CN105319555B - Laser radar apparatus for three-dimensional detection of objects - Google Patents

Abstract

In laser radar apparatus, laser beam generator generates laser beam and optical detector detects the reflected light reflected by target in region to be measured.Deflection executes component, and being equipped with one or more respectively can be at it to the deflecting member rotated in centration axis, for enabling the deflecting member to deflect towards the optical detector by the laser beam deflection to the region and by reflected light.Drive member rotates and drives the deflecting member.Direction changes the direction that component changes the laser beam from the deflecting member, changes on the central axis direction.Control member controls the operation that the direction changes component.

Description

Laser radar apparatus for three-dimensional detection of objects

The application be the applying date be on 2 28th, 2008, it is entitled " laser radar apparatus for three-dimensional detection of objects ", Application No. is the divisional applications of 200810092043.1 application for a patent for invention.

Technical field

The present invention relates to laser radar apparatus, and more particularly, to laser beam is used detect object to be measured distance and The laser radar apparatus in direction.

Background technique

Japanese patent publication JP2789741 discloses a kind of conventional laser radar installations.Thus open file is public The device opened is equipped with the optoisolator that laser beam generator, detector and laser beam are transmitted by it.The laser beam occurs Device generates laser beam, and the optoisolator is located on the optical axis of the laser beam from the generator with by reflected light back court To detector, detector detects the reflected light from object to be measured.In addition, concave mirror is set on the optical axis of laser beam, so as to The concave mirror rotates on its central axis along the optical axis direction of laser beam.This concave mirror not only reflects incoming laser beam Into space, and by the reflected light back from object to be measured towards isolator, so as to be carried out in 360 degree of range Horizontal sweep.

However under according to the technical situation of file is disclosed above, 360 degree of horizontal sweep being executed by rotation concave mirror Face disadvantage.As depicted, the horizontal sweep in 360 degree of range makes by scanning entire angle detection range (laser The scanning range of beam) the entire ambient enviroment that carrys out detection device is possibly realized.However, the problem is that the investigative range is limited In planar range.Especially, especially it is forced to scan given plane (plane of scanning motion) by the laser beam of concave mirror, is caused Region except the plane of scanning motion is unable to get scanning.That is, the mesh can not be detected if target is moved away from the plane of scanning motion Mark.In addition, even when target is present in the plane of scanning motion, also can not master goal in three dimensions presence.

Summary of the invention

The present invention considers aforementioned situation, and the object of the present invention is to provide a kind of laser radar apparatus, With can to the peripheral region outside device carry out 3-D scanning with the ability of target in detection zone.

To achieve the goals above, as one aspect of the present invention, a kind of laser radar apparatus is provided, comprising: produce The laser beam generator of raw laser beam；The optical detector that reflected light by the target reflection in region to be observed is detected； Deflection executes component, is equipped with one or more deflecting members, each can be at it to rotating in centration axis, for making The optical detector can be deflected towards to the region and by reflected light for the laser beam deflection by stating deflecting member；It is driven The dynamic drive member to rotate the deflecting member；The direction for changing the beam direction from the deflecting member changes structure Part is changed in the central axis direction；And the control direction changes the control member of the operation of component.

Preferably, the direction changes component and is made of light deflecting member, and the smooth deflecting member is suitable for self-excitation in future The laser beam deflection of light-beam generator is towards the deflecting member and is configured to swingable (being configured to swing), and The control member is made of weave control component, and the weave control component controls the wobbling action of the smooth deflecting member.

As another mode of the invention, a kind of laser radar apparatus is provided, comprising: generate the laser beam of laser beam Generator；The optical detector that reflected light by the target reflection in region to be observed is detected；Deflection executes component, assembly There is each can be at it to the deflecting member rotated in centration axis, for keeping the deflecting member that the laser beam is inclined It goes to the region and reflected light is deflected towards into the optical detector；Rotate and drive the driving structure of the deflecting member Part；Wherein, the deflecting member is included in laser beam incoming position and lamination and generates each other for reflecting institute in different directions State multiple reflecting layer of laser beam, wherein in these reflecting layer, other reflecting layer except most beneath reflecting layer execute laser The reflection and transmission of beam；Laser beam selected member only selects a laser from the laser beam reflected by the multiple reflecting layer Beam, a selected laser beam are emitted into the region and carry out target acquisition；And control member, to by the laser The selection that beam selected member executes is controlled, so that selected laser beam is scanned on the central axis direction.

Preferably, other reflecting layer except most beneath reflecting layer are formed as partially silvered mirror.

It is also preferable that the laser beam selected member includes a pair of annular light shielding part, it is mounted to around described inclined Turn component, generates slit between the two away from interval setting given each other along central axis direction, and will be the pair of The dislocation component of annular light shielding part dislocation together, wherein the control member includes for executing to by the dislocation component The component that is controlled of displacement pass.

Detailed description of the invention

In the accompanying drawings:

Fig. 1 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to first embodiment of the invention；

Fig. 2 is perspective view, it is shown that displacement mechanism used in first embodiment；

Fig. 3 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to second embodiment of the invention；

Fig. 4 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to third embodiment of the invention；

Fig. 5 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to fourth embodiment of the invention；

Fig. 6 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to fifth embodiment of the invention；

Fig. 7 is side view, it is shown that light deflection component used in the 5th embodiment；

Fig. 8 A illustrates how driving reflecting mirror；

Fig. 8 B shows the reflecting mirror for being equipped with piezoelectric actuator thereon；

Fig. 9 is the flow chart that the control circuit as used in the 5th embodiment executes；

Figure 10 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to sixth embodiment of the invention；

Figure 11 A and 11B show light deflection component used in sixth embodiment；

Figure 12 is the flow chart that the control circuit as used in sixth embodiment executes；

Figure 13 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to seventh embodiment of the invention；

Figure 14 A shows deflection component used in the 7th embodiment；

Figure 14 B shows cam mechanism used in the 7th embodiment；

Figure 15 A illustrates the operation of deflection component and cam mechanism；

Figure 15 B is sectional view, it is shown that the wiring of power supply line；

Figure 16 is the flow chart that the control circuit as used in the 7th embodiment executes；

Figure 17 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to eighth embodiment of the invention；

Figure 18 A and 18B show deflection component used in the 8th embodiment and vibration unit structurally and operationally；

Figure 19 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to ninth embodiment of the invention；

Figure 20 illustrates rotating and excursion mechanism used in the 9th embodiment；

Figure 21 is plan view, it is shown that deflection component；

Figure 22 illustrates the rotating and excursion mechanism of the first modification according to the 9th embodiment；

Figure 23 illustrates the rotating and excursion mechanism of the second modification according to the 9th embodiment；

Figure 24 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to tenth embodiment of the invention；

Figure 25 A and 25B each illustrate the operation of rotating and excursion mechanism used in the tenth embodiment；

Figure 26 A and 26B illustrate bindiny mechanism respectively with side view and sectional view；

Figure 27 A and 27B each illustrate the rotation of deflection component and operate to the vibration of deflection component；

Figure 28 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to eleventh embodiment of the invention；

Figure 29 is plan view, illustrates the rotation of deflection component and the guiding to rotation；

Figure 30 illustrates guide channel used in the 11st embodiment；

Figure 31 illustrates the guide channel of the modification according to the 11st embodiment；

Figure 32 is schematic diagram, diagrammatically shows matching for the laser radar apparatus of another modification according to the 11st embodiment It sets；

Figure 33 is schematic diagram, diagrammatically shows the configuration of the laser radar apparatus according to twelveth embodiment of the invention；

Figure 34 illustrates radiating laser beams and reflection light-receiving in the 12nd embodiment；

Figure 35 illustrates the selection to emitting towards the laser beam in region to be observed；

Figure 36 A and 36B each show the modification to power supply line wiring.

Specific embodiment

Hereinafter, the preferred embodiment of the present invention will be described with reference to the drawings.

(first embodiment)

Below with reference to Fig. 1 and 2 description according to the laser radar apparatus 1 of first embodiment of the invention.

Fig. 1 summary description according to the laser radar apparatus 1 of first embodiment configuration.

As shown in Figure 1, laser radar apparatus 1 is equipped with shell 3, it is configured to the side of detection range-to-go and target To.In shell 3, it is equipped with laser diode 10 and receives the photodiode 20 of the reflected light L2 from object to be measured.Swash Optical diode 10 is used as an example of laser beam generator, and is disposed in response to being mentioned from unshowned driving circuit The pulse current of confession and emission pulse laser beam L1.Photodiode 20 is used as an example of optical detector, and is configured to use It in the reflected light L2 of exploring laser light beam L1, is reflected by target to be detected, and reflected light L2 is converted into electric signal.From mesh Target reflected light L2 is made of the light for being obtained from predetermined angular range.In the example depicted in figure 1, transmitting laser beam L1 with along by Path shown in solid passes through, so that forming reflected light from the light obtained between two lines L2.

As shown in fig. 1, lens 60 are mounted on the position on the optical axis of laser beam L1.This lens 60 is by collimation lens set At the laser beam L1 from laser diode 10 is converted to directional light.

Swinging mirror 31 is installed in the optical path of the laser beam L1 from lens 60, is used as light deflecting member.This pendulum Dynamic reflecting mirror 31 is equivalent to the example that direction changes component, is configured to swingable and will be from laser diode 10 Laser beam L1 deflects towards rotating and excursion mechanism 40.This swinging mirror 31 changes laser beam to the incidence angle of deflection component 41, So as to change the direction of the laser beam from deflection component 41 on the direction of central axis 42a.

Swinging mirror 31 based on multivariant mirror drive device by being driven.This actuation techniques are known , and can be obtained by using such as galvanic reflex mirror (galvano-mirror), thus there is omitted herein to this technology Detailed description, but outline as follows.Mirror drive device can be realized by using such configuration: swinging mirror 31 are supported by such as universal joint or gantry post, to allow swinging mirror 31 to rotate.

Swinging mirror 31 has been illustrated in Fig. 2, and which show displacement mechanisms 33, for moving swinging mirror 31. Displacement mechanism 33 is equipped with the frame (not shown) for being mounted on given position in shell 3, and is pivotally supported at this frame On mirror support frame 34.Swinging mirror 31 so that swinging mirror 31 can by first axle 33a and perpendicular to The upper mode rotated of each of both direction that the second axis 33b of first axle 33a is constituted is by mirror support frame 34 Support.Swinging mirror 31 has reflecting surface 31a.Support shown in Fig. 2 allows to control pendular reflex by its three-dimensional position The reflecting surface 31a of mirror 31.

As shown in fig. 1, direction relations are defined as in this way: the direction of the launch of the laser beam L1 from laser diode 10 It is appointed as X-direction, the direction of the central axis 42a of rotating and excursion mechanism 40 is appointed as Y direction, and perpendicular to X and Y-axis Direction is appointed as Z axis.It is fixed in such direction gage, angulation is defined as α between reflecting surface 31a and X/Y plane, instead Angulation is defined as β between reflective surface 31a and YZ plane, and angulation is advised between reflecting surface 31a and XZ plane It is set to γ.To can freely determine angle [alpha], β and γ by making control circuit 70 control actuator 36.

Displacement mechanism 33 is configured to be driven by actuator 36, summarizes as shown in figure 1.Actuator 36 include the first actuator and Second actuator.First actuator is, for example, motor, and control mirror support frame 34 is reached relative to device fuselage Specific position.Second actuator is, for example, another motor, controls swinging mirror 31 relative to mirror support frame Position.Actuator 36 is able to respond in the control from control circuit 70.That is, in response to from control circuit 70 Control signal, the position of the first actuator set mirror support frame 34 and 31 phase of the second actuator set swinging mirror For the position of mirror support frame 34, so as to determine inclination angle of the swinging mirror 31 relative to laser beam L1.Control Circuit 70 includes the microcomputer for being equipped with CPU (central processing unit), and plays control member.

On the optical axis for the laser beam L1 that swinging mirror 31 is reflected, rotating and excursion mechanism 40 is installed, which show One example of rotation/deflecting member.This rotating and excursion mechanism 40 is equipped with the deflection component 41 being made of reflecting mirror, support partially The support base 43 of rotation member 41, the shaft member 42 connecting with pedestal 43 and it is pivotably supported being not shown for shaft member 42 Bearing, the reflecting mirror have flat reflecting surface 41a.Deflection component 41 is incited somebody to action not only by laser beam deflection to space Reflection light is deflected to towards photodiode 20.This deflection component 41 being made of a part of rotating and excursion mechanism 40 can be with It is rotated on central axis 42a, and plays deflecting member.

In this laser radar apparatus 1, the range of deflection for deflecting reflected light provided by deflection component 41, i.e., instead The area of reflective surface 41a is set greater than and is used to put the range of deflection of laser beam deflection by what swinging mirror 31 provided The area of the reflecting surface 31a of dynamic reflecting mirror 31.

In addition, assembling motor 50 is used as drive member in order to rotate rotating and excursion mechanism 40.Drive motor 50 with Rotating shaft member 42 causes the rotation of deflection component 41 being connected with shaft member 42.In this embodiment, motor 50 is step Into motor.There are many type stepping motor it is available, the angle of each step is smaller, and the control of angle is finer. It, can be using other drive members other than stepping motor for motor 50.It is, for example, possible to use servo motor or continuously The motor of rotation.In the motor of continuous rotation, when deflection component 41 is directed to the direction of testing distance, time synchronization Ground exports pulse laser beam, thus executes detection in the desirable direction.

In the present embodiment, as shown in Figure 1, being equipped with angular transducer 52 to detect the shaft member 42 of motor 50 Angle Position (i.e. the Angle Position of deflection component 41).Any kind of angle detecting devices are all available, such as rotary encoder, As long as the Angle Position of shaft member 42 can be detected.In addition, the type of motor 50 can also be limited to special type.

In the optical path from rotating and excursion mechanism 40 to the reflected light of photodiode 20, it is provided with convergent lens 62, with Convergence reflex light and route it to photodiode 20.In addition, being arranged between convergent lens 62 and photodiode 20 There is optical filter 64.Convergent lens 62 plays the role of light convergence apparatus.Optical filter 64 is set between rotating and excursion mechanism 40 Given position in optical path to make reflected light through optical filter 64, but eliminates other light except reflected light.To filter Device 64 plays the role of light selected member.Specifically, optical filter 64 is made of wavelength selecting filter, which makes The light with the wavelength for belonging to particular range of wavelengths is only allowed to be possibly realized by this optical filter, the particular range of wavelengths is corresponding In reflected light L2.

In the present embodiment, shell 3 by laser diode 10, photodiode 20, light deflection component 30, lens 60, rotation Turn deflection mechanism 40, motor 50 and other assemblies to accommodate wherein, protects these components to prevent dust and vibration.In shell 3 In deflection component 41 around, a part as shell 3 is equipped with light transmission part (light-passing portion) 4, with Just deflection component 41 is surrounded but laser beam L1 and reflected light L2 is penetrated.Light transmission part 4 is formed as circular.From And this part 4 covers light emitting/reception form in the range close to 360 degree.This light transmission part 4 is for example made of glass Light-transmitting plate 5 is segmented, and light-transmitting plate 5 tilts in whole circumference to be transitioned into perpendicular to the laser beam L1 optical axis for entering deflection component 41 Plane.That is, the laser beam L1 that self-bias rotation member 41 deflects always crosses plate 5 at an oblique angle.Therefore, because this Inclined to cross configuration, the light L1 reflected from light transmission plate 5 has to the good repellence of optical noise ingredient.

This laser radar apparatus 1 will be described according to its operation below.

When apply pulse current arrive laser diode 10 when, 10 emission pulse laser of laser diode, the duration and The pulse width of pulse current is consistent.Diffusion light emitting of this laser as the dispersion angle with certain level, and pass through Directional light (i.e. laser beam L1) is converted to after lens 60.Then, generated laser beam L1 is by being placed on light deflection component 30 Swinging mirror 31 reflection with enter deflection component 41, thereafter by deflection component 41 reflect to be radiated space.

Then the laser beam L1 reflected by deflection component 41 is reflected by target to be detected, if there is these targets Words.A part of reflected light becomes reflected light L2, backs into deflection component 41, so that reflected light L2 reflects court from deflection component 41 To photodiode 20.Then this reflected light L2 is assembled by convergent lens 62 and is entered photodiode via optical filter 64 20。

Photodiode 20 by export for example voltage correspond to received reflected light L2 electric signal come in response to light It receives.To which measurement outgoing laser beam L1 since laser diode 10 to by photodiode 20 detects reflected light L2's Time interval provides the distance from device to each target.In addition, the shifting of the dislocation and deflection component 41 of swinging mirror 31 The combination set makes it possible to calculate the direction of each target.In other words, when the plane of reflection 31a and XY of swinging mirror 31 are flat The angle β between angle α, plane of reflection 31a and YZ plane between face and the folder between plane of reflection 31a and XZ plane Angle γ it is known that and when known to the rotary angle position of deflection component 41, can uniquely determine to emit from deflection component 41 The direction of light beam L1, it is possible thereby to calculate the direction of each target.

When swinging mirror 31 carries out dislocation in a controlled manner, the optical path of laser beam changes as follows.

Rotating and excursion mechanism 40 has been illustrated in Fig. 1, and the angle until given is rotated on wherein mandrel 42a.With this Kind rotation status, when swinging mirror 31 is using amplitude of fluctuation shown in Fig. 1, laser beam L1 passes through path shown in solid, leads Reflected light is caused to be present in the range of two solid line space segmentations as shown in reference line L2.On the other hand, work as swinging mirror When 31 generations are swung with along dotted line L1 ' reflection laser beam L1, laser beam L1 enters the incidence angle of deflection component 41 from previous Firing angle changes.To which the dislocation of 31 amplitude of fluctuation of swinging mirror causes the change of laser beam angle of reflection at swinging mirror 31 Change, as illustrated by dotted line L1 '.The variation of this angle of reflection will cause the laser beam deflected by deflection component 4 to put down in the XY of Fig. 1 Change upwards in face.In the case, corresponding reflected light path also changes as shown in dotted line L2 '.It is anti-by deflection component 41 The reflected light penetrated enters convergent lens 62 as mentioned and undergoes the processing at optical filter 64 and the spy by photodiode 20 It surveys.

As mentioned, in the laser radar apparatus 1 according to the present embodiment, deflection component 41 is given at it in a controlled manner Rotated on centration axis 42a so that the laser beam L1 pending for being mapped to space and from target to photodiode 20 reflected light L2 360 degree are spread along the deflection of XZ plane.In addition to this, the direction of the laser beam L1 from deflection component 41 is by swinging mirror 31 Relative to central axis 42a change, that is, each comprising central axis 42a in-plane each (in Fig. 1, i.e. XY Plane).So as to which in Fig. 1, laser beam L1 is in the XZ in-plane perpendicular to central axis 42a and includes central axis 42a X/Y plane direction in scanning (swing).Therefore target acquisition can dimensionally be carried out.

In the present embodiment, use swinging mirror 31, allow the laser beam L1 from deflection component 41 along The scanning of X/Y plane direction is without complicated configuration.

41 deflection area of deflection component that reflected light L2 deflects is set greater than laser beam L1 and deflects wherein Swinging mirror 31 deflection area.Thus, it is possible to reflected light be detected in wider spatial dimension, to enhance detection Accuracy.

In addition, convergent lens 60 is set to the optical path of the reflected light L2 between rotating and excursion mechanism 40 and photodiode 20 On.It is therefore not necessary to keep 20 size of photodiode larger, so that it may be detected to the reflected light from wider particular range.

Optical filter 64 is set in the optical path of the reflected light L2 between rotating and excursion mechanism 40 and photodiode 20.Cause This, can effectively eliminate the noise contribution in reflected light L2.

(second embodiment)

Referring to Fig. 3, the laser radar apparatus according to second embodiment of the invention is described below.

In second embodiment and latter embodiments, in order to illustrate simplicity, it is similar or be equivalent to the first implementation The component of component will assign and the identical reference marker illustrated in first embodiment in example.

Second embodiment is related to the geometry modification of laser diode 10 and photodiode 20.

Fig. 3 shows the outline configuration according to the laser radar apparatus 100 of second embodiment, as described later, wherein filling Equipped with reflecting mirror 130.XYZ orthogonal coordinate system system is set as configuration shown in Fig. 3, so that X-axis and Y direction are respectively designated as instead Penetrate the central axis 42a in reflection direction (the light-receiving direction i.e. at photodiode 20) and rotating and excursion mechanism 40 of Jing130Chu Direction.

It in this laser radar apparatus 100, is identical with the first embodiment, is equipped with laser diode 10, photodiode 20, the deflection component 41 that can rotate on wherein mandrel 42a deflects laser beam L1 and reflected light L2 for mode such as same as before Rotating and excursion mechanism 40 and motor 50 for driving mechanism 40.

In addition, laser radar apparatus 100 is equipped with direction of the launch deflection component 110, will pass through laser diode 10 certainly The dislocation of body changes the direction of the launch of laser beam L1.This direction of the launch deflection component 110 plays direction and changes component and hair Penetrate the effect that direction changes component.The operation of this deflection component 110 is for changing laser beam L1 to the incidence side of deflection component 41 To, so that the laser beam L1 from deflection component 41 can be scanned in the direction along in-plane, the plane side To comprising central axis 42a.

Direction of the launch deflection component 110 can be realized by various types of actuators, be changed as long as these actuators have The ability of laser diode 10.For example, can be using the oscillating member of such as oscillator come oscillating laser diode 10.Laser two Pole pipe 10 may be mounted in displacement (such as displacement mechanism shown in Fig. 2 33 and actuator 36), the displacement It can make laser diode that dislocation occur in multiple degrees of freedom, mounting plane undergoes bidirectional rotation wherein.In this configuration, Control circuit 70 is allowed to wait for the amount of dislocation according to it to control oscillating member and displacement, so that control circuit plays dislocation control The effect of component processed.

In the laser radar apparatus 100 according to second embodiment, swashed with what assigned direction emitted from laser diode 10 Light beam (light) L1 is converted to directional light by lens 60.After lens 60, laser beam L1 enter deflection component 41 and without Any component, and thus component 41 is reflected into space.Laser beam L1 after being reflected by deflection component 41, by target to be detected Reflection, then reflected light L2 in part returns to deflection component 41.The reflected light L2 of the return is reflected direction by deflection component 41 Reflecting mirror 130, then reflected light L2 reaches photodiode 20 by reflecting mirror 130.

Reflecting mirror 130 is tiltedly mounted between laser diode 10 and rotating and excursion mechanism 40, and have through-hole 131 so as to Make laser beam L1 from wherein passing through.The opening area provided by through-hole 131 is foot compared with whole reflecting surfaces of reflecting mirror 130 It is enough small.The reflected light L2 reflected by deflection component 41 is anti-again by the reflecting surface in addition to through-hole 131 of reflecting mirror 130 It penetrates towards photodiode 20.In this configuration, when the direction of the launch of change laser diode 10 is to allow laser beam along example When such as the path as shown in dotted line L1 ', reflected light L2 is controlled the path shown in the dotted line L2 ' and passes through and enter photodiode 20。

In the present embodiment, convergent lens 62 described in first embodiment is similarly disposed at reflecting mirror 130 to photoelectricity two Between pole pipe 20 in the optical path of reflected light L2.In addition, optical filter 64 described in first embodiment is similarly disposed at reflecting mirror 130 In optical path between photodiode 20.

According to the present embodiment, laser diode 10 and its associated component make it possible at each include central axis 42a's Change the direction of the laser beam L1 from deflection component 41 on each in-plane (in Fig. 3, i.e. X/Y plane direction).

(3rd embodiment)

Referring to Fig. 4, the laser radar apparatus according to third embodiment of the invention is described below.

3rd embodiment is related to the geometry modification of laser diode 10 and photodiode 20.

Fig. 4 shows the outline configuration according to the laser radar apparatus 200 of 3rd embodiment, as will be described later, In be equipped with the rotating and excursion mechanism 240 with central axis 242a.XYZ orthogonal coordinate system system is set as configuration shown in Fig. 4, makes It obtains X-axis and Y direction is respectively assigned to the direction of the launch and rotating and excursion component 240 of the laser beam L1 from laser diode 10 Central axis 242a direction.

It in this laser radar apparatus 200, is identical with the first embodiment, is equipped with two pole of laser diode 10 and photoelectricity Pipe 20.

This laser radar apparatus 200 is different from the laser according to first embodiment in the configuration of rotating and excursion mechanism 240 Radar installations 1.This mechanism 240 has the deflection component 241 for being shown as reflecting mirror, and in given central axis 242a and can hang down Directly in central axis 242a to rotating on dead axle 241a.

In fact, rotating and excursion mechanism 240 is equipped with the shaft member of support base 243, the support support base 243 242 and such as motor actuator 210, support base 243 have support deflection component 241 leg portion.Deflector Part 241 is pivotably supported by support base 243, so that component 242 can rotate on axis 241a along XZ plane.Actuator 210 for driving rotation angle relative to support base 243 in a controlled manner.The dislocation provided by actuator 210 is by control electricity Road 70 controls.To be similar to mode described in first embodiment, support base 243 and the shaft member driven by motor 50 242 are connected.

In this laser radar apparatus 200, deflection component 241, which provides, not only to be deflected into space for laser beam L1 but also incites somebody to action Reflected light L2 deflects towards the function of photodiode 20.In addition, actuator 210 can tilt entire deflection about axis 241a Component 241, the axis 241a pass perpendicularly through central axis 242a.This inclination behavior makes laser beam L1 that can control deflection component 241 incident direction, to change the direction of the laser beam L1 from deflection component 241, the plane along each in-plane Direction each includes central axis 242a.The actuator 210 of tilted deflecting component 241 plays direction and changes component and inclination structure The effect of part, and control circuit 70 plays the role of control member and inclination control component.

In the present embodiment, convergent lens 62 is set to reflected light between rotating and excursion mechanism 240 and photodiode 20 In the optical path of L2, so that reflected light L2 be converged on photodiode 20.Optical filter 64 is also to be similar in first embodiment Mode be arranged.

So that the present embodiment provides change laser along each in-plane for each including central axis 242a The direction of beam L1 is configured as possibility, without making to change the other configurations complexity other than component.

(fourth embodiment)

Referring to Fig. 5, the laser radar apparatus according to fourth embodiment of the invention is described below.

Fourth embodiment is related to the geometry modification of laser diode 10 and photodiode 20.

Fig. 5 shows the outline configuration according to the laser radar apparatus 300 of fourth embodiment, as will be described later, In be equipped with the rotating and excursion mechanism 340 with central axis 342a.XYZ orthogonal coordinate system system is set as configuration shown in fig. 5, from And X-axis and Y direction are assigned to central axis 342a and the direction perpendicular to central axis 342a.

Similar to first embodiment, laser diode 10, light are equipped with according to the laser radar apparatus 300 of fourth embodiment Electric diode 20 and rotating and excursion mechanism 340.

Rotating and excursion mechanism 340 is different from illustrated in first embodiment.This mechanism 340 functionally includes cylindrical shaft 342, the change component being made of the first deflection component 343 and the second deflection component 341.First deflection component 343 is configured to instead Mirror is penetrated, for deflecting the laser beam L1 from laser diode 10, so that the first deflection component 343 plays the first deflection component Effect.Similarly, the second deflection component 341 is configured to reflecting mirror, for deflecting the reflected light L2 from target, so that second is inclined Rotation member 341 plays the role of the second deflecting member.

Second deflection component 341 is fixedly mounted on the top of cylindrical shaft 342 with heeling condition, as shown in Fig. 5, and First deflection component 343 is tiltably supported on the top of cylindrical shaft 342.The given cylindrical shaft 342 for having central axis 342a It can be rotated on central axis 342a, and be driven by motor 50 and rotated, thus the first deflection component 343 and the second deflection Component 341 can rotate on central axis 342a.

In particular, the first deflection component 343 can be rotated independently of the second deflection component 341.First deflection component 343 by Bearing support is not shown in 342 top of cylindrical shaft, and can be in the rotation around the axis 343b perpendicular to central axis 342a Dislocation occurs on direction.In addition, the first deflection component 343 is driven by the actuator 310 in Fig. 5.The type of actuator 310 is not It is limited to specific one kind.Such as actuator 310 can be the component comprising motor, for rotary part 343 to control its rotation Gyration.Optional actuation applications to deflection component 343, deflection component 343 can be partly made of magnetic part and It is configured to that there is coil in cylindrical shaft 342.To the coil with electric current to generate electromagnetic force, electromagnetic force makes in a controlled manner First deflection component 343 generates dislocation.

In this laser radar apparatus 300, the first deflection component 343 forms a part of deflecting member, the first deflection structure Part realizes the function that laser beam L1 is deflected into space.In addition, a part of the second deflection component 341 composition deflecting member, Second deflection component 341 realizes the function that reflected light L2 is deflected towards to photodiode 20.

Actuator 310 is operated for rotating the first deflection component 343 on axis 343b, and the axis 343b is perpendicular to first The central axis 342a of deflection component 343.This makes it possible, changes laser beam L1 to the incidence side of the first deflection component 343 Change to along the in-plane (in Fig. 5 situation, i.e., along X/Y plane) for each including central axis 342a from the The direction of the laser beam L1 of one deflection component 343.Change component and dip member to which actuator 310 plays the role of direction, And control circuit 70 plays the role of control member and inclination control component.

In the present embodiment, the second deflection component 341 has reflecting region 341a, is used as deflection area in this component Deflecting reflection light L2 at 341, and the first deflection component 343 has reflecting region 343a, as deflection area in this component Laser beam L1 is deflected at 343.The deflection area of second deflection component 341 is greater than the first deflection component 343.

Furthermore as shown in Figure 5, on the central axis 342a of rotating and excursion mechanism 340, laser diode 10 and and photoelectricity Diode 20 is installed as opposite to each other, between across deflection component 343.In this geometric configuration, laser beam L1 is by being set to circle Laser diode 10 in 342 inner space of columnar shaft generates.Then laser beam L1 is reflected by the first deflection component 343 with fixed It is used to scan to area of space.Laser beam L1 is reflected by the target in scanning space region to generate reflected light L2.This reflection Light L2 returns to device and is reflected by the second deflection component 341 to be directed towards photodiode 20.In this light beam and optical transport In path, when 343 dislocation of deflection component, such as another path as shown in dotted line L1 ' is changed into the path of laser beam.It rings It should change in this path, reflected light reaches the second deflection component 341 along another path shown in dotted line L2 '.

Similar to first embodiment, convergent lens 62 and photo-diode light 20 are successively set on 340 He of rotating and excursion mechanism Between photodiode 20 in the optical path of reflected light L2.

In this way, only selectively a part of deflecting member of dislocation, allows to change the direction of the launch of laser beam.

In addition, the deflection area of the second deflection component 341 of deflecting reflection light is greater than the first deflector of deflection laser beam The deflection area of part 343.It is thus possible to detect reflected light in the wider visual field, therefore enhance the accuracy of detection.

Laser diode 10 and photodiode 20 on the central axis 342a of rotating and excursion mechanism 340 opposite to each other and There is deflection component 343 therebetween.Therefore installation can be completed efficiently, and space is smaller.

(the 5th embodiment)

Referring to Fig. 6-9, the laser radar apparatus according to fifth embodiment of the invention is described below.

Fig. 6 outlines the configuration of the laser radar apparatus 400 according to the 5th embodiment.

As shown in Figure 6, laser radar apparatus 400 is equipped with shell 3, light transmission part 4, light transmission plate 5, laser diode 10, lens 60, photodiode 20, optical filter 64, convergent lens 62, rotating and excursion mechanism 40, motor 50, rotation angle pass Sensor 52 and control circuit 70, they are identical as those of in first embodiment.As shown, Y direction is set as deflecting The direction of the central axis 42a of component 41, and X-axis is set as the direction of the launch of the laser beam from laser diode 10.

Similar to device illustrated in the first embodiment, laser radar apparatus 400 includes laser diode 10, photoelectricity Diode 20, the rotating and excursion mechanism 40 and motor 50 for being equipped with the deflection component 41 with central axis 42a, these with It is operated similar to the mode in first embodiment.

Laser radar apparatus 400 is equipped with light deflection component 430, substitutes the swinging mirror 30 in first embodiment.This Light deflection component 430 plays the role of direction deflecting member and light deflecting member, receives the laser beam from laser diode 10 And deflected towards rotating and excursion mechanism 40.This component 430 is configured to swingable.To 430 energy of light deflection mechanism Enough change laser beam L1 to the incident direction of deflection component 41, so that the direction of the laser beam L1 from deflection component 41 can be Y direction changes, that is to say, that (under Fig. 6 situation, i.e., flat along XY along each in-plane comprising central axis 42a Face).

As shown in Fig. 7,8A and 8B, light deflection component 430 is equipped with the square reflecting mirror 431 of reflection laser beam, pendulum The supporting mechanism 435 and four piezoelectric actuators 432a, 432b, 432c and 432d of dynamic support reflecting mirror 431.Assemble these pressures Electric actuator is for driving the reflecting mirror 431 supported by swing mechanism 435.Reflecting mirror 431 corresponds to the deflection of deflection laser beam A part of component, and piezoelectric actuator 432a, 432b, 432c and 432d are an examples according to actuator of the invention.

Either of which is known in this four piezoelectric actuators 432a, 432b, 432c, 432d, is able to respond in institute The voltage of application and stretch and shrink.Square reflecting mirror 431 have front-reflection surface 421 and it is opposite with reflecting surface after Surface.One end of each piezoelectric actuator is fixed to table thereafter in each of 431 4 angles (specific position) of reflecting mirror Face.The other end of each piezoelectric actuator is fixed firmly to support plate 438.Support plate 438 is fixed to shell 3, to place In the space sealed by shell 3 on appropriate location.Each piezoelectric actuator 432a, 432b, 432c and 432d are fixed herein In support plate 438, they depend on the voltage applied on each actuator and stretch and shrink.Therefore, this stretching, extension and receipts Capacity reducing is permitted the inclination of 431 relative support plate 438 of reflecting mirror, as illustrated by double dot dash line in Fig. 7.

Control circuit 70 plays the role of control member and weave control component, assembles for controlling piezoelectric actuator The driving of 432a-432d.This driving is for the inclination of reflecting mirror 431, that is to say, that the swing shape of light deflection component 430 State.As shown in Figure 8 A, each piezoelectric actuator 432a, 432b, 432c and 432d are electrically connected respectively to piezoelectric actuator drive Dynamic circuit 436a, 436b, 436c and 436d.Command signal is provided to these driving circuits 436a-436d from control circuit 70. Command signal indicates the amount to be controlled about each actuator displacement.Command signal in response to this, each driving circuit 436a (- 436d) is that each piezoelectric actuator 432a (- 432d) is provided according to command signal numerical value, that is, the voltage for the amount to be controlled.

In addition, swing mechanism 435 is provided with ball-and-socket joint, reflecting mirror and support plate 438 are connected.Ball-and-socket joint has bearing Stud and pod, including being connected to the spherical part 434 of reflecting mirror 431 and being connected to the spherical housing part of support plate 438 433.Spherical part 434 and spherical housing part 433 are connected to each other, so that spherical part 434 provides and is fixed on same position Center 434a, and the spherical part 434 being contained in spherical housing part 433 can rotate in many ways.

To which it is anti-to change that swing mechanism 435 allows the stretching, extension for depending on piezoelectric actuator 432a-432d and contraction state Penetrate the heeling condition of 431 relative laser beam L1 of mirror, in the case, the center 434a of reflecting surface 431a and spherical part 434 The distance between remain constant.Therefore, the stretching, extension and contraction of each piezoelectric actuator 432a (- 432d) are by control circuit 70 Control, causes the magnitude of inclination of 431 relative laser beam L1 of reflecting mirror to be controlled.

The target acquisition process executed by laser radar apparatus 400 will be detected now.

Fig. 9 is the flow chart for illustrating detection process, is equally executed by control circuit 70.In other words, control circuit 70 The detection to target is undertaken as processor, and controls actuator 432a-432d and motor 50 as controller.In order to Realize these functions, the computer-readable program for these functions is previously installed in control circuit 70.

Detection process illustrated by Fig. 9 starts from for example, responding the power-up operations to control circuit or scheduled user Operation.Firstly, the position of reflecting mirror 431 and deflection component 41 is set to its initial position (step S1).In the present embodiment, this A little initial positions are indicated by the solid line in Fig. 6 and 7.To which motor 50 and piezoelectric actuator 432a-432d are controlled so that Reflecting mirror 431 takes such initial angled position.As modification, during wait state before starting detection process, The initial setting of deflection component 41 and reflecting mirror 431 can be set as its initial position.In this case, it is possible to omit step S1 Process.

In this Initial placement state (or second and subsequent current position state for calculating timing), performance objective was detected Journey (step S2).Specifically, control circuit 70 instructs photodiode 10 to emit laser beam, and reads from photodiode 20 Electric signal.Then control circuit 70 is determined (that is reflects by the current stretching, extension and contraction of piezoelectric actuator 432a-432d The current tilt of mirror 431) determine Current Scan direction on whether there is target.When the electric signal from photodiode 20 is aobvious When showing the amplitude higher than given level, control circuit 70 will be calculated with a distance from each target, be based on from laser diode 10 Emit laser beam to the time interval received between reflected light in photodiode 20.In addition, utilizing piezoelectric actuator 432a- The current stretching, extension and contraction of 432d, can calculate the direction (orientation) of the laser beam L1 emitted from deflection component 41.It is calculated Distance and direction can be output to unshowned display for visually observing.

Then control circuit 70 determines whether reflecting mirror 431 has been rotated through scheduled angular range (step S3).At this In embodiment, under the control of control circuit 70, motor 50 can make deflection component 41 rotate each scheduled constant angle (for example, per once).Each deflection component 41 rotates each scheduled constant angle (that is, per once), the experience rotation of reflecting mirror 431 Turn to pass through " given angular range ".Therefore, in motor 50, that is to say, that each rotation position of deflection component 41 is swashed Light beam L1 is scanned in the X-direction comprising central axis 42a through given lateral field range.Judgement at step S3 Step, which is shown, completes rotation by given angle range, that is to say, that (step S3 is when the scanning in X-direction has been completed YES), process proceeds to step S7.

Meanwhile the determination step at step S3 is displayed without the rotation for completing given angle range, that is to say, that X-axis side When upward scanning has not been completed (step S3 is NO), process is transferred to step S4.In this step S4, deflector is determined Whether part 41 is still within " scheduled rotating range ".In the present embodiment, scheduled rotating range is set as such rotation Turn range, wherein being parallel to the imaginary line of the direction of the launch of the laser beam from laser diode 10 and being parallel to deflection component The angle [alpha] formed between the imaginary plate of 41 reflecting surface 41a is less than given threshold value.When deflection component 41 falls into predetermined rotation model When enclosing, the judgement at step S4 is YES, so that process is transferred to step S5.On the contrary, the judgement at step S4 is that then process turns NO Move on to step S6.

When executing weave control, control circuit 70 controls light deflection component 430 based on the rotation position of deflection component 41 Swing.That is, angle [alpha] exceeds given threshold value (example in the case where deflection component 41 is not within predetermined rotating range Such as 10 degree), thus presented in step S4 and determine NO.To which in step S6, control circuit 70 controls piezoelectric actuator 432a-432d Stretching, extension and contraction, thus about the first rotary shaft 437a rotating mirror 431 extended in Z-direction reach scheduled angle, And X/Y plane is still perpendicular in reflecting surface 431a.To from reflecting mirror 431 to the direction of the laser beam L1 of deflection component 41 Change along X/Y plane, as shown in fig. 7, wherein reflecting mirror 431 is about the first rotary shaft 437a by rotation position shown in solid Rotate to new rotation position shown in double dot dash line.New rotation position herein, by (referring to Fig. 6 shown in laser beam such as dotted line L1 ' With 7).

In order to rotate reflecting mirror 431 about the first rotary shaft 437a, four piezoelectric actuator 432a-432c controls are such as Under.When piezoelectric actuator 432a and 432c stretching, extension, remaining two piezoelectric actuator 432b and 432d are to correspond to span Amount shrink.On the contrary, when piezoelectric actuator 432b and 432d stretching, extension when, remaining two piezoelectric actuator 432a and 432c with Amount corresponding to shrinkage is shunk.In both cases, stretching, extension/shrinkage of two piezoelectric actuators 432a and 432c are set as Identical value, and the amount of remaining two piezoelectric actuators 432b and 432d are also set to identical value.

On the other hand, in the case where deflection component 41 is in predetermined rotating range, piezoelectric actuator 432a-432d Controlled stretching, extension and contraction, to be reached about the second rotary shaft 437b rotating mirror 431 for crossing the first rotary shaft 437a given Angle (step S5；Referring to Fig. 8 A and 8B).Second rotary shaft 437b intersects with all X/Y planes, YZ plane and ZX plane, and And in the present embodiment, it is set as along the cornerwise axis of reflecting mirror 431.By about the second rotary shaft 437b rotary reflection Mirror can change from reflecting mirror 431 towards the beam direction of deflection component 41 along the plane for crossing X/Y plane.

About the first rotary shaft rotating mirror 431 extended in the Z-axis direction, with aforementioned angular α Become smaller, change of the laser beam emitted from deflection component 41 on the direction central axis 42a (longitudinal direction) also becomes smaller. To in the present embodiment, when deflection component 41 be in predetermined rotating range, reflecting mirror 431 is undergone about diagonally The rotation of second rotary shaft 437b, rather than the rotation about the first rotary shaft 437a.Therefore, even if angle [alpha] becomes smaller, Guarantee that laser beam can change on a large scale on the longitudinal direction along central axis 42a.For this control, for example, piezoelectric actuator The stretching, extension of 432b and 432c/shrinkage keeps identical, and piezoelectric actuator 432d (or 432a) is to correspond to piezoelectric actuator 432a The amount of (or 432d) span is shunk.

Fig. 9 is returned to, when being transferred to step S7, by control circuit 70, drive motor 50 is further with scheduled normal Number angle (once) rotating and excursion component 41.Later, processing returns to step S2 is arrived, thus in the new rotation status of deflection component 41 Under, the aforementioned processing of step S2-S7 is repeated, to scan again in the longitudinal direction.Incidentally, 41 stepping of deflection component rotates Predetermined constant angle is not limited to once, and can be more than or less than once.

As mentioned, in the present embodiment, the reflecting mirror 431 that swing mechanism 435 is supported is by piezoelectric actuator 432a- 432d driving, and the driving is controlled the control of circuit 70.So as to high precision control the inclined of reflecting mirror 431 Turn the swing behavior of laser beam.Furthermore, it is possible to which light deflection component 430 is made to become compact.

In addition, leading to reflecting mirror to the control of four piezoelectric actuator 432a-432d on 431 4 corners of reflecting mirror 431 gesture stability.This control simplifies the weave control configuration to reflecting mirror 431, so that compact-sized.

Reflecting mirror 431 is rotatably connected using ball-and-socket joint and supports the support plate 438 of reflecting mirror 431.This promotees Make the smooth swinging operation for steadily supporting reflecting mirror 431 and reflecting mirror 431.

In addition, the rotation position based on deflection component 41, changes the weave control to light deflection component 430.So as to Weave control is set properly to depend on the rotation position of deflection component 41.

Similar to first embodiment, convergent lens 62 is installed, so as to carry out mesh using reflected light in wider field of view Mark detection, without expanding the size of detection component.

Optical filter 64 is also installed as implemented in the first embodiment, so as to effectively eliminate making an uproar in reflected light Sound.

(sixth embodiment)

The laser radar apparatus according to sixth embodiment of the invention is described below in 0-12 referring to Fig.1.

It as shown in Figure 10, include shell 3, light transmission part 4, light transmission plate according to the laser radar apparatus of the present embodiment 500 5, laser diode 10, lens 60, photodiode 20, optical filter 64, convergent lens 62, rotating and excursion mechanism 40, motor 50, angular sensor 52 and control circuit 70, the same or similar portion described in first embodiment of these components Part.XYZ orthogonal coordinate system system applies equally to this device 500.

In this device 500, it is equipped with another light deflection component 530 as shown in Figure 10, substitutes institute in first embodiment The light deflection component 30 of explanation.This component 530 plays the role of direction deflecting member and light deflecting member.

Figure 11 A and 11B detail light deflection component 530.As shown, this component 530 is equipped with mirror unit 531 With rotating mechanism 533, rotating mechanism 533 can make mirror unit 531 generate dislocation.Rotating mechanism plays the work of displacement mechanism With.Mirror unit 531 is equipped with multiple reflecting mirror 531a-531h, and group is combined into a unit to these reflecting mirrors together.Reflecting mirror Unit 531 is configured to rotate in rotary shaft 532, central axis of the rotary shaft 532 perpendicular to rotating and excursion mechanism 40 42a (i.e. Y direction).The multiple reflecting mirror is respectively provided with flat reflecting surface 537a-537h, and surrounds rotary shaft 532 Installation is similar to the shape of annular to establish.The inclination angle of each reflecting surface 537a-537h relative rotation axi 532 is each other not Together.

Rotating mechanism 533 is used for the rotary reflection mirror unit 531 in rotary shaft 532, and rotating mechanism 533 includes motor 534 and it is connected to the shaft member 535 of motor 534 and mirror unit 531.Motor 534 can be electronic comprising stepping Any type of motor including machine, as long as its rotation position is controllable.In this rotating mechanism 533, mirror unit 531 are driven, and multiple reflecting mirror 531a-531h are successively navigated to beam incoming position, the laser L1 from laser diode 10 It is incident in this position.As mentioned, due to the reflecting surface 537a- of the reflecting mirror 531a-531h positioned at beam input position 537h is different from each other, and laser beam is reflected on reflecting surface with angle different from each other.

Control circuit 70 plays the role of control member, controls the driving to rotating mechanism 533 thus by reflecting mirror 531a- 531h is navigated on beam incoming position.When being positioned at beam incoming position, each reflecting surface 537a-537h be set as perpendicular to X/Y plane.

The inclination angle of reflecting surface 537a-537h can be set in various patterns.In the present embodiment, using the first reflection Mirror 531a is as reference mirror.That is, when reflecting mirror 531a is located at beam incoming position, this first reflecting mirror 531a's Reflecting surface 537a has 45 degree of angle beta 1 relative to laser beam L1.When reflecting mirror 531b is located at beam incoming position, second is anti- The reflecting surface 537b for penetrating mirror 531b has the angle beta 2 (such as 47 degree) for being greater than angle beta 1 relative to laser beam L1.Similarly, when anti- When penetrating mirror 531c and being located at beam incoming position, the reflecting surface 537c of the second reflecting mirror 531c has relative to laser beam L1 is greater than angle The angle beta 3 (such as 49 degree) of β 2.In this way, all eight reflecting mirror 531a-531h each reflecting surface 537a-537h relative to The angle of incoming laser beam L1 is different from each other.

Therefore, in this laser radar apparatus 500, the reflection direction of the laser beam L1 from reflecting mirror 531a-531h It is different from each other.The control driving of control circuit 70, i.e., mirror unit 531 rotates at a predetermined rate, to carry out self-reflection The direction of the reflection laser beam L1 of mirror unit 531, that is to say, that change towards the incident direction of deflection component 41.This meaning By deflection component 41 deflect (reflection) laser beam L1 direction in the transverse direction (i.e. Y direction) along central axis 42a On change.To which laser beam L1 can be with the transverse area outside scanning means.

Figure 10 and 11A illustrates this scanning.In these figures, solid line shows laser beam L1 by the anti-of reflecting mirror 531a It penetrates, and dotted line (L1 ') shows laser beam L1 by the reflection of next reflecting mirror 531b.

Referring to Fig.1 2, the detection process executed by control circuit 70 is described below.

Firstly, control circuit 70 starts from mirror unit 531 and deflection component 41 being respectively positioned in its initial position (step S10).Therefore, it is realized by the driving of control motor 534 and 50 by solid line institute graphical display in Figure 10 and 11A Initial position.Incidentally, this position initialization step can be before detection process, but under the wait state of detection process It executes.

Then Current Scan state provided by current driving condition of the control circuit 70 with motor (includes preliminary sweep State) carry out the detection (step S20) of performance objective.This processing is substantially similar in Fig. 9 described in step S2, in addition to instead of Except light deflection component 430, the current setting state (current reflective mirror angle) of mirror unit 531 is for calculating laser beam L1 The direction (i.e. direction existing for target) of traveling.

Then control circuit 70 determines whether mirror unit 531 has rotated a circle.In the present embodiment, it is controlling Under the control of circuit 70 processed, motor 50 makes deflection component 41 rotate each predetermined constant angle (i.e. 1 degree).Accordingly, as long as When deflection component 41 has rotated constant angle, then reflecting mirror 531 rotates a circle, so that multiple reflecting mirror 531a-531h are successively Experience is positioned at beam incoming position and receives laser beam L1.To which the beam direction reflected by mirror unit 531 is with certain Interval successively changes.In this way, the laser beam L1 emitted from device is in lateral Y direction in each step angle of motor 50 Upper scanning perimeter.

When mirror unit 531 completes it after a week, the judgement at step S30 is YES, and processing is transferred to step S50.Together When, if being determined as NO at step S30, processing is transferred to step S40, controls mirror unit in this control circuit 70 531 driving is to rotate it with given angle (in the present embodiment for 45 degree), so that next reflecting mirror be positioned In beam incoming position.Then processing returns to arrive step S20 to repeat detection process under new scanning angle.

Meanwhile in step S50, control circuit 70 control the driving of motor 50 so as to constant angle (in the present embodiment In be 1 degree) further rotate deflection component 41, then processing returns to step S20.To under along XY transverse plane One rotation angle scans the new longitudinal direction Y axis direction visual field in perimeter to detect target.

In the present embodiment, 1 degree of angle is illustrated as scheduled constant angle, but this is not conclusive project. This predetermined constant angle of each rotation step corresponding to deflection component 41 can be less or greater than 1 degree.In addition, being installed to The number of mirrors of mirror unit 531 is not limited to eight, but can be less or greater than eight.

In the present embodiment, driving and control mirror unit 531 positions multiple reflecting mirror 531a-531h successively In the beam incoming position of the laser beam L1 from laser diode 10.Therefore, it is possible to use the mirror structure of relative compact comes Change laser beam L1 to the direction of deflection component 41.Simply control mirror unit 531 is to successively position reflecting mirror 531a- 531h allows to change incident direction of the laser beam towards deflection component 41.To, can be with without using complicated control The laser beam L1 emitted from device is scanned in perimeter in lateral Y axis direction.

In addition, the rotation of mirror unit 531 causes at the beam incoming position of laser beam L1 between multiple reflecting mirrors Switching, so that handover operation accurately can accelerate and execute.

Deflection component 41 gradually rotates each scheduled constant angle, and in each step angle of deflection component 41, All multiple reflecting mirror 531a-531h are successively positioned at beam incoming position, for scanning longitudinal direction.It is every to deflection component 41 It is secondary very greatly, but reliably need not to carry out 3-D scanning, dimensionally to detect the target in perimeter.To avoid revolving Turn 50 overload of deflection mechanism 40 and motor.

(the 7th embodiment)

The laser radar apparatus according to seventh embodiment of the invention is described below in 3-16 referring to Fig.1.

It as shown in figure 13, include shell 3, light transmission part 4, light transmission plate according to the laser radar apparatus of the present embodiment 600 5, laser diode 10, lens 60, photo-diode light 20, optical filter 64, convergent lens 62, angular sensor 52 and control Circuit 70 processed, the same or similar component described in first embodiment of these components.In addition, laser radar apparatus 600 Comprising reflecting mirror 630, the rotating and excursion mechanism 640 with central axis 642a, motor 650 and shaft member 642, they are not Those of be same as in first embodiment.

In order to illustrate simplification, using XYZ orthogonal coordinate system system arrive this device 600, wherein Y direction is set as central axis 642a is conceptually shown in Figure 13,14A and 15A, and X-direction is set as the laser beam from laser diode 10 The direction of the launch.

In laser radar apparatus 600, the laser beam L1 from laser diode 10 by reflecting mirror 630 essentially perpendicularly It is reflected on the central part for the deflection component 641 for being installed to rotating and excursion mechanism 640.Deflection component 641 plays deflecting member Effect, can be rotated on central axis 642a, and not only reflect laser beam L1 towards the perimeter visual field to be observed And by the reflected light back from target towards photodiode 20.The combination of motor 650 and control circuit 70, which forms, drives Dynamic component.

Actually rotating and excursion mechanism 640 is at it structurally largely different from first embodiment.641 shape of deflection component As flat reflective mirror, which can rotate on central axis 642a and axis 641a perpendicular to central axis 642a.Axis 641a is consistent with the Z-direction in view shown in Figure 13.As a part of 650 rotor of motor, shaft member 642 along Y direction extends.Deflection component 641 is also pivotally supported at 642 top of shaft member, and can rotate on axis 641a, The axis 641a is along XZ plane shown in Figure 13.

Although deflection component 641 can be supported in various ways by shaft member 642, shown in Figure 14 A as one Example.As shown, shaft member 642 has end section 642b, is fixed with braced frame 643 thereon.A pair of bearings 645 is installed In braced frame 643.Deflection component 641 has the protrusion 644 protruded from its two sides, and protrusion 644 is respectively with rotatable Mode is engaged with bearing 645.Shaft member 642 and braced frame 643 form an example of leaning device, perpendicular to center Deflection component 641 is obliquely supported on the axis 641a of axis 642a.Figure 13 and other figures are conceptually demonstrated by matching for leaning device It sets.

Furthermore as shown in fig. 14 a, laser radar apparatus 600 is equipped with cam 681, contacts deflector while rotation The given position (close to the position of its end) of part 641, is also equipped with the shaft member that motor 682 is connected with cam 681 683.Cam 681 and shaft member 683 form cam mechanism 680, and wherein its given position that is rotated in of cam 681 causes to deflect The linear movement of component 641.The installation of motor 682 is used for rotary cam structure 680, instantiates cam mechanism drive member.It is convex It takes turns mechanism and motor 682 forms vibration component.

As shown in Figure 14B, multiple Support Position P1-P8 that cam 681 can give in cam outer ledge support deflection Component 641.That Support Position of the support deflection component 641 of cam 681 will determine the tilt angle of deflection component 641.From convex The distance for taking turns rotation center 681c to each Support Position P1 (- P8) is different each other for each supporting point.Cause This, when Support Position with such as P1, P2, P3 ..., the sequence of P8 change when, supporting point is drifted apart from far from rotation center 681a gradually changes the inclination of deflection component 641.The outer circumference of cam 681 be it is curved, in addition to from last supporting point P8 to Except the part of first supporting point P1, and the radius of curvature at supporting point P1-P8 is different from each other, that is to say, that with this sequentially by It is cumulative big.Drive motor 682 is used to rotate cam 681 with direction shown in arrow F1, so that cam 681 is in deflector Slided on part 641, so as to such as P1, P2, P3 ..., P8, P1, P2 ... sequence successively change Support Position.

Use this cam mechanism 680, in that case it can be decided that by the rotation position for the cam 681 that motor 682 is driven.It is this Decision provides the contact position of cam 681 Yu deflection component 641, to determine the tilt angle of deflection component 641.

In addition, vibration component (i.e. cam mechanism 680 and motor 682) and leaning device (i.e. shaft member 642 and support Frame 643) combination play the role of direction and change component and dip member.These components can make entire deflection component 641 It is tilted about axis 641a, the axis 641a is set as perpendicular to central axis 642a (i.e. Y direction).Motor 682 is in control electricity It is operated under the control on road 70, control circuit 70 plays the role of control member and inclination control component.Control circuit 70 controls electricity The driving of motivation 682, so as to vibrate the given position of deflection component 641 (by the position of proximal end).

Cam mechanism 680 and motor 682 are fixed on the frame 685 being connected with shaft member 642, and can with it is inclined Rotation member 461 is as a unit rotation.Motor 682 is powered by the external power supply of fixed in position, wherein such external electrical Source is for example located in the commercial power supply 687 outside device 600, as shown in fig. 15.

In fact, as shown in figs. 15a and 15b, shaft member 642 includes cylindrical, hollow column 642c, end section above-mentioned 642b is connected on hollow posts 642c.Pass through in cylindrical, hollow column 642c for the power supply line 686 that motor 682 is powered Portion, to connect commercial power supply 687 and motor 682.Although being not shown in Figure 15 A, such as power circuit and rotatable electrical The necessary electronic building brick of connector is mounted between commercial power supply 687 and motor 682.In addition it is possible to use various types of Motor such as stepping motor as motor 650, thus motor 650 can with except shaft member 642 other zero Part, such as rotor component and stator part, although being not shown in Figure 15 A.

When shaft member 642 rotates, power supply line 686 can move in cylindrical, hollow column 642c, such as pair in Figure 15 B Shown in chain-dotted line.

Referring to Fig.1 6, the detection executed in the present embodiment by control circuit 70 is described below.

Firstly, control circuit 70 initializes the position (step S100) of cam 681 and deflection component 641.In the case, Initialized location can be given by shown in solid in Figure 13 and 15A by rotating motor 682 and 650 under preset program Out.This initialization procedure can execute before starting detection process.

Then control circuit 70 (includes preliminary sweep in the Current Scan state as provided by motor current driving condition State) in performance objective detection (step S110).This process is substantially similar to described in Fig. 9 step S2, in addition to replacing Light deflection component 430 will be counted using the current setting state of deflection component 641 (current tilt angle and present rotation angel degree) It calculates in the laser beam L1 traveling direction (i.e. direction existing for target).That is, based on display motor 682 and 650 The information of rotation position, control circuit 70 calculate the direction of the launch (scanning direction) of the laser beam L1 from deflection component 641.With With the identical mode, control circuit 70 equally calculates range-to-go.Distance calculated and direction are by being not shown Display or other components show.

After detecting step S110, process, which proceeds to, determines whether cam 681 has completed all (steps of one S120).Similar to above-mentioned, motor 650 is driven by control circuit 70, and deflection component 641 is rotated scheduled angle constant It spends (being in the present embodiment 1 degree).And in each rotation angle of deflection component 641, drive motor 682 is to rotate cam 681 1 weeks.In other words, as long as deflection component 641 rotates constant angle, laser beam L1 in central axis 642a (Y direction) All perimeter is scanned in longitudinal direction (Y direction).

When determining that cam 681 has completed one week (step S120 is YES), show along XY plane in motor The longitudinal scanning of the current rotary position of 650 (i.e. deflection components 641) has been completed.To which processing is transferred to step S140.Together When, determine that cam 681 has not been completed then to handle in one week (step S120 is NO) and be transferred to step S130, herein control electricity Road 70 controls the angle (being in the present embodiment 45 degree) that motor 682 keeps the rotation of cam 681 given.Then processing returns to arrive step Rapid S110 repeats detection process herein with the new tilt angle of deflection component 641.

In step S140, determine whether motor 650 is currently set as preceding Xiang Xuanzhuan (step S140).In the present embodiment In, when watching in fig. 14b, rotation clockwise is set as preceding Xiang Xuanzhuan, and the rotation in counter clockwise direction is set It is set to rear Xiang Xuanzhuan.To when rotation before being set as, processing is transferred to step S150, rotates forward in advance in this deflection component 641 Fixed constant angle (1 degree).On the contrary, processing is transferred to step S160, in this deflection component to when rotation after rotation is set as 641 back rotation predetermined constant angles.Incidentally, the default setting is forward direction rotations for the rotation of this motor 650, but later Opposite direction of rotation is switched in the step S180 of description.

Once complete step S150 or S160 processing, step S170 determine deflection component 641 whether before Given rotating range (being in the present embodiment the angular range of 180 degree) is had rotated to rotation or backward rotation mode.Such as Fruit determines that thinking that deflection component 641 is completed to rotate on central axis 642a passes through given rotating range, then handles transfer The process of setting switching is executed to step S180.This handoff procedure prepares for, to cutting if rotation before be currently set to It is changed to rear Xiang Xuanzhuan and after be currently set to being switched to preceding Xiang Xuanzhuan if rotation.To/the letter that rotates backward before indicating Breath is always stored in the memory in control circuit 70, and the judgement at step S140 uses the information.Pass through control as a result, The driving of motor 650 processed, driving rotating and excursion mechanism 640 is so that deflection component 641 is pressed given rotating range and moved back and forth.

When being determined as NO at step S180, processing returns to step S110 is arrived, wherein being deflected at step S150 or S160 The scanning of new rotation angle experience and target acquisition of component 641.

Scheduled constant angle is not always limited to 1 degree, and can be less than or greater than this angle.The rotation stepping of cam 681 Angle is equally also not always limited to 45 degree, and can be less than or greater than this angle.

In this way, in the present embodiment, deflection component 641 is tiltably supported and is vibrated by cam mechanism 680, so as to by Prosecutor formula is vibrated with given range of tilt angles.Therefore, deflection component 641 can be stablized support and be moved in its inclination It is controlled in work.

In addition, cam mechanism 680 and motor 682 form the vibration component controlled by control circuit 70.So as to Relatively easy and compact structure produces vibration component, and still reliably vibrates deflection component 641.

Vibration component (cam mechanism 680 and motor 682) and deflection component 641 are integrated and revolve together Turn, and motor 682 is powered by the external power supply not rotated together with the unit being integrated.To include deflection component 641 rotating part can simplify in terms of its construction.In addition, motor 682 and external power supply are electrically connected by power supply line 686 It connects, and deflection component 641 is pressed given rotating range and is moved back and forth.Thus, although using vibration component, this component is by outside Power supply power supply is good.

(the 8th embodiment)

The laser radar apparatus according to eighth embodiment of the invention is described below in 7-18A and 18B referring to Fig.1.

Figure 17 shows the outline configuration according to the laser radar apparatus 700 of the present embodiment.Laser radar apparatus 700 assembles There is the rotating and excursion mechanism 740 comprising vibration unit 780, replaces rotating and excursion mechanism 640 above-mentioned.Remaining component it is identical or Those used in the 7th embodiment are unanimously to, therefore explanation concentrates on oscillating unit 780.

Laser beam L1 from laser diode 10 is reflected by reflecting mirror 630 with substantially right angle, and is radiated The middle section of the deflection component 641 of rotating and excursion mechanism 740.In this mechanism 740, deflection component 641 can be in central axis 642a and perpendicular to being rotated on the axis 641a of central axis 642a.Deflection component 641 serves as incident beam L1 and entering from target The deflecting member for penetrating reflected light, with it is described be identical.Deflection component 641 is driven to rotate by motor 650.

As shown in Figure 18 A, vibration unit 780 plays the role of vibration component, is equipped with rotary part 781 and motor 782, the motor 782 rotates the rotary part 781 in the rotary shaft 783 of motor 782.Rotary part 781 wraps Two parts are included, but are integrated to rotatable in the rotary shaft as axis.Described two parts are the biggish large radius of radius The part 781a and lesser portion of small radius 781b of radius.As shown in figure 18, more than half path portion 781a can be with deflection component 641 end contact, and rise the end of supporting element when obtaining contact.On the contrary, as shown in Figure 18 B, minor radius portion Divide 781b that can contact with the end of deflection component 641, and declines the end of supporting element when obtaining contact.

Therefore, the rotation of motor 782 allows vibration unit 780 to realize the switching between two-stage.In a grade, most Path portion 781a supports the end of the deflection component 641 with higher spatial position, as shown in figure 18.In another grade, Portion of small radius 781b supports the end of the deflection component 641 with lower spatial position, as shown in Figure 18 B.To partially The end of rotation member 641 vibrates up and down.Due to deflection component 641 support for can be located at its longitudinal center axis (rotary shaft) It is rotated on 641a, the vibration of 641 end of deflection component allows entire deflection component 641 in an inclined direction to move.Vibration unit 780 be a part that direction changes component and dip member.

The driving of motor 782 is controlled by control circuit 70, so that the vibration of 641 end of deflection component is by control circuit 70 Control.A variety of motor, such as stepping motor or DC motor can be used in motor 782.

In addition, as shown in figure 18b, stretching out stretching member 742 from the lower surface of deflection component 641.This stretching member 742 It is engaged in a manner of displaceable with guiding parts 744, the guiding parts 744 is fixed to frame 743 in shaft member 642.In particular, Raised 742a is formed on 742 end of stretching member, guide groove 744a is formed obliquely in guiding parts 744.Protrusion 742a is adapted to guide groove 744a and is oriented to wherein.Stretching member 742 and guiding parts play the role of limiting member, The support end of deflection component 641 is limited to avoid vibration beyond given oscillating region.In Figure 17, stretching member is omitted 742 and guiding parts 744 be painted.

In order to detect the inclination of deflection component 641, sensor 745 placed.This sensor 745 is known position sensing Device, for detecting the position of raised 742a.Because having obtained the position of raised 742a, deflection component 641 can be uniquely determined Inclination, the inclination of deflection component 641 can be detected by the detection protrusion position 742a.

Vibration unit 780 rotates together with deflection component 641, and by being placed on external thus non-rotary commercial power supply 687 power supplies.Power supply line 686 is also by commercial power supply 687 and the electrical connection of vibration unit 780 to carry out power transmission.Power supply line 686 with Same way installation illustrated in previous embodiment.Other configurations are equally identical as those of in previous embodiment.

In the present embodiment, deflection component 641 rotates each predetermined constant angle (such as 1 degree) on central axis 642a, To carry out longitudinal (Y direction) laser beam flying in exterior space in each rotary angle position.By making vibration unit 780 vibrate deflection components 641 to execute longitudinal scanning.

In other words, when vibrating deflection component 641, deflection component 641 changes its inclination between two heeling conditions Position, described two heeling conditions are as shown in the solid line and dotted line in Figure 17.When photodiode 20 detects reflected light, control Circuit 70 processed reads signal from position sensor 745, to understand the inclination of deflection component 641.

The rotation position of the constantly monitoring motor 650 of control circuit 70, and when photodiode 20 detects reflected light When understand motor 650 rotation position.Therefore, the rotation position based on signal and motor 650 from sensor 745, The direction of target is calculated by control circuit 70.By with it is described it is identical in a manner of, it is same calculate target to device distance.

In the present embodiment, it is equipped with rotating and excursion mechanism 740, so that laser beam L1 can be in this laser radar apparatus 700 perimeter carries out 3-D scanning.

Especially, deflection component 641 is tiltably supported by tilt component, and the given position of deflection component 641 (end) is vibrated by vibration unit 780 in a controlled manner under the control of control circuit 70.To which deflection component 641 keeps steady It is fixed, and the inclination of deflection component 641 is reliably controlled.

In addition, limiting member limits deflection component 641 to avoid vibration through given oscillating region.Without changing Become laser beam and necessary angular range is exceeded to the incident direction of deflection component, and still controls swashing from deflection component 641 The expected angle range of needs is run through in beam emissions direction in a longitudinal direction, and the longitudinal direction is i.e. along central axis 642a's Y direction.

Vibration unit 780 can rotate together with deflection component 641, can be powered by the external power supply that position is fixed. To for this power supply system, the advantages of achieving described in previous embodiment in the present embodiment.

(the 9th embodiment)

The laser radar apparatus according to ninth embodiment of the invention is described below in 9-21 referring to Fig.1.

The present embodiment relates to how another modification of support deflection component.

Figure 19 diagrammatically shows the configuration of the laser radar apparatus 800 according to the present embodiment.As shown, this laser radar Device 800 is equipped with reflecting mirror 830, rotating and excursion mechanism 840 and motor 850, substitutes described in the 7th and the 8th embodiment Bright reflecting mirror 630, rotating and excursion mechanism 740 and motor 650.Equally it is equipped with control circuit 70, but this control circuit 70 The component that is controlled and these components how are controlled different from previous configuration.

In the component substituted, motor 850 is connect with previous shaft member 842 is different from.

Rotating and excursion mechanism 840 has central axis 842a, this mechanism 840 is rotatable on central axis 842a.With phase It is same as previous mode, the direction of Y-axis setting central axis 842a thus, and device 800 is specified thus and phase as mentioned Same XYZ orthogonal coordinate system system.

Rotating and excursion mechanism 840 is equipped with deflection component 841.To emit in the X-axis direction from laser diode 10 Laser beam L1 is substantially vertically reflected by reflecting mirror 830, and enters the central portion of the deflection component 841 as deflecting member Point.This component 841 can equally rotate on central axis 842a.Incoming laser beam L1 is instructed and (is deflected) by deflection component 841 Observation area towards outside device 800, and receive the reflected light L2 of the target in region.Deflection component 841 will also reflection Light L2 is reflected and (is deflected) towards photodiode 20.Rotating and excursion mechanism 840 is driven to be rotated by motor 850.Electricity Motivation 850 and the combination of control circuit 70 form drive member with rotating and excursion component 841.

In this laser radar apparatus 800, rotating and excursion mechanism 840 with it is dramatically different in first embodiment, although its Shape is similar in first embodiment.As shown in figs 20 and 21, this rotating and excursion mechanism 840 is equipped with above-mentioned as reflection The deflection component 841 of mirror, the circle for supporting the support base 843 of deflection component 841 on it and being connect with support base 843 Cylindricality shaft member 842.Deflection component 841 has the reflecting surface 841a for favouring central axis 842, and the central axis 842 is used as The rotation center of deflection component 841.Deflection component 841 is pivotably supported by support base 843, so as to about from center Axis 842b mobile rotation center is rotated.

The axis that cylindrical shaft component 842 is formed as rotary shaft or is connected with 850 rotary shaft of motor, for cylinder And one end is connected with support base 843.Support base 843 is equipped with square plate component 844 and a pair of bearings 845, axis It holds on two endpoints of width direction that 845 are arranged on 844 length direction one end of plate component.Plate component 844 is perpendicular to central axis 842b installation.It is formed on a position of plate component 844 and penetrates hole 844a therein, wherein in this position and cylindrical shaft Component 842 is connected, so that hole 844a is communicated with the cylindrical bore 842b of shaft member 842.Piezoelectric actuator 801 is pacified With from wherein projecting upwards in bore 842b.

It is fixed to form two protrusion 841b to protrude outward on the two sides of 841 width direction of deflection component.Protrusion 841b It is fixed by bearing 845, so that deflection component 841 can be rotated around rotary shaft 845a.Bearing 845 and protrusion 841b composition rotation Turn deflection mechanism 846, plays the leaning device for tiltably supporting deflection component 841 around rotary shaft 845a.Deflection Component 841 and support base 843 be connected by rotating and excursion mechanism 846, and the two can be by being driven by motor 850 The rotation of cylindrical shaft component 842 and rotated as a unit.

Piezoelectric actuator 801 is the known actuators with piezoelectric element, and the piezoelectric element is in response to the electricity that is applied Pressure stretch exhibition and contraction.The drive that this piezoelectric actuator 801 has piezoelectric drive element 801a and driven to driving element 801a Dynamic circuit 801b.Driving circuit 801b is electrically connected with control circuit 70, so that driving circuit 801b is in response to coming from control circuit 70 command signal applies voltage to driving element 801a.Command signal from control circuit 70 mentions for the voltage applied For the controlled quatity of element 801a movement.

Piezoelectric drive element 801a can be rotated independently of deflection component 841, and be deflection component 841 in laser radar Fixation position in device 800 provides vibration action.This element 801a is fixed on the support member in cylindrical shaft component 842 On 803.It is fixed on the shell that support member 803 directs or through other component.Cylindrical shaft component 842 can be independently of pressure Electric driving element 801a rotation.

It as shown in Figure 20, include driving element 801a in cylindrical shaft component 842 in response to the voltage that is applied And stretch or shrink, to push deflection component 841 or stop the promotion to deflection component 841.Therefore, command signal energy Enough make specified portions (i.e. the position that element 801a is pushed) vibration of deflection component 841.

To depending on reflecting the command signal of amount to be controlled, adjust driving element in rotating and excursion mechanism 840 The protrusion (stretching, extension/contraction) of 801a is measured.In response to this adjustment, deflection component 841 surrounds the rotation perpendicular to central axis 842b Axis (axis) inclination.This tilting action causes laser beam L1 to the incident direction of reflecting surface 841a relative to laser beam L1 It changes, the direction of the laser beam from deflection component 841 is caused to change on longitudinal direction (Y-axis) direction along central axis 842b Become and (scans).This scanning is by solid line L2 and dotted line L2 ' example.Solid line L2 and dotted line L2 ' shows the biography of laser beam and reflected light It broadcasts, acquisition when taking lateral attitude shown in lateral attitude and dotted line shown in solid respectively in deflection component 841.Solid line L2 Or the Y direction width between dotted line L2 ' shows the range for receiving reflected light.

Depending on the protrusion length (stretching, extension/contraction) of piezoelectric drive element 801a, the inclination journey of deflection component 841 is determined Degree.To lead to the inclined accurate control to deflection component 841 to the control of command signal.Control circuit 70 is responsible for electricity The control of motivation 850, so that this circuit 70 knows to indicate the information of this 850 rotation status of motor.Therefore, 70 energy of control circuit The rotation position of cylindrical shaft component 842 is enough calculated, to calculate the laser for being emitted to region to be observed from deflecting member 814 The three-dimensional of beam.By with it is illustrated it is identical in a manner of, the distance from target to device can be calculated.

In the present embodiment, a part of deflection component 841 provides motive force, Piezoelectric Driving by piezoelectric drive element 801a Driving signal of the element 801a in response to the driving circuit 801b under the control in control circuit 70.That is, this yuan The stretching, extension and contraction of part 801a causes deflection to tilt and do not tilt in a controlled manner.This tilting action is allowed from device 800 Laser beam L1 is scanned in a longitudinal direction.In addition, this longitudinal scanning can each angle position on X/Y plane execute, from And three-dimensional high-precision scan operation is carried out in 800 perimeter of device.

In order to scan longitudinal direction, only pushes or do not push a part of deflection component 841 enough, structure is opposite It is simple and accurate to the control of promotion, i.e. vibration operation.

In addition, stretching, extension/contraction members are realized by using piezoelectric element, to prevent scantling excessively huge and still Vibration control is so maintained at higher level.

(modification)

Referring to Figure 22-23, the modification of the 9th embodiment is described below.

(the first modification)

Figure 22 shows the first modification, wherein being equipped with another type of rotating and excursion mechanism 840A.

As shown in Figure 22, the difference of this rotating and excursion mechanism 840A and aforementioned rotating and excursion mechanism 840 is using ruler Very little units of variance 811a replaces piezoelectric drive element 801a as stretching, extension/contraction members, and uses air capacity adjustment unit 811b replaces driving circuit 801b as stretching, extension/contraction members drive member.Those of in remaining component and the 9th embodiment It is identical.Allow the given part of deflection component 841 upper controlled in its vibration the control of air capacity adjustment unit 811b driving. The given part is pushed by variable dimension component 811a.

Rotating and excursion mechanism 840A is constructed in a manner of identical with such as Figure 20.

Variable dimension component 811a is included in the cylindrical bore 842b of cylindrical shaft component 842, to protrude into plate portion In the hole 844a of part 844.The external dimensions of this component 811a can change according to be charged into air capacity therein, thus this Variation shows as the variation from the protrusion of plate component 844.This variable dimension component 811a have foldable shape appearance and Two mouths positioned at both ends, including inflating port 812 and exhaust outlet 813.Inflating port 812 is for use by air capacity adjustment unit This component of air supply 811a of 811b discharge.When including that air in component 811a is drained into air capacity adjustment unit 811b When interior, exhaust outlet 813 is used.

Control circuit 70 is configured to use the command signal of unit 811b to command air capacity adjustment unit 811b to adjust Air capacity wait inflate or be vented.

Air capacity adjustment unit 811b plays gas flow adjustment member, comprising to via mouth 812 provide to size can Become component 811a air capacity detected first flow sensor, to the air capacity being discharged via mouth 813 from component 811a The air feed equipment and electromagnetism of the supply air of second flow sensor, such as air pump and the air compressor detected Valve or other selectively unlock and close the device of air feed passage and air discharging channel.

In the configuration according to this modification, deflection component 841 can be rotated independently of variable dimension component 811a, Deflection component 841 is vibrated in the given position of device.This component 811 by with it is as shown in Figure 20 it is identical in a manner of fix In the support member 803 in cylindrical shaft component 842.Therefore, this component 842 can be revolved around variable dimension component 811a Turn.

In this modification, air capacity included in variable dimension component 811a is depended on, determines deflection component 841 Inclination.The control of control circuit 70 is set to allow to precisely adjust deflector from the air capacity that air capacity adjustment unit 811b is provided The tilt angle of part 841.By this tilt operation, the laser beam emitted from device can be along X/Y plane in each angle stepping Angle position carries out longitudinal (Y-axis) direction scanning to device perimeter, to provide 3-D scanning.This scanning is with described phase The simpler and relatively reliable measurement of the three-dimensional to each target and the distance from it is generated with mode.

Therefore, the configuration of this modification provides and same or similar advantage those of in the 9th embodiment.In other words It says, can simplify and configure and can easily guarantee biggish stretching, extension/shrinkage.

(the second modification)

Figure 23 shows the second modification, wherein being equipped with another type of rotating and excursion mechanism 840B.

As shown in figure 23, this rotating and excursion mechanism 840B is different from aforementioned rotation in terms of vibration component and inclination control component Turn deflection mechanism 840.Remaining part is identical as those of in the 9th embodiment.

The modification provided in Figure 23 includes the transmission part 821 that motive force is transferred to deflection component 841, makes to transmit The motor 823 of reciprocating mechanism 822 and driving reciprocating mechanism 822 that component 821 moves back and forth.This electricity Motivation 823 instantiates reciprocating mechanism drive member.By the reciprocating motion of transmission part 821, deflection component 841 can be made Inclination.

Transmission part 821 adapts to cylindrical shaft component 842, and can in above-below direction, i.e., at it in Y axis direction Middle reciprocating motion.This transmission part 821 is rotatably attached with arm 822a, and arm 822a is rotatably connected to another arm 822b.Second arm 822b is driven by motor 823 to be rotated.To arm 822a and arm 822b, transmission part 821 and cylindrical shaft portion Part 842 constitutes crank and piston mechanism, to convert rotational motion into linear movement.Depending on the rotation of motor 823, promote Transmission part 821 moves up and down, and changes the amount that the protrusion of transmission part 821 is exposed from plate component.

The combination side of instantiating of rotating and excursion mechanism 846, transmission part 821, reciprocating mechanism 822 and motor 823 To change component and dip member.In addition, transmission part 821, reciprocating mechanism 822 and motor 823 instantiate vibration structure Part, vibration component vibrate the given part of deflecting member in the up-down direction.

Remaining component is identical as those of in the first modification.

To which the second modification provides the advantage same or like with those of in the first modification.Transmission part 821 Use for push a part of deflection component 841 be it is effective, be still limited by simplified structure.Motor 823 by Control circuit 70 drives, and allows given plate partial vibration.To which the inclination of deflection component 841 can be precisely controlled, The result is that the accurate three-dimensional detection to target may be executed.

(the tenth embodiment)

Referring to Figure 24-27, the laser radar apparatus according to tenth embodiment of the invention is described below.

Figure 24 diagrammatically shows the configuration of the laser radar apparatus 900 according to the present embodiment.This configuration is implemented with the 7th-nine The difference of configuration shown in example is rotating and excursion component and vibration component.That in remaining part and the 7th-nine embodiment It is a little same or like, therefore omit the detailed description to these components.

As shown in figure 24, laser radar apparatus 900 is equipped with some new components, including rotating and excursion mechanism 940, has The motor 950 of shaft member 942 and the first and second edge vibration units 961 and 965.Shaft member 942 and first is implemented Shaft member in example is different, but motor 950 itself is identical as in first embodiment.

Rotating and excursion mechanism 940 has central axis 942a, this mechanism 940 is rotatable on the central axis.Along central axis The direction of 942a is set as Y-axis, and remaining X and Z axis are set as identical as those of having been described.

Specifically, rotating and excursion mechanism 940 includes as reflecting mirror and the deflection that can rotate on central axis 942a Component 941 (being used as deflecting member), shaft member 942, the tabular flange 943 as base plate and bindiny mechanism 944.Axis Component 942 is driven by motor 950 to be rotated.Flange 943 and deflection component 941 are combined into a unit.Bindiny mechanism 944 is by axis Component 942 and flange 943 connect.

Deflection component 941 has flat reflecting surface 941a, favours central axis 942a and is positioned at reception incidence Laser beam L1.Reflecting surface 941a is operated in the same manner as in the first embodiment.Deflection component 941 in response to that will retouch later The vibration for the vibration component stated, so that surface 941a changes the tilt angle of central axis 942a with controlled manner.In response to electricity The driving of motivation 950, deflection component 941 can also rotate on the central axis 942a along Y-axis.

Flange 943 instantiates the tilting member being integrated.As shown in Figure 25 and 27, flange 943 is formed to have base This is the shape of circular ring shape, and peripheral edge extends beyond the peripheral edge of deflection component 941.Flange 943 and deflection component 941 Bottom surface section rigid connection, so that flange 943 can be rotated and be vibrated together with deflection component 941.In addition, flange 943 It is connected by bindiny mechanism 944 with shaft member 942.

Shaft member 942 manufactures the rotary shaft as motor 950.Bindiny mechanism 944 is installed on shaft member 942. As shown in Figure 25 A, 25B and 26A, 26B, bindiny mechanism 944 be ball-and-socket joint, construction with it is shown in fig. 7 identical.Also It is to say, bindiny mechanism 944 includes that spherical part 944a and spherical housing part 944b, the two are assembled into spherical shape described in Fig. 7 Bearing stud and pod.Flange 943 and bindiny mechanism 944 form leaning device, tiltably support deflection component 941.

As shown in Figure 26, shaft member 942 is equipped with protrusion 945, for the rotary force of shaft member 942 to be transferred to connection The spherical housing part 944b (in fact, to protrusion 946 on the 944b of spherical housing part) of mechanism 944.Shaft member 942 Protrusion 945 is forcibly rotated around spherical housing part 944b by the rotation of shaft member 942.It is configured shown in Figure 26 A and 26B It is only an example, as long as thus being capable of swingably fixation during the rotary transfer of shaft member 942 is to flange 943 Orchid 943, so that it may use any other configurations.As an example, universal joint, which can be used, comes connecting flange 943 and shaft member 942。

In addition, providing the first and second conducts of edge vibration unit 961 and 965 as shown in Figure 24,25A, 25B and 27 Edge vibration component, for vibrating and (being promoted and reduced) edge of flange 943.First edge vibration unit 961 includes to pass through Power is transferred to the transmission part 962 of deflection component 941, the reciprocating mechanism for moving back and forth conveying member 943 by flange 943 963 and drive reciprocating mechanism 963 motor 964.This first edge vibration unit 961 be responsible for vibration (i.e. promoted and Reduce) the first edge position of flange 943, so that deflection component 941 can shake above and below the direction for favouring central axis 942a It is dynamic.

Transmission part 962 is typically as shown in Figure 25 A, 25B, 27A and 27B, and wherein this component 962 adapts to be mounted on It is fixed in device 900 in the groove of the bilateral guiding parts 963c of position (referring to Figure 27 A and 27B).Guiding parts 963c is parallel In central axis 942a, so that transmission part 962 can be oriented to by guiding parts 963c, so as to interior sliding in above-below direction.Arm 963a is rotatably attached with this transmission part 962, and another arm 963b and this arm 963a are rotatably attached (referring to figure 25A and 25B).Arm 963a and 963b and guiding parts 963c forms reciprocating mechanism 963.

Arm 963b is driven by motor 964, so that reciprocating mechanism 963 is converted to the rotary motion of motor 964 The linear movement of transmission part 962.Transmission part 962 has groove 962a, and the edge of flange 943 is positioned in groove 962a, The gap of predetermined altitude is reserved in it simultaneously.To allow flange in the case where its edge is still located in groove 962a 943 in response to motor 950 driving and rotate.Therefore, motor 964 being rotated to the first given rotation position will make The reflecting surface 941a of deflection component 941 keeps the first lateral attitude shown in Figure 25 A.Motor 964 is rotated to given The second rotation position will allow for reflecting surface 941a keep the second lateral attitude as shown in Figure 25 B.Spring can be placed It to push flange 943 on the position opposite with transmission part 962, is shown by arrow F2, this is provided surely for deflection component 941 Fixed positioning action.

Second edge vibration unit 965 is shown in Figure 27 A, although part of it is omitted in figure.This element 965 and One edge vibration unit 961 is identical, is included as that flange 943 provides the transmission part 966 and reciprocating machine of upper and lower motive force Structure (not shown) and motor (not shown).First and second edge vibration units 961 and 965 are arranged with being separated from each other, and such as scheme Shown in 27A and 27B.The first edge position shown in M1 is arranged in first edge vibration unit 961, and second unit 965 is set The second edge position shown in M2 is set, M2 and M1 separates 90 degree (referring to Figure 27 A) about central axis 942a.Mark M1 and M2 Imaginary plane is shown, all comprising central axis 942a and by transmission part 962 (966).

Control circuit 70 includes the microcomputer with CPU and memory, as described in the first embodiment, and is matched Set the driving that target and a variety of motor of control or other component are detected for executing given software program.Such journey Sequence is previously installed in the memory of microcomputer.

In this laser radar apparatus 900, when deflection component 941 is located in given rotation position, second edge vibration The operation of moving cell 965 is for vibrating flange 943.However, deflection component 941 is located in the rotation position other than given rotation position It sets, first edge vibration unit 961 is run.This lock out operation is realized that control circuit 70 controls various electronic by control circuit 70 The driving of machine.

Specifically, given rotation position is determined as such rotation position, allows another imaginary plane M3 and aforementioned Imaginary plane M1 between angle be equal to or more than given threshold value (such as 45 degree), wherein third imaginary plane M3 is in including Mandrel 942a and perpendicular to the plane of reflecting surface 941a.In this case, as shown in figure 27b, second edge vibration is single Member 965 makes the edge vibration of flange 943.As shown in fig. 27 a, when being different from other above-mentioned, that is to say, that work as plane When angle between M3 and M1 is less than given threshold value, first edge vibration unit 961 makes the edge vibration of flange 943.

Figure 24 shows following situation, and wherein the angle between imaginary plane M1 and M3 is less than threshold value and first edge is shaken Moving cell 961 works.That is, deflection component 941 is positioned at when driving this element 961 to state shown in Figure 24 Position as shown by the solid line, so that laser beam emits from device 900 as shown by the solid line, and reflected light is returned as shown in solid line L2. In this case, when unit 961 is driven to new state to allow deflection component 941 to tilt as shown in phantom in Figure 24 When, L1 ' is changed into the path of laser beam and L2 ' is changed into the path of reflected light.

This means that emitting laser beam L1 and the longitudinal direction (Y in 900 perimeter of device on the specific direction of XZ plane Axis) direction is scanned.This scanning uses first or second edge vibration unit 961 or 965 in next angle of XZ plane Position repeats, and generates the 3-D scanning to region.

Therefore, operation identical or consistent with those of in first embodiment and advantage are present embodiments provided.In addition, vibration Dynamic component is divided into the first and second edge vibration units 961 and 965, and the two is in different marginal positions and in different angles Run to regioselectivity.Therefore compact dimensions can be made in the rotary drive mechanism of deflection mechanism 940 and weight is small, thus The accuracy for improving rotation control and rotation being accelerated.Compact dimensions can be equally made in motor 950.Further, since Different fixation positions of the first and second edge vibration units 961 and 965 in device 900 vibrate flange 943, thus Compared with vibration component and the incorporated structure of deflecting member, the transmission of power supply and control signal is easier.

Axis 942 and flange 943 can rotate together, and vibration component is divided into unit 961 and 965, thus on different sides Edge partial vibration.Thus vibration component and deflecting member can with individual operation, therefore vibration component can be set in device to Fixed but desired position, and vibration and deflection are still provided.Flange 943 is swung in its marginal portion, with vibration Power is applied to the case where flange center part and compares, and the power of vibration is caused to reduce.This is for generating compact, low cost of parts It is effective for device.

As mentioned, the first and second edge vibration units 961 and 965 are separated from each other with vibration (i.e. applied force in) first With second edge position, and depend on deflection component 941 rotation position selectively use.As a result, flange 943 can be with Along multiple imaginary plane rockings (tilted upward), and it is not limited to increase the degree of swing along specific plane.Deflector Part 941 rotates together with flange 943, can also depend on each rotation position in XZ (level) plane and swing, generate Y-axis Preferred scanning in (longitudinal direction) direction.

(the 11st embodiment)

Referring to Figure 28-30, the laser radar apparatus according to eleventh embodiment of the invention is described below.

Figure 28 diagrammatically shows the configuration of the laser radar apparatus 1000 according to the present embodiment.This configuration and the 7th-ten The difference of configuration shown in embodiment is rotating and excursion component.Remaining part with it is same or similar in the 7th-ten embodiment, Its detailed description is thus omitted.

As shown in Figure 28, laser radar apparatus 1000 is equipped with reflecting mirror 1030 and has deflection component 1041 in The rotating and excursion mechanism 1040 of mandrel 1042a, Y-axis is similar with previous device to be assigned to central axis 1042a.Reflecting mirror 1030 It installs for receiving the laser beam L1 emitted from laser diode 10 in X-direction, and is essentially perpendicularly reflected direction Rotating and excursion mechanism 1040.The laser beam L1 being incident in this mechanism 1040 enters the central part of deflection component 1041.

Rotating and excursion mechanism 1040 includes deflection component 1041 described above, shaft member 1042, from deflection component 1041 The motor 1050 of the protruding part 1043 of protrusion, bindiny mechanism 1044 and drive shaft component 1042.Deflection component 1041 For reflecting mirror.

Deflection component 1041 can be rotated on central axis 1042a by the driving of motor 1050, and its deflection is made With with it is previously described identical.

Connection unit 1044 includes from the raised 1042a of the two sides protrusion of shaft member 1042 and to be pivotably supported protrusion The bearing 1043a of 1042b provides rotatable support between shaft member 1042 and protruding part 1043.Connection unit 1044 is used Make supporting mechanism for tiltably supporting deflection component 1041.

The deflection component 1041 tiltably supported by connection unit 1044 includes the reflection for favouring central axis 1042a Surface 1041a, so that the angle between reflecting surface 1041a and central axis 1042a changes with the inclination of deflection component 1041. Raised 1042b provides rotary shaft, and protruding part 1043 rotates in the rotary shaft.This rotary shaft perpendicular to central axis 1042a, That is Y-axis.Therefore, drive motor 1050 rotate, then shaft member 1042 rotate, and connection unit 1044 rotate, this make through The imaginary rotary shaft for crossing protrusion 1042b can rotate in XZ plane around central axis 1042a.

Laser radar apparatus 1000 is further equipped with a pair of of rotary unit 1045 and 1046, and the two is mounted on deflection component 1041 in the following, and be configured to rotate together with deflection component 1041.Rotary unit 1045 and 1046 is all from deflection component At radiated entend behind 1041 bottoms, to leave center in XZ plane more lower than 1041 horizontal position of deflection component Axis 1042a.It include to be fixed to 1041 bottom rear of deflection component each of in rotary unit 1045 and 1046 for this arrangement Fixation member 1045a (1046a) and be rotatably attached the rotary part of each fixing component 1045a (1046a) end 1045b(1046b)。

As shown in figs. 28 and 29, this laser radar apparatus 1000 is also equipped with annular guide channel 1047, fixedly Installation is by surrounding rotating and excursion mechanism 1040 come by the position of rotary unit 1045 and 1046.This guide channel 1047 Provide the rail portion of the end guiding for each rotary unit 1045 (1046).When motor 1050 rotates, rotation is single Member 1045 and 1046 also rotates, and guide channel 1047 enables the end of each rotary unit in central axis during this process Change position in direction, that is, Y direction of 1042b.In order to achieve, guide channel 1047 has unique guide path, This will be described below.

Guide channel 1047 has the annular groove portion as guide path, and the slot part has when being observed with section There is box-shape open at one end.The rotary part 1045b and 1046b of rotary unit 1045 and 1046 are inserted into slot part, and It is oriented to the rotation of deflection component 1041 along guide surface.Rotary part 1045b and 1046b are roller, to rotate Component can be fixed and roll in the slot part of guide channel 1047.

As shown in Figure 30, the slot part of guide channel 1047 is formed as in the direction of central axis 1042a i.e. Y direction Continuously change its height.In fact, slot part, which is bent upwards part 1047b and second including first, is bent downwardly part 1047c, alternately installation is to form such as sinusoidal path.Therefore, this path include the path being gradually increasing and gradually under The path of drop, the two are alternately present.It is set as identical in the dislocation (height) of Y axis direction raising and lowering.

Rotary unit 1045 and 1046 is therebetween center axis 1042a, and be inserted into guide channel 1047 opposite to each other.Cause This, when considering this arrangement, generates the slot part of guide channel 1047 so that each first is bent upwards part 1047b and each Second decline bending part 1047c is opposite, is therebetween center axis 1042b.Therefore, no matter when, in two rotary units 1045 In 1046, one rises another and then declines.

Rotary unit 1045 and 1046 and guide channel 1047 play the role of direction and change component, thus in deflector Part 1041 in response to motor 1050 rotation and along XZ Plane Rotation during, the end of rotary unit 1045 and 1046 Along central axis 1042a in the Y-axis direction to give circular wave.This fluctuation of rotary unit 1045 and 1046 is converted to Y-axis Swing (tilted upward) movement of deflection component 1041 on direction provides relative position variation to incoming laser beam L1, that is, Say the opposite variation of incident direction.In the present embodiment, fluctuation is set as causing deflection component 1041 solid line and void in Figure 28 It is tilted between two postures shown in line.As a result, changing the direction of the laser beam L1 emitted from deflection component 1041, i.e., in Y Axis direction scanning.

Motor 1050 is similar in first embodiment, in addition to the structure of shaft member 1042.Control circuit 70 also with Mode as in the first embodiment configures, other than controlled component and how to control them.The content of control It has been described above.Drive member, and control circuit 70 are played the role of in the combination of motor 1050 and control circuit 70 Also act as the effect of control member.

In this radar installations 1000, when the Y direction position of rotary part 1045b and 1046b is identical, deflection component 1041 take posture shown in solid in Figure 28.In the case, laser beam L1 is along propagated shown in solid, and anti- Light L2 is penetrated to return along solid line and enter deflection component 1041.Meanwhile when this component 1041 rotate to it is another in XZ plane When a angle position, deflection component 1041 takes posture shown in dotted line.This is by the fluctuation of guide channel 1047 as mentioned Caused by path.To which laser beam L1 spreads into the region outside device along line L1 ', and reflected light L2 ' is along dotted line Back to deflection component 1041.

Thus, the same or similar advantage that the present embodiment may be provided and be had been described above, for preferably to target Three-dimensional detection.Further, since rotary unit 1045 and 1046 and guide channel 1047 combine as above, it is possible to change inclined Relative position of the rotation member 1041 to laser beam L1.It is unnecessary to be swung using any special actuator or tilted deflecting component 1041.To which the power of motor 1050 can be used for the rotation and swing or inclination of deflection component 1041.This is advantageously reduced Production cost and reduction installation weight.

Using annular guide channel 1047, fluctuation path is formed wherein or at least on part of it.This fluctuation road Diameter makes deflection component 1041 reliably swing or tilt.Installing this annular guide channel 1047 does not interfere it in device partially The rotation of rotation member 1041 is possible.It can make this install compact.Annular guide channel 1047 provides the steady of rotary unit Fixed support and smooth guiding.

(modification)

The form of guide channel 1047 is not limited to described in Figure 30.Figure 31 shows another example, wherein being formed There is straight line portion 1047d, each straight line portion connects adjacent bending part 1047b and 1047d.This also provides in Y-axis side To the fluctuation path of change.

Configuration shown in Figure 28 can configure replacement as shown in Figure 32.Laser radar apparatus 1100 shown in Figure 32 It is with difference shown in Figure 28, is equipped with rotating and excursion mechanism 1140.In fact, rotary unit 1045 and 1046 above-mentioned It is replaced by other rotary unit 1048a and 1048b, and makes the groove width and rotary unit 1048a and 1048b of guide path The size of end matches.Remaining configuration is identical as those of in Figure 28.

In this configuration, rotary unit 1048a and 1048b does not use rotary part.That is, rotary unit 1048a It is only formed without the arm of rotary part with 1048b, is different from shown in Figure 28.It is fit directly into and leads similar to the end of arm Into the slot in channel 1049.This guide channel 1049 in terms of shape and sine curve guide path with guide channel above-mentioned 1047 is identical, as shown in Figure 29, other than groove width.

Thus, when drive motor 1050 rotates, deflection component 1041 and rotary unit 1048a and 1048b revolve together Turn, thus the end of two units 1048a and 1048b are slided along the interior wall (guide path) of guide channel 1049.To It is possible for providing the such as identical operation obtained of previous embodiment and advantage.Guide channel 1047 is rotary unit 1048a and 1048b provides sliding motion that is smooth and stablizing but fluctuate, this causes the smooth and reliable of deflection component 1041 Swing (inclination) operation.

(the 12nd embodiment)

Referring to Figure 33-35, the laser radar apparatus according to twelveth embodiment of the invention is described below.

Figure 33 diagrammatically shows the configuration of the laser radar apparatus 1200 according to the present embodiment.This configuration and first embodiment Shown in difference be rotating and excursion component.Remaining part with it is same or similar those of in first embodiment, thus omit It is described in detail.

Laser radar apparatus 1200 is equipped with rotating and excursion mechanism 1240, gives centration axis 42a to it.This central axis 42a Direction correspond to Y-axis, such as first embodiment.This mechanism 1240 includes the deflection component 1241 that can be rotated on central axis 42a.

In addition to laser diode 10 and photodiode 20, laser radar apparatus 1200 is also equipped with reflecting mirror 1230, uses In the reflection for carrying out essentially right angle to the laser beam L1 from laser diode 10.Laser beam L1 by reflection enters deflection The central part of component 1241.Rotating and excursion mechanism 1240 includes the deflection component 1241 for being driven by motor 50 and being rotated, from And component 1241 is that mechanism 1240 can rotate on central axis 42a.

As shown in FIG. 34 and 35, deflection component 1241 is equipped with multiple reflecting layer 1241a-1241e, is stacked in and carrys out self-reflection The beam incoming position of the laser beam L1 of mirror 1230.Lowermost reflecting layer 1241a is made of reflecting mirror, and remaining reflecting layer 1241b-1241e is made of partially silvered mirror.Thus, the laser beam L1 reflected by reflecting mirror 1230 is by lowermost reflecting layer Remaining reflecting layer 1241b-1241e except 1241a reflects and is transmitted through them, and by lowermost reflecting layer 1241a reflection.In addition, as shown in figure 35, each reflecting layer 1241a-1241e is set as having different reflections to laser beam L1 Direction.These different reflection directions become thicker with its close bottom end for example, by changing the thickness in each reflecting layer To realize.

Laser radar apparatus 1200 is also equipped with laser beam selector 1202, for from by multiple reflecting layer 1241a- Any one is selected in the multiple reflection laser beam La-Le for the different reflection angles that 1241e is generated.This laser beam selector 1202 packet Unit containing light shield 1210 and aiming screen cover the linear actuators 1218 that unit 1210 carries out Linear Driving.By linear actuators 1218 driving light shield units 1210 not only allow any reflection laser beam La-Le to emit towards target region side to be observed, And it also allows for closing remaining laser beam.That is, selector 1202 can be selective between reflection laser beam La-Le Ground executes switching, to select detection of the laser beam for region.Laser beam selector 1202 instantiates laser beam selected member.

Light shield unit 1210 is equipped with a pair of annular light shielding part 1211 and 1212 and connector 1214.These Light shielding part 1211 and 1212 is to be positioned along the Y axis direction of central axis 42a to fixed spacing, and by connector 1214 It is connected to each other.Make to form slit 1213 between light shielding part 1211 and 1212 around entire deflection component 1241, The slit allows arbitrary reflection laser beam La-Le from wherein passing through,.

Linear actuators 1218 instantiates dislocation component, and its in response to the instruction from control circuit 70 by ring light Screen unit 1211 and 1211 pair is used as a unit dislocation.Laser beam selector 1202 is in response to linear actuators 1218 Driving, the position by changing slit 1213 make light shield unit 1210 generate dislocation.

Thus, when the position change of slit 1213, it can choose one in reflection laser beam La-Le for detecting mesh The direction of mark, the laser beam for detection thus emitted from deflection component can change (scanning) in Y axis direction.In Figure 33 Shown in illustrate, select the reflection laser beam La from lowermost reflecting layer 1241a.Meanwhile from the anti-of target It penetrates light L2 and enters deflection component 1241.

When making light shield unit 1210 generate dislocation to select the reflection laser beam Le from reflecting layer 1241e, laser The propagation path of beam L1 is formed as shown in L1 '.In the case, reflected light L2 returns to the path such as L2 ' of deflection component 1241 It is shown.

The physical configuration of control circuit 70 is identical as illustrated in first embodiment, but is used for the software journey of above-mentioned control Sequence can be previously installed in its memory.

In the present embodiment, similar to previous each embodiment, laser beam can be emitted towards region to be observed, and The 3-D scanning of target acquisition is used for simple but effective and reliable way.Especially, as deflecting member, multiple reflecting layer For generating multiple laser beams of different reflection angles to the reflection on each layer.Different angles of reflection are selected in a controlled manner Any one of laser beam is spent for individually emitting towards region.By electing so that selected laser beam is in region The scanning of Y direction, the result is that laser beam is just scanned up in longitudinal direction (Y-axis).In addition, deflection component 1241 is revolved along XZ plane Turn, such as first embodiment.Therefore, it is possible to reliably execute the three-dimensional detection to target.

In addition, the lamination reflecting layer in addition to lowermost reflecting layer is made of partially silvered mirror, this is provided simply And reliable light reflection/transmission optical system.

A pair of annular light shielding part 1211 and 121 of installation is to form slit 1213.Pairs of component 1211 and 1212 with Controlled way carries out dislocation as the unit being integrated.Therefore, it can be executed rapidly and smoothly at deflection component 1241 Switching between reflection laser.Especially, no matter what rotation position deflection component 1241 along XZ plane is in, can be from deflection Component 1241 smoothly selects reflection laser, and stable target acquisition is provided around device.

(other embodiments)

In the fourth embodiment of Fig. 5, laser diode 10 and photoelectric diode 20 are arranged as opposite to each other, therebetween along Central axis 342a is provided with the first deflection component 343.However, this is not conclusive inventory.For example, laser diode 10 can be with It arranges for emitting laser beam from the phase the same side for being disposed with photodiode 20 to the first deflection component 343.

In embodiment in front, in the reflected light optical path from rotating and excursion component to optical detection component, it is provided with Light for convergence reflex light assembles component (lens).Optionally, this light is assembled component and can be omitted from path, and can replace On behalf of the optical detector that relatively large aperture is arranged.

Previous embodiment uses optics selected member (optical filter), is arranged in from rotating and excursion component to optical detection component In reflected light optical path.However if desired, this light selected member can be removed from path.

In Fig. 4, the explanation for providing the structure tiltably supported to deflection component 241 has been simplified.For example, figure Leaning device shown in 14A can be applied as the mechanism tiltably supported to deflection component 241.

In the 5th embodiment shown in Fig. 6, the multiple piezoelectric actuators that can be used different from four are used as inclined Turn the actuator of component.In addition it is possible to use an individual piezoelectric actuator.

Furthermore, it is possible to provide the modification to the 8th embodiment in Fig. 8 as follows.

This modification is related to the connection of vibration component (cam mechanism 680 and motor 682) and external power supply.Implement the 8th In example, external power supply is designed as not rotating together with deflecting member.This is an example, and can be revised as following side Formula.That is, provide battery to power for vibration component as shown in Figure 36 A, it can be with deflecting member as a list Member rotates together.Shown in Figure 36 A configuration with the 8th embodiment in difference be only that vibration component (cam mechanism 680 and Motor 682) power supply structure.

In fact, the arrangement of power supply line 686, frame 685, battery 688 is different from those of in the 8th embodiment.Battery 688 and vibration component (cam mechanism 680 and motor 682) be designed as to rotate together with deflection component 641.Motor 682 and battery 688 be mounted on the frame 685 for being connected to shaft member 642.In addition, power supply line 686 is routed at and along frame Frame 685, from battery 688 to motor 682.Battery 688 by such as manganese dioxide battery or alkaline battery primary battery or such as The secondary cell of lithium ion battery or nickel-based battery is constituted.

Therefore, it is eliminated using this power supply configuration to the power-supply wiring for bridging rotation and fixed component It needs, thus simplifies wire structures and make it possible to without using complicated power supply control, to improve power supply configuration.

Incidentally, aforementioned modifications can be further modified to configuration of powering shown in Figure 36 B.

As shown in figure 36b, configuration modification shown in Figure 36 A is to be emitted to light with light source 690 and be used as electricity On the solar battery 689 in pond.As aforementioned, solar battery 689 is mounted on frame 685.In addition, in the fixation of shell 3 Position, light source 690 are fixedly installed for emitting light to solar battery 689.Light source 690 is by fixed placement outside device External power supply (such as commercial power supply) power supply.Light source 690 is, for example, LED (light emitting diode) or other illuminated components.

Accordingly, it is possible to have the advantages that identical as modification in Figure 36 A described above.In addition, the use of solar battery Make it possible long-term and stably for the other component power supply in motor or rotational structure.

Configuration described in Figure 36 A and 36B can be applied in the 8th embodiment shown in Figure 17.

When being used as the area sensor or safety sensor of detection peripheral obstacle, foregoing individual embodiments and modification Laser radar apparatus shown in example provides the availability of height.

The present invention can be embodied as several other forms without departing from its Spirit Essence.Thus reality as described herein Apply example and modification merely to example rather than limit because the scope of the present invention by appended claims rather than specification It limits.Thus fallen with claim boundary or it is equivalent to the variation of the boundary and will will include by claims.

Claims (3)

1. a kind of laser radar apparatus, comprising:

Laser beam generator (10) generates laser beam；

Optical detector (20), the reflected light that detection is reflected by the target in region to be observed；

First deflection component (343), is provided with i) the first deflection mirror (343a) and ii) support member (343b), and described One deflection mirror (343a) receives the laser beam from the laser beam generator and makes the received laser beam direction of institute Region deflection, the support member (343b) have first to dead axle (343b) and at its described first to energy on dead axle It is enough obliquely to support first deflection mirror；

Second deflection component (341) is fixed with the second deflection mirror (341a) thereon, and second deflection component has second Give dead axle (342a), described second to dead axle (342a) be second deflection component can central axis rotate on it, institute The second deflection mirror is stated to be set as tilting relative to described second to dead axle (342a), second deflection mirror receive by The light of target reflection in the region and the received reflected light of institute is deflected towards the optical detector (20)；

Drive member (50) drives second deflection component described second to rotating on dead axle；

Dip member (310), drives the support member, so that first deflection component is described first to swinging on dead axle To scan the laser beam to be deflected by first deflection mirror；And

Control member (70) controls both the dip member and the drive member respectively described first to dead axle and institute Second is stated to first deflection component and second deflection component is rotated on dead axle, so that first deflection component and institute The second deflection component is stated irrelevantly to swing and rotate respectively each other, wherein

Second deflection component includes column part (342), and the column part (342) obliquely supports second deflection Reflecting mirror, and

First deflection mirror is supported in the part to be set to second deflection mirror simultaneously by the column part And first deflection mirror is in line with second deflection mirror, described in the area ratio of first deflection mirror The area of second deflection mirror is small.

2. laser radar apparatus as described in claim 1, wherein

Second deflection mirror has surface, and the surface receives the light by the target reflection in the region and will The received reflected light of institute is deflected towards the optical detector；

The laser beam generator and the optical detector be set as along described second to dead axle direction on across described First deflection component and second deflection component are relative to each other.

3. laser radar apparatus as claimed in claim 2, wherein

The column part (342) is with the bore across the direction for giving dead axle along described second, the laser beam hair Raw device is installed in the bore of the column part, and the column part is giving dead axle for described the second of the central axis On by the drive member drive rotate.