JP5829391B2 - Optical scanning device and optical distance measuring device using the same - Google Patents
Optical scanning device and optical distance measuring device using the same Download PDFInfo
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Description
本発明は、可動部の光反射面に入射される光を対象領域内でリサージュ走査する光走査装置及びこれを用いて対象領域内に存在する物体の距離を計測する光測距装置に関する。 The present invention relates to an optical scanning device that performs Lissajous scanning in a target region with light incident on a light reflecting surface of a movable part, and an optical distance measuring device that uses this to measure the distance of an object existing in the target region.
従来から、レーザ光を対象領域内でリサージュ走査する光走査装置を利用して対象物までの距離を計測する光測距装置が知られている。
この種の光測距装置は、例えば、レーザパルスを出射する光源と、この光源から出射されたレーザパルス光を対象領域内でリサージュ走査する光走査装置と、対象領域内の対象物によって反射されたレーザパルスを受光する受光部と、レーザパルスの出射タイミングと反射光の受光タイミングとの時間差に基づいて対象物までの距離を計測する測距部と、を備える。光走査装置は、二次元ガルバノミラー等で構成される光走査部及びこの光走査部のミラーを揺動駆動する駆動部を含み、通常は光走査部（二次元ガルバノミラー）の共振現象を利用することによって広範囲な光走査を可能としている。すなわち、駆動部は、二次元ガルバノミラーの直交する二軸（ｘ軸、ｙ軸）回りの共振周波数近傍の周波数を有する二つの駆動信号を所定の位相差を与えつつ二次元ガルバノミラーに供給し、これにより、二次元ガルバノミラーをｘ軸回り及びｙ軸回りに揺動駆動している。
2. Description of the Related Art Conventionally, there has been known an optical distance measuring device that measures a distance to an object using an optical scanning device that performs Lissajous scanning with laser light in an object region.
This type of optical distance measuring device is reflected by, for example, a light source that emits a laser pulse, an optical scanning device that performs Lissajous scanning of the laser pulse light emitted from the light source, and an object in the target region. A light receiving unit that receives the laser pulse, and a distance measuring unit that measures a distance to the object based on a time difference between the emission timing of the laser pulse and the light reception timing of the reflected light. The optical scanning device includes an optical scanning unit composed of a two-dimensional galvanometer mirror or the like and a drive unit that swings and drives the mirror of the optical scanning unit, and normally uses a resonance phenomenon of the optical scanning unit (two-dimensional galvanometer mirror). By doing so, a wide range of optical scanning is possible. That is, the drive unit supplies two drive signals having frequencies near the resonance frequency around two orthogonal axes (x-axis and y-axis) of the two-dimensional galvanometer mirror to the two-dimensional galvanometer mirror while giving a predetermined phase difference. Thus, the two-dimensional galvanometer mirror is driven to swing around the x axis and the y axis.
ここで、上記二次元ガルバノミラーの走査軌跡であるリサージュパターンは、二次元ガルバノミラーをｘ軸回りに揺動駆動する駆動信号とｙ軸回りに揺動駆動する駆動信号との周波数比及び位相差によって決定される。また、上記二次元ガルバノミラーによる走査の一周期であるリサージュ周期は、二次元ガルバノミラーをｘ軸回りに揺動駆動する駆動信号の周波数及びｙ軸回りに揺動駆動する駆動信号の周波数によって決定される。 Here, the Lissajous pattern, which is the scanning trajectory of the two-dimensional galvanometer mirror, is a frequency ratio and phase difference between a drive signal for driving the two-dimensional galvanometer mirror to swing about the x-axis and a drive signal for driving the head to swing about the y-axis. Determined by. Further, the Lissajous period, which is one period of scanning by the two-dimensional galvanometer mirror, is determined by the frequency of the drive signal for driving the two-dimensional galvanometer mirror to swing around the x axis and the frequency of the drive signal for driving swing around the y axis. Is done.
ところで、上記のような光測距装置は、対象領域についての測距を繰り返し行うものであり、対象領域内の同じ計測位置（複数位置）にレーザパルスを出射する必要がある。レーザパルスの出射は、通常、予め設定されたタイムテーブルにしたがって行われるため、二次元ガルバノミラーはその走査軌跡（すなわち、リサージュパターン）が変わらないように駆動されなければならない。また、リサージュ周期は、対象領域についての測距時間に影響を与えるため、大幅に変えることはできない。
そのため、光測距装置においては、リサージュパターン及びリサージュ周期が変化しないように、ｘ軸回りに揺動駆動する駆動信号の周波数、ｙ軸回りに揺動駆動する駆動信号の周波数及びこれらの位相差が一定値に固定されているのが一般的である。この場合、二次元ガルバノミラーについて言えば、周波数及びその位相差が固定された二つの駆動信号によって上記光測距装置の仕様（測距可能範囲）を満たすような特性（特にｘ軸回り及びｙ軸回りの共振周波数）を有することが要求される。
By the way, the optical distance measuring apparatus as described above repeatedly performs distance measurement on a target area, and needs to emit laser pulses to the same measurement position (a plurality of positions) in the target area. Since the emission of the laser pulse is usually performed according to a preset time table, the two-dimensional galvanometer mirror must be driven so that its scanning locus (that is, the Lissajous pattern) does not change. In addition, the Lissajous cycle affects the distance measurement time for the target area and cannot be changed greatly.
For this reason, in the optical distance measuring device, the frequency of the drive signal that swings around the x axis, the frequency of the drive signal that swings around the y axis, and the phase difference between them, so that the Lissajous pattern and the Lissajous cycle do not change. Is generally fixed at a constant value. In this case, with regard to the two-dimensional galvanometer mirror, characteristics (particularly around the x axis and y) satisfy the specifications (ranging range) of the optical distance measuring device with two drive signals whose frequency and phase difference are fixed. Resonance frequency around the axis).
しかし、二次元ガルバノミラーは、その製造プロセスに起因する固体バラツキを持っており、上記光測距装置の仕様を満たすような特性を有する二次元ガルバノミラーだけを製造することは難しい。そのため、製造後の調整プロセスや製造後の選別等が必要になって製造コストが上昇してしまうという課題がある。
また、二次元ガルバノミラーは、その部材の周囲温度によって特性が変動するため、光測距装置の使用環境の変化によって上記仕様を満たさなくなるおそれもある。このような状態を避けるためには、製造後の調整プロセスや製造後の選別等において光測距装置の使用温度条件内での特性（共振周波数）変動をも考慮しなければならず、そうすると、さらなる製造コストの上昇を招くことになる。
However, the two-dimensional galvanometer mirror has a solid variation due to its manufacturing process, and it is difficult to manufacture only the two-dimensional galvanometer mirror having characteristics that satisfy the specifications of the optical distance measuring device. Therefore, the adjustment process after manufacture, the selection after manufacture, etc. are needed, and there exists a subject that manufacturing cost will raise.
In addition, since the characteristics of the two-dimensional galvanometer mirror fluctuate depending on the ambient temperature of the member, there is a possibility that the above specifications may not be satisfied due to a change in the usage environment of the optical distance measuring device. In order to avoid such a state, the characteristic (resonant frequency) variation within the operating temperature condition of the optical distance measuring device must be taken into account in the adjustment process after manufacture, sorting after manufacture, etc. This further increases the manufacturing cost.
本発明は、このような課題に着目してなされたものであり、光走査部の共振周波数が製造バラツキや温度変化等によって変動しても、光走査部による走査軌跡を変更することなく、光走査部に出力される駆動信号の周波数を上記共振周波数に近づけることのできる光走査装置及びこれを用いた光測距装置を提供することを目的とする。 The present invention has been made paying attention to such a problem. Even if the resonance frequency of the optical scanning unit varies due to manufacturing variation, temperature change, etc., the optical scanning unit does not change the scanning trajectory. An object of the present invention is to provide an optical scanning device capable of bringing the frequency of the drive signal output to the scanning unit close to the resonance frequency, and an optical distance measuring device using the same.
本発明の一側面よると、光走査装置は、光反射面を有する可動部が互いに直交する第１、第２軸回りに揺動可能に形成され、該可動部が前記第１軸回り及び前記第２軸回りに揺動することによって前記光反射面に入射される光を対象領域内でリサージュ走査する光走査部と、前記可動部を前記第１軸回りに揺動させる第１駆動信号及び前記可動部を前記第２軸回りに揺動させる第２駆動信号をそれぞれ前記光走査部に出力して前記可動部を前記第１軸回り及び前記第２軸回りに揺動駆動する駆動部と、前記可動部の前記第１軸回りの第１共振周波数に対する前記第１駆動信号の周波数のずれ量である第１ずれ量及び前記可動部の前記第２軸回りの第２共振周波数に対する前記第２駆動信号の周波数のずれ量である第２ずれ量の少なくとも一方を検出するずれ量検出部と、を備え、前記駆動部は、前記第１ずれ量が予め定められた第１閾値よりも大きい場合、前記第２ずれ量が予め定められた第２閾値よりも大きい場合、又は、前記第１ずれ量が前記第１閾値よりも大きくかつ前記第２ずれ量が前記第２閾値よりも大きい場合に、前記第１駆動信号の周波数及び前記第２駆動信号の周波数をこれらの周波数比を維持しつつ変更する。 According to one aspect of the present invention , the optical scanning device is formed such that the movable portion having the light reflecting surface is swingable about the first and second axes orthogonal to each other, and the movable portion is arranged around the first axis and the first axis. An optical scanning unit that performs Lissajous scanning of light incident on the light reflecting surface within a target region by swinging about a second axis, a first drive signal that swings the movable unit about the first axis, and A drive unit that outputs a second drive signal for swinging the movable unit about the second axis to the optical scanning unit to drive the movable unit to swing about the first axis and the second axis; , A first deviation amount that is a deviation amount of the frequency of the first drive signal with respect to a first resonance frequency around the first axis of the movable part and a second resonance frequency around the second axis of the movable part. 2 At least one of the second shift amounts, which is the shift amount of the frequency of the drive signal A displacement amount detection unit for detecting, and when the first displacement amount is larger than a predetermined first threshold value, the drive unit is configured such that the second displacement amount is larger than a predetermined second threshold value. Or when the first deviation amount is larger than the first threshold value and the second deviation amount is larger than the second threshold value, the frequency of the first drive signal and the frequency of the second drive signal are set. These frequency ratios are changed while being maintained.
本発明の他の側面によると、光測距装置は、前記光走査装置と、前記光走査装置の前記光反射面に向かってパルス光を出射する光源部と、前記光源部から出射されたパルス光が前記対象領域内に存在する物体によって反射された反射光を受光する受光部と、前記光源部によるパルス光の出射タイミングと前記受光部による反射光の受光タイミングとに基づいて前記物体までの距離を計測する測距部と、を備える。 According to another aspect of the present invention , the optical distance measuring device includes the optical scanning device, a light source unit that emits pulsed light toward the light reflecting surface of the optical scanning device , and a pulse emitted from the light source unit. A light receiving unit that receives reflected light reflected by an object existing in the target region, and a pulse light emission timing by the light source unit and a light reception timing of reflected light by the light receiving unit up to the object. a distance measuring unit for measuring a distance, Ru comprising a.
上記光走査装置及び上記光測距装置によれば、光走査部に出力される第１駆動信号の周波数及び第２駆動信号の周波数をこれらの周波数比を維持しつつ変更できるので、例えば第１駆動信号の周波数及び／又は第２駆動信号の周波数と可動部の共振周波数とにずれが生じた場合であっても、当該ずれを低減しつつリサージュパターンを一定に保つことができる。これにより、例えば可動部の揺動角度を確保するために第１，第２駆動信号を大幅に増加させる必要がなく、効率的で安定した光走査を行うことができる。また、光走査部の製造後に調整プロセスが必要になるケースを低減又は製造後の選別条件等を緩和できるので、光走査部の製造コストの上昇を抑制できる。 According to the optical scanning device and the optical distance measuring device, the frequency of the first drive signal and the frequency of the second drive signal output to the optical scanning unit can be changed while maintaining these frequency ratios. Even when a deviation occurs between the frequency of the drive signal and / or the frequency of the second drive signal and the resonance frequency of the movable part, the Lissajous pattern can be kept constant while reducing the deviation. Thus, for example, it is not necessary to increase the first and second drive signals significantly in order to ensure the swing angle of the movable part, and efficient and stable optical scanning can be performed. Moreover, since the case where an adjustment process is needed after manufacture of an optical scanning part can be reduced or the selection conditions after manufacture etc. can be eased, the raise of the manufacturing cost of an optical scanning part can be suppressed.
以下、本発明の実施形態を図面に基づいて説明する。
図１は、本発明の一実施形態による光測距装置の概略構成を示すブロック図である。この光測距装置は、パルス光（レーザパルス）を対象領域内でリサージュ走査し、該対象領域内に存在する物体（人を含む）による反射光を受光して当該物体までの距離を計測（測距）し、その計測結果に基づく距離画像を生成して出力（表示）する。
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of an optical distance measuring device according to an embodiment of the present invention. This optical distance measuring device scans pulsed light (laser pulse) in a target area, receives reflected light from an object (including a person) existing in the target area, and measures the distance to the object ( Distance measurement), and a distance image based on the measurement result is generated and output (displayed).
図１に示すように、本実施形態による光測距装置１は、電磁駆動型の光走査部３と、光走査部３を駆動する駆動部５と、パルス光を出射する光源部７と、光源部７から出射されたパルス光の反射光を受光する受光部９と、光源部７から出射されたパルス光を反射した物体までの距離を計測する測距部１１と、測距部１１による計測結果に基づいて距離画像を生成する画像生成部１３と、画像生成部１３によって生成された距離画像を出力（表示）する表示部１５と、を備える。 As shown in FIG. 1, the optical distance measuring device 1 according to the present embodiment includes an electromagnetically driven optical scanning unit 3, a driving unit 5 that drives the optical scanning unit 3, a light source unit 7 that emits pulsed light, The light receiving unit 9 that receives the reflected light of the pulsed light emitted from the light source unit 7, the distance measuring unit 11 that measures the distance to the object that reflects the pulsed light emitted from the light source unit 7, and the distance measuring unit 11 The image generation part 13 which produces | generates a distance image based on a measurement result, and the display part 15 which outputs (displays) the distance image produced | generated by the image generation part 13 are provided.
光走査部３は、光反射面（ミラー）を有する可動部が互いに直交する第１軸及び第２軸回りに揺動可能に形成されており、光反射面に入射される光（パルス光）を対象領域内で二次元走査、より具体的にはリサージュ走査することが可能である。このような光走査部３として、例えば本出願人により提案された特許第２７２２３１４号公報に記載の二次元走査型の半導体ガルバノミラー（以下単に「二次元ガルバノミラー」という）を用いることができる。 The optical scanning unit 3 is formed such that a movable unit having a light reflection surface (mirror) can swing around a first axis and a second axis orthogonal to each other, and light (pulse light) incident on the light reflection surface Can be scanned two-dimensionally, more specifically, Lissajous scanning within the target region. As such an optical scanning unit 3, for example, a two-dimensional scanning semiconductor galvanometer mirror (hereinafter simply referred to as “two-dimensional galvanometer mirror”) described in Japanese Patent No. 2722314 proposed by the present applicant can be used.
図２は、光走査部３の具体例としての二次元ガルバノミラー３０の構成を示している。
図２に示すように、二次元ガルバノミラー３０は、枠状の固定部３１と、固定部３１の内側に配置されて一対の第１トーションバー３２，３２によって揺動可能に支持された外側可動部３３と、外側可動部３３の内側に配置されて第１トーションバー３２，３２に軸方向が直交する一対の第２トーションバー３４，３４によって揺動可能に支持された内側可動部３５と、を備える。ここで、第１トーションバー３２，３２の中心軸をｙ軸（第１軸）とし、第２トーションバー３４，３４の中心軸をｘ軸（第２軸）とする。
FIG. 2 shows a configuration of a two-dimensional galvanometer mirror 30 as a specific example of the optical scanning unit 3.
As shown in FIG. 2, the two-dimensional galvanometer mirror 30 is an outer movable body that is disposed inside the fixed portion 31 and is supported by a pair of first torsion bars 32 and 32 so as to be swingable. An inner movable portion 35, which is disposed inside the outer movable portion 33 and is swingably supported by a pair of second torsion bars 34, 34 that are orthogonal to the first torsion bars 32, 32. Is provided. Here, the central axis of the first torsion bars 32, 32 is the y-axis (first axis), and the central axis of the second torsion bars 34, 34 is the x-axis (second axis).
内側可動部３５の中央部には光反射面（ミラー）３６が形成され、外側可動部３３及び内側可動部３５の周縁部にはそれぞれ第１駆動コイル３７、第２駆動コイル３８が形成されている。第１駆動コイル３７の端部は、固定部３１に形成された第１電極端子３９，３９に接続され、第２駆動コイル３８の端部は、固定部３１に形成された第２電極端子４０，４０に接続されている。
また、第１駆動コイル３７に磁界を作用させる一対の第１永久磁石４１，４１及び第２駆動コイル３８に磁界を作用させる一対の第２永久磁石４２，４２が固定部３１を挟んでそれぞれ対向配置されている。ここで、固定部３１、第１トーションバー３２，３２、外側可動部３３、第２トーションバー３４，３４及び内側可動部３５は、半導体基板から一体的に形成される。
A light reflecting surface (mirror) 36 is formed at the central portion of the inner movable portion 35, and a first drive coil 37 and a second drive coil 38 are formed at the peripheral portions of the outer movable portion 33 and the inner movable portion 35, respectively. Yes. The end of the first drive coil 37 is connected to first electrode terminals 39, 39 formed on the fixed portion 31, and the end of the second drive coil 38 is connected to the second electrode terminal 40 formed on the fixed portion 31. , 40.
In addition, a pair of first permanent magnets 41 and 41 for applying a magnetic field to the first drive coil 37 and a pair of second permanent magnets 42 and 42 for applying a magnetic field to the second drive coil 38 are opposed to each other with the fixing portion 31 interposed therebetween. Has been placed. Here, the fixed part 31, the first torsion bars 32, 32, the outer movable part 33, the second torsion bars 34, 34, and the inner movable part 35 are integrally formed from a semiconductor substrate.
第１トーションバー３２，３２には、外側可動部３３のｙ軸回りの揺動動作、すなわち、第１トーションバー３２，３２の捩れによって生じる歪み（応力）を検出するための第１〜第４ピエゾ抵抗素子Ｒ１〜Ｒ４が設けられている。第１〜第４ピエゾ抵抗素子Ｒ１〜Ｒ４は、例えばＰ型拡散抵抗によって第１トーションバー３２，３２の固定部３１の根元近傍に形成されており、第１トーションバー３２，３２に生じる引張歪み及び圧縮歪みを検出する。
同様に、第２トーションバー３４，３４には、内側可動部３５のｘ軸回りの揺動動作、すなわち、第２トーションバー３４，３４の捩れによって生じる歪み（応力）を検出するための第５〜第８ピエゾ抵抗素子Ｒ５〜Ｒ８が配置されている。
そして、第１〜第４ピエゾ抵抗素子Ｒ１〜Ｒ４、及び、第５〜第８ピエゾ抵抗素子Ｒ５〜Ｒ８は、それぞれ図示省略した配線によって接続されて、図３に示すようなブリッジ回路４５（入力電圧Ｖｉ，出力電圧Ｖｏ）を構成している。
The first torsion bars 32, 32 are first to fourth for detecting the swinging motion of the outer movable portion 33 around the y-axis, that is, distortion (stress) caused by twisting of the first torsion bars 32, 32. Piezoresistive elements R1 to R4 are provided. The first to fourth piezoresistive elements R1 to R4 are formed, for example, in the vicinity of the roots of the fixing portions 31 of the first torsion bars 32 and 32 by P-type diffusion resistors, and the tensile strain generated in the first torsion bars 32 and 32 And detecting compression distortion.
Similarly, the second torsion bars 34, 34 have a fifth motion for detecting a swinging motion around the x-axis of the inner movable portion 35, that is, distortion (stress) caused by twisting of the second torsion bars 34, 34. ~ Eighth piezoresistive elements R5 to R8 are arranged.
The first to fourth piezoresistive elements R1 to R4 and the fifth to eighth piezoresistive elements R5 to R8 are connected by wirings not shown in the figure, respectively, and a bridge circuit 45 (input) as shown in FIG. Voltage Vi, output voltage Vo).
二次元ガルバノミラー３０においては、第１駆動コイル３７及び第２駆動コイル３８に駆動電流（振動電流）が供給されると、第１駆動コイル３７及び第２駆動コイル３８に流れる振動電流と第１永久磁石４１，４１及び第２永久磁石４２，４２による磁界とによって外側可動部３３及び内側可動部３５にそれぞれローレンツ力が作用して内側可動部３５がｘ軸回り及びｙ軸回りに揺動する。このように内側可動部３５がｘ軸回り及びｙ軸回りに揺動することによって、光反射面３６に入射されるパルス光は対象領域内でリサージュ走査される。ここで、二次元ガルバノミラー３０は、ｘ軸回り及びｙ軸回りの二つの固有振動モード（共振周波数）を有しており、第１駆動コイル３７及び第２駆動コイル３８には、駆動部５からそれぞれ対応する共振周波数又はその近傍の周波数の振動電流が駆動信号として供給される。
なお、以下の説明において、光走査部３（内側可動部３５）のｙ軸回りの共振周波数、すなわち、外側可動部３３及び内側可動部３５を含む可動部全体のｙ軸回りの共振周波数を「第１共振周波数」といい、光走査部３（内側可動部３５）のｘ軸回りの共振周波数を「第２共振周波数」という。
In the two-dimensional galvanometer mirror 30, when a drive current (oscillation current) is supplied to the first drive coil 37 and the second drive coil 38, the oscillation current flowing through the first drive coil 37 and the second drive coil 38 and the first The Lorentz force acts on the outer movable portion 33 and the inner movable portion 35 by the magnetic fields of the permanent magnets 41 and 41 and the second permanent magnets 42 and 42, respectively, and the inner movable portion 35 swings around the x axis and the y axis. . As described above, the inner movable portion 35 swings around the x axis and the y axis, so that the pulsed light incident on the light reflecting surface 36 is Lissajous scanned within the target region. Here, the two-dimensional galvanometer mirror 30 has two natural vibration modes (resonance frequencies) around the x axis and the y axis, and the first drive coil 37 and the second drive coil 38 include the drive unit 5. Are supplied as drive signals with oscillating currents of the corresponding resonance frequencies or frequencies in the vicinity thereof.
In the following description, the resonance frequency around the y axis of the optical scanning unit 3 (inner movable unit 35), that is, the resonance frequency around the y axis of the entire movable unit including the outer movable unit 33 and the inner movable unit 35 is expressed as “ It is referred to as “first resonance frequency”, and the resonance frequency around the x-axis of the optical scanning unit 3 (inner movable unit 35) is referred to as “second resonance frequency”.
また、二次元ガルバノミラー３０においては、外側可動部３３及び内側可動部３５がｙ軸回りの一方に傾斜すると、第１，４ピエゾ抵抗素子Ｒ１，Ｒ４は引張応力を受けるとともに第２，３ピエゾ抵抗素子Ｒ２，Ｒ３は圧縮応力を受け、外側可動部３３及び内側可動部３５がｙ軸回りの他方に傾斜すると、第１，４ピエゾ抵抗素子Ｒ１，Ｒ４は圧縮応力を受けるとともに第２，３ピエゾ抵抗素子Ｒ２，Ｒ３は引張応力を受ける。第１〜第４ピエゾ抵抗素子Ｒ１〜Ｒ４はＰ型拡散抵抗によって形成されており、引張応力を受けると抵抗値が増加し、圧縮応力を受けると抵抗値が減少する。このため、第１〜第４ピエゾ抵抗素子Ｒ１〜Ｒ４で構成されたブリッジ回路（図３参照）からは外側可動部３３及び内側可動部３５のｙ軸回りの揺動角度（振れ角）に応じた電圧が正弦波として出力される。このブリッジ回路の出力電圧Ｖoをモニタすることで外側可動部３３及び内側可動部３５のｙ軸回りの揺動角度（振れ角）を連続的に検出することができる。
同様に、第５〜第８ピエゾ抵抗素子Ｒ５〜Ｒ８で構成されたブリッジ回路（図３参照）の出力電圧Ｖｏをモニタすることで内側可動部３５のｘ軸回りの揺動角度（振れ角）を連続的に検出することできる。
したがって、第１〜第４ピエゾ抵抗素子Ｒ１〜Ｒ４で構成されるブリッジ回路（以下「第１ブリッジ回路」という）が本発明の「第１揺動角度検出部」に相当し、第５〜第８ピエゾ抵抗素子Ｒ５〜Ｒ８で構成されるブリッジ回路（以下「第２ブリッジ回路」という）が本発明の「第２揺動角度検出部」に相当する。
In the two-dimensional galvanometer mirror 30, when the outer movable portion 33 and the inner movable portion 35 are inclined to one around the y axis, the first and fourth piezoresistive elements R1 and R4 receive tensile stress and the second and third piezoresistors. When the resistance elements R2 and R3 are subjected to compressive stress and the outer movable portion 33 and the inner movable portion 35 are inclined to the other around the y-axis, the first and fourth piezoresistive elements R1 and R4 are subjected to compressive stress and are second and third. The piezoresistive elements R2 and R3 are subjected to tensile stress. The first to fourth piezoresistive elements R1 to R4 are formed by P-type diffusion resistors, and the resistance value increases when subjected to tensile stress, and the resistance value decreases when subjected to compressive stress. For this reason, from the bridge circuit (refer to FIG. 3) constituted by the first to fourth piezoresistive elements R1 to R4, the outer movable portion 33 and the inner movable portion 35 depend on the swing angle (swing angle) around the y axis. Output as a sine wave. By monitoring the output voltage Vo of this bridge circuit, the swing angle (swing angle) of the outer movable portion 33 and the inner movable portion 35 around the y axis can be detected continuously.
Similarly, by swinging the output voltage Vo of the bridge circuit (see FIG. 3) composed of the fifth to eighth piezoresistive elements R5 to R8, the swing angle (swing angle) around the x-axis of the inner movable portion 35 is monitored. Can be detected continuously.
Therefore, the bridge circuit (hereinafter referred to as “first bridge circuit”) composed of the first to fourth piezoresistive elements R1 to R4 corresponds to the “first swing angle detecting unit” of the present invention, and the fifth to fifth A bridge circuit (hereinafter referred to as “second bridge circuit”) constituted by the eight piezoresistive elements R5 to R8 corresponds to the “second swing angle detector” of the present invention.
図１に戻って、駆動部５は、内側可動部３５（及び外側可動部３３）をｙ軸回りに揺動させる第１駆動信号（振動電流）及び内側可動部３５をｘ軸回りに揺動させる第２駆動信号（振動電流）を光走査部３に出力して内側可動部３５をｘ軸回り及びｙ軸回りに揺動駆動する。なお、第１駆動信号と第２駆動信号との位相差は一定値に固定されている。
第１駆動信号の周波数、第２駆動信号の周波数は、それぞれ光走査部３の第１共振周波数、第２共振周波数に相当する値（例えば、設計値）として予め設定されているが、上述したように、製造バラツキや使用環境（特に、温度）の変化などによって光走査部３の実際の第１共振周波数及び第２共振周波数が上記設計値と異なる（周波数特性がシフトする）場合がある。
そこで、本実施形態における駆動部３は、第１駆動信号の周波数と光走査部３の実際の第１共振周波数とのずれ、及び／又は、第２駆動信号の周波数と光走査部３の実際の第２共振周波数とのずれを検出し、その検出結果に応じて第１駆動信号の周波数及び第２駆動信号の周波数を変更する。但し、光走査部３による光走査のパターン（すなわち、リサージュパターン）を変更しないように、第１駆動信号の周波数と第２駆動信号の周波数との比（周波数比）を一定に維持する。ここで、通常は第２駆動信号の周波数の方が第１駆動信号の周波数よりも高くなっており、二次元ガルバノミラー３０の内側可動部３５はｘ軸回りに高速で揺動駆動され、ｙ軸回りに低速で揺動駆動される。
Returning to FIG. 1, the drive unit 5 swings the first movable signal (vibration current) that swings the inner movable unit 35 (and the outer movable unit 33) about the y axis and the inner movable unit 35 about the x axis. The second drive signal (vibration current) to be output is output to the optical scanning unit 3 to drive the inner movable unit 35 to swing around the x axis and the y axis. Note that the phase difference between the first drive signal and the second drive signal is fixed to a constant value.
The frequency of the first drive signal and the frequency of the second drive signal are preset as values (for example, design values) corresponding to the first resonance frequency and the second resonance frequency of the optical scanning unit 3, respectively. As described above, the actual first resonance frequency and the second resonance frequency of the optical scanning unit 3 may be different from the above-described design values (frequency characteristics are shifted) due to variations in manufacturing, use environment (particularly temperature), and the like.
In view of this, the drive unit 3 according to the present embodiment is configured such that the difference between the frequency of the first drive signal and the actual first resonance frequency of the optical scanning unit 3 and / or the frequency of the second drive signal and the actual frequency of the optical scanning unit 3 are. Is detected, and the frequency of the first drive signal and the frequency of the second drive signal are changed according to the detection result. However, the ratio (frequency ratio) between the frequency of the first drive signal and the frequency of the second drive signal is kept constant so as not to change the optical scanning pattern (that is, the Lissajous pattern) by the optical scanning unit 3. Here, normally, the frequency of the second drive signal is higher than the frequency of the first drive signal, and the inner movable portion 35 of the two-dimensional galvanometer mirror 30 is driven to swing around the x axis at a high speed. Driven at low speed around the axis.
駆動部５は、第１駆動信号を生成して光走査部３に出力する第１駆動回路５１と、第２駆動信号を生成して光走査部３に出力する第２駆動回路５３と、出力された第１駆動信号の周波数と光走査部３の第１共振周波数とのずれ量である第１ずれ量を検出する第１ずれ量検出部５５と、出力された第２駆動信号の周波数と光走査部３の第２共振周波数とのずれ量である第２ずれ量を検出する第２ずれ量検出部５７と、第１ずれ量検出部５５及び第２ずれ量検出部５７の検出結果に基づいて第１，第２駆動信号の周波数を決定（変更）する周波数決定部５９と、を含む。 The drive unit 5 generates a first drive signal and outputs the first drive signal to the optical scanning unit 3, a second drive circuit 53 generates a second drive signal and outputs the second drive signal to the optical scanning unit 3, and an output A first shift amount detection unit 55 that detects a first shift amount that is a shift amount between the frequency of the generated first drive signal and the first resonance frequency of the optical scanning unit 3, and the frequency of the output second drive signal The detection results of the second deviation amount detection unit 57 that detects the second deviation amount that is the deviation amount from the second resonance frequency of the optical scanning unit 3, and the detection results of the first deviation amount detection unit 55 and the second deviation amount detection unit 57. And a frequency determination unit 59 that determines (changes) the frequency of the first and second drive signals based on the frequency.
第１駆動回路５１及び第２駆動回路５３は、それぞれ周波数決定部５５で決定された周波数に基づいて第１駆動信号、第２駆動信号を生成して光走査部３に出力する。第１駆動回路５１及び第２駆動回路５３は、ＤＤＳ(Direct Digital Synthesizer)方式又はＰＬＬ(Phase Locked Loop)方式の周波数シンセサイザを備えており、基準クロック信号から自由に周波数を発生させることができる。これにより、第１駆動回路５１及び第２駆動回路５３はそれぞれ高分解能で駆動信号の周波数を変更（設定）することができる。
なお、ＤＤＳ方式又はＰＬＬ方式の周波数シンセサイザの構成は公知であるので詳細な説明は省略するが、一般に、ＤＤＳ方式の周波数シンセサイザは、加算器、位相レジスタ、正弦波変換部（波形ＲＯＭ）、Ｄ／Ａ変換部及び低域フィルタを含んで構成され、ＰＬＬ方式の周波数シンセサイザは、位相比較器、低域フィルタ及び電圧制御発振器を含んで構成される。
The first drive circuit 51 and the second drive circuit 53 generate a first drive signal and a second drive signal based on the frequency determined by the frequency determination unit 55 and output them to the optical scanning unit 3. The first driving circuit 51 and the second driving circuit 53 include a DDS (Direct Digital Synthesizer) type or PLL (Phase Locked Loop) type frequency synthesizer, and can freely generate a frequency from a reference clock signal. Thereby, the first drive circuit 51 and the second drive circuit 53 can change (set) the frequency of the drive signal with high resolution.
The structure of a DDS or PLL frequency synthesizer is well known and will not be described in detail. Generally, however, a DDS frequency synthesizer includes an adder, a phase register, a sine wave converter (waveform ROM), D The PLL frequency synthesizer includes a phase comparator, a low-pass filter, and a voltage controlled oscillator.
第１ずれ量検出部５５は、第１駆動回路５１から出力された第１駆動信号と上記第１ブリッジ回路の出力信号（すなわち、内側可動部３５のｙ軸回りの揺動角度信号）との位相差に基づいて上記第１ずれ量を検出する。
第２ずれ量検出部５７は、第２駆動回路５３から出力された第２駆動信号と上記第２ブリッジ回路の出力信号（すなわち、内側可動部３５のｘ軸回りの揺動角度信号）との位相差に基づいて第２ずれ量を検出する。
The first deviation amount detection unit 55 is configured to output the first drive signal output from the first drive circuit 51 and the output signal of the first bridge circuit (that is, the swing angle signal around the y axis of the inner movable unit 35). The first shift amount is detected based on the phase difference.
The second deviation amount detection unit 57 is configured to output the second drive signal output from the second drive circuit 53 and the output signal of the second bridge circuit (that is, the swing angle signal around the x axis of the inner movable unit 35). A second shift amount is detected based on the phase difference.
ここで、第１，第２ずれ量検出部５５，５７による上記第１ずれ量、第２ずれ量の検出方法について図４を用いて簡単に説明する。
図４は、ガルバノミラーの周波数特性を示す図であり、図４（ａ）は、駆動信号の周波数に対するミラーの揺動角度（ゲイン）を示し、図４（ｂ）は、駆動信号の周波数に対する駆動信号とミラーの揺動角度（信号）との位相（差）を示している。
Here, a method of detecting the first deviation amount and the second deviation amount by the first and second deviation amount detectors 55 and 57 will be briefly described with reference to FIG.
4A and 4B are diagrams showing the frequency characteristics of the galvanometer mirror. FIG. 4A shows the mirror swing angle (gain) with respect to the frequency of the drive signal, and FIG. 4B shows the frequency with respect to the frequency of the drive signal. The phase (difference) between the drive signal and the mirror swing angle (signal) is shown.
図４に示すように、ガルバノミラーがその共振周波数（ここでは１３００Ｈｚ）と同一の周波数を有する駆動信号で駆動されると、当該駆動信号とミラーの揺動角度（信号）との間には−９０°の位相差が発生する。すなわち、駆動信号とミラーの揺動角度信号との位相差が−９０°でない場合には、駆動信号の周波数とガルバノミラーの共振周波数とが一致していない、換言すれば、製造バラツキや温度変化などによってガルバノミラーの周波数特性（共振周波数）がシフトしていると考えることができる。ガルバノミラーの周波数特性は予め取得しておくことが可能であるから、駆動信号とミラーの揺動角度信号との位相差を検出することで、駆動信号の周波数と実際のガルバノミラーの共振周波数とのずれ量（あるいは、共振周波数のシフト量）を把握することができる。 As shown in FIG. 4, when the galvano mirror is driven with a drive signal having the same frequency as its resonance frequency (here, 1300 Hz), the −− between the drive signal and the mirror swing angle (signal) is − A phase difference of 90 ° occurs. That is, when the phase difference between the drive signal and the mirror swing angle signal is not −90 °, the frequency of the drive signal does not match the resonance frequency of the galvanometer mirror, in other words, manufacturing variations and temperature changes. It can be considered that the frequency characteristic (resonance frequency) of the galvanometer mirror is shifted due to the above. Since the frequency characteristics of the galvanometer mirror can be acquired in advance, the frequency difference between the drive signal and the actual resonance frequency of the galvanometer mirror can be determined by detecting the phase difference between the drive signal and the mirror swing angle signal. The shift amount (or the shift amount of the resonance frequency) can be grasped.
これを利用することで、すなわち、光走査部３（内側可動部３５）のｙ軸回り及びｘ軸回りの周波数特性に基づいて、第１ずれ量検出部５５及び第２ずれ量検出部５７は、第１駆動信号の周波数と第１共振周波数とのずれ量（第１ずれ量）、第２駆動信号の周波数と第２共振周波数とのずれ量（第２ずれ量）をそれぞれ検出することができる。
具体的には、第１ずれ量検出部５５は、光走査部３（内側可動部３５）のｙ軸回りについて図４（ｂ）に対応する駆動周波数−位相（差）特性をテーブル等として有しており、第１駆動信号と第１ブリッジ回路の出力信号との位相差から第１ずれ量（第１共振周波数のシフト量）を検出する。また、第２ずれ量検出部５７は、光走査部３（内側可動部３５）のｘ軸回りについて図４（ｂ）に対応する駆動周波数−位相（差）特性」をテーブル等として有しており、第２駆動信号と第２ブリッジ回路の出力信号との位相差から第２ずれ量（第２共振周波数のシフト量）を検出する。
By utilizing this, that is, based on the frequency characteristics around the y axis and the x axis of the optical scanning unit 3 (inner movable unit 35), the first deviation amount detection unit 55 and the second deviation amount detection unit 57 are Detecting a deviation amount (first deviation amount) between the frequency of the first drive signal and the first resonance frequency, and a deviation amount (second deviation amount) between the frequency of the second drive signal and the second resonance frequency, respectively. it can.
Specifically, the first shift amount detection unit 55 has a drive frequency-phase (difference) characteristic corresponding to FIG. 4B as a table or the like about the y axis of the optical scanning unit 3 (inner movable unit 35). The first shift amount (shift amount of the first resonance frequency) is detected from the phase difference between the first drive signal and the output signal of the first bridge circuit. Further, the second shift amount detection unit 57 has a “driving frequency-phase (difference) characteristic corresponding to FIG. 4B” as a table about the x axis of the optical scanning unit 3 (inner movable unit 35). The second shift amount (shift amount of the second resonance frequency) is detected from the phase difference between the second drive signal and the output signal of the second bridge circuit.
周波数決定部５９は、第１ずれ量検出部５５及び第２ずれ量検出部５７の検出結果に応じて第１駆動信号及び第２駆動信号の周波数を変更する必要があるか否かを判断し、必要があると判断した場合には、第１駆動信号の周波数及び第２駆動信号の周波数をこれらに比（周波数比）を一定に維持しながら変更する。
具体的には、周波数決定部５９は、第１駆動信号及び第２駆動信号のいずれか一方の周波数を第１ずれ量検出部５５又は第２ずれ量検出部５７の検出結果に基づいて決定（変更）し、他方の周波数については、両者の周波数比が変化しないように、上記変更された一方の周波数に応じて決定（変更）する。そして、第１駆動信号の周波数及び第２駆動信号の周波数を変更後の値に更新するとともに、更新された第１駆動信号の周波数を第１駆動回路５１に出力し、更新された第２駆動信号の周波数を第２駆動回路５３に出力する。
The frequency determination unit 59 determines whether it is necessary to change the frequencies of the first drive signal and the second drive signal according to the detection results of the first shift amount detection unit 55 and the second shift amount detection unit 57. If it is determined that it is necessary, the frequency of the first drive signal and the frequency of the second drive signal are changed while maintaining the ratio (frequency ratio) constant.
Specifically, the frequency determination unit 59 determines one of the frequencies of the first drive signal and the second drive signal based on the detection result of the first shift amount detection unit 55 or the second shift amount detection unit 57 ( The other frequency is determined (changed) in accordance with the changed one frequency so that the frequency ratio between the two is not changed. Then, the frequency of the first drive signal and the frequency of the second drive signal are updated to the changed values, and the updated frequency of the first drive signal is output to the first drive circuit 51 to update the second drive signal. The frequency of the signal is output to the second drive circuit 53.
図５は、駆動部５において実行される第１，第２駆動信号の周波数の決定（変更）処理の一例を示すフローチャートである。
ステップＳ１では、第１駆動信号及び第２駆動信号を光走査部３に出力する。ここで出力される第１駆動信号の周波数及び第２駆動信号の周波数は、前回の決定（変更）処理において更新された周波数であり、全く更新されていない場合にはそれぞれの初期値（すなわち、光測距装置１の製造時に設定されている値）である。
FIG. 5 is a flowchart showing an example of the frequency determination (change) processing of the first and second drive signals executed in the drive unit 5.
In step S <b> 1, the first drive signal and the second drive signal are output to the optical scanning unit 3. The frequency of the first drive signal and the frequency of the second drive signal output here are the frequencies updated in the previous determination (change) process, and when not updated at all, the initial values (that is, It is a value set at the time of manufacturing the optical distance measuring device 1).
ステップＳ２では、第１駆動信号の周波数と第１共振周波数（ｙ軸回りの共振周波数）とのずれ量（第１ずれ量）、及び、第２駆動信号の周波数と第２共振周波数（ｘ軸回りの共振周波数）とのずれ量（第２ずれ量）を検出する。上述したように、本実施形態において、第１ずれ量は第１駆動信号と第１ブリッジ回路の出力信号との位相差に基づいて検出され、第２ずれ量は第２駆動信号と第２ブリッジ回路の出力信号との位相差に基づいて検出される。 In step S2, a deviation amount (first deviation amount) between the frequency of the first drive signal and the first resonance frequency (resonance frequency around the y axis), and the frequency of the second drive signal and the second resonance frequency (x axis). A deviation amount (second deviation amount) from the surrounding resonance frequency) is detected. As described above, in the present embodiment, the first shift amount is detected based on the phase difference between the first drive signal and the output signal of the first bridge circuit, and the second shift amount is the second drive signal and the second bridge. Detection is based on the phase difference from the output signal of the circuit.
ステップＳ３では、検出された第１ずれ量が第１閾値以下であるか否かを判定する。この第１閾値は、例えば第１駆動信号の大きさ（電流値）を一定としたときに光測距装置１がｙ軸方向の走査幅（内側可動部３５のｙ軸回りの振れ角）を十分に確保できなくなるおそれがある値として予め設定される。但し、これに限るものではなく、第１閾値は光測距装置１の仕様等に応じて任意に設定することができる。第１ずれ量が第１閾値以下であればステップＳ４に進み、第１ずれ量が第１閾値を超えていればステップＳ５に進む。 In step S3, it is determined whether or not the detected first deviation amount is equal to or less than a first threshold value. The first threshold value is, for example, the optical ranging device 1 determines the scanning width in the y-axis direction (the deflection angle around the y-axis of the inner movable portion 35) when the magnitude (current value) of the first drive signal is constant. It is set in advance as a value that may not be sufficiently secured. However, the present invention is not limited to this, and the first threshold value can be arbitrarily set according to the specifications of the optical distance measuring device 1. If the first deviation amount is equal to or smaller than the first threshold value, the process proceeds to step S4, and if the first deviation amount exceeds the first threshold value, the process proceeds to step S5.
ステップＳ４では、検出された第２ずれ量が第２閾値以下であるか否かを判定する。この第２閾値は、例えば第１駆動信号の大きさ（電流値）を一定としたときに光測距装置１がｘ軸方向の走査幅（内側可動部３５のｘ軸回りの振れ角）を十分に確保できなくなるおそれがある値として予め設定される。但し、これに限るものではなく、第２閾値は、第１閾値と同様に、光測距装置の仕様等に応じて任意に設定することができる。第２ずれ量が第２閾値以下であれば本フローを終了する。この場合、第１駆動信号の周波数及び第２駆動信号の周波数は更新されない。一方、第２ずれ量が第２閾値を超えていればステップＳ７に進む。 In step S4, it is determined whether or not the detected second deviation amount is equal to or smaller than a second threshold value. For example, when the magnitude (current value) of the first drive signal is constant, the second threshold value is obtained when the optical distance measuring device 1 determines the scanning width in the x-axis direction (the deflection angle around the x-axis of the inner movable portion 35). It is set in advance as a value that may not be sufficiently secured. However, the present invention is not limited to this, and the second threshold value can be arbitrarily set according to the specifications of the optical distance measuring device and the like, similarly to the first threshold value. If the second deviation amount is equal to or smaller than the second threshold value, this flow ends. In this case, the frequency of the first drive signal and the frequency of the second drive signal are not updated. On the other hand, if the second deviation amount exceeds the second threshold value, the process proceeds to step S7.
ステップＳ５では、ステップＳ４と同様に、検出された第２ずれ量が第２閾値以下であるか否かを判定する。第２ずれ量が第２閾値以下であればステップＳ１０に進み、第２ずれ量が第２閾値を超えていればステップＳ６に進む。 In step S5, similarly to step S4, it is determined whether or not the detected second shift amount is equal to or smaller than a second threshold value. If the second deviation amount is equal to or smaller than the second threshold value, the process proceeds to step S10, and if the second deviation amount exceeds the second threshold value, the process proceeds to step S6.
ステップＳ６では、第１ずれ量と第１閾値との比（第１ずれ量／第１閾値）と、第２ずれ量と第２閾値との比（第２ずれ量／第２閾値）を比較する。そして、（第２ずれ量／第２閾値）≧（第１ずれ量／第１閾値）であればステップＳ７に進み、（第２ずれ量／第２閾値）＜（第１ずれ量／第１閾値）であればステップＳ１０に進む。 In step S6, the ratio between the first deviation amount and the first threshold value (first deviation amount / first threshold value) is compared with the ratio between the second deviation amount and the second threshold value (second deviation amount / second threshold value). To do. If (second deviation amount / second threshold value) ≧ (first deviation amount / first threshold value), the process proceeds to step S7, where (second deviation amount / second threshold value) <(first deviation amount / first threshold value). If (threshold), the process proceeds to step S10.
ステップＳ７では、第２駆動信号の周波数を検出された第２ずれ量に応じて変更する。すなわち、第２駆動信号の周波数を光走査部３（内側可動部３５）の実際の第２共振周波数に近づけるように変更する。
ステップＳ８では、第１駆動信号と第２駆動信号との周波数比を一定に保つように、ステップ７で変更された第２駆動信号の周波数に応じて第１駆動信号の周波数を変更する。
ステップＳ９では、第１駆動信号の周波数及び第２駆動信号の周波数を上記ステップＳ７、Ｓ８で変更された値に更新する。
In step S7, the frequency of the second drive signal is changed according to the detected second shift amount. That is, the frequency of the second drive signal is changed so as to approach the actual second resonance frequency of the optical scanning unit 3 (inner movable unit 35).
In step S8, the frequency of the first drive signal is changed according to the frequency of the second drive signal changed in step 7 so that the frequency ratio between the first drive signal and the second drive signal is kept constant.
In step S9, the frequency of the first drive signal and the frequency of the second drive signal are updated to the values changed in steps S7 and S8.
ステップＳ１０では、第１駆動信号の周波数を検出された第１ずれ量に応じて変更する。すなわち、第１駆動信号の周波数を光走査部３（内側可動部３５）の実際の第１共振周波数に近づけるように変更する。
ステップＳ１１では、第１駆動信号と第２駆動信号との周波数比を一定に保つように、ステップ１０で変更された第１駆動信号の周波数に応じて第２駆動信号の周波数を変更する。
ステップＳ１２では、第１駆動信号の周波数及び第２駆動信号の周波数を上記ステップＳ１０、Ｓ１１で変更された値に更新する。
In step S10, the frequency of the first drive signal is changed according to the detected first deviation amount. That is, the frequency of the first drive signal is changed so as to approach the actual first resonance frequency of the optical scanning unit 3 (inner movable unit 35).
In step S11, the frequency of the second drive signal is changed according to the frequency of the first drive signal changed in step 10 so that the frequency ratio between the first drive signal and the second drive signal is kept constant.
In step S12, the frequency of the first drive signal and the frequency of the second drive signal are updated to the values changed in steps S10 and S11.
このようにして、駆動部５は、検出した第１ずれ量が第１閾値よりも大きい場合には第１駆動信号の周波数を第１ずれ量に応じて変更し、この変更された第１駆動信号の周波数に応じて第２駆動信号の周波数を変更する。また、検出した第２ずれ量が第２閾値よりも大きい場合には第２駆動信号の周波数を第２ずれ量に応じて変更し、この変更された第２駆動信号の周波数に応じて第１駆動信号の周波数を変更する。さらに、検出した第１ずれ量が第１閾値よりも大きくかつ検出した第２ずれ量が第２閾値よりも大きい場合には、閾値に対するずれ量の割合が大きい方の駆動信号の周波数を変更し、この変更後の周波数に応じて閾値に対するずれ量の割合が小さい方の駆動信号の周波数を変更する。ここで、第１駆動回路５１及び第２駆動回路５３は、ＤＤＳ方式又はＰＬＬ方式の周波数シンセサイザを備えており、高分解能での周波数の設定が可能である。これにより、変更された周波数の第１、第２駆動信号を確実に出力することができ、光走査部３を効率的かつ安定して駆動することができる。 In this way, when the detected first deviation amount is larger than the first threshold, the drive unit 5 changes the frequency of the first drive signal according to the first deviation amount, and this changed first drive The frequency of the second drive signal is changed according to the frequency of the signal. Further, when the detected second shift amount is larger than the second threshold, the frequency of the second drive signal is changed according to the second shift amount, and the first according to the changed frequency of the second drive signal. Change the frequency of the drive signal. Further, when the detected first deviation amount is larger than the first threshold value and the detected second deviation amount is larger than the second threshold value, the frequency of the drive signal having the larger deviation amount ratio with respect to the threshold value is changed. The frequency of the drive signal having the smaller ratio of the deviation amount with respect to the threshold is changed according to the frequency after the change. Here, the first drive circuit 51 and the second drive circuit 53 include a frequency synthesizer of a DDS method or a PLL method, and can set a frequency with high resolution. As a result, the first and second drive signals having the changed frequencies can be reliably output, and the optical scanning unit 3 can be driven efficiently and stably.
図１に戻って、光源部７は、光走査部３の内側可動部３５に形成された光反射面３６に向かってパルス光を出射するものであり、光源７１と、光源７１の駆動を制御する光源制御部７３と、投光光学系７５と、を含む。 Returning to FIG. 1, the light source unit 7 emits pulsed light toward the light reflecting surface 36 formed on the inner movable unit 35 of the optical scanning unit 3, and controls the light source 71 and the driving of the light source 71. A light source control unit 73 and a light projecting optical system 75.
光源７１は、例えばレーザダイオードであり、光源制御部７３からの駆動（出射）信号によって発光してパルス光（レーザパルス）を出射する。
光源制御部７３は、光源７１によるパルス光の出射タイミングを制御する。光源制御部７３は、例えば対象領域内の計測位置と出射時刻（タイミング）とが関連付けられたタイミングテーブルを備えており、例えば内側可動部３５（光反射面３６）の所定の揺動角度（例えば、０°）を基準として予め設定されたタイミング（計測位置）で光源７１を発光させる。
投光光学系７５は、光源７１が発したパルス光を好ましい状態（例えば平行光）に変換するものであり、例えばコリメータレンズを含む。
The light source 71 is, for example, a laser diode, and emits pulsed light (laser pulse) by emitting light in response to a drive (emission) signal from the light source control unit 73.
The light source control unit 73 controls the emission timing of the pulsed light from the light source 71. The light source control unit 73 includes a timing table in which, for example, the measurement position in the target region and the emission time (timing) are associated with each other, for example, a predetermined swing angle (for example, the inner movable unit 35 (light reflecting surface 36)). , 0 °), the light source 71 emits light at a timing (measurement position) set in advance.
The light projecting optical system 75 converts the pulsed light emitted from the light source 71 into a preferable state (for example, parallel light), and includes, for example, a collimator lens.
光源部７から出射されたパルス光（平行光）は、光走査部３の光反射面３６で反射されて対象領域内をリサージュ走査される。上述したように、リサージュパターンは一定に維持されるから、上記タイミングテーブルに基づいて光源７１を発光させることで対象領域内の一定の位置（複数位置）にパルス光が出射される。 The pulsed light (parallel light) emitted from the light source unit 7 is reflected by the light reflecting surface 36 of the light scanning unit 3 and subjected to Lissajous scanning in the target region. As described above, since the Lissajous pattern is maintained constant, pulsed light is emitted to a certain position (plural positions) in the target region by causing the light source 71 to emit light based on the timing table.
受光部９は、光源部７から出射されたパルス光の反射光を受光して検知するものであり、例えばフォトセンサを用いることができる。上述したように、光源部７からのパルス光は光走査部３によって対象領域内の一定の位置（複数位置）に出射される。これらの位置に何らかの物体が存在すれば、光源部７から出射されたパルス光は存在する物体によって反射される。受光部９はこの対象領域内に存在する物体による反射光を受光する。なお、受光部９は、反射光を直接受光するものであってもよいし、光走査部３（光反射面３６）を介して受光するものであってもよい。 The light receiving unit 9 receives and detects the reflected light of the pulsed light emitted from the light source unit 7, and for example, a photo sensor can be used. As described above, the pulsed light from the light source unit 7 is emitted by the optical scanning unit 3 to a certain position (a plurality of positions) in the target region. If any object exists at these positions, the pulsed light emitted from the light source unit 7 is reflected by the existing object. The light receiving unit 9 receives reflected light from an object existing in the target area. The light receiving unit 9 may receive the reflected light directly or may receive the light via the optical scanning unit 3 (light reflecting surface 36).
測距部１１は、光源部７によるパルス光の出射タイミングと、受光部９による反射光の受光タイミングと、を入力し、両者の時間差（光飛行時間）に基づいてパルス光を反射した物体又は人までの距離を計測する。測距部１１による距離の計測は、対象領域内の各計測位置において、すなわち、光源部７からのパルス光の出射毎に行なわれ、その計測結果が画像生成部１３に出力される。 The distance measuring unit 11 inputs the emission timing of the pulsed light from the light source unit 7 and the reception timing of the reflected light from the light receiving unit 9, and the object that reflects the pulsed light based on the time difference (light flight time) between them or Measure the distance to the person. The distance measurement by the distance measuring unit 11 is performed at each measurement position in the target region, that is, every time pulse light is emitted from the light source unit 7, and the measurement result is output to the image generating unit 13.
画像生成部１３は、測距部１１によって計測された距離に基づいて各計測位置の画素値を決定し、対象領域についての距離画像を例えば光走査部３による走査の一周期毎に生成する。生成される距離画像は、計測された距離毎に色が異なる画像、すなわち、対象領域内の存在する物体についてはその距離や奥行きが反映された三次元的な画像とすることができる。この画像生成部１３で生成された距離画像は表示部１５に出力される。 The image generation unit 13 determines a pixel value at each measurement position based on the distance measured by the distance measurement unit 11, and generates a distance image for the target region for each cycle of scanning by the optical scanning unit 3, for example. The generated distance image may be an image having a different color for each measured distance, that is, a three-dimensional image reflecting the distance and depth of an object existing in the target region. The distance image generated by the image generation unit 13 is output to the display unit 15.
表示部１７は、ディスプレイを備え、画像生成部１３から出力された距離画像を表示する。表示部１７に表示される距離画像によって対象領域内に物体が存在するか否かを認識できることはもちろん、物体が存在する場合には、当該物体の対象領域内における位置、当該物体までの距離、当該物体の形状なども認識することができる。また、距離画像は走査周期毎に更新されるから、当該物体の姿勢の変化をも認識するができる。 The display unit 17 includes a display and displays the distance image output from the image generation unit 13. In addition to being able to recognize whether or not an object exists in the target area from the distance image displayed on the display unit 17, if an object exists, the position of the object in the target area, the distance to the object, The shape of the object can also be recognized. Further, since the distance image is updated every scanning cycle, it is possible to recognize a change in the posture of the object.
次に、以上のような構成を有する光測距装置１の全体的な作用について説明する。
図示省略したメインスイッチ等がＯＮされて光測距装置１が起動すると、駆動部５は第１駆動信号及び第２駆動信号を光走査部３に出力して内側可動部３５（光反射面３６）をｘ軸回り及びｙ軸回りに揺動駆動する。また、光源部７からはタイミングテーブルに基づいてパルス光が出射される。これにより、対象領域には、光走査部３によるリサージュ走査軌跡上の予め設定された各計測位置にパルス光が出射され、測距部９によって当該各計測位置について測距が行われる。そして、対象領域内の全ての計測位置での測距が完了すると（すなわち、光走査部３による走査の一周期毎に）、画像生成部１１によって対象領域についての距離画像が生成され、この生成された距離画像が表示部１３に表示される。
Next, the overall operation of the optical distance measuring device 1 having the above configuration will be described.
When a main switch or the like (not shown) is turned on and the optical distance measuring device 1 is activated, the driving unit 5 outputs the first driving signal and the second driving signal to the optical scanning unit 3 to output the inner movable unit 35 (light reflecting surface 36). ) Is driven to swing around the x axis and the y axis. Further, pulsed light is emitted from the light source unit 7 based on the timing table. Thereby, pulse light is emitted to each measurement position set in advance on the Lissajous scanning locus by the optical scanning unit 3 in the target area, and the distance measurement unit 9 performs distance measurement on each measurement position. When distance measurement at all measurement positions in the target area is completed (that is, for each scanning period by the optical scanning unit 3), a distance image for the target area is generated by the image generation unit 11, and this generation is performed. The distance image thus displayed is displayed on the display unit 13.
ここで、駆動部３は、第１駆動信号の周波数と光走査部３の第１共振周波数との第１ずれ量及び第２駆動信号の周波数と光走査部３の第２共振周波数との第２ずれ量を検出し、これらの検出結果に応じて第１駆動信号及び第２駆動信号の周波数を両者の周波数比を一定に維持しつつ変更する。これにより、光走査部３の実際の第１，第２共振周波数がその設計値からずれていた場合や温度変化によって変動した場合であっても、第１駆動信号及び第２駆動信号の振幅（すなわち、駆動電流値）を増加させることなく、光走査部３による走査幅（光反射面３６の振れ角）を十分に確保でき、光走査部３の効率的な駆動が可能になる。また、リサージュパターンは変わらないので、対象領域における各計測位置で安定した測距を行うことができる。この結果、従来に比べて、光走査部３の製造後に調整プロセスが必要となるケースを低減又は製造後における選別基準を緩和することができ、その結果、製造コストの上昇を抑制できる。 Here, the drive unit 3 includes a first deviation amount between the frequency of the first drive signal and the first resonance frequency of the optical scanning unit 3, and the second difference between the frequency of the second drive signal and the second resonance frequency of the optical scanning unit 3. Two shift amounts are detected, and the frequencies of the first drive signal and the second drive signal are changed in accordance with the detection results while maintaining the frequency ratio between the two constant. Thereby, even when the actual first and second resonance frequencies of the optical scanning unit 3 are deviated from the design values or when the optical scanning unit 3 fluctuates due to temperature changes, the amplitudes of the first drive signal and the second drive signal ( That is, the scanning width (the deflection angle of the light reflecting surface 36) by the optical scanning unit 3 can be sufficiently secured without increasing the driving current value, and the optical scanning unit 3 can be efficiently driven. Further, since the Lissajous pattern does not change, stable ranging can be performed at each measurement position in the target area. As a result, it is possible to reduce the case where an adjustment process is necessary after the manufacture of the optical scanning unit 3 or to relax the selection criteria after the manufacture, and as a result, it is possible to suppress an increase in manufacturing cost.
なお、以上では本発明の一実施形態として光測距装置について説明したが、本発明の他の実施形態として光走査部３及び駆動部５を含む光走査装置として構成することができることはいうまでもない。この場合には、別体で構成された光源から光反射面３６に光が入力され、当該光走査装置はこの入力された光を対象領域内でリサージュ走査できる。また、以下に述べる上記実施形態の変形例は光走査装置として構成した場合にもそのまま適用することができる。 Although the optical distance measuring device has been described above as an embodiment of the present invention, it goes without saying that it can be configured as an optical scanning device including the optical scanning unit 3 and the drive unit 5 as another embodiment of the present invention. Nor. In this case, light is input to the light reflecting surface 36 from a separately configured light source, and the optical scanning device can perform Lissajous scanning of the input light within the target region. Moreover, the modification of the said embodiment described below is applicable as it is, also when comprised as an optical scanning device.
上記実施形態では、第１駆動信号の周波数と第１共振周波数との第１ずれ量を第１駆動信号と内側可動部３５のｙ軸回りの揺動角度信号との位相差に基づいて検出しており、ｙ軸回りの揺動角度信号は第１トーションバー３２，３２に形成された第１〜第４ピエゾ抵抗素子Ｒ１〜Ｒ４で構成したブリッジ回路（図３参照）の出力電圧としている。同様に、第２駆動信号の周波数と第２共振周波数との第２ずれ量を第２駆動信号と内側可動部３５のｘ軸回りの揺動角度信号との位相差に基づいて検出しており、ｘ軸回りの揺動角度信号は第２トーションバー３４，３４に形成された第５〜第８ピエゾ抵抗素子Ｒ５〜Ｒ８で構成したブリッジ回路（図３参照）の出力電圧としている。 In the above embodiment, the first shift amount between the frequency of the first drive signal and the first resonance frequency is detected based on the phase difference between the first drive signal and the swing angle signal around the y axis of the inner movable portion 35. The swing angle signal about the y-axis is the output voltage of the bridge circuit (see FIG. 3) constituted by the first to fourth piezoresistive elements R1 to R4 formed on the first torsion bars 32 and 32. Similarly, the second shift amount between the frequency of the second drive signal and the second resonance frequency is detected based on the phase difference between the second drive signal and the swing angle signal of the inner movable portion 35 about the x axis. The swing angle signal around the x-axis is the output voltage of the bridge circuit (see FIG. 3) constituted by the fifth to eighth piezoresistive elements R5 to R8 formed on the second torsion bars 34, 34.
しかし、これに限るものではなく、ピエゾ抵抗素子で構成したブリッジ回路の出力電圧以外の信号を内側可動部３５のｙ軸回り及びｘ軸回りの揺動角度信号として検出してもよい。例えば、特開２００４−７８１３０号公報や特開２００４−２４２４８８号公報に記載されているように、外側可動部３３に形成された第１駆動コイル３７及び内側可動部３５に形成された第２駆動コイル３８に発生する逆起電力を検出し、これをｙ軸回り及びｘ軸回りの揺動角度信号とすることができる。但し、この場合においては、共振周波数と一致する周波数を有する駆動信号で光走査部３が駆動されると、駆動信号と内側可動部３５の揺動角度信号（逆起電力信号）との位相差は０°になる。
また、内側可動部３５（外側可動部３３）のｙ軸回りの揺動振幅（振れ角）及び内側可動部３５のｘ軸回りの揺動振幅（振れ角）が所定値となるように第１駆動信号及び第２駆動信号の大きさ（駆動電流値）を制御する構成とした場合には、この駆動電流値を内側可動部３５のｙ軸回り及びｘ軸回りの揺動角度信号とすることができる。この場合、駆動電流値は共振周波数と一致する周波数を有するときに最小となり、共振周波数からずれるほどその値が大きくなる。
However, the present invention is not limited to this, and signals other than the output voltage of the bridge circuit constituted by the piezoresistive elements may be detected as the swing angle signals around the y axis and the x axis of the inner movable portion 35. For example, as described in Japanese Patent Application Laid-Open No. 2004-78130 and Japanese Patent Application Laid-Open No. 2004-242488, the first drive coil 37 formed on the outer movable portion 33 and the second drive formed on the inner movable portion 35 are used. The counter electromotive force generated in the coil 38 can be detected and used as a swing angle signal around the y axis and around the x axis. However, in this case, when the optical scanning unit 3 is driven with a drive signal having a frequency that matches the resonance frequency, the phase difference between the drive signal and the swing angle signal (back electromotive force signal) of the inner movable unit 35 is obtained. Becomes 0 °.
Further, the swing amplitude (swing angle) around the y axis of the inner movable part 35 (outer movable part 33) and the swing amplitude (swing angle) around the x axis of the inner movable part 35 are set to a predetermined value. In the case where the magnitude (drive current value) of the drive signal and the second drive signal is controlled, this drive current value is used as the swing angle signal around the y-axis and around the x-axis of the inner movable portion 35. Can do. In this case, the drive current value is minimized when it has a frequency that matches the resonance frequency, and the value increases as it deviates from the resonance frequency.
さらに、内側可動部３５の揺動角度信号を用いることなく、光走査部３又はその近傍の温度に基づいて第１駆動信号の周波数と第１共振周波数との第１ずれ量及び第２駆動信号の周波数と第２共振周波数との第２ずれ量を検出するようにしてもよい。例えば、光走査部３又はその近傍の温度を検出する温度センサを設け、ｙ軸回り及びｘ軸回りのそれぞれについて光走査部３又はその近傍の温度と共振周波数とが対応付けられた「温度−第１共振周波数テーブル（図６（ａ）参照）」及び「温度−第２共振周波数テーブル（図６（ｂ）」参照を駆動部３に記憶させておく。このようにすれば、駆動部３は、温度センサの検出結果に基づいて温度−共振周波数テーブルを参照することにより、第１駆動信号の周波数と第１共振周波数との第１ずれ量（換言すれば、第１共振周波数の温度変化に伴うシフト量）、第２駆動信号の周波数と第２共振周波数との第２ずれ量（換言すれば、第２共振周波数の温度変化に伴うシフト量）をそれぞれ検出（算出）することができる。 Furthermore, the first deviation amount between the frequency of the first drive signal and the first resonance frequency and the second drive signal based on the temperature of the optical scanning unit 3 or the vicinity thereof without using the swing angle signal of the inner movable unit 35. A second deviation amount between the frequency of the second resonance frequency and the second resonance frequency may be detected. For example, a temperature sensor that detects the temperature of the optical scanning unit 3 or the vicinity thereof is provided, and the temperature around the y-axis and the vicinity of the x-axis and the temperature around the optical scanning unit 3 or the vicinity thereof are associated with the “temperature- The first resonance frequency table (see FIG. 6A) ”and the“ temperature-second resonance frequency table (FIG. 6B) ”are stored in the drive unit 3. In this way, the drive unit 3 is stored. Refers to the temperature-resonance frequency table based on the detection result of the temperature sensor, thereby the first deviation amount between the frequency of the first drive signal and the first resonance frequency (in other words, the temperature change of the first resonance frequency). , And the second shift amount between the frequency of the second drive signal and the second resonance frequency (in other words, the shift amount associated with the temperature change of the second resonance frequency) can be detected (calculated). .
また、上記実施形態では、第１駆動信号の周波数と第１共振周波数との第１ずれ量及び第２駆動信号の周波数と第２共振周波数との第２ずれ量を検出しているが、いずれか一方のみを検出するように構成してもよい。好ましくは、高速で揺動駆動されるｘ軸回りに関するずれ量のみ、すなわち、第２駆動信号の周波数と第２共振周波数との第２ずれ量のみを検出するようにする。この場合、上記図５において、ステップＳ２で第２ずれ量のみを検出すればよく、ステップＳ５、Ｓ６、Ｓ１０−Ｓ１２が不要になる。もちろん、これとは逆に、第１駆動信号の周波数と第１共振周波数との第１ずれ量のみを検出するように構成してもよい。 In the above embodiment, the first shift amount between the frequency of the first drive signal and the first resonance frequency and the second shift amount between the frequency of the second drive signal and the second resonance frequency are detected. You may comprise so that only either one may be detected. Preferably, only the shift amount about the x axis that is driven to swing at high speed, that is, only the second shift amount between the frequency of the second drive signal and the second resonance frequency is detected. In this case, in FIG. 5, only the second shift amount needs to be detected in step S2, and steps S5, S6, and S10-S12 are not necessary. Of course, on the contrary, it may be configured to detect only the first deviation amount between the frequency of the first drive signal and the first resonance frequency.
また、上記実施形態では、光走査部として電磁駆動式の二次元ガルバノミラーを用いているが、本発明はこれに限定されるものではなく、電磁駆動式、静電方式、圧電方式、熱方式などの各種の駆動方式で光反射面を有する可動部を揺動駆動する構成の光走査部にも適用することができる。 In the above embodiment, an electromagnetically driven two-dimensional galvanometer mirror is used as the optical scanning unit. However, the present invention is not limited to this, and the electromagnetically driven, electrostatic method, piezoelectric method, and thermal method are used. The present invention can also be applied to an optical scanning unit configured to swing and drive a movable unit having a light reflecting surface by various driving methods.
また、上記実施形態では、光走査部として電磁駆動式の二次元ガルバノミラーを用いているが、本発明はこれに限定されるものではなく、二つの一次元ガルバノミラーの回転軸が互いに直交するように配置する構成の光走査部にも適用することが出来る。たとえば、図７に示すように、１次ミラーと２次ミラーの回転軸を互いに直交させて配置し、１次ミラーで水平方向に走査したレーザ光を、楕円面ミラー等を介して２次ミラーにあて、２次ミラーで垂直方向に走査することで２次元走査が実現できる。 In the above embodiment, an electromagnetically driven two-dimensional galvanometer mirror is used as the optical scanning unit. However, the present invention is not limited to this, and the rotation axes of the two one-dimensional galvanometer mirrors are orthogonal to each other. The present invention can also be applied to an optical scanning unit having a configuration as described above. For example, as shown in FIG. 7, the laser beams scanned in the horizontal direction by the primary mirror are arranged with the rotation axes of the primary mirror and the secondary mirror orthogonal to each other via the ellipsoidal mirror or the like. The two-dimensional scanning can be realized by scanning in the vertical direction with the secondary mirror.
１…光測距装置、３…光走査部、５…駆動部、７…光源部、９…受光部、１１…測距部、１３…画像生成部、１５…表示部、３０…二次元ガルバノミラー（光走査部）、３１…固定部、３２…第１トーションバー、３３…外側可動部、３４…第２トーションバー、３５…内側可動部、３７…第１駆動コイル、３８…第２駆動コイル、５１…第１駆動回路、５３…第２駆動回路、５５…第１ずれ量検出部、５７…第２ずれ量検出部、５９…周波数決定部、９１…光源、９３…光源制御部、９５…投光光学系 DESCRIPTION OF SYMBOLS 1 ... Optical distance measuring device, 3 ... Optical scanning part, 5 ... Drive part, 7 ... Light source part, 9 ... Light-receiving part, 11 ... Distance measuring part, 13 ... Image generation part, 15 ... Display part, 30 ... Two-dimensional galvano Mirror (light scanning part) 31 ... fixed part 32 ... first torsion bar 33 ... outer movable part 34 ... second torsion bar 35 ... inner movable part 37 ... first drive coil 38 ... second drive Coil, 51 ... first drive circuit, 53 ... second drive circuit, 55 ... first deviation amount detection unit, 57 ... second deviation amount detection unit, 59 ... frequency determination unit, 91 ... light source, 93 ... light source control unit, 95: Projection optical system
Claims (10)
前記可動部を前記第１軸回りに揺動させる第１駆動信号及び前記可動部を前記第２軸回りに揺動させる第２駆動信号をそれぞれ前記光走査部に出力して前記可動部を前記第１軸
回り及び前記第２軸回りに揺動駆動する駆動部と、
前記可動部の前記第１軸回りの第１共振周波数に対する前記第１駆動信号の周波数のずれ量である第１ずれ量及び前記可動部の前記第２軸回りの第２共振周波数に対する前記第２駆動信号の周波数のずれ量である第２ずれ量の少なくとも一方を検出するずれ量検出部と、
を備え、
前記駆動部は、前記第１ずれ量が予め定められた第１閾値よりも大きい場合、前記第２ずれ量が予め定められた第２閾値よりも大きい場合、又は、前記第１ずれ量が前記第１閾値よりも大きくかつ前記第２ずれ量が前記第２閾値よりも大きい場合に、前記第１駆動信号の周波数及び前記第２駆動信号の周波数をこれらの周波数比を維持しつつ変更する、光走査装置。 A movable part having a light reflecting surface is formed so as to be swingable about first and second axes orthogonal to each other, and the light reflection is performed by swinging the movable part about the first axis and the second axis. An optical scanning unit that performs Lissajous scanning of light incident on the surface within the target region;
A first drive signal for swinging the movable part about the first axis and a second drive signal for swinging the movable part about the second axis are output to the optical scanning unit, respectively, and the movable part is A drive section that swings around the first axis and the second axis;
A first shift amount that is a shift amount of the frequency of the first drive signal with respect to a first resonance frequency around the first axis of the movable part and the second relative to a second resonance frequency around the second axis of the movable part. A deviation amount detection unit for detecting at least one of the second deviation amounts, which is a deviation amount of the frequency of the drive signal;
With
The driving unit may be configured such that the first deviation amount is greater than a predetermined first threshold value, the second deviation amount is greater than a predetermined second threshold value, or the first deviation amount is equal to the first threshold value. When the frequency is greater than the first threshold and the second deviation amount is greater than the second threshold, the frequency of the first drive signal and the frequency of the second drive signal are changed while maintaining these frequency ratios; Optical scanning device.
前記ずれ量検出部は、前記第１駆動信号と前記第１揺動角度検出部の出力信号との位相差に基づいて前記第１ずれ量を検出する、請求項１〜４のいずれか一つに記載の光走査装置。 A first swing angle detector that outputs a signal corresponding to the swing angle of the movable portion around the first axis;
The shift amount detection unit detects the first shift amount based on the phase difference between the first driving signal and the output signal of the first swing angle detector, any one of claims 1 to 4, The optical scanning device according to 1.
前記ずれ量検出部は、前記第２駆動信号と前記第２揺動角度検出部の出力信号との位相差に基づいて前記第２ずれ量を検出する、請求項１〜５のいずれか一つに記載の光走査装置。 A second swing angle detector that outputs a signal corresponding to the swing angle of the movable portion around the second axis;
The shift amount detection unit detects the second shift amount based on the phase difference between the output signal of the second driving signal and the second oscillating angle detector, any one of claims 1 to 5, The optical scanning device according to 1.
前記ずれ量検出部は、前記駆動部が出力した前記第１駆動信号の周波数と前記光走査部又はその近傍の温度に応じた前記第１共振周波数とに基づいて前記第１ずれ量を検出し、前記駆動部が出力した前記第２駆動信号の周波数と前記光走査部又はその近傍の温度に応じた前記第２共振周波数とに基づいて前記第２ずれ量を検出する、請求項１〜４のいずれか一つに記載の光走査装置。 A temperature sensor for detecting the temperature of the optical scanning unit or the vicinity thereof,
The deviation amount detection unit detects the first deviation amount based on the frequency of the first drive signal output from the drive unit and the first resonance frequency corresponding to the temperature of the optical scanning unit or the vicinity thereof. , detecting a second shift amount based on the second resonance frequency corresponding to the temperature of the optical scanning unit or near the frequency of the second drive signal in which the drive unit has output, according to claim 1 to 4, The optical scanning device according to any one of the above.
前記第１駆動信号の周波数及び前記第２駆動信号の周波数を決定する周波数決定部と、
前記周波数決定部で決定された周波数に基づいて前記第１駆動信号を生成する第１駆動回路と、
前記周波数決定部で決定された周波数に基づいて前記第２駆動信号を生成する第２駆動回路と、
を備え、
前記第１駆動回路及び前記第２駆動回路は、ＤＤＳ（Direct Digital Synthesizer）方式又はＰＬＬ（Phase Lock Loop）方式の周波数シンセサイザを備える、請求項１〜７のいずれか一つに記載の光走査装置。 The drive unit is
A frequency determining unit for determining a frequency of the first drive signal and a frequency of the second drive signal;
A first drive circuit that generates the first drive signal based on the frequency determined by the frequency determination unit;
A second drive circuit that generates the second drive signal based on the frequency determined by the frequency determination unit;
With
The first driving circuit and the second driving circuit, DDS (Direct Digital Synthesizer) comprises a frequency synthesizer type or PLL (Phase Lock Loop) system, an optical scanning apparatus according to any one of claims 1 to 7, .
前記光走査装置の前記光反射面に向かってパルス光を出射する光源部と、
前記光源部から出射されたパルス光が前記対象領域内に存在する物体によって反射された反射光を受光する受光部と、
前記光源部によるパルス光の出射タイミングと前記受光部による反射光の受光タイミングとに基づいて前記物体までの距離を計測する測距部と、
を備えた、光測距装置。 An optical scanning device according to any one of claims 1 to 8 ,
A light source unit that emits pulsed light toward the light reflecting surface of the optical scanning device;
A light receiving unit that receives the reflected light reflected by the object existing in the target region, the pulsed light emitted from the light source unit;
A distance measuring unit that measures the distance to the object based on the emission timing of the pulsed light by the light source unit and the reception timing of the reflected light by the light receiving unit;
Optical distance measuring device equipped with.
前記画像生成部により生成された距離画像を表示する表示部と、
をさらに備える、請求項９に記載の光測距装置。 An image generating unit that generates a distance image for the target region based on a measurement result by the distance measuring unit;
A display unit for displaying the distance image generated by the image generation unit;
The optical distance measuring device according to claim 9 , further comprising:
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| WO2016208318A1 (en) * | 2015-06-24 | 2016-12-29 | コニカミノルタ株式会社 | Distance image processing device, distance image processing method, distance image processing program, and recording medium |
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