Object capturing device, capturing object, and object capturing system

摘要

An object capturing device capable of determining whether or not an object is a capturing target, a light-emitting unit, a light-receiving unit, and scanning measurement light emitted from the light-emitting unit toward a measurement target space, and An optical scanning unit that guides the reflected light from the object to the light receiving unit, and a distance calculation unit that calculates the distance to the object based on the phase difference or delay time of the reflected light with respect to the measurement light in association with the scanning angle of the optical scanning unit. The scanning angle range in which the difference between the distances at the adjacent scanning angles calculated by the distance calculation unit is equal to or less than a predetermined threshold value corresponds to the reference scanning angle range of the capture target corresponding to the reference distance representing each distance. Whether or not, and based on whether the intensity distribution of the reflected light in the scanning angle range corresponds to the reference intensity distribution of the reflected light from the capture target, the object is the capture target. And an object determining unit for determining whether the .