starts distance measurement and determines that the measured distance is equal to or greater than a threshold value, the processor stores identification information received from a controller 3 in a memory 12. In this case, since a shielding member 2 is peeled from a glass surface or the like by a user and does not shield an optical path P, a photodetector 1 detects an object J located farther than a threshold value Lm. The processor 11 then performs other initial settings, if any, and notifies the entire photodetector system 9 that the above-described identification information has been stored as the identification information indicating the photodetectors, and ends the processing. Therefore, the photodetector 1 is given the identification information transmitted from the control device 3 as identification information for identifying itself.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a technology of an optical detection system for setting identification information of an installed optical detector.

Background Art

[0002] In recent years, with the development of autonomous driving technology, the number of moving objects such as vehicles and drones equipped with remote sensing devices such as LiDAR (Light Detection and Ranging) units has been increasing. These moving objects can move while observing surrounding obstacles and avoiding collisions with them by utilizing remote sensing devices. Since each individual remote sensing device has limitations in the observable range, substances, etc., multiple types of remote sensing devices may be installed on a single moving object.

[0003] By the way, an internal communication network is used for controlling vehicles among moving objects. Examples of this internal communication network include CAN (Controller Area Network: registered trademark) compliant with ISO11898, ISO11519, etc. For example, when installing multiple LiDAR units on a single vehicle, a single ECU (Electronic Control Unit) for controlling the vehicle identifies and recognizes each individual LiDAR unit using an internal communication network defined in any of the vehicle bus standards. At this time, the ECU must recognize where these are installed on the vehicle in order to initialize and adjust each individual LiDAR unit. However, for example, when adopting CAN (registered trademark), since all of the multiple LiDAR units are recognized with common initial parameters in the initial state, it is necessary to make each of them identifiable with unique parameters according to the installation position.

[0004] Therefore, when installing multiple LiDAR units on a single vehicle, generally, initial parameters for each position are written to the LiDAR units before vehicle installation. Also, multiple LiDAR units are stored and managed separately for each written initial parameter.

[0005] However, these operations and management methods are cumbersome and there is also a possibility of human error. In addition, when writing initial parameters to the LiDAR units before installation, separate power supplies and devices for operating them are required, increasing production costs.

[0006] Furthermore, when storing and managing LiDAR units with different initial parameters separately, not only does the management cost increase, but the initialized LiDAR units cannot be installed at other positions, increasing the risk of having unnecessary inventory.

[0007] Therefore, a method of autonomously assigning initial parameters to multiple installed remote sensing devices is being studied.

[0008] For example, Patent Document 1 discloses a plant facility equipment recognition system in which mobile terminals installed at respective positions acquire information on pipes as a first feature amount from images obtained by photographing the plant facility equipment to be worked on and the pipes existing around it with a camera, and compare this first feature amount with a second feature amount on the pipes acquired from design data, thereby recognizing the relative position of the own terminal with respect to the plant facility equipment.

[0009] Also, for example, Patent Document 2 discloses a position specifying device that acquires three-dimensional model data of a building and point cloud data including depth information for a predetermined measurement range within the building, collates a reference object extracted from the point cloud data with the three-dimensional model data to specify an object matching location, and specifies the position of an object based on the information and the depth information of the point cloud data.

Prior Art Documents

Patent Document

[0010]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0011] The technologies described in Patent Documents 1 and 2 require structural data of the location itself, such as design data of plant facilities and 3D model data of buildings. Also, even when acquiring surrounding environment data such as images and point cloud data by remote sensing devices such as cameras, 3D laser scanners (3DLS), and infrared sensors, especially when these remote sensing devices are detectors that detect light (electromagnetic waves) (referred to as optical detectors), for example, when installed at a position where only the floor can be seen or when the surrounding environment lacks features, it may not be possible to identify the installation locations of these optical detectors. Furthermore, these technologies may not be able to handle situations where the location of the work target suddenly changes.

[0012] One of the objects of the present invention is to set identification information according to the installed positions when a plurality of optical detectors are installed on one object.

Means for Solving the Problems

[0013] The present invention provides an optical detection system having a plurality of optical detectors and a control device for controlling each of the plurality of optical detectors, wherein the control device transmits identification information for identifying a specific optical detector toward at least one of the plurality of optical detectors, and the optical detector that receives the identification information stores the identification information when the detection result satisfies a predetermined condition.

Effects of the Invention

[0014] According to this light detection system, when a plurality of light detectors are installed on one object, identification information can be set respectively according to their installed positions.

Brief Description of the Drawings

[0015]

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Modes for Carrying Out the Invention

[0016] <First Embodiment> <Overall Configuration of Optical Detection System> FIG. 1 is a diagram showing an example of the overall configuration of an optical detection system 9 according to an embodiment of the present invention. This optical detection system 9 is a system in which a plurality of optical detectors are installed on an installation object such as a single moving body. The optical detection system 9 shown in FIG. 1 includes a plurality of optical detectors 1, a control device 3, a reception device 5, and a notification device 6. In FIG. 1, the optical detector 1, the control device 3, and the notification device 6 are all connected to a bus 4. The control device 3 and the reception device 5 are directly connected by a communication line. Note that the reception device 5 may be connected to the bus 4. The bus 4 is, for example, a differential transmission line.

[0017] FIG. 2 is a diagram for explaining the positions where the optical detectors 1 are installed. The plurality of optical detectors 1 constituting the optical detection system 9 are installed at various positions in the moving body 7 shown in FIG. 2. The moving body 7 is, for example, a vehicle. The plurality of optical detectors 1 are installed at various positions such as the front bumper, the front glass, the rear glass, and the rear bumper of the vehicle, and each detects an object around it by reflected light. That is, these plurality of optical detectors 1 are examples of a plurality of optical detectors installed at different positions.

[0018] <Configuration of Optical Detector> FIG. 3 is a diagram showing an example of the configuration of the optical detector 1. As shown in FIG. 3, the optical detector 1 includes a processor 11, a memory 12, an interface 13, an irradiation unit 14, and a detection unit 15.

[0019] The memory 12 is a storage means for storing an operating system, various programs, data, etc. that are read by the processor 11. The memory 12 has a RAM (Random Access Memory) or a ROM (Read Only Memory). Note that the memory 12 may have a solid state drive, a hard disk drive, or the like.

[0020] The processor 11 controls each part of the photodetector 1 by reading and executing a computer program (hereinafter simply referred to as a program) stored in the memory 12. The processor 11 is, for example, a CPU (Central Processing Unit). Note that the processor 11 may incorporate a protocol controller that realizes functions of a CAN (registered trademark) protocol such as bit stuffing, communication arbitration, error handling, and CRC check.

[0021] The interface 13 is a communication circuit that communicably connects the photodetector 1 to other components via the bus 4 or a communication line shown in FIG. 1. The interface 13 may have, for example, a CAN (registered trademark) transceiver that generates, adjusts a bus transmission voltage, secures an operating current, and protects wiring.

[0022] The irradiation unit 14 is a device that irradiates light (laser) such as ultraviolet light, visible light, and near-infrared light under the control of the processor 11, and is, for example, a device called a laser diode, a semiconductor laser, or the like.

[0023] The detection unit 15 is a device that detects reflected light when the light irradiated by the irradiation unit 14 reaches the detection target, and is, for example, a pin photodiode, an avalanche photodiode, or the like. The detection unit 15 may have a photomultiplier tube.

[0024] <Configuration of the shielding member> FIG. 4 is a diagram showing an example of the configuration of the shielding member 2 according to the first embodiment. The shielding member 2 is a member that shields the optical path P of the light detected by the detection unit 15 of each photodetector 1. That is, the shielding member 2 is an example of a shielding member that shields the optical paths of the light detected by the photodetector. The shielding member 2 shown in FIG. 4 is, for example, a light-shielding seal and is attached to optical system components such as lenses that constitute the irradiation unit 14 and the detection unit 15 of the photodetector 1, or a glass surface that protects these components.

[0025] The light detector 1 detects an object and measures the distance to the object by, for example, the TOF (Time of Flight) method, the FMCW (Frequency Modulated Continuous Wave) method, or the like. When using the TOF method, the light detector 1 measures the distance to the object based on the time from when a pulse wave is transmitted until the reflected wave is received. When using the FMCW method, the light detector 1 measures the distance to the object based on the frequency difference (beat frequency) between the transmitted wave and the reflected wave.

[0026] As shown in FIG. 4, when the shielding member 2 is attached, the optical path P of light is shielded. At this time, the laser light irradiated from the irradiation unit 14 is reflected by the shielding member 2, and the reflected light reaches the detection unit 15. Since the shielding member 2 is attached at a position less than the threshold value Lm from the irradiation unit 14 or the detection unit 15, the detection unit 15 measures the distance to the shielding member 2 as an object to be less than the threshold value Lm.

[0027] On the other hand, when the shielding member 2 is peeled off from the glass surface or the like described above, the optical path P of light is not shielded, so the laser light irradiated from the irradiation unit reaches the object J. As a result, since the detection unit 15 detects the reflected light reflected by the object J, the distance to the object J existing at a position farther than the threshold value Lm is measured.

[0028] <Configuration of the control device> FIG. 5 is a diagram showing an example of the configuration of the control device 3. The control device 3 is a control device that controls each of the plurality of light detectors 1 constituting the light detection system 9, and is, for example, an ECU (Electronic Control Unit). That is, the control device 3 is an example of a control device that controls each light detector. As shown in FIG. 5, the control device 3 includes a processor 31, a memory 32, and an interface 33.

[0029] The memory 32 is a storage means for storing an operating system, various programs, data, etc. that are read into the processor 31. The memory 32 has a RAM or a ROM. Note that the memory 32 may have a solid state drive, a hard disk drive, etc.

[0030] The processor 31 controls each part of the control device 3 by reading and executing the programs stored in the memory 32. The processor 31 is, for example, a CPU. Note that the processor 31 may incorporate the above-described protocol controller.

[0031] The interface 33 is a communication circuit that communicably connects the control device 3 to other components via the bus 4 or communication lines shown in FIG. 1. The interface 33 may have the above-described transceiver.

[0032] When a predetermined condition is satisfied, this control device 3 transmits identification information for identifying one of all the photodetectors 1 belonging to the light detection system 9 to all the photodetectors 1. Here, the predetermined condition is, for example, when the receiving device 5 receives an instruction from the user to transmit the above identification information to the control device 3.

[0033] This identification information is stored, for example, as a table in the memory 32, and it is stored as "used" when it is stored as something for identifying itself by one of the photodetectors 1. Each time the above-described condition is satisfied, the processor 31 of the control device 3 reads out the identification information that is not "used" in the table of this memory 32 and transmits this to all the photodetectors 1. That is, this control device 3 is an example of a control device that transmits identification information for identifying one of a plurality of the photodetectors to all of the photodetectors.

[0034] <Configuration of the receiving device> FIG. 6 is a diagram showing an example of the configuration of the reception device 5. The reception device 5 is a device that receives from a user an instruction for causing the control device 3 to transmit identification information for identifying any one of the optical detectors 1. That is, the reception device 5 is an example of a reception device that receives from a user an instruction for causing the control device to transmit identification information for identifying one of the optical detectors. As shown in FIG. 6, the reception device 5 includes a processor 51, a memory 52, an interface 53, an operation unit 54, and a display unit 55.

[0035] The memory 52 is a storage means for storing an operating system, various programs, data, etc. that are read into the processor 51. The memory 52 has a RAM or a ROM. Note that the memory 52 may have a solid state drive, a hard disk drive, or the like.

[0036] The processor 51 controls each part of the reception device 5 by reading and executing the programs stored in the memory 52. The processor 51 is, for example, a CPU. Note that the processor 51 may incorporate the above-described protocol controller.

[0037] The interface 53 is a communication circuit that communicably connects the reception device 5 to other components via the bus 4 or communication lines shown in FIG. 1. The interface 53 may have the above-described transceiver.

[0038] The operation unit 54 includes operation elements such as operation buttons, a keyboard, a touch panel, a mouse, etc. for giving various instructions, receives an operation, and sends a signal corresponding to the operation content to the processor 51. This operation is, for example, pressing on a keyboard, a gesture on a touch panel, etc. The operation unit 54 receives from the user an instruction for causing the control device 3 to transmit the above-described identification information. When the operation unit 54 receives this instruction from the user, the interface 53 transmits the instruction to the control device 3.

[0039] The display unit 55 has a display screen such as a liquid crystal display, and displays an image under the control of the processor 51. A transparent touch panel of the operation unit 54 may be disposed overlapping on the display screen. Note that the reception device 5 may not have the display unit 55.

[0040] <Configuration of Notification Device> FIG. 7 is a diagram showing an example of the configuration of the notification device 6. The notification device 6 is a device that acquires information from any one of the light detectors 1 connected by the bus 4 and notifies the user that the light detector 1 has stored identification information. That is, the notification device 6 is an example of a notification device that notifies the user that the light detector has stored identification information for identifying the device itself. As shown in FIG. 7, the notification device 6 includes a processor 61, a memory 62, an interface 63, an operation unit 64, and a display unit 65.

[0041] The memory 62 is a storage unit that stores an operating system, various programs, data, etc. to be read by the processor 61. The memory 62 includes a RAM or a ROM. Note that the memory 62 may include a solid state drive, a hard disk drive, or the like.

[0042] The processor 61 controls each unit of the notification device 6 by reading and executing the programs stored in the memory 62. The processor 61 is, for example, a CPU. Note that the processor 61 may incorporate the above-described protocol controller.

[0043] The interface 63 is a communication circuit that communicably connects the notification device 6 to other components via the bus 4 shown in FIG. 1. The interface 63 may include the above-described transceiver.

[0044] The operation unit 64 includes operation elements such as operation buttons, a keyboard, a touch panel, and a mouse for giving various instructions, receives an operation, and sends a signal corresponding to the operation content to the processor 61. This operation is, for example, pressing on the keyboard, a gesture on the touch panel, or the like. Note that the notification device 6 may not have the operation unit 64.

[0045] The display unit 65 has a display screen such as a liquid crystal display, and displays an image under the control of the processor 61. A transparent touch panel of the operation unit 64 may be disposed on the display screen. Note that the notification device 6 does not necessarily have the display unit 65 as long as it has a function of notifying the user that the optical detector 1 has stored the identification information. For example, instead of or in addition to the display unit 65, the notification device 6 may include an audio output unit that performs the above-described notification by voice.

[0046] <Operation of the optical detector> FIG. 8 is a flowchart showing an example of the operation flow of the optical detector 1 according to the first embodiment. The processor 11 of the optical detector 1 refers to the memory 12 and determines whether the identification information at the time of shipment is stored as its own identification information (step S101). If it is determined that the identification information at the time of shipment is not stored (step S101; NO), the processor 11 ends the process.

[0047] On the other hand, if it is determined that the identification information at the time of shipment is stored (step S101; YES), the processor 11 prohibits transmission from its own device (step S102). Then, the processor 11 determines whether the control device 3 has received an instruction to start calibration from the user via the receiving device 5 (step S103). While it is determined that the calibration instruction has not been received (step S103; NO), the processor 11 returns the process to step S102.

[0048] On the other hand, if it is determined that the calibration instruction has been received (step S103; YES), the processor 11 executes calibration processing (step S200).

[0049] <Operation of the calibration process> FIG. 9 is a flowchart showing an example of the operation flow of the calibration process in the optical detector 1 of the first embodiment. The processor 11 executes a calibration process (step S200) consisting of the processes from step S201 to step S206 shown in FIG. 9. First, the processor 11 operates the irradiation unit 14 and the detection unit 15 to start distance measurement (step S201). Next, the processor 11 determines whether the measured distance is equal to or greater than a threshold value (step S202).

[0050] The threshold value mentioned here is the above-described threshold value Lm, and is set to a distance slightly farther than the distance from the irradiation unit 14 to the shielding member 2 when the shielding member 2 shields the light path P. Therefore, the fact that the measured distance is equal to or greater than the threshold value means that the shielding member 2 does not shield the light path P.

[0051] If it is determined that the measured distance is less than the threshold value (step S202; NO), the processor 11 determines whether the control device 3 has received an instruction to end calibration from the receiving device 5 from the user (step S203). At this time, since the measured distance is less than the threshold value, the shielding member 2 continues to shield the light path P. Therefore, until the user gives an instruction to end the calibration, this optical detector 1 continues to wait for the calibration and the process of assigning identification information.

[0052] That is, if it is determined that the instruction to end the calibration has not been received (step S203; NO), the processor 11 returns the process to step S201.

[0053] On the other hand, if it is determined that the instruction to end the calibration has been received (step S203; YES), the processor 11 ends the process. In this case, since the shielding member 2 shields the light path P, the optical detector 1 does not store the identification information as information for identifying itself even if the identification information is transmitted from the control device 3.

[0054] In step S202, when it is determined that the measured distance is equal to or greater than the threshold value (step S202; YES), the processor 11 stores the identification information received from the control device 3 in the memory 12 (step S204). In this case, since the shielding member 2 has been peeled off from the glass surface or the like by the user, for example, and does not shield the light path P, the light detector 1 detects the object J located farther than the threshold value Lm. Therefore, the identification information transmitted from the control device 3 is given to this light detector 1 as identification information for identifying itself. That is, the light detector 1 having this processor 11 is an example of a light detector that stores the identification information transmitted from the control device when the shielding member does not shield the light path.

[0055] Then, if there is any other initial setting, the processor 11 performs this (step S205). Further, the processor 11 notifies the entire optical detection system 9 that it has stored the above-described identification information as identification information indicating itself (step S206), and ends the process. For example, this notification is transmitted to the notification device 6 via the bus 4. The notification device 6 that has received this notification notifies the user that the above-described light detector 1 has stored the identification information.

[0056] <Example of Use of Optical Detection System> FIG. 10 is a diagram showing an example of a check sheet filled in by a user when using this optical detection system 9. This check sheet has columns for position ID, position description, and notification confirmation. Further, as shown by the broken line in FIG. 10, this check sheet may have a column for the light detector ID.

[0057] The column for the position ID of this check sheet is a column in which identification information for each of the plurality of light detectors 1 in the optical detection system 9 is described for each installation position. Further, the column for the position description is a column in which a description of the position identified by the corresponding position ID is described. For example, in this check sheet, "front glass" is associated with the position ID "A1". And the column for notification confirmation in this check sheet is a column in which a user makes a check when identification information is assigned to the light detector 1 installed at the corresponding position.

[0058] When each of the plurality of light detectors 1 belonging to the optical detection system 9 performs the operations shown in FIGS. 8 and 9, the user, for example, gives an instruction to start calibration to the reception device 5, selects any one of the plurality of light detectors 1, and peels off the shielding member 2 attached to the light detector 1. Then, the user looks at the notification device 6 and waits until there is a notification that the light detector 1 corresponding to the peeled shielding member 2 has stored the identification information.

[0059] When it is confirmed that the notification device 6 has notified that the light detector 1 corresponding to the peeled shielding member 2 has stored the identification information, the user makes a check on the check sheet shown in FIG. 10 and gives an instruction to end the calibration. By repeating this, the user can assign identification information to each of the plurality of light detectors 1 one by one.

[0060] Note that the user may give an instruction to end the calibration each time identification information is assigned to one light detector 1 as described above, but may also give an instruction to end the calibration when identification information has been assigned to all the light detectors 1 belonging to the optical detection system 9. For example, when the user checks the notification device 6 and confirms that one light detector 1 has stored the identification information, the user may give a new instruction to start the calibration.

[0061] Also, in the checklist shown in FIG. 10, the column for the optical detector ID is a column for writing the identification information transmitted from the control device 3 in accordance with the vehicle bus standard. For example, when the notification device 6 notifies that "the optical detector 1 has stored the identification information" as described above and also displays the identification information stored by the optical detector 1 at the same time, the user may check the above-mentioned notification confirmation column and describe the identification information displayed by the notification device 6 in the column for the optical detector ID of the checklist.

[0062] As described above, in this optical detection system 9, in the initial state, the shielding members 2 are attached to each of the plurality of optical detectors 1 installed on one object. Then, at the timing when the control device 3 of the optical detection system 9 transmits the identification information for identifying one of the plurality of optical detectors 1, the user peels off any one of those shielding members 2, and the above-mentioned identification information is given to the optical detector 1 from which the shielding member 2 has been peeled off. As a result, the user can set the identification information corresponding to the installed position for each of the plurality of optical detectors 1 installed on one object.

[0063] That is, this optical detection system 9 is an example of an optical detection system that has shielding members that shield the optical paths detected by the optical detectors in the initial state, and the optical detectors store the identification information when they detect that the shielding members no longer shield the optical paths.

[0064] <Second Embodiment> FIG. 11 is a diagram showing an example of the optical detector 1a according to the second embodiment of the present invention. The optical detector 1a that constitutes the optical detection system 9 in the second embodiment is different from the optical detector 1 in the first embodiment in that the memory 12a has a reference image area 121 and the processor 11 stores a reference image in this reference image area 121 at the start of setting.

[0065] Also, in the second embodiment, the detection unit 15 measures the distance to the object that emitted the reflected light for each direction in which it scans the space and receives the reflected light. And this detection unit 15 is connected to the imaging device. This imaging device generates an image in which tone values corresponding to the measured distances are stored for each pixel corresponding to the light reception direction.

[0066] FIG. 12 is a diagram showing an example of the configuration of foreign objects 2a and 2b according to the second embodiment. The optical detection system 9 in the second embodiment is different from the first embodiment in that foreign objects 2a or 2b or the like are used instead of the shielding member 2. Also, the wall W shown in FIG. 12 is, for example, a wall of a room or the like on which the optical detector 1a is placed. The wall W is an example of an object detected by the detection unit 15 when there is nothing to be measured (i.e., the initial state).

[0067] The foreign objects 2a and 2b shown in FIG. 12 are objects that were not detected in the initial state where there is nothing to be measured. These foreign objects are used to show the optical detection system 9 that the user has any one of the optical detectors 1a as the calibration target during calibration. The foreign object 2a is, for example, the user's body itself, and the foreign object 2b is, for example, a tool such as a wrench or a jig held by the user.

[0068] The user operates the reception device 5 to give an instruction to start setting. This instruction is transmitted to all the optical detectors 1a constituting the optical detection system 9 via the control device 3. The optical detector 1a in the second embodiment takes a picture of the wall W when there is an instruction to start setting, and stores the taken image as a "reference image" in the reference image area 121 of the memory 12a. Then, this optical detector 1a takes a picture of the surroundings when there is an instruction for calibration, and compares the taken image with the reference image already stored in the reference image area 121.

[0069] FIG. 13 is an example of a reference image and an image taken during calibration. The optical detector 1a stores the image shown in FIG. 13(a) as a reference image in the memory 12a when there is an instruction to start setting. The wall W is reflected in this reference image.

[0070] Next, the user operates the reception device 5 to give an instruction for calibration. This instruction is transmitted to all the photodetectors 1a constituting the optical detection system 9 via the control device 3. When the photodetector 1a acquires the image shown in Fig. 13(b) upon receiving the calibration instruction, it compares this with the reference image.

[0071] In the image shown in Fig. 13(b), a foreign object 2a is reflected, and at least a part of the wall W shown in Fig. 13(a) is not visible. Therefore, as a result of comparing this image with the reference image, the processor 11 of the photodetector 1a determines that there is a difference equal to or greater than the threshold value between the two. When it is determined that there is a difference between the two, the photodetector 1a determines that calibration of itself is being performed, and determines the identification information assigned to itself.

[0072] Note that the threshold value used here as the criterion for judging the comparison result of the images is determined, for example, based on the sum of the differences in the gradation values of the pixels constituting the image, or statistical values such as the maximum value and the median value. Further, this threshold value may be determined based on the number of pixels whose absolute value of the difference in gradation values exceeds a predetermined numerical value.

[0073] Fig. 14 is a flowchart showing an example of the flow of the setting start operation of the photodetector 1a in the second embodiment. The processor 11 of the photodetector 1a determines whether the control device 3 has received an instruction to start setting from the reception device 5 by the user (step S111). If it is determined that the instruction to start setting has not been received (step S111; NO), the processor 11 advances the process to step S113.

[0074] On the other hand, if it is determined that the instruction to start setting has been received (step S111; YES), the processor 11 captures an image, stores this image in the reference image area 121 of the memory 12a as the reference image (step S112), and advances the process to step S113.

[0075] Next, the processor 11 determines whether the control device 3 has received an instruction from the reception device 5 to start calibration by the user (step S113). If it is determined that the instruction to start calibration has not been received (step S113; NO), the processor 11 returns the process to step S111.

[0076] On the other hand, if it is determined that the instruction to start calibration has been received (step S113; YES), the processor 11 executes calibration processing (step S210).

[0077] FIG. 15 is a flowchart showing an example of the operation flow of the calibration process of the photodetector 1a in the second embodiment, and the processor 11 executes a calibration process (step S210) consisting of the processes from step S211 to step S216. Among these processes, the processes from step S213 to step S216 are the same as the processes from step S203 to step S206 in the first embodiment shown in FIG. 9.

[0078] First, the processor 11 activates the irradiation unit 14 and the detection unit 15 to start distance measurement (step S211). This processor 11 generates an image based on the distance measured by the detection unit 15.

[0079] Next, the processor 11 compares the image generated in step S211 with the reference image already stored in the reference image area 121 of the memory 12a, and determines whether this image has a difference from the reference image equal to or greater than a threshold value (step S212). If it is determined that the generated image has no difference from the reference image equal to or greater than the threshold value (step S212; NO), the processor 11 determines whether the control device 3 has received an instruction from the reception device 5 to end calibration by the user (step S213). Since the process of step S213 is the same as the process of step S203 described above, the following description is omitted.

[0080] On the other hand, when it is determined that the generated image has a difference equal to or greater than the threshold value from the reference image (step S212; YES), the processor 11 stores the identification information received from the control device 3 in the memory 12 (step S214). Since the processing from step S214 to step S216 is common to the processing from step S204 to step S206 described above, the following description is omitted.

[0081] In the first embodiment, in the initial state, the shielding member 2 shields the optical path P, and when this shielding member 2 is removed, the optical detector 1 has escaped from the initial state. On the other hand, in the second embodiment, the optical detector 1a stores, as a reference image, an image captured when an instruction to start setting is given. Then, this optical detector 1a defines a state in which there is no difference equal to or greater than the threshold value between the image captured when an instruction to start calibration is given and the reference image as the initial state. Therefore, in the second embodiment, the optical detector 1a escapes from the initial state when an image different from the reference image stored in the memory 12a is captured.

[0082] That is, the optical detector 1a in the second embodiment is an example of an optical detector that stores the detection result when an instruction to start setting is received as the initial state, and stores the identification information when an object that was not detected in the initial state is detected based on the detection result after receiving this instruction.

[0083] And in the present invention, in any of the embodiments, the optical detector 1 and the optical detector 1a store the identification information received when escaping from the initial state as the identification information for identifying themselves. That is, in these optical detection systems 9, the optical detectors 1 and 1a store the identification information when escaping from the initial state of "the shielding member shields the optical path" or the initial state of "storing the detection result when an instruction to start is received".

[0084] That is, the optical detection system 9 shown in the first embodiment and the second embodiment includes a plurality of optical detectors installed at different positions and a control device that controls each of the optical detectors. The control device transmits identification information for identifying one of the plurality of optical detectors to all of the plurality of optical detectors. The optical detector stores the identification information when the detection result deviates from the initial state. This is an example of an optical detection system.

[0085] Also, the optical detection system 9 shown in the first embodiment and the second embodiment includes a plurality of optical detectors and a control device that controls each of the plurality of optical detectors. The control device transmits identification information for identifying a specific optical detector to at least one of the plurality of optical detectors. The optical detector that receives the identification information stores the identification information when the detection result satisfies a predetermined condition. This is an example of an optical detection system.

[0086] The configurations, shapes, sizes, and arrangement relationships described in the above embodiments are only schematically shown to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments and can be modified in various forms without departing from the scope of the technical idea shown in the claims.

[0087] <Modification Example> The above is the description of the embodiment, but the content of this embodiment can be modified as follows. Also, the following modification examples may be combined.

[0088] <1> In the above-described embodiment, the control device 3 functions as an ECU. However, the functions of this ECU may be realized by the processor 11, the memory 12, and the interface 13 in any one of the optical detectors 1. Also, the reception device 5 and the notification device 6 may function as an ECU. Further, the functions of the control device 3, the reception device 5, and the notification device 6 may be realized by one device.

[0089] For example, in addition to or instead of the reception device 5, each of the plurality of light detectors 1 may be provided with an operation unit that receives user input under the control of the processor 11. In this case, the optical detection system 9 may not have the reception device 5. Then, each operation unit provided in each light detector 1 may simply receive an instruction to start or end calibration from the user.

[0090] Also, for example, in addition to or instead of the notification device 6, each of the plurality of light detectors 1 may be provided with a light emitting element for notification that is driven under the control of the processor 11. In this case, the optical detection system 9 may not have the notification device 6.

[0091] <2> In the above-described embodiment, when the reception device 5 receives an instruction from the user to transmit identification information, the control device 3 transmits the identification information for identifying one of all the light detectors 1 belonging to the optical detection system 9 to all of them. However, this identification information may be transmitted at other timings. For example, the control device 3 may transmit this identification information when a predetermined timing arrives. This timing is, for example, a timing according to a schedule stored in the memory 32. That is, the control device 3 in this modification example is an example of a control device that transmits the identification information for identifying one of a plurality of light detectors to all of them at a predetermined timing.

[0092] <3> In the above-described embodiment, the control device 3 transmits the identification information for identifying one of all the light detectors 1 belonging to the optical detection system 9 to all of them. However, this identification information may be transmitted to at least one of these plurality of light detectors. Also, the identification information transmitted at this time may be any identification information for identifying a specific light detector. That is, the control device 3 in this modification example is an example of a control device that transmits the identification information for identifying a specific light detector to at least one of a plurality of light detectors.

[0093] <4> In the above-described embodiment, the processor 11 of the optical detector 1 determines whether the measured distance is equal to or greater than a threshold value. When it is determined that the measured distance is equal to or greater than the threshold value, the identification information received from the control device 3 is stored in the memory 12. However, the predetermined conditions for storing the received identification information in the memory 12 are not limited to this.

[0094] For example, when the processor 11 determines that the measured distance is less than the threshold value, the above-described identification information may be stored. The processor 11 may determine that a predetermined condition is satisfied (or not satisfied) when the shielding state of the optical path by the shielding member 2 changes beyond a determined degree, and determine whether to store the identification information.

[0095] In the embodiment, when the shielding member 2 is peeled off from a glass surface or the like by the user (that is, when it stops shielding), the optical detector 1 detects an object J located farther than the threshold value Lm. Then, based on this detection, the optical detector 1 stores the identification information transmitted from the control device. On the other hand, in this modification, when the shielding member 2 is attached to a glass surface or the like by the user (that is, when the change is made to shield), the optical detector 1 detects an object (that is, the shielding member 2) that is at or closer than the threshold value Lm. Then, when the optical detector 1 obtains this detection result, it may store the above-described identification information.

[0096] That is, the optical detector 1 shown in this modification is an example of an optical detector that stores the identification information received from the control device when the detection result satisfies a predetermined condition. Further, the above-described predetermined condition in this modification is that the shielding state of the optical path has changed due to the shielding member by the optical detector.

[0097] <5> In the above-described embodiment, the "detection result" of the optical detector 1 was the result of comparing the distance to the detected object with the threshold value Lm, but it may be other than this. This "detection result" may be, for example, the detected reflection intensity of the light, the possibility of receiving the reflected light, etc. That is, the optical detector 1 shown in this modification example is an example of an optical detector that stores the received identification information when a "detection result" including at least any one of the distance measurement value to the detected object, the reflection intensity of the detected reflected light, and the possibility of receiving the reflected light satisfies a predetermined condition.

[0098] <6> Furthermore, the "detection result" of the optical detector 1 may be any one of the number, size, shape, and position of the object to be detected, or a combination thereof. That is, the optical detector 1 shown in this modification example is an example of an optical detector that stores the received identification information when a "detection result" including at least any one of the number, size, shape, and position of the detected object satisfies a predetermined condition.

[0099] <7> In the above-described second embodiment, when an image different from the reference image stored in the memory 12a was captured, the optical detector 1a was considered to have exited the initial state and stored the above-described identification information. As described above, this includes the case where an object that was not detected in the initial state is detected, but is not limited to this case when an image different from the reference image is captured. This is because an image different from the reference image is also captured, for example, when the distance, position, reflection intensity, etc. of the same object as in the initial state change. That is, the optical detector 1 shown in this modification example is an example of an optical detector that stores the received identification information when a predetermined condition that the detection result after receiving the instruction to start setting is different from the initial state is satisfied.

[0100] <8> In the above-described embodiment, the light detector 1 stored the identification information received from the control device 3 when the detection result satisfied a predetermined condition. Instead of this, or in addition, the control device 3 may store this identification information. That is, the optical detection system 9 in this modification example includes a plurality of light detectors and a control device that controls each of these plurality of light detectors. After receiving a setting start instruction, the control device identifies and stores, as a specific light detector, the light detector that output a detection result satisfying a predetermined condition among the detection results of the plurality of light detectors. This is an example of an optical detection system.

[0101] <9> In the above-described embodiment, the light detector 1 included in the optical detection system 9 had an irradiation unit 14 that irradiated laser light and a detection unit 15 that detected the reflected light of the laser light. However, the configuration of the detection function of the light detector 1 is not limited to this. For example, the light detector 1 may be a camera device that includes an imaging device such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device) and images ambient light. In this case, the light detector 1 may determine whether the optical path is blocked by the shielding member 2 based on the focal length, gradation value, luminance, etc. of the captured image. Further, the light detector 1 may be a stereo camera that measures the distance to an object by analyzing the characteristic shapes of captured images captured by a plurality of optical systems and performing triangulation.

[0102] <10> In the above-described embodiment, CAN (registered trademark) was used as the internal communication network in the optical detection system 9, but other protocols may be adopted. For example, Ethernet (registered trademark) may be used as the internal communication network in the optical detection system 9.

[0103] <11> In the above-described embodiment, the photodetector 1, the control device 3, the receiving device 5, and the notification device 6 each used a CPU as a processor, but other processors may be used. The other processors may be programmable logic devices, for example, FPGA (Field Programmable Gate Array), ASIC (Application Specific Integrated Circuit), etc., or may include these.

Description of Reference Numerals

[0104] 1…Photodetector, 11…Processor, 12, 12a…Memory, 121…Reference Image Region, 13…Interface, 14…Irradiation Unit, 15…Detection Unit, 2…Shielding Member, 2a, 2b…Foreign Matter, 3…Control Device, 31…Processor, 32…Memory, 33…Interface, 4…Bus, 5…Receiving Device, 51…Processor, 52…Memory, 53…Interface, 54…Operation Unit, 55…Display Unit, 6…Notification Device, 61…Processor, 62…Memory, 63…Interface, 64…Operation Unit, 65…Display Unit, 7…Moving Body, 9…Photodetection System.

Claims

1. A light detection system comprising a plurality of light detectors and a control device for controlling each of the plurality of light detectors, wherein the control device transmits identification information for identifying a specific light detector toward at least one of the plurality of light detectors, and the light detector that receives the identification information stores the identification information when a detection result satisfies a predetermined condition. A light detection system.

2. The control device transmits the identification information toward all of the plurality of light detectors, and among the plurality of light detectors, the light detector whose detection result does not satisfy the predetermined condition waits without storing the identification information. The light detection system according to claim 1.

3. The light detection system according to claim 1, further comprising a shielding member that shields the optical paths of the light detected by the plurality of light detectors respectively, wherein the predetermined condition includes that the shielding state of the optical path of the light by the shielding member has changed as detected by the light detector. The light detection system according to claim 1.

4. The detection result used for determining the predetermined condition includes at least one of a distance measurement value, a reflection intensity, and the availability of receiving reflected light. The light detection system according to claim 1.

5. The detection result used for determining the predetermined condition includes at least one of the number, size, shape, and position of the objects detected by the light detector. The light detection system according to claim 1.

6. The light detector stores, as an initial state, the detection result when receiving an instruction to start setting, wherein the predetermined condition includes that the detection result of the light detector after receiving the instruction to start setting is different from the initial state. The light detection system according to claim 1.

7. The light detector stores, as an initial state, the detection result when receiving an instruction to start setting, wherein the predetermined condition includes that the light detector has detected an object that was not detected in the initial state after receiving the instruction to start setting. The light detection system according to claim 1.

8. The detection result stored as the initial state includes at least one of the number, size, shape, and position of the objects detected by the light detector when receiving the instruction to start setting. The light detection system according to claim 6.

9. The light detection system according to any one of claims 1 to 7, further comprising a reception device that receives an instruction from a user to cause the control device to transmit the identification information. The light detection system according to any one of claims 1 to 7.

10. The control device transmits the identification information at a predetermined timing. The optical detection system according to any one of claims 1 to 7.

11. The optical detector has a notification device that notifies the user that the identification information has been stored. The optical detection system according to any one of claims 1 to 7.

12. The optical detection system includes a plurality of optical detectors and a control device that controls each of the plurality of optical detectors. After receiving a setting start instruction, the control device identifies and stores, as a specific optical detector, the optical detector that has output a detection result satisfying a predetermined condition among the detection results of the plurality of optical detectors. Optical detection system.

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