JP2010216946A - Laser distance measuring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a laser distance measuring device capable of omitting complicated data input works, etc. to the utmost extent when setting a detection area and more easily setting the detection area. <P>SOLUTION: This laser distance measuring device 1 includes a device body 2 and a reference object 80 constituted as a separate body from the device body 2. The reference object 80 is constituted to emit specified reflected light when laser light is made incident. When the reference object 80 is arranged on a scanning area of laser light on the device body 2 side, whether or not detected reflected light is the specified reflected light is judged. When the detected reflected light is judged to be the specified reflected light, time from generation of pulse laser light to be the origin of the specified reflected light to the detection of the specified reflected light is detected. Based on the detected time, a distance up to the reference object 80 is calculated. Based on the calculated distance, a part of the scanning area is set as the detection area. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a laser distance measuring device.

  Conventionally, there has been provided a laser distance measuring device that detects the distance and direction to an object by irradiating a detection target space with laser light. This type of laser distance measuring device projects laser light into space and detects reflected light when the object is irradiated with the laser light, which is necessary from the projection of the laser light to the reception of the reflected light. Based on the time, the distance to the object is calculated. In addition, as a technique regarding such a laser distance measuring apparatus, there exists a thing like patent document 1, for example.

JP-A-7-160956

  The above laser distance measuring device is desired to be used for detecting an object existing in a certain detection area. However, this type of laser distance measuring device does not set any conditions due to the property of projecting laser light. If detection is to be performed, all objects existing in the range where the laser beam reaches can be detected. Therefore, when using as an area sensor, for example, a range from the device to a certain distance is defined as a detection area, and an object whose distance from the device exceeds a certain distance is ignored as an object outside the detection area. The technique of doing is taken.

  Further, in Patent Document 1, the above-described method is further devised, and in this technique, a distance and an angle are specifically input in advance by an operator, and a detection area corresponding to the input data is specified in advance. Then, after performing such pre-setting, the detection process is performed, and when the reflected light from the object is detected in the detection process, the distance and angle to the object are calculated based on the reflected light. It is determined whether or not it exists in the detection area. By using such a method, a desired detection area can be set around the apparatus, and an object existing in the detection area can be selectively detected.

  However, in the method of Patent Document 1, there is a concern that considerable labor is required such as data preparation for setting a detection area, preparation of a setting device, or data input work. In particular, when the detection area is set in a complicated manner, more detailed condition setting is required, and enormous amounts of data must be prepared, which greatly increases the load of data preparation and data input. In addition, for calculation processing and input processing for calculating data to be input, an information processing device (such as a personal computer) other than the detection device (laser distance measurement device) is required, and the setting environment becomes large. There is also a problem of end.

  The present invention has been made in order to solve the above-described problems, and it is possible to omit a complicated data input operation or the like when setting a detection area as much as possible, and to perform laser distance measurement that can set the detection area more easily. An object is to provide an apparatus.

According to a first aspect of the present invention, there is provided laser light generating means for intermittently generating laser light, and when the laser light is generated from the laser light generating means, the reflected light reflected by the detection object is detected. And a light detecting means configured to be rotatable about a predetermined central axis, and the laser light is deflected toward the space by the deflecting means, and the reflected light is the light detecting means. The laser beam is detected by the light detection unit after the laser beam is generated by the rotation deflection unit that deflects the laser beam, the drive unit that drives the rotation deflection unit, and the laser beam generation unit. An apparatus main body comprising: a time detection unit that detects a time until a detection time; and a distance calculation unit that calculates a distance to the detection object based on the time detected by the time detection unit. There.
In addition, a reference object that emits specific reflected light when the laser light is incident is provided as a separate body from the apparatus main body.
Further, in addition to the above-described configuration, a determination unit is further provided, which is detected by the light detection unit when the reference object is arranged on the laser light scanning area by the rotation deflection unit. It is determined whether the reflected light is the specific reflected light.
In this configuration, the time detection unit, after the laser beam is generated by the laser beam generation unit when the determination unit determines that the specific reflected light is generated, the time detection unit corresponds to the laser beam. The time until the specific reflected light is detected by the light detection means is detected.
Further, the distance calculating means calculates the distance to the reference object based on the time until the specific reflected light from the reference object is detected.
Furthermore, detection area setting means is provided, and the detection area setting means is configured to detect the detection object in the scanning area by the rotation deflection means based on the distance to the reference object calculated by the distance calculation means. Detection area is set to detect.

A second aspect of the present invention is the laser distance measuring device according to the first aspect, wherein a plurality of the reference objects are provided.
In this configuration, the light detection means receives each specific reflected light from each reference object.
Further, the time detecting means generates each laser beam incident on each reference object in the laser light generating means when the specific reflected light from each reference object is detected by the light detecting means. Each time from when the specific reflected light from each reference object corresponding to each laser beam is detected by the light detection means is detected.
Further, the distance calculating means calculates each distance to each reference object based on each time.
In addition to the above-described configuration, reference object position detection means is further provided. The reference object position detection means is configured to detect the laser light incident on the reference objects when the laser light is emitted from the laser light generation means. Each position of each reference object is detected based on each rotation position of the deflecting means and each distance.
The detection area setting means sets the detection area based on the positions of the reference objects detected by the reference object position detection means.

According to a third aspect of the present invention, in the laser distance measuring device according to the first aspect, the reference object is movable by a user.
In this configuration, the light detection unit receives each specific reflected light from each moving position when the moving reference object is positioned on the scanning area of the laser light.
In addition, the time detection unit generates the laser light incident on the reference object at the laser light generation unit when the specific reflected light from the reference object is detected by the light detection unit. From the above, each time until the specific reflected light from each moving position corresponding to each laser light is detected by the light detection means is detected.
Further, the distance calculating means calculates each distance to each moving position based on each time until each specific reflected light from each moving position is detected.
In addition to the above-described configuration, a moving position detecting unit is further provided. The moving position detecting unit is configured to rotate each of the deflecting units when the laser beams incident on the moving positions are emitted. Based on the distances, the moving positions of the moving reference object are detected.
Further, the detection area setting means sets the detection area based on each movement position detected by the movement position detection means.

According to a fourth aspect of the present invention, in the laser distance measuring device according to the first aspect, as the reference object, a first type reference object of the first type and a second type of second different from the first type reference object. A seed reference object is provided.
In this configuration, the time detecting unit generates the first reflected laser beam from the first type reference object corresponding to the first laser beam after the first laser beam is generated by the laser beam generating unit. The first reflected light from the second type reference object corresponding to the second laser light after the first time until detection by the detecting means and the second laser light is generated by the laser light generating means Is detected until the light detection means detects the second time.
The distance calculating means calculates a first distance to the first type reference object based on the first time, and calculates a second distance to the second type reference object based on the second time. is doing. The detection area setting means sets a first detection area based on the first distance calculated by the distance calculation means, and second based on the second distance calculated by the distance calculation means. The detection area is set.

According to a fifth aspect of the present invention, in the laser distance measuring device according to the fourth aspect, a plurality of the first type reference objects and a plurality of the second type reference objects are provided.
In this configuration, the light detection means receives each specific reflected light from each reference object.
Further, the time detection means is configured such that when the specific reflected light from each first type reference object is detected by the light detection means, each first laser light incident on each first type reference object is the laser. Each first time from the generation by the light generation means to the detection of the specific reflected light from the first type reference object corresponding to the first laser light by the light detection means, respectively. When the specific reflected light from each second type reference object is detected by the light detection means, each second laser light incident on each second type reference object is detected by the laser light generation means. And each second time from when the specific reflected light from each second type reference object corresponding to each second laser light is detected by the light detection means is detected. .
The distance calculation means calculates each first distance to each first type reference object based on each first time, and each distance to the second type reference object based on each second time. Each second distance is calculated.
Further, reference object position detection means is provided, and the reference object position detection means is configured to detect the first laser light incident on the first type reference object when the first laser light is emitted from the laser light generation means. Based on each rotation position of the deflecting means and each first distance, each position of each first type reference object is detected, and each second laser beam incident on each second type reference object is Each position of each of the second type reference objects is detected based on each rotation position of the deflecting means when emitted from the laser light generating means and each second distance.
The detection area setting means sets the first detection area based on each position of the first type reference object detected by the reference object position detection means, and sets the second type reference object. The second detection area is set based on each position.

According to a sixth aspect of the present invention, in the laser distance measuring device according to the fourth aspect, the first type reference object and the second type reference object can be moved by a user.
In this configuration, the light detection means receives each specific reflected light from each position when the moving first type reference object and the second type reference object are located on the scanning area of the laser light. is doing.
Further, the time detecting means detects that each of the first laser light incident on the first type reference object is the laser light when the specific reflected light from the first type reference object is detected by the light detection means. Each first time from when the light is generated by the generating means until when the specific reflected light from each moving position of the first type reference object corresponding to each first laser light is detected by the light detecting means. When the specific reflected light from the second type reference object is detected by the light detection means, each second laser light incident on the second type reference object is supplied to the laser light generation means. Each second time from when the second specific reference light is detected by the light detection means from each movement position of the second type reference object corresponding to each second laser light. is doing.
In addition, the distance calculation unit is configured to move each moving position of the first type reference object based on the first time until the specific reflected light from the moving position of the first type reference object is detected. Each first distance to the second type reference object is calculated based on each second time until each specific reflected light from each movement position of the second type reference object is detected. Each second distance to the movement position is calculated.
In addition to the above configuration, a moving position detecting means is further provided. The moving position detecting means is configured to emit the first laser light incident on the first type reference object from the laser light generating means. Based on each rotation position of the deflection means and each first distance, each movement position of the first type reference object that moves is detected, and from the laser light generation means to each second type reference object Each moving position of the moving second type reference object is detected based on each rotation position of the deflecting means when each incident second laser beam is emitted and each second distance. .
The detection area setting means sets the first detection area based on each movement position of the first type reference object detected by the movement position detection means, and each movement of the second type reference object. The second detection area is set based on the position.

  According to a seventh aspect of the present invention, in the laser distance measuring device according to any one of the first to sixth aspects, the light bar and the dark bar are alternately arranged on the surface portion of the reference object. It is characterized by a figure.

  The invention of claim 8 is the laser distance measuring device according to claim 7, wherein the specific figure is a bar code.

  A ninth aspect of the present invention is the laser distance measuring device according to any one of the first to eighth aspects, further comprising operating means capable of being operated from the outside, and mode switching means. The mode switching means is configured to switch between a setting mode for setting the detection area and a detection mode for detecting the detection object in accordance with an operation by the operation means.

  The invention of claim 1 uses a reference object configured separately from the apparatus main body, and this reference object is configured to emit specific reflected light when laser light is incident. On the other hand, the apparatus main body side determines whether or not the reflected light to be detected is the specific reflected light when the reference object is placed on the scanning area of the laser light, and is determined to be the specific reflected light. When the laser beam is generated, the time from when the laser beam is generated until the specific reflected light corresponding to the laser beam is detected is detected, and the distance to the reference object is calculated based on the detected time. . In this way, as long as the user places the reference object at a desired position, the distance from the apparatus main body to the position (position where the reference object is arranged by the user) can be easily calculated. Without performing work, distance calculation work, input work, etc., the distance value to be used as a reference for defining the boundary of the detection area can be easily registered in the apparatus main body. Based on the calculated distance, a detection area for detecting the detection object is set in the scanning area, and in this way, the position desired by the user (that is, the position where the user has actually placed the reference object). Can be easily and accurately set as a boundary position or a detection area using the boundary position as a guide.

The invention according to claim 2 uses a plurality of reference objects when setting the detection area, and the apparatus main body side identifies each of the laser light incident on each reference object according to each laser light. Each time until the reflected light is detected is detected. Then, each distance to each reference object is calculated based on each time, and each reference is based on each distance and each rotation position when each laser beam incident on each reference object is emitted. Each position of the object is detected.
In this way, when the user places each reference object at a desired position, the device body can easily grasp the relative position of each reference object with respect to the device body, and the user can detect it. It is possible to easily realize a configuration in which the device main body side can grasp in detail which area is desired.
In the present invention, a detection area is set based on each position of each reference object detected as described above, and in this way, each position desired by the user (that is, the user actually sets each reference object). It is possible to easily and accurately set a detection area reflecting each position where an object is placed. In particular, since the distance and direction (direction from the apparatus main body) of each reference object can be adjusted independently, a more complicated detection area can be easily set.

In the invention of claim 3, the reference object can be moved by the user, and the apparatus main body side receives each specific reflected light from each moving position when the reference object is located on the scanning area. . In addition, each time from the generation of each laser beam incident on each moving position until each specific reflected light from each moving position is detected is detected, and each moving position is determined based on each time. Each distance is calculated. Then, based on each distance and each rotation position of the deflecting means when each laser beam incident on each movement position is emitted, each movement position of the moving reference object is detected.
In this way, when the user sequentially moves the reference object to a plurality of desired positions, it is possible to easily identify each movement position in the apparatus main body, and to determine which area the user desires as the detection area You can grasp in detail.
Further, by configuring so that the detection area is set based on each movement position detected as described above, each movement position desired by the user (that is, each position where the user actually moved the reference object) can be obtained. The reflected detection area can be set easily and accurately. In particular, since any moving position can set the distance and direction from the apparatus main body independently, a more complex detection area can be easily set.

The invention of claim 4 uses a first type reference object and a second type reference object as reference objects. On the other hand, on the apparatus body side, the first distance to the first type reference object is calculated based on the time (first time) until the specific reflected light from the first type reference object is detected by the light detection means, The second distance to the second type reference object is calculated based on the time (second time) until the specific reflected light from the second type reference object is detected. A first detection area is set based on the calculated first distance, and a second detection area is set based on the calculated second distance.
In this way, when the user arranges the first type reference object at the desired first position, the distance to the first position (position where the first type reference object is arranged by the user) is set in the apparatus main body. The first detection area that can be easily calculated and reflects the first position desired by the user can be set easily and accurately.
Further, when the user places the second type reference object at the desired second position, the distance to the second position (position where the second type reference object is arranged by the user) can be easily calculated in the apparatus main body. The second detection area reflecting the second position desired by the user can be set easily and accurately.
In addition, it is possible to provide a user with a more complex and diverse detection environment with a reduced work load, and the user's degree of freedom of detection can be effectively increased, so that the convenience of the user can be significantly improved. Become.

According to a fifth aspect of the present invention, a plurality of first type reference objects and a plurality of second type reference objects are provided as reference objects.
On the other hand, on the apparatus main body side, each first distance to each first type reference object is calculated based on each first time until each specific reflected light from each first type reference object is detected. Each second distance to each second type reference object is calculated based on each second time until each specific reflected light from the second type reference object is detected.
Then, each first type reference object is based on each rotation position of the deflecting means when each first laser beam incident on each first type reference object is emitted from the laser light generating means and each first distance. Each position of the deflecting means when each second laser light incident on each second type reference object is emitted from the laser light generating means, and each second distance, Each position of the second type reference object is detected.
In this way, when the user places each first type reference object at a desired position, the apparatus main body can easily grasp the relative position of each first type reference object with respect to the apparatus main body. Thus, it is possible to grasp in detail on the apparatus body side which location the user desires as the first detection area. The same applies to the second type reference object, and it is possible to grasp in detail on the apparatus body side which location the user desires as the second detection area.
A first detection area is set based on each position of each detected first type reference object, and a second detection area is set based on each position of each second type reference object. In this configuration, the distance and direction (direction from the apparatus main body) of each first type reference object are independently adjusted, and the first detection area that accurately reflects the position of these first type reference objects is provided. Since it can be set, complicated area setting can be easily realized. The same applies to the second detection area. The distances and directions (directions from the apparatus main body) of the second type reference objects are independently adjusted, and the positions of the second type reference objects are accurately determined. The second detection area reflected in can be set. Thus, if two types of detection areas can be set more freely, it becomes possible to deal with more various places or more various detection methods, and the convenience of the user is further increased.

In the invention of claim 6, the first type reference object and the second type reference object are movable by the user. On the other hand, on the apparatus body side, each first up to each moving position of the first type reference object is based on each first time until each specific reflected light from each moving position of the first type reference object is detected. The distance is calculated, and each second distance to each moving position of the second type reference object is calculated based on each second time until each specific reflected light from each moving position of the second type reference object is detected. Calculated. Further, each moving position of the first type reference object that moves based on each rotation position of the deflecting means and each first distance when each first laser beam incident on each first type reference object is emitted. Each of the second type reference objects that move based on the respective rotation positions of the deflecting means and the respective second distances when the respective second laser beams incident on the respective second type reference objects are emitted. The moving position is detected.
In this way, when the user sequentially moves the first type reference object to a plurality of desired positions, each movement position of the first type reference object can be easily specified in the apparatus body. It is possible to grasp in detail on the apparatus main body side which area is desired as the first detection area. The same applies to the second detection area. When the user sequentially moves the second type reference object to a desired plurality of positions, the movement position of the second type reference object can be easily determined in the apparatus main body. It is possible to identify in detail on the apparatus main body side which location the user desires as the second detection area.
In addition, a first detection area is set based on each movement position of the first type reference object grasped as described above, and a second detection area is set based on each movement position of the second type reference object. ing. In this configuration, the distance and direction (direction from the apparatus main body) of each movement position of the first type reference object are adjusted independently, and a first detection area that accurately reflects each movement position is set. Therefore, complicated area setting can be easily realized. The same applies to the second detection area. The distance and direction (direction from the apparatus main body) of each movement position of the second type reference object are independently adjusted, and then each movement position is accurately determined. The reflected second detection area can be set.
Thus, if two types of detection areas can be set more freely, it becomes possible to deal with more various places or more various detection methods, and the convenience of the user is further increased.

  In the invention of claim 7, a specific figure in which light bars and dark bars are alternately arranged is attached to the surface portion of the reference object. Since there is a low possibility that such a specific figure (a figure in which light bars and dark bars are alternately arranged) is accidentally arranged on the scanning path of the laser beam, such a specific figure is provided on the surface portion. By using the object as the reference object, it is possible to accurately determine whether the detected reflected light is from the reference object (that is, whether the reflected light is specific reflected light).

  In the invention of claim 8, the specific figure is a bar code. Since it is highly unlikely that the barcode will be accidentally placed on the laser beam scanning path, if the object with the barcode on the surface is the reference object, is the reflected light detected from the reference object? It becomes possible to more accurately determine whether or not (that is, whether or not it is specific reflected light). In addition, it is possible to use a method in which some information is recorded on the barcode and some information is transmitted when the reference body is detected by the apparatus main body.

  The invention according to claim 9 is provided with an operation means capable of external operation and a mode switching means, and a setting mode for setting a detection area and a detection mode for detecting a detection object in accordance with an operation by the operation means. And switching. In this way, the user can freely switch between the setting mode and the detection mode by his / her own operation, and the convenience for the user can be effectively enhanced.

FIG. 1 is a cross-sectional view schematically illustrating the apparatus main body of the laser distance measuring apparatus according to the first embodiment of the present invention. FIG. 2A is a front view schematically illustrating a reference object, and FIG. 2B is a front view schematically illustrating another example 1 of the reference object. FIG. 2C is a front view schematically showing another example 2 of the reference object. FIG. 3 is an explanatory diagram conceptually illustrating an example in which a detection area is set by the laser distance measuring apparatus according to the first embodiment. FIG. 4A is a timing chart showing the relationship between the angle of the deflecting unit and the output of the received light signal when the reference object of FIG. 2A is used, and FIG. 4B is the timing chart of FIG. Is a timing chart showing the relationship between the angle of the deflection unit and the output of the received light signal when the reference object is used. FIG. 4C is a timing chart showing the relationship between the angle of the deflecting unit and the output of the received light signal when the reference object of FIG. 2C is used. 3 is a flowchart illustrating the flow of setting processing performed by the laser distance measuring device in FIG. 1. FIG. 6 is an explanatory diagram for explaining how the position of each reference object is detected when a plurality of reference objects are arranged on the scanning area. FIG. 7A is a timing chart showing the light projecting / receiving timing when the light bar is irradiated with pulsed laser light when the reference object of FIG. 2B is used. FIG. 7B is a timing chart showing the light projecting / receiving timing when the deflecting portion is displaced from FIG. 7A and the dark color bar is irradiated with the pulse laser beam. FIG. 7C is a timing chart showing the light projecting / receiving timing when the deflection unit is further displaced from FIG. 7B and the light color bar is irradiated with the pulse laser beam. FIG. 8 is an explanatory diagram for schematically explaining the laser distance measuring apparatus according to the second embodiment. FIG. 9 is a flowchart illustrating the flow of the reference object detection process in the setting process performed by the laser distance measurement apparatus of FIG. FIG. 10 is an explanatory diagram for explaining the movement of the reference object by the user. FIG. 11 is an explanatory diagram for explaining a detection area setting method by the laser distance measuring apparatus of FIG. FIG. 12 is an explanatory view for conceptually explaining a state in which a detection area is set by the laser distance measuring device of FIG. FIG. 13 is an explanatory diagram conceptually illustrating a laser distance measuring apparatus according to the third embodiment. FIG. 14 is an explanatory diagram for explaining a method of setting a detection area by the laser distance measuring device of FIG. FIG. 15 is an explanatory diagram for explaining a method of setting the first detection area by the laser distance measuring apparatus according to the fourth embodiment. FIG. 16 is an explanatory diagram for explaining a method of setting the second detection area by the laser distance measuring apparatus according to the fourth embodiment. FIG. 17 is an explanatory diagram conceptually illustrating a state in which the first detection area and the second detection area are set by the laser distance measuring apparatus according to the fourth embodiment.

[First embodiment]
Hereinafter, a first embodiment in which a laser distance measuring device of the present invention is embodied will be described with reference to the drawings.
(Configuration of the device body)
First, the configuration of the apparatus main body of the laser distance measuring apparatus 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a cross-sectional view schematically illustrating the apparatus main body of the laser distance measuring apparatus according to the first embodiment.

  The laser distance measuring apparatus 1 according to the present embodiment includes an apparatus main body 2 as shown in FIG. 1 and a reference object 80 (described later) exemplified in FIGS. 2A to 2C. As shown in FIG. 3, the detection area AR1 is set and an object (detection object) existing in the detection area AR1 is detected.

  As shown in FIG. 1, the apparatus main body 2 includes a laser diode 10 and a photodiode 20 that receives reflected light L2 from the detection object, and is configured as an apparatus that detects the distance and direction to the detection object. .

  The laser diode 10 corresponds to an example of “laser light generation means”, receives a pulse current from a drive circuit (not shown) under the control of the control circuit 70, and intermittently emits a pulse laser light corresponding to the pulse current. It is emitted. In the present embodiment, the laser light from the laser diode 10 to the detection object is conceptually shown with a symbol L1, and the reflected light from the detection object to the photodiode 20 is This is conceptually shown with a symbol L2. In the following description, laser light emitted from the laser diode 10 is referred to as pulsed laser light L1 or laser light L1.

  The photodiode 20 corresponds to an example of “light detection means”. When the laser light L1 is generated from the laser diode 10 and reflected by the detection object, the photodiode 20 receives the reflected light L2. Converted into electrical signals. In addition, about the reflected light from a detection object, the thing of a predetermined area | region is taken in into the deflection | deviation part 41, and FIG. 1 shows the example in which the reflected light of the area | region between two lines shown by the code | symbol L2 is taken in. ing.

  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 converts the laser light L1 from the laser diode 10 into parallel light.

  A mirror 30 is provided on the optical path of the laser light L1 that has passed through the lens 60. The mirror 30 includes a reflecting surface 30 a that is inclined with respect to the optical axis of the laser beam L 1 that has passed through the lens 60, and reflects the laser beam L 1 that has passed through the lens 60 toward the rotating deflection mechanism 40. In the present embodiment, the horizontal laser beam L1 that has passed through the lens 60 is reflected by the mirror 30 in the vertical direction (a direction parallel to a central axis 42a described later), and the reflected vertical laser beam L1 is rotated. The light is incident on the deflection unit 41 of the dynamic deflection mechanism 40.

  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 A 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 unit 41 corresponds to an example of a “deflecting unit”, is disposed on the optical axis of the laser light L1 reflected by the mirror 30, and rotates around the central axis 42a (predetermined central axis). It is possible to move. The deflecting unit 41 is configured to deflect (reflect) the laser light L1 from the laser diode 10 toward the space and deflect (reflect) reflected light L2 from the detection object toward the photodiode 20. .

  Further, the direction of the central axis 42a serving as the rotation center of the deflection unit 41 coincides with the direction of the laser beam L1 incident on the deflection unit 41 from the mirror 30, and the incident position where the laser beam L1 enters the deflection unit 41. P1 is a position on the central axis 42a.

  In the present embodiment, the direction of the central axis 42a is the vertical direction (Y-axis direction), and the plane direction orthogonal to the central axis 42a is the horizontal direction. Further, a predetermined direction in the horizontal direction is shown as the X-axis direction.

  As shown in FIG. 1, the reflection surface 41a of the deflection unit 41 is inclined at an angle of 45 ° with respect to the vertical direction (the direction of the laser light L1 incident on the reflection surface 41a), and is incident from the mirror 30 side. The laser beam L1 is reflected in the horizontal direction. In addition, since the deflection unit 41 rotates around the central axis 42a in the direction that coincides with the direction of the incident laser beam L1, the incident angle of the laser beam L1 is always maintained at 45 ° regardless of the rotation position of the deflection unit 41. The direction of the laser beam L1 from the position P1 is configured to be constantly in the horizontal direction (the direction orthogonal to the central axis 42a).

  Further, in the apparatus main body 2 of FIG. 1, the deflection region that deflects the reflected light in the deflection unit 41 (the region of the reflection surface 41 a in the deflection unit 41) is the reflection region that reflects the laser light in the mirror 30 (the reflection surface in the mirror 30). 30a)).

  Further, the apparatus main body 2 of FIG. 1 is provided with a motor 50 for driving the rotation deflection mechanism 40. The motor 50 corresponds to an example of “driving means”, and rotates the shaft portion 42 to rotationally drive the deflection portion 41 connected to the shaft portion 42. As a specific configuration of the motor 50, for example, a servo motor or the like may be used, or a motor that rotates regularly is used, and the pulse laser beam is output in synchronization with the timing at which the deflection unit 41 faces the direction in which the distance measurement is desired. Thus, detection of a desired direction may be possible. 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. 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.

  In the above description, a specific example of the motor 50 to be detected has been described. However, the type and configuration of the motor 50 are not limited to the above example, and may be configured by, for example, a step motor. If one having a small angle for each step is used, precise rotation is possible.

  A condensing lens 62 that condenses the reflected light toward the photodiode 20 is provided on the optical path of the reflected light L <b> 2 from the rotation deflection mechanism 40 to the photodiode 20, and the condensing lens 62 and the photodiode are provided. 20 is provided with a filter 64. The condensing lens 62 condenses the reflected light L2 from the deflecting unit 41 and guides it to the photodiode 20, and functions as a condensing unit.

  The filter 64 functions to transmit the reflected light L2 and remove light other than the reflected light L2 on the optical path of the reflected light L2 from the rotation deflection mechanism 40 to the photodiode 20. The filter 64 is constituted by a wavelength selection filter that transmits only light having a specific wavelength corresponding to the reflected light L2 (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, and the like are housed in the case 3 so that dust and impact protection are achieved. Around the deflection unit 41 in the case 3, a light guide unit 4 that allows the laser light L <b> 1 and the reflected light L <b> 2 to pass is formed so as to surround the deflection unit 41. The light guide 4 is formed in an annular shape centering on the optical axis of the laser beam L1 incident on the deflecting unit 41 and is substantially 360 °, and the glass plate is closed in the form of closing the light guide 4. A laser light transmission plate 5 made of a material such as the like is arranged to prevent dust.

(Feature configuration)
Next, a characteristic configuration of the present embodiment will be described. In the laser distance measuring apparatus 1 according to the present embodiment, a reference object 80 as exemplified in FIGS. 2A to 2C is used as a separate body from the apparatus main body 2. This reference object 80 is used by being arranged on the scanning path of the laser beam L1 outside the apparatus main body 2 and is specifically reflected when the laser beam L1 projected into the space from the rotation deflection mechanism 40 is incident. It is configured to emit light. Note that each of the reference objects 80 is configured such that the irradiation target portion is configured in a plate shape, and a rod-shaped grip portion is attached to the plate-shaped irradiation target portion, but the laser light L1 can be reflected. If it is, it will not be limited to these forms.

  For example, in FIG. 2A, the surface portion of the irradiation target portion is configured as a mirror, and the amount of incident light (the amount of laser light L1 incident on the surface portion) and the amount of reflected light (reflection reflected from the surface portion). The difference between the light intensity and the light intensity is small. Therefore, when the laser beam L1 is incident on the mirror, a large amount of reflected light is ensured, and a large amount of light is received when the reflected light is received by the photodiode 20. In this case, light whose amount of light received by the photodiode 20 is equal to or greater than a predetermined threshold value (threshold value for distinguishing between reflected light from the mirror and reflected light other than the mirror) is treated as “specific reflected light”.

  4A shows the output of the received light signal (the amount of received light) when the reference object 80a shown in FIG. 2A is placed on the scanning path of the laser beam L1, and the angle of the deflection unit 41. This shows the relationship. Here, an example in which the photodiode 20 is set to a predetermined sensitivity is shown, and when the deflection unit 41 is in a certain angle range (angle range in which the laser light L1 can be incident on the reference object 80a), an output of a light reception signal is shown. Exceeds a predetermined threshold value Va. Further, in this case, it can be assumed that the reference object 80a is used at such a distance that the output of the photodiode 20 is saturated when the reflected light from the reference object 80a enters the photodiode 20. In such a premise, the “predetermined threshold value” is set to a value slightly lower than the output value at the time of saturation (for example, about 70 to 80% of the saturated output value), thereby reflecting from the reference object 80a. Whether or not it is light can be determined well.

  In addition, the reference object 80b shown in FIG. 2B is provided with a specific figure D in which light bars 81 and dark bars 82 are alternately arranged on the surface portion of the irradiation target portion. The reference object 80b is used so that the surface portion is arranged on the scanning path of the laser light L1 and is scanned along the bar array direction by the laser light L1, and in this case, the light bar in the photodiode 20 is used. The reflected light from 81 and the reflected light from the dark bar 82 are alternately received.

  4B, the reference object 80b of FIG. 2B is arranged on the scanning path of the laser light L1 (more specifically, the reference is arranged so that the bar arrangement direction of the specific figure D is in the horizontal direction or the substantially horizontal direction. The relationship between the output of the received light signal (the amount of received light) and the angle of the deflecting unit 41 when the detection is performed with the object 80b disposed) is shown. Here, an example in which the photodiode 20 is set to a predetermined sensitivity is shown, and when the deflection unit 41 is in a certain angle range (angle range in which the laser beam L1 can be incident on the light bar 81), the light reception signal Output exceeds the first threshold value V1. Thereafter, when the deflecting unit 41 is displaced and the angle range in which the laser light L1 can enter the dark bar 82 is reached, the output of the light reception signal becomes equal to or less than the first threshold value V1 and equal to or more than the second threshold value V2, and thereafter, the deflection is performed. When the portion 41 is displaced and the angle range in which the laser beam L1 can enter the light bar 81 is reached, the output of the received light signal again exceeds the first threshold value V1. Thus, when the reference object 80b is arranged and used on the scanning path of the laser light L1, the photodiode 20 has an output exceeding the first threshold value V1 (an output corresponding to the amount of light reflected from the bright color bar 81). The output of the first threshold value V1 or lower and the second threshold value V2 or higher (output corresponding to the amount of light reflected from the dark bar 82) is alternately repeated. When the reference object 80b is used, such alternate output is performed. The reflected light that generates the light is treated as “specific reflected light”.

  Further, when the reference object 80b is used with the sensitivity of the photodiode 20 set to be constant, the output of the photodiode 20 is saturated when the reflected light from the light bar 81 enters the photodiode 20, and the dark bar When the reflected light from 82 enters the photodiode 20, it can be assumed that the reference object 80b is used at a distance (distance from the apparatus main body 2) that does not saturate the output of the photodiode 20. In such a premise, for example, the “first threshold value V1” is set to a value slightly lower than the output value at the time of saturation (for example, about 70 to 80% of the saturated output value). By setting “V2” to a value considerably lower than the output value at the time of saturation (for example, about 10 to 20% of the saturated output value), the reflected light from the light color bar 81 and the reflected light from the dark color bar 82 are reduced. It becomes possible to discriminate well.

  In addition, the reference object 80c in FIG. 2C is also provided with a specific figure in which light bars and dark bars are alternately arranged on the surface portion of the irradiation target portion, similarly to the reference object 80b in FIG. In the example of FIG. 2C, this specific figure is a bar code B. This reference object 80c also has a surface portion arranged on the scanning path of the laser beam L1, and is used so as to be scanned along the bar arrangement direction by the laser beam L1, and in this example, the bar code B is scanned by the scanning. The information recorded in can be read.

  4C, the reference object 80c of FIG. 2C is arranged on the scanning path of the laser beam L1 (more specifically, the reference is set so that the bar arrangement direction of the barcode B is in the horizontal direction or the substantially horizontal direction). The relationship between the output of the received light signal (the amount of received light) and the angle of the deflection unit 41 when the detection is performed with the object 80c disposed) is shown. This case is also the same as in the case of FIG. 2B, and when the deflection unit 41 is in a certain angle range (angle range in which the laser beam L1 can enter the margin portion of the barcode B or the light bar 83). The light receiving signal output exceeds the first threshold value V1. Thereafter, when the deflection unit 41 is displaced and the angle range in which the laser beam L1 can enter the dark bar 84 is reached, the output of the received light signal is equal to or less than the first threshold value V1 and equal to or greater than the second threshold value V2, and thereafter, the deflection is performed. When the portion 41 is displaced and changes to an angle range in which the light bar 83 can enter, the output of the light reception signal again exceeds the first threshold value V1.

  As described above, when the reference object 80c is arranged and used on the scanning path of the laser light L1, the photodiode 20 has an output exceeding the first threshold V1, and an output not exceeding the first threshold V1 and not less than the second threshold V2. Are repeated alternately. When the reference object 80c is used, the reflected light that generates such an alternate output is treated as “specific reflected light”. The light reception signal obtained when scanning the barcode B is obtained from each of the signals obtained by the reflected light from each light bar 83 and from each dark bar 84, as shown in FIG. Each signal obtained by each reflected light has width information, and information recorded on the barcode B can be read by performing known decoding based on the width information.

Next, a method for setting a detection area using the reference object 80 will be described.
FIG. 5 is a flowchart illustrating the flow of setting processing performed in the apparatus main body 2.
The setting process of FIG. 5 is a process started by the control circuit 70 when a predetermined operation is performed on the operation unit 74 (FIG. 1). In the present embodiment, an example is shown in which an operation unit 74 provided with keys, switches, and the like is provided outside the case 3, but an operation unit may be provided inside the case 3, and the device An operation unit may be provided as a separate device from the main body 2. In any case, when the user performs a predetermined operation on the operation unit 74, the operation signal is input to the control circuit 70, and the setting process of FIG. 5 is executed.

  When the setting process of FIG. 5 is started, a detection process for detecting the reference object 80 is first performed (S1). In this reference object detection process, similarly to the normal object detection process, the laser light L1 is projected onto the space, and the reference object 80 existing on the scanning path of the laser light L1 is detected. Specifically, for example, scanning of the laser beam L1 is performed over a predetermined rotation range (for example, 360 °), each reflected light returned according to the projection of each pulsed laser beam is received, and the above-mentioned “specification” is performed. It is confirmed whether or not “reflected light” is received.

  As the reference object 80, any of the above-described reference objects 80a, 80b, and 80c (FIG. 2) may be used. For example, when the user uses the reference object 80a of FIG. 2A, as described above, It is confirmed whether or not reflected light that generates a light reception signal exceeding a predetermined threshold Va is received. Further, when the user uses the reference object 80b of FIG. 2B or the reference object 80c of FIG. 2C, the output exceeding the first threshold value V1, the first threshold value V1 or less and the second threshold value V2 It is confirmed whether or not a series of reflected light such that the above output is alternately repeated is received.

  In the present embodiment, the control circuit 70 corresponds to an example of “determination means”, and is detected by the photodiode 20 when the reference object 80 is placed on the scanning area of the laser beam L1 by the rotation deflection mechanism 40. It has a function of determining whether or not the reflected light is “specific reflected light”.

  In the detection process of S1, the reference unit 80 is detected by rotating the deflecting unit 41 by a predetermined angle range (eg, 360 °), and a plurality of reference objects 80 are located on the scanning path as shown in FIG. If it exists, the plurality of reference objects 80 are detected.

As shown in FIG. 5, after the detection process of S1, a distance calculation process of S2 is performed. In this distance calculation process, each distance X1 to X4 from the apparatus main body 2 for each reference object 80 detected in S1 is calculated (see FIG. 6). Specifically, when detecting each reference object 80 in S1, each time from the generation of each laser light L1 projected on each reference object 80 until the laser light L1 is detected by the photodiode 20 The distances X1 to X4 from the apparatus main body 2 to the reference objects 80 are calculated based on the detected times and the known speed of light.
In the present embodiment, the control circuit 70 corresponds to an example of “time detection means” and “distance calculation means”.

  For example, when the reference object 80a as shown in FIG. 2A is arranged on the scanning path of the laser light L1, when the pulsed laser light L1 emitted from the laser diode 10 toward the reference object 80a is emitted, Reflected light (specific reflected light) that generates a light reception signal that exceeds the predetermined threshold Va is returned in response to the pulse laser light L1, so that the time when the pulse laser light L1 is generated by the laser diode 10 is used as a reference. The time until the reflected light (specific reflected light) returned from the reference object 80a is detected by the photodiode 20 in response to the pulsed laser light L1 is detected. Based on the detection time and the known speed of light, the distance from the apparatus body 2 to the reference object 80a is calculated.

  When the reference object 80b as shown in FIG. 2B is disposed on the scanning path of the laser light L1, the reflected light from the light bar 81 and the reflected light from the dark bar 82 are alternately received. In the angle range (see FIG. 4B), the time from the generation of one of the pulsed laser beams L1 to the reception of the reflected light corresponding to the pulsed laser beam L1 is detected, and the apparatus main body is based on this detection time. The distance from 2 to the reference object 80b is calculated.

  More specifically, when the laser beam L1 is in an angle range where the laser beam L1 is incident on the specific symbol D, light is projected and received at the timing as shown in FIG. 7A, after the generation of the pulsed laser light in the laser diode 10, the reflected light (specific reflected light) from the light-colored bar 81 by the photodiode 20 after time T1 as shown in FIG. ) Is detected. In addition, when the angle of the deflecting unit 41 is different from the predetermined angle and is an angle at which the laser beam L1 is incident on a certain dark bar 82, as shown in FIG. After the generation of the pulsed laser light, the reflected light (specific reflected light) from the dark bar 82 is detected by the photodiode 20 after time T1 ′. Further, when the angle is different from that in FIG. 7B and the laser beam L1 is incident on a certain light bar 81, the laser diode 10 is formed as shown in FIG. 7C. After the generation of the pulse laser beam at, the reflected light (specific reflected light) from the light color bar 81 is detected by the photodiode 20 after time T1 ". In this example, from the apparatus main body 2 to each light color bar 81. And the distances from the apparatus main body 2 to the dark color bars 82 can be regarded as substantially the same, and thus the times T1, T1 ′, T1 ″ have substantially the same values. Therefore, the time from the generation of any pulse laser beam L1 incident on the light color bar 81 or the dark color bar 82 until the reflected light (specific reflection light) corresponding to the pulse laser beam L1 is detected by the photodiode 20. By detecting (for example, any one of the times T1, T1 ′, and T1 ″) as a representative value, the distance from the apparatus body 2 to the reference object 80b is calculated based on the detection time and the known speed of light. Here, the distance calculation method using the reference object 80b of FIG.2 (b) is illustrated here, but the same applies to the case of FIG.2 (c).

  As shown in FIG. 5, after the distance calculation process in S2, a position specifying process in S3 is performed. This process is a process of specifying the position of each reference object 80 based on the distances X1 to X4 (FIG. 6) calculated in S2.

  Specifically, when each reference object 80 is detected in S1, each laser light L1 is detected by the photodiode 20 from each detection time (from the generation of each laser light L1 projected on each reference object 80). Each rotation position of the deflecting unit 41 when each laser beam L1 incident on each reference object 80 is emitted from the laser diode 10 is detected. The positions of the reference objects 80 are detected based on the distances X1 to X4 calculated in S2.

  For example, when the specific reflected light from the reference object 80 at the position A1 in FIG. 6 (the reference object at a distance X1 from the apparatus main body 2) is detected, the light enters the reference object 80 at the detection time (A1). (The time from the generation of a certain pulse laser beam L1 until the pulse laser beam L1 is received) and the “rotation position” of the deflection unit 41 when the pulse laser beam L1 incident on the reference object 80 is emitted. ”Is also detected, and in the process of S3, the direction of the reference object 80 at the position A1 is specified by this“ rotation position ”. And the specific coordinate on the basis of the apparatus main body 2 about the reference | standard object 80 in position A1 is specified by this specified direction and the distance X1 calculated | required by S2.

  In FIG. 6, as an example, when the laser beam L1 is projected in a predetermined reference direction F, the position of the deflecting unit 41 is set as a reference rotation position (angle 0 °), and “when specific reflected light is detected”. As the rotation position of the deflection unit 41, a rotation angle θ indicating how much the rotation has been made from the reference rotation position is obtained. Therefore, for example, the rotation position when the laser beam L1 is projected onto the reference object 80 at the position A1 can be represented by the rotation angle θ1 from the reference rotation position to the rotation position, and the reference of the position A1. The coordinates of the object 80 can be specified by this θ1 and the distance X1.

  In the above description, the method of specifying the specific coordinates of the reference object 80 at the position A1 has been described. However, the specific coordinates of the reference objects 80 at the other positions A2 to A4 can be specified by the same method.

  In the present embodiment, the control circuit 70 corresponds to “reference object position detection means”, and each rotation position of the deflection unit 41 when each laser beam L1 incident on each reference object 80 is emitted from the laser diode 10; Based on the distances X1 to X4, the positions Pa to Pd of the reference objects 80 are detected.

  As shown in FIG. 5, the detection area setting process of S4 is performed after the process of S3. In this detection area setting process, the detection area is set so that any or all of the positions Pa, Pb, Pc, and Pd (FIG. 6) of each reference object 80 identified in the process of S3 are set as boundary positions. For example, a polygonal detection area as shown in FIG. 3 can be set by annularly connecting the positions Pa to Pd of each reference object 80 identified in the process of S3.

  There are various methods for tying in a ring shape, and examples thereof include a method of tying the positions Pa to Pd of each reference object 80 in the detected order. In this method, for example, when the reference object 80 is detected in the order of the positions Pc, Pd, Pa, and Pb, lines may be set in the order of Pc-Pd, Pd-Pa, Pa-Pb, and Pb-Pc. In this case, each position Pa to Pd becomes each vertex of the detection area, and each line Pc-Pd, Pd-Pa, Pa-Pb, Pb-Pc becomes a boundary line of the detection area.

  Data for determining the detection area is stored in the memory 72 (S5). As data stored in the memory 72, for example, vertex coordinate data of the detection area (in the above example, coordinate data of each position Pa to Pd) and position data of the boundary line of the detection area (in the above example, the line Pc) -Pd, Pd-Pa, Pa-Pb, Pb-Pc position data), etc., and if either or both of these are stored in the memory 72, the detection area can be quickly and easily specified later. become.

  In the present embodiment, the control circuit 70 and the memory 72 correspond to an example of “detection area setting means”, and are based on the distances X1 to X4 to the reference objects 80 calculated by the “distance calculation means” (more specifically, , Based on the respective positions Pa to Pd of the respective reference objects 80 detected by the “reference object position detecting means”, it functions to set a detection area in the scanning area by the rotation deflection mechanism 40. Here, the entire area where the laser beam L1 projected from the rotation deflection mechanism 40 reaches is a “scanning area”, and a part of the area is set as a “detection area”.

Next, object detection in the detection mode will be described.
In the present embodiment, when a predetermined operation is performed on the operation unit 74, a setting process as shown in FIG. 5 is started, and the mode is shifted to a setting mode (a mode in which the setting process is performed). On the other hand, when this setting process is completed, the mode is shifted to a mode (detection mode) in which an actual detection process can be performed automatically or in response to an operation on the operation unit 74. As described above, in the present embodiment, the setting mode and the detection mode are switched according to the operation performed on the operation unit 74, and the “mode switching unit” in which the control circuit 70 switches such a mode. It corresponds to an example.

  In the detection mode, as shown in FIG. 3, the apparatus main body 2 is arranged at the same position as in the setting process, and in this state, the pulse laser beam L1 is sequentially emitted from the laser diode 10 and the deflecting unit 41 is sequentially rotated. Then, the laser beam L1 is scanned. The emission timing of the pulse laser beam L1 and the rotation timing of the deflecting unit 41 can be set variously. For example, each pulse laser beam from the deflecting unit 41 is rotated by slightly rotating the deflecting unit 41 for each pulse laser beam. The projection direction of L1 can be sequentially changed in the horizontal direction.

  In such laser beam scanning, when a detection object is present on the scanning area, the pulsed laser light L1 projected from the deflection unit 41 is reflected by the detection object, and a part of the reflected light is again deflected by the deflection unit 41. Is incident on. Then, after being reflected by the deflecting unit 41, the light is condensed by the condenser lens 62 and enters the photodiode 20. Therefore, in the detection mode, whether or not the photodiode 20 receives such reflected light (more specifically, whether or not the output from the photodiode 20 exceeds the threshold value) is determined for each rotation position of the deflection unit 41. It is confirmed whether or not the detection object exists in the direction corresponding to each rotation position.

  In addition, when the reflected light L2 from the object is received at any rotation position, the pulsed laser light L1 that is the source of the reflected light L2 is generated, and then the reflected light L2 of the pulsed laser light L1 is A time T until light is received by the photodiode 20 is detected. Then, considering the known light velocity C, the optical path length L obtained by adding the optical path from the laser diode 10 to the object and the optical path from the object to the photodiode 20, or the distance X to the object (for example, the optical path length L 1/2). Furthermore, the rotation position of the deflecting unit 41 when the reflected light L2 from the object is received (that is, the rotation position when the pulse laser beam L1 that is the source of the reflected light L2 is projected), and the object Based on the above distance X, the coordinates of the object are specified. Then, it is determined whether or not the coordinates are within the range of the detection area (see FIG. 3) set in the setting process (FIG. 5). If the coordinates are within the detection area, object detection is performed in the detection area. As a result, a predetermined output process is performed. Note that the predetermined output processing includes notifying that an object has been detected and outputting position data of the detected object. On the other hand, if the obtained coordinates are coordinates outside the detection area, the object is ignored as it is not detected.

  FIG. 3 shows an example in which a detection area is set on one side of the building 91 (for example, the entrance door side), and an object in the detection area is detected. When a person or the like approaches and enters the detection area, the intrusion can be appropriately detected.

(Main effects of this embodiment)
The laser distance measuring apparatus 1 according to the present embodiment includes an apparatus body 2 capable of projecting and receiving pulsed laser light, and a reference object 80 configured as a separate body from the apparatus body 2. The configuration is such that specific reflected light is emitted when the pulsed laser light L1 is incident. On the other hand, on the apparatus body 2 side, when the reference object 80 is arranged on the scanning area of the pulsed laser light L1, it is determined whether or not the reflected light to be detected is the specific reflected light. Is determined, the time from when the pulse laser beam L1 is generated until the specific reflected light corresponding to the pulse laser beam L1 is detected is detected, and the reference object is detected based on the detected time. A distance up to 80 is calculated. In this way, as long as the user places the reference object 80 at a desired position, the distance from the apparatus body 2 to the position (position where the reference object 80 is arranged by the user) can be easily calculated. The distance value to be used as a reference for defining the boundary of the detection area can be easily registered in the apparatus main body without performing a distance measurement operation, a distance calculation operation, an input operation, or the like. Then, based on the calculated distance, a detection area for detecting the detection object is set in the scanning area. In this way, the position desired by the user (that is, the position where the user has actually placed the reference object 80). ) Can be easily and accurately set as a boundary position or a detection area using the boundary position as a guide.

Further, in the present embodiment, when setting the detection area, a plurality of reference objects 80 are used as shown in FIG. 6, and on the apparatus body 2 side, the generation of each laser beam incident on each reference object 80 Each time until each specific reflected light corresponding to each laser beam is detected is detected. Then, each distance X1 to X4 to each reference object 80 is calculated based on each time, and each time when each distance X1 to X4 and each laser beam incident on each reference object 80 is emitted. Each position Pa, Pb, Pc, Pd of each reference object 80 is detected based on the moving position.
In this way, when the user places each reference object 80 at a desired position, the apparatus body 2 can easily grasp the relative position of each reference object 80 with respect to the apparatus body 2. Thus, it is possible to easily realize a configuration that allows the user to grasp in detail on the apparatus body 2 side as to which location the user desires as the detection area.
In the present invention, detection areas are set based on the positions Pa, Pb, Pc, and Pd of the reference objects 80 detected as described above, and in this way, each position desired by the user is set. A detection area that reflects (that is, each position where the user actually places each reference object 80) can be set easily and accurately. In particular, since the distance and direction (direction from the apparatus main body 2) of each reference object 80 can be adjusted independently, a more complicated detection area can be easily set.

  In the examples of FIGS. 2B and 2C, a light color bar 81 (light color bar 83 in the example of FIG. 2C) and a dark color bar 82 (FIG. 2) are formed on the surface portion of the reference object 80. In the example of (c), a specific figure in which light bars 84) are alternately arranged is added. Since it is unlikely that such a specific figure (a figure in which light bars and dark bars are alternately arranged) is accidentally arranged on the scanning path of the laser light L1, such a specific figure is provided on the surface portion. By using the detected object as the reference object, it is possible to accurately determine whether the detected reflected light is from the reference object (that is, whether the reflected light is specific reflected light).

  In the example of FIG. 2C, the specific figure is a barcode. Since it is very unlikely that the barcode is accidentally placed on the scanning path of the laser beam L1, if the object having the barcode on the surface portion is used as a reference object, the reflected light detected from the reference object 80 is Whether or not there is (that is, whether or not it is specific reflected light) can be determined more accurately. Also, it is possible to use a method in which some information is recorded in the barcode B and some information is transmitted together when the apparatus body 2 detects the reference object 80. For example, if data indicating that it is a reference object is recorded on the barcode B, double confirmation can be performed on the apparatus body 2 side, and it is confirmed very accurately whether or not specific reflected light is detected. it can.

  In the present embodiment, an operation unit 74 capable of external operation and mode switching means are provided, and a setting mode for setting a detection area and a detection object are detected according to the operation by the operation unit 74. Switching between detection modes. In this way, the user can freely switch between the setting mode and the detection mode by his / her own operation, and the convenience for the user can be effectively enhanced.

[Second Embodiment]
Next, a second embodiment will be described.
FIG. 8 is an explanatory diagram for schematically explaining the laser distance measuring apparatus according to the second embodiment. FIG. 9 is a flowchart illustrating the flow of the reference object detection process in the setting process performed by the laser distance measurement apparatus of FIG. FIG. 10 is an explanatory diagram for explaining the movement of the reference object by the user. FIG. 11 is an explanatory diagram for explaining a detection area setting method by the laser distance measuring apparatus of FIG. FIG. 12 is an explanatory diagram conceptually illustrating a state in which a detection area is set.

  In the second embodiment, since the same apparatus main body 2 as that in the first embodiment is used, a detailed description of the configuration of the apparatus main body 2 is omitted. Also, with respect to the reference object, any one of FIGS. 2A to 2C is used in the same manner as in the first embodiment, and thus detailed description of the reference object is also omitted. Further, the apparatus main body 2 and the reference object 80 will be referred to as appropriate in FIGS. 1 and 2, and the specific reflected light will be referred to as appropriate in FIGS. 4 and 7. For the setting process, refer to FIG. 5 as appropriate.

  As shown in FIG. 8, the laser distance measuring apparatus 200 according to the present embodiment has a first embodiment in that a single reference object 80 is used and the reference object 80 is movable by the user. It is different from the form.

Hereinafter, the setting process performed in the laser distance measuring apparatus 200 of the second embodiment will be described.
Also in the laser distance measuring apparatus 200 of the second embodiment, the setting process is performed according to the flow shown in FIG. 5, and first, the reference object detection process of S1 is performed. The specific content of the reference object detection process is slightly different from that of the first embodiment. In the laser distance measuring apparatus 200 of this embodiment, the user moves the reference object 80 to a plurality of positions on the scanning area of the laser light L1. On the premise that the reference object 80 is sequentially moved by the user, the apparatus main body 2 side receives each specific reflected light from the respective movement positions. Note that the method of moving the reference object 80 by the user may be a method in which the user directly holds and moves the reference object 80 as shown in FIG. 10A, for example, as shown in FIG. Alternatively, a method of moving by any moving device 201 (for example, a vehicle that can be operated or remotely operated) may be used.

  Specifically, the reference object detection process is performed, for example, as shown in FIG. 9, and first, a process of determining whether or not the detection of the reference object is actually started is performed (S21). In this determination processing, for example, it may be confirmed whether or not the user has given a predetermined start instruction (instruction to shift to detection of a reference object) to the operation unit 74, or a predetermined time has elapsed. (For example, whether a predetermined time has elapsed since the start of the reference object detection process in FIG. 9 or whether a predetermined time has elapsed since the previous detection of the reference object) may be confirmed. Alternatively, the determination process itself in S21 may be omitted.

  When the process proceeds to Yes in S21, the pulse laser beam L1 is emitted with the deflection unit 41 set at a certain rotation position (S22), and a process of confirming reception of reflected light at the rotation position is performed (S22). S23). And the process which judges whether specific reflected light was detected is performed (S24). The determination in S24 may determine whether or not “specific reflected light” has been detected based on only the reflected light confirmed at the current rotation position (when performing the determination in S24). It may be determined whether or not “specific reflection light” has been detected based on each reflection light at a plurality of rotation positions before the movement position.

  For example, when the reference object 80a of FIG. 2A is used, it is confirmed in S23 whether or not a received light signal exceeding a predetermined threshold value Va is detected, and if detected, the process proceeds to Yes in S24. . Alternatively, when the reference object 80b of FIG. 2B is used, a light reception signal as shown in FIG. 4B is obtained based on the reflected light at a plurality of rotation positions before the current rotation position. If it is obtained, the process proceeds to Yes in S24. When the reference object 80c as shown in FIG. 2 (c) is used, the light reception signal as shown in FIG. 4 (c) is generated based on the reflected light at a plurality of rotation positions before the current rotation position. It is obtained and it is determined whether or not the decoding has been normally performed. If the decoding has been normally performed, the process proceeds to Yes in S24.

  If the specific reflected light is not detected, the process proceeds to No in S24, the deflection unit 41 is changed by one step and set to the next angle, and the processes after S22 are repeated.

  When the process proceeds to Yes in S24, the time from when the pulse laser beam L1 projected on the reference object 80 is generated by the laser diode 10 until the pulse laser beam L1 is detected by the photodiode 20 is detected. (S26). This time detection method is the same as the detection by each reference object 80 in the first embodiment. For example, the reference object 80a as shown in FIG. 2A is placed on the scanning path of the laser light L1 in FIG. When the pulse laser beam L1 is emitted from the laser diode 10 toward the reference object 80a, a reflection that generates a light reception signal that exceeds the predetermined threshold Va according to the pulse laser beam L1. Since the light (specific reflected light) is returned, the reflected light (specific reflected light) returned from the reference object 80a according to the pulse laser light L1 based on the time when the pulse laser light L1 is generated by the laser diode 10. The time Ta until the light is received by the photodiode 20 is detected.

  In S26, along with the detection of the time Ta, the rotation position (rotation angle from the reference rotation position) of the deflecting unit 41 when the pulse laser beam L1 incident on the reference object 80 is emitted from the laser diode 10 is determined. To detect. For example, when specific reflected light from the reference object 80 at the movement position B1 in FIG. 8 is detected, the pulse laser light L1 is generated from the generation of the pulse laser light L1 incident on the reference object 80 at time Ta (B1. And the “rotation position” (rotation angle θa from the reference rotation position) of the deflection unit 41 when the pulsed laser light L1 incident on the reference object 80 is emitted. To do.

  Here, the case where the reference object 80a as shown in FIG. 2A is arranged is illustrated, but when the reference object 80b as shown in FIG. 2B is used, the same method as in the first embodiment is used. For any one of the pulsed laser beams L1 that are detected in time and emitted toward the reference object 80 at the moving position B1, from the emission of the pulsed laser beam L1 to the reception of reflected light corresponding to the pulsed laser beam L1. The time Ta is detected. And the rotation position (rotation angle (theta) a) of the deflection | deviation part 41 when the said pulsed laser beam L1 is radiate | emitted is also detected.

  After the time Ta and the rotation position (rotation angle θa) are thus detected, these values are stored in the memory 72 as values for specifying the movement position B1 (S27).

  Thereafter, it is determined whether or not to end the reference object detection process (S28). This determination may be performed by, for example, determining whether the user has performed a predetermined end operation on the operation unit 74, or determining whether a certain time has elapsed since the last reference object was detected. Can be mentioned.

  If the reference object detection process of FIG. 9 is ended when the user performs a predetermined end operation, it is determined whether or not the predetermined end operation has been performed on the operation unit 74 in S28. If not, the process proceeds to No in S28, and the processes after S21 are repeated for the next movement position. On the other hand, if a predetermined end operation has been performed, the process proceeds to Yes in S28, and the reference object detection process ends.

  In the reference object detection process, when the user moves the reference object 80 as shown in FIG. 11, the processes of S22 to S27 are performed for each of the movement positions B1, B2, and B3, so that each of the movement positions B1, B2, and B3 is processed. The time Ta and the rotation angle θa are calculated. The time Ta and the rotation angle θa are associated with each movement position and stored in the memory 72.

  When the reference object detection process in FIG. 9 is completed, the processes after S2 in FIG. 5 are performed. The processing of S2 is the same as in the first embodiment, and in the first embodiment, each distance for each reference object is calculated. In this embodiment, each distance for each moving position is calculated in the same manner. (Each distance to the reference object placed at each moving position) is calculated. That is, each distance to each moving position is calculated based on the time Ta detected for each moving position. For example, when the respective movement positions B1, B2, and B3 are detected as shown in FIG. 11, the time Ta for each movement position stored in the memory 72 is read out, and from the apparatus main body 2 based on these times Ta. The distances Xs, Xt, and Xu to the movement positions B1, B2, and B3 are calculated.

  Further, the position specifying process in FIG. 3 (FIG. 5) is the same as that in the first embodiment. In the first embodiment, each coordinate of each reference object is detected, but this embodiment also uses the same method. Thus, each coordinate of each moving position is detected. Specifically, the coordinates of each movement position of the reference object 80 are determined based on each rotation position of the deflecting unit 41 when each laser beam L1 incident on each movement position is emitted and each distance calculated in S2. To detect. For example, when the respective movement positions B1, B2, and B3 are detected as shown in FIG. 11, the movement position B1 has a rotation angle θa at the movement position B1 (in FIG. 11, the rotation angle at B1). Is calculated as θa1) and the distance Xs to the movement position B1 is calculated. The movement position B2 is the same, based on the rotation angle θa at the movement position B2 (in FIG. 11, the rotation angle at the movement position B2 is exemplified as θa2) and the distance Xt to the movement position B2. To calculate the coordinates Pt. Note that the coordinate Pu is calculated for the movement position B3 in the same manner.

  Thereafter, the detection area setting process of S4 is performed. The process of S4 is the same as that of the first embodiment, and the detection area is set based on the plurality of coordinates specified in S3. FIG. 12 shows an example of setting the detection area when the reference object is sequentially moved as shown in FIG. In FIG. 12, some moving positions are indicated by Ps, Pt, Pu, Pv, Pw, Px, Py, and Pz, and reference numerals are omitted for other moving positions.

  Data relating to the detection area set in S4 is stored in the memory 72 in the same manner as in the first embodiment (S5). In the detection mode, data stored in the memory 72 is read, and object detection in the detection area is performed by the same method as in the first embodiment.

  In the present embodiment, the control circuit 70 corresponds to an example of “determination means”, “time detection means”, “distance calculation means”, and “movement position detection means”. Also in the present embodiment, the control circuit 70 and the memory 72 correspond to an example of “detection area setting means”.

  According to the laser distance measuring apparatus 200 of the present embodiment, when the user sequentially moves the reference object 80 to a plurality of desired positions, each movement position can be easily specified in the apparatus main body 2, and the user can select which detection area. Whether the winning is desired can be grasped in detail on the apparatus main body 2 side. In addition, the detection area is set based on each movement position detected as described above, and in this way, each movement position desired by the user (that is, each user has actually moved the reference object) The detection area reflecting the (position) can be set easily and accurately. In particular, since the distance and direction from the apparatus main body 2 can be set independently for any moving position, a complicated detection area as shown in FIG. 12 can be set more easily.

[Third Embodiment]
Next, a third embodiment will be described. FIG. 13 is an explanatory diagram conceptually illustrating a laser distance measuring apparatus according to the third embodiment. FIG. 14 is an explanatory diagram for explaining a method of setting a detection area by the laser distance measuring device of FIG.

  In the third embodiment, since the same apparatus main body 2 as that in the first embodiment is used, a detailed description of the configuration of the apparatus main body 2 is omitted. As for the reference object, since the reference object 80c shown in FIG. 2C is used in the same manner as in the first embodiment, description of the basic configuration of the reference object is also omitted. For the apparatus main body 2 and the reference object, refer to FIGS. 1 and 2 as appropriate, and for the specific reflected light, refer to FIGS. 4 and 7 as appropriate. For the setting process, refer to FIG. 5 as appropriate.

  In the present embodiment, a first type first type reference object 380 and a second type second type reference object 390 different from the first type reference object 380 are provided as reference objects. Each reference object has a configuration as shown in FIG. 2C (that is, a configuration in which a barcode B is attached to the surface portion), and only the contents of the barcode are different.

Hereinafter, the setting process performed in the laser distance measuring apparatus 300 according to the third embodiment will be described.
Also in this embodiment, the setting process is performed in the same flow as in FIG. 5, and the reference object detection process of S1 is first performed. In this embodiment, all the reference objects with barcodes are detected in S1. For example, as shown in FIG. 13, when there are eight reference objects on the operation area of the laser beam L1, all the eight reference objects are detected. The specific reflected light detection method for the reference object to which the barcode is attached is the same as in the first embodiment.

  In S1, each reference object is further classified into a first type reference object and a second type reference object based on the contents of the attached barcode. In the example of FIG. 13, since the first information that can identify the first type reference object is recorded in the barcode of the first type reference object 380, such a first information is recorded in the barcode. The reference object in which the information of 1 is recorded is specified as the first type reference object. Similarly, since the second information that can identify the second type reference object is recorded in the barcode of the second type reference object 390, such second information is included in the barcode. The recorded reference object is specified as the second type reference object.

  Also in the present embodiment, when each reference object is detected, after the pulse laser light L1 is generated by the laser diode 10, the reflected light reflected by each reference object is reflected by the photodiode 20 from the pulse laser light L1. Each time until light is received is detected. In the following description, the pulse laser beam L1 irradiated to the first type reference object 380 is the first laser beam, and the pulse laser beam L1 irradiated to the second type reference object 390 is the second laser beam. In S <b> 1, a time (first time) from when the first laser light is generated by the laser diode 10 until the specific reflected light from the first type reference object 380 corresponding to the first laser light is detected by the photodiode 20. 1 hour Ta1-Ta4) is detected for each first type reference object 380, and after the second laser beam is generated by the laser diode 10, the second type reference object corresponding to the second laser beam is generated. The time (second time Tb1 to Tb4) until the specific reflected light from 390 is detected by the photodiode 20 is detected for each of the second type reference objects 390. .

  In the example of FIG. 14, the time from light projection to light reception (light reception of reflected light) for a single pulse laser beam L1 irradiated to the first type reference object 380 at the position C1 is Ta1, Similarly, the time from light projection to light reception (light reception of reflected light) of a single pulse laser beam L1 irradiated to the first type reference object 380 at the position C2 is Ta2. In addition, the time from light projection to light reception (light reception of reflected light) with respect to a single pulse laser beam L1 irradiated to the first type reference object 380 at the position C3 is Ta3, and similarly at the position C4. The time from light projection to light reception (light reception of reflected light) with respect to a single pulse laser beam L1 irradiated to a certain first type reference object 380 is Ta4.

  Also, Tb1 is the time from light projection to light reception (light reception of reflected light) with respect to a single pulse laser beam L1 irradiated to the second type reference object 390 at the position D1, and similarly at the position D2. The time from light projection to light reception (light reception of reflected light) with respect to a single pulse laser beam L1 irradiated to a certain second type reference object 390 is defined as Tb2. In addition, the time from light projection to light reception (light reception of reflected light) of a single pulsed laser beam L1 irradiated to the second type reference object 390 at the position D3 is Tb3, and similarly at the position D4. The time from light projection to light reception (light reception of reflected light) with respect to a single pulse laser beam L1 irradiated to a certain second type reference object 390 is Tb4.

  After S1, distance calculation processing is performed (S2: FIG. 5). In the present embodiment, the first distances Xa1 to Xa4 to the first type reference objects 380 are calculated based on the first times Ta1 to Ta4 obtained for the first type reference objects 380, respectively, and the second type reference is obtained. Based on the second times Tb1 to Tb4 obtained for the object 390, the second distances Xb1 to Xb4 to the second type reference object 390 are calculated.

  After S2, position specifying processing is performed (S3: FIG. 5). In this embodiment, each rotation position of the deflecting unit 41 when each first laser beam incident on each first type reference object 380 is emitted from the laser diode 10, and each first distance Xa1 obtained in S2. Based on Xa4, each position of each first type reference object 380 is detected. For example, for the reference object 380 at the position C1, the rotation position of the deflection unit 41 when the first laser light incident on the reference object 380 at the position C1 is emitted (the rotation angle θc1 from the reference rotation position). ) And the coordinate Pc1 is detected based on the rotation angle θc1 and the first distance Xa1 obtained in S2. The same applies to the positions C2, C3, and C4. For example, for the reference object 380 at the position C2, the rotation of the deflection unit 41 when the first laser light incident on the reference object 380 at the position C2 is emitted. The moving position (the rotation angle θc2 from the reference rotation position) is specified, and the coordinate Pc2 is detected based on the rotation angle θc2 and the first distance Xa2 obtained in S2. In this way, the coordinates Pc1 to Pc4 indicating the positions of the first type reference objects are obtained.

  Further, the respective second type reference objects 390 are obtained at the respective rotation positions of the deflecting unit 41 when the respective second laser beams incident on the respective second type reference objects 390 are emitted from the laser diode 10 and S2. Each position of each second type reference object 390 is detected based on each second distance Xb1 to Xb4. For example, for the reference object 390 at the position D1, the rotation position of the deflection unit 41 when the second laser light incident on the reference object 390 at the position D1 is emitted (the rotation angle θd1 from the reference rotation position). ) Is specified, and the coordinate Pd1 is detected based on the rotation angle θd1 and the second distance Xb1 obtained in S2. The same applies to the positions D2, D3, and D4. For example, with respect to the reference object 390 at the position D2, the deflection unit 41 rotates when the second laser light incident on the reference object 390 at the position D2 is emitted. The moving position (the rotation angle θd2 from the reference rotation position) is specified, and the coordinate Pd2 is detected based on the rotation angle θd2 and the second distance Xb2 obtained in S2. In this way, coordinates Pd1 to Pd4 indicating the positions of the respective second type reference objects are obtained.

  After S3, detection area setting processing is performed (S4: FIG. 5). In this detection area setting process, a first detection area is set based on the coordinates Pc1 to Pc4 of each first type reference object 380 obtained in S3. A method for setting a detection area based on a plurality of obtained coordinates is the same as in the first embodiment. Further, a second detection area is also set based on the coordinates Pd1 to Pd4 of each second type reference object 390 obtained in S3. Also in this case, the detection area is set by the same method as in the first embodiment based on a plurality of coordinates. In FIG. 13, the first detection area set based on the coordinates Pc1 to Pc4 of each first type reference object 380 is conceptually indicated by symbol AR1, and each coordinate Pd1 of each second type reference object 390 is shown. The second detection area set based on .about.Pd4 is conceptually indicated by symbol AR2.

  After S4, a process of storing setting data for setting the first detection area and the second detection area in the memory 72 is performed (S5). The method for storing the setting data is the same as S5 in the first embodiment. In this embodiment, the data for setting the first detection area AR1 and the data for setting the second detection area AR2 are used. Are stored in the same manner as in the first embodiment.

Next, the detection mode will be described.
In the detection mode, the laser distance measuring apparatus 300 according to the present embodiment projects the laser light L1 for each step of the deflecting unit 41 and confirms whether reflected light from an object existing in the space is detected. . When the reflected light is detected at any of the rotation positions, the apparatus main body 2 determines that the reflected light is based on the time from the projection of the pulsed laser light L1 that is the source of the detected reflected light to the reception of the reflected light. The distance to the detected object (detected object) is calculated, and the detected object is detected based on the rotation position (rotation angle from the reference rotation position) of the deflecting unit 41 when the pulsed laser light L1 is projected. Also specify the direction.

  When the distance from the apparatus main body 2 to the detection object is specified and the direction in which the detection object is located is specified, the specific position of the detection object is determined, so that the detection object is in the first detection area AR1 and the first detection area AR1. It is determined whether it is located in one or both of the two detection areas AR2. If the detected object does not exist in any of the detection areas, it is treated as if the object was not detected, and the detected object is ignored without performing special processing (notification processing or the like).

  On the other hand, when the detected object is present in the first detection area AR1, processing corresponding to the first detection area is performed. Various processes can be considered as the process corresponding to the first detection area. For example, as shown in FIG. 13, the first detection area AR1 is set closer to the apparatus 301 such as a robot, and a little more than that. When the second detection area AR2 is set so as to include a distant area, if an object exists in the first detection area AR1, a stop signal is output to the device 301 or the power supply of the device 301 If processing such as blocking is performed, it is effective in terms of safety.

  In addition, when the detected object exists in the second detection area AR2, processing corresponding to the second detection area is performed. Various processes can be considered corresponding to the second detection area. For example, as shown in FIG. 13, the second detection area AR2 is set so as to include an area slightly separated from the apparatus 301 such as a robot. In this case, if an object exists in the second detection area AR2, the object exists if a process (for example, an alarm or the like) different from the “process corresponding to the first detection area” is performed. The processing to be applied can be changed according to the position, which is more advantageous in terms of safety and convenience. When an object is present in both detection areas, processing corresponding to both detection areas may be performed, or only processing corresponding to one of the detection areas may be performed with priority.

  In the present embodiment, the control circuit 70 corresponds to an example of “determination means”, “time detection means”, “distance calculation means”, and “reference object position detection means”. Also in the present embodiment, the control circuit 70 and the memory 72 correspond to an example of “detection area setting means”.

  In the present embodiment, when the user arranges each first type reference object 380 at a desired position, the relative position of each first type reference object 380 with respect to the apparatus main body 2 can be easily set in the apparatus main body 2. Thus, it is possible to grasp in detail on the apparatus main body 2 side which location the user desires as the first detection area. The same applies to the second type reference object 390, and it is possible to grasp in detail on the apparatus body 2 side which location the user desires as the second detection area.

  Then, a first detection area is set based on each position of each detected first type reference object 380, and a second detection area is set based on each position of each second type reference object 390. . In this configuration, the first detection that accurately reflects the position of the first type reference object 380 after independently adjusting the distance and direction of each first type reference object 380 (direction from the apparatus main body). Since the area can be set, complicated area setting can be easily realized. The same applies to the second detection area. The distance and direction (direction from the apparatus main body) of each second type reference object 390 are independently adjusted, and the positions of these second type reference objects 390 are adjusted. The second detection area that accurately reflects can be set.

  Furthermore, according to the configuration of the present embodiment, it is possible to provide a user with a more complicated and diverse detection environment with a reduced work load, and to effectively increase the degree of freedom of detection by the user. In particular, since the two types of detection areas can be set more freely and simply, the two types of detection methods can be easily applied to various places, and the convenience of the user can be greatly improved.

[Fourth Embodiment]
Next, a fourth embodiment will be described. FIG. 15 is an explanatory diagram for explaining a method for setting the first detection area by the laser distance measuring apparatus according to the fourth embodiment, and FIG. 16 is an explanatory diagram for explaining a method for setting the second detection area. It is. FIG. 17 is an explanatory diagram conceptually illustrating a state in which the first detection area and the second detection area are set.

  In the fourth embodiment, the same apparatus main body 2 as that in the first embodiment is used, and therefore a detailed description of the configuration of the apparatus main body 2 is omitted. As for the reference object, the reference object 80c shown in FIG. 2C is used in the same manner as in the first embodiment, and specifically, the first type reference object 380 and the second type similar to those in the third embodiment are used. A reference object 390 is used. Therefore, the description of the basic configuration of the reference object is also omitted. For the apparatus main body 2 and the reference object, refer to FIGS. 1 and 2 as appropriate, and for the specific reflected light, refer to FIGS. 4 and 7 as appropriate. For the setting process, refer to FIG. 5 as appropriate.

  The laser distance measuring device 400 according to the present embodiment uses a single first type reference object 380 and a single second type reference object 380, and the first type reference object 380 and the second type reference. The point that the object 390 is movable by the user is different from the third embodiment. 15 illustrates how the first type reference object 380 is sequentially moved to positions E1, E2, E3,..., And in FIG. 16, the second type reference object 390 is moved to positions F1, F2, and so on. F3... Are sequentially moved.

Hereinafter, the setting process performed in the laser distance measuring device 400 of the fourth embodiment will be described.
Also in the laser distance measuring apparatus 400 of the fourth embodiment, the setting process is performed according to the flow shown in FIG. 5, and first, the reference object detection process of S1 is performed. This reference object detection process is slightly different from the third embodiment, and the user moves the first type reference object 380 and the second type reference object 390 to a plurality of positions on the scanning area of the laser light L1. It is assumed that the specific reflection light from each position when the first type reference object 380 and the second type reference object 390 moved by the user are positioned on the scanning area of the laser beam L1 is assumed on the apparatus main body 2 side. Detected. The method for determining whether specific reflected light has been detected is the same as in the above embodiment. Further, the method of moving the reference object by the user may be, for example, a method in which the user directly holds and moves the reference object, as in FIG. 10A, and as in FIG. The moving device 201 (for example, a vehicle that can be operated or remotely operated) may be used.

  In the present embodiment, when any specific reflected light from the first type reference object 380 is detected, the pulse laser light L1 (first laser light) incident on the first type reference object 380 is subjected to the pulse. The time from when the laser beam L1 is generated by the laser diode 10 until the specific reflected light that is returned from the moving position of the pulsed laser beam L1 (first laser beam) is detected by the photodiode 20 (first Time). For example, as shown in FIG. 15, when the first type reference object 380 moves to the movement positions E1, E2, and E3 on the scanning area, first, it enters the first type reference object 380 at the movement position E1. For any pulse laser beam L1 (first laser beam), after the pulse laser beam L1 is generated in the laser diode 10, the pulse laser beam L1 (first laser beam) is returned from the movement position E1. The time (first time Te1) until the specific reflected light is detected by the photodiode 20 is detected. Further, when the first type reference object 380 is moved to the movement position E2, any one of the pulse laser beams L1 (first laser light) incident on the first type reference object 380 at the movement position E2 is subjected to the pulse. The time (first time) from when the laser beam L1 is generated by the laser diode 10 until the photodiode 20 detects the specific reflected light that is returned from the moving position E2 of the pulsed laser beam L1 (first laser beam). 1 hour Te2) is detected. The first time Te3 is similarly detected for the movement position E3, and the first time is similarly detected for the other movement positions.

  In addition, when specific reflected light from the first type reference object 380 is detected, any pulsed laser light L1 (first laser light) incident on the first type reference object 380 is generated in the laser diode 10. At this time, the rotation position of the deflection unit 41 (the rotation angle θe from the rotation reference position) is also detected. For example, in the case of FIG. 15, when any pulsed laser beam L1 (first laser beam) incident on the moving position E1 is generated by the laser diode 10, the rotation position ( The rotation angle θe1) is detected. Further, when moving to the movement position E2, when the pulse laser beam L1 (first laser beam) incident on the movement position E2 is generated by the laser diode 10, the rotation position (rotation) of the deflection unit 41 is detected. The moving angle θe2) is detected. The rotation position is similarly detected for the movement position E3 and other movement positions.

  The flow of detection of the first times Te1, Te2, Te3 and the rotation angles θe1, θe2, θe3 for the respective movement positions E1, E2, E3 is not particularly limited, but for example, the flow is the same as in FIG. be able to. In the present embodiment, the control circuit 70 corresponds to an example of “time detection means”.

  Further, in the present embodiment, the first time (Te1, Te2, Te3...) For each movement position (movement positions E1, E2, E3...) Of the first type reference object 380 in the same flow as FIG. Then, after detecting the rotation angles (θe1, θe2, θe3...), A detection process for each moving position of the second type reference object 390 is performed in the same flow as in FIG. That is, in this embodiment, the process as shown in FIG. 9 is performed twice, and each value for each movement position of the first type reference object 380 and each value for each movement position of the second type reference object 390 Will be acquired.

  Specifically, for any pulsed laser light L1 (second laser light) incident on the second type reference object 390 when specific reflected light from the second type reference object 390 is detected, the pulse A time (second time) from when the laser beam L1 is generated by the laser diode 10 until the photodiode 20 detects the specific reflected light that is returned from the moving position of the pulsed laser beam L1 (second laser beam). Time). For example, as shown in FIG. 16, when the second type reference object 390 moves to the movement positions F1, F2, and F3 on the scanning area, it first enters the second type reference object 390 at the movement position F1. For any one of the pulse laser beams L1 (second laser beam), after the pulse laser beam L1 is generated in the laser diode 10, the pulse laser beam L1 (second laser beam) is returned from the movement position F1. The time until the specific reflected light is detected by the photodiode 20 (second time Tf1) is detected. Further, when the second type reference object 390 is moved to the movement position F2, the pulse laser light L1 (second laser light) incident on the second type reference object 390 at the movement position F2 is subjected to the pulse. A time (first time) from when the laser beam L1 is generated by the laser diode 10 until the photodiode 20 detects the specific reflected light that is returned from the moving position F2 of the pulsed laser beam L1 (second laser beam). 2 hours Tf2) is detected. Similarly, the second time Tf3 is detected for the movement position F3, and the second time is similarly detected for the other movement positions.

  In addition, when specific reflected light from the second type reference object 390 is detected, any pulsed laser light L1 (first laser light) incident on the second type reference object 390 is generated in the laser diode 10. At this time, the rotation position of the deflection unit 41 (the rotation angle θf from the rotation reference position) is detected. For example, in the case of FIG. 16, when any pulsed laser beam L1 (second laser beam) incident on the moving position F1 is generated in the laser diode 10, the rotation position ( The rotation angle θf1) is detected. Further, when moving to the movement position F2, when the pulse laser beam L1 (second laser beam) incident on the movement position F2 is generated by the laser diode 10, the rotation position (rotation) of the deflection unit 41 is generated. The moving angle θf2) is detected. Similarly, the rotation position is detected for the movement position F3 and other movement positions.

  As described above, the values for the movement positions E1, E2, E3,... Of the first type reference object 380 and the values for the movement positions F1, F2, F3,. Is detected, the distance calculation process of S2 (FIG. 5) is performed.

In this distance calculation process, first, each first time (first time Te1, Te2, Te3,...) Obtained for each movement position (movement positions E1, E2, E3...) Of the first type reference object 380. ) To calculate each distance (first distance Xe1, Xe2, Xe3...) To each movement position. Further, each movement based on each second time (second time Tf1, Tf2, Tf3...) Obtained for each movement position (movement positions F1, F2, F3...) Of the second type reference object 390. Each distance to the position (second distance Xf1, Xf2, Xf3...) Is calculated.
In the present embodiment, the control circuit 70 corresponds to an example of “distance calculation means”.

  After S2, the position specifying process of S3 is performed (FIG. 5). In this position specifying process, each rotation position (that is, each rotation angle θe1, θe2, θe3...) Obtained for each movement position of the first type reference object 380 (movement positions E1, E2, E3...) And Based on each first distance (first distance Xe1, Xe2, Xe3...) Corresponding to each rotation position, coordinates (coordinates Pe1, Pe2, Pe3...) Of each movement position are detected. Further, the respective rotation positions (that is, the respective rotation angles θf1, θf2, θf3...) Obtained for the respective movement positions (movement positions F1, F2, F3...) Of the second type reference object 390 and the respective rotation positions. The coordinates (coordinates Pf1, Pf2, Pf3...) Of the respective movement positions are detected based on the respective second distances (second distances Xf1, Xf2, Xf3...) Corresponding to.

  In the present embodiment, the control circuit 70 corresponds to an example of “moving position detecting means”, and the first type reference object (that is, the first moving position E1, E2, E3. Each rotation position (each rotation angle θe1, θe2, θe3...) And each first distance (each first distance) of the deflecting unit 41 when each first laser beam incident on the seed reference object 380 is emitted. Xe1, Xe2, Xe3,...) To detect each moving position (specifically, coordinates Pe1, Pe2, Pe3,...) Of the moving first type reference object 380, and further, a laser diode Each time of the deflecting unit 41 when the second laser beams incident on the second type reference objects 390 (that is, the first type reference objects 390 at the moving positions F1, F2, F3,...) Are emitted from 10. Movement position (respective rotation angles θf1, θf2, θf3... , And each second position (each first distance Xf1, Xf2, Xf3...) And each movement position (specifically, coordinates Pf1, Pf2, Pf3,.・ ・) Is functioning to detect.

  After S3, detection area setting processing is performed (S4: FIG. 5). In this detection area setting process, the first type reference object 380 detected in S3 is detected based on the first movement position (specifically, the coordinates Pe1, Pe2, Pe3,... Indicating the movement position). Set the detection area. In addition, the method of setting the first detection area based on a plurality of coordinates is that the second detection area is set based on the first (specifically, coordinates Pf1, Pf2, Pf3... Indicating each movement position). Set. The second detection area is also set by the same method as in the third embodiment based on the obtained coordinates. In FIG. 17, the first detection area set based on the coordinates Pe <b> 1 to Pc <b> 3 indicating the respective movement positions of the first type reference object 380 (the coordinates of the other movement positions are omitted) is represented by the symbol AR <b> 1. The second detection area set based on the coordinates Pf1 to Pf3 indicating the respective movement positions of the second type reference object 390 (the coordinates of the other movement positions are omitted) is conceptually indicated by the symbol AR2. Show.

  After the process of S4, data for specifying the first detection area and data for specifying the second detection area are stored in the memory 72. The data storage method is the same as that in the third embodiment.

  In the present embodiment, the object detection is performed after setting the first detection area and the second detection area as described above, but the method for performing the object detection after setting the two detection areas is first described. Since it is the same as that of 3rd Embodiment, detailed description is abbreviate | omitted.

  In the present embodiment, when the user sequentially moves the first type reference object 380 to a plurality of desired positions, each movement position of the first type reference object 380 can be easily specified in the apparatus main body 2. It is possible to grasp in detail on the apparatus main body 2 side which location the user desires as the first detection area. The same applies to the second detection area, and when the user sequentially moves the second type reference object 390 to a plurality of desired positions, each movement position of the second type reference object 390 in the apparatus main body 2 is determined. Can be easily identified, and it is possible to grasp in detail on the apparatus body 2 side which location the user desires as the second detection area.

  Further, the first detection area is set based on each movement position of the first type reference object 380 grasped as described above, and the second detection area is set based on each movement position of the second type reference object 390. It is set. In this configuration, the distance and direction (direction from the apparatus main body) of each movement position of the first type reference object 380 are adjusted independently, and then the first detection area that accurately reflects each movement position is provided. Since it can be set, complicated area setting can be easily realized. The same applies to the second detection area. The distance and direction (direction from the apparatus main body) of each movement position of the second type reference object 390 are independently adjusted, and then each movement position is accurately determined. The second detection area reflected in can be set. Thus, if two types of detection areas can be set more freely, it becomes possible to deal with more various places or more various detection methods, and the convenience of the user is further increased.

[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 method of setting the detection area using a plurality of reference objects is exemplified, but the detection area may be set using only one reference object. For example, when the distance from the apparatus main body 2 to the reference object is found to be Xw, a method of setting a circular area having a radius Xw centered on the apparatus main body 2 as a detection area may be used.

  In the third embodiment, a method of setting the first detection area and the second detection area using a plurality of first type reference objects and a plurality of second type reference objects has been exemplified. However, one first type reference object is used. The first detection area may be set using only one, or the second detection area may be set using only one second type reference object. In this case, when the distance from the apparatus main body 2 to the first type reference object is determined to be Xy, a method of setting a circular range having a radius Xy centered on the apparatus main body 2 as the first detection area is used. May be. The same applies to the second detection area, and when the distance from the apparatus main body 2 to the second type reference object is found to be Xz, the second detection area is within the circular range with the radius Xz centered on the apparatus main body 2. A method of setting as a detection area may be used.

  In the third embodiment, two types of detection areas are set using two types of reference objects, but three or more types of detection areas may be set using three or more types of reference objects.

  In the fourth embodiment, two types of reference objects are moved, but three or more types of reference objects may be moved to set three or more types of detection areas.

  In the third and fourth embodiments, barcodes in which different data are recorded are exemplified as the two types of reference objects, but the present invention is not limited to this. For example, one of the first type reference object and the second type reference object is configured to have a mirror as shown in FIG. 2A, and the other is set as a configuration having a specific design as shown in FIG. Also good.

DESCRIPTION OF SYMBOLS 1,200,300,400 ... Laser distance measuring apparatus 2 ... Apparatus main body 10 ... Laser diode (laser light generation 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 (time detection means, distance calculation means, determination means, detection area setting means, reference object position detection means, movement position detection means, mode switching means)
72. Memory (detection area setting means)
74 .. operation unit (operation means)
80 ... reference object 380 ... first type reference object 390 ... second type reference object D ... specific symbol B ... bar code (specific symbol)

Claims (9)

Laser light generating means for intermittently generating laser light;
A light detecting means for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means;
A deflection unit configured to be rotatable about a predetermined central 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. Dynamic deflection means;
Drive means for driving the rotation deflection means;
Time detecting means for detecting a time from when the laser light is generated by the laser light generating means until the laser light is detected by the light detecting means;
Distance calculating means for calculating a distance to the detected object based on the time detected by the time detecting means;
An apparatus main body comprising:
A reference object that emits specific reflected light when the laser light is incident;
A laser distance measuring device comprising:
Judgment for determining whether or not the reflected light detected by the light detecting means is the specific reflected light when the reference object is placed on the scanning area of the laser light by the rotating deflection means. With means,
When the time detection means determines that the specific reflected light is the specific reflected light, the time detection means generates the laser light from the laser light generation means, and then the specific reflected light corresponding to the laser light is generated. Detecting the time until it is detected by the light detection means;
The distance calculating means is configured to calculate the distance to the reference object based on the time until the specific reflected light from the reference object is detected,
And a detection area setting means for setting a detection area for detecting the detection object in the scanning area by the rotation deflection means based on the distance to the reference object calculated by the distance calculation means. A laser distance measuring device. Comprising a plurality of the reference objects,
The light detection means receives each specific reflected light from each reference object,
The time detecting unit is configured to generate a laser beam incident on the reference object after the specific reflected light from the reference object is detected by the light detection unit. , Detecting each time until each specific reflected light from each reference object corresponding to each laser light is detected by the light detection means,
The distance calculation means is configured to calculate each distance to each reference object based on each time,
Further, each position of each reference object is determined based on each rotation position of the deflecting means and each distance when each laser light incident on each reference object is emitted from the laser light generating means. A reference object position detecting means for detecting,
2. The laser distance measuring apparatus according to claim 1, wherein the detection area setting means sets the detection area based on the positions of the reference objects detected by the reference object position detection means. The reference object is movable by a user;
The light detecting means receives each specific reflected light from each moving position when the moving reference object is located on the scanning area of the laser light,
The time detection unit is configured such that when the specific reflected light from the reference object is detected by the light detection unit, the laser light incident on the reference object is generated by the laser light generation unit. Detecting each time until each specific reflected light from each moving position corresponding to each laser light is detected by the light detection means;
The distance calculating means calculates each distance to each moving position based on each time until each specific reflected light from each moving position is detected,
Further, the movement for detecting the respective movement positions of the reference object to be moved based on the respective rotation positions of the deflection means when the respective laser beams incident on the respective movement positions are emitted and the respective distances. A position detecting means;
2. The laser distance measuring device according to claim 1, wherein the detection area setting means sets the detection area based on the respective movement positions detected by the movement position detection means. The reference object includes a first type reference object of the first type and a second type of second type reference object different from the first type reference object,
The time detection means detects the specific reflected light from the first type reference object corresponding to the first laser light after the first laser light is generated by the laser light generation means. The first reflected light from the second type reference object corresponding to the second laser light after the second laser light is generated by the laser light generating means and the light detection is performed. Detecting a second time until detected by means,
The distance calculating means calculates a first distance to the first type reference object based on the first time, calculates a second distance to the second type reference object based on the second time,
The detection area setting means sets a first detection area based on the first distance calculated by the distance calculation means, and performs a second detection based on the second distance calculated by the distance calculation means. The laser distance measuring device according to claim 1, wherein an area is set. A plurality of the first type reference objects, and a plurality of the second type reference objects,
The light detection means receives each specific reflected light from each reference object,
The time detection means generates the laser light when the first laser light incident on the first type reference object is generated when the specific reflected light from the first type reference object is detected by the light detection means. Each first time from when the first specific reference light corresponding to the first laser light is detected by the light detection means is detected. When the specific reflected light from each second type reference object is detected by the light detection means, each second laser light incident on each second type reference object is generated by the laser light generation means. And detecting each second time until each specific reflected light from each second type reference object corresponding to each second laser light is detected by the light detecting means,
The distance calculation means calculates each first distance to each first type reference object based on each first time, and each first distance to each second type reference object based on each second time. It is configured to calculate two distances,
Furthermore, based on each rotation position of the deflection means when the first laser light incident on the first type reference object is emitted from the laser light generation means, and the first distance, Each position of each first type reference object is detected, and each rotation position of the deflecting means when each second laser light incident on each second type reference object is emitted from the laser light generating means, A reference object position detecting unit configured to detect each position of each of the second type reference objects based on each of the second distances;
The detection area setting means sets the first detection area based on the positions of the first type reference objects detected by the reference object position detection means, and sets the positions of the second type reference objects. The laser distance measuring device according to claim 4, wherein the second detection area is set based on the parameter. The first type reference object and the second type reference object are movable by a user,
The light detecting means receives each specific reflected light from each position when the moving first type reference object and the second type reference object are positioned on the scanning area of the laser light,
The time detection means is configured such that when the specific reflected light from the first type reference object is detected by the light detection means, each first laser light incident on the first type reference object is converted into the laser light generation means. Each first time from when the specific reflected light from each movement position of the first type reference object corresponding to each first laser light is detected by the light detection means, respectively. When the specific reflected light from the second type reference object is detected by the light detection means, the second laser light incident on the second type reference object is generated by the laser light generation means. And then detecting each second time until each specific reflected light from each moving position of the second type reference object corresponding to each second laser light is detected by the light detection means,
The distance calculating means is configured to determine whether the first type reference object is moved to each movement position based on the first time until the specific reflected light from each movement position of the first type reference object is detected. Each moving position of the second type reference object is calculated based on each second time until each specific reflected light from each moving position of the second type reference object is detected. Calculate each second distance to
Further, the laser beam generation unit moves based on each rotation position of the deflection unit when the first laser beam incident on the first type reference object is emitted and the first distance. Each moving position of the first type reference object is detected, and each rotation position of the deflecting means when the second laser light incident on the second type reference object is emitted from the laser light generating means. And a moving position detecting means for detecting each moving position of the moving second type reference object based on the second distances,
The detection area setting means sets the first detection area based on each movement position of the first type reference object detected by the movement position detection means, and sets the first detection area to each movement position of the second type reference object. The laser distance measuring device according to claim 4, wherein the second detection area is set based on the second detection area.   7. The laser according to claim 1, wherein the reference object is provided with a specific figure in which light bars and dark bars are alternately arranged on a surface portion. 8. Distance measuring device.   The laser distance measuring device according to claim 7, wherein the specific figure is a barcode. Operation means that can be operated from the outside;
Mode switching means for switching between a setting mode for setting the detection area and a detection mode for detecting the detection object in response to an operation by the operation means;
The laser distance measuring device according to any one of claims 1 to 8, further comprising:

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