JPH10104341A - Laser radar device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To directly and finely survey the failure of a scanning mechanism and the like with a cheap and small constitution by judging the failure based on the change in voltage between two electrodes of a capacitor corresponding to relative position change in specific parts due to the failure. SOLUTION: When the device is started, a motor for control operates by the servo control of a controller and a specified scan operation is performed. One of the coils 21 and 22 of a failure detection means 20 is fixed to a light projection part and so they relatively move reciprocally according to the swing of the projector. By this, the state of magnetic field caused by the coil 21 varies against the coil 22 and an electromotive force according to the variation is generated in the coil 22 so that the current flowing in a resistor 25 varies periodically synchronizing with the swing of the light projection part. Therefore, the charge accumulated in the capacitor 26 periodically varies. By analyzing the waveform of the variation of the change of voltage between the two electrodes of the capacitor 26 in a judgment processing means, finely judging the operation state of the light projection part becomes possible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser radar device, and more particularly to a laser radar device having a failure detection function capable of reliably detecting a failure in a scanning operation of a light projecting section.

[0002]

2. Description of the Related Art Conventionally, the development of an on-vehicle radar for monitoring a forward obstacle in a vehicle and for following-up traveling control has been widely promoted, and a laser system having a high angular resolution has been attracting attention. As the laser radar device, a light projection unit scan type is generally used.
This involves irradiating the front of the vehicle while scanning the laser beam in the horizontal direction, sequentially receiving the reflected light from the object, and determining the distance and direction to the object based on the delay time until the reception and the reception timing. , The width or relative speed of the object to be detected is detected.

In such a scanning type laser radar, it is important to swing the light projecting portion at a predetermined angle at a predetermined timing accurately, and a mechanical mechanism for driving such a light emitting portion is required. The failure causes erroneous detection due to a scanning failure, and is a fatal failure for the light emitting unit scanning laser radar.

However, conventionally, the swinging operation of the light projecting unit in this scanning mechanism is performed by transmitting the rotation of the rotating shaft of a control motor such as a servo motor to the rotating shaft of the light projecting unit by a cam mechanism or the like. An optical pulse generator for position detection is provided at the rear end of the rotating shaft of the motor, and the signal of this optical pulse generator is servo-controlled as a position feedback signal. Was not provided. That is, only the swinging operation of the light projecting unit is indirectly monitored by monitoring the rotational position of the rotating shaft of the control motor.

[0005]

For this reason, in the conventional light emitting section scanning type laser radar apparatus, for example, when the rotation transmission failure due to damage or detachment of the cam mechanism or the rotating shaft supporting the light emitting section occurs. In the controller that performs the servo control, no abnormality is determined,
Malfunction due to the above rotation transmission failure (scan operation failure)
Is overlooked. That is, in such a case, for example, the driver of the vehicle is warned that there is a possibility that the monitoring system for the forward obstacle in the vehicle and the following cruise control system may not function properly, or the operation of these systems is stopped. It is preferable from a safety point of view to perform control processing such as forcibly stopping or making execution impossible, but it has not been possible to adopt a configuration for performing such an operation.

Therefore, there is a strong demand for a failure detecting means for directly monitoring whether or not the swinging operation (ie, the scanning operation) of the light projecting section is performed normally. The failure detecting means has the following problems. That is, an optical non-contact sensor or a contact-type sensor has been generally used for detecting a failure of a mechanical mechanism. However, the optical sensor has problems such as difficulty in guaranteeing the temperature of the optical system.In the case of the contact sensor, the load increases due to the contact, and the contact portion is easily worn in a short period of time, so the life is short. There is such a problem. Further, in each case, there has been no one which is small and easy to secure a mounting place, and is inexpensive.

In order to monitor the swinging operation of the light projecting unit, it is conceivable to simply apply a non-contact type detecting means such as a proximity sensor using electromagnetic coupling. However,
Conventional detection means using electromagnetic coupling can only determine whether an object is approaching or retreating from a certain set position, and cannot know the operating state of the object. Therefore, it is determined whether or not the light projecting unit in the laser radar device as described above is oscillating at an appropriate amplitude (oscillation angle), at an appropriate frequency (oscillation speed), or at an appropriate timing. It was impossible to make a detailed judgment.

SUMMARY OF THE INVENTION An object of the present invention is to provide a laser radar apparatus having a failure detection function that can monitor a failure of a mechanical mechanism such as a scan mechanism directly and finely with a low-cost and small-sized configuration.

[0009]

According to a first aspect of the present invention, there is provided a laser radar apparatus for detecting at least a distance to an object to be detected by receiving reflected laser light. A radar apparatus, comprising: a part whose relative positional relationship changes due to a failure; one of an electromagnetic coupling element fixedly provided on one of the parts; and an electromagnetic coupling fixedly provided on the other of the parts. A capacitor whose charge is stored by the interaction of the other element and these electromagnetic coupling elements and whose voltage between both electrodes changes in response to a change in relative position between the parts, and a part whose voltage is determined based on the voltage between both electrodes of the capacitor. Failure determination processing means for determining a failure between the two.

The laser radar device according to claim 2 is
One of the portions is a laser beam projecting portion that is displaceable to irradiate while scanning the laser beam, and the other of the portions is a support member that displaceably supports the projecting portion. The failure determination processing means determines a failure in the operation state of the light emitting unit.

The laser radar device according to claim 3 is
One of the parts is an apparatus main body including a laser beam projecting part, and the other of the parts is an installation part for installing the apparatus main body, and the failure determination processing means includes an installation state of the apparatus main body. It is characterized by determining the failure of

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. First Example FIG. 1 is a front view showing a light projecting unit and a driving mechanism of the laser radar device of the first example, and FIG. 2 is a diagram showing a structure of a light projecting unit in the device and a failure detecting means for monitoring its operation state. FIG. 3 is a plan view showing an installation state, and FIG. 3 is a circuit diagram of the failure detecting means. As for other configurations such as a light receiving unit and a signal processing unit of the laser radar device, well-known configurations can be used, and therefore illustration and description thereof are omitted. Floodlight unit 1 of this device
Is, as shown in FIG. 2, a laser diode 2 (hereinafter, L
It is called D2. The case 5 in which the light projecting lens 4 is mounted is fixed to the light projecting board 3 on which the light emitting lens 4 is mounted. As shown in FIG. 1, the light projecting unit 1 is swingably attached to a fixed frame 7 by a rotating shaft 6 in this case, and is swingable for a scanning operation.

On one side of the light projecting section 1 in the fixed frame 7,
A control motor 8 is mounted, and the distal end side of the output rotary shaft 8a is connected to the rotary shaft 6 of the light emitting unit 1 by a cam mechanism 9, and the light emitting unit 1 is rotated by the rotation of the output rotary shaft 8a as shown in FIG. Swings as shown by the arrow. An optical pulse generator 10 is provided on the rear end side of the control motor 8.

The pulse generator 10 has an output rotating shaft 8a.
A disk 11 fixed to the rear end of the disk 11 and rotating integrally therewith; and a photo interrupter 12 disposed at the position of the outer peripheral portion of the disk 11. On the outer periphery of the disk 11,
Slit-shaped openings (not shown) are continuously provided at intervals in the circumferential direction. And the photo interrupter 12
Has a light-emitting element and a light-receiving element (not shown) that are vertically arranged so as to sandwich the outer peripheral portion of the disk 11, and light from the light-emitting element is received by the light-receiving element through the opening of the disk 11. Each time, a pulse signal is output.

The control motor 8 is connected to the pulse generator 10
Is servo-controlled by a controller (not shown) as a position feedback signal or a speed feedback signal, so that the light projecting unit 1 swings at a predetermined angle at a predetermined cycle and timing. Become. Then, for example, when the operation of the output rotary shaft 8a becomes defective due to a failure in the control motor 8, the signal (feedback value) of the pulse generator 10 is displaced from the command value commanded by the controller, so-called. Since the amount of deviation in the feedback control becomes excessive, such a failure can be easily detected by the processing of the controller, and appropriate measures can be taken, for example, forcibly stopping the follow-up running control system of the vehicle.

However, if the mechanical mechanism (rotation transmission system) such as the cam mechanism 9 breaks down, the light emitting unit 1 may not operate normally even if the servo control of the controller is normally performed. There is. Therefore, in the present embodiment, the failure detecting means 20 having a configuration that is inexpensive, simple, and easily miniaturized as shown in FIGS. 2 and 3 and the like is provided. This will be described below.

The failure detecting means 20 is a non-contact type detecting means, and is roughly divided as shown in FIG.
Circuit 2 electromagnetically coupled by 1,2 (electromagnetic coupling element)
0a and the circuit 20b. The circuit 20a includes the coil 2
1 and a capacitor 23 provided in parallel with the coil 21 for absorbing fluctuations in the power supply voltage and stabilizing the current flow. As shown in FIG. 2, it is attached to the side surface of the light emitting unit 1 and swings together with the light emitting unit 1.

As shown in FIG. 3, the circuit 20b includes a rectifier circuit 24 for rectifying a current flowing through the coil 22 by electromagnetic coupling between the coil 21 and the coil 22, and a load connected to the output side of the rectifier circuit 24 as a load. It has a resistor 25 and a capacitor 26 connected in parallel with the resistor 25. Further, in this case, the circuit 20b is provided with a capacitor 27 for absorbing a small fluctuation of the electromotive force generated in the coil 22 due to an external magnetic field, a radio wave, or the like, thereby stabilizing the current flow. In this circuit 20b, for example, as shown in FIG. 2, at least the coil 22 faces the coil 21 attached to the side surface of the light projecting unit 1, and the coil 22 is relatively moved with respect to the coil 21 with the swing of the light projecting unit 1. Fixed frame 7 so as to move forward and backward
Are positioned and fixed with respect to.

The circuit 20a or 20b may have a configuration in which the coils 21 or 22 are provided separately as shown in FIGS. 2 and 4, and are connected by cables 21a or 22a. The circuit including the circuit 22 may be integrally formed on the substrate. From the viewpoint of the degree of freedom of arrangement, a configuration in which the coil 21 or 22 is provided separately is preferable. In this case, the circuit main body can be installed at an arbitrary position. When the coil 21 or 22 is installed separately, the cable 21a
Alternatively, the stray capacitance of 22a may be considered as the C component.
Also, the distance between the coil 21 and the coil 22 is
It is preferable to set the potential as large as possible within a distance (so-called transmission distance) within which a power capable of storing the minimum necessary charge can be stored in the capacitor 6 so that a change in the potential of the capacitor 26 is increased.

As shown in FIG. 2, the output signal of the circuit 20b (the voltage between the two electrodes of the capacitor 26) is inputted to a judgment processing means 30 composed of a microcomputer including a CPU. Based on the determination, the correctness of the operation of the light projecting unit 1 is determined as described later. The determination processing means 30 may be configured as one function of a controller that controls the control motor 8 described above, or may be configured by a separate microcomputer system. The circuits 20a and 20b (at least the coils 21 and 22) may be installed on either side of the light projecting unit 1 and the fixed frame 7. For example, contrary to the configuration shown in FIG. 2, the coil 22 of the circuit 20b is attached to the light projecting unit 1,
The coil 21 of the circuit 20a may be attached to the fixed frame 7 so as to face the coil 21.

Next, the operation of the failure detecting means 20 in the above-described laser radar device will be described. In the above configuration, when the apparatus is started for follow-up running control of the vehicle or the like, the control motor 8 is operated by the servo control of the controller described above, and if there is no failure of the mechanical mechanism or the like, the light emitting unit 1 is activated. It swings at a predetermined angle, cycle, and timing, and a predetermined scanning operation is realized. The swing range of the light projecting unit 1 is usually several mm. At this time, one of the coils 21 and 22 of the failure detecting means 20 is fixed to the light projecting unit 1.
The forward / backward movement of approaching / leaving with the swinging of the light projecting unit 1 is relatively performed, whereby the coil 21
Changes the state of the magnetic field generated by the coil 22 with respect to the coil 22, an electromotive force corresponding to such a change is generated in the coil 22, and the current flowing through the resistor 25 is cycled in synchronization with the swinging operation of the light projecting unit 1. Change. For this reason, the electric charge (in other words, the voltage between both electrodes) stored in the capacitor 26 also changes periodically, and its waveform is as shown in FIG. 5, for example. The amplitude (the coordinate on the vertical axis) of this waveform depends on the angle of the swinging operation of the light projecting unit 1.

Therefore, the determination processing means 30 analyzes the waveform of the change in the voltage between the two electrodes of the capacitor 26, so that the operating state of the light projecting section 1 can be determined in detail as required. For example, it is possible to determine whether or not the swinging operation of the light projecting unit 1 is simply performed by a process as shown in a flowchart of FIG. 6 described later, or a process as shown in a flowchart of FIG. 7 described later. Accordingly, it can be determined whether the light projecting unit 1 is positioned at a predetermined angle at a predetermined timing. Further, for example, a waveform (reference waveform) of a change in the voltage between the two electrodes of the capacitor 26 in a normal state is registered in advance in the determination processing means 30, and the waveform and the waveform of the actually input voltage are compared with each other. By making a detailed comparison in the above point, it is also possible to determine whether or not the detailed operation of the light projecting unit 1 is correct.

FIG. 6 is a flowchart showing an example of the failure determination processing of the entire control system including the determination processing means 30 and the controller for servo control described above. In this case, in step S2, it is first determined whether or not the output of the photo interrupter 12 (the output of the pulse generator 10) is normal. If it is normal, the process proceeds to step S4. If it is not normal, the process proceeds to step S10, and an appropriate measure such as stopping the follow-up running control of the vehicle is determined as a failure.

Next, at step S4, the voltage between both electrodes of the capacitor 26 is read, and then at step S6, it is determined whether or not this voltage has fluctuated with time. If it has fluctuated, the process proceeds to step S8, where it is determined that there is no failure, and follow-up running control and the like are continued. If it has not fluctuated, the process proceeds to step S10, and an appropriate measure such as stopping the follow-up cruise control of the vehicle is determined as a failure. Note that the processing in steps S2 to S10 is as follows.
It should be repeated during the operation of the device in a suitable cycle.

According to the control processing of steps S2 to S10, the rotation transmission system which cannot be detected by the output signal of the pulse generator 10 as well as the failure that the output signal of the pulse generator 10 becomes abnormal Failure (cam mechanism 9
Also, if the light projecting unit 1 does not operate at all due to (or damage or detachment of the rotating shaft 6), the failure is found in the processing in steps S4 and S6, and an appropriate measure is taken in step S10. For this reason, the range and reliability of the failure detection are significantly improved as compared with the related art.

FIG. 7 is a flowchart showing another example of the failure determination processing. In this case, in step S12, it is first determined whether the output of the photo interrupter 12 (the output of the pulse generator 10) is normal. If it is normal, the process proceeds to step S14. If it is not normal, the process proceeds to step S14.
Proceeding to 22, an appropriate measure such as stopping the follow-up cruise control of the vehicle as a failure is taken.

Next, at step S14, the capacitor 26
Then, in step S16, the elapsed time from the start of the operation is recognized. Further, in step S18, it is determined whether or not the voltage between the two electrodes of the capacitor 26 is a voltage to be reached during the recognized elapsed time and is equal to a preset registered value (the difference between them exceeds a predetermined threshold value). Is not determined). If they are equal, the process proceeds to step S20, where it is determined that there is no failure, and the follow-up running control and the like are continued. If they are not equal to each other, the process proceeds to step S22, and an appropriate measure such as stopping the follow-up running control of the vehicle is determined as a failure. In addition, the processing of the above steps S12 to S22 is repeatedly performed during operation of the apparatus in an appropriate cycle.

According to the above-described control processing in steps S12 to S22, not only a failure such that the output signal of the pulse generator 10 becomes abnormal but also a rotation transmission system which cannot be detected by the output signal of the pulse generator 10 If the light emitting unit 1 stops operating at all due to a failure of the light emitting device (damage or detachment of the cam mechanism 9 or the rotating shaft 6), the swinging position of the light emitting unit 1 at that time is deviated from an appropriate angle. Also, the failure is found in the processing of steps S14 to S18,
Adaptive measures are taken in step S22. For this reason, the range and reliability of failure detection are much more improved than before.

Second Example Next, a second example of the present invention will be described with reference to FIG.
FIG. 8 is a circuit diagram of a failure detecting unit of the laser radar device of the second example. Note that the configuration of the device other than the failure detection means may be the same as that of the first example, and thus redundant description will be omitted. Also, as for the circuit elements of the failure detecting means, the same elements as those in the first example are denoted by the same reference numerals, and description thereof is omitted. The failure detection means 40 of this example includes two sets of coils 2
A circuit 40a and a circuit 40b are bidirectionally electromagnetically coupled by the first and second circuits 41 and 42, and one circuit 40a
In this case, it is possible to supply power and take out a signal, and it is advantageous to supply power to a circuit from which a signal is taken out in a case where the power supply is easily installed.

That is, as shown in FIG. 8, the circuit 40a includes a receiving coil 41 in addition to the transmitting coil 21. The coil 41 includes the rectifier circuit 24 and the load resistor 25 described in the first example. Also, circuit elements (rectifier circuit 44, load resistor 45, and capacitor 46) having the same function as capacitor 26 are connected. On the other hand, the circuit 40b
In addition to the reception coil 22, a transmission coil 42 is connected as a load of the rectifier circuit 24 instead of the resistor 25 of the first example.

The capacitors denoted by reference numerals 43 and 47 in FIG. 8 are the capacitors 23 and 27 described in the first example.
In the same manner as described above, this is for stabilizing the output signal or the input signal. Further, in this case, the transmission coil 42 of the circuit 40b is driven by the power supplied to the circuit 40b by the electromagnetic coupling of the coils 21 and 22, so that the coil 21 and 22 capable of supplying the minimum necessary power can be provided. The distance (the so-called transmission distance) is larger than the distance (the so-called reception distance) between the coils 41 and 42 in which the necessary minimum charge is stored in the capacitor 46 by setting the resonance frequency of each coil and the magnitude of the power supply current. It is preferable to make it sufficiently large.
The actual distance between the coils is set within the range of the transmission distance and at the very end of the range of the reception distance so that the voltage change of the capacitor 46 becomes large (that is, the sensitivity becomes high). ) Is preferably set.

Also in the failure detecting means 40 of this embodiment, the voltage between the two electrodes of the capacitor 46 changes according to the relative position change due to the swing of the coil of one of the circuits together with the light projecting section 1. Whether the swing state of the light projecting unit 1 is correct or not can be determined from the state of the voltage change in the same manner as in the first example. In addition, since power supply and signal extraction can be performed in one circuit 40a as described above, it is extremely advantageous to supply power to a circuit from which a signal is extracted, when power supply is easy to install. There are advantages.

Third Example Next, a third example of the present invention will be described with reference to FIGS. In this example, a failure relating to the installation state of the apparatus main body of the laser radar device is detected by the failure detecting means of the present invention. The device main body 50 of the laser radar device including the above-described light projecting unit is erected at a position on the left side of the instrument panel 53 on the front panel 52 in front of the windshield 51 of the vehicle, for example, as shown in FIG. It is installed on a stand 54. If the installation posture of the apparatus main body 50 installed in this way changes due to breakage of the stand 54 or the like, the optical axis of the laser beam will shift. If such a failure is left, the distance measurement will not be accurate. There is a possibility that a problem may occur that the laser beam may be radiated to the passengers in the passenger compartment.

Therefore, in this embodiment, for example, means similar to the failure detecting means 20 shown in the first example is provided in the installation portion of the apparatus main body 50 as shown in FIG. That is, for example, the coil 21 of the above-described circuit 20a is mounted on the lower surface side of the outer case of the apparatus main body 50, and the coil 22 of the circuit 20b is mounted on the front panel 52 at a position facing the same. According to this example, due to damage to the stand 54, etc.
When the displacement of the device body 50 as shown in FIGS. 11 and 12 occurs, the voltage of the capacitor 26 of the circuit 20 changes due to the electromagnetic coupling between the coil 21 and the coil 22.
Such a failure can be reliably detected based on this change, and adaptive measures such as outputting an alarm can be taken.

Other Embodiments The present invention is not limited to the above-described embodiments, but may have various embodiments. For example, the electromagnetic coupling element in the present invention is not necessarily limited to a coil shape as shown in FIG. 3, and may have any configuration as long as it functions as an antenna for achieving electromagnetic coupling. In addition, the target part of the laser radar device for failure detection may be any part as long as the relative position changes or fluctuates due to the failure,
It may be stopped in a normal state as shown in the third example, or may be kept constant in a normal state as shown in the first and second examples, and may be stopped or stopped in an abnormal state. The operation state may change.

[0036]

According to the present invention, when the relative positional relationship of a specific portion changes due to a failure, electric charges are stored in a capacitor by the interaction of electromagnetic coupling elements provided in each portion, and the relative position between the portions is changed. The voltage between the electrodes of the capacitor changes in accordance with the change, and the failure determination processing means determines a failure between the parts based on the change. Here, since the voltage between the electrodes of the capacitor continuously changes in accordance with the amount of change in the relative position of the part, for example, the voltage change is analyzed by failure determination processing means constituted by a microcomputer or the like, and the voltage is analyzed. The amount of change in the relative position between them (that is, the degree and content of the failure) can be easily determined. For this reason, a fine-grained failure determination function can be realized.

Moreover, since the electromagnetic coupling element which needs to be attached to each part can be constituted by small and inexpensive parts such as coils, for example, such small parts are attached to each part and capacitors connected thereto. If the circuit board or the like constituting the failure determination processing means is arranged at an appropriate position where it can be easily installed, it is extremely advantageous in terms of cost and installation space.

In the apparatus according to the second aspect, one of the portions is a laser beam projecting portion which is displaceable for irradiating the laser beam while scanning the same.
Since the other of the portions is a support member that supports the light emitting unit, the voltage of the capacitor fluctuates with the scanning operation of the light emitting unit. The change in the voltage is read by the failure determination processing means, and is compared with, for example, a previously registered normal voltage change to directly and easily detect and determine a failure in the operating state of the light emitting unit directly. can do. For this reason, it is possible to reliably prevent a failure caused by overlooking an abnormality in the scanning operation of the laser radar device.

In one embodiment of the present invention, one of the portions is a device main body including a laser beam projecting portion, and the other of the portions is an installation portion for installing the device main body. The voltage of the capacitor fluctuates in accordance with a change in the position of the apparatus main body to be maintained in a predetermined posture. And
By reading the change in the voltage by the failure determination processing means, it is possible to directly detect and determine the failure (position shift) of the apparatus main body easily. For this reason, it is possible to reliably prevent a failure caused by overlooking an abnormality in the installation state of the apparatus main body of the laser radar apparatus.

[Brief description of the drawings]

FIG. 1 is a diagram showing a light projecting unit of a laser radar device and a driving mechanism thereof.

FIG. 2 is a diagram illustrating a light projecting unit and a failure detecting unit of the laser radar device.

FIG. 3 is a circuit diagram illustrating an example of a failure detection unit of the laser radar device.

FIG. 4 is a perspective view illustrating an appearance of a failure detection unit of the laser radar device.

FIG. 5 is a diagram illustrating a voltage change of a capacitor in a failure detecting unit of the laser radar device.

FIG. 6 is a flowchart illustrating an example of a failure detection process of the laser radar device.

FIG. 7 is a flowchart illustrating another example of the failure detection processing of the laser radar device.

FIG. 8 is a circuit diagram showing another example of the failure detection means of the laser radar device.

FIG. 9 is a diagram illustrating an installation position of an apparatus main body of the laser radar apparatus.

FIG. 10 is a diagram showing an apparatus main body of a laser radar apparatus and a failure detecting unit thereof.

FIG. 11 is a diagram illustrating an example of a failure mode of a device main body of the laser radar device.

FIG. 12 is a diagram illustrating another example of the failure mode of the device main body of the laser radar device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Projection part (one of the parts) 7 Fixed frame (the other part, the support member of the projection part) 21, 22, 41, 42 Coil (electromagnetic coupling element) 26, 46 Capacitor 50 Device main body (one of the parts) 52 Front panel (the other part, the installation part of the device body)

Claims (3)

[Claims] 1. A laser radar device for detecting at least a distance to an object by receiving reflected light of an emitted laser beam, the laser radar device having a portion whose relative positional relationship changes due to a failure. One of the electromagnetic coupling elements fixedly provided on one of the above and the other of the electromagnetic coupling elements fixedly provided on the other of the above-mentioned portions, and an electric charge is stored by the interaction of these electromagnetic coupling elements. A laser whose voltage between both electrodes changes in response to a change in relative position of the capacitor, and failure determination processing means for determining a failure between the parts based on the voltage between the electrodes of the capacitor. apparatus. 2. One of the portions is a laser beam projecting portion capable of being displaced for irradiating the laser beam while scanning the laser beam, and the other of the portions is capable of displacing the light projecting portion. 2. The laser radar device according to claim 1, wherein the laser radar device is a support member for supporting, and the failure determination processing unit determines a failure in an operation state of the light projecting unit. 3. One of the parts is an apparatus main body including a laser beam projecting part, and the other of the parts is an installation part for installing the apparatus main body. 2. The laser radar device according to claim 1, wherein a failure in the installation state of the device main body is determined.