JP2013178270A - Laser radar device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser radar device capable of satisfactorily performing three-dimensional detection with a simple configuration.SOLUTION: A laser radar device 1 includes a deflecting member 80 which deflects a laser beam projected to a space by a deflecting part 41, and is configured so that the laser beam reflected by the deflecting part 41 is not deflected by the deflecting member 80 and is projected to the space in the case of the deflecting part 41 being within a first turning range and is deflected by the deflecting member 80 in the case of the deflecting part 41 being within a second turning range. A deflection direction of the deflecting member 80 is set so that a scan area of the laser beam projected from the deflecting member 80 in the second turning range is at least above or below a scan area of the laser light from the deflecting part 41 in the first turning range.

Description

  The present invention relates to a laser radar device.

  Conventionally, for example, an apparatus as disclosed in Patent Document 1 is provided as a technique for detecting the distance and direction to a detection object using a laser beam. In the apparatus of Patent Document 1, an optical isolator that transmits laser light and reflects reflected light from a detection object toward the detection means is provided on the optical axis of the laser light from the laser light generation means. Furthermore, a concave mirror that rotates about the central axis in the optical axis direction is provided on the optical axis of the laser light that passes through the optical isolator. The concave mirror reflects the laser light toward the space and reflects it from the detection object. Reflecting light toward the optical isolator enables 360 ° horizontal scanning.

Japanese Patent No. 2789741

  However, the technique of Patent Document 1 has a problem that the detection area is limited to a plane (horizontal direction). That is, since the laser beam reflected from the concave mirror toward the space is scanned within a predetermined plane (scanning plane), it is impossible to detect a region outside the scanning plane. Therefore, a detected object that deviates from the scanning plane cannot be detected, and even if the detected object exists in the scanning plane, the detected object cannot be grasped in three dimensions.

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

The invention of claim 1 includes a laser beam generating means for generating a laser beam,
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;
A laser radar device comprising:
A deflection member that is detachable from the apparatus main body including the rotation deflection unit, and deflects the laser beam projected toward the space by the deflection unit;
When the deflecting means is in the first rotation range, the laser light is projected to the space without being deflected by the deflecting member,
When the deflection means is in the second rotation range, the laser beam is configured to be deflected by the deflection member;
The scanning area of the laser beam projected from the deflecting member in the second rotation range is at least either above or below the scanning area of the laser light from the deflecting means in the first rotation range. The deflection direction of the deflection member is set,
Furthermore, mode switching means for switching between the two-dimensional detection mode and the three-dimensional detection mode;
When the two-dimensional detection mode is set by the mode switching means, the detection object is detected using a predetermined plane orthogonal to the central axis as a detection region, and when the three-dimensional detection mode is set, Detection processing means for performing detection processing of the detection object including at least one of an upper region and a lower region of the predetermined plane as a detection region;
Detection means for detecting attachment of the deflection member to the apparatus body;
With
The mode switching means switches to the three-dimensional detection mode when mounting of the deflection member is detected by the detection means, and switches to the two-dimensional detection mode when mounting of the deflection member is not detected. To do .

The invention of configuration 2 is the laser radar device according to claim 1, wherein a plurality of the deflection members are provided. Further, the plurality of deflection members may be configured such that each scanning area where the laser beam is projected from each deflection member is above and below the scanning area of the laser beam projected from the deflection unit in the first rotation range. The deflection direction of each deflection member is set so as to be at least one of them.

The invention of Configuration 3 is the laser radar device according to Configuration 2, wherein the plurality of deflection members include one or more first deflection members and one or more second deflection members. Of these, the first deflection member is disposed on one side of the scanning area of the laser beam projected from the deflection means in the first rotation range, and the second deflection member is disposed on the other side. It is arranged on the side.

The invention of Configuration 4 is the laser radar device according to Configuration 3, wherein the first deflection member is configured such that the scanning area of the laser beam projected from the first deflection member is within the first rotation range. The deflection direction is set so as to be one of the upper side and the lower side of the scanning area of the laser beam projected from. The second deflection member has a scanning area of the laser beam projected from the second deflection member above and below the scanning area of the laser beam projected from the deflection means in the first rotation range. The deflection direction is set so as to be opposite to the one of the two.

A fifth aspect of the invention is the laser radar device according to any one of the first and second to fourth aspects, wherein the deflection member is a mirror.

Invention of structure 6, claim 1, in the laser radar apparatus according to any one of Configuration 5 from the configuration 2, when a plane direction perpendicular to the central axis and the horizontal direction, the deflection means said first The scanning direction of the laser beam when rotating the rotation range is the horizontal direction. Further, the projection direction of the laser beam from the deflecting member when the deflecting unit rotates in the second rotation range is a direction inclined by a predetermined angle with respect to the horizontal direction.

Invention of structure 7, claim 1, in the laser radar apparatus according to any one of Configuration 6 from the configuration 2, the reflected light by the light detecting means from said laser light generating in said laser beam generating means A distance measuring means for measuring a distance to the detected object based on a time until the detection of an object, and an alarm means for issuing an alarm based on the distance measured by the distance measuring means. .

Invention of structure 8, claim 1, in the laser radar apparatus according to any one of configurations 7 from the configuration 2, the predetermined times different from the deflection means the first rotation range and the second rotation range A first light guide member that guides the laser light deflected by the deflecting means upward or downward and the laser light guided by the first light guide member toward the space when in the moving range; A second light guide member to be deflected, and the laser light scanning area projected from the second light guide member to the space when the deflecting means is in the predetermined rotation range is the first time. It is above or below the scanning area of the laser light from the deflecting means when in the moving range, and above or below the scanning area of the laser light from the deflecting member when in the second rotation range. The deflection direction of the second light guide member is set. Characterized in that it is.

The invention of Configuration 9 is the laser radar device according to Configuration 8, wherein the irradiation side of the laser light from the deflection unit when the deflection unit is in the first rotation range is a front side, and the central axis The first light guide member is disposed on the rear side of the deflection member, and is located above the upper end portion of the deflection means or below the lower end portion of the deflection means. The laser light is guided to a position, and the laser light from the second light guide member moves in an upper region or a lower region of the deflection unit when the deflection unit rotates within the predetermined rotation range. Scanning is performed as described above.

A tenth aspect of the present invention is the laser radar device according to the ninth aspect, wherein the first light guide member includes a first light guide member disposed on one side of the deflecting unit, and the other of the deflecting unit. A first light guide member on the other side disposed on the side of the first light guide member and a first light guide member on the rear side disposed on the rear side of the deflecting means, and the first light guide member on the one side as the second light guide member. One side second light guide member that deflects the laser light from the light guide member to the front side, and the other side second light guide member that deflects the laser light from the other side first light guide member to the front side. A member and a rear second light guide member for deflecting the laser light from the rear first light guide member to the front side are provided.

Invention of the configuration 11, in the laser radar apparatus according to any one of the configuration 10 from the configuration 8, and wherein the first light guide member and the second light guide member is constituted by a mirror none To do.

Invention of the configuration 12, claim 1, in the laser radar apparatus according to any one of the configuration 11 from the configuration 2, the deflecting member is detachably mountable to the apparatus body with the rotating deflection means It is characterized by.

The invention of claim 1 includes a deflecting member that deflects the laser light projected toward the space by the deflecting means, and the laser light is deflected by the deflecting member when the deflecting means is in the first rotation range. Instead, the laser beam is deflected by the deflecting member when it is projected into the space and the deflecting means is in the second rotation range. In this way, a plurality of scanning areas can be configured with a simple configuration.
Further, the deflection member is arranged such that the scanning area of the laser beam projected from the deflection member in the second rotation range is at least one of the upper and lower sides of the scanning area of the laser beam from the deflection means in the first rotation range. The deflection direction is set. In this way, a separate scanning area is configured at least one above and below the scanning area in the first rotation range, and three-dimensional detection can be performed satisfactorily.
Further, the deflection member can be attached to and detached from the apparatus main body provided with the rotation deflection means. If it does in this way, the detection using a deflection member and the detection which does not use a deflection member can be used properly, and a user's convenience can be improved effectively.
In addition, a mode switching unit that switches between the two-dimensional detection mode and the three-dimensional detection mode, and a detection object detection process using a predetermined plane orthogonal to the central axis as a detection region when the mode switching unit sets the two-dimensional detection mode. And a detection processing means for performing detection processing of a detection object including at least one of an upper region and a lower region of a predetermined plane as a detection region when the three-dimensional detection mode is set. In this way, the two-dimensional detection process and the three-dimensional detection process can be properly used as necessary, and the convenience for the user can be greatly improved.
Also, a detecting means for detecting the attachment of the deflection member to the apparatus main body is provided, and the mode switching means switches to the three-dimensional detection mode when the detection means detects the attachment of the deflection member, and the deflection member is attached. When no is detected, the mode is switched to the two-dimensional detection mode. In this way, since the three-dimensional detection mode can be automatically set when the deflection member is mounted, the three-dimensional detection process using the deflection member can be performed smoothly and the deflection member is mounted. It is possible to avoid a situation where the two-dimensional detection mode is erroneously set when the On the other hand, since the two-dimensional detection mode can be automatically set when the deflection member is not mounted, the mode can be smoothly shifted to an appropriate mode when the deflection member is not used, and the third order is mistakenly performed when the deflection member is not mounted. The situation where the original detection mode is performed can be avoided.

According to the second aspect of the invention, a plurality of deflection members are provided, and each scanning area where the laser beam is projected from each deflection member is above the scanning area of the laser beam projected from the deflection unit in the first rotation range and The deflection direction of each deflecting member is set so as to be at least one below. In this way, a multi-stage scanning area can be configured in the height direction, and more accurate detection can be performed in the height direction.

The invention of Configuration 3 includes a first deflection member and a second deflection member, and the first deflection member is disposed on one side with respect to the scanning area of the laser beam in the first rotation range. The second deflection member is arranged on the other side. In this way, by effectively using both sides of the scanning area in the first rotation range, a separate scanning area can be configured above or below the scanning area in the first rotation range.

According to the fourth aspect of the invention, the deflection direction of the first deflection member is such that the scanning area of the laser light projected from the first deflection member is one of the upper and lower sides of the scanning area when in the first rotation range. Is set, and the deflection direction of the second deflection member is set so that the scanning area of the laser light projected from the second deflection member is on the opposite side of the scanning area. In this way, while adopting a more efficient arrangement configuration, it is possible to configure a separate scanning area above and below the scanning area in the first rotation range, which is good for detecting both low and high positions. It can correspond to.

In the invention of Configuration 5, the deflecting member is configured by a mirror. In this way, a plurality of scanning areas can be configured with a simpler configuration.

According to the sixth aspect of the invention, the scanning direction of the laser beam when the deflecting unit rotates in the first rotation range is the horizontal direction, and the projection of the laser beam from the deflection member when rotating in the second rotation range. The direction is a direction inclined by a predetermined angle with respect to the horizontal direction. In this way, it becomes easy to secure a detection area in the height direction at a position away from the laser radar device to some extent.

The invention of configuration 7 is configured to measure the distance to the detection object based on the time from the generation of the laser light to the detection of the reflected light, and to issue an alarm based on the measured distance. In this way, it is possible to generate a warning with high accuracy by detecting detected objects of various heights.

In the eighth aspect of the invention, when the deflection unit is in a predetermined rotation range different from the first rotation range and the second rotation range, the first guide that guides the laser beam deflected by the deflection unit upward or downward. An optical member and a second light guide member for deflecting the laser light guided by the first light guide member toward the space, and the space from the second light guide member when the deflecting means is within a predetermined rotation range. The scanning area of the laser beam projected on the upper side or the lower side of the scanning area of the laser beam from the deflecting unit when the scanning area is in the first rotation range, and the scanning of the laser beam from the deflection member when the scanning area is in the second rotation range The deflection direction of the second light guide member is set so as to be above or below the area. In this way, since the upper or lower portion of the scanning area in the first rotation range and the second rotation range can be scanned, the vertical resolution can be further increased, and the detection accuracy is effective. Can be improved.

According to the ninth aspect of the invention, when the deflecting means is in the first rotation range, when the laser light irradiation side from the deflecting means is the front side and the direction of the central axis is the vertical direction, the first light guide member However, the laser beam is arranged behind the deflecting member and guides the laser beam to a position above the upper end of the deflecting means or a position below the lower end of the deflecting means. Scanning is performed so that the laser light from the second light guide member moves in an upper region or a lower region of the deflection unit when the deflection unit rotates within a predetermined rotation range. By doing so, it becomes possible to irradiate the front side with the laser beam irradiated to the rear side of the deflecting member by effectively using the upper region or the lower region of the deflecting means. Therefore, it is easy to improve the vertical resolution in the detection area on the front side without sacrificing the installation space for the deflecting member and the deflecting means.

In invention of structure 10, as a 1st light guide member, the 1st side 1st light guide member arrange | positioned at one side of a deflection | deviation means, and the other side 1st light guide arrange | positioned at the other side of a deflection | deviation means. And a rear first light guide member disposed behind the deflecting means. The second light guide member serves as a second light guide member for deflecting laser light from the first light guide member to the front side. 2 light guide members, the other second light guide member for deflecting laser light from the other first light guide member to the front side, and the rear for deflecting laser light from the rear first light guide member to the front side A side second light guide member is provided. In this way, any laser beam irradiated on both sides of the deflection unit can be used for detection on the front side, and further, laser beam irradiated on the rear side of the deflection unit is also used for detection on the front side. Therefore, it becomes easier to further increase the vertical resolution in the detection area on the front side.

In the invention of Configuration 11, since both the first light guide member and the second light guide member are configured by mirrors, a configuration capable of increasing the resolution in the vertical direction can be easily realized.

The detection means by the photo interrupter deflecting member or members coupled to the deflection member to detect whether or not present in a given position may be configured. In this way, it becomes possible to accurately detect whether or not the deflection member is mounted with a simple configuration.

FIG. 1 is a cross-sectional view schematically illustrating a laser radar device according to Reference Example 1 . FIG. 2 is an explanatory diagram showing a state in which the deflection unit and the deflection member used in the laser radar apparatus of FIG. 1 are viewed from above. FIG. 3A is a conceptual diagram conceptually showing a state in which the deflection unit and the deflection member used in the laser radar apparatus of FIG. 1 are viewed from the side, and FIG. It is a conceptual diagram which shows notionally a mode that the deflection | deviation member was seen from the side. FIG. 4A is an explanatory diagram for explaining how laser light is deflected by the first deflecting member, and FIG. 4B is an explanatory diagram for explaining how laser light is directly projected into space. FIG. 4C is an explanatory diagram for explaining how the laser light is deflected by the second deflecting member. FIG. 5 is an explanatory diagram for explaining a plurality of scanning areas in a predetermined virtual plane. FIG. 6 is an explanatory diagram showing a state in which the deflection unit and the deflection member used in the laser radar device of Reference Example 2 are viewed from above. FIG. 7 is an explanatory diagram for explaining a plurality of scanning areas in a predetermined virtual plane when the configuration of FIG. 6 is used. FIG. 8 is an explanatory diagram schematically showing a part of the laser radar device according to Reference Example 3 viewed from the side. FIG. 9 is an explanatory diagram schematically showing a part of the laser radar device of Reference Example 3 as viewed from above. FIG. 10 is an explanatory diagram schematically showing a partial configuration in which the second light guide member is omitted from the laser radar device of Reference Example 3 , as viewed from above. FIG. 11 is an explanatory diagram conceptually illustrating, from the side, a scanning area when laser light is irradiated on the first light guide member on one side in the laser radar device of Reference Example 3 . FIG. 12 is an explanatory diagram conceptually illustrating a scanning area from the upper side when laser light is irradiated on the first light guide member on one side in the laser radar device of Reference Example 3 . FIG. 13 is an explanatory diagram conceptually illustrating a scanning area from the side when the rear first light guide member is irradiated with laser light in the laser radar device of Reference Example 3 . FIG. 14 is an explanatory diagram conceptually illustrating a scanning area from the upper side when the rear first light guide member is irradiated with laser light in the laser radar device of Reference Example 3 . FIG. 15 is an explanatory diagram conceptually illustrating a scanning area from the side when the laser beam is irradiated on the other first light guide member in the laser radar device of Reference Example 3 . FIG. 16 is an explanatory diagram conceptually illustrating a scanning area from the upper side when the laser beam is irradiated on the other first light guide member in the laser radar device of Reference Example 3 . FIG. 17 is an explanatory diagram for conceptually explaining each scanning position on the virtual plane on the front side when the laser radar device of Reference Example 3 is used. FIG. 18 is an explanatory diagram schematically showing a part of the laser radar device of Reference Example 4 as viewed from above. FIG. 19 is an explanatory diagram conceptually illustrating a laser light scanning area in a predetermined rotation range (third rotation range) in the laser radar device of FIG. FIG. 20 is an explanatory diagram schematically illustrating a state in which the second light guide member is omitted from the top in the laser radar device of Reference Example 4 . FIG. 21 is an explanatory diagram for explaining each scanning position in a virtual plane on the front side when the laser radar device of Reference Example 4 is used. FIG. 22 is an explanatory diagram schematically illustrating the laser radar device of the first embodiment, and shows a state in which the deflection member is removed. FIG. 23 is an explanatory diagram showing a state in which a deflection member is attached in the laser radar apparatus of FIG. 24A and 24B are explanatory views for explaining the attachment mechanism of the deflecting member. FIG. 24A is a view showing a state where the deflecting member is detached from the apparatus main body, and FIG. 24B is a view showing the deflecting member fixed to the apparatus main body. It is explanatory drawing which shows the state. FIGS. 25A and 25B are explanatory views for explaining the detection by the sensor. FIG. 25A is a diagram illustrating a state in which the deflection member is detached from the apparatus main body. FIG. It is explanatory drawing which shows the state.

[ Reference Example 1 ]
Hereinafter, a laser radar device according to Reference Example 1 will be described with reference to the drawings. FIG. 1 is a cross-sectional view schematically illustrating a laser radar device according to Reference Example 1 . FIG. 2 is an explanatory diagram showing a state in which the deflection unit and the deflection member used in the laser radar apparatus of FIG. 1 are viewed from above. FIG. 3A is an explanatory view showing a state in which the deflection unit and the deflection member used in the laser radar apparatus of FIG. 1 are viewed from the side, and FIG. 3B shows the deflection unit, the second deflection member, and the like. It is explanatory drawing which shows a mode that was seen from the side. FIG. 4A is an explanatory diagram for explaining how laser light is deflected by the first deflecting member, and FIG. 4B is an explanatory diagram for explaining how laser light is directly projected into space. FIG. 4C is an explanatory diagram for explaining how the laser light is deflected by the second deflecting member. FIG. 5 is an explanatory diagram for explaining a plurality of scanning areas in a predetermined virtual plane.

(overall structure)
First, the overall configuration of the laser radar device 1 according to Reference Example 1 will be described with reference to FIG. As shown in FIG. 1, the laser radar device 1 includes a laser diode 10 and a photodiode 20 that receives reflected light L2 from a detection object, and is configured as a device that detects the distance and direction to the detection object. Yes.

The laser diode 10 corresponds to an example of “laser light generation means”, and is supplied with a pulse current from a drive circuit (not shown) under the control of the control circuit 70 to project pulsed laser light (laser light L1). It has a configuration. In Reference Example 1 , laser light from the laser diode 10 to the detection object is indicated by a symbol L1, and reflected light from the detection object to the photodiode is indicated by a symbol L2.

  The photodiode 20 corresponds to an example of “detecting means”. When the laser light L1 is generated from the laser diode 10, the photodiode 20 detects the reflected light L2 reflected by the detection object, and the electric signal It is configured to convert to. In addition, about the reflected light from a detection object, the structure of a predetermined area | region is taken in, and in FIG. 1, the example in which the reflected light of the area | region between two lines shown with the code | symbol L2 is taken in is shown.

  A lens 60 is provided on the optical axis of the laser light L1 emitted from the laser diode 10. The lens 60 is configured as a collimating lens and has a function of converting the laser light L1 from the laser diode 10 into parallel light.

A mirror 30 is provided on the optical path of the laser light L1 that has passed through the lens 60. The mirror 30 is configured to reflect the laser beam L1 transmitted through the lens 60 toward the rotation deflection mechanism 40. In Reference Example 1 , the laser beam L1 in the horizontal direction that has passed through the lens 60 is reflected in the vertical direction (a direction parallel to a central axis 42a described later) by the mirror 30, and the reflected laser beam L1 in the vertical direction 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 The shaft portion 42 connected to the support base 43 and a bearing (not shown) that rotatably supports the shaft portion 42 are provided.

  The deflecting unit 41 corresponds to an example of a “deflecting unit”, is configured to be rotatable about a central axis 42a (predetermined central axis), and is the light of the laser light L1 reflected by the mirror 30. It is arranged on the axis. 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 Reference Example 1 , 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 configured to reflect 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 light L1 from the position P1 is configured to be always in the horizontal direction.

Further, in the laser radar device 1 according to the reference example 1 , the deflection region for deflecting the reflected light in the deflection unit 41 (the region of the reflection surface 41a in the deflection unit 41) reflects the laser beam in the mirror 30 (mirror 30). The area of the reflecting surface 30a in FIG.

Further, a motor 50 is provided so as to drive the rotation deflection mechanism 40. The motor 50 corresponds to an example of “driving means”, and is configured to rotate and drive the deflection unit 41 connected to the shaft portion 42 by rotating 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 Reference Example 1 , 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.

Further, in Reference Example 1 , 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 accommodated in the case 3, and dust protection 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.

(Configuration of deflection member)
Next, the deflection member 80 which is one of the characteristic configurations of the reference example 1 will be described.
As shown in FIGS. 2 and 3, the laser radar device 1 according to Reference Example 1 is provided with two deflecting members 80 that deflect the laser light L <b> 1 projected toward the space by the deflecting unit 41. In the following description, one of the two deflection members 80 will be described as the first deflection member 81 and the other as the second deflection member 82.

  Both the first deflection member 81 and the second deflection member 82 are configured by mirrors capable of reflecting the laser beam L1, and the first deflection member 81 is when the deflection unit 41 faces the first deflection member 81 side. The laser beam projected from the deflection unit 41 (that is, the laser beam L1 from the laser diode 10) is reflected (see FIG. 4A), and the second deflection member 82 includes the deflection unit 41. The laser beam L1 projected from the deflection unit 41 when it faces the second deflection member 82 side is reflected (see FIG. 4C).

  As shown in FIGS. 2 and 4B, when the deflection unit 41 is in a predetermined rotation range (first rotation range), the laser beam L1 reflected by the deflection unit 41 is any deflection member. The light is directly projected from the deflecting unit 41 to the space without being deflected by the lens 80. As shown in FIG. 4B, this “first rotation range” is the rotation of the deflection unit 41 when the laser light L1 projected from the deflection unit 41 goes to the position of the boundary P2 of the first deflection member 81. This is a rotation range between the movement position and the rotation position of the deflection unit 41 when the laser beam L1 projected from the deflection unit 41 moves toward the boundary P3 of the second rotation member. When rotating the “first rotation range”, the laser beam L1 is horizontally projected directly from the deflection unit 41 toward the space, and the scanning direction is changed in the horizontal direction along with the rotation.

  2 and 3, an example of the laser beam projected from the deflection unit 41 when the deflection unit 41 is in the “first rotation range” is indicated by a thick line L3. In FIG. 4B, an area scanned by the laser light L3 when the deflecting unit 41 is in the “first rotation range” is indicated by a symbol AR1 (hatched area).

  As shown in FIG. 4B, the first deflecting member 81 has one side of the scanning area AR1 (FIG. 4B) of the laser light L3 projected from the deflecting unit 41 in the “first rotation range”. It is arranged on the side of. Also, as shown in FIG. 4A, the laser beam L1 from the deflection unit 41 is reflected when the deflection unit 41 is in “one specific rotation range” avoiding the “first rotation range”. It has a configuration. The “one specific rotation range” refers to the rotation position of the deflection unit 41 when the laser light L1 projected from the deflection unit 41 goes to the position of one boundary P4 of the first deflection member 81. , A rotation range between the rotation position of the deflection unit 41 when moving toward the position of the other boundary P2, and when the deflection unit 41 rotates this “one specific rotation range”, the deflection unit 41 The laser beam L <b> 1 projected from the light enters the first deflection member 81 and is reflected by the first deflection member 81. Further, the laser beam L1 (L4) reflected by the first deflecting member 81 is projected in a direction inclined by a predetermined angle with respect to the horizontal direction, as shown in FIG.

2 and 3, the laser beam projected from the deflection unit 41 when the deflection unit 41 is in the “one specific rotation range” is indicated by a one-dot chain line (L4). In FIG. 4A, an area scanned by the laser beam L4 when the deflection unit 41 is in the “one specific rotation range” is indicated by a symbol AR2 (hatched area). In Reference Example 1 , the “one specific rotation range” and the “other specific rotation range” described later correspond to an example of a “second rotation range”.

  Further, as shown in FIG. 3, the scanning area AR2 of the laser light L4 projected from the first deflection member 81 in “one specific rotation range” is the laser from the deflection unit 41 in the “first rotation range”. The deflection direction (that is, the reflection direction) of the laser beam L1 from the deflection unit 41 in the first deflection member 81 is set so as to be below the scanning area AR1 of the light L3.

  As shown in FIG. 4B, the second deflection member 82 is located on the first deflection member 81 side with respect to the scanning area AR1 of the laser beam L3 projected from the deflection unit 41 in the “first rotation range”. Are arranged on the opposite side (the other side). Then, as shown in FIG. 4C, when the deflection unit 41 is in the “other specific rotation range” avoiding the “first rotation range”, the laser light L1 from the deflection unit 41 is reflected. It has a configuration. The “other specific rotation range” refers to the rotation position of the deflection unit 41 when the laser beam L1 projected from the deflection unit 41 travels to the position of one boundary P3 of the second deflection member 82. , A rotation range between the rotation position of the deflection unit 41 when moving toward the position of the other boundary P5, and when the deflection unit 41 rotates in this “other specific rotation range”, the deflection unit 41 The laser beam L1 projected from the laser beam is incident on the second deflecting member 82 and reflected by the second deflecting member 82. Further, the laser beam L1 (L5) reflected by the second deflection member 82 is projected in a direction inclined by a predetermined angle with respect to the horizontal direction, as shown in FIGS. .

  2 and 3, the laser beam projected from the deflection unit 41 when the deflection unit 41 is in the “other specific rotation range” is indicated by a broken line (L5). In FIG. 4C, an area scanned by the laser beam L5 when the deflection unit 41 is in the “other specific rotation range” is indicated by a symbol AR3 (hatched area).

  Further, as shown in FIGS. 3A and 3B, the scanning area AR3 of the laser light L5 projected from the second deflection member 82 in the “other specific rotation range” is in the “first rotation range”. The deflection direction (that is, the reflection direction) of the laser beam L1 from the deflection unit 41 in the second deflection member 82 is set so as to be below the scanning area AR1 of the laser beam L3 from the deflection unit 41.

  Because of this configuration, as shown in FIGS. 2 and 3, a virtual plane F1 that is a predetermined distance away from the position of the central axis 42a (that is, the position of P1) in the radial direction D1 orthogonal to the central axis 42a is assumed. Then, as shown in FIG. 5, laser scanning is performed at different heights on the virtual plane F1. Therefore, for example, even if the detection object R1 exists at a position lower than the scanning area AR1 (scanning area by the laser light L3) in the vicinity of the virtual plane F1, the detection object R1 can be detected by scanning with the laser light L4. When there is a detection object R2 higher than the scanning area AR1, the height of the detection object can be grasped more accurately by scanning with the laser light L5. The virtual plane F1 shown in FIG. 2 is a plane at a predetermined distance from the position P1, and the center line D1 of the scanning area of the laser beam L3 (that is, a straight line passing through P3 and P1, and P2 and P1) It is configured as a plane orthogonal to the bisector (θ1 = θ2) of the angle formed by the straight line passing through.

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

  The path from the deflection unit 41 differs depending on the rotation position of the deflection unit 41. When the deflection unit 41 is in the “first rotation range”, the laser beam L1 (L3) is directly projected onto the space. When the detection object is present on the scanning area AR1, the laser light L3 projected from the deflection unit 41 is reflected by the detection object, and a part of the reflected light is incident on the deflection unit 41 again. The deflecting unit 41 reflects the reflected light L2 toward the photodiode 20, and the reflected light L2 reflected by the deflecting unit 41 is collected by the condenser lens 62, passes through the filter 64, and enters the photodiode 20. Shine.

  When the deflection unit 41 is in the “first specific rotation range”, the laser light L1 from the deflection unit 41 is incident on the first deflection member 81 and is reflected by the first deflection member 81 to enter the space. Projected. When the detection object is present on the scanning area AR2 of the laser light L1 (L4) projected from the first deflecting member 81, the laser light L4 is reflected by the detection object, and a part of the reflected light is once again generated. 1 enters the deflecting member 81. The reflected light (L2) is reflected by the first deflecting member 81 and then reflected by the deflecting unit 41, and is collected by the condenser lens 62 and passes through the filter 64 as in the case of the laser light L3. The light enters the photodiode 20.

  When the deflection unit 41 is in the “second specific rotation range”, the laser light L1 from the deflection unit 41 is incident on the second deflection member 82 and is reflected by the second deflection member 82 to enter the space. Projected. When the detection object is present on the scanning area AR3 of the laser light L1 (L5) projected from the second deflecting member 82, the laser light L5 is reflected by the detection object, and a part of this reflected light is again generated by the second light. 2 enters the deflecting member 82. The reflected light (L2) is reflected by the second deflecting member 82 and then reflected by the deflecting unit 41, and is collected by the condenser lens 62 and passes through the filter 64, as in the case of the laser light L3. The light enters the photodiode 20.

  The photodiode 20 outputs an electrical signal corresponding to the received reflected light L2 (for example, a voltage value corresponding to the received reflected light) regardless of which path the reflected light L2 is received.

In this configuration, since the path of the laser light L1 to the detection object is determined when the rotation position of the deflection unit 41 is determined, the displacement (rotation position) of the deflection unit 41 is specified by the rotation angle position sensor 52 or the like. The direction of the detected object can be accurately detected. Further, the distance to the detection object can be obtained by measuring the time from when the laser light L1 is output by the laser diode 10 until the reflected light L2 is detected by the photodiode 20. In the first reference example , the control circuit 70 corresponds to an example of “distance measuring means”.

Furthermore, the laser radar device 1 of Reference Example 1 is configured to issue an alarm according to the distance to the detected object when the reflected light L2 is detected by the photodiode 20. There are various methods of “sending an alarm according to the distance to the detected object”. For example, there is a method of generating an alarm when the detected object is detected and the distance to the detected object is within a certain value. Conceivable. Various notification methods are also conceivable. For example, a notification means such as a buzzer or a lamp controlled by the control circuit 70 can be used. In this case, the control circuit 70 and the notification means (not shown) are connected to the “alarm”. It corresponds to an example of “means”.

(Main effects of Reference Example 1 )
The laser radar device 1 of Reference Example 1 includes a deflection member 80 that deflects the laser light L1 projected toward the space by the deflection unit 41 (deflection unit), and the deflection unit 41 is in the first rotation range. When the laser beam L1 is projected to the space without being deflected by the deflecting member 80, and the deflection unit 41 is in the first specific rotation range or the second specific rotation range (second rotation range). The laser beam L1 is deflected by the deflecting member 80. In this way, a plurality of scanning areas can be configured with a simple configuration.
Further, the scanning areas AR2 and AR3 of the laser beams L4 and L5 projected from the deflection member 80 in the second rotation range are above or below the scanning area AR1 of the laser beam L3 from the deflection unit 41 in the first rotation range. The deflection direction of the deflection member 80 is set so that In this way, a separate scanning area is formed above or below the scanning area AR1 in the first rotation range, and three-dimensional detection can be performed satisfactorily.

  Further, a plurality of deflection members 80 are provided, and each scanning area where the laser light is projected from each deflection member 80 is above the scanning area AR1 of the laser light projected from the deflection unit 41 in the first rotation range. The deflection direction of each deflection member is set so as to be at least one of the lower side and the lower side. In this way, a multi-stage scanning area can be configured in the height direction, and more accurate detection can be performed in the height direction.

  Further, a first deflecting member 81 and a second deflecting member 82 are provided as the deflecting member 80, and the first deflecting member 81 is one of the scanning areas AR1 of the laser beam in the first rotation range. The second deflecting member 82 is disposed on the other side. In this way, by effectively using both sides of the scanning area AR1 in the first rotation range, a separate scanning area can be configured above or below the scanning area AR1 in the first rotation range.

  Further, the deflection direction of the first deflection member 81 is set so that the scanning area AR2 of the laser light L4 projected from the first deflection member 81 is below the scanning area AR1 in the first rotation range. The deflection direction of the second deflection member 82 is set so that the scanning area AR3 of the laser beam L5 projected from the second deflection member 82 is on the opposite side (above the scanning area AR1 when in the first rotation range). ing. In this way, while adopting a more efficient arrangement configuration, a separate scanning area can be configured above and below the scanning area AR1 in the first rotation range, and both low and high detection can be performed. Can cope well.

  Further, the deflection member 80 is constituted by a mirror. In this way, a plurality of scanning areas can be configured with a simpler configuration.

  The scanning direction of the laser beam when the deflection unit 41 rotates in the first rotation range is the horizontal direction, and the projection direction of the laser beam from the deflection member 80 when rotating in the second rotation range is The direction is inclined at a predetermined angle with respect to the horizontal direction. In this way, it becomes easy to secure a detection area in the height direction at a position away from the laser radar device 1 to some extent.

  Further, the distance to the detection object is measured based on the time from the generation of the laser light L1 at the laser diode 10 until the reflected light L2 is detected by the photodiode 20, and an alarm is issued based on the measured distance. It is configured to emit. In this way, it is possible to generate a warning with high accuracy by detecting detected objects of various heights.

[ Reference Example 2 ]
Next, Reference Example 2 will be described. FIG. 6 is an explanatory diagram showing a state in which the deflection unit and the deflection member used in the laser radar device of Reference Example 2 are viewed from above. FIG. 7 is an explanatory diagram for explaining a plurality of scanning areas in a predetermined virtual plane when the configuration of FIG. 6 is used. The laser radar device of Reference Example 2 is different from Reference Example 1 only in the configuration of the deflection member, and is otherwise the same as Reference Example 1 . Therefore, parts other than the deflecting member will be described using the drawings, symbols, and the like used in Reference Example 1 as appropriate.

In Reference Example 2 , as the deflecting member 80, two first deflecting members 81a and 81b and two second deflecting members 82a and 82b are provided. The first deflecting members 81a and 81b and the second deflecting members 82a and 82b are all configured by mirrors and reflect the laser beam L1 from the deflecting unit 41.

As shown in FIG. 6, the “first rotation range” in Reference Example 2 is the rotation of the deflection unit 41 when the laser light L1 projected from the deflection unit 41 goes to the position of the boundary P6 of the first deflection member 81a. This is a rotation range between the movement position and the rotation position of the deflection unit 41 when the laser beam L1 projected from the deflection unit 41 moves toward the boundary P7 of the second rotation member 82a. When the “first rotation range” is rotated, the laser beam L1 (L3) is directly projected from the deflection unit 41 toward the space, and the scanning direction is changed in the horizontal direction along with the rotation. .

  The first deflection members 81a and 81b are disposed on one side of the scanning area of the laser beam L3 projected directly from the deflection unit 41 into the space in the first rotation range, and the second deflection members 82a and 82b. Is arranged on the other side. And each scanning area about each laser beam L6, L7 projected from the 1st deflection members 81a and 81b is above the scanning area of laser beam L3 projected from deflection part 41 in the 1st rotation range. The deflection direction is set so that Further, from the first deflection members 81a and 81b when the laser beam L1 from the deflection unit 41 rotates in the rotation range (second rotation range) irradiated to the respective first deflection members 81a and 81b. The projection directions of the laser beams L6 and L7 are inclined at a predetermined angle (specifically, upward) with respect to the horizontal direction.

  Further, the second deflection members 82a and 82b project the respective scanning areas for the laser beams L8 and L9 projected from the second deflection members 82a and 82b from the deflection unit 41 in the first rotation range. The deflection direction is set to be below the scanning area of the laser beam L3. Further, from the second deflection members 81a and 81b when the laser beam L1 from the deflection unit 41 rotates in the rotation range (second rotation range) irradiated to the respective second deflection members 82a and 82b. The projection directions of the laser beams L8 and L9 are inclined by a predetermined angle (specifically, inclined downward) with respect to the horizontal direction.

  Since it is configured as described above, more detailed detection in the height direction is possible. For example, assuming a virtual plane F1 similar to that in FIG. 5, since multistage laser scanning is possible on the virtual plane F1 as shown in FIG. 7, in addition to detection as shown in FIG. It is possible to accurately detect the position and height.

[ Reference Example 3 ]
Next, Reference Example 3 will be described. FIG. 8 is an explanatory diagram schematically showing a part of the laser radar device according to Reference Example 3 viewed from the side. FIG. 9 is an explanatory diagram schematically showing a part of the laser radar device of Reference Example 3 as viewed from above. FIG. 10 is an explanatory diagram schematically showing a partial configuration in which the second light guide member is omitted from the laser radar device of Reference Example 3 , as viewed from above. Further, FIG. 11 is an explanatory diagram conceptually illustrating a scanning area from the side when the laser beam is irradiated on the first light guide member on one side in the laser radar device of Reference Example 3 , and FIG. It is explanatory drawing which illustrates the scanning area notionally from the upper side. FIG. 13 is an explanatory diagram conceptually illustrating a scanning area from the side when the rear first light guide member is irradiated with laser light in the laser radar device of Reference Example 3 , and FIG. It is explanatory drawing which illustrates the scanning area notionally from the upper side. Further, FIG. 15 is an explanatory diagram conceptually illustrating a scanning area from the side when the laser beam is irradiated to the other first light guide member in the laser radar device of Reference Example 3 , and FIG. It is explanatory drawing which illustrates the scanning area notionally from the upper side. FIG. 17 is an explanatory diagram for conceptually explaining each scanning position in the virtual plane on the front side when the laser radar device of Reference Example 3 is used.

As shown in FIGS. 8 to 10, a laser radar apparatus 300 according to the reference example 3, a plurality of first laser radar apparatus 1 a plurality of first light guide member 311, 312 and 313 of Reference Example 1 (FIG. 9) 2 light guide members 321, 322, and 323 (FIG. 10) are added, and the configuration other than the first light guide members 311, 312, and 313 and the second light guide members 321, 322, and 323 is a reference example. Same as 1 . For example, the configurations and functions of the laser diode 10, the photodiode 20, the mirror 30, the lens 60, the rotation deflection mechanism 40, the motor 50, the deflection member 80, and the like are the same as those of the laser radar device 1 according to Reference Example 1 . Therefore, these portions other than the first light guide members 311, 312, 313 and the second light guide members 321, 322, 323 are denoted by the same reference numerals as those in the reference example 1, and detailed description thereof is omitted. Further, “first rotation range” and “second rotation range” mean the same rotation range as in Reference Example 1, and “first rotation range” and “second rotation range” The laser beam scanning is the same as in FIGS. Therefore, the same reference numerals (D1, L3 to L5, P1 to P5, θ1, θ2, etc.) also apply to the description of the laser beam scanning in these “first rotation range” and “second rotation range”. ) And detailed description will be omitted.

Any reference example 3, the deflection unit 41 (deflecting unit) is provided with deflector 80 which deflects the laser beam L1 is projected toward the space by the deflection unit 41 is similar to the "first rotation as in Reference Example 1 When in the “range”, the laser beam is projected to the space without being deflected by the deflecting member 80, and when the deflecting unit 41 is in the “second rotation range” similar to the reference example 1 , The laser light is deflected by the deflecting member 80. The scanning area of the laser beam projected from the deflection member 80 when the deflection unit 41 is in the second rotation range is the laser beam from the deflection unit 41 when the deflection unit 41 is in the first rotation range. The deflection direction of the deflecting member 80 is set so as to be at least either above or below the scanning area. In FIG. 10, the laser beam irradiation range at the “first rotation range” is indicated by reference numeral B1, and the laser light irradiation range at the “second rotation range” is indicated by reference numerals B21 and B22. Show.

The case 3 (FIG. 1) is not illustrated in FIG. 8 or the like, but basically has the same configuration as that of the reference example 1, and the second light guide members 321, 322, and 323 have the same structure. The window part should just be formed wider than the laser radar apparatus 1 of the reference example 1 so that a laser beam (refer code | symbol L31, L32, L33) can pass.

Next, portions added to the laser radar device 1 of Reference Example 1 will be described mainly.
In the laser radar device 300 according to the reference example 3 , the deflecting unit 41 is in a predetermined rotation range (third rotation range) different from the “first rotation range” and the “second rotation range”. The first light guide members 311, 312, and 313 (FIG. 10) that guide the laser light deflected by the deflecting unit 41 upward and the laser light guided upward by the first light guide members 311, 312, and 313 to space Second light guide members 321, 322, and 323 (FIG. 9) that are deflected toward are provided.

  As shown in FIGS. 8 and 17, the laser light projected into the space from the second light guide members 321, 322, and 323 when the deflection unit 41 is in the predetermined rotation range (third rotation range). The scanning area (see reference numerals L31, L32, and L33) is above or below the scanning area (see reference numeral L3) of the laser beam from the deflecting unit 41 when the first rotation range, and the deflecting part 41 is the second time. The deflection direction of the second light guide members 321, 322, and 323 is set so as to be above or below the scanning area of the laser beam from the deflection member 80 (see reference numerals L 4 and L 5) when in the moving range. .

In Reference Example 3 , when the deflection unit 41 is in the first rotation range, the laser beam irradiation side from the deflection unit 41 is the front side, and the direction of the central axis 42a (see FIG. 1) is the vertical direction. (The direction of the central axis 42a is the same as the direction of the laser light L1 from the mirror 30 toward the deflecting unit 41 as in the first reference example ). Specifically, a direction parallel to the direction in which the laser beam is irradiated from the deflection unit 41 at the central rotation position in the first rotation range (rotation position where θ1 = θ2 as shown in FIG. 9) is set. In FIG. 9, the direction parallel to the center line D1 is the front-rear direction.

  In the laser radar device 300, as shown in FIG. 10, the first light guide members 311, 312, and 313 are arranged on the rear side of the deflecting member 80, and as shown in FIGS. Each of the first light guide members 311, 312, and 313 is configured to guide the laser beam to a position above the upper end portion of the deflection unit 41. The first light guide members 311, 312, and 313 are arranged so that the deflection unit 41 rotates when the laser beam from the deflection unit 41 enters the first light guide members 311, 312, and 313. The laser beam L1 (see arrows G1, G3, and G5 in FIG. 10) that is scanned horizontally from the deflection unit 41 is reflected upward at each incident position when rotating within the movement range. Then, the laser light guided upward by the first light guide members 311, 312, 313 is scanned along the second light guide members 321, 322, 323 (arrows G 2, G 4, FIGS. 11 to 16). G6), scanning in the lateral direction so that the laser light reflected by the second light guide members 321, 322, and 323 moves in the upper region of the deflection unit 41 (specifically, slightly inclined with respect to the horizontal direction) Scanning in the direction) (refer to reference numerals L31, L32, and L33).

As shown in FIG. 10, the “first light guide member” includes a first light guide member 311 (one first light guide member) disposed on one side of the deflection unit 41, and the deflection unit 41. A first light guide member 313 (the other side first light guide member) disposed on the other side, a first light guide member 312 (a rear side first light guide member) disposed behind the deflection unit 41, and Is provided. As the “second light guide member”, as shown in FIG. 9, the second light guide member 321 deflects the laser light from the first light guide member 311 (one side first light guide member) forward. (The second light guide member on one side) and the second light guide member 323 (the second light guide member on the other side) that deflects laser light from the first light guide member 313 (the other first light guide member) to the front side. ) And a second light guide member 322 (rear side second light guide member) for deflecting laser light from the first light guide member 313 (rear side first light guide member) to the front side. In the reference example 3 , all of the first light guide members 311, 312, 313 and the second light guide members 321, 322, 323 are configured by mirrors and configured to reflect incident laser light. Yes.

  As shown in FIG. 10, the first light guide member 311 is disposed along one side of the deflection unit 41 along the scanning path (laser beam moving direction) of the laser beam from the deflection unit 41. When the part 41 is in the “first rear side specific rotation range” in the side or obliquely rearward direction (the direction in which the irradiation direction of the laser light from the deflection part 41 is at least the rear side), Laser light is incident. The “first rear specific rotation range” is a deflection from the rotation position of the deflection unit 41 when the laser beam from the deflection unit 41 passes through the initial incident position Q1 incident on the first light guide member 311. This means a range up to the rotation position of the deflecting unit 41 when the laser beam L1 from the unit 41 passes through the incident end position Q2 when scanned along the first light guide member 311. In FIG. 10, the laser light irradiation range at the time of the “first rear specific rotation range” is indicated by reference numeral C <b> 1.

  As shown in FIG. 11, the first light guide member 311 includes an obliquely upward reflecting surface 311 a that is inclined with respect to a horizontal plane (a plane orthogonal to the central axis 42 a). 1 ”, the laser light from the deflecting unit 41 enters the reflecting surface 311a of the first light guide member 311 and is reflected upward by the reflecting surface 311a. ing. A second light guide member 321 is provided above the first light guide member 311 (substantially directly above in the example of FIG. 11), and the second light guide member 321 has a horizontal plane (central axis 42a). An obliquely downward reflecting surface 321a that is inclined with respect to a plane perpendicular to the surface is provided. The laser light reflected by the reflection surface 311a of the first light guide member 311 is reflected by the reflection surface 321a of the second light guide member 321 and is irradiated to the front side.

In the configuration of FIG. 11, as the deflection unit 41 rotates, the irradiation position on the reflecting surface 311a (that is, the incident position of the laser beam from the deflecting unit 41 on the reflecting surface 311a) is the initial incident position Q1 as indicated by the arrow G1. From the side to the incident end position Q2. Then, along with the movement of the irradiation position on the reflection surface 311a, the irradiation position on the reflection surface 321a (incident position of the laser beam from the reflection surface 311a) ends from the incident initial position R1 side as indicated by an arrow G2. It moves to the position R2 side. Further, along with the movement of the irradiation position on the reflection surface 321a, the laser beam reflected at each irradiation position on the reflection surface 321a and irradiated to the front side moves in the lateral direction (specifically, FIG. 12). As shown in FIG. 17, the virtual plane F1 (a plane perpendicular to the front-rear direction of the laser radar device 300 and separated from the laser radar device 300 by a predetermined distance), as shown in FIG. On the (virtual plane), the scanning position of the laser beam L31 moves in the horizontal direction. In Reference Example 3 , the height of the scanning position of the laser beam L31 on the virtual plane F1 is different from the height of the scanning positions of the laser beams L3, L4, and L5 described above on the virtual plane F1. When the deflection unit 41 is in the “first backward specific rotation range”, the laser beam L3, L4, L5 in the other rotation range cannot be detected at a position away from the laser radar device 300 by a predetermined distance. Detection is possible.

  As shown in FIGS. 10 and 13, the first light guide member 312 is arranged behind the deflection unit 41 along the scanning path (laser beam moving direction) of the laser beam from the deflection unit 41. The laser beam from the deflection unit 41 is incident when the deflection unit 41 is in the “second rear side specific rotation range” facing backward. The “second rear specific rotation range” is determined from the rotation position of the deflection unit 41 when the laser beam from the deflection unit 41 passes through the initial incident position Q3 where the laser light enters the first light guide member 312. It means a range up to the rotation position of the deflection unit 41 when the laser beam L1 from the deflection unit 41 passes through the incident end position Q4 when scanned along the first light guide member 311. In addition, in FIG. 10, the irradiation range of the laser beam at the time of this “second rear side specific rotation range” is indicated by reference numeral C2.

  As shown in FIGS. 10 and 13, the first light guide member 312 includes an obliquely upward reflecting surface 312a that is inclined with respect to a horizontal plane (a plane orthogonal to the central axis 42a). When in the “second rear side specific rotation range”, the laser light from the deflecting unit 41 is incident on the reflection surface 312a of the first light guide member 312 and is reflected upward by the reflection surface 312a. It is like that. A second light guide member 322 is provided above the first light guide member 312 (substantially directly above in the example of FIG. 13), and the second light guide member 322 has a horizontal surface (center axis 42a). An obliquely downward reflecting surface 322a that is inclined with respect to (a plane orthogonal to the surface) is provided. The laser light reflected by the reflection surface 312a of the first light guide member 312 is further reflected by the reflection surface 322a of the second light guide member 322 and irradiated to the front side.

  As shown in FIG. 10, when the deflection unit 41 is in the “second rear-side specific rotation range”, the irradiation position on the reflection surface 312 a (the deflection on the reflection surface 312 a) as the deflection unit 41 rotates. The incident position of the laser beam from the portion 41 is moved from the incident initial position Q3 side to the incident end position Q4 side as indicated by an arrow G3. Then, along with the movement of the irradiation position on the reflecting surface 312a, as shown in FIG. 14, the irradiation position (incident position of the laser beam from the reflecting surface 312a) on the reflecting surface 322a (FIG. 13) is an arrow G4. In this way, it moves from the incident initial position R3 side to the incident end position R4 side.

Further, along with the movement of the irradiation position on the reflection surface 322a, the laser beam reflected at each irradiation position on the reflection surface 322a and irradiated to the front side moves in the lateral direction (specifically, FIG. 14). As shown in FIG. 17, the scanning position of the laser beam L32 moves in the horizontal direction on the virtual plane F1 described above. In Reference Example 3 , the height of the scanning position of the laser beam L32 on the virtual plane F1 is different from the height of the scanning positions of the laser beams L3, L4, L5, and L31 described above on the virtual plane F1. When the deflection unit 41 is in the “second backward specific rotation range”, the laser beams L3, L4, L5, and L31 in the other rotation ranges at positions away from the laser radar device 300 by a predetermined distance. A height that cannot be detected can be detected.

  As shown in FIGS. 10 and 15, the first light guide member 313 is located on the other side of the deflection unit 41 (on the side opposite to the first light guide member 311 across the deflection unit 41). When the laser beam is disposed along the scanning path of the laser beam from the deflecting unit 41 (the moving direction of the laser beam), and the deflecting unit 41 is in the “third rear specific rotation range” facing sideways or obliquely rearward. The laser beam from the deflection unit 41 is incident on the laser beam. Note that the “third rear specific rotation range” is a deflection from the rotation position of the deflection unit 41 when the laser beam from the deflection unit 41 passes through the initial incident position Q5 incident on the first light guide member 313. This means a range up to the rotation position of the deflection unit 41 when the laser beam L1 from the unit 41 passes through the incident end position Q6 when scanned along the first light guide member 313. In FIG. 10, the laser light irradiation range at the time of the “third rear specific rotation range” is indicated by reference numeral C <b> 3.

  As shown in FIG. 10, the first light guide member 313 includes an obliquely upward reflecting surface 313 a that is inclined with respect to a horizontal plane (a plane orthogonal to the central axis 42 a). 3 ”, the laser light from the deflecting unit 41 is incident on the reflecting surface 313a of the first light guide member 313 (the reflecting surface provided on the opposite side of the plate surface 313b). The reflection surface 313a reflects the light upward. And the 2nd light guide member 323 is provided above the 1st light guide member 313 (in the example of FIG. 15, almost right above the 1st light guide member 313) like FIG. 15, FIG. The second light guide member 323 is provided with an obliquely downward reflecting surface (reflecting surface provided on the opposite side of the plate surface 323b) inclined with respect to a horizontal plane (a plane orthogonal to the central axis 42a). Yes. The laser light reflected by the reflection surface 313a of the first light guide member 313 is further reflected by the reflection surface 323a of the second light guide member 323 and irradiated to the front side.

  As shown in FIGS. 15 and 16, as the deflection unit 41 rotates, the irradiation position (incident position of the laser beam from the deflection unit 41) on the reflection surface 313a is changed from the incident initial position Q5 side as indicated by an arrow G5. It moves to the incident end position Q6 side. Then, along with the movement of the irradiation position on the reflecting surface 313a, the irradiation position on the reflecting surface (the reflecting surface opposite to the plate surface 323b) of the second light guide member 323 (the laser beam from the reflecting surface 313a). (Incident position) moves from the incident initial position R5 side to the incident end position R6 side as indicated by an arrow G6.

Further, with the movement of the irradiation position on such a reflection surface (the reflection surface on the opposite side of the plate surface 323b), the light is reflected at each irradiation position on the reflection surface (the reflection surface on the opposite side of the plate surface 323b) and forwards. The laser beam irradiated to the side moves in the horizontal direction (specifically, moves in the hatching area in FIG. 16 in the horizontal direction), and as shown in FIG. The scanning position moves in the horizontal direction. In Reference Example 3 , the height of the scanning position of the laser beam L33 on the virtual plane F1 is different from the height of the scanning positions of the laser beams L3, L4, L5, L31, and L32 on the virtual plane F1. When the deflection unit 41 is in the “third backward specific rotation range”, the height that cannot be detected by the laser beams L3, L4, L5, L31, and L32 can be detected.

(Main effects of Reference Example 3 )
In the laser radar device 300 according to Reference Example 3 , the deflection unit 41 is in a third rotation range (predetermined rotation range) different from the above-described “first rotation range” and “second rotation range”. The first light guide members 311, 312, and 313 that guide the laser light deflected by the deflection unit 41 upward and the laser light guided by the first light guide members 311, 312, and 313 are deflected toward the space. The second light guide members 321, 322, and 323 are provided, and the second light guide members 321, 322, and 323 project into the space when the deflecting unit 41 is in the third rotation range (predetermined rotation range). The scanning area of the laser beam to be emitted is above or below the scanning area of the laser beam from the deflection unit 41 when the “first rotation range” and from the deflection member 80 when the “second rotation range”. So that it is above or below the scanning area of the laser beam. Deflection direction of the light guide member 321, 322, 323 is set. By doing so, it becomes possible to scan above or below the scanning area at the time of the “first rotation range” and the “second rotation range”, so that the vertical resolution can be further improved, and thus detection is performed. Can be effectively improved.

In the reference example 3 , when the deflection unit 41 is in the first rotation range, the irradiation side of the laser beam from the deflection unit 41 is the front side, and the direction of the central axis 42a is the vertical direction. The first light guide members 311, 312, and 313 are arranged on the rear side of the deflection member 80, and guide the laser beam to a position above the upper end portion of the deflection unit 41. When the deflection unit 41 rotates within the third rotation range (predetermined rotation range), the laser light from the second light guide members 321, 322, and 323 moves in the upper region of the deflection unit 41. Has been scanned. In this way, it becomes possible to irradiate the front side with the laser beam irradiated to the rear side of the deflecting member 80 by effectively using the upper region of the deflecting unit 41. Therefore, it is easy to increase the vertical resolution in the detection area on the front side without sacrificing the installation space of the deflecting member 80 and the deflecting unit 41 so much.

In Reference Example 3 , as the “first light guide member”, the first light guide member 311 (one side first light guide member) disposed on one side of the deflection unit 41 and the other of the deflection unit 41 are used. The first light guide member 313 (the other side first light guide member) arranged on the side of the first light guide member and the first light guide member 312 (the rear side first light guide member) arranged behind the deflection unit 41. Is provided. Further, as the “second light guide member”, a second light guide member 321 (one-side second light guide member) that deflects laser light from the first light guide member 311 (one-side first light guide member) forward. ), A second light guide member 323 (the other side second light guide member) that deflects laser light from the first light guide member 313 (the other side first light guide member) forward, and a first light guide member A second light guide member 322 (rear side second light guide member) that deflects laser light from 312 (rear side first light guide member) forward is provided. In this way, any laser light irradiated on both sides of the deflection unit 41 can be used for detection on the front side, and further, laser light irradiated on the rear side of the deflection unit 41 can also be used for detection on the front side. Since it can be utilized, it becomes easier to further increase the vertical resolution in the detection area on the front side.

Further, in Reference Example 3 , since the first light guide members 311, 312, 313 and the second light guide members 321, 322, 323 are all configured by mirrors, a configuration that can increase the resolution in the vertical direction is simplified. realizable.

[ Reference Example 4 ]
Next, Reference Example 4 will be described.
FIG. 18 is an explanatory diagram schematically showing a state in which the laser radar device of Reference Example 4 is viewed from above. FIG. 19 is an explanatory diagram conceptually illustrating a laser light scanning area in a predetermined rotation range (third rotation range) in the laser radar device of FIG. FIG. 20 is an explanatory diagram schematically illustrating a state in which the second light guide member is omitted from the top in the laser radar device of Reference Example 4 . FIG. 21 is an explanatory diagram for explaining each scanning position in a virtual plane on the front side when the laser radar device of Reference Example 4 is used. 18 conceptually shows the state of laser light irradiation in the first rotation range and the second rotation range, and FIG. 19 shows laser light irradiation in the third rotation range. Is shown conceptually.

The laser radar device 400 according to the reference example 4 includes all the features of the laser radar device 200 according to the reference example 2. Further, the laser radar device 200 includes the first light guide members 411a, 411b, 412, 413a, 413b and the first. Two light guide members 421a, 421b, 422, 423a, and 423b are added.

The “first rotation range” in Reference Example 4 is the same as in Reference Example 2, and the rotation of the deflection unit 41 when the laser light projected from the deflection unit 41 goes to the position of the boundary P6 of the first deflection member 81a. This is a rotation range between the movement position and the rotation position of the deflection unit 41 when the laser light projected from the deflection unit 41 moves toward the boundary P7 of the second rotation member 82a. When rotating the “first rotation range”, laser light (similar to L3 in FIG. 6) is directly projected from the deflection unit 41 toward the space, and the scanning direction changes in the horizontal direction as the rotation occurs. It has become. The first deflection members 81a and 81b are arranged on one side of the scanning area of the laser beam L3 projected directly from the deflection unit 41 to the space in the first rotation range, and the second deflection member 82a and 82b are arranged on the other side.

Further, "second rotation range" of Example 4 is also the same as in Reference Example 2, the laser beam L1 first deflecting member 81a, 81b or the second deflecting member 82a, is rotatable range incident to 82b "second This corresponds to “2 rotation ranges”. Specifically, the first deflection is performed such that the scanning area of the laser beam L6 projected from the first deflection member 81a is above the scanning area of the laser beam L3 projected from the deflection unit 41 in the first rotation range. The deflection direction of the member 81a is set, the scanning area of the laser beam L7 projected from the first deflection member 81b, the scanning area of the laser beam L3 projected from the deflection unit 41, and the laser projected from the first deflection member 81a. The deflection direction is set to be above the scanning area of the light L7 (see FIG. 21). The scanning area of the laser beam L8 projected from the second deflection member 82a is below the scanning area of the laser beam L3 projected from the deflection unit 41 and from the first deflection members 81a and 81b in the first rotation range. The deflection direction is set so as to be below the scanning area of the laser beams L6 and L7, and the scanning area of the laser beam L9 projected from the second deflection member 82b is the scanning of the laser beams L3, L6, L7, and L8. The deflection direction is set to be below the area (see FIG. 21).

Also in Reference Example 4 , when the deflection unit 41 is in the first rotation range, the laser beam irradiation side from the deflection unit 41 is the front side, and the direction of the central axis 42a is the vertical direction. Specifically, the direction parallel to the direction in which the laser beam is irradiated from the deflecting unit 41 at the central rotation position in the first rotation range is the front-rear direction, and the virtual plane F1 is separated from the position P1 by a predetermined distance. The plane is perpendicular to the front-rear direction at the position.

As shown in FIG. 20, the laser radar device 400 according to the reference example 4 has the deflection unit 41 in a predetermined rotation range (third rotation range) different from the first rotation range and the second rotation range. Are guided upward by the first light guide members 411a, 411b, 412, 413a, 413b and the first light guide members 411a, 411b, 412, 413a, 413b. Second light guide members 421a, 421b, 422, 423a, and 423b for deflecting the laser beam toward the space are provided.

  Then, when the deflection unit 41 is in the predetermined rotation range (third rotation range), the scanning area (laser light) of the laser light projected from the second light guide members 421a, 421b, 422, 423a, 423b to the space. The scanning area of L41, L42, L43, L44, and L45) is above or below the scanning area of the laser beam L3 from the deflecting unit 41 when the first rotating range, and the deflecting unit 41 is in the second rotating range. The deflection directions of the second light guide members 421a, 421b, 422, 423a, and 423b are set so as to be above or below the scanning area of the laser beams L6, L7, L8, and L9 from the deflection member 80 at a certain time. (See Fig. 21)

In the reference example 4 , the plurality of first light guide members 411a and 411b illustrated in FIG. 20 correspond to an example of “one side first light guide member”, and the first light guide member 411a is a laser from the deflection unit 41. The light is reflected and guided to the second light guide member 421a positioned directly above the first light guide member 411a, and the second light guide member 411b reflects the laser light from the deflecting unit 41 and reflects the first light guide. It leads to the second light guide member 421b located just above the optical member 411b. The plurality of second light guide members 421a and 421b correspond to an example of “one side second light guide member”, and reflect the laser light guided by the first light guide members 411a and 411b to the front side. ing.

  When the laser light from the deflection unit 41 enters the first light guide member 411a and the irradiation position of the laser light moves on the first light guide member 411a (that is, along the first light guide member 411a). When the laser light is scanned), the laser light guided upward by the first light guide member 411a is scanned along the second light guide member 421a and reflected by the second light guide member 421a. Scanning is performed so that the light L41 moves in the upper region of the deflection unit 41 (see FIG. 19). Then, as shown in FIG. 21, at least the virtual plane F1 is scanned with the laser beam L41 so that the scanning position with the laser beam L41 has a different height from the scanning positions with the laser beams L3, L6, L7, L8, and L9. The

  Further, when the laser light from the deflection unit 41 enters the first light guide member 411b and the irradiation position of the laser light moves on the first light guide member 411b (that is, along the first light guide member 411b). When the laser light is scanned), the laser light guided upward by the first light guide member 411b is scanned along the second light guide member 421b and reflected by the second light guide member 421b. Scanning is performed so that the light L42 moves in the upper region of the deflection unit 41 (see FIG. 19). As shown in FIG. 21, at least in the virtual plane F1, the scanning position by the laser beam L42 is different from the scanning positions by the laser beams L3, L6, L7, L8, L9, and L41. A scan is made.

Further, in Reference Example 4, the same rear-side first guide member as in Reference Example 3 (the first light guide member 412), the same rear-side second guide member as in Reference Example 3 (second light guide member 422 ) Are provided (see FIGS. 19 and 20). When the laser light from the deflection unit 41 enters the first light guide member 412 and the irradiation position of the laser light moves on the first light guide member 412 (that is, along the first light guide member 412). When the laser light is scanned), the laser light guided upward by the first light guide member 412 is scanned along the second light guide member 422 and reflected by the second light guide member 422. Scanning is performed so that the light L43 moves in the upper region of the deflection unit 41. Then, as shown in FIG. 21, at least in the virtual plane F1, the laser light L43 has a scanning position that is different from the scanning positions by the laser lights L3, L6, L7, L8, L9, L41, and L42. Is scanned.

In the reference example 4 , the plurality of first light guide members 413a and 413b illustrated in FIG. 20 correspond to an example of “the other side first light guide member”. Is reflected to the second light guide member 423a positioned directly above the first light guide member 413a, and the second light guide member 413b reflects the laser light from the deflecting unit 41 to reflect the first light guide member 413a. It leads to the second light guide member 423b located directly above the first light guide member 413a. The plurality of second light guide members 423a and 423b corresponds to an example of “the other side second light guide member”, and reflects the laser light guided by the first light guide members 413a and 413b to the front side. ing.

  When the laser light from the deflection unit 41 enters the first light guide member 413a and the irradiation position of the laser light moves on the first light guide member 413a (that is, along the first light guide member 413a). When the laser light is scanned), the laser light guided upward by the first light guide member 413a is scanned along the second light guide member 423a and reflected by the second light guide member 423a. Scanning is performed so that the light L44 moves in the upper region of the deflection unit 41. As shown in FIG. 21, at least in the virtual plane F1, the laser beam L44 has a scanning position that is different from the scanning positions by the laser beams L3, L6, L7, L8, L9, L41, L42, and L43. Scanning with the light L44 is performed.

  Further, when the laser light from the deflection unit 41 enters the first light guide member 413b and the irradiation position of the laser light moves on the first light guide member 413b (that is, along the first light guide member 413b). When the laser light is scanned), the laser light guided upward by the first light guide member 413b is scanned along the second light guide member 423b and reflected by the second light guide member 423b. Scanning is performed so that the light L45 moves in the upper region of the deflection unit 41. As shown in FIG. 21, at least in the virtual plane F1, the scanning position by the laser beam L45 is different from the scanning positions by the laser beams L3, L6, L7, L8, L9, L41, L42, L43, and L44. Then, scanning with the laser beam L45 is performed.

First Embodiment
Next, a first embodiment will be described.
FIG. 22 is an explanatory diagram schematically illustrating the laser radar device of the first embodiment, and shows a state in which the deflection member is removed. FIG. 23 is an explanatory diagram showing a state in which a deflection member is attached in the laser radar apparatus of FIG. 24A and 24B are explanatory views for explaining the attachment mechanism of the deflecting member. FIG. 24A is a view showing a state where the deflecting member is detached from the apparatus main body, and FIG. 24B is a view showing the deflecting member fixed to the apparatus main body. It is explanatory drawing which shows the state. FIGS. 25A and 25B are explanatory views for explaining the detection by the sensor. FIG. 25A is a diagram showing a state where the deflection member is detached from the apparatus main body, and FIG. 25B is a diagram illustrating the state where the deflection member is fixed to the apparatus main body. It is explanatory drawing which shows the state. 24, the case 3 is partially shown with a configuration in which the top of the fitting portion 521 is cut in the horizontal direction. In FIG. 25, the case 3 has a portion near the center of the fitting portion 521. The structure which cut | disconnected this to the vertical direction is shown roughly.

The laser radar device 500 according to the present embodiment includes all the features of Reference Example 1 , and further has a feature that the deflection member 80 is detachable from the device main body 502 including the rotation deflection mechanism 40. It is added. Therefore, except for detachable arrangement of the deflection member 80 is identical to the laser radar apparatus 1 of Reference Example 1, for these same parts are identified by the same reference numerals as in Reference Example 1, detailed description thereof will be omitted. In FIG 22, although conceptually illustrates case 3 with different shapes case 3 used in the laser radar apparatus 1 according to the reference example 1, case 3 may be the same shape as in Reference Example 1 .

As shown in FIGS. 22 and 23, in the present embodiment, the deflecting member 80 configured as a mirror and the fixing portion 511 configured by a metal plate or the like are integrated (for example, fixed and bonded by a fixing member such as a screw). A deflection member unit 510 that is integrated by a method such as bonding with a medium or the like, or forming as an integral part is detachably attached to the apparatus main body 502 of the laser radar apparatus 500. The apparatus main body 502 is a part obtained by removing the deflection member unit 510 from the laser radar apparatus 500, and specifically, the deflection member unit 510 is attached to the outer wall portion of the case 3. Incidentally, in the case 3 of the laser laser device 500, each part of the case 3 shown in FIG. 1 (part excluding the deflection member 80) are provided in the same manner as in Reference Example 1.

  The deflection member unit 510 is configured such that a plate-like fixing portion 511 is fixed along the outer wall of the case 3. In the example shown in FIG. 22 and the like, a fitting portion 521 that fits with the fixing portion 511 is formed at a predetermined position on the outer wall of the case 3, and FIGS. 24 (a), 24 (b) and 25 (a), (b). As shown in FIG. 4, the fixing portion 511 is inserted into the fitting portion 521 from above so that the fixing portion 511 and the fitting portion 521 are fitted, and in this fitting state, the fixing portion 511 is removed from a screw or the like. It is fixed to the case 3 by a fastening member. Further, the deflection member unit 510 is removed from the case 3 by removing the fastening member 531 and releasing the fitting state of the fixing portion 511 and the fitting portion 521 (that is, by removing the fixing portion 511 from the fitting portion 521). Can be removed from.

  In the present embodiment, as shown in FIG. 25, a sensor 541 for detecting the attachment of the deflection member 510 is provided in the vicinity of the attachment position of the deflection member unit 510. The sensor 541 is configured by, for example, a photo interrupter, and outputs a non-detection signal when the deflection member unit 510 is not attached as shown in FIG. 25A, and the deflection member as shown in FIG. When the unit 510 is mounted on the apparatus main body 502, a part of the deflection member unit 510 is detected and a detection signal is output. In the example of FIG. 25, the sensor 541 detects whether or not the lower end portion of the fixed portion 511 (a member connected to the deflection member) is present at a predetermined position (a position detected by the photo interrupter). Alternatively, another position of the deflecting member unit 510 (for example, a predetermined position of the deflecting member 80 or the like) may be detected.

  22 and 23 show only the deflecting member unit of one deflecting member (deflecting member 81), but the deflecting member unit of the other deflecting member (deflecting member 82) has the same configuration. It can be similarly attached to and detached from a fitting part (fitting part similar to the fitting part 521: not shown) provided in the case 3.

  Next, detection processing in the laser radar apparatus 500 according to the present embodiment will be described. In the present embodiment, a signal from the sensor 541 is input to the control circuit 70 (FIG. 1), and the detection mode is switched according to the type of this signal. Specifically, when the non-detection signal is output from the sensor 541 (that is, when the sensor 541 does not detect the mounting of the deflection member 80), the detection mode is set to the “two-dimensional detection mode”. Thus, when the two-dimensional detection mode is set, the detection process of the detection object is performed using a predetermined plane (plane passing through the position P1 and orthogonal to the central axis 42a: see FIG. 1) as a detection area. To do. Note that such horizontal detection processing is well known, and a detailed description thereof will be omitted.

When the detection signal is output from the sensor 541 (that is, when the attachment of the deflection member 80 is detected by the sensor 541), the detection mode is set to the “three-dimensional detection mode”. When the three-dimensional detection mode is detected, the detection processing of the detection object is performed by including at least one of the upper region and the lower region of the “predetermined plane” as the detection region. Specifically, when the deflection unit 41 is in the “second rotation range” described above, the scanning direction becomes the laser beams L4 and L5 (see FIG. 3 and the like) shown in the reference example 1 , and at this time Since the scanning areas are the scanning areas AR2 and AR3 (FIG. 4) shown in Reference Example 1 , the irradiation direction and distance at each rotation position are calculated based on the scanning direction and the scanning area. Become. In the present embodiment, the control circuit 70 corresponds to an example of “mode switching means” and “detection processing means”.

(Main effects of the first embodiment)
In the present embodiment, the deflecting member 80 can be attached to and detached from the apparatus main body 502 provided with the rotating deflection mechanism 40. In this way, detection using the deflecting member 80 and detection not using the deflecting member 80 can be used properly, and the convenience for the user can be effectively enhanced.

  In the present embodiment, a “mode switching unit” that switches between the two-dimensional detection mode and the three-dimensional detection mode, and when the two-dimensional detection mode is set by the “mode switching unit”, the center axis 42a is orthogonal. Detection processing of a detection object is performed by detecting a detection object using a predetermined plane as a detection area and including at least one of an upper area and a lower area of the predetermined plane when the “three-dimensional detection mode” is set. “Detection processing means” is provided. In this way, the two-dimensional detection process and the three-dimensional detection process can be properly used as necessary, and the convenience for the user can be greatly improved.

  In the present embodiment, a sensor 541 (detection means) for detecting the attachment of the deflection member 80 to the apparatus main body 502 is provided, and the “mode switching means” detects the attachment of the deflection member 80 by the sensor 541. When the attachment of the deflection member 80 is not detected, the mode is switched to the two-dimensional detection mode. In this way, since the three-dimensional detection mode can be automatically set when the deflection member 80 is mounted, the three-dimensional detection process using the deflection member 80 can be performed smoothly, and the deflection member 80 can be used. It is possible to avoid a situation where the two-dimensional detection mode is erroneously set when the is attached. On the other hand, since the two-dimensional detection mode can be automatically set when the deflection member 80 is not attached, the mode can be smoothly shifted to an appropriate mode when the deflection member 80 is not used, and when the deflection member 80 is not attached. A situation in which the three-dimensional detection mode is erroneously performed can be avoided.

  In the present embodiment, the sensor 541 (detection means) is configured by a photo interrupter that detects whether or not the deflection member 80 or a member connected to the deflection member 80 exists at a predetermined position. This makes it possible to accurately detect whether or not the deflection member 80 is mounted with a simple configuration.

[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 addition, although the configuration in which the photodiode 20 is provided in the direction in which the reflected light L2 is deflected by the deflecting unit (specifically, above the deflecting unit 41) is illustrated, the reflected light L2 from the deflecting unit 41 is the photodiode 20. If it is the structure which goes to, it will not be limited to this. For example, the photodiode 20 may be arranged at a position different from that in FIG. 1, and the reflected light L2 deflected by the deflecting unit 41 may be further reflected by a mirror or the like and incident on the photodiode 20.

  In the above embodiment, a mirror is exemplified as the deflecting member 80, but a half mirror or a prism may be used.

  In the above embodiment, the configuration in which the deflecting members 80 are disposed on both sides of the scanning area AR1 is illustrated, but the deflecting members may be disposed only on one side of the scanning area AR1.

  In the embodiment described above, an example in which two or four deflecting members are provided has been described, but only one deflecting member may be provided, or three or five or more deflecting members may be provided.

  Although the configuration in which the first light guide member guides the laser beam to the upper side of the deflection unit 41 is illustrated, the first light guide member may guide the laser beam to the lower side of the deflection unit 41. In this case, if the second light guide member corresponding to each first light guide member is disposed at a position lower than the lower end portion of the deflecting portion 41, the laser light is guided forward by the second light guide member. Good.

In the reference example 4 , two examples of the first light guide member on one side and the two second light guide members on the one side corresponding to these are shown. Three or more side second light guide members may be provided. Moreover, although the example which provided two other side 1st light guide members and provided the other 2nd side 2nd light guide members corresponding to these was shown, the other side 1st light guide member and the other side 2nd were shown. Three or more light guide members may be provided. In Reference Examples 3 and 4 , the rear first light guide member and the rear second light guide member are provided one by one, but a plurality of these (for example, two each) may be provided.

In the first embodiment, an example in which the deflecting member unit 510 is detachably attached to the apparatus main body 502 has been described. However, the detachable attachment example is not limited thereto. For example, the fixing portion 511 or the deflection member 80 may be directly fixed to the case 3 by a fastening portion seat such as a screw without providing the fitting portion 521.

In the first embodiment, the example in which the deflecting member 80 is detachable in the configuration of the laser racer device according to the reference example 1 is shown. However, in the laser radar device according to the reference examples 3 and 4 , the deflecting member 80 and the first light guide are used. The member may be detachable.

0
DESCRIPTION OF SYMBOLS 1,300,400,500 ... Laser radar apparatus 10 ... Laser diode (laser beam 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 (distance measuring means, alarm means, mode switching means, detection processing means)
DESCRIPTION OF SYMBOLS 80 ... Deflection member 81 ... 1st deflection member 82 ... 2nd deflection member 311,411a, 411b ... 1st light guide member (one side 1st light guide member)
312, 412 ... 1st light guide member (back side 1st light guide member)
313, 413a, 413b ... 1st light guide member (the other side 1st light guide member)
321, 421 a, 421 b... Second light guide member (one side second light guide member)
322, 422 ... second light guide member (rear side second light guide member)
323, 423a, 423b ... second light guide member (rear side second light guide member)
502: Device main body 541: Sensor (photo interrupter, detection means)

Claims (1)

Laser light generating means for 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;
A laser radar device comprising:
A deflection member that is detachable from the apparatus main body including the rotation deflection unit, and deflects the laser beam projected toward the space by the deflection unit;
When the deflecting means is in the first rotation range, the laser light is projected to the space without being deflected by the deflecting member,
When the deflection means is in the second rotation range, the laser beam is configured to be deflected by the deflection member;
The scanning area of the laser beam projected from the deflecting member in the second rotation range is at least either above or below the scanning area of the laser light from the deflecting means in the first rotation range. The deflection direction of the deflection member is set,
Furthermore, mode switching means for switching between the two-dimensional detection mode and the three-dimensional detection mode;
When the two-dimensional detection mode is set by the mode switching means, the detection object is detected using a predetermined plane orthogonal to the central axis as a detection region, and when the three-dimensional detection mode is set, Detection processing means for performing detection processing of the detection object including at least one of an upper region and a lower region of the predetermined plane as a detection region;
Detection means for detecting attachment of the deflection member to the apparatus body;
With
The mode switching means switches to the three-dimensional detection mode when mounting of the deflection member is detected by the detection means, and switches to the two-dimensional detection mode when mounting of the deflection member is not detected. Laser radar device.

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