Electromagnetic wave detection device, electromagnetic wave detection method, program, and mobile body

Abstract

This electromagnetic wave detection device (10) is provided with: an emission unit (12) that outputs an electromagnetic wave that is to be emitted to a region including a first region; a first detection unit (20) that detects a reflected wave of the electromagnetic wave reflected on the first region; and a control unit (14) that executes specific position calculation processing of calculating, on the basis of a distance acquired on the basis of the detected reflected wave, a direction toward which the electromagnetic wave is emitted, and a factor that affects the reflectance relating to the electromagnetic wave in the first region, a specific position in the first region corresponding to the distance.

Description

Electromagnetic wave detection device, electromagnetic wave detection method, program, and mobile object CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority from Japanese Patent Application No. 2023-106927 (filed June 29, 2023), the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates to an electromagnetic wave detection device, an electromagnetic wave detection method, a program, and a moving object.

[0003] In recent years, devices have been developed that detect electromagnetic waves and obtain information about the surroundings from the detection results. For example, Patent Literature 1 discloses a technology for detecting objects (obstacles, etc.) on a road using LiDAR (Light Detection and Ranging).

[0004] International Publication No. 2019 / 026715

[0005] (1) An electromagnetic wave detection device according to one embodiment of the present disclosure includes: an irradiation unit that outputs electromagnetic waves to be irradiated onto an area including a first area; a first detection unit that detects reflected waves of the electromagnetic waves reflected by the first area; and a control unit that executes a specific position calculation process that calculates a specific position, which is a position in the first area corresponding to the distance, based on a distance obtained based on the detected reflected waves, the direction in which the electromagnetic waves are irradiated, and factors that affect the reflectivity of the electromagnetic waves in the first area.

[0006] (2) As one embodiment of the present disclosure, in (1), the device further includes a deflector that changes the irradiation direction of the electromagnetic wave output by the irradiation unit.

[0007] (3) As one embodiment of the present disclosure, in (1) or (2), a second detection unit is provided that captures an image of an area including the first area, and the control unit acquires factors that affect the reflectance of the electromagnetic waves from the captured image of the first area.

[0008] (4) As an embodiment of the present disclosure, in (3), the control unit acquires a factor that affects the reflectance of the electromagnetic wave based on luminance information in the image of the first region.

[0009] (5) As an embodiment of the present disclosure, in (4), the control unit calculates the specific position based on a center position in the image of the first region and a position of a luminance center of gravity of the image.

[0010] (6) As an embodiment of the present disclosure, in any one of (1) to (5), a factor affecting the reflectance of the electromagnetic wave is the presence of regions with different reflectances of the electromagnetic wave in the first region.

[0011] (7) As an embodiment of the present disclosure, in any one of (1) to (6), the specific position calculation process is executed when the distance to the first region is equal to or greater than a predetermined distance.

[0012] (8) As an embodiment of the present disclosure, in any one of (1) to (7), the specific position calculation process is executed when an incident angle with respect to the first region is less than a predetermined angle.

[0013] (9) An electromagnetic wave detection device according to one embodiment of the present disclosure includes: an irradiation unit that outputs electromagnetic waves to be irradiated onto an area including a first area; a first detection unit that detects reflected waves of the electromagnetic waves reflected by the first area; and a control unit that executes a specific position calculation process to calculate a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the detected reflected waves, the direction in which the electromagnetic waves are irradiated, and the color of an object present in the first area.

[0014] (10) An electromagnetic wave detection device according to one embodiment of the present disclosure includes: an irradiation unit that outputs electromagnetic waves to be irradiated onto an area including a first area; a first detection unit that detects reflected waves of the electromagnetic waves reflected by the first area; and a control unit that executes a specific position calculation process that calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the detected reflected waves, the direction in which the electromagnetic waves are irradiated, and the reflectivity of an object present in the first area.

[0015] (11) An electromagnetic wave detection method according to one embodiment of the present disclosure includes the steps of: irradiating an area including a first area with electromagnetic waves; detecting a reflected wave of the electromagnetic waves reflected by the first area; and performing a specific position calculation process to calculate a specific position in the first area corresponding to the distance, based on the distance to the first area calculated based on the detected reflected wave, the direction relative to the first area, and factors that affect the reflectivity of the electromagnetic waves in the first area.

[0016] (12) A program according to an embodiment of the present disclosure calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the reflected wave of the electromagnetic wave irradiated by the irradiation unit reflected at the first area, the direction in which the electromagnetic wave was irradiated, and factors that affect the reflectivity of the electromagnetic wave in the first area.

[0017] (13) A program according to an embodiment of the present disclosure calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the reflected waves of the electromagnetic waves irradiated by the irradiation unit reflected at the first area, the direction in which the electromagnetic waves were irradiated, and the color of an object present in the first area.

[0018] (14) A program according to an embodiment of the present disclosure calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the reflected wave of the electromagnetic wave irradiated by the irradiation unit reflected at the first area, the direction in which the electromagnetic wave was irradiated, and the reflectivity of an object present in the first area.

[0019] (15) A moving body according to an embodiment of the present disclosure is equipped with the electromagnetic wave detection device according to (1), (9), or (10).

[0020] (16) As an embodiment of the present disclosure, in (15), the moving body is a vehicle, and the first area is a part of a road or road surface on which the vehicle travels.

[0021] (17) As one embodiment of the present disclosure, in (15), the moving body is a ship, and the first area is a part of a quay where the ship is docked.

[0022] (18) As one embodiment of the present disclosure, in (15), the moving body is a railway vehicle, and the first area is a part of a track on which the railway vehicle runs.

[0023] (19) As one embodiment of the present disclosure, in (15), the moving body is an aircraft, and the first area is a part of the surface of a runway on which the aircraft travels.

[0024] FIG. 1 is a diagram illustrating a schematic configuration of an electromagnetic wave detection device according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating the traveling direction of an electromagnetic wave in a first state and a second state of the electromagnetic wave detection device of FIG. 1. FIG. 3 is a diagram illustrating the detection of an electromagnetic wave including a reflected wave. FIG. 4 is a timing chart illustrating distance calculation. FIG. 5 is a diagram illustrating an example of a LiDAR pixel. FIG. 6 is a diagram illustrating that a difference in distance may occur depending on the LiDAR pixel. FIG. 7 is a diagram illustrating a specific position. FIG. 8 is a diagram illustrating calculation of coordinates of a specific position. FIG. 9 is a diagram illustrating correction for each LiDAR pixel. FIG. 10 is a diagram illustrating execution conditions for a specific position calculation process. FIG. 11 is a diagram illustrating execution conditions for a specific position calculation process. FIG. 12 is a flowchart illustrating processing of an electromagnetic wave detection method according to an embodiment of the present disclosure.

[0025] An electromagnetic wave detection device 10 (see FIG. 1 ), an electromagnetic wave detection method, a program, and a moving object according to an embodiment of the present disclosure will be described below with reference to the drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals. In the description of this embodiment, the description of identical or corresponding parts will be omitted or simplified as appropriate.

[0026] (Electromagnetic Wave Detection Device) FIG. 1 shows a schematic configuration of an electromagnetic wave detection device 10 according to this embodiment. The electromagnetic wave detection device 10 includes an irradiation system 111, a light-receiving system 110, and a control unit 14. In this embodiment, the electromagnetic wave detection device 10 functions as a distance measuring device. Furthermore, the electromagnetic wave detection device 10 may function as a driving assistance device that detects and warns of the presence of an object (ob), such as an obstacle on a road. The electromagnetic wave detection device 10 may be mounted on a mobile object, such as a vehicle traveling on a road. In this embodiment, the electromagnetic wave detection device 10 is described as having one irradiation system 111 and one light-receiving system 110, but the number of irradiation system 111 and light-receiving system 110 is not limited to one. For example, the electromagnetic wave detection device 10 may be configured such that multiple irradiation systems 111 are associated with multiple light-receiving systems 110, respectively.

[0027] The irradiation system 111 includes an irradiation unit 12 and a deflection unit 13. The light-receiving system 110 includes an incidence unit 15, a separation unit 16, a first detection unit 20, a second detection unit 17, a switching unit 18, and a post-stage optical system 19. The control unit 14 includes an image information acquisition unit 141, an irradiation control unit 143, a light-receiving control unit 144, a calculation unit 145, and a specific position calculation unit 146. Details of each functional block of the electromagnetic wave detection device 10 will be described later. In this embodiment, the first detection unit 20 and the second detection unit 17 are included in the same light-receiving system 110, but this configuration is not limited to this. For example, the first detection unit 20 and the second detection unit 17 may be included in different devices.

[0028] In the drawings, dashed lines connecting each functional block indicate the flow of control signals or communicated information. The communication indicated by the dashed lines may be wired communication or wireless communication. Furthermore, solid arrows indicate beam-shaped electromagnetic waves. Furthermore, in the drawings, an object ob is the subject of the electromagnetic wave detection device 10. The subject may include, for example, an object such as a road, a median strip, a vehicle, or fallen objects, or may also include a person. Furthermore, the number of objects ob is not limited to one. In this embodiment, the object ob particularly includes a road (road surface).

[0029] The electromagnetic wave detection device 10 can acquire an image including a subject and identify the subject by detecting waves reflected by the subject. The electromagnetic wave detection device 10 also includes a calculation unit 145 that measures the distance to the object ob, and functions as a distance measuring device as described above.

[0030] (Irradiation System) The irradiation system 111 irradiates electromagnetic waves into a space in which the object ob exists. In this embodiment, the irradiation system 111 irradiates the electromagnetic waves irradiated by the irradiation unit 12 via the deflection unit 13 toward the space in which the object ob exists.

[0031] The irradiation unit 12 irradiates at least one of infrared light, visible light, ultraviolet light, and radio waves. In this embodiment, the irradiation unit 12 irradiates electromagnetic waves in the form of narrow beams. The irradiation unit 12 also irradiates pulsed electromagnetic waves. The irradiation unit 12 may be configured to include, for example, an LED (Light Emitting Diode) as an electromagnetic wave irradiating element. The irradiation unit 12 may also be configured to include, for example, an LD (Laser Diode) as an electromagnetic wave irradiating element. The irradiation unit 12 switches between irradiating and stopping the electromagnetic waves under the control of the control unit 14.

[0032] The deflection unit 13 outputs the electromagnetic waves irradiated by the irradiation unit 12 in a plurality of different directions, thereby changing the irradiation position of the electromagnetic waves irradiated in the space where the object ob exists. In other words, the deflection unit 13 changes the irradiation direction of the electromagnetic waves irradiated by the irradiation unit 12. Output in a plurality of different directions may be achieved by reflecting the electromagnetic waves from the irradiation unit 12 while changing the orientation of the deflection unit 13. For example, the deflection unit 13 may scan the object ob in one or two dimensions with the electromagnetic waves irradiated by the irradiation unit 12.

[0033] The deflection unit 13 is configured so that at least a portion of the irradiation region, which is the space from which the electromagnetic waves are output, is included in the detection range of the electromagnetic waves in the light-receiving system 110. Therefore, at least a portion of the electromagnetic waves irradiated into the space where the object ob exists via the deflection unit 13 is reflected by at least a portion of the object ob and can be detected by the light-receiving system 110. Here, the electromagnetic waves that are irradiated by at least a portion of the object ob are referred to as reflected waves. The irradiated waves are electromagnetic waves irradiated from the irradiation system 111 into the space where the object ob exists in multiple directions.

[0034] The deflection unit 13 includes, for example, a MEMS (Micro Electro Mechanical Systems) mirror, a polygon mirror, or a galvanometer mirror.

[0035] The deflection unit 13 changes the direction in which the electromagnetic waves are reflected based on the control of the control unit 14. The deflection unit 13 may also have an angle sensor such as an encoder, and may notify the control unit 14 of the angle detected by the angle sensor as directional information in which the electromagnetic waves are reflected. In this configuration, the control unit 14 can calculate the irradiation position of the electromagnetic waves on the object ob based on the directional information acquired from the deflection unit 13. The control unit 14 can also calculate the irradiation position based on a drive signal input to the deflection unit 13 to change the direction in which the electromagnetic waves are reflected.

[0036] (Light-receiving system) Hereinafter, "electromagnetic waves including reflected waves" refers to electromagnetic waves that include waves reflected by the object ob and are incident on the light-receiving system 110. In other words, to distinguish them from irradiation waves, electromagnetic waves that are incident on the light-receiving system 110 are sometimes referred to as "electromagnetic waves including reflected waves." Electromagnetic waves including reflected waves include not only reflected waves that are electromagnetic waves irradiated from the irradiation system 111 and reflected by the object ob, but also external light such as sunlight, light that is external light reflected by the object ob, and the like.

[0037] The incident unit 15 is an optical system having at least one optical member, and forms an image of an object ob, which is a subject. The optical member includes at least one of a lens, a mirror, a diaphragm, an optical filter, and the like.

[0038] The separator 16 is provided between the incident section 15 and a primary imaging position, which is an imaging position of an image of an object ob that is a predetermined distance away from the incident section 15. The separator 16 separates the electromagnetic waves including the reflected waves according to wavelength, and separates them so that they travel in a first direction d1 or a second direction d2. The separator 16 may separate the electromagnetic waves including the reflected waves into reflected waves and electromagnetic waves excluding the reflected waves. The electromagnetic waves excluding the reflected waves may include light, such as visible light.

[0039] In this embodiment, the separator 16 reflects a portion of the electromagnetic waves, including the reflected waves, in a first direction d1 and transmits another portion in a second direction d2. In this embodiment, the separator 16 reflects visible light, which is incident on the electromagnetic waves and is generated by environmental light such as sunlight and reflected by the object ob, in the first direction d1. Furthermore, the separator 16 transmits, in the second direction d2, the electromagnetic waves irradiated by the irradiating unit 12 and reflected by the object ob. Furthermore, the separator 16 may refract or transmit a portion of the incident electromagnetic waves in the first direction d1 and refract or reflect another portion of the electromagnetic waves in the second direction d2. The separator 16 may be, for example, a half mirror, a beam splitter, a dichroic mirror, a cold mirror, a hot mirror, a metasurface, a deflecting element, or a prism.

[0040] The second detector 17 is provided on the path of the electromagnetic wave traveling in the first direction d1 from the separator 16. The second detector 17 is provided at or near the imaging position of the image of the object ob in the first direction d1. The second detector 17 detects the electromagnetic wave traveling in the first direction d1 from the separator 16.

[0041] Furthermore, the second detection unit 17 may be disposed with respect to the separation unit 16 so that a first propagation axis of the electromagnetic wave propagating in the first direction d1 from the separation unit 16 is parallel to the first detection axis of the second detection unit 17. The first propagation axis is the central axis of the electromagnetic wave propagating from the separation unit 16 in the first direction d1 while spreading radially. In this embodiment, the first propagation axis is an axis obtained by extending the optical axis of the incident unit 15 to the separation unit 16 and bending it so as to be parallel to the first direction d1 at the separation unit 16. The first detection axis is an axis that passes through the center of the detection surface of the second detection unit 17 and is perpendicular to the detection surface.

[0042] Furthermore, the second detector 17 may be arranged so that the distance between the first traveling axis and the first detection axis is equal to or less than the first distance threshold. Also, the second detector 17 may be arranged so that the first traveling axis and the first detection axis coincide with each other. In this embodiment, the second detector 17 is arranged so that the first traveling axis and the first detection axis coincide with each other.

[0043] Furthermore, the second detector 17 may be disposed with respect to the separator 16 so that the first angle formed between the first axis of travel and the detection surface of the second detector 17 is equal to or smaller than a first angle threshold or a predetermined angle. In this embodiment, the second detector 17 is disposed so that the first angle is 90°.

[0044] In this embodiment, the second detection unit 17 is a passive sensor. More specifically, in this embodiment, the second detection unit 17 includes an element array. For example, the second detection unit 17 includes an imaging element such as an image sensor or an imaging array, and captures an image formed by electromagnetic waves on a detection surface to generate image information of a space including the imaged object ob.

[0045] In this embodiment, more specifically, the second detector 17 captures an image using visible light. The second detector 17 transmits the generated image information as a signal to the controller 14. Here, the second detector 17 may capture an image using light other than visible light, such as infrared light or ultraviolet light.

[0046] The switching unit 18 is provided on the path of the electromagnetic wave traveling in the second direction d2 from the separation unit 16. The switching unit 18 is provided at or near the primary image formation position of the object ob in the second direction d2.

[0047] In this embodiment, the switching unit 18 is provided at the imaging position. The switching unit 18 has an action surface as onto which the electromagnetic wave that has passed through the incident unit 15 and the separation unit 16 is incident. The action surface as is composed of a plurality of switching elements se arranged two-dimensionally. The action surface as is a surface that causes an action, such as reflection or transmission, on the electromagnetic wave in at least one of a first state and a second state described below.

[0048] The switching unit 18 can switch, for each switching element se, between a first state in which the electromagnetic wave incident on the action surface as travels in the third direction d3 and a second state in which the electromagnetic wave travels in the fourth direction d4. In this embodiment, the first state is a first reflection state in which the electromagnetic wave incident on the action surface as is reflected in the third direction d3. The second state is a second reflection state in which the electromagnetic wave incident on the action surface as is reflected in the fourth direction d4.

[0049] In this embodiment, more specifically, the switching unit 18 includes a reflective surface that reflects electromagnetic waves for each switching element se. The switching unit 18 switches between the first reflective state and the second reflective state for each switching element se by arbitrarily changing the orientation of the reflective surface for each switching element se.

[0050] The switching unit 18 may be, for example, a DMD (Digital Micromirror Device). The DMD can switch the inclination of the reflecting surface of each switching element se to either +12° or −12° with respect to the acting surface as by driving the tiny reflecting surfaces that make up the acting surface as. The acting surface as is parallel to the surface of the substrate on which the tiny reflecting surfaces of the DMD are mounted.

[0051] The switching unit 18 switches between the first state and the second state for each switching element se under the control of the control unit 14. For example, as shown in FIG. 2 , the switching unit 18 can cause the electromagnetic wave incident on the switching element se1 to travel in the third direction d3 by switching some switching elements se1 to the first state. The switching unit 18 can also cause the electromagnetic wave incident on the switching element se2 to travel in the fourth direction d4 by simultaneously switching some other switching elements se2 to the second state. More specifically, the control unit 14 detects the direction or position of the electromagnetic wave irradiation based on the direction information from the deflection unit 13. Then, the control unit 14 sets the switching element se1 to the first state and the other switching elements se2 to the second state according to the detected direction or position of the electromagnetic wave irradiation, thereby selectively causing the reflected wave from the object ob to travel in the third direction d3. Of the electromagnetic waves that have passed through the separation unit 16 , those other than the reflected waves from the object ob travel in the fourth direction d4 and are therefore not incident on the first detection unit 20 .

[0052] 1 , the rear optical system 19 is disposed in a third direction d3 from the switching unit 18. The rear optical system 19 includes, for example, at least one of a lens and a mirror. The rear optical system 19 forms an image of the object ob as an electromagnetic wave whose traveling direction has been switched by the switching unit 18.

[0053] The first detection unit 20 detects the reflected wave. The first detection unit 20 is disposed at a position where it can detect the electromagnetic wave that travels in the third direction d3 by the switching unit 18 and then travels via the post-stage optical system 19. The first detection unit 20 detects the electromagnetic wave that has traveled via the post-stage optical system 19, i.e., the electromagnetic wave that has traveled in the third direction d3, and outputs a detection signal.

[0054] Furthermore, the first detection unit 20 may be arranged together with the switching unit 18 so that the second propagation axis of the electromagnetic wave, which propagates from the separation unit 16 in the second direction d2 and whose propagation direction has been switched to the third direction d3 by the switching unit 18, is parallel to the second detection axis of the first detection unit 20. The second propagation axis is the central axis of the electromagnetic wave propagating while spreading radially from the switching unit 18 in the third direction d3. In this embodiment, the second propagation axis is an axis obtained by extending the optical axis of the incident unit 15 to the switching unit 18 and bending it at the switching unit 18 so as to be parallel to the third direction d3. The second detection axis is an axis that passes through the center of the detection surface of the first detection unit 20 and is perpendicular to the detection surface.

[0055] Furthermore, the first detection unit 20 may be arranged so that the distance between the second propagation axis and the second detection axis is equal to or less than a second distance threshold. The second distance threshold may be the same as or different from the first distance threshold. Furthermore, the first detection unit 20 may be arranged so that the second propagation axis and the second detection axis coincide with each other. In this embodiment, the first detection unit 20 is arranged so that the second propagation axis and the second detection axis coincide with each other.

[0056] Furthermore, the first detector 20 may be disposed so that a second angle formed between the second axis of travel and the detection surface of the first detector 20 is equal to or smaller than a second angle threshold or a predetermined angle. The second angle threshold may be the same as or different from the first angle threshold. In this embodiment, the first detector 20 is disposed so that the second angle is 90°.

[0057] In this embodiment, the first detection unit 20 is an active sensor that detects reflected waves of electromagnetic waves irradiated from the irradiation unit 12 toward the target ob. The first detection unit 20 includes a single element such as an APD (Avalanche Photodiode), a PD (Photodiode), or a ranging image sensor. Alternatively, the first detection unit 20 may include an element array such as an APD array, a PD array, a ranging imaging array, or a ranging image sensor.

[0058] In this embodiment, the first detector 20 transmits detection information indicating that a reflected wave from the subject has been detected to the controller 14 as a signal.

[0059] Furthermore, in this embodiment, the first detection unit 20 is used as a detection element for measuring the distance to the object ob. In other words, the first detection unit 20 is an element that constitutes a distance measurement sensor. Therefore, the first detection unit 20 does not need to be provided at the secondary imaging position, which is the imaging position by the post-stage optical system 19. The first detection unit 20 may be placed anywhere on the path of the electromagnetic wave that travels in the third direction d3 by the switching unit 18 and then travels via the post-stage optical system 19, as long as the first detection unit 20 is located at a position where electromagnetic waves from all angles of view can be incident on the detection surface.

[0060] With the above-described configuration, the electromagnetic wave detection device 10 aligns a predetermined position on an image with the optical axis of a reflected wave for measuring the distance to that position.

[0061] FIG. 3 is a diagram illustrating the detection of electromagnetic waves including reflected waves. In FIG. 3 , the space in which the object ob exists is divided into a grid-like section based on the number of times per frame that the irradiation system 111 irradiates electromagnetic waves. Generally, the time required to detect one frame of electromagnetic waves including reflected waves is longer than the time required to acquire one frame of image using an image sensor or the like. For example, an image sensor can acquire 30 frames of 1920 x 1080 pixel images per second. Meanwhile, the time required to measure distance by receiving reflected waves from the irradiated electromagnetic waves depends on the distance measurable by the electromagnetic wave detection device 10. For example, one point (each range of the space divided into a grid-like section in FIG. 3 ) may take approximately 20 μs. Therefore, the number of points (number of points) at which distance information is acquired by receiving reflected waves from the space is smaller than 1920 x 1080 per frame.

[0062] In the example of FIG. 3 , a beam-shaped electromagnetic wave emitted from the irradiation unit 12 is reflected by the deflection unit 13 and enters one region R in space as an irradiation wave. The irradiation wave is, for example, infrared light. Electromagnetic waves (e.g., infrared light) including a reflected wave reflected by an object ob present in region R are incident on the incidence unit 15. The electromagnetic waves including the reflected wave also include visible light resulting from external light being reflected by an object ob present in region R. The separation unit 16 reflects visible light from the electromagnetic waves including the reflected wave in a first direction d1. The reflected visible light is detected by the second detection unit 17. The separation unit 16 also transmits infrared light from the electromagnetic waves including the reflected wave in a second direction d2. The infrared light that passes through the separation unit 16 is reflected by the switching unit 18, and at least a portion of the infrared light travels in a third direction d3. The infrared light traveling in the third direction d3 passes through a post-stage optical system 19 and is detected by the first detection unit 20.

[0063] In the following description, each of the grid-like areas (referred to above as points) in FIG. 3 is referred to as a LiDAR pixel. In other words, a LiDAR pixel is the smallest unit constituting multiple pieces of distance information acquired by reflected waves of electromagnetic waves emitted multiple times per frame. In the case of a scanning LiDAR electromagnetic wave detection device 10 using a DMD as the switching unit 18, one range in which the DMD's micromirror is deflected toward the first detection unit 20 corresponds to one LiDAR pixel. In the case of a scanning LiDAR electromagnetic wave detection device 10 not using a DMD, one position at which distance is acquired corresponds to one LiDAR pixel. In another embodiment, the electromagnetic wave detection device 10 may be a flash LiDAR that emits diffused electromagnetic waves. In the case of a flash LiDAR electromagnetic wave detection device 10, one LiDAR pixel corresponds to the irradiation area of ​​the irradiated light corresponding to the reflected light incident to obtain depth (D).

[0064] (Controller) The irradiation controller 143 controls the irradiation system 111. The irradiation controller 143, for example, causes the irradiation unit 12 to switch between irradiating and stopping the electromagnetic wave. The irradiation controller 143, for example, causes the deflector 13 to change the direction in which the electromagnetic wave is reflected.

[0065] In this embodiment, the irradiation unit 12 of the irradiation system 111 irradiates electromagnetic waves in a plurality of different directions via the deflection unit 13. The electromagnetic waves are irradiated in a certain direction at a certain timing, and the irradiated area (irradiation area) in this case may be referred to as a first area. The first area is an irradiation area corresponding to one of the LiDAR pixels. In this embodiment, the irradiation unit 12 irradiates an area including the first area with electromagnetic waves.

[0066] The image information acquisition unit 141 acquires image information of an area including the first area from the second detection unit 17. The image information is, for example, an image in which the luminance value of each pixel has been detected, and includes a color image (RGB image), a monochrome image, etc.

[0067] The light-receiving control unit 144 controls the light-receiving system 110. For example, the light-receiving control unit 144 causes the switching unit 18 to switch between the first state and the second state for each switching element se.

[0068] The calculation unit 145 calculates the distance to the object ob based on the detection information from the first detection unit 20. In other words, the first detection unit 20 detects reflected waves of electromagnetic waves reflected in the first region. The calculation unit 145 acquires the detection information from the first detection unit 20 and calculates the distance to the object ob in the first region. The object ob includes the road surface in the first region. The calculation unit 145 can calculate the distance based on the acquired detection information using, for example, a ToF (Time-of-Flight) method.

[0069] As shown in FIG. 4 , the control unit 14 inputs an electromagnetic wave emission signal to the irradiation unit 12, thereby causing the irradiation unit 12 to emit pulsed electromagnetic waves (see the “Electromagnetic Wave Emission Signal” column). The irradiation unit 12 emits electromagnetic waves based on the input electromagnetic wave emission signal (see the “Irradiation Amount of Irradiation Unit” column). The electromagnetic waves emitted by the irradiation unit 12 and reflected by the deflection unit 13 and irradiated onto the irradiation area, which is the space in which the object ob exists, are reflected in the irradiation area. The control unit 14 switches at least some of the switching elements se in the imaging area of ​​the switching unit 18 for the reflected wave from the irradiation area to a first state in advance, and switches the other switching elements se to a second state. Then, when the first detection unit 20 detects the electromagnetic waves reflected in the irradiation area (see the “Detected Amount of Electromagnetic Waves” column), it notifies the control unit 14 of the detection information.

[0070] The calculation unit 145 acquires the above-mentioned signal information including the detection information. The calculation unit 145 includes, for example, a time measurement LSI (Large Scale Integrated circuit) and measures the time ΔT from the time T1 when the irradiation unit 12 irradiates the electromagnetic waves to the time T2 when the detection information is acquired (see the "Detection Information Acquisition" section). The calculation unit 145 multiplies the time ΔT by the speed of light and divides by 2 to calculate the distance to the irradiation position.

[0071] Here, as shown in FIG. 5 , the illumination area corresponding to one LiDAR pixel may contain multiple portions with different reflectivities. That is, the first area may contain elements that affect the reflectivity of the electromagnetic waves. An example of an element that affects the reflectivity of the electromagnetic waves is the presence of an element with a reflectivity that differs from the reflectivity of the majority of the illumination area. In the example of FIG. 5 , the electromagnetic wave reflectivity differs between the white line drawn on the road surface and the road surface. The illumination area corresponding to the first LiDAR pixel is an almost uniform gray color throughout. In contrast, the illumination area corresponding to the second LiDAR pixel is white due to the white line in the foreground, and the area behind it is gray. Although the distance to the position of the first LiDAR pixel and the distance to the position of the second LiDAR pixel are almost the same, there may be a difference in the distance calculated by the calculation unit 145. As shown in FIG. 6 , the peak of the reflected light intensity (corresponding to the electromagnetic wave detection amount in FIG. 4 ) at the first LiDAR pixel, which has almost the same reflectivity throughout, is used as the reference time for acquiring the reflected light. The horizontal axis represents the time since the electromagnetic waves were emitted. Because the reflected light intensity of the white light in front of the second LiDAR pixel is high, the reflected light intensity peaks at a timing that is shifted from the reference. Therefore, even though the distances are approximately the same, the distance calculated for the second LiDAR pixel is calculated to be different from that for the first LiDAR pixel (shorter in the example of Figure 6). In this case, when a 3D map is generated using the distance calculated by the electromagnetic wave detection device 10 as the distance to the center position of the irradiation area corresponding to the LiDAR pixel, the road surface is mapped in the second LiDAR pixel so that it is shifted upward. In other words, an incorrect 3D map is generated in which a part of the flat road surface appears to protrude in the vertical direction. Generating a correct 3D map is particularly important when the electromagnetic wave detection device 10 functions as a driving assistance device to detect obstacles, etc.

[0072] Based on the brightness information in the image, the specific position calculation unit 146 calculates the correct position, i.e., the specific position in the first region corresponding to the distance calculated by the calculation unit 145, when there is a factor in the first region that affects the reflectance of the electromagnetic waves. The specific position is calculated based on the distance to the first region calculated based on the detected reflected waves, the direction relative to the first region, and the factor that affects the reflectance of the electromagnetic waves in the first region. The process by which the specific position calculation unit 146 calculates the specific position is referred to as a specific position calculation process. In addition to the specific position calculation process, the specific position calculation unit 146 may have a function to generate a three-dimensional map based on the calculated specific position. The three-dimensional map may be used to detect obstacles, etc., as described above, or may be output to a display device of the vehicle and used by a passenger to check the road ahead.

[0073] The specific position calculation process is described in detail below. The reason for the deviation in distance due to the influence of high reflectivity areas is that the calculation is performed assuming that the calculated distance is the distance to the center of the area corresponding to the LiDAR pixel. In other words, since the direction of irradiation of the beam directed by the deflection unit 13 is the center of the area corresponding to the LiDAR pixel, the distance calculated by the calculation unit 145 is treated as the distance to the center of the first area in the direction of irradiation of the electromagnetic waves. Therefore, if there is an element in the first area that affects the reflectivity of the electromagnetic waves and the peak of the reflected light intensity used to calculate the distance is shifted from the center of the first area, the calculated distance will be inaccurate. As shown in FIG. 7 , the specific position calculation process corrects the position corresponding to the distance calculated by the calculation unit 145 from the center of the first area (the center of the area corresponding to the LiDAR pixel) to the correct position (specific position) corresponding to the calculated distance. Here, the specific position may be the position of the space or object ob irradiated with the electromagnetic waves, corresponding to the luminance center of gravity of the image of the area corresponding to the LiDAR pixel.

[0074] The specific position calculation unit 146 acquires the distance to the first region from the calculation unit 145. The specific position calculation unit 146 may acquire direction information for emitting electromagnetic waves from the deflection unit 13 or information related to control of the direction of emitting electromagnetic waves from the irradiation control unit 143 to identify the direction relative to the first region. As described above, the direction corresponds to the direction toward the center position of the first region. Furthermore, the specific position calculation unit 146 may acquire an image of an area including the first region from the image information acquisition unit 141 and identify factors affecting the reflectance of electromagnetic waves in the first region. That is, the specific position calculation unit 146 may extract factors affecting the reflectance of electromagnetic waves from the image information. In this embodiment, factors affecting the reflectance of electromagnetic waves are identified based on the presence of pixels with different luminances in the image of the first region, but are not limited to luminance. As another example, factors affecting the reflectance of electromagnetic waves may be identified based on the presence of pixels of a specific color (e.g., red) in the image. In this embodiment, the specific position calculation unit 146 calculates a position corresponding to the center of gravity of brightness in the first region as the specific position. A binarization or multi-value processing may be performed to identify high-brightness areas. Information regarding the electromagnetic wave reflectance for each object color or object type may be stored in advance in a storage medium accessible by the control unit. In a configuration in which the irradiation unit is capable of irradiating electromagnetic waves of multiple different wavelengths, the information regarding the electromagnetic wave reflectance stored in the storage medium may be stored for each of the multiple wavelengths that the irradiation unit can irradiate.

[0075] The method by which the specific position calculation unit 146 calculates the direction of the specific position is described below. In this embodiment, the angular range of the first region corresponding to the LiDAR pixel is known. Here, the angular range of the first region may be the spread angle of a portion of the electromagnetic wave beam that is diffused in the up / down and left / right directions and irradiated onto the first region and used to measure the distance to the object ob. When all of the reflected waves of the electromagnetic wave beam irradiated onto the first region are used to measure the distance to the first region, the angular range of the first region may be the spread angle of the beam.

[0076] Here, when the electromagnetic wave detection device 10 uses a portion of the reflected waves of the electromagnetic wave beam irradiated onto the first region for measuring the distance to the first region, the angular range of the first region may be the beam divergence angle. For example, the electromagnetic wave detection device 10 may use a portion of the reflected waves incident on the action surface as for measuring the distance to the first region by selecting, from the switching elements se1 of the switching unit 18, a switching element se1 that is to be set to the first reflection state. In this case, the divergence angle of a portion of the electromagnetic wave beam irradiated onto the first region that corresponds to the portion of the reflected waves may be the angular range of the first region.

[0077] To calculate the direction of the specific position, the specific position calculation unit 146 calculates the difference in the x and y directions (i.e., the up-down and left-right directions in the image) between the center position of the first region corresponding to the LiDAR pixel and the position of the luminance center of gravity. The specific position calculation unit 146 calculates a correction amount to be applied to the beam irradiation direction (irradiation angle) based on the angle range of the first region corresponding to the LiDAR pixel and the difference between the center position of the first region corresponding to one LiDAR pixel and the position of the luminance center of gravity. The specific position calculation unit 146 uses this correction amount to correct the irradiation direction of the electromagnetic wave indicated by the directional information toward the specific position.

[0078] More specifically, the image range of the first region corresponding to the LiDAR pixel is an area that extends 0.4° left and right and 0.1° up and down as viewed from the electromagnetic wave detection device 10, and the luminance center of gravity is shifted 25% to the right and downward from the center position of the image. In this case, the correction amount is the angle corresponding to this shift. Therefore, the direction of the specific position is a direction that is shifted 0.1° to the right and 0.025° downward from the irradiation direction of the electromagnetic wave indicated by the direction information (i.e., the center of the first region).

[0079] The specific position calculation unit 146 may calculate the coordinates of the specific position using spherical coordinates. In the example of FIG. 8 , the z-axis direction corresponds to the traveling direction of the mobile body on which the electromagnetic wave detection device 10 is mounted. The y-axis direction corresponds to the height direction of the mobile body. The x-axis direction corresponds to the left-right direction (width direction) of the mobile body. The specific position calculation unit 146 determines the distance to the specific position (s) by setting the origin as the position of the electromagnetic wave detection device 10. The distance to the first region acquired from the calculation unit 145 can be used as the distance to the specific position. The specific position calculation unit 146 determines the angle θ between the radius vector to the specific position and the z-axis. The specific position calculation unit 146 also determines the angle φ between the projection of the radius vector to the specific position onto the xy plane and the x-axis. The angles θ and φ are angles indicating the direction obtained by correcting the electromagnetic wave irradiation direction indicated by the direction information using a correction value by the specific position calculation unit 146. Here, the specific position calculation unit 146 may convert the spherical coordinates of the specific position into three-dimensional Cartesian coordinates as follows. The specific position calculation unit 146 may calculate the x coordinate using R sin θ cos φ, where R is the distance to the specific position. The specific position calculation unit 146 may calculate the y coordinate using R sin θ sin φ. Furthermore, the specific position calculation unit 146 may calculate the z coordinate using R cos θ.

[0080] 9 is a conceptual diagram of correction for each LiDAR pixel. The specific position calculation unit 146 calculates the coordinates (s1, s2, s3) of the specific position corresponding to each calculated distance (d1, d2, d3) for each LiDAR pixel (p11, p12, p13). The specific position calculation unit 146 may perform the specific position calculation process for all LiDAR pixels.

[0081] Here, the distance deviation caused by the influence of high-reflectivity areas has a greater effect the farther away the target is. For example, if the lateral spread angle of the electromagnetic waves irradiated toward the target is 0.3°, the spread of the irradiation area at a distance of 100 m corresponds to approximately 40 cm. Furthermore, if the vertical spread angle of the electromagnetic waves irradiated toward the target is 0.1°, the spread of the irradiation area at a distance of 100 m corresponds to approximately 10 cm. Therefore, it is preferable that the distance deviation at a distant location be appropriately corrected by the specific position calculation process. In contrast, at sufficiently close distances, the distance deviation caused by the influence of high-reflectivity areas is only a few centimeters and can be treated as an error. Therefore, as shown in FIG. 10 , a predetermined distance (Lt) may be set as a distance threshold. The specific position calculation unit 146 may then execute the specific position calculation process when the distance to the first area is equal to or greater than the predetermined distance. In other words, the specific position calculation unit 146 need not execute the specific position calculation process when the distance to the first area is less than the predetermined distance. The predetermined distance may be, for example, 30 m. By executing the specific position calculation process according to the execution conditions in this way, the calculation load on the control unit 14 can be reduced compared to when the specific position calculation process is executed uniformly.

[0082] Here, the execution condition can be determined by the incident angle (α) with respect to the first region. For example, as shown in FIG. 11 , if the installation position (h) of the electromagnetic wave detection device 10 is low or the road is inclined, the incident angle (α) may be small even for a first region located less than a predetermined distance (Lt). That is, the incident angle (α) may be small, as in the case of the example of FIG. 10 where the first region is located far away. Therefore, it is more preferable to use an execution condition regarding the incident angle (α). The specific position calculation unit 146 may execute the specific position calculation process when the incident angle (α) with respect to the first region is less than a predetermined angle. In other words, the specific position calculation unit 146 may not execute the specific position calculation process when the incident angle (α) with respect to the first region is equal to or greater than a predetermined angle. The predetermined angle may be 10°, for example. Here, information on whether or not the road is inclined may be obtained using, for example, map information.

[0083] The control unit 14 may control the timing of irradiating the electromagnetic waves by the irradiating unit 12 so as not to irradiate an area including a plurality of locations with different reflectances, based on image information of the space including the object ob photographed by the second detecting unit 17. Specifically, the control unit 14 may control so as not to irradiate the electromagnetic waves to an area in the first area where white lines and the road surface are mixed.

[0084] The control unit 14 may control the intensity of the electromagnetic waves emitted by the irradiation unit 12 based on the proportion of areas with different electromagnetic wave reflectances included in the area to which the electromagnetic waves are irradiated, based on image information of the space including the object ob photographed by the second detection unit 17. Specifically, the control unit 14 may control the intensity of the irradiated electromagnetic waves so that the intensity increases as the size of the road surface area relative to the size of the white line area included in the first area increases.

[0085] Here, the control unit 14 may include one or more processors. The processor may load a program from an accessible memory and operate as the image information acquisition unit 141, the irradiation control unit 143, the light reception control unit 144, the calculation unit 145, and the specific position calculation unit 146. The processor may include at least one of a general-purpose processor that loads a specific program and executes a specific function, and a dedicated processor specialized for specific processing. The dedicated processor may include an application-specific integrated circuit (ASIC). The processor may include a programmable logic device (PLD). The PLD may include an FPGA (Field-Programmable Gate Array). The control unit 14 may include at least one of a System-on-a-Chip (SoC) and a System-in-a-Package (SiP) in which one or more processors work together.

[0086] (Electromagnetic Wave Detection Method) The electromagnetic wave detection device 10 executes the process of the electromagnetic wave detection method according to this embodiment, for example, in accordance with the flowchart of Fig. 12. The process shown in Fig. 12 shows the process for one LiDAR pixel. The process shown in Fig. 12 may be executed for each of all LiDAR pixels.

[0087] The irradiating unit 12 irradiates an area including the first area with electromagnetic waves (step S1).

[0088] The first detector 20 detects the electromagnetic wave reflected from the first region (step S2).

[0089] The control unit 14 determines whether the execution condition for the specific position calculation process is satisfied (step S3). The execution condition may be that the distance to the first region is equal to or greater than a predetermined distance, as described above. Alternatively, the execution condition may be that the incident angle with respect to the first region is less than a predetermined angle, as described above.

[0090] If the execution condition is satisfied (Yes in step S3), the control unit 14 executes the specific position calculation process (step S4). After the specific position calculation process is executed, or if the execution condition is not satisfied (No in step S3), the series of processes ends.

[0091] As described above, the electromagnetic wave detection device 10, the electromagnetic wave detection method, the program, and the moving object according to the present embodiment can calculate a specific position corresponding to distance information by using the above-described configuration, and therefore can generate an accurate three-dimensional map or the like based on the calculated distance information.

[0092] (Modifications) The present disclosure has been described based on the drawings and examples, but it should be noted that those skilled in the art can easily make various modifications and alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included in the scope of the present disclosure.

[0093] In the above embodiment, the electromagnetic wave detection device 10 is configured to generate distance information using Direct ToF, which irradiates a laser beam and directly measures the time it takes for the beam to return, as described above. However, the electromagnetic wave detection device 10 is not limited to this configuration. For example, the electromagnetic wave detection device 10 may generate distance information using Flash ToF, which irradiates electromagnetic waves radially (i.e., in multiple directions simultaneously) at a constant cycle and indirectly measures the time it takes for the beam to return from the phase difference between the irradiated electromagnetic wave and the returned electromagnetic wave. Alternatively, the electromagnetic wave detection device 10 may generate distance information using another ToF method, such as Phased ToF.

[0094] In the above embodiment, the switching unit 18 can switch the traveling direction of the electromagnetic wave incident on the action surface as between two directions, but it may be possible to switch between three or more directions instead of switching between two directions.

[0095] In the switching unit 18 of the above embodiment, the first state and the second state are a first reflection state in which the electromagnetic wave incident on the action surface as is reflected in the third direction d3 and a second reflection state in which the electromagnetic wave is reflected in the fourth direction d4, respectively, but other modes may be used. For example, the first state may be a transmission state in which the electromagnetic wave incident on the action surface as is transmitted and travels in the third direction d3.

[0096] In the above embodiment, the electromagnetic wave detection device 10 has a configuration in which the second detection unit 17 is a passive sensor and the first detection unit 20 is an active sensor. However, the electromagnetic wave detection device 10 is not limited to this configuration. For example, in the electromagnetic wave detection device 10, effects similar to those of the above embodiment can be obtained whether the second detection unit 17 and the first detection unit 20 are both active sensors or both passive sensors.

[0097] In the above embodiment, the electromagnetic wave detection device 10 aligns the optical axis of a predetermined position on an image with the optical axis of the reflected wave for measuring the distance to that position. However, if the predetermined position on an image and the irradiation range of the electromagnetic wave irradiated to obtain the reflected wave for measuring the distance to that position are associated in advance, the optical axis does not need to be aligned.

[0098] In this embodiment, a white line painted on a road is used as an example of an element that affects the reflectance of electromagnetic waves, but this is not limited to this, and various objects present in the first area where the electromagnetic waves are irradiated are conceivable. As an example, elements that affect the reflectance of electromagnetic waves include paint with letters or drawings on the first area, metal or glass objects present in the first area, and puddles or ice present in the first area. Furthermore, the first area is not limited to the road surface, and may be an area of ​​any object, such as an oncoming vehicle, an obstacle, a guardrail, or a wall.

[0099] In the present embodiment, the method for identifying factors affecting the reflectance of electromagnetic waves from an image of an area including the first area has been described using pixel brightness or color as an example, but this is not limited thereto, and various other methods are conceivable. As an example, object recognition may be performed on the image of the area including the first area to identify existing objects and obtain the reflectance of the objects. The general reflectance of objects may be stored in advance in a storage medium accessible by the control unit.

[0100] In the present embodiment, the electromagnetic wave detection device 10 is mounted on a vehicle as an example of a moving body, but the present invention is not limited to this. Possible devices on which the electromagnetic wave detection device 10 may be mounted include aircraft, ships, trains, motorcycles, bicycles, AGVs (automated guided vehicles), AMRs (autonomous mobile transport robots), picking robots, general-purpose robots, etc.

[0101] When the electromagnetic wave detection device 10 is installed on an aircraft, the present disclosure can be applied to measuring the distance to the runway along which the aircraft travels (used for takeoff and landing). The runway surface may contain objects with a different electromagnetic wave reflectivity than the road surface, such as embedded lights, runway signs, and guide markings. When such objects are included in the first region, a specific position corresponding to distance information can be calculated by using the electromagnetic wave detection device 10, electromagnetic wave detection method, program, and mobile object according to this embodiment. Therefore, an accurate three-dimensional map, etc., can be generated based on the calculated distance information.

[0102] When the electromagnetic wave detection device 10 is installed on a ship, the present disclosure can be applied to measuring distances to a pier when docking, measuring distances to other ships, etc. The quay where a ship docks may contain fenders, mooring ropes, mooring rings, etc. Fenders may have a lower electromagnetic wave reflectivity than the concrete portion of the quay. Mooring rings may have a higher electromagnetic wave reflectivity than the concrete portion of the quay. When these objects are included in the first area, a specific position corresponding to distance information can be calculated using the electromagnetic wave detection device 10, electromagnetic wave detection method, program, and mobile object according to this embodiment. Furthermore, because the mooring rope connects the ship to the mooring ring on the quay, the distance to the ship may be significantly closer than the quay. When the mooring rope is included in the first area, accurate distance information may not be obtained. The control unit 14 may control the timing of electromagnetic wave irradiation by the irradiation unit 12 based on image information of the space including the object ob captured by the second detection unit 17 so as not to irradiate the area including the mooring rope.

[0103] When the electromagnetic wave detection device 10 is mounted on a railway vehicle, the present disclosure can be applied to measuring distances to the railroad tracks on which the vehicle is running or the surrounding area.

[0104] When the electromagnetic wave detection device 10 is mounted on a motorcycle, bicycle, or the like, the present disclosure can be applied to measuring distances to roads and sidewalks on which the vehicle is traveling.

[0105] When the electromagnetic wave detection device 10 is mounted on an AGV, an AMR, or the like, the present disclosure can be applied to measuring distances to the road surface on which the vehicle is traveling.

[0106] When the electromagnetic wave detection device 10 is mounted on a picking robot or general-purpose robot, the present disclosure can be applied to measuring distances to a workpiece to be picked, a road surface on which the workpieces are piled, or a container. For example, if the workpiece is a component made of a combination of different materials, the first area on the workpiece irradiated with electromagnetic waves by the electromagnetic wave detection device 10 may contain multiple different substances. Using the electromagnetic wave detection device 10, electromagnetic wave detection method, program, and mobile object according to this embodiment, a specific position corresponding to distance information can be calculated. Alternatively, the control unit 14 may control the timing of electromagnetic wave irradiation by the irradiation unit 12 based on image information of the space including the target ob captured by the second detection unit 17 so as not to irradiate areas on the workpiece where different substances are exposed.

[0107] In the present embodiment, the electromagnetic wave detection device 10 is mounted on a mobile object, but the present invention is not limited to this. Examples of devices on which the electromagnetic wave detection device 10 is mounted include monitoring devices and roadside units.

[0108] When the electromagnetic wave detection device 10 is mounted on a monitoring device, the present disclosure can be applied to measuring distances to monitoring targets present in indoor and outdoor surrounding areas. Here, the monitoring targets are not limited to outdoor roads, sidewalks, quays, railroad tracks, railroad crossings, or runways, indoor corridors, or room floors, but may also be moving objects, people, animals, or objects installed in the surrounding areas.

[0109] When the electromagnetic wave detection device 10 is mounted on a roadside unit installed on the side of a road, the present disclosure can be applied to measuring distances to road surfaces in the surrounding area, such as roads and sidewalks, on which moving objects, pedestrians, etc. can move.

[0110] While the solutions of the present disclosure have been described as an apparatus and a method, the present disclosure can also be realized as aspects including these. The present disclosure can also be realized as a storage medium on which a program substantially equivalent to these is recorded, and it should be understood that these are also included within the scope of the present disclosure.

[0111] REFERENCE SIGNS LIST 10 Electromagnetic wave detection device 12 Irradiation unit 13 Deflection unit 14 Control unit 15 Incident unit 16 Separation unit 17 Second detection unit 18, 181 Switching unit 19 Post-stage optical system 20 First detection unit 60 Space image 61 Image of first region 110 Light receiving system 111 Irradiation system 141 Image information acquisition unit 143 Irradiation control unit 144 Light receiving control unit 145 Calculation unit 146 Specific position calculation unit as Action surface d1, d2, d3, d4 First direction, second direction, third direction, fourth direction ob Object

Claims

1. an irradiation unit that outputs electromagnetic waves to be irradiated onto an area including the first area; a first detection unit that detects a reflected wave of the electromagnetic wave reflected at the first area; An electromagnetic wave detection device comprising: a control unit that executes a specific position calculation process that calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance obtained based on the detected reflected wave, the direction in which the electromagnetic wave is irradiated, and factors that affect the reflectivity of the electromagnetic wave in the first area.

2. The electromagnetic wave detection device according to claim 1 , further comprising a deflection unit that changes the irradiation direction of the electromagnetic wave output by the irradiation unit.

3. a second detection unit that captures an image of an area including the first area; The electromagnetic wave detection device according to claim 1 , wherein the control unit acquires a factor that affects the reflectance of the electromagnetic wave from the captured image of the first region.

4. The electromagnetic wave detection device according to claim 3 , wherein the control unit acquires a factor that affects the reflectance of the electromagnetic wave based on luminance information in the image of the first region.

5. The electromagnetic wave detection device according to claim 4 , wherein the control unit calculates the specific position based on a center position in the image of the first region and a position of a luminance center of gravity of the image.

6. 3. The electromagnetic wave detection device according to claim 1, wherein a factor affecting the reflectance of the electromagnetic wave is the presence of regions in the first region that have different reflectances of the electromagnetic wave.

7. The electromagnetic wave detection device according to claim 1 , wherein the specific position calculation process is executed when the distance to the first region is equal to or greater than a predetermined distance.

8. The electromagnetic wave detection device according to claim 1 , wherein the specific position calculation process is executed when an incident angle with respect to the first region is less than a predetermined angle.

9. an irradiation unit that outputs electromagnetic waves to be irradiated onto an area including the first area; a first detection unit that detects a reflected wave of the electromagnetic wave reflected at the first area; An electromagnetic wave detection device comprising: a control unit that executes a specific position calculation process that calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the detected reflected wave, the direction in which the electromagnetic wave is irradiated, and the color of an object present in the first area.

10. an irradiation unit that outputs electromagnetic waves to be irradiated onto an area including the first area; a first detection unit that detects a reflected wave of the electromagnetic wave reflected at the first area; An electromagnetic wave detection device comprising: a control unit that executes a specific position calculation process that calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the detected reflected wave, the direction in which the electromagnetic wave is irradiated, and the reflectivity of an object present in the first area.

11. irradiating an area including the first area with electromagnetic waves; detecting a reflected wave of the electromagnetic wave reflected at the first area; an electromagnetic wave detection method comprising: a step of executing a specific position calculation process to calculate a specific position in the first region corresponding to the distance based on the distance to the first region calculated based on the detected reflected wave, the direction relative to the first region, and factors that affect the reflectivity of the electromagnetic wave in the first region.

12. A program that calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the reflected wave of the electromagnetic wave irradiated by the irradiation unit reflected at the first area, the direction in which the electromagnetic wave was irradiated, and factors that affect the reflectivity of the electromagnetic wave in the first area.

13. A program that calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the reflected waves of electromagnetic waves irradiated by an irradiation unit reflected from the first area, the direction in which the electromagnetic waves were irradiated, and the color of an object present in the first area.

14. A program that calculates a specific position, which is a position in the first area corresponding to the distance, based on the distance to the first area obtained based on the reflected wave of the electromagnetic wave irradiated by the irradiation unit reflected from the first area, the direction in which the electromagnetic wave was irradiated, and the reflectivity of an object present in the first area.

15. A mobile object equipped with the electromagnetic wave detection device according to claim 1 , 9 or 10 .

16. The moving object is a vehicle, The first area is a part of a road or road surface on which the vehicle travels. The moving body according to claim 15.

17. The moving body is a ship, The first area is a part of a quay where the ship docks. The moving body according to claim 15.

18. The moving body is a railway vehicle, The first area is a part of a track on which the railway vehicle travels. The moving body according to claim 15.

19. The moving object is an aircraft, the first area is a part of the surface of a runway on which the aircraft travels; The moving body according to claim 15.