Electromagnetic-wave detection apparatus and distance-measurement apparatus
Provided is an electromagnetic-wave detection apparatus and a distance-measurement apparatus that reduces the difference between the timing of image acquisition and the timing of electromagnetic wave detection. An electromagnetic-wave detection apparatus ( 10 ) includes an image-information acquisition unit ( 141 ) that acquires image information of a space in which an object (ob) is present, an outline detection unit ( 142 ) that detects an outline of the object included in the image information, a radiation system ( 111 ) that radiates an electromagnetic wave into the space, a radiation control unit ( 143 ) that controls the radiation system such that the radiation system radiates the electromagnetic wave in a direction corresponding to the outline of the object in the space, and a first detection unit ( 20 ) that detects a reflected wave that is the electromagnetic wave reflected by the object.
1 . An electromagnetic-wave detection apparatus comprising:
a controller configured to
aquire image information of a space in which an object is present; and
detect an outline of the object based on the image information;
a light irradiator configured to radiate an electromagnetic wave into the space, the controller being configured to control the light irradiator such that the light irradiator radiates the electromagnetic wave in a direction corresponding to the outline of the object in the space; and
a first detector configured to detect a reflected wave that is the electromagnetic wave reflected by the object.
2 . The electromagnetic-wave detection apparatus according to claim 1 ,
wherein the controller is configured to control directions of the electromagnetic wave to not be radiated in a direction corresponding to a portion that is not the outline of the object.
3 . The electromagnetic-wave detection apparatus according to claim 1 ,
wherein, when a number of outlines of the object exceeds an upper limit that is determined based on a period from when the light irradiator radiates the electromagnetic wave until the first detector detects the reflected wave, the controller is configured to cause the electromagnetic wave to be radiated in directions corresponding to some of the outlines that have higher priorities, a number of the higher-priority outlines being not more than the upper limit.
4 . The electromagnetic-wave detection apparatus according to claim 3 ,
wherein the priorities are set in such a manner that the outline of the object closest to a center of an image of the space has a highest priority.
5 . The electromagnetic-wave detection apparatus according to claim 1 ,
wherein the controller is configured to acquire first partial information that is image information of a portion of the space and second partial information that is different from the first partial information and that is image information of another portion of the space,
wherein the controller is further configured to detect, based on the first partial information, a first outline that includes at least one of the outlines of the object and then detect, based on the second partial information, a second outline that includes at least one of the outlines of the object, and
wherein the controller is configured to cause the electromagnetic wave to be radiated in a direction corresponding to the first outline in the space and then cause the electromagnetic wave to be radiated in a direction corresponding to the second outline in the space.
6 . The electromagnetic-wave detection apparatus according to claim 5 ,
wherein the controller is configured to acquire the second partial information while the light irradiator radiates the electromagnetic wave in the direction corresponding to the first outline.
7 . The electromagnetic-wave detection apparatus according to claim 1 , further comprising:
a splitter configured to split electromagnetic waves including the reflected wave into the electromagnetic wave that travels in a first direction and the electromagnetic wave that travels in a second direction; and
a second detector configured to detect the electromagnetic wave that has travelled in the first direction,
wherein the controller is configured to acquire image information of the space based on detection information obtained by the second detector.
8 . The electromagnetic-wave detection apparatus according to claim 7 , further comprising:
a switch that includes multiple switching elements, the state of each of the switching elements being switchable between a first state in which the switching element causes the electromagnetic wave that has travelled in the second direction to travel in a third direction and a second state in which the switching element causes the electromagnetic wave to travel in a fourth direction,
wherein the controller is configured to switch the state of each of the multiple switching elements to the first state or the second state in accordance with a radiation direction of the electromagnetic wave output by the light irradiator or an irradiation position of the electromagnetic wave,
wherein the splitter causes the reflected wave to travel in the second direction, and
wherein the first detector is disposed at a position at which the first detector is capable of detecting the electromagnetic wave that travels in the third direction.
9 . The electromagnetic-wave detection apparatus according to claim 1 ,
wherein an optical axis of light for acquiring image information of the object at a predetermined position and an optical axis the reflected wave that is emitted from the predetermined position and detected by the first detector coincide with each other.
10 . A distance-measurement apparatus comprising:
a controller configured to
acquire image information of a space in which an object is present; and
detect an outline of the object based on the image information;
a light irradiator configured to radiate an electromagnetic wave into the space, the controller being configured to control the light irradiator such that the light irradiator radiates the electromagnetic wave in a direction corresponding to the outline of the object in the space; and
a first detector configured to detect a reflected wave that is the electromagnetic wave reflected by the object, wherein
the controller is configured to calculate a distance to the object based on detection information obtained by the first detector.