JP4098341B1 - 走査式測距装置の光学窓汚れ検出装置 - Google Patents
走査式測距装置の光学窓汚れ検出装置 Download PDFInfo
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- JP4098341B1 JP4098341B1 JP2006355154A JP2006355154A JP4098341B1 JP 4098341 B1 JP4098341 B1 JP 4098341B1 JP 2006355154 A JP2006355154 A JP 2006355154A JP 2006355154 A JP2006355154 A JP 2006355154A JP 4098341 B1 JP4098341 B1 JP 4098341B1
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- optical window
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- scanning
- photoelectric sensor
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- 230000003287 optical effect Effects 0.000 title claims abstract description 137
- 238000005259 measurement Methods 0.000 claims abstract description 55
- 238000001514 detection method Methods 0.000 claims abstract description 52
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000011109 contamination Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 230000002093 peripheral effect Effects 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000002366 time-of-flight method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
Abstract
【解決手段】光学窓102が設けられたケーシング101に、投光部3と、投光部3から出力された測定光を光学窓102を通して測定対象空間に偏向走査する走査機構4と、対象物からの反射光を光学窓102を通して検出する受光部5が収容されている走査式測距装置の光学窓汚れ検出装置であって、光学窓102の外側に光学窓102に沿って複数の反射式光電センサ1を設けるとともに、光学窓102を通過した反射式光電センサ1からの検出光を反射式光電センサ1に向けて反射する再帰性反射部材2を走査機構4に取付けている。
【選択図】図1
Description
前記光学窓の外側に前記光学窓に沿って複数の反射式光電センサを設けるとともに、前記光学窓を通過した前記反射式光電センサからの検出光を前記反射式光電センサに向けて反射する再帰性反射部材を前記走査機構に取付けている点にある。
2:再帰性反射部材
3:投光部
3a:光源
3b:AM変調部、バースト駆動部(駆動回路)
4:走査機構
5:受光部
5a:受光素子
5b:受光回路(増幅回路)
7:導光部材
8:回転体
9:偏向ミラー
11:モータ
90:信号処理基板
91:AD変換部
92:信号処理部
93:システム制御部
93a:光学窓モニタ手段
Claims (6)
- 光学窓が設けられたケーシングに、投光部と、前記投光部から出力された測定光を前記光学窓を通して測定対象空間に偏向する偏向ミラーを所定軸心周りに回転する走査機構と、対象物からの反射光を前記光学窓を通して検出する受光部が収容されている走査式測距装置の光学窓汚れ検出装置であって、
前記光学窓の外側に前記光学窓に沿って複数の反射式光電センサを設けるとともに、前記光学窓を通過した前記反射式光電センサからの検出光を前記反射式光電センサに向けて反射する再帰性反射部材を前記走査機構に取付けている走査式測距装置の光学窓汚れ検出装置。 - 前記走査機構の走査角を検出する走査角検出手段を備え、前記走査角検出手段により検出された走査角と前記反射式光電センサによる検出光の光量に基づいて前記光学窓の汚れ状態をモニタする光学窓モニタ手段を備えている請求項1記載の走査式測距装置の光学窓汚れ検出装置。
- 前記光学窓モニタ手段は、前記反射式光電センサからの検出光が入射して前記再帰性反射部材から反射されるべき期間に、前記再帰性反射部材からの反射光が検出されないときに非反射性の汚れがあると判断する請求項2記載の走査式測距装置の光学窓汚れ検出装置。
- 前記光学窓モニタ手段は、前記反射式光電センサの発光期間であって、当該発光期間より短く設定された前記再帰性反射部材からの反射光の反射期間以外の期間に、反射光が検出されるときに反射性の汚れがあると判断する請求項2または3記載の走査式測距装置の光学窓汚れ検出装置。
- 前記再帰性反射部材は測定光及び対象物からの反射光の光路の外部に設けられている請求項1から4の何れかに記載の走査式測距装置の光学窓汚れ検出装置。
- 前記反射式光電センサは、対象物からの反射光が前記受光部で検出されるタイミングとは異なるタイミングで発光駆動される請求項1から5の何れかに記載の走査式測距装置の光学窓汚れ検出装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006355154A JP4098341B1 (ja) | 2006-12-28 | 2006-12-28 | 走査式測距装置の光学窓汚れ検出装置 |
US12/003,376 US7602485B2 (en) | 2006-12-28 | 2007-12-21 | Optical window contamination detecting device for optical apparatus |
EP20070124119 EP1939650B1 (en) | 2006-12-28 | 2007-12-28 | Optical window contamination detecting device for optical apparatus |
DE200760012651 DE602007012651D1 (de) | 2006-12-28 | 2007-12-28 | Optische Fensterverschmutzungsdetektionsvorrichtung für eine optische Vorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006355154A JP4098341B1 (ja) | 2006-12-28 | 2006-12-28 | 走査式測距装置の光学窓汚れ検出装置 |
Publications (2)
Publication Number | Publication Date |
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JP4098341B1 true JP4098341B1 (ja) | 2008-06-11 |
JP2008164477A JP2008164477A (ja) | 2008-07-17 |
Family
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JP2006355154A Active JP4098341B1 (ja) | 2006-12-28 | 2006-12-28 | 走査式測距装置の光学窓汚れ検出装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7602485B2 (ja) |
EP (1) | EP1939650B1 (ja) |
JP (1) | JP4098341B1 (ja) |
DE (1) | DE602007012651D1 (ja) |
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2006
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- 2007-12-21 US US12/003,376 patent/US7602485B2/en active Active
- 2007-12-28 EP EP20070124119 patent/EP1939650B1/en active Active
- 2007-12-28 DE DE200760012651 patent/DE602007012651D1/de active Active
Also Published As
Publication number | Publication date |
---|---|
US7602485B2 (en) | 2009-10-13 |
EP1939650A2 (en) | 2008-07-02 |
EP1939650A3 (en) | 2009-01-28 |
EP1939650B1 (en) | 2011-02-23 |
JP2008164477A (ja) | 2008-07-17 |
US20080158555A1 (en) | 2008-07-03 |
DE602007012651D1 (de) | 2011-04-07 |
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