JP3689399B2

JP3689399B2 - Object detection device for moving objects

Info

Publication number: JP3689399B2
Application number: JP2002321085A
Authority: JP
Inventors: 隼人菊池
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2002-11-05
Filing date: 2002-11-05
Publication date: 2005-08-31
Anticipated expiration: 2022-11-05
Also published as: JP2004156948A

Description

【０００１】
【発明の属する技術分野】
本発明は、移動体に取り付けられて該移動体の進行方向に送信用および受信用の窓部を有するハウジングと、ハウジング内に配置されて前記進行方向の所定領域に向けて電磁波を送信する送信手段と、ハウジング内に配置されて前記所定領域に存在する物体により反射された反射波を受信する受信手段とを備えた移動体用物体検知装置に関する。
【０００２】
【従来の技術】
ＡＣＣシステム（アダプティブ・クルーズ・コントロール・システム）、Ｓｔｏｐ＆Ｇｏシステム（渋滞追従システム）、車間警報システム等に使用されるレーダー装置を車体に取り付ける場合、そのレーダー装置の軸線が予め設定した方向を正しく指向していないと、隣車線の対向車を誤検知してシステムが誤作動したり、路面、陸橋、看板だけを検知して先行車を検知しないためにシステムが作動しないという問題が発生する。
【０００３】
そこで、レーダー装置を車体に対して角度調整自在に取り付け、軸調整テスタやデジタル水準器でレーダー装置の軸線のずれを検出して、そのずれを修正するようにレーダー装置の車体に対する取付角度を調整するものが、下記特許文献１により公知である。
【０００４】
また車体に対して固定したレーダー装置の走査範囲の一部を、目標とする軸線を正しく指向する検知範囲として電気的に設定することにより、レーダー装置の車体に対する取付角度を調整することなく軸調整を行えるようにしたものが、下記特許文献２により公知である。
【０００５】
【特許文献１】
特開平１１−３２６４９５号公報
【特許文献２】
特開平９−１７８８５６号公報
【０００６】
【発明が解決しようとする課題】
ところで、上記特許文献１に記載されたものは、レーダー装置を車体に対して角度調整自在に取り付けるためのブラケットの構造が複雑であるばかりか、調整ボルトを回転させて角度調整を行う作業が面倒であった。
【０００７】
また上記特許文献２に記載されたものは、レーダー装置の走査範囲の一部を検知範囲として設定するので、走査範囲の残りの一部が物体の検知に利用できなくなり、しかもレーダー制御ユニットが検知範囲を設定するためのソフト処理が複雑になるという問題があった。
【０００８】
本発明は前述の事情に鑑みてなされたもので、物体検知装置の上下方向の軸調整を簡単な構造で、かつ短時間で行えるようにすることを目的とする。
【０００９】
【課題を解決するための手段】
上記目的を達成するために、請求項１に記載された発明によれば、移動体に取り付けられて該移動体の進行方向に送信用および受信用の窓部を有するハウジングと、ハウジング内に配置されて前記進行方向の所定領域に向けて電磁波を送信する送信手段と、ハウジング内に配置されて前記所定領域に存在する物体により反射された反射波を受信する受信手段とを備えた移動体用物体検知装置において、前記受信手段が、ハウジング内に固定されて反射波を受信する受信部と、受信部に反射波を指向させるとともに、ハウジングに軸部材を介して上下揺動可能に軸支されて、自由状態で反射波の受信軸が重力の方向に対して所定角度を成すレンズと、レンズを揺動不能な固定状態と揺動可能な自由状態とに切り換え可能であり、物体検知時には固定状態に、軸調整時には所定時間自由状態に切り換える固定手段とを備えたことを特徴とする移動体用物体検知装置が提案される。
【００１０】
上記構成によれば、物体検知装置のハウジング内に設けた受信手段の受信部に反射波を指向させるレンズを、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、レンズを所定時間自由状態にして受信軸の方向を重力の方向に対して所定角度に調整した後、レンズを固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００１１】
また請求項２に記載された発明によれば、移動体に取り付けられて該移動体の進行方向に送信用および受信用の窓部を有するハウジングと、ハウジング内に配置されて前記進行方向の所定領域に向けて電磁波を送信する送信手段と、ハウジング内に配置されて前記所定領域に存在する物体により反射された反射波を受信する受信手段とを備えた移動体用物体検知装置において、前記受信手段が、反射波を受信する受信部と、受信部に反射波を指向させるレンズと、受信部およびレンズを保持するとともに、ハウジングに軸部材を介して上下揺動可能に軸支されて、自由状態で反射波の受信軸が重力の方向に対して所定角度を成す保持手段と、保持手段を揺動不能な固定状態と揺動可能な自由状態とに切り換え可能であり、物体検知時には固定状態に、軸調整時には所定時間自由状態に切り換える固定手段とを備えたことを特徴とする移動体用物体検知装置が提案される。
【００１２】
上記構成によれば、物体検知装置のハウジング内に設けた受信手段の受信部およびレンズを保持する保持手段を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、受信部およびレンズを所定時間自由状態にして受信軸の方向を重力の方向に対して所定角度に調整した後、受信部およびレンズを固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができ、しかも軸調整によって受信部およびレンズの位置関係が変化しないので、レンズを通過した反射波を確実に受信部に指向させることができる。
【００１３】
また請求項３に記載された発明によれば、移動体に取り付けられて該移動体の進行方向に送信用および受信用の窓部を有するハウジングと、ハウジング内に配置されて前記進行方向の所定領域に向けて電磁波を送信する送信手段と、ハウジング内に配置されて前記所定領域に存在する物体により反射された反射波を受信する受信手段とを備えた移動体用物体検知装置において、前記送信手段が、ハウジング内に固定されて電磁波を送信する送信部と、送信部から送信された電磁波を前記所定領域に向けて変向させるとともに、ハウジングに軸部材を介して上下揺動可能に軸支されて、自由状態で電磁波の送信軸が重力の方向に対して所定角度を成す変向手段と、変向手段を揺動不能な固定状態と揺動可能な自由状態とに切り換え可能であり、物体検知時には固定状態に、軸調整時には所定時間自由状態に切り換える固定手段とを備えたことを特徴とする移動体用物体検知装置が提案される。
【００１４】
上記構成によれば、物体検知装置のハウジング内に設けた送信手段から送信された電磁波を所定領域に向けて変向させる変向手段を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、変向手段を所定時間自由状態にして送信軸の方向を重力の方向に対して所定角度に調整した後、変向手段を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００１５】
また請求項４に記載された発明によれば、移動体に取り付けられて該移動体の進行方向に送信用および受信用の窓部を有するハウジングと、ハウジング内に配置されて前記進行方向の所定領域に向けて電磁波を送信する送信手段と、ハウジング内に配置されて前記所定領域に存在する物体により反射された反射波を受信する受信手段とを備えた移動体用物体検知装置において、前記送信手段が、電磁波を送信する送信部と、送信部から送信された電磁波を前記所定領域に向けて変向させる変向手段と、送信部および変向手段を保持するとともに、ハウジングに軸部材を介して上下揺動可能に軸支されて、自由状態で電磁波の送信軸が重力の方向に対して所定角度を成す保持手段と、保持手段を揺動不能な固定状態と揺動可能な自由状態とに切り換え可能であり、物体検知時には固定状態に、軸調整時には所定時間自由状態に切り換える固定手段とを備えたことを特徴とする移動体用物体検知装置が提案される。
【００１６】
上記構成によれば、物体検知装置のハウジング内に設けた送信手段の送信部および変向手段を保持する保持手段を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、送信部および変向手段を所定時間自由状態にして送信軸の方向を重力の方向に対して所定角度に調整した後、送信部および変向手段を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができ、しかも軸調整によって送信部および変向手段の位置関係が変化しないので、送信部から出た電磁波を変向手段で変向させて確実に所定領域に指向させることができる。
【００１７】
また請求項５に記載された発明によれば、移動体に取り付けられて該移動体の進行方向に送信用および受信用の窓部を有するハウジングと、ハウジング内に配置されて前記進行方向の所定領域に向けて電磁波を送信する送信手段と、ハウジング内に配置されて前記所定領域に存在する物体により反射された反射波を受信する受信手段とを備えた移動体用物体検知装置において、前記受信手段が、電磁波を受信するとともに、ハウジングに軸部材を介して上下揺動可能に軸支されて、自由状態で反射波の受信軸が重力の方向に対して所定角度を成す受信部と、受信部を揺動不能な固定状態と揺動可能な自由状態とに切り換え可能であり、物体検知時には固定状態に、軸調整時には所定時間自由状態に切り換える固定手段とを備えたことを特徴とする移動体用物体検知装置が提案される。
【００１８】
上記構成によれば、物体検知装置のハウジング内に設けた受信手段の受信部を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、受信部を所定時間自由状態にして受信軸の方向を重力の方向に対して所定角度に調整した後、受信部を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００１９】
また請求項６に記載された発明によれば、移動体に取り付けられて該移動体の進行方向に送信用および受信用の窓部を有するハウジングと、ハウジング内に配置されて前記進行方向の所定領域に向けて電磁波を送信する送信手段と、ハウジング内に配置されて前記所定領域に存在する物体により反射された反射波を受信する受信手段とを備えた移動体用物体検知装置において、前記送信手段が、電磁波を送信するとともに、ハウジングに軸部材を介して上下揺動可能に軸支されて、自由状態で電磁波の送信軸が重力の方向に対して所定角度を成す送信部と、送信部を揺動不能な固定状態と揺動可能な自由状態とに切り換え可能であり、物体検知時には固定状態に、軸調整時には所定時間自由状態に切り換える固定手段とを備えたことを特徴とする移動体用物体検知装置が提案される。
【００２０】
上記構成によれば、物体検知装置のハウジング内に設けた送信手段の送信部を、軸部材を介してハウジングに上下揺動可能に軸支して固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、送信部を所定時間自由状態にして送信軸の方向を重力の方向に対して所定角度に調整した後、送信部を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００２１】
また請求項７に記載された発明によれば、請求項１〜請求項６の何れか１項の構成に加えて、前記重力の方向に対して成す所定角度は９０°であることを特徴とする移動体用物体検知装置が提案される。
【００２２】
上記構成によれば、送信軸あるいは受信軸が重力の方向に対して成す角度を９０°とすることで、送信軸あるいは受信軸を水平方向に調整することができる。
【００２３】
また請求項８に記載された発明によれば、請求項１〜請求項７の何れか１項の構成に加えて、前記所定時間は、固定手段が固定状態から自由状態になったときに揺動が収まるまでに要する時間であることを特徴とする移動体用物体検知装置が提案される。
【００２４】
上記構成によれば、固定手段が固定状態から自由状態になってから所定時間が経過して揺動が収まるのを待つので、送信軸あるいは受信軸が重力の方向に対して正確に所定角度を成すように調整することができる。
【００２５】
また請求項９に記載された発明によれば、請求項１〜請求項８の何れか１項の構成に加えて、前記固定手段は、固定対象物を押圧して固定するものであることを特徴とする移動体用物体検知装置が提案される。
【００２６】
上記構成によれば、固定手段で固定対象物を押圧して固定することにより、固定対象物を確実に固定することができる。
【００２７】
また請求項１０に記載された発明によれば、請求項１〜請求項９の何れか１項の構成に加えて、前記固定手段は、軸部材の回転を拘束するものであることを特徴とする移動体用物体検知装置が提案される。
【００２８】
上記構成によれば、固定手段で軸部材の回転を拘束することにより、軸部材を確実に拘束することができる。
【００２９】
尚、実施例の送光部１は本発明の送信部に対応し、実施例の受光部４は本発明の受信部に対応し、実施例の送光ミラー１３は本発明の変向手段に対応し、実施例の受光レンズ１７は本発明のレンズに対応し、実施例のレンズホルダ３１は本発明の保持手段に対応し、実施例のモータホルダ５４は本発明の保持手段に対応し、実施例のソレノイド３８、モータ４５、操作ロッド４７、ソレノイド５３およびソレノイド７０は本発明の固定手段に対応し、実施例の平面送信アンテナ６１は本発明の送信部に対応し、実施例の平面受信アンテナ６２は本発明の受信部に対応する。
【００３０】
【発明の実施の形態】
以下、本発明の実施の形態を、添付図面に示した本発明の実施例に基づいて説明する。
【００３１】
図１〜図７は本発明の第１実施例を示すもので、図１はレーダー装置のブロック図、図２はレーダー装置の斜視図、図３は受信手段の三面図、図４はレーダー装置の車体への取付状態を示す図、図５は軸調整の手順を説明するフローチャート、図６は軸調整時の作用説明図、図７はハウジングと受光レンズの受信軸との関係を説明する図である。
【００３２】
第１実施例は請求項１に記載された発明に対応するもので、図１および図２に示すように、自車前方の物体の距離および方向を検知するためのレーダー装置Ｓｒは、送光部１と、送光走査部２と、受光レンズ部３と、受光部４と、距離計測処理部５とから構成される。送光部１および送光走査部２は送信手段Ｔを構成し、受光レンズ部３および受光部４は受信手段Ｒを構成する。
【００３３】
送光部１は、送光レンズを一体に備えたレーザーダイオード１１と、レーザーダイオード１１を駆動するレーザーダイオード駆動回路１２とを備える。送光走査部２は、レーザーダイオード１１が出力したレーザービームを反射させる送光ミラー１３と、送光ミラー１３を回動軸１４回りに往復回動させるモータ１５と、モータ１５の駆動を制御するモータ駆動回路１６とを備える。上記送信手段Ｔの送光ミラー１３から出る送光ビームは左右幅が制限されて上下方向に細長いパターンを持ち、それが所定周期で左右方向に往復移動して物体を走査する。
【００３４】
受光部４は、受光レンズ部３に設けられた受光レンズ１７で収束させた反射波を受けて電気信号に変換するフォトダイオード１８と、フォトダイオード１８の出力信号を増幅する受光アンプ回路１９とを備える。上記受信手段Ｒは、上下方向および左右方向に所定の角度で広がる受光エリアを備える。
【００３５】
距離計測処理部５は、前記レーザーダイオード駆動回路１２やモータ駆動回路１６を制御する制御回路２４と、ＡＣＣシステムやＳｔｏｐ＆Ｇｏシステムの電子制御ユニット２５との間で通信を行う通信回路２６と、レーザービームの送光から受光までの時間をカウントするカウンタ回路２７と、物体までの距離および物体の方向を算出する中央演算処理装置２８とを備える。
【００３６】
しかして、送光ビームが送光されてから、該送光ビームが物体に反射された反射波が受光されるまでの時間に基づいて物体までの距離が検知され、そのときの送光ビームが送光方向に基づいて物体の方向が検知される。
【００３７】
図３から明らかなように、受信手段Ｒは合成樹脂製の受光レンズ１７を備えており、その中央に同心円状のフレネルレンズ１７ａが一体に形成される。受光レンズ１７の下側の周縁部はウエイトを兼ねるコ字状のレンズホルダ３１に支持されており、レンズホルダ３１の上部にはフレネルレンズ１７ａの中心を通って左右方向に延びる一対の軸部材３２，３２が設けられる。レーダー装置Ｓｒのハウジング３３（図２参照）は、その前面に物体からの反射波を通過させる窓部３３ａが設けられており、受光レンズ１７およびレンズホルダ３１の組立体は軸部材３２，３２によってハウジング３３に回転自在に支持される。受光レンズ１７およびレンズホルダ３１の組立体の重心Ｇは軸部材３２，３２の下方であって受光レンズ１７の厚さ方向中心に位置している。従って、受光レンズ１７およびレンズホルダ３１の組立体が軸部材３２，３２まわりに自由に揺動可能なとき、その重心Ｇは軸部材３２，３２の鉛直方向下方に在り、このとき受光レンズ１７の受信軸Ｌｒは水平になる。
【００３８】
レンズホルダ３１の下方に配置されたレバー状のストッパ３４は、その一端に前後方向に設けたピン３５によってハウジング３３に上下揺動自在に支持されており、ハウジング３３との間に設けたコイルスプリング３６で上向きに付勢される。ストッパ３４の上面にはレンズホルダ３１の下面に当接可能な円弧状の摩擦面３４ａが形成されるとともに、ストッパ３４の前後面にはレンズホルダ３１の揺動範囲を規制する一対の規制板３４ｂ，３４ｂが形成される。レンズホルダ３１の他端側の下面に鉄片３７が固定されており、ハウジング３３に設けられたソレノイド３８が前記鉄片３７の下方に対向している。
【００３９】
受信手段Ｒはハウジング３３に固定された基板３９を備えており、基板３９に固定されたフォトダイオード１８が受光レンズ１７の後方に位置し、更にその後方に距離計測処理部５の基板４０（図２参照）が位置している。
【００４０】
図４から明らかなように、レーダー装置Ｓｒを支持するためのブラケット４１は、その四隅が支持板４２に４本のボルト４３…で固定される。レーダー装置Ｓｒの直方体状のハウジング３３の外周を囲むフランジ３３ｂから４個のステー３３ｃ…が左右方向に突出しており、ハウジング３３の後半部がブラケット４１に形成した開口４１ａに嵌合した状態で、前記４個のステー３３ｃ…がボルト４４…でブラケット４１に固定される。このように、レーダー装置Ｓｒのハウジング３３は車体、つまり支持板４２に対して角度調整不能に取り付けられている。
【００４１】
次に、レーダー装置Ｓｒの軸調整時の作用を図５のフローチャートに基づいて説明する。
【００４２】
先ずステップＳ１で車両を水平な場所に設置した後、ステップＳ２でレーダー装置Ｓｒに通電し、ステップＳ３でレーダー装置Ｓｒに上下軸調整コマンドを送信する。すると、ステップＳ４でレーダー装置Ｓｒの受信手段Ｒのソレノイド３８に通電され、図６に示すように、鉄片３７をソレノイド３８に吸着されたストッパ３４がピン３５を支点として下方に揺動し、ストッパ３４の摩擦面３４ａがレンズホルダ３１の下面から離反する。その結果、ステップＳ５で受光レンズ１７およびレンズホルダ３１が拘束を解かれて自由状態となり、受光レンズ１７およびレンズホルダ３１は軸部材３２，３２を支点にして自由に揺動できる状態になる。このとき、前述したように受光レンズ１７およびレンズホルダ３１はその重心Ｇが軸部材３２，３２の鉛直方向下方に位置するように重力で上下方向に揺動するため、受光レンズ１７のレンズ面が鉛直になり、受光レンズ１７の受信軸Ｌｒが水平になる。
【００４３】
ステップＳ６で所定時間が経過して受光レンズ１７およびレンズホルダ３１の揺動が収まるのを待った後、ステップＳ７でソレノイド３８を消磁すると、ステップＳ８でストッパ３４がコイルスプリング３６の弾発力でピン３５を支点として上向きに揺動し、その摩擦面３４ａがレンズホルダ３１の下面に当接することで、受光レンズ１７およびレンズホルダ３１がハウジング３３に対して固定される。このようにしてレーダー装置Ｓｒの軸調整が完了すると、ステップＳ９で上下軸調整コマンドを自動解除する。
【００４４】
図７（Ａ）に示すように、車体に対するレーダー装置Ｓｒの上下方向の取付角度がずれているために、ハウジング３３が水平面Ｈに対して角度αだけ前下がりになっていても、前述した軸調整によって受光レンズ１７の受信軸Ｌｒは前記角度αの大小に関わらずに水平に調整される。同様に、図７（Ｂ）に示すように、ハウジング３３が水平面Ｈに対して角度αだけ前上がりになっていても、前述した軸調整によって受光レンズ１７の受信軸Ｌｒは前記角度αの大小に関わらずに水平に調整される。
【００４５】
以上のように、レーダー装置Ｓｒのハウジング３３の車体に対する取付角度を調整することなく受光レンズ１７の受信軸Ｌｒを水平に調整することができるので、レーダー装置Ｓｒの構造を簡素化できるだけでなく、軸調整に要する時間を大幅に短縮することができる。
【００４６】
次に、請求項１に記載された発明に対応する本発明の第２実施例を図８および図９に基づいて説明する。
【００４７】
前述した第１実施例ではコイルスプリング３６、鉄片３７およびソレノイド３８を用いてストッパ３４を揺動させているが、第２実施例ではハウジング３３に設けたモータ４５と、その出力軸に設けた偏心カム４６とによってストッパ３４を揺動させている。図８に示す固定状態では、偏心カム４６でストッパ３４を押し上げることで、その摩擦面３４ａをレンズホルダ３１の下面に当接させて受光レンズ１７を揺動不能に固定しており、図９に示す自由状態では、偏心カム４６をモータ４５で回転させてストッパ３４の押し上げを解除し、重力でストッパ３４を下降させて摩擦面３４ａとレンズホルダ３１の下面との当接を解除することで、受光レンズ１７の揺動を許容することができる。
【００４８】
この第２実施例によっても、前述した第１実施例と同様の作用効果を達成することができる。
【００４９】
次に、請求項１に記載された発明に対応する本発明の第３実施例を図１０および図１１に基づいて説明する。
【００５０】
前述した第１、第２実施例ではストッパ３４を電気的に揺動させているが、第３実施例ではストッパ３４を手動で揺動させている。ハウジング３３の上壁を貫通する操作ロッド４７は、その上端に押しボタン４８が設けられ、その下端がストッパ３４の他端に当接し、その中間部に形成した長孔４７ａが軸部材３２，３２の外周に摺動自在に嵌合する。押しボタン４８はハウジング３３の上壁に固定したゴム製のカバー４９で覆われており、操作ロッド４７の周囲の隙間を通してハウジング３３の内部への塵の侵入が防止される。
【００５１】
しかして、図１０に示すように、操作ロッド４７を操作しない状態では、コイルスプリング３６の弾発力でストッパ３４を押し上げることで、その摩擦面３４ａをレンズホルダ３１の下面に当接させて受光レンズ１７を揺動不能に固定することができる。また図１１に示す自由状態では、カバー４９の上から押しボタン４８を押して操作ロッド４７を下降させ、その下端でコイルスプリング３６に抗してストッパ３４を下降させて摩擦面３４ａとレンズホルダ３１の下面との当接を解除することで、受光レンズ１７の揺動を許容することができる。また操作ロッド４７の中間部に形成した長孔４７ａに軸部材３２，３２を嵌合させたことで、操作ロッド４７の傾きを防止することができる。
【００５２】
この第３実施例によっても、前述した第１実施例と同様の作用効果を達成することができ、しかもソレノイド３８やモータ４５が不要になって構造が更に簡素化される。
【００５３】
次に、請求項１に記載された発明に対応する本発明の第４実施例を図１２に基づいて説明する。
【００５４】
前述した第１〜第３実施例では受光レンズ１７と一体のレンズホルダ３１を固定状態および自由状態に切り換えているが、この第４実施例ではレンズホルダ３１に設けた軸部材３２，３２を固定状態および自由状態に切り換えている。即ち、ハウジング３３に固定したＵ字状のキャリパ部材５０が、軸部材３２，３２に固定したブレーキディスク５１を挟むように配置されており、キャリパ部材５０に摺動自在に支持した鉄製のブレーキシュー５２が図示せぬスプリングの弾発力でブレーキディスク５１に当接し、軸部材３２，３２の回転（つまり受光レンズ１７の揺動）を拘束している。キャリパ部材５０の外側に設けたソレノイド５３を励磁してブレーキシュー５２を吸引し、ブレーキシュー５２とブレーキディスク５１との係合を解除することで、受光レンズ１７を揺動可能な自由状態にすることができる。
【００５５】
この第４実施例によっても、前述した第１実施例と同様の作用効果を達成することができる。
【００５６】
次に、請求項２に記載された発明に対応する本発明の第５実施例を図１３に基づいて説明する。
【００５７】
第５実施例は前述した第４実施例の変形であって、第４実施例では基板３９およびフォトダイオード１８がハウジング３３に支持されているのに対し、第５実施例では基板３９およびフォトダイオード１８がレンズホルダ３１に支持されている。レンズホルダ３１およびそれに支持された各部材よりなる組立体全体の重心Ｇと軸部材３２，３２とを結ぶ直線は、受光レンズ１７のレンズ面と平行になっている。従って、ソレノイド５３を消磁して受光レンズ１７を自由状態としたとき、受光レンズ１７の受信軸Ｌｒは水平になる。
【００５８】
この第５実施例によっても、前述した第４実施例と同様の作用効果を達成することができ、しかも受光レンズ１７が揺動しても、受光レンズ１７とフォトダイオード１８との位置関係を一定に保って物体からの反射波を確実に受信することができる。
【００５９】
次に、請求項３に記載された発明に対応する本発明の第６実施例を図１４に基づいて説明する。
【００６０】
前述した第１実施例〜第５実施例では受光レンズ１７の受信軸Ｌｒの上下角度を調整しているが、第６実施例は送光ミラー１３の送信軸Ｌｔの上下角度を調整するようになっている。送光ミラー１３を一体に備えたモータ１５を支持するモータホルダ５４が、軸部材５５，５５を介してハウジング３３に上下揺動自在に支持される。送光ミラー１３、モータ１５およびモータホルダ５４の組立体の重心Ｇと軸部材５５，５５とを結ぶ直線は送光ミラー１３の反射面と平行であり、前記組立体の重心Ｇが軸部材５５，５５の鉛直方向下方にあるとき、送光ミラー１３の反射面の方向、つまり送信軸Ｌｔの方向は水平になる。
【００６１】
軸部材５５，５５を固定状態および自由状態に切り換える機構は、前述した第４実施例のものと同じであり、キャリパ部材５０、ブレーキディスク５１、ブレーキシュー５２およびソレノイド５３により構成される。
【００６２】
従って、ハウジング３３に固定した基板５６に設けた送光部１から出て送光ミラー１３に反射された送光ビームは、水平面内で左右方向に振れて物体を走査する。この第６実施例では送光部１をハウジング３３に固定し、送光ミラー１３の送信軸Ｌｔの上下角度を調整するので、軸調整によって送光部１および送光ミラー１３の位置関係が僅かに変化する。その結果、厳密にいうと送光ビームの走査方向は水平面からずれることになるが、送信軸Ｌｔの角度の調整量が２°〜３°程度であれば前記ずれは小さいため、実用上問題はない。
【００６３】
この第６実施例によっても、レーダー装置Ｓｒのハウジング３３の車体に対する取付角度を調整することなく送光ミラー１３の送信軸Ｌｔを水平に調整することができるので、レーダー装置Ｓｒの構造を簡素化できるだけでなく、軸調整に要する時間を大幅に短縮することができる。
【００６４】
次に、請求項４に記載された発明に対応する本発明の第７実施例を図１５に基づいて説明する。
【００６５】
前述した第６実施例では送光部１をハウジング３３に支持しているが、この第７実施例は送光部１をモータホルダ５４に一体に支持することで、送光ミラー１３と共に送光部１を上下に揺動させて軸調整を行う。
【００６６】
この第７実施例によっても、前述した第６実施例と同様の作用効果を達成することができ、しかも軸調整によって送光部１および送光ミラー１３の位置関係が変化しないため、送光ビームを厳密に水平面内で振ることができる。
【００６７】
次に、請求項５および請求項６に記載された発明に対応する本発明の第８実施例を図１６および図１７に基づいて説明する。
【００６８】
前述した第１〜第７実施例のレーダー装置Ｓｒはレーダーレーダー装置であるるが、第８実施例のレーダー装置Ｓｒはミリ波レーダー装置であり、その送信手段Ｔはミリ波を送信する平面送信アンテナ６１を備えるとともに、その受信手段Ｒは物体からの反射波を受信する平面受信アンテナ６２を備える。
【００６９】
平面送信アンテナ６１はモータ６３に回動軸６４を介して接続されており、左右に往復揺動する平面送信アンテナ６１から送信されるミリ波は左右に振れて物体を走査する。平面送光アンテナ６１を一体に備えたモータ６３を支持するモータホルダ６５が、軸部材６６，６６を介してハウジング３３に上下揺動自在に支持されており、その組立体の重心Ｇと軸部材６６，６６とを結ぶ直線は平面送信アンテナ６１の反射面と平行であり、前記組立体の重心Ｇが軸部材６６，６６の鉛直方向下方にあるとき、平面送信アンテナ６１の送信面の方向、つまり送信軸Ｌｔの方向は水平になる。
【００７０】
軸部材６６，６６を固定状態および自由状態に切り換える機構は、前述した第４実施例のものと同じであり、キャリパ部材６７、ブレーキディスク６８、ブレーキシュー６９およびソレノイド７０により構成される。従って、ソレノイド７０を励磁してブレーキシュー６９をブレーキディスク６８から離反させると、拘束を解かれた軸部材６６，６６回りに平面送光アンテナ６１、モータ６３およびモータホルダ６５の組立体が重力で揺動し、その重心Ｇが軸部材６６，６６の鉛直方向下方に位置するように停止する。続いてソレノイド７０を消磁すると、図示せぬスプリングでブレーキシュー６９がブレーキディスク６８に押し付けられて軸部材６６，６６の回転が拘束され、この状態で平面送光アンテナ６１の送信軸Ｌｔは水平になる。
【００７１】
平面受信アンテナ６２を保持するアンテナホルダ７１は軸部材７２，７２を介してハウジング３３に上下揺動自在に支持されており、その平面受信アンテナ６２およびそれを支持するアンテナホルダ７１の重心Ｇと軸部材７２，７２とを結ぶ直線は平面受信アンテナ６２の反射面と平行であり、平面受信アンテナ６２およびそれを支持するアンテナホルダ７１の重心Ｇが軸部材７２，７２の鉛直方向下方にあるとき、平面受信アンテナ６２の受信面の方向、つまり受信軸Ｌｒの方向は水平になる。
【００７２】
軸部材７２，７２を固定状態および自由状態に切り換える機構は、前述した送信手段Ｔのものと同じであり、キャリパ部材６７、ブレーキディスク６８、ブレーキシュー６９およびソレノイド７０により構成される。従って、ソレノイド７０を励磁して所定時間後に消磁することで、重力の作用で平面受信アンテナ６２の受信軸Ｌｒの方向を水平に調整することができる。
【００７３】
以上のように、レーダー装置Ｓｒのハウジング３３の車体に対する取付角度を調整することなく平面送信アンテナ６１の送信軸Ｌｔおよび平面受信アンテナ６２の受信軸Ｌｒを水平に調整することができるので、レーダー装置Ｓｒの構造を簡素化でき、しかも軸調整に要する時間を大幅に短縮することができる。
【００７４】
また第８実施例では、送信軸Ｌｔおよび受信軸Ｌｒの両方を調整するようになっているため、送信手段Ｔから送信される電磁波の上下角度範囲と受信手段Ｒの検知領域の上下角度範囲とを一致させることができる。つまり受信手段Ｒの検知領域の上下角度範囲に、上下方向の調整量に相当する余裕分を持たせる必要がなくなり、その結果として前記検知領域の上下角度範囲を最小限に抑えて太陽光や路面反射等の外乱の影響を少なくすることができる。更に、送信手段Ｔから送信される電磁波の上下角度範囲を最小限に抑えることができるので、送信手段Ｔからの電磁波の送信密度を高めて検知能力を高めることができる。
【００７５】
以上、本発明の実施例を詳述したが、本発明はその要旨を逸脱しない範囲で種々の設計変更を行うことが可能である。
【００７６】
例えば、実施例ではレーダー装置Ｓｒの送信軸Ｌｔあるいは受信軸Ｌｒの上下方向角度を水平方向に調整しているが、水平方向よりも所定角度だけ上向きや下向きに調整することもできる。そのためには、重心Ｇが軸部材３２，３２，５５，５５，５５，６６，６６，７２，７２の鉛直方向下方に位置する状態で、送信軸Ｌｔあるいは受信軸Ｌｒの上下方向角度を水平方向から所定角度ずらせば良い。
【００７７】
また第１実施例〜第７実施例では送信軸Ｌｔおよび受信軸Ｌｒの何れか一方を調整しているが、それらの両方を調整することができる。
【００７８】
また第８実施例では送信軸Ｌｔおよび受信軸Ｌｒの両方を調整しているが、それらの何れか一方を調整することができる。
【００７９】
【発明の効果】
以上のように請求項１に記載された発明によれば、物体検知装置のハウジング内に設けた受信手段の受信部に反射波を指向させるレンズを、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、レンズを所定時間自由状態にして受信軸の方向を重力の方向に対して所定角度に調整した後、レンズを固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００８０】
また請求項２に記載された発明によれば、物体検知装置のハウジング内に設けた受信手段の受信部およびレンズを保持する保持手段を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、受信部およびレンズを所定時間自由状態にして受信軸の方向を重力の方向に対して所定角度に調整した後、受信部およびレンズを固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができ、しかも軸調整によって受信部およびレンズの位置関係が変化しないので、レンズを通過した反射波を確実に受信部に指向させることができる。
【００８１】
また請求項３に記載された発明によれば、物体検知装置のハウジング内に設けた送信手段から送信された電磁波を所定領域に向けて変向させる変向手段を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、変向手段を所定時間自由状態にして送信軸の方向を重力の方向に対して所定角度に調整した後、変向手段を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００８２】
また請求項４に記載された発明によれば、物体検知装置のハウジング内に設けた送信手段の送信部および変向手段を保持する保持手段を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、送信部および変向手段を所定時間自由状態にして送信軸の方向を重力の方向に対して所定角度に調整した後、送信部および変向手段を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができ、しかも軸調整によって送信部および変向手段の位置関係が変化しないので、送信部から出た電磁波を変向手段で変向させて確実に所定領域に指向させることができる。
【００８３】
また請求項５に記載された発明によれば、物体検知装置のハウジング内に設けた受信手段の受信部を、軸部材を介してハウジングに上下揺動可能に軸支して、固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、受信部を所定時間自由状態にして受信軸の方向を重力の方向に対して所定角度に調整した後、受信部を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００８４】
また請求項６に記載された発明によれば、物体検知装置のハウジング内に設けた送信手段の送信部を、軸部材を介してハウジングに上下揺動可能に軸支して固定手段で揺動不能な固定状態と揺動可能な自由状態とに切り換えるので、送信部を所定時間自由状態にして送信軸の方向を重力の方向に対して所定角度に調整した後、送信部を固定状態にして上下方向の軸調整を完了させることができる。これにより物体検知装置のハウジングの車体への取付角度を調整することなく、物体検知装置の軸調整を簡単な構造で、かつ短時間で行うことができる。
【００８５】
また請求項７に記載された発明によれば、送信軸あるいは受信軸が重力の方向に対して成す角度を９０°とすることで、送信軸あるいは受信軸を水平方向に調整することができる。
【００８６】
また請求項８に記載された発明によれば、固定手段が固定状態から自由状態になってから所定時間が経過して揺動が収まるのを待つので、送信軸あるいは受信軸が重力の方向に対して正確に所定角度を成すように調整することができる。
【００８７】
また請求項９に記載された発明によれば、固定手段で固定対象物を押圧して固定することにより、固定対象物を確実に固定することができる。
【００８８】
また請求項１０に記載された発明によれば、固定手段で軸部材の回転を拘束することにより、軸部材を確実に拘束することができる。
【図面の簡単な説明】
【図１】レーダー装置のブロック図
【図２】レーダー装置の斜視図
【図３】受信手段の三面図
【図４】レーダー装置の車体への取付状態を示す図
【図５】軸調整の手順を説明するフローチャート
【図６】軸調整時の作用説明図
【図７】ハウジングと受光レンズの受信軸との関係を説明する図
【図８】第２実施例に係る受信手段の二面図
【図９】図８に対応する作用説明図
【図１０】第３実施例に係る受信手段の二面図
【図１１】図１０に対応する作用説明図
【図１２】第４実施例に係る受信手段の三面図
【図１３】第５実施例に係る受信手段の三面図
【図１４】第６実施例に係る受信手段の三面図
【図１５】第７実施例に係る受信手段の三面図
【図１６】第８実施例に係る送信手段の三面図
【図１７】第８実施例に係る受信手段の三面図
【符号の説明】
１送光部（送信部）
４受光部（受信部）
１３送光ミラー（変向手段）
１７受光レンズ（レンズ）
３１レンズホルダ（保持手段）
３２軸部材
３３ハウジング
３３ａ窓部
３８ソレノイド（固定手段）
４５モータ（固定手段）
４７操作ロッド（固定手段）
５３ソレノイド（固定手段）
５４モータホルダ（固定手段）
５５軸部材
６１平面送信アンテナ（送信部）
６２平面受信アンテナ（受信部）
６６軸部材
７０ソレノイド（固定手段）
７２軸部材
Ｌｒ受信軸
Ｌｔ送信軸
Ｒ受信手段
Ｔ送信手段[0001]
BACKGROUND OF THE INVENTION
The present invention includes a housing attached to a moving body and having transmission and reception windows in the traveling direction of the moving body, and transmitting the electromagnetic wave disposed in the housing toward a predetermined region in the traveling direction. The present invention relates to an object detection apparatus for a moving body, including: a receiving unit configured to receive a reflected wave reflected by an object disposed in a predetermined region and disposed in a housing.
[0002]
[Prior art]
When a radar device used in an ACC system (adaptive cruise control system), Stop & Go system (traffic jam tracking system), inter-vehicle warning system, etc. is mounted on the vehicle body, the axis of the radar device correctly points in the preset direction. Otherwise, the system may malfunction due to erroneous detection of an oncoming vehicle in the adjacent lane, or the system will not operate because only the road surface, overpass and signboard are detected and no preceding vehicle is detected.
[0003]
Therefore, the radar device is attached to the vehicle body so that the angle can be adjusted, and the axis adjustment tester and digital level detect the deviation of the axis line of the radar device, and adjust the attachment angle of the radar device to the vehicle body to correct the deviation. This is known from Patent Document 1 below.
[0004]
A part of the scanning range of the radar device fixed with respect to the vehicle body is electrically set as a detection range in which the target axis is correctly directed, thereby adjusting the axis without adjusting the mounting angle of the radar device to the vehicle body. Japanese Patent Application Laid-Open No. 2004-260688 discloses a method that can perform the above.
[0005]
[Patent Document 1]
JP-A-11-326495
[Patent Document 2]
JP-A-9-178856
[0006]
[Problems to be solved by the invention]
By the way, what was described in the said patent document 1 has not only the structure of the bracket for attaching a radar apparatus with respect to a vehicle body so that angle adjustment is possible, but the work which adjusts an angle by rotating an adjustment bolt is troublesome. Met.
[0007]
Further, in the above-mentioned Patent Document 2, since a part of the scanning range of the radar device is set as the detection range, the remaining part of the scanning range cannot be used for detecting the object, and the radar control unit detects it. There was a problem that the software processing for setting the range was complicated.
[0008]
The present invention has been made in view of the above-described circumstances, and an object of the present invention is to perform vertical axis adjustment of an object detection apparatus with a simple structure and in a short time.
[0009]
[Means for Solving the Problems]
To achieve the above object, according to the first aspect of the present invention, a housing attached to a moving body and having transmission and receiving windows in the traveling direction of the moving body, and disposed in the housing. And a transmission means for transmitting an electromagnetic wave toward the predetermined area in the traveling direction, and a reception means for receiving a reflected wave that is disposed in the housing and reflected by an object existing in the predetermined area In the object detection device, the receiving means is fixed in the housing and receives the reflected wave, and directs the reflected wave to the receiving portion, and is pivotally supported by the housing through the shaft member so as to be swingable up and down. In a free state, it is possible to switch between a lens whose reflected wave reception axis forms a predetermined angle with respect to the direction of gravity, a fixed state in which the lens cannot be swung, and a free state in which the lens can be swung. The constant state, during axial adjustment moving body object detecting apparatus is proposed which is characterized in that a fixing means for switching at predetermined time free state.
[0010]
According to the above configuration, the lens for directing the reflected wave to the receiving portion of the receiving means provided in the housing of the object detection device is pivotally supported on the housing via the shaft member so as to be swingable up and down, and is shaken by the fixing means. Since the lens is switched between an immovable fixed state and a swingable free state, the lens is set in a free state for a predetermined time, the direction of the receiving shaft is adjusted to a predetermined angle with respect to the direction of gravity, and then the lens is fixed and moved up and down. Directional axis adjustment can be completed. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0011]
According to the second aspect of the present invention, the housing is attached to the moving body and has transmission and reception windows in the traveling direction of the moving body, and the housing is disposed in the housing in a predetermined direction in the traveling direction. The object detection apparatus for a moving body, comprising: a transmission unit that transmits an electromagnetic wave toward a region; and a reception unit that is disposed in a housing and receives a reflected wave reflected by an object existing in the predetermined region. The means holds the receiving unit for receiving the reflected wave, the lens for directing the reflected wave to the receiving unit, the receiving unit and the lens, and is pivotally supported by the housing through the shaft member so as to be swingable up and down. In this state, it is possible to switch between holding means in which the reflected wave reception axis forms a predetermined angle with respect to the direction of gravity, and a holding means that cannot be swung and a free state that can be swung. The state, at the time axis adjustment moving body object detecting apparatus is proposed which is characterized in that a fixing means for switching at predetermined time free state.
[0012]
According to the above configuration, the receiving means of the receiving means provided in the housing of the object detection device and the holding means for holding the lens are pivotally supported on the housing via the shaft member so as to be able to swing up and down, and are shaken by the fixing means. Since switching is made between the immovable fixed state and the swingable free state, the receiving unit and the lens are in a free state for a predetermined time, and the direction of the receiving shaft is adjusted to a predetermined angle with respect to the direction of gravity. Can be fixed to complete the vertical axis adjustment. As a result, the axis of the object detection device can be adjusted in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body, and the position of the receiver and the lens can be adjusted by adjusting the axis. Since the relationship does not change, the reflected wave that has passed through the lens can be reliably directed to the receiving unit.
[0013]
According to the third aspect of the present invention, the housing is attached to the moving body and has transmission and reception windows in the traveling direction of the moving body, and the housing is disposed in the housing in a predetermined direction in the traveling direction. In the moving object detection apparatus, comprising: a transmission unit that transmits an electromagnetic wave toward a region; and a reception unit that is disposed in a housing and receives a reflected wave reflected by an object existing in the predetermined region. A means for transmitting an electromagnetic wave fixed in the housing, and for changing the direction of the electromagnetic wave transmitted from the transmission part toward the predetermined region, and supporting the shaft to be swingable up and down via a shaft member. The direction change means in which the transmission axis of the electromagnetic wave forms a predetermined angle with respect to the direction of gravity in the free state, and the direction change means can be switched between a fixed state where the swing is impossible and a free state where the swing is possible. In a fixed state at the time the body detection, the time axis adjustment moving body object detecting device being characterized in that a fixing means for switching the predetermined time free state is proposed.
[0014]
According to the above configuration, the turning means for turning the electromagnetic wave transmitted from the transmission means provided in the housing of the object detection device toward the predetermined region is pivotally supported on the housing via the shaft member so as to be swingable up and down. Since the switching means is switched between a fixed state in which it cannot be swung by the fixing means and a free state in which the rocking is possible, the direction changing means is in a free state for a predetermined time and the direction of the transmission shaft is adjusted to a predetermined angle with respect to the direction of gravity. Thereafter, the turning means can be fixed and the vertical axis adjustment can be completed. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0015]
According to a fourth aspect of the present invention, there is provided a housing which is attached to the moving body and has transmission and reception windows in the traveling direction of the moving body, and is disposed in the housing and has a predetermined direction in the traveling direction. In the moving object detection apparatus, comprising: a transmission unit that transmits an electromagnetic wave toward a region; and a reception unit that is disposed in a housing and receives a reflected wave reflected by an object existing in the predetermined region. The means holds the transmitting unit for transmitting the electromagnetic wave, the redirecting unit for redirecting the electromagnetic wave transmitted from the transmitting unit toward the predetermined region, the transmitting unit and the redirecting unit, and the shaft through the housing. And holding means in which the electromagnetic wave transmission shaft forms a predetermined angle with respect to the direction of gravity in a free state, a fixed state in which the holding means cannot be swung, and a free state in which the swinging means can be swung. Cut into A possible place, at the time of object detection in a fixed state, the time axis adjustment moving body object detecting apparatus is proposed which is characterized in that a fixing means for switching at predetermined time free state.
[0016]
According to the above configuration, the holding means for holding the transmitting portion and the deflecting means of the transmitting means provided in the housing of the object detection device is pivotally supported on the housing via the shaft member so as to be swingable up and down. Since the transmitter and the turning means are in a free state for a predetermined time and the direction of the transmission shaft is adjusted to a predetermined angle with respect to the direction of gravity. The transmission unit and the deflecting unit can be fixed and the vertical axis adjustment can be completed. This makes it possible to adjust the axis of the object detection device with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body. Therefore, the electromagnetic wave emitted from the transmitter can be redirected by the redirecting means and reliably directed to the predetermined area.
[0017]
According to the fifth aspect of the present invention, the housing is attached to the moving body and has transmission and reception windows in the traveling direction of the moving body, and the housing is disposed in the housing in a predetermined direction in the traveling direction. The object detection apparatus for a moving body, comprising: a transmission unit that transmits an electromagnetic wave toward a region; and a reception unit that is disposed in a housing and receives a reflected wave reflected by an object existing in the predetermined region. A means for receiving electromagnetic waves and supported by a housing through a shaft member so as to be able to swing up and down, and in a free state, the receiving axis of the reflected wave forms a predetermined angle with respect to the direction of gravity; It is possible to switch between a fixed state in which the part cannot be swung and a free state in which the part can be swung, and is provided with a fixing means that switches to a fixed state when detecting an object and switches to a free state for a predetermined time when adjusting an axis. Moving body object detection device is proposed that.
[0018]
According to the above configuration, the receiving unit of the receiving unit provided in the housing of the object detection device is pivotally supported on the housing via the shaft member so as to be swingable up and down, and the fixed state and the swinging state in which the fixing unit cannot swing are supported. Since it is switched to a movable free state, the receiving unit is in a free state for a predetermined time, the direction of the receiving shaft is adjusted to a predetermined angle with respect to the direction of gravity, and then the receiving unit is fixed and the vertical axis is adjusted. Can be completed. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0019]
According to the invention described in claim 6, the housing is attached to the moving body and has transmission and reception windows in the traveling direction of the moving body, and the housing is disposed in the housing in a predetermined direction in the traveling direction. In the moving object detection apparatus, comprising: a transmission unit that transmits an electromagnetic wave toward a region; and a reception unit that is disposed in a housing and receives a reflected wave reflected by an object existing in the predetermined region. Means for transmitting an electromagnetic wave, and supported by the housing via a shaft member so as to be able to swing up and down, wherein the transmission axis of the electromagnetic wave forms a predetermined angle with respect to the direction of gravity in a free state; It is possible to switch between a fixed state in which rocking is not possible and a free state in which rocking is possible, and is provided with fixing means for switching to a fixed state when detecting an object and switching to a free state for a predetermined time when adjusting an axis. Moving body object detection device is proposed that.
[0020]
According to the above configuration, the transmitting unit of the transmitting unit provided in the housing of the object detection device is pivotally supported on the housing via the shaft member so as to be able to swing up and down, and the fixed unit cannot swing with the fixing unit. Since it switches to the free state possible, after adjusting the direction of the transmission axis to a predetermined angle with respect to the direction of gravity with the transmission unit in the free state for a predetermined time, the transmission unit is fixed and the vertical axis adjustment is completed Can be made. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0021]
According to the invention described in claim 7, in addition to the configuration of any one of claims 1 to 6, the predetermined angle formed with respect to the direction of gravity is 90 °. An object detection apparatus for a moving body is proposed.
[0022]
According to the above configuration, the transmission axis or the reception axis can be adjusted in the horizontal direction by setting the angle formed by the transmission axis or the reception axis to the direction of gravity to be 90 °.
[0023]
According to an eighth aspect of the present invention, in addition to the configuration of any one of the first to seventh aspects, the predetermined time is varied when the fixing means is changed from the fixed state to the free state. There is proposed a moving object detection apparatus characterized by the time required for the movement to settle.
[0024]
According to the above configuration, the transmission means or the reception axis accurately sets the predetermined angle with respect to the direction of gravity because the fixing means waits for the oscillation to cease after a predetermined time has elapsed from the fixed state to the free state. Can be adjusted.
[0025]
According to the invention described in claim 9, in addition to the configuration of any one of claims 1 to 8, the fixing means presses and fixes the object to be fixed. A featured object detection apparatus for a moving body is proposed.
[0026]
According to the said structure, a fixed target object can be reliably fixed by pressing and fixing a fixed target object with a fixing means.
[0027]
According to the invention described in claim 10, in addition to the configuration of any one of claims 1 to 9, the fixing means restrains rotation of the shaft member. An object detection apparatus for a moving body is proposed.
[0028]
According to the above configuration, the shaft member can be reliably restrained by restraining the rotation of the shaft member by the fixing means.
[0029]
The light transmitting unit 1 of the embodiment corresponds to the transmitting unit of the present invention, the light receiving unit 4 of the embodiment corresponds to the receiving unit of the present invention, and the light transmitting mirror 13 of the embodiment serves as the turning means of the present invention. Correspondingly, the light receiving lens 17 of the embodiment corresponds to the lens of the present invention, the lens holder 31 of the embodiment corresponds to the holding means of the present invention, the motor holder 54 of the embodiment corresponds to the holding means of the present invention, The solenoid 38, the motor 45, the operation rod 47, the solenoid 53, and the solenoid 70 of the embodiment correspond to the fixing means of the present invention, and the planar transmission antenna 61 of the embodiment corresponds to the transmission unit of the present invention, and the planar reception of the embodiment. The antenna 62 corresponds to the receiving unit of the present invention.
[0030]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings.
[0031]
1 to 7 show a first embodiment of the present invention. FIG. 1 is a block diagram of a radar device, FIG. 2 is a perspective view of the radar device, FIG. 3 is a three-view diagram of a receiving means, and FIG. FIG. 5 is a flowchart for explaining the procedure for adjusting the shaft, FIG. 6 is a diagram for explaining the operation during shaft adjustment, and FIG. 7 is a diagram for explaining the relationship between the housing and the receiving shaft of the light receiving lens. It is.
[0032]
The first embodiment corresponds to the invention described in claim 1, and as shown in FIGS. 1 and 2, a radar apparatus Sr for detecting the distance and direction of an object in front of the host vehicle It comprises a part 1, a light transmission scanning part 2, a light receiving lens part 3, a light receiving part 4, and a distance measurement processing part 5. The light transmission unit 1 and the light transmission scanning unit 2 constitute a transmission unit T, and the light receiving lens unit 3 and the light reception unit 4 constitute a reception unit R.
[0033]
The light transmitting unit 1 includes a laser diode 11 integrally provided with a light transmitting lens, and a laser diode driving circuit 12 that drives the laser diode 11. The light transmission scanning unit 2 controls a light transmission mirror 13 that reflects the laser beam output from the laser diode 11, a motor 15 that reciprocates the light transmission mirror 13 around the rotation shaft 14, and driving of the motor 15. And a motor drive circuit 16. The light transmission beam emitted from the light transmission mirror 13 of the transmission means T is limited in the left-right width and has a vertically elongated pattern, which reciprocates in the left-right direction at a predetermined cycle to scan the object.
[0034]
The light receiving unit 4 includes a photodiode 18 that receives a reflected wave converged by the light receiving lens 17 provided in the light receiving lens unit 3 and converts the reflected wave into an electric signal, and a light receiving amplifier circuit 19 that amplifies the output signal of the photodiode 18. Prepare. The receiving means R includes a light receiving area that spreads at a predetermined angle in the vertical direction and the horizontal direction.
[0035]
The distance measurement processing unit 5 includes a control circuit 24 that controls the laser diode drive circuit 12 and the motor drive circuit 16, a communication circuit 26 that performs communication between the electronic control unit 25 of the ACC system and Stop & Go system, and a laser beam. Counter circuit 27 that counts the time from light transmission to light reception and a central processing unit 28 that calculates the distance to the object and the direction of the object.
[0036]
Accordingly, the distance to the object is detected based on the time from when the light transmission beam is transmitted until the reflected wave reflected by the object is received, and the light transmission beam at that time is The direction of the object is detected based on the light transmission direction.
[0037]
As is apparent from FIG. 3, the receiving means R includes a light receiving lens 17 made of synthetic resin, and a concentric Fresnel lens 17a is integrally formed at the center thereof. The lower peripheral portion of the light receiving lens 17 is supported by a U-shaped lens holder 31 that also serves as a weight, and a pair of shaft members 32 that extend in the left-right direction through the center of the Fresnel lens 17a are provided on the upper portion of the lens holder 31. , 32 are provided. A housing 33 (see FIG. 2) of the radar device Sr is provided with a window 33a for allowing a reflected wave from an object to pass through on the front surface thereof. The assembly of the light receiving lens 17 and the lens holder 31 is supported by shaft members 32 and 32. The housing 33 is rotatably supported. The center of gravity G of the assembly of the light receiving lens 17 and the lens holder 31 is located below the shaft members 32 and 32 and at the center of the light receiving lens 17 in the thickness direction. Therefore, when the assembly of the light receiving lens 17 and the lens holder 31 can freely swing around the shaft members 32 and 32, the center of gravity G is below the shaft members 32 and 32 in the vertical direction. The receiving axis Lr is horizontal.
[0038]
A lever-like stopper 34 disposed below the lens holder 31 is supported by a housing 33 by a pin 35 provided at one end thereof in the front-rear direction so as to be swingable up and down. A coil spring provided between the lever 33 and the housing 33 is provided. At 36, it is biased upward. An arcuate friction surface 34 a that can contact the lower surface of the lens holder 31 is formed on the upper surface of the stopper 34, and a pair of regulating plates 34 b that regulate the swing range of the lens holder 31 on the front and rear surfaces of the stopper 34. , 34b are formed. An iron piece 37 is fixed to the lower surface on the other end side of the lens holder 31, and a solenoid 38 provided in the housing 33 faces the lower side of the iron piece 37.
[0039]
The receiving means R includes a substrate 39 fixed to the housing 33, and the photodiode 18 fixed to the substrate 39 is located behind the light receiving lens 17, and further behind that is a substrate 40 (see FIG. 2) is located.
[0040]
As is clear from FIG. 4, the bracket 41 for supporting the radar device Sr is fixed to the support plate 42 with four bolts 43. Four stays 33c project from the flange 33b surrounding the outer periphery of the rectangular housing 33 of the radar device Sr in the left-right direction, and the rear half of the housing 33 is fitted in the opening 41a formed in the bracket 41. The four stays 33c are fixed to the bracket 41 with bolts 44. Thus, the housing 33 of the radar device Sr is attached to the vehicle body, that is, the support plate 42 so that the angle cannot be adjusted.
[0041]
Next, the operation of the radar apparatus Sr during axis adjustment will be described based on the flowchart of FIG.
[0042]
First, after the vehicle is installed in a horizontal place in step S1, power is supplied to the radar device Sr in step S2, and a vertical axis adjustment command is transmitted to the radar device Sr in step S3. Then, in step S4, the solenoid 38 of the receiving means R of the radar device Sr is energized, and as shown in FIG. 6, the stopper 34 attracting the iron piece 37 to the solenoid 38 swings downward with the pin 35 as a fulcrum, and the stopper The friction surface 34 a of 34 is separated from the lower surface of the lens holder 31. As a result, in step S5, the light receiving lens 17 and the lens holder 31 are released from the restraint to be in a free state, and the light receiving lens 17 and the lens holder 31 are in a state that can freely swing around the shaft members 32 and 32 as fulcrums. At this time, as described above, the light receiving lens 17 and the lens holder 31 swing up and down by gravity so that the center of gravity G is positioned below the shaft members 32 and 32 in the vertical direction. It becomes vertical and the receiving axis Lr of the light receiving lens 17 becomes horizontal.
[0043]
After waiting for the light receiving lens 17 and the lens holder 31 to stop swinging after a predetermined time has passed in step S6, if the solenoid 38 is demagnetized in step S7, the stopper 34 is pinned by the elastic force of the coil spring 36 in step S8. The light receiving lens 17 and the lens holder 31 are fixed with respect to the housing 33 by swinging upward with 35 as a fulcrum and the friction surface 34 a contacting the lower surface of the lens holder 31. When the axis adjustment of the radar device Sr is thus completed, the vertical axis adjustment command is automatically canceled in step S9.
[0044]
As shown in FIG. 7 (A), the vertical mounting angle of the radar device Sr with respect to the vehicle body is deviated. By the adjustment, the receiving axis Lr of the light receiving lens 17 is adjusted horizontally regardless of the angle α. Similarly, as shown in FIG. 7B, even if the housing 33 is raised forward by an angle α with respect to the horizontal plane H, the receiving axis Lr of the light receiving lens 17 is increased or decreased by the axis adjustment described above. Regardless of the horizontal adjustment.
[0045]
As described above, since the receiving axis Lr of the light receiving lens 17 can be adjusted horizontally without adjusting the mounting angle of the housing 33 of the radar device Sr with respect to the vehicle body, not only can the structure of the radar device Sr be simplified, The time required for axis adjustment can be greatly reduced.
[0046]
Next, a second embodiment of the present invention corresponding to the first aspect of the present invention will be described with reference to FIGS.
[0047]
In the first embodiment, the stopper 34 is swung using the coil spring 36, the iron piece 37 and the solenoid 38. In the second embodiment, the motor 45 provided on the housing 33 and the eccentricity provided on the output shaft thereof are provided. The stopper 34 is swung by the cam 46. In the fixed state shown in FIG. 8, the stopper 34 is pushed up by the eccentric cam 46, and the friction surface 34a is brought into contact with the lower surface of the lens holder 31 to fix the light receiving lens 17 so as not to swing. In the free state shown, the eccentric cam 46 is rotated by the motor 45 to release the stopper 34, and the stopper 34 is lowered by gravity to release the contact between the friction surface 34a and the lower surface of the lens holder 31. The swinging of the light receiving lens 17 can be allowed.
[0048]
According to the second embodiment, the same effect as that of the first embodiment can be achieved.
[0049]
Next, a third embodiment of the present invention corresponding to the first aspect of the present invention will be described with reference to FIGS.
[0050]
In the first and second embodiments described above, the stopper 34 is electrically swung. In the third embodiment, the stopper 34 is manually swung. The operation rod 47 penetrating the upper wall of the housing 33 is provided with a push button 48 at the upper end, the lower end abuts against the other end of the stopper 34, and a long hole 47 a formed in the middle portion thereof has shaft members 32, 32. It is slidably fitted on the outer periphery of the. The push button 48 is covered with a rubber cover 49 fixed to the upper wall of the housing 33, and dust can be prevented from entering the housing 33 through a gap around the operation rod 47.
[0051]
As shown in FIG. 10, when the operation rod 47 is not operated, the stopper 34 is pushed up by the elastic force of the coil spring 36 to bring the friction surface 34 a into contact with the lower surface of the lens holder 31 to receive light. The lens 17 can be fixed so as not to swing. Further, in the free state shown in FIG. 11, the push button 48 is pushed from above the cover 49 to lower the operation rod 47, and the stopper 34 is lowered against the coil spring 36 at the lower end thereof to bring the friction surface 34 a and the lens holder 31 into contact. By releasing the contact with the lower surface, the light receiving lens 17 can be allowed to swing. Further, since the shaft members 32 and 32 are fitted into the long holes 47 a formed in the intermediate portion of the operation rod 47, the inclination of the operation rod 47 can be prevented.
[0052]
According to the third embodiment, the same effects as those of the first embodiment can be achieved, and the solenoid 38 and the motor 45 are not required, and the structure is further simplified.
[0053]
Next, a fourth embodiment of the present invention corresponding to the invention described in claim 1 will be described with reference to FIG.
[0054]
In the first to third embodiments described above, the lens holder 31 integrated with the light receiving lens 17 is switched between the fixed state and the free state. In this fourth embodiment, the shaft members 32, 32 provided on the lens holder 31 are fixed. Switching between state and free state. That is, the U-shaped caliper member 50 fixed to the housing 33 is arranged so as to sandwich the brake disc 51 fixed to the shaft members 32 and 32, and the iron brake shoe slidably supported on the caliper member 50. 52 abuts against the brake disc 51 by the spring force of a spring (not shown), and restrains the rotation of the shaft members 32 and 32 (that is, swinging of the light receiving lens 17). By energizing the solenoid 53 provided outside the caliper member 50 to attract the brake shoe 52 and releasing the engagement between the brake shoe 52 and the brake disc 51, the light receiving lens 17 is brought into a swingable free state. be able to.
[0055]
Also according to the fourth embodiment, it is possible to achieve the same effect as that of the first embodiment described above.
[0056]
Next, a fifth embodiment of the present invention corresponding to the invention described in claim 2 will be described with reference to FIG.
[0057]
The fifth embodiment is a modification of the above-described fourth embodiment. In the fourth embodiment, the substrate 39 and the photodiode 18 are supported by the housing 33, whereas in the fifth embodiment, the substrate 39 and the photodiode are used. 18 is supported by the lens holder 31. A straight line connecting the center of gravity G of the entire assembly including the lens holder 31 and each member supported by the lens holder 31 and the shaft members 32, 32 is parallel to the lens surface of the light receiving lens 17. Therefore, when the solenoid 53 is demagnetized to place the light receiving lens 17 in a free state, the receiving axis Lr of the light receiving lens 17 becomes horizontal.
[0058]
According to the fifth embodiment, the same effect as that of the fourth embodiment can be achieved, and the positional relationship between the light receiving lens 17 and the photodiode 18 is constant even when the light receiving lens 17 is swung. It is possible to reliably receive the reflected wave from the object.
[0059]
Next, a sixth embodiment of the present invention corresponding to the invention described in claim 3 will be described with reference to FIG.
[0060]
In the first to fifth embodiments described above, the vertical angle of the receiving axis Lr of the light receiving lens 17 is adjusted. In the sixth embodiment, the vertical angle of the transmitting axis Lt of the light transmitting mirror 13 is adjusted. It has become. A motor holder 54 that supports the motor 15 that is integrally provided with the light transmission mirror 13 is supported by the housing 33 via shaft members 55 and 55 so as to be swingable up and down. The straight line connecting the center of gravity G of the assembly of the light transmission mirror 13, the motor 15 and the motor holder 54 and the shaft members 55, 55 is parallel to the reflecting surface of the light transmission mirror 13, and the center of gravity G of the assembly is the shaft member 55. , 55 in the vertical direction, the direction of the reflecting surface of the light transmission mirror 13, that is, the direction of the transmission axis Lt is horizontal.
[0061]
The mechanism for switching the shaft members 55, 55 between the fixed state and the free state is the same as that of the fourth embodiment described above, and is constituted by a caliper member 50, a brake disc 51, a brake shoe 52, and a solenoid 53.
[0062]
Therefore, the light transmission beam that has exited from the light transmission section 1 provided on the substrate 56 fixed to the housing 33 and reflected by the light transmission mirror 13 is swung in the horizontal direction in the horizontal plane to scan the object. In the sixth embodiment, the light transmitting unit 1 is fixed to the housing 33, and the vertical angle of the transmission axis Lt of the light transmitting mirror 13 is adjusted. Therefore, the positional relationship between the light transmitting unit 1 and the light transmitting mirror 13 is slightly adjusted by the axis adjustment. To change. As a result, strictly speaking, the scanning direction of the light transmission beam deviates from the horizontal plane. However, if the amount of adjustment of the angle of the transmission axis Lt is about 2 ° to 3 °, the deviation is small, so there is a practical problem. Absent.
[0063]
Also according to the sixth embodiment, since the transmission axis Lt of the light transmission mirror 13 can be adjusted horizontally without adjusting the mounting angle of the housing 33 of the radar device Sr with respect to the vehicle body, the structure of the radar device Sr is simplified. In addition to this, the time required for axis adjustment can be greatly reduced.
[0064]
Next, a seventh embodiment of the present invention corresponding to the invention described in claim 4 will be described with reference to FIG.
[0065]
In the sixth embodiment described above, the light transmitting section 1 is supported by the housing 33. However, in the seventh embodiment, the light transmitting section 1 is supported by the motor holder 54 so that the light transmitting section 13 and the light transmitting mirror 13 are transmitted. The axis is adjusted by swinging the part 1 up and down.
[0066]
According to the seventh embodiment, the same effect as that of the sixth embodiment can be achieved, and the positional relationship between the light transmitting section 1 and the light transmitting mirror 13 does not change due to the axis adjustment. Can be shaken strictly in a horizontal plane.
[0067]
Next, an eighth embodiment of the present invention corresponding to the invention described in claims 5 and 6 will be described with reference to FIGS.
[0068]
The radar device Sr of the first to seventh embodiments described above is a radar radar device, but the radar device Sr of the eighth embodiment is a millimeter wave radar device, and its transmission means T is a plane transmission that transmits millimeter waves. In addition to the antenna 61, the receiving means R includes a planar receiving antenna 62 that receives a reflected wave from an object.
[0069]
The planar transmission antenna 61 is connected to the motor 63 via a rotating shaft 64, and the millimeter wave transmitted from the planar transmission antenna 61 that reciprocally swings left and right swings left and right to scan an object. A motor holder 65 that supports a motor 63 integrally provided with a planar light transmitting antenna 61 is supported on the housing 33 via shaft members 66 and 66 so as to be swingable up and down. 66, 66 is parallel to the reflecting surface of the planar transmitting antenna 61, and when the center of gravity G of the assembly is below the axial direction of the shaft members 66, 66, the direction of the transmitting surface of the planar transmitting antenna 61, That is, the direction of the transmission axis Lt is horizontal.
[0070]
The mechanism for switching the shaft members 66, 66 between the fixed state and the free state is the same as that of the fourth embodiment described above, and is constituted by a caliper member 67, a brake disk 68, a brake shoe 69, and a solenoid 70. Therefore, when the solenoid 70 is energized and the brake shoe 69 is separated from the brake disk 68, the assembly of the planar light transmitting antenna 61, the motor 63, and the motor holder 65 around the unconstrained shaft members 66, 66 is caused by gravity. It swings and stops so that its center of gravity G is positioned below the shaft members 66, 66 in the vertical direction. Subsequently, when the solenoid 70 is demagnetized, the brake shoe 69 is pressed against the brake disc 68 by a spring (not shown), and the rotation of the shaft members 66 and 66 is restrained. In this state, the transmission axis Lt of the planar light transmitting antenna 61 becomes horizontal. Become.
[0071]
An antenna holder 71 for holding the flat receiving antenna 62 is supported by the housing 33 via shaft members 72 and 72 so as to be swingable up and down. The flat center receiving antenna 62 and the center of gravity G of the antenna holder 71 that supports it and the shaft are supported. When the straight line connecting the members 72 and 72 is parallel to the reflecting surface of the planar receiving antenna 62, and the center of gravity G of the planar receiving antenna 62 and the antenna holder 71 that supports it is below the shaft members 72 and 72 in the vertical direction, The direction of the receiving surface of the flat receiving antenna 62, that is, the direction of the receiving axis Lr is horizontal.
[0072]
The mechanism for switching the shaft members 72, 72 between the fixed state and the free state is the same as that of the transmission means T described above, and is constituted by a caliper member 67, a brake disk 68, a brake shoe 69, and a solenoid 70. Therefore, by exciting the solenoid 70 and demagnetizing it after a predetermined time, the direction of the receiving axis Lr of the flat receiving antenna 62 can be adjusted horizontally by the action of gravity.
[0073]
As described above, the transmission axis Lt of the planar transmission antenna 61 and the reception axis Lr of the planar reception antenna 62 can be adjusted horizontally without adjusting the mounting angle of the housing 33 of the radar apparatus Sr with respect to the vehicle body. The structure of Sr can be simplified, and the time required for axis adjustment can be greatly shortened.
[0074]
In the eighth embodiment, since both the transmission axis Lt and the reception axis Lr are adjusted, the vertical angle range of the electromagnetic wave transmitted from the transmission means T and the vertical angle range of the detection area of the reception means R are Can be matched. That is, it is not necessary to provide a margin corresponding to the adjustment amount in the vertical direction in the vertical angle range of the detection area of the receiving means R. As a result, the vertical angle range of the detection area is minimized and sunlight or road surface is reduced. The influence of disturbances such as reflection can be reduced. Furthermore, since the vertical angle range of the electromagnetic waves transmitted from the transmission means T can be minimized, the transmission density of the electromagnetic waves from the transmission means T can be increased and the detection capability can be increased.
[0075]
As mentioned above, although the Example of this invention was explained in full detail, this invention can perform a various design change in the range which does not deviate from the summary.
[0076]
For example, in the embodiment, the vertical angle of the transmission axis Lt or the reception axis Lr of the radar device Sr is adjusted in the horizontal direction, but it can also be adjusted upward or downward by a predetermined angle from the horizontal direction. For this purpose, the vertical angle of the transmission axis Lt or the reception axis Lr is set in the horizontal direction in the state where the center of gravity G is positioned vertically below the shaft members 32, 32, 55, 55, 55, 66, 66, 72, 72. It is sufficient to deviate from the predetermined angle.
[0077]
In the first to seventh embodiments, one of the transmission axis Lt and the reception axis Lr is adjusted. However, both of them can be adjusted.
[0078]
In the eighth embodiment, both the transmission axis Lt and the reception axis Lr are adjusted, but any one of them can be adjusted.
[0079]
【The invention's effect】
As described above, according to the first aspect of the present invention, the lens that directs the reflected wave to the receiving portion of the receiving means provided in the housing of the object detection device can be swung up and down on the housing via the shaft member. Since the lens is switched between a fixed state that cannot be swung by a fixing means and a free state that can be swung, the lens is freed for a predetermined time and the direction of the receiving shaft is adjusted to a predetermined angle with respect to the direction of gravity. After that, the lens can be fixed and the vertical axis adjustment can be completed. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0080]
According to the second aspect of the present invention, the receiving portion of the receiving means provided in the housing of the object detection device and the holding means for holding the lens are pivotally supported on the housing via the shaft member so as to be swingable up and down. Then, since the fixing means switches between a fixed state that cannot be swung and a free state that can be swung, the receiving unit and the lens are in a free state for a predetermined time, and the direction of the receiving shaft is adjusted to a predetermined angle with respect to the direction of gravity. After that, the receiving unit and the lens can be fixed and the vertical axis adjustment can be completed. As a result, the axis of the object detection device can be adjusted in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body, and the position of the receiver and the lens can be adjusted by adjusting the axis. Since the relationship does not change, the reflected wave that has passed through the lens can be reliably directed to the receiving unit.
[0081]
According to the invention described in claim 3, the direction changing means for turning the electromagnetic wave transmitted from the transmission means provided in the housing of the object detection device toward the predetermined region is provided on the housing via the shaft member. Since it is pivotally supported so that it can be swung up and down, it is switched between a fixed state in which it cannot be swung by the fixing means and a free state in which it can be swung. On the other hand, after adjusting to a predetermined angle, the turning means can be fixed to complete the vertical axis adjustment. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0082]
According to the fourth aspect of the present invention, the holding means for holding the transmitting portion and the deflecting means of the transmitting means provided in the housing of the object detection device can swing up and down on the housing via the shaft member. Since it is pivotally supported and switched between a fixed state that cannot be swung by the fixing means and a free state that can be swung, the transmitting unit and the turning means are in a free state for a predetermined time, and the direction of the transmitting shaft is set to the direction of gravity After the adjustment to the predetermined angle, the vertical axis adjustment can be completed by setting the transmitting unit and the turning means in a fixed state. This makes it possible to adjust the axis of the object detection device with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body. Therefore, the electromagnetic wave emitted from the transmitter can be redirected by the redirecting means and reliably directed to the predetermined area.
[0083]
According to the fifth aspect of the invention, the receiving portion of the receiving means provided in the housing of the object detection device is pivotally supported by the housing so as to be able to swing up and down via the shaft member, and is shaken by the fixing means. Since it is switched between the immovable fixed state and the swingable free state, the receiving unit is in a free state for a predetermined time, the direction of the receiving shaft is adjusted to a predetermined angle with respect to the direction of gravity, and then the receiving unit is fixed. Thus, the vertical axis adjustment can be completed. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0084]
According to the sixth aspect of the present invention, the transmission portion of the transmission means provided in the housing of the object detection device is pivotally supported on the housing via the shaft member so as to be swingable up and down. Since it is switched between an immobile fixed state and a swingable free state, the transmitting unit is in a free state for a predetermined time, the direction of the transmitting shaft is adjusted to a predetermined angle with respect to the direction of gravity, and then the transmitting unit is fixed. The vertical axis adjustment can be completed. As a result, the axis of the object detection device can be adjusted with a simple structure and in a short time without adjusting the mounting angle of the housing of the object detection device to the vehicle body.
[0085]
According to the seventh aspect of the present invention, the transmission axis or the reception axis can be adjusted in the horizontal direction by setting the angle formed by the transmission axis or the reception axis with respect to the direction of gravity to 90 °.
[0086]
According to the eighth aspect of the present invention, the transmission means or the reception axis is set in the direction of gravity because the fixing means waits for the oscillation to stop after a predetermined time has elapsed from the fixed state to the free state. On the other hand, it can be adjusted to form a predetermined angle accurately.
[0087]
According to the invention described in claim 9, the fixed object can be reliably fixed by pressing and fixing the fixed object with the fixing means.
[0088]
According to the invention described in claim 10, the shaft member can be reliably restrained by restraining the rotation of the shaft member by the fixing means.
[Brief description of the drawings]
FIG. 1 is a block diagram of a radar device.
FIG. 2 is a perspective view of a radar device.
FIG. 3 is a three-sided view of receiving means.
FIG. 4 is a diagram showing a mounting state of the radar device to the vehicle body
FIG. 5 is a flowchart for explaining an axis adjustment procedure;
FIG. 6 is a diagram for explaining the operation during axis adjustment.
FIG. 7 is a diagram for explaining a relationship between a housing and a receiving shaft of a light receiving lens.
FIG. 8 is a two-side view of a receiving means according to the second embodiment.
FIG. 9 is an operation explanatory diagram corresponding to FIG.
FIG. 10 is a two-side view of a receiving means according to the third embodiment.
11 is an operation explanatory diagram corresponding to FIG.
FIG. 12 is a three-sided view of a receiving means according to the fourth embodiment.
FIG. 13 is a three-sided view of a receiving means according to the fifth embodiment.
FIG. 14 is a three-sided view of a receiving means according to the sixth embodiment.
FIG. 15 is a three-sided view of a receiving means according to the seventh embodiment.
FIG. 16 is a three-sided view of a transmitting means according to the eighth embodiment.
FIG. 17 is a three-sided view of a receiving means according to the eighth embodiment.
[Explanation of symbols]
1 Light transmitter (transmitter)
4 Light receiver (receiver)
13 Transmitting mirror (turning means)
17 Receiving lens (lens)
31 Lens holder (holding means)
32 Shaft member
33 Housing
33a Window
38 Solenoid (fixing means)
45 Motor (fixing means)
47 Operation rod (fixing means)
53 Solenoid (fixing means)
54 Motor holder (fixing means)
55 Shaft member
61 Planar transmit antenna (transmitter)
62 Planar receiving antenna (receiver)
66 Shaft member
70 Solenoid (fixing means)
72 Shaft member
Lr receiving axis
Lt Transmission axis
R receiving means
T transmission means

Claims

A housing (33) attached to the moving body and having transmission and reception windows (33a) in the traveling direction of the moving body;
A transmitting means (T) disposed in the housing (33) for transmitting an electromagnetic wave toward a predetermined region in the traveling direction;
Receiving means (R) for receiving a reflected wave which is disposed in the housing (33) and reflected by an object existing in the predetermined area;
In an object detection apparatus for a moving body comprising
The receiving means (R)
A receiver (4) fixed in the housing (33) for receiving reflected waves;
The reflected wave is directed to the receiving section (4) and supported by the housing (33) via the shaft member (32) so as to be able to swing up and down, so that the reflected wave receiving axis (Lr) is free from gravity. A lens (17) forming a predetermined angle with respect to the direction;
Fixing means (38, 45, 47) for switching the lens (17) between a fixed state in which the lens cannot be swung and a free state in which the lens can be swung, and switching to a fixed state when detecting an object, and to a free state for a predetermined time when adjusting the axis. When,
An object detection apparatus for a moving body, comprising:

A housing (33) attached to the moving body and having transmission and reception windows (33a) in the traveling direction of the moving body;
A transmitting means (T) disposed in the housing (33) for transmitting an electromagnetic wave toward a predetermined region in the traveling direction;
Receiving means (R) for receiving a reflected wave which is disposed in the housing (33) and reflected by an object existing in the predetermined area;
In an object detection apparatus for a moving body comprising
The receiving means (R)
A receiving unit (4) for receiving the reflected wave;
A lens (17) for directing reflected waves to the receiver (4);
While holding the receiving portion (4) and the lens (17), the shaft is supported by the housing (33) via the shaft member (32) so that it can swing up and down, and the receiving shaft (Lr) of the reflected wave is free in a free state. Holding means (31) forming a predetermined angle with respect to the direction of gravity;
A holding means (53) capable of switching between a fixed state in which the holding means (31) cannot be swung and a free state in which the holding means can be swung; a fixing means (53) which switches to a fixed state when detecting an object;
An object detection apparatus for a moving body, comprising:

A housing (33) attached to the moving body and having transmission and reception windows (33a) in the traveling direction of the moving body;
A transmitting means (T) disposed in the housing (33) for transmitting an electromagnetic wave toward a predetermined region in the traveling direction;
Receiving means (R) for receiving a reflected wave which is disposed in the housing (33) and reflected by an object existing in the predetermined area;
In an object detection apparatus for a moving body comprising
The transmitting means (T)
A transmitter (1) fixed in the housing (33) for transmitting electromagnetic waves;
The electromagnetic wave transmitted from the transmission unit (1) is redirected toward the predetermined region, and is pivotally supported by the housing (33) via the shaft member (55) so as to be able to swing up and down. Turning means (13) in which the transmission axis (Lt) forms a predetermined angle with respect to the direction of gravity;
A fixing means (53) capable of switching the deflection means (13) between a fixed state in which it cannot swing and a free state in which it can swing;
An object detection apparatus for a moving body, comprising:

A housing (33) attached to the moving body and having transmission and reception windows (33a) in the traveling direction of the moving body;
A transmitting means (T) disposed in the housing (33) for transmitting an electromagnetic wave toward a predetermined region in the traveling direction;
Receiving means (R) for receiving a reflected wave which is disposed in the housing (33) and reflected by an object existing in the predetermined area;
In an object detection apparatus for a moving body comprising
The transmitting means (T)
A transmitter (1) for transmitting electromagnetic waves;
Redirecting means (13) for redirecting the electromagnetic wave transmitted from the transmitting unit (1) toward the predetermined area;
While holding the transmitter (1) and the deflecting means (13), the shaft is supported by the housing (33) via the shaft member (55) so as to be able to swing up and down, and in a free state, the transmission shaft (Lt) of electromagnetic waves Holding means (54) which forms a predetermined angle with respect to the direction of gravity;
A holding means (53) capable of switching between a fixed state in which the holding means (54) cannot be swung and a free state in which the holding means can be swung; a fixing means (53) which switches to a fixed state when detecting an object;
An object detection apparatus for a moving body, comprising:

A housing (33) attached to the moving body and having transmission and reception windows (33a) in the traveling direction of the moving body;
A transmitting means (T) disposed in the housing (33) for transmitting an electromagnetic wave toward a predetermined region in the traveling direction;
Receiving means (R) for receiving a reflected wave which is disposed in the housing (33) and reflected by an object existing in the predetermined area;
In an object detection apparatus for a moving body comprising
The receiving means (R)
In addition to receiving electromagnetic waves, the housing (33) is pivotally supported via a shaft member (72) so that it can swing up and down, and in a free state, the reflected wave receiving axis (Lr) has a predetermined angle with respect to the direction of gravity. A receiver (62) comprising:
A fixing means (70) capable of switching the receiving unit (62) between a fixed state in which the receiving unit (62) cannot swing and a free state in which the receiving unit (66) can swing;
An object detection apparatus for a moving body, comprising:

A housing (33) attached to the moving body and having transmission and reception windows (33a) in the traveling direction of the moving body;
A transmitting means (T) disposed in the housing (33) for transmitting an electromagnetic wave toward a predetermined region in the traveling direction;
Receiving means (R) for receiving a reflected wave which is disposed in the housing (33) and reflected by an object existing in the predetermined area;
In an object detection apparatus for a moving body comprising
The transmitting means (T)
The electromagnetic wave is transmitted and supported by the housing (33) via the shaft member (66) so as to be swingable up and down, and the electromagnetic wave transmission axis (Lt) forms a predetermined angle with respect to the direction of gravity in a free state. A transmission unit (61);
A fixing means (70) capable of switching the transmitter (61) between a fixed state in which the transmitter cannot be swung and a free state in which the transmitter can be swung;
An object detection apparatus for a moving body, comprising:

The object detection apparatus for a moving body according to any one of claims 1 to 6, wherein the predetermined angle formed with respect to the direction of gravity is 90 °.

The movement according to any one of claims 1 to 7, wherein the predetermined time is a time required for the swinging to stop when the fixing means is changed from the fixed state to the free state. Body object detection device.

The moving object detection device according to claim 1, wherein the fixing unit is configured to press and fix a fixed object.

10. The object detection for a moving body according to claim 1, wherein the fixing means restrains rotation of the shaft member (32, 55, 66, 72). 11. apparatus.