Object detecting apparatus

• US 10,371,817 B2
• Filed: 06/06/2018
• Issued: 08/06/2019
• Est. Priority Date: 11/05/2013
• Status: Active Grant

• Current Assignee: Ricoh Company Limited
• Original Assignee: Ricoh Company Limited
• Inventors: Sakai, Kohji, Nakamura, Tadashi
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US16/001,710
• Publication Number:
  US 20180284270A1
• Time in Patent Office: 426 Days
• Field of Search: 356 401
• CPC Class Codes: G01S 17/04 Systems determining the presence of a target
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G06V 10/145 Illumination specially adapted for pattern recognition, e.g. using gratings
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An object detecting apparatus includes: a light projection unit that is an array light source in which each of a plurality of light emission areas emits light, an optical scanning unit that performs scanning with the light, which is emitted from the light projection unit, in a first direction, and a light receiving unit that receives reflected light which is the light, with which the scanning is performed, being reflected by an object, and an object information acquiring unit that detects presence/absence of the object based on emission timing at which the light is emitted from the light projection unit and light receiving timing at which the light receiving unit receives the reflected light.

Claims

1. An object detecting apparatus comprising:

a light projector that includes

an array light source in which each of a plurality of light emission areas emits light; and

a coupling lens that couples light emitted from the light emission areas;

an optical scanner that performs scanning with the light, which is emitted from the light projector, in a first direction;

a light receiver that includes a photodetector and an imaging forming lens and receives reflected light, with which scanning is performed, being reflected by an object, the coupling lens being arranged at a position which is away from the array light source by a distance corresponding to a focal length of the coupling lens when seen from the array light source, the photodetector being arranged at a position farther than a focal length of the imaging forming lens when seen from the imaging forming lens; and

a processor to detect a presence/absence of the object based on emission timing at which the light is emitted from the light projector and light receiving timing at which the light receiver receives the reflected light.

2. The object detecting apparatus according to claim 1, wherein a formed position of a conjugate image of the photodetector by the imaging forming lens is set as the shortest detection distance.

3. The object detecting apparatus according to claim 1, wherein

the light emission areas are arrayed in a direction different from the first direction, and

the processor determines a light emission area to be lighted among the plurality of light emission areas according to a detection region by the light used for the scanning.

4. The object detecting apparatus according to claim 1, wherein each of the light emission areas is an aggregation of a plurality of light emission units.

5. The object detecting apparatus according to claim 1, wherein

the optical scanner is a polygon mirror including a plurality of reflection surfaces, and

light emitted from the different light emission areas are respectively projected on the reflection surfaces.

6. The object detecting apparatus according to claim 1, wherein

the optical scanner is a polygon mirror including a plurality of reflection surfaces, and

light emitted from the different light emission areas are projected on one of the reflection surfaces while the one reflection surface performs scanning.

7. The object detecting apparatus according to claim 6, wherein

a range scanned by the one reflection surface is divided into a plurality of regions, and

the light emission areas to project the light are switched in one of the plurality of regions.

8. The object detecting apparatus according to claim 1, wherein when detecting the object, the processor calculates a distance to the object based on emission timing at which the light is emitted from the light projector and light receiving timing at which the light receiver receives the reflected light.

9. The object detecting apparatus according to claim 8, wherein the processor acquires a shape of the object based on a distance to the object in each emitting direction of the light emitted from the optical scanner.

10. An object detecting apparatus comprising:

a light projector that includes

an array light source in which each of a plurality of light emission areas emits light; and

a coupling lens that couples light emitted from the light emission areas;

an optical scanner that performs scanning with the light, which is emitted from the light projector, in a first direction;

a light receiver that includes a photodetector and an imaging forming lens and receives reflected light, with which scanning is performed, being reflected by an object, the coupling lens being arranged at a position farther than a focal length of the coupling lens when seen from the array light source, the photodetector being arranged at a position which is away from the imaging forming lens by a distance corresponding to the focal length of the imaging forming lens when seen from the imaging forming lens; and

a processor to detect a presence/absence of the object based on emission timing at which the light is emitted from the light projector and light receiving timing at which the light receiver receives the reflected light.

11. The object detecting apparatus according to claim 10, wherein

the light emission areas are arrayed in a direction different from the first direction, and

the processor determines a light emission area to be lighted among the plurality of light emission areas according to a detection region by the light used for the scanning.

12. The object detecting apparatus according to claim 10, wherein each of the light emission areas is an aggregation of a plurality of light emission units.

13. The object detecting apparatus according to claim 10, wherein

the optical scanner is a polygon mirror including a plurality of reflection surfaces, and

light emitted from the different light emission areas are respectively projected on the reflection surfaces.

14. The object detecting apparatus according to claim 10, wherein

the optical scanner is a polygon mirror including a plurality of reflection surfaces, and

light emitted from the different light emission areas are projected on one of the reflection surfaces while the one reflection surface performs scanning.

15. The object detecting apparatus according to claim 14, wherein

a range scanned by the one reflection surface is divided into a plurality of regions, and

the light emission areas to project the light are switched in one of the plurality of regions.

16. The object detecting apparatus according to claim 10, wherein when detecting the object, the processor calculates a distance to the object based on emission timing at which the light is emitted from the light projector and light receiving timing at which the light receiver receives the reflected light.

17. The object detecting apparatus according to claim 16, wherein the processor acquires a shape of the object based on a distance to the object in each emitting direction of the light emitted from the optical scanner.