JP2009109310A - Laser radar apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a laser radar apparatus capable of carrying out a detection around the apparatus, and carrying out a three-dimensional detection. <P>SOLUTION: The laser radar apparatus 1 comprises a mirror unit 80 having a plurality of mirrors 81a-81l and is configured such that a laser beam L1 deflected by a deflection part 41 is further deflected by any of these plurality of mirrors 81a-81l. Furthermore, a mirror to be disposed on an incidence position of the laser beam L1 is switched over by changing the mirror unit 80, whereby the deflection direction of the laser beam can be varied. Therefore, the direction of the laser beam heading toward a space can be varied with respect to a direction (longitudinal direction) of the center axis 42a. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a laser radar device.

Conventionally, for example, an apparatus as disclosed in Patent Document 1 is provided as a technique for detecting the distance and direction to a detection object using a laser beam. In the apparatus of Patent Document 1, an optical isolator that transmits laser light and reflects reflected light from a detection object toward the detection means is provided on the optical axis of the laser light from the laser light generation means. Furthermore, a concave mirror that rotates about the central axis in the optical axis direction is provided on the optical axis of the laser light that passes through the optical isolator. The concave mirror reflects the laser light toward the space and reflects it from the detection object. Reflecting light toward the optical isolator enables 360 ° horizontal scanning.
Japanese Patent No. 2789741

  By the way, in the technique of Patent Document 1, 360 ° horizontal scanning is possible by rotating the concave mirror, and the detection area (area where scanning with laser light is performed) is expanded to the entire periphery of the apparatus. There is a problem that the detection area is limited to a plane. That is, since the laser beam reflected from the concave mirror toward the space is scanned within a predetermined plane (scanning plane), it is impossible to detect a region outside the scanning plane. Therefore, a detected object that deviates from the scanning plane cannot be detected, and even if the detected object exists in the scanning plane, the detected object cannot be grasped in three dimensions.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a laser radar apparatus that can detect the surroundings of the apparatus and can also perform three-dimensional detection.

  In order to achieve the above object, the invention of claim 1 includes a laser beam generating means for generating a laser beam and a laser beam reflected by a detection object when the laser beam is generated from the laser beam generating means. A light detecting means for detecting the reflected light; and a deflecting means configured to be rotatable about a predetermined central axis. The deflecting means deflects the laser light toward the space, and the reflected light. A rotation deflection means for deflecting the rotation of the rotation deflection means toward the light detection means, a drive means for rotationally driving the rotation deflection means, and one or a plurality of deflection members, and deflection by the deflection means of the rotation deflection means. Direction changing means configured to further deflect the laser beam that has been deflected by the deflection member, and capable of changing a deflection direction of the laser beam by the deflection member, Additional means, the deflection member by by changing the deflection direction of the laser beam, a direction of the laser beam toward said space, and changing in the direction of the central axis.

  According to a second aspect of the present invention, in the laser radar device according to the first aspect, the direction changing unit displaces a deflection member unit including a plurality of the deflection members, and the plurality of the deflection members. And a deflection member selection unit that selectively arranges any of the above on the path of the laser light from the rotation deflection unit, and the plurality of deflection members of the deflection member unit include the rotation deflection unit. The deflecting structure for deflecting the laser light from each of the deflecting members is different in each deflecting member.

  According to a third aspect of the present invention, in the laser radar device according to the second aspect, the deflecting member unit includes a plurality of the deflecting members arranged in a ring around the deflecting means, and around the deflecting means. The deflecting member selecting means is arranged so as to be able to rotate independently of the deflecting means, and the deflecting member selecting means controls one of the deflecting members on the path of the laser beam by controlling the rotational position of the deflecting member unit. It is characterized by being selectively arranged in

  According to a fourth aspect of the present invention, in the laser radar device according to the first aspect, the direction changing unit rotates integrally with the deflection unit of the rotation deflection unit and the laser beam from the deflection unit. The deflection member is disposed on the path of the deflection member and is configured to be displaceable, and displacement means for displacing the deflection member, and by displacing the deflection member by the displacement means, the deflection member The deflection direction of the laser beam at is changed.

  According to a fifth aspect of the present invention, in the laser radar device according to any one of the first to fourth aspects, the deflection member is a prism.

  According to a sixth aspect of the present invention, in the laser radar device according to any one of the first to fourth aspects, the deflection member is a mirror.

  A seventh aspect of the present invention is the laser radar device according to any one of the first to sixth aspects, wherein the driving means controls to rotate the deflection means of the rotation deflection means by a predetermined angle. The direction changing means changes the deflection direction of the laser light by the deflection member each time the deflection means rotates by the predetermined angle, and changes the direction of the laser light toward the space by the predetermined angle. The direction of the central axis is changed.

  According to the first aspect of the present invention, the laser beam deflected by the deflecting unit of the rotating deflection unit is further deflected by the deflecting member, and the deflection direction of the laser beam by the deflecting member can be changed. By changing the deflection direction of the laser beam by the member, the direction of the laser beam toward the space is changed with respect to the direction of the center axis (axis of rotation center of the deflection means). According to such a configuration, it is possible to suitably realize a laser radar device that can detect the periphery of the device and can also perform three-dimensional detection. In particular, a three-dimensional detection is possible by a simple and easy control structure in which a deflecting member is arranged in the path of the laser beam from the deflecting means and this deflecting member is changed by the direction changing means. It is advantageous for simplification and high accuracy.

  According to the second aspect of the present invention, a plurality of deflection members having different deflection configurations for deflecting the laser beam from the rotation deflection means are integrally displaced, and any one of the deflection members is turned to the rotation deflection means. It arrange | positions so that it may selectively arrange | position on the path | route of the laser beam from. According to this configuration, a configuration that can change the direction of the laser light in multiple stages in the direction of the central axis can be suitably realized. In particular, three-dimensional detection is realized by a configuration in which a deflecting member with a predetermined deflection configuration is selectively arranged on the path, and high-precision three-dimensional detection is possible without employing a complicated configuration and control. Become.

  In the invention of claim 3, the plurality of deflecting members are arranged in a ring around the deflecting means, and are arranged so as to be able to rotate around the deflecting means independently of the deflecting means. If the deflecting member unit is configured to rotate independently of the deflecting means as described above, the configuration of the rotating portion of the rotating deflecting means can be reduced in size, weight, and simplified, and the driving means can be easily miniaturized. It becomes easy to increase the accuracy and speed of the rotational drive control by the driving means. In addition, since the configuration for controlling the rotation of the deflecting member unit can be arranged in a portion other than the rotating portion in the rotating deflection unit, the wiring such as the power supply line can be easily simplified and made compact.

  In the invention of claim 4, one deflecting member is displaceably disposed on the path of the laser beam from the deflecting means, and the deflecting member, the displacing means for displacing the deflecting member, and the deflecting means are integrated. It is constituted so that it may rotate. In this way, the number of deflecting members and actuators for displacing the deflecting members can be reduced, and as a result, the number of parts and the size of the entire apparatus configuration can be easily reduced.

  In the invention of claim 5, the deflecting member is constituted by a prism, and it is possible to satisfactorily realize a configuration for deflecting the laser light from the deflecting means.

  According to the sixth aspect of the present invention, the deflecting member is constituted by a mirror, and a configuration for deflecting the laser light from the deflecting means can be realized satisfactorily.

  According to the seventh aspect of the invention, the driving means controls to rotate the deflection means of the rotation deflection means by a predetermined angle, and the deflection direction of the laser beam is changed by the direction changing means each time the deflection means rotates by the predetermined angle. I am letting. In this way, three-dimensional detection can be performed without greatly rotating the deflecting means at once, and the load on the rotating deflecting means and the driving means can be suppressed.

[First embodiment]
Hereinafter, a first embodiment of a laser radar device according to the present invention will be described with reference to the drawings. FIG. 1 is a partial cross-sectional view schematically illustrating the laser radar device according to the first embodiment. FIG. 2 is an explanatory diagram schematically illustrating a rotation deflection mechanism and a mirror unit used in the laser radar apparatus of FIG. FIG. 3 is a perspective view illustrating the mirror arrangement of the mirror unit. FIG. 4 is a flowchart illustrating a detection process in the laser radar apparatus of FIG. In FIG. 1, the direction of the central axis 42a is defined as the Y-axis direction, the emission direction of the laser light from the laser diode 10 is defined as the X-axis direction, and the direction orthogonal to the X-axis direction and the Y-axis direction is defined as the Z-axis direction. ing. In FIG. 1, the laser light from the laser diode 10 to the mirror unit 80 is indicated by a symbol L1, and the path after the reflection position P2 at the mirror unit 80 is indicated by a symbol L1 ′, L1 ″, and the like. Moreover, in FIG. 1, the cross-sectional structure is shown about the case 3, and the structure seen from the front side is shown about each other component.

  As shown in FIG. 1, the laser radar device 1 includes a laser diode 10 and a photodiode 20 that receives reflected light from a detection object, and is configured as a device that detects the distance and direction to the detection object. . In FIG. 1, an example of the optical path of the reflected light is indicated by a symbol L2.

  The laser diode 10 corresponds to an example of “laser light generation means”, and is supplied with a pulse current from a drive circuit (not shown) to project pulse laser light (laser light L1). A lens 60 is provided on the optical axis of the laser light L1 from the laser diode 10. The lens 60 is configured as a collimating lens and has a function of converting the laser light L1 from the laser diode 10 into parallel light. The laser diode 10 and the lens 60 are mounted on a support portion made of a substrate or the like and fixed at a predetermined position in the case 3.

  The photodiode 20 corresponds to an example of “light detection means”, is fixed at a predetermined position in the case 3, and is reflected by the detection object when the laser light L 1 is generated from the laser diode 10. The reflected light of L1 is detected and converted into an electrical signal. Note that the reflected light from the detection object is configured to be captured in a predetermined region. In the example of FIG. 1, when the laser light L1 passes through the path indicated by the solid line L1 ′, the reflected light is denoted by reference numeral L2 ′. The reflected light in the region between the two lines shown is taken into the photodiode 20. Further, when the laser beam passes through the path indicated by the two-dot chain line L1 ″, the reflected light in the region between the two lines indicated by the symbol L2 ″ is taken into the photodiode 20.

  A mirror 30 is disposed on the optical path of the laser beam L1 that has passed through the lens 60. The mirror 30 deflects (reflects) the laser light L1 from the laser diode 10 toward the rotation deflection mechanism 40. Specifically, a reflection surface 30a inclined at an angle of 45 ° with respect to the laser light L1 from the laser diode 10 is provided, and the laser light L1 from the laser diode 10 is reflected at a right angle by the reflection surface 30a. I am doing.

  A rotation deflection mechanism 40 is provided on the optical axis of the laser beam L1 reflected by the mirror 30. The rotation deflection mechanism 40 corresponds to an example of a “rotation deflection unit”, and includes a deflection unit 41 formed of a mirror having a flat reflection surface 41a, a support base 43 that supports the deflection unit 41, and The shaft portion 42 connected to the support base 43 and a bearing (not shown) that rotatably supports the shaft portion 42 are provided. The deflecting portion 41 deflects the laser light L1 toward the space and detects the object. It functions to deflect the reflected light from the light toward the photodiode 20. The deflection unit 41 constituting a part of the rotation deflection mechanism 40 is rotatable about the central axis 42a, and corresponds to an example of “deflection means”.

  In the laser radar device 1 according to the present embodiment, the deflection region for deflecting the reflected light in the deflection unit 41 (the region of the reflection surface 41a in the deflection unit 41) is the deflection region for deflecting the laser light in the mirror 30 (mirror 30). The area of the reflective surface 30a in FIG.

  Further, a motor 50 is provided so as to rotationally drive the rotation deflection mechanism 40. The motor 50 is configured to rotate the deflection portion 41 connected to the shaft portion 42 by rotating the shaft portion 42. The motor 50 is configured by, for example, a step motor. Various step motors can be used. If a step motor having a small angle for each step is used, precise rotation is possible. In the present embodiment, the motor 50 and the control circuit 80 that controls the motor 50 correspond to an example of “driving means”.

  Note that a motor other than the step motor may be used as the motor 50. For example, a servo motor or the like may be used, or a motor that rotates regularly and a pulse laser beam is output in synchronization with the timing when the deflecting unit 41 faces the direction to be measured, thereby enabling detection of a desired direction. Also good.

  In the present embodiment, as shown in FIG. 1, a rotation angle position sensor 52 that detects the rotation angle position of the shaft portion 42 of the motor 50 (that is, the rotation angle position of the deflection unit 41) is provided. The rotation angle position sensor 52 can be of various types as long as it can detect the rotation angle position of the shaft portion 42 such as a rotary encoder, and the type of the motor 50 to be detected is not particularly limited. It can be applied to various types.

  A condensing lens 62 that condenses the reflected light toward the photodiode 20 is provided on the optical path of the reflected light from the rotation deflection mechanism 40 to the photodiode 20. A filter 64 is provided between the diodes 20. The condensing lens 62 condenses the reflected light from the deflection unit 41 and guides it to the photodiode 20 and corresponds to an example of a condensing unit. The filter 64 transmits reflected light and removes light other than reflected light on the optical path of reflected light from the rotation deflection mechanism 40 to the photodiode 20 and corresponds to an example of a light selection unit. is doing. Specifically, it can be configured by a wavelength selection filter that transmits only light having a specific wavelength corresponding to reflected light from the detection object (for example, light having a wavelength in a certain region) and blocks other light.

  In the present embodiment, the laser diode 10, the photodiode 20, the mirror 30, the lens 60, the rotation deflection mechanism 40, the motor 50, the control circuit 70, the mirror unit 80 (described later) and the like are housed in the case 3 and are dustproof. And shock protection. Around the deflection unit 41 in the case 3, a light guide unit 4 is formed so as to allow the laser light L 1 from the laser diode 10 and the reflected light from the detection object to pass therethrough so as to surround the deflection unit 41. . The light guide unit 4 is formed in an annular shape with the optical axis of the laser light L1 entering the deflecting unit 41 approximately in the center and extending over approximately 360 °. A laser light transmission plate 5 made of a plate or the like is arranged to prevent dust. The laser light transmitting plate 5 is configured to be inclined over the entire circumference with respect to a virtual plane orthogonal to the central axis 42a of the rotation deflection mechanism 40.

  A control circuit 70 that controls the entire laser radar device 1 is provided in the case 3. The control circuit 70 is configured as a microcomputer including a CPU, a bus line, a storage unit, and the like, and is configured as an information processing apparatus that can execute a program stored in a memory (not shown). In the present embodiment, the control circuit 70 performs rotation control of the motor 50 and rotation control (described later) of the motor 87.

Next, the mirror unit 80, the transmission mechanism 90, and the motor 87 will be described.
As shown in FIGS. 1 to 3, the laser radar device 1 of the present embodiment includes a mirror unit 80 (including mirrors 81 a to 81 l (the mirrors 81 a to 81 l correspond to an example of “deflection members”)) ( The mirror unit 80 includes an “equivalent to an example of a“ deflection member unit ”), and the laser light L1 deflected (reflected) by the deflecting unit 41 is further deflected (reflected) by any of the mirrors 81a to 81l. I am doing.

  As shown in FIG. 2 and FIG. 3, the mirror unit 80 includes a plurality of mirrors (12 mirrors 81 a to 81 l in the present embodiment) arranged in a ring around the deflection unit 41, and The periphery is arranged so as to be able to rotate independently of the deflection unit 41. Specifically, the mirror unit 80 is also configured to rotate about the central axis 42a (that is, coaxial with the rotation of the deflection unit 41), and the rotation of the deflection unit 41 and the rotation of the mirror unit 80 are performed. Each is performed independently and is controlled independently.

  In the present embodiment, the laser beam L1 reflected by the mirror 30 is incident on the fixed position P1 of the deflection unit 41, and the laser beam L1 incident on the deflection unit 41 is reflected at a right angle to the position P1. It is like that. Since the deflection unit 41 is configured to rotate around the central axis 42a, the path of the laser light L1 reflected at a right angle by the deflection unit 41 and directed to the plurality of mirrors 81a to 81l is the central axis 42a. And changes on a virtual plane passing through the position P1. The plurality of mirrors 81a to 81l are all arranged on the virtual plane, and all the mirrors 81a to 81l are integrally rotated along the virtual plane while maintaining a state where the mirrors 81a to 81l are located on the virtual plane. It is like that.

  Each of the plurality of mirrors 81a to 81l has a reflecting surface inclined with respect to the central axis 42a, and the inclination angles of the reflecting surfaces of the mirrors 81a to 81l with respect to the central axis 42a are different from each other. The reflecting surfaces of the mirrors 81a to 81l are also inclined with respect to a virtual plane orthogonal to the central axis 42a, and the inclination angles of the reflecting surfaces of the mirrors 81a to 81l with respect to the virtual plane are also different. It is configured. Further, since the plurality of mirrors 81a to 81l of the mirror unit 80 rotate integrally around the central axis 42a, the inclination angles of the reflecting surfaces of the mirrors 81a to 81l with respect to the central axis 42a are constant. Maintained at an angle. In addition, the inclination angles of the reflecting surfaces of the mirrors 81a to 81l with respect to a virtual plane orthogonal to the central axis 42a are also maintained at a constant angle.

  Further, the mirror unit 80 is provided with a frame portion 83 for holding the mirrors 81a to 81l. The frame portion 83 includes an annular holding frame 83a to which the mirrors 81a to 81l are fixed in an annular form, an annular frame 83c that is rotatably supported on the thrust bearing 86, and the holding frame 83a and the annular frame 85c. Are connected to each other, and are configured to rotate integrally with the plurality of mirrors 81a to 81l while holding the plurality of mirrors 81a to 81l.

  The holding frame 83 a is disposed so as to surround the deflection unit 41, and the annular frame 85 c is disposed at a position slightly below the deflection unit 41. The plurality of connecting portions 83b extend in the direction of the central axis 42a to connect the holding frame 83a and the annular frame 85c, and a space for allowing reflected light to pass is formed between the plurality of connecting portions 83b. Yes. The frame portion 83 configured as described above is supported by the annular thrust bearing 86 and rotates around the deflection portion 41, the shaft portion 42, and the motor 50.

  Further, a gear 91 is fixed to the outer peripheral portion of the frame portion 83, and power is transmitted from a gear 92 fixed to the output shaft of the motor 87. The motor 87 has a configuration capable of controlling the rotational position, and is configured by, for example, a step motor, and rotates the mirror unit 80 by an angle based on a command from the control circuit 70. In this embodiment, power transmission from the motor 87 to the mirror unit 80 is realized by the transmission mechanism 90 including the gear 91 and the gear 92. However, the configuration in which the driving force of the motor 87 can be transmitted to the mirror unit 80. If so, other methods (for example, a configuration using a worm and a wheel, a configuration using a belt or a pulley, etc.) may be used.

In the laser radar device 1 configured as described above, the “direction deflecting unit” changes the deflection direction (reflection direction) of the laser light by the mirrors 81a to 81l, and changes the direction of the laser light toward the space to the direction of the central axis 42a. Is changing. Specifically, the mirror 87 is driven to rotate by the motor 87, and the rotational position of the mirror unit 80 is controlled, so that any of the plurality of mirrors 81a to 81l is on the path of the laser light L1 from the deflecting unit 41. Are arranged selectively. The plurality of mirrors 81a to 81l of the mirror unit 80 have a deflecting configuration that deflects the laser light L1 from the deflecting unit 41 (that is, the angle of the reflecting surface that reflects the laser light L1 from the deflecting unit 41). Therefore, when the mirrors arranged on the path of the laser light L1 are switched, the reflection direction at each mirror changes, and the direction of the laser light toward the space is thereby changed to the center axis 42a. Varies with respect to direction.
In the present embodiment, the mirror unit 80, the control circuit 70, the motor 87, and the transmission mechanism 90 correspond to an example of “direction changing means”, and the control circuit 70, the motor 87, and the transmission mechanism 90 are “ This corresponds to an example of “deflection member selection means”.

Next, the operation of the laser radar device 1 will be described.
In the laser radar device 1 shown in FIG. 1, when a pulse current is supplied to the laser diode 10, the laser diode 10 outputs a pulse laser beam (laser beam L1) at a time interval corresponding to the pulse width of the pulse current. The The laser light L1 is projected as diffused light having a certain spread angle, and is converted into parallel light by passing through the lens 60. The laser beam L1 that has passed through the lens 60 is reflected by the mirror 30 and enters the deflecting unit 41, and is reflected by the deflecting unit 41 and irradiated toward the space.

  The laser beam (for example, symbol L1 ″) reflected by the deflecting unit 41 is reflected by the detection object, and a part of the reflected light (see symbol L2 ″) is incident on the deflecting unit 41 again. The deflecting unit 41 reflects this reflected light toward the photodiode 20. The reflected light reflected by the deflecting unit 41 is collected by the condenser lens 62, passes through the filter 64, and enters the photodiode 20.

  The photodiode 20 outputs an electrical signal corresponding to the received reflected light (for example, a voltage value corresponding to the received reflected light). In this configuration, the distance to the detection object can be obtained by measuring the time from when the laser light L1 is output by the laser diode 10 until the reflected light is detected by the photodiode 20. Further, the azimuth can also be obtained from the displacement of the motor 87 (that is, the displacement of the mirror unit 80) and the displacement of the deflection unit 41 at that time. That is, when the rotational position of the deflecting unit 41 is determined and the mirror selected from the plurality of mirrors 81a to 81l (the mirror disposed on the path of the laser light L1) is determined, the direction of the laser light toward the space is one. Since the orientation is determined, the orientation of the detected object can be accurately grasped.

Next, control of the laser radar device 1 will be described.
FIG. 4 is a flowchart illustrating the flow of detection processing in the laser radar device 1 of FIG. The detection process is started, for example, when the power is turned on or a predetermined operation is performed. First, the mirror unit 80 and the deflecting unit 41 are set to initial positions (S1). In the present embodiment, the positions shown in FIGS. 1 and 2 are the initial positions, and the motor 87 and the motor 50 are rotationally driven so that the mirror unit 80 and the deflecting unit 41 are in the positions. Note that the mirror unit 80 and the deflecting unit 41 can be set to the initial positions in the standby state before the detection process. In such a configuration, the process of S1 can be omitted.

  Next, an object detection process is performed in the current setting state (a state where the initial position is set immediately after the start of the detection process) (S2). Specifically, the control circuit 70 controls the laser diode 10 to project laser light, and the control circuit 70 reads the electrical signal output from the photodiode 20 to set the current setting of the mirror unit 80 and the deflection unit 41. It is confirmed whether or not there is an object to be detected in the direction corresponding to the position. When an electrical signal of a certain level or more is output from the photodiode 20, the distance to the detection object is calculated based on the time from the laser light projection by the laser diode 10 to the reception of the reflected light by the photodiode 20. . Further, based on the current set positions of the mirror unit 80 and the deflecting unit 41, the direction in which the laser light L1 travels from the deflecting unit 41 is calculated. Note that the calculated distance and direction can be output to a display unit (not shown).

  Thereafter, it is determined whether the mirror unit 80 has made one rotation (S3). In the laser radar device 1 of the present embodiment, the motor 50 rotates the deflecting unit 41 by a predetermined angle (1 ° in the example of the present embodiment) in accordance with the control of the control circuit 70. Every time the deflecting unit 41 rotates by a certain angle (1 °), the mirror unit 80 is rotated by a certain angle (30 ° in this embodiment) and finally rotated once. That is, scanning in the direction of the central axis (longitudinal direction along the central axis 42a) is performed at every constant angle (1 °) of the motor 50. In the process of S3, it is determined whether or not the mirror unit 80 has completed one rotation in the current setting state of the deflection unit 41. If one rotation has been completed, the current setting state of the deflection unit 41 is determined. Since the scanning in the vertical direction (that is, the direction of the central axis 42a) is completed, the process proceeds to Yes in S3. On the other hand, if the mirror unit 80 has not completed one rotation in the current setting state of the deflection unit 41, the process proceeds to No in S3 and rotates the mirror unit 80 by a predetermined fixed angle (30 °) ( S4) The detection process of S2 is repeated again in the state of the mirror unit 80 after the rotation by a certain angle (that is, a state where a new mirror is arranged on the path of the laser light L1). In the present embodiment, as shown in FIG. 2, the laser beam L1 is incident near the center of any one of the plurality of mirrors 81a to 81l. °) When rotated, the state changes so that the laser beam L1 is incident near the center of the next adjacent mirror.

  When the process proceeds to Yes in S3, the control unit 70 controls the motor 50 to further rotate the deflecting unit 41 by a certain angle (1 °) (S5), and the deflecting unit 41 after the rotation. The process after S2 is repeated in the set state. That is, the scanning in the vertical direction is performed again in a state where the deflection unit 41 is set to a new position. In the above example, “1 °” is illustrated as an example of the “constant angle”. However, the “constant angle” that is the rotation step of the deflection unit 41 may be a smaller angle or a larger angle. There may be.

  As described above, according to the laser radar device 1 according to the present embodiment, the laser light L1 from the laser diode 10 is deflected toward the space, and the reflected light from the detection target is the photodiode 20 (light detection means). Since the deflecting portion 41 (deflecting means) that deflects toward the center can be rotated around a predetermined central axis 42a, detection over the periphery of the apparatus is possible. The laser beam L1 deflected by the deflection unit 41 is further deflected by a mirror (deflection member), and the direction of the laser beam toward the space is changed by changing the deflection direction of the laser beam by the mirror. The direction of the central axis 42a (vertical direction) is changed. Therefore, the direction of the laser beam toward the space can be changed not only in the plane direction (XZ plane direction) orthogonal to the central axis 42a, but also in the vertical direction (Y-axis direction, that is, the vertical direction). Detection can be performed three-dimensionally.

  In particular, the mirror unit 80 is arranged in the path of the laser light L1 from the deflecting unit 41, and the mirror unit 80 is changed to enable a three-dimensional detection by a simple and easy control configuration. It is advantageous for simplification and high accuracy. Such a configuration is particularly useful when used as an area sensor, a safety sensor or the like in a factory or the like.

  Further, a plurality of mirrors 81 a to 81 l configured so that the deflection configurations for deflecting the laser light L <b> 1 from the rotation deflection mechanism 40 are different from each other are integrally displaced, and any one of the mirrors is moved from the rotation deflection mechanism 40. The laser beam L1 is selectively arranged on the path. According to this configuration, it is possible to preferably realize a configuration that can change the direction of the laser light in multiple steps in the direction of the central axis 42a. In particular, three-dimensional detection is realized by a configuration in which mirrors with a predetermined angle of the reflecting surface are selectively arranged on the path, enabling highly accurate three-dimensional detection without employing complicated configurations and controls. It becomes.

  A plurality of mirrors 81 a to 81 l are arranged in a ring around the deflection unit 41, and are arranged so as to be able to rotate around the deflection unit 41 independently of the deflection unit 41. If the mirror unit 80 is configured to be able to rotate independently of the deflection unit 41 in this way, the configuration of the rotating portion of the rotation deflection mechanism 40 can be reduced in size, weight, and simplification, and the motor 50 and the like can be reduced in size. It becomes easy. In addition, the rotational drive control by the motor 50 can be easily performed with high accuracy and high speed. In addition, since a configuration for controlling the rotation of the mirror unit 80 can be arranged in a portion other than the rotating portion in the rotation deflection mechanism 40, the power supply configuration and the control configuration for driving the mirror unit 80 are simplified. It becomes easy to make compact.

  The “driving means” including the motor 50 and the control circuit 70 controls to rotate the deflection unit 41 of the rotation deflection mechanism 40 by a predetermined angle, and every time the deflection unit 41 rotates by the predetermined angle, the mirror unit 80 is driven. Is rotated once to change the deflection direction of the laser beam. In this way, three-dimensional detection can be performed without greatly rotating the deflection unit 41 at one time, and loads on the rotation deflection mechanism 40 and the motor 50 can be suppressed.

[Second Embodiment]
Next, a second embodiment will be described. FIG. 5 is a partial cross-sectional view schematically illustrating the laser radar device of the second embodiment. FIG. 6 is an explanatory diagram schematically illustrating a rotation deflection mechanism, a mirror, and the like used in the laser radar apparatus of FIG. In FIG. 5, the direction of the central axis 42a is defined as the Y-axis direction, the emission direction of the laser light from the laser diode 10 is defined as the X-axis direction, and the direction orthogonal to the X-axis direction and the Y-axis direction is defined as the Z-axis direction. ing. Also in FIG. 5, laser light from the laser diode 10 to the mirror unit 80 is indicated by symbol L <b> 1, and a path after the reflection position P <b> 2 on the mirror unit 80 is indicated by symbols L <b> 1 ′, L <b> 1 ″, and the like. Further, in FIG. 5, the cross-sectional configuration is shown for the case 3, and the other components are the configurations viewed from the front side.

  The laser radar device 200 of the present embodiment is different from the first embodiment only in the configuration for deflecting the laser light L1 from the deflecting unit 41, and the other configurations are the same as those in the first embodiment. Therefore, the same reference numerals as those in the first embodiment are given to the same configurations, and detailed description thereof is omitted.

  Also in this embodiment, as in the first embodiment, a laser diode 10 (laser light generating means) that generates laser light L1 and a laser that is reflected by a detection object when the laser light L1 is generated from the laser diode 10 A photodiode 20 (light detection means) that detects reflected light of the light and a mirror 30 that reflects the laser light L1 from the laser diode 10 toward the deflecting unit 41 are provided. Further, a rotating deflection mechanism that deflects laser light toward the space side by a deflecting unit 41 configured to be rotatable about the central axis 42 a and deflects reflected light from the detection object toward the photodiode 20. 40 (rotation deflection means) and a motor 50 (drive means) for rotating the rotation deflection mechanism 40 are provided, and it is configured to perform scanning in the horizontal direction perpendicular to the central axis 42a.

  Further, in the present embodiment, a mirror 281 that rotates integrally with the deflection unit 41 of the rotation deflection mechanism 40 (the mirror 281 corresponds to an example of a “deflection member”) is provided. The laser beam L1 deflected by the deflection unit 41 is further deflected by the mirror 281. The mirror 281 is fixed to the drive shaft 289 of the motor 287 and supported by the motor 287, and the motor 287 is fixed to the frame 288 fixed to the support base 43, whereby the mirror 281, the motor 287, the deflection The part 41 is integrated and these are rotated integrally.

  Further, the mirror 281 is configured to rotate by receiving the driving force of the motor 287. The motor 287 only needs to be configured to be able to control the rotational position, and in the present embodiment, a step motor is used as an example. The mirror 281, the motor 287, and the control circuit 70 correspond to an example of “direction changing unit” that changes the deflection direction of the laser beam by the mirror 281. The motor 287 receives the command from the control circuit 70 and the mirror 281 receives the command. Is controlled, and the direction of the laser beam toward the space is changed with respect to the direction of the central axis 42a by changing the deflection direction of the laser beam by the mirror 281.

  As shown in FIGS. 5 and 6, the mirror 281 constituting the “direction changing means” is arranged on the path of the laser light L1 from the deflecting unit 41, and the motor 287 moves the mirror 281 from the deflecting unit 41. It is configured to rotate around the rotation axis 287a in the direction orthogonal to the direction of the laser beam L1 (ie, the Z-axis direction). In the present embodiment, the motor 287 and the control circuit 70 correspond to an example of “displacement means”, and function to change the deflection direction of the laser light at the mirror 281 by displacing the mirror 281. Yes.

  In the present embodiment, the same scanning method as in the first embodiment, that is, the deflection unit 41 of the rotation deflection mechanism 40 is controlled to rotate by a predetermined angle (for example, 1 °), so that the deflection unit 41 has a predetermined angle ( Each time it is rotated by 1 °, scanning in the vertical direction may be performed. That is, every time the deflecting unit 41 rotates by a predetermined angle (1 °), the mirror 281 is changed by a predetermined angle (for example, 5 °) by the motor 287 and the control circuit 70, and detection processing is performed every time the change is made. The scanning in the vertical direction may be continued until the angle change of the mirror 281 reaches a certain angle range (for example, 30 °).

  According to the configuration of the present embodiment, the same effects as those of the first embodiment are obtained. Further, one mirror 281 is displaceably disposed on the path of the laser beam L1 from the deflection unit 41, and the mirror 281, the motor 287 for displacing the mirror 281 and the deflection unit 41 are integrated. It is configured to rotate. In this way, the number of deflecting members and actuators for displacing the deflecting members can be reduced, and as a result, the number of parts and the size of the entire apparatus configuration can be easily reduced.

[Third Embodiment]
Next, a third embodiment will be described. FIG. 7 is a partial cross-sectional view schematically illustrating the laser radar device of the third embodiment. FIG. 8 is an explanatory diagram schematically illustrating a rotation deflection mechanism, a mirror, and the like used in the laser radar apparatus of FIG. In FIG. 7, the direction of the central axis 42a is defined as the Y-axis direction, the emission direction of the laser light from the laser diode 10 is defined as the X-axis direction, and the direction orthogonal to the X-axis direction and the Y-axis direction is defined as the Z-axis direction. ing. Also in FIG. 7, laser light from the laser diode 10 to the mirror unit 80 is denoted by reference numeral L <b> 1, and a path after the reflection position P <b> 2 at the mirror unit 80 is denoted by reference numerals L <b> 1 ′, L <b> 1 ″ and the like. 7 shows a cross-sectional configuration of the case 3, and other components as viewed from the front side, and also shows a mirror 381a and a motor 387a in solid lines in FIG. The other mirrors and motors having the same configuration are conceptually indicated by a one-dot chain line.

  The laser radar device 300 of the present embodiment is different from the first embodiment only in the configuration for deflecting the laser light L1 from the deflecting unit 41, and the other configurations are the same as those in the first embodiment. Therefore, the same reference numerals as those in the first embodiment are given to the same configurations, and detailed description thereof is omitted.

  Also in this embodiment, as in the first embodiment, a laser diode 10 (laser light generating means) that generates laser light L1 and a laser that is reflected by a detection object when the laser light L1 is generated from the laser diode 10 A photodiode 20 (light detection means) that detects reflected light of the light and a mirror 30 that reflects the laser light L1 from the laser diode 10 toward the deflecting unit 41 are provided. Further, a rotation deflection mechanism 40 (rotation) deflects the laser light toward the space and deflects the reflected light toward the photodiode 20 by the deflection unit 41 configured to be rotatable about the central axis 42a. Deflection means) and a motor 50 (drive means) that rotationally drives the rotation deflection mechanism 40, and is configured to perform scanning in the horizontal direction perpendicular to the central axis 42a.

  On the other hand, in the present embodiment, a plurality of mirrors 381a to 381l on the changing path of the laser light L1 from the deflection unit 41 (that is, on a virtual plane orthogonal to the central axis 42a and passing through the incident position P1 of the laser light L1). Are arranged side by side in a ring, and each is rotatably supported. In the present embodiment, an annular frame 388 is disposed so as to surround the periphery of the deflection unit 41, and motors 387 a to 387 l for driving the mirrors 381 a to 381 l are fixed to the annular frame 388. The annular frame 388 is fixed to the lower part of the case 3 by a frame 389, and the deflection unit 41 is configured to rotate inside the frame 388.

  The mirrors 381a to 381l are fixed to the drive shafts of the motors 387a to 387l, respectively, and the rotational positions of the mirrors 381a to 381l are controlled by the motors 387a to 387l. The motors 387a to 387l may have any configuration capable of performing rotational position control, and a step motor is used as an example in this embodiment.

  In the laser radar device 300 configured as described above, the motor 50 is driven in accordance with a command from the control circuit 70. The control circuit 70 and the motor 50 perform control to rotate the deflecting unit 41 by a certain angle (30 ° in the present embodiment) so that the laser light L1 from the deflecting unit 41 enters each of the mirrors 381a to 381l. ing. Further, among the mirrors 381a to 381l, the rotation position of the mirror that is the target of the laser light L1 is controlled by a corresponding motor, and the deflection direction of the laser light is changed by this control. Become.

  For example, in a configuration in which the initial state is set as shown in FIG. 8, the detection process is performed while rotating the mirror 381 by a predetermined angle (for example, 5 °) by the motor 387a in the initial state. When the mirror 381 has finished rotating within a certain angle range, the motor 50 and the control circuit 70 rotate the deflection unit 41 by a certain angle (30 °) so that the laser beam L1 enters the next mirror 381b. In this state, similarly to the above, the detection process is performed while rotating the mirror 381b by a predetermined angle (for example, 5 °) by the motor 387b.

[Other Embodiments]
The present invention is not limited to the embodiments described with reference to the above description and drawings. For example, the following embodiments are also included in the technical scope of the present invention.

  In the above embodiment, the mirror is exemplified as the deflecting member, but it may be constituted by a prism. For example, in the first embodiment, the mirror unit as shown in FIGS. 2 and 3 is used, but instead of this, a deflecting member unit including a plurality of prisms 181a to 181l arranged in an annular shape as shown in FIG. May be used. In this case, all the prisms 181a to 181l are arranged on a path (on a virtual plane orthogonal to the central axis 42a and passing through the position P1) along which the laser light L1 from the deflection unit 41 changes around the deflection unit 41. The prisms 181a to 181l are rotated around the central axis 42a, and control is performed so that any one of the prisms is selectively arranged on the path of the laser light L1. Since the plurality of prisms 181a to 181l are configured to have different refraction directions when the laser beam L1 from the deflecting unit 41 is incident, control for switching the prisms arranged on the path of the laser beam L1 is performed. By doing so, the direction of the laser beam toward the space changes in the direction of the central axis 42a (vertical direction).

  In the second and third embodiments, the configuration in which the mirror disposed on the path of the laser light L1 from the deflecting unit 41 is controlled to rotate is shown. However, instead of the mirror, the prism is placed on the path of the laser light L1. The arrangement may be such that the rotation is controlled.

FIG. 1 is a partial cross-sectional view schematically illustrating the laser radar device according to the first embodiment. FIG. 2 is an explanatory view schematically illustrating a rotation deflection mechanism and a mirror unit used in the laser radar apparatus of FIG. 1, and is a view of these viewed from above. FIG. 3 is a perspective view illustrating the mirror arrangement of the mirror unit. FIG. 4 is a flowchart illustrating a detection process in the laser radar apparatus of FIG. FIG. 5 is a partial cross-sectional view schematically illustrating the laser radar device of the second embodiment. FIG. 6 is an explanatory diagram schematically illustrating a rotation deflection mechanism, a mirror, and the like used in the laser radar apparatus of FIG. FIG. 7 is a partial cross-sectional view schematically illustrating the laser radar device of the third embodiment. FIG. 8 is an explanatory diagram schematically illustrating a rotation deflection mechanism, a mirror, and the like used in the laser radar apparatus of FIG. FIG. 9 is a perspective view illustrating a deflecting member different from that in FIG. 3.

Explanation of symbols

1,200,300 ... Laser radar device 10 ... Laser diode (laser light generating means)
20 ... Photodiode (light detection means)
40... Turning deflection mechanism (turning deflection means)
41 ... Deflection part (deflection means)
42a ... center shaft 50 ... motor (driving means)
70... Control circuit (driving means, direction changing means, deflecting member selecting means)
80 ... Mirror unit (direction changing means, deflection member unit)
81a to 81l ... mirror (deflection member)
87. Motor (direction changing means, deflecting member selecting means)
90 ... Transmission mechanism (direction changing means, deflecting member selecting means)
181a to 181l ... Prism (deflection means)
281: Mirror (deflection member)
287 ... Motor (direction changing means, displacement means)
387a to 387l ... motor (direction changing means)

Claims (7)

Laser light generating means for generating laser light;
Light detection means for detecting reflected light of the laser light reflected by a detection object when the laser light is generated from the laser light generation means;
A deflection unit configured to be rotatable about a predetermined center axis is provided, the laser beam is deflected toward the space by the deflection unit, and the reflected light is deflected toward the light detection unit. Rotating deflection means;
Drive means for rotationally driving the turning deflection means;
It comprises one or a plurality of deflecting members, and is configured to further deflect the laser light deflected by the deflecting means of the rotational deflecting means by the deflecting member, and the deflection direction of the laser light by the deflecting member. Direction changing means that can be changed;
With
The direction changing means changes the direction of the laser beam toward the space with respect to the direction of the central axis by changing the deflection direction of the laser beam by the deflection member. . The direction changing means includes
A deflection member unit comprising a plurality of the deflection members;
A deflecting member selecting means for displacing the deflecting member unit and selectively disposing one of a plurality of the deflecting members on a path of the laser light from the rotating deflecting means;
With
2. The plurality of deflection members of the deflection member unit are configured such that a deflection configuration for deflecting the laser light from the rotation deflection unit is different in each of the deflection members. The laser radar device described in 1. The deflection member unit is configured such that a plurality of the deflection members are arranged in a ring around the deflection means, and arranged around the deflection means so as to be able to rotate independently of the deflection means,
3. The laser according to claim 2, wherein the deflection member selecting unit selectively arranges one of the deflection members on a path of the laser beam by controlling a rotational position of the deflection member unit. Radar device. The direction changing means includes
One deflection member that rotates integrally with the deflection means of the rotation deflection means, and that is disposed on the path of the laser light from the deflection means and is configured to be displaceable,
Displacement means for displacing the deflection member;
With
The laser radar device according to claim 1, wherein the deflection direction of the laser beam at the deflection member is changed by displacing the deflection member by the displacing means.   The laser radar device according to any one of claims 1 to 4, wherein the deflecting member is a prism.   The laser radar device according to claim 1, wherein the deflecting member is a mirror. The drive means performs control to rotate the deflection means of the rotation deflection means by a predetermined angle,
The direction changing unit changes the deflection direction of the laser beam by the deflection member each time the deflection unit rotates by the predetermined angle, and changes the direction of the laser beam toward the space by the center at the predetermined angle. The laser radar device according to claim 1, wherein the laser radar device is changed with respect to a direction of the axis.

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