JP4187919B2

JP4187919B2 - Object detection apparatus and axis adjustment method thereof

Info

Publication number: JP4187919B2
Application number: JP2000323644A
Authority: JP
Inventors: 隼人菊池
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2000-10-24
Filing date: 2000-10-24
Publication date: 2008-11-26
Anticipated expiration: 2020-10-24
Also published as: JP2002131431A

Description

【０００１】
【発明の属する技術分野】
本発明は、電磁波を送信する送信手段と、物体による反射波を受信する受信手段とを備えた物体検知装置と、その物体検知装置の軸調整方法とに関する。
【０００２】
【従来の技術】
アダプティブ・クルーズ・コントロール・システム、渋滞追従システム、車間距離警報システム等に用いられて先行車や対向車のような移動物、あるいはデリニエータやキャッツアイのような停止物を検知するレーダー装置は、そのレーザービームの光軸が正しく調整（エイミング）されていることが必要であり、光軸がずれていると目的とするターゲットを確実に検知できなくなる可能性がある。特に、車載のレーダ装置の検知領域の幅は左右方向に比べて上下方向に狭いため、上下方向の光軸の調整は特に重要なものとなる。
【０００３】
特開平７−２２５２７７号公報には、レーダー装置のレーザーヘッドを３個の取付プレートを介して車体に支持することにより、上下方向および左右方向のエイミングを可能にしたものが記載されている。
【０００４】
【発明が解決しようとする課題】
ところで、上記特開平７−２２５２７７号公報に記載されたものは、上下方向および左右方向のエイミングを行うべくレーザーヘッドが３個の取付プレートを介して車体に支持されているために、３個の取付プレートにより部品点数の増加、重量の増加、取付スペースの増加が発生するだけでなく、作業員の手作業によってエイミングを行うために、作業に多くの時間と労力が必要であるばかりかエイミングの精度にばらつきが発生する可能性があった。
【０００５】
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エイミングを自動的に行えるようにすることを目的とする。
【０００６】
【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、電磁波を送信する送信手段と、送信手段の送信した電磁波が物体に反射された反射波を受信する受信手段と、往復回動する回転軸を有するモータと、回転軸に偏心して一体的に取り付けられ、外周の少なくとも一部に係合部を有する偏心回転部材と、送信手段の送信した電磁波を反射する反射面を有するとともに、該反射面の反対側に前記係合部に係合可能な被係合部を有する反射部材と、反射部材の反射面を回転軸に直交する軸線まわりに揺動自在に、かつ回転軸に対して相対回転自在に支持する支軸と、反射部材の被係合部が偏心回転部材の係合部に当接するように付勢する付勢部材と、回転軸の回転に伴って反射部材が当接可能であり、回転軸の更なる回転に伴って係合部および被係合部の係合を付勢部材の付勢力に抗して解除するストッパー部材とを備えたことを特徴とする物体検知装置が提案される。
【０００７】
上記構成によれば、モータの回転軸を物体検知時の回転角を越えて回転させると反射部材が何れか一方のストッパー部材に当接して回転を規制され、回転軸と一体の偏心回転部材の係合部が反射部材の被係合部に対して相対回転するため、反射部材が支軸まわりに揺動して上下方向にエイミングされる。このように物体検知装置の上下方向のエイミングが作業者の手作業によらずに可能になるため、時間や労力が節減されるだけでなく、作業者の熟練の程度に左右されずに精度の高いエイミングが可能になる。
【０００８】
また請求項２に記載された発明によれば、請求項１の構成に加えて、反射部材は、前記反射面を有する反射体と、反射体を前記支軸を介して揺動自在に支持するとともに、前記被係合部を有して偏心回転部材に対して相対回転自在な反射体ホルダーとを備えたことを特徴とする物体検知装置が提案される。
【０００９】
上記構成によれば、回転軸に偏心回転部材を介して相対回転自在に支持された反射体ホルダーと、この反射体ホルダーに支軸を介して揺動自在に支持された反射体とで反射部材を構成したので、偏心回転部材との相対回転により反射体ホルダーを移動させることにより反射面を有する反射体を上下方向に揺動させることができる。
【００１０】
また請求項３に記載された発明によれば、請求項２の構成に加えて、反射体に当接して反射体ホルダーに対する反射体の角度を保持する位置決め部材を備えたことを特徴とする物体検知装置が提案される。
【００１１】
上記構成によれば、反射体を位置決め部材に当接させることにより反射体ホルダーに対する反射体の角度を保持することができる。
【００１２】
また請求項４に記載された発明によれば、請求項２または請求項３の構成に加えて、反射体ホルダーは偏心回転部材を囲繞する貫通孔の内周面に前記被係合部を有することを特徴とする物体検知装置が提案される。
【００１３】
上記構成によれば、反射体ホルダーに形成されて偏心回転部材を囲繞する貫通孔の内周面に被係合部を設けたので、被係合部を反射体ホルダーの内部にコンパクトに形成することができる。
【００１４】
また請求項５に記載された発明によれば、請求項４の構成に加えて、偏心回転部材の係合部は、径方向に設けられた孔と、この孔に収納された係止部材と、この係止部材を孔から突出する方向に付勢する弾発部材とを備えたことを特徴とする物体検知装置が提案される。
【００１５】
上記構成によれば、偏心回転部材に径方向に設けた孔に収納した係止部材を弾発部材で突出する方向に付勢して係合部を構成したので、係合部を偏心回転部材の内部にコンパクに形成することができる。
【００１６】
また請求項６に記載された発明によれば、請求項１〜請求項５の何れか１項の構成に加えて、ストッパー部材は、回転軸が一方向に回転したときに反射部材に当接する第１ストッパー部材と、回転軸が他方向に回転したときに反射部材に当接する第２ストッパー部材とから構成されることを特徴とする物体検知装置が提案される。
【００１７】
上記構成によれば、回転軸が一方向に回転すると反射部材が第１ストッパー部材に当接し、回転軸が他方向に回転すると反射部材が第２ストッパー部材に当接するので、回転軸の回転方向に応じて反射部材を上向きおよび下向きにエイミングすることができる。
【００１８】
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、偏心回転部材の一方向への回転および他方向への回転により、反射部材の反射面の角度を回転軸に平行な面を含んで変更可能であることを特徴とする物体検知装置が提案される。
【００１９】
上記構成によれば、偏心回転部材の回転方向を変化させると反射部材の反射面の角度が回転軸に平行な面を含んで変更されるので、上向きおよび下向きのエイミングが可能になる。
【００２０】
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、物体検知モードとエイミングモードとを切替え可能であり、物体検知モードにおいて、反射部材がストッパー部材に当接しない範囲で回転軸が往復回動するようにモータを制御する制御手段を備えたことを特徴とする物体検知装置が提案される。
【００２１】
上記構成によれば、物体検知モードでは反射部材がストッパー部材に当接しない範囲で回転軸が往復回動するので、反射部材が不用意に上下揺動することが防止される。
【００２２】
また請求項９に記載された発明によれば、電磁波を送信する送信手段と、送信手段の送信した電磁波が物体に反射された反射波を受信する受信手段と、往復回動する回転軸を有するモータと、回転軸にその軸線と直交する支軸を介して揺動可能に支持され、外周の少なくとも一部に係合部を有する角度保持部材と、送信手段の送信した電磁波を反射する反射面を有するとともに、該反射面の反対側において角度保持部材に固定された反射部材と、角度保持部と回転軸との間に設けられ、角度保持部材の係合部に弾発的に係合する係止部材と、回転軸の回転に伴って反射部材が当接するとともに、回転軸に更なる回転に伴って係合部および係止部材の係合を解除して角度保持部材を回転させるストッパー部材とを備えたことを特徴とする物体検知装置が提案される。
【００２３】
上記構成によれば、モータの回転軸を物体検知時の回転角を越えて回転させると、反射部材が何れか一方のストッパー部材に当接して回転軸まわりの回転を規制され、係合部および係止部材の係合が解除されて角度保持部材が支軸まわりに揺動し、反射部材が上下方向にエイミングされる。このように物体検知装置の上下方向のエイミングが作業者の手作業によらずに可能になるため、時間や労力が節減されるだけでなく、作業者の熟練の程度に左右されずに精度の高いエイミングが可能になる。
【００２４】
また請求項１０に記載された発明によれば、請求項９の構成に加えて、ストッパー部材は、回転軸が一方向に回転したときに反射部材に当接する第１ストッパー部材と、回転軸が他方向に回転したときに反射部材に当接する第２ストッパー部材とから構成されることを特徴とする物体検知装置が提案される。
【００２５】
上記構成によれば、回転軸が一方向に回転すると反射部材が第１ストッパー部材に当接し、回転軸が他方向に回転すると反射部材が第２ストッパー部材に当接するので、回転軸の回転方向に応じて反射部材を上向きおよび下向きにエイミングすることができる。
【００２６】
また請求項１１に記載された発明によれば、請求項９または請求項１０の構成に加えて、物体検知モードとエイミングモードとを切替え可能であり、物体検知モードにおいて、反射部材がストッパー部材に当接しない範囲で回転軸が往復回動するようにモータを制御する制御手段を備えたことを特徴とする物体検知装置が提案される。
【００２７】
上記構成によれば、物体検知モードでは反射部材がストッパー部材に当接しない範囲で回転軸が往復回動するので、反射部材が不用意に上下揺動することが防止される。
【００２８】
また請求項１２に記載された発明によれば、請求項１０または請求項１１の構成に加えて、角度保持部材は反射部材の裏面の略中央部に固定され、第１ストッパー部材は回転軸の一方向への回転により角度保持部材の支軸よりも高い位置において反射部材に当接し、第２のストッパー部材は回転軸の他方向への回転により角度保持部材の支軸よりも低い位置において反射部材に当接することを特徴とする物体検知装置が提案される。
【００２９】
上記構成によれば、回転軸が一方向に回転すると第１ストッパー部材が角度保持部材の支軸よりも高い位置において反射部材に当接し、反射部材を下向きに揺動させることができる。また回転軸が他方向に回転すると第２のストッパー部材が角度保持部材の支軸よりも低い位置において反射部材に当接し、反射部材を上向きに揺動させることができる。
【００３０】
また請求項１３に記載された発明によれば、請求項１〜請求項１２の何れか１項に記載の物体検知装置の軸調整方法であって、物体検知装置の検知範囲内の所定位置に設置される基準反射体と、物体検知モードとエイミングモードとを切替え可能であり、電磁波の送受信およびモータの回転を制御する制御手段とを設け、制御手段は、物体検知モードにおいて、基準反射体からの反射波の受信結果に基づいて物体検知装置の軸ずれを判定し、軸ずれが判定されたときに前記軸ずれを修正する方向にモータを駆動して反射部材がストッパー部材に当接したことを判定し、反射部材がストッパー部材に当接したことが判定されたときにモータを更に駆動して反射部材を揺動させることにより前記軸ずれを修正することを特徴とする物体検知装置の軸調整方法が提案される。
【００３１】
上記構成によれば、物体検知モードにおいて基準反射体の位置を検知して物体検知装置の軸ずれを検知した後、エイミングモードに切り換えて軸ずれを修正する方向にモータを駆動し、反射部材がストッパー部材に当接するとモータを更に駆動して反射部材を揺動させるので、物体検知モードをエイミングモードに切り換えるだけで物体検知装置の軸ずれを自動的に修正することができる。
【００３２】
尚、実施例の送光部１および受光部３はそれぞれ本発明の送信手段および受信手段に対応し、実施例の送光ミラー１３は本発明の反射部材に対応し、実施例の制御回路２４は本発明の制御手段に対応する。
【００３３】
【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。
【００３４】
図１〜図８は本発明の第１実施例を示すもので、図１は物体検知装置のブロック図、図２は物体検知装置の斜視図、図３は送光走査部の平面図、図４は図３の４方向矢視図、図５は図３の５方向矢視図、図６は図４の６−６線矢視図、図７は作用の説明図、図８はエイミングの手順を説明するフローチャートである。
【００３５】
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物体検知装置Ｓｔはレーザーレーダー装置を備えるもので、送光部１と、送光走査部２と、受光部３と、距離計測処理部５とから構成される。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を反射させる送光ミラー１３と、送光ミラー１３を上下方向の回転軸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、走光ミラー１３の角度を上下方向に変化させてレーザーの送光方向を上下に調整するエイミング機構２９とを備える。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。
【００３６】
受光部３は、受光レンズ１７と、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。受光部３の受光エリアは固定とされる。
【００３７】
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、アダプティブクルーズコントロール装置を制御する電子制御ユニット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。
【００３８】
次に、図３〜図６に基づいてエイミング機構２９の構造を説明する。
【００３９】
モータ１５から鉛直方向上向きに延びる回転軸１４の上部に支持ブラケット３２が相対回転自在に支持されており、この支持ブラケット３２に水平方向に延びる支軸３３を介して送光ミラー１３の上端が上下揺動自在に枢支される。回転軸１４の下部に円板状の偏心回転部材３４が固定されており、この偏心回転部材３４の中心は回転軸１４の中心に対して距離δ（図３参照）だけ偏心している。偏心回転部材３４の外周にギヤ歯状の係合部３４ａが形成され、この係合部３４ａに係合可能なギヤ歯状の被係合部１３ａ（図６参照）が送光ミラー１３の反射面１３ｂの裏面に形成される。送光ミラー１３はスプリングよりなる付勢部材３５で支軸３３まわりに付勢され、偏心回転部材３４の係合部３４ａが送光ミラー１３の被係合部１３ａに弾発的に係合する。モータ１５のハウジング１５ａに第１ストッパー部材３６および第２ストッパー部材３７が固定される。第１ストッパー部材３６および第２ストッパー部材３７は回転軸１４と平行に延びており、回転軸１４と共に回転する送光ミラー１３に裏面に当接可能である。
【００４０】
物体検知装置Ｓｔの上下エイミング可能角は、送光ミラー１３がモータ１５の回転軸１４と平行になるニュートラル位置を基準として、上下に各３．５°（６０ｍｒａｄ）である。支持ブラケット３２と偏心回転部材３４との上下距離を１０ｍｍとすると、送光ミラー１３を３．５°揺動させるための該送光ミラー１３の下端の移動量は０．６ｍｍとなる。従って、回転軸１４に対して偏心回転部材３４を０．６ｍｍ偏心させれば、偏心回転部材３４の回転に応じて送光ミラー１３をニュートラル位置を基準として上下に各３．５°揺動させることができる。上下エイミング可能な±３．５°の範囲を０．３°（５ｍｒａｄ）間隔で２４段階に調整するために、偏心回転部材３４の外周の係合部３４ａを構成するギヤ歯の歯数は４８個になる。尚、左右方向のエイミングは、機械的なエイミング機構を必要とせずに、モータ１５の回転軸１４の回転角を変更するだけで任意に行うことができる。
【００４１】
図２に示すように、送光走査部２における上下送光範囲は３°に設定されており、これに上下方向のエイミング可能角である±３．５°を加算した１０°の範囲が上下送光範囲となる。また受光部３における左右検知範囲は半径３００ｍのコーナーを検知できるように車体前後軸を中心として±８°の範囲に左右方向のエイミング可能角である±３．５°を加算して２３°（４００ｍｒａｄ）の範囲が左右受光範囲となる。
【００４２】
次に、上記構成を備えた第１実施例の作用を、図８のフローチャートを参照して説明する。
【００４３】
ステップＳ１で物体検知装置Ｓｔが物体検知モードであるとき、ステップＳ２でモータ１５の回転軸１４を送光ミラー１３と共に往復復回動させ、車体中心軸を基準として±２００ｍｒａｄの範囲を走査する（図７（Ａ）参照）。回転軸１４の回転角が±２００ｍｒａｄの範囲にあれば、送光ミラー１３が第１、第２ストッパー３６，３７に当接することはない。
【００４４】
前記ステップＳ１で物体検知装置Ｓｔが物体検知モードでないときには、ステップＳ３でエイミングモードになる。物体検知モードおよびエイミングモードの切り替えは図示せぬスイッチにより行われる。続くステップＳ４で目標とするエイミング方向が上向きであるか下向きであるかを判定する。この判定は、自動車の車体の正面に設置した基準反射体（図示せず）の位置を物体検知装置Ｓｔで検知し、検知された基準反射体の位置が車体の正面よりも下にずれていれば、送光ミラー１３からのビームが正しい方向よりも上向きに送光されている場合であり、送光ミラー１３を下向きに揺動させてビームを正面に向けて送光する必要がある。そして検知された基準反射体のずれ量に基づいて、送光ミラー１３の上下方向の必要調整角度が算出される。
【００４５】
前記ステップＳ４で目標とするエイミング方向が上向きであれば、ステップＳ５でモータ１５で回転軸１４を真上から見て時計回りに回転させる。物体検知モードでの回転軸１４の回転角は±２００ｍｒａｄであるが、エイミングモードでの回転角は±４００ｍｒａｄまで回転可能である。従って、回転軸１４が回転する過程で送光ミラー１３の裏面が第２ストッパー部材３７に当接する（図７（Ｂ）参照）。ステップＳ６で送光ミラー１３の裏面が第２ストッパー部材３７に当接してモータ１５の回転が強制的に停止され、そのことが例えばモータ１５の負荷電流から検知されると、ステップＳ７でモータ１５のトルクを増加させて更に時計回りに回転させる。
【００４６】
すると、ステップＳ８で偏心回転部材３４の係合部３４ａと送光ミラー１３の被係合部１３ａとの間に荷重が加わり、送光ミラー１３が付勢部材３５の付勢力に抗して支軸３３まわりに僅かに揺動し、係合部３４ａと被係合部１３ａとの係合がギヤ歯の１ピッチ分だけずれて再係合する。このようにして偏心回転部材３４が送光ミラー１３に対して１ピッチ分相対回転すると、ステップＳ９でモータ１５の回転を停止し、前記ステップＳ７〜Ｓ９を、ステップＳ１０で送光ミラー１３の必要調整角度に相当するピッチ数の相対回転が終了するまで繰り返す。その結果、偏心回転部材３４の係合部３４ａは半径が大きい部分において送光ミラー１３の被係合部１３ａに係合し、送光ミラー１３の下部が回転軸１４から離間して上向きにエイミングされる。
【００４７】
一方、前記ステップＳ４で目標とするエイミング方向が下向きであれば、ステップＳ１１でモータ１５で回転軸１４を真上から見て反時計回りに回転させ、ステップＳ１２で送光ミラー１３の裏面が第１ストッパー部材３６に当接したことが検知されると、ステップＳ１３でモータ１５のトルクを増加させて更に反時計回りに回転させる。すると、ステップＳ１４で偏心回転部材３４の係合部３４ａと送光ミラー１３の被係合部１３ａとの間に荷重が加わり、送光ミラー１３が付勢部材３５の付勢力に抗して支軸３３まわりに僅かに揺動し、係合部３４ａと被係合部１３ａとの係合がギヤ歯の１ピッチ分ずれて再係合する。このようにして偏心回転部材３４が送光ミラー１３に対して１ピッチ分だけ相対回転すると、続くステップＳ１５でモータ１５の回転を停止し、前記ステップＳ１３〜Ｓ１５を、ステップＳ１６で送光ミラー１３の必要調整角度に相当するピッチ数の相対回転が終了するまで繰り返す。その結果、偏心回転部材３４の係合部３４ａは半径が小さい部分において送光ミラー１３の被係合部１３ａに係合し、送光ミラー１３の下部が回転軸１４に接近して下向きにエイミングされる。
【００４８】
以上のように、モータ１５の回転軸１４を通常の回転角を越えて回転させるだけで、送光ミラー１３を回転軸１４と平行な角度を基準にして上方および下方にエイミングすることができるので、作業者が複数の取付プレートの取付角を微調整してエイミングを行う必要がなくなり、作業時間や労力を大幅に節減できるだけでなく、作業者の熟練に依存せずに常に精密なエイミングを行うことができる。
【００４９】
図９〜図１３は本発明の第２実施例を示すもので、図９は送光走査部の平面図、図１０は図９の１０方向矢視図、図１１は図９の１１方向矢視図、図１２は図１０の１２−１２線拡大矢視図、図１３は作用の説明図である。
【００５０】
第２実施例は、モータ１５の回転軸１４の下部に偏心して固定された円板状の偏心回転部材３４がギヤ歯状の係合部を備えておらず、その代わりに偏心回転部材３４の外周面に開口する２個の孔３４ｂ，３４ｂに保持された２個のボールよりなる係止部材４１，４１と、この係止部材４１，４１を孔３４ｂ，３４ｂから押し出す方向に付勢するコイルばねよりなる弾発部材４２，４２とを備える。孔３４ｂ、係止部材４１および弾発部材４２は本実施例の係合部４６を構成する。送光ミラー１３は、反射面１３ｂを有する反射体４３と、この反射体４３を支軸３３を介して枢支する反射体ホルダー４４とから構成される。反射体ホルダー４４には偏心回転部材３４が嵌合する円形の貫通孔４４ａが形成されており、この貫通孔４４ａの内周面にギヤ歯状の被係合部４４ｂが形成される。
【００５１】
モータ１５の回転軸１４の上部に円板状の位置決め部材４５が固定されており、付勢部材３５で付勢された反射体４３の上部裏面が位置決め部材４５に当接して反射面１３ｂの角度を保持する。尚、位置決め部材４５を回転軸１４に固定する代わりに、回転軸１４に回転自在に支持しても良い。モータ１５のハウジング１５ａに第１ストッパー部材３６および第２ストッパー部材３７が固定される。第１ストッパー部材３６および第２ストッパー部材３７は回転軸１４と平行に延びており、回転軸１４と共に回転する送光ミラー１３の反射体ホルダー４４の側面に当接可能である。
【００５２】
本第２実施例のエイミング機構２９の制御は、第１実施例と同様に図８のフローチャートに基づいて行われる。即ち、物体検知モードでモータ１５の回転軸１４が±２００ｍｒａｄの範囲で往復回動するとき、送光ミラー１３の反射体ホルダー４４は第１ストッパー部材３６および第２ストッパー部材３７に当接することはない。エイミングモードにおいてモータ１５の回転軸１４が±２００ｍｒａｄの範囲を越えて真上から見て時計回りに回転すると、送光ミラー１３の反射体ホルダー４４の側面が第２ストッパー部材３７に当接して回転を規制されるが、回転軸１４が更に回転すると偏心回転部材３４に設けた係止部材４１，４１が弾発部材４２，４２の弾発力に抗して後退し、反射体ホルダー４４の被係合部４４ｂのギヤ歯を乗り越えることにより、偏心回転部材３４に対して反射体ホルダー４４が必要ピッチ分だけ相対回転する。その結果、回転軸１４に対して反射体ホルダー４４が移動して反射体４３の下端が回転軸１４から離れるため、上端を位置決め部材４５に規制された反射体が支軸３３まわりに上向きにエイミングされる。逆にモータ１５の回転軸１４が±２００ｍｒａｄの範囲を越えて真上から見て反時計回りに回転すると、回転軸１４に対して反射体ホルダー４４が移動して反射体４３の下端が回転軸１４に近づくため、上端を位置決め部材４５に規制された反射体が支軸３３まわりに下向きにエイミングされる。
【００５３】
而して、この第２実施例によっても第１実施例と同様の作用効果を達成することができる。
【００５４】
図１４〜図１８は本発明の第３実施例を示すもので、図１５は送光走査部の平面図、図１６は図１５の１６方向矢視図、図１７は図１５の１７方向矢視図、図１８は作用の説明図である。
【００５５】
第３実施例は、レーザーダイオード１１から下向きに出たビームが約４５°の角度で斜め上方を向く送光ミラー１３により反射して車体前方に送光される（図１４参照）。モータ１５の回転軸１４の上端は二股になっており、そこに水平方向に延びる支軸３３を介して角度保持部材５１が揺動自在に支持される。角度保持部材５１はギヤ状の部材の一部を切り取った形状であり、外周にギヤ歯状の係合部５１ａが形成される。回転軸１４の二股部に形成された孔１４ａにボールよりなる係止部材５２が嵌合し、コイルばねよりなる弾発部材５３で角度保持部材５１の係合部５１ａに係合する方向に付勢される。そして反射面１３ｂが約４５°の角度で斜め上方を向く送光ミラー１３の裏面が前記角度保持部材５１に一体に固定される。モータ１５のハウジング１５ａに第１ストッパー部材３６および第２ストッパー部材３７が固定される。第１ストッパー部材３６の高さおよび第２ストッパー部材３７の高さは異なっており、高い方の第１ストッパー部材３６は送光ミラー１３の支軸３３よりも高い位置において当接可能であり、低い方の第２ストッパー部材３７は送光ミラー１３の支軸３３よりも低い位置において当接可能である。
【００５６】
本第３実施例のエイミング機構２９の制御は、第１実施例および第２実施例と実質的に同様に行われる。即ち、物体検知モードでモータ１５の回転軸１４が±２００ｍｒａｄの範囲で往復回動するとき、送光ミラー１３は第１ストッパー部材３６および第２ストッパー部材３７に当接することはない。エイミングモードにおいてモータ１５の回転軸１４が±２００ｍｒａｄの範囲を越えて真上から見て時計回りに回転すると、送光ミラー１３の下部が第２ストッパー部材３７に当接して水平方向への回転を規制されるが、回転軸１４が更に回転すると角度規制部材５１に設けた係合部５１ａが弾発部材５３で付勢された係止部材５２を押し戻すことにより、角度規制部材５１と共に送光ミラー１３が必要ピッチ分だけ上向きに回転してエイミングされる。逆にモータ１５の回転軸１４が±２００ｍｒａｄの範囲を越えて真上から見て反時計回りに回転すると、送光ミラー１３の上部が第１ストッパー部材３６に当接して水平方向への回転を規制されるが、回転軸１４が更に回転すると角度規制部材５１に設けた係合部５１ａが弾発部材５３で付勢された係止部材５２を押し戻すことにより、角度規制部材５１と共に送光ミラー１３が必要ピッチ分だけ下向きに回転してエイミングされる。
【００５７】
而して、この第３実施例によっても第１実施例および第２実施例と同様の作用効果を達成することができる。
【００５８】
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。
【００５９】
例えば、実施例の物体検知装置Ｓｔはレーザーレーダー装置を備えているが、ミリ波レーダー装置を備えるものであっても良い。
【００６０】
また第２実施例では係合部４６，４６を１８０°間隔で２個設けているが（図１２参照）、１２０°間隔で３個設けても良い。更に、角度保持部材５１側にギヤ歯状の係合部を設け、反射体ホルダー４４側に係止部材４１，４１および弾発部材４２，４２よりなる被係合部を設けても良い。
【００６１】
【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、モータの回転軸を物体検知時の回転角を越えて回転させると反射部材が何れか一方のストッパー部材に当接して回転を規制され、回転軸と一体の偏心回転部材の係合部が反射部材の被係合部に対して相対回転するため、反射部材が支軸まわりに揺動して上下方向にエイミングされる。このように物体検知装置の上下方向のエイミングが作業者の手作業によらずに可能になるため、時間や労力が節減されるだけでなく、作業者の熟練の程度に左右されずに精度の高いエイミングが可能になる。
【００６２】
また請求項２に記載された発明によれば、回転軸に偏心回転部材を介して相対回転自在に支持された反射体ホルダーと、この反射体ホルダーに支軸を介して揺動自在に支持された反射体とで反射部材を構成したので、偏心回転部材との相対回転により反射体ホルダーを移動させることにより反射面を有する反射体を上下方向に揺動させることができる。
【００６３】
また請求項３に記載された発明によれば、反射体を位置決め部材に当接させることにより反射体ホルダーに対する反射体の角度を保持することができる。
【００６４】
また請求項４に記載された発明によれば、反射体ホルダーに形成されて偏心回転部材を囲繞する貫通孔の内周面に被係合部を設けたので、被係合部を反射体ホルダーの内部にコンパクトに形成することができる。
【００６５】
また請求項５に記載された発明によれば、偏心回転部材に径方向に設けた孔に収納した係止部材を弾発部材で突出する方向に付勢して係合部を構成したので、係合部を偏心回転部材の内部にコンパクに形成することができる。
【００６６】
また請求項６に記載された発明によれば、回転軸が一方向に回転すると反射部材が第１ストッパー部材に当接し、回転軸が他方向に回転すると反射部材が第２ストッパー部材に当接するので、回転軸の回転方向に応じて反射部材を上向きおよび下向きにエイミングすることができる。
【００６７】
また請求項７に記載された発明によれば、偏心回転部材の回転方向を変化させると反射部材の反射面の角度が回転軸に平行な面を含んで変更されるので、上向きおよび下向きのエイミングが可能になる。
【００６８】
また請求項８に記載された発明によれば、物体検知モードでは反射部材がストッパー部材に当接しない範囲で回転軸が往復回動するので、反射部材が不用意に上下揺動することが防止される。
【００６９】
また請求項９に記載された発明によれば、モータの回転軸を物体検知時の回転角を越えて回転させると、反射部材が何れか一方のストッパー部材に当接して回転軸まわりの回転を規制され、係合部および係止部材の係合が解除されて角度保持部材が支軸まわりに揺動し、反射部材が上下方向にエイミングされる。このように物体検知装置の上下方向のエイミングが作業者の手作業によらずに可能になるため、時間や労力が節減されるだけでなく、作業者の熟練の程度に左右されずに精度の高いエイミングが可能になる。
【００７０】
また請求項１０に記載された発明によれば、回転軸が一方向に回転すると反射部材が第１ストッパー部材に当接し、回転軸が他方向に回転すると反射部材が第２ストッパー部材に当接するので、回転軸の回転方向に応じて反射部材を上向きおよび下向きにエイミングすることができる。
【００７１】
また請求項１１に記載された発明によれば、物体検知モードでは反射部材がストッパー部材に当接しない範囲で回転軸が往復回動するので、反射部材が不用意に上下揺動することが防止される。
【００７２】
また請求項１２に記載された発明によれば、回転軸が一方向に回転すると第１ストッパー部材が角度保持部材の支軸よりも高い位置において反射部材に当接し、反射部材を下向きに揺動させることができる。また回転軸が他方向に回転すると第２のストッパー部材が角度保持部材の支軸よりも低い位置において反射部材に当接し、反射部材を上向きに揺動させることができる。
【００７３】
また請求項１３に記載された発明によれば、物体検知モードにおいて基準反射体の位置を検知して物体検知装置の軸ずれを検知した後、エイミングモードに切り換えて軸ずれを修正する方向にモータを駆動し、反射部材がストッパー部材に当接するとモータを更に駆動して反射部材を揺動させるので、物体検知モードをエイミングモードに切り換えるだけで物体検知装置の軸ずれを自動的に修正することができる。
【図面の簡単な説明】
【図１】物体検知装置のブロック図
【図２】物体検知装置の斜視図
【図３】送光走査部の平面図
【図４】図３の４方向矢視図
【図５】図３の５方向矢視図
【図６】図４の６−６線矢視図
【図７】作用の説明図
【図８】エイミングの手順を説明するフローチャート
【図９】第２実施例の送光走査部の平面図
【図１０】図９の１０方向矢視図
【図１１】図９の１１方向矢視図
【図１２】図１０の１２−１２線拡大矢視図
【図１３】作用の説明図
【図１４】第３実施例の物体検知装置の斜視図
【図１５】送光走査部の平面図
【図１６】図１５の１６方向矢視図
【図１７】図１５の１７方向矢視図
【図１８】作用の説明図
【符号の説明】
１送光部（送信手段）
３受光部（受信手段）
１３送光ミラー（反射部材）
１３ａ被係合部
１３ｂ反射面
１５モータ
２４制御回路（制御手段）
１４回転軸
３３支軸
３４偏心回転部材
３４ａ係合部
３４ｂ孔
３５付勢部材
３６第１ストッパー部材（ストッパー部材）
３７第２ストッパー部材（ストッパー部材）
４１係止部材
４２弾発部材
４３反射体
４４反射体ホルダー
４４ａ貫通孔
４４ｂ被係合部
４５位置決め部材
４６係合部
５１角度保持部材
５１ａ係合部
５２係止部材
Ｓｔ物体検知装置[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an object detection device including a transmission unit that transmits electromagnetic waves and a reception unit that receives a reflected wave from an object, and an axis adjustment method of the object detection device.
[0002]
[Prior art]
Radar devices used in adaptive cruise control systems, traffic jam tracking systems, inter-vehicle distance warning systems, etc. to detect moving objects such as preceding cars and oncoming vehicles, or stationary objects such as delineators and cat's eyes, It is necessary for the optical axis of the laser beam to be adjusted (aimed) correctly. If the optical axis is deviated, the target target may not be detected reliably. In particular, since the width of the detection area of the on-vehicle radar device is narrower in the vertical direction than in the left-right direction, the adjustment of the optical axis in the vertical direction is particularly important.
[0003]
Japanese Patent Application Laid-Open No. 7-225277 discloses a device that enables aiming in the vertical direction and the horizontal direction by supporting a laser head of a radar apparatus on a vehicle body via three mounting plates.
[0004]
[Problems to be solved by the invention]
By the way, in the above-mentioned Japanese Patent Application Laid-Open No. 7-225277, the laser head is supported on the vehicle body through three mounting plates so as to perform aiming in the vertical direction and the horizontal direction. The mounting plate not only increases the number of parts, increases the weight, and increases the installation space, but also requires a lot of time and effort to perform the aiming manually by the worker. There could be variations in accuracy.
[0005]
The present invention has been made in view of the above-described circumstances, and an object thereof is to automatically perform the aiming in the vertical direction of an object detection device.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, a transmission means for transmitting an electromagnetic wave, a reception means for receiving a reflected wave in which the electromagnetic wave transmitted by the transmission means is reflected by an object, and a round trip. A motor having a rotating shaft that rotates, an eccentric rotating member that is integrally attached eccentrically to the rotating shaft and has an engaging portion at least at a part of the outer periphery, and a reflecting surface that reflects electromagnetic waves transmitted by the transmitting means; And a reflecting member having an engaged portion that is engageable with the engaging portion on the opposite side of the reflecting surface, and the reflecting surface of the reflecting member is swingable about an axis orthogonal to the rotating shaft, and the rotating shaft A support shaft that is supported so as to be relatively rotatable with respect to the shaft, an urging member that urges the engaged portion of the reflecting member to abut against the engaging portion of the eccentric rotating member, and the reflecting member as the rotating shaft rotates. Can be brought into contact with each other as the rotary shaft rotates further. Object detecting apparatus characterized by comprising a stopper member for releasing against the engagement parts and the engaged portion on the biasing force of the biasing member is proposed.
[0007]
According to the above configuration, when the rotation shaft of the motor is rotated beyond the rotation angle at the time of object detection, the reflecting member comes into contact with one of the stopper members to restrict the rotation, and the eccentric rotation member integrated with the rotation shaft is Since the engaging portion rotates relative to the engaged portion of the reflecting member, the reflecting member swings around the support shaft and is aimed in the vertical direction. In this way, the vertical aiming of the object detection device is possible without depending on the operator's manual work, which not only saves time and labor but also increases accuracy without depending on the skill level of the operator. High aiming is possible.
[0008]
According to the second aspect of the invention, in addition to the configuration of the first aspect, the reflecting member supports the reflector having the reflecting surface and the reflector through the support shaft so as to be swingable. In addition, there is proposed an object detection apparatus including a reflector holder that has the engaged portion and is rotatable relative to an eccentric rotation member.
[0009]
According to the above configuration, the reflector holder that is rotatably supported by the rotating shaft via the eccentric rotating member, and the reflector holder is swingably supported by the reflector holder via the support shaft. Reflector Thus, the reflector having the reflecting surface can be swung vertically by moving the reflector holder by relative rotation with the eccentric rotating member.
[0010]
According to the invention described in claim 3, in addition to the configuration of claim 2, the object further comprises a positioning member that contacts the reflector and holds the angle of the reflector with respect to the reflector holder. A detection device is proposed.
[0011]
According to the above configuration, the angle of the reflector with respect to the reflector holder can be maintained by bringing the reflector into contact with the positioning member.
[0012]
According to the invention described in claim 4, in addition to the structure of claim 2 or claim 3, the reflector holder has the engaged portion on the inner peripheral surface of the through hole surrounding the eccentric rotating member. An object detection apparatus characterized by this is proposed.
[0013]
According to the above configuration, since the engaged portion is provided on the inner peripheral surface of the through hole formed in the reflector holder and surrounding the eccentric rotating member, the engaged portion is formed compactly inside the reflector holder. be able to.
[0014]
According to the invention described in claim 5, in addition to the configuration of claim 4, the engaging portion of the eccentric rotating member includes a hole provided in the radial direction, and a locking member accommodated in the hole. An object detection device is provided that includes a resilient member that urges the locking member in a direction protruding from the hole.
[0015]
According to the above configuration, since the engaging member is configured by urging the engaging member housed in the hole provided in the radial direction in the eccentric rotating member in the protruding direction by the elastic member, the engaging portion is configured as the eccentric rotating member. It can be compactly formed inside.
[0016]
According to the invention described in claim 6, in addition to the configuration of any one of claims 1 to 5, the stopper member abuts on the reflection member when the rotation shaft rotates in one direction. An object detection device is proposed that includes a first stopper member and a second stopper member that contacts the reflecting member when the rotation shaft rotates in the other direction.
[0017]
According to the above configuration, the reflecting member contacts the first stopper member when the rotating shaft rotates in one direction, and the reflecting member contacts the second stopper member when the rotating shaft rotates in the other direction. Accordingly, the reflecting member can be aimed upward and downward.
[0018]
According to the invention described in claim 7, in addition to the configuration of any one of claims 1 to 6, the reflecting member is formed by rotating the eccentric rotating member in one direction and rotating in the other direction. There is proposed an object detection device characterized in that the angle of the reflection surface can be changed including a plane parallel to the rotation axis.
[0019]
According to the above configuration, when the rotation direction of the eccentric rotation member is changed, the angle of the reflection surface of the reflection member is changed including the plane parallel to the rotation axis, so that upward and downward aiming is possible.
[0020]
Further, according to the invention described in claim 8, in addition to the configuration of any one of claims 1 to 7, the object detection mode and the aiming mode can be switched. There is proposed an object detection device comprising a control means for controlling the motor so that the rotation shaft reciprocally rotates within a range in which the member does not contact the stopper member.
[0021]
According to the above configuration, in the object detection mode, since the rotating shaft reciprocates within a range where the reflecting member does not contact the stopper member, the reflecting member is prevented from being swung up and down carelessly.
[0022]
According to the ninth aspect of the invention, there is provided a transmission means for transmitting electromagnetic waves, a reception means for receiving reflected waves in which the electromagnetic waves transmitted from the transmission means are reflected by an object, and a rotary shaft that reciprocally rotates. A motor, an angle holding member supported by a rotating shaft via a support shaft orthogonal to the axis thereof, and having an engaging portion on at least a part of the outer periphery, and a reflecting surface for reflecting electromagnetic waves transmitted by the transmitting means A reflection member fixed to the angle holding member on the opposite side of the reflection surface, and provided between the angle holding portion and the rotation shaft, and elastically engages with the engagement portion of the angle holding member. A stopper member that contacts the locking member with the rotation of the rotation shaft and rotates the angle holding member by releasing the engagement of the engaging portion and the locking member with the rotation of the rotation shaft. An object inspection characterized by comprising Device is proposed.
[0023]
According to the above configuration, when the rotation shaft of the motor is rotated beyond the rotation angle at the time of object detection, the reflecting member comes into contact with any one of the stopper members and the rotation around the rotation shaft is restricted, and the engaging portion and The engagement of the locking member is released, the angle holding member swings around the support shaft, and the reflecting member is aimed in the vertical direction. In this way, the vertical aiming of the object detection device is possible without depending on the operator's manual work, which not only saves time and labor but also increases accuracy without depending on the skill level of the operator. High aiming is possible.
[0024]
According to the invention described in claim 10, in addition to the configuration of claim 9, the stopper member includes a first stopper member that contacts the reflecting member when the rotation shaft rotates in one direction, and a rotation shaft. There is proposed an object detection device comprising a second stopper member that contacts the reflecting member when rotated in the other direction.
[0025]
According to the above configuration, the reflecting member contacts the first stopper member when the rotating shaft rotates in one direction, and the reflecting member contacts the second stopper member when the rotating shaft rotates in the other direction. Accordingly, the reflecting member can be aimed upward and downward.
[0026]
According to the invention described in claim 11, in addition to the configuration of claim 9 or claim 10, the object detection mode and the aiming mode can be switched, and in the object detection mode, the reflecting member serves as the stopper member. There is proposed an object detection device comprising a control means for controlling the motor so that the rotary shaft reciprocally rotates in a range where it does not contact.
[0027]
According to the above configuration, in the object detection mode, since the rotating shaft reciprocates within a range where the reflecting member does not contact the stopper member, the reflecting member is prevented from being swung up and down carelessly.
[0028]
According to the invention described in claim 12, in addition to the structure of claim 10 or claim 11, the angle holding member is fixed to a substantially central portion of the back surface of the reflecting member, and the first stopper member is the rotating shaft. The second stopper member is reflected at a position lower than the support shaft of the angle holding member by rotating in the other direction by rotating in one direction. There is proposed an object detection device that is in contact with a member.
[0029]
According to the above configuration, when the rotation shaft rotates in one direction, the first stopper member abuts on the reflection member at a position higher than the support shaft of the angle holding member, and the reflection member can be swung downward. When the rotation shaft rotates in the other direction, the second stopper member abuts on the reflection member at a position lower than the support shaft of the angle holding member, and the reflection member can be swung upward.
[0030]
According to a thirteenth aspect of the present invention, there is provided the object detection device axis adjusting method according to any one of the first to twelfth aspects, wherein the object detection device is positioned at a predetermined position within a detection range of the object detection device. A reference reflector to be installed, and an object detection mode and an aiming mode can be switched, and a control means for controlling transmission / reception of electromagnetic waves and rotation of a motor is provided. The axis deviation of the object detection device is determined based on the reception result of the reflected wave, and when the axis deviation is determined, the motor is driven in a direction to correct the axis deviation and the reflecting member comes into contact with the stopper member. And determining that the reflecting member is in contact with the stopper member, the motor is further driven to swing the reflecting member to correct the axial deviation. Adjustment method is proposed.
[0031]
According to the above configuration, after detecting the position of the reference reflector in the object detection mode and detecting the axis deviation of the object detection device, the motor is driven in a direction to correct the axis deviation by switching to the aiming mode, and the reflecting member is When it comes into contact with the stopper member, the motor is further driven to swing the reflecting member, so that the axis deviation of the object detection device can be automatically corrected simply by switching the object detection mode to the aiming mode.
[0032]
The light transmitting unit 1 and the light receiving unit 3 of the embodiment correspond to the transmitting unit and the receiving unit of the present invention, respectively. The light transmitting mirror 13 of the embodiment corresponds to the reflecting member of the present invention, and the control circuit 24 of the embodiment. Corresponds to the control means of the present invention.
[0033]
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.
[0034]
1 to 8 show a first embodiment of the present invention. FIG. 1 is a block diagram of an object detection device, FIG. 2 is a perspective view of the object detection device, and FIG. 3 is a plan view of a light transmission scanning unit. 4 is a view in the direction of the arrow 4 in FIG. 3, FIG. 5 is a view in the direction of the arrow 5 in FIG. 3, FIG. 6 is a view in the direction of arrow 6-6 in FIG. It is a flowchart explaining a procedure.
[0035]
As shown in FIGS. 1 and 2, the object detection device St for detecting the distance and direction of an object ahead of the host vehicle includes a laser radar device, and includes a light transmission unit 1, a light transmission scanning unit 2, It comprises a light receiving unit 3 and a distance measurement processing unit 5. The light transmission unit 1 includes a laser diode 11 integrally provided with a light transmission lens, and a laser diode drive circuit 12 that drives the laser diode 11. The light transmission scanning unit 2 controls a light transmission mirror 13 that reflects a laser output from the laser diode 11, a motor 15 that reciprocates the light transmission mirror 13 around a vertical rotation shaft 14, and driving of the motor 15. And an aiming mechanism 29 that adjusts the laser beam transmission direction up and down by changing the angle of the traveling mirror 13 in the vertical direction. The light transmission beam emitted from the light transmission mirror 13 is limited in the left-right width and has an elongated pattern in the vertical direction, which reciprocates in the left-right direction in a predetermined cycle to scan the object.
[0036]
The light receiving unit 3 includes a light receiving lens 17, a photodiode 18 that receives a reflected wave converged by the light receiving lens 17 and converts it into an electrical signal, and a light receiving amplifier circuit 19 that amplifies an output signal of the photodiode 18. The light receiving area of the light receiving unit 3 is fixed.
[0037]
The distance measurement processing unit 5 includes a communication circuit 26 that performs communication between the control circuit 24 that controls the laser diode drive circuit 12 and the motor drive circuit 16, and an electronic control unit 25 that controls the adaptive cruise control device, and a laser. 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.
[0038]
Next, the structure of the aiming mechanism 29 will be described with reference to FIGS.
[0039]
A support bracket 32 is supported on an upper portion of the rotary shaft 14 extending vertically upward from the motor 15 so as to be relatively rotatable. The upper end of the light transmission mirror 13 is vertically moved to the support bracket 32 via a support shaft 33 extending in the horizontal direction. It is pivotably supported. A disc-shaped eccentric rotating member 34 is fixed to the lower portion of the rotating shaft 14, and the center of the eccentric rotating member 34 is eccentric by a distance δ (see FIG. 3) with respect to the center of the rotating shaft 14. A gear tooth-shaped engaging portion 34 a is formed on the outer periphery of the eccentric rotating member 34, and a gear tooth-shaped engaged portion 13 a (see FIG. 6) that can be engaged with the engaging portion 34 a is reflected by the light transmission mirror 13. It is formed on the back surface of the surface 13b. The light transmission mirror 13 is biased around the support shaft 33 by a biasing member 35 made of a spring, and the engaging portion 34a of the eccentric rotating member 34 is elastically engaged with the engaged portion 13a of the light transmitting mirror 13. . A first stopper member 36 and a second stopper member 37 are fixed to the housing 15 a of the motor 15. The first stopper member 36 and the second stopper member 37 extend in parallel with the rotation shaft 14 and can contact the back surface of the light transmission mirror 13 that rotates together with the rotation shaft 14.
[0040]
The up and down aiming possible angles of the object detection device St are 3.5 degrees (60 mrad) up and down with respect to the neutral position where the light transmission mirror 13 is parallel to the rotating shaft 14 of the motor 15. When the vertical distance between the support bracket 32 and the eccentric rotating member 34 is 10 mm, the amount of movement of the lower end of the light transmission mirror 13 for swinging the light transmission mirror 13 by 3.5 ° is 0.6 mm. Therefore, if the eccentric rotating member 34 is eccentric by 0.6 mm with respect to the rotating shaft 14, the light transmission mirror 13 is swung up and down by 3.5 degrees with respect to the neutral position according to the rotation of the eccentric rotating member 34. be able to. In order to adjust the range of ± 3.5 ° in which vertical aiming is possible in 24 stages at intervals of 0.3 ° (5 mrad), the number of gear teeth constituting the engaging portion 34a on the outer periphery of the eccentric rotating member 34 is 48. Become a piece. Note that the aiming in the left-right direction can be arbitrarily performed by simply changing the rotation angle of the rotating shaft 14 of the motor 15 without requiring a mechanical aiming mechanism.
[0041]
As shown in FIG. 2, in the light transmission scanning unit 2 Up and down The light transmission range is set to 3 °, and a range of 10 °, which is obtained by adding ± 3.5 °, which is an aiming angle in the vertical direction, is the vertical light transmission range. In addition, the left / right detection range in the light receiving unit 3 is 23 ° by adding ± 3.5 °, which is an aiming angle in the left / right direction, to a range of ± 8 ° centered on the longitudinal axis of the vehicle body so as to detect a corner having a radius of 300 m. 400 mrad) is the left and right light receiving range.
[0042]
Next, the operation of the first embodiment having the above configuration will be described with reference to the flowchart of FIG.
[0043]
When the object detection device St is in the object detection mode in step S1, in step S2, the rotation shaft 14 of the motor 15 is reciprocally rotated together with the light transmission mirror 13 to scan a range of ± 200 mrad with respect to the vehicle body center axis ( (See FIG. 7A). If the rotation angle of the rotation shaft 14 is within a range of ± 200 mrad, the light transmission mirror 13 does not come into contact with the first and second stoppers 36 and 37.
[0044]
When the object detection device St is not in the object detection mode in step S1, the aiming mode is set in step S3. Switching between the object detection mode and the aiming mode is performed by a switch (not shown). In subsequent step S4, it is determined whether the target aiming direction is upward or downward. In this determination, the position of a reference reflector (not shown) installed in front of the car body of the automobile is detected by the object detection device St, and the detected position of the reference reflector is shifted below the front of the car body. For example, the beam from the light transmission mirror 13 is transmitted upward from the correct direction, and it is necessary to swing the light transmission mirror 13 downward and transmit the beam toward the front. Based on the detected deviation amount of the reference reflector, the necessary adjustment angle in the vertical direction of the light transmission mirror 13 is calculated.
[0045]
If the target aiming direction is upward in step S4, the rotating shaft 14 is rotated clockwise as viewed from directly above by the motor 15 in step S5. The rotation angle of the rotating shaft 14 in the object detection mode is ± 200 mrad, but the rotation angle in the aiming mode can be rotated up to ± 400 mrad. Therefore, the back surface of the light transmission mirror 13 comes into contact with the second stopper member 37 in the process of rotating the rotating shaft 14 (see FIG. 7B). In step S6, the back surface of the light transmission mirror 13 comes into contact with the second stopper member 37 and the rotation of the motor 15 is forcibly stopped. If this is detected from the load current of the motor 15, for example, the motor 15 is detected in step S7. The torque is increased to rotate further clockwise.
[0046]
Then, in step S8, a load is applied between the engaging portion 34a of the eccentric rotating member 34 and the engaged portion 13a of the light transmission mirror 13, and the light transmission mirror 13 supports the urging force of the urging member 35. The shaft 33 is slightly swung around the shaft 33, and the engagement between the engaging portion 34a and the engaged portion 13a is shifted by one pitch of the gear teeth and re-engaged. When the eccentric rotating member 34 rotates relative to the light transmission mirror 13 by one pitch in this way, the rotation of the motor 15 is stopped in step S9, and the steps S7 to S9 are performed, and the light transmission mirror 13 is required in step S10. Repeat until the relative rotation of the number of pitches corresponding to the adjustment angle is completed. As a result, the engaging portion 34a of the eccentric rotating member 34 is engaged with the engaged portion 13a of the light transmitting mirror 13 at a portion where the radius is large, and the lower portion of the light transmitting mirror 13 is spaced apart from the rotating shaft 14 and aiming upward. Is done.
[0047]
On the other hand, if the target aiming direction is downward in step S4, the rotation shaft 14 is rotated counterclockwise by the motor 15 as viewed from directly above in step S11, and the back surface of the light transmission mirror 13 is moved to the first position in step S12. When it is detected that the first stopper member 36 is in contact with the stopper member 36, the torque of the motor 15 is increased in step S13 to further rotate it counterclockwise. Then, in step S14, a load is applied between the engaging portion 34a of the eccentric rotating member 34 and the engaged portion 13a of the light transmission mirror 13, and the light transmission mirror 13 is supported against the urging force of the urging member 35. It swings slightly around the shaft 33, and the engagement between the engaging portion 34a and the engaged portion 13a is shifted by one pitch of the gear teeth and re-engaged. When the eccentric rotating member 34 rotates relative to the light transmission mirror 13 by one pitch in this way, the rotation of the motor 15 is stopped in the subsequent step S15, and the steps S13 to S15 are performed in step S16. Repeat until the relative rotation of the number of pitches corresponding to the necessary adjustment angle is completed. As a result, the engaging portion 34a of the eccentric rotating member 34 is engaged with the engaged portion 13a of the light transmitting mirror 13 at a portion having a small radius, and the lower portion of the light transmitting mirror 13 approaches the rotating shaft 14 and aiming downward. Is done.
[0048]
As described above, it is possible to aim the light transmission mirror 13 upward and downward on the basis of an angle parallel to the rotation shaft 14 only by rotating the rotation shaft 14 of the motor 15 beyond the normal rotation angle. , It eliminates the need for the operator to fine-tune the mounting angles of multiple mounting plates, significantly reducing work time and labor, and always performing precise aiming without depending on the skill of the operator be able to.
[0049]
9 to 13 show a second embodiment of the present invention. FIG. 9 is a plan view of a light transmission scanning unit, FIG. 10 is a view in the direction of arrow 10 in FIG. 9, and FIG. FIG. 12 is an enlarged view taken along the line 12-12 in FIG. 10, and FIG.
[0050]
In the second embodiment, the disc-shaped eccentric rotating member 34 that is eccentrically fixed to the lower portion of the rotating shaft 14 of the motor 15 does not include a gear tooth-shaped engaging portion, but instead of the eccentric rotating member 34. Engaging members 41, 41 made of two balls held in two holes 34b, 34b opened on the outer peripheral surface, and a coil for urging the engaging members 41, 41 in a direction to push out from the holes 34b, 34b Elastic members 42, 42 made of springs. The hole 34b, the locking member 41, and the resilient member 42 constitute an engaging portion 46 of this embodiment. The light transmission mirror 13 includes a reflector 43 having a reflecting surface 13 b and a reflector holder 44 that pivotally supports the reflector 43 via a support shaft 33. The reflector holder 44 is formed with a circular through hole 44a into which the eccentric rotating member 34 is fitted, and a gear tooth-like engaged portion 44b is formed on the inner peripheral surface of the through hole 44a.
[0051]
A disc-shaped positioning member 45 is fixed to the upper portion of the rotating shaft 14 of the motor 15, and the upper rear surface of the reflector 43 urged by the urging member 35 abuts on the positioning member 45 and the angle of the reflecting surface 13 b. Hold. Instead of fixing the positioning member 45 to the rotating shaft 14, the positioning member 45 may be rotatably supported on the rotating shaft 14. A first stopper member 36 and a second stopper member 37 are fixed to the housing 15 a of the motor 15. The first stopper member 36 and the second stopper member 37 extend in parallel with the rotation shaft 14 and can contact the side surface of the reflector holder 44 of the light transmission mirror 13 that rotates together with the rotation shaft 14.
[0052]
The control of the aiming mechanism 29 of the second embodiment is performed based on the flowchart of FIG. 8 as in the first embodiment. That is, when the rotating shaft 14 of the motor 15 reciprocates in the range of ± 200 mrad in the object detection mode, the reflector holder 44 of the light transmission mirror 13 does not contact the first stopper member 36 and the second stopper member 37. Absent. In the aiming mode, when the rotating shaft 14 of the motor 15 rotates clockwise beyond the range of ± 200 mrad as viewed from directly above, the side surface of the reflector holder 44 of the light transmission mirror 13 contacts the second stopper member 37 and rotates. However, when the rotating shaft 14 further rotates, the locking members 41 and 41 provided on the eccentric rotating member 34 retreat against the elastic force of the elastic members 42 and 42, and the reflector holder 44 is covered. By overcoming the gear teeth of the engaging portion 44b, the reflector holder 44 rotates relative to the eccentric rotating member 34 by a necessary pitch. As a result, the reflector holder 44 moves with respect to the rotating shaft 14 and the lower end of the reflector 43 moves away from the rotating shaft 14, so that the reflector whose upper end is regulated by the positioning member 45 is aiming upward around the support shaft 33. Is done. Conversely, when the rotating shaft 14 of the motor 15 rotates counterclockwise when viewed from directly above beyond the range of ± 200 mrad, the reflector holder 44 moves with respect to the rotating shaft 14 so that the lower end of the reflector 43 becomes the rotating shaft. 14, the reflector whose upper end is restricted by the positioning member 45 is aiming downward around the support shaft 33.
[0053]
Thus, the second embodiment can achieve the same effects as the first embodiment.
[0054]
14 to 18 show a third embodiment of the present invention. FIG. 15 is a plan view of a light transmission scanning unit, FIG. 16 is a view in the direction of arrow 16 in FIG. 15, and FIG. FIG. 18 is an explanatory view of the operation.
[0055]
In the third embodiment, the beam emitted downward from the laser diode 11 is reflected by the light transmission mirror 13 directed obliquely upward at an angle of about 45 ° and transmitted to the front of the vehicle body (see FIG. 14). The upper end of the rotating shaft 14 of the motor 15 is bifurcated, and the angle holding member 51 is swingably supported through a support shaft 33 extending in the horizontal direction. The angle holding member 51 has a shape obtained by cutting a part of a gear-shaped member, and a gear tooth-shaped engaging portion 51a is formed on the outer periphery. A locking member 52 made of a ball is fitted into a hole 14a formed in the bifurcated portion of the rotating shaft 14, and is attached in a direction to engage with the engaging portion 51a of the angle holding member 51 by a resilient member 53 made of a coil spring. Be forced. The back surface of the light transmission mirror 13 whose reflecting surface 13b faces obliquely upward at an angle of about 45 ° is integrally fixed to the angle holding member 51. A first stopper member 36 and a second stopper member 37 are fixed to the housing 15 a of the motor 15. The height of the first stopper member 36 and the height of the second stopper member 37 are different, and the higher first stopper member 36 can contact at a position higher than the support shaft 33 of the light transmission mirror 13. The lower second stopper member 37 can abut at a position lower than the support shaft 33 of the light transmission mirror 13.
[0056]
The aiming mechanism 29 of the third embodiment is controlled in substantially the same manner as in the first and second embodiments. That is, when the rotation shaft 14 of the motor 15 reciprocates in the range of ± 200 mrad in the object detection mode, the light transmission mirror 13 does not contact the first stopper member 36 and the second stopper member 37. In the aiming mode, when the rotating shaft 14 of the motor 15 rotates clockwise beyond the range of ± 200 mrad when viewed from directly above, the lower part of the light transmission mirror 13 contacts the second stopper member 37 and rotates in the horizontal direction. Although being regulated, when the rotating shaft 14 is further rotated, the engaging portion 51 a provided on the angle regulating member 51 pushes back the locking member 52 urged by the elastic member 53, thereby the light transmission mirror together with the angle regulating member 51. Aiming 13 is performed by rotating upward by the required pitch. Conversely, when the rotating shaft 14 of the motor 15 rotates counterclockwise beyond the range of ± 200 mrad when viewed from directly above, the upper portion of the light transmission mirror 13 contacts the first stopper member 36 and rotates in the horizontal direction. Although being regulated, when the rotating shaft 14 is further rotated, the engaging portion 51 a provided on the angle regulating member 51 pushes back the locking member 52 urged by the elastic member 53, thereby the light transmission mirror together with the angle regulating member 51. Aiming 13 is performed by rotating downward by the required pitch.
[0057]
Thus, the third embodiment can achieve the same effects as the first embodiment and the second embodiment.
[0058]
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.
[0059]
For example, the object detection device St of the embodiment includes a laser radar device, but may include a millimeter wave radar device.
[0060]
In the second embodiment, two engaging portions 46 are provided at intervals of 180 ° (see FIG. 12), but three engaging portions 46 may be provided at intervals of 120 °. Further, a gear tooth-like engaging portion may be provided on the angle holding member 51 side, and an engaged portion including the locking members 41 and 41 and the resilient members 42 and 42 may be provided on the reflector holder 44 side.
[0061]
【The invention's effect】
As described above, according to the first aspect of the present invention, when the rotation shaft of the motor is rotated beyond the rotation angle at the time of object detection, the reflecting member comes into contact with one of the stopper members to restrict the rotation. Since the engaging portion of the eccentric rotating member integral with the rotating shaft rotates relative to the engaged portion of the reflecting member, the reflecting member swings around the support shaft and is aimed in the vertical direction. In this way, the vertical aiming of the object detection device is possible without depending on the operator's manual work, which not only saves time and labor but also increases accuracy without depending on the skill level of the operator. High aiming is possible.
[0062]
According to the second aspect of the present invention, the reflector holder is rotatably supported on the rotating shaft via the eccentric rotating member, and is supported by the reflector holder so as to be swingable via the support shaft. Since the reflecting member is constituted by the reflector, the reflector having the reflecting surface can be swung in the vertical direction by moving the reflector holder by relative rotation with the eccentric rotating member.
[0063]
According to the invention described in claim 3, the angle of the reflector with respect to the reflector holder can be maintained by bringing the reflector into contact with the positioning member.
[0064]
According to the fourth aspect of the present invention, since the engaged portion is provided on the inner peripheral surface of the through hole that is formed in the reflector holder and surrounds the eccentric rotation member, the engaged portion is the reflector holder. It is possible to form a compact inside.
[0065]
Further, according to the invention described in claim 5, since the engaging member is configured by biasing the engaging member housed in the hole provided in the radial direction in the eccentric rotating member in the protruding direction by the elastic member, The engaging portion can be formed compactly inside the eccentric rotating member.
[0066]
According to the sixth aspect of the present invention, when the rotation shaft rotates in one direction, the reflection member contacts the first stopper member, and when the rotation shaft rotates in the other direction, the reflection member contacts the second stopper member. Therefore, it is possible to aim the reflecting member upward and downward according to the rotation direction of the rotation shaft.
[0067]
According to the seventh aspect of the present invention, when the rotation direction of the eccentric rotation member is changed, the angle of the reflection surface of the reflection member is changed to include the plane parallel to the rotation axis. Is possible.
[0068]
According to the eighth aspect of the invention, in the object detection mode, the rotating shaft reciprocates within a range in which the reflecting member does not contact the stopper member, so that the reflecting member is prevented from being swung up and down inadvertently. Is done.
[0069]
According to the ninth aspect of the present invention, when the rotation shaft of the motor is rotated beyond the rotation angle at the time of object detection, the reflecting member comes into contact with one of the stopper members and rotates around the rotation shaft. As a result, the engagement between the engaging portion and the locking member is released, the angle holding member swings around the support shaft, and the reflecting member is aimed in the vertical direction. In this way, the vertical aiming of the object detection device is possible without depending on the operator's manual work, which not only saves time and labor but also increases accuracy without depending on the skill level of the operator. High aiming is possible.
[0070]
According to the tenth aspect of the present invention, when the rotation shaft rotates in one direction, the reflection member contacts the first stopper member, and when the rotation shaft rotates in the other direction, the reflection member contacts the second stopper member. Therefore, it is possible to aim the reflecting member upward and downward according to the rotation direction of the rotation shaft.
[0071]
According to the eleventh aspect of the invention, in the object detection mode, the rotating shaft reciprocates in a range in which the reflecting member does not contact the stopper member, so that the reflecting member is prevented from inadvertently swinging up and down. Is done.
[0072]
According to the invention described in claim 12, when the rotation shaft rotates in one direction, the first stopper member abuts on the reflection member at a position higher than the support shaft of the angle holding member, and the reflection member swings downward. Can be made. When the rotation shaft rotates in the other direction, the second stopper member abuts on the reflection member at a position lower than the support shaft of the angle holding member, and the reflection member can be swung upward.
[0073]
According to the invention described in claim 13, after detecting the position of the reference reflector in the object detection mode and detecting the axis deviation of the object detection device, the motor is switched to the aiming mode to correct the axis deviation. When the reflecting member comes into contact with the stopper member, the motor is further driven to swing the reflecting member, so that the axis deviation of the object detecting device can be automatically corrected simply by switching the object detecting mode to the aiming mode. Can do.
[Brief description of the drawings]
FIG. 1 is a block diagram of an object detection device.
FIG. 2 is a perspective view of an object detection device.
FIG. 3 is a plan view of a light transmission scanning unit.
4 is a view in the direction of arrow 4 in FIG.
FIG. 5 is a view in the direction of arrow 5 in FIG.
6 is a view taken along line 6-6 in FIG.
FIG. 7 is an explanatory diagram of the operation.
FIG. 8 is a flowchart for explaining the aiming procedure;
FIG. 9 is a plan view of a light transmission scanning unit according to a second embodiment.
10 is a view in the direction of arrow 10 in FIG. 9;
11 is a view taken in the direction of arrow 11 in FIG. 9;
12 is an enlarged view taken along line 12-12 in FIG.
FIG. 13 is an explanatory diagram of the operation.
FIG. 14 is a perspective view of an object detection apparatus according to a third embodiment.
FIG. 15 is a plan view of a light transmission scanning unit.
16 is a view in the direction of arrow 16 in FIG.
17 is a view in the direction of arrow 17 in FIG.
FIG. 18 is an explanatory diagram of the operation.
[Explanation of symbols]
1 Light transmitter (transmission means)
3 Light receiving part (receiving means)
13 Transmitting mirror (reflective member)
13a engaged part
13b Reflective surface
15 motor
24 Control circuit (control means)
14 Rotating shaft
33 Spindle
34 Eccentric rotating member
34a Engagement part
34b hole
35 Biasing member
36 First stopper member (stopper member)
37 Second stopper member (stopper member)
41 Locking member
42 Impact member
43 Reflector
44 Reflector holder
44a Through hole
44b engaged portion
45 Positioning member
46 engaging part
51 Angle holding member
51a Engagement part
52 Locking member
St object detection device

Claims

A transmission means (1) for transmitting electromagnetic waves;
A receiving means (3) for receiving a reflected wave in which the electromagnetic wave transmitted by the transmitting means (1) is reflected by an object;
A motor (15) having a rotating shaft (14) reciprocally rotating;
An eccentric rotating member (34) eccentrically attached to the rotating shaft (14) and having engaging portions (34a, 46) on at least a part of the outer periphery;
An engaged portion (having a reflecting surface (13b) for reflecting the electromagnetic wave transmitted by the transmitting means (1) and engageable with the engaging portions (34a, 46) on the opposite side of the reflecting surface (13b). A reflective member (13) having 13a, 44b);
A supporting shaft (33) for supporting the reflecting surface (13b) of the reflecting member (13) so as to be swingable about an axis perpendicular to the rotating shaft (14) and relatively rotatable with respect to the rotating shaft (14);
A biasing member (35) for biasing the engaged portions (13a, 44b) of the reflecting member (13) so as to contact the engaging portions (34a, 46) of the eccentric rotating member (34);
The reflecting member (13) can come into contact with the rotation of the rotating shaft (14), and the engaging portions (34a, 46) and the engaged portions (13a, 44b) a stopper member (36, 37) for releasing the engagement against the biasing force of the biasing member (35);
An object detection device comprising:

The reflection member (13) supports the reflector (43) having the reflection surface (13b) and the reflector (43) so as to be swingable via the support shaft (33), and also the engaged portion. The object detection device according to claim 1, further comprising a reflector holder (44) having a (44b) and rotatable relative to the eccentric rotation member (34).

The object detection device according to claim 2, further comprising a positioning member (45) that contacts the reflector (43) and maintains an angle of the reflector (43) with respect to the reflector holder (44).

The reflector holder (44) has the engaged portion (44b) on an inner peripheral surface of a through hole (44a) surrounding the eccentric rotating member (34). The object detection apparatus described.

The engaging portion (46) of the eccentric rotating member (34) includes a hole (34b) provided in the radial direction, a locking member (41) accommodated in the hole (34b), and the locking member (41). The object detection device according to claim 4, further comprising a resilient member (42) for urging the projection in a direction protruding from the hole (34b).

The stopper member (36, 37) includes a first stopper member (36) that contacts the reflecting member (13) when the rotating shaft (14) rotates in one direction, and the rotating shaft (14) rotated in the other direction. The object detection device according to any one of claims 1 to 5, wherein the object detection device comprises a second stopper member (37) that sometimes contacts the reflecting member (13).

By rotating the eccentric rotating member (34) in one direction and rotating in the other direction, the angle of the reflecting surface (13b) of the reflecting member (13) can be changed including the plane parallel to the rotation axis (14). The object detection device according to any one of claims 1 to 6, wherein the object detection device is characterized in that:

It is possible to switch between the object detection mode and the aiming mode, and in the object detection mode, a motor is provided so that the rotating shaft (14) reciprocates in a range where the reflecting member (13) does not contact the stopper member (36, 37). 8. The object detection apparatus according to claim 1, further comprising a control unit (24) for controlling (15).

A transmission means (1) for transmitting electromagnetic waves;
A receiving means (3) for receiving a reflected wave in which the electromagnetic wave transmitted by the transmitting means (1) is reflected by an object;
A motor (15) having a rotating shaft (14) reciprocally rotating;
An angle holding member (51) supported by the rotating shaft (14) through a support shaft (33) orthogonal to the axis thereof so as to be swingable, and having an engaging portion (51a) at least at a part of the outer periphery;
A reflection member (13) having a reflection surface (13b) for reflecting the electromagnetic wave transmitted by the transmission means (1) and fixed to the angle holding member (51) on the opposite side of the reflection surface (13b);
A locking member (52) provided between the angle holding portion (51) and the rotating shaft (14) and elastically engaging with the engaging portion (51a) of the angle holding member (51);
The reflecting member (13) comes into contact with the rotation of the rotating shaft (14), and the engaging portion (51a) and the engaging member (52) are disengaged with further rotation of the rotating shaft (14). A stopper member (36, 37) for rotating the angle holding member (51),
An object detection device comprising:

The stopper member (36, 37) includes a first stopper member (36) that contacts the reflecting member (13) when the rotating shaft (14) rotates in one direction, and the rotating shaft (14) rotated in the other direction. 10. The object detection device according to claim 9, wherein the object detection device comprises a second stopper member (37) that sometimes contacts the reflecting member (13).

It is possible to switch between the object detection mode and the aiming mode, and in the object detection mode, a motor is provided so that the rotating shaft (14) reciprocates in a range where the reflecting member (13) does not contact the stopper member (36, 37). The object detection device according to claim 9 or 10, further comprising a control means (24) for controlling (15).

The angle holding member (51) is fixed to a substantially central portion of the back surface of the reflecting member (13), and the first stopper member (36) is supported by the angle holding member (51) by rotating in one direction of the rotating shaft (14). The second stopper member (37) comes into contact with the reflecting member (13) at a position higher than the shaft (33), and the second stopper member (37) rotates in the other direction of the rotating shaft (14) to support the shaft (33) of the angle holding member (51). The object detection device according to claim 10 or 11, wherein the object detection device is in contact with the reflecting member (13) at a position lower than ().

A method for adjusting an axis of an object detection device (St) according to any one of claims 1 to 12,
A reference reflector installed at a predetermined position within the detection range of the object detection device (St), and a control means capable of switching between the object detection mode and the aiming mode, and for controlling transmission / reception of electromagnetic waves and rotation of the motor (15). (24)
In the object detection mode, the control means (24) determines the axis deviation of the object detection device (St) based on the reception result of the reflected wave from the reference reflector, and determines the axis deviation when the axis deviation is determined. The motor (15) is driven in the correction direction to determine that the reflecting member (13) has come into contact with the stopper member (36, 37), and the reflecting member (13) comes into contact with the stopper member (36, 37). A method of adjusting an axis of an object detection device, wherein when the determination is made, the motor (15) is further driven to swing the reflecting member (13) to correct the axis deviation.