JP2017009524A - Laser distance measurement module and laser distance measurement apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser distance measurement module and a laser distance measurement apparatus capable of accurately measuring the position of a measurement object by fixing positional relationship among optical components.SOLUTION: A distance measurement apparatus (1) has an optical component, which includes a light-emitting element (9), an up-raised mirror (5), a deflection member (2), a rotation support part (6), and a light receiving element (4). The optical component is assembled with a frame member (7) in a lateral U shape so as to fix the positional relationship.SELECTED DRAWING: Figure 1A

Description

  The present invention relates to a laser distance measuring module and a laser distance measuring apparatus that scan a laser beam to measure a distance from a measurement object.

  FIG. 7 is a cross-sectional view of a conventional laser distance measuring device 1010 described in Patent Document 1. In FIG. As shown in FIG. 7, the conventional laser distance measuring apparatus 1010 includes a light emitter 1012, a convex lens 1016, a deflection unit 1018, a convex lens 1024, a light receiving unit 1026, and a rotation support unit 1028. In addition, the components of the laser distance measuring device 1010 are covered with a cover 1044. The light emitter 1012 emits laser light 1014. The emitted laser light 1014 passes through the convex lens 1016 and enters the deflection unit 1018. The deflection unit 1018 includes a reflection surface that is inclined with respect to the incident direction of the laser light 1014. The laser beam 1014 is reflected by the reflecting surface of the deflection unit 1018, passes through the cover 1044, and is projected outside.

  The deflection unit 1018 is supported by the rotation support unit 1028 and is driven by a motor together with the rotation support unit 1028 to rotate around the rotation axis along the incident direction of the laser light 1014. As a result, the projecting direction of the laser beam 1014 continuously changes in a plane perpendicular to the rotation axis (horizontal plane on the paper). When an object is present in an area where the laser beam 1014 is projected (projection area), the laser beam 1014 is reflected by the object. Reflected light 1022 (diffuse reflected light) from the object passes through the cover 1044, is reflected by the reflecting surface of the deflection unit 1018, and then is received by the light receiving unit 1026. The laser distance measuring device 1010 measures (calculates) the angular position of the object based on the tilt angle of the reflecting surface of the deflection unit 1018. Further, the position of the object is measured (calculated) based on the time from when the laser beam 1014 is emitted until the reflected light 1022 is received. Since the reflection surface of the deflection unit 1018 is fixed, the inclination angle of the reflection surface cannot be adjusted.

JP 2013-160769 A (released on August 19, 2013)

  In the conventional laser distance measuring apparatus 1010, optical parts including the light emitter 1012, the convex lens 1016, the deflection unit 1018, the convex lens 1024, and the light receiving unit 1026 must be precisely aligned with each other.

  However, since the number of optical parts that must be precisely aligned with each other increases, the optical positional relationship between the optical parts tends to shift. As a result, there is a problem that the measurement accuracy of the position of the object by the laser distance measuring device 1010 is lowered.

  The present invention has been made in view of the above-described problems, and the purpose thereof is a laser distance in which the optical positional relationship between optical parts is fixed with high accuracy and the position of a measurement object can be measured with high accuracy. To provide a measurement module.

  In order to solve the above problems, a distance measurement module according to one aspect of the present invention includes a U-shaped frame member having a top plate portion, a bottom plate portion, and a side plate portion, and a light source portion fixed to the side plate portion. An optical path conversion unit that converts an optical path of laser light emitted from the light source unit, a support unit fixed to the side plate unit to support the optical path conversion unit, and an optical path converted by the optical path conversion unit. An optical path is converted by the optical path conversion unit having a first region that reflects incident laser light toward the measurement target, a second region that reflects the incident laser light reflected by the measurement target, and the optical path conversion unit. A rotation support portion fixed to the top plate portion to rotatably support the light reflection portion around a rotation axis along an incident direction of the laser beam, and a laser beam reflected by the second region. Said bottom plate part for receiving light And a fixed light receiving unit.

  According to one aspect of the present invention, the optical positional relationship between optical parts is fixed with high accuracy, and the position of the measurement target can be measured with high accuracy.

It is sectional drawing of the distance measuring device which concerns on Embodiment 1 of this invention. 1 is a perspective view of a distance measuring device according to Embodiment 1 of the present invention. (A) is sectional drawing of the deflection | deviation member with which the ranging device which concerns on Embodiment 1 of this invention was equipped, (b) is a front view of the deflection | deviation member in the state which removed the mirror, (c) is It is a front view of the deflection | deviation member in the state to which the mirror was attached. It is sectional drawing of the deflection | deviation member provided in the ranging apparatus which concerns on Embodiment 2 of this invention. It is sectional drawing of the deflection | deviation member provided in the ranging apparatus which concerns on Embodiment 3 of this invention. It is sectional drawing of the deflection | deviation member provided in the ranging apparatus which concerns on Embodiment 4 of this invention. It is a figure which shows the self-propelled robot which concerns on Embodiment 5 of this invention, and is a figure which shows a mode that the ranging device mounted in the self-propelled robot detects a level | step difference in the condition where a floor surface has a level | step difference. It is a figure which shows the self-propelled robot which concerns on Embodiment 5 of this invention, and is a figure which shows a mode that the ranging apparatus mounted in a self-propelled robot detects an obstruction in the condition where there exists an obstruction above a self-propelled robot. It is. It is sectional drawing of the conventional ranging device. It is a figure which shows the self-propelled robot provided with the conventional ranging apparatus, and is a figure which shows a mode that a ranging apparatus detects an obstruction in the condition where there exists an obstruction ahead of a self-propelled robot. It is a figure which shows the self-propelled robot provided with the conventional ranging apparatus, and is a figure which shows a mode that the ranging apparatus inclined by the tilt angle adjustment mechanism detects a level | step difference in the situation where a floor surface has a level | step difference.

Embodiment 1
Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1A to 2.

(Configuration of ranging device 1)
The configuration of the distance measuring device 1 (laser distance measuring device) according to the present embodiment will be described with reference to FIGS. 1A and 1B. FIG. 1A is a cross-sectional view of the distance measuring device 1, and FIG. 1B is a perspective view of a distance measuring module 100 (laser distance measuring module) provided in the distance measuring device 1. As shown in FIGS. 1A and 1B, the distance measuring module 100 of the distance measuring device 1 includes a light emitting element 9 (light source unit) that emits laser light LS (laser light includes a laser pulse), and deflects the laser light LS. And a light receiving element 4 (light receiving unit) that receives the reflected light RL from the measurement target. A lower portion 1A (including the bottom plate portion 7C of the frame member 7) of the distance measuring module 100 is accommodated in a housing 19 provided in the distance measuring device 1. Further, the upper portion 1 </ b> B of the distance measuring module 100 is covered with a cover member 3 provided in the distance measuring device 1. The cover member 3 is configured to be attachable to and detachable from the housing 19.

  As shown in FIG. 1B, the distance measuring module 100 has a configuration in which the cover member 3 and the housing 19 are removed from the distance measuring device 1.

  As shown in FIG. 1A, in the distance measuring device 1, between the light emitting element 9 and the deflecting member 2, a collimating lens 10 for converting the laser light LS emitted from the light emitting element 9 into parallel light and parallel light are obtained. A rising mirror 5 (optical path conversion unit) that deflects the laser light LS (that is, converts the optical path of the laser light LS) is provided. The laser beam LS deflected by the mirror 5 enters the deflecting member 2. The distance measuring device 1 further includes an arithmetic processing device (not shown) for obtaining a distance from the time difference between the time when the laser beam LS is emitted and the time when the light receiving element 4 receives the reflected light RS.

  As shown in FIG. 1A, the deflecting member 2 includes a mirror 14 (reflecting plate) that deflects the laser light LS, and an angle adjusting mechanism 13 that is provided to adjust the angle of the mirror 14. The mirror 14 is arranged in a state inclined with respect to the direction in which the laser beam LS is incident on the mirror 14 (vertical direction in FIG. 1A), and reflects the incident laser beam LS toward the outside. The deflection member 2 is fixed to a rotation support portion 6 that includes a motor that rotationally drives the deflection member 2 around a rotation axis Rx along the incident direction of the laser beam LS. The rotation support portion 6 supports the deflection member 2 and is fixed to a frame member 7 having a U-shape (a U-shaped frame member) in a rotatable state.

  The frame member 7 has a top plate portion 7A, a side plate portion 7B, and a bottom plate portion 7C. A rotation support portion 6 is fixed to the top plate portion 7A in a state where the deflection member 2 can be rotationally driven. The light emitting element 9 is fixed to the side plate portion 7B. Further, the lens 11 is fixed to the bottom plate portion 7C, and the light receiving element 4 is attached to a fixing member 24 fixed to the bottom plate portion 7C.

  The deflection member 2 is supported by the rotation support unit 6 while being rotated by a motor provided in the rotation support unit 6, so that the rotation axis Rx along the incident direction of the laser light LS (with respect to the deflection member 2) Rotate around.

  As shown in FIG. 1A, a passing member 8 having a bent cylindrical opening is fixed to the deflection member 2. The laser light LS reflected by the rising mirror 5 enters the passage member 8 from the first opening of the passage member 8. In the passing member 8, the laser beam LS is reflected by the first region 14 </ b> A (see FIG. 1B) of the mirror 14 and then emitted from the second opening of the passing member 8. Thereafter, the laser light LS passes through the cover member 3 and is projected to the external space. Thereafter, the laser light LS is reflected by the surface of an external object (measurement target), thereby generating reflected light RL (hereinafter referred to as diffusely reflected light RL to distinguish it from the light reflected by the mirror 14). Let Part of the diffusely reflected light RL from the object passes through the cover member 3 and enters the distance measuring device 1. After that, the diffusely reflected light RL is reflected by the second region 14B (see FIG. 1B) of the mirror 14 of the deflecting member 2, and then condensed by the lens 11 fixed to the bottom plate portion 7C of the frame member 7. 4 is incident.

  The collimating lens 10 and the raising mirror 5 are fixed to the side plate portion 7B of the frame member 7 via the support portion 23. In FIG. 1B, the support 23 and the fixing member 24 are omitted for the sake of simplicity of display.

  The light shielding member 12 is disposed adjacent to the lower side of the passage member 8 and shields stray light generated by a part of the laser light LS being reflected by the cover member 3.

  The light emitting element 9 is disposed at a position where the angle of the laser light LS deflected by the rising mirror 5 is substantially vertical and the laser light LS is substantially parallel light. Further, the light emitting element 9 is fixed to the side plate portion 7B of the frame member 7 together with a light emitting element control board (not shown) through a connecting member (not shown) or directly. The frame member 7 is configured such that the rotation axis Rx of the rotation support portion 6, the optical axis of the laser light LS deflected by the rising mirror 5, and the optical axis of the lens 11 are coincident with each other.

(Angle adjustment mechanism 13 of deflection member 2)
FIG. 2A is a cross-sectional view of the deflecting member 2. 2B and 2C are front views of the deflecting member 2 viewed from the side of the support surface 17 on which the mirror 14 is supported (the direction in which the laser light LS and the diffuse reflected light RL are incident). FIG. 2B shows the deflecting member 2 with the mirror 14 removed, and FIG. 2C shows the deflecting member 2 with the mirror 14 attached.

  As shown in (a) to (c) of FIG. 2, two protrusions 20 and one protrusion 21 protrude from the support surface 17 of the deflection member 2. Since the two protrusions 20 are fixed to the support surface 17, the height (projection amount) remains unchanged. On the other hand, as will be described later, the protrusion amount of one protrusion 21 is variable. The back surface of the mirror 14 is in contact with the projections 20 and 21. The inclination angle of the mirror 14 in the pitching direction P is determined by the difference between the height of the protrusion 20 and the relative height of the protrusion 21. The user can adjust the tilt angle of the mirror 14 in the pitching direction by operating the angle adjustment mechanism 13.

  In this specification, the “pitching direction” is an axis perpendicular to the rotation axis Rx and the circumference around the pitching axis Px representing the axis existing on the surface of the mirror 14 as shown in FIG. 1A. It means direction. The “tilt angle in the pitching direction” means the angle θ around the pitching axis Px.

(Adjustment method of the inclination angle of the mirror 14)
In the present embodiment, the angle adjustment mechanism 13 includes two protrusions 20 and a set screw with a slit forming the protrusion 21 (JIS B0101-2406 (Imo screw), hereinafter referred to as “set screw”) 15 (screw). It consists of. The user presses the mirror 14 toward the support surface 17 of the deflecting member 2 with a jig so that the mirror 14 comes into contact with the protrusion 20 and the protrusion 21 (that is, the tip of the set screw 15). Then, the height (projection amount) of the protrusion 21 is changed by performing an operation of turning the set screw 15 from the back side of the mirror 14 (the side opposite to the reflecting surface of the mirror 14) ((a in FIG. 2). )reference). Thereby, since the relative height of the protrusion 21 with respect to the height of the protrusion 20 changes, the inclination angle of the mirror 14 in the pitching direction P is finely adjusted. Thereafter, the mirror 14 and the two protrusions 20, and the mirror 14 and the protrusions 21 are formed using, for example, an ultraviolet curable resin so that the inclination angle of the mirror 14 is maintained without being pressed by a jig. Each is glued.

  Further, the user can expose the set screw 15 of the angle adjusting mechanism 13 by removing the cover member 3 shown in FIG. 1A. The tilt angle of the mirror 14 in the pitching direction P can be adjusted by performing the above-described turning operation on the set screw 15 of the exposed angle adjusting mechanism 13. Therefore, the user can adjust the tilt angle of the mirror 14 in accordance with a request or specification on the side of the self-running robot V (FIGS. 6A and 6B) described later. Here, the light emitting element 9, the collimating lens 10, and the raising mirror 5 are fixed to the side plate portion 7B of the frame member 7 via an optical holder (not shown). Further, the deflection member 2 and the rotation support portion 6 are also fixed to the top plate portion 7A of the frame member 7. Therefore, even when the cover member 3 is removed, the positional relationship of the optical members attached to the frame member 7 is maintained. Therefore, it is possible to maintain a state in which the positional relationship of the optical system of the distance measuring device 1 is adjusted with high accuracy.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  In the present embodiment, a configuration in which the set screw 15 configuring the angle adjusting mechanism 13 of the first embodiment is replaced by a knurled screw 16 (screw) will be described.

  FIG. 3 is a side view of the deflection member 2 according to the present embodiment. As shown in FIG. 3, a knurled screw 16 is attached to the deflecting member 2 instead of the set screw 15 (see FIG. 2A). The knurled screw 16 has a cylindrical head. On the outer peripheral side surface of the head of the knurled screw 16, a groove-like anti-slip is formed along the axial direction. Therefore, the user can easily turn the knurled screw 16 by pinching the anti-slip by hand. Therefore, the user can adjust the inclination angle of the mirror 14 without using a tool such as a screwdriver or a hexagon wrench.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  In the present embodiment, an example in which a part of the deflecting member 2 of the first embodiment is configured by a leaf spring will be described. Other configurations of the deflection member 2 are the same as those of the deflection member 2 of the first embodiment.

  FIG. 4 is a side view of the deflection member 2 according to the present embodiment. As shown in FIG. 4, the deflection member 2 includes a leaf spring portion 18 that is formed to face the support surface 17. A mirror 14 is provided on the surface of the leaf spring 18 opposite to the support surface 17. The leaf spring portion 18 presses the tip of the set screw 15 toward the support surface 17 by an elastic force caused by bending elastic deformation. Therefore, the tilt angle of the mirror 14 is changed by the rotation of the set screw 15 even when there is no press by the jig. Therefore, the deflection member 2 has an advantage that the workability when the user rotates the set screw 15 in order to adjust the pitching angle of the mirror 14 is good. The angle adjusting mechanism 13 may include the knurled screw 16 described in the second embodiment, instead of the set screw 15 shown in FIG.

[Embodiment 4]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  In the first embodiment, the configuration in which the angle adjustment mechanism 13 includes two fixed protrusions 20 and one protrusion 21 that can be adjusted in height has been described. In the present embodiment, a configuration in which the angle adjustment mechanism 13 includes three protrusions 21 whose height can be adjusted will be described.

  FIG. 5 is a side view of the deflection member 2 according to the present embodiment. As shown in FIG. 5, the deflecting member 2 includes three set screws 15 that constitute the angle adjusting mechanism 13. However, in FIG. 5, one set screw 15 is not shown because it is in a position hidden behind the other set screw 15.

  The user can not only adjust the pitching angle of the mirror 14 by adjusting the height of the three set screws 15, that is, the height at which the set screw 15 protrudes from the support surface 17 of the deflecting member 2, The position of the reflecting surface of the mirror 14 can also be moved based on the offset amount. The angle adjusting mechanism 13 may include the knurled screw 16 described in the second embodiment, instead of the set screw 15 shown in FIG.

[Embodiment 5]
The following will describe another embodiment of the present invention with reference to FIGS. 6A and 6B. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

  The distance measuring device is used for environment mapping as “eyes” of a self-running robot such as an AGV (Automatic Guided Vehicle) or a cleaning robot. Here, the environmental mapping means that the distance measuring device as the “eyes” of the self-propelled robot discovers obstacles and steps around the self-propelled robot (wide detection), and detects the obstacles and steps detected. Means to create an environment map with the location indicated.

  In this embodiment, as an application example of the present invention, a self-propelled robot V provided with the distance measuring device 1 of any of the first to fourth embodiments will be described.

(Application example for self-propelled robot V)
FIG. 6A is a diagram showing the self-propelled robot V according to the present embodiment, and shows a state in which the distance measuring device 1 mounted on the self-propelled robot V detects the step in a situation where there is a step on the floor surface. is there. FIG. 6B is a diagram showing the self-propelled robot V according to the fifth embodiment. In a situation where there is an obstacle above the self-propelled robot V, the distance measuring device 1 mounted on the self-propelled robot V is obstructed. It is a figure which shows a mode that an object is detected.

  In FIG. 6A, the distance measuring device 1 projects the laser beam LS and measures the positions of a plurality of steps on the floor surface. In FIG. 6B, the distance measuring device 1 projects the laser light LS and measures the positions of a plurality of obstacles above the self-propelled robot V.

  As shown in FIG. 6A, when there is a step on the floor on which the self-running robot V moves, the user can mirror the laser beam LS so that the laser beam LS is projected obliquely downward (as described in the first embodiment). The inclination angle of 14 is adjusted. Thereby, the laser beam LS is projected in an umbrella shape from the distance measuring device 1. As a result, the distance measuring device 1 can detect a step in the light projection area and measure the position of the step.

  As shown in FIG. 6B, when there is an obstacle above the self-propelled robot V, the user can set the mirror 14 so that the laser beam LS is projected obliquely upward (as described in the first embodiment). Adjust the tilt angle. As a result, the laser beam LS is projected from the distance measuring device 1 in an umbrella shape with the top and bottom inverted. As a result, since the obstacle is included in the projection area of the laser beam LS, the distance measuring apparatus 1 can detect the obstacle in the projection area and measure the position of the obstacle. It becomes like this.

(Comparison with conventional technology)
FIG. 8A is a diagram showing a self-propelled robot V equipped with a conventional laser distance measuring device 1000. In a situation where there is an obstacle in front of the self-propelled robot V, the laser distance measuring device 1000 detects an obstacle. FIG. FIG. 8B is a diagram showing a self-propelled robot V equipped with a conventional laser distance measuring device 1000, and shows how the laser distance measuring device 1000 detects a step in a situation where there is a step on the floor surface. is there.

  As shown in FIG. 8A, the laser distance measuring apparatus 1000 can detect a low-profile obstacle around the self-running robot V by irradiating the laser light LS around the self-running robot V. However, the conventional laser distance measuring apparatus 1000 does not include the angle adjustment mechanism 13 (see FIG. 1A). Therefore, the laser distance measuring apparatus 1000 cannot change the light projection direction of the laser light LS, and therefore cannot detect, for example, a step on the floor surface.

  As shown in FIG. 8B, when the laser distance measuring device 1000 is tilted using the tilt angle adjusting mechanism s, the laser light LS is projected in the direction of projection, so the laser distance measuring device 1000 detects a step on the floor surface. Will be able to. However, for this purpose, there is a problem that the cost of the self-propelled robot V increases because the self-propelled robot V needs to include the angle adjustment mechanism s.

  On the other hand, the self-propelled robot V provided with the distance measuring device 1 according to any one of the first to fourth embodiments uses the distance measuring device 1 and does not need to additionally include the tilt angle adjusting mechanism s. Steps and information obstacles can be detected.

[Summary]
A laser distance measurement module (ranging module 100) according to aspect 1 of the present invention includes a U-shaped frame member (7) having a top plate portion (7A), a bottom plate portion (7C), and a side plate portion (7B), A light source part (light emitting element 9) fixed to the side plate part (7C) and an optical path converting part (rising mirror 5) for converting the optical path of laser light (LS) emitted from the light source part (light emitting element 9). The optical path is converted by the support part (23) fixed to the side plate part (7B) to support the optical path conversion part (rise mirror 5) and the optical path conversion part (rise mirror 5). Light having a first region (14A) that reflects incident laser light (LS) toward the measurement target and a second region (14B) that reflects incident laser light (RL) reflected by the measurement target Reflector (deflection member 2) and the light To rotatably support the light reflecting portion (deflection member 2) around the rotation axis (Rx) along the incident direction of the laser beam (LS) whose optical path has been converted by the conversion portion (rise mirror 5). A rotation support portion (6) fixed to the top plate portion (7A) and a light reception fixed to the bottom plate portion (7C) to receive the laser beam (RL) reflected by the second region (14B). Part (light receiving element 4).

  According to said structure, the optical part which comprises a laser distance measurement module is attached to the U-shaped frame member. Therefore, since the positional relationship of the optical parts is difficult to shift, the accuracy of the optical system formed by the optical parts can be maintained in a good state. Accordingly, an error is unlikely to occur in the direction of the laser beam projected toward the measurement target, and the position of the measurement target can be measured with high accuracy.

  In the laser distance measurement module (ranging module 100) according to aspect 2 of the present invention, in the above aspect 1, the light reflecting portion (deflection member 2) includes a reflector (mirror 14) inclined in the pitching direction (P). And an angle adjusting mechanism (13) provided for adjusting the inclination angle of the reflecting plate (mirror 14) in the pitching direction.

  According to said structure, a laser beam is reflected toward a measuring object by the reflecting plate inclined in the pitching direction. In addition, the angle adjustment mechanism adjusts the pitching direction to adjust the tilt angle of the reflector, and as a result, the reflection angle of the laser light is adjusted. Therefore, the reflection angle of the laser beam can be adjusted in accordance with the angular position of the measurement target so that the measurement target is irradiated with the laser beam.

  The laser distance measurement module (ranging module 100) according to aspect 3 of the present invention is the above-described aspect 2, wherein the angle adjustment mechanism (13) is a plurality of protrusions protruding from the support surface (17) of the rotation support part (6). And the angle of inclination of the reflector (mirror 14) is adjusted by changing the amount of protrusion of at least one of the plurality of protrusions (20, 21). You may be comprised so that it can do.

  According to said structure, the inclination angle of a reflecting plate can be adjusted and the reflection angle of a laser beam can be adjusted by changing the projection amount of the projection part which comprises an angle adjustment mechanism.

  The laser distance measurement module according to aspect 4 of the present invention is the laser distance measurement module according to aspect 3, in which the protrusions (20, 21) have screws (set screws 15, knurled screws 16), and the angle adjustment mechanism (13) includes: The amount of protrusion of the protrusions (20, 21) is changed by rotating the screws (set screw 15, knurled screw 16) from the opposite side of the support surface (17) with respect to the rotation support portion (6). It may be configured to be able to.

  According to said structure, the inclination angle of a reflecting plate can be adjusted and the reflection angle of a laser beam can be adjusted with simple operation of rotating a screw.

  A laser distance measuring device (ranging device 1) according to aspect 5 of the present invention includes a laser distance measuring module (ranging module 100) according to aspect 2 and a bottom plate part (7) of the U-shaped frame member (7). 7C) and a cover member (3) removably attached to the housing (19) so as to cover the laser distance measuring module (ranging module 100), With the cover member (3) removed from the housing (19), the angle adjustment mechanism (13) is exposed to the outside of the laser distance measurement module (ranging module 100).

  According to said structure, there can exist an effect similar to the laser distance measurement module which concerns on this invention. Moreover, the user can access the exposed angle adjusting mechanism by removing the cover member, and can adjust the inclination direction of the reflecting surface of the light reflecting portion. Therefore, there is an advantage that it is not necessary to remove the laser distance measuring module from the laser distance measuring device or to disassemble the laser distance measuring device in order to adjust the pitching direction.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

1 Distance measuring device (Laser distance measuring device)
100 Ranging module (Laser distance measuring device)
2 Deflection member (light reflector)
3 Cover member 4 Light receiving element (light receiving part)
5 Start-up mirror (optical path converter)
6 Rotating support 7 Frame member (U-shaped frame member)
7A Top plate part 7B Side plate part 7C Bottom plate part 9 Light emitting element (light source part)
13 Angle adjustment mechanism 14 Mirror (reflector)
14A 1st field 14B 2nd field 15 Set screw (screw)
16 Knurled screw
19 Housing 20 Protruding part 21 Protruding part 23 Supporting part P Pitching direction LS Laser light

Claims (5)

A U-shaped frame member having a top plate portion, a bottom plate portion, and a side plate portion;
A light source part fixed to the side plate part;
An optical path conversion unit that converts an optical path of laser light emitted from the light source unit;
A support part fixed to the side plate part to support the optical path conversion part;
A light reflecting portion having a first region that reflects incident laser light having its optical path converted by the optical path changing portion toward a measurement target, and a second region that reflects incident laser light reflected by the measurement target. When,
A rotation support portion fixed to the top plate portion to rotatably support the light reflection portion around a rotation axis along the incident direction of the laser beam whose optical path is converted by the optical path conversion portion;
A laser distance measurement module, comprising: a light receiving portion fixed to the bottom plate portion for receiving the laser light reflected by the second region. The light reflecting portion includes a reflector inclined in the pitching direction,
The laser distance measuring module according to claim 1, further comprising an angle adjusting mechanism provided to adjust an inclination angle of the reflecting plate in the pitching direction.   The angle adjustment mechanism has a plurality of protrusions protruding from the support surface of the rotation support part, and tilts the reflector by changing the amount of protrusion of at least one of the plurality of protrusions. The laser distance measurement module according to claim 2, which is configured to be able to adjust an angle. The protrusion has a screw;
The said angle adjustment mechanism is comprised so that the protrusion amount of the said projection part can be changed by rotating the said screw from the opposite side of the said support surface with respect to the said rotation support part. Laser distance measurement module. A laser distance measuring module according to claim 2;
A housing that houses a bottom plate portion of the U-shaped frame member;
A cover member detachably attached to the housing so as to cover the laser distance measurement module;
The laser distance measuring device, wherein the angle adjusting mechanism is exposed to the outside of the laser distance measuring module in a state where the cover member is removed from the casing.

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