Measuring device, control device, and program
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- KOITO MFG CO LTD
- Filing Date
- 2022-08-26
- Publication Date
- 2026-08-04
AI Technical Summary
【0008】 本発明によれば、設置場所の制約を軽減することができる。
Smart Images
Figure 0007900227000001 
Figure 0007900227000002 
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Abstract
Description
Technical Field
[0001] The present invention relates to a measuring device, a control device, and a program.
Background Art
[0002] As a measuring device that irradiates measurement light toward a measurement area and receives reflected light (reflected light obtained by reflecting the measurement light off an object within the measurement area) to detect the three-dimensional shape within the measurement area, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) is known.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] In a conventional measuring device, a light emitting unit that irradiates measurement light toward a measurement area, a light receiving unit that receives reflected light from the measurement area, and a control unit that controls the light emitting unit and calculates the coordinates of an object within the measurement area based on the light reception signal of the light receiving unit were integrally configured. As a result, it was difficult to mount the measuring device on a vehicle or the like that has many restrictions on the installation location.
[0005] An object of the present invention is to reduce restrictions on the installation location.
Means for Solving the Problems
[0006] One embodiment of the present invention for achieving the above objective is a light-emitting and receiving unit having a light-emitting unit that emits light in response to a control signal, a light-receiving unit that receives reflected light from the light-emitting unit and outputs a light-receiving signal, a storage unit that stores correction data, and a control device to which the light-emitting and receiving unit is interchangeably connected, which outputs the control signal to the light-emitting and receiving unit and measures the coordinates of the reflection point that produced the reflected light based on the light-receiving signal obtained from the light-emitting and receiving unit, wherein the control device reads the correction data from the storage unit of the light-emitting and receiving unit when the light-emitting and receiving unit is connected to the control device, and measures the coordinates based on the correction data.
[0007] Further issues disclosed in this application, and methods for solving them, will be made clear in the section on embodiments for carrying out the invention and in the drawings. [Effects of the Invention]
[0008] According to the present invention, the constraints on the installation location can be reduced. [Brief explanation of the drawing]
[0009] [Figure 1] Figures 1A and 1B are explanatory diagrams of the measuring device 1 according to the first embodiment. [Figure 2] Figure 2 is an explanatory diagram of the light-emitting section 21 and the light-receiving section 31 of the light-receiving unit 10. [Figure 3] Figure 3 is an explanatory diagram of the measurement method. [Figure 4] Figure 4 is an explanatory diagram of the reference table of the correction unit 54. [Figure 5] Figure 5A is an explanatory diagram of the method for acquiring emission correction data. Figure 5B is an explanatory diagram of the method for acquiring light reception correction data. Figure 5C is an explanatory diagram of the method for acquiring coordinate correction data. [Figure 6] Figures 6A and 6B are explanatory diagrams illustrating the process by which the control device 50 acquires correction data from the light-receiving unit 10. [Figure 7] Figures 7A and 7B are explanatory diagrams of the second embodiment. [Figure 8] Figures 8A and 8B are explanatory diagrams of the third embodiment. [Figure 9] Figures 9A and 9B are diagrams illustrating the operation under predetermined conditions. [Figure 10] Figure 10 is an explanatory diagram of the configuration of the comparative example. [Modes for carrying out the invention]
[0010] Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. In the following description, identical or similar components may be denoted by the same reference numerals, and redundant descriptions may be omitted.
[0011] ===First Embodiment=== <Structure> Figures 1A and 1B are explanatory diagrams of the measuring device 1 according to the first embodiment.
[0012] The measuring device 1 is a device for measuring objects within the measuring area 91. Figure 1A shows that measuring areas 91 are set in front of, behind, and to the side of the vehicle. The measuring device 1 measures objects within the measuring area 91 by irradiating measuring light toward the measuring area 91 and receiving reflected light from the measuring area 91. The measuring device 1 is sometimes called a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device. Here, the measuring device 1 measures the three-dimensional coordinates (X coordinate, Y coordinate, and Z coordinate) of the reflection point that produced the reflected light. However, the measuring device 1 may only measure the distance to the reflection point (Z coordinate). Alternatively, the measuring device 1 may measure point cloud data by measuring the three-dimensional coordinates of a large number of reflection points, and may further analyze the point cloud data to determine the attributes of the object, etc.
[0013] The measuring device 1 includes a light transmitting and receiving unit 10 and a control device 50. Here, the measuring device 1 has four light transmitting and receiving units 10. However, the number of the light transmitting and receiving units 10 of the measuring device 1 is not limited to four, and it may be one or more than four other than four. In the present embodiment, the light transmitting and receiving unit 10 is configured as a unit independent of the control device 50, and can be detachably attached to the control device 50. Here, four light transmitting and receiving units 10 are arranged on the vehicle so as to set measurement areas 91 in front of, behind, and on the sides of the vehicle, respectively.
[0014] The light transmitting and receiving unit 10 irradiates measurement light toward the measurement area 91 and receives reflected light from the measurement area 91. The light transmitting and receiving unit 10 includes a light emitting part 21, a light receiving part 31, and a storage part 41.
[0015] FIG. 2 is an explanatory view of the light emitting part 21 and the light receiving part 31 of the light transmitting and receiving unit 10. The light transmitting and receiving unit 10 in the figure has a light emitting part 21 and a light receiving part 31, and also has a light projecting optical system 22 and a light receiving optical system 32. The light emitting part 21 and the light projecting optical system 22 constitute an irradiation unit, and the light receiving part 31 and the light receiving optical system 32 constitute a light receiving unit.
[0016] The light emitting unit 21 emits measurement light. The light emitting unit 21 is composed of one or a plurality of light emitting elements 211. The light emitting element 211 is an element that converts an electrical signal into an optical signal and is an element that emits laser light. Here, the light emitting unit 21 is configured by two-dimensionally arranging a plurality of light emitting elements 211 along the X direction and the Y direction. The light emitting unit 21 emits light according to a control signal from the control device 50. The light emitting unit 21 may emit light from each light emitting element 211 individually or may emit light from a plurality of light emitting elements 211 collectively. The light projecting optical system 22 is an optical system that irradiates the measurement area 91 with the light emitted from the light emitting unit 21. The light emitted from a certain light emitting element 211 is irradiated onto the corresponding area of the measurement area 91 via the light projecting optical system 22. Note that the light projecting optical system 22 may include a rotating mirror (e.g., a polygon mirror), and the light emitted from the light emitting unit 21 (light emitting element 211) may be scanned onto the measurement area 91 by the rotating mirror.
[0017] The light receiving unit 31 receives the reflected light and outputs a light receiving signal. The light receiving unit 31 is composed of one or a plurality of light receiving elements 311. The light receiving element 311 is an element that converts an optical signal into an electrical signal. Here, the light receiving unit 31 is configured by two-dimensionally arranging a plurality of light receiving elements 311 along the X direction and the Y direction. The light receiving unit 31 outputs a light receiving signal according to the amount of received light. Here, each light receiving element 311 of the light receiving unit 31 outputs a light receiving signal according to the amount of received light. The light receiving optical system 32 is an optical system that causes the reflected light from the measurement area 91 to be received by the light receiving unit 31. Each light receiving element 311 of the light receiving unit 31 is associated with a predetermined area of the measurement area 91 via the light receiving optical system 32 and receives the light (reflected light) from the corresponding area.
[0018] Each light-receiving element 311 of the light-receiving unit 31 is associated with a predetermined light-emitting element 211 of the light-emitting unit 21. Light emitted from a certain light-emitting element 211 is received by the corresponding light-receiving element 311 via the light-emitting optical system 22 and the light-receiving optical system 32. For this reason, the light-emitting unit 21 and the light-receiving unit 31 are integrally configured and their positional relationship is maintained. In other words, in the light-receiving and light-emitting unit 10, the light-emitting unit 21 and the light-receiving unit 31 are fixed to a common housing (not shown) so as to maintain the positional relationship between the light-emitting unit 21 and the light-receiving unit 31.
[0019] Furthermore, the light-receiving and light-emitting unit 10 is not equipped with a control unit to control the timing of light emission of the light-emitting section 21. The light-emitting section 21 of the light-receiving and light-emitting unit 10 is driven according to a control signal input from the control device 50. In addition, the light-receiving and light-emitting unit 10 is not equipped with a processing unit that performs calculations based on the light-receiving signal of the light-receiving section 31 (the signal output by the light-receiving element 311 according to the amount of light received). The light-receiving and light-emitting unit 10 outputs the light-receiving signal of the light-receiving section 31 to the control device 50, and the control device 50 performs calculations based on the light-receiving signal (for example, calculations to calculate coordinates). Here, the light-receiving and light-emitting unit 10 outputs an analog signal corresponding to the light-receiving signal to the control device 50. However, the light-receiving section 31 (light-receiving element 311) may be configured to output a digital signal as the light-receiving signal, and the light-receiving and light-emitting unit 10 may be configured to output a digital signal as the light-receiving signal to the control device 50.
[0020] The storage unit 41 (see Figure 1B) is composed of components for storing data. In this case, the storage unit 41 is composed of ROM. In the first embodiment, correction data is stored in the storage unit 41.
[0021] Correction data is data used to correct measurement processing. Correction data is sometimes called calibration data. Correction data includes, for example, emission correction data for correcting the light-emitting unit 21, light-receiving correction data for correcting the light-receiving unit 31, and calculation correction data (e.g., coordinate correction data) for correcting calculation processing based on the received light signal (e.g., calculation processing for calculating coordinates). For example, emission correction data is data used to correct variations in the intensity of light emitted by the light-emitting element 211 (in other words, data that shows variations in the intensity of light emitted by the light-emitting element 211). Also, for example, light-receiving correction data is data used to correct variations in the amount of light received in the received signal output by the light-receiving element 311 (in other words, data that shows variations in the signal value of the received signal output by the light-receiving element 311). Also, for example, calculation correction data is data used to correct positional deviations of the coordinates of the reflection point (coordinate correction data). Furthermore, the correction data only needs to include at least one of the following: emission correction data, light reception correction data, and calculation correction data (coordinate correction data); it does not need to include all of them.
[0022] The light-receiving unit 10 does not have a processing unit that performs calculations based on the data stored in the memory unit 41 (in this case, correction data). As will be described later, the data stored in the memory unit 41 will be read out by the control device 50, and the control device 50 will perform calculations based on that data (in this case, correction processing based on correction data).
[0023] The control device 50 is a device that controls the light-emitting and receiving unit 10. The control device 50 controls the light-emitting part 21 of the light-emitting and receiving unit 10 (causing the light-emitting part 21 to emit light) by outputting a control signal to the light-emitting and receiving unit 10. The control device 50 also acquires a received light signal from the light-emitting and receiving unit 10 and calculates the coordinates of the reflection point based on the received light signal. The control device 50 has an arithmetic unit and a memory device (not shown). The arithmetic unit is an arithmetic processing unit such as a CPU or GPU. Part of the arithmetic unit may be composed of analog arithmetic circuits. The memory device consists of a main memory and an auxiliary memory, and is a device that stores programs and data. Various processes are executed by the arithmetic unit executing the programs stored in the memory device. Here, the control device 50 is composed of an ECU (Electronic Control Unit) installed in an automobile.
[0024] The control device 50 includes a light emission control unit 51, a signal acquisition unit 52, a measurement unit 53, and a correction unit 54. A program is introduced into the vehicle's ECU (corresponding to the control device 50), and the ECU executes this program, thereby enabling the ECU (control device 50) to perform light emission control functions (light emission control unit 51), signal acquisition functions (signal acquisition unit 52), measurement functions (measurement unit 53), and correction functions (correction unit 54).
[0025] The light emission control unit 51 generates control signals to control the light-emitting unit 21 and outputs them to the light-receiving unit 10 (light emission control function). The light emission control unit 51 outputs control signals to the light-receiving unit 10 to control the timing of light emission from the light-emitting unit 21, the intensity of the light emitted from the light-emitting unit 21, and so on.
[0026] The signal acquisition unit 52 acquires the received light signal from the light-receiving unit 10 (signal acquisition function). For example, the signal acquisition unit 52 converts the received light signal, which is an analog signal, into a digital value. The signal acquisition unit 52 then passes the received light signal acquired from the light-receiving unit 10 to the measurement unit 53 (and correction unit 54).
[0027] The measurement unit 53 measures the coordinates of the reflection point based on the received light signal acquired by the signal acquisition unit 52 (measurement function). Here, the measurement unit 53 calculates the distance to the reflection point (Z coordinate) based on the received light signal.
[0028] Figure 3 is an explanatory diagram of the measurement method. The upper part of the diagram shows the control signal. Measurement light is emitted from the light-emitting unit 21 (light-emitting element 211) at the timing of the pulses included in the control signal. The light emitted from the light-emitting unit 21 is irradiated onto the measurement area 91 via the light-projection optical system 22. The light reflected from the surface (reflection point) of the object in the measurement area 91 is received by the light-receiving unit 31 (light-receiving element 311) via the light-receiving optical system 32. The light-receiving element 311 receives pulsed reflected light. The lower part of the diagram shows the received light signal. The light-receiving unit 31 (light-receiving element 311) outputs a received light signal according to the amount of light received. The measurement unit 53 detects the arrival timing of the reflected light based on the received light signal. The measurement unit 53 also detects the time Tf from when the light is irradiated until the reflected light arrives, based on the timing of the pulses of the control signal (light emission timing) and the arrival timing of the light. Time Tf corresponds to the time it takes for light to travel back and forth between the measurement device 1 and the reflection point. The measuring unit 53 then calculates the distance to the reflection point (the Z-coordinate of the reflection point) based on time Tf. Note that if Tf is the time from when light is irradiated until the reflected light arrives, and C is the speed of light, then the distance L is given by L = C × Tf / 2.
[0029] The measuring unit 53 may not only measure the distance to the reflection point (the Z-coordinate of the reflection point), but also measure the three-dimensional coordinates (X-coordinate, Y-coordinate, and Z-coordinate) of the reflection point. The measuring unit 53 will calculate the X and Y coordinates of the reflection point based on the position of the region on the measurement area 91 corresponding to the light-emitting unit 21 and the light-receiving unit 31. Furthermore, the measuring device 1 may measure point cloud data by measuring the three-dimensional coordinates of a large number of reflection points, and may also analyze the point cloud data to determine the attributes of the object, etc.
[0030] The correction unit 54 acquires data from the storage unit 41 of the light-receiving unit 10. In the first embodiment, the correction unit 54 acquires correction data from the storage unit 41 of the light-receiving unit 10. The correction unit 54 monitors whether a new light-receiving unit 10 has been connected to port 501 of the control device 50, and if it detects that a new light-receiving unit 10 has been connected to port 501 of the control device 50, it reads correction data from the storage unit 41 of the light-receiving unit 10 via port 501.
[0031] The correction unit 54 performs correction processing based on the correction data (correction function). Here, the correction unit 54 corrects at least one of the processes performed by the light emission control unit 51, the signal acquisition unit 52, and the measurement unit 53 based on the correction data. For example, the correction unit 54 corrects the control signal output by the light emission control unit 51 based on the light emission correction data, thereby correcting the variation in the intensity of the light emitted by the light-emitting elements 211 of the light-emitting unit 21. For example, the correction unit 54 corrects the control signal to light-emitting elements 211 that emit light of a stronger intensity than the reference, so that they emit light at a weaker intensity. Also, the correction unit 54 corrects the control signal to light-emitting elements 211 that emit light of a weaker intensity than the reference, so that they emit light at a stronger intensity. In this way, the correction unit 54 corrects the control signal output by the light emission control unit 51 based on the light emission correction data so that each light-emitting element 211 emits light of a predetermined intensity (reference intensity). As a result of correcting the control signal, the pulse height (current value or voltage value) of the control signal shown in Figure 3 is corrected. The light emission control unit 51 outputs a corrected control signal to the light receiving unit 10 based on the light emission correction data, and the light receiving unit 10 emits light from the light emitting section 21 according to the corrected control signal, so that light of a predetermined intensity (corrected intensity; reference intensity) is emitted from the light emitting section 21. Furthermore, the correction unit 54 corrects the received light signal based on the light reception correction data, correcting the variation in the signal value of the received light signal output by the light receiving element 311 of the light receiving unit 31. For example, the correction unit 54 corrects the received light signal for a light receiving element 311 that outputs a received light signal indicating a higher amount of received light than the reference, so that the amount of received light indicated in the received light signal is lower. Also, the correction unit 54 corrects the received light signal for a light receiving element 311 that outputs a received light signal indicating a lower amount of received light than the reference, so that the amount of received light indicated in the received light signal is higher. In this way, the correction unit 54 corrects the received light signal output by the light receiving unit 31 based on the light reception correction data so that the received light signal indicates a predetermined amount of received light relative to a reference amount of received light. Note that by correcting the received signal, the pulse height of the received light signal shown in Figure 3 is corrected. Furthermore, after the measurement unit 53 calculates the coordinates of the reflection point based on the received light signal, the correction unit 54 corrects the coordinates calculated by the measurement unit 53 based on the coordinate correction data. For example, if the coordinates calculated by the measurement unit 53 include errors caused by mounting errors of the elements (light-emitting element 211 and light-receiving element 311) or aberrations of the optical system (light-emitting optical system 22 and light-receiving optical system 32), the correction unit 54 corrects the coordinates calculated by the measurement unit 53 based on the coordinate correction data to suppress the effects of the errors.
[0032] Figure 4 is an explanatory diagram of the reference table of the correction unit 54. The control device 50 has multiple ports 501 for connecting the light-receiving and light-emitting units 10 (see Figure 1B). In this case, the control device 50 has four ports 501. The reference table associates port numbers with correction data. For example, correction data A is associated with port 1, and correction data B is associated with port 2.
[0033] The control device 50 (correction unit 54) measures the coordinates using the light-receiving unit 10 connected to port 501 based on the correction data corresponding to port 501. For example, when the control device 50 measures the coordinates using the light-receiving unit 10 connected to port 1, it corrects the control signal to the light-receiving unit 10 connected to port 1 based on the correction data A, corrects the received light signal obtained from the light-receiving unit 10 via port 1, and corrects the coordinates calculated based on the received light signal obtained via port 1. This allows corrections to be made according to the characteristics of each light-receiving unit 10. The method for setting the reference table will be described later.
[0034] <Regarding the generation of correction data> In the pre-shipment inspection process for the light-receiving unit 10, the characteristics (individual differences) of the light-receiving unit 10 are inspected, and correction data is generated according to the characteristics of the light-receiving unit 10. In the inspection process, the light-receiving unit 10 is connected to an inspection control device 60, which is different from the control device 50 mentioned above.
[0035] Figure 5A is an explanatory diagram of the method for acquiring light emission correction data. The inspection control device 60 outputs a reference control signal to each light-emitting element 211 of the light-emitting section 21 of the light-receiving unit 10. The light-receiving unit 10 emits light from each light-emitting element 211 according to the reference control signal. However, there is variation in the intensity of the light emitted by each light-emitting element 211. The light emission inspection device 61 inspects the intensity of the light emitted from each light-emitting element 211 and outputs the inspection result to the inspection control device 60. Based on the intensity of the light emitted from each light-emitting element 211, the inspection control device 60 generates correction data (light emission correction data) for each light-emitting element 211 and stores the correction data in the storage unit 41.
[0036] Figure 5B is an explanatory diagram of the method for acquiring light reception correction data. The reference light irradiation device 62 irradiates light of a reference intensity (reference light). Each light receiving element 311 of the light receiving section 31 of the light receiving unit 10 receives the reference light and outputs a light reception signal. However, there is variation in the amount of light received indicated by the light reception signal output by each light receiving element 311. The inspection control device 60 generates correction data (light reception correction data) for each light receiving element 311 based on the amount of light received indicated by the light reception signal, and stores the correction data in the storage unit 41.
[0037] Here, light emission correction data and light reception correction data are acquired separately, but this is not the only way. For example, a reflector with a predetermined reflectivity is placed opposite the light-receiving unit 10, and the inspection control device 60 outputs a reference control signal to each light-emitting element 211 of the light-emitting section 21 of the light-receiving unit 10, and causes each light-receiving element 311 of the light-receiving section 31 to receive reflected light, thereby acquiring the light-receiving signal of each light-receiving element 311. Then, the inspection control device 60 generates correction data (light-receiving correction data) for each light-receiving element 311 based on the amount of light received indicated by the light-receiving signal, and stores the correction data in the storage unit 41. In this way, only the light-receiving correction data is stored in the storage unit 41, and the light emission correction data is not necessarily stored in the storage unit 41.
[0038] Figure 5C is an explanatory diagram of the method for acquiring coordinate correction data. After arranging a target plate 63 having a target indicating a reference position in relation to the light-receiving unit 10 in a predetermined positional relationship, the inspection control device 60 outputs control signals to each light-emitting element 211 of the light-emitting section 21 of the light-receiving unit 10, and also receives reflected light from the light-receiving section 31 to acquire a received signal, and calculates the coordinates of the reflection point based on the received signal. Then, the inspection control device 60 generates correction data (coordinate correction data) to correct the coordinates of the reflection point based on the difference between the position (coordinates) of the target on the target plate 63, which is arranged in a predetermined positional relationship to the light-receiving unit 10, and the position (coordinates) of the target obtained from the coordinates of the reflection point, and stores the correction data in the storage unit 41.
[0039] <Regarding the acquisition of correction data> Figures 6A and 6B are explanatory diagrams illustrating the process by which the control device 50 acquires correction data from the light-receiving unit 10.
[0040] As already explained, the light-receiving unit 10 is configured to be replaceable by the control device 50. When a new light-receiving unit 10 is connected to the control device 50 (see Figure 6A), the control device 50 reads correction data from the storage unit 41 of the light-receiving unit 10 (Figure 6B). The correction unit 54 of the control device 50 monitors whether a new light-receiving unit 10 has been connected to port 501 of the control device 50. If it detects that a new light-receiving unit 10 has been connected to port 501 of the control device 50, it reads correction data from the storage unit 41 of the light-receiving unit 10 via port 501. The correction data includes, for example, light emission correction data, light reception correction data, and coordinate correction data. The control device 50 (correction unit 54) measures the coordinates based on the correction data by correcting the control signal output from the light emission control unit 51 based on the light emission correction data, correcting the light reception signal output from the light reception unit 31 based on the light reception correction data, and correcting the coordinates of the reflection point calculated based on the light reception signal based on the coordinate correction data.
[0041] The control device 50 is equipped with multiple ports 501, and the correction unit 54 monitors each port 501 to see if a new light-receiving unit 10 has been connected. When the correction unit 54 detects that a new light-receiving unit 10 has been connected to a certain port 501, it associates the port number (for example, port 1) with the correction data (for example, correction data A) read from the storage unit 41 of the light-receiving unit 10 via that port 501, and generates the reference table shown in Figure 4 (in other words, it updates the information in the reference table).
[0042] <Regarding the comparative example> Figure 10 is an explanatory diagram of the configuration of the comparative example.
[0043] The comparative example's measuring device 1' integrates a light-emitting unit 21, a light-receiving unit 31, and a control unit 50' that calculates coordinates based on the received light signal. In the comparative example, the coordinates are measured by the measuring device 1', and the measurement results are output to the ECU (therefore, in the comparative example, the ECU does not measure the coordinates). Compared to the aforementioned light-receiving unit 10, the comparative example's measuring device 1' includes the control unit 50', resulting in a larger casing, which may make it difficult to mount the measuring device on vehicles or other devices with many installation space constraints. Furthermore, the comparative example's measuring device 1' is more expensive than the aforementioned light-receiving unit 10 because it includes the control unit 50'. Therefore, in the comparative example, if the light-emitting unit 21 or the light-receiving unit 31 fails, the entire measuring device 1', including the control unit 50', needs to be replaced, which is costly. In contrast, the light-receiving and light-emitting unit 10 of this embodiment does not include a control unit 50' compared to the measuring device 1' of the comparative example, thus enabling miniaturization. Furthermore, in this embodiment, the light-receiving and light-emitting unit 10 is connected to the control device 50 in a replaceable manner, so if the light-emitting unit 21 or the light-receiving unit 31 malfunctions, only the malfunctioning light-receiving and light-emitting unit 10 needs to be replaced, allowing for low-cost repairs.
[0044] However, if the light-emitting / receiving unit 10 and the control device 50 are separate structures, the storage location of the correction data becomes an issue. In contrast, in the first embodiment, the correction data is stored in the storage unit 41 of the light-emitting / receiving unit 10. This allows the light-emitting unit 21 and the light-receiving unit 31, and the storage unit 41 that stores the correction data according to the characteristics of the light-emitting unit 21 and the light-receiving unit 31, to be integrated. Furthermore, in the first embodiment, the control device 50 is configured to read the correction data from the storage unit 41 of the light-emitting / receiving unit 10 when the light-emitting / receiving unit 10 is connected to the control device 50. As a result, even if the correction data is stored in the light-emitting / receiving unit 10, which is independent of the control device 50, the control device 50 can measure coordinates based on the correction data.
[0045] Furthermore, in the comparative example, when measuring multiple measurement areas 91, it is necessary to prepare multiple measuring devices 1' equipped with control units 50', which may make it difficult to mount multiple measuring devices on vehicles with many installation space constraints. Also, in the comparative example, when measuring multiple measurement areas 91, it is necessary to prepare multiple measuring devices 1' equipped with control units 50', which is costly. In contrast, in this embodiment, it is possible to connect multiple light-receiving and light-emitting units 10 to a single control unit 50, and the light-receiving and light-emitting units 10 can be made smaller compared to the measuring device 1' of the comparative example, making it easier to install multiple light-receiving and light-emitting units 10 even on vehicles with many installation space constraints. In addition, the light-receiving and light-emitting units 10 of this embodiment are less expensive than the measuring device 1' of the comparative example, making it possible to measure multiple measurement areas 91 at a low cost.
[0046] ===Second Embodiment=== In the first embodiment, the correction data is stored in the storage unit 41 of the light-receiving unit 10. However, the storage location of the correction data is not limited to this. In the second embodiment, the correction data is stored outside the measuring device 1.
[0047] Figures 7A and 7B are explanatory diagrams of the second embodiment.
[0048] Each light-receiving / emitting unit 10 is assigned an identification number, and this identification number is stored in the storage unit 41 of the light-receiving / emitting unit 10. When correction data is generated during the pre-shipment inspection process of the light-receiving / emitting unit 10 (see Figures 5A to 5C), a dataset is registered in the database of the external server 70, associating the identification number of the light-receiving / emitting unit 10 being inspected with the correction data for that unit. The database of the external server 70 will contain correction data corresponding to each light-receiving / emitting unit 10 manufactured at the factory, associated with the identification number of that unit. The external server 70 may be, for example, a server managed by the manufacturer of the light-receiving / emitting unit 10, a server managed by the manufacturer of the automobile equipped with the measuring device 1, or a server on the cloud.
[0049] Similar to the first embodiment, the light-receiving unit 10 is configured to be replaceable by the control device 50. When a new light-receiving unit 10 is connected to the control device 50 (see Figure 7A), the control device 50 (correction unit 54) reads the identification number from the storage unit 41 of the light-receiving unit 10 (see Figure 7B). The control device 50 (correction unit 54) monitors whether a new light-receiving unit 10 has been connected to port 501 of the control device 50, and if it detects that a new light-receiving unit 10 has been connected to port 501 of the control device 50, it reads the identification number from the storage unit 41 of the light-receiving unit 10 via port 501.
[0050] The light-receiving and light-emitting unit 10 of the second embodiment is equipped with a communication unit (not shown) capable of communicating with an external server 70. The correction unit 54 obtains an identification number from the storage unit 41 of the light-receiving and light-emitting unit 10, then transmits the identification number to the external server 70 via the communication unit to request correction data (see Figure 7B). When the external server 70 receives the identification number from the control device 50, it refers to a database based on the identification number and transmits the correction data corresponding to the identification number to the control device 50 (see Figure 7B). When the control device 50 receives the correction data from the external server 70, it passes the correction data to the correction unit 54. The correction data includes, for example, light emission correction data, light reception correction data, and coordinate correction data. The control device 50 (correction unit 54) measures the coordinates based on the correction data by correcting the control signal output from the light emission control unit 51 based on the light emission correction data, correcting the light reception signal output from the light reception unit 31 based on the light reception correction data, and correcting the coordinates of the reflection point calculated based on the light reception signal based on the coordinate correction data.
[0051] In the second embodiment, the control device 50 may also have multiple ports 501. In this case, the correction unit 54 monitors each port 501 to see if a new light-receiving unit 10 has been connected. If it detects that a new light-receiving unit 10 has been connected to a port 501, the correction unit 54 obtains the port number and an identification number read from the storage unit 41 of the light-receiving unit 10 via that port 501. The correction unit 54 sends the identification number to the external server 70 to request correction data, obtains correction data corresponding to the identification number from the external server 70, associates the port number with the correction data, and generates the reference table shown in Figure 4 (in other words, updates the information in the reference table). The control device 50 (correction unit 54) then measures the coordinates using the light-receiving unit 10 connected to the port 501 based on the correction data corresponding to that port 501.
[0052] ===Third Implementation Method=== Figures 8A and 8B are explanatory diagrams of the third embodiment.
[0053] Each light-receiving / emitting unit 10 is assigned an identification number. When correction data is generated during the pre-shipment inspection process of the light-receiving / emitting unit 10 (see Figures 5A to 5C), the identification number of the light-receiving / emitting unit 10 and the correction data for that unit are stored in the storage unit 41 of the light-receiving / emitting unit 10 being inspected. The correction data stored in the storage unit 41 of the light-receiving / emitting unit 10 at this time is encrypted. The decryption key for decrypting the encrypted correction data is registered in the database of the external server 70 in association with the identification number. In other words, in the third embodiment, when correction data is generated during the pre-shipment inspection process of the light-receiving / emitting unit 10 (see Figures 5A to 5C), a dataset is registered in the database of the external server 70, associating the identification number of the light-receiving / emitting unit 10 being inspected with the decryption key for the encrypted correction data stored in the storage unit 41 of the light-receiving / emitting unit 10.
[0054] In the third embodiment, the light-receiving unit 10 is also configured to be replaceable by the control device 50. In the third embodiment, when a new light-receiving unit 10 is connected to the control device 50 (see Figure 8A), the control device 50 (correction unit 54) reads the identification number and encrypted correction data from the storage unit 41 of the light-receiving unit 10 (see Figure 8B). The control device 50 (correction unit 54) monitors whether a new light-receiving unit 10 has been connected to port 501 of the control device 50, and if it detects that a new light-receiving unit 10 has been connected to port 501 of the control device 50, it reads the identification number from the storage unit 41 of the light-receiving unit 10 via port 501.
[0055] In the third embodiment, the correction unit 54 obtains an identification number from the storage unit 41 of the light-receiving unit 10, then transmits the identification number to the external server 70 via the communication unit (not shown) and requests a decryption key (see Figure 8B). When the external server 70 receives the identification number from the control device 50, it refers to the database based on the identification number and transmits the decryption key corresponding to the identification number to the control device 50 (see Figure 8B). When the control device 50 receives the decryption key from the external server 70, it passes the decryption key to the correction unit 54. The correction unit 54 obtains the correction data by decrypting the encrypted correction data with the decryption key.
[0056] According to the third embodiment, the use of counterfeit versions of the light-receiving unit 10 can be suppressed. In this embodiment, since the light-receiving unit 10 is not provided with a control unit 50', the structure of the light-receiving unit 10 is simpler compared to the measuring device 1' of the comparative example, thus effectively avoiding counterfeiting of the light-receiving unit 10. In particular, when the measuring device 1 is mounted on an automobile as shown in Figure 1A, it is important to avoid the use of inferior counterfeit products.
[0057] In the third embodiment, the control device 50 may also have multiple ports 501. In this case, the correction unit 54 monitors each port 501 to see if a new light-receiving unit 10 has been connected. If it detects that a new light-receiving unit 10 has been connected to a port 501, the correction unit 54 obtains the port number, an identification number read from the storage unit 41 of the light-receiving unit 10 via that port 501, and encrypted correction data. The correction unit 54 sends the identification number to the external server 70 to request a decryption key, obtains the decryption key corresponding to the identification number from the external server 70, decrypts the correction data, and associates the port number with the correction data to generate the reference table shown in Figure 4 (in other words, it updates the information in the reference table). The control device 50 (correction unit 54) then measures the coordinates using the light-receiving unit 10 connected to the port 501 based on the correction data corresponding to that port 501.
[0058] ===Summary=== The above-described measuring device 1 comprises a light-receiving unit 10 and a control device 50. The light-receiving unit 10 has a light-emitting section 21, a light-receiving section 31, and a storage section 41. The control device 50 outputs a control signal to the light-receiving unit 10 and measures the coordinates of the reflection point based on the light-receiving signal acquired from the light-receiving unit 10. The light-receiving unit 10 is interchangeably connected to the control device 50. Since the light-receiving unit 10 can be made smaller than the measuring device 1' of the comparative example (see Figure 10), the measuring device 1 of this embodiment can reduce the constraints on the installation location.
[0059] In the first and third embodiments, correction data is stored in the storage unit 41 of the light-emitting / receiving unit 10. This allows the light-emitting unit 21 and the light-receiving unit 31, and the storage unit 41 that stores correction data according to the characteristics of the light-emitting unit 21 and the light-receiving unit 31, to be integrated. Furthermore, in the first and third embodiments, the control device 50 is configured to read the correction data from the storage unit 41 of the light-emitting / receiving unit 10 when the light-emitting / receiving unit 10 is connected to the control device 50. This makes it possible for the control device 50 to measure coordinates based on the correction data even if the correction data is stored in the light-emitting / receiving unit 10, which is independent of the control device 50. On the other hand, in the second embodiment, correction data is stored in an external server 70, and an identification number is stored in the storage unit 41 of the light-receiving unit 10. In the second embodiment, the control device 50 is configured to read the identification number from the storage unit 41 of the light-receiving unit 10 and obtain correction data corresponding to the identification number from the external server 70 when the light-receiving unit 10 is connected to the control device 50. As a result, even if the correction data is managed in a location separate from the control device 50, the control device 50 can measure coordinates based on the correction data.
[0060] The control device 50 outputs a corrected control signal to the light-receiving unit 10 based on the correction data (light emission correction data). The light-receiving unit 10 then emits light from the light-emitting section 21 according to the corrected control signal. This corrects the variation in the light emitted from the light-emitting section 21, thereby improving the accuracy of coordinate measurement. Furthermore, the control device 50 corrects the received light signal based on the correction data (received light correction data) and measures the coordinates based on the corrected received light signal. This makes it possible to correct variations in the received light signal output from the light receiving unit 31 and improve the accuracy of coordinate measurement. Furthermore, the control device 50 corrects the coordinates calculated based on the received light signal based on correction data (coordinate correction data). This suppresses the influence of errors included in the calculated coordinates and improves the accuracy of coordinate measurement.
[0061] The control device 50 described above can connect to multiple light-receiving units 10, acquires light-receiving signals from each light-receiving unit 10, and measures coordinates based on each light-receiving signal. As a result, the measuring device 1 of this embodiment can reduce the constraints on installation location compared to the measuring device 1' of the comparative example (see Figure 10). Furthermore, when the light-emitting / receiving unit 10 is connected to port 501, the control device 50 stores correction data associated with the port 501 to which the light-emitting / receiving unit 10 is connected (see Figure 4), and measures the coordinates using the light-emitting / receiving unit 10 connected to port 501 based on the correction data corresponding to port 501. This allows the control device 50 to measure the coordinates according to the characteristics of each light-emitting / receiving unit 10 connected to it.
[0062] In the third embodiment, encrypted correction data is stored in the storage unit 41 of the light-receiving unit 10. When the light-receiving unit 10 is connected to the control device 50, the control device 50 reads the encrypted correction data from the storage unit 41 of the light-receiving unit 10 and obtains the correction data by decrypting the encrypted correction data. This helps to prevent the use of counterfeit versions of the light-receiving unit 10.
[0063] The control device 50 of the first to third embodiments is configured to be connectable to a light-receiving unit 10 and includes a light-emitting control unit 51, a signal acquisition unit 52, a measurement unit 53, and a correction unit 54. When a light-receiving unit 10 is connected, the correction unit 54 acquires correction data corresponding to the light-receiving unit 10 and corrects at least one of the light-emitting control unit 51, the signal acquisition unit 52, and the measurement unit 53 based on the correction data. This makes it possible to measure coordinates based on correction data corresponding to the characteristics of the light-emitting unit 21 and the light-receiving unit 31. Furthermore, the programs of the first to third embodiments enable the control device 50 to implement a light emission control function, a signal acquisition function, a measurement function, and a correction function. This allows the coordinates to be measured based on correction data corresponding to the characteristics of the light emission unit 21 and the light receiving unit 31. It is possible to configure the aforementioned measuring device 1 by introducing such a program into the ECU (corresponding to the control device 50) of an automobile and connecting the light receiving unit 10 to the ECU.
[0064] Figures 9A and 9B are diagrams illustrating operation under predetermined conditions. In the following description, a predetermined distance is set between the light-receiving unit 10 and the object, and the measurement area 91 shown by the dotted line in the figure is set to be under certain conditions. In the following description, the state in which the first data is stored in the storage unit 41 of the light-receiving unit 10 is referred to as the "first state," and the state in which second data different from the first data is stored in the storage unit 41 is referred to as the "second state." For example, in the case of the light-receiving unit 10 of the first embodiment, correction data A is stored in the storage unit 41 in the first state, and correction data B is stored in the storage unit 41 in the second state. In the case of the light-receiving unit 10 of the second embodiment, identification number A is stored in the storage unit 41 in the first state, and identification number B is stored in the storage unit 41 in the second state. Figure 9A is an explanatory diagram of the operation when the light-receiving unit 10 is operated independently. If the measurement area 91 is under predetermined conditions, when a predetermined control signal is input to the light-receiving unit 10, a predetermined light-receiving signal is output from the light-receiving unit 10 in both the first and second states, and the light-receiving signal output from the light-receiving unit 10 does not change between the first and second states. In other words, even if the data in the memory unit 41 of the light-receiving unit 10 is rewritten, the operation of the light-receiving unit 10 independently does not change, and the light-receiving unit 10 is simply performing its predetermined operation independently. Figure 9B is an explanatory diagram of the operation when the light-receiving unit 10 shown in Figure 9A is connected to the control device 50. When the light-receiving unit 10 is connected to the control device 50 under predetermined conditions within the measurement area 91, at least one of the control signal and the measurement result (coordinates of the object) changes between the first state and the second state. In other words, even though the light-receiving unit 10 performs predetermined operations in both the first and second states (see Figure 9A), the output of the control device 50 changes between the first and second states. By examining the situations in Figures 9A and 9B, it can be verified that the data in the storage unit 41 of the light-receiving unit 10 is changing the operation of the control device 50 (correcting the operation of the control device 50).
[0065] Although embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments and includes various modifications. Furthermore, the above embodiments are described in detail to explain the configuration in an easy-to-understand manner and are not necessarily limited to those having all the configurations described. In addition, some of the configurations of the above embodiments can be added to, deleted from, or replaced with other configurations. [Explanation of Symbols]
[0066] 1. Measuring device, 1' Measuring device of comparative example, 10. Light-receiving and light-emitting units, 21 Light-emitting section, 211 Light-emitting element, 22 Optical system for light projection, 31 Light receiving section, 311 Light receiving element, 32 Light receiving optical system, 41 Memory section, 50 Control unit, 50' Control unit, 501 Port, 51 Light emission control unit, 52 Signal acquisition unit, 53 Measuring section, 54 Correction section, 60 Inspection control devices, 61 Light emission inspection device, 62 Reference light irradiation device, 63 Target plate, 70 external servers, 91 Measurement Area
Claims
1. A light-emitting unit comprising: a light-emitting unit that emits light in accordance with a control signal; a light-receiving unit that receives reflected light from the light-emitting unit and outputs a light-receiving signal; a storage unit that stores correction data; The light-receiving and light-emitting unit is connected in an interchangeable manner, and a control device is provided that outputs the control signal to the light-receiving and light-emitting unit and measures the coordinates of the reflection point that generated the reflected light based on the light-receiving signal obtained from the light-receiving and light-emitting unit. Equipped with, The control device is When the light-receiving unit is connected to the control device, the correction data is read from the storage unit of the light-receiving unit. Based on the correction data, the coordinates are measured. Measuring device.
2. A measuring device according to claim 1, The control device outputs the control signal corrected based on the correction data to the light-receiving unit. The light-emitting and receiving unit emits light from the light-emitting section corresponding to the corrected control signal. Measuring device.
3. A measuring device according to claim 1, The control device is a measuring device that corrects the received light signal based on the correction data and measures the coordinates based on the corrected received light signal.
4. A measuring device according to claim 1, The control device is a measuring device that corrects the coordinates based on the correction data.
5. A measuring device according to any one of claims 1 to 4, The control device is Multiple of the light-receiving and light-emitting units can be connected, The light receiving signal is acquired from each of the light receiving and light receiving units, and the coordinates are measured based on each of the light receiving signals. Measuring device.
6. A measuring device according to claim 5, The control device is It is equipped with multiple ports for interchangeably connecting the aforementioned light-receiving and light-emitting units, When the light-receiving unit is connected to the port of the control device, the correction data read from the light-receiving unit is stored in association with the port to which the light-receiving unit is connected. Based on the correction data corresponding to the port, the coordinates are measured using the light-receiving unit connected to the port. Measuring device.
7. A measuring device according to any one of claims 1 to 4, The aforementioned storage unit stores encrypted correction data. The control device, when the light-receiving unit is connected to the control device, reads the encrypted correction data from the storage unit of the light-receiving unit and obtains the correction data by decrypting the encrypted correction data. Measuring device.
8. A light-emitting unit comprising: a light-emitting unit that emits light in response to a control signal; a light-receiving unit that receives reflected light from the light-emitting unit and outputs a light-receiving signal; a storage unit that stores an identification number; The light-receiving and light-emitting unit is connected in an interchangeable manner, and a control device is provided that outputs the control signal to the light-receiving and light-emitting unit and measures the coordinates of the reflection point that generated the reflected light based on the light-receiving signal obtained from the light-receiving and light-emitting unit. Equipped with, The control device is When the light-receiving unit is connected to the control device, the identification number is read from the storage unit of the light-receiving unit. Correction data corresponding to the aforementioned identification number is obtained from an external server. Based on the correction data, the coordinates are measured. Measuring device.
9. A control device to which a light-emitting unit having a light-emitting section and a light-receiving section can be connected, A light emission control unit that outputs a control signal to the light receiving unit for emitting light from the light emission unit, A signal acquisition unit that acquires the light-receiving signal from the light-receiving unit to the light-receiving section, A measuring unit that measures the coordinates of the reflection point that generated the reflected light based on the received light signal, When the light-receiving unit is connected, the correction unit acquires correction data corresponding to the light-receiving unit and corrects at least one of the light-emitting control unit, the signal acquisition unit, and the measurement unit based on the correction data. Having, Control device.
10. A control device to which a light-emitting and light-receiving unit having a light-emitting section and a light-receiving section can be connected, A light emission control function that outputs a control signal to the light receiving unit for emitting light from the light-emitting unit, A signal acquisition function that acquires the light received signal from the light receiving unit to the light receiving unit, A measurement function that measures the coordinates of the reflection point that generated the reflected light based on the received light signal, When the light-receiving unit is connected, a correction function is provided to acquire correction data corresponding to the light-receiving unit and to correct at least one of the light emission control function, the signal acquisition function, and the measurement function based on the correction data. A program to achieve this.
11. A light-emitting unit that emits light in response to a control signal, a light-receiving unit that receives reflected light from the light-emitting unit and outputs a light-receiving signal, a storage unit, and a light-receiving unit having The light-receiving unit is connected in a replaceable manner, and a control device outputs the control signal to the light-receiving unit and generates a measurement result based on the light-receiving signal acquired from the light-receiving unit. Equipped with, When the state in which the first data is stored in the storage unit is defined as the first state, and the state in which a second data different from the first data is stored in the storage unit is defined as the second state, When a predetermined control signal is input to the light-receiving unit under predetermined conditions, the light-receiving signal output from the light-receiving unit does not change between the first state and the second state. When the light-receiving unit is connected to the control device under the predetermined conditions, at least one of the control signal and the measurement result changes between the first state and the second state. Measuring device.