WO2019188638A1

WO2019188638A1 - Control device, control method, computer program, and storage medium

Info

Publication number: WO2019188638A1
Application number: PCT/JP2019/011641
Authority: WO
Inventors: 庄悟宮鍋; 古川　淳一; 内野　裕行
Original assignee: パイオニア株式会社
Priority date: 2018-03-26
Filing date: 2019-03-20
Publication date: 2019-10-03

Abstract

This control device (10) comprises a control unit (100). The control unit (100) controls the gain of an amplification unit (240). The amplification unit (240) amplifies the output signal of a reception unit (220). The reception unit (220) is capable of receiving reflected waves resulting from the reflection by an object of electromagnetic waves irradiated from an irradiation unit (200). Further, the control unit (100) controls the gain of the amplification unit (240) such that, within a prescribed first period from the irradiation of the electromagnetic waves by the irradiation unit (200), there is a second period in which the gain becomes a second gain lower than a first gain that is the gain after the first period has elapsed.

Description

Control device, control method, computer program, and storage medium

The present invention relates to a control device, a control method, a computer program, and a storage medium.

In a device that irradiates electromagnetic waves and receives the reflected wave, receiving stray light in the device may adversely affect the reception of the reflected wave.

Patent Document 1 describes that the detection signal is generated by turning on the gate signal of the detection unit in accordance with the output timing of the laser, and the detection signal is not generated by turning off the gate signal in a time zone between a plurality of output pulses. Has been.

JP 2014-89162 A

However, the method of Patent Document 1 cannot avoid the effect of stray light detected at a timing close to the laser output. Further, the time zone between the plurality of laser pulses cannot be sufficiently detected.

An example of a problem to be solved by the present invention is to accurately detect a reflected wave after output of an electromagnetic wave.

The invention described in claim 1
A control unit for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object by the electromagnetic wave irradiated by the irradiation unit;
The control unit has a second period in which a second gain lower than the first gain of the amplification unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. A control device for controlling the gain so that

The invention according to claim 11
Including a control step of controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object by the electromagnetic wave irradiated by the irradiation unit,
In the control step, in a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit, a second period in which the second gain is lower than the first gain of the amplification unit after the first period has elapsed. This is a control method for controlling the gain so that

The invention according to claim 12
A computer program for realizing a control device,
Computer
The electromagnetic wave irradiated by the irradiation unit functions as a control means for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object,
The control means has a second period in which a second gain lower than the first gain of the amplifying unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. It is a computer program for controlling the gain so that

The invention according to claim 13
A computer-readable recording medium recording a computer program for realizing a control device,
The computer program includes a computer,
The electromagnetic wave irradiated by the irradiation unit functions as a control means for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object,
The control means has a second period in which a second gain lower than the first gain of the amplifying unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. The recording medium controls the gain so that the recording medium can be used.

The above-described object and other objects, features, and advantages will be further clarified by a preferred embodiment described below and the following drawings attached thereto.

It is a block diagram which illustrates the functional composition of the control device concerning an embodiment. It is a timing chart which illustrates the irradiation timing of the irradiation part which concerns on embodiment, the gain of an amplification part, and the relationship of the output of an amplification part. It is a flowchart which illustrates the control method which concerns on embodiment. FIG. 3 is a block diagram illustrating a functional configuration of a control device according to the first embodiment. 3 is a flowchart illustrating the contents of setting processing according to the first embodiment. 1 is a diagram illustrating a hardware configuration of a measurement apparatus according to Example 1. FIG. It is a figure which illustrates the hardware constitutions of a control apparatus. 10 is a flowchart illustrating the contents of a setting process according to the second embodiment. 12 is a timing chart illustrating the relationship between the irradiation timing of the irradiation unit and the output of the amplification unit according to the second embodiment. FIG. 6 is a diagram illustrating a circuit configuration of an amplifying unit according to a third embodiment. 6 is a timing chart illustrating the relationship between the switching timing of SW1 to SW3, the irradiation timing of the irradiation unit, and the gain of the amplification unit. It is a figure for demonstrating operation | movement of the irradiation part which concerns on Example 4. FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

In the following description, unless otherwise specified, each component of the control device 10 and the measurement device 20 is not a hardware unit configuration but a functional unit block. Each component of the control device 10 and the measuring device 20 includes hardware and software centered on an arbitrary computer CPU, memory, a program loaded in the memory, a storage medium such as a hard disk for storing the program, and a network connection interface. Realized by any combination of wear. There are various modifications of the implementation method and apparatus.

FIG. 1 is a block diagram illustrating a functional configuration of the control device 10 according to the embodiment. In this figure, the electrical connection relationship is indicated by a solid line, and the connection by electromagnetic waves is indicated by a broken line. The control device 10 includes a control unit 100. The control unit 100 controls the gain of the amplification unit 240. The amplifying unit 240 amplifies the output signal of the receiving unit 220. The receiving unit 220 can receive a reflected wave in which the electromagnetic wave irradiated by the irradiation unit 200 is reflected by the object. Then, the control unit 100 has a second period in which the second gain is lower than the first gain of the amplification unit 240 after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit 200. The gain is controlled so that This will be described in detail below.

In the amplification unit 240 that amplifies the signal, the input signal is amplified according to the gain and output. Here, there is a limit value in the magnitude of the output of the amplifying unit 240, and if the gain is too large with respect to the input signal, the output signal is saturated. Once the output of the amplifying unit 240 is saturated, the influence continues for a while even after the input signal is lowered, and the output of the amplifying unit 240 does not decrease immediately. As a result, the reflected wave cannot be detected until the influence of saturation disappears.

In the control device 10 according to the present embodiment, the control unit 100 is lower than the first gain of the amplification unit 240 after the first period has elapsed within a predetermined first period after the irradiation unit 200 has irradiated the electromagnetic wave. The gain is controlled so that a second period corresponding to the second gain is obtained. Therefore, it is possible to avoid the influence of stray light immediately after the electromagnetic wave is irradiated, and to accurately detect the reflected wave received thereafter. Note that the amplification factor of the amplification unit 240 in the second period may be zero. However, by making the amplification factor of the amplification unit 240 in the second period exceed 0, for example, the output signal of the amplification unit 240 can be used. For example, this signal can be used as the starting point of measurement as the output timing of the electromagnetic wave pulse.

FIG. 2 is a timing chart illustrating the relationship between the irradiation timing of the irradiation unit 200, the gain of the amplification unit 240, and the output of the amplification unit 240 according to this embodiment.

The control device 10 is the control device 10 of the measurement device 20 including the irradiation unit 200 and the reception unit 220. And the measurement using the output signal of the receiving part 220 is not performed in 1st period T1. In addition, the measuring device 20 includes an amplification unit 240. The amplification unit 240 is, for example, a current / voltage conversion circuit or an amplification circuit. The control device 10 may be a part of the measuring device 20 or may be provided separately from the measuring device 20. In the example of FIG. 1, the control device 10 is a part of the measurement device 20.

The measuring device 20 is, for example, a rider (LIDAR: Laser Detection and Ranging, Laser Illuminated Detection and Ranging or LiDAR: Light Detection and Ranging). When the measurement device 20 is a rider, the distance from the measurement device 20 to the object is calculated using the difference between the output timing of the electromagnetic wave pulse from the irradiation unit 200 and the reception timing of the reflected wave at the reception unit 220. The The electromagnetic wave is, for example, light such as ultraviolet light, visible light, or near infrared light. Moreover, the irradiation part 200 outputs a pulse wave, for example.

The first period T1 is a period during which no measurement is performed in the measurement apparatus 20. The period in which the measurement is not performed is a period in which a measured value such as a distance is not calculated using the output of the receiving unit 220, for example. For example, when the measurement device 20 is a rider and intends to measure an object that is separated from the measurement device 20 to some extent, the measurement value based on the output of the reception unit 220 obtained during and immediately after the output of the electromagnetic wave from the irradiation unit 200 is obtained. There is no need to calculate.

The receiving unit 220 receives the electromagnetic wave reflected in the measuring device 20 in the second period T2. In FIG. 2, a peak 90 indicates a peak obtained by detecting an electromagnetic wave reflected in the measuring apparatus 20, and a peak 91 indicates a peak obtained by detecting an electromagnetic wave reflected by an object outside the measuring apparatus 20.

When the electromagnetic wave is light, the electromagnetic wave reflected in the measuring device 20 is so-called stray light. In order to process the detection signal of the reflected wave from the object with high accuracy, it is preferable to increase the gain of the amplifying unit 240. On the other hand, the electromagnetic wave reflected in the measuring apparatus 20 and received by the receiving unit 220 has a higher intensity than the reflected wave reflected by an object outside the measuring apparatus 20. Therefore, if the detection signal of the electromagnetic wave reflected in the measuring device 20 is amplified with the same gain as the detection signal of the reflected wave from the object, the amplification unit 240 is likely to be saturated.

In the control device 10 according to the present embodiment, the second gain G2 that is the gain of the amplification unit 240 in the second period T2 is smaller than the first gain G1 that is the gain of the amplification unit 240 after the first period has elapsed. Then, by receiving the electromagnetic wave reflected in the measuring device 20 within the second period T2 where the gain is low, saturation of the amplification unit 240 is avoided as in the peak 90, and measurement after the first period T1 is necessary. The reflected wave can be detected with high accuracy like the peak 91 in a short time zone.

The second period T2 may be a part of the first period T1, or may coincide with the first period T1. A time zone in which there is a high possibility of receiving the electromagnetic wave reflected in the measuring device 20 can be specified by a prior test or the like, and can be determined in advance as the second period T2. Although the length of 1st period T1 is not specifically limited, For example, it is 0 nanosecond excess 6 nanosecond or less. Further, the length of the second period T2 is not particularly limited, but is, for example, more than 0 nanoseconds and 5 nanoseconds or less. For example, the range within 1 m from the measuring device 20 may not be measured.

FIG. 3 is a flowchart illustrating a control method according to this embodiment. The method includes a control step S100. In control step S100, the gain of the amplifying unit 240 is controlled. The amplifying unit 240 amplifies the output signal of the receiving unit 220. The receiving unit 220 can receive a reflected wave in which the electromagnetic wave irradiated by the irradiation unit 200 is reflected by the object. In the control step S100, the second gain G2 lower than the first gain G1 of the amplifying unit 240 after the first period T1 has elapsed within the predetermined first period T1 after the electromagnetic wave is irradiated by the irradiation unit 200. The gain is controlled so that the second period T2 is satisfied.

The control method according to the present embodiment is realized using the control device 10 as described above.

As described above, according to the present embodiment, the control unit 100 uses the first gain G1 of the amplifying unit 240 after the elapse of the first period T1 within the predetermined first period T1 after the electromagnetic wave is irradiated by the irradiation unit 200. The gain is controlled so that the second period T2 in which the second gain G2 is lower can be obtained. Therefore, it is possible to avoid the influence of stray light immediately after the electromagnetic wave is irradiated, and to accurately detect the reflected wave received thereafter.

Example 1
FIG. 4 is a block diagram illustrating the functional configuration of the control device 10 according to the first embodiment. The control device 10 according to the present example has the configuration of the control device 10 according to the embodiment.

The control device 10 according to the present embodiment further includes a switching unit 120. The switching unit 120 switches the operation of the control device 10 between the first state and the second state. In the first state, measurement is performed using the output signal of the receiving unit 220. In the second state, processing for determining the operation of the control unit 100 in the first state (hereinafter also referred to as “setting processing”) is performed.

In the second state, the second gain G2 is determined so that the output of the amplifier 240 is not saturated in the second period T2. Details of the setting process will be described later.

For example, the switching unit 120 sets the operation of the control device 10 to the second state when the control device 10 is activated.

Further, the switching unit 120 may switch the control device 10 to the second state when the measurement result of the temperature measuring unit 210 that measures the temperature of the irradiation unit 200 satisfies a predetermined condition. In the example of FIG. 4, the measuring device 20 further includes a temperature measuring unit 210. When the temperature of the irradiation unit 200 changes, the output intensity of the electromagnetic wave with respect to the driving power of the irradiation unit 200 changes. The switching unit 120 switches the operation of the control device 10 to the second state based on the temperature of the irradiation unit 200, so that the setting process is performed, the saturation of the amplification unit 240 is avoided, and the highly accurate detection of the reflected wave is maintained. Is done.

FIG. 5 is a flowchart illustrating the contents of the setting process according to this embodiment. When the switching unit 120 sets the operation of the control device 10 to the second state, the following setting process is started. The setting process is started when the control unit 100 receives information indicating switching from the switching unit 120 to the second state, and is executed by the control unit 100 controlling the irradiation unit 200 and the amplification unit 240. In the setting process, first, in step S200, the gain of the amplification unit 240 is set to a maximum value.

Next, in step S220, an electromagnetic wave is irradiated from the irradiation unit 200. At this time, irradiation is performed with the irradiation intensity used for the measurement in the first state immediately after. Irradiation is preferably performed in a state where there is no object in the vicinity of the measuring device 20. When the electromagnetic wave is irradiated in step S220, the electromagnetic wave reflected in the measuring device 20 is received by the receiving unit 220.

Next, in step S240, it is determined whether or not the output of the amplifying unit 240 is saturated based on the output signal of the receiving unit 220 that has received the electromagnetic wave irradiated in step S220. Whether or not the output of the amplifying unit 240 is saturated can be determined by whether or not a saturated value is included in the output signal of the amplifying unit 240. The saturation value is the maximum value that can be output by the amplification unit 240. In addition, what is necessary is just to perform the determination whether the output of the amplification part 240 is saturated, for example in the 1st period T1.

The control unit 100 determines that the output of the amplification unit 240 is saturated when the output signal of the amplification unit 240 includes a saturation value. On the other hand, the control unit 100 determines that the output of the amplification unit 240 is not saturated when the output value of the amplification unit 240 does not include a saturation value. When it is determined in step S240 that the output of the amplification unit 240 is saturated (Y in step S240), the control unit 100 then decreases the gain of the amplification unit 240 by a predetermined width in step S280. Next, step S220 is performed again.

If it is determined in step S240 that the output of the amplifying unit 240 is not saturated (N in step S240), then in step S260, the gain of the amplifying unit 240 at that time is determined as the second gain.

When the second gain is determined as described above, that is, when the setting process is completed in the second state, the switching unit 120 switches the operation of the control device 10 to the first state. In the first state, the gain of the amplifying unit 240 is controlled using the determined second gain.

FIG. 6 is a diagram illustrating a hardware configuration of the measuring apparatus 20 according to the first embodiment. In this figure, the electrical connection relationship is indicated by a solid line, and the connection by electromagnetic waves is indicated by a broken line. In the example of this figure, the control device 10 is realized by the integrated circuit 40, and the measuring device 20 includes a receiving element 300, an IV amplifier 310, an AD conversion circuit 320, a driving circuit 330, a temperature measuring element 350, and an irradiation element 340. In the example of this figure, the control device 10 is a part of the measurement device 20, but the control device 10 may be provided separately from the measurement device 20.

The irradiation element 340 functions as the irradiation unit 200. The irradiation element 340 is, for example, a laser diode, and outputs a laser pulse with drive power and timing according to a drive signal from the drive circuit 330.

The drive circuit 330 is a circuit that drives the irradiation element 340. Information indicating timing and driving power for driving the irradiation element 340 is input from the integrated circuit 40 to the driving circuit 330. A driving signal for the irradiation element 340 is output from the driving circuit 330 and input to the irradiation element 340.

The receiving element 300 functions as the receiving unit 220. The receiving element 300 is, for example, an avalanche photodiode (APD). The receiving element 300 is arranged so as to receive the electromagnetic wave output from the irradiation element 340 and reflected by the object. The receiving element 300 outputs a current signal indicating the reception intensity at the receiving element 300.

The IV amplifier 310 converts the current signal into a voltage signal. The IV amplifier 310 functions as the amplification unit 240. The gain in the conversion of the IV amplifier 310 is controlled by a gain control signal input from the integrated circuit 40.

The AD conversion circuit 320 converts the input analog signal into a digital signal and outputs it. The output signal of the AD conversion circuit 320 is input to the integrated circuit 40 and processed.

The temperature measuring element 350 is a sensor element such as a temperature sensor. The temperature measuring element 350 functions as the temperature measuring unit 210. An output signal indicating the temperature measured by the temperature measuring element 350 is input to the integrated circuit 40.

FIG. 7 is a diagram illustrating a hardware configuration of the control device 10. In this figure, the control device 10 is mounted using an integrated circuit 40. The integrated circuit 40 is, for example, a SoC (System On Chip).

The integrated circuit 40 includes a bus 402, a processor 404, a memory 406, a storage device 408, an input / output interface 410, and a network interface 412. The bus 402 is a data transmission path through which the processor 404, the memory 406, the storage device 408, the input / output interface 410, and the network interface 412 transmit / receive data to / from each other. However, the method of connecting the processors 404 and the like is not limited to bus connection. The processor 404 is an arithmetic processing unit realized using a microprocessor or the like. The memory 406 is a memory realized using a RAM (Random Access Memory) or the like. The storage device 408 is a storage device realized by using a ROM (Read Only Memory), a flash memory, or the like.

The input / output interface 410 is an interface for connecting the integrated circuit 40 to a peripheral device. In this figure, an IV amplifier 310, an AD conversion circuit 320, a drive circuit 330, and a temperature measuring element 350 are connected to the input / output interface 410.

The network interface 412 is an interface for connecting the integrated circuit 40 to a communication network. This communication network is, for example, a CAN (Controller Area Network) communication network. Note that a method of connecting the network interface 412 to the communication network may be a wireless connection or a wired connection.

The storage device 408 stores program modules for realizing the functions of the control unit 100 and the switching unit 120, respectively. The processor 404 reads out the program module to the memory 406 and executes it, thereby realizing the functions of the control unit 100 and the switching unit 120.

The hardware configuration of the integrated circuit 40 is not limited to the configuration shown in the figure. For example, the program module may be stored in the memory 406. In this case, the integrated circuit 40 may not include the storage device 408.

As described above, according to the present example, similarly to the embodiment, the control unit 100 performs the amplification unit 240 after the first period T1 has elapsed within a predetermined first period T1 after the irradiation unit 200 has irradiated the electromagnetic wave. The gain is controlled so that a second period T2 in which the second gain G2 is lower than the first gain G1 is formed. Therefore, it is possible to avoid the influence of stray light immediately after the electromagnetic wave is irradiated, and to accurately detect the reflected wave received thereafter.

(Example 2)
FIG. 8 is a flowchart illustrating the contents of the setting process according to the second embodiment. The control device 10 according to the present embodiment is the same as the control device 10 according to the first embodiment except for the content of the setting process. In the second state, the control unit 10 according to the present embodiment, when the output of the amplification unit 240 due to reception of the electromagnetic wave reflected in the measurement device 20 does not saturate outside the first period T1, the control unit 100 In the state, the second period T2 is not provided. This will be described in detail below.

FIG. 9 is a timing chart illustrating the relationship between the irradiation timing of the irradiation unit 200 and the output of the amplification unit 240 according to the second embodiment. In the present embodiment, the peak 90 in which the electromagnetic wave reflected in the measuring device 20 is detected is saturated within the first period T1. However, the peak 90 is not saturated outside the first period T1. Therefore, the peak 91 in which the electromagnetic wave reflected by the object outside the measuring apparatus 20 is detected is detected well. As described above, when the output of the amplification unit 240 due to reception of the electromagnetic wave reflected in the measurement apparatus 20 does not saturate outside the first period T1, the control unit 100 does not need to provide the second period T2 having a low gain.

Referring to FIG. 8, the contents of the setting process according to the present embodiment will be described. In the control device 10 according to the present embodiment, the setting process is started in the same manner as in the first embodiment, and steps S200 and S210 are executed. Next, in step S230, the control unit 100 determines whether or not the output of the amplification unit 240 is saturated outside the first period T1. Whether or not the output of the amplifying unit 240 is saturated can be determined by whether or not a saturated value is included in the output signal of the amplifying unit 240 as in step S240 of the first embodiment.

When it is determined that the output of the amplifier 240 is not saturated outside the first period T1 (N in Step S230), the control unit 100 then determines in Step S290 that the second period T2 is not provided in the first state. To do.

On the other hand, when it is determined that the output of the amplification unit 240 is saturated outside the first period T1 (Y in step S230), the control unit 100 performs the process of step S280. Steps S280, S220, S240, and S260 are performed in the same manner as in the first embodiment.

As described above, the switching unit 120 determines that the second period T2 is not provided (step S290) or the second gain is determined (step S260), that is, the setting process is completed in the second state. Then, the operation of the control device 10 is switched to the first state. When it is determined in step S290 that the second period T2 is not provided in the first state, in the subsequent first state, the gain of the amplification unit 240 in the first period T1 is maintained at the first gain G1, for example. On the other hand, when the second gain is determined in step S260, the gain of the amplification unit 240 in the second period T2 is controlled using the determined second gain in the subsequent first state.

In addition, according to the present embodiment, in the second state, when the output of the amplifying unit 240 due to reception of the electromagnetic wave reflected in the measuring device 20 does not saturate outside the first period T1, the control unit 100 In the state, the second period T2 is not provided. Therefore, the processing load on the control unit 100 can be reduced when the second period T2 is not provided.

Example 3
FIG. 10 is a diagram illustrating a circuit configuration of the amplifying unit 240 according to the third embodiment. FIG. 11 is a timing chart illustrating the relationship between the switching timing of SW1 to SW3, the irradiation timing of the irradiation unit 200, and the gain of the amplification unit 240.

The control device 10 according to the present embodiment has at least one of the first embodiment and the second embodiment except that the control unit 100 controls the first gain G1 to be higher as time passes after the electromagnetic wave is irradiated. The control device 10 is the same as the above. This will be described in detail below.

10, the receiving unit 220 is the receiving element 300 and the amplifying unit 240 is the IV amplifier 310. When electromagnetic waves are incident on the receiving element 300, a current is output from one terminal of the receiving element 300 and input to one input terminal n1 of the OPA (op-amp). n1 is, for example, a negative input terminal. A voltage is applied to the other terminal of the receiving element 300. One end of resistors R1, R2, and R3 that determine the gain is further connected to the input terminal n1 of the OPA. The other input terminal n2 of the OPA is grounded. n2 is, for example, a positive input terminal. SW1, SW2, and SW3 are switches that respectively switch the presence / absence of connection between the other ends of the resistors R1, R2, and R3 and the output terminal n3 of the OPA. When SW1, SW2, and SW3 are all turned on, resistors R1, R2, and R3 are connected in parallel to each other. Although resistance R1, R2, and R3 are not specifically limited, For example, it has a small resistance value in this order. For example, the resistance value of R2 is 5 to 20 times the resistance value of R1, and the resistance value of R3 is 5 to 20 times the resistance value of R2. On / off of SW1, SW2, and SW3 is controlled by an output signal from the integrated circuit 40. The gain of the amplifying unit 240 can be controlled by controlling on / off of SW1, SW2, and SW3, respectively.

In the example of FIG. 11, SW1, SW2, and SW3 are turned on during the first period T1, and are sequentially switched to the off state when they are outside the first period T1. As a result, the first gain G1 outside the first period T1 increases as the distance from the irradiation timing of the irradiation unit 200 increases. In the example of this figure, the first period T1 and the second period T2 coincide. The first gain G1 outside the first period T1 is higher than the second gain G2. In the measuring apparatus 20, if the reflectance of the object is the same for the object outside the measuring apparatus 20, the intensity of the reflected wave is higher as the distance to the object is shorter. In other words, the reflected wave received at a timing closer to the irradiation timing of the irradiation unit 200 often has a higher reception intensity. Therefore, by controlling the first gain G1 so as to increase with time after irradiation with the electromagnetic wave, the reflected wave can be detected with high accuracy while avoiding saturation of the amplifier 240.

In addition, according to the present embodiment, the control unit 100 controls the first gain G1 to increase as time passes after the electromagnetic wave is irradiated. Therefore, it is possible to accurately detect reflected waves from objects at various distances.

Example 4
FIG. 12 is a diagram for explaining the operation of the irradiation unit 200 according to the fourth embodiment. The control device 10 according to the present embodiment is the same as the control device 10 according to at least one of the first to third embodiments except for the points described below.

In this embodiment, electromagnetic waves are emitted in order from the irradiation unit 200 in a plurality of different directions. Then, the control unit 100 controls the gain of the amplification unit 240 using the second gain G2 determined for each of the plurality of directions. This will be described in detail below.

In the present embodiment, the measuring device 20 includes a movable reflecting portion 260. The electromagnetic wave output from the irradiation unit 200 is reflected by the movable reflection unit 260 and then emitted to the outside of the measurement apparatus 20. The angle of the reflecting surface of the movable reflector 260 is controlled by a control signal from the controller 100. By changing the angle of the reflecting surface of the movable reflecting portion 260, the irradiation direction of the electromagnetic wave is changed.

The irradiation direction of the electromagnetic wave is changed so as to generate a plurality of frames 60, for example. Specifically, the irradiation direction of the electromagnetic wave is changed so that the spot draws a plurality of lines extending in the first direction (X direction in the figure). Further, the irradiation direction of the electromagnetic wave is moved so that the spot moves in the second direction (Y direction in the figure) for each line. Therefore, the electromagnetic wave spot draws a plurality of lines arranged in parallel in the second direction.

As described above, by repeating the change of the irradiation direction of the electromagnetic wave and performing the measurement in each irradiation direction, a frame 60 which is data indicating the state around the measurement apparatus is generated. When the irradiation direction reaches the last position 602 of the frame, it returns to the head position 601 of the frame again. The measurement device measures changes in the surroundings by repeatedly generating the frame 60.

In the present embodiment, in the setting process, the second gain G2 is determined for each irradiation direction. In the setting process, as described in the second embodiment, whether or not the second period T2 is provided may be determined for each irradiation direction. Specifically, in step S210 and step S220 of the setting process, the electromagnetic wave is irradiated in the direction based on the control signal of the control unit 100. Then, the processing is performed in the same manner as in the first or second embodiment. When the process of step S260 or step S290 is completed, the process from step S200 is started again in a different irradiation direction. Thus, the setting process is performed for each of the plurality of irradiation directions.

In the first state, the gain of the amplification unit 240 when irradiated in each irradiation direction is controlled under the conditions determined in the setting process.

The reflection of electromagnetic waves in the measuring apparatus 20 can change conditions and paths according to the state of the movable reflector 260. Therefore, by determining the second gain G2 for each irradiation direction, it is possible to accurately detect a reflected wave from an object to be measured outside the measuring apparatus 20 in any irradiation direction.

As described above, electromagnetic waves are emitted from the irradiation unit 200 in a plurality of directions so that the electromagnetic wave spots draw a plurality of lines. Instead of controlling the gain of the amplifier 240 using the second gain G2 determined for each of the plurality of directions, the control unit 100 uses the second gain G2 determined for each of the plurality of lines. It may be used to control the gain of the amplifying unit 240. In this case, the setting process is performed as described above in the present embodiment for any irradiation direction included in each line. And the conditions determined about the irradiation direction are applicable with respect to all the irradiation directions which comprise the line.

In addition, according to the present embodiment, the control unit 100 controls the gain of the amplification unit 240 using the second gain G2 determined for each of a plurality of directions. Alternatively, the control unit 100 controls the gain of the amplification unit 240 using the second gain G2 determined for each of the plurality of lines. Therefore, even when electromagnetic waves are output in a plurality of irradiation directions, a reflected wave from the object can be detected with high accuracy.

As mentioned above, although embodiment and the Example were described with reference to drawings, these are the illustrations of this invention, Various structures other than the above are also employable. For example, in the sequence diagrams and flowcharts used in the above description, a plurality of steps (processes) are described in order, but the execution order of the steps executed in each embodiment is not limited to the description order. In each embodiment, the order of the illustrated steps can be changed within a range that does not hinder the contents. Moreover, each above-mentioned embodiment and each Example can be combined in the range in which the content does not conflict.

Hereinafter, examples of the reference form will be added.
1-1. A control unit for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object by the electromagnetic wave irradiated by the irradiation unit;
The control unit has a second period in which a second gain lower than the first gain of the amplification unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. A control device for controlling the gain so that
1-2. 1-1. In the control device described in
The said control apparatus is a control apparatus of the measuring apparatus provided with the said irradiation part and the said receiving part,
The control device in which measurement using the output signal of the receiving unit is not performed within the first period.
1-3. 1-2. In the control device described in
The receiving device is a control device that receives the electromagnetic wave reflected in the measuring device in the second period.
1-4. 1-2. Or 1-3. In the control device described in
The operation of the control device is switched between a first state in which measurement is performed using the output signal of the reception unit and a second state in which processing for determining the operation of the control unit in the first state is performed. A control device further comprising a switching unit.
1-5. 1-4. In the control device described in
In the second state, the second gain is determined so that the output of the amplifying unit is not saturated in the second period.
1-6. 1-4. Or 1-5. In the control device described in
In the second state, when the output of the amplification unit due to reception of the electromagnetic wave reflected in the measurement apparatus does not saturate outside the first period, the control unit sets the second period in the first state. Control device not provided.
1-7. 1-4. To 1-6. In the control device according to any one of
The said switching part is a control apparatus which switches the said control apparatus to a said 2nd state, when the measurement result of the temperature measuring part which measures the temperature of the said irradiation part satisfy | fills the predetermined conditions.
1-8. 1-1. To 1-7. In the control device according to any one of
From the irradiation unit, the electromagnetic waves are emitted in order in a plurality of different directions,
The control unit controls the gain using the second gain determined for each of the plurality of directions.
1-9. 1-1. To 1-7. In the control device according to any one of
From the irradiation unit, the electromagnetic wave is emitted in a plurality of directions such that the spot of the electromagnetic wave draws a plurality of lines,
The control unit controls the gain by using the second gain determined for each of the plurality of lines.
1-10. 1-1. To 1-9. In the control device according to any one of
The said control part is a control apparatus which controls the said 1st gain so that it may become so high that time passes after the said electromagnetic waves are irradiated.
2-1. Including a control step of controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object by the electromagnetic wave irradiated by the irradiation unit,
In the control step, within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit, a second period in which the second gain is lower than the first gain of the amplification unit after the first period has elapsed. A control method for controlling the gain so that
2-2. 2-1. In the control method described in
The control method is a control method of a measurement apparatus including the irradiation unit and the reception unit,
A control method in which measurement using an output signal of the receiving unit is not performed within the first period.
2-3. 2-2. In the control method described in
The control method in which the receiving unit receives the electromagnetic wave reflected in the measuring device in the second period.
2-4. 2-2. Or 2-3. In the control method described in
The processing of the control method is divided into a first state in which measurement is performed using the output signal of the receiving unit and a second state in which processing for determining the control content of the control step in the first state is performed. A control method further comprising a switching step for switching.
2-5. 2-4. In the control method described in
In the second state, the second gain is determined so that the output of the amplifying unit is not saturated in the second period.
2-6. 2-4. Or 2-5. In the control method described in
In the second state, when the output of the amplifying unit due to reception of the electromagnetic wave reflected in the measuring device does not saturate outside the first period, the control step sets the second period in the first state. Control method not provided.
2-7. 2-4. To 2-6. In the control method according to any one of
In the switching step, a control method for switching the process of the control method to the second state when a measurement result of a temperature measuring unit that measures the temperature of the irradiation unit satisfies a predetermined condition.
2-8. 2-1. To 2-7. In the control method according to any one of
From the irradiation unit, the electromagnetic waves are emitted in order in a plurality of different directions,
In the control step, the gain is controlled using the second gain determined for each of the plurality of directions.
2-9. 2-1. To 2-7. In the control method according to any one of
From the irradiation unit, the electromagnetic wave is emitted in a plurality of directions such that the spot of the electromagnetic wave draws a plurality of lines,
In the control step, the gain is controlled using the second gain determined for each of the plurality of lines.
2-10. 2-1. To 2-9. In the control method according to any one of
In the control step, the first gain is controlled so as to increase as time passes after the electromagnetic wave is irradiated.
3-1. A computer program for realizing a control device,
Computer
The electromagnetic wave irradiated by the irradiation unit functions as a control means for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object,
The control means has a second period in which a second gain lower than the first gain of the amplifying unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. A computer program for controlling the gain so that
3-2. 3-1. In the computer program described in
The said control apparatus is a control apparatus of the measuring apparatus provided with the said irradiation part and the said receiving part,
A computer program in which measurement using an output signal of the receiving unit is not performed within the first period.
3-3. 3-2. In the computer program described in
The receiving unit is a computer program that receives the electromagnetic wave reflected in the measuring device in the second period.
3-4. 3-2. Or 3-3. In the computer program described in
A second state in which a process for determining the operation of the control device in the first state in which the measurement is performed using the output signal of the receiver and the operation of the control means in the first state is performed; A computer program that further functions as a switching means for switching between and.
3-5. 3-4. In the computer program described in
In the second state, the computer program in which the second gain is determined so that the output of the amplifying unit is not saturated in the second period.
3-6. 3-4. Or 3-5. In the computer program described in
In the second state, when the output of the amplifying unit due to reception of the electromagnetic wave reflected in the measuring device does not saturate outside the first period, the control means sets the second period in the first state. Computer program not provided.
3-7. 3-4. To 3-6. In the computer program according to any one of
The switching unit is a computer program that switches the control device to the second state when a measurement result of a temperature measuring unit that measures the temperature of the irradiation unit satisfies a predetermined condition.
3-8. 3-1. To 3-7. In the computer program according to any one of
From the irradiation unit, the electromagnetic waves are emitted in order in a plurality of different directions,
The control means is a computer program for controlling the gain using the second gain determined for each of the plurality of directions.
3-9. 3-1. To 3-7. In the computer program according to any one of
From the irradiation unit, the electromagnetic wave is emitted in a plurality of directions such that the spot of the electromagnetic wave draws a plurality of lines,
The control means is a computer program for controlling the gain using the second gain determined for each of the plurality of lines.
3-10. 3-1. To 3-9. In the computer program according to any one of
The control means is a computer program for controlling the first gain to increase as time passes after the electromagnetic wave is irradiated.
4-1. A computer-readable recording medium recording a computer program for realizing a control device,
The computer program includes a computer,
The electromagnetic wave irradiated by the irradiation unit functions as a control means for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object,
The control means has a second period in which a second gain lower than the first gain of the amplifying unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. A recording medium that controls the gain so that
4-2. 4-1. In the recording medium described in
The said control apparatus is a control apparatus of the measuring apparatus provided with the said irradiation part and the said receiving part,
A recording medium in which measurement using the output signal of the receiving unit is not performed within the first period.
4-3. 4-2. In the recording medium described in
The receiving unit is a recording medium that receives the electromagnetic wave reflected in the measuring device in the second period.
4-4. 4-2. Or 4-3. In the recording medium described in
The computer program stores the computer,
The operation of the control device is switched between a first state in which measurement is performed using the output signal of the receiving unit and a second state in which processing for determining the operation of the control means in the first state is performed. A recording medium that further functions as switching means.
4-5. 4-4. In the recording medium described in
In the second state, the recording medium in which the second gain is determined so that the output of the amplifying unit is not saturated in the second period.
4-6. 4-4. Or 4-5. In the recording medium described in
In the second state, when the output of the amplifying unit due to reception of the electromagnetic wave reflected in the measuring device does not saturate outside the first period, the control means sets the second period in the first state. Recording media not provided.
4-7. 4-4. To 4-6. In the recording medium according to any one of
The switching unit is a recording medium that switches the control device to the second state when a measurement result of a temperature measuring unit that measures the temperature of the irradiation unit satisfies a predetermined condition.
4-8. 4-1. To 4-7. In the recording medium according to any one of
From the irradiation unit, the electromagnetic waves are emitted in order in a plurality of different directions,
The control means is a recording medium that controls the gain using the second gain determined for each of the plurality of directions.
4-9. 4-1. To 4-7. In the recording medium according to any one of
From the irradiation unit, the electromagnetic wave is emitted in a plurality of directions such that the spot of the electromagnetic wave draws a plurality of lines,
The control means is a recording medium for controlling the gain using the second gain determined for each of the plurality of lines.
4-10. 4-1. To 4-9. In the recording medium according to any one of
The control means is a recording medium that controls the first gain so as to increase as time passes after the electromagnetic wave is irradiated.

This application claims priority based on Japanese Patent Application No. 2018-057506 filed on Mar. 26, 2018, the entire disclosure of which is incorporated herein.

Claims

A control unit for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object by the electromagnetic wave irradiated by the irradiation unit;
The control unit has a second period in which a second gain lower than the first gain of the amplification unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. A control device for controlling the gain so that
The control device according to claim 1,
The said control apparatus is a control apparatus of the measuring apparatus provided with the said irradiation part and the said receiving part,
The control device in which measurement using the output signal of the receiving unit is not performed within the first period.
The control device according to claim 2,
The receiving device is a control device that receives the electromagnetic wave reflected in the measuring device in the second period.
The control device according to claim 2 or 3,
The operation of the control device is switched between a first state in which measurement is performed using the output signal of the reception unit and a second state in which processing for determining the operation of the control unit in the first state is performed. A control device further comprising a switching unit.
The control device according to claim 4,
In the second state, the second gain is determined so that the output of the amplifying unit is not saturated in the second period.
The control device according to claim 4 or 5,
In the second state, when the output of the amplification unit due to reception of the electromagnetic wave reflected in the measurement apparatus does not saturate outside the first period, the control unit sets the second period in the first state. Control device not provided.
The control device according to any one of claims 4 to 6,
The said switching part is a control apparatus which switches the said control apparatus to a said 2nd state, when the measurement result of the temperature measuring part which measures the temperature of the said irradiation part satisfy | fills the predetermined conditions.
The control device according to any one of claims 1 to 7,
From the irradiation unit, the electromagnetic waves are emitted in order in a plurality of different directions,
The control unit controls the gain using the second gain determined for each of the plurality of directions.
The control device according to any one of claims 1 to 7,
From the irradiation unit, the electromagnetic wave is emitted in a plurality of directions such that the spot of the electromagnetic wave draws a plurality of lines,
The control unit controls the gain by using the second gain determined for each of the plurality of lines.
The control device according to any one of claims 1 to 9,
The said control part is a control apparatus which controls the said 1st gain so that it may become so high that time passes after the said electromagnetic waves are irradiated.
Including a control step of controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object by the electromagnetic wave irradiated by the irradiation unit,
In the control step, in a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit, a second period in which the second gain is lower than the first gain of the amplification unit after the first period has elapsed. A control method for controlling the gain so that
A computer program for realizing a control device,
Computer
The electromagnetic wave irradiated by the irradiation unit functions as a control means for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object,
The control means has a second period in which a second gain lower than the first gain of the amplifying unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. A computer program for controlling the gain so that
A computer-readable recording medium recording a computer program for realizing a control device,
The computer program includes a computer,
The electromagnetic wave irradiated by the irradiation unit functions as a control means for controlling the gain of the amplification unit that amplifies the output signal of the reception unit capable of receiving the reflected wave reflected by the object,
The control means has a second period in which a second gain lower than the first gain of the amplifying unit after the first period has elapsed within a predetermined first period after the electromagnetic wave is irradiated by the irradiation unit. A recording medium that controls the gain so that