JP2000009422A - Distance measuring apparatus for traveling vehicle - Google Patents
Distance measuring apparatus for traveling vehicleInfo
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- JP2000009422A JP2000009422A JP10178507A JP17850798A JP2000009422A JP 2000009422 A JP2000009422 A JP 2000009422A JP 10178507 A JP10178507 A JP 10178507A JP 17850798 A JP17850798 A JP 17850798A JP 2000009422 A JP2000009422 A JP 2000009422A
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- distance
- laser light
- obstacle
- laser
- mirror
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、レーザレンジファ
インダの１種であるレーザ光とポリゴンミラーを用いて
距離を測定し障害物等を認識する走行車両の距離測定装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a distance measuring device for a traveling vehicle which measures a distance by using a laser beam and a polygon mirror, which is a kind of laser range finder, and recognizes an obstacle or the like.
【０００２】[0002]
【従来の技術】従来のレーザレンジファインダは以下の
ような技術として知られる。空間にレーザ光を出射し、
反射して戻ってきたレーザ光を検出して、出射から検出
までの時間を計測する。この時間と光速とから導かれる
距離が反射点までの距離の２倍となることから、空間的
な測距が可能となる。レーザレンジファインダはこの技
術をもとにしてレーザ光を空間的にスキャニングさせな
がら、次々と測距を行い、あるエリアの距離の分布をも
とめるものである。スキャニングの方法はテレビのラス
タスキャン状のものである。2. Description of the Related Art A conventional laser range finder is known as the following technique. Emits laser light into space,
The reflected laser light is detected, and the time from emission to detection is measured. Since the distance derived from this time and the speed of light is twice the distance to the reflection point, spatial distance measurement becomes possible. The laser range finder measures the distance one after another while scanning the laser light spatially based on this technology, and obtains the distribution of the distance in a certain area. The scanning method is a raster scan of a television.
【０００３】ポリゴンミラーで一直線状に高速にスキャ
ニング（走査）するレーザレンジファインダの一例を図
１に基づいて説明する。レーザ発振器１からハーフミラ
ー２にレーザ光を照射し、一部のレーザ光を参照光とし
て第１光検出器３で検出する。残りのレーザ光をポリゴ
ンミラー４に照射して水平方向に一直線状に走査し、物
体からの反射レーザ光をハーフミラー２より検出光とし
て第２光検出器５に照射する。An example of a laser range finder that scans (scans) linearly at high speed with a polygon mirror will be described with reference to FIG. The laser beam is irradiated from the laser oscillator 1 to the half mirror 2 and a part of the laser light is detected by the first photodetector 3 as reference light. The remaining laser light is applied to the polygon mirror 4 to scan in a straight line in the horizontal direction, and the reflected laser light from the object is applied to the second photodetector 5 as detection light from the half mirror 2.
【０００４】参照光ａと検出光ｂとの位相差を検出し、
その位相差がポリゴンミラー４から反射点（物体）まで
の距離に比例することによって物体までの距離を測定す
る。The phase difference between the reference light a and the detection light b is detected,
The distance to the object is measured by making the phase difference proportional to the distance from the polygon mirror 4 to the reflection point (object).
【０００５】前記ポリゴンミラー４は図２、図３に示す
ごとく円筒の周囲を多角形に加工し、その表面にミラー
面６を形成するものである（通常８面体、１０面体
等）。ミラー面６にある角度で入射する光はポリゴンミ
ラー４の回転により、射出方向が変化し、その軌跡は一
直線上を移動する。回転によりレーザ光がある面の端点
まで至ると次に隣接する面での反射が始まり、反射方向
はリセットされ再びその軌跡は前回の面での反射軌跡と
同一の直線上を移動する。このようなポリゴンミラー４
の回転によりレーザの反射方向は高速に一直線上の軌跡
を描くことになる。As shown in FIGS. 2 and 3, the polygon mirror 4 is formed by processing the periphery of a cylinder into a polygon and forming a mirror surface 6 on its surface (usually an octahedron, a decahedron, etc.). The light incident on the mirror surface 6 at a certain angle changes its emission direction due to the rotation of the polygon mirror 4, and its trajectory moves on a straight line. When the laser beam reaches the end point of the surface due to the rotation, reflection on the next adjacent surface starts, the reflection direction is reset, and the trajectory again moves on the same straight line as the reflection trajectory on the previous surface. Such a polygon mirror 4
Due to the rotation of the laser beam, the reflection direction of the laser draws a linear locus at high speed.
【０００６】上記の一直線状のスキャニングをその方向
と垂直方向に順次シフトしていけば、一平面状のスキャ
ニングが実現する。この垂直方向のシフトには図４に示
すように通常ガルバノミラー７が使用される。ガルバノ
ミラー７はポリゴンミラー４のスキャニングと同期し
て、ポリゴンミラー４の１つのミラー面６（水平ライン
ｃ）のスキャニングの終了とともに微少揺動する。If the above-described linear scanning is sequentially shifted in the direction perpendicular to the scanning direction, a one-plane scanning is realized. A normal galvanometer mirror 7 is used for this vertical shift as shown in FIG. The galvanomirror 7 slightly swings in synchronization with the scanning of the polygon mirror 4 when the scanning of one mirror surface 6 (horizontal line c) of the polygon mirror 4 is completed.
【０００７】このようにすればポリゴンミラー４の次の
ミラー面６でのスキャニングが始まり前回とは少し垂直
方向にずれた方向へ水平スキャンを行う。以降、順次ポ
リゴンミラー４の回転に同期して、上記と同様の動作を
させることにより一平面状のスキャニングが実現する。
このガルバノミラー７は上記の目的の為には本来はステ
ップ動作をすべきものであるが、ポリゴンミラーの高速
回転に対応させるため、実は平面を面内軸を中心にして
揺動させている。In this way, scanning on the mirror surface 6 next to the polygon mirror 4 starts, and horizontal scanning is performed in a direction slightly deviated vertically from the previous time. Thereafter, the same operation as described above is sequentially performed in synchronization with the rotation of the polygon mirror 4 to realize one-plane scanning.
The galvanomirror 7 should originally perform a step operation for the above purpose, but actually swings a plane about an in-plane axis in order to cope with high-speed rotation of the polygon mirror.
【０００８】自律移動ロボットの障害物回避、ナビゲー
ション等において、ある領域内の距離を計測する手段と
して、２次元のＬＲＦ装置、さらに２台のＣＣＤカメラ
の映像情報を処理して得られるステレオ法が従来技術と
して知られる。As means for measuring the distance in a certain area in obstacle avoidance and navigation of an autonomous mobile robot, a stereo method obtained by processing image information of a two-dimensional LRF device and two CCD cameras is used. Known as prior art.
【０００９】２次元のＬＲＦ装置は、空間にレーザ光を
出射し、反射して戻ってきたレーザ光を検出して、出射
から検出までの時間を計測する。この時間と光速とから
導かれる距離が反射点までの距離の２倍となることか
ら、空間的な測距が可能となる。前述のレーザレンジフ
ァインダはこの技術をもとにしてレーザ光を空間的に一
平面状のスキャニングをさせながら、次々と測距を行
い、あるエリアの距離の分布をもとめるものである。A two-dimensional LRF device emits a laser beam into space, detects the reflected laser beam, and measures the time from emission to detection. Since the distance derived from this time and the speed of light is twice the distance to the reflection point, spatial distance measurement becomes possible. The laser range finder described above measures the distance one after another while scanning the laser beam spatially in one plane based on this technology, and obtains the distribution of the distance in a certain area.
【００１０】ステレオ法は、２台のカメラを用いて対象
の距離情報を３角測量の原理で得る。例えば図５に示す
ような構成において以下に簡単に解説する。いま、３次
元空間内の点Ｐ（ｘ，ｙ，ｚ）の左右画像における像を
ＰL （ＸL 、ＹL ）、ＰR （ＸR 、ＹR ）とすると、点
Ｐの距離ｚはＰL とＰR のｘ座標の差である視差（ｄｉ
ｓｐａｒｉｔｙ）ｄ＝ＸL −ＸR から得ることができ、
ｚ＝２ａｆ／ｄとなる。[0010] In the stereo method, distance information of an object is obtained by the principle of triangulation using two cameras. For example, the configuration shown in FIG. 5 will be briefly described below. Now, the point P in the three-dimensional space (x, y, z) of the image at the left and right images of P L (X L, Y L ), P R (X R, Y R) if the distance z of the point P is P L and disparity is the difference between the x-coordinate of P R (di
sparity) d = X L -X R
z = 2af / d.
【００１１】問題は、Ｐが既知であるので、ＰL とＰR
が同じＰを表していることを知ることである。すなわ
ち、左右の画像の多くの点からシーンの同じ部分を表す
点の対を求めることで、対応探索と呼ばれている。この
ような対応探索を画像を構成する各点について行い、全
視野の３次元情報を導いていく。The problem is that since P is known, P L and P R
Represent the same P. That is, by finding a pair of points representing the same part of the scene from many points of the left and right images, it is called a correspondence search. Such correspondence search is performed for each point constituting the image, and three-dimensional information of the entire field of view is derived.
【００１２】[0012]
【発明が解決しようとする課題】前述のように、従来の
ポリゴンミラー４はレーザ光を一本の直線状として反射
するので、走行車両の距離測定装置として用いた場合に
は車体から一定距離だけ前方の障害物を認識することに
なり、効率が悪い。なお、ガルバノミラー７を用いれば
所定の領域内の障害物を認識できるが、その領域は狭い
ので、効率をあまり向上できない。As described above, since the conventional polygon mirror 4 reflects the laser beam as a single straight line, when it is used as a distance measuring device for a traveling vehicle, it is only a certain distance from the vehicle body. The system recognizes obstacles ahead and is inefficient. Although the use of the galvanomirror 7 makes it possible to recognize an obstacle in a predetermined area, the efficiency is not improved much because the area is small.
【００１３】また、前述した２次元ＬＲＦ装置や２ＣＣ
Ｄカメラによるステレオ法による距離測定では、視野の
中の総ての３次元座標を求めることになる。このように
従来は、得られる距離画像の全データを対象にして種々
の画像処理手法を駆使して処理を行い。障害物の全容を
くまなく明らかにしていた（例えば、距離画像をエレベ
ーションマップに変換し、マップ上で障害物をセグメン
テーションする）。よって処理に時間がかかるばかり
か、得られる環境情報結果の多くの部分が走行車両の走
行制御に直接必要のないものになっていた。Further, the two-dimensional LRF device and the 2CC
In the distance measurement by the stereo method using the D camera, all three-dimensional coordinates in the visual field are obtained. As described above, conventionally, processing is performed on all data of the obtained distance image using various image processing techniques. The entirety of the obstacle was revealed (for example, the range image was converted into an elevation map, and the obstacle was segmented on the map). Therefore, not only the processing takes time, but also a large part of the obtained environmental information result is not directly necessary for the traveling control of the traveling vehicle.
【００１４】そこで、本発明は前述の課題を解決できる
ようにした走行車両の距離測定装置を提供することを目
的とする。Accordingly, an object of the present invention is to provide a distance measuring device for a traveling vehicle which can solve the above-mentioned problems.
【００１５】[0015]
【課題を解決するための手段及び作用・効果】第１の発
明は、車体１０にポリゴンミラー１３と複数のレーザ光
源を、走行面に向けてレーザ光を照射するように取付け
て車体からの距離を測定して障害物等を認識する距離測
定装置とし、前記各レーザ光源のポリゴンミラー１３の
ミラー面１３ａへの入射の角度を、レーザ光を照射する
複数の距離に応じてそれぞれ異なる角度としたことを特
徴とする走行車両の距離測定装置である。A first aspect of the present invention is to mount a polygon mirror 13 and a plurality of laser light sources on a vehicle body 10 so as to irradiate laser light toward a running surface, and to measure a distance from the vehicle body. And a distance measuring device for recognizing obstacles and the like, and the angles of incidence of the laser light sources on the mirror surface 13a of the polygon mirror 13 are set to different angles according to a plurality of distances for irradiating the laser light. A distance measuring device for a traveling vehicle.
【００１６】第１の発明によれば、車体１０から異なる
距離の複数位置の障害物有無を認識できるし、処理の対
象となるデータの量が大幅に少なく短時間に処理でき
る。According to the first aspect, the presence or absence of obstacles at a plurality of positions at different distances from the vehicle body 10 can be recognized, and the amount of data to be processed is significantly reduced, so that processing can be performed in a short time.
【００１７】これにより、複数位置の障害物有無が短時
間に検知され、それによって車両を迅速かつ円滑に制御
できる。Thus, the presence / absence of an obstacle at a plurality of positions is detected in a short period of time, whereby the vehicle can be controlled quickly and smoothly.
【００１８】第２の発明は、第１の発明における各レー
ザ光源の強度を、照射する距離の違いによるレーザ光の
反射光強度の減衰を考慮して適宜選定することで各レー
ザ光の反射光強度をほぼ等しくした走行車両の距離測定
装置である。According to a second aspect of the present invention, the reflected light of each laser light is appropriately selected in consideration of the attenuation of the reflected light intensity of the laser light due to a difference in irradiation distance in the first invention. This is a distance measuring device for a traveling vehicle having substantially the same strength.
【００１９】第２の発明によれば、各レーザ光の反射光
強度がほぼ等しいから、測定精度が向上する。According to the second aspect, since the reflected light intensities of the respective laser beams are substantially equal, the measurement accuracy is improved.
【００２０】第３の発明は、車体１０にポリゴンミラー
１３と１つのレーザ光源を、走行面に向けてレーザ光を
照射するように取付けて車体からの距離を測定して障害
物当を認識する距離測定装置とし、前記ポリゴンミラー
１３の各ミラー面の回転軸に対する角度を、レーザ光を
照射する遠距離、中間距離、近距離に応じてそれぞれ異
なる角度としたことを特徴とする走行車両の距離測定装
置である。According to a third aspect of the present invention, a polygon mirror 13 and one laser light source are mounted on a vehicle body 10 so as to emit laser light toward a running surface, and a distance from the vehicle body is measured to recognize an obstacle. A distance measuring device, wherein the angles of the respective mirror surfaces of the polygon mirror 13 with respect to the rotation axis are set to different angles according to a long distance, an intermediate distance, and a short distance for irradiating a laser beam, respectively. It is a measuring device.
【００２１】第３の発明によれば、１つのレーザ光源で
遠距離用のレーザ光（イ）、中間距離用のレーザ光
（ロ）、近距離用のレーザ光（ハ）を照射できるから、
第１の発明と同様に、複数位置の障害物有無を短時間を
検知し、それによって車両を迅速かつ円滑に制御できる
し、コストを安くできる。According to the third aspect, a single laser light source can irradiate a long-distance laser beam (a), an intermediate-distance laser beam (b), and a short-distance laser beam (c).
As in the first aspect, the presence / absence of obstacles at a plurality of positions is detected for a short time, whereby the vehicle can be controlled quickly and smoothly, and the cost can be reduced.
【００２２】[0022]
【発明の実施の形態】図６に示すように、走行車両の車
体１０にポリゴンミラーと複数のレーザ光源を備えた距
離測定装置１１を取付け、この距離測定装置１１で走行
面１２に複数のレーザ光（イ）、（ロ）、（ハ）を照射
する。As shown in FIG. 6, a distance measuring device 11 equipped with a polygon mirror and a plurality of laser light sources is mounted on a vehicle body 10 of a traveling vehicle. Light (a), (b), and (c) are irradiated.
【００２３】前記ポリゴンミラー１３は図７に示すよう
に回転軸と平行な複数のミラー面１３ａを有する。レー
ザ光源は第１レーザ光源１４、第２レーザ光源１５、第
３レーザ光源１６を備え、この第１・第２・第３レーザ
光源１４，１５，１６の各レーザ光１４ａ，１５ａ，１
６ａのポリゴンミラー１３のミラー面１３ａに入射する
角度はそれぞれ異なり、反射角度がそれぞれ異なるの
で、走行面１２に照射されるレーザ光（イ）、（ロ）、
（ハ）は車体１０からの距離がそれぞれ異なる。As shown in FIG. 7, the polygon mirror 13 has a plurality of mirror surfaces 13a parallel to the rotation axis. The laser light source includes a first laser light source 14, a second laser light source 15, and a third laser light source 16, and the laser light 14a, 15a, 1 of each of the first, second, and third laser light sources 14, 15, 16 is provided.
6a, the angles of incidence on the mirror surface 13a of the polygon mirror 13 are different from each other, and the reflection angles are different from each other, so that the laser light (a), (b),
(C) differs in the distance from the vehicle body 10.
【００２４】例えば、第１レーザ光源１４のレーザ光１
４ａの入射角度が最も大きくレーザ光（イ）として最も
遠い位置に照射される。第２レーザ光源１５のレーザ光
１５ａの入射角度が中間の大きさでレーザ光（ロ）とし
て中間の位置に照射される。第３レーザ光源１６のレー
ザ光１６ａの入射角度が最も小さくレーザ光（１１）と
して最も近い位置に照射される。For example, the laser light 1 of the first laser light source 14
The incident angle 4a is the largest and the laser beam (a) is applied to the farthest position. The laser beam 15a of the second laser light source 15 is irradiated at an intermediate position as a laser beam (b) with an incident angle of an intermediate size. The laser beam 16a of the third laser light source 16 has the smallest incident angle and is irradiated to the closest position as the laser beam (11).
【００２５】このようであるから、レーザ光（イ）で車
体１０から最も遠く離れた位置までの遠距離をセンシン
グして遠距離の障害物を検知し、レーザ光（ハ）で車体
１０に最も近い位置まで近距離をセンシングして近距離
の障害物を検知し、レーザ光（ロ）で中間距離をセンシ
ングして中間距離の障害物を検知することができる。As described above, the laser beam (a) senses a long distance from the vehicle body 10 to a position farthest from the vehicle body 10 to detect an obstacle at a long distance, and the laser beam (c) most detects the obstacle. It is possible to detect an obstacle at a short distance by sensing a short distance to a close position, and detect an obstacle at an intermediate distance by sensing an intermediate distance with a laser beam (b).
【００２６】次にセンシング結果（障害物検知）と車体
誘導制御の関係を図８に基づいて説明する。まず、遠距
離センシングでは障害物の粗々の認識を行う。一般的に
遠方での距離測定では測定誤差が大きく、検出精度が低
くなるため、物体の大きさに関するパラメータまで正確
には測定できない。つまりこの領域では障害物の有無の
認識を行うことが目的となる。Next, the relationship between the sensing result (obstacle detection) and the vehicle guidance control will be described with reference to FIG. First, in long-distance sensing, rough recognition of an obstacle is performed. In general, in distance measurement at a long distance, a measurement error is large and detection accuracy is low. Therefore, it is not possible to accurately measure parameters related to the size of an object. That is, the purpose of this area is to recognize the presence or absence of an obstacle.
【００２７】これに対して、近距離センシングでは障害
物の精細な認識を行う。近距離では測定誤差が小さく検
出の精度が向上するため、物体の形状に関する詳細なパ
ラメータが計測可能である。On the other hand, in short-range sensing, an obstacle is precisely recognized. Since the measurement error is small and the detection accuracy is improved at a short distance, detailed parameters relating to the shape of the object can be measured.
【００２８】中間距離センシングはこの遠距離と近距離
の中間のレベルのセンシングと認識が実行される。すな
わち障害物の大きさと方向について大まかな記述が得ら
れることになる。In the intermediate distance sensing, sensing and recognition at an intermediate level between the long distance and the short distance are performed. That is, a rough description of the size and direction of the obstacle can be obtained.
【００２９】以上まとめると、遠距離では、障害物の有
無の認識、中間距離では障害物の大まかな認識、近距離
では障害物の詳細な認識が行われる。In summary, recognition of the presence or absence of an obstacle is performed at a long distance, rough recognition of an obstacle at an intermediate distance, and detailed recognition of an obstacle at a short distance.
【００３０】図８の右側の部分には、それぞれの認識結
果を受けて、車両を具体的にどのように制御するかとい
う事例をフローチャートで示す。それぞれの階層での制
御は対応する領域の認識結果を反映したものとなってい
る。以下、フローチャートの内容を解説する。The right part of FIG. 8 is a flowchart showing an example of how the vehicle is specifically controlled in response to each recognition result. The control at each level reflects the recognition result of the corresponding area. Hereinafter, the contents of the flowchart will be described.
【００３１】遠距離センシングで障害物有りの判定が下
ると車両は車速をダウンさせる（障害物回避動作のため
の準備）。次に車両が中間領域にさしかかるとその認識
結果に基づき、例えば次の３つのパターンの制御が行わ
れる。When it is determined that there is an obstacle by long-distance sensing, the vehicle speed is reduced (preparation for obstacle avoidance operation). Next, when the vehicle approaches the intermediate area, for example, the following three patterns are controlled based on the recognition result.
【００３２】（１）障害物が大きい場合。 障害物の存在する方法を見て、緩やかな操蛇を開始（や
や右、やや左）。(1) When the obstacle is large. Seeing how obstacles are present, begin gentle snakes (slightly right, slightly left).
【００３３】（２）障害物が小さい場合。 踏破できる可能性もあるので、さらに車速をダウンさせ
ながら前進を継続。(2) When the obstacle is small. There is a possibility that the vehicle will be able to cross, so keep moving forward while lowering the vehicle speed.
【００３４】（３）障害物を認識できなかった。 念のため、そのままのスピードで前進を継続。(3) The obstacle could not be recognized. Just in case, keep moving forward at the same speed.
【００３５】（１）〜（３）のいずれの場合も、アプロ
ーチの違いはあるが車両はさらに障害物に近づく。近距
離センシングの認識結果を受けて上記（１）〜（３）に
続く制御は正確な舵角の決定。踏破可否の決定、具体的
には障害物が小さく乗り越え可能なものは踏破。障害物
が踏破に耐えないと認識された場合は停止。動作モード
の決定、具体的には精査してもやはり障害物が無かった
場合はスピードを定常速度に復帰。急に障害物が発見さ
れた場合（深い穴等）は緊急停止のようになる。In each of the cases (1) to (3), although the approach is different, the vehicle further approaches the obstacle. The control following the above (1) to (3) in response to the recognition result of the short-range sensing determines an accurate steering angle. Determining whether or not to go over, specifically, if the obstacle is small and can be overcome, go through. Stop if the obstacle is recognized as not tolerable. The speed is returned to the normal speed when there is no obstacle even after the operation mode is determined, and more specifically, the inspection is performed. If an obstacle is suddenly found (a deep hole, etc.), it will be like an emergency stop.
【００３６】このように障害物の発見から回避までのプ
ロセスを計測と制御との関係を階層的に構成することに
より、従来にない自律移動ロボットの円滑な行動制御が
行えるようになる。なお本発明は、工場の流れ作業中の
物品の通過検出等のセンサとしても適用可能である。As described above, the relationship between measurement and control of the process from finding an obstacle to avoiding an obstacle is hierarchically configured, so that an unprecedented smooth motion control of an autonomous mobile robot can be performed. Note that the present invention is also applicable as a sensor for detecting the passage of an article during a work in a factory.
【００３７】次に他の実施の形態を説明する。図７に示
す構成において、一般に、第１レーザ光源１４によるレ
ーザ光（イ）の反射光強度は第２レーザ光源１５による
レーザ光（ロ）の反射強度より低くなり、また、第２レ
ーザ光源１５によるレーザ光（ロ）の反射光強度は第１
レーザ光源１６によるレーザ光（ハ）の反射強度より低
くなる。よって、受光される反射光強度をほぼ一定に保
つことを意図して、照射レーザ光強度を変える。具体的
には （第１レーザ光源１４の強度＞第２レーザ光源１５の強
度＞第３レーザ光源１６の強度）となるようにし、実際
の数値は空間的な配置より決定する。Next, another embodiment will be described. In the configuration shown in FIG. 7, the reflected light intensity of the laser light (a) from the first laser light source 14 is generally lower than the reflected light intensity of the laser light (b) from the second laser light source 15, and the second laser light source 15 The reflected light intensity of the laser light (b) by the
It becomes lower than the reflection intensity of the laser light (c) by the laser light source 16. Therefore, the irradiation laser light intensity is changed in order to keep the intensity of the reflected light received substantially constant. Specifically, (the intensity of the first laser light source 14> the intensity of the second laser light source 15> the intensity of the third laser light source 16), and the actual numerical value is determined from the spatial arrangement.
【００３８】次に別の実施の形態を説明する。照射する
レーザ光（イ）、（ロ）、（ハ）の種類を変更する。例
えば、第１・第２・第３レーザ光源１４，１５，１６
（半導体レーザ）の発振波長を赤色、緑色、青色と変更
する。また、この場合それぞれの波長の光を効率的に受
光する受信素子（光学フィルタ等）を対応させるように
配置してそれぞれの波長を選択的に受光させる。こうす
ればそれぞれの測距はレーザの送受信に混信（干渉）を
伴うこともあまりなく、効率的な同時刻での複数の距離
をまとめて計測精度を低下せずに測定することが可能と
なる。Next, another embodiment will be described. The type of the laser light to be irradiated (a), (b), or (c) is changed. For example, the first, second, and third laser light sources 14, 15, 16
The oscillation wavelength of the (semiconductor laser) is changed to red, green, and blue. In this case, a receiving element (optical filter or the like) that efficiently receives light of each wavelength is arranged so as to correspond to each other, and each wavelength is selectively received. In this way, each distance measurement does not cause interference (interference) in the transmission and reception of the laser, and a plurality of distances at the same time can be efficiently collected and measured without lowering the measurement accuracy. .
【００３９】次に、本発明の第２の実施の形態を説明す
る。図９に示すように、距離測定装置１１を構成するポ
リゴンミラー１３は、第１〜第１０ミラー面１３ａ−１
〜１３ａ−１０を有する。この各ミラー面の回転軸１３
ｂに対する角度（以下単に角度という）はそれぞれ異な
る。Next, a second embodiment of the present invention will be described. As shown in FIG. 9, the polygon mirror 13 constituting the distance measuring device 11 has first to tenth mirror surfaces 13a-1.
To 13a-10. The rotation axis 13 of each mirror surface
The angles with respect to b (hereinafter simply referred to as angles) are different.
【００４０】前記第１・第２ミラー面１３ａ−１、１３
ａ−２は図１０（ａ）に示すようにほぼ１００度、例え
ば第１ミラー面１３ａ−１が１００度、第２ミラー面１
３ａ−２が９９度である。これによって１つのレーザ光
源１７からのレーザ光１７ａを図６の遠距離用のレーザ
光（イ）として反射する。The first and second mirror surfaces 13a-1, 13a
a-2 is substantially 100 degrees as shown in FIG. 10A, for example, the first mirror surface 13a-1 is 100 degrees, and the second mirror surface 1a is 100 degrees.
3a-2 is 99 degrees. Thereby, the laser light 17a from one laser light source 17 is reflected as the long-distance laser light (a) in FIG.
【００４１】前記第３・第４・第５ミラー面１３ａ−
３、１３ａ−４、１３ａ−５は図１０（ｂ）に示すよう
にほぼ９０度、例えば第３ミラー面１３ａ−３が９１
度、第４ミラー面１３ａ−４が９０度、第５ミラー面１
３ａ−５が８９度である。これによって、１つのレーザ
光源１７のレーザ光１７ａを図６の中距離用のレーザ光
（ロ）として反射する。The third, fourth and fifth mirror surfaces 13a-
3, 13a-4 and 13a-5 are substantially 90 degrees as shown in FIG. 10B, for example, the third mirror surface 13a-3 has 91 degrees.
Degrees, the fourth mirror surface 13a-4 is 90 degrees, the fifth mirror surface 1
3a-5 is 89 degrees. Thereby, the laser light 17a of one laser light source 17 is reflected as the laser light (b) for the middle distance in FIG.
【００４２】前記第６ないし第１０ミラー面１３ａ−６
ないし１３ａ−１０の角度はほぼ８０度、例えば第６ミ
ラー面１３ａ−６が８２度、第７ミラー面１３ａ−７が
８１度、第８ミラー面１３ａ−８が８０度、第９ミラー
面１３ａ−９が７９度、第１０ミラー面１３ａ−１０が
７８度である。これによって、１つのレーザ光源１７の
レーザ光１７ａを図６の近距離用のレーザ光（ハ）とし
て反射する。The sixth to tenth mirror surfaces 13a-6
The angles 13a-10 are approximately 80 degrees, for example, 82 degrees at the sixth mirror surface 13a-6, 81 degrees at the seventh mirror surface 13a-7, 80 degrees at the eighth mirror surface 13a-8, and ninth mirror surface 13a. -9 is 79 degrees, and the tenth mirror surface 13a-10 is 78 degrees. Thus, the laser light 17a of one laser light source 17 is reflected as the short-distance laser light (c) in FIG.
【００４３】このようにすれば、１つのレーザ光源１７
で遠距離用のレーザ光（イ）、中距離用のレーザ光
（ロ）、近距離用のレーザ光（ハ）を走行面１２に照射
できる。In this way, one laser light source 17
The laser light for long distance (a), the laser light for medium distance (b), and the laser light for short distance (c) can be applied to the running surface 12.
【００４４】なお、第１・第２ミラー面１３ａ−１、１
３ａ−２を同一角度、第３〜第５ミラー面１３ａ−３〜
１３ａ−５を同一角度、第６〜第１０ミラー面１３ａ−
６〜１３ａ−１０を同一角度としても良い。The first and second mirror surfaces 13a-1, 13a-1
3a-2 at the same angle, third to fifth mirror surfaces 13a-3 to
13a-5 have the same angle, and the sixth to tenth mirror surfaces 13a-
6 to 13a-10 may be the same angle.
【図１】レーザレンジファインダの検出系説明図であ
る。FIG. 1 is an explanatory diagram of a detection system of a laser range finder.
【図２】従来のポリゴンミラーの平面図である。FIG. 2 is a plan view of a conventional polygon mirror.
【図３】図２の正面図である。FIG. 3 is a front view of FIG. 2;
【図４】レーザ光の平面状スキャニングの説明図であ
る。FIG. 4 is an explanatory diagram of planar scanning of laser light.
【図５】ステレオ法の説明図である。FIG. 5 is an explanatory diagram of a stereo method.
【図６】本発明のポリゴンミラーの第１の実施の形態を
示す斜視図である。FIG. 6 is a perspective view showing a first embodiment of the polygon mirror of the present invention.
【図７】その装置に用いるポリゴンミラーとレーザ光源
の説明図である。FIG. 7 is an explanatory diagram of a polygon mirror and a laser light source used in the device.
【図８】センシング結果と車体誘導制御の関係を示す図
表である。FIG. 8 is a table showing a relationship between a sensing result and vehicle body guidance control.
【図９】本発明の第２の実施の形態を示すポリゴンミラ
ーの平面図である。FIG. 9 is a plan view of a polygon mirror showing a second embodiment of the present invention.
【図１０】レーザ光の反射動作説明図である。FIG. 10 is a diagram illustrating a reflection operation of a laser beam.
１…レーザ発振器 ２…ハーラミラー ３…第１光検出器 ４…ポリゴンミラー ５…第２光検出器 ６…ミラー面 ７…ガルバノミラー １０…車体軸 １１…距離測定装置 １２…走行面 １３…ポリゴンミラー １３ａ…ミラー面 １３ｂ…回転軸 １４…第１レーザ光源 １４ａ…レーザ光 １５…第２レーザ光源 １５ａ…レーザ光 １６…第３レーザ光源 １６ａ…レーザ光 DESCRIPTION OF SYMBOLS 1 ... Laser oscillator 2 ... Harla mirror 3 ... 1st photodetector 4 ... Polygon mirror 5 ... 2nd photodetector 6 ... Mirror surface 7 ... Galvano mirror 10 ... Body axis 11 ... Distance measuring device 12 ... Running surface 13 ... Polygon mirror 13a ... Mirror surface 13b ... Rotation axis 14 ... First laser light source 14a ... Laser light 15 ... Second laser light source 15a ... Laser light 16 ... Third laser light source 16a ... Laser light
─────────────────────────────────────────────────────
────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成１１年４月１２日（１９９９．４．１
２）[Submission date] April 12, 1999 (1999.4.1
2)
【手続補正１】[Procedure amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】特許請求の範囲[Correction target item name] Claims
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【特許請求の範囲】[Claims]
【手続補正２】[Procedure amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００２０[Correction target item name] 0020
【補正方法】削除[Correction method] Deleted
【手続補正３】[Procedure amendment 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００２１[Correction target item name] 0021
【補正方法】削除[Correction method] Deleted
【手続補正４】[Procedure amendment 4]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００３９[Correction target item name] 0039
【補正方法】削除[Correction method] Deleted
【手続補正５】[Procedure amendment 5]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００４０[Correction target item name] 0040
【補正方法】削除[Correction method] Deleted
【手続補正６】[Procedure amendment 6]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００４１[Correction target item name] 0041
【補正方法】削除[Correction method] Deleted
【手続補正７】[Procedure amendment 7]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００４２[Correction target item name] 0042
【補正方法】削除[Correction method] Deleted
【手続補正８】[Procedure amendment 8]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００４３[Correction target item name] 0043
【補正方法】削除[Correction method] Deleted
【手続補正９】[Procedure amendment 9]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】００４４[Correction target item name] 0044
【補正方法】削除[Correction method] Deleted
【手続補正１０】[Procedure amendment 10]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】図面の簡単な説明[Correction target item name] Brief description of drawings
【補正方法】変更[Correction method] Change
【補正内容】[Correction contents]
【図面の簡単な説明】[Brief description of the drawings]
【図１】レーザレンジファインダの検出系説明図であ
る。FIG. 1 is an explanatory diagram of a detection system of a laser range finder.
【図２】従来のポリゴンミラーの平面図である。FIG. 2 is a plan view of a conventional polygon mirror.
【図３】図２の正面図である。FIG. 3 is a front view of FIG. 2;
【図４】レーザ光の平面状スキャニングの説明図であ
る。FIG. 4 is an explanatory diagram of planar scanning of laser light.
【図５】ステレオ法の説明図である。FIG. 5 is an explanatory diagram of a stereo method.
【図６】本発明のポリゴンミラーの第１の実施の形態を
示す斜視図である。FIG. 6 is a perspective view showing a first embodiment of the polygon mirror of the present invention.
【図７】その装置に用いるポリゴンミラーとレーザ光源
の説明図である。FIG. 7 is an explanatory diagram of a polygon mirror and a laser light source used in the device.
【図８】センシング結果と車体誘導制御の関係を示す図
表である。FIG. 8 is a table showing a relationship between a sensing result and vehicle body guidance control.
【符号の説明】 １…レーザ発振器 ２…ハーラミラー ３…第１光検出器 ４…ポリゴンミラー ５…第２光検出器 ６…ミラー面 ７…ガルバノミラー １０…車体軸 １１…距離測定装置 １２…走行面 １３…ポリゴンミラー １３ａ…ミラー面 １３ｂ…回転軸 １４…第１レーザ光源 １４ａ…レーザ光 １５…第２レーザ光源 １５ａ…レーザ光 １６…第３レーザ光源 １６ａ…レーザ光[Description of Signs] 1 ... Laser oscillator 2 ... Hara mirror 3 ... First photodetector 4 ... Polygon mirror 5 ... Second photodetector 6 ... Mirror surface 7 ... Galvano mirror 10 ... Body axis 11 ... Distance measuring device 12 ... Running Surface 13 ... Polygon mirror 13a ... Mirror surface 13b ... Rotation axis 14 ... First laser light source 14a ... Laser light 15 ... Second laser light source 15a ... Laser light 16 ... Third laser light source 16a ... Laser light
【手続補正１１】[Procedure amendment 11]
【補正対象書類名】図面[Document name to be amended] Drawing
【補正対象項目名】図９[Correction target item name] Fig. 9
【補正方法】削除[Correction method] Deleted
【手続補正１２】[Procedure amendment 12]
【補正対象書類名】図面[Document name to be amended] Drawing
【補正対象項目名】図１０[Correction target item name] FIG.
【補正方法】削除[Correction method] Deleted
フロントページの続き (72)発明者 中野 勝之 東京都目黒区中目黒２−２−30 目黒独身 寮Ｂ棟106号室 (72)発明者 丹羽 雄一郎 東京都目黒区中目黒２−２−30 目黒独身 寮Ｂ棟105号室 (72)発明者 斉藤 雄之 神奈川県平塚市四之宮2597 株式会社小松 製作所特機研究部内 (72)発明者 高木 公彦 神奈川県平塚市四之宮2597 株式会社小松 製作所特機研究部内 (72)発明者 細井 光夫 神奈川県平塚市四之宮2597 株式会社小松 製作所特機研究部内 Ｆターム(参考） 2F065 AA06 CC11 DD05 DD06 FF11 GG04 GG06 GG22 GG23 HH04 JJ18 LL15 LL22 LL62 MM16 NN02 PP22 UU01 5J084 AA01 AA05 AA15 AB01 AB17 AC02 AC07 AD01 AD02 AD06 BA03 BA04 BA11 BA14 BA21 BA36 BA49 BA51 BB20 BB26 CA11 DA01 DA02 EA07 Continued on front page (72) Inventor Katsuyuki Nakano 2-2-30 Nakameguro, Meguro-ku, Tokyo Meguro single dormitory Room B Building 106 Room (72) Inventor Yuichiro Niwa 2-2-30 Nakameguro, Meguro-ku, Tokyo Meguro single dormitory Building B, Room 105 (72) Inventor Takeyuki Saito 2597 Shinomiya, Hiratsuka-shi, Kanagawa Prefecture Inside Special Machinery Research Laboratory, Komatsu Manufacturing Co., Ltd. Inventor Mitsuo Hosoi 2597 Yonomiya, Hiratsuka-shi, Kanagawa Prefecture F-term (reference) 2F065 AA06 CC11 DD05 DD06 FF11 GG04 GG06 GG22 GG23 HH04 JJ18 LL15 LL22 LL62 MM16 NN02 PP22 UU01 AJ07A02A AD01 AD02 AD06 BA03 BA04 BA11 BA14 BA21 BA36 BA49 BA51 BB20 BB26 CA11 DA01 DA02 EA07
Claims (3)
レーザ光源を、走行面に向けてレーザ光を照射するよう
に取付けて車体からの距離を測定して障害物等を認識す
る距離測定装置とし、 前記各レーザ光源のポリゴンミラー１３のミラー面１３
ａへの入射の角度を、レーザ光を照射する複数の距離に
応じてそれぞれ異なる角度としたことを特徴とする走行
車両の距離測定装置。1. A distance measuring device which mounts a polygon mirror 13 and a plurality of laser light sources on a vehicle body 10 so as to irradiate a laser beam toward a running surface and measures a distance from the vehicle body to recognize an obstacle or the like. A mirror surface 13 of a polygon mirror 13 of each of the laser light sources;
A distance measuring device for a traveling vehicle, wherein angles of incidence on a are different depending on a plurality of distances at which laser light is irradiated.
違いによるレーザ光の反射光強度の減衰を考慮して適宜
選定することで各レーザ光の反射光強度をほぼ等しくし
た請求項１記載の走行車両の距離測定装置。2. The reflected light intensity of each laser light is made substantially equal by appropriately selecting the intensity of each laser light source in consideration of attenuation of the reflected light intensity of the laser light due to a difference in irradiation distance. Measuring device for traveling vehicles.
レーザ光源を、走行面に向けてレーザ光を照射するよう
に取付けて車体からの距離を測定して障害物当を認識す
る距離測定装置とし、 前記ポリゴンミラー１３の各ミラー面の回転軸に対する
角度を、レーザ光を照射する遠距離、中間距離、近距離
に応じてそれぞれ異なる角度としたことを特徴とする走
行車両の距離測定装置。3. A distance measuring device which mounts a polygon mirror 13 and one laser light source on a vehicle body 10 so as to irradiate a laser beam toward a running surface, measures a distance from the vehicle body, and recognizes an obstacle or the like. A distance measuring device for a traveling vehicle, wherein angles of the respective mirror surfaces of the polygon mirror 13 with respect to a rotation axis are respectively different according to a long distance, an intermediate distance, and a short distance for irradiating a laser beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10178507A JP2958456B1 (en) | 1998-06-25 | 1998-06-25 | Traveling vehicle distance measurement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10178507A JP2958456B1 (en) | 1998-06-25 | 1998-06-25 | Traveling vehicle distance measurement device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2958456B1 JP2958456B1 (en) | 1999-10-06 |
| JP2000009422A true JP2000009422A (en) | 2000-01-14 |
Family
ID=16049684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10178507A Expired - Lifetime JP2958456B1 (en) | 1998-06-25 | 1998-06-25 | Traveling vehicle distance measurement device |
Country Status (1)
| Country | Link |
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| JP (1) | JP2958456B1 (en) |
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