JP2002131434A - Method for adjusting axis of object detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To aim an object detecting device at an object in the vertical direction with accuracy in a short time. SOLUTION: An aiming jig 41 is set up in front of a vehicle at a prescribed distance from the vehicle along the longitudinal axial line of the vehicle and a reference reflecting body 44 is set up at the position corresponding to the upper end of the detectable range of the object detecting device (refer to Fig. 14(A)). In this state, the object detecting device detects the reflecting body 44 by transmitting a beam and, after changing the transmitting direction of the beam downward in rough pitch until the device becomes impossible to detect the reflecting body 44, the transmitting direction of the beam is changed upward in narrow pitch and the changing of the transmitting direction is stopped when device detects the reflecting body (refer to Fig. 14(B)). Then the aiming of the object detecting device in the vertical direction is completed by further changing the transmitting direction of the beam upward by one pitch from this state (refer to Fig. 14(C)).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for adjusting the axis of an object detection device including a transmitting means for transmitting an electromagnetic wave and a receiving means for receiving a reflected wave from an object.

[0002]

2. Description of the Related Art Used in adaptive cruise control systems, traffic congestion tracking systems, inter-vehicle distance warning systems, etc., detect moving objects such as preceding vehicles and oncoming vehicles, or stationary objects such as delinators and cat's eyes. The radar device requires that the optical axis of the laser beam is correctly adjusted (aiming), and if the optical axis is shifted, there is a possibility that the target cannot be reliably detected. In particular, since the width of the detection area of the on-vehicle radar device is smaller in the vertical direction than in the horizontal direction, the adjustment of the optical axis in the vertical direction is particularly important.

[0003] Japanese Patent Application Laid-Open No. 7-225277 describes a radar device in which a laser head of a radar device is supported on a vehicle body via three mounting plates to enable aiming in a vertical direction and a horizontal direction. I have.

[0004]

By the way, in the apparatus described in Japanese Patent Application Laid-Open No. Hei 7-225277, a laser head is supported on a vehicle body via three mounting plates in order to perform aiming in vertical and horizontal directions. The three mounting plates not only increase the number of parts, increase the weight, and increase the mounting space, but also require a lot of time and work to perform aiming manually by workers. Not only was labor required, but there was a possibility that the accuracy of aiming varied.

The present invention has been made in view of the above circumstances, and has as its object to enable accurate aiming in a short time in the vertical direction of an object detection device.

[0006]

According to the first aspect of the present invention, there is provided a transmitting means for transmitting an electromagnetic wave toward a predetermined detection range which extends in a vertical direction; A receiving means for receiving a reflected wave of an electromagnetic wave transmitted from a transmitting means reflected by an object, and an axis adjusting method for an object detecting device including an axis adjusting means capable of adjusting a transmission direction of the electromagnetic wave from the transmitting means up and down. Setting a reference reflector at a position separated by a predetermined distance from the transmitting means within the detection range, and setting the installation height of the reference reflector at the upper end or the lower end of the detection range and receiving the reference reflection. A step of determining whether or not a reflected wave from the body has been received, and the transmission direction of the electromagnetic wave in the temporary aiming direction immediately before the reflected wave from the reference reflector can be received by the axis adjusting means based on the determination result. The process of adjusting Adjusting the transmission direction of the electromagnetic wave to the final aiming direction by changing the transmission direction of the electromagnetic wave by a predetermined amount from the tentative aiming direction by the axis adjusting means so as to enable reception of the electromagnetic wave. Suggested.

According to the above arrangement, the reference reflector is provided at the upper end or the lower end of the detection range of the object detection device, and it is determined whether or not the receiving means has received a reflected wave from the reference reflector. The adjusting unit adjusts the transmission direction of the electromagnetic wave to the temporary aiming direction immediately before the reflected wave from the reference reflector becomes receivable, and then adjusts the transmission direction of the electromagnetic wave by the axis adjusting unit to enable the reception of the electromagnetic wave. Since the aiming direction is changed by a predetermined amount and adjusted to the final aiming direction, the transmission direction of the electromagnetic wave is roughly adjusted by provisional aiming and then the transmission direction of the electromagnetic wave is precisely adjusted by the final aiming, so that the up and down aiming can be performed accurately in a short time. Work can be completed.

According to the invention described in claim 2,
A transmitting unit that transmits the electromagnetic wave toward a predetermined detection range that is spread vertically, a receiving unit that receives a reflected wave of the electromagnetic wave transmitted by the transmitting unit reflected on an object, and a transmission direction of the electromagnetic wave from the transmitting unit An axis adjusting method for an object detection device, comprising: an axis adjusting unit capable of vertically adjusting the position of a reference reflector at a position at a predetermined distance from a transmitting unit within the detection range; and Setting the installation height at the upper end or lower end of the detection range to determine whether the receiving means has received a reflected wave from the reference reflector, and when the reflected wave has not been received, the reference reflection When the body is installed at the upper end of the detection range, the transmission direction of the electromagnetic wave is adjusted upward by a predetermined amount by the axis adjustment means, and when the reference reflector is installed at the lower end of the detection range, the axis adjustment means Transmission direction of electromagnetic wave Adjusting the electromagnetic wave transmitting direction downward by a predetermined amount by the axis adjusting means when the reference reflector is installed at the upper end of the detection range when the reflected wave is received, and When the reference reflector is installed at the lower end of the detection range, the transmission direction of the electromagnetic wave is adjusted upward by a predetermined amount by the axis adjustment means, so that the reflected wave from the reference reflector can be received immediately before. A step of adjusting the transmission direction of the electromagnetic wave in the temporary aiming direction, and a step of changing the transmission direction of the electromagnetic wave by a predetermined amount from the temporary aiming direction by the axis adjusting means to enable reception of the electromagnetic wave and adjusting the transmission direction of the electromagnetic wave to the final aiming direction. A method for adjusting the axis of the object detection device is proposed.

According to the above arrangement, the reference reflector is provided at the upper end or the lower end of the detection range of the object detection device, and it is determined whether or not the receiving means has received a reflected wave from the reference reflector. The adjusting unit adjusts the transmission direction of the electromagnetic wave to the temporary aiming direction immediately before the reflected wave from the reference reflector becomes receivable, and then adjusts the transmission direction of the electromagnetic wave by the axis adjusting unit to enable the reception of the electromagnetic wave. Since the aiming direction is changed by a predetermined amount and adjusted to the final aiming direction, the transmission direction of the electromagnetic wave is roughly adjusted by provisional aiming and then the transmission direction of the electromagnetic wave is precisely adjusted by the final aiming, so that the up and down aiming can be performed accurately in a short time. Work can be completed. Further, when the reflected wave is not received, the transmission direction of the electromagnetic wave is adjusted by the axis adjusting means in the same direction as the direction of the reference reflector, and when the reflected wave is received, the transmission direction of the electromagnetic wave is adjusted by the reference reflected axis adjusting means. Is adjusted in the direction opposite to the direction of the reference reflector, so that the transmission direction of the electromagnetic wave can be surely adjusted to the temporary aiming direction immediately before the reflected wave from the reference reflector can be received.

According to the third aspect of the present invention,
In addition to the configuration of claim 1 or claim 2, the reference reflector is movable and the height is adjustable, and is set in advance after the height of the reference reflector is made to coincide with the electromagnetic wave transmitting unit. There is proposed a method of adjusting the axis of the object detection device, wherein the position and height of the reference reflector are adjusted based on the vertical extent of the detection range and installed at the upper end or lower end of the detection range.

[0011] According to the above configuration, after the height of the reference reflector is made equal to that of the electromagnetic wave transmitting section, the position and height of the reference reflector are determined based on the vertical extent of the predetermined detection range. Therefore, the reference reflector can be accurately set at the upper end or the lower end of the detection range.

The light transmitting section 1 and the light receiving section 3 of the embodiment correspond to the transmitting means and the receiving means of the present invention, respectively.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on embodiments of the present invention shown in the accompanying drawings.

FIGS. 1 to 17 show an embodiment of the present invention. FIG. 1 is a block diagram of an object detecting device, FIG. 2 is a perspective view of the object detecting device, and FIG. 4 is a view in the direction of arrow 4 in FIG. 3, FIG. 5 is a view in the direction of arrow 5 in FIG. 3, FIG. 6 is a view in the direction of arrow 6-6 in FIG. 4, FIG. The first part of the flowchart explaining the aiming procedure,
FIG. 9 is a second partial view of a flowchart for explaining the aiming procedure, FIG. 10 is a third partial view of a flowchart for explaining the aiming procedure, FIG. 11 is an explanatory view of the setting of the reference reflector of the aiming jig, and FIG. Is an explanatory view of a space necessary for aiming, FIG. 13 is an explanatory view of setting of a target jig, FIG. 14 is a view showing a relationship between a beam height of the object detecting device with respect to a reference reflector in vertical aiming, and FIG. FIG. 16 is an explanatory diagram of step S41 in aiming, and FIG.
9 and FIG. 17 is an explanatory diagram of step S50 in the left and right aiming.

As shown in FIGS. 1 and 2, an object detecting device S for detecting the distance and direction of an object in front of the own vehicle.
t is provided with a laser radar device, and the light transmitting unit 1
, A light transmission scanning unit 2, a light receiving unit 3, and a distance measurement processing unit 5. The light transmitting unit 1 includes a laser diode 11 integrally including a light transmitting lens, and a laser diode 11.
And a laser diode drive circuit 12 for driving the laser diode. The light transmission scanning unit 2 controls a light transmission mirror 13 that reflects the laser output from the laser diode 11, a motor 15 that reciprocates the light transmission mirror 13 around a vertical rotation axis 14, and controls driving of the motor 15. Motor driving circuit 16 and an aiming mechanism 2 for changing the angle of the scanning mirror 13 in the vertical direction to adjust the laser transmission direction in the vertical direction.
9 is provided. The light beam emitted from the light-sending mirror 13 has an elongated pattern in the vertical direction with a limited left-right width, which reciprocates in the left-right direction at a predetermined cycle to scan an object.

The light receiving section 3 includes a light receiving lens 17, a photodiode 18 for receiving a reflected wave converged by the light receiving lens 17 and converting it into an electric signal, and a light receiving amplifier circuit 19 for amplifying an output signal of the photodiode 18. Prepare. The light receiving area of the light receiving section 3 is fixed.

The distance measurement processing section 5 has a communication circuit 26 for communicating between a control circuit 24 for controlling the laser diode drive circuit 12 and the motor drive circuit 16 and an electronic control unit 25 for controlling the adaptive cruise control device. A counter circuit 27 for counting the time from the transmission of the laser beam to the reception of the laser beam; and a central processing unit 28 for calculating the distance to the object and the direction of the object.

Next, the structure of the aiming mechanism 29 will be described with reference to FIGS.

A support bracket 32 is rotatably supported above a rotary shaft 14 extending vertically upward from the motor 15. The support bracket 32 has a support shaft 33 extending in the horizontal direction to support the light transmitting mirror 13. The upper end is pivotally supported so that it can swing up and down. A disk-shaped eccentric rotating member 34 is fixed to a lower portion of the rotating shaft 14.
Is a distance δ from the center of the rotation shaft 14 (see FIG. 3).
Only eccentric. A gear tooth-shaped engaging portion 34a is formed on the outer periphery of the eccentric rotation member 34, and the gear tooth-shaped engaged portion 13a (see FIG. 6) that can be engaged with the engaging portion 34a is reflected by the light transmitting mirror 13. It is formed on the back surface of the surface 13b. The light transmitting mirror 13 is urged around the support shaft 33 by an urging member 35 made of a spring, and the engaged portion 13a of the light transmitting mirror 13 resiliently engages with the engaging portion 34a of the eccentric rotating member 34. . The first stopper member 36 and the second stopper member 37 are fixed to the housing 15a of the motor 15. The first stopper member 36 and the second stopper member 37 are
4, and can be brought into contact with the back surface of the light transmitting mirror 13 which rotates together with the rotating shaft 14.

The possible vertical aiming angles of the object detection device St are each 3.5 degrees up and down with respect to a neutral position where the light transmitting mirror 13 is parallel to the rotation axis 14 of the motor 15.
(60 mrad). Assuming that the vertical distance between the support bracket 32 and the eccentric rotation member 34 is 10 mm, the amount of movement of the lower end of the light transmitting mirror 13 for swinging the light transmitting mirror 13 by 3.5 ° is 0.6 mm. Therefore, the rotating shaft 14
If the eccentric rotation member 34 is eccentric by 0.6 mm,
According to the rotation of the eccentric rotating member 34, the light transmitting mirror 13 can be swung up and down by 3.5 ° with respect to the neutral position. In order to adjust the range of ± 3.5 ° capable of vertical aiming in 24 steps at intervals of 0.3 ° (5 mrad), the number of gear teeth constituting the engaging portion 34 a on the outer periphery of the eccentric rotating member 34 is 48. Individual. Aiming in the left-right direction can be arbitrarily performed by simply changing the rotation angle of the rotating shaft 14 of the motor 15 without requiring a mechanical aiming mechanism.

As shown in FIG. 2, the vertical light transmission range in the light transmission scanning section 2 is set to 3 °, and 10 ° obtained by adding ± 3.5 ° which is the vertical aiming angle to this is set.
Are the upper and lower light receiving ranges. The light receiving section 3 has a radius of 30.
The left and right light receiving range is a 23 ° (400 mrad) range obtained by adding ± 3.5 °, which is a possible aiming angle in the left-right direction, to a range of ± 8 ° around the longitudinal axis of the vehicle body so that a corner of 0 m can be detected. .

Next, the operation of the present embodiment having the above configuration will be described.

FIG. 11 shows an aiming jig 41 which is a jig used for aiming. The aiming jig 41 includes a base 42 that can move on the floor, a column 43 erected on the base 42, and a reference reflector 44 provided on the column 43 so as to be vertically adjustable. The reference reflector 44 is, for example, a reflector having a diameter of about 50 mm,
It can be used for any of automobiles, motorcycles, and bicycles. At the center of the back surface of the reference reflector 44, a probe 45 used for adjusting the height is provided.

First, a vehicle equipped with the object detection device St is stopped on a flat floor. At this time, as shown in FIG. 12, it is necessary that the reflector does not exist within a range of 7 m forward from the front of the vehicle body, a range of 2 m left and right from the longitudinal axis of the vehicle body, and a range of 1 m above the floor. Next, aiming jig 4
1 is placed immediately before the object detection device St mounted on the front of the vehicle, and the height of the probe 45 is adjusted to match the height of the probe 45 (see FIG. 11). The vertical detection range of the object detection device St of the present embodiment is 1.5 ° vertically each with respect to the horizontal direction, and the beam height 5 m ahead is 5 m × tan1.5 ° = 0.1309 m ≒ 131 mm. . Therefore, the height of the reference reflector 44 of the aiming jig 41 is set at a position 131 mm higher than the same height as the transmission unit of the object detection device St adjusted earlier (FIG. 14).
(A)).

Subsequently, weights are dropped from two jack-up points provided at the right and left centers of the front of the vehicle body and the left and right centers of the rear of the vehicle body to make two marks on the floor surface, and a cord is used to connect these two marks. , A straight line along the string becomes the vehicle longitudinal axis (see FIG. 13). Subsequently, as shown in FIG. 13, an aiming jig 41 is installed at a position 5 m in front of the object detection device St on the vehicle body longitudinal axis, and the direction of the reference reflector 44 is directed to the object detection device St. And preparation for aiming is completed. After operating a switch (not shown) to switch the object detection device St from the object detection mode to the aiming mode, aiming is performed according to the procedure described in the flowcharts of FIGS.

The rotation angle of the light transmitting mirror 13 by the motor 15 is determined by the light transmitting mirror 13
± 400 mra at the maximum rotation angle that contacts the stopper 37
In the aiming mode, first, in step S1 of the flowchart in FIG. 8, the light transmitting mirror 13 is rotated left and right within a range of ± 140 mrad with respect to the left and right central axes of the object detection device St. As a result, if the reference reflector 44 of the aiming jig 41 is detected in step S2, it is determined that the beam transmission direction of the object detection device St is too upward with respect to the temporary aiming direction. The 15 rotation shafts 14 are rotated counterclockwise as viewed from directly above. The rotation angle of the rotation shaft 14 in the object detection mode is ±
200 mrad, but the rotation axis 14
Is rotated by 400 mrad, the back surface of the light transmitting mirror 13 contacts the first stopper member 36 (see FIG. 7B).
The contact of the light transmitting mirror 13 with the first stopper member 36 is detected, for example, from the load current of the motor 15.

In the subsequent step S12, the torque of the motor 15 is increased and further rotated counterclockwise when viewed from directly above, and in step S13, the engaging portion 34a of the eccentric rotating member 34 is rotated.
A load is applied between the light transmitting mirror 13 and the engaged portion 13a of the light transmitting mirror 13, and the light transmitting mirror 13 slightly swings around the support shaft 33 against the urging force of the urging member 35, so that the engaging portion 34a The engagement between the gear and the engaged portion 13a corresponds to one pitch of the gear teeth (the light transmitting mirror 13).
(Corresponding to the vertical angle of 0.3 °) and reengagement, the rotation of the motor 15 is stopped in step S14. In this way, the eccentric rotating member 34 rotates relative to the light transmitting mirror 13 by one pitch, and the steps S12 to S14 are performed.
Is repeated until the relative rotation of the eccentric rotation member 34 for five pitches (corresponding to the vertical angle of the light transmitting mirror 13 of 1.5 °) is completed in step S15. As a result, the engaging portion 34a of the eccentric rotating member 34 engages with the engaged portion 13a of the light transmitting mirror 13 at a portion having a small radius, and the lower portion of the light transmitting mirror 13 approaches the rotating shaft 14 to aim downward. Is done.

In the following step S16, the light transmitting mirror 13 is
If the reference reflector 44 is still detected in step S17 as a result of rotating left and right within a range of 140 mrad,
Steps S10 to S16 are repeated, and the light transmitting mirror 1
When the reference reflector 44 cannot be detected because the reference 3 is sufficiently lowered, the process proceeds to step S30 in the flowchart of FIG.

On the other hand, step S in the flowchart of FIG.
If the reference reflector 44 is not detected in Step 2, the object detection device S
It is determined that the transmission direction of the t beam is too downward with respect to the tentative aiming direction.
Is rotated clockwise as viewed from directly above. The rotation angle of the rotation shaft 14 in the object detection mode is ± 200 mra
d, but the rotation shaft 14 is 400
After the ad rotation, the back surface of the light transmitting mirror 13 comes into contact with the second stopper member 37 (see FIG. 7C). Light transmission mirror 1
The contact of 3 with the second stopper member 37 is detected from, for example, the load current of the motor 15.

In the following step S22, the torque of the motor 15 is increased and further rotated clockwise as viewed from directly above, and in step S23, the engaging portion 34a of the eccentric rotating member 34
A load is applied between the light transmitting mirror 13 and the engaged portion 13a of the light transmitting mirror 13, and the light transmitting mirror 13 slightly swings around the support shaft 33 against the urging force of the urging member 35, so that the engaging portion 34a When the engagement between the and the engaged portion 13a is shifted by one pitch of the gear teeth and re-engaged, the rotation of the motor 15 is stopped in step S24. In this way, the eccentric rotation member 34 is
Relative to the rotation of one pitch, the above-mentioned step S22 ~
S24 is repeated until the relative rotation of the eccentric rotating member 34 for five pitches is completed in step S25. As a result, the engaging portion 34a of the eccentric rotating member 34 engages with the engaged portion 13a of the light transmitting mirror 13 at a portion where the radius is large, and the lower portion of the light transmitting mirror 13 is separated from the rotating shaft 14 to aim upward. Is done.

In the following step S26, the light transmitting mirror 13
If the reference reflector 44 is not yet detected in step S27 as a result of being rotated left and right within a range of 140 mrad,
Steps S20 to S26 are repeated, and the light transmitting mirror 1
When the reference reflector 44 is detected by sufficiently turning 3 upward, the process proceeds to step S10.

As described above, according to the flowchart of FIG. 8, the beam transmission direction is adjusted to the temporary aiming direction immediately before the reference reflector 44 disposed at the upper end of the detection range of the object detection device St can be detected. (See FIG. 14A).

Subsequently, after resetting an up / down detection counter, which will be described later, in step S30 of the flowchart of FIG. 9, the rotating shaft 14 of the motor 15 is viewed from directly above to swing the light transmitting mirror 13 upward in step S31. The light-transmitting mirror 13 is rotated clockwise, and
When the rotary shaft 14 comes into contact with the stopper 37, the torque of the motor 15 is further increased in step S33, and the rotating shaft 14 is rotated clockwise as viewed from directly above. When the eccentric rotation member 34 rotates by one pitch in step S34 and the light transmission mirror 13 is slightly upward, the motor 15 is stopped in step S35.

In the following step S36, the light transmitting mirror 13 is
Swivel left and right within the range of 140 mrad, and step S3
If the reference reflector 44 is not detected in step S7, step S3
The steps 1 to S36 are repeated to further raise the light transmitting mirror 13 by one pitch. Steps S31 to S31 are performed as described above.
When the reference reflector 44 is detected in step S37 as a result of executing the step S36 at least once, as shown in FIG. 14B, the vertical detection counter is incremented by one in step S38, and the vertical detection counter is incremented in step S39. If the count has not reached 2, steps S31 to S38
Repeat once. Thus, as shown in FIG. 14C, it is possible to adjust the direction of the light transmitting mirror 13 to the final aiming direction in which the reference reflector 44 can be reliably detected.

As described above, the axis adjusting means 29 sends the reflected wave from the reference reflector 44 toward the temporary aiming direction immediately before the wave can be received at a coarse angle corresponding to 5 pitches of the eccentric rotating member 34. After the light mirror 13 is adjusted downward, the light transmission mirror 13 is adjusted upward at a fine angle corresponding to one pitch of the eccentric rotating member 34, and the transmission direction of the electromagnetic wave is made to coincide with the final aiming direction. Aiming in the vertical direction can be completed well.

Subsequently, the flow shifts to step S40 in the flowchart of FIG. 10 to execute aiming in the left-right direction of the object detection device St. First, a left / right detection counter, which will be described later, is reset in step S40, and in step S41, the light transmitting mirror 13 is scanned left and right within a range of ± 140 mrad with respect to the left / right center axis of the object detection device St.
4 is stored in the target data memory (see FIG. 15). In a succeeding step S42, the detection angle in the left-right direction of the leftmost data among the eleven data stored in the target data memory (− in the embodiment).
25mrad), and in step S43, the left and right detection angles (−15 mrad in the embodiment) of the rightmost data of the 11 data are read. In the subsequent step S44, the leftmost and rightmost detection angles are detected. The left / right angle of the center of the reference reflector 44 is calculated as an average value, and the left / right angle of the center is stored in the target center memory in step S45. Then, in step S46, the left / right detection counter is incremented by one, and in step S47, steps S41 to S46 are repeated until the count number of the left / right detection counter reaches 10.

In the following step S48, the left and right angles of the center of the reference reflector 44 are read from the target center memory, and the average value of the ten data (-20 mra in the embodiment).
d) is calculated. Then, in step S49, by setting the angle of the average value (−20 mrad) of the ten data as the center of the new left-right scanning, the aiming in the left-right direction is completed (see FIG. 16).

Incidentally, the above description is based on the object detecting device St.
Has been arranged on the vehicle longitudinal axis, but as shown in FIG. 17A, when the object detection device St is offset left and right from the vehicle longitudinal axis,
An error occurs in left and right aiming. At this time, since the offset amount (for example, 20 mm) of the object detection device St with respect to the longitudinal axis of the vehicle body is known, as shown in FIG.
And the angle θ = tan calculated from the offset amount
By correcting aiming in the left-right direction by ^-1 (20/5000) = 4 mrad, the beam transmission direction can be set parallel to the vehicle longitudinal axis.

As described above, by simply rotating the rotation shaft 14 of the motor 15 beyond the rotation angle in the object detection mode, the light transmission mirror 13 is aimed upward and downward with respect to the angle parallel to the rotation shaft 14. This eliminates the need for the operator to fine-tune the mounting angles of the multiple mounting plates and perform aiming.This not only saves a great deal of work time and labor, but also eliminates the Precise aiming can be performed.

Although the embodiments of the present invention have been described in detail, various design changes can be made in the present invention without departing from the gist thereof.

For example, the object detection device St of the embodiment has a laser radar device, but may have a millimeter wave radar device. In the embodiment, the reference reflector 44 is set at the upper end of the vertical detection range of the object detection device St, but may be set at the lower end of the vertical detection range.

[0042]

As described above, according to the first aspect of the present invention, the reference reflector is installed at the upper end or the lower end of the detection range of the object detection device, and the receiving means transmits the reflected wave from the reference reflector. By determining whether or not the electromagnetic wave has been received, the axis adjusting unit adjusts the transmission direction of the electromagnetic wave to the temporary aiming direction immediately before the reflected wave from the reference reflector can be received, and thereafter enables the reception of the electromagnetic wave. In order to adjust the transmission direction of the electromagnetic wave in the final aiming direction by temporarily changing the transmission direction of the electromagnetic wave in the temporary aiming direction by adjusting the transmission direction of the electromagnetic wave by a predetermined amount from the temporary aiming direction by the axis adjusting means, By performing the adjustment, the up / down aiming operation can be completed with high accuracy in a short time.

According to the second aspect of the present invention,
A reference reflector is installed at the upper end or lower end of the detection range of the object detection device, and it is determined whether or not the receiving unit has received a reflected wave from the reference reflector. The transmission direction of the electromagnetic wave is adjusted to the temporary aiming direction immediately before the wave becomes receivable, and then the transmission direction of the electromagnetic wave is changed by a predetermined amount from the temporary aiming direction by the axis adjusting means so as to enable reception of the electromagnetic wave. Since the adjustment is performed in the aiming direction, the transmission direction of the electromagnetic wave is roughly adjusted in the temporary aiming, and then the transmission direction of the electromagnetic wave is precisely adjusted in the final aiming, so that the up-down aiming operation can be accurately finished in a short time. Further, when the reflected wave is not received, the transmission direction of the electromagnetic wave is adjusted by the axis adjusting means in the same direction as the direction of the reference reflector, and when the reflected wave is received, the transmission direction of the electromagnetic wave is adjusted by the reference reflected axis adjusting means. Is adjusted in the direction opposite to the direction of the reference reflector, so that the transmission direction of the electromagnetic wave can be surely adjusted to the temporary aiming direction immediately before the reflected wave from the reference reflector can be received.

According to the third aspect of the present invention,
After matching the height of the reference reflector with respect to the transmitting part of the electromagnetic wave, the position and height of the reference reflector are adjusted based on the vertical extent of the preset detection range. It can be accurately installed at the upper end or lower end of the detection range.

[Brief description of the drawings]

FIG. 1 is a block diagram of an object detection device.

FIG. 2 is a perspective view of an object detection device.

FIG. 3 is a plan view of a light transmission scanning unit.

FIG. 4 is a view in the direction of arrows in FIG. 3;

FIG. 5 is a view in the direction of arrows in FIG. 3;

FIG. 6 is a view taken along line 6-6 of FIG. 4;

FIG. 7 is an explanatory diagram of an operation.

FIG. 8 is a first diagram of a flowchart for explaining a procedure of aiming;

FIG. 9 is a second partial diagram of a flowchart illustrating the aiming procedure.

FIG. 10 is a third flowchart of a flowchart for explaining the aiming procedure.

FIG. 11 is an explanatory diagram of setting of a reference reflector of an aiming jig.

FIG. 12 is an explanatory diagram of a space necessary for aiming.

FIG. 13 is an explanatory diagram of setting of a target jig.

FIG. 14 is a diagram showing the relationship between the height of the beam of the object detection device and the reference reflector in vertical aiming;

FIG. 15 is an explanatory diagram of step S41 in left and right aiming.

FIG. 16 is an explanatory diagram of step S49 in left and right aiming.

FIG. 17 is an explanatory diagram of step S50 in left and right aiming.

[Explanation of symbols]

 Reference Signs List 1 light transmitting unit (transmitting unit) 3 light receiving unit (receiving unit) 29 axis adjusting unit 44 reference reflector

Claims (3)

[Claims] A transmitting means (1) for transmitting an electromagnetic wave toward a predetermined detection range extending in a vertical direction, and a receiving means for receiving a reflected wave of the electromagnetic wave transmitted from the transmitting means (1) reflected by an object. A shaft adjusting method for an object detection device, comprising: means (3); and an axis adjusting means (29) capable of adjusting a transmission direction of an electromagnetic wave from the transmitting means (1) vertically. Installing the reference reflector (44) at a position away from the transmitting means (1) by a predetermined distance; and setting the installation height of the reference reflector (44) to the upper end or the lower end of the detection range and receiving means (3). ) Is the reference reflector (4
4) determining whether or not the reflected wave from the reference reflector (44) can be received by the axis adjusting means (29) based on the determination result; Adjusting the transmission direction of the electromagnetic wave in the direction, and adjusting the transmission direction of the electromagnetic wave by a predetermined amount from the temporary aiming direction by the axis adjusting means (29) so as to enable reception of the electromagnetic wave to adjust the transmission direction of the electromagnetic wave to the final aiming direction. A method of adjusting the axis of the object detection device, comprising: 2. A transmitting means (1) for transmitting an electromagnetic wave toward a predetermined detection range having a vertical spread, and a receiving means for receiving a reflected wave of the electromagnetic wave transmitted by the transmitting means (1) reflected by an object. A shaft adjusting method for an object detection device, comprising: means (3); and an axis adjusting means (29) capable of adjusting a transmission direction of an electromagnetic wave from the transmitting means (1) vertically. Installing the reference reflector (44) at a position away from the transmitting means (1) by a predetermined distance; and setting the installation height of the reference reflector (44) to the upper end or the lower end of the detection range and receiving means (3). ) Is the reference reflector (4
4) determining whether or not the reflected wave from (4) has been received; and, when the reflected wave has not been received, the reference reflector (44).
When the reference reflector (44) is installed at the lower end of the detection range, the transmission direction of the electromagnetic wave is adjusted upward by a predetermined amount by the axis adjusting means (29). Adjusting the transmission direction of the electromagnetic wave downward by a predetermined amount by the axis adjusting means (29); and adjusting the reference reflector (44) at the upper end of the detection range when the reflected wave is being received. Adjusts the transmission direction of the electromagnetic wave downward by a predetermined amount by the axis adjusting means (29), and when the reference reflector (44) is installed at the lower end of the detection range, transmits the electromagnetic wave by the axis adjusting means (29). Adjusting the transmission direction of the electromagnetic wave to a temporary aiming direction immediately before the reflected wave from the reference reflector (44) can be received by adjusting the direction upward by a predetermined amount; and enabling reception of the electromagnetic wave. Axis adjustment means Method of adjusting the axis of the object detection apparatus which comprises a step of adjusting to a final aiming direction by changing a predetermined amount the transmission direction of the electromagnetic wave from the temporary aiming direction, the through 29). 3. The reference reflector (44) is movable and the height is adjustable, and after the height of the reference reflector (44) is made to coincide with the electromagnetic wave transmitter, a predetermined detection is performed. Reference reflector (44) based on the vertical extent of the range
3. The device according to claim 1, wherein the sensor is installed at an upper end or a lower end of a detection range by adjusting a position and a height of the detection range.
3. The method for adjusting an axis of an object detection device according to claim 1.