CN1721815A

CN1721815A - Optical object discriminating device

Info

Publication number: CN1721815A
Application number: CN200510092240.XA
Authority: CN
Inventors: 和田秀夫; 渡部恒久; 民长隆之; 樫田元
Original assignee: Sharp Corp
Current assignee: Sharp Corp
Priority date: 2004-06-04
Filing date: 2005-06-03
Publication date: 2006-01-18
Anticipated expiration: 2025-06-03
Also published as: CN100390657C; JP2005345328A

Abstract

The optical object discriminating device includes a light projecting part which applies light, which is emitted from a semiconductor light emitting element, to a measuring object which is an object to be measured, and a light receiving part which receives reflected light reflected by the measuring object. Between the light receiving part and the measuring object is placed a polarization-state selector part which permits polarized light of a specified polarization direction to pass therethrough. A signal processing part processes a signal outputted by the light receiving part, and measures intensity of light of the polarization direction permitted by the polarization-state selector part to pass therethrough.

Description

The optical object recognition device

Background technology

The present invention relates to the optical object recognition device.The present invention relates to a kind of optical object recognition device of discerning the measuring object type, this to as if a measured object, for example, by laser beam being applied to measuring object and measuring the characteristic of depolarizing that the reflection by laser beam causes.The present invention relates to a kind of optical object recognition device, its identification, for example, and the type of floor surface, such as carpet, wood floors and straw tatami mat.

As an example, the present invention relates to a kind of optical object recognition device, it is suitable for obtaining according to carpet by the type of identification floor surface, and the difference between the floor surface of wood floors and straw tatami mat and so on realizes the optimization to the running status of clearer.The present invention relates to comprise the clearer and the self-propelled cleaner of optical object recognition device further.

The floor surface identification sensor that is installed on the family expenses vacuum cleaner can be divided into mechanical type, suction pressure type, ultrasonic type and transducers of the optical type device.

Mechanical type ground identification sensor comprises that (1) moving part is pressed in the type (JPH02-52619A) of floor surface, (2) come type (JP H02-52623A and JP H03-106325A) that floor surface is discerned according to the rotation status of the cylinder of polygonal prism or gear shape, (3) come type (JP H05-56888A and JP H05-56889A) that floor surface is discerned according to the resistance value of the conductive rubber that changes along with the pressure that receives from floor surface, etc.

JP H06-78862A has described a kind of suction pressure type floor surface identification sensor.This suction pressure type floor surface identification sensor is discerned the type of floor surface by the pressure of the front portion of detection dust de-entrainment filter.This sensor comprises carpet by utilization floor surface vacuum tightness when carpet is inhaled into the suction part increases, comprise wood floors then because wood floors etc. are not inhaled into this suction part, thereby the fact that vacuum tightness does not increase is finished the identification of floor surface.

JP H01-232255A, JP H03-77519A and JP H03-212249A have described ultrasonic type floor surface identification sensor.In these ultrasonic type floor surface sensors, the ultrasonic pulse from the ripple hop transmission of relatively installing with floor surface comes repeatedly is received part and receives as the echo of floor surface in the back in repeated reflection.According to the signal that receives, the type of sensor identification floor surface.

JP H03-123522A and JP H03-228724A have described optical type floor surface identification sensor.This optical type floor surface identification sensor has and is used to receive and the first light-receiving/radiated element of emission level in the light of floor surface, and is used to receive and launches second light-receiving/radiated element perpendicular to the light of floor surface.According to the output of these two light-receiving/radiated elements, the type of sensor identification floor surface.

Usually, these devices are as mechanical floor surface recognition device, it is constructed with contact portion, especially, those are so constructed and make this contact portion have by contact movably moveable part, there is different problems, comprises the wearing and tearing of contact portion (moveable part) or the aged deterioration of Mechanical Reliability.

Therefore, the optical type floor surface identification sensor that can obtain expected effect in the noncontact mode is being outstanding aspect the device reliability.Therebetween, both all have each mechanical type floor surface identification sensor of the type (2) of contact portion and moveable part and (3), are designed to measure the physical quantity that the displacement owing to contact portion and moveable part produces.As a result, mechanical type floor surface identification sensor is compared with optical type floor surface identification sensor in existing problems aspect the reliability.

On the other hand, the change that suction pressure type floor surface identification sensor comprises vacuum tightness not only since the type of the floor surface that is cleaned cause, also because other factors, cause such as the obstruction of dust de-entrainment filter.The result is the worry that suction pressure type floor surface identification sensor exists the mistake of floor surface type to survey.

In addition, for ultrasonic type floor surface identification sensor, transmission and reception two elements need be equipped some loudspeaker (hom).Therefore, ultrasonic type floor surface identification sensor is in the time of on being installed in common clearer, in the deterioration that becomes aspect the easy use.Simultaneously, the reduction of shock resistance and cost also should be considered.

The reduction of the light quantity that receives that the light that the detection of optical type floor surface identification sensor is launched in floor surface owing to carpet bristle interception level causes realizes that thus this floor surface is given as the identification of the fact of carpet.Yet,,, be to have difficulties aspect the detection of carpet at floor surface because light is not blocked for not fluffy carpet.

Distinguish sensor although proposed various types of floor surfaces as mentioned above, in fact there is merits and demerits in these sensors.In addition, this sensor mainly is at carpet and the sensor discerned between other, rather than can be to the device of discerning as the straw tatami mat of the common indoor environment of Japanese.

Summary of the invention

Therefore, an object of the present invention is to provide a kind of optical object recognition device, it can accurately survey the uneven degree of any measuring object, and has high reliability and little size.

Another object of the present invention provides a kind of optical object recognition device, and it can accurately survey the type of any measuring object, and has high reliability, structurally simple relatively and easy miniaturization.

Another purpose of the present invention provides a kind of optical object recognition device, even itself in addition when the relative measurement object tilts, also avoid the degeneration of accuracy of identification of the surface state of any measuring object, make this optical object recognition device can obtain the high precision identification of measuring object.

In order to realize top purpose, according to the present invention, provide a kind of optical object recognition device, it comprises:

The optical projection parts, its light with the emission of optical semiconductor radiated element is applied on the measuring object that it is a object that will be measured;

Light-receiving member, it receives the reflected light of measuring object reflection;

The polarization state selector part, it is arranged between light-receiving member and the measuring object, and allows the polarized light of particular polarization to pass; And

Signal Processing Element, it handles signal by light-receiving member output to measure the light intensity from catoptrical particular polarization.

In optical object recognition device of the present invention, the light of being launched by the optical semiconductor radiated element is applied on the measuring object by the optical projection parts, and wherein this reflection of light polarized state of light changes according to the uneven degree of the reflecting surface of measuring object.

Therefore, the polarization of reflected light state has the information as the uneven degree of the reflecting surface of measuring object.The reflected light that passes the polarization state selector part incides on the light-receiving member.Signal Processing Element is handled signal by light-receiving member output to measure the light intensity of catoptrical particular polarization, discerns the type of measuring object thus.

In the present invention, known the polarized state of light that will incide measuring object in advance.Provide the uneven degree of measuring object that will be measured about the catoptrical measurement polarization information relevant, can realize the identification of object thus with the incident light of knowing polarization state in advance.

In one embodiment, in this optical object recognition device, the polarization state of light that will incide on the measuring object is a linear polarization.

For the optical object recognition device of present embodiment, because the incident light on the measuring object is a linearly polarized light, therefore, this incident light is only along a direction vibration.Thus, assessment is because the characteristic of depolarizing of depolarizing of the incident light that the reflection of measuring object causes becomes easy.

In one embodiment, in the optical object recognition device, the linearly polarized light that will incide measuring object is the S ripple about measuring object.

For the optical object recognition device of present embodiment, be the S ripple owing to will incide the incident beam of measuring object, then the plane of incidence at measuring object is under the situation of smooth surface optically, this light beam is as the S wave reflection.Therefore, this with reference to the polarization direction owing to the reflection on smooth flat keeps.This makes the high precision assessment to the uneven degree of measuring object become possibility.On the contrary, when the incident beam that will incide measuring object was the P ripple, only the component of some polarization direction had contribution to reflection, so the P ripple is unsuitable for the high precision assessment of the uneven degree of measuring object.

In one embodiment, in the optical object recognition device, mutually the same basically with the polarisation of light direction that will incide measuring object by the polarization direction that the polarization state selector part is selected.

For the optical object recognition device of present embodiment, because it is identical with the polarization of incident light direction to incide the polarisation of light direction of light-receiving member, then the characteristic of depolarizing that causes owing to the uneven degree of reflecting surface can be measured accurately.

In one embodiment, in the optical object recognition device, the optical projection parts comprise:

First optical branching device, it will be divided into first light beam and second light beam from the light of optical semiconductor radiated element emission; And

Target component, it is with first beam convergence and be applied on the measuring object, and wherein

This optical object recognition device also comprises:

The condenser parts, it is assembled the light that has passed target component in the light from the measuring object reflection; And

The pin hole parts, it is arranged between condenser parts and the light receiving element.

For the optical object recognition device of present embodiment, the pin hole parts are present between light receiving element and the condenser parts, and flashlight is assembled so that pass the pin hole of pin hole parts surface.So noise light is cut off, so that can be received expeditiously by the light of measuring object reflection.

In one embodiment, the optical object recognition device comprises that also parasitic light prevents parts, and it interdicts the reflected light of second light beam and second light beam.

For the optical object recognition device of present embodiment, it can not occur that signal is not had the situation of the light of contribution as noise source.

In one embodiment, in the optical object recognition device,

This parasitic light prevents that parts have linear polarizer, and

This linear polarizer is arranged on the optical axis of second light beam, and linear polarizer to allow by its polarisation of light direction be direction with the polarization direction quadrature of second light beam.

For the optical object recognition device of present embodiment, because the linear polarizer that sees through with the light of the polarization direction of the polarization direction quadrature of second light beam is arranged on the optical axis of second light beam, then second light beam is absorbed by linear polarizer.Therefore, can not cause second light beam by reflections such as the sidewalls of device and be mixed into light-receiving member as noise light.

In one embodiment, in the optical object recognition device,

The condenser parts comprise collector lens, and these pin hole parts are arranged on the focal position of collector lens.

For the optical object recognition device of present embodiment, because the pin hole parts are arranged on the focal position of collector lens, when measuring object was positioned at the focal position of the object lens that are included in target component, the folded light beam major part was focused at the pin hole parts surface so.When measuring object was positioned at the focal position of the object lens that are included in target component, the incident light major part was focused on the measuring object, and light intensity becomes maximum there.In this case, thus, the quantity of passing the light of pin hole parts becomes maximal value, thereby the S/N ratio can improve.

In one embodiment, in the optical object recognition device, the diameter of the folded light beam of pin hole parts position is set to the bore dia less than the pin hole parts.

For the optical object recognition device of present embodiment, because the bore dia of pin hole parts greater than the beam diameter of pin hole parts surface, therefore can not cause flashlight to be cut off by the pin hole parts.

In one embodiment, in the optical object recognition device, first light beam become incide basically target component in the heart.

For the optical object recognition device of present embodiment and since first light beam become incide basically target component in the heart, thereby the light with the characteristic of depolarizing of the symmetry relevant with the mirror image ground reflected light component that is saved can be received by light-receiving member.

In one embodiment, in the optical object recognition device, first light beam becomes an end of inciding target component.

For the optical object recognition device of present embodiment, because first light beam incides an end of target component, the reflected light component of the mirror image of folded light beam converges to this end of target component.The folded light beam that converging to first light beam has become around the hot spot of incident light is the light beam that demonstrates the higher characteristic of depolarizing.Thus, measuring object can be identified accurately.

In one embodiment, the optical object recognition device also comprises:

Target component, its with the optical convergence of optical semiconductor radiated element emission to measuring object; And

Photoconduction draws parts, and it will will be got rid of with the equitant lap of the light beam that incides target component, wherein from the catoptrical periphery direct light receiving-member of measuring object

The periphery of folded light beam is surveyed by light-receiving member.

For the optical object recognition device of present embodiment, there is not the quantity of the light of contribution to reduce on a large scale to the signal of being exported from optical semiconductor radiated element emitted light beams, can improve the contribution ratio of emission light thus to flashlight.So the light emission quantity of optical semiconductor radiated element can be reduced, and can reduce current drain.

In one embodiment, the optical object recognition device comprises that also optical axis changes parts, it changes the direct of travel of second light that is separated by first optical branching device, wherein, reformed second light beam of optical axis and its optical axis of first light beam are substantially parallel, and first and second light beams will become and incide on the same target component.

Optical object recognition device for present embodiment, can improve the contribution ratio of the light of optical semiconductor radiated element emission to flashlight, make it possible to reduce the current drain of this device, and this device can also be by the ordinary optical unit architecture, it does not need special processing.Thus, the manufacturing of device becomes and realizes easily.

In one embodiment, in the optical object recognition device,

The optical projection parts comprise first optical branching device, and it is divided into first light beam and second light beam with optical semiconductor radiated element emitted light beams; And

The optical object recognition device also comprises light splitting part, and it comprises second optical branching device that the reflected light of measuring object is divided into first folded light beam and second folded light beam, wherein

Light-receiving member has first light receiving element, and it receives first folded light beam, and second light receiving element, and it receives second folded light beam,

The polarization state selector part has the polarization state selector element, and it is selected the polarized state of light that incides on first light receiving element, and

Signal Processing Element calculates the ratio of the signal of first light receiving element output to the signal of second light receiving element output.

Optical object recognition device for present embodiment, folded light beam is divided into first folded light beam and second folded light beam by second optical branching device two, and first light beam of one of two branch beams is received and measure its characteristic of depolarizing by polarization state selector element (for example linear polarizer) by first light receiving element.Second folded light beam of another in two branch beams is received by second light receiving element on all directions under the situation of interfering without any linear polarizer.The signal that is received by second light receiving element under without any the situation of interfering such as the polarization state selector element of linear polarizer comprises the information about the measuring object reflectivity.Thus, calculate the ratio of the signal of first light receiving element output by Signal Processing Element, prevented because the reduction of the accuracy of identification of the measuring object that the variation of the reflectivity on measuring object surface causes to the signal of second light receiving element output.

In one embodiment, in the optical object recognition device,

The optical projection parts comprise first optical branching device, and it is divided into first light beam and second light beam with optical semiconductor radiated element emitted light beams, and

The optical object recognition device also comprises light splitting part, and it comprises that the light with the measuring object reflection is divided into second optical branching device of first folded light beam and second folded light beam, and wherein

Light-receiving member has first light receiving element, and it receives first folded light beam, and second light receiving element, and it receives second folded light beam, and

The polarization state selector part has the first polarization state selector element, it is selected the polarized state of light that incides on first light receiving element, and the second polarization state selector element, it is selected the polarized state of light that incides on second light receiving element, and orthogonal basically with the polarization direction of selecting by the second polarization state selector element by the polarization direction of first polarization state selector element selection.

Optical object recognition device for present embodiment, folded light beam is divided into two bundles, first folded light beam and second folded light beam, first and second light beams are received by first and second light receiving elements respectively by the orthogonal first and second polarization state selector elements (for example linear polarizer) in the polarization direction that it is selected then.Thereby,, therefore can improve the accuracy of identification of measuring object because the signal of two light receiving elements output is used for the extraction of two least identical each other on the characteristic of depolarizing components.

In one embodiment, in the optical object recognition device, at least one that is polarized in a plurality of light beams that the mode selector parts select is substantially parallel with the light of optical semiconductor radiated element emission on the polarization direction.

According to present embodiment, be configured maximum owing to incide the intensity specific energy of a plurality of light beams of light receiving element, so accuracy of identification can improve effectively.

In one embodiment, in the optical object recognition device,

The polarization direction of selecting by the first polarization state selector element is arranged essentially parallel to the polarization direction of first light beam, and

Be substantially perpendicular to the polarization direction of first light beam by the polarization direction of second polarization state selector element selection.

For the optical object recognition device of present embodiment, folded light beam is divided into two light beams, first folded light beam and second folded light beam.For first light beam, by the first polarization state selector element (linear polarizer), it is identical with the polarization direction of first light beam that it is set to its selected polarization direction, and the characteristic of depolarizing is measured by first light receiving element.On the other hand, for second folded light beam, by the second polarization state selector element (linear polarizer), it is set to the polarization direction quadrature of its selected polarization direction and first light beam, and the characteristic of depolarizing is measured by second light receiving element.As for the intensity of the signal of two light receiving elements output, because the polarization direction that the first and second polarization state selector elements (linear polarizer) are selected is orthogonal, the intensity of a signal is big and the intensity of another signal is little.So, obtained high precision assessment to the characteristic of depolarizing.

In one embodiment, in the optical object recognition device, the first and second polarization state selector elements are linear polarizers.

The optical object recognition device of present embodiment by utilizing the advantage of linear polarizer, is suitable for being used for the reception along the light of specific direction polarization.

In one embodiment, in the optical object recognition device, each of second optical branching device and the first and second polarization state selector elements realizes by polarization beam apparatus.

For the optical object recognition device of present embodiment, by utilizing the advantage of polarization beam apparatus, compare with the optical system of using unpolarized beam splitter and linear polarizer, can cut down component count.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates the ratio of the signal of first light receiving element output to the signal of second light receiving element output.

For the optical object recognition device of present embodiment, calculate the output ratio of two light receiving elements by Signal Processing Element, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, poor between the signal that the signal that Signal Processing Element calculates first light receiving element output and second light receiving element are exported.

Optical object recognition device for present embodiment, by the selection polarization direction with the orthogonal corresponding polarization state selector elements of two light receiving elements (linear polarizer) is set, the signal of two light receiving elements output has such intensity, make a signal intensity big, and another signal intensity is little.Therefore, the degree of depolarization of measuring object is more little, and it is big more that the difference of output signal becomes, so can obtain the high precision identification of measuring object by the calculating of the difference between two output signals.

In one embodiment, in the optical object recognition device,

Signal Processing Element calculates:

Poor between the signal that the signal of first light receiving element output and second light receiving element are exported; And

This differs from the ratio to the signal sum of the signal of first light receiving element output and the output of second light receiving element, perhaps

This differs from the ratio to the signal of the signal of first light receiving element output or the output of second light receiving element.

Optical object recognition device for present embodiment, Signal Processing Element calculates the difference of output signal of two light receiving elements to the ratio of the output signal sum of two light receiving elements, and perhaps the difference of the output signal of two light receiving elements is to the ratio of the output signal of the output signal of first light receiving element or second light receiving element.

In the calculating of these ratios, for example, molecule, if it is given by the difference between the output signal, then representative is because the characteristic of depolarizing that the surface state of measuring object causes, and denominator, if given, then represent the signal that receives that the reflectivity on the surface of measuring object is made contributions by the output signal sum of two light receiving elements.Therefore, this makes the high precision that obtains measuring object discern the possibility that becomes, the influence that its surface reflectivity that has reduced measuring object changes.

In one embodiment, in the optical object recognition device, the optical semiconductor radiated element is a semiconductor laser.

For the optical object recognition device of present embodiment,, therefore can increase the intensity of the signal that receives because semiconductor laser can increase the light intensity on the measuring object as the optical semiconductor radiated element.So, can realize the high precision identification of measuring object.

In one embodiment, in the optical object recognition device, light receiving element is formed by photodiode.

The optical object recognition device of present embodiment by utilizing the advantage of photodiode as light receiving element, is suitable for making the apparatus structure miniaturization, and can reduces its cost, and is therefore more superior.

In one embodiment, in the optical object recognition device, first light receiving element is formed on the identical semiconductor chip with second light receiving element.

For the optical object recognition device of present embodiment,, can cut down component count because first light receiving element (photodiode) is formed on the identical semiconductor chip with second light receiving element (photodiode).Therefore, can reduce manufacturing cost.

In one embodiment, in the optical object recognition device, light-receiving member is formed on the identical semiconductor chip with Signal Processing Element.

Optical object recognition device for present embodiment, because light-receiving member is formed on the identical semiconductor chip with Signal Processing Element, therefore any lead that the light-receiving member that does not need to make photodiode etc. to form links to each other with the circuit of Signal Processing Element can reduce noise level and reduction component count.Therefore, can reduce manufacturing cost.

In one embodiment, in the optical object recognition device, first light receiving element, second light receiving element and Signal Processing Element are formed on the identical semiconductor chip.

Optical object recognition device for present embodiment, because first and second light receiving elements (photodiode) are formed on the identical semiconductor chip with Signal Processing Element, component count can be further cut down, and noise level can be further reduced.

Equally, in one embodiment, light-receiving member has the light receiving element group, has wherein arranged a plurality of light receiving elements.

For the optical object recognition device of present embodiment, it is feasible utilizing the position dependence measurement of reflective depolarization characteristic.Thus, compare, can obtain the high precision identification of measuring object with the situation of using a photodiode.

In one embodiment, in the optical object recognition device, Signal Processing Element makes the signal normalization of the single light receiving element of light receiving element group according to the maximum intensity of the intensity display light receiving element group output of the signal of light receiving element.

Optical object recognition device for present embodiment, the mxm. of the signal intensity of the position dependence of characteristic by light receiving element is by standardization owing to depolarize, reduce the influence of variation of the reflectivity on measuring object surface, and can realize the high precision identification of measuring object.

In one embodiment, in the optical object recognition device, target component realizes by object lens, and

Distance between the focal position of object lens and the measuring object surface is variable.

Optical object recognition device for present embodiment, because the focal position of object lens and the distance between the measuring object surface are variable, therefore, even under the big situation of the uneven degree of measuring object, the surface of measuring object also can be positioned at the focal position of object lens.Therefore, can expand the identification range of measuring object.

In one embodiment, the optical object recognition device also comprises lens vibration mechanism, and it makes the object lens vibration, wherein

By utilizing lens vibration mechanism to change the lens position of object lens, change the focal position of first lens and the distance between the measuring object surface.

For the optical object recognition device of present embodiment, be used to vibrate the lens vibration mechanism of object lens preferably as the device that is used to change the distance between object focal point position and the measuring object surface.

In one embodiment, in the optical object recognition device, lens vibration mechanism has cam.

For the optical object recognition device of present embodiment, the lens vibration mechanism that realizes by cam is preferably as lens vibration mechanism.

In one embodiment, in the optical object recognition device, the cam curve of cam is a sine wave curve.

For the optical object recognition device of present embodiment, because the cam curve of cam is a sine wave curve, the lens vibration state can be calculated by simple calculating, and the position that obtains lens in making at any time becomes possibility.So, can handle suitable reflected light signal by Signal Processing Element.

In one embodiment, in the optical object recognition device, lens vibration mechanism has solenoid.

Optical object recognition device for present embodiment utilizes solenoid and spring, can make the lens vibration mechanism that adopts suction or thrust.

In one embodiment, in the optical object recognition device, lens vibration mechanism has crank mechanism, and it will rotatablely move and change linear reciprocal movement into.

For the optical object recognition device of present embodiment, lens vibration mechanism can simplified structure by using crank mechanism as lens vibration mechanism.

In one embodiment, in the optical object recognition device, lens vibration mechanism has actuator.

For the optical object recognition device of present embodiment, can make the apparatus structure miniaturization as lens vibration mechanism by using actuator.

In one embodiment, in the optical object recognition device, lens vibration mechanism utilizes the blade that is attached to lens carrier to receive air-flow and make lens vibration.

For the optical object recognition device of present embodiment,,, can reduce the manufacturing cost of apparatus structure owing to do not need motor or other parts of requirement driving force as lens vibration mechanism.

In one embodiment, in the optical object recognition device, object lens are gradual lens, and the distance between the focal position of object lens and the surface of measuring object is changed by the position that changes first light beam and incide on the gradual lens.

For the optical object recognition device of present embodiment,, can make the structure miniaturization of device by using gradual lens.

In one embodiment, in the optical object recognition device, the distance between the focal position of gradual lens and the measuring object surface changes by gradual lens are moved in vertical with first light beam basically plane.

For the optical object recognition device of present embodiment,, therefore can make the structure miniaturization of device owing to the vibration width that can reduce as the gradual lens of object lens.

In one embodiment, in the optical object recognition device, the photoswitch that comprises liquid crystal is arranged on the optical axis of first light beam that incides gradual lens.

Optical object recognition device for present embodiment, the advantage of the photoswitch by utilize adopting liquid crystal, as the focal position of the gradual lens of object lens and the distance between the measuring object surface under the situation that the parts that do not cause any constituent apparatus vibrate and be changed.Therefore, can simplify the structure with miniaturization device, and can improve reliability.

In one embodiment, in the optical object recognition device, the variation of the distance between object focal point distance and the Measuring Object surface is set to the height greater than the uneven degree on measuring object surface.

For the optical object recognition device of present embodiment, because the variation of the distance between object focal point position and the measuring object surface greater than the uneven degree on measuring object surface, therefore can be obtained the reflected light signal from the object focal point position reliably.

In one embodiment, in the optical object recognition device, the distance between object focal point position and the measuring object surface be changed to 5mm to 15mm.

For the optical object recognition device of present embodiment,, therefore can cover most of discernible measuring object because the variation of the distance between object focal point position and the measuring object surface is set to 5mm to 15mm.

In one embodiment, the optical object recognition device comprises:

Target component, it is with first beam convergence and be applied on the measuring object;

The condenser parts, it will pass the optical convergence of exporting of target component from the light of measured object reflection; And

The pin hole parts, it is arranged between the condenser parts and first and second light receiving elements, wherein

Target component comprises object lens, and

Have the focal position of change object lens and the mechanism of the distance between the measuring object surface, and wherein

Signal Processing Element calculates

The focus signal of first light receiving element output under distance between object lens and measuring object surface and the focus state that the focal length of object lens equates basically,

Ratio to the focus-out signal of second light receiving element output under object lens and distance between the measuring object surface defocus condition different with the focal length of object lens.

For the optical object recognition device of present embodiment,, can improve the accuracy of identification of measuring object by reflected light signal being divided into two signals and utilizing focus state and the signal of defocus condition.

In one embodiment, in the optical object recognition device,

The optical projection parts comprise target component, and it is with first beam convergence and be applied on the measuring object;

Target component comprises object lens, and

Signal Processing Element is handled

The focus signal of first light receiving element output under the distance between object lens and measuring object surface and the converged state that the focal length of object lens equates basically,

And the focus-out signal of second light receiving element output under object lens and distance between the measuring object surface defocus condition different with the focal length of object lens.

For the optical object recognition device of present embodiment, reflected light is divided into two bundles, first folded light beam and second folded light beam, and received by first and second light receiving elements respectively.Then, measure by the output of first light receiving element at focus signal under the focus state and the focus-out signal under defocus condition, as orthogonal polarized component by the output of second light receiving element.Thus, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates the ratio of focus signal to focus-out signal.

For the optical object recognition device of present embodiment, by calculating the ratio of focus signal to focus-out signal, it is orthogonal polarized component, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates poor between focus signal and the focus-out signal.

For the optical object recognition device of present embodiment, utilize Signal Processing Element to calculate poor between focus signal and the focus-out signal, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates poor between focus signal and the focus-out signal, and calculates the ratio of this difference to focus signal.

For the optical object recognition device of present embodiment,, therefore can improve the accuracy of identification of measuring object owing to can reduce the influence of the variation of measuring object surface reflectivity.

In one embodiment, in the optical object recognition device,

Modulation signal is applied to the optical semiconductor radiated element carries out intensity modulation, and wherein

It is first output signal of light-receiving member output under the situation of H level that Signal Processing Element calculates at modulation signal, and is poor between second output signal of light-receiving member output under the situation of L level at modulation signal.

Optical object recognition device for present embodiment is applied to intensity modulated on the optical semiconductor radiated element, and Signal Processing Element calculates respectively and poor between the H level of modulation signal and corresponding first output signal of L level and second output signal.Therefore, can eliminate the disturbance light noise that incides on the light-receiving member.

In one embodiment, in the optical object recognition device, the modulation signal that is applied on the optical semiconductor radiated element is a square wave.

For the optical object recognition device of present embodiment,, therefore can improve the disturbance light noise cancel effect because the modulation signal that is applied on the optical semiconductor radiated element is a square wave.

In one embodiment, in the optical object recognition device, the emission measure of semiconductor photocell is essentially 0W under the L level.

For the optical object recognition device of present embodiment,, utilize second output signal under the L level state can only measure the disturbance light noise because the emission quantity of semiconductor photocell is essentially 0W under the L level.Therefore, can improve the disturbance light noise cancel effect.

In one embodiment, in the optical object recognition device, the modulating frequency of intensity modulation is not less than 50kHz.

For the optical object recognition device of present embodiment,, therefore can improve the disturbance light noise cancel effect because the optical semiconductor radiated element is modulated under the frequency frequency range that is equal to or higher than common disturbance light noise.

In one embodiment, in the optical object recognition device, the modulating frequency of intensity modulation is 100Hz to 10kHz.

For the optical object recognition device of present embodiment,, therefore can improve the disturbance light noise cancel effect because the frequency range of common disturbance light noise and the modulating frequency of optical semiconductor radiated element do not overlap each other.

In one embodiment, in the optical object recognition device,

Signal Processing Element comprises:

First sampling and the holding circuit, when modulation signal was the H level, its permission was passed through from first output signal of light-receiving member, and when modulation signal is the L level, and first output signal of obtaining when modulation signal is the H level is sampled and kept;

Second sampling and the holding circuit, when modulation signal was the L level, its permission was passed through from second output signal of light-receiving member, and when modulation signal is the H level, and second output signal of obtaining when modulation signal is the L level is sampled and kept; And

Difference channel, it obtains poor between the signal that signal is sampled with second and holding circuit is exported of first sampling and holding circuit output.

For the optical object recognition device of present embodiment, first sampling is sampled to first output signal under the H level state and is kept with holding circuit, and second sampling is sampled to second output signal under the L level state with holding circuit and kept.Then, difference channel calculates poor between first output signal and second output signal.Thus, can realize being used to assess the circuit result of disturbance light noise.

In one embodiment, in the optical object recognition device,

Signal Processing Element has:

Amplifier unit, its signal that light-receiving member is surveyed amplifies; And

Magnification changes parts, the signal intensity of its response light receiving-member and change the magnification of amplifier unit.

In one embodiment, in the optical object recognition device, magnification changes parts

Keep the signal intensity of amplifier unit at special time, and this retention value is compared with reference value with the magnification of definite amplifier unit.

For the optical object recognition device of present embodiment, by in special time holding signal intensity, in time and the signal intensity that changes can utilize this signal intensity to change magnification at required time.

In one embodiment, in the optical object recognition device, Signal Processing Element has:

Magnification changes parts, the signal intensity of its response light receiving-member and change the magnification of amplifier unit,

This magnification changes parts

Keep the signal intensity of amplifier unit at special time, and this retention value compared with reference value with the magnification of definite amplifier unit,

This amplifier unit also has first amplifier and second amplifier, and this magnification changes parts and have the first magnification changement device and the second magnification changement device and peak holding circuit parts and sampling and holding circuit parts,

This Signal Processing Element has:

First signal processing circuit, the signal that first light receiving element is surveyed is input to wherein and it has first amplifier and the peak holding circuit and the first magnification changement device; And

The secondary signal treatment circuit, the signal that second light receiving element is surveyed is input to wherein and it has second amplifier and sampling and the holding circuit and the second magnification changement device, wherein

The first magnification changement device is determined the magnification of first amplifier according to the output valve of peak holding circuit, and

The second magnification changement device is determined the magnification of second amplifier according to the sampling and the output of holding circuit.

Optical object recognition device for present embodiment, the first magnification changement device is determined the magnification of first amplifier according to the output valve of peak holding circuit, and the second magnification changement device is determined the magnification of second amplifier according to the sampling and the output valve of holding circuit simultaneously.Thus, preferably adopt peak holding circuit to be used for the determining of magnification of first amplifier, and use sampling and holding circuit to be used for the determining of magnification of second amplifier.

In one embodiment, in the optical object recognition device, Signal Processing Element

Function with the output signal that keeps amplifier unit, and

By modulation signal being applied on the optical semiconductor radiated element, decision is used to keep time limit of output signal of amplifier unit so that compare with reference value.

For the optical object recognition device of present embodiment, utilize pulse signal as the modulation signal of optical semiconductor radiated element, the time wanted of can easily in officely what is the need for is realized the maintenance to the output signal of amplifier unit.

In one embodiment, in the optical object recognition device, first signal processing circuit has

The peak exploring block, the time point of the peak value of its detection peak holding circuit maintenance focus signal is as the reference time, and this focus signal is the output of light receiving element under converged state, and

The secondary signal treatment circuit has

The time exploring block, it is according to peak exploring block reference time of detecting and the modulation signal that is applied on the optical semiconductor radiated element, the time limit of determining sampling and holding circuit, this focus-out signal was the output of second light receiving element under defocus condition focus-out signal is sampled and keep.

For the optical object recognition device of present embodiment, the time the when sampling of secondary signal treatment circuit and the holding circuit time in sampling and when keeping focus-out signal is surveyed the peak of focus signal by the peak exploring block that utilizes first signal processing circuit was determined as the reference time.Thus, will sample and keep the time limit of focus-out signal easily and accurately to determine.

When the output signal level of amplifier unit exceeded the reference range of setting, the magnification of amplifier unit increased by a step or reduces.

For the optical object recognition device of present embodiment, because the conversion of the magnification that the magnification changement device causes is carried out by a step, therefore can simplify the structure of circuit, this circuit has the circuit function of select target magnification.

In one embodiment, in the optical object recognition device, the amplifier unit that comprises Signal Processing Element has the amplifier group, a plurality of amplifiers of wherein having connected.

For the optical object recognition device of present embodiment, because amplifier unit is provided by a plurality of amplifiers that are connected in series, magnification can be cut apart by a plurality of amplifiers.Therefore, even when the circuit structure of the big magnification of needs, also can make circuit stable.

Open the input connection impedance from the specific amplifier of amplifier group, it is specific magnification that amplifier unit is set.

Optical object recognition device for present embodiment, under the situation of the non-constant width of dynamic range that signal amplifies, although some amplifier in the amplifier group need be given by the amplifier that uses little magnification, by the input impedance of amplifier is set, magnification can be set to 1.Therefore, can realize wide magnification dynamic range and stable circuit operation.

In one embodiment, in the optical object recognition device, the output of first signal processing circuit comprises first signal of focus signal,

Secondary signal treatment circuit output comprises the secondary signal of focus-out signal, and Signal Processing Element has the A/D converting member, and it is first signal and secondary signal digitizing, and

Digital signal processing circuit, its first magnification signal according to the magnification of representing first amplifier, represent second amplifier magnification the second magnification signal and by digitized first and second signals of A/D converting member, calculate the ratio of focus signal to focus-out signal, perhaps poor between focus signal and the focus-out signal, perhaps the difference between focus signal and the focus-out signal is to the ratio to focus signal.

Optical object recognition device for present embodiment, in Signal Processing Element, as calculating focus signal and the ratio of focus-out signal or the device of difference, respectively by first and second signals of first and second signal processing circuits output by the be converted to numeral of A/D converting member from simulation, and digitally handle by Signal Processing Element.Therefore, can realize desired calculating simply.

In one embodiment, in the optical object recognition device, digital signal processing circuit has

First signal and secondary signal that storer, its storage have been digitized, and

This storer has such memory capacitance, makes change along with focal position, for first signal and secondary signal each, can store at least half or more multiply periodic Wave data.

Optical object recognition device for present embodiment, the advantage of utilizing, can be reliably from the signal of memory fetch object time and use, this storer can store digitizing each the storer of at least half or more multiply periodic Wave data of first and second signals.

This storer is along with the Wave data of changing into each the storage one-period in first signal and the secondary signal of focal position.

For the optical object recognition device of present embodiment, utilize storage one-period digitizing each Wave data of first and second signals, can utilize the object time more expeditiously.

Peak exploring block, the time point when it is surveyed peak holding circuit and keeps the peak value of focus signal be as the reference time, and

The secondary signal treatment circuit has

The time limit exploring block, reference time that it is surveyed according to the peak exploring block and the modulation signal that is applied on the optical semiconductor radiated element are determined a time limit for sampling and holding circuit, so that focus-out signal is sampled and is kept,

The A/D converting member

The given trigger pip of reference time detection of carrying out according to the peak exploring block by first signal processing circuit begins the A/D conversion, and

Digital signal processing circuit has storer, the digitalized data of its storage after analog to digital conversion.

For the optical object recognition device of present embodiment, the given trigger pip of reference time when carrying out the peak detection of focus signal, the A/D conversion of beginning A/D converting member according to peak exploring block by first signal processing circuit.Then, according to the signal waveform after analog to digital conversion that is stored in the storer, can provide the device of carrying out desired data computing simply.

In one embodiment, in the optical object recognition device, numerical data is being stored in the process of storer, the reference time that this peak exploring block that starts from first signal processing circuit is surveyed,

Sampling and during time cycle of the time point that keeps in the time limit that second sampling and the time limit exploring block of holding circuit are determined from the reference time to sampling with the holding circuit parts, when the peak exploring block detects the new reference time, the numerical data that has been stored in the storer was removed fully by the new reference time

The A/D converting member according to the detection of the new reference time of being undertaken by the peak exploring block given trigger pip, begin the A/D conversion of first and second signals, wherein numerical data is stored in the storer.

Optical object recognition device for present embodiment, first and second signal processing circuits by above-mentioned structure, even because the big uneven degree in measuring object surface, make and detect in time cycle of time point that the secondary signal treatment circuit carries out desired sampling and maintenance carrying out peak since first signal processing circuit, first signal processing circuit is surveyed peak once more, and the numerical data of signal waveform also can begin to be stored once more from the time that new peak is surveyed.Thus, there is not the possibility of using wrong waveform to calculate, thereby can improves the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, digital signal processing circuit

The reference time of surveying according to the peak exploring block from the digital signal that is stored in storer, is extracted in the reference time to be included in focus signal in first signal and the focus-out signal in special time is included in secondary signal,

First magnification and second magnification of representing second amplifier of secondary signal treatment circuit according to first amplifier of representing first signal processing circuit, calculate the ratio of focus signal to focus-out signal, perhaps poor between focus signal and the focus-out signal, perhaps the difference between focus signal and the focus-out signal is to the ratio of focus signal.

For the optical object recognition device of present embodiment, digital signal processing circuit extracts first signal at the focus signal of reference time and the secondary signal focus-out signal at special time from the digitalized data of the signal waveform of memory stores in order to calculate.In this signal Processing, by first signal and the secondary signal and the first and second magnification signals of the first signal processing circuit parts, the suitable time limited signal of reference time and special time is represented in the digital signal processing circuit utilization respectively.Therefore, signal Processing is simplified and facility, can promptly be realized calculating.

Have the digital signal calculating unit, its according to the digitizing that is stored in the numerical data in the storer the peak of first acquisition of signal, first signal,

The time data of supposing the peak that the digital signal calculating unit is surveyed is the reference time, then extracts focus signal in the reference time,

From the digitized secondary signal in the digitalized data scope of store memory storage, extract focus-out signal at the special time of determining by the time limit exploring block according to reference time and modulation signal, and

The first magnification signal and the second magnification signal of representing the magnification of second amplifier according to the magnification of representing first amplifier, calculate the ratio of focus signal to focus-out signal, perhaps poor between focus signal and the focus-out signal, perhaps the difference between focus signal and the focus-out signal is to the ratio of focus signal.

Optical object recognition device for present embodiment, digital signal processing circuit has the digital signal counting circuit, and be stored in the digitalized data of the representation signal waveform in the storer by use, digitizing ground handle first signal peak time data (reference time) and at the focus-out signal of the special time of secondary signal.Thus, realize being used for the needs of the circuit that time limit of first signal processing circuit and secondary signal treatment circuit measures, so can simplify circuit structure.

In the numerical data from be stored in storer, extract in the processing of focus signal and focus-out signal,

From the digitalized data that is stored in storer, extract before the reference time and a plurality of times afterwards, perhaps a plurality of times before the reference time, the perhaps mean value of a plurality of focus signals of a plurality of times after the reference time, as focus signal,

From the numerical data that is stored in storer, according to reference time and modulation signal, a plurality of times before or after the special time that extraction is determined by the time limit exploring block, perhaps a plurality of times before the reference time, the perhaps mean value of the focus-out signal of a plurality of times after the reference time, as focus-out signal, and

According to the first magnification signal of the magnification of first amplifier of representing first signal processing circuit with represent the second magnification signal of magnification of second amplifier of secondary signal treatment circuit, calculate the ratio of focus signal to focus-out signal, perhaps poor between focus signal and the focus-out signal, perhaps the difference between focus signal and the focus-out signal is to the ratio of focus signal.

Optical object recognition device for present embodiment, in the digitalized data of the representation signal waveform from be stored in storer, extract in the process of focus signal and focus-out signal, use the mean value of the signal intensity of near required time a plurality of focus signals and focus-out signal at required time.Thus, can reduce the error that causes by noise.

By calculating the ratio of focus signal to focus-out signal, perhaps poor between focus signal and the focus-out signal, perhaps in the process that the difference between focus signal and the focus-out signal is discerned measuring object the ratio of focus signal,

Carry out the calculating of a plurality of times, and calculate result average of these a plurality of computing times, thus the identification measuring object.

For the optical object recognition device of present embodiment,, therefore can improve the accuracy of identification of measuring object because measuring object is discerned measuring object by utilizing focus signal and focus-out signal to the equalization as a result of a plurality of times of calculating.

In one embodiment, in the optical object recognition device,, close or reduce the light emission of optical semiconductor radiated element when the distance of distance measuring object during greater than particular value.

For the optical object recognition device of present embodiment,, close or reduce the output of optical semiconductor radiated element when the distance of distance measuring object during greater than particular value.As a result, can be reduced in the holding power under the state that does not need to measure, and the possibility of the light that can avoid launching injury human body etc.

In one embodiment, in the optical object recognition device, the emission state of optical semiconductor radiated element meets 1 class safety standard of laser product.

For the optical object recognition device of present embodiment, even be directly incident on human eye from the laser of device, the also possibility that does not exist human body to come to harm.

In one embodiment, in the optical object recognition device,

Target component is realized by object lens;

On the part of shell, form optical window;

Distance between object lens and the optical window is shorter than the focal length of object lens.

Optical object recognition device for present embodiment, utilize the advantage of this structure, even be deposited at the dust that makes light generation scattering or disperse or other objects under the situation on the optical window that makes the output of first light beam, because reflected light is outside the focal length of object lens, the reflected light that sends from sediment can incide on the light-receiving member hardly.Therefore, can avoid the maloperation of the identification of measuring object.

In one embodiment, provide a clearer, aforesaid optical object recognition device is installed in the head of this clearer.For this clearer, preferably, can automatically carry out the identification of measuring object floor surface.

In the self-propelled clearer of an embodiment, above-mentioned optical object recognition device has been installed.This self-propelled clearer most preferably can automatically be surveyed the type of floor surface when moving automatically.

In one embodiment, in the optical object recognition device,

The optical alignment that the optical projection parts are launched the optical semiconductor radiated element, and light is applied towards measuring object, and

This optical object measurement mechanism also comprises:

The condenser parts, it is assembled the light that the optical projection parts apply measured then object reflection; And

Light splitting part, it will be divided into the light beam that multi beam separates from the light of condenser parts, wherein

The light beam that the polarization state selector part differs from one another from the intrafascicular selection of a plurality of branches polarization direction, and

Light-receiving member receives a plurality of light beams of being selected by the polarization state selector part.

According to present embodiment, the light of optical semiconductor radiated element emission is collimated and is applied on the measuring object by the optical projection parts.The condenser parts are with the optical convergence of this measuring object reflection, and the light that light splitting part will have been assembled is divided into a plurality of beam splitting.For a plurality of beam splitting, the light beam that the polarization direction differs from one another is selected by the polarization state selector part, and received by light-receiving member by the light beam after the selection of polarization state selector part, by Signal Processing Element the signal from light-receiving member is handled then.Owing to being changed by the state of polarization of reflected light condition responsive in the measuring object surface of surface reflection, the therefore intensity of the light beam of a plurality of polarization directions that receive according to light-receiving member is just discerned the type of measuring object.

Because the light that the optical projection parts are launched the semiconductor photocell collimates and exports towards measuring object, does not therefore need, for example collector lens and drive system setting make the focus of collector lens be adapted to measuring object.Therefore, can simplify applying optical system and the mechanism of light to the measuring object relatively, so realized the reduction and the miniaturization of cost.

In addition, optical projection parts only requirement can generate the light that can be processed into collimated light basically, do not need to generate collimated light completely.

In one embodiment, in the optical object recognition device, the polarization direction of a plurality of light beams of being selected by the polarization state selector part is orthogonal.

In the present embodiment, because the polarization direction of a plurality of light beams is orthogonal, can make the volume efficiency of a plurality of light beams that incide light-receiving member bigger, so can improve accuracy of identification.

In one embodiment, in the optical object recognition device, the angle that the angle that the optical axis of optical projection parts and measuring object form and the optical axis of condenser parts and measuring object form is equal to each other basically.

In the present embodiment, owing to the specular components of the light that is applied by the optical projection parts can be assembled by the condenser parts, therefore, can make that light-receiving member receives from the condenser parts to pass through light splitting part relative with the amount of the light of polarization state selector part bigger.Therefore, can improve accuracy of identification.

In one embodiment, the optical object recognition device also comprises the optical branch parts, and it is arranged between optical projection parts and the measuring object, and will be divided into a plurality of light beams from the light beam of optical projection parts, wherein

In a plurality of light beams that separated by the optical branch parts one is incided on the measuring object with the incident angle that is essentially zero degree.

In the present embodiment, even the position on measuring object surface is along changing with respect to optical projection parts and condenser parts perpendicular to the surface direction of detected object parts, the change of the light quantity of being assembled by the condenser parts is also relatively little.Therefore, can avoid the reduction of the accuracy of identification that the change owing to the measuring object surface location causes.

In one embodiment, the optical object recognition device also comprises linear polarizer, its make from a plurality of light beams that separated by the optical branch parts except inciding optical attenuation the light on the measuring object to be essentially the zero degree incident angle.

In the present embodiment, linear polarizer absorbs the certain components from the light except incide light on the measuring object and that the identification of measuring object not have contribution with zero degree incident angle basically in a plurality of light beams that separated by the optical branch parts, and makes it thus to decay.Therefore, can avoid light to be caused the shortcoming that incides light-receiving member and cause parasitic light, thereby can improve accuracy of identification by SKIN RETURN.

In one embodiment, in the optical object recognition device, by the polarization direction of the polarization direction of the light beam of linear polarizer polarization and optical semiconductor radiated element emitted light beams quadrature basically.

In the present embodiment, can make the light intensity top efficiency ground decay that the identification of measuring object is not had contribution.Therefore, the parasitic light on the light-receiving member can be reduced to incide effectively, thereby the accuracy of identification of measuring object can be improved.

In one embodiment, in the optical object recognition device, for the light beam except incide the light beam on the measuring object with the angle that is essentially zero degree from a plurality of light beams that separated by the optical branch parts, the incident angle that incides on the linear polarizer is configured such that its specular light does not incide the angle on the light-receiving member.

In the present embodiment, can avoid not having the reflection of light light of contribution to incide on the light-receiving member, therefore, can improve the accuracy of identification of measuring object the identification of measuring object.

In one embodiment, in the optical object recognition device, the condenser parts are realized by a plurality of lens.

In the present embodiment, the light of measuring object reflection can be assembled expeditiously by the condenser parts.

In one embodiment, in the optical object recognition device, the condenser parts are realized by lens.

In the present embodiment, can make the optical system small-sized and the low priceization of condenser parts, can realize that the cost of optical object recognition device reduces.

In one embodiment, in the optical object recognition device, the lens near the condenser parts of measuring object are formed like this, promptly the focal point settings of lens is on measuring object.

In the present embodiment, the light of the lens of close measuring object forms collimated light in the condenser parts owing to pass, therefore makes the condenser parts can realize the effective convergence to the light of measuring object reflection.

In one embodiment, in the optical object recognition device, the optical branch parts form the cubic type beam splitter.

In the present embodiment,, can improve efficiency of measurement, and light is incided on the measuring object, the light that makes reflection is thus guided by a beam splitter by being suppressed at the loss of the light quantity on the optical branch parts.Therefore, can make the optical system simple and inexpensive.

In one embodiment, in the optical object recognition device, the length of cubic type beam splitter one side satisfies the condition of following equation (1) statement:

α≥(a+L)×d/f …(1)

Wherein, ' α ' is the length of beam splitter one side, ' a ' is the diameter that is applied to the hot spot on the measuring object from the light of optical projection parts, ' L ' is the diameter of the lens of the condenser parts of close measuring object, ' f ' is the focal length of these lens, and ' d ' is that light along optical axis from measuring object applies the distance of surface to the surface of close measuring object one side of beam splitter.

In the present embodiment, beam splitter can be set to such size, promptly causes the loss of light hardly.Therefore, the loss of light quantity can be suppressed, and the reduction of recognition efficiency can be prevented.

In one embodiment, in the optical object recognition device, the optical branch parts are formed by half anti-mirror.

In the present embodiment, tilt with respect to direct of travel, can prevent the incident of the parasitic light on the light-receiving member effectively from the light of optical projection parts by making half anti-mirror.

In one embodiment, in the optical object recognition device,

The length of half anti-mirror both sides satisfies following equation (2) and (3) represented condition:

α≥(a+L)×df …(2)

β≥2 ^1/2(a+L)×d/f …(3)

Wherein, ' α ' is the length of half anti-mirror one side, ' β ' is the length of half anti-mirror opposite side, ' a ' is the diameter that is applied to the hot spot on the measuring object from the light of optical projection parts, ' L ' is the diameter of the lens of the condenser parts of close measuring object, ' f ' be the focal length of these lens, and ' d ' is that the light along optical axis from measuring object applies the distance of surface to the surface of close measuring object one side of beam splitter.

In the present embodiment, owing to can be set to such size by half anti-mirror, promptly cause the loss of light hardly.Therefore, the loss of light quantity can be suppressed, and the reduction of recognition efficiency can be prevented.

In one embodiment, in the optical object recognition device, light splitting part is formed by beam splitter.

In the present embodiment, beam splitter separates the reflected light of condenser parts convergence.Therefore, the loss of light quantity can be suppressed, and the reduction of recognition efficiency can be prevented.

In one embodiment, in the optical object recognition device, light splitting part is formed by diffraction grating.

In the present embodiment, light splitting part is formed by diffraction grating.Therefore, the reflected light that condenser is assembled simply and at low cost can be separated.

In one embodiment, in the optical object recognition device, in the light from the diffraction grating diffraction, polarizer is with+1 order diffraction light and-1 order diffraction light polarizationization.

Order diffraction light and-1 order diffraction light are equal to each other on light quantity basically in the present embodiment ,+1.Therefore, handle, can improve the accuracy of identification of measuring object by carrying out the identification that utilizes+1 order diffraction light and-1 order diffraction light.

In one embodiment, in the optical object recognition device, the diffraction grating that forms light splitting part has such grating depth degree, and it makes the light quantity of 0 order diffraction light be substantially zero.

In the present embodiment, the light quantity of 0 order diffraction light by making diffraction grating is set to zero basically, has almost completely eliminated the light quantity that identification not have the exponent number contributed.Thus, the light quantity that light-receiving member receives increases, thereby can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, the diffraction grating that forms light splitting part is the type that glitters.

In the present embodiment, the use of the type that glitters grating makes it possible to increase the diffraction efficiency of the diffraction light on specific rank, to improve accuracy of identification.

In one embodiment, in the optical object recognition device, 0 order diffraction light in the light of the type diffraction grating diffraction that glittered and 1 order diffraction light are by the linear polarizer polarization.

In the present embodiment, because 0 order diffraction light and 1 order diffraction light are wideer than other diffraction on light quantity, therefore can improve recognition efficiency by the service efficiency that improves light.

In one embodiment, in the optical object recognition device, on light quantity, be equal to each other basically by the 0 order diffraction light and the 1 order diffraction light of the type diffraction grating diffraction that glitters.

In the present embodiment, owing to carry out the identification of measuring object, therefore can improve accuracy of identification according to the 0 order diffraction light and the 1 order diffraction light that are equal to each other basically.

In one embodiment, in the optical object recognition device, the polarization state selector part is formed by two linear polarizers, and the polarization direction of this linear polarizer is orthogonal.

In the present embodiment, owing to can analyze the polarized component in the reflected light that is included in measuring object accurately, the therefore change of the polarization characteristic that causes of the reflection of analysis to measure object effectively can improve the accuracy of identification of measuring object thus.

In one embodiment, in the optical object recognition device, light splitting part and polarization state selector part form by polarization beam apparatus is integrated.

In the present embodiment,, therefore component count be can cut down, the reduction and the miniaturization of cost realized because light splitting part and polarization state selector part can be formed by a polarization beam apparatus.

In one embodiment, in the optical object recognition device, light-receiving member is formed by two photodiodes.

In the present embodiment, because light-receiving member forms by two photodiodes, so can make accuracy of identification high relatively and can be simply and constitute optical system at low cost.

In one embodiment, in the optical object recognition device, light-receiving member is formed by the Splittable photodiode with a plurality of optical receiving regions.

In the present embodiment,, therefore the space that is used to settle light-receiving member can be reduced, undersized optical object recognition device can be realized because a plurality of light beams can be received by an aforesaid Splittable photodiode.

Notice that the Splittable photodiode refers to a plurality of optical receiving regions and is formed on a photodiode on the chip.

In one embodiment, in the optical object recognition device, the optical semiconductor radiated element is a laser diode.

In the present embodiment, laser diode has the single polarization direction of the light of its emission basically, for example, under the situation of not using polarizer etc., can obtain to be applied to the light on the measuring object.

In one embodiment, in the optical object recognition device, the optical semiconductor radiated element is formed by the LED that is equipped with the linear polarization element.

In the present embodiment, by LED is in the same place with the linear polarization combination of elements, can obtain the light of single polarization direction basically with low relatively cost.

In one embodiment, in the optical object recognition device, will be applied on the measuring object only by the linear polarization change light.

In the present embodiment and since with the linear polarization change light be applied on the measuring object, can survey accurately with the corresponding polarization direction of the type of this measuring object on change.Thus, can discern measuring object accurately.

In one embodiment, in the optical object recognition device, the hot spot that is applied on the measuring object has 1mm or bigger diameter.

In the present embodiment, because the influence of disturbance is relatively little on the application surface of measuring object, therefore can avoid the reduction of recognition efficiency.

In one embodiment, in the optical object recognition device, Signal Processing Element has a plurality of amplifiers that are connected in series.

In the present embodiment, even owing to a little less than the antiradar reflectivity on measuring object surface makes light that light-receiving member receives, make from the signal of light-receiving member a little less than, also received signal can be amplified to particular level.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates the ratio from two signals of two photodiodes.

In the present embodiment, owing to can survey the polarisation of light characteristic of measuring object reflection accurately, therefore can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates the ratio from a plurality of signals of Splittable photodiode.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates from two signal sums of the two photodiodes ratio to the difference of two signals.

In the present embodiment, because the change of the polarization characteristic that the surface state of measuring object causes can be obtained by the difference between two signals, simultaneously, the catoptrical amount on the measuring object surface can be obtained by two signal sums.Even when the change of the reflectivity that the measuring object surface takes place,, also can reduce the influence of the variation of reflectivity, make that obtaining high-precision identification becomes possibility by calculating this ratio.

In one embodiment, in the optical object recognition device, Signal Processing Element calculates from a plurality of signal sums of Splittable photodiode ratio to the difference of these a plurality of signals.

In self-propelled cleaner of the present invention, aforesaid optical object recognition device has been installed.

In the present embodiment, because self-propelled cleaner has comprised the optical object recognition device, therefore can obtain a kind of self-propelled cleaner, it can be in operation automatically, surveys the type of floor surface accurately and suitably cleans according to the type.

In one embodiment, in the optical object recognition device,

The optical projection parts have first optical branching device, and its light with the emission of optical semiconductor radiated element is divided into first light beam and second light beam, and this first light beam is applied on the measuring object, and

This optical object recognition device also comprises:

The condenser parts, it comprises first collector lens of the reflected light convergence that makes the measuring object reflection, and

Light splitting part, it comprises that the light beam that these condenser parts are assembled is divided into second beam splitter of first folded light beam and second folded light beam, and wherein

First linear polarizer that first folded light beam that has the polarization state selector part incides on it and allow the component of first folded light beam of particular polarization to pass, and second second linear polarizer that folded light beam incides on it and allows and the component of second folded light beam of the polarization direction of this particular polarization quadrature passes

Light-receiving member has first light receiving element that receives first folded light beam of passing first linear polarizer and second light receiving element that receives second folded light beam of passing second linear polarizer,

Signal Processing Element is input to wherein by first light receiving signal of first light receiving element output and second light receiving signal of being exported by second light receiving element, and it is measured about polarization of reflected light information according to first and second light receiving signals, and

Incide the place in the optical receiving surface of first and second light receiving elements through the condenser parts from the light component of the catoptrical direct reflection of measuring object surface reflection.

In the present embodiment, first light beam that is separated by first optical branching device of optical projection parts is applied on the measuring object, and the reflected light of condenser parts convergence measurement object reflection.This convergent beam is divided into first and second folded light beams by second optical branching device.After passing first and second linear polarizers, the first and second orthogonal light beams of polarization direction are received by first and second light receiving elements.Then, the received signal that first and second light receiving elements are surveyed is handled by the signal processing circuit parts, assesses by its characteristic of depolarizing to the folded light beam of measuring object reflection.According to the present invention, obtain the received signal that changes in response to the measuring object surfaceness, and can discern the type of measuring object.

At present embodiment, the specular components of the folded light beam of measuring object surface reflection incides on the optical receiving surface of first and second light receiving elements through the condenser parts equally.Just, in the present invention, even when first light beam from the optical projection parts incides the incident angle that makes on the surface of measuring object thereon obliquely and changes, optical system also can receive the corresponding direct reflection light component of angle with this oblique incidence by first and second light receiving elements.

Therefore, in the present embodiment, even working as optical object recognition device and measuring object surface is tilted in relation to each other, when making the light beam of winning incide the lip-deep incident angle of measuring object to change, the direct reflection light component that comprises the information relevant with the surface state of measuring object also can be guided first and second light receiving elements.Therefore, for optical object recognition device of the present invention,, also can not cause the reduction of the accuracy of identification of measuring object surface state, and can realize the high-precision identification of measuring object even the relative measurement object surface tilts.

In one embodiment, in the optical object recognition device, the focal length of supposing first collector lens is f (mm), and to be defined as from measuring object be a1 (mm) through the light path that first optical branching device arrives first collector lens, the equation (4) below then satisfying:

f＜a1 …(4)。

For the optical object recognition device of this structure, the optical path length a1 (mm) between first collector lens and the measuring object is greater than focal distance f (mm).Therefore, even when the incident angle θ of first light beam that incides the measuring object surface changes, the catoptrical direct reflection optical axis of measuring object surface reflection still points to the optical receiving surface of light receiving element.Therefore, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, the radius of supposing first collector lens is r1 (mm), and is θ (radian) by the angle that first light beam and measuring object normal to a surface form, the equation (5) below then satisfying:

tan ^-1(r1/a1)＞2θ …(5)。

For the optical object recognition device of this structure, the twice of the incident angle θ of lip-deep first light beam of measuring object is set to less than the radius r 1 (mm) of first collector lens arc tangent (arctangent) divided by the value of optical path length a1 (mm) gained between first collector lens and the measuring object.As this result, even when the incident angle θ of first light beam that incides the measuring object surface changes, the specular light that contains the information relevant with the measuring object surface state incides on first collector lens reliably, and by the first collector lens diffraction towards first and second light receiving elements.Therefore, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, supposing to be defined as the distance that arrives the light path of first and second light receiving elements by second optical branching device from first collector lens is b1 (mm), the equation (6) below then satisfying:

1/f＝(1/a1)+(1/b1) …(6)。

Optical object recognition device for this structure, the focal distance f of first collector lens, optical path length between first collector lens and the measuring object, and the optical path length between first collector lens and first and second light receiving elements satisfies Gauss (Gauss) lens formula relation.Therefore, even when the incident angle of first light beam that incides the measuring object surface changed, the catoptrical direct reflection light component that comprises the information relevant with the measuring object surface state also can be converged on the optical receiving surface of first and second light receiving elements.Thus, first and second light receiving elements are received signal light (first and second reflected light) expeditiously, and can realize the high precision identification of measuring object.

In one embodiment, in the optical object recognition device,

The radius of supposing first collector lens is radius r 1 (mm),

The length of one side of second optical branching device is Lb (mm), and

Distance between the reflecting surface of second optical branching device and first and second light receiving elements is x1 (mm), the equation (7) below then satisfying:

x1＜(Lb/2)·(b1-r1)/r1 …(7)。

For the optical object recognition device of this structure, satisfy the relation of equation (7) apart from x1 between second optical branching device and first, second light receiving element.Just, the value that the length of one side of second optical branching device is set to deduct radius r 1 (mm) gained of first collector lens half of Lb (mm) and the optical path length b1 (mm) between first collector lens and first, second light receiving element multiplies each other, again with radius r 1 (mm) the resulting value of this end value divided by first collector lens, this length value greater than between second optical branching device and first, second light receiving element apart from x1 (mm).

Thus, the direct reflection light component that comprises the information relevant with the measuring object surface state can coalescence be inducted into expeditiously by first collector lens and be mapped to second optical branching device and separate.Therefore, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device,

Supposing to be defined as the distance that arrives the light path of first collector lens through first optical branching device from measuring object is a1 (mm),

Being defined as the distance that arrives the light path of first and second light receiving elements through second optical branching device from first collector lens is b1 (mm),

The optical receiving surface of first and second light receiving elements is of a size of d (mm), and

Beam diameter at lip-deep first light beam of measuring object is φ (mm), the equation (8) below then satisfying:

d＞(b1/a1)·φ …(8)。

For the optical object recognition device of this structure, the beam diameter φ (mm) of lip-deep first light beam of measuring object and the size d (mm) of the optical receiving surface of first, second light receiving element satisfy the relation of equation (8).Just, the value (b1/a1) that optical path length b1 (mm) between first collector lens and first, second light receiving element is obtained divided by the optical path length a1 (mm) between first collector lens and the measuring object multiply by the beam diameter φ of first light beam, and wherein resulting value is set to the size d (mm) less than the optical receiving surface of first, second light receiving element.As this result, all the direct reflection light components from the beam spot zone of first light beam that incides the measuring object surface can be directed on the optical receiving surface of first, second light receiving element.Therefore, the more high-precision identification of measuring object becomes and can realize.Notice that the size d of the optical receiving surface of first, second light receiving element (mm) is, as an example, the length of the diameter of circular light receiving surface or rectangular light receiving surface one side.

In one embodiment, in the optical object recognition device, second collector lens is arranged on the optical axis between first collector lens and second optical branching device.

Optical object recognition device for this structure, because second collector lens is arranged between first collector lens and first, second light receiving element, even under the situation that the incident angle of first light beam that incides the measuring object surface changes, the catoptrical specular reflectance beam that comprises the information relevant with the surface state of measuring object also can focus on light receiving element expeditiously.Therefore, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, suppose that being defined as from measuring object is a2 (mm) through the optical path length that first optical branching device arrives first collector lens, and the focal length of first collector lens is f1 (mm), then a2 (mm) and f1 (mm) are equal to each other basically.

For the optical object recognition device of this structure, because the optical path length between first collector lens and the measuring object is substantially equal to the focal length of first collector lens, therefore, the direct reflection light component becomes approximately parallel light beam after by first collector lens.As a result, the direct reflection light component of this approximately parallel light beam can be converged on the optical receiving surface of first, second light receiving element after first collector lens effectively by second collector lens.Therefore, can improve the measuring accuracy of the surface state of measuring object, so that obtain the high precision identification of measuring object.

In one embodiment, in the optical object recognition device, the radius of supposing first collector lens is r1 (mm), and

The angle that is formed by first light beam and measuring object normal to a surface is θ (radian), the equation (9) below then satisfying:

tan ^-1(r1/a2)＞2θ …(9)。

For the optical object recognition device of this structure, the twice of the incident angle θ of lip-deep first light beam of measuring object is set to less than the radius r 1 (mm) of first collector lens arc tangent divided by the value (r1/a2) of optical path length a2 (mm) gained between first collector lens and the measuring object.As this result, even when light beam arrives the incident angle θ change on measuring object surface, the specular light that comprises the information of relevant measuring object surface state also can incide on first collector lens reliably, and by second collector lens towards the first and second light receiving element diffraction (diffracted).Therefore, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, suppose that the optical path length between first, second light receiving element and second collector lens is b2 (mm), and the focal length of second collector lens is f2 (mm), then optical path length b2 (mm) is equal to each other basically with focal distance f 2 (mm).

For the optical object recognition device of this structure, the optical path length between second collector lens and first, second light receiving element is that the focal length of b2 (mm), second collector lens is that f2 (mm) is equal to each other basically.Therefore, even when first light beam changes with respect to the incident angle θ on measuring object surface, the direct reflection light component that forms substantially parallel light beam by first collector lens can be converged to the optical receiving surface of light receiving element effectively by second collector lens.Therefore, can improve the measuring accuracy of the surface state of measuring object, obtain the more high-precision identification of measuring object thus.

In one embodiment, in the optical object recognition device, the length of supposing a side of second optical branching device is Lb (mm), the radius of second collector lens is r2 (mm), and the optical path length between the reflecting surface of second optical branching device and first, second light receiving element is x2 (mm), then satisfies following equation (10):

x2＜(Lb/2)·(b2-r2)/r2 …(10)。

For the optical object recognition device of this structure, the optical path length x2 (mm) between the reflecting surface of second optical branching device and first, second light receiving element satisfies the relation of equation (10).Just, half of one side length L b (mm) of second optical branching device multiply by the value that the radius r 2 (mm) that deducts second collector lens the optical path length b2 (mm) between second collector lens and first, second light receiving element obtains, again the value that end value is obtained divided by the radius r 2 (mm) of second collector lens be set to larger than between second optical branching device and first light receiving element apart from x2 (mm).

Thus, assemble and the direct reflection light component that comprises the information relevant with the measuring object surface state can be guided into effectively and be mapped to second optical branching device, separate then by first collector lens and second collector lens.Therefore, can improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, the radius r 2 (mm) of second collector lens is not less than the radius r 1 (mm) of first collector lens.

Optical object recognition device for this structure, because the radius r 2 (mm) of second collector lens is not less than the radius r 1 (mm) of first collector lens, therefore the direct reflection light component of propagating along diffraction direction after passing first collector lens can be assembled towards first, second light receiving element by second collector lens.Therefore, can further improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, suppose that the distance between first collector lens and second collector lens is S (mm), and

The beam diameter of first light beam on the measuring object is φ (mm),

Then satisfy following equation (11):

r2/r1＞(S·(φ/2)+a2·r1)/(a2·r1) …(11)。

For the optical object recognition device of this structure, because the direct reflection light component of propagating along diffraction direction after passing first collector lens can be assembled towards first, second light receiving element reliably by second collector lens.Therefore, can further improve the accuracy of identification of measuring object.

In one embodiment, in the optical object recognition device, suppose that the optical receiving surface of first and second light receiving elements is of a size of d (mm), then satisfy following equation (12):

d＞(b2/a2)·φ …(12)。

For the optical object recognition device of this structure, satisfy the relation of equation (12) at the size d (mm) of the optical receiving surface of the beam diameter φ of lip-deep first light beam of measuring object (mm) and first, second light receiving element.Just, the value b2/a2 that optical path length b2 (mm) between first, second light receiving element and second collector lens obtains divided by the optical path length a2 (mm) between first collector lens and the measuring object, this end value be multiply by the beam diameter φ (mm) of first light beam, be set to size d (mm) less than the optical receiving surface of first, second light receiving element.The size d of the optical receiving surface of first, second light receiving element (mm) is, for example, and the length of the diameter of circular light receiving surface or rectangular light receiving surface one side.

As this result, can be guided on the optical receiving surface of first, second light receiving element from whole direct reflection light components in the beam spot zone of first light beam that incides the measuring object surface.Therefore, can realize the more high-precision identification of measuring object.

In one embodiment, in the optical object recognition device,

For the light beam that is divided into two bundles by first optical branching device,

First light beam is the component of this first optical branching device reflection, and

Second light beam is the component of this first optical branching device transmission.

For the optical object recognition device of this structure, because first light beam that is applied on the measuring object is the component of first optical branching device reflection, then the folded light beam of first, second light receiving element reflection sees through first optical branching device.Therefore, the direct reflection light component of measuring object reflection directs into first, second light receiving element by first optical branching device and first collector lens, and no matter the size of first optical branching device.

Thus, in the present embodiment,, the size of optics or the restriction of setting have therefore been reduced to a great extent because first light beam is the component of first optical branching device reflection.

In contrast to this, when first light beam was the transmitted component of first optical branching device, the folded light beam of measuring object was reflected by first optical branching device, made to incide on first, second light receiving element.Therefore, because the direct reflection light component of measuring object reflection need incide the requirement on the reflecting surface of first optical branching device, then bigger restriction covers in being provided with of optics.

In one embodiment, in the optical object recognition device, second optical branching device and first and second linear polarizers are realized by polarization beam apparatus.

For the optical object recognition device of this structure, owing to a plurality of opticses (second optical branching device and first, second linear polarizer) can be realized by parts (polarization beam apparatus), therefore can be at textural simplification optical object recognition device.

In one embodiment, in the optical object recognition device, the distance from the measuring object surface to first optical branching device is about 15mm, and it is preferably the reception that is used for from the specular light on measuring object surface.

In the clearer of an embodiment, the optical object recognition device is installed in the head of clearer.Use this clearer, preferably can automatically discern floor surface as measuring object.

In the self-propelled cleaner of an embodiment, the optical object recognition device is mounted thereto.Therefore, most preferred, this self-propelled cleaner can automatically be surveyed the type of floor surface when moving automatically.

As disclosed above, according to optical object recognition device of the present invention, light is applied on the measuring object and assesses its catoptrical characteristic of depolarizing, and can obtain the change with the corresponding received signal of surfaceness thus.Therefore, can discern the type of measuring object.

In addition, when optical object recognition device of the present invention was installed on clearer or the self-propelled cleaner, this clearer or self-propelled cleaner can have automatic identification floor surface type and optimize the function of the service condition of clearer.

In one embodiment, the optical object recognition device comprises the optical semiconductor radiated element, be applied to the optical projection parts on the measuring object of wanting measured with the optical alignment of optical semiconductor radiated element emission and with this light, make condenser parts that the optical projection parts apply and the optical convergence measuring object reflection, to be divided into the light splitting part of a plurality of beam splitting from the light of condenser parts, from the intrafascicular polarization state selector part of selecting the light beam that the polarization direction differs from one another respectively of a plurality of branches, receive the light-receiving member of a plurality of light beams of polarization state selector part selection, and handle Signal Processing Element from the signal of light-receiving member.Thus, measure by change to the polarization of reflected light state of measuring object reflection, can be with the type of high relatively precision identification measuring object.In addition,, therefore can simplify optical system, realize that the cost of optical object recognition device reduces and miniaturization because collimated light is applied on the measuring object.

In one embodiment, in the optical object recognition device, first optical branching device is divided into first with the light of optical projection components, which transmits, second light beam, and from first, first light beam in second light beam is directed into specific incident angle θ and is mapped to the measuring object surface, so that be reflected thereon, and reflected light is assembled by first collector lens and further is divided into first by second optical branching device, second folded light beam, it is as first, second folded light beam is respectively by first, second light receiving element receives, and this is first years old, second folded light beam has by first, the orthogonal polarization direction of second linear polarizer.Because these first, second folded light beams comprise the surfaceness information corresponding with measuring object, therefore measure the polarization information relevant with reflected light, and in signal processing circuit,, the catoptrical characteristic of depolarizing of measuring object surface reflection is assessed according to first, second received signal of first, second light receiving element output.Thus, can discern the type of measuring object.

In addition, the catoptrical specular light from the measuring object surface reflection is directed in the optical receiving surface that is mapped to first, second light receiving element by first collector lens.Even when the incident angle change owing to first light beam on the measuring object causes oblique incidence, still can be received by first, second light receiving element with the corresponding catoptrical direct reflection light component of incident angle.Thus, according to optical object recognition device of the present invention,, also can under the situation of the accuracy of identification that does not reduce the measuring object surface state, realize the high precision identification of measuring object even have inclination with respect to the measuring object surface.

In addition, when the optical object recognition device of an embodiment was installed on clearer or the self-propelled cleaner, this clearer or self-propelled cleaner can have automatic identification floor surface type and optimize the function of the service condition of clearer.

Brief description of drawings

According to detailed description that hereinafter provides and the accompanying drawing that only schematically provides, can understand the present invention more fully, and not be limitation of the invention herein, and wherein:

Fig. 1 is the view that illustrates according to the structure of first embodiment of optical object recognition device of the present invention;

Fig. 2 illustrates the synoptic diagram that has the light distribution that receives under the situation of the light-receiving member that comprises one group of light receiving element among first embodiment at device;

Fig. 3 A is the view of structure that the improvement example of first embodiment is shown, and Fig. 3 B is the view that improves the light distribution of example;

Fig. 4 is the view that the structure of the second embodiment of the present invention is shown;

Fig. 5 is the view that the structure of the third embodiment of the present invention is shown;

Fig. 6 is the view that the structure of the fourth embodiment of the present invention is shown;

Fig. 7 is the view that the structure of the fifth embodiment of the present invention is shown;

Fig. 8 A illustrates the view that optical system is contained in the structure of the 5th embodiment in the shell 80, Fig. 8 B illustrates the view that the optical projection parts are contained in an example in the housing, and Fig. 8 C illustrates the view that photodiode and signal processing circuit are formed on an example on the semiconductor chip;

Fig. 9 A is the view that is used to explain the summary of optical object recognition device according to a sixth embodiment of the invention, and it is the measuring object of its surface elevation variation of demonstration and the synoptic diagram of the relation of the position between the object lens;

Fig. 9 B is the synoptic diagram of structure that the example 1 of the 6th embodiment is shown;

Figure 10 A is the side view of structure of the example 2 of the 6th embodiment, and Figure 10 B is the view of opposite side of the example 2 of same configuration;

Figure 11 A is the view of structure that the example 3 of the 6th embodiment is shown;

Figure 11 B is the view of structure that the example 4 of the 6th embodiment is shown;

Figure 11 C is the view that the gradual lens in the improvement example 1 that is included in the 6th embodiment are shown;

Figure 11 D is the view of general structure that the improvement example 1 of the 6th embodiment is shown;

Figure 11 E is the view of general structure that the improvement example 2 of the 6th embodiment is shown;

Figure 12 A is the sequential chart that is used to explain the signal processing operations of the seventh embodiment of the present invention;

Figure 12 B is the block diagram that the circuit in the signal processing circuit that is included in the 7th embodiment is shown;

Figure 13 A is the sequential chart that is used to explain according to the signal processing operations of the optical object recognition device of the eighth embodiment of the present invention;

Figure 13 B is the sequential chart of signal processing operations that is used to explain the optical object recognition device of the eighth embodiment of the present invention;

Figure 13 C is the block diagram that the circuit in the signal processing circuit that is included in the 8th embodiment is shown;

Figure 14 is the view of more detailed structure that the signal processing circuit of the 8th embodiment is shown;

Figure 15 is the circuit block diagram that the result of the signal processing system in the ninth embodiment of the present invention is shown;

Figure 16 is the process flow diagram that the signal processing operations among the 9th embodiment is shown;

Figure 17 is the process flow diagram that is illustrated in the signal processing operations in the improvement example 1 of the 9th embodiment;

Figure 18 is the process flow diagram that is illustrated in the signal processing operations in the improvement example 2 of the 9th embodiment;

Figure 19 is the process flow diagram of operation of signal processing system that the improvement example 2 of the 9th embodiment is shown;

Figure 20 A and 20B illustrate the oscillogram that is used to realize according to the example of the transmitting pulse waveform of the semiconductor laser of the optical object recognition device of tenth embodiment of the invention;

Figure 21 A is the skeleton diagram that illustrates as the structure of the clearer of the 12nd embodiment of the present invention, and Figure 21 B is the synoptic diagram that illustrates as the structure of the self-propelled cleaner of embodiments of the invention;

Figure 22 A is the general structure view according to the optical object recognition device of the 13 embodiment;

Figure 22 B is the synoptic diagram of improvement example that the optical object recognition device of the 13 embodiment is shown;

Figure 23 is the general structure view according to the optical object recognition device of the 14 embodiment;

Figure 24 is the synoptic diagram that the outward appearance of a side that describes unpolarized BS in detail is shown;

Figure 25 is the synoptic diagram of improvement embodiment that the optical object recognition device of the 14 embodiment is shown;

Figure 26 A illustrates the view that the optical object recognition device is carried out object identification result of experiment;

Figure 26 B illustrates the view that the optical object recognition device is carried out object identification result of experiment;

Figure 27 is that another of optical object recognition device that the 14 embodiment is shown improves the synoptic diagram of embodiment;

Figure 28 is the general structure view according to the optical object recognition device of the 15 embodiment;

Figure 29 is the general structure view according to the self-propelled cleaner of the 16th embodiment of the present invention;

Figure 30 is the synoptic diagram that illustrates according to the general structure of the 17 embodiment of optical object recognition device of the present invention;

Figure 31 illustrates the performance diagram that the 17 embodiment is changed the resulting measurement result of type of measuring object;

Figure 32 is the performance diagram that changes the resulting measurement result of type of measuring object for reference example;

Figure 33 is the synoptic diagram that the critical piece relevant with the light-receiving of the optical system of Figure 30 is shown;

Figure 34 illustrates first collector lens of optical system of Figure 30 and the synoptic diagram of the setting between the light receiving element;

Figure 35 A and 35B are the explanatory diagram that is shown specifically from the light path of the folded light beam of the end to end of first light beam;

Figure 36 is the synoptic diagram of structure that the 18 embodiment of optical object recognition device of the present invention is shown;

Figure 37 is the synoptic diagram of relevant critical piece with light-receiving that illustrates with the optical system of the 18 embodiment;

Figure 38 illustrates first collector lens of optical system of Figure 36 and the synoptic diagram of the setting between the light receiving element;

Figure 39 is shown specifically first collector lens of optical system of Figure 36 and the synoptic diagram of the layout relationship between second collector lens;

Figure 40 A and 40B are the views of optimal location of single optics that is used to explain the optical system of Figure 36;

Figure 41 A is the view of structure of improvement example that the output system of the 17 and 18 embodiment is shown, and Figure 41 B is the view that illustrates with the structure of the output system equivalence of the 17 and 18 embodiment;

Figure 42 A is the synoptic diagram that self-propelled cleaner that the 19 embodiment is shown operates in the outward appearance of plane floor surface, it has optical object recognition device mounted thereto, and Figure 42 B illustrates self-propelled cleaner to operate in outward appearance on the floor surfaces such as carpet;

Figure 43 is the synoptic diagram that the stranded outward appearance on the barrier of floor surface of self-propelled cleaner operation is shown.

Embodiment

Hereinafter, by the embodiment that is depicted in the accompanying drawing the present invention is described in detail.

(first embodiment)

Fig. 1 is the general structure view according to the optical object recognition device of the first embodiment of the present invention.Fig. 1 shows the track and the critical piece of light beam, and the element that those are used for fixing optics is not shown.In this case, can be given as LED (light emitting diode) or LD (laser diode) etc. as the optical semiconductor radiated element of light source, if its light intensity on measuring object 9 meets or exceeds desired value, can only adopt both one of.Notice that the collimation performance of LDD is than LED height, and therefore can improve the light quantity of unit area thus with beam convergence to littler beam diameter.Thereby, be preferably LD.According to these reasons, LD is depicted as an example of the optical semiconductor radiated element in the present embodiment of invention, and adopts the example of LD as the optical semiconductor radiated element in the following embodiments.

The optical object recognition device of this first embodiment comprises semiconductor laser 1, and collimation lens 2 has the hole 3 of circular open, unpolarized beam splitter 4, and object lens 8.As semiconductor laser 1, hole 3, the unpolarized beam splitter 4 of first optical branching device, and, constitute the optical projection parts as the object lens 8 of target component.

In first embodiment, the optical object recognition device also comprises collector lens 10, pin hole parts 11, the linear polarizer 13a of formation polarization state selector part, by the light-receiving member of realizing such as photodiode etc. 12, and as the signal processing circuit 14 of Signal Processing Element.

The light of semiconductor laser 1 emission is converted to the parallel beam of light by collimation lens (CL) 2, and only allow partly to pass hole 3 around beam center light beam on every side, along with light beam passes part-structure and is converted to circle, this beam center is even basically along the light intensity in circular open hole 3.Subsequently, light beam is divided into first light beam 5 that passes unpolarized beam splitter 4 and second light beam 6 that is reflected by unpolarized beam splitter 4, to continue to arrive substantially parallel the surface of measuring object 9.

When this took place, second light beam 6 of unpolarized beam splitter 4 reflections left optical system.Second light beam 6 for example, is centered on the reflections such as side wall of outer shell (not shown) of optical system, and may be surveyed as noise light by light-receiving member 12 in some cases.In order to eliminate these noise light, prevent that as parasitic light the linear polarizer 13b of parts is arranged on the polarization direction that is orthogonal to second light beam 6 on the optical axis of second light beam 6.As a result, second light beam 6 has been limited to pass from linear polarizer 13b, and neither being applied to side wall of outer shell thus can not become the noise light source yet.

First light beam 5 that passes unpolarized beam splitter 4 incides the center of object lens 8, is focused on the measuring object 9 by object lens 8.In this connected, measuring object 9 was set to the focal length near object lens 8.First light beam 5 of measuring object 9 reflections is to all directions scattering.Because the distance between object lens 8 and the measuring object 9 approaches the focal length of object lens 8, the light that therefore passes object lens 8 in the light from measuring object 9 reflections forms the parallel reflected beams 7 of the lens opening of the object lens 8 that have as shown in Figure 1.On the other hand, the light generation scattering of not passing object lens 8 in the light from measuring object 9 reflection, and to afterwards not contribution of signal.

In addition, optical object recognition device shown in Figure 1 is provided with the light rain shield device (not shown), and it prevents that the reflected light that does not pass object lens 8 from inciding on the light-receiving member 12.Although this light rain shield device also is provided with in the following embodiments, below with the descriptions thereof are omitted.

Folded light beam 7 after forming parallel beam by object lens 8, incides on the unpolarized beam splitter 4 once more, is divided into the light beam that passes unpolarized beam splitter 4 by this unpolarized beam splitter 4 and by unpolarized beam splitter 4 beam reflected at this place light beam.Notice that the light beam that passes unpolarized beam splitter 4 is omitted in Fig. 1.Unpolarized beam splitter 4 beam reflected are assembled by collector lens 10, pass the light beam of the pin hole 11 at the focal length place that is arranged on collector lens 10 simultaneously, pass the linear polarizer 13a as the polarization state selector part, are surveyed by light receiving element 12.

Pin hole parts 11 are positioned at the focal position of collector lens 10.Therefore, during position beyond measuring object 9 is positioned at the focal position of object lens 8, the folded light beam 7 that collector lens 10 is assembled defocuses on the surface of pin hole parts 11, descends significantly so pass the light quantity of the pin hole 11a of pin hole parts 11.

For such setting, corresponding to the measuring object 9 at the focal length place that is arranged on object lens 8, the light signal that is directed to light-receiving member 12 is increased, and, can reduce the beam diameter on the measuring object 9.As a result, increased the light quantity of folded light beam 7, realized measuring object 9 high-precision identifications.

Light-receiving member 12 after the light signal with incident is converted to electric signal, is sent to electric signal the signal processing circuit 14 of follow-up phase.

Be applied to the surface reflection of first light beam, the 5 measured objects 9 of measuring object 9, scattering thus.Usually, when light scattering, the change of polarization of reflected light state depends on the structure of reflecting surface.For example, for the optical mirror surface, the polarization of incident light state is kept by the reflection on the surface with the smooth degree of air spots enough littler than lambda1-wavelength.On the contrary, when reflecting surface had the height of the uneven degree bigger with respect to lambda1-wavelength, reflected light produced multiple scattering, so reflection demonstrates the characteristic of depolarizing.

That is to say,, can know the uneven degree state on the surface of measuring object 9 by measuring polarization of reflected light information.In the present embodiment, as shown in Figure 1, be set to directly before light-receiving member 12, so that light-receiving member 12 is only surveyed along the polarized component of specific direction vibration as the linear polarizer 13a of polarization state selector part.

Now, with reference to figure 1, suppose linear polarization from the light of LD (semiconductor laser) 1 emission along the direction perpendicular to drawing, linear polarizer 13a also is set to allow the light along perpendicular to drawing direction polarization.Adopt such setting, measured by light-receiving member 12 from the light intensity of the component of the above-mentioned polarization direction of folded light beam 7, and survey the level of light intensity by signal processing circuit 14.

In this case, depend at the degree of depolarization of folded light beam 7 on the basis of uneven degree on measuring object 9 surfaces, can discern the type (material) of measuring object 9 by the light intensity of utilizing signal processing circuit 14 to measure the component of above-mentioned polarization direction.Especially, for the type (material) of identification measuring object 9 from the measuring object of a plurality of known different materials (surface structure), the information of the degree of depolarization that obtains from the measuring object of a plurality of known different materials can be included among the storer M the signal processing circuit 14 by input in advance.Then, can be discerned effectively by the contrast between Given information and measurement result as the type (surface structure) of the measuring object 9 of the object of measuring.

In addition, first light beam 5 is closely with in vertically inciding on the measuring object 9, and as the S ripple.Provide the concise and to the point description of S ripple herein.When the orientation of oscillation of incident light when comprising the incidence surface of incident light optical axis and its specular light, this incident light is the S ripple.On the other hand, when the orientation of oscillation of incident light is parallel to incidence surface, then this incident light is the P ripple.The P ripple has the component of the orientation of oscillation of its light perpendicular to reflecting surface, and this vertical oscillation direction is perpendicular to the orientation of oscillation that allows by the light that is set directly at light receiving element 12 linear polarizer 13a before.As a result, the component with P ripple of this vertical oscillation direction becomes noise component for degree of depolarization by reflection.Therefore, preferred, first light beam 5 is the S ripple perpendicular to the surperficial incident of measuring object 9 and its.

Because measuring object 9 is positioned at the focal position of object lens 8, so the reflection of measuring object 9 and scattered light are formed directional light by object lens 8.And because pin hole parts 11 are positioned at the focal position of collector lens 10, so folded light beam 7 major parts converge to the surface of pin hole parts 11.Usually, be desirably at reflected light under the situation of parallel beam, be approximately tens μ m at the lip-deep beam diameter (girdling the waist) of most of optical convergence, although it depends on used lens and changes.The diameter of pin hole 11a is bigger slightly than with a tight waist.

For such setting, when measuring object 9 was outside the focal length of object lens 8, folded light beam did not become directional light, but defocused on the surface of pin hole parts 11, passed pin hole parts 11 thus hardly.Therefore, be positioned at when the focal position at measuring object 9, extracts resulting signal with big S/N ratio as the necessary signal of identification discerning, so, can avoid any mistake detection, and can improve accuracy of identification.As described in beginning as present embodiment, LD (semiconductor laser) more with optical convergence to measuring object 9, even in order to improve S/N as described above than so that can improve light intensity, preferred LD is as the optical semiconductor radiated element.

On the other hand, as light-receiving member 12, any parts that light signal is converted to electric signal can both satisfy function of the present invention, especially, if the use photodiode, it is suitable for the miniaturization of apparatus structure and makes the cost that reduces device become possibility, therefore more preferably.In addition, be assemblied under the on-chip situation of a block semiconductor, make along the noise of the generations such as lead that connect photodiode and signal processing circuit 14 to reduce to become possibility in the signal processing circuit 14 of photodiode and follow-up phase.And, under situation about making on the substrate, can reduce the reduction that chip area makes it possible to realize cost in photodiode and signal processing circuit 14.

In addition, light-receiving member can also be configured to a plurality of photodiodes and line up array.For example, can be to use a plurality of Splittable photodiode alignings, and the structure of CCD, cmos imager or other image pick-up devices.

When light-receiving member was realized by a photodiode, the information that can obtain from this single photodiode only was light intensity.Yet, use above-mentioned when comprising the light-receiving member of a plurality of photodiodes, the distribution of signal measurement light intensity that can be by a plurality of photodiodes outputs.In this case, compare, can discern measuring object 9 more accurately as the object of measuring with the measurement that only is light intensity.

Fig. 2 shows the receiving light power that comprises the value (standardized value) under the situation of a plurality of photodiodes at aforesaid light-receiving member 12 and distributes, this value is used and is carried out standardization from the maximal value of single locational light intensity, and this light intensity is surveyed by the photodiode of this single position.

Have at measuring object 9 under the situation of smooth surface, the degree of depolarization of folded light beam 7 is low, passes as the light of the linear polarizer 13a of polarization state selector part stronger at the contiguous place of optical axis center thus.Therefore, shown in the waveform among Fig. 2 (2-3), obtain to concentrate on the sharp keen light distribution on the optical axis.

On the other hand, has the more very much not surface of flatness at measuring object 9, to such an extent as to folded light beam 7 under the situation that produces the many places scattering to a greater extent, obtains the light distribution with low maximal value profile and wide distribution shown in waveform among Fig. 2 (2-1).In addition, waveform as shown in Figure 2 (2-2) the smooth degree of air spots that is illustrated in measuring object 9 is littler and by the profile than the light distribution under Fig. 2 (2-3) big situation than (2-1) of Fig. 2.

In addition, the influence of the light-receiving member setting that realizes of the above-mentioned light receiving element group that constitutes by a plurality of light receiving elements also is applicable to the following examples.Yet, will omit the description of these influences in the following embodiments.

Next, Fig. 3 A shows the general structure of optical object recognition device of the improvement example of aforementioned first embodiment.In this improvement example, as shown in Figure 3A, building block is similar to the parts of first embodiment shown in Fig. 1, and wherein the incoming position of first light beam 5 on the object lens 8 is different from first embodiment.

Equally in this improvement example, because first light beam 5 incides measuring object 9 with the S ripple, so the polarisation of light direction of LD1 output is perpendicular to drawing paper, and in view of the above, and the polarisation of light direction that allows to pass linear polarizer 13a also is set to the direction perpendicular to drawing paper.

In this improved example, because first light beam 5 incides the marginal portion 8a of object lens 8, because of inciding on the measuring object 9 with specific incident angle than first light beam 5.When measuring object 9 reflections first light beam 5, the component that its polarization keeps is the strongest on the direct reflection direction.Therefore, the change that distributes of depolarizing that makes incident light (first light beam 5) oblique incidence cause to the measuring object 9 reflection and scattering to cause.

In this improvement example, assemble with the specific direction of polarization direction and compare with first embodiment by object lens 8 and change by the light intensity that light-receiving member 12 is surveyed, first light beam 5 incides the core of object lens 8 in first embodiment.In this improvement example, particularly since measuring object 9 backward the light of scattering directed into light-receiving member 12 by bigger quantity ground, guide the recruitment that comprises the light component that depolarizes to the folded light beam 7 of light-receiving member 12.Therefore, in this improvement example, compare, realized the more high-precision identification of measuring object 9 with top first embodiment.

In this improvement example, light intensity becomes maximum for the direct reflection axle equally.Under the situation that the light receiving element group that light-receiving member 12 is made of the above-mentioned a plurality of light receiving elements that are set to array realizes, the peak strength position of the light distribution that light-receiving member 12 detects is the distolateral skew of mind-set from the light receiving element group.About the light distribution under this situation, as shown in Figure 3A, the tail structure in the measuring light intensity distribution can be discerned measuring object 9 thus accurately in more detail.

(second embodiment)

Fig. 4 shows the general structure of optical object recognition device according to a second embodiment of the present invention.In Fig. 4, show the track of light beam and main optics, and and the not shown element of fixing these opticses.Equally in Fig. 4, the building block identical with first embodiment among Fig. 1 use with Fig. 1 in the identical reference number of building block represent that and the descriptions thereof are omitted.This second embodiment is different with aforesaid first embodiment, has been to comprise the catoptron 15 of the unpolarized beam splitter 4 of the improvement example that replaces first embodiment as guiding part.

In a second embodiment, first light beam 5 of 3 outputs is directly incident on the edge member 8a of object lens 8 from the hole, is focused on the measuring object 9 at the focal length place that is placed on object lens 8.In addition, because first light beam 5 incides on the measuring object 9 as the S ripple, the polarization direction of LD1 is perpendicular to drawing, and in view of the above, and the polarisation of light direction that allows to pass linear polarizer 13 also is set to the direction perpendicular to drawing paper.The light of measured object 9 reflections and scattering is formed parallel reflected beams 7 by object lens 8 once more.

This second embodiment comprises the catoptron 15 as guiding part.This catoptron 15 changes the direct of travel of folded light beam 7, makes folded light beam 7 be guided towards light-receiving member 12.This catoptron 15 is set to not overlapping with first light beam 5.

By the setting of catoptron as implied above 15, can eliminate the light that conduct second light beam 6 in remaining as first embodiment and the improvement example thereof loses.Therefore, can improve ratio from the light quantity that can use as flashlight in the light quantity of LD1 emission.As a result, the emissive porwer of LD1 can be reduced, the reduction of the current drain of whole device can be realized thus.

In addition, as guiding part, for example, best is catoptron, wherein is formed with the diameter hole (not shown) bigger than the beam diameter of first light beam 5, and preferred, and the aperture of a mirror is set to allow first light beam 5 to pass.

(the 3rd embodiment)

Next, Fig. 5 shows the general structure of the optical object recognition device of a third embodiment in accordance with the invention.Figure 5 illustrates the track of light beam and main optics, and and the not shown element of fixing these opticses.Equally in Fig. 5, the building block identical with first embodiment among Fig. 1 use with Fig. 1 in the identical reference number of building block represent that and the descriptions thereof are omitted.

This 3rd embodiment and the aforementioned first embodiment difference are not comprise linear polarizer 13b, but are adjacent to comprise the catoptron 15 that changes parts as optical axis with unpolarized beam splitter 4.

In this 3rd embodiment, first light beam 5 that passes unpolarized beam splitter 4 incides on the object lens 8, mirror 15 reflections that are reflected of second light beam 6 of unpolarized beam splitter 4 reflections, the result becomes its direct of travel to be parallel to first light beam 5, resembles thus to incide on the object lens 8 first light beam 5.Incide the same point on the measuring object 9 that two

light beams

5,6 on the object lens 8 are applied to the place, focal position that is arranged on lens 8.

Two

light beams

5,6 of measuring object 9 reflection are reflected by object lens 8, so that form parallel reflected beams 7 once more.Shown in the dotted line among Fig. 5, the part of folded light beam 7 is changed direct of travels by unpolarized beam splitter 4, and another part of folded light beam 7 mirror 15 that is reflected changes direct of travels.Thus, folded light beam 7 becomes the same bundle towards the light of light-receiving member 12, incides on the collector lens 10.The processing of the light beam 7 after inciding collector lens 10 is similar to first embodiment or second embodiment.

According to the optical system shown in this 3rd embodiment, owing to can eliminate in first embodiment and improvement example thereof by the residue light of second light beam, 6 losses, therefore second embodiment is such as the aforementioned, can increase from the ratio that can be used as the light quantity of flashlight in the light summation of LD1 emission.As a result, can reduce the emissive porwer of LD1, achieve the reducing of current drain of whole device thus.

In addition, in this 3rd embodiment, owing to can adopt beam splitter 4 and catoptron 15 to merge into the ordinary optical parts of a unit, therefore can easily realize the optical object recognition device, do not bore any special hole and do not need to resemble second embodiment describes.

(the 4th embodiment)

Next, Fig. 6 shows the general structure of the optical object recognition device of a fourth embodiment in accordance with the invention.In Fig. 6, show the track of light beam and main optics, and and the not shown element of fixing these opticses.Equally in Fig. 6, the building block identical with first embodiment among Fig. 1 use with Fig. 1 in the identical reference number of building block represent that and the descriptions thereof are omitted.

In this 4th embodiment, except the first unpolarized beam splitter 4a, also comprised the second unpolarized beam splitter 4b as second optical branching device, structurally the unpolarized beam splitter 4 with first embodiment is identical for this first unpolarized beam splitter 4a, and as first optical branching device.The second unpolarized beam splitter 4b is arranged between pin hole parts 11 and the linear polarizer 13a, and the second collector lens 10b is arranged between the pin hole parts 11 and the second unpolarized beam splitter 4b simultaneously.In addition, the 3rd collector lens 10d is arranged between the second unpolarized beam splitter 4b and the linear polarizer 13a.

Also further comprise by second unpolarized beam splitter 4b reflection, the catoptron 15 that reflects towards the light of the second light receiving element 12a, and be arranged on another the 3rd collector lens 10c between the catoptron 15 and the second light receiving element 12a.This second light receiving element 12a and the first light receiving element 12b constitute light-receiving member.

In this 4th embodiment, through the first unpolarized beam splitter 4a and the second collector lens 10a, pass pin hole parts 11 by measuring object 9 reflections and the folded light beam 7 that formed parallel beam by object lens 8, incide then on the second collector lens 10b.Pin hole parts 11 are arranged near the focus of the second collector lens 10b.

Therefore, folded light beam 7 is formed parallel beam once more by the second collector lens 10b, and is divided into two light beams by the second unpolarized beam splitter 4b, the second folded light beam 7a and the first folded light beam 7b.In this connection, as shown in Figure 6, second folded light beam 7a representative is by the second unpolarized beam splitter 4b beam reflected that makes progress, and the light beam of the second unpolarized beam splitter 4b is passed in first folded light beam 7b representative.Be reflected mirror 15 of the second folded light beam 7a changes direct of travels, becomes to be parallel to the first folded light beam 7b.As a result, become the second and first liang of light beam 7a and the 7b of identical direct of travel, assembled, and surveyed by the second light receiving element 12a and the first light receiving element 12b respectively by the 3rd collector lens 10c and 10d.In this connection, between the first light receiving element 12b and the 3rd collector lens 10d linear polarizer 13a is set, it is configured such that will be more identical with the polarization direction of first light beam 5 than the polarisation of light direction of passing through.

In this 4th embodiment, the second light receiving element 12a receives the light from all polarization directions of the second folded light beam 7a that is separated by the second unpolarized beam splitter 4b.In contrast to this, the first light receiving element 12b receives the first folded light beam 7b through linear polarizer 13a, and receives the light of selecting through linear polarizer 13a along the component of particular polarization thus.Thus, first to the 3rd embodiment as described above, the signal that the first light receiving element 12b surveys has reflected the surface state of measuring object 9.

Measuring object 9 for reflectivity with variation, only the surface state of measuring object 9 is measured by the absolute value that utilizes the strength signal that the first light receiving element 12b surveys, can not discern for this distribution, which is dominant to the absolute value of strength signal, is that measuring object 9 lip-deep polarizations are unordered or only be the order of magnitude of the reflectivity of measuring object 9.In other words, even measuring object 9 causes the big rate of depolarizing, when the reflectivity on measuring object 9 surfaces when being big, it can cause strength signal to show that output intensity exceeds specified level, causes the possibility that mistake is surveyed takes place.

On the contrary, in this 4th embodiment,, be equivalent to the measurement of the reflectivity of measuring object 9 by the signal of second light receiving element 12a output because the second light receiving element 12a receives the light of all polarization directions of the second folded light beam 7a.Therefore, signal processing circuit 14 is calculated the output ratio of second and first liang of light receiving element 12a, 12b.According to the calculating ratio of output signal, the surface state of measuring object 9 is measured.Thus, in the surface state measurement of measuring object 9, can reduce because the influence of the variation of the signal intensity that the surface reflectivity of measuring object 9 causes.As a result, according to the 4th embodiment, can realize measuring object 9 surface state high precision identification.

(the 5th embodiment)

Next, Fig. 7 shows the general structure according to the optical object recognition device of fifth embodiment of the invention.In Fig. 7, show the track of light beam and main optics, and and the not shown element of fixing these opticses.Equally in Fig. 7, the building block identical with the 4th embodiment among Fig. 6 use with Fig. 6 in the identical reference number of building block represent that and the descriptions thereof are omitted.

The 5th embodiment and aforesaid the 4th embodiment difference are that the optical object recognition device comprises to be arranged between the 3rd collector lens 10c and the second light receiving element 12a and as the second linear polarizer 13c of the second polarization state selector element.In addition, in this 5th embodiment, comprised as among the 4th embodiment with as the first identical linear polarizer 13a of the first linear polarizer 13a of the first polarization state selector element.In this 5th embodiment, the second linear polarizer 13c is arranged on the optical axis of the second light receiving element 12a and the 3rd collector lens 10c.

The polarization direction that the polarization direction that the first linear polarizer 13a selects and the second linear polarizer 13c select is orthogonal usually, the polarization direction that the first linear polarizer 13a selects is parallel to the polarization direction of first light beam 5 usually, and the polarization direction that the second linear polarizer 13c selects is usually perpendicular to the polarization direction of first light beam 5.

That is to say that the polarization direction that the optical object recognition device is set to second linear polarizer 13c selection is orthogonal to the polarization direction that the first linear polarizer 13a selects, and be orthogonal to the polarization direction of first light beam 5 of LD1 emission.

As mentioned above, the polarization state of the folded light beam 7 that obtains after 5 measured object 9 reflections of first light beam is owing to the surface state of measuring object 9.Therefore, the reflecting surface of measuring object 9 is smooth more, the component ratio of the folded light beam 7 of the polarization direction identical with incident beam (first light beam 5) becomes high more, and the component ratio of folded light beam 7 that is orthogonal to the polarization direction of incident beam (first light beam 5) polarization direction simultaneously becomes low more.For example, the light quantity of supposing folded light beam 7 is 2I (with an arbitrary unit), and it is the first folded light beam 7b of I that folded light beam 7 is divided into the second folded light beam 7a and the light quantity that light quantity is I.The light quantity I of each of the first and second folded

light beam

7b, 7a is the light quantity that comprises the component of all polarization directions.

Now, a given state is as the surface state of measuring object 9, suppose, for among first, second folded light beam 7b, the 7a each, the light quantity of the component identical with the polarization direction of first light beam 5 is α I, the light quantity of component that is orthogonal to the polarization direction of first light beam 5 is β I, and then the summation of the light quantity of other polarization directions is (1-alpha-beta) I.In this case, the first folded light beam 7b, as the result who passes the first linear polarizer 13a, have light quantity α I and incide on the first light receiving element 12b, the while second folded light beam 7a, as the result who passes the second linear polarizer 13c, have light quantity β I and incide on the second light receiving element 12a.

Therefore, the calculating of the measurement result that obtains according to this 5th embodiment, that is, calculate from the output signal of the first light receiving element 12b ratio, can obtain α I/ β I=α/β as a result from the output signal of the second light receiving element 12a by signal processing circuit 14.

In contrast to this, in the 4th embodiment, as signal processing circuit 14 calculate from the output signal of the first light receiving element 12b to ratio from the output signal of the second light receiving element 12a, can obtain α I/I=α as a result.

Notice that each value of factor-alpha and β all is not more than 1 herein, wherein the value of α is big more, and the value of β is more little.Therefore, the ratio α/β that calculates in this 5th embodiment can reflect because the influence of depolarizing that the surface state of measuring object 9 causes better than the ratio α that calculates among the 4th embodiment.Thus,, compare, improved accuracy of identification with the 4th embodiment according to the 5th embodiment.

In the 5th embodiment, can calculate from the output signal of the first light receiving element 12b and poor between the output signal of the second light receiving element 12a by signal processing circuit 14, rather than calculating ratio.In this case, also can improve accuracy of identification.Yet, because the error that the variation of the surface reflectivity of measuring object 9 causes, calculate preferably that this is poor in order to reduce, calculate the ratio of this difference thereafter to the output signal sum of two light receiving element 12a, 12b.Just, current result calculated is (alpha-beta)/(alpha+beta).Difference between α and the β is along with the smoothness of the reflecting surface of measuring object 9 increases and increases, and the difference between α and the β reduces along with the increase of surfaceness.Therefore, can realize the high precision identification of measuring object 9.Notice that denominator (alpha+beta) is to be not more than 1 value, thereby reduced because the difference of the result of calculation that the surface reflectivity of measuring object 9 causes.

In addition, the second unpolarized beam splitter 4b that is shown among Fig. 7 is replaced with polarization beam apparatus, the structure that the first linear polarizer 13a and the second linear polarizer 13c are removed also can obtain the effect identical with the 5th embodiment simultaneously.This polarization beam apparatus is such polarization beam apparatus, and it separates the incident beam of light with the polarization direction of transmitted light beam and the orthogonal mode in polarization direction of folded light beam.In this case, can obtain and be shown in the identical effect of being provided with of Fig. 7, and owing to reduced linear polarizer, and can reduce component count.

In addition, should admit also that the optical system among the 4th and the 5th embodiment is applicable to the shell with optical window 80a 80 shown in Fig. 8 A.First light beam 5 is exported from optical window 80a.In this is provided with, comprise the 3rd collector lens 10c that is installed on the plate, the lens combination of 10d by unpolarized beam splitter 4b and catoptron 15 are integrated in the unit and by use, can reduce the distance between the second folded light beam 7a and the first folded light beam 7b.Thus, make on same block semiconductor substrate and second light receiving element (photodiode) 12a to be installed and first light receiving element (photodiode) 12b becomes possibility, so can reduce production costs.

In addition, handle electric current 14a, 14b, can obtain foregoing big noise and reduce effect, and can realize that big cost reduces by signalization between the second light receiving element 12a, the 12b shown in Fig. 8 C.In addition, Fig. 8 B shows at LD1, CL2, hole 3, the first unpolarized beam splitter 4a and object lens 8 and is contained in optical projection parts under the situation of a shell 81.

(the 6th embodiment)

Next, explain the 6th embodiment of optical object recognition device of the present invention.In in the optical object recognition device of first to the 5th embodiment each,, therefore when measuring object 9 is positioned on the focal position of object lens 8, can obtain strong signal because pin hole parts 11 are arranged on the focal position of collector lens 10 as mentioned above.

Yet in fact the height of the smooth degree of air spots of measuring object 9 changes.There is such worry in some object for discerning, does not promptly almost have the surface of measuring object 9 can be arranged on the place, focal position of object lens 8.

The 6th embodiment provides a kind of optical object recognition device, this device even be applicable to following situation: wherein the surface of measuring object 9 has the height of big uneven degree, and it is lower to make measuring object 9 be positioned at the possibility at place, focal position of object lens 8.

Fig. 9 A schematically shows a part of structure of optical object recognition device under the situation that surface corresponding to measuring object 9 has uneven degree height.Shown in Fig. 9 A, when object lens 8 with respect to measuring object 9 surface alignment during at regional A, the surface of measuring object 9 is in the position of the focal distance f of object lens 8.In this case, can obtain strong received signal, therefore can realize the high precision identification of measuring object.

Yet, in Fig. 9 A, when object lens 8 are positioned at area B, the surface of the focal position of object lens 8 and measuring object 9 away from each other, the surface of measuring object 9 no longer is positioned at the focal position of object lens 8.

Thereby object lens 8 make its distance that arrives measuring object 9 change along the direction vibration of the arrow G shown in Fig. 9 A.This feasible focal position with object lens 8 is positioned at measuring object 9 shown in dotted line among Fig. 9 A surface becomes possibility.

The lens vibration system that should be noted that vibration object lens 8 can realize by actuator.Yet, because actuator has little driving scope, thereby, if the surface of measuring object 9 has the height of big uneven degree, be difficult to make the focal position of object lens 8 to be positioned on the surface of measuring object 9.

Then, Fig. 9 B shows the general structure of the structure example 1 of the 6th embodiment.This structure example 1 has the structure of aforementioned the 5th embodiment basically, and is to comprise the mechanism of vibrating object lens 8 with the 5th embodiment different.Therefore, in this structure example 1, explain emphatically different with the 5th embodiment.

Shown in Fig. 9 B, the lens vibration system can be made of spring 19 and solenoid 17.The pulse power 16 is connected to solenoid 17.Object lens 8 are kept by lens carrier 18, and unshakable in one's determination 21 are fixed on the lens carrier 18.In addition, an end of volute spring 19 is connected to a side relative with 21 sides unshakable in one's determination of lens carrier 18, and the other end of volute spring 19 is connected on the stator 20.Iron core 21 roughly partly inserts along the central shaft of solenoid 17.

Utilize this structure of lens vibration system, attract the direction vibration of effect lower edge arrow G of the restoring force of unshakable in one's determination 21 power and spring 19 at solenoid 17 by making lens carrier 18, object lens 8 can be along the direction vibration of arrow G.Pulse modulated currents from the pulse power 16 flows through solenoid 17.When the pulse signal that sends from the pulse power 16 was connected, attraction force acts made object lens 8 towards solenoid 17 swings on solenoid 17.On the other hand, when pulse signal disconnected, the tension force that is fixed to 20 spring 19 worked, and made object lens 8 towards measuring object 9 swings.

Utilize the modulating frequency of this pulse signal, the lens vibration of optional frequency all is possible.Utilize the vibration of this vibrational system of solenoid 17, because its big movable range, therefore even for the measuring object 9 of uneven degree height with big detection surface, in the oscillating region of object lens 8, the focal position of object lens 8 is positioned at measuring object 9 lip-deep optional positions becomes possibility.

Next, Figure 10 A and 10B show the general structure of the structure example 2 of the 6th embodiment.Figure 10 A is the synoptic diagram that illustrates when the outward appearance of structure example 2 when the specific plane of the surface normal that comprises measuring object 9 is observed, and Figure 10 B is the synoptic diagram when the outward appearance of the structure example 2 towards perpendicular to the viewed in plan on above-mentioned plane the time.

In this structure example 2, the lens vibration system is made of cam 28 and motor 22.Motor 22 is fixed on the motor stator 23, and motor stator 23 is fixed in the substrate 31.Cam 28 is directly connected to the rotating shaft of motor 22.Motor stator 23 is connected to supplementary plate 26 by spring 24.

Bearing 27 pivotally remains on an end of supplementary plate 26, and bearing 27 departs from towards cam 28 under the effect of the bias force of spring 24.

Lens carrier 30 is fixed to another end of supplementary plate 26, and object lens 8 are assembled on the lens carrier 30.In addition, guide rail 25 is fixed on the middle part of supplementary plate 26.Guide rail 25 can slide along optical axis J under the guiding of another supplementary plate 29.Supplementary plate 29 is fixed to anchoring base 88, and this anchoring base 88 is fixed in the substrate 31.

Guide rail 25 is only along removable with the one dimension direction of optical axis J equidirectional.When being cam 28 rotations, the spring constant that spring 24 need have do not have the gap between bearing 27 and the cam 28.Equally, motor 22 need have torque so that make cam 28 rotations.Shown in Figure 10 B, motor 22 is set to the rotary middle spindle of cam 28 apart from the height of substrate 31 extended line and optical axis J intersect.Suitably select the structure of cam 28, allow object lens 8 to be set to have required lens vibration amplitude.Form sinusoidal configuration by the peripheral outline structure that makes cam 28, make cam 28 form the sinusoidal curve cam, the lens position in the time of can calculating at any time.In this case, the distance R from the center P of cam 28 to its external diameter can be expressed as R=r+asin θ (mm).For example, a=5mm is set, then making object lens 8 is that the sinusoidal curve of 5 (mm) is along optical axis J linear oscillator, the i.e. vibration width of 10mm corresponding to having amplitude.

Then, Figure 11 A shows the schematic configuration of the structure example 3 of the 6th embodiment.Figure 11 A schematically shows when observing from the side structure example 3 along middle main cross sections, top end face structure, following partial cross-section and the partial cross-section structure of left-hand side.In this structure example 3, the lens vibration system is realized that by the vibrational system with crank mechanism this crank mechanism is converted to rotatablely moving of motor 22 to-and-fro movement of lens vibration.

Shown in Figure 11 A, object lens 8 are kept by lens carrier 30 and are fixed on the slider 33.Slider 33 only moves along optical axis in one direction along the guide rail 32 of stationary positioned in shell 83.Slider 33 pivotally is connected from the position of the center displacement of disk 34.Disk 34 is desirable circle.Because motor 22 is directly connected to disk 34, thus motor 22 when once rotating object lens 8 along optical axis double vibrations one-period.Because the radius of disk 34 equals the amplitude of lens vibration, so the radius of disk 34 can suitably be set to the uneven degree height greater than measuring object 9 surfaces.

Owing in the structure of structure example 3, do not use spring, then there is not worry such as the fault generation of spring elongation, obtained high mechanical stability thus.In the lens vibration system of the use cam 28 that is shown in structure example 2, the reduction that causes spring constant of the elongation of spring 24, this causes that bearing 27 separates with cam 28, wherein lens vibration is different from required situation.On the contrary, structure example 3 does not have such worry.

Then, Figure 11 B shows the schematic configuration of the structure example 4 of the 6th embodiment.Figure 11 B has schematically shown structure example 4 along middle xsects, and when rotor shaft direction observes the outward appearance of the thruster 36 of left-hand side.In the structure example 4 shown in Figure 11 B, the lens vibration system utilizes the system of water or airflow.The structure example 4 of Figure 11 B is to comprise the thruster 36 that is connected to rotating shaft with the difference of previous constructions example 3, and its replacement is used for the motor 22 of the structure example 3 of earlier figures 11A.

Just, the optical object recognition device of structure example 4 is installed in abutting connection with the runner M of water or air, and wherein thruster 36 has rotatablely moving that the energy that utilizes media flow in the runner M provides, make object lens 8 under the crank mechanism effect back and forth so that vibration.In structure example 4,, therefore can reduce the power consumption of device significantly owing to the power source that does not need as motor.

The structure example 4 of Figure 11 B as the 12 embodiment that will describe in the back, is effective embodiment when optical object recognition device of the present invention is applied to clearer or self-propelled cleaner especially.That is to say that in structure example 4, it is feasible making object lens 8 vibrations by the suction air that uses clearer as MEDIA FLOW.In this case, usually, indoor floor or other wood surface, straw tatami and carpet or other woolen knitwears can be mentioned as the floor surface that will be identified as measuring object 9, wherein the uneven degree height of these measuring objects can cover about 10mm, and the oscillating region of focal position preferably is set to 5mm to the 15mm person's that is used to comprise the rough surface coverage.Although this oscillating region is applicable to all embodiment approx, yet this description only provides in this structure example 4.

Next, Figure 11 C shows the gradual lens 37 that comprise as object lens in the modified example 1 of the 6th embodiment.Gradual lens 37 shown in Figure 11 C are the lens that have a plurality of different focal zone in lens.Gradual lens 37 shown in Figure 11 C, have seven zoning A-G, and this zone A-G has the focal length FA-FG that differs from one another respectively.Gradual lens 37 can change the focal position to FA-FG according to the variation of the incoming position of light among the regional A-G.

Then, Figure 11 D shows the schematic configuration of the modified example 1 with gradual lens 37.Modified example 1 has the basic structure that is shown in Fig. 8 A as the example of the 4th and the 5th embodiment.Modified example 1 comprises the disk 34 of the rotating shaft that is connected to motor 22, and has the slider 33 that pivotally remains on the end on the disk 34.When disk 34 rotates under the effect of driven motor 22, slider 33 along be positioned at regularly in the shell 80 guide rail 32 with direction (illustrating) to-and-fro movement of the light shaft positive cross of first light beam 5 with hollow arrow.As a result, the gradual lens 37 that are installed on the lens carrier of the other end that is fixed to slider 33 radially vibrate.As a result, radially move the position of inciding first light beam 5 of gradual lens 37, makes the focal position move, and realizes having the identification of measuring object 9 on the surface of big uneven degree height thus.

Next, Figure 11 E shows the optical object recognition device that comprises gradual lens 37 and liquid crystal shutter 38 as the modified example 2 of the 6th embodiment.Modified example 2 has liquid crystal shutter 38, and it replaces the crank mechanism that is made of motor 22, slider 33, guide rail 32, disk 34 etc. in the aforementioned modified example 1.

In modified example 2, liquid crystal shutter 38 is provided with than gradual lens 37 more close semiconductor lasers 1.Liquid crystal shutter 38 constitutes by liquid crystal being interposed between two linear polarizer 39a, the 39b, and the transmission polarization direction of these two linear polarizers is orthogonal.Liquid crystal shutter 38 is by using liquid crystal can see through the optics of the light of specific region.Liquid crystal can play select to connect the function that still disconnects the electric signal that applies, so that incident light is kept or 90 ° of polarizations and penetrating along with its polarization direction.Therefore, in liquid crystal shutter 38, for example, the electric signal that only is applied to the regional HE among the regional HA-HG is connected, so that incident light 5a polarization.As a result, only pass through linear polarizer 39b from the transmittance of inciding regional HE of incident light 5a, the area E that incides gradual lens 37 is as incident light 5b.Incident light 5b converges to the FE place, focal position corresponding to the incident area E of gradual lens 37.

So,, only should allow incident light to see through in the zone by only connecting the electric signal that is applied to desired zone among the regional HA-HG in the liquid crystal shutter 38.Therefore, only incide desired zone among the regional A-G of gradual lens 37, incident light can be converged to the focal length place among the focal length FA-FG by making incident light.

Thereby, carry out the identification of measuring object 9 with big uneven degree height surface.In the structure of the modified example 2 that is shown in Figure 11 E, unlike aforesaid structure example 1 to 4 and modified example 1, there is not the lens vibration system in it.Therefore, do not need to consider because such as the required physical space of the vibration of lens or because the various problems such as misalignment of the separate part that vibration causes can be simplified Design for optical system thus.

As mentioned above, in the structure example 1 to 4 and modified example 1 and 2 of the optical object recognition device of the 6th embodiment, arrive greater than the smooth degree of measuring object 9 air spots scope highly by position change the focal position, can deal with even the surface of measuring object 9 has the situation of big uneven degree height, is realizing as incoming position on the gradual lens 37 of object lens or additive method this position or change by vibration object lens 8.

Yet, the result of change object focal point position as implied above is, the signal of light-receiving member 12 outputs that constitute by the first

light receiving element

12b, 12a, promptly be positioned at focus signal under the situation of focal position and two signals of the focus-out signal under the situation in the surperficial off-focal position of measuring object 9 on the surface of measuring object 9, function as the time is input to signal processing circuit 14, observes then.

Described the structure of the 5th embodiment of front, wherein with the signal that receives separately and calculate the ratio of the resulting signal that separates or poor, it is used for to improve the measuring object accuracy of identification is purpose identification.The 5th embodiment puts processing signals at one time, and, particularly, extract signal when arriving the focal position of object lens 8 on the measuring object surface, carry out signal Processing subsequently.

In the 6th embodiment, the focal position of object lens 8 normally vibrates, and the time above-mentioned focus signal and focus-out signal are observed continuously on the base.Therefore, use focus signal and focus-out signal is used to calculate its ratio or difference is possible.Same in the 5th embodiment of Fig. 7, although focus-out signal observe by the uneven degree on the surface of measuring object 9, yet its time only changes because the surface structure of measuring object 9 causes.That is to say that different with the 6th embodiment that changes the focal position wittingly for the 5th embodiment, it is difficult to detect by defocusing the signal that known distance causes.

On the contrary, utilize the structure of the 6th embodiment, because the focal position of object lens 8 can be subjected to the influence that base changes when precalculated, therefore carry out and detect the signal of having a mind to defocus that the specific range by the distance focal position causes, this focal position is determined especially according to the output waveform of light-receiving member 12.

Described in the 5th embodiment, for the output signal of the first light receiving element 12b and the second light receiving element 12a as identification signal, preferably with these signal normalizations, so that can reduce the influence of surface reflectivity.In this case, with focus-out signal as making the component of signal may further amplify identification signal with the corresponding signal of standardized denominator.

This makes an explanation by using the equation shown in the 5th embodiment of front.The signal intensity of incident light just, with the signal of first light beam, 5 identical polarization directions, can be represented as light quantity α I by using focus signal.Equally, the component hypothesis with the polarization direction of the polarization direction quadrature of first light beam 5 has light quantity γ I.

Now the hypothesis factor gamma be with corresponding to the relevant constant of the degree of depolarization of specific defocus amount, compare with the factor-beta (focus state) among the 5th embodiment, its keep β＞＞γ, therefore, its maintenance (α/β)＜＜(α/γ).Thus, by using the light quantity α I under the defocus condition light quantity γ I standardization focus state down in the signal processing circuit 14, compare with the situation of light quantity α I under the light quantity β I standardization focus state under the use focus state, it is higher that signal level becomes.So, by using focus-out signal, can further improve the precision of identification measuring object 9.

(the 7th embodiment)

Next, explain the 7th embodiment of optical object recognition device of the present invention.The difference of the 7th embodiment and first embodiment is among first embodiment of front modulation signal to be applied on the semiconductor laser 1 to finish light intensity modulation.Therefore, in this 7th embodiment, explain different with first embodiment emphatically.Should be noted that the 7th embodiment also can be applied to second to the 6th embodiment of front.

For optical sensor, the measurement of disturbance light is indispensable.In the 7th embodiment, semiconductor laser 1 plays the effect of pulsed light emission with the noise electrically eliminating disturbance light and cause of carrying out.Sequential chart below with reference to Figure 12 A provides its detailed description.

With reference to Figure 12 A, Reference numeral 40 expression LD (semiconductor laser) modulating pulses, and 41 expressions are from the inversion pulse of LD modulating pulse.Numeral 42 expressions are by the original signal of elimination from the disturbance light noise acquisition of the output signal of light-receiving member 12, and the DC disturbance light noise in the output signal of 43 expression light-receiving members 12.AC disturbance light noise in the output signal of numeral 44 expression light-receiving members 12.Numeral 45 expressions first processing signals, its after signal processing circuit 14 and LD modulating pulse 40 are synchronously sampled to the output signal of light-receiving member 12 and are kept and obtain/.Numeral 46 expressions second processing signals, its pulse 41 that obtains in the counter-rotating of signal processing circuit 14 and LD modulating pulse are synchronously sampled to the output signal of light-receiving member 12 and are kept and obtain.Numeral 47 is by first processing signals 45 being deducted the 3rd processing signals that second processing signals (obtaining both poor) obtains.

At first, explain the principle that disturbance light is eliminated.Along with LD modulating pulse 40 is connected, signal processing circuit 14 deducts the output signal (obtaining a difference) of light-receiving member 12 outputs before LD modulating pulse 40 is connected just from the output signal of light-receiving member 12 outputs.Promptly, signal processing circuit 14 deducts (DC disturbance light signal 43+AC disturbance light signal 44) with (original signal 42+DC disturbance light signal 43+AC disturbance light signal 44), obtains thus and the original signal 42 corresponding difference signals 47 of having eliminated the noise that disturbance light causes.

Simultaneously, along with LD modulating pulse 40 disconnects, signal processing circuit 14 is from the output signal of light-receiving member 12 outputs, deducting the output signal (obtaining a difference) at the off period light-receiving member 12 of LD modulating pulse 40 just before LD modulating pulse 40 disconnects.Promptly, signal processing circuit 14 deducts (DC disturbance light signal 43+AC disturbance light signal 44) with (original signal 42+DC disturbance light signal 43+AC disturbance light signal 44), obtains thus and the original signal 42 corresponding difference signals 47 of having eliminated the noise that disturbance light causes.

Next, explain the structure that the above-mentioned signal of signal processing circuit 14 execution is set up with reference to Figure 12 B.Signal processing circuit 14 comprises first sampling and holding circuit SH1, second sampling and holding circuit SH2 and differential amplifier DA.

The output signal PD of light-receiving member 12 is divided into two parts, enters first sampling and the holding circuit SH1 and second sampling and holding circuit SH2.First sampling and holding circuit SH1 are that the on-state of LD modulating pulse 40 produces first waveform signal, and second sampling and holding circuit SH2 are that the off-state of LD modulating pulse 40 produces second waveform signal.

Along with LD modulating pulse 40 is connected, first sampling allows the output signal PD (original signal 42+DC disturbance light signal 43+AC disturbance light signal 44) of the light-receiving member 12 under this state to pass with holding circuit SH1 with remaining unchanged.

On the other hand, along with LD modulating pulse 40 disconnects, first sampling is sampled to lucky output signal PD (original signal 42+DC disturbance light signal 43+AC disturbance light signal 44) before LD modulating pulse 40 disconnects with holding circuit SH1 and is kept.As a result, first sampling and holding circuit SH1 obtain to equal first processing signals 45 of (original signal 42+DC disturbance light signal 43+AC disturbance light signal 44).

Simultaneously, along with LD modulating pulse 40 disconnects, second sampling allows the output signal PD (DC disturbance light signal 43+AC disturbance light signal 44) of the light-receiving member 12 under this state to pass with holding circuit SH2 with remaining unchanged.On the other hand, along with LD modulating pulse 40 is connected, second sampling is sampled to lucky output signal PD (DC disturbance light signal 43+AC disturbance light signal 44) before LD modulating pulse 40 is connected with holding circuit SH2 and is kept.As a result, second sampling and holding circuit SH2 obtain to equal second processing signals 46 of (DC disturbance light signal 43+AC disturbance light signal 44).

Then, differential amplifier DA deducts first sampling and first processing signals 45 of holding circuit SH1 output second processing signals 46 (obtaining a difference) of second sampling and holding circuit SH2 output.Promptly, first processing signals 45 that differential amplifier DA will equal (original signal 42+DC disturbance light signal 43+AC disturbance light signal 44) deducts second processing signals 46 that equals (DC disturbance light signal 43+AC disturbance light signal 44), has obtained having eliminated among the output signal PD of light-receiving member 12 difference signal 47 of the noise that disturbance light causes thus.

In order to eliminate such as the DC disturbance light of sunlight with such as the AC disturbance light of the phase inverter fluorescent light of the illumination (fluorescent light) of 50Hz/60Hz or about 30 to 50kHz, it is suitable that LD modulating pulse 40 is set to 50kHz or the bigger modulating frequency higher than the frequency of phase inverter fluorescent light.Desirably, LD modulating pulse 40 is set to enough to be higher than the modulating frequency of about 1MHz of the frequency of phase inverter fluorescent light.In addition, also LD modulating pulse 40 may be set to about 100 to 10kHz LD modulating frequency, wherein the frequency component of phase inverter fluorescent light is isolated by LPF (low-pass filter).

(the 8th embodiment)

Next, explain the optical object recognition device of the eighth embodiment of the present invention.The 6th embodiment difference of the 8th embodiment and front is the structure of signal processing circuit 14.

As what describe in the ending place of the 6th embodiment, desirable for signal processing circuit 14 is the signal of not only handling object lens 8 light-receiving member 12 outputs under focus state, and handles the signal of object lens 8 light-receiving member 12 outputs under defocus condition.

In this connection, the dynamic range of the level of the level of the focus-out signal under defocus condition and the focus signal under focus state is 4000 times (times) or higher under certain conditions.Therefore, be difficult under the situation of the type change that comprises measuring object 9 signal is amplified in a scope.

Therefore, in the 8th embodiment, shown in Figure 13 C, signal processing circuit 14 comprises the amplifier unit AMP as the amplifier unit that will amplify from the output signal of light-receiving member 12, and monitoring is from the output signal level of light-receiving member 12 and respond the magnification that output signal level changes the gain of amplifier unit AMP and change parts GS.Change parts GS by magnification, be set to optimal level by amplifier unit AMP amplified output signal.

Describe the operation of the signal processing circuit 14 of the 8th embodiment in detail below with reference to the sequential chart of Figure 13 A and 13B.

Figure 13 A shows the identical signal in polarization direction of the light of launching with semiconductor laser 1 (LD launches light).With reference to figure 13A, signal 14-1 is the output signal of light-receiving member 12.Because noise spectra of semiconductor lasers 1 carries out pulsed modulation, so the transponder pulse of the specific period T of output signal 14-1 response semiconductor laser instrument 1 (for example, 13.3 μ s) and switching on and off.

Signal 14-2 is first sampling and holding signal 14-2 that is obtained by sampling and maintenance to PD output signal 14-1 when connecting (time interval Ton is positioned on the level corresponding to LD-on) at semiconductor laser 1.Same, signal 14-3 is second sampling and holding signal 14-3 that is obtained by sampling and maintenance to PD output signal 14-1 when disconnecting (time interval Toff is positioned on the level corresponding to LD-off) at semiconductor laser 1.Second sampling shows disturbance light level Δ with holding signal 14-3.Signal 144 is that first sampling deducts second sampling and holding signal 14-3 (obtaining a difference) resulting difference signal 14-4 (FL is illustrated in the signal level under the focus state) with holding signal 14-2.

Signal 14-5 differentiates and the differential signal 14-5 that obtains to difference signal 144.Signal 14-6 is the end holding signal 14-6 that obtains keeping at the bottom of the PD output signal 14-1.

In addition, Figure 13 B shows the signal of the polarization direction of the photodiode quadrature with light of launching with semiconductor laser 1.With reference to Figure 13 B, signal 14-7 is the output signal of light-receiving member 12.Signal 14-8 samples to the level of output signal 14-7 under semiconductor laser 1 on-state and keeps and first sampling and holding signal 14-8 that obtain.Equally, signal 14-9 samples to the level of output signal 14-7 under semiconductor laser 1 off-state and keeps and second sampling and holding signal 14-9 that obtain.Signal 14-10 deducts the difference signal 14-10 (DL represents the signal level under the defocus condition) that second sampling obtains with holding signal 14-9 (obtaining a difference) with first sample and holding signal 14-8.

Signal 14-11 is the differential signal 14-11 of difference signal 14-10.Signal 14-12 is the 3rd sampling and holding signal 14-12 of first sampling and holding signal 14-8 being sampled and obtaining with keeping when keeping time limit ST in sampling.

Signal processing circuit 14 is described below for detecting signal (focus signal) under focus state with the light of the identical polarization direction of light of semiconductor laser 1 emission, and the situation that detects the signal under defocus condition for the light with the polarization direction of the polarisation of light direction quadrature of semiconductor laser 1 emission.Note, identical under this principle and other situations.

At first, the ultimate principle of selecting about the gain of amplifier unit AMP is described.The magnification that receives output signal 14-1, the 14-7 of light-receiving member 12 changes parts GS monitoring about the level under the focus state of output signal 14-1, and described output signal 14-1 is obtained by the light that the light with semiconductor laser 1 emission has identical polarization direction.If the level of focus state output signal 14-1 is lower than lower limit level is set, increase the gain of amplifier unit AMP so by a step.On the contrary, if the level of focus state output signal 14-1 is higher than and the upper limit is set level is set, then reduce the gain of amplifier unit AMP by a step.

Provide more detailed description below.As mentioned above, the output signal 14-1 that the is shown in Figure 13 A output signal of the light-receiving member 12 that obtains with the light of the identical polarization direction of light of semiconductor laser 1 emission of serving as reasons.For example, this output signal is the output signal that is shown in the first light receiving element 12b of Fig. 9 B.Notice that Figure 13 A shows the situation of the state that semiconductor laser 1 modulates by the modulating pulse that utilizes the 75kHz frequency.

In order to monitor the signal level under the focus state, magnification changes parts GS and keeps producing end holding signal 14-6 by output signal 14-1 being carried out the end.Then, magnification changes parts GS and carries out following operation by a step: if the level of end holding signal 14-6 is lower than lower limit level is set, the gain of amplifier unit AMP is increased, perhaps, if the level of signal 14-6 is higher than the upper limit level is set, the gain of amplifier unit AMP is reduced.Replacedly, also allow magnification to change parts GS and produce sampling and holding signal, replace the end holding signal of output signal 14-1, and sampling and holding signal and lower limit and the upper limit are provided with level compare.In this case, magnification changes parts GS and carries out following operation: if the level of sampling and holding signal is lower than lower limit level is set, then increase amplifier gain by a step, perhaps, if the level of sampling and holding signal is higher than level is set, then reduces amplifier gain by a step.Time limit CT when in this case, magnification changes parts GS and changes the gain of amplifier unit AMP is set to differential signal 14-5 that the differential by difference signal 14-4 obtains becomes positive level from negative level moment.

Simultaneously, be shown in the output signal that output signal 14-7 among Figure 13 B is the light-receiving member 12 that obtains of the light from the polarization direction of the radiative polarization direction quadrature of aforesaid and semiconductor laser 1.This output signal for example is the output signal of the second light receiving element 12a shown in Fig. 9 B.Notice that Figure 13 B shows the situation of the state that semiconductor laser 1 modulates by the modulating pulse that utilizes the 75kHz frequency.

In order to monitor the signal level under the defocus condition, magnification changes parts GS and monitors the 3rd sampling and holding signal 14-12.The 3rd sampling and holding signal 14-12 sample with holding signal 14-8 to first sampling when keeping time limit ST and keep and the signal that obtains in sampling, and wherein first sampling is the result who when semiconductor laser 1 is connected the level of output signal 14-7 is sampled and kept with holding signal 14-8.

Magnification changes parts GS and carries out following operation: if the level of the 3rd sampling and holding signal 14-12 is lower than lower limit level is set, then the gain of amplifier unit AMP is increased by a step, perhaps, if the level of signal 14-12 is higher than the upper limit level is set, then the gain of amplifier unit AMP is reduced by a step.

In this case, finishing sampling and the time limit ST that keeps is set to the differential signal 14-11 that obtains from the differential by difference signal 14-10 and becomes the given starting point of moment CT of positive level, the moment that timer stops from negative level.This timer Tt place in the drawings that transponder pulse is count down to set number stops.

Sampling is set to the release time limit RT that keeps, and becomes the moment that special time t0 has passed after moment of positive level from negative level since differential signal 14-11 that the differential of difference signal 14-10 obtains.In addition, time limit of changing of the gain of amplifier unit AMP is set to differential signal 14-11 that the differential of difference signal 14-10 obtains becomes positive level from negative level the moment.As a result, the time interval Tsh among the figure is sampling and hold period.

Magnification changes structure that parts GS changes the gain of amplifier unit AMP and can change amplifier unit by the multistage gain that employing has a circuit structure for example shown in Figure 14 and realize.That is, utilize a plurality of gains of lining up array that resistor R is set, the gain of amplifier unit AMP can change by the switching function that adopts analog switch 141,142.Because the little output signal 14-1 of light-receiving member 12,14-7 makes the magnification of amplifier unit AMP have to be set under the higher situation, consider if magnification is provided with too greatly in one-level, therefore may produce the problem of stability, as illustrated in fig. 14 with multistage the linking together of amplifier amp of suitable magnification.Equally in this case, the gain that is used for a plurality of amplifier amp is provided with resistor and can suitably changes by analog switch 141,142 a time.

Equally, utilize to be configured to multistage amplifier unit AMP, also have certain situation, the magnification that the gain that the amplifier amp of each grade wherein is set to flatness causes each grade is only slightly above once increase.

In this case, the gain that is shown in the appropriate stage-number among Figure 14 is provided with resistor and is set to connect (for these levels, gain is 1), and the gain of other grades to be set to bigger be suitable.Its reason is that the Amplifier Gain of each grade is set near 1, and according to frequency characteristic, it is bigger that peak value becomes.

Thus, utilize the amplifier unit AMP of the signal processing circuit 14 that constitutes as shown in figure 14, realized that the suitable amplifying signal of the output signal that has wide dynamic range and have light-receiving member 12 is handled.

(the 9th embodiment)

Next, the block diagram of Figure 15 shows the structure of the Signal Processing Element among the 9th embodiment that is included in optical object recognition device of the present invention.Notice that this block diagram shows first, second

light receiving element

12b, 12a, semiconductor laser 1 is used for the oscillation frequency dividing circuit 54 by pulsed modulation driving semiconductor laser 1, and LD modulation signal parts 56.With reference to Figure 15, multistage gain changes amplifier unit 48, gain changes control assembly 50 and noise removing parts 52 constitute first signal processing circuit, and simultaneously multistage gain changes parts 49, and gain changes control assembly 51 and noise removing parts 53 constitute the secondary signal treatment circuit.First and second signal processing circuits, A/D converter 55 and signal processor 57 constitute Signal Processing Element.

The Signal Processing Element of the 9th embodiment can be applied on the signal processing circuit 14 among the 5th, the 6th, the 7th and the 8th embodiment that is included in the front.

In addition, the 9th embodiment has the optical system of the 5th embodiment shown in Figure 7, and is shown in the arbitrary focal position offsetting mechanism among Fig. 9 A to 11E.In addition, the optical object recognition device of the 9th embodiment has the disturbance light noise canceller circuit that is shown among Figure 12 B, and the magnification that is shown in Figure 13 C and 14 changes circuit.

In the 9th embodiment, provided explanation about signal processing function.In the 9th embodiment, the first light receiving element 12b shown in Figure 15 receives the first folded light beam 7b via the first linear polarizer 13a that is shown among Fig. 7, simultaneously, the second light receiving element 12a shown in Figure 15 receives the second folded light beam 7a via the second linear polarizer 13c that is shown among Fig. 7.In the first linear polarizer 13a and the second linear polarizer 13b, it is orthogonal that their polarisation of light direction is passed in transmission.

Definition now is used for the direction expression way of the orthogonal polarization orientation of the first linear polarizer 13a, 13b.That is, the polarized component of the direction identical with the polarisation of light direction of semiconductor laser 1 emission is expressed as " ∥ polarized component ", and the polarized component that is orthogonal to the direction of this " ∥ polarized component " is expressed as " ⊥ polarized component ".The signal of the signal of second light receiving element 12a output and first light receiving element 12b output is imported into A/D converter 55 up to them in substantially the same treatment scheme.

Explain the ∥ polarized component signal of first light receiving element 12b output.When the first light receiving element 12b detected the ∥ polarized component, the ∥ polarized component of output was changed amplifier unit 48 by the multistage gain of structure shown in Figure 14 and amplifies.The output of amplifier unit 48 is sent to ∥ polarized component side gain and changes control assembly 50, and wherein control assembly 50 decision making increases, fix or reduce repeats this program up to reaching the appropriate signal level.The ∥ polarized component signal of appropriate signal level is sent to ∥ polarized component side noise removing parts 52.In these noise removing parts 52, described as reference Figure 12 A and 12B, carry out the disturbance light noise removing, and resulting signal is sent to A/D converter 55 as ∥ polarized component signal.In this course, expression also is sent to A/D converter 55 by the ∥ polarized component side gain control signal (the magnification signal of amplifier) that gain changes the magnification that control assembly 50 determines.

On the other hand, the ⊥ polarized component signal of exporting by the second light receiving element 12a that detects the ⊥ polarized component is shown in multistage gain change amplifier unit 49 amplifications among Figure 14.This output of amplifier unit 49 is sent to ⊥ polarized component side gain and changes control assembly 51, and wherein control assembly 51 decision making increases, fix or reduce repeats this program up to reaching the appropriate signal level.The ⊥ polarized component signal of appropriate signal level is sent to ⊥ polarized component side noise removing parts 53.In these noise removing parts 53, described as reference Figure 12 A and 12B, carry out the disturbance light noise removing, and resulting signal is sent to A/D converter 55 as ⊥ polarized component signal.In this course, expression also is sent to A/D converter 55 by the ⊥ polarized component side gain control signal (the magnification signal of amplifier) that gain changes the magnification that control assembly 51 determines.

A/D converter 55, as its method, at one time the signal of all four passages of the magnification signal of the magnification signal, ⊥ polarized component signal and the ⊥ polarized component side amplifier that comprise ∥ polarized component signal, ∥ polarized component side amplifier is sampled.

Figure 16 shows the process flow diagram of the data processing between expression A/D converter 55 and the signal processor 57.

At first, A/D converter 55 seizure are corresponding to the signal data (under the situation that comprises the lens vibration system) of the lens vibration of one-period.Suppose that the A/D conversion of being undertaken by A/D converter 55 is with instantaneous triggering mode be triggered (steps A D1-ST1).

Then, A/D converter 55 carries out the A/D conversion, and the signal data of the one-period of lens vibration is caught in the storer M that is included in the signal processor 57 (steps A D1-ST2) thus.The sampling period of signal data is preferably such time interval, and promptly a few therein kilosegment signal datas obtain in the one-period of lens.

Is digital form and the signal data that store ∥ polarized component signal intensity storer M row by A/D converter 55 from analog-converted about expression, and the signal intensity of the ∥ polarized component signal under focus state is wished by the mean value about a plurality of signal data sections of the reference data of signal data under the focus state given.This plan reduces The noise, and improves the accuracy of identification of measuring object 9.Equally, be converted to the signal data row of the magnification of ∥ polarized component signal based on expression A/D, determine that amplifier unit 48 is at the amplification factor α of focal time point (steps A D1-ST4).

Equally, determine to defocus time point by reference focal time point.In order to provide with equation and corresponding position of lens vibration time, be shown in sinusoidal curve cam among Figure 10 as the example in the lens drive system.

As a result, given apart from the skew X of the focal position of object lens 8 by X=asin ω t (mm), wherein, if the amplitude a of frequencies omega and lens vibration is known, and if provide the required position X that defocuses, can calculate so and defocus the time t of position X.The given steady current that flows through lens driving motor 22 allows the frequencies omega of lens vibration constant.Be assumed to be the time of defocusing (steps A D1-ST5) by calculating the time t that obtains.

Suppose that about the signal data row of the intensity of expression ⊥ polarized component signal, the signal intensity defocus condition under is to defocus the intensity of averaging and obtain in a plurality of number of signals strong point of time.Should average plan to reduce the The noise described as in the ∥ polarized component signal.In addition, based on the signal data row of the magnification of representing the ⊥ polarized component signal that A/D changes, the amplification factor β of amplifier unit 49 (steps A D1-ST6) when determining to defocus time point.

By with focus state signal intensity S _∥Divided by signal amplification factor α, calculate intensity (S by the focus state ∥ polarized component signal before the amplifier unit 48 _∥/ α) (steps A D1-ST7).Equally, by with defocus condition signal intensity S _⊥Divided by amplification factor β, calculate intensity (S by the defocus condition ⊥ polarized component signal before the amplifier unit 49 _⊥/ β) (steps A D1-ST8).

Then, calculate the intensity (S of focus state ∥ polarized component signal _∥/ α) with the intensity (S of defocus condition ⊥ polarized component signal _⊥/ β) ratio (S _∥/ α)/(S _⊥/ β).

Interchangeable, described in the 5th and the 6th embodiment in front, can calculate the intensity (S of focus state ∥ polarized component signal _∥/ α) with the intensity (S of defocus condition ⊥ polarized component signal _⊥/ poor ((S between β) _∥/ α)-(S _⊥/ β)).In addition, can calculate this poor ((S _∥/ α)-(S _⊥/ β)) with the intensity (S of focus state ∥ polarized component signal _∥/ α) ratio (steps A D1-ST9).

Ratio that calculates in steps A D1-ST9 or difference are compared with the statistics relevant with known measuring object in being prior-entered at storer M, so that the type (steps A D1-ST10) of identification measuring object 9.That is, ideally, be input in advance the storer M as given data from the value that measures and the result of calculation of carrying out about the measuring object of a plurality of different materials types as mentioned above.

After outputing to recognition result display unit 58 in the type identification of carrying out measuring object 9 as mentioned above and with recognition result, program turns back to the processing of steps A D1-ST1 immediately once more, wherein A/D conversion beginning.In order to obtain more reliable result, calculating ratio (focus state ∥ polarized component signal intensity)/(defocus condition ⊥ polarized component signal intensity), it is the result of the processing from steps A D1-ST1 to steps A D1-ST9.By repeatedly repeating this processing and by calculating the mean value of a plurality of signal ratios that obtain from these a plurality of processing, the type by the mean value identification measuring object 9 that calculates also is possible.Notice that it is continuous to the signal Processing of steps A D1-ST10 from steps A D1-ST1 that unshowned control assembly keeps, notify to measure up to the operator and finish.

(modified example 1 of the 9th embodiment)

Then, explain the modified example 1 of the 9th embodiment with reference to the process flow diagram shown in Figure 17.

In modified example 1, shown in the process flow diagram of Figure 17, carry out the detection of the peak (time) of focus state ∥ polarized component signal.

At first, the ∥ polarized component signal (steps A D2-ST1) of the Signal Processing Element among Figure 15 (signal processing circuit 14) monitoring first light receiving element 12b output.

Then, judging that ∥ polarized component signal hypothesis is on the basis of minimum value, be included in extreme value decision circuit ZC in the Signal Processing Element and be A/D converter 55 the A/D conversion begin to produce a trigger pulse (steps A D2-ST2).Extreme value decision circuit ZC is made of differentiating circuit and zero crossing decision circuit etc.

By trigger pulse, A/D converter 55 beginnings are about the parallel A/D conversion of 2-ch (steps A D2-ST3) of ∥ polarized component signal and ⊥ polarized component signal.

In this A/D conversion beginning, signal processor 57 is caught the amplification factor α of ∥ polarized component signal and the amplification factor β (steps A D2-ST4) of ⊥ polarized component signal from A/D converter 55.

Even after A/D conversion beginning, extreme value decision circuit ZC still keeps the monitoring to ∥ polarized component signal.Judging that ∥ polarized component signal hypothesis is on the basis of minimum value, extreme value decision circuit ZC removes and passes through the data that A/D conversion at that time obtains by A/D converter 55, and A/D converter 55 carries out the A/D conversion once more.

Although having the ∥ polarized component signal waveform of a peak value can obtain in the half period of the vibration of object lens 8, but there is certain situation, wherein ∥ polarized component signal has two or more peak values in the half period of the vibration of object lens 8, for example has under the situation of big uneven degree height on the surface of measuring object 9.Have the situation of a plurality of peak values in order to adapt to ∥ polarized component signal waveform, when ∥ polarized component signal waveform has two or more peak values, will be in the half period of vibration recently the peak value of time as real peak value (steps A D2-ST5).

On the data acquisition basis in 1/4th lens vibration cycles, finish the A/D conversion.So, only can obtain to be used for surperficial recognition data, with describe in the process flow diagram as Figure 16, the situation that will capture in the signal processor 57 corresponding to the signal data of the lens vibration of one-period is compared, degree ground reduces the required time (steps A D2-ST6) of A/D conversion greatly.

Yet the data volume that A/D conversion is caught is not limited to the corresponding data volume of lens vibration with four/one-period, also may catch corresponding to as the 9th embodiment in the data volume of lens vibration of one-period.Suppose that the time that focuses on is the time (time of A/D conversion beginning) that produces trigger pulse in lens vibration.Equally, focus signal is given by the mean value of following a plurality of points after focal time.As a result, can reduce the influence (steps A D2-ST7) of noise etc.

Time when producing trigger pulse by reference determines to defocus the time.In order to provide the position and the time ratio of lens vibration with equation, for example the sine function cam is used for lens drive system.As a result, given apart from the skew x of the focal position of object lens 8 by x=asin ω t (mm), wherein, if the amplitude a of frequencies omega and lens vibration is known, and if provide the required position x that defocuses, so can computing time t.The given steady current that flows through motor can make the frequencies omega of lens vibration constant.Then, the time point after the time t that will begin from the time point that triggers generation passes is as defocusing the time (steps A D2-ST8).

Suppose that about the signal data row of the intensity of expression ⊥ polarized component signal, the signal intensity under the defocus condition is to be averaged the intensity (steps A D2-ST9) that obtains at a plurality of number of signals strong point that defocuses the time.

Then, as the process flow diagram of Figure 16, at intensity (S by focus state ∥ polarized component signal before the amplifier unit 48 _∥/ α) calculate (steps A D2-ST10) by use amplification factor α, and the intensity (S that passes through the defocus condition ∥ polarized component signal before the amplifier unit 49 _⊥/ β) by using amplification factor β to calculate (steps A D2-ST11).

Then, calculate the intensity (S of focus state ∥ polarized component signal _∥/ α) to the intensity (S of defocus condition ⊥ polarized component signal _⊥/ β) ratio ((S _∥/ α) (S _⊥/ β)).Further, replace this ratio, described in front the 5th and the 6th embodiment, can calculate the intensity (S of focus state ∥ polarized component signal _∥/ α) with the intensity (S of defocus condition ⊥ polarized component signal _⊥/ poor between β) perhaps calculated the intensity (S of this difference to focus state ∥ polarized component signal _∥/ α) ratio (steps A D2-ST12).

To compare with the statistics in being input to storer M in advance in value that steps A D2-ST12 calculates, with the surface state (steps A D2-ST13) of identification as the measuring object 9 of detected object about the calculated value on the measuring object surface of known materials.That is, ideally, be input in advance the storer M as given data from the value that measures and the result of calculation of carrying out about the measuring object of number of different types material as mentioned above.

Follow the type identification of above-mentioned measuring object 9 closely and recognition result is outputed to after the recognition result display unit 58, program turns back to the processing of steps A D2-ST1 once more, wherein, and monitoring ∥ polarized component signal, and wait for that extreme value decision circuit ZC produces trigger pulse.

By carrying out above-mentioned repeatedly processing, a plurality of (focusing on ∥ polarized component signal)/(defocusing ⊥ polarized component signal) ratio equalizations utilize a plurality of mean values to realize the identification of more high-precision surface thus.

(modified example 2 of the 9th embodiment)

Then, the block diagram of Figure 18 shows the structure of the Signal Processing Element in the modified example 2 that is included in the 9th embodiment.As shown in figure 18, this Signal Processing Element has adopted a kind of like this method, and

amplifier unit

48 and 49 program afterwards of wherein following in Figure 15 is finished by digital signal processing.The ∥ polarized component side first light receiving element 12b receives the first folded light beam 7b, and the light signal that receives is converted to electric signal.Because the emission light of semiconductor laser 1 emission is subjected to pulsed modulation, so light receiving element 12b has such response speed ideally, and it can follow this pulse modulated frequency.

The ∥ polarized component signal that is converted to electric signal by the ∥ polarized component side first light receiving element 12b amplifies by amplifier unit 48.This amplifier unit 48 can be with multistage change gain.The control signal that changes that is used to gain outputs to amplifier unit 48 from signal processor 57.

The ⊥ polarized component side second light receiving element 12a receives the second folded light beam 7a, and the light signal that receives is converted to electric signal.The ⊥ polarized component signal that is converted to electric signal by the ∥ polarized component side first light receiving element 12b amplifies by amplifier unit 49.This amplifier unit 49 can be with multistage change gain.The control signal that changes that is used to gain outputs to amplifier unit 49 from signal processor 57.

Be used for noise spectra of semiconductor lasers 1 and carry out pulse modulated baseband signal from oscillation frequency dividing circuit 54 outputs.Baseband signal also is input to A/D converter 55 as clock signal.Utilization is converted to the data segment of digital form by A/D converter 55 from analog form, finishes the identification of measuring object 9.In signal processor 57, gain control signal determines according to the intensity of input signal, and the gain of

amplifier unit

48 and 49 is changed into optimum gain and is reflected in to during the A/D data converted is gathered next time.

Below, explain the A/D converter 55 be shown among Figure 18 and the processing in the signal processor 57 with reference to the process flow diagram shown in Figure 19.

At first, A/D converter 55 is sampled to ∥ polarized component signal and ⊥ polarized component signal simultaneously.Suppose that the A/D conversion of being undertaken by A/D converter 55 triggers (steps A D3-ST1) with instantaneous triggering mode.

Then, the A/D conversion by A/D converter 55 captures the signal data of the one-period waveform of lens vibration among the storer M that is included in the signal processor 57, and wherein the A/D conversion stops (steps A D3-ST2).

Afterwards, signal processor 57 carries out Difference Calculation according to the reference data of the pulse modulated clock signal of LD to ∥ polarized component signal and ⊥ polarized component signal.That is,,, carry out Difference Calculation between another signal when the time of time of clock signal signal during for " 1 " and clock signal is " 0 " for ∥ polarized component signal as described among the 8th embodiment in front with reference to Figure 13 A and 13B.Simultaneously, as disclosed with reference to figure 13B, for ⊥ polarized component signal, time of clock signal signal during for " 1 " with the time in carry out Difference Calculation between time of signal another signal when being " 0 ".By this Difference Calculation, reduced disturbance light The noise (steps A D3-ST3).

Subsequently, ∥ polarized component signal is carried out peak value searching, and with the time point of the peak value of the ∥ polarized component signal focal time (steps A D3-ST4) as lens vibration.

According to the reference data of the intensity data of the focus state signal in the ∥ polarized component signal strength data row that are stored among the storer M, the signal intensity of focus state ∥ polarized component signal is given by the mean intensity of the intensity data of a plurality of points.This plans to reduce the influence of spike noise, and improves the accuracy of identification of measuring object.By the intensity of reference focus state ∥ polarized component signal, signal processor 57 is determined to change control signal at the gain of ∥ polarized component side amplifier unit 48 next time.That is, when the light intensity of ∥ polarized component died down, signal processor 57 changed gain and changes control signal, so that increase the gain of amplifier unit 48.On the contrary, when the light intensity grow of ∥ polarized component, signal processor 57 changes gain and changes control signals so that reduce the gain of amplifier unit 48.In addition, when light intensity was just right, the gain of signal processor 57 hold amplifier parts 48 did not change control signal (AD3-ST5) and do not change gain.

On the other hand, defocus the time by determining with reference to focal time.In order to provide the position and the time ratio of lens vibration with equation, in lens drive system, use for example sinusoidal curve cam.As a result, given apart from the skew x of the focal position of object lens 8 by x=asin ω t (mm), wherein, if the amplitude a of frequencies omega and lens vibration is known, and if provide the required position x that defocuses, so can computing time t.The given steady current that flows through the motor that drives object lens 8 can make the frequencies omega of lens vibration constant.Given by this way time t is as defocusing the time (steps A D3-ST6).

Suppose that the signal intensity under the defocus condition is averaged the intensity that obtains for a plurality of number of signals strong point defocusing the time about the signal data row of the intensity of expression ⊥ polarized component signal.Should on average plan to reduce the The noise under the ∥ polarized component RST.In addition, the gain of ⊥ polarized component side amplifier unit 49 changes control signal to change the identical mode of control signal definite (steps A D3-ST7) with the gain of ∥ polarized component side amplifier unit 48.

In this stage, about passing through the ∥ polarized component signal that last time A/D conversion obtains, the gain of amplifier unit 48 changes control signal and keeps being stored among the storer M of signal processor 57.By doing like this, determine the amplification factor α of amplifier unit 48 in this focal time.In addition, by with the intensity of the ∥ polarized component signal of focal position divided by α, can calculate the intensity (S of the ∥ polarized component signal that light that ∥ polarized component sidelight receiving element 12b receives causes _∥/ α) (steps A D3-ST8).

About ⊥ polarized component signal, similarly, last time gaining of amplifier unit 49 changed control signal remain among the storer M of signal processor 57 equally, determine to defocus the amplification factor β of time ⊥ polarized component side amplifier unit 49 thus at this.By will be, can calculate the intensity (S of the ⊥ polarized component signal that light that ⊥ polarized component sidelight receiving element 12a receives causes in the signal intensity of the ⊥ polarized component signal that defocuses the position divided by amplification factor β _⊥/ β) (steps A D3-ST9).

As the calculating of carrying out among steps A D3-ST8 and the steps A D3-ST9, calculate the intensity (S of focus state ∥ polarized component signal _∥/ α) to the intensity (S of defocus condition ⊥ polarized component signal _⊥/ β) ratio ((S _∥/ α)/(S _⊥/ β)) (steps A D3-ST10).

Replacedly, as described in the 5th and the 6th embodiment, the computing method of focus state ∥ polarized component signal and defocus condition ⊥ polarized component signal can be for calculating between the two poor, or its difference is to methods such as ratio of focus state ∥ polarized component signal.

Then, the value that calculates in steps A D3-ST10 is compared with the statistics relevant with known measuring object in being prior-entered at storer M, with the type (steps A D3-ST11) of identification measuring object.

Afterwards, signal processor 57 outputs to surperficial recognition result display unit 58 with the recognition result of measuring object, and the change control signal that will gain outputs to ∥ polarized component side amplifier unit 48 and ⊥ polarized component side amplifier unit 49 (steps A D3-ST12).

After the signal processor 57 output signal results, program turns back to the processing of steps A D3-ST1 once more among the follows step AD3-ST12, wherein A/D conversion beginning.

In order to obtain more reliable result, also may carry out following processing.That is,, calculate the intensity (S of focus state ∥ polarized component signal as the result of processing from step (AD3-ST1) to step (AD3-ST12) _∥/ α) to the intensity (S of defocus condition ⊥ polarized component signal _⊥/ β) ratio ((S _∥/ α)/(S _⊥/ β)), and with resulting ratio ((S _∥/ α)/(S _⊥/ β)) store in the storer, described operation repeats repeatedly.Then, calculate repeatedly the mean value of ratio, and according to the mean value identification measuring object that obtains.In this case, signal processor 57 is handled to step (AD3-ST12) from step (AD3-ST1) continuously, notifies to measure up to the operator and finishes.

(the tenth embodiment)

Next, explain the tenth embodiment of optical object recognition device of the present invention.The tenth embodiment is the embodiment that can be applied among first to the 9th embodiment of front.

When semiconductor laser 1 was used as light source, the safety of considering eyes was necessary.Especially, in the time of on the optical object recognition device is installed in such as the household electrical appliance of vacuum cleaner, require to satisfy 1 grade of eye-safe.

Under the optical object recognition device was installed in situation on the vacuum cleaner, basically, must following design: except being placed on the floor surface at clearer, semiconductor laser 1 be disconnected.Under the situation of vacuum cleaner, wherein the floor surface identification sensor is mounted thereto as optical object recognition device of the present invention, can be according to the light emission of semiconductor laser 1, existence by detecting the floor surface reflection or do not exist is carried out having or do not exist relevant judgement with floor surface.Certainly, this detection also can be finished in other mode by using other sensors.

In addition, about being included in the floor surface identification sensor pulse modulated operating conditions as the semiconductor laser 1 of optical semiconductor radiated element, for example, utilize signal to drive the semiconductor laser 1 feasible condition that satisfies 1 grade of eye-safe with the pulse waveform shown in the pulse waveform shown in Figure 20 A or Figure 20 B.

(the 11 embodiment)

Below, explain the 11 embodiment of optical object recognition device of the present invention.The 11 embodiment has the structure of the modified example 3 of the 6th embodiment shown in Figure 11 A, and it comprises lens vibration mechanism, for example, and crank mechanism.Shown in Figure 11 A, first light beam 5 passes the optical window 35 that is connected to shell 83, has wherein held the IC of optical system and formation signal processing circuit 14, and folded light beam 7 transmissions of measuring object 9 reflections enter shell 83 by optical window 35.Optical window 35 is set to, and no matter object lens 8 are positioned at which position of lens vibration scope, all is positioned at the focal position of object lens 8.

As previously mentioned, owing to the polarization scrambling of measuring object 9 according to the folded light beam on the measuring object 9 is identified, therefore,, will become the noise source that upsets polarized state of light if be deposited on the optical window 35 such as the light-scattering body of dust.

Yet in the 11 embodiment, because pin hole parts 11 are arranged on the focal position of

collector lens

10a and 10b, light receiving

element

12a and 12b receive hardly from the light except the focal position of object lens 8.Therefore,, utilize optical window 35 to be arranged on the advantage of the structure in the focal length of object lens 8 even under any vibrational state of object lens 8, though dust deposit on optical window 35, first light beam can not focus on the dust yet, dust can not become noise factor thus.Thereby, can in the identification of measuring object 9, eliminate the influence of dust, dirt etc.

(the 12 embodiment)

Figure 21 A shows the summary construction diagram that the optical object recognition device that is shown among the arbitrary embodiment in front of the present invention is applied to clearer.The general profile of clearer A is shown in Figure 21 A top, and the head E of clearer A amplifies below Figure 21 A and illustrates simultaneously.Head E has wheel C, and optical object recognition device B is combined in the inside of head E.The optical window (not shown) is formed on the lower surface of head E, and wherein first light beam 5 is by this optical window emission.

Equally, Figure 21 B shows the summary construction diagram that the optical object recognition device that is shown among the arbitrary embodiment in front of the present invention is applied to self-propelled cleaner A2.The optical window (not shown) is formed on the lower surface of self-propelled cleaner main body, and wherein first light beam 5 is as passing the optical window emission the clearer A among Figure 21 A.Notice that reference symbol C represents wheel, and D represents to be connected the guide element on the outer of main body lower surface.

Usually, the type of the floor surface of the device that will be cleaned cleaning comprises indoor floor or other wood surface, straw tatami mat, and carpet or other woolen knitwears.The operator that now general widely distributed clearer needs clearer manually changes service condition according to the type of floor surface, and is therefore pretty troublesome.

In addition, automatically move and do not allow the operator to change service condition, and need to be used to discern the sensor of floor surface type basically with the self-propelled cleaner that cleans.These clearers, the optical object recognition device of the embodiment by comprising front of the present invention can be discerned the type of floor surface accurately.Promptly, as previously described in the embodiment, utilize going up and the relevant information of depolarizing of light reflection in the storer that is input to signal processing circuit 14 in advance at known floor surface (wood, straw tatami mat, carpet), between the measurement result of known depolarize information and measuring object, compare, can discern the type of floor surface accurately.Equally, the optical object recognition device of the 7th embodiment, it has the additional function of disturbance lights such as eliminating sunlight, fluorescent light, even also can use in all bright light environments if any indoor environment one class of throwing light on, to clearer, especially self-propelled cleaner is very effective thus.

(the 13 embodiment)

Figure 22 A is the summary construction diagram of the optical object recognition device of the 13rd embodiment of the present invention.In Figure 22 A, only show the track of light beam and main optics, and those keep the element of used for optical part also not shown.In this case, can wherein,, then can only use any one in them with light emitting diode (below be called LED) or semiconductor laser (below be called LD) etc. as light source if can on measuring object, obtain particular value or bigger light intensity.Yet, when using LED,, need make the emission light of LED pass linear polarizer for the polarized light that makes specific direction in the emission light beam incides on the measuring object.On the other hand, when using LD,, therefore do not need linear polarizer because emitted light beams is polarization.Use LD in the present embodiment, this situation also is applicable to every other embodiment.

Change collimated light beam into from the collimated lens of light of LD101 emission (below be called CL) 102, further change circular light beam 105 into by circular open hole 103 again with special diameter.CL102 and hole 103 constitute optical projection parts 100.The light beam 105 measured objects 108 that apply from optical projection parts 100 reflect (scattering).The condenser parts that a catoptrical part is made of two lens 109,110 are focused to folded light beam 107.Shown in Figure 22 A, two lens 109,110 are first collector lens 109 and second collector lens 110, and it is set to its optical axis and overlaps each other.The hot spot of the light beam 105 on first collector lens 109 is set to its focus and is applied to measuring object 108 overlaps, and overlaps with the light-receiving member of the light receiving element 115,116 that describes below and second collector lens 110 is set to its focus.Adopt this set of optical system, the folded light beam 107 of measuring object 108 surface reflections is changed into substantially parallel light beam by first collector lens 109, assembled by second collector lens 110, and converge to the optical receiving surface of light receiving element 115,116, detect thus.In this case, in order to receive specular light from measuring object 108, first collector lens 109 and second collector lens 110 are set to, the angle (θ 2) that the optical axis of two lens and measuring object 108 normals to a surface form and is equal to each other from the optical axis of the light beam 105 of the light source angle (θ 1) with the formation of measuring object 108 normals to a surface.Like this, for the light beam 105 that incides measuring object 108, optical receiver system is arranged on the optical axis of specular light, thus can be with its largest light intensity detection of reflected light beam 107.Big light intensity allows to improve S/N (signal/noise) ratio, can discern measuring object accurately thus.

By as the unpolarized beam splitter of light splitting part (below be called unpolarized BS) 104, the folded light beam 107 that second collector lens 110 is assembled is divided into two bundles, by first folded light beam 113 of unpolarized BS104 reflection and second folded light beam 114 of passing unpolarized BS104.Divided this first folded light beam 113 of opening to have identical light intensity by unpolarized BS104 with second folded light beam 114.Subsequently, two light beams are selected via linear polarizer 111a and the 111b as the polarization state selector part, only have the polarized component of orthogonal direction respectively, are detected by first light receiving element 115 and second light receiving element 116 then.That is, linear polarizer 111a and 111b are set to allow the polarisation of light direction passed through orthogonal.In addition, any one among linear polarizer 111a and the 111b all is set to the polarisation of light direction that transmitted light is parallel to the LD101 emission.

In this case, if first and second light receiving elements 115,116 are converted to electric signal with light signal, it just can satisfy function of the present invention.Yet especially, with regard to the ability of miniaturization device structure with reduce with regard to its cost, the use of photodiode (below be called PD) is preferred.In addition, with regard to reducing the ability that may be mixed into the noise in the lead that connects PD and Signal Processing Element 117 etc. significantly, the formation of Signal Processing Element 117 on same semiconductor chip of PD and subsequent stage thereof is preferred.

Usually, when light was reflected surface reflection, the polarization of reflected light state was according to the structural change of reflecting surface.For example, the reflection having on the picture reflecting surface of optical mirror plane of the uneven degree enough littler than lambda1-wavelength has kept the polarization of reflected light state.On the other hand, under the situation of uneven degree greater than optical source wavelength on measuring object surface, produced multiple scattering, cause polarized component different with the component of light source by the light of surface reflection.Thus, in the present embodiment, for folded light beam 107 from the surface reflection of the linearly polarized light of LD101 emission and measured object 108, measure its polarization direction and be parallel to light intensity from the linearly polarized light of LD101, with and polarization direction and from the rectangular light intensity of the linearly polarized light of LD101.On the basis of measuring light intensity,, can know the uneven degree state on measuring object surface by detecting the change characteristic of the polarized light that causes owing to measuring object.

In the optical system shown in Figure 22 A, the polarization direction of LD101 emitted light beams 105 is preferably perpendicular to drawing (S ripple).Its reason is, if the polarization direction of light beam 105 is parallel to drawing (P ripple), the polarization direction after the reflection is parallel to the optical axis of folded light beam 107 so, causes reflectivity to reduce owing to light can not exist with the compressional wave form.

108 reflections of measured as mentioned above object and the folded light beam 107 that comprises the information relevant with measuring object 108 surfaces are divided into two-beam by unpolarized BS104.The resulting light beam that passes orthogonal linear polarizer 111a, 111b has the light component of the light beam 105 identical polarization directions of the LD101 that detects with first light receiving element 115, and the light component of the vertical polarization direction of the output beam 105 of the LD101 that detects with second light receiving element 116.The surface of measuring object 108 is flat more, and the polarized state of light of reflection can keep more, and therefore, the output of first light receiving element 115 is greater than the output of second light receiving element 116.

The signal processing method of characteristic identification measuring object 108 types above using has been described.Because the reflectivity of measuring object 108 depends on its material with structure and different, thus need be in wide scope the light intensity of detection of reflected light beam 107.Usually, if the surface of measuring object 108 is blackish, and if the uneven degree on surface very big, may cause inciding lip-deep light beam 105 so very strong scattering takes place, folded light beam 107 is the low light level thus.For the amplification of this low light level, increase amplification factor at one-level amplifier place realizing that amplification can cause the circuit fluctuation of service, from but disadvantageous.Therefore, Signal Processing Element 117 has the amplifier group that a plurality of amplifiers are cascaded.The signal that is amplified to appropriate level by the amplifier group is sent to calculating unit.In calculating unit, separately with the signal that detects by first light receiving element 115 and second light receiving element 116 respectively and amplified by the amplifier group.That is, carry out calculating by following The Representation Equation:

(output of Signal Processing Element)=(output of first light receiving element 115)/(output of second light receiving element 116) ... (13).

If measuring object 108 surfaces have big uneven degree, light beam 105 is by reflective depolarization so, makes the result of calculation of equation (13) near " 1 ".On the other hand, if measuring object 108 surfaces have little uneven degree, light beam 105 almost keeps the polarization of itself so, makes that the result of calculation of equation (13) is to be similar to infinite value.Therefore, by the corresponding surface state of result of calculation level of the measuring object that sets in advance and will be detected, just may be according to the type of this result of calculation identification measuring object 108.

Equally, the calculating unit of Signal Processing Element 117 also can replace equation (13) and calculate the output of first light receiving element 115 as followsly and the output of second light receiving element 116 between difference to ratio:

(output of Signal Processing Element)=(output of two light receiving elements poor)/(the output sums of two light receiving elements) ... (14).

In this case, if the surface of measuring object 108 has big uneven degree, the output of two light receiving elements 115,116 is equal to each other haply owing to depolarizing of light beam 105 so, and then the value of equation (14) is near " 0 ".On the other hand, if the surface of measuring object 108 has little uneven degree, folded light beam 107 keeps polarizations so, makes that the output valve of second light receiving element 116 is more much smaller than the output valve of first light receiving element 115, and its result is that the value of equation (14) is near " 1 ".Like this, because the output signal level of the result of calculation of equation (14) is narrower than the output signal level of equation (13), therefore can simplify the structure of Signal Processing Element 117.

In addition, when unpolarized BS 104 and these three opticses of linear polarizer 111a, 111b are realized by a polarization beam apparatus shown in Figure 22 B (below be called PBS) 112, can obtain identical effect equally.In PBS 112, the polarization direction of the polarization direction of the light component that sees through and the light component of its reflection is orthogonal, and uses PBS 112 to allow to cut down component count.In the following embodiments, unpolarized BS 104 combines with linear polarizer 111a, 111b's, and perhaps PBS 112 all can use the optics of doing folded light beam 107 beam split and polarization.

(the 14 embodiment)

Figure 23 is the general structural map according to the optical object recognition device of fourteenth embodiment of the invention.In Figure 23, only show the track of light beam and main optics, and those keep the element of used for optical part also not shown.Equally, the building block identical with the 13 embodiment represented by the Reference numeral identical with the building block of the 13 embodiment, and the descriptions thereof are omitted.

As shown in figure 23, the collimated light beam 105 that applies from optical projection parts 100 is divided into transmitted light beam and folded light beam by unpolarized BS104.Hypothesis herein, the light beam that is seen through by unpolarized BS104 is first light beam 105, and is second light beam 106 by unpolarized BS104 beam reflected.First light beam 105 vertically incides on the surface of measuring object 108.Folded light beam 107 by the surface reflection of measuring object 108 incides on the unpolarized BS104 once more, and is reflected by unpolarized BS104.Directed into PBS112 from the light beam of unpolarized BS104 output by first collector lens 109.Because first collector lens 109 is set to its focus and overlaps with the hot spot of measuring object 108 lip-deep light beams 105, the folded light beam 107 of therefore unpolarized BS104 output forms approximately parallel light beam by first collector lens 109.This light beam is divided into the polarization direction by PBS112 and is parallel to from the radiative light beam 113 of LD101 and polarization direction perpendicular to the radiative light beam 114 from LD101.Divided beams 113,114 is assembled by collector lens 110a, 110b respectively, and is received by light receiving element 115,116.In the optical object recognition device of the 13 embodiment, unless measuring object 108 is arranged on the irradiation optical axis that formed by optical projection parts 100 and the reflection optical axis that forms by collector lens 109,110 between intersection point on, otherwise the specular components of measuring object 108 can not incide on the light receiving element 115,116.Such state for example can take place when the unevenness that has big relatively step gap on the surface of measuring object 108 is spent.In contrast, in the optical object recognition device of the 14 embodiment, because the catoptrical optical axis on the measuring object 108 changes by unpolarized BS104, the irradiation optical axis of optical projection parts 100 and this reflection optical axis can be aligned with each other thus.Therefore, even exist on the surface of measuring object 108 under the situation of uneven degree, also the specular light of measuring object 108 can be directed into reliably light receiving element 115,116.Thus, compare,, can eliminate the influence of the uneven degree on measuring object 108 surfaces on the reflection optical axis basically according to present embodiment with the 13 embodiment.

Figure 24 shows the synoptic diagram of the outward appearance of a side that has defined unpolarized BS 104, wherein schematically shows the position relation between the lens 109 of the surface of unpolarized BS104 of measuring object 108, more close unpolarized BS104 and condenser parts.Notice that the surface of the unpolarized BS104 of more close measuring object 108 is illustrated by the incidence surface part 140 shown in this surperficial neighbouring part of excision.In Figure 24, X-axis is the direction of propagation of the reflection optical axis in Figure 23, and Y-axis is along the direction perpendicular to the drawing of Figure 23.With reference to Figure 23, measuring object 108 beam reflected change along the direction of propagation, and lens 109 are arranged on and are right after the rectangular basically direction in the direction of propagation after reflection simultaneously.Yet, even under the situation of Figure 24, wherein reflected light is not reflected by BS, and its direction of propagation does not change, and the incidence surface of measuring object 108 and BS104 partly and identical among the relation between the size of distance between the lens 109 and incidence surface part 140 and Figure 23.Promptly in Figure 24, under the situation of the change of the direction of propagation of not considering to be caused by BS104, the reflection optical axis of 109 scope illustrates with straight line from the measuring object to lens.

As shown in figure 24, the beam diameter ' a ' of light beam 105 on the given measuring object 108, the diameter L of first collector lens 109, focal distance f and from the incidence surface of measuring object 108 to unpolarized BS104 apart from d, in Signal Processing Element 117, improve S/N than needing to increase as much as possible the light beam that will be assembled by first collector lens 109.Therefore, need make the side α of incidence surface part 140 of the unpolarized BS104 of cubic type greater than spot diameter at the supercentral light beam of the incidence surface of BS104.Thus, calculate the condition of equation (1) below needing to satisfy according to ratio:

a≥(a+L)×d/f …(1)。

In addition, in the unpolarized BS104 of this cubic type, length alpha, the β of plane of incidence both sides are equal to each other.

With reference to Figure 23, from optical projection parts 100, incide and by second light beam 106 of unpolarized BS104 reflection away from the optical system that directs into light receiving element 115,116.Have certain situation, wherein, second light beam 106 is for example centered on the reflections such as side wall of outer shell (not shown) of optical system, and is detected as noise light by light receiving element 115,116, and this causes the accuracy of identification of measuring object to reduce.In order to eliminate this noise light, the linear polarizer 111 that has perpendicular to the polarization direction of noise light polarization direction is arranged on the optical axis of second light beam 106.Therefore, second light beam 106 is allowed to see through linear polarizer 111 hardly.Equally, linear polarizer 111 need be positioned to become following angle with respect to the optical axis of first collector lens 109 and the second collector lens 110a, 110b.That is, for the light beam of the surface reflection that prevents linear polarizer 111 incides light receiving element 115,116, linear polarizer 111 is positioned to not right with the axial plane of first collector lens 109 and the second collector lens 110a, 110b.As a result, can prevent because the reduction of the accuracy of identification of the measuring object 108 that the parasitic light of second light beam 106 causes.

Figure 25 is the general structural map of variation that the optical object recognition device of the 14 embodiment is shown.In Figure 25, only show the track of light beam and main optics, and those keep the element of used for optical part also not shown.Equally in Figure 25, the building block identical with the optical object recognition device shown in Figure 23 by with Figure 23 in the identical Reference numeral of building block represent that and the descriptions thereof are omitted.

In the optical object recognition device of Figure 25, reflected by unpolarized BS104 from the folded light beam 107 of measuring object, and form approximate collimated light beam by first collector lens 109.The folded light beam 107 that changes collimated light beam into converges on the light receiving element 115,116 by second collector lens 110.In this case, the folded light beam 107 of passing second collector lens 110 light beam 114 that is divided into its polarization direction and is basically perpendicular to the emission light beam by PBS112 from the substantially parallel light beam 113 of the emission light beam of LD101 and its polarization direction.

Figure 26 A and 26B illustrate the experimental result that the object identification experiment carried out from the optical object recognition device of sampling Figure 25 obtains.In this experiment, with two kinds of indoor floors (being expressed as " wooden 1 " and " wood 2 " in Figure 26 A and 26B), a kind of straw tatami mat and two kinds of carpets are as measuring object, 70 recognizing site place measuring light quantities receiveds that having nothing in common with each other.Figure 26 A shows the experimental result under the situation of the signal Processing of carrying out above-mentioned equation (13), and Figure 26 B shows the experimental result under the situation of the signal Processing of carrying out above-mentioned equation (14).Should be appreciated that by result of calculation, the threshold value corresponding to indoor floor, straw tatami mat, carpet etc. is set, and, can discerns measuring object by comparing with these threshold values for single equation.The value of the result of calculation of equation (13), it has big dynamic range, drops on 1 to infinite scope, and the value of the result of calculation of equation (14) drops in 0 to 1 the dynamic range.Therefore, for example when Signal Processing Element 117 is realized by mimic channel, carry out the calculating of equation (14) and can simplify circuit structure, this is because the result of calculation of equation (14) drops in the voltage range that can be represented by the base amplifier structure.

Figure 27 is the summary construction diagram of another modified example that the optical object recognition device of the 14 embodiment is shown.In Figure 27, only show the track of light beam and main optics, and those keep the element of used for optical part also not shown.Equally in Figure 27, the building block identical with the optical object recognition device shown in Figure 25 by with Figure 25 in the identical Reference numeral of building block represent that and the descriptions thereof are omitted.

In the optical object recognition device of Figure 27, optical projection parts 100 emitted light beams are divided into by first light beam 105 of half-reflecting mirror (below be called HM) 120 transmissions with by second light beam 106 of HM120 reflection.First light beam 105 incides on the measuring object 108.Folded light beam 107 from measuring object 108 is reflected by HM120, and assembles by first collector lens 109.Like this, in this modified example, the unpolarized BS104 that HM120 replaces among Figure 25 is used as the optical branch parts.

Utilize as the unpolarized BS104 of cubic type as the optical branch parts among Figure 25, although the side of BS104 is coated with anti-reflective film usually, folded light beam is still reflected slightly by this side.Because the lateral vertical of BS104 in the optical axis that extends to light receiving element 115,116 from BS104, is therefore incided light receiving element 115,116 surfaces by the faint light beam of the offside reflection of BS104, produces noise.In order to eliminate this noise, need in Signal Processing Element 117, store and the corresponding light quantity of this noise in advance, and from the signal that receives, deduct and the corresponding signal of this light quantity.With proportional this noise equivalent light quantity of the light quantity of LD101 may since for example the secular variation of LD101 etc. and the time change on the base, cause to be difficult to eliminate fully noise.

In contrast, use HM120, because the surface of HM120 and be not orthogonal to the optical axis of direct light receiving element 115,116, therefore the folded light beam from the HM120 surface can not incide on the light receiving element 115,116 in principle.Therefore, need in Signal Processing Element 117, not eliminate the processing of any noise signal.

The condition that the size of HM120 should satisfy can utilize Figure 24 to determine.That is, with reference to Figure 24, the beam diameter of supposing to be applied to from optical projection parts 100 first light beam 105 on the measuring object 108 is a, and the diameter of first collector lens 109 is L, and focal length is f, and is d from the distance of measuring object 108 to HM120.In this was discussed, the incidence surface part 140 usefulness HM120 of Figure 24 replaced.In this case, in order to improve the S/N ratio in the Signal Processing Element 117, all can all be incided on the HM120 by the light beam that first collector lens 109 is assembled.Therefore, the side length of HM120 need be greater than the spot diameter at the supercentral light beam of HM120.So the value α of the side of HM120 need satisfy the following equation (2) according to ratio calculating.In addition, the value β of the opposite side of HM120 need satisfy following equation (3):

a≥(a+L)×d/f …(2)

β≥2 ^1/2(a+L)×d/f …(3)。

In addition, in Figure 27,, therefore can reduce the optic number of packages, and optical system is changed at a low price owing to the optical system between HM120 and the PBS112 is only realized by first collector lens, 109 these lens.

(the 15 embodiment)

Figure 28 is the summary construction diagram according to the optical object recognition device of fifteenth embodiment of the invention.In Figure 28, only show the track of light beam and main optics, and those keep the element of used for optical part also not shown.In the optical object recognition device of Figure 28, the building block identical with the optical object recognition device shown in Figure 22 A and the 22B by with Figure 22 A and 22B in the identical Reference numeral of building block represent that and the descriptions thereof are omitted.

In the optical object recognition device of the 15 embodiment, the folded light beam 107 of measuring object 108 is reflected by unpolarized BS104, and is assembled by first collector lens 109.The folded light beam 107 diffracted gratings of being assembled by first collector lens 109 118 separate.The light beam of diffracted grating 118 diffraction is by linear polarizer 111a, by this linear polarizer, the polarization direction is parallel to the radiative transmittance from LD101, and described light beam is by linear polarizer 111b, by this linear polarizer, the polarization direction with from the rectangular transmittance of emission light of LD101.As a result, extract its polarization direction be parallel to from the radiative light beam 113 of LD101 and its polarization direction with from the rectangular light beam 114 of the emission light of LD101.The light beam 113,114 of above-mentioned polarized component is received by Splittable PD119, and the light intensity of itself and these light beam 113,114 is converted to electric signal pro rata.

In this case, diffraction grating 118 can replacedly extract+1 order diffraction light and-1 order diffraction light.As the result who extracts+1 order diffraction light and-1 order diffraction light by diffraction grating 118, the light quantity of the light beam 113,114 of extraction is equal to each other haply, so can improve the precision of light-receiving on Splittable PD119.In addition, for diffraction grating 118, preferably the light quantity with 0 order diffraction light is set to zero basically.When the 0 order diffraction light that is not used in measuring object identification is set to zero basically, can suppresses the optical loss at diffraction grating place, and can improve the S/N ratio at light receiving element place.

In addition, diffraction grating 118 can also be blazed grating.The sampling blazed grating makes the light quantity of regulating any required progression become possibility.Therefore, enlarged the degree of freedom of optical object recognition device design, thereby can realize more effective design.The utilization type diffraction grating that glitters, light is diffracted into 0 order diffraction light and 1 order diffraction light more consumingly, can improve the service efficiency of light thus.

In the most preferred embodiment of present embodiment, as light receiving element, and the type diffraction grating that will glitter is as diffraction grating with Splittable PD, and this diffraction grating has the design that 0 order diffraction light and 1 order diffraction light light quantity are equal to each other basically.As its result, the loss at the diffraction grating place minimum can be suppressed to, and the measuring accuracy maximization of the light quantity at light receiving element place can be made, can improve the accuracy of identification of measuring object thus.In addition, utilize Splittable PD to allow to make the optical receiver system of low price, easy miniaturization.

(the 16 embodiment)

Figure 29 is the general structural map according to self-propelled cleaner of the present invention.This self-propelled cleaner 122 has the optical object recognition device 121 of the present invention that is installed in the bottom, and first light beam 105 is launched towards floor surface 108 via the optical window (not shown) that is provided at the bottom surface.

Usually, the be cleaned type of floor surface of device cleaning comprises indoor floor, straw tatami mat, carpet etc.For the clearer of general extensive distribution, need the operator manually to change service condition according to the type of floor surface, pretty troublesome shortcoming traditionally.Therefore, automatically move and develop, and these self-propelled cleaners need to discern the sensor of floor surface type indispensably in order to change service condition automatically with the self-propelled cleaner that cleans.So, in such self-propelled cleaner, can use the optical object recognition device of the 13 to the 13 embodiment.Promptly, the information of depolarize (change) in the light reflection of specific floor surface (indoor floor, straw tatami mat, carpet etc.) is stored in the memory unit of optical object recognition device in advance, and carry out comparison between the measurement result of this information and light-receiving member, can discern the type of the floor surface 108 that will clean thus accurately.Thereby, can obtain accurately and efficiently to carry out the self-propelled cleaner of clean operation.

(the 17 embodiment)

Figure 30 is the general structural map according to the optical object recognition device of seventeenth embodiment of the invention.In Figure 30, only show the track of light beam and main optics, and those keep the element of used for optical part also not shown.In this case, optical semiconductor radiated element as light source can be for example given by light emitting diode (LED) and laser diode (LD), demonstrate particular value or bigger if incide the light quantity of first light beam 205 on the surperficial 208a of measuring object 208, can only adopt so both one of.Yet, compare with LED, LD more superior aspect the collimation property and on the polarization direction flatness more, make its easier explanation operation of the present invention.Therefore, below of the present invention, among the embodiment LD is used as the example of optical semiconductor radiated element.

In the optical object recognition device of the 17 embodiment, LD201, CL202, circular open hole 203, and constitute the optical projection parts as the unpolarized beam splitter 204a of first optical branching device.

The optical object recognition device of the 17 embodiment comprises first collector lens 209, unpolarized beam splitter 204b as second optical branching device, be used to select the first and second linear polarizer 210a, the 210b of polarization state, the first and second light receiving element 211a, the 211b that realizes by photodiode etc. and as the signal processing circuit 214 of Signal Processing Element.

Orthogonal with the polarization state of being selected by the second linear polarizer 210b by the polarization state that the first linear polarizer 210a selects, for example, the polarization state that will be selected by the first linear polarizer 210a is as the radiative polarization state of LD201.

The emission light of LD201 is changed into parallel beam by CL202, and only is allowed to circular open by hole 203 around the part of the parallel beam of the roughly light intensity flatness at grating center.As this result, change the beam cross section of parallel beam structure into circle.

Then, parallel beam incides on the unpolarized beam splitter 204a, and is divided into first light beam 205 that passes unpolarized beam splitter 204a and by unpolarized beam splitter 204a reflection and continue second light beam 206 of the surperficial 208a of directive measuring object 208 substantially parallel.

Although unpolarized beam splitter 204a is for example realized by the cubic type beam splitter that is shown among Figure 30, yet if adopts the sheet half-reflecting mirror also can realize similar effects.Equally, although adopt LD201, also can adopt LED as described above as light source.Yet, adopting under the situation of LED as light source, need to use suitable lens to change substantially parallel light into, and further change this light into linearly polarized light, and utilize hole that this light beam is reshaped into optimum structure with suitable diameter via polarizer from the LED emitted light beams.The polarization direction that is transformed into the conversion of linear polarization by polarizer needs level or perpendicular to being included in first, second linear polarizer 210a in the light-receiving member of describing later, the polarization direction of 210b.What provide above is applicable to each embodiment given below about unpolarized beam splitter 204a with as the description of the semiconductor laser 201 of optical semiconductor radiated element, will omit this description hereinafter.

By second light beam 206 of unpolarized beam splitter 204a reflection away from the optical system that after unpolarized beam splitter 204a, covers first light beam 205.Have certain situation, wherein second light beam 206 may for example be centered on the reflections such as side wall of outer shell (not shown) of optical system, and is detected as noise light by light receiving element 211a, 211b.In order to eliminate this noise light, the linear polarizer 210c that is orthogonal to the polarization direction of second light beam 206 through the polarization direction prevents that as parasitic light parts are arranged on the optical axis of second light beam 206.As a result, suppressed second light beam 206 and seen through linear polarizer 210c, can not be applied to side wall of outer shell thus and can not become noise source.

Folded light beam 207 by the surperficial 208a reflection of measuring object 208 is reflected by unpolarized beam splitter 204a, assemble by first collector lens 209, and the unpolarized beam splitter 204b that is used as second optical branching device is divided into two bundles, first folded light beam 212 and second folded light beam 213.First, second folded light beam 212,213 detects by first, second

light receiving element

211a, 211b via the polarization direction of its transmission orthogonal first, second linear polarizer 210a, 210b respectively.For example, this first, second

light receiving element

211a, 211b are photodiode.

First, second received signal that is detected by first, second

light receiving element

211a, 211b all is imported into the signal processing circuit 214 of following stages, and signal processing circuit 214 is calculated the ratio of first received signal to second received signal there.

Figure 30 illustrates by the dot-and-dash line of a point, the direct reflection optical axis J1 under the situation of the optical axis coincidence of the normal of the surperficial 208a of measuring object 208 and first light beam 205 (that is, the tiltangle of measuring object 208 is 0 °).Equally, Figure 30 illustrates by a dotted line, the direct reflection optical axis J2 under the situation that the normal G of the surperficial 208a of measuring object 208 tilts from the angled θ of the optical axis of first light beam 205 1.This direct reflection optical axis J2 tilts towards the angled θ 1 of the opposition side of first light beam 205 from normal G.

As shown in figure 30, be that direct reflection optical axis J1, J2 all incide on the first light receiving element 211a and the second light receiving element 211b under both any situation of 0 ° or θ 1 at the pitch angle of measuring object 208.

Figure 31 shows the measurement result when the optical object recognition device of measuring object 208 by including the optical system shown in Figure 30, two kinds of wood wherein, and wooden 1 and wooden 2, tatami and two kinds of carpets, carpet 1 and carpet 2 are as measuring object.Shown in the family curve k1 among Figure 31, its wood that has an even surface 1 and wood 2 along with the growth of normal with respect to the inclination (incident angle) of first light beam 205, demonstrate the polarization ratio of decline.On the other hand, by the tatami shown in the family curve k3 with demonstrate the polarization ratio by the carpet shown in family curve k4, the

k5

1,2 and depend on the pitch angle hardly.

Yet the reflection of the flat surfaces of wood etc. has the ratio that high polarization state keeps, and has the reflecting material of the big smooth degree of air spots and because the reflection that causes such as the dielectric property of

carpet

1,2 causes depolarizes.Under the situation of carpet or tatami reflection, because the light that reflection causes reflecting depolarizes, the pitch angle dependence of its polarization state almost is a flatness.

That is, at carpet or tatami under the situation as measuring object 208,, almost can't see the change of polarization ratio with respect to the change of the tiltangle of measuring object 208.On the other hand, under the situation of wood as measuring object 208, its polarization reflects in a ° position, tiltangle=0 consumingly along the light that the direct reflection direction keeps, otherwise, because the component that its polarization state keeps is little by little away from first, second light receiving element 211a, optical receiving surface 211a-1, the 211b-1 of 211b that constitute light-receiving member, so the polarization rate value reduces along with the increase at the pitch angle of wood.Yet, even tiltangle be increased to as shown in figure 31 ± 6 °, the polarization rate value of being described by family curve k1 to k5 does not overlap each other.Therefore, in signal processing circuit 214, by calculating from first received signal of the first light receiving element 211a and ratio from second received signal of the second light receiving element 211b, and, just can discern these two kinds of

carpets

1,2, tatami and two kinds of

wood

1,2 by calculating the polarization rate value of 212 pairs second folded light beams 213 of first folded light beam.

As the reference example, Figure 32 illustrate utilization by the direct reflection optical axis of first light beam 205 of the surperficial 208a reflection of measuring object 208 with respect to the tiltangle of measuring object 208 away from the optical receiving surface 211a-1 of

light receiving element

211a, 211b, the optical system of 211b-1, measure above-mentioned two kinds of wood, wooden 1 and wooden 2, tatami, with two kinds of carpets, the result of carpet 1 and carpet 2.With reference to Figure 32, family curve m4, m5 represent the polarization ratio of

carpet

1,2, and family curve m3 represents the pitch angle dependence that the polarization ratio of tatami demonstrates not to be had as the polarization ratio of the situation of Figure 31.On the other hand, family curve m1, m2 represent the increase along with the pitch angle, wooden 1,2 polarization ratio descends widely, and the polarization ratio overlaid of the tatami when being approximately 4 ° with the expression pitch angle, to such an extent as to identify wooden the 1, the 2nd, impossible from tatami.

Below, the optical system of Figure 30 is described in more detail with reference to Figure 33.Figure 33 briefly shows first collector lens 209, the unpolarized beam splitter 204b of the light-receiving member of the optical system that constitutes Figure 30, the second light receiving element 211b.Note, owing to unpolarized beam splitter 204a can be regarded as and the transmission equivalence the reflection of folded light beam 207, therefore understand in order to be more convenient for, omitted unpolarized beam splitter 204a among Figure 33, wherein, do not consider because the direction of the optical axis that the reflection of the folded light beam 207 by unpolarized beam splitter 204a causes.

As shown in figure 33, between first collector lens 209 and the measuring object 208 apart from the focal distance f (mm) of a1 (mm) greater than first collector lens 209, and measuring object 208 is set to exceed the focal distance f of first collector lens 209.Noting, is the distance that arrives the surperficial 208a of measuring object 208 from the center of first collector lens 209 via the reflecting surface 204a-1 of unpolarized beam splitter 204a apart from a1 (mm).

As a result, when measuring object among Figure 33 208 counterclockwise tilted with special angle around the z axle, the direct reflection optical axis of first light beam 205 that is caused by measuring object 208 was dispersed by first collector lens, 209 edge+y direction guidings, and the convergence of edge-y direction.Therefore, the direct reflection light component of folded light beam 207 can receive by light receiving element 211b.Equally, when the pitch angle of measuring object 208 was θ, the pitch angle of the direct reflection optical axis of folded light beam 207 was 2 θ.The direct reflection optical axis of folded light beam 207 need incide on first collector lens 209.In order to satisfy this needs, between the radius r 1 (mm) of first collector lens 209 of the optical system of Figure 30, first collector lens 209 and the measuring object 208 apart from a1 (mm), and have such relation between the tiltangle of measuring object 208 (radian), the equation (5) below it satisfies:

tan ^-1(r1/a1)＞2θ …(5)。

Equally, between the focal distance f of first collector lens 209 (mm), first collector lens 209 and the measuring object 208 apart from a1 (mm), and the distance b 1 (mm) between the optical receiving surface 211b-1 of the center of first collector lens 209 and light receiving element 211b have satisfy below the relation of equation (6), the direct reflection optical axis of being assembled by first collector lens 209 arrives the center of the optical receiving surface 211b-1 of the second light receiving element 211b thus:

1/f＝(1/a1)+(1/b1) …(6)。

And, although Figure 33 only shows the second light receiving element 211b among first, second light receiving element 211a, the 211b, but in fact as shown in figure 30, in order to obtain the polarization ratio, also be provided with the first light receiving element 211a, wherein the polarization ratio calculates by signal processing circuit 214, is input in this signal processing circuit 214 from first, second received signal of first, second

light receiving element

211a, 211b.

Equivalently separate by unpolarized beam splitter 204b for the folded light beam 207 that first collector lens 209 is assembled, need make the reflecting surface 204b-1 that folded light beam 207 incides unpolarized beam splitter 204b go up (the diagonal line side among the figure) as second optical branching device.Figure 34 amplifies the following stages side that first collector lens 209 of following Figure 33 is shown.As shown in figure 34, its most peripheral light beam 251 partly that is first collector lens 209 is assembled passes the boundary condition on the summit of beam splitter 204b, the light beam 251 of most peripheral part when passing inside, summit, can be received by light receiving element 211b without a doubt thus.As shown in figure 34, between the optical receiving surface 211b-1 of the given second light receiving element 211b and the reflecting surface 204b-1 of beam splitter 204b apart from x1 (mm), the side length L b (mm) of beam splitter 204b, and the distance b 1 (=focal distance f) between the optical receiving surface 211b-1 of the center of first collector lens 209 and light receiving element 211b, and the radius r 1 (mm) of first collector lens 209, by beam splitter 204b folded light beam 207 equally is divided into two light beams so and must satisfies following equation (7):

x1＜(Lb/2)·(b1-r1)/r1 …(7)。

In the optical system of Figure 30, owing to will be applied on the measuring object 208 as collimated light from the light of LD 201, therefore first light beam 205 has beam diameter φ on the surperficial 208a of measuring object 208.Therefore, folded light beam 207 is not the radiation that forms from a point, but from the radiation in the zone with a width.In order to check the path of folded light beam 207, Figure 35 A and 35B show the necessary part of selecting from Figure 30.With reference to figure 35A and 35B, the tiltangle that the x axle shows measuring object 208 is 0 ° of direct reflection optical axis under the situation, and the y axle shows the surperficial 208a of measuring object 208.First light beam 205 is applied on the measuring object 208 with the beam diameter φ that focuses on the initial point.This first light beam 205 is described by thick line in Figure 35 A and 35B.Figure 35 A illustrates from the width of light beam of first light beam 205+view of the track 207a of the light beam of the folded light beam 207 of y end (that is, the anode of y axle) output, and Figure 35 B is the track 207b that illustrates from the light beam of-y end (being the negative terminal of y axle) output.Figure 35 A and 35B show first light beam 205 vertically (being tiltangle=0) incide situation on the surperficial 208a of measuring object 208.

Be not under 0 the situation at tiltangle, can detect by first light beam 205 (beam trajectory 207a, 207b) is rotated around initial point along the z axle from the direct reflection optical axis of the light beam end of first light beam 205.First light beam 205 is rotated the coordinate response rotation angle of the light beam end that causes first light beam 205 and changes around initial point along the z axle.Yet, for example be that the x coordinate remains unchanged and insignificant change among a small circle only takes place the y coordinate as shown in figure 31 under about several years and the situation of beam diameter in several millimeters scopes at tiltangle.Therefore, in Figure 35 A and 35B, discussion is carried out on such hypothesis basis, and this is assumed to be under first light beam 205 impinges perpendicularly on situation on the surperficial 208a of measuring object 208, and the light beam that passes the light beam end is similar to the direct reflection optical axis that incident angle obtains when non-vanishing.

Shown in Figure 35 A, suppose that the beam diameter on the surperficial 208a of measuring object 208 is φ (mm), the distance (light path) between the intersection point P0 that initial point and the light beam 207a that passes terminal and first collector lens, 209 ends of beam diameter and x axle intersect is xa.Equally, optical receiving surface 211b-1 and light beam 207a after passing first collector lens 209 once more and the distance between the some P1 that intersects of x axle be assumed to be xb (mm).In addition, given optical receiving surface 211b-1 goes up the coordinate yb (mm) of the incoming position of light beam 207a, is incident on fully in the optical receiving surface 211b-1 in order to make the direct reflection optical axis from first light beam 205, the equation (8 ') below needing to satisfy:

yb＜d …(8′)。

Wherein, the side length of optical receiving surface 211b-1 is d (mm).

As the result who utilizes each calculation of parameter coordinate yb, what produce under two kinds of situations of Figure 35 A and Figure 35 B comes to the same thing, and the relation of equation (8 ') obtains the equation (8) between the size d (mm) of the beam diameter φ (mm) of first light beam 205 and optical receiving surface 211b-1:

d＞(b1/a1)·φ …(8)。

Wherein, size d (mm) for example is the diameter of optical receiving surface 211b-1.

With reference to equation (8), b1 (mm) is the distance between the optical receiving surface 211b-1 of the center of first collector lens 209 and the second light receiving element 211b.Under the condition that satisfies equation (8), even having, measuring object 208 make measuring object in reflection, demonstrate the flat surfaces 208a of little degree of depolarization, shown in family curve k1, the k2 of Figure 31, the incident angle dependency of first light beam 205 is littler.Therefore, can improve accuracy of identification widely.In addition, although described Figure 35 A and 35B at the second light receiving element 211b, similarly discussion also is applicable to the first light receiving element 211a.

(the 18 embodiment)

Below, Figure 36 shows the general structure according to the optical object recognition device of the 18th embodiment of the present invention.In Figure 36, only show the track of light beam as shown in Figure 30 and main optics, and those keep the element of used for optical part also not shown.The 18 embodiment only is that with the different of the 17 embodiment of front second collector lens 215 is arranged between first collector lens 209 and the unpolarized beam splitter 204b as second optical branching device.Therefore, this 18 embodiment focus on describe with Figure 30 in the 17 embodiment different.In Figure 36, represent by identical Reference numeral with component parts identical among the 17 embodiment.Figure 36 is illustrated in the normal G of surperficial 208a of measuring object 208 and first light beam 205 by a little line the optical axis direct reflection optical axis J1 under the situation of (that is, the tiltangle of measuring object 208 is 0 °) that coincides is in Figure 30.Equally, the normal G of the surperficial 208a that has been shown in broken lines at measuring object 208 of Figure 36 from the optical axis of first light beam 205 with the direct reflection optical axis J2 under the angle θ inclination situation.This direct reflection optical axis J2 tilts with angle θ 1 towards the opposition side with first light beam 205 from normal G.

In the optical object recognition device of the 18 embodiment, as shown in figure 36, second collector lens 215 is arranged on the back of first collector lens 209.The folded light beam of the surperficial 208a reflection of measuring object 208 is reflected by beam splitter 204b, passes the reflecting surface 204b-1 of unpolarized beam splitter 204b, and converges on optical receiving surface 211a-1, the 211b-1 of first, second

light receiving element

211a, 211b.

Such setting of adopting optical convergence as implied above not only also to carry out by second collector lens 215 by first collector lens 209, only compare with optical convergence, can increase the light-receiving angle of first, second

light receiving element

211a, 211b by the situation that first collector lens 209 is finished.Therefore,, therefore measurement sensitivity can be improved, the S/N ratio can be improved thus owing to increased the light-receiving amount of first, second

light receiving element

211a, 211b.

Optical object recognition device at the of the present invention the 17 or the 18 embodiment is installed on clearer etc., and be used under the situation of automatic identification of floor surface, especially when measuring object be little reflection light quantity such as carpet one class with blackish floor surface a kind of the time, the folded light beam that incides on first, second light receiving element 211a, the 211b forms the low light level.

Although scattered light does not rely on distance under the identical situation of light-receiving angle, but the distance of the increase between measuring object 208 and first, second light receiving element 211a, the 211b still may cause the size such as the optics of first collector lens and first, second light receiving element one class increasing pro rata, is being disadvantageous aspect the restriction of plant bulk and price thus.Therefore, adopt first collector lens 209 and second collector lens 215 as shown in figure 36 in couples, make when optimizing optical design, realize distance reduce to become possibility.

Below explain in detail the optical system of the 18 embodiment shown in Figure 36.

Figure 37 shows the critical piece that chooses from the light-receiving member of the optical system of Figure 36.In Figure 37, do not consider because the change of the optical axis direction that the reflection of the folded light beam 207 of unpolarized beam splitter 204a reflection causes.Because the reflection equivalence of the folded light beam 207 that unpolarized beam splitter 204a can be reflected is transmission, therefore in order to be more readily understood, has omitted unpolarized beam splitter 204a in Figure 37.

As shown in figure 37, measuring object 208 is positioned at the position of the focal distance f 1 (mm) of first collector lens 209.That is, from the center of first collector lens 209 via the reflecting surface 204a-1 of unpolarized beam splitter 204a arrive measuring object 208 surperficial 208a be generally equal to focal distance f 1 (mm) apart from a2 (mm).As a result, when measuring object 208 tilted with respect to first light beam 205, first collector lens 209 changed the direct reflection optical axis of first light beam 205 into the approximate light beam that is parallel to the x axle as shown in figure 37.Then, the optical receiving surface 211b-1 of the second light receiving element 211b is arranged on the position of the focal distance f 2 (mm) of second collector lens 215.That is, the focal distance f 2 (mm) that usually distance b 2 (mm) between the center of the optical receiving surface 211b-1 of the second light receiving element 211b and second collector lens 215 is set to equal second collector lens 215 (f2=b2).

As a result, the direct reflection light component that incides on second collector lens 215 as substantially parallel light is received on optical receiving surface 211b-1 by the meeting coalescence.In the 18 embodiment, because optics is by above-mentioned distance relation setting, the surperficial 208a of measuring object 208 tilts with respect to first light beam 205, thus, even be not that specular light also can be received by optical receiving surface 211b-1 under 0 the situation in the incident angle of first light beam 205.Therefore, result as shown in figure 31 can provide the recognition device of the optical object with high accuracy of identification.

Equally, when the pitch angle of measuring object 208 was θ, the pitch angle of the direct reflection optical axis of folded light beam 207 was 2 θ.Because the direct reflection optical axis need incide on first collector lens 209, therefore the optical system of Figure 36 is in the radius r 1 of first collector lens 209, between first collector lens 209 and the measuring object 208 apart from a2, and have such relation between the tiltangle of measuring object 208, the equation (9) below it satisfies:

tan ^-1(r1/a2)＞2θ …(9)。

Equally, although Figure 37 only shows the second light receiving element 211b among first, second light receiving element 211a, the 211b, in fact, as shown in figure 36,, be provided with first, second two

light receiving element

211a, 211b in order to obtain the polarization ratio.Equally separate for the folded light beam of first collector lens 209 being assembled by unpolarized beam splitter 204b 207, must make the reflecting surface 204b-1 that folded light beam 207 incides beam splitter 204b go up (the diagonal line side among the figure) towards the first light receiving element 211a and the second light receiving element 211b.

Figure 38 shows the zoomed-in view of following in the following stages side of second lens 215 of Figure 37.As shown in figure 38, it is the boundary condition that is passed the top of beam splitter 204b by the outermost light beam 291 partly that second collector lens 215 is assembled, and incides optical receiving surface 211b-1 thus when light beam 291 passes the inboard, summit, and this can not have problems.As shown in figure 38, if between the optical receiving surface 211b-1 of the given second light receiving element 211b and the reflecting surface 204b-1 of unpolarized beam splitter 204b apart from x2, the side length L b (mm) of beam splitter 204b, and the distance b 2 (mm) between the optical receiving surface 211b-1 of the center of second collector lens 215 and the second light receiving element 211b (b2=f2), and the radius r 2 (mm) of second collector lens 215, the equations (10) below the folded light beam 207 that equally is divided into two light beams by beam splitter 204b must satisfy so:

x2＜(Lb/2)·(b2-r2)/r2 …(10)。

In the optical system of Figure 37, owing to will be applied on the measuring object 208 as collimated light from the light of LD 201, therefore first light beam 205 has beam diameter φ (mm) on the surperficial 208a of measuring object 208.Therefore, folded light beam 207 is not from a some irradiation, but from having the area illumination of width.

Figure 39 is the synoptic diagram that illustrates for the part of 207 necessary parts of detection of reflected light beam.With reference to Figure 39, the direct reflection optical axis when the x axle represents that the tiltangle of measuring object 208 is 0 ° (that is first light beam 205 vertical incidence on the surperficial 208a of measuring object 208).Simultaneously, the y axle is represented the surperficial 208a of measuring object 208.First light beam 205 is applied to the surperficial 208a of measuring object 208, and the beam diameter that focuses on the initial point is φ (mm).First light beam 205 is described with thick line in Figure 39.Figure 39 shows the state on the surperficial 208a that first light beam 205 impinges perpendicularly on measuring object 208.Having with respect to surperficial 208a pitch angle at first light beam 205 is not under 0 the situation, can detect by first light beam 205 is rotated around the z axle that passes initial point from the direct reflection optical axis of light beam end.

In this case, because first light beam 205 rotates with incident angle around the z axle, so the coordinate of the light beam end response anglec of rotation and changing.That sees in the measurement result as shown in figure 31 is such, at the tiltangle degree is under the situation of beam diameter φ in several millimeters scopes of the about several years and first light beam 205, the x coordinate of the hot spot of first light beam 205 remains unchanged, and the change of negligible little degree has only taken place the y coordinate.Therefore, in Figure 39, discussion is carried out under such assumed condition, supposes, the light beam that passes the light beam end of first light beam 205 on the surperficial 208a that impinges perpendicularly on measuring object 208 is approximately resulting direct reflection optical axis when the incident angle of first light beam 205 is non-vanishing.

As shown in figure 39, when measuring object 208 trace ground tilt counterclockwise, from the hot spot of first light beam 205-the specular light 207c of y end output pass first collector lens 209+y side lens end 209a (being positioned at distance) apart from x axle r1 (mm), edge+y direction reflects then.Therefore, for the component of the specular light 207c that receives refraction, the radius r 2 (mm) of second collector lens 215 at least need be greater than the radius r 1 (mm) of first collector lens 209.In addition, more specifically, if the y coordinate that specular light 207c after passing first collector lens 209, incides on second collector lens 215 is y2 (mm), the equation below needing so to satisfy:

y2＜r2。

In this case, between the center of the center of given first collector lens 209 and second collector lens 215 apart from S (mm), the equation (11) below the equation above is so released:

r2/r1＞(S·(φ/2)+a2·r1)/(a2·r1) …(11)。

Wherein in equation (11), φ (mm) is the beam diameter of last first light beam 205 of surperficial 208a of measuring object 208.

Shown in Figure 40 A and 40B, suppose, the beam diameter of last first light beam 205 of surperficial 208a of measuring object 208 is φ (mm), and the distance between the crossing intersection point of the light beam 207c of the radius end of initial point and and first collector lens 209 terminal through beam radius and x is xa (mm).Equally, the distance between the P0 is assumed to be xb (mm) with optical receiving surface 211b-1 and point, this P0 be light beam 207c passing first collector lens 209 after once more with the crossing point of x axle.In addition, the coordinate of optical receiving surface 211b-1 being gone up the incoming position of light beam 207c is assumed to be yb (mm).In this case, be incident in the optical receiving surface 211b-1 equation below needing to satisfy fully in order to make direct reflection optical axis from first light beam 205:

yb＜d。

Result as the coordinate yb that utilizes each this equation of calculation of parameter, under both situations of Figure 40 A and 40B, produce identical result, and between the size d of beam diameter φ of first light beam 205 (mm) and optical receiving surface 211b-1 (mm), derive equation below obtaining of top equation:

d＞(b2/a2)·φ …(12)。

With reference to equation (12), b2 is the distance that arrives the optical receiving surface 211b-1 of the second light receiving element 211b from the center of second collector lens 215 via unpolarized beam splitter 204b.In addition, a2 is the distance (mm) that arrives the center of first collector lens 209 from the surperficial 208a of measuring object 208 via unpolarized beam splitter 204a.

Shown in equation (12), can see, make direct reflection optical axis from first light beam 205 incide fully condition in the optical receiving surface 211b-1 do not rely between first collector lens 209 and second collector lens 215 apart from S.Under the condition that satisfies equation (12), can reduce the incident angle dependency of polarization ratio of the folded light beam 207 of first light beam 205, with identification as have the measuring object of the wood floors of flat surfaces, therefore as family curve k1, the k2 of Figure 31 described, reflect depolarizing still less of causing.Therefore, can improve accuracy of identification widely.In addition, similarly discuss also applicable to the first light receiving element 211a.

At first light beam 205 that hypothesis incides measuring object 208 is to pass on the basis of light beam of unpolarized beam splitter 204a, has described the 17 embodiment of aforesaid Figure 30 and the 18 embodiment of Figure 37, shown in Figure 41 B.In this case, about folded light beam 207, its component by beam splitter 204a reflection is detected as flashlight, therefore the light of incident angle of going up incident at the reflecting surface 204a-1 of beam splitter 204a (diagonal side) is along the direction reflection towards light receiving

element

211a, 211b, and detects by light receiving

element

211a, 211b and to be flashlight.In this case, if the distance from the center of the reflecting surface 204a-1 of beam splitter 204a to the surperficial 208a of measuring object 208 is L (mm),

light receiving element

211a, 211b can receive reflected light with the acceptance angle by following equation (15) expression so:

2tan ^-1(L1/(2(L-L1))) …(15)。

In equation (15), L1 (mm) is a side length that is shown in the unpolarized beam splitter 204a among Figure 41 B.

Simultaneously, be under the situation of reflecting surface 204a-1 (diagonal side) beam reflected of the unpolarized beam splitter 204a shown in Figure 41 A at first light beam 205 of the surperficial 208a that incides measuring object 208, reflected light by the surperficial 208a reflection of measuring object 208 can direct into light receiving element with the acceptance angle by equation (16-1) or equation (16-2) expression, no matter and only do not incide on the reflecting surface 204a-1 of beam splitter 204a:

2tan ^-1(r1/a1) …(16-1)

2tan ^-1(r1/a2) …(16-2)。

Equation (16-1) is corresponding to the situation of the 17 embodiment, wherein r1 (mm) is the radius of first collector lens 209, and a1 (mm) is the optical path length that arrives the surperficial 208a of measuring object 208 from the center of first collector lens 209 via the reflecting surface 204a-1 of unpolarized beam splitter 204a.

Equally, equation (16-2) is corresponding to the situation of the 18 embodiment, wherein r1 (mm) is the radius of first collector lens 209, and a2 (mm) is the optical path length that arrives the surperficial 208a of measuring object 208 from the center of first collector lens 209 via the reflecting surface 204a-1 of unpolarized beam splitter 204a.

Therefore, adopt such setting, it is shown in Figure 41 A, beam splitter 204a beam reflected is applied on the measuring object 208 as first light beam 205, from the folded light beam 207 of measuring object 208 by unpolarized beam splitter 204a transmission, incide first collector lens 209, this makes that increasing the light-receiving amount on the light receiving element in the following stages that is arranged on first collector lens 209 becomes possibility.As a result, improve the S/N ratio, can realize the higher identification of measuring object 208 thus.

In addition, among the embodiment in front, as Figure 30 or shown in Figure 36, unpolarized beam splitter 204b is divided into two bundles with folded light beam 207, and two folded light beams of separating are received by first, second light receiving element respectively as orthogonal polarized component.For this purpose, these embodiment comprise first, second linear polarizer 210a, 210b, and it is set to its light shaft positive cross in unpolarized beam splitter 204b.Yet these opticses can replace with P beam splitter (polarization beam apparatus).Adopt the P beam splitter to allow to cut down component count, wherein can also improve the light-receiving amount.

(the 19 embodiment)

Aforesaid optical object recognition device is suitable for being installed in vacuum cleaner, especially on the self-propelled cleaner.Figure 42 A and 42B are the general structure views of the self-propelled vacuum cleaner of the 19 embodiment, and optical object recognition device wherein of the present invention is installed on this clearer as floor surface identification sensor 217.First light beam 205 is from the basal surface 216a emission of cleaner body 216.By the reflected light of reception by first light beam 205 of the surface reflection of floor F, the type of identification floor surface.Figure 42 A shows at measuring object and is the situation such as the smooth floor surface F1 of indoor floor, and Figure 42 B shows measuring object and is the situation such as the coarse floor surface F2 of carpet.Distance D between floor surface shown in Figure 42 A and 42B and the floor surface identification sensor 217 is the example of 15mm, littler distance D is inappropriate, and this is can contact with cleaner body 216 or Sensor section (unpolarized beam splitter 204a) because fur is most advanced and sophisticated under the state shown in Figure 42 B.In addition, as shown in figure 43, exist on the floor surface under the situation of some barrier E, clearer is stranded on barrier E, cause clearer to tilt with respect to floor surface, big distance between given floor surface and the floor surface identification sensor 217, then the direct reflection optical axis will no longer incide on the optical receiver system.In this case, same, need to increase the size of optics to receive specular light.Therefore, be set to about 15mm by the distance from the surperficial 208a of measuring object 208 to beam splitter 204a, the size of floor surface identification sensor 217 can be installed on the electronic equipment (for example, self-propelled cleaner) that needs this sensor it.When this distance is 15mm, for example, size that can beam splitter 204a one side is set to 10mm, and whole dimension that wherein can floor surface identification sensor 217 (optical object recognition device) is set to, for example, be approximately the external dimensions of 30mm * 40mm * 20mm.

The present invention of Miao Shuing like this, obviously identical thing can have the variation of multiple mode.These variations do not think to deviate from the spirit and scope of the present invention, and all these conspicuous for a person skilled in the art improvement are all thought and are included in the scope of following claim.

Claims

1, a kind of optical object recognition device comprises:

Optical projection parts, its light with optical semiconductor radiated element emission are applied on the measuring object into object that will be measured;

Signal Processing Element, it handles signal by light-receiving member output to measure the light intensity of particular polarization in the reflected light.

2, optical object recognition device as claimed in claim 1, wherein

The polarized state of light that will incide on the measuring object is a linear polarization.

3, optical object recognition device as claimed in claim 2, wherein

Will incide linear polarizationization on the measuring object only about the S ripple of measuring object.

4, optical object recognition device as claimed in claim 2, wherein

Mutually the same basically by the polarization direction that the polarization state selector part is selected with the polarisation of light direction that will incide on the measuring object.

5, optical object recognition device as claimed in claim 1, wherein

These optical projection parts comprise:

This optical object recognition device also comprises:

The condenser parts, it is assembled the light that has passed this target component in the light by the measuring object reflection; And

The pin hole parts, it is arranged between these condenser parts and this light receiving element.

6, optical object recognition device as claimed in claim 5 also comprises:

Parasitic light prevents parts, and it interdicts the reflected light of second light beam and second light beam.

7, optical object recognition device as claimed in claim 6, wherein

This parasitic light prevents that parts have linear polarizer, and

This linear polarizer is arranged on the optical axis of second light beam, and this linear polarizer polarisation of light direction of allowing to pass through is the direction with the polarization direction quadrature of second light beam.

8, optical object recognition device as claimed in claim 5, wherein

These condenser parts comprise collector lens, and

These pin hole parts are arranged on the position of the focal length of collector lens.

9, optical object recognition device as claimed in claim 5, wherein

The diameter of folded light beam that the position is set at these pin hole parts is less than the bore dia of these pin hole parts.

10, optical object recognition device as claimed in claim 5, wherein

This first light beam incide this target component basically in the heart.

11, optical object recognition device as claimed in claim 1, wherein

This optical object recognition device also comprises light splitting part, and it comprises that the light with the measuring object reflection is divided into second optical branching device of first folded light beam and second folded light beam, wherein

This light-receiving member has first light receiving element, and it receives first folded light beam, and second light receiving element, and it receives second folded light beam,

The polarization state selector part has the polarization state selector element, and the polarized state of light on first light receiving element is incided in its selection, and

This Signal Processing Element calculates the ratio of the signal of first light receiving element output to the signal of second light receiving element output.

12, optical object recognition device as claimed in claim 1, wherein

This optical object recognition device also comprises light splitting part, and it comprises that the light with the measuring object reflection is divided into second optical branching device of first folded light beam and second folded light beam, and wherein

This light-receiving member has first light receiving element, and it receives first folded light beam, and second light receiving element, and it receives second folded light beam, and

This polarization state selector part has the first polarization state selector element, the polarized state of light on first light receiving element is incided in its selection, and the second polarization state selector element, the polarized state of light on second light receiving element is incided in its selection, and orthogonal basically with the polarization direction of selecting by the second polarization state selector element by the polarization direction of first polarization state selector element selection.

13, optical object recognition device as claimed in claim 12, wherein

At least one that is polarized in a plurality of light beams that the mode selector parts select is substantially parallel with the light of optical semiconductor radiated element emission on the polarization direction.

14, optical object recognition device as claimed in claim 12, wherein

15, optical object recognition device as claimed in claim 12, wherein

The first and second polarization state selector elements are linear polarizer.

16, optical object recognition device as claimed in claim 12, wherein

Each realizes this second optical branching device and this first and second polarization states selector element by polarization beam apparatus.

17, optical object recognition device as claimed in claim 12, wherein

18, optical object recognition device as claimed in claim 12, wherein

Poor between the signal that the signal that Signal Processing Element calculates first light receiving element output and second light receiving element are exported.

19, optical object recognition device as claimed in claim 12, wherein

Signal Processing Element calculates:

20, optical object recognition device as claimed in claim 1, wherein

This optical semiconductor radiated element is a semiconductor laser.

21, optical object recognition device as claimed in claim 1, wherein

This light receiving element has photodiode.

22, optical object recognition device as claimed in claim 11, wherein

This first light receiving element is formed on the identical semiconductor chip with this second light receiving element.

23, optical object recognition device as claimed in claim 21, wherein

This light-receiving member is formed on the identical semiconductor chip with this Signal Processing Element.

24, optical object recognition device as claimed in claim 22, wherein

This first light receiving element, this second light receiving element and this Signal Processing Element are formed on the identical semiconductor chip.

25, optical object recognition device as claimed in claim 1, wherein

Modulation signal is applied on the optical semiconductor radiated element carrying out intensity modulation, and wherein

Signal Processing Element calculate modulation signal be this light-receiving member output under the situation of H level first output signal with at modulation signal be poor between second output signal that this light-receiving member is exported under the situation of L level.

26, optical object recognition device as claimed in claim 25, wherein

This modulation signal that is applied on this optical semiconductor radiated element is a square wave.

27, optical object recognition device as claimed in claim 25, wherein

The emission measure of this optical semiconductor radiated element is essentially 0W under the L level.

28, optical object recognition device as claimed in claim 25, wherein

The modulating frequency of this intensity modulation is for being not less than 50kHz.

29, optical object recognition device as claimed in claim 25, wherein

The modulating frequency of this intensity modulation is 100Hz to 10kHz.

30, optical object recognition device as claimed in claim 25, wherein

This Signal Processing Element comprises:

First sampling and the holding circuit, when modulation signal was the H level, its permission was passed through from first output signal of this light-receiving member, and when modulation signal is the L level, and first output signal of obtaining when modulation signal is the H level is sampled and kept;

Second sampling and the holding circuit, when modulation signal was the L level, its permission was passed through from second output signal of this light-receiving member, and when modulation signal is the H level, and second output signal of obtaining when modulation signal is the L level is sampled and kept; And

31, optical object recognition device as claimed in claim 1, wherein

Signal Processing Element has:

Amplifier unit, it amplifies the signal that light-receiving member detects; And

32, optical object recognition device as claimed in claim 1, wherein

When the distance of distance measuring object during, the light emission of optical semiconductor radiated element is disconnected or reduce greater than particular value.

33, optical object recognition device as claimed in claim 1, wherein

The emission state of optical semiconductor radiated element satisfies 1 class safety standard of laser product.

34, optical object recognition device as claimed in claim 1, wherein

Target component is realized by object lens;

Optical window is formed on the housing parts;

35, a kind of clearer, optical object recognition device as claimed in claim 1 is installed in its head.

36, a kind of self-propelled cleaner, optical object recognition device as claimed in claim 1 is mounted thereto.

37, optical object recognition device as claimed in claim 1, wherein

The optical projection parts are the optical alignment of optical semiconductor radiated element emission, and apply this light towards measuring object, and

This optical object measurement mechanism also comprises:

The condenser parts, its light that will reflect from the measured then object that the optical projection parts apply is assembled; And

Light splitting part, it will be divided into a plurality of light beams that separate from the light of condenser parts, wherein

The light beam that the polarization state selector part selects the polarization direction to differ from one another from these a plurality of light beams that separate, and

38, optical object recognition device as claimed in claim 37, wherein

The angle that is formed by the optical axis and the measuring object of optical projection parts is equal to each other basically with the angle that optical axis and the measuring object by the condenser parts forms.

39, optical object recognition device as claimed in claim 37 also comprises:

The optical branch parts, it is arranged between optical projection parts and the measuring object, and will be divided into a plurality of light beams from the light beam of optical projection parts, wherein

In a plurality of light beams that separated by the optical branch parts at least one incides on the measuring object with the incident angle that is essentially zero degree.

40, optical object recognition device as claimed in claim 6, wherein

To the light beam except incide the light beam on the measuring object with zero degree incident angle basically in a plurality of light beams that separated by the optical branch parts, the incident angle that incides on the linear polarizer is configured such that its specular light does not incide the angle on the light-receiving member.

41, optical object recognition device as claimed in claim 37, wherein

These condenser parts are realized by a plurality of lens.

42, optical object recognition device as claimed in claim 37, wherein

These condenser parts are realized by lens.

43, optical object recognition device as claimed in claim 41, wherein

The lens shaped of the condenser parts of the close measuring object focus that becomes these lens is positioned on the measuring object.

44, optical object recognition device as claimed in claim 42, wherein

45, optical object recognition device as claimed in claim 39, wherein

The optical branch parts are formed by the cubic type beam splitter.

46, optical object recognition device as claimed in claim 45, wherein

The length of one side of this cubic type beam splitter satisfies the condition of following equation (1) statement:

α≥(a+L)×d/f …(1)

47, optical object recognition device as claimed in claim 39, wherein

These optical branch parts are formed by half-reflecting mirror.

48, optical object recognition device as claimed in claim 47, wherein

The length of the both sides of this half-reflecting mirror satisfies following equation (2) and (3) represented condition:

α≥(a+L)×d/f …(2)

β≥2 ^1/2(a+L)×d/f …(3)

Wherein, ' α ' is the length of this half-reflecting mirror one side, ' β ' is the length of this half-reflecting mirror opposite side, ' a ' is the diameter that is applied to the hot spot on the measuring object from the light of optical projection parts, ' L ' is the diameter of the lens of the condenser parts of close measuring object, ' f ' is the focal length of these lens, and ' d ' is that light along optical axis from measuring object applies the distance of surface to the surface of close measuring object one side of beam splitter.

49, optical object recognition device as claimed in claim 37, wherein

This light splitting part is formed by beam splitter.

50, optical object recognition device as claimed in claim 37, wherein

This light splitting part is formed by diffraction grating.

51, optical object recognition device as claimed in claim 50, wherein

In the light of this diffraction grating diffraction ,+1 order diffraction light and-1 order diffraction light are polarized the device polarization.

52, optical object recognition device as claimed in claim 50, wherein

This diffraction grating that forms light splitting part has such grating depth degree, and it makes the light quantity of 0 order diffraction light be substantially zero.

53, optical object recognition device as claimed in claim 37, wherein

This optical semiconductor radiated element is formed by the LED that is provided with the linear polarization element.

54, optical object recognition device as claimed in claim 37, wherein

The hot spot that is applied to the light on the measuring object has 1mm or bigger diameter.

55, optical object recognition device as claimed in claim 37, wherein

This Signal Processing Element has a plurality of amplifiers that are connected in series.

56, optical object recognition device as claimed in claim 37, wherein

This light-receiving member is formed by two photodiodes, and

This Signal Processing Element calculates the ratio from two signals of this two photodiode.

57, optical object recognition device as claimed in claim 37, wherein

This light-receiving member is formed by two photodiodes, and

This Signal Processing Element calculates from two signal sums of this two photodiode ratio to the difference of this two signal.

58, optical object recognition device as claimed in claim 1, wherein

These optical projection parts have first optical branching device, and its light with the emission of optical semiconductor radiated element is divided into first light beam and second light beam, and first light beam is applied on the measuring object, and

This optical object recognition device also comprises:

Light splitting part, it comprises that the light beam that the condenser parts are assembled is divided into second optical branching device of first folded light beam and second folded light beam, and wherein

First linear polarizer that first folded light beam that has this polarization state selector part incides on it and allow the component of first folded light beam of particular polarization to pass, and second second linear polarizer that folded light beam incides on it and allows and the component of second folded light beam of the polarization direction of this particular polarization quadrature passes

This light-receiving member has first light receiving element that receives this first folded light beam of passing this first linear polarizer and second light receiving element that receives this second folded light beam of passing this second linear polarizer,

Signal Processing Element is input to wherein by first light receiving signal of first light receiving element output and second light receiving signal of being exported by second light receiving element, and it is measured about polarization of reflected light information based on first and second light receiving signals, and

Incide the place in the optical receiving surface of this first and second light receiving element via the condenser parts by the direct reflection light component in the reflected light of measuring object surface reflection.

59, optical object recognition device as claimed in claim 58, wherein

The focal length of supposing this first collector lens is f (mm), and scope is a1 (mm) from this measuring object via the light path that this first optical branching device arrives this first collector lens, the equation (4) below then satisfying:

f＜a1 …(4)。

60, optical object recognition device as claimed in claim 59, wherein

The radius of supposing this first collector lens is r1 (mm), and is θ (radian) by the angle that this first light beam and this measuring object normal to a surface form, the equation (5) below then satisfying:

tan ^-1(r1/a1)＞2θ …(5)。

61, optical object recognition device as claimed in claim 60, wherein

Suppose that scope is b1 (mm) from this first collector lens via the distance that this second optical branching device arrives the light path of this first and second light receiving element, the equation (6) below then satisfying:

1/f＝(1/a1)+(1/b1) …(6)。

62, optical object recognition device as claimed in claim 61, wherein

The radius of supposing this first collector lens is r1 (mm),

The length of one side of this second optical branching device is Lb (mm), and

Distance between the reflecting surface of this second optical branching device and this first and second light receiving element is x1 (mm), the equation (7) below then satisfying:

x1＜(Lb/2)·(b1-r1)r/1 …(7)。

63, optical object recognition device as claimed in claim 58, wherein

Suppose that scope is a1 (mm) from this measuring object via the distance that this first optical branching device arrives the light path of this first collector lens,

Scope is b1 (mm) from this first collector lens via the distance that this second optical branching device arrives the light path of this first and second light receiving element,

The optical receiving surface of this first and second light receiving element is of a size of d (mm), and

Beam diameter at lip-deep this first light beam of measuring object is φ (mm), the equation (8) below then satisfying:

d＞(b1/a1)·φ …(8)。

64, optical object recognition device as claimed in claim 58, wherein

This first light beam is the component of this first optical branching device reflection, and

This second light beam is the component of this first optical branching device transmission.

65, optical object recognition device as claimed in claim 58, wherein

Distance from this measuring object surface to this first optical branching device is about 15mm.