Measuring device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- PIONEER IP
- Filing Date
- 2025-05-22
- Publication Date
- 2026-07-31
Smart Images
Figure 0007898574000001 
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Abstract
Description
Technical Field
[0001] The present invention relates to a measuring device.
Background Art
[0002] In recent years, electromagnetic wave sensors are provided on moving objects such as vehicles, and the moving object may be controlled using the detection results of these sensors. In sensors for such applications, the emitted electromagnetic waves are moved using devices such as MEMS (Micro Electro Mechanical Systems).
[0003] An example of a device for moving electromagnetic waves is described in Patent Document [i]. The device described in Patent Document [i] has a movable mirror. This mirror vibrates due to the electrostatic force generated on the electrode. This electrostatic force is controlled by the voltage applied to the electrode.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] The movement range of the electromagnetic waves of the sensor may shift due to various factors even after being mounted on the moving object. Therefore, even after the measuring device having the sensor is mounted on the moving object, it is necessary to be able to correct the movement range of the electromagnetic waves.
[0006] As an example of the problems to be solved by the present invention, it is possible to correct the movement range of the electromagnetic waves after the measuring device that emits the electromagnetic waves is mounted on the moving object.
Means for Solving the Problems
[0007] The invention described in claim 1 is an irradiator that irradiates electromagnetic waves, The movable reflecting part that reflects the electromagnetic waves, A control unit that moves the electromagnetic wave along a first direction by controlling the irradiator and the movable reflector, A sensor capable of receiving the aforementioned electromagnetic waves, Equipped with, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. The control unit, This measuring device sets the movement range of the movable reflector using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated onto a first position located in front of the sensor in the first direction, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated onto a second position located behind the sensor in the first direction.
[0008] An example of the present invention is a control method used by a measuring device comprising: an irradiator that emits electromagnetic waves; a movable reflector that reflects the electromagnetic waves; a control unit that controls the irradiator and the movable reflector to move the electromagnetic waves along a first direction; and a sensor capable of receiving the electromagnetic waves. The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. The control method includes a setting step of setting the movement range of the movable reflector using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated onto a first position located in front of the sensor in the first direction, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated onto a second position located behind the sensor in the first direction.
[0009] One example of the present invention is a program for causing a computer to function as a control unit for controlling a measuring device, The measuring device is, An irradiator that emits electromagnetic waves, The movable reflecting part that reflects the electromagnetic waves, A sensor capable of receiving the aforementioned electromagnetic waves, Equipped with, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. To the aforementioned computer, The irradiator and the movable reflector are controlled to move the electromagnetic wave along the first direction, A function to set the movement range of the movable reflector using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a first position located in front of the sensor in the first direction, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a second position located behind the sensor in the first direction. This is a program that gives it a function.
[0010] One example of the present invention is a storage medium that stores the above-mentioned program. [Brief explanation of the drawing]
[0011] The aforementioned objectives, as well as other objectives, features, and advantages, will become even clearer from the preferred embodiments described below and the accompanying drawings.
[0012] [Figure 1] This is a diagram showing the configuration of the measuring device 1 according to an embodiment. [Figure 2] This diagram illustrates the range of light illumination possible by the movable reflector and the position of the sensor. [Figure 3] Figure 3(A) shows the relative position of the light from the illuminator and the sensor on a plane containing the sensor. Figure 3(B) shows an example of the output from the sensor. [Figure 4] This is a diagram illustrating a specific example of amplitude correction. [Figure 5] (A) and (B) are diagrams illustrating specific examples of amplitude correction. [Figure 6] This figure shows a modified example of how the control unit 30 processes the sensor output. [Figure 7]It is a diagram showing a modification example of the first position Sa and the second position Sb. [Figure 8] (A) and (B) are diagrams for explaining a method of determining the timing when the irradiation direction of the movable reflection part becomes the first position Sa and the timing when it becomes the second position Sb. [Figure 9] It is a flowchart showing a first example of a method of resetting the first position Sa and the second position Sb. [Figure 10] It is a flowchart showing a second example of a method of resetting the first position Sa and the second position Sb. [Figure 11] It is a diagram for schematically explaining the method shown in FIG. 10.
Mode 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 will be omitted as appropriate.
[0014] (Embodiment) Figure 1 shows the configuration of a measuring device 1 according to an embodiment. The measuring device 1 comprises an irradiator 10, a movable reflector 20, a control unit 30, and a sensor 40. The irradiator 10 emits electromagnetic waves, such as light. The electromagnetic waves emitted by the irradiator 10 are incident on the movable reflector 20 and reflected. The movable reflector 20 changes the direction of propagation of the electromagnetic waves emitted by the irradiator 10, for example, by oscillating. The control unit 30 controls the irradiator 10 and the movable reflector 20. The sensor 40 is capable of receiving electromagnetic waves. The sensor 40 is positioned, for example, behind the movable reflector 20 in the direction of propagation of the electromagnetic waves. The sensor 40 is also positioned where the electromagnetic waves pass when the irradiation direction of the electromagnetic waves moves in a first direction. The control unit 30 then performs the following processing when setting the movement range of the movable reflector 20 (setting step). First, the sensor 40's detected value (hereinafter referred to as the first detected value) is recognized when light is shone on a first position Sa located in front of the sensor 40 in the first direction. Next, the sensor 40's detected value (hereinafter referred to as the second detected value) is recognized when light is shone on a second position Sb located behind the sensor 40 in the first direction. Then, the movement range of the movable reflector 20 is set using the first detected value and the second detected value. The measuring device 1 will be described in detail below. In the following description, electromagnetic waves are assumed to be light.
[0015] The measuring device 1 is mounted on a moving object, such as a vehicle. In this case, the measuring device 1 is, for example, a LiDAR (Light Detection and Ranging) and detects the relative positions of objects located around the moving object with respect to the moving object itself. In this case, the measuring device 1 also includes a light receiver.
[0016] The irradiator 10 is a semiconductor laser, such as a laser diode, and emits light when electrical energy is input to it. The control unit 30 controls the timing and intensity of light emission of the irradiator 10 by controlling the power input to the irradiator 10.
[0017] The movable reflective section 20 is equipped with at least one movable mirror and can change the direction of light emitted by the irradiator 10 in two dimensions. The movable reflective section 20 can, for example, periodically move the direction of light irradiation in the first direction described above, and at the same time periodically move it in a second direction different from the first direction. If the movable reflective section 20 has one movable mirror, the tilt of this movable mirror can be changed around each of two mutually orthogonal axes. If the movable reflective section 20 has two movable mirrors, the axes of the two movable mirrors are mutually orthogonal.
[0018] The tilt of the movable mirror of the movable reflector 20 can be controlled, for example, by a voltage input to the movable reflector 20. This voltage is controlled by the control unit 30. Specifically, the voltage input to the movable reflector 20 changes periodically. This voltage is, for example, a sine wave. In this case, the direction of light reflection by the movable reflector 20 changes periodically, for example, sinusoidally.
[0019] The control unit 30 is implemented using, for example, an integrated circuit. This integrated circuit includes, for example, a bus, a processor, memory, a storage device, an input / output interface, and a network interface. The bus is a data transmission path for the processor, memory, storage device, input / output interface, and network interface to send and receive data to and from each other. However, the method of connecting the processors and other components to each other is not limited to bus connection. The processor is an arithmetic processing unit implemented using a microprocessor or the like. The memory is a memory implemented using RAM (Random Access Memory) or the like. The storage device is a storage device implemented using ROM (Read Only Memory) or flash memory or the like.
[0020] The input / output interface is an interface for connecting the integrated circuit to peripheral devices. Peripheral devices include, for example, the irradiator 10 and the movable reflector 20.
[0021] A network interface is an interface for connecting an integrated circuit to a communication network. This communication network is, for example, a CAN (Controller Area Network) network. The method by which the network interface connects to the communication network may be wireless or wired.
[0022] The storage device stores program modules for realizing the functions of the control unit 30. The processor realizes the functions of the control unit 30 by reading these program modules into memory and executing them. Note that the program modules may also be stored in memory. In this case, the integrated circuit does not need to have a storage device.
[0023] Sensor 40 has a photoelectric conversion element and detects the intensity of light incident on it. The signal from sensor 40 is input to control unit 30. The control unit 30 uses the detected value from sensor 40 to set the movement range of the movable mirror of the movable reflector 20. Specifically, the control unit 30 uses the detected value from sensor 40 to set the signal to be input to the movable reflector 20. If the irradiator 10 emits electromagnetic waves other than light, sensor 40 has an element that detects electromagnetic waves of that wavelength.
[0024] Figure 2 is a diagram illustrating the range of light irradiation by the movable reflector 20 and the position of the sensor 40, and corresponds to cross-section AA in Figure 1. As described above, the movable reflector 20 moves the light from the irradiator 10. If the range in which light can be irradiated by the movable reflector 20 is defined as the movable range α1, then the range used for measurement by the measuring device 1 is a part of the movable range α1 (hereinafter referred to as the measurement range α2). Specifically, the control unit 30 makes the irradiator 10 emit light when the movable reflector 20 reflects light toward the measurement range α2, and does not make the irradiator 10 emit light when the movable reflector 20 reflects light toward outside the measurement range α2. Therefore, even if the sensor 40 is provided, it does not affect the measurement by the measuring device 1.
[0025] Furthermore, in the example shown in Figure 2, the control unit 30 periodically moves the light in a first direction (H direction) and simultaneously in a second direction (V direction) perpendicular to the first direction. The first direction corresponds to the first rotation axis of the movable reflector 20, and the second direction corresponds to the second rotation axis of the movable reflector 20. The movement period in the first direction is shorter than the movement period in the second direction. For example, the control unit 30 uses a sine wave as the control signal to control the movement in the first direction (H direction) among the signals input to the movable reflector 20, and uses a signal with a longer period than the aforementioned sine wave (for example, a sawtooth wave) as the control signal to control the movement in the second direction (V direction). Therefore, as shown in Figure 2, the light moves periodically in the H direction (lateral direction) in Figure 2, while gradually moving in the V direction (lateral direction). As a result, the movable range α1 becomes approximately rectangular.
[0026] Furthermore, in the example shown in Figure 2, the sensor 40 is a line sensor. The direction in which the sensor 40 extends, i.e., the longitudinal direction of the sensor 40, is the second direction. The length of the sensor 40 is shorter than the side in the second direction of the measurement range α2 in the plane containing the sensor 40. However, the length of the sensor 40 is not limited to this.
[0027] Multiple sensors 40 may be provided. In the example shown in this figure, the sensors 40 are provided along each of the two sides extending in the second direction of the measurement range α2 shown in Figure 2. If the sensors 40 are shorter than the sides of the measurement range α2, it is preferable that the two sensors 40 be provided at diagonal positions.
[0028] Figure 3 is a diagram illustrating how the control unit 30 sets the movement range of the movable reflector 20. More specifically, Figure 3(A) shows the relative position of the light from the irradiator 10 and the sensor 40 in a plane including the sensor 40, and Figure 3(B) shows an example of the output from the sensor 40. In Figure 3(B), the horizontal axis shows the inclination of the movable mirror of the movable reflector 20.
[0029] The control unit 30 causes the irradiator 10 to emit light intermittently at regular intervals. As a result, as shown in Figure 3(A), the position S of the center of the light emitted from the irradiator 10 gradually moves in the first direction (direction H). Note that the regular interval here may be a time interval or a spatial interval (distance).
[0030] The light from the irradiator 10 spreads out to some extent as it passes through the plane containing the sensor 40. Therefore, the output of the sensor 40 is of a certain magnitude even when position S does not overlap with the sensor 40. In detail, as shown in Figure 3(B), the output of the sensor 40 is greatest when position S overlaps with the sensor 40, and the output of the sensor 40 decreases sharply as position S moves away from the sensor 40.
[0031] Here, the amplitude of the movable reflector 20 may change due to various factors, even if the drive signal is not changed. For this reason, it is necessary to be able to correct the amplitude of the movable reflector 20 even after the measuring device 1 has been mounted on the moving body.
[0032] In this embodiment, the amplitude of the movable reflector 20 is corrected using the detected value of the sensor 40 when light is shone on a first position Sa located in front of the sensor 40 in the first direction, i.e., the first detected value, and the detected value of the sensor 40 when light is shone on a second position Sb located behind the sensor 40 in the first direction, i.e., the second detected value. For example, the light emission timing of the irradiator 10 is predetermined with reference to the movable reflector 20 being in a reference position, for example, when the tilt angle is 0°. Specifically, the light emission timing of the irradiator 10 is predetermined for the timing when it should be in the first position Sa and the timing when it should be in the second position Sb. This timing is predetermined, for example, before mounting the measuring device 1 on the mobile body and is stored in advance in the storage medium of the control unit 30. The amplitude of the movable reflector 20 is then corrected so that the detected values of the sensor 40 (first detected value and second detected value) at each timing satisfy the reference.
[0033] The criteria here could be, for example, that the magnitude of the first detected value is within the reference range and the magnitude of the second detected value is also within the reference range, or that the difference between the first detected value and the second detected value is within the reference range (for example, less than or equal to the reference value). In the former case, the reference range for the first detected value may be the same as or different from the reference range for the second detected value.
[0034] A specific example of this amplitude correction will be explained using Figures 4 and 5. In these figures, the left side is the center of the movable range α1, and the right side is the edge of the movable range α1. As shown in Figure 4, the positions of the first position Sa and the second position Sb are determined so that they are symmetrical with respect to the sensor 40 when the amplitude of the movable reflector 20 is in a normal state. When the amplitude of the movable reflector 20 is in a normal state, the first detected value and the second detected value are the same.
[0035] Now, consider the case where the amplitude of the movable reflector 20 becomes larger than the set value, as shown in Figure 5(A). Generally, even if the amplitude of the movable reflector 20 changes, the time required for one cycle of the movable reflector 20 remains constant. Therefore, when the amplitude of the movable reflector 20 increases, both the first position Sa and the second position Sb move outward (to the right in Figure 5). As a result, the first detected value becomes larger than the reference value, and the second detected value becomes smaller than the reference value. Also, the value obtained by subtracting the second detected value from the first detected value becomes a positive value and is larger than the reference value. When the first and second detected values are in this state, the control unit 30 reduces the movement range of the movable reflector 20, for example, the amplitude.
[0036] Next, consider the case where the amplitude of the movable reflector 20 becomes larger than the set value, as shown in Figure 5(B). In this case, both the first position Sa and the second position Sb move inward (to the left in Figure 6). As a result, the first detected value becomes smaller than the reference value, and the second detected value becomes larger than the reference value. Also, the value obtained by subtracting the second detected value from the first detected value becomes negative and is larger than the reference value. When the first and second detected values are in this state, the control unit 30 increases the movement range of the movable reflector 20, for example, the amplitude.
[0037] Figure 6 shows a modified example of the processing of the sensor 40 output by the control unit 30. In the example shown in this figure, measurements are taken at the first position Sa and the second position Sb in each of the multiple periods. In this way, multiple first measurement values and multiple second measurement values are obtained. The control unit 30 integrates these multiple first measurement values and also integrates the multiple second measurement values. Then, it controls the movement range of the movable reflector 20, for example, the amplitude, so that the difference between these integrated values satisfies the above-mentioned criteria. In this way, the measurement error of the sensor 40 is reduced by integration, so the amplitude of the movable reflector 20 can be corrected with high accuracy. Note that the integration of the first measurement values and the integration of the second measurement values may be performed by a circuit other than the control unit 30.
[0038] Figure 7 shows modified examples of the first position Sa and the second position Sb. As described above, the control unit 30 periodically moves the light in the first direction (H direction) and at the same time periodically moves it in the second direction (V direction) which is perpendicular to the first direction. For this reason, it is preferable that the amplitude correction of the movable reflector 20 is performed in both the first and second directions.
[0039] In the first example, when correcting the amplitude in the first direction (H direction) in Figure 7, S2 is used as the first position Sa and S4 is used as the second position Sb. In this case, in the width direction of the sensor 40, i.e., the first direction, the first position Sa, the center of the sensor 40, and the second position Sb are arranged in this order. In this case, the control unit 30 corrects the amplitude of the movable reflector 20 in the H direction so that the difference between the first detected value and the second detected value is less than or equal to the reference value.
[0040] Furthermore, when correcting the amplitude in the second direction (V direction) in Figure 7, S1 is used as the first position Sa and S3 is used as the second position Sb. In other words, the first position Sa is outside the sensor 40 in the direction in which the sensor 40 extends (V direction), and overlaps with the sensor 40 in the width direction of the sensor 40 (H direction). The second position Sb overlaps with the sensor 40 in both the V direction and the H direction. In this case, the control unit 30 corrects the amplitude in the V direction of the control unit 30 so that the second detected value becomes greater than the first detected value by a reference value or more (second detected value >> first detected value).
[0041] The sensors 40 are provided along each of the two opposing sides of the measurement range α2. The correction described above is performed for each of the two sensors 40.
[0042] In the second example, S1, located above one sensor 40 in the V direction, is defined as the first position Sa, and S5', located below the other sensor 40 in the V direction, is defined as the second position Sb. In other words, the first position Sa and the second position Sb are located diagonally opposite each other in the measurement range α2. In this case, the control unit 30 corrects the amplitude of the movable reflector 20 in the H direction and the amplitude in the V direction so that the difference between the first detected value and the second detected value is less than or equal to a reference value.
[0043] As described above, according to this embodiment, the measuring device 1 has a sensor 40. The control unit 30 sets the oscillation range of the movable reflector 20 using the detected value of the sensor 40 (first detected value) when light is shone on a first position Sa located in front of the sensor 40 in a first direction, and the detected value of the sensor 40 (second detected value) when light is shone on a second position Sb located behind the sensor 40 in a first direction. As a result, even after the measuring device 1 is mounted on a moving body, the control unit 30 can correct the amplitude of the movable reflector 20.
[0044] (Variation 1) In the embodiment described above, the timing at which the irradiator 10 should emit light, that is, the timing at which the irradiation direction of the movable reflector 20 is at the first position Sa and the timing at the second position Sb, are stored in advance in the control unit 30. In this modified example, the method for determining this timing will be explained using Figures 8(A) and (B).
[0045] The timing for reaching the first position Sa and the timing for reaching the second position Sb are determined using an external sensor 100 separate from the measuring device 1. Specifically, first, as shown in Figure 8(A), light is emitted from the measuring device 1 with the movable reflector 20 in a reference position, for example, with an inclination angle of 0°. In this state, the light from the measuring device 1 is directed into the external sensor 100.
[0046] Next, the external sensor 100 is moved from the position described above by a predetermined angle θ (for example, 10°) around the measuring device 1. Then, the signal input to the movable reflector 20 is gradually changed. As a result, the angle of the movable reflector 20 gradually changes, and consequently, the direction of the light emitted from the measuring device 1 changes. The input signal to the movable reflector 20 when light is incident on the external sensor 100 is treated as the signal for directing the light to the predetermined angle θ described above. The external writing device uses this signal to calculate the input signal to the movable reflector 20 when the direction of light emission from the measuring device 1 is set to each angle, and writes information indicating the calculated signal to the storage medium of the control unit 30.
[0047] The above-described process is performed for both the first direction (H direction) and the second direction (V direction).
[0048] The control unit 30 then uses the information written to its storage medium to change the tilt direction of the movable reflector 20 and detects the orientation of the movable reflector 20 when light is incident on the sensor 40. This allows the precise position of the sensor 40, i.e., the tilt of the movable reflector 20 when light is incident on it, to be determined. Based on this orientation, the control unit 30 sets the timing for the first position Sa and the timing for the second position Sb. For example, the timing for the first position Sa is set to a predetermined time before the sensor 40 output is at its maximum, and the timing for the second position Sb is set to a predetermined time after the sensor 40 output is at its maximum.
[0049] The position of the sensor 40 inside the measuring device 1 may have errors, for example, due to installation. Furthermore, even if the same signal is input to multiple measuring devices 1, variations will occur in the tilt angle of the movable reflector 20 due to individual differences in the measuring devices 1. For this reason, it is difficult to accurately recognize the position of the sensor 40. In contrast, in this modified example, an external sensor 100 is used to set a signal for controlling the tilt angle of the movable reflector 20. As a result, the position of the sensor 40 can be detected with high accuracy, and as a result, the first position Sa and the second position Sb can be set to appropriate positions.
[0050] (Modification 2) The amplitude of the movable reflector 20 may change over time. In this case, the control unit 30 of the measuring device 1 needs to readjust the first position Sa and the second position Sb. This modified example describes how to readjust the first position Sa and the second position Sb.
[0051] Figure 9 is a flowchart showing a first example of a method for resetting the first position Sa and the second position Sb. First, the control unit 30 makes the irradiator 10 emit light at each of the temporary first position Sa and second position Sb (for example, the first position Sa and second position Sb that are set at that time) (step S10). Then, it measures the output of the sensor 40 when the irradiator 10 emits light at the first position Sa, and the output of the sensor 40 when the irradiator 10 emits light at the second position Sb (step S20). If both outputs are within the reference range (step S30: Yes), the control unit 30 terminates the process.
[0052] On the other hand, if at least one of the first position Sa and the second position Sb is outside the reference range, the position of the one that is outside the reference range is corrected (step S40). Specifically, if the output of the sensor 40 at the first position Sa is greater than the reference range, the first position Sa is moved away from the second position Sb. Also, if the output of the sensor 40 at the first position Sa is less than the reference range, the first position Sa is moved closer to the second position Sb. Similarly, if the output of the sensor 40 at the second position Sb is greater than the reference range, the second position Sb is moved away from the first position Sa. Also, if the output of the sensor 40 at the second position Sb is less than the reference range, the second position Sb is moved closer to the first position Sa. After that, the process shown in step S30 is repeated.
[0053] Figure 10 is a flowchart showing a second example of a method for resetting the first position Sa and the second position Sb. Figure 11 is a diagram for schematicly explaining the method shown in Figure 10. First, the control unit 30 makes the irradiator 10 emit light at each of the temporary first position Sa and second position Sb (for example, the first position Sa and second position Sb that are set at that time) (step S110). Then, it measures the output of the sensor 40 when the irradiator 10 emits light at the first position Sa, and the output of the sensor 40 when the irradiator 10 emits light at the second position Sb (step S120).
[0054] Then, if the difference is less than or equal to the second reference value (step S130: No), as shown in Figure 11(A), it is highly likely that both the first position Sa and the second position Sb are located on the measurement range α2 side of the sensor 40. For this reason, the control unit 30 widens the amplitude of the movable reflector 20 (step S140) and then returns to step S120.
[0055] On the other hand, if the difference is greater than or equal to the reference value (step S130: Yes), as shown in Figure 11(B), it is highly likely that the first position Sa and the second position Sb are flanking the sensor 40. Therefore, the same processing as in steps S20 to S40 in Figure 9 is performed. Specifically, the control unit 30 terminates the process if both of the two outputs are within the reference range (step S150: Yes). On the other hand, if at least one of the first position Sa and the second position Sb is outside the reference range, the position of the one that is outside the reference range is corrected (step S160). A specific example of this correction is the same as in step S40 in Figure 9. After that, the output of the sensor 40 when the irradiator 10 is emitted at the first position Sa and the output of the sensor 40 when the irradiator 10 is emitted at the second position Sb are measured (step S170), and the process returns to step S150.
[0056] As described above, according to this modified configuration, the control unit 30 can readjust the first position Sa and the second position Sb even if the amplitude of the movable reflector 20 changes over time. Therefore, the control unit 30 can accurately correct the amplitude of the movable reflector 20.
[0057] The embodiments and examples described above with reference to the drawings are illustrative examples of the present invention, and various other configurations can also be adopted.
[0058] This application claims priority based on Japanese Patent Application No. 2018-029827, filed on 22 February 2018, and incorporates all of its disclosures herein. [Explanation of Symbols]
[0059] 1. Measuring device 10 Irradiator 20 Movable reflector 30 Control Unit 40 sensors 100 External Sensors
Claims
1. A measuring device for detecting the relative position of an object located around a moving object, with respect to the moving object as the reference object, The measuring device in question is a LIDAR (Light Detection And Ranging) device. An irradiator that emits electromagnetic waves, which are light, The tilt can be changed around the axis, and the movable reflecting part that reflects the electromagnetic waves, A control unit that controls the irradiator and periodically changes the inclination of the movable reflector to move the electromagnetic wave along a first direction, A sensor capable of receiving the aforementioned electromagnetic waves, A light receiver and, Equipped with, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. The control unit, The amplitude of the tilt of the movable reflector is set such that the first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at the first timing, and the second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at the second timing, satisfy the criteria. The first timing and the second timing are timings determined based on the time when the tilt of the movable reflector is in a reference state. The first timing is determined such that when the irradiator emits light intermittently at regular intervals, the center of the light is located in front of the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The second timing is determined such that the center of the light is located behind the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor.
2. A measuring device for detecting the relative position of an object located around a moving object, with respect to the moving object as the reference object, The measuring device in question is a LIDAR (Light Detection And Ranging) device. An irradiator that emits electromagnetic waves, which are light, The tilt can be changed around the axis, and the movable reflecting part that reflects the electromagnetic waves, A control unit that controls the irradiator and periodically changes the inclination of the movable reflector to move the electromagnetic wave along a first direction, A sensor capable of receiving the aforementioned electromagnetic waves, A light receiver and, Equipped with, The electromagnetic wave is pulsed light, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. The control unit, The amplitude of the tilt of the movable reflector is set using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a first timing, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a second timing. The first timing and the second timing are timings determined based on the time when the tilt of the movable reflector is in a reference state. The first timing is determined such that when the irradiator emits light intermittently at regular intervals, the center of the light is located in front of the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The second timing is determined such that the center of the light is located behind the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor.
3. In the measuring device according to claim 1 or 2, The control unit controls the movable reflector to periodically move the electromagnetic wave in the first direction, and at the same time, periodically move it in a second direction different from the first direction. The period of the electromagnetic wave in the first direction is shorter than the period of the electromagnetic wave in the second direction. The aforementioned sensor is a line sensor and extends in the second direction, A measuring device arranged in the first direction, in the order of the center of the light at the first timing, the sensor, and the center of the light at the second timing.
4. A measuring device for detecting the relative position of an object located around a moving object, with respect to the moving object as the reference object, The measuring device in question is a LIDAR (Light Detection And Ranging) device. An irradiator that emits electromagnetic waves, which are light, The tilt can be changed around the axis, and the movable reflecting part that reflects the electromagnetic waves, A control unit that controls the irradiator and periodically changes the inclination of the movable reflector to move the electromagnetic wave along a first direction, A sensor capable of receiving the aforementioned electromagnetic waves, A light receiver and, Equipped with, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. The control unit sets the amplitude of the tilt of the movable reflector using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a first timing, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a second timing. The first timing and the second timing are timings determined based on the time when the tilt of the movable reflector is in a reference state. The first timing is determined such that when the irradiator emits light intermittently at regular intervals, the center of the light is located in front of the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The second timing is determined such that the center of the light is located behind the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The control unit controls the movable reflector to periodically move the electromagnetic wave in the first direction, and at the same time, periodically move it in a second direction different from the first direction. The period of the electromagnetic wave in the first direction is shorter than the period of the electromagnetic wave in the second direction. The aforementioned sensor is a line sensor and extends in the second direction, The center of the light at the first timing is located outside the sensor in the second direction and overlaps with the sensor in the first direction. A measuring device in which the center of the light at the second timing coincides with the sensor in both the first and second directions.
5. In the measuring device according to any one of claims 1 to 4, During measurement, the control unit moves the electromagnetic wave within a measurement range narrower than the range of movement of the electromagnetic wave by the movable reflector. The sensor is a measuring device located within the movable range but outside the measurement range.
6. A measuring device for detecting the relative position of an object located around a moving object, with respect to the moving object as the reference object, The measuring device in question is a LIDAR (Light Detection And Ranging) device. An irradiator that emits electromagnetic waves, which are light, The tilt can be changed around the axis, and the movable reflecting part that reflects the electromagnetic waves, A control unit that controls the irradiator and periodically changes the inclination of the movable reflector to move the electromagnetic wave along a first direction, A sensor capable of receiving the aforementioned electromagnetic waves, A light receiver and, Equipped with, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. The control unit sets the amplitude of the tilt of the movable reflector using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a first timing, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a second timing. The first timing and the second timing are timings determined based on the time when the tilt of the movable reflector is in a reference state. The first timing is determined such that when the irradiator emits light intermittently at regular intervals, the center of the light is located in front of the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The second timing is determined such that the center of the light is located behind the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The control unit is a measuring device that, when setting the amplitude of the tilt of the movable reflector, ensures that the difference between the first detected value and the second detected value is less than or equal to a first reference value.
7. In the measuring device according to claim 6, When the control unit sets the amplitude of the tilt of the movable reflector, The amplitude of the movable reflector is widened so that the difference between the first detected value and the second detected value is greater than or equal to the second reference value. A measuring device that subsequently determines the first timing and the second timing so that the first detected value and the second detected value satisfy the criteria.
8. In the measuring device according to any one of claims 1 to 7, A measuring device in which the first timing and the second timing are changeable.
9. A control method used by a measuring device comprising: an irradiator that emits electromagnetic waves which are light; a movable reflector whose tilt can be changed about an axis and which reflects the electromagnetic waves; a control unit that controls the irradiator and periodically changes the tilt of the movable reflector to move the electromagnetic waves along a first direction; a sensor capable of receiving the electromagnetic waves; and a photodetector, The measuring device detects the relative positions of objects located around the moving object with respect to the moving object, The aforementioned measuring device is LIDAR (Light Detection And Ranging), The electromagnetic wave is pulsed light, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. The process includes a setting step of setting the amplitude of the tilt of the movable reflector using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a first timing, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a second timing. The first timing and the second timing are timings determined based on the time when the tilt of the movable reflector is in a reference state. The first timing is determined such that when the irradiator emits light intermittently at regular intervals, the center of the light is located in front of the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The control method is such that the center of the light is located behind the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor.
10. A program for causing a computer to function as a control unit for controlling a measuring device, The measuring device is, The relative positions of objects located around a moving object are detected with respect to the moving object as the reference point. LIDAR (Light Detection And Ranging) An irradiator that emits electromagnetic waves, which are light, The tilt can be changed around the axis, and the movable reflecting part that reflects the electromagnetic waves, A sensor capable of receiving the aforementioned electromagnetic waves, A light receiver and, Equipped with, The electromagnetic wave is pulsed light, The sensor is positioned at a location through which the electromagnetic wave passes when the electromagnetic wave moves in the first direction. To the aforementioned computer, The function of moving the electromagnetic wave along a first direction by controlling the irradiator and periodically changing the inclination of the movable reflector, A function to set the amplitude of the tilt of the movable reflector using a first detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a first timing, and a second detection value, which is the value detected by the sensor when the electromagnetic wave is irradiated at a second timing. Give it to him The first timing and the second timing are timings determined based on the time when the tilt of the movable reflector is in a reference state. The first timing is determined such that when the irradiator emits light intermittently at regular intervals, the center of the light is located in front of the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor. The second timing is defined in a program such that the center of the light is located behind the sensor in the direction of movement along the first direction of the electromagnetic wave, and a portion of the light overlaps with the sensor.
11. A storage medium storing the program described in Claim 10.