JP2009145107A - Laser radar system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a laser radar system capable of detection which extends over the surroundings of the system, as well as, is three-dimensional detection. <P>SOLUTION: The laser radar system 1 is provided with a laser diode 10, a photodiode 20, and a rotating and reflecting mechanism 40. A mirror unit 43 of the rotating and reflecting mechanism 40 is provided with a plurality of mirrors 44-48, and any one of mirrors among them reflects a laser beam L1 toward space and reflects reflected light toward a photodetection means. The mirror unit 43 is constituted, in such a way that each of the tilt angles of the mirrors 44-48 is different from one another with respect to the center axis 42a so as to change the orientation of the laser beam from the mirror unit 43 in the direction of the center axis 42a, by making the mirrors to be arranged arrange at then incident position of the laser beam L1. <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 detection means for detecting reflected light and a mirror unit having a plurality of mirrors are configured to be rotatable around a predetermined central axis, and the laser light is spatially transmitted by any of the mirrors of the mirror unit. A rotation reflection means for reflecting the reflected light toward the light detection means, a rotation drive control means for rotating the mirror unit of the rotation reflection means and controlling the rotation drive thereof, Switching means for switching the mirror disposed at the incident position of the laser beam in the mirror unit, and the mirror unit has the central axis The mirrors are configured so that the inclination angles of the mirrors are different from each other, and the direction of the laser light from the mirror unit is changed by switching the mirror disposed at the incident position of the laser light by the switching unit. It is characterized by changing 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 switching unit includes the rotation drive control unit, and the central axis of the rotation reflection unit is configured to transmit the laser light to the mirror unit. The mirror is located at a position shifted from the incident path, and the mirror located on the incident path of the laser light is switched when the mirror unit is rotationally driven by the rotational drive control means.

  A third aspect of the present invention is the laser radar device according to the second aspect, further comprising incident path changing means for changing the incident path of the laser light around the central axis, and is changed by the incident path changing means. The mirror is switched by the rotation drive control means for each incident path.

  According to a fourth aspect of the present invention, in the laser radar device according to the third aspect, the incident path changing means includes a deflecting means for deflecting the laser light from the laser light generating means toward the mirror unit, and the deflection. Displacement means for displacing the means, and the deflecting means is displaced by the displacement means, whereby the incident path is changed around the central axis.

  According to a fifth aspect of the present invention, in the laser radar device according to the second aspect, the incident path of the laser light is constant.

  According to a sixth aspect of the present invention, in the laser radar device according to the first aspect, the switching unit includes an incident path changing unit that changes an incident path of the laser beam to the mirror unit, and the rotation drive control unit is The mirror unit is controlled to rotate by a predetermined angle, and the incident path changing means is configured so that the laser beam is incident on each of the plurality of mirrors each time the mirror unit rotates by the predetermined angle. The incident path is changed.

  According to a seventh aspect of the present invention, in the laser radar device according to any one of the first to sixth aspects, the plurality of mirrors are arranged side by side in the mirror unit, and the alignment direction of the mirrors The width is configured to be larger than the spot diameter of the laser beam.

  According to an eighth aspect of the present invention, in the laser radar device according to any one of the first to seventh aspects, the laser beam generating means is the mirror disposed at the incident position of the laser beam in the mirror unit. It is characterized in that a pulsed laser beam is emitted each time is switched.

  According to a ninth aspect of the present invention, there is provided laser light generating means for generating laser light, and light detection for detecting reflected light of the laser light reflected by a detection object when the laser light is generated from the laser light generating means. And an inclined mirror configured to be rotatable about a predetermined central axis, the laser beam is reflected toward the space by the inclined mirror, and the reflected light is reflected toward the light detecting means. A rotation reflection means; and a rotation drive control means for rotating and controlling the rotation mirror of the rotation reflection means, and the inclination mirror includes a reflection surface inclined with respect to the central axis. The central axis of the rotary reflecting means is a position shifted from the incident path of the laser beam to the inclined mirror, and the inclined mirror is rotated by the rotation drive control means. When the laser beam is moved, the incident position of the laser beam on the tilt mirror changes, the reflection direction of the laser beam from the tilt mirror changes, and the laser beam from the tilt mirror toward the space moves to the center. It varies with respect to the direction of the axis.

  According to a tenth aspect of the present invention, in the laser radar device according to the ninth aspect, the incident position of the laser beam on the inclined mirror is one end in the width direction of the reflecting surface by the rotational drive of the inclined mirror by the rotational drive control means. The reflection surface of the tilt mirror is configured such that the tilt angle with respect to the central axis continuously changes from the one end side in the width direction toward the other end side. It is comprised by these.

  An eleventh aspect of the invention is the laser radar device according to the ninth or tenth aspect, further comprising incident path changing means for changing the incident path of the laser light around the central axis, and the incident path changing means. The rotational drive of the tilt mirror is performed by the rotational drive control means for each incident path changed in step (1).

  According to a twelfth aspect of the present invention, in the laser radar device according to the eleventh aspect, the incident optical path changing unit includes a deflecting unit that deflects the laser light from the laser light generating unit toward the mirror, and the deflection. Displacement means for displacing the means, and the deflecting means is displaced by the displacement means, whereby the incident path is changed around the central axis.

  According to the first aspect of the present invention, there is provided a mirror unit configured such that the inclination angles of the respective mirrors are different from each other with respect to the central axis, and the mirror disposed at the laser light incident position is switched by the switching means. The direction of the laser beam from the mirror unit is changed with respect to the direction of the central axis. In this way, it is possible to realize a laser radar apparatus that can detect the surroundings of the apparatus and can also perform three-dimensional detection. In addition, a configuration in which the direction of the laser beam is changed stepwise with respect to the direction of the central axis can be easily realized without complicated control.

  In the second aspect of the invention, the central axis of the rotary reflecting means is shifted from the incident path of the laser beam, and the mirror unit is driven to rotate by the rotational drive control means, so that it is on the incident path of the laser beam. The mirror which is located is configured to be switched. Thus, if the rotational drive control means is also used as a switching means, the mirror disposed at the incident position can be switched without increasing the size and complexity of the switching means.

  According to a third aspect of the present invention, there is provided an incident path changing means for changing the incident path of the laser light around the central axis, and a mirror by a rotational drive control means is provided for each incident path changed by the incident path changing means. Is switched. In this way, the horizontal detection range can be increased in the configuration in which the rotation drive control means is also used as the switching means.

  In the invention of claim 4, the incident path is changed around the central axis by displacing the deflecting means by the displacing means. In this way, the configuration for changing the incident path around the central axis can be satisfactorily realized with a simple configuration for displacing the deflecting means.

  According to the fifth aspect of the present invention, since the incident path of the laser beam is constant, a special configuration for changing the incident path of the laser beam is not required, and the apparatus configuration is simplified and the required space is reduced. Can be planned.

  According to a sixth aspect of the present invention, the switching means comprises incident path changing means for changing the incident path of the laser light to the mirror unit, and each time the mirror unit rotates by a predetermined angle, the laser light is transmitted to each of the plurality of mirrors. The incident path is changed so as to be incident. In this way, it is possible to satisfactorily realize switching of the mirror to be incident with a simple configuration of changing the incident path of the laser beam.

  The invention of claim 7 is configured such that a plurality of mirrors are arranged side by side in the mirror unit, and the width in the arrangement direction of each mirror is larger than the spot diameter of the laser beam. In this way, the laser beam irradiation spot can be configured not to protrude from the mirror, and the laser beam can be effectively used.

  The invention according to claim 8 is configured such that the pulse laser beam is emitted by the main stage of the laser beam generation every time the mirror disposed at the incident position of the laser beam is switched. In this way, it is possible to efficiently use the laser light because unnecessary irradiation is not performed during the mirror switching, and it is possible to eliminate detection in an unstable state, thereby effectively increasing detection accuracy. be able to.

  According to the ninth aspect of the present invention, an inclined mirror having a reflecting surface inclined with respect to the central axis is provided in the rotary reflecting means, and the central axis of the rotary reflecting means is shifted from the incident path of the laser beam to the inclined mirror. It is said that. When the tilting mirror is driven to rotate, the incident position of the laser light on the tilting mirror changes, the reflection direction of the laser light from the tilting mirror changes, and the laser beam traveling from the tilting mirror toward the space has a central axis. The direction is changed. In this way, it is possible to realize a laser radar apparatus that can detect the surroundings of the apparatus and can also perform three-dimensional detection. In addition, a configuration for continuously changing the direction of the laser beam with respect to the direction of the central axis can be easily realized without complicated control.

  According to a tenth aspect of the present invention, the incident position of the laser beam on the inclined mirror is changed from the one end side in the width direction of the reflecting surface to the other end side by the rotation driving of the inclined mirror by the rotation drive control means. The reflection surface of the mirror is configured such that the inclination angle with respect to the central axis continuously changes from one end in the width direction toward the other end. In this way, it is possible to easily and satisfactorily realize a configuration that can continuously change the direction of the laser light in the direction of the central axis in accordance with the rotation of the tilt mirror.

  The invention according to claim 11 is provided with an incident path changing means for changing the incident path of the laser light around the central axis, and for each incident path changed by the incident path changing means, an inclined mirror by the rotational drive control means is provided. Rotational driving is performed. In this way, the detection range in the horizontal direction can be increased in a configuration in which the direction of the laser light can be continuously changed with respect to the direction of the central axis.

  In the invention of claim 12, the incident path is changed around the central axis by displacing the deflecting means by the displacing means. In this way, the configuration for changing the incident path around the central axis can be satisfactorily realized with a simple configuration for displacing the deflecting means.

[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 cross-sectional view schematically illustrating a laser radar device 1 according to the first embodiment. FIG. 2 is an explanatory diagram schematically illustrating a displacement mechanism for displacing the mirror. 3A is a front view of the mirror unit, FIG. 3B is a left side view of the mirror unit, and FIG. 3C is a right side view of the mirror unit. FIG. 4 is a plan view of the mirror unit, and also shows the irradiation position of the laser beam and the central axis. FIG. 5A is an explanatory diagram for explaining reflection by the mirror unit when the laser beam becomes the first irradiation path, and FIG. 5B shows a state in which the mirror unit further moves from the state of FIG. It is explanatory drawing explaining the state rotated. FIG. 6A is an explanatory view for explaining the reflection by the mirror unit when the laser beam becomes the second irradiation path, and FIG. 6B shows a state in which the mirror unit is further moved from the state of FIG. It is explanatory drawing explaining the state rotated. FIG. 7 is an explanatory diagram for explaining a change in the irradiation position of the laser beam in the mirror unit and a change in the laser beam toward the space. FIG. 8 is a diagram for explaining a scanning waveform by the laser radar apparatus of FIG. 1, and a laser beam on a virtual cylindrical surface arranged at a position sufficiently away from the laser radar apparatus with the center axis of the mirror unit as the center. It is explanatory drawing explaining the irradiation position. FIG. 9 is a flowchart illustrating the flow of detection processing in the laser radar apparatus of FIG.

  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. .

  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). The photodiode 20 corresponds to an example of “light detection means”, and when the laser light L1 is generated from the laser diode 10, the reflected light of the laser light L1 reflected by the detection object is detected and converted into an electric signal. It is configured to convert. 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 a path indicated by a solid line (see reference numeral F1), the reference numeral Reflected light in a region between two lines indicated by L2 is taken in.

  A lens 60 is provided on the optical axis of the laser light L1 emitted 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.

  On the optical path of the laser beam L1 that has passed through the lens 60, the oscillating mirror 30 is disposed. The oscillating mirror 30 is configured to reflect the laser beam L1 from the laser diode 10 toward the rotary reflection mechanism 40, and is configured to be oscillating. In addition, a mirror driving unit that drives the oscillating mirror 30 with multiple degrees of freedom is provided. Since the technique for driving the mirror with multiple degrees of freedom is well known in the field of galvano mirrors and the like, the details thereof will be omitted. For the mirror driving unit, for example, the oscillating mirror 30 is supported by a gimbal, a pivot bearing or the like. Thereby, it can be set as the structure made to rotationally move to two directions.

  In FIG. 2, as an example, a displacement mechanism 33 that displaces the oscillating mirror 30 is illustrated. The displacement mechanism 33 is a frame (not shown) disposed at a predetermined position in the case 3 and rotates on the frame. The oscillating mirror 30 is supported by the oscillating mirror 30, and the first axis 33a and the second axis 33b (the second axis 33b is the first axis 33a). It is configured to perform a rotational movement in two directions centered on (orthogonal to). In this configuration, the three-dimensional positional relationship of the reflecting surface 30a of the oscillating mirror 30 is determined according to the driving of the displacement mechanism 33 (specifically, control of the actuator 36 that drives the displacement mechanism 33). In FIG. 1, the emission direction of the laser light L1 from the laser diode 10 is the X-axis direction, the direction of the central axis 42a of the rotation changing mechanism 40 is the Y-axis direction, and the directions orthogonal to the X-axis direction and the Y-axis direction are It is described as the Z-axis direction. In such a definition, when the angle between the reflecting surface 30a and the XY plane is α, the angle between the reflecting surface 30a and the YZ plane is β, and the angle between the reflecting surface 30a and the XZ plane is γ, the control circuit By controlling the actuator 36 by 70, the values of α, β, and γ are freely determined.

  The actuator 36 for driving the displacement mechanism 33 includes a first actuator such as a motor for setting the relative position of the mirror support frame 34 with respect to the apparatus main body, and a first actuator such as a motor for setting the relative position of the swing mirror 30 with respect to the mirror support frame 34. 2 actuators. These actuators are configured to be controlled by the control circuit 70. Based on the control amount from the control circuit 70, the first actuator (motor or the like) positions the mirror support frame 34, and the second actuator (motor or the like). By setting the position of the oscillating mirror 30 with respect to the mirror support frame 34, the inclination of the oscillating mirror 30 with respect to the laser beam L1 is set. The control circuit 70 is constituted by a known microcomputer or the like, and is connected to storage means (ROM, RAM, etc.) not shown.

  A rotary reflection mechanism 40 is provided on the optical axis of the laser beam L1 reflected by the oscillating mirror 30. The rotation reflection mechanism 40 corresponds to an example of a “rotation reflection unit”, and includes a mirror unit 43 including a plurality of mirrors 44 to 48, a shaft portion 42 connected to the mirror unit 43, and the shaft A bearing (not shown) that rotatably supports the portion 42 is provided, and the mirror unit 43 is configured to rotate about the central axis 42a. The rotary reflection mechanism 40 configured as described above has a laser beam L1 (specifically, a laser beam reflected by the oscillating mirror 30) from the laser diode 10 by any one of the plurality of mirrors 44 to 48 in the mirror unit 43. Is reflected toward the space, and the reflected light from the detection object is reflected toward the photodiode 20 by at least one of the mirrors 44 to 48. The mirror unit 43 of the present embodiment is configured such that the inclination angles of the reflection surfaces of the mirrors 44 to 48 with respect to the central axis 42a are different, and by switching the mirror disposed at the incident position of the laser light L1, The direction of the laser beam from the mirror unit 43 is changed with respect to the direction of the central axis 42a. A specific configuration and a specific control method of the mirror unit 43 will be described later.

  Further, a motor 50 is provided so as to rotationally drive the mirror unit 43 of the mechanism 40. The motor 50 is configured to rotate the shaft portion 42 so as to apply a driving force to the shaft portion 42 to rotationally drive the mirror unit 43 connected to the shaft portion 42. The motor 50 can be configured by, for example, a step motor. Various types of step motors can be used. If a step motor having a small angle for each step is used, precise rotation is possible. Further, the motor 50 may be configured by driving means other than the step motor. For example, a brushless DC motor may be used.

  Further, as conceptually 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. As the rotation angle position sensor 52, various types of sensors can be used as long as they can detect the rotation angle position of the shaft portion 42, such as a rotary encoder and a hall element. A signal from the rotation angle position sensor 52 is input to the control circuit 70, and the control circuit 70 performs positioning control and speed control of the motor 50. In the present embodiment, the motor 50 and the control circuit 70 correspond to an example of a “rotation drive control unit”, and function to rotate the mirror unit 43 of the rotation reflection mechanism 40 and to control the rotation drive. .

  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 detection object from the rotary reflection mechanism 40 to the photodiode 20. A filter 64 is provided between the lens 62 and the photodiode 20. The condensing lens 62 condenses the reflected light from the detection object reflected by the mirror unit 43 and guides it to the photodiode 20 and corresponds to an example of “condensing means”. The filter 64 transmits the reflected light and removes light other than the reflected light on the optical path of the reflected light from the rotary reflection mechanism 40 to the photodiode 20, and is an example of “light selection means”. It corresponds. Specifically, it can be configured by a wavelength selection filter that transmits only light having a specific wavelength corresponding to reflected light (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 oscillating mirror 30, the lens 60, the rotary reflection mechanism 40, the motor 50, and the like are housed in the case 3, and dust protection and impact protection are achieved. Around the mirror unit 43 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 mirror unit 43. . The light guide unit 4 is configured as a slit, and is configured to extend approximately 360 ° in an annular shape centering on the optical axis of the laser beam L1 entering the mirror unit 43. In addition, a laser light transmission plate 5 made of a glass plate or the like is disposed in a form that closes the light guide portion 4 to prevent dust.

Next, the rotary reflection mechanism 40 will be described in detail.
As shown in FIGS. 3 and 4, the mirror unit 43 includes a plurality of mirrors 44 to 48, and the inclination angles of the reflection surfaces 44 a to 48 a of the mirrors 44 to 48 with respect to the central axis 42 a are respectively set. Configured differently. As shown in FIG. 4, the reflecting surfaces 44 a to 48 a of the mirrors are each formed in a longitudinal shape, and are arranged adjacent to each other so that the longitudinal directions thereof are aligned in the same direction.

  The mirror unit 43 is configured to rotate about the central axis 42a, and the angle formed by the central axis 42a and each of the reflecting surfaces 44a to 48a is always kept constant. That is, regardless of the rotational position of the mirror unit 43, the angle θ1 formed by the reflection surface 44a and the central axis 42a, the angle θ2 formed by the reflection surface 45a and the central axis 42a, and the reflection surface 46a and the central axis 42a. The angle θ3, the angle θ4 formed between the reflecting surface 47a and the central axis 42a, and the angle θ5 formed between the reflecting surface 48a and the central axis 42a are constant, and the relationship of θ1 <θ2 <θ3 <θ4 <θ5 is established. Maintained.

  The rotary reflection mechanism 40 configured as described above has a configuration in which a mirror disposed at the incident position of the laser light L1 is switched by control, and by such switching, the laser heading from the mirror unit 43 to a space outside the apparatus. It functions to change the direction of light with respect to the direction (vertical direction) of the central axis 42a. In the present embodiment, the motor 50 and the control circuit 70 correspond to an example of “switching means” and “rotation drive control means”. The motor 50 is driven according to the control amount of the control circuit 70 and the mirror unit 43 rotates. The position is determined, and the mirror disposed on the path of the laser beam L1 (that is, the mirror on which the laser beam L1 is incident) is switched.

  As shown in FIGS. 1 and 4, the central axis 42a of the rotary reflection mechanism 40 is located at a position shifted from the path (incident path) of the laser light L1 from the oscillating mirror 30 toward the mirror unit 43. The incident position of the laser beam L1 at 43 (reference numeral SP1 in FIG. 4) is a position away from the central axis 42a to some extent. In such a configuration, the mirror unit 43 is rotationally driven by the control circuit 70 and the motor 50, so that the mirror positioned on the incident path of the laser light L1 is switched.

  For example, when the mirror unit 43 is rotationally driven by the control circuit 70 and the motor 50 when the incident position of the laser beam L1 (the position of the reference symbol SP1) is determined as shown in FIG. The position sequentially changes from the position of the solid line portion in FIG. 5A to the position of the two-dot chain line portion N2 and the position of the two-dot chain line portion N3. Since the laser beam L1 is incident on the mirror 44 at the position indicated by the solid line, the laser beam L1 is reflected by the mirror 44 in a direction corresponding to the inclination of the reflecting surface 44a (see reference numeral F1) and travels to a space outside the apparatus. At the position of the two-dot chain line N2, the laser beam L1 is incident on the mirror 45, and is reflected by the mirror 45 in a direction (see reference numeral F2) corresponding to the inclination of the reflecting surface 45a. Similarly, since the laser beam L1 is incident on the mirror 46 at the position of the two-dot chain line N3, it is reflected by the mirror 46 in a direction corresponding to the inclination of the reflecting surface 46a (see reference numeral F3). As described above, the inclination angles θ1 to θ5 of the reflection surfaces 44a to 48a with respect to the central axis 42a are different from each other. Therefore, when the mirror on which the laser light L1 is incident is switched, the signs F1, F2, and F3 shown in FIG. In addition, the direction of the laser beam from the mirror unit 43 changes with respect to the direction (vertical direction) of the central axis 42a.

  In the present embodiment, a plurality of mirrors 44 to 48 are arranged side by side in the mirror unit 43, but the width in the arrangement direction of the mirrors 44 to 48 is larger than the spot diameter of the laser light L1. It is configured. Then, at the time of switching to make the laser beam L1 incident on each mirror, the rotational position of the mirror unit 43 is adjusted by the control circuit 70 and the motor 50 so that the entire irradiation spot falls within each reflection surface. In the present embodiment, the short direction of the mirrors 44 to 48 is the width direction.

  Further, in the present embodiment, the mirror unit as shown in FIGS. 5A and 5B in a state where the path (incident path) of the laser light L1 from the oscillating mirror 30 is defined as one path (first path). 43 is rotated to cause the laser beam L1 to be incident on all the five mirrors 44 to 48, and then the oscillation mirror 30 is displaced to pass the laser beam L1 from the oscillation mirror 30 as shown in FIG. Is changed to another path (second path), and in this state, the mirror unit 43 is rotated again so that the laser light L1 is incident on all the five mirrors 44 to 48. When the incident path is changed from the first path to the second path, the incident position of the laser light L1 in the mirror unit 43 changes from the position of the code SP1 shown in FIG. 5 to the position of the code SP2 shown in FIG. By performing rotation control as shown in FIGS. 6A and 6B in this path, the directions of the laser beams from the mirror unit 43 are as indicated by reference numerals F1 ′, F2 ′, F3 ′, F4 ′, and F5 ′. It will change.

  In this way, the incident path of the laser beam L1 is sequentially changed around the central axis 42a, and the mirror switching control is performed in each incident path, so that the direction of the laser beam with respect to the horizontal direction changes as shown in FIG. go. Further, by changing the direction of the laser light in this way, the scanning waveform of the laser light toward the space becomes as shown in FIG. FIG. 8 shows a scanning pattern of laser light irradiated on the inner surface of a virtual cylindrical surface centered on the central axis 42a and located sufficiently away from the laser radar device 1. It is the conceptual diagram which looked at the inner surface side of a typical cylindrical surface from the central axis side.

  In the present embodiment, the oscillating mirror 30 corresponds to an example of a “deflecting unit”, and has a function of deflecting the laser light L 1 from the laser diode 10 toward the mirror unit 43. The displacement mechanism 33, the actuator 36, and the control circuit 70 shown in FIG. 2 correspond to an example of “displacement means” and have a function of displacing the oscillating mirror 30 (deflection means). The control circuit 70, the actuator 36, the displacement mechanism 33, and the oscillating mirror 30 correspond to an example of “incident path changing means”, and the oscillating mirror 30 is displaced by the control circuit, the actuator 36, and the displacement mechanism 33. It functions to change the incident path of the laser beam L1 around the central axis. The mirror is switched by the switching means (that is, the control circuit 70 and the motor 50) for each incident path changed by the “incident path changing means” in this way.

Next, detection processing in the laser radar device 1 will be described.
The detection process shown in FIG. 9 is a process executed by the control circuit 70 based on a program stored in a storage means such as a ROM (not shown), and is started by, for example, turning on power or a predetermined start operation. When the detection process is started, an initial setting process is performed in S1. In this initial setting process, the oscillating mirror 30 is set so that the incident path of the laser light L1 becomes an initial path (for example, the path shown in FIG. 1). Next, the motor 50 is rotationally driven so as to place the first mirror 44 at a predetermined incident position (position on the setting path of the laser light L1) (S2).

  Then, the process which radiate | emits a laser beam is performed in S3. Specifically, a drive command is given from the control circuit 70 to a drive circuit (not shown) that drives the laser diode 10. The laser diode 10 is supplied with a pulse current by a drive circuit that has received a drive command, and emits a pulsed laser beam. In the present embodiment, control is performed to emit pulsed laser light from the laser diode 10 every time the mirror disposed at the incident position of the laser light L1 is switched.

  Thereafter, a detection process is performed (S4). In the laser radar device 1 of the present embodiment, 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 oscillating mirror 30, enters one of the mirrors of the mirror unit 43 (mirror 44 in the first processing), is reflected by the mirror, and is irradiated toward the space. Is done.

  The laser light L1 reflected by any mirror of the mirror unit 43 (mirror 44 in the first processing) is reflected by the detection object, and a part of the reflected light (see L2) is incident on the mirror unit 43 again. The mirror unit 43 reflects this reflected light to the photodiode 20 side. The reflected light reflected by the mirror unit 43 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 L2 (for example, a voltage value corresponding to the received reflected light L2). 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 L2 is detected by the photodiode 20. Further, the azimuth can be obtained from the displacement of the oscillating mirror 30 and the displacement of the mirror unit 43 at that time. That is, the angle α formed between the reflecting surface 30a of the oscillating mirror 30 and the XY plane, the angle β formed between the reflecting surface 30a and the YZ plane, and the angle γ formed between the reflecting surface 30a and the XZ plane are determined, and the rotation of the mirror unit 43 is determined. When the position is determined, the direction in which the laser beam L1 travels from the mirror unit 43 is determined as one direction, and thus the direction of the detected object can be accurately grasped.

  After performing the detection process in this way, it is determined whether switching has been completed for all mirrors (S5). That is, it is determined whether or not the detection process has been performed by making the laser beam L1 incident on all of the plurality of mirrors 44 to 48 included in the mirror unit 43. If switching has not been completed for all mirrors, the process proceeds to No in S5, and the motor 50 is driven to switch to the next mirror (S6). For example, when the mirror 44 is an incident target in the previous process, the motor 50 is driven so that the next mirror 45 is arranged at the incident position. Further, when the mirror 45 is an incident target in the previous process, the motor 50 is driven so that the next mirror 46 is arranged at the incident position. After switching is performed in S6, the processes after S3 are repeated. If it is determined in S5 that the switching has been completed for all the mirrors, the process proceeds to Yes in S5, and a laser beam path changing process is performed (S7). This path changing process is a process for changing the incident path of the laser beam. For example, when the previous path is a path having SP1 in FIG. 7 as the incident position, the actuator 36 is driven to drive the laser beam. Is changed to the next route (that is, a route having SP2 in FIG. 7 as the incident position). And the process after S2 is repeated again in the state which changed the path | route of the laser beam in this way.

  As described above, according to the present embodiment, the mirror unit 43 configured so that the inclination angles of the respective mirrors are different from each other with respect to the central axis 42a is provided, and is provided by the motor 50 and the control circuit 70 (switching means). By switching the mirror disposed at the incident position of the laser light L1, the direction of the laser light from the mirror unit 43 is changed with respect to the direction of the central axis 42a. In this way, it is possible to realize a laser radar apparatus that can detect the surroundings of the apparatus and can also perform three-dimensional detection. In addition, a configuration in which the direction of the laser beam is changed stepwise with respect to the direction of the central axis 42a can be easily realized without complicated control.

  The central axis 42a of the rotary reflection mechanism 40 is shifted from the incident path of the laser beam L1, and the mirror unit 43 is driven to rotate by the motor 50 and the control circuit 70, whereby the incident path of the laser beam L1. The mirror located above can be switched. If the motor 50 and the control circuit 70 are combined to function as “rotational drive control means” and “switching means” in this way, the configuration for switching the mirror arranged at the incident position is increased in size and complexity. Can be realized.

  Further, an “incident path changing means” that changes the incident path of the laser beam L1 around the central axis 42a is provided, and the motor 50 and the control circuit are provided for each incident path changed by the “incident path changing means”. The mirror is switched by 70. In this way, the horizontal detection range can be increased in a configuration in which the motor 50 and the control circuit 70 are also used as “rotation drive control means” and “switching means”.

  Further, the incident path is changed around the central axis 42a by displacing the oscillating mirror 30 that reflects the laser light L1 from the laser diode 10. In this way, the configuration for changing the incident path around the central axis 42a can be satisfactorily realized with a simple configuration.

  A plurality of mirrors 44 to 48 are arranged side by side in the mirror unit 43, and the width in the arrangement direction of the mirrors is configured to be larger than the spot diameter of the laser light L1. In this way, the irradiation spot of the laser beam L1 can be configured not to protrude from the mirrors 44 to 48, and the laser beam L1 can be effectively used.

  The laser diode 10 emits pulsed laser light each time the mirror disposed at the incident position of the laser light L1 is switched. In this way, it is possible to efficiently use the laser light L1 because unnecessary irradiation is not performed during the mirror switching, and it is possible to eliminate detection in an unstable state, so that the detection accuracy is effectively improved. Can be increased.

  Furthermore, since the condenser lens 62 that condenses the reflected light L2 toward the photodiode 20 is provided on the optical path of the reflected light L2 from the rotary reflection mechanism 40 to the photodiode 20, the photodiode 20 is A wide range of reflected light can be used for detection without increasing the size.

  In addition, since a filter 64 that transmits the reflected light L2 and removes light other than the reflected light is provided on the optical path of the reflected light L2 from the rotary reflection mechanism 40 to the photodiode 20, noise light is transmitted. It can be suitably removed.

[Second Embodiment]
Next, a second embodiment will be described.
FIG. 10 is a schematic cross-sectional view illustrating a laser radar device according to the second embodiment. FIG. 11 is an explanatory diagram for explaining switching control for switching the incident position of a laser beam. FIG. 12 is a diagram for explaining a scanning waveform by the laser radar device of FIG. 10, and the laser beam on a virtual cylindrical surface arranged around the center axis of the mirror unit and sufficiently away from the laser radar device. It is explanatory drawing explaining the irradiation position. In this embodiment, the control method of the motor 50 and the actuator 36 by the control circuit 70 is different from that of the first embodiment, but the mechanical configuration and electrical configuration of each component are the same as those of the first embodiment. Accordingly, the same reference numerals as those in the first embodiment are assigned to the respective components, and detailed description thereof is omitted.

  Also in the laser radar device 200 of the present embodiment, the laser diode 10 (laser light generation means) that generates laser light and the reflection of the laser light L1 that is reflected by the detection object when the laser light L1 is generated from the laser diode 10. The rotational reflection mechanism 40 including the photodiode 20 (light detection means) for detecting light, the mirror unit 43 having a plurality of mirrors 44 to 48, and the mirror unit 43 of the rotation reflection mechanism 40 are driven to rotate. And a control circuit (rotation drive control means). The rotation reflection mechanism 40 is configured such that the mirror unit 43 is rotatable about the central axis 42a, and reflects and detects the laser light L1 toward the space by any of the mirrors 44 to 48 of the mirror unit 43. The reflected light from the object is reflected toward the photodiode 20.

  The mirror unit 43 is configured such that the inclination angles of the mirrors 44 to 48 are different from each other with respect to the central axis 42a. By switching the mirror disposed at the incident position of the laser light L1 in the mirror unit 43, the mirror unit 43 The direction of the laser beam from the unit 43 is changed with respect to the direction of the central axis 42a. In the present embodiment, the control circuit 70, the actuator 36, the displacement mechanism 33, and the oscillating mirror 30 correspond to an example of “switching means” and “incident path changing means”.

  Specifically, the control circuit 70 and the motor 50 control the mirror unit to be rotated by a predetermined angle. The control circuit 70, the actuator 36, and the oscillating mirror 30 are configured so that the mirror unit 43 is driven by the motor 50. Is controlled so as to change the incident path of the laser beam to the mirror unit 43 so that the laser beam is incident on each of the plurality of mirrors 44 to 48 each time the lens is rotated by a predetermined angle (for example, 5 °).

  For example, when the mirror unit 43 is at the rotational position shown in FIG. 11A, the oscillating mirror 30 is oscillated by driving the displacement mechanism 33 by the control circuit 70 and the actuator 36, and the incident position of the laser beam L1 is determined. The position SQ1 on the mirror 44 is changed to a position SQ2 on the mirror 45, a position SQ3 on the mirror 46, a position SQ4 on the mirror 47, and a position SQ5 on the mirror 48, respectively. As a result, the direction in which the laser beam L1 travels changes to a reflection direction F1 by the mirror 44, a reflection direction F2 by the mirror 45, a reflection direction F3 by the mirror 46, a reflection direction F4 by the mirror 46, and a reflection direction F5 by the mirror 47. Since the angles θ1 to θ5 formed with the central axes 42a of the reflecting surfaces 44a to 48a in the mirrors 44 to 48 are different from each other, as shown in FIGS. The direction of the laser light changes stepwise with respect to the direction of the central axis 42a.

  After the laser beam L1 is made incident on each of the mirrors 44 to 48 at the position shown in FIG. 11A and detection processing is performed using each laser beam (reference numerals F1 to F5), the motor 50 is driven by the control circuit 70. A process of rotating the mirror unit 43 by a predetermined angle as shown in FIG. In this state, the oscillating mirror 30 is oscillated again, and the incident position of the laser beam L1 is changed from the position SQ1 ′ on the mirror 44 to the position SQ2 ′ on the mirror 45, the position SQ3 ′ on the mirror 46, and the position on the mirror 47. The position SQ4 ′ and the position SQ5 ′ on the mirror 48 are changed. As a result, the direction in which the laser beam L1 travels is the reflection direction F1 ′ by the mirror 44, the reflection direction F2 ′ by the mirror 45, the reflection direction F3 ′ by the mirror 46, the reflection direction F4 ′ by the mirror 46, and the reflection direction F5 ′ by the mirror 47. Change. Also in this control, the direction of the laser beam from the mirror unit 43 changes stepwise with respect to the direction of the central axis 42a. When the detection process in FIG. 11B ends, the motor 50 is further driven to enter the state shown in FIG. 11C, and the same detection process as described above is repeated again.

  By controlling the mirror to which the laser beam L1 is incident in this way, the scanning waveform of the laser beam toward the space is as shown in FIG. FIG. 12 shows a scanning pattern of the laser beam irradiated on the inner surface of a virtual cylindrical surface centered on the central axis 42a and sufficiently distant from the laser radar device 1. It is the conceptual diagram which looked at the inner surface side of a typical cylindrical surface from the central axis side.

  In the present embodiment, a plurality of mirrors 44 to 48 are arranged side by side in the mirror unit 43, and the width in the arrangement direction of the mirrors 44 to 48 is larger than the spot diameter of the laser light L1. Has been. Similarly to the first embodiment, the laser diode 10 emits a pulsed laser beam each time the mirror disposed at the incident position of the laser beam L1 in the mirror unit 43 is switched.

  According to the configuration of the present embodiment, the same effects as those of the first embodiment can be obtained. Further, every time the mirror unit 43 rotates by a predetermined angle, the incident path is changed so that the laser light L1 is incident on each of the plurality of mirrors 44 to 48. In this way, it is possible to satisfactorily realize switching of the mirror to be incident with a simple configuration of changing the incident path of the laser beam.

[Third Embodiment]
Next, a third embodiment will be described.
FIG. 13 is a schematic cross-sectional view illustrating a laser radar device according to the third embodiment. 14A is a plan view of the tilt mirror, FIG. 14B is a front view of the tilt mirror, FIG. 14C is a left side view of the tilt mirror, and FIG. 14D is a right side view of the tilt mirror. Note that the laser radar device 300 of the present embodiment is the same as the laser radar device 1 of the first embodiment except for the configuration of the rotary reflection mechanism 340, which is different from the rotary reflection mechanism 40 of the first embodiment. Therefore, the same reference numerals as those in the first embodiment are assigned to the same configurations, and detailed description thereof is omitted.

  Also in the present embodiment, a laser diode 10 (laser light generation means) that generates the laser light L1 and a photodiode that detects the reflected light of the laser light reflected by the detection object when the laser light is generated from the laser diode 10. 20 (light detection means), a rotation reflection mechanism 340, a motor 50 and a control circuit 70 for rotating and controlling the rotation reflection mechanism 340.

  On the other hand, the rotational reflection mechanism 340 of the present embodiment includes an inclined mirror 341 configured to be rotatable about the central axis 42a, and reflects the laser light L1 toward the space by the inclined mirror 341 and reflects the reflected light. It is configured to reflect toward the photodiode 20. Further, as shown in FIG. 14A, the inclined mirror 341 includes a reflecting surface 341a inclined with respect to the central axis 42a of the rotary reflecting mechanism 340, and the central axis 42a is incident on the inclined mirror 341 with the laser light L1. The position is deviated from the route. FIG. 14A shows the incident position SR1 of the laser beam L1 when the incident path of the laser beam L1 is set at a predetermined position.

  In such a configuration, when the tilt mirror 341 is rotationally driven by the motor 50 and the control circuit 70, the incident position of the laser light L1 on the tilt mirror 341 changes as shown in FIG. The reflection direction of the laser beam from the laser beam changes, and the laser beam traveling from the inclined mirror 341 toward the space changes with respect to the direction of the central axis 42a. More specifically, the incident position of the laser beam L1 on the inclined mirror 341 is configured to change from one end side in the width direction of the reflecting surface 341a to the other end side, and the reflecting surface 341a of the inclined mirror 341 has one end in the width direction. The inclination angle with respect to the central axis 42a is continuously changed from the side toward the other end side. In FIG. 14D, the width direction is indicated by the symbol W, and the inclination angle continuously increases from the inclination angle between the positions P1 and P2 on one end side in the width direction toward the central side, and the central position P3. The inclination angle of −P4 is larger than the inclination angle between the positions P1 and P2. Further, the inclination angle continuously increases from the central position P3-P4 toward the other end side, and the inclination angle between the positions P5-P6 is larger than the inclination angle of the central position P3-P4. When the tilt mirror 341 is rotationally driven by the drive of the motor 50, the incident position of the laser light L1 changes relatively as shown by the broken line in FIG. The reflected light gradually changes in the vertical direction.

  In this embodiment as well, in this embodiment, the oscillating mirror 30 corresponds to an example of a “deflecting unit” and has a function of deflecting the laser light L1 from the laser diode 10 toward the inclined mirror 341. The displacement mechanism 33 (see FIG. 2), the actuator 36, and the control circuit 70 correspond to an example of “displacement means” and have a function of displacing the oscillating mirror 30 (deflection means). The control circuit 70, the actuator 36, the displacement mechanism 33, and the oscillating mirror 30 correspond to an example of “incident path changing means”, and the oscillating mirror 30 is displaced by the control circuit, the actuator 36, and the displacement mechanism 33. It functions to change the incident path of the laser beam L1 around the central axis. The tilting mirror 341 is driven to rotate by the motor 50 for each incident path changed by the “incident path changing means”.

  In the configuration of the present embodiment, an inclined mirror having a reflecting surface inclined with respect to the central axis is provided in the rotary reflecting means, and the central axis of the rotary reflecting means is shifted from the incident path of the laser light to the inclined mirror. It is said that. When the tilting mirror is driven to rotate, the incident position of the laser light on the tilting mirror changes, the reflection direction of the laser light from the tilting mirror changes, and the laser beam traveling from the tilting mirror toward the space has a central axis. The direction is changed. In this way, it is possible to realize a laser radar apparatus that can detect the surroundings of the apparatus and can also perform three-dimensional detection. In addition, a configuration for continuously changing the direction of the laser beam with respect to the direction of the central axis can be easily realized without complicated control.

  In addition, the rotation position of the tilt mirror 341 by the control circuit 70 and the motor 50 is configured so that the incident position of the laser beam on the tilt mirror 341 changes from one end to the other end in the width direction of the reflecting surface 341a. The reflection surface 341a of the mirror 341 is configured such that the inclination angle with respect to the central axis 42a continuously changes from one end in the width direction to the other end. By doing so, it is possible to easily and satisfactorily realize a configuration capable of continuously changing the direction of the laser light in the direction of the central axis 42a according to the rotation of the tilt mirror 341.

[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 first embodiment, the configuration in which the laser light incident path is changed around the central axis is exemplified, but the laser light incident path may be constant. This reduces the scanning range for performing three-dimensional scanning, but does not require a special configuration for changing the laser light incident path, and simplifies the device configuration and reduces the required space. There is a merit that you can.

FIG. 1 is a cross-sectional view schematically illustrating a laser radar device 1 according to the first embodiment. FIG. 2 is an explanatory diagram schematically illustrating a displacement mechanism for displacing the mirror. 3A is a front view of the mirror unit, FIG. 3B is a left side view of the mirror unit, and FIG. 3C is a right side view of the mirror unit. FIG. 4 is a plan view of the mirror unit, and also shows the irradiation position of the laser beam and the central axis. FIG. 5A is an explanatory diagram for explaining reflection by the mirror unit when the laser beam becomes the first irradiation path, and FIG. 5B shows a state in which the mirror unit further moves from the state of FIG. It is explanatory drawing explaining the state rotated. FIG. 6A is an explanatory view for explaining the reflection by the mirror unit when the laser beam becomes the second irradiation path, and FIG. 6B shows a state in which the mirror unit is further moved from the state of FIG. It is explanatory drawing explaining the state rotated. FIG. 7 is an explanatory diagram for explaining how the laser beam irradiation position changes in the mirror unit and how the laser light changes toward the space. FIG. 8 is a diagram for explaining a scanning waveform by the laser radar apparatus of FIG. 1, and a laser beam on a virtual cylindrical surface arranged at a position sufficiently away from the laser radar apparatus with the center axis of the mirror unit as the center. It is explanatory drawing explaining the irradiation position. FIG. 9 is a flowchart illustrating the flow of detection processing in the laser radar apparatus of FIG. FIG. 10 is a schematic cross-sectional view illustrating a laser radar device according to the second embodiment. FIG. 11 is an explanatory diagram for explaining switching control for switching the incident position of a laser beam. FIG. 12 is a diagram for explaining a scanning waveform by the laser radar device of FIG. 10, and the laser beam on a virtual cylindrical surface arranged around the center axis of the mirror unit and sufficiently away from the laser radar device. It is explanatory drawing explaining the irradiation position. FIG. 13 is a schematic cross-sectional view illustrating a laser radar device according to the third embodiment. 14A is a plan view of the tilt mirror, FIG. 14B is a front view of the tilt mirror, FIG. 14C is a left side view of the tilt mirror, and FIG. 14D is a right side view of the tilt mirror.

Explanation of symbols

1,200,300 ... Laser radar device 10 ... Laser diode (laser light generating means)
20 ... Photodiode (light detection means)
30. Mirror (incident path changing means, deflecting means)
33 ... Displacement mechanism (incident path changing means, displacement means)
36 ... Actuator (incident path changing means, displacement means)
40, 340 ... Rotation reflection mechanism (rotation reflection means)
42a ... center axis 43 ... mirror unit 44-48 ... mirror 50 ... motor (rotation drive control means, switching means)
70 ... Control circuit (rotation drive control means, switching means, incident path changing means, displacement means)
341: Inclined mirror 341a: Reflecting surface of the inclined mirror

Claims (12)

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 mirror unit having a plurality of mirrors is configured to be rotatable about a predetermined central axis, and reflects the laser light toward a space by any of the mirrors of the mirror unit, and the reflected light Rotating reflection means for reflecting the light toward the light detection means;
A rotational drive control means for rotationally driving the mirror unit of the rotational reflection means and controlling the rotational drive;
Switching means for switching the mirror disposed at the incident position of the laser beam in the mirror unit;
With
The mirror unit is configured such that the inclination angle of each mirror is different from the central axis,
The laser radar device according to claim 1, wherein the laser light from the mirror unit is changed with respect to a direction of the central axis by switching the mirror disposed at the laser light incident position by the switching unit. The switching means comprises the rotational drive control means,
The central axis of the rotary reflecting means is a position shifted from the incident path of the laser light to the mirror unit,
2. The laser radar device according to claim 1, wherein the mirror positioned on the incident path of the laser light is switched by rotating the mirror unit by the rotation drive control unit. Incident path changing means for changing the incident path of the laser light around the central axis,
3. The laser radar device according to claim 2, wherein the mirror is switched by the rotation drive control unit for each incident path changed by the incident path changing unit. The incident path changing means is
Deflecting means for deflecting the laser light from the laser light generating means toward the mirror unit;
Displacement means for displacing the deflection means;
With
4. The laser radar device according to claim 3, wherein the incident path is changed around the central axis by displacing the deflecting means by the displacing means.   The laser radar device according to claim 2, wherein the incident path of the laser light is constant. The switching means comprises incident path changing means for changing the incident path of the laser beam to the mirror unit,
The rotational drive control means performs a control for rotationally driving the mirror unit by a predetermined angle,
2. The incident path changing means changes the incident path so that the laser beam is incident on each of the plurality of mirrors each time the mirror unit rotates by the predetermined angle. The laser radar device described.   The plurality of mirrors are arranged side by side in the mirror unit, and the width of each mirror in the arrangement direction is configured to be larger than the spot diameter of the laser light. The laser radar device according to any one of claims 1 to 6.   8. The laser beam generator emits a pulsed laser beam each time the mirror disposed at the laser beam incident position is switched in the mirror unit. 9. The laser radar device according to item. 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;
Rotating / reflecting means comprising an inclined mirror configured to be rotatable about a predetermined central axis, reflecting the laser light toward a space by the inclined mirror and reflecting the reflected light toward the light detecting means When,
Rotation drive control means for rotating the tilt mirror of the rotation reflection means and controlling the rotation drive thereof;
With
The inclined mirror includes a reflecting surface inclined with respect to the central axis,
The central axis of the rotary reflecting means is a position shifted from the incident path of the laser beam to the inclined mirror,
When the tilting mirror is rotationally driven by the rotational drive control means, the incident position of the laser light on the tilting mirror changes, and the reflection direction of the laser light from the tilting mirror changes, and the tilting mirror changes. The laser radar device characterized in that the laser beam traveling from the space toward the space changes with respect to the direction of the central axis. The rotation position of the tilt mirror by the rotation drive control means is configured so that the incident position of the laser beam on the tilt mirror changes from one end side to the other end side in the width direction of the reflecting surface,
The reflection surface of the inclined mirror is configured such that an inclination angle with respect to the central axis continuously changes from one end side in the width direction toward the other end side. Laser radar equipment. Incident path changing means for changing the incident path of the laser light around the central axis,
11. The laser radar device according to claim 9, wherein the tilt mirror is rotationally driven by the rotational drive control unit for each incident path changed by the incident path changing unit. The incident optical path changing means is
Deflecting means for deflecting the laser light from the laser light generating means toward the mirror;
Displacement means for displacing the deflection means;
With
12. The laser radar device according to claim 11, wherein the incident path is changed around the central axis by displacing the deflecting means by the displacing means.

Images