Sensor device

Abstract

When both the ability to detect objects with a wide-angle lens and the ability to detect objects with a telephoto lens are required, a single sensor device can achieve both functions. [Solution] The control unit (300) sets the number of steps in the second direction (Y) that the spot illumination position follows when the length of the second direction (Y) of the overall field of view (F) is a predetermined first length to be greater than the number of steps in the second direction (Y) that the spot illumination position follows when the length of the second direction (Y) of the overall field of view (F) is a second length shorter than the first length. In addition, the control unit (300) sets the range that the spot illumination position follows when the size of the overall field of view (F) as viewed from the third direction (Z) is a first size to be wider than the range that the spot illumination position follows when the size of the overall field of view (F) as viewed from the third direction (Z) is a second size smaller than the first size.

Description

Technical Field

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

Background Art

[0002] In recent years, various sensor devices such as LiDAR (Light Detection And Ranginig) 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 of 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 pixel of each light receiving element has an imaging position of an image formed by the reflected light shifted by a distance of half the pixel pitch. By synthesizing the image data generated by each light detection unit, an object can be detected with higher resolution compared to the case of using a single light detection unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0006] One example of a problem that the present invention aims to solve is the ability to switch a sensor device between a mode in which an object is detected using a wide-angle lens and a mode in which an object is detected using a telephoto lens. [Means for solving the problem]

[0007] The invention described in claim 1 is, Scanning unit and, A light detection unit that detects the reflected light of the spot generated by the scanning unit, A control unit that causes the drive waveform of the scanning angle of the scanning unit to move the illumination position of the spot to differ according to the size of the overall field of view of the light detection unit, This is a sensor device equipped with [a specific feature / feature].

[0008] One aspect of the present invention is, The control device includes a control unit that varies the drive waveform of the scanning angle of the scanning unit for moving the illumination position of the spot, according to 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, Computers This control method involves varying the drive waveform of the scanning angle of the scanning unit to move the illumination position of the spot, according to 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.

[0010] One aspect of the present invention is, On the computer, This program provides a function to drive the scanning angle of the scanning unit to move the illumination position of the spot, according to 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, This is a storage medium on which the above program is stored. [Brief explanation of the drawing]

[0012] [Figure 1] This is a perspective view showing a sensor device according to an embodiment. [Figure 2] This figure illustrates a first example of control by the control unit when the overall field of view, as viewed from a third direction, is a predetermined first size. [Figure 3] This figure illustrates a first example of control by the control unit when the overall field of view, as viewed from a third direction, is a predetermined first size. [Figure 4] This figure illustrates 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, which is smaller than the first size of the overall field of view when viewed from a third direction in the example shown in Figure 2. [Figure 5] This figure illustrates 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, which is smaller than the first size of the overall field of view when viewed from a third direction in the example shown in Figure 2. [Figure 6] This figure illustrates a second example of control by the control unit when the overall field of view, as viewed from a third direction, is a predetermined first size. [Figure 7] This figure illustrates a second example of control by the control unit when the size of the overall field of view when viewed from a third direction is smaller than the first size of the overall field of view when viewed from a third direction in the example shown in Figure 6. [Figure 8] This figure illustrates a second example of control by the control unit when the size of the overall field of view when viewed from a third direction is smaller than the first size of the overall field of view when viewed from a third direction in the example shown in Figure 6. [Figure 9] This diagram illustrates the hardware configuration of the control unit. [Modes for carrying out the invention]

[0013] Hereinafter, embodiments 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. are given for the purpose of simply distinguishing configurations with the same name, unless otherwise specified, and do not mean specific features of the configuration (e.g., order or importance).

[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 to the tip of the arrow is the positive direction of the direction indicated by the arrow, and the direction from the tip to the base end of the arrow is the negative direction of the direction indicated by the arrow.

[0017] The first direction X is a direction parallel to the horizontal direction orthogonal to the vertical direction. When viewed from the negative direction of the third direction Z, the positive direction of the first direction X is the direction from right to left in the horizontal direction, and the negative direction of the first direction X is the 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 the direction from bottom to top in the vertical direction, and the negative direction of the second direction Y is the direction from top to bottom in the vertical direction. The third direction Z is a direction parallel to the horizontal direction and orthogonal 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 the direction from left to right in the horizontal direction, and the negative direction of the third direction Z is the 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 comprises a transmitting system 100, a receiving system 200, and a control unit 300. In this embodiment, the sensor device 10 is a biaxial LiDAR in which the optical axis of the light transmitted from the transmitting system 100 toward the overall field of view F (described later) and the optical axis of the light reflected from the overall field of view F and received by the receiving system 200 are offset from each other. The transmitting system 100 has a light source unit 110, a scanning unit 120, and a transmitting system lens 130. The receiving system 200 has a light detection unit 210 and a receiving system lens 220. The control unit 300 controls the transmitting system 100 and the receiving system 200.

[0019] The light source unit 110 is, for example, a pulsed laser. The wavelength of the light emitted from the light source unit 110 is, for example, infrared light. The light source unit 110 emits light repeatedly over time. The timing of light emission from the light source unit 110 is controlled by the control unit 300. As shown by the dashed line in Figure 1 extending from the light source unit 110 through the scanning unit 120 toward the overall field of view F (described later), the light emitted from the light source unit 110 passes through the transmitting lens 130 and is reflected toward the overall field of view F by the scanning unit 120.

[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 on which the overall field of view F is projected, thereby generating a spot S which is the light projected onto the virtual plane. The scanning unit 120 moves the position where 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 transmitting lens 130 is a zoom lens having a plurality of lenses aligned along the optical axis of the light emitted from the light source unit 110. The control unit 300 controls the size of the spot S projected onto a virtual plane perpendicular to the third direction Z by controlling the distance between the plurality of lenses. Specifically, the size of the spot S increases as the combined focal length decreases by changing the distance between the plurality of lenses. Conversely, the size of the spot S decreases as the combined focal length increases by changing the distance between the plurality of lenses. The transmitting lens 130 may be a lens different from the zoom lens.

[0022] In this embodiment, the light detection unit 210 is a two-dimensional array sensor. The light detection unit 210 detects the reflected light from the 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 Figure 1, the entire field of view F, in which the plurality of pixels P are detected by the receiving lens 220, is projected onto a virtual plane perpendicular to the third direction Z.

[0023] Within the overall field of view F, multiple 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 multiple 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 overall field of view F is inverted in the first direction X and the second direction Y by the receiving lens 220 relative to the position of each pixel P relative to the center of the light detection unit 210. In the example shown in Figure 1, the pixels P detecting the reflected light of the spot S illuminating the overall field of view F are shown as blacked out.

[0024] In this embodiment, the receiving lens 220 is a zoom lens having multiple lenses arranged from the light detection unit 210 toward the overall field of view F. The control unit 300 controls the size of the overall field of view F projected onto a virtual plane perpendicular to the third direction Z, and the size of multiple 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, by controlling the distance between the multiple lenses. Specifically, as the combined focal length decreases by changing the distance between the multiple lenses, the size of the overall field of view F and the multiple fields of view f increases. Conversely, as the combined focal length increases by changing the distance between the multiple lenses, the size of the overall field of view F and the multiple fields of view f decreases. The receiving lens 220 may be a different lens from the zoom lens.

[0025] Figures 2 and 3 illustrate a first example of control by the control unit 300 when the size of the overall field of view F, as viewed from a third direction Z, is a predetermined first size.

[0026] First, let's explain Figure 2.

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

[0028] In Figure 2, when viewed from the negative direction of the third direction Z, multiple roughly square fields of view f are arranged in a matrix in the first direction X and the second direction Y.

[0029] In the example shown in Figure 2, the light emitted from the light source 110 forms a linear beam that is longer in the second direction Y than in the first direction X. The length of spot S in the first direction X is substantially equal to the length of field of view f in the first direction X. The length of spot S in the second direction Y is substantially four times the length of field of view f in the second direction Y. In Figure 2, the arrows passing through multiple fields of view f indicate that the irradiation position of spot S is moving from the base to the tip of the arrow. Hereafter, the irradiation position of spot S will be referred to as the spot irradiation position as needed. Figure 2 shows four spots S irradiated at different timings.

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

[0031] Next, we will explain Figure 3.

[0032] The upper timing chart in Figure 3 shows the timing chart for the pulse trigger of the light source unit 110. The number of triggers depicted in the upper timing chart of Figure 3 is a schematic representation and does not indicate the number of spots S illuminating the multiple fields f shown in Figure 2.

[0033] The timing chart in the lower part of Figure 3 shows the drive waveform of the scanning angle AY of the scanning unit 120. The scanning angle AY is the scanning angle of the scanning unit 120 to move the position where the spot S is irradiated in the second direction Y. In the timing chart in the lower part of Figure 3, as the scanning angle AY increases, the position where the spot S is irradiated moves in the negative direction of the second direction Y, and as the scanning angle AY decreases, the position where the spot S is irradiated moves in the positive direction of the second direction Y.

[0034] Next, the control by the control unit 300 will be described with reference to Figures 2 and 3.

[0035] During the time interval from the start to the end of one frame, the control unit 300 alternately repeats the movement of the spot illumination position from the positive to the negative direction in the first direction X, and the movement of the spot illumination position from the negative to the positive direction in the first direction X. Hereafter, as necessary, the movement of the spot illumination position from the positive to the negative direction in the first direction X will be referred to as the negative movement of the spot illumination position in the first direction X, and the movement of the spot illumination position from the negative to the positive direction in the first direction X will be referred to as the positive movement of the spot illumination position in the first direction X. During the time interval between the time interval of the negative movement of the spot illumination position in the first direction X and the time interval of the positive movement of the spot illumination position in the first direction X, the control unit 300 increases the scanning angle AY to move the spot illumination position from the positive 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 negative movement of the spot illumination position in the first direction X is performed twice, and the positive movement of the spot illumination position in the first direction X is performed twice. The control unit 300 controls the timing of light emission from the light source unit 110 during the time intervals in which the spot irradiation position moves in the negative direction X of the first direction X and during the time intervals in which the spot irradiation position moves in the positive direction X of the first direction X, thereby substantially matching the irradiation pitch of the spot S in the first direction X to the array pitch of the multiple fields of view f in the first direction X. As a result, the spot S illuminates each field of view f that the spot irradiation position passes through during the time intervals in which the spot irradiation position moves in the negative direction X of the first direction X and during the time intervals in which the spot irradiation position moves in the positive direction X of the first direction X.

[0036] In the time interval from the start to the end of one frame, the control unit 300 substantially matches the range traversed by the spot illumination position when viewed from the third direction Z with the overall field of view F when viewed from the third direction Z. Specifically, the control unit 300 substantially equals the length of the first direction X of the range traversed by the spot illumination position when viewed from the third direction Z with the length of the first direction X of the overall field of view F when viewed from the third direction Z. The control unit 300 substantially equals the length of the second direction Y of the range traversed by the spot illumination position when viewed from the third direction Z with the length of the second direction Y of the overall field of view F when viewed from the third direction Z.

[0037] The control unit 300 returns the scanning angle AY to its initial value and ends the control for one frame. The control unit 300 repeats the above control for each subsequent frame.

[0038] The control of the control unit 300 is not limited to the examples shown in Figures 2 and 3.

[0039] For example, the irradiation pitch of the spot S in the first direction X during the time interval of negative movement of the spot irradiation position in the first direction X and the time interval of positive movement of the spot irradiation position in the first direction X does not have to match the array pitch in the first direction X of the multiple fields of view f. For example, if the speed of negative movement of the spot irradiation position in the first direction X, or the speed of positive movement of the spot irradiation position in the first direction X, is relatively fast, and the time interval of the light emission timing from the light source 110 cannot be shortened too 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 array pitch in the first direction X of the multiple fields of view f. In this case, in a certain time interval, multiple spots S may be irradiated in the first direction X at a pitch larger than the array pitch in the first direction X of the multiple fields of view f, and in other time intervals after that time interval, spots S may be irradiated at positions located between the positions in the first direction X where the spots S were irradiated in the previous time interval.

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

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

[0042] Figures 4 and 5 illustrate a first example of control by the control unit 300 when the size of the overall field of view F when viewed from the third direction Z is a second size, which is smaller than the first size of the overall field of view F when viewed from the third direction Z in the example shown in Figure 2. The first example explained using Figures 4 and 5 is the same as the example explained using Figures 2 and 3, except for the following points.

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

[0044] In the example shown in Figure 4, the size of spot S as viewed from the third direction Z is substantially equal to the size of spot S as viewed from the third direction Z in the example shown in Figure 2. In the example shown in Figure 4, the length of 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 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] During the time interval from the start to the end of one frame, the control unit 300 sequentially moves the spot illumination position in the negative direction of the first direction X and then in the positive direction of the first direction X. During the time interval between the time interval of negative movement of the spot illumination position in the first direction X and the time interval of positive movement of the spot illumination position in the first direction X, the control unit 300 increases the scanning angle AY to move the spot illumination position from the positive direction to the negative direction of the second direction Y by a distance substantially equal to the length of the spot S in the second direction Y. By controlling the timing of light emission from the light source unit 110 during the time interval of negative movement of the spot illumination position in the first direction X and the time interval of positive movement of the spot illumination position in the first direction X, the control unit 300 substantially matches the illumination pitch of the spot S in the first direction X to the array pitch of the multiple fields of view f in the first direction X. As a result, spot S illuminates each field of view f that the spot illumination position passes through during the time interval of negative movement of the spot illumination position in the first direction X and the time interval of positive movement of the spot illumination position in the first direction X.

[0046] In the time interval from the start to the end of one frame, the control unit 300 substantially matches the range traversed by the spot illumination position when viewed from the third direction Z with the overall field of view F when viewed from the third direction Z. Specifically, the control unit 300 substantially equals the length of the first direction X of the range traversed by the spot illumination position when viewed from the third direction Z with the length of the first direction X of the overall field of view F when viewed from the third direction Z. The control unit 300 substantially equals the length of the second direction Y of the range traversed by the spot illumination position when viewed from the third direction Z with the length of the second direction Y of the overall field of view F when viewed from the third direction Z.

[0047] The control of the control unit 300 is not limited to the examples shown in Figures 4 and 5. For example, if the length of the spot S in the second direction Y is relatively long, the spot S may be able to illuminate the entire field of view f by moving the spot illumination position in the negative direction of the first direction X or in the positive direction of the first direction X only once. In this case, the negative direction movement of the spot illumination position in the first direction X or the positive direction movement of the spot illumination position in the first direction X may be performed only once per frame.

[0048] Next, we will compare the examples shown in Figures 2 and 3 with the examples shown in Figures 4 and 5.

[0049] The control unit 300 varies the drive waveform of the scanning angle for moving the spot illumination position according to the size of the overall field of view F when viewed from the third direction Z. Specifically, as shown in Figure 2, the control unit 300 sets the number of steps in the second direction Y that the spot illumination position follows when the length of the second direction Y of the overall field of view F is a predetermined first length to be greater than the number of steps in the second direction Y that the spot illumination position follows when the length of the second direction Y of the overall field of view F is a second length shorter than the first length, as shown in Figure 4. Furthermore, as shown in Figure 2, the control unit 300 sets the range that the spot illumination position follows when the size of the overall field of view F when viewed from the third direction Z is a first size to be greater than the range that the spot illumination position follows when the size of the overall field of view F when viewed from the third direction Z is a second size smaller than the first size, as shown in Figure 4.

[0050] In the modes 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 modes shown in Figures 4 and 5. In the modes 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 modes shown in Figures 2 and 3. Therefore, in accordance with the control of the control unit 300, the sensor device 10 can be switched between a mode in which objects are detected with a wide-angle lens, as shown in Figures 2 and 3, and a mode in which objects are detected with a telephoto lens, as shown in Figures 4 and 5.

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

[0052] Figure 6 is a diagram illustrating a second example of control by the control unit 300 when the size of the overall field of view F when viewed from a third direction Z is a predetermined first size. The second example explained using Figure 6 is the same as the first example explained using Figures 2 and 3, except for the following points. In the second example explained using Figure 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 Figure 3, and the drive waveform of the scanning angle AY of the scanning unit 120 is the same as the timing chart in the lower part of Figure 3.

[0053] In the example shown in Figure 6, the light emitted from the light source 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 parts aligned in the second direction Y. In the example shown in Figure 6, the arrangement pitch of these four parts in the second direction Y is substantially equal to the arrangement pitch of multiple fields of view f in the second direction Y.

[0054] The control unit 300 moves the spot irradiation position in the same manner as the spot irradiation position movement described using Figures 2 and 3.

[0055] Figures 7 and 8 illustrate a second example of control by the control unit 300 when the size of the overall field of view F when viewed from the third direction Z is a second size, which is smaller than the first size of the overall field of view F when viewed from the third direction Z in the example shown in Figure 6. The second example explained using Figures 7 and 8 is the same as the first example explained using Figures 4 and 5, except for the following points.

[0056] In the example shown in Figure 7, the length of spot S in the second direction Y is substantially seven times the length of field f in the second direction Y. The array pitch in the second direction Y of the four parts of spot S aligned in the second direction Y is substantially twice the array pitch in the second direction Y of the multiple fields f.

[0057] During the time interval from the beginning to the end of the first half of one frame, the control unit 300 alternately repeats negative movement of the spot illumination position in the first direction X and positive movement of the spot illumination position in the first direction X. After the negative movement of the spot illumination position in the first direction X is completed, and before the start of positive movement of the spot illumination position in the first direction X is completed, the control unit 300 increases the scanning angle AY to move the spot illumination position from the positive to the negative direction of the second direction Y by a distance substantially equal to the array pitch in the second direction Y of the multiple parts of the spot S aligned in the second direction Y. After the positive movement of the spot illumination position in the first direction X is completed, and before the start of negative movement of the spot illumination position in the first direction X is completed, the control unit 300 increases the scanning angle AY to move the spot illumination position from the positive to the negative direction of the second direction Y by a distance substantially equal to the length of the spot S in the second direction Y. The spot illumination position moves in the negative direction X twice, and moves in the positive direction X twice. The control unit 300 controls the timing of light emission from the light source unit 110 during the time intervals of the spot illumination position's negative movement in the first direction X and the time intervals of the spot illumination position's positive movement in the first direction X, thereby substantially matching the illumination pitch of the spot S in the first direction X to the array pitch of the multiple fields of view f in the first direction X. As a result, the spot S illuminates each field of view f that the spot illumination position passes through during the time intervals of the spot illumination position's negative movement in the first direction X and the time intervals of the spot illumination position's positive movement in the first direction X.

[0058] In the examples shown in Figures 7 and 8, the control unit 300 irradiates the four parts of spot S to the spot irradiation position during the time interval of negative movement of the spot irradiation position in the first direction X. During the time interval of positive movement of the spot irradiation position in the first direction X, the control unit 300 irradiates at least one of the four parts to a position located between the position irradiated by the four parts in the second direction Y during the time interval of negative movement of the spot irradiation position in the first direction X. The control of the control unit 300 is not limited to the examples shown in Figures 7 and 8. For example, the number of parts of spot S aligned in the second direction Y may be other than four.

[0059] Figure 9 illustrates the 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 SoC (System-on-a-Chip).

[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, memory 406, storage device 408, input / output interface 410, and network interface 412 to send and receive data to and from each other. However, the method of connecting the processor 404, memory 406, storage device 408, input / output interface 410, and network interface 412 to each other is not limited to bus connection. The processor 404 is an arithmetic processing unit implemented using a microprocessor or the like. The memory 406 is a memory implemented using RAM (Random Access Memory) or the like. The storage device 408 is a storage device implemented using ROM (Read Only Memory) or flash memory or the like.

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

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

[0063] The storage device 408 stores program modules for realizing the functions of the control unit 300. The processor 404 reads these program modules into memory 406 and executes them to realize the functions of the control unit 300.

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

[0065] The embodiments of the present invention have been described above with reference to the drawings, but these are merely examples of the present invention, and various other configurations 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 Unit 400 Integrated Circuits Bus 402 404 Processor 406 memory 408 storage devices 410 Input / Output Interfaces 412 Network Interfaces AY scan angle F Overall field of view P pixels S Spot X 1st direction Y Second direction Z 3rd direction f field of view

Claims

[Claim 1] Scanning unit and, A light detection unit that detects the reflected light of the spot generated by the scanning unit, A control unit that causes the drive waveform of the scanning angle of the scanning unit to move the irradiation position of the spot to differ according to the size of the overall field of view of the light detection unit, A sensor device equipped with the following features.

Images