JP7021569B2 - Laser radar device - Google Patents

Description

The present invention relates to a laser radar device.

Conventionally, as a technique for detecting a distance or a direction to a detection object using a laser beam, for example, a device as in Patent Document 1 has been provided. In the apparatus of Patent Document 1, an optical isolator that transmits the laser light and reflects the reflected light from the detection object toward the detection means is provided on the optical axis of the laser light from the laser light generation means. Further, a concave mirror that rotates about the central axis in the optical axis direction is provided on the optical axis of the laser light transmitted through the optical isolator, and the concave mirror reflects the laser light toward the space and reflects from the detection object. By reflecting the light toward the optical isolator, 360 ° horizontal scanning is possible.

Japanese Unexamined Patent Publication No. 10-20035

By the way, it is desirable that the two-dimensional laser radar device capable of measuring the distance of the two-dimensional plane is installed so as to be able to perform laser scanning in parallel with the ground or the floor surface in order to exert its function. Even if the laser scan is adjusted to be parallel to the ground during installation, the laser beam remains parallel to the ground due to deterioration of the equipment, vibration from passing vehicles, earthquakes, tilting of the installation pillars, etc. May disappear. To confirm that the laser beam is parallel to the ground, the worker operates and adjusts the installation posture, which cannot be done frequently in terms of labor costs and the like.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a laser radar device capable of constantly confirming that a laser beam is parallel to the ground.

The invention of claim 1 comprises a laser beam generating means for generating a laser beam and a laser beam generating means.
A lens that converts the laser beam from the laser beam generating means into parallel light,
When the laser beam is generated from the laser beam generating means, the light detecting means for detecting the reflected light reflected by the detection object and the light detecting means.
It is provided with a deflecting means configured to be rotatable about a predetermined central axis, and the laser beam is deflected toward space by the deflecting means, and the reflected light is deflected toward the photodetecting means. Dynamic deflection means and
A reflected light guiding unit that guides the reflected light deflected by the deflecting means to the photodetecting means, and a reflected light guiding unit.
The driving means for driving the rotation deflection means and
It is a laser radar device equipped with
A width expanding means for vertically expanding the width of the laser beam to the first width and the second width to irradiate the ground or the floor surface with the laser beam.
The distance from the irradiation light spread to the first width and the second width to the ground or floor surface reflected by the first width and the distance to the ground or floor surface reflected by the second width. Calculation means and
From the dip angle with respect to the ground or floor surface to which the laser beam of the first width is reflected and the obtained distance, and the dip angle to the ground or floor surface to which the laser beam of the second width is reflected and the obtained distance, the first. An inclination calculation means for calculating the inclination of the ground or floor surface reflected by the width of 1 and the ground or floor surface reflected by the second width, and
It is characterized by comprising an output means for determining whether or not the calculated slope exceeds a predetermined threshold value and outputting a signal exceeding the threshold value when the threshold value is exceeded.

In the invention of claim 1, the width expanding means vertically widens the width of the laser beam to the first width and the second width, and irradiates the ground or the floor surface with the laser beam. The distance calculation means is the distance from the irradiation light spread to the first width and the second width to the ground or the floor surface reflected by the first width and the distance to the ground or the floor surface reflected by the second width. And ask. The inclination calculation means is the first from the distance obtained from the dip angle with respect to the ground or floor surface reflected by the laser beam of the first width and the dip angle obtained with respect to the ground or floor surface reflected by the laser beam of the second width. The inclination of the ground or floor surface reflected by the width of 1 and the ground or floor surface reflected by the second width is calculated. Then, the output means determines whether the calculated slope exceeds a predetermined threshold value, and if it exceeds the threshold value, outputs a signal exceeding the threshold value. Therefore, the laser radar device can confirm that the laser beam is parallel to the ground during normal monitoring and output a signal when the laser beam is not parallel to the ground.

In the invention of claim 2, since the parallel confirmation process by the width expanding means, the distance calculation means, the inclination calculation means, and the output means is performed in a plurality of directions, the parallel confirmation process is performed along the scanning range of the laser radar device. Can be done.

In the invention of claim 3, since the parallel confirmation process by the width expansion means, the distance calculation means, the inclination calculation means, and the output means is performed in the direction 1 and the direction orthogonal to the direction 1, the laser radar device is used. Necessary and sufficient parallel confirmation processing can be performed along the scanning range.

In the invention of claim 4, since the lens is composed of a pair of cylindrical lenses, by moving at least one of the cylindrical lenses along the optical axis of the laser beam, the width of the laser beam can be changed to the first width and the first width in the vertical direction. It can be expanded to a width of 2.

In the invention of claim 5, since the lens is composed of a pair of cylindrical lenses, the width of the laser beam is increased by moving one of the cylindrical lenses along the optical axis of the laser beam with respect to the front direction of the laser radar device. Can be spread vertically. Then, by moving the other side of the cylindrical lens along the optical axis of the laser beam with respect to the direction orthogonal to the front direction in which the laser beam rotates 90 ° along the optical axis, the width of the laser beam is made vertical. Can be expanded.

It is sectional drawing which schematically exemplifies the whole structure of the laser radar apparatus which concerns on 1st Embodiment. FIG. 2A is an explanatory diagram of a parallel confirmation operation of a laser beam with respect to the ground by the laser radar device of the first embodiment, and FIG. 2B is an explanatory diagram of a coordinate calculation operation. It is a figure which shows the rotation of the light projection spot of the laser radar apparatus which concerns on 1st Embodiment. It is a figure which shows the vertical expansion of the light projection spot of the laser radar apparatus which concerns on 1st Embodiment. It is a figure which shows the lateral expansion of the light projection spot of the laser radar apparatus which concerns on 1st Embodiment. It is a flowchart of the parallel confirmation operation by the laser radar apparatus of 1st Embodiment. It is a figure which shows the vertical expansion of the light projection spot of the laser radar apparatus which concerns on 2nd Embodiment.

[First Embodiment]
Hereinafter, the laser radar device of the first embodiment will be described with reference to the drawings.
(overall structure)
First, the overall configuration of the laser radar device according to the first embodiment will be described with reference to FIG.
FIG. 1 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the first embodiment. The laser radar device 1 includes a laser diode 10 and a photodiode 20 that receives the reflected light L2 from the detection object, and is configured as a device that detects the distance and direction to the detection object.

The laser diode 10 corresponds to an example of the "laser light generating means", and receives a pulse current from a drive circuit (not shown) under the control of the control circuit 70, and the pulse laser light (laser light L1) corresponding to the pulse current. ) Is emitted intermittently. In the first embodiment, the laser beam from the laser diode 10 to the detection object is conceptually indicated by the reference numeral L1, and the reflected light from the detection object to the photodiode is conceptually indicated by the reference numeral L2. ing.

The photodiode 20 corresponds to an example of a "photodetecting means", and is configured by, for example, an avalanche photodiode. When the laser light L1 is generated from the laser diode 10 and the laser light L1 is reflected by a detection object (not shown), the photodiode 20 receives the reflected light L2 and converts it into an electric signal. As for the reflected light from the detected object, the one in a predetermined region is taken in by the concave mirror 41, and in FIG. 1, the reflected light in the region between the two lines (two-dot chain line) indicated by the reference numeral L2 is taken in. An example is shown.

A lens 60 is provided on the optical axis of the laser beam L1 emitted from the laser diode 10. The lens 60 is configured as a collimating lens, and converts the laser light L1 from the laser diode 10 into parallel light. The lens 60 includes a first cylindrical lens 60F and a second cylindrical lens 60S. A first actuator 62F for adjusting the position along the optical axis is attached to the first cylindrical lens 60F, and a second actuator 62S for adjusting the position along the optical axis is attached to the second cylindrical lens 60S. Is attached. By adjusting the positions of the first cylindrical lens 60F and the second cylindrical lens 60S by the first actuator 62F and the second actuator 62S, the projection beam shape is gradually changed to be vertically long as described later. The first actuator 62F and the second actuator 62S correspond to an example of the "width expanding means".

A mirror 30 is provided near the optical path of the laser beam L1 that has passed through the lens 60. The mirror 30 includes a reflecting surface 30a inclined at a predetermined angle with respect to the optical axis of the laser light L1 and a through path 32 in a direction intersecting the reflecting surface 30a, and the laser light L1 from the laser diode 10 is provided. Is passed through the through path 32, while the reflected light L2 (more specifically, the reflected light reflected by the concave mirror 41) from the detection object is reflected toward the photodiode 20. In the first embodiment, the mirror 30 corresponds to an example of the "reflected light guiding unit" and functions to guide the reflected light L2 deflected by the "deflecting means" to the photodiode 20 (photodetecting means). do.

Further, a rotation reflection mechanism 40 is provided on the optical axis of the laser beam L1 passing through the mirror 30. The rotation reflection mechanism 40 corresponds to an example of the "rotation deflection means", and is rotatably arranged around a central axis 42a extending in the optical axis direction of the laser beam L1 and is rotatably arranged on the central axis 42a. It is provided with a concave mirror 41 whose focal position is set to, a shaft portion 42 connected to the concave mirror 41, and a bearing (not shown) that rotatably supports the shaft portion 42.

The concave mirror 41 corresponds to an example of "deflection means", includes a concave reflection surface 41a arranged on the optical axis of the laser beam L1 that has passed through the mirror 30, and has a central axis 42a (a predetermined central axis). ), The laser light L1 from the laser diode 10 is deflected (reflected) toward the space outside the case 3, and the reflected light from the detection object existing in the space outside the case 3 is deflected. It is configured to deflect (reflect) L2 toward the photodiode 20.

Further, the direction of the central axis 42a, which is the center of rotation of the concave mirror 41, substantially coincides with the direction of the laser beam L1 that passes through the mirror 30 and is incident on the concave mirror 41, and the laser beam L1 is incident on the concave mirror 41. The position P1 is a position on the central axis 42a. Further, in the first embodiment, the portion of the reflective surface 41a of the concave mirror 41 near the position P1 is inclined at an angle of 45 ° with respect to the vertical direction (the direction of the laser beam L1 incident on the reflective surface 41a). The laser beam L1 reflected by the reflecting surface 41a of the concave mirror 41 is irradiated in the horizontal direction. Further, since the concave mirror 41 rotates about the central axis 42a in the direction corresponding to the direction of the incident laser light L1, the incident angle of the laser light L1 is always maintained at 45 ° regardless of the rotation position of the concave mirror 41, and the position is maintained. The direction of the laser beam L1 from P1 is configured to be constantly in the horizontal direction (direction orthogonal to the central axis 42a). In the first embodiment, the direction of the central axis 42a is the vertical direction (vertical direction, vertical direction), and the plane direction orthogonal to the central axis 42a is the horizontal direction.

Further, the laser radar device 1 is provided with a motor 50 for driving the rotation reflection mechanism 40. This motor 50 corresponds to an example of "driving means", and by rotating the shaft portion 42, the concave mirror 41 connected to the shaft portion 42 is rotationally driven. As a specific configuration of the motor 50, for example, a servo motor or the like may be used, or a motor that rotates constantly is used, and pulsed laser light is output in synchronization with the timing at which the concave mirror 41 faces the direction to be measured. It may be possible to detect in a desired direction. Further, in the first embodiment, as shown in FIG. 1, a rotation angle sensor 52 for detecting the rotation angle position of the shaft portion 42 of the motor 50 (that is, the rotation angle position of the concave mirror 41) is provided. As the rotation angle sensor 52, various types such as a rotary encoder can be used as long as they can detect the rotation angle position of the shaft portion 42.

In the laser radar device 1 according to the first embodiment, the laser diode 10, the photodiode 20, the mirror 30, the lens 60, the rotation reflection mechanism 40, the motor 50, and the like are housed in the case 3, and dustproof and impact protection are achieved. ing. The case 3 includes a main case portion 5 and a transmission plate 80, and is configured in a box shape as a whole. The main case portion 5 has a box-like shape in which a part thereof is opened so as to be able to guide light.

In the main case portion 5, a window portion 4 that allows the passage of the laser light L1 and the reflected light L2 is formed around the concave mirror 41. The window portion 4 is a portion of the main case portion 5 that is opened so as to allow light to enter and exit, and a transmission plate 80 is provided so as to close the window portion 4.

The transmission plate 80 is composed of, for example, a transparent resin plate, a glass plate, or the like, and is arranged so as to close the window portion 4 over substantially the entire circumference around the concave mirror 41. The transmission plate 80 is arranged in the circumferential direction on the scanning path of the laser beam L1 from the concave mirror 41, and is configured to block the window portion 4 and transmit the laser beam L1 projected from the concave mirror 41. There is.

Next, the parallel confirmation operation of the laser beam with respect to the ground by the laser radar device 1 of the first embodiment will be described with reference to FIG. 2 (A).
FIG. 2A0 shows the beam width of the laser beam L1 during normal monitoring. The laser beam L1 is emitted from the laser radar device 1 as parallel light (actually slightly spread) substantially parallel to the ground (or floor surface) G.

FIG. 2A1 shows the beam width of the laser beam L1 during the parallel confirmation operation. The beam width of the laser beam L1 is widened to the first widening width (dimension angle θ1) in the vertical direction so as to be reflected at the first point PF of the ground (or floor surface) G. Here, the first point PF means a point where reflection occurs in the laser beam L1 having the first widening width (blow angle θ1).

FIG. 2A2 shows the beam width of the laser beam L1 during the parallel confirmation operation. The laser beam L1 has a beam width that is further widened to a second widening width (dimming angle θ2) in the vertical direction so as to be reflected at a second point PS of the ground (or floor surface) G than the first widening width (blind angle θ1). ing. Here, the second point PS means a point where reflection occurs in the laser beam L1 having the second widening width (blow angle θ2).

FIG. 2B is an explanatory diagram of the coordinate calculation operation by the laser radar device 1.
The ground first example EX1, the ground second example EX2, and the ground third example EX3 schematically show the ground having different heights. That is, the ground first example EX1 is relatively high, the ground second example EX2 is in the middle, and the ground third example EX3 is relatively low.
In the ground first example EX1, the laser beam is reflected at the first point P1F at the first widening width (dimming angle θ1), and the laser light is reflected at the second point P1S at the second widening width (blind angle θ2). The distance d1F to the first point P1F and the distance d1S to the second point P1S are calculated from the reflected light waveform (reflection time) of the laser beam L1. Further, the dip angle θ1 of the first widening width and the dip angle θ2 of the second widening width are known predetermined values. Therefore, based on the distance d1F to the first point P1F and the dip angle θ1 of the first widening width, the first on the ground on the vertical surface along the laser beam with the laser radar device 1 as the origin (0.0). The polar coordinates of the point P1F are calculated. The polar coordinates of the second point P1S are calculated based on the distance d1S to the second point P1S and the dip angle θ2 of the second widening width. From the polar coordinates of the first point P1F and the polar coordinates of the second point P1S, the deviation between the laser beam of the laser radar device 1 and the ground is calculated. For example, the laser radar device 1 obtains an inclination angle between the first point P1F and the second point P1S from the polar coordinates of the first point P1F and the polar coordinates of the second point P1S, and the inclination angle is set at the time of installation. It is determined from the above whether or not the deviation from the predetermined threshold value is exceeded.

Here, in order for the laser radar device 1 to detect a human body having a height of 1.6 m in a range of 300 m, it is necessary to have an error (deviation amount) of ± 0.05 ° or less with respect to the ground. For example, the laser radar device 1 obtains the coordinates 250 m ahead as the first point P1F, obtains the coordinates 150 m ahead as the second point P1S, and the inclination angle between the two points deviates from the threshold value of ± 0.05 °. Judge if there is none.

Similarly, the polar coordinates of the first point P2F and the polar coordinates of the second point P2S are obtained for the second example EX2 on the ground, and the laser radar device 1 is obtained from the polar coordinates of the first point P2F and the polar coordinates of the second point P2S. The difference between the laser beam of the above and the ground of the second example EX2 on the ground is required. The polar coordinates of the first point P3F and the polar coordinates of the second point P3S are obtained for the ground third example EX3, and the laser light of the laser radar device 1 is obtained from the polar coordinates of the first point P3F and the polar coordinates of the second point P3S. Ground 3rd example The deviation of EX3 from the ground is required. In the above-mentioned example, the polar coordinates of two points are obtained with respect to the ground, but it is also possible to obtain the polar coordinates of three or more points and determine the deviation.

FIG. 3 is a diagram showing the rotation of the floodlight spot according to the first embodiment.
As described above with reference to FIG. 1, the laser beam L1 emitted from the laser diode 10 in the vertical direction (central axis 42a extending in the optical axis direction) is a concave mirror 41 tilted at an angle of 45 ° with respect to the vertical direction. In addition to being set in the horizontal direction (direction orthogonal to the central axis 42a), the concave mirror 41 is rotated around the central axis 42a to rotate 360 ° horizontally (horizontal scanning of 360 °). Then, due to the 360 ° rotation of the concave mirror 41, the laser beam L1 also rotates 360 ° along the optical axis.

In FIG. 3, the laser beam emitted to the frontal FS of the laser radar device 1 rotates 90 ° clockwise and is irradiated to the right lateral RS orthogonal to the frontal FS, when the concave mirror 41 (FIG. 3) is irradiated. When reflected by 1), it rotates 90 ° along the optical axis. Here, the front direction FS means the laser irradiation direction of the laser radar device 1 in which the projection spot SP2 can be expanded in the vertical direction by adjusting the lens 60 described later. The laser beam that is rotated 180 ° with respect to the FS in the front direction and is applied to the BS in the direction directly behind in the opposite direction is rotated 180 ° along the optical axis. The laser beam rotated 270 ° with respect to the frontal FS and irradiated to the left lateral LS orthogonal to the frontal FS is rotated 270 ° along the optical axis. That is, the laser beam irradiated to the right lateral direction RS and the left lateral direction LS having an angle difference of 90 ° with respect to the frontal FS is rotated by 90 ° along the optical axis.

FIG. 4 is a diagram showing a vertical expansion of a light projection spot of the laser radar device according to the first embodiment. FIG. 4A shows a state in which the laser light emitted from the laser diode 10 is converted into parallel light by the first cylindrical lens 60F and the second cylindrical lens 60S to obtain a regular square projection spot SP1. .. This state forms the beam width of the laser beam L1 during normal monitoring as described above with reference to (a0) of FIG. 2 (A).

FIG. 4B shows a state in which a vertically long rectangular projection spot SP2 is obtained by the first cylindrical lens 60F and the second cylindrical lens 60S from the laser beam emitted from the laser diode 10. Here, the position of the first cylindrical lens 60F is adjusted so as to approach the laser diode 10 along the optical axis by the first actuator 62F shown in FIG. In this state, as described above with reference to (a1) of FIG. 2A, the laser beam L1 during the parallel confirmation operation is reflected in the vertical direction at the first point PF of the ground (or floor surface) G. The beam width is widened to the first widening width (blind angle θ1). The first actuator 62F brings the first cylindrical lens 60F closer to the laser diode 10 along the optical axis, and the laser light L1 during the parallel confirmation operation as described above with reference to (a2) of FIG. 2A. The beam width is widened to the second widening width (blow angle θ2) in the vertical direction so as to be reflected at the second point PS of the ground (or floor surface) G.

FIG. 5 is a diagram showing a lateral expansion of a light projecting spot of the laser radar device according to the first embodiment. In FIG. 5A, similarly to FIG. 4A, the laser light emitted from the laser diode 10 is converted into parallel light by the first cylindrical lens 60F and the second cylindrical lens 60S, and a regular square projection is performed. The state where the spot SP1 is obtained is shown.

FIG. 5B shows a state in which a horizontally long rectangular projection spot SP3 is obtained by the first cylindrical lens 60F and the second cylindrical lens 60S from the laser beam emitted from the laser diode 10. Here, the position of the second cylindrical lens 60S is adjusted by the second actuator 62S shown in FIG. 1 so as to move the second cylindrical lens 60S away from the laser diode 10 along the optical axis. In this state, as described above with reference to FIG. 3, the laser light emitted to the right lateral RS and the left lateral LS orthogonal to the front FS is reflected by the concave mirror 41 (see FIG. 1). When the light is rotated by 90 ° along the optical axis, the horizontally long rectangular projection spot SP3 shown in FIG. 5B becomes a vertically long rectangular projection spot. As a result, the laser beam L1 during the parallel confirmation operation is reflected in the vertical direction at the first point PF of the ground (or floor surface) G in the same manner as described above with reference to (a1) of FIG. 2 (A). The beam width is widened to the first widening width (blind angle θ1).

In the laser diode 10 of the first embodiment, the parallel confirmation is performed for the front direction FS, the right lateral direction RS orthogonal to the front direction FS, and the left lateral direction LS shown in FIG. This is because in these three directions, the beam width is accurately widened to the first widening width (blow angle θ1) and the second widening width (blow angle θ2) in the vertical direction, and the parallel confirmation operation and the arithmetic processing are easy. Further, it is necessary and sufficient to confirm the parallelism of the laser diode 10 in three directions of frontal FS, right lateral RS, left lateral LS, or four directions including the rearward BS, and it is not necessary to perform 360 °. Low.

FIG. 6 is a flowchart of a parallel confirmation operation by the laser radar device of the first embodiment.
The control circuit 70 shown in FIG. 1 determines whether it is the deviation measurement timing (S12). For example, if parallel confirmation is performed once a day, normal monitoring by a laser is continued until the deviation measurement timing is reached (S12: No) (S32).

When the deviation measurement timing is reached once a day (S12: Yes), the deviation confirmation work is started according to the schedule (S14). First, the first cylindrical lens 60F is aligned with the optical axis by the first actuator 62F (see FIG. 1) described above with reference to FIG. 4B with respect to the frontal FS as described above with reference to FIG. It is brought closer to the laser diode 10 along the line, and the laser beam L1 during the parallel confirmation operation is reflected at the first point PF of the ground (or floor surface) G as described above with reference to (a1) of FIG. 2 (A). The beam width is widened to the first widening width (blowout angle θ1) in the vertical direction so as to be performed, and scanning is executed (S16). The distance from the obtained reflected light waveform (reflection time) to the first point PF is measured (S18). Next, the first cylindrical lens 60F is further brought closer to the laser diode 10 along the optical axis, and as described above with reference to (a2) of FIG. 2A, the laser beam L1 during the parallel confirmation operation is on the ground. (Or the floor surface) The beam width is widened to the second widening width (dimension angle θ2) in the vertical direction so as to be reflected at the second point PS of G, and scanning is executed (S20). The distance from the obtained reflected light waveform (reflection time) to the second point PS is measured (S22). The deviation between the device and the ground with respect to the frontal FS is calculated from the spread width angles (blow angle θ1, θ2) and the distances to the first point PF and the second point PS (S24).

Then, it is determined whether the deviation between the device and the ground has been calculated for the three directions of the front direction FS, the right lateral direction RS, and the left lateral direction LS (S26). Here, since the calculation of the right lateral direction RS and the left lateral direction LS has not been completed (S26: No), the process returns to S16 and the processes of S16 to S24 to the right lateral direction RS are performed. Here, to the right lateral RS, as described above with reference to (a1) of FIG. When the lens is expanded to the 2 expansion width (dimming angle θ2), the second cylindrical lens 60S is moved along the optical axis by the second actuator 62S (see FIG. 1) as described above with reference to FIG. 5 (B). The position is adjusted so as to approach the laser diode 10. In this state, as described above with reference to (a1) and (a2) of FIG. 2A, the laser beam L1 during the parallel confirmation operation is the first point PF and the second point PF of the ground (or floor surface) G. The beam width is widened to the first widening width (blow angle θ1) and the second widening width (blow angle θ2) in the vertical direction so as to be reflected by the PS. Similarly, the processing of S16 to S24 in the left lateral direction LS is performed.

When the deviation between the device and the ground is calculated for the three directions of frontal FS, right lateral RS, and left lateral LS (S26: Yes), frontal FS, right lateral RS, and left lateral LS 3 It is determined whether the deviation between the device and the ground in each of the directions exceeds a predetermined threshold (S28: Yes). When the deviation does not exceed the predetermined threshold value (S28: Yes). The widened beam width is returned to the width at the time of normal monitoring by the laser (S30), and the normal monitoring is continued (S32). On the other hand, if any of the three directions of the right lateral direction RS and the left lateral direction LS exceeds a predetermined threshold value (S28: Yes), an angle deviation determination signal is output (S34), which is not shown. A warning of angle deviation is displayed on the display.

In the laser radar apparatus of the first embodiment, the width of the laser beam is vertically widened to the first widening width and the second widening width, and the ground or the floor surface is irradiated with the laser light (width expanding means: S16, S20). The distance from the irradiation light spread to the first widening width and the second widening width to the ground or floor surface reflected by the first widening width and the distance to the ground or floor surface reflected by the second widening width are obtained (distance). Calculation means: S18, S22). Reflection at the first widening width from the calculated distance from the ground or floor surface where the laser beam of the first widening width is reflected and the dip angle obtained from the ground or floor surface where the laser light of the second widening width is reflected. The inclination of the ground or floor surface that has been raised and the ground or floor surface that is reflected by the second spread width is calculated (inclination calculation means: S24). Then, it is determined whether the calculated slope exceeds a predetermined threshold value (output means: S28), and if it exceeds the threshold value (S28: Yes), a signal exceeding the threshold value is output (output means: S34). Therefore, the laser radar device can always confirm that the laser beam is parallel to the ground and output a signal when the laser beam is not parallel to the ground.

[Second Embodiment]
FIG. 7 is a diagram showing a vertical expansion of a light projection spot of the laser radar device according to the second embodiment. In FIG. 7A, the laser light emitted from the laser diode 10 is converted into parallel light by the first cylindrical lens 60F and the second cylindrical lens 60S in the same manner as in FIG. 4A, and a regular square projection is performed. The state where the spot SP1 is obtained is shown. This state forms the beam width of the laser beam L1 during normal monitoring as described above with reference to (a0) of FIG. 2 (A).

FIG. 7B shows a state in which a vertically long rectangular projection spot SP2 is obtained from the laser beam emitted from the laser diode 10 by the first cylindrical lens 60F, the second cylindrical lens 60S, and the third cylindrical lens 60T. show. Here, the third cylindrical lens 60T is inserted between the first cylindrical lens 60F and the second cylindrical lens 60S. In this state, the beam width of the laser beam L1 during the parallel confirmation operation is widened to the first widening width (blow angle θ1) in the vertical direction so as to be reflected at the first point PF of the ground (or floor surface) G.

Similarly, the laser beam shown in FIG. 7A is shown in front of the second cylindrical lens 60S from the state where the laser beam L1 is converted into parallel light by the first cylindrical lens 60F and the second cylindrical lens 60S. A fourth cylindrical lens is inserted, and a horizontally long rectangular projection spot SP3 is obtained in the same manner as in the first embodiment described above with reference to FIG. 5 (B).

The laser radar apparatus of the second embodiment has the same mechanical configuration shown in FIG. 1 and the parallel confirmation operation shown in FIG. 6, except for the mechanical mechanism for expanding the laser beam. Since the laser radar device of the second embodiment does not move between the first cylindrical lens 60F and the second cylindrical lens 60S, the optical system is unlikely to be displaced.

10 ... Laser diode (laser light generating means)
20 ... Photodiode (photodetecting means)
30 ... Mirror 40 ... Rotational reflection mechanism (rotational deflection means)
41 ... Concave mirror (deflection means)
42a ... Central shaft 50 ... Motor (driving means)
60 ... Lens 60F ... 1st cylindrical lens 60S ... 2nd cylindrical lens L1 ... Laser beam

Claims (5)

Laser light generating means for generating laser light and
A lens that converts the laser beam from the laser beam generating means into parallel light,
When the laser beam is generated from the laser beam generating means, the light detecting means for detecting the reflected light reflected by the detection object and the light detecting means.
It is provided with a deflecting means configured to be rotatable about a predetermined central axis, and the laser beam is deflected toward space by the deflecting means, and the reflected light is deflected toward the photodetecting means. Dynamic deflection means and
A reflected light guiding unit that guides the reflected light deflected by the deflecting means to the photodetecting means, and a reflected light guiding unit.
The driving means for driving the rotation deflection means and
It is a laser radar device equipped with
A width expanding means for vertically expanding the width of the laser beam to the first width and the second width to irradiate the ground or the floor surface with the laser beam.
The distance from the irradiation light spread to the first width and the second width to the ground or floor surface reflected by the first width and the distance to the ground or floor surface reflected by the second width. Calculation means and
From the dip angle with respect to the ground or floor surface to which the laser beam of the first width is reflected and the determined distance, and the dip angle to the ground or floor surface to which the laser beam of the second width is reflected and the determined distance, the first. An inclination calculation means for calculating the inclination of the ground or floor surface reflected by the width of 1 and the ground or floor surface reflected by the second width, and
A laser radar apparatus comprising: an output means for determining whether or not the calculated inclination exceeds a predetermined threshold value and outputting a signal exceeding the threshold value when the threshold value is exceeded. The laser radar device according to claim 1.
A laser radar device characterized in that processing of the width expanding means, the distance calculating means, the inclination calculating means, and the output means is performed in a plurality of directions. The laser radar device according to claim 2.
A laser radar device characterized in that processing of the width expanding means, the distance calculating means, the inclination calculating means, and the output means is performed in one direction and in a direction orthogonal to the one direction. The laser radar device according to claim 1.
The lens consists of a pair of cylindrical lenses.
The width expanding means expands the width of the laser beam vertically to the first width and the second width by moving at least one of the cylindrical lenses along the optical axis of the laser beam. The laser radar device according to claim 4.
The width expanding means moves one of the cylindrical lenses along the optical axis of the laser beam with respect to the front direction of the laser radar device, so that the width of the laser beam is vertically increased to the first width. And widen to the second width,
With respect to the direction orthogonal to the front direction of the laser radar device, the width expanding means moves the other side of the cylindrical lens along the optical axis of the laser light to increase the width of the laser light in the vertical direction. Expand to the first width and the second width.

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