US Patent No. 10,398,006

OBJECT DETECTION APPARATUS AND MOVEABLE APPARATUS


Patent No. 10,398,006
Issue Date August 27, 2019
Title Object Detection Apparatus And Moveable Apparatus
Inventorship Tadashi Nakamura, Kanagawa (JP)
Assignee Ricoh Company, Ltd., Tokyo (JP)

Claim of US Patent No. 10,398,006

1. An object detection apparatus comprising:a light emission unit including a light source to emit light to an object;
a light receiving unit including a light detector to receive light reflected from the object;
a signal processing unit including a signal detector to be input with an output signal of the light detector or a signal that is acquired by processing the output signal of the light detector; and
a control circuit configured to
control the light emission unit to emit light to all of a light emission region of the light emission unit, the light emission unit emitting the light at a first light emission intensity at a first emission cycle,
control the light receiving unit to receive the emitted light at the first light emission intensity at the first emission cycle reflected from the object and control the signal processing unit to process the output signal of the light detector at a first frame rate,
set at least one area in the light emission region of the light emission unit as a target area,
set at least one of a light emission condition of the light emission unit or a processing condition of the signal processing unit such that the at least one of the light emission condition or the processing condition are different between a time when the light is emitted to the target area in the light emission region and a time when the light is emitted to a background area in the light emission region so as to enhance a signal-to-noise ratio of the output signal of the light detector by at least one of
setting the light emission unit to emit the light at a second emission intensity that is higher than the first light emission intensity,
setting the light emission unit to emit the light at a second emission cycle that is shorter than the first emission cycle, and
setting the signal processing unit to process the output signal of the light detector at a second frame rate lower than the first frame rate, and
calculate a distance of each of pixel areas of the object.