Composite reception/emission apparatus

1. A composite reception and emission apparatus, comprising:

a plurality of first-type devices that receives or emits energy;

a plurality of second-type devices that receives or emits energy, whose type is a different from a type of the first-type devices; and

a base body on which the plurality of first-type devices and the plurality of second-type devices are mounted,

when a reception direction or an emission direction of each of the plurality of first-type devices is combined with each other for each of the plurality of first-type devices, each of the plurality of first-type devices receiving the energy from an area of a full solid angle or emitting the energy toward the area of the full solid angle,

when a reception direction or an emission direction of each of the plurality of second-type devices is combined with each other for each of the plurality of second-type devices, each of the plurality of second-type devices receiving the energy from the area of the full solid angle or emitting the energy toward the area of the full solid angle, and

the plurality of first-type devices and the plurality of second-type devices being arranged on the base body so as to satisfy both of two constraint conditions below:

Constraint condition 1: A device closest to each of the plurality of first-type devices in an orientation space is at least one of the second-type devices; and

Constraint condition 2: A device closest to each of the plurality of second-type devices in the orientation space is at least one of the first-type devices.

2. A composite reception and emission apparatus, comprising:

at least three first-type devices that receive or emit energy;

at least two second-type devices that receive or emit energy, whose type is a different from a type of the first-type devices and which are less in number than the first-type devices; and

a base body on which the first-type devices and the second-type devices are mounted,

when all the energy received by each of the first-type devices are combined, the first-type devices receiving the energy from an area of a full solid angle, or when all the energy emitted from each of the first-type devices are combined, the first-type devices emitting the energy toward the area of the full solid angle, and

when all the energy received by each of the second-type devices are combined, the second-type devices receiving the energy from the area of the full solid angle, or when all the energy emitted from each of the second-type devices are combined, the second-type devices emitting the energy toward the area of the full solid angle.

3. The composite reception and emission apparatus according to claim 1 , wherein

an orientation defining polyhedron is defined,

the orientation defining polyhedron has a shape including a first symmetry with one point in the orientation defining polyhedron as a reference point, and a second symmetry different from the first symmetry,

each of the plurality of first-type devices is arranged in an orientation satisfying the first symmetry included in the orientation defining polyhedron, and

each of the plurality of second-type devices is arranged in an orientation satisfying the second symmetry included in the orientation defining polyhedron.

4. The composite reception and emission apparatus according to claim 3 , wherein

the orientation defining polyhedron is a regular polyhedron, a semi-regular polyhedron, or a Catalan solid.

5. The composite reception and emission apparatus according to claim 3 , wherein

each of the first symmetry and the second symmetry is one of an orientation group directed from the reference point toward a face center or a center of gravity of the orientation defining polyhedron, an orientation group directed from the reference point toward an edge center orientation of the base body, or an orientation group directed from the reference point toward a vertex orientation of the base body.

6. The composite reception and emission apparatus according to claim 1 , wherein

each of the plurality of first-type devices is a reception device and each of the plurality of second-type devices is an emission device, or each of the plurality of first-type devices is the emission device and each of the plurality of second-type devices is the reception device, and

each of the plurality of first-type devices and the plurality of second-type devices is arranged on the base body in an orientation and a position on which the reception device does not directly receive the energy emitted from the emission device.

7. The composite reception and emission apparatus according to claim 1 , wherein

the base body is a portable information terminal.

8. The composite reception and emission apparatus according to claim 1 , further comprising a processor configured to synthesize information measured by the plurality of first-type devices to generate information of the full solid angle, and synthesize information measured by the plurality of second-type devices to generate information of the full solid angle.

9. The composite reception and emission apparatus according to claim 1 , wherein

either the first-type devices or the second-type devices are imaging devices, and the others are ranging sensors.

10. The composite reception and emission apparatus according to claim 9 , further comprising a processor configured to perform synthesize by using imaging data measured by the imaging devices and ranging data measured by the ranging sensors so as to display image information of the full solid angle.

11. The composite reception and emission apparatus according to claim 10 , wherein

the processor is further configured to, when synthesizing the ranging data as ranging information of the full solid angle, extract, for each measurement range of the ranging sensors, the ranging data obtained from orientation angles measured with high accuracy, and synthesize the ranging data as extracted.