Foreign substance detection device, moving body control system including foreign substance detection device, and moving body including moving body control system

A moving body controller, installed in a moving body that has at least one operational device, comprising:

• at least one control device to control operation of the operational device or movement of the moving body;
• a foreign substance detection system positioned close to a window, to detect substances present on the window, operatively connected to the control device,
• the foreign substance detection system comprising:
• a light emitting element, to emit light toward the inner surface of the window;
• an optical device, having an input surface through which a part of light emitted from the light emitting element enters the optical device and a transparent face, provided in close contact with the inner surface of the window, to transmit a light reflected from an outer rim-substance detected area where a substance is not present on an outer surface of the window;
• a light-guiding member to guide another part of the light that does not pass through the input surface of the optical device toward the window, the guided light being to be reflected from an inner substance detected area where a substance is present on the inner surface of the window;
• a first light receiving member to receive the light reflected from the outer non-substance detected area where the substance is not present on the outer surface of the window and transmitted through the transparent face of the optical device;
• a second light receiving member to receive the light guided by the light-guiding member and reflected from the inner substance detected area where the substance is present on the inner surface of the window;
• and
• an foreign substance detection processor to detect the substance present on the outer surface of the window based on the receiving result of the first light receiving member, and detect the substance present on the inner surface of the window based on the receiving result of the second light receiving member, and output the detection result to the control device.

A moving body comprising:

• a window;
• at least one operational device;
• a moving body controller comprising:
• at least one control device to control operation of the operational device or movement of the moving body;
• a foreign substance detection system positioned close to a window, to detect substances present on the window, operatively connected to the control device,
• the foreign substance detection system comprising:
• a light emitting element, to emit light toward the inner surface of the window;
• an optical device, having an input surface through which a part of the light emitted from the light emitting element enters the optical device and a transparent face, provided in close contact with the inner surface of the window, to transmit a light reflected from an outer non-substance detected area where a substance is not present on an outer surface of the window;
• a light-guiding member to guide another part of the light that does not pass through the input surface of the optical device toward the window, the guided light being to be reflected from an inner substance detected area where a substance is present on the inner surface of the window;
• a first light receiving member to receive the light reflected from the outer non-substance detected area where the substance is not present on the outer surface of the window and transmitted through the transparent face of the optical device;
• a second light receiving member to receive, the light guided by the light-guiding member and reflected from the inner substance detected area where the substance is present on to the inner surface of the window;
• and
• an foreign substance detection processor to detect the substance present on the outer surface of the window based on the receiving result of the first light receiving member, and detect the substance present on the inner surface of the window based on the receiving result of the second light receiving member, and output the detection result to the control device.