WO2004074772A1 - アクチュエータ、このアクチュエータを用いた物体検出装置 - Google Patents
アクチュエータ、このアクチュエータを用いた物体検出装置 Download PDFInfo
- Publication number
- WO2004074772A1 WO2004074772A1 PCT/JP2004/001791 JP2004001791W WO2004074772A1 WO 2004074772 A1 WO2004074772 A1 WO 2004074772A1 JP 2004001791 W JP2004001791 W JP 2004001791W WO 2004074772 A1 WO2004074772 A1 WO 2004074772A1
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- WIPO (PCT)
- Prior art keywords
- movable member
- actuator
- displacement
- detecting means
- position detecting
- Prior art date
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 181
- 238000001514 detection method Methods 0.000 claims abstract description 88
- 230000003287 optical effect Effects 0.000 claims description 9
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- 230000005389 magnetism Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 25
- 230000032683 aging Effects 0.000 description 7
- 230000035945 sensitivity Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 6
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- 229920005989 resin Polymers 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 5
- 238000002310 reflectometry Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 230000035882 stress Effects 0.000 description 3
- 230000006866 deterioration Effects 0.000 description 2
- 238000004049 embossing Methods 0.000 description 2
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0065—Type of vehicles
- B60R2021/0088—Cycles, e.g. motorcycles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
Definitions
- the present invention relates to an actuator, an object detector using the actuator, and more particularly, to an actuator using a leaf spring, and an object detector using the actuator.
- a laser radar or a millimeter-wave radar is used for this object detection device.
- a laser radar emits laser light from a light emitting element provided in an object detection device, and this laser light is reflected by an object outside the moving body, and the laser light (reflected light) from this object is detected by the object.
- the presence or absence of an object, the distance to the object, and the like are detected based on the time until a light receiving element provided in the device receives light.
- a millimeter-wave radar transmits a radio wave (millimeter wave) from an antenna provided in an object detection device, and this radio wave is reflected by an object outside the moving body.
- the presence or absence of an object, the distance to the object, and the like are detected based on the phase difference at the time of reception by an antenna or a separately provided receiving antenna.
- an actuator that changes the direction of irradiation of laser light or radio waves by moving a lens in a laser radar or an antenna in a millimeter wave radar is used to search a wide area outside the moving object.
- This actuator is a movable member (Japanese Patent Application Laid-Open No. H10-1232502) to which an optical element such as a lens is attached. 5) and a fixed member (in Japanese Patent Application Laid-Open No. 10-1232502, a base member 13), a spring (in Japanese Patent Application Laid-Open No. 10-1232502, a coil spring 1) is used. 4) is provided.
- the movable member is driven by a driving means (Japanese Patent Laid-Open No. 10-123252 discloses a base member via a permanent magnet 18 attached to a lens holder 15 and a side frame 16). With the coil unit 17) fixed to 13, it can be moved up, down, left or right. Then, the laser beam emitted from a light emitting element (laser light source 8 in Japanese Patent Application Laid-Open No. H10-123252) provided on a fixed member or a moving body for fixing the fixed member is irradiated with the laser light as described above. The irradiation direction of the laser light can be changed by making the light incident on the lens of the movable member that has been moved by the driving means.
- a driving means Japanese Patent Laid-Open No. 10-123252 discloses a base member via a permanent magnet 18 attached to a lens holder 15 and a side frame 16. With the coil unit 17) fixed to 13, it can be moved up, down, left or right. Then,
- the detection range of the object detection device has been expanded and detailed information external to the moving object is required. It has become. That is, it is necessary to increase the movable amount of the movable member to which the lens and the antenna are attached, and it is necessary to ensure the positioning accuracy of the movable member having the large movable amount.
- a photosensor or a magnetic sensor may be used to detect the position of the movable member or the amount of displacement of the movable member.
- the present invention even if the movable amount of the movable member is large, the position of the movable member and the displacement amount of the movable member can be detected by the inexpensive position detecting means having a narrow detection range, and thereby the positioning accuracy of the movable member can be improved. It is an object of the present invention to provide an actuator that can secure the object and an object detection device using the actuator. Disclosure of the invention
- a leaf spring whose both ends are supported by a fixed member and a movable member, driving means for moving the movable member, position detection means for detecting a predetermined position of the flat part of the leaf spring, Calculating means for calculating the amount of displacement of the movable member from the distance between the leaf spring detected by the position detecting means and the position detecting means.
- the predetermined position of the flat portion of the leaf spring that is displaced with the movement of the movable member is to be detected, but the flat portion of the leaf spring is curved as the movable member moves. Accordingly, the flat portion of the leaf spring is moved by this bending, and the flat portion of the leaf spring is displaced with respect to the position detecting means. Since this leaf spring displacement is smaller than the movable member displacement of the movable member, inexpensive position detecting means with a narrow detection range can be used. The amount of displacement of the movable member can be calculated from the distance between the predetermined position of the flat portion of the spring and the position detecting means, and the positioning accuracy of the movable member can be ensured.
- the predetermined position of the flat portion of the leaf spring is a position where the detection result of the position detecting means for detecting the amount of leaf spring displacement of the leaf spring that is displaced as the movable member moves can ensure linearity. It is good.
- the position detecting means detects a distance from a fixed member side of the hollow part provided in the leaf spring to a protruding part protruding toward the movable member side. .
- the protruding portion is displaced relatively without bending around the fixed member side of the hollow portion with the displacement of the hollow portion on the fixed member side. Therefore, as compared with the case where the leaf spring which is displaced as the movable member moves is targeted for detection, the protruding portion has a small amount of leaf spring displacement, and the detection target of the position detecting means is an arbitrary target of the protruding portion of the leaf spring.
- the position can be improved, and the degree of freedom in design can be improved.
- the protruding portion is displaced without being relatively curved, the reflection angle of the light projected from the position detecting means can be stabilized. Thereby, the position detecting means can stably receive light, and the position of the movable member can be adjusted. The positioning accuracy can be further secured.
- the shape of the hollow portion of the leaf spring is such that the central portion of the hollow portion is wide and narrow from the central portion toward the fixed member side and the movable member side. It is characterized by.
- the position detecting means detects a distance from a reflector provided on the protrusion.
- the position detecting means since the object to be detected by the position detecting means is not a leaf spring but a reflector, the reflectivity of light on the surface does not change due to aging as in the case of a leaf spring, and the position detecting means is long. Light can be received stably for a period. Thereby, the positioning accuracy of the movable member can be ensured for a long time.
- the reflector is a material whose reflectance of light on its surface does not change due to aging, for example, a resin with less uneven reflection due to aging.
- the position detecting means is a photosensor having a light receiving / receiving element.
- the position detecting means is a magnetic sensor that detects a distance from a magnetic body that is provided on the protruding portion and generates magnetism.
- an actuator that ensures the positioning accuracy of the movable member has a simple configuration, and Can be provided at low cost.
- a spring whose both ends are supported by a fixed member and a movable member, driving means for moving the movable member, and a moving direction of the movable member which is provided on the movable member and moves with the movement of the movable member
- Position detecting means for detecting a displacement member which is displaced in a direction perpendicular to the direction, and calculating means for calculating a movable member displacement amount of the movable member from a distance between the displacement member and the position detecting means detected by the position detecting means. It is characterized by having.
- the displacement member provided on the movable member is a detection target, and the displacement member is displaced in a direction orthogonal to the movable direction of the movable member as the movable member moves. Since the displacement amount of the displacement member is smaller than the movable member displacement amount of the movable member, the displacement member can be displaced within a range, so that an inexpensive position detecting means with a narrow detection range can be used, and the movable amount of the movable member is large. Also, the amount of displacement of the movable member can be calculated from the distance between the displacement member and the position detecting means, and the positioning accuracy of the movable member can be ensured.
- the spring refers to a leaf spring, a wound spring, a wire spring, or the like.
- the actuator described above is characterized in that the displacement member is a triangular prism-shaped reflector and the position detecting means is a photosensor having a light emitting and receiving element.
- the triangular prism-shaped displacement member has an inclined surface having an inclined angle with respect to the movable direction of the movable member, and the position detecting means detects the inclined surface.
- the distance between the inclined surface and the position detecting means increases in a direction orthogonal to the moving direction of the movable member when the movable member moves to one side by the driving means, and when the movable member moves to the other side by the driving means, the movable member moves to the other side. It becomes smaller in the direction orthogonal to the movable direction of the member. Since the displacement amount of the triangular prism-shaped displacement member is smaller than the movable member displacement amount of the movable member, inexpensive position detecting means having a narrow detection range can be used.
- the amount of displacement of the movable member can be calculated from the distance between the displacement member and the position detecting means, and the positioning accuracy of the movable member can be ensured.
- a highly available, inexpensive, and small-sized photosensor is used as the position detecting means, it is possible to provide an actuator that secures the positioning accuracy of the movable member with a simple configuration and at low cost.
- a light projecting means for projecting a laser beam, an actuator for changing the irradiation direction of the laser beam to at least one of up and down or left and right, and receiving the reflected light of the laser beam reflected from an object
- a light receiving means for detecting presence / absence of an object outside the moving body, a distance between the moving body and the object, and the like based on the received reflected light, wherein the above-described actuator is used as an actuator.
- the movable member of the actuator is provided with at least an optical element for changing the irradiation direction of the laser beam.
- a transmitting means for transmitting a radio wave, an actuator for changing the irradiation direction of the radio wave to at least one of up and down or left and right, and a receiving means for receiving a reflected wave from which the radio wave reflects on an object
- An object detector that detects presence / absence of an object outside the moving object by the received reflected wave, a distance between the moving object and the object, etc., using the above-described actuator as an actuator;
- the mobile member is provided with at least an antenna for irradiating radio waves.
- the actuator described above is used as the actuator, an inexpensive position detecting means having a narrow detection range can be used, and even if the movable amount of the movable member provided with the optical element or the antenna is large.
- the movable member displacement amount of the movable member can be calculated from the distance between the displacement member and the position detecting means, and the positioning accuracy of the movable member can be ensured. Therefore, the positioning accuracy of the optical element provided on the movable member for changing the irradiation direction of the laser beam or the antenna for irradiating the radio wave can be ensured.
- the optical element refers to an element such as a lens or a mirror that can bend light.
- FIG. 1 is a diagram showing a schematic configuration example of an actuator according to the first embodiment.
- FIG. 1 (a) is a perspective view
- FIG. 1 (b) is a plan view
- FIG. FIGS. 4A and 4B are explanatory diagrams of the operation of the actuator according to the embodiment.
- FIG. 4A shows a state in which the actuator has moved in the direction of arrow A shown in FIG. 1B
- FIG. Fig. 3 (c) is a partially enlarged view of the state where the actuator has moved in the direction of arrow B shown in Fig. 1 (b)
- Fig. 3 (d) is an enlarged view of part D of Fig. 3 (c).
- Fig. 3 shows the first embodiment.
- FIG. 4 is a diagram showing the relationship between the displacement of the movable member of the actuator and the output value of the photosensor according to the present invention.
- FIG. 4 shows the relationship between the position of the leaf spring in the longitudinal direction and the displacement of the leaf spring at that position.
- FIG. 5 is a diagram showing a configuration example of a control block of the actuator according to the first embodiment.
- FIG. 5 (a) is a configuration example of a control block of the actuator
- FIG. 5 (b) is a database.
- FIG. 6 is a diagram showing a schematic configuration example of an actuator according to the second embodiment, wherein FIG. 6 (a) is a perspective view and FIG. 6 (b) is a plan view.
- FIG. 6 is a perspective view and FIG. 6 (b) is a plan view.
- FIG. 7 is a diagram showing the relationship between the position of the leaf spring in the longitudinal direction and the amount of displacement of the protruding portion at that position.
- FIG. 8 is an explanatory diagram of the operation of the actuator according to the second embodiment;
- Fig. 5 (a) the actuator is shown in Fig. 5 (b).
- (B) is an enlarged view of part E of (a)
- (c) is the actuator moved in the direction of arrow B shown in Fig. 5 (b).
- FIG. 9 (d) is an enlarged view of a portion F of FIG. 9 (c)
- FIG. 9 is a diagram showing the relationship between the displacement of the movable member of the actuator and the photo sensor output value according to the second embodiment.
- FIG. 9 is a diagram showing the relationship between the displacement of the movable member of the actuator and the photo sensor output value according to the second embodiment.
- FIG. 10 is a view showing another example of the configuration of the leaf spring of the actuator according to the second embodiment
- FIG. 11 is a schematic configuration of the actuator according to the third embodiment
- FIG. 12 (a) is a perspective view
- FIG. 12 (b) is a plan view
- FIG. 12 is an operation explanatory view of the actuator according to the third embodiment.
- a) shows the actuator moved in the direction of arrow A shown in Fig. 11 (b)
- Fig. (b) shows an enlarged view of the G section of Fig. 11 (a)
- Fig. FIG. 11 (d) is an enlarged view of the H portion of FIG. 11 (c), with the cut-out moving in the direction of arrow B shown in FIG. 11 (b).
- FIG. 13 shows the third embodiment.
- FIG. 13 shows the third embodiment.
- FIG. 14 is a diagram showing a relationship between the amount of displacement of the movable member of the actuator and the output value of the photosensor according to the first embodiment.
- FIG. 14 is a diagram showing an example of the configuration of the actuator when the movable member is movable in the vertical and horizontal directions.
- FIG. 1 is a schematic block diagram of the object detection device. Embodiment of the Invention
- FIG. 1 is a diagram showing a schematic configuration example of an actuator according to the first embodiment.
- FIG. 1 (a) is a perspective view
- FIG. 1 (b) is a plan view.
- the actuator 1 includes a fixed member 2, a movable member 3, two leaf springs 4, a position detecting unit 5, and a driving unit 6.
- the fixing member 2 is a U-shaped member as shown in FIG. 2B, one end of which holds one end of the leaf spring 4 and the other end of which is a driving means to be described later.
- a yoke 7 and two magnets 8 constituting 6 are attached.
- the movable member 3 is a plate-shaped member, one end of which is supported by one end of a leaf spring 4, and a coil constituting the driving means 6 at a position facing the magnet 8 attached to the fixed member 2. 9 is installed. That is, both ends of the two leaf springs 4 are supported by the fixed member 2 and the movable member 3.
- Reference numeral 10 denotes a lens for projecting and receiving light of an object detection device using the actuator described later.
- the two leaf springs 4 are arranged in parallel between the fixed member 2 and the movable member 3, and both ends thereof are supported by the fixed member 2 and the movable member 3 as described above. That is, the leaf spring 4 supports the movable member 3 in parallel with the fixed member 2.
- the position detecting means 5 is provided on the fixing member 2 so as to face one of the leaf springs 4, irradiates the leaf spring 4 with light, and receives the reflected light from the leaf spring 4 by this light. This is a photo sensor that detects the amount of displacement of panel 4.
- the position detecting means 5 is attached to the fixed member 2 so as to face a predetermined position of the flat portion 4a of the leaf spring 4. The predetermined position of the flat portion 4a of the leaf spring 4 will be described later.
- the driving means 6 forms a voice coil motor with a magnetic circuit including a yoke 7 attached to the fixed member 2 and two magnets 8 and a coil 9 attached to the movable member 3, and a current is applied to the coil 9.
- the movable member 3 is movable in either direction of the arrow A or the arrow B shown in FIG.
- the coil 9 is electrically connected to the two leaf springs 4, that is, the coil 9 Are connected to the leaf spring 4, and the driving current of the driving means 6 is supplied from the leaf spring 4. Thereby, it is possible to prevent the conductive wire of the coil 9 from coming into contact with the movable member 3 or the leaf spring 4 and being disconnected.
- FIG. 2 is a diagram for explaining the operation of the actuator according to the first embodiment.
- FIG. 2 (a) shows a state where the actuator has moved in the direction of arrow A shown in FIG. 1 (b), and FIG. 2 (b) shows the same.
- Fig. (A) is an enlarged view of a part C
- (c) is a state in which the actuator moves in the direction of arrow B shown in Fig. 1 (b)
- (d) is D in Fig. (C). It is a partial enlarged view.
- the coil 9 of the driving means 6 to which the driving current is supplied from the calculating means to be described later via the two leaf springs 4 has a driving force in either direction of the arrow A or B in FIG.
- FIG. 3 is a diagram showing a relationship between the displacement of the movable member of the actuator according to the first embodiment and the output value of the photosensor.
- a photosensor having a movable amount of the movable member 3 of ⁇ 6 mm and a detection range (sensor sensitivity) of ⁇ 1.5 mm is used as the position detecting means 5.
- the position detecting means 5 is displaced at the predetermined position of the leaf spring 4 in accordance with the range in which the movable member 3 can be displaced, that is, in accordance with the displacement of the movable member of soil 6 mm. It can be confirmed that the output value (mV) that detects the leaf spring displacement amount has secured linearity. That is, it is possible to cope with the displacement of the movable member 3 having a large movable amount within the resolution of the position detecting means 5 having a narrow detection range.
- the predetermined position of the flat portion 4a of the leaf spring 4 is a position at which the detection result of the photo sensor, which is the position detecting means 5 for detecting the displacement amount of the leaf spring of the leaf spring 4, can ensure linearity, that is, the position detecting means 5 It means a position within the range of the resolution of the movable member 3 that can correspond to the amount of displacement of the movable member 3. This will be specifically described below.
- FIG. 4 is a diagram showing the relationship between the position of the leaf spring in the longitudinal direction and the amount of displacement of the leaf spring at that position.
- the movable amount of the movable member 3 is ⁇ 6.0 mm
- the length of the leaf spring 4 in the longitudinal direction is 3 O mm.
- the predetermined position is set at about 20 mm from the movable member 3 side of the leaf spring 4 so that the predetermined position is obtained.
- the detection result of the position detecting means 5 can ensure the highest level of reliability.
- the predetermined position of the flat part 4a of the leaf spring 4 is determined by the displacement of the movable member 3 of the movable member 3 based on the distance between the leaf spring 4 and the position detecting means 5 detected by the position detecting means 5 by the calculating means 11 described later.
- the position can calculate the amount, that is, it is only necessary to secure a certain degree of linearity, and it is not limited to the vicinity of 2 O mm from the movable member 3 side of the leaf spring 4.
- a range from 16 mm to 24 mm from the movable member 3 side of the leaf spring 4 may be set as the predetermined position.
- FIG. 5 is a diagram showing a configuration example of an actuator calculating means according to the first embodiment.
- FIG. 5 (a) shows a configuration example of a control block of the actuator
- FIG. 5 (b) shows a configuration example of a database.
- the calculating means 11 calculates that the light emitted from the light emitting element 5a of the position detecting means 5 is reflected by a leaf spring 4 facing the position detecting means 5, and from this leaf spring 4 Is received by the light receiving element 5b of the position detecting means 5.
- the light receiving element 5b outputs a current having a voltage value according to the intensity of the reflected light as a photo sensor output value (see FIG. 3).
- the surface of the flat portion 4a of the leaf spring 4 at the predetermined position to be detected by the position detecting means 5 is not damaged by the curvature of the leaf spring 4 and the light is reflected from the position detecting means 5 for a long period of time.
- Printing, sealing, plating, or embossing may be performed so that the rate does not change.
- the reflectance of the flat portion 4a of the leaf spring 4 at the predetermined position does not change for a long time
- the light receiving element 5b of the position detecting means 5 can stably receive light for a long time
- the positioning of the movable member 3 can be performed. Accuracy can be ensured for a long time.
- the output value of the photo sensor is amplified by the amplifier 11a, converted to a digital output value by the A / D converter 11b, and the displacement amount of the leaf spring 4 converted to the digital output value is calculated by the comparator 1 1 Entered in c.
- the comparator 11c compares the digital output value input from the AZD converter 11b with the digital output value of the table shown in FIG. Then, the actual displacement of the movable member 3 is calculated.
- the table of the movable member displacement amount (soil 6 mm) of the movable member 3 corresponding to the digital output value stored in the database 11 d is obtained by previously moving the movable member 3 of the actuator shown in FIG.
- the CPU 11 e outputs the amount of displacement of the movable member as a drive signal to the drive circuit 11 f to move the movable member 3, and the drive circuit 11 ⁇ supplies a drive current to the drive means 6. That is, a drive current is supplied to the coil 9 of the drive means 6 to move the movable member 3 in either direction of arrow ⁇ or ⁇ ⁇ shown in FIG. Where CPU 1 1 If the amount of displacement of the movable member 3 that is moved by the drive signal from e is different from the calculated amount of displacement of the movable member 3 calculated above, the CPU 11 e calculates Based on the displacement of the movable member 3, a drive signal for further correcting the displacement of the movable member 3 is output, and the displacement of the movable member 3 is corrected.
- the position detecting means 5 detects the amount of leaf spring displacement of the leaf spring 4 which is displaced with the movement of the movable member 3, preferably the predetermined position of the flat portion 4a of the leaf spring 4. A position where the detection result of the detection means 5 can ensure linearity is set as a detection target.
- the above-mentioned predetermined position of the flat portion 4a of the leaf spring 4 is curved with the movement of the movable member 3, and the leaf spring displacements h1 and h2 displaced by the curvature are the displacement HI of the movable member 3 of the movable member 3.
- the displacement can be made in a smaller range, so that an inexpensive position detecting means 5 (for example, an inexpensive photosensor) having a narrow detection range can be used. Therefore, even if the movable amount of the movable member 3 is large, the distance between the predetermined position of the flat portion 4a of the leaf spring 4 and the position detecting means 5 is detected by the position detecting means 5, and the movable member 3 is determined from this distance. Therefore, the displacement of the movable member 3 can be calculated, and the positioning accuracy of the movable member 3 can be ensured. Further, based on the actual amount of displacement of the movable member 3 calculated by the calculating means 11, the CPU 11 e further corrects the amount of displacement of the movable member 3. Therefore, the displacement of the movable member 3 due to the fluctuation of the movable member 3 and the temperature characteristics of the leaf spring 4 and the like can be corrected.
- an inexpensive position detecting means 5 for example, an inexpensive photosensor
- FIG. 6 is a diagram showing a schematic configuration example of an actuator according to the second embodiment.
- FIG. 6 is a perspective view
- FIG. 6 (b) is a plan view.
- the difference between the actuator 1 'shown in FIG. 1 and the actuator 1 shown in FIG. 1 is that a hollow portion 4b, a protruding portion 4d, and a reflector 12 are provided in a leaf spring 41 facing the position detecting means 5. Is a point.
- the basic configuration of the actuator 11 according to the second embodiment is substantially the same as that of the actuator 1 according to the first embodiment, and a description thereof will be omitted. As shown in FIG.
- a hollow portion 4b is provided in a leaf spring 4 whose both ends are supported by a fixed member 2 and a movable member 3.
- the hollow portion 4b is provided with one end 4c of the hollow portion 4b, that is, a protruding portion 4d that protrudes from the fixed member 2 side of the leaf spring 4 'toward the movable member 3 side.
- a reflector 12 is provided at the tip of the protrusion 4 d so as to face the position detecting means 5.
- the reflector 12 is made of, for example, a resin material in which the reflectance of light on the surface does not change due to aging, such as a leaf spring, and has less uneven reflection due to aging.
- the protruding portion 4d may be printed, sealed, plated, or processed (embossed).
- the reflectivity of the surface of the protruding portion 4d does not change for a long time
- the position detecting means 5 can stably receive light for a long time
- the detection result of the position detecting means 5 shows linearity for a long time.
- the reflector 12 as a resin material, it can be formed integrally with the other parts of the actuator 1 ′ (the fixed member 2, the movable member 3, etc.).
- FIG. 7 is a diagram showing the relationship between the position of the leaf spring in the longitudinal direction and the amount of displacement of the protrusion at that position.
- the movable amount of the movable member 3 is ⁇ 6.0 mm
- the length in the longitudinal direction of the leaf spring 4 is 3 O mm
- the end 4 c of the hollow portion 4 b is 26 mm from the movable member 3 side.
- the length of the protrusion 4 d is 19 mm.
- the reflector 12 provided on the protruding portion 4 d is an end of the hollow portion 4 b displaced as the movable member 3 moves.
- the hollow portion 4b With reference to 4c as a fulcrum, the hollow portion 4b relatively displaces without being curved in conjunction with the displacement of the end portion 4c of the hollow portion 4b.
- the detection range (sensor sensitivity) of the photo sensor that is the position detection means 5 is ⁇ 1.
- the reflector 12 is provided in the vicinity of 13 mm from the end 4c, that is, in the vicinity of 13 mm from the movable member 3 side.
- the amount of displacement of the protrusion 4 d changes depending on the position of the end 4 c with respect to the plate spring 4 and the length of the protrusion 4 d. Therefore, by changing the position of the end 4c and the length of the protrusion 4d, the detection result of the position
- the reflector 12 can be provided at an arbitrary position of the protruding portion 4d where the linearity can be most ensured, and the degree of freedom in design can be improved.
- the two leaf springs 4 have the same shape. This is to stabilize the movement of the movable member 3 when the movable member 3 is supported in parallel by the leaf spring 4 ′.
- FIG. 8 is a diagram for explaining the operation of the actuator according to the second embodiment.
- FIG. 8 (a) shows a state where the actuator has moved in the direction of arrow A shown in FIG. 6 (b). ) Is an enlarged view of a portion E in FIG. 6A
- FIG. 6C is a state in which the actuator moves in the direction of arrow B shown in FIG. 6B
- FIG. 6D is a diagram in FIG. FIG.
- a driving current is supplied to the driving means 6 from the calculation means 11 to be described later via the leaf spring 4 'and the driving force is generated in the direction of arrow A as shown in FIG.
- the movable member 3 moves in the direction of the arrow A to a position where the driving force and the elastic force of the leaf spring 4 ′ are balanced, and stops.
- the reflector displacement amount of the reflector 12 provided with the protruding portion 4d is shown in FIG. 11B in conjunction with the displacement of the end 4c of the hollow portion 4b as described above.
- h3 is smaller than the movable member displacement H1 of the movable member 3.
- FIG. H4 is smaller than the displacement H2.
- the position detecting means 5 determines the position of the reflector provided on the protrusion 4 d of the leaf spring 4 based on the displacement h 3 and h 4 of the movable member 3 that is smaller than the displacement H 1 and H 2 of the movable member. The distance between 1 and 2 and the position detecting means 5 will be detected.
- FIG. 9 is a diagram showing the relationship between the displacement of the movable member of the actuator according to the second embodiment and the output value of the photosensor.
- the position detection means 5 a case where a photo sensor having a movable amount of the movable member 3 of ⁇ 6 nun and a detection range (sensor sensitivity) of ⁇ 1.5 mm is used as the position detection means 5 is shown.
- the movable member 3 has a displacement of ⁇ 6 mm for the movable member. Accordingly, it can be confirmed that the output value (mV) obtained by detecting the amount of displacement of the reflector 12 by which the position detector 5 is displaced ensures linearity. That is, the displacement of the movable member 3 of the movable member 3 having a large movable amount can be handled within the range of the resolution of the position detecting means 5 having a narrow detection range.
- the calculating means of the actuator 1 ' has the same configuration as the calculating means 11 of the actuator 1 according to the first embodiment shown in FIG. 5, and first, the light emitting element of the position detecting means 5
- the light projected from 5a is reflected by the reflector 12 facing the position detecting means 5, and the reflected light from the reflector 12 is received by the light receiving element 5b.
- the light receiving element 5b outputs a current having a voltage value corresponding to the intensity of the reflected light as a photosensor output value (see FIG. 9), and the photosensor output value is converted to an amplifier 11a, an AZD converter 1
- the signal is input to the comparator 11c via 1b.
- the comparison / determination unit 11c compares the input digital output value with the digital output value of the table of the database 11d shown in FIG. 5 (b), and determines the actual displacement of the movable member 3 by the CPU. Output to 1 1 e.
- the CPU 11 e outputs the amount of displacement of the movable member as a drive signal to the drive circuit 11 f to move the movable member 3, and the drive circuit 11 f supplies a drive current to the drive means 6, and Move 3 in the direction of either arrow A or B shown in FIG.
- the CPU 11 e is further calculated.
- a drive signal for correcting the displacement of the movable member 3 is output based on the actual displacement of the movable member 3, and the displacement of the movable member 3 is corrected.
- the detection object of the position detecting means 5 is not the leaf spring 4 but the reflector 12 provided on the protruding portion 4d, the reflection coefficient of light on the surface due to aging deterioration like the leaf spring 4 Does not change, and the position detecting means 5 can stably receive light for a long period of time.
- the positioning accuracy of the movable member 3 can be further secured for a long period of time by using the inexpensive position detecting means 5 having a narrow detection range as in the first embodiment.
- the protrusion 4 d provided with the reflector 12 is linked to the displacement of the end 4 c of the hollow portion 4 b. And relatively displaces without bending.
- FIG. 10 shows another example of the configuration of the leaf spring of the actuator according to the second embodiment.
- the shape of the hollow portion 4b of the leaf spring 4 is wide at the center, and both ends of the hollow portion 4b 'from the center, that is, the ends 4c of the fixing member 2 side. And it is provided in a narrow shape toward the end 4 e on the movable member side. That is, the shape of the hollow portion 4b 'is provided in a substantially rhombic shape. As a result, local stress applied to the leaf spring 4 can be dispersed, local fatigue can be prevented, and the life of the spring 4 ′ can be extended. Further, since the central portion of the hollow portion 4b 'is wide, the reflector 12 can be provided at any position of the hollow portion 4b.
- the reflector 12 is provided at the center of the hollow portion 4 b ′′, so that the width of the leaf spring 4 ′ is changed.
- the leaf spring 4 ′ for moving the movable member 3 in the left-right direction (up-down direction) moves in the up-down direction (right-left direction). Can be sufficiently received.
- the reflector 12 is provided at the tip of the protrusion 4d of the leaf spring 4, but the present invention is not limited to this. Alternatively, it may be provided on one end 4c side of the hollow portion 4b, that is, on the fixing member 2 side of the leaf spring 4 '. In this case, when the reflector 12 is integrally formed with the other parts of the actuator 1 ′ (the fixed member 2, the movable member 3, etc.), the protrusion is formed by the tip of the protrusion 4 d and the end 4 c. Can be pinched. Therefore, the reflector 12 is securely fixed to the protrusion 4d. be able to.
- FIG. 11 is a diagram showing an example of a schematic configuration of an actuator according to the third embodiment.
- FIG. 11 (a) is a perspective view
- FIG. 11 (b) is a plan view.
- the difference between the actuator 1 and the actuator 1 shown in FIG. 1 is that the position detecting means 5 is first attached to the fixed member 2 facing the movable member 3. Further, a point that a displacement member 13 which is movable together with the movable member 3 and is displaced in a direction orthogonal to a direction in which the movable member 3 moves is provided on the movable member 3 facing the position detecting means 5.
- the basic configuration of the actuator 1 "according to the third embodiment is substantially the same as that of the actuator 1 according to the first embodiment, and a description thereof will be omitted.
- the position detecting means 5 is provided at the end of the fixed member 2 to which the driving means 6 is attached.
- the movable member 3 is provided with a displacement member 13 at a position facing the position detecting means 5 (in the same figure, the upper surface of the movable member).
- the displacement member 13 has a triangular prism shape, and has an inclined surface 1 having an inclination angle at which a distance from the position detecting means 5 is displaced in a direction orthogonal to the movable direction of the movable member 3 as the movable member 3 moves. 3a is provided.
- the displacement member 13 is made of a resin material in which, in particular, the inclined surface 13a does not change its surface light reflectance due to aged deterioration like a leaf spring.
- the position detecting means 5 is located within the detection range of the position detecting means 5 with respect to the displacement member 13 (the sensor sensitivity range in the case of the photo sensor), and the inclined surface 13 a of the displacement member 13 and the position detecting means 5. It is provided at a position where the distance to the can be detected.
- the inclination angle of the inclined surface 13a with respect to the movable direction of the movable member 3 is an acute angle, that is, the displacement amount of the displacement member that is displaced in a direction orthogonal to the movable direction as the movable member 3 moves is determined.
- the inclination angle is set so as to be within the detection range of the detection means 5. Further, by using the resin material for the displacement member 13, the displacement member 13 can be integrally formed with the other parts of the actuator 1 ′ (the fixed member 2, the movable member 3, etc.).
- FIG. 12 and Fig. 3 It is an explanatory view of the operation of the actuator according to the embodiment.
- FIG. (A) shows a state in which the actuator moves in the direction of the arrow A shown in FIG. 11 (b)
- FIG. Fig. 13 (c) is an enlarged view of the G portion
- Fig. 13 (c) is a state in which the actuator moves in the direction of arrow B shown in Fig. 11 (b)
- Fig. 14 (d) is an enlarged view of the H portion of Fig. 11 (c). is there.
- the position detecting means 5 is based on the displacement member displacement amounts h5 and h6 smaller than the movable member displacement amounts H1 and H2 of the movable member 3, and based on the displacement member 13 and the position detection means 5, Will be detected.
- FIG. 13 is a diagram showing the relationship between the displacement of the movable member of the actuator according to the third embodiment and the output value of the photosensor.
- a photo sensor having a movable amount of the movable member 3 of ⁇ 6 mm and a detection range (sensor sensitivity) of ⁇ 1.5 mm is used as the position detection means 5 is shown.
- the output value (mV) obtained by detecting the displacement of the displacement member 13 by the position detecting means 5 corresponding to the displacement of the movable member of soil 6 mm of the movable member 3 is linearity. Can be confirmed that.
- the calculating means of the actuator 1 according to the third embodiment has the same configuration as the calculating means 11 of the actuator 1 according to the first embodiment shown in FIG. 5, and first, the light emitting element of the position detecting means 5 The light projected from 5a is reflected by the displacement member 13 facing the position detecting means 5, and the reflected light from the displacement member 13 is received by the light receiving element 5b.
- the light receiving element 5b outputs a current having a voltage value corresponding to the intensity of the reflected light as a photosensor output value (see FIG. 13).
- the output value of the photosensor is based on the amplifier 11a, A / D
- the signal is input to the comparator 11c through the converter 11b.
- the comparator 11 c compares the input digital output value with the digital output value of the table of the database 11 d shown in FIG. 5 (b), and calculates the actual displacement of the movable member 3 by the CPU 1.
- 1 Output to e The CPU 11 e outputs the displacement of the movable member as a drive signal to the drive circuit 11 f to move the movable member 3, and the drive circuit 11 f supplies a drive current to the drive means 6 to The member 3 is moved in either direction of the arrow A or B shown in FIG.
- the CPU 11 e is further calculated.
- a drive signal for correcting the displacement of the movable member 3 is output based on the actual displacement of the movable member 3, and the displacement of the movable member 3 is corrected.
- the position detecting means 5 detects the displacement member 13 provided on the movable member 3 and the displacement member displacement amounts h5 and h6 displaced by the movement of the movable member 3 are determined. Since the movable member 3 is displaced within a range smaller than the displacement amounts HI and H2 of the movable member 3, the detection range is narrow as in the first embodiment! / An inexpensive position detecting means 5 (for example, an inexpensive photo sensor) Therefore, even if the movable amount of the movable member 3 is large, the distance between the displacement portion 13 and the position detecting means 5 is detected by the position detecting means 5, and from this distance the movable member is detected. The displacement amount of the movable member 3 can be calculated, and the positioning accuracy of the movable member 3 can be ensured.
- the yoke 7 and the magnet 8 of the driving means 6 of the displacement member 13 are provided in the longitudinal direction of the actuator 1 "on the inclined surface 13a of the displacement member 13.
- the position detecting means 5 is provided on the fixed member 2 at a position facing the upper surface of the displacement member 13.
- the displacement member 13 may be provided on the lower surface of the movable member 3.
- the displacement member 13 is not limited to the above triangular prism shape, but has a shape in which the distance from the position detection means 5 is displaced in a direction orthogonal to the movable direction of the movable member 3 as the movable member 3 moves. If so, for example, the new surface may have a semicircular or elliptical arc shape. In particular, it is preferable that the distance between the position detecting means 5 and the displacement member 13 be largely displaced as the movable amount of the movable member 3 increases. Thereby, the linearity of the detection result of the position detecting means 5 can be improved.
- the reflector 12 and the displacement member 13 and the photo sensor are used as the position detecting means 5.
- the present invention is not limited to this.
- a magnetic material that generates magnetism may be used in place of the displacement member 13 and the displacement member 13, and a magnetic sensor may be used as the position detection unit 5.
- the position detecting means 5 is provided on the fixed member 2, but the present invention is not limited to this. It may be provided on a separately provided actuator fixing member (not shown) for fixing the actuators 1, 1 ′, and 1 ′, or on a control board provided with calculation means. Further, the position detecting means 5 is provided outside one of the two leaf springs 4, but may be provided inside, that is, between the two leaf springs 4. This eliminates the fact that the actuators 1, 1, 1 and 1 "do not protrude in the width direction, and can reduce the size of the actuator.
- FIG. 14 is a diagram showing a configuration example of an actuator in a case where the movable member is movable in the vertical and horizontal directions. Same figure As shown in the figure, the actuator 20 is composed of a vertical actuator 21 and a left and right actuator 22.
- any of the actuators 1, 1 and 1 "according to the above-described first to third embodiments may be used for the vertical actuator 21 and the left and right actuator 22.
- the movable member of the actuator 22 and the fixed member of the left and right actuator 21 are formed of the same member 23.
- the actuator 20 can move the holder 23 upward or downward by supplying a drive current from a control means (not shown) to the drive means 24 of the vertical actuator 21. That is, the up / down actuator 21 can move the movable member 25 of the left / right actuator 22 in one of the upper and lower directions (the direction of arrow S in the figure). On the other hand, by supplying a drive current from a control means (not shown) to the drive means 26 of the left and right actuators 22, the movable member 25 can be moved in either the left or right direction (the direction of arrow T in the figure). Can be.
- the basic structure of the calculating means of the actuator 20 is substantially the same as that of the calculating means 11 shown in FIG.
- the output value of the photo sensor output by 28 (the output value of the magnetic sensor when the position detecting means is a magnetic sensor)
- the holder 23 calculated based on the force and the movable member 25 of the lateral actuator 22
- a drive signal for correcting the movable member displacement of the holder 23 and the movable member 25 is output based on the member displacement, and the movable member displacement of the movable member 3 is corrected.
- a wire spring may be used instead of the leaf spring 4. Since this wire spring can be bent in any of up, down, left and right directions, the movable member 25 may be supported on the fixed member of the actuator 20 by a plurality of wire springs, and the actuator 1 of the third embodiment may be used. It is not necessary to prepare two, and the length of the actuator 20 in the longitudinal direction can be shortened.
- FIG. 15 is a schematic block diagram of the object detection device.
- the object detection device 30 is attached to a predetermined position of a moving body (not shown), for example, at the front, side, or rear of the moving body.
- the object detecting device 30 includes at least one of the actuators 1, 1 ', and 1 ", a light projecting element 31 serving as a light projecting means, and a light receiving element 32 serving as a light receiving means.
- reference numeral 33 denotes an oscillation circuit for oscillating the light emitting element 31
- reference numeral 34 denotes a detection circuit for processing a current value of the intensity of the reflected light from the light receiving element 32.
- the object detection device 3 ⁇ outputs an oscillation signal from the CPU 11e to the oscillation circuit 33 in order to obtain information outside the moving object, and the oscillation circuit 33 outputs the light emission signal to the light emitting element 31. Then, the light projecting element 31 irradiates the laser beam to the outside of the moving body via the light emitting / receiving lens 10 which is an optical element of the movable member 3. At this time, the object detection device 30 sends a signal to the drive circuit 11 f based on a search pattern stored in a storage unit (not shown) in order to search a wide area outside the moving object. Output drive signal.
- the drive circuit 11 f supplies a drive current to the drive means 6 to move the movable member 3, that is, to move the light emitting / receiving lens 10.
- the object detection device 30 changes the irradiation direction of the laser light applied to the light emitting element 31 by moving the light emitting / receiving lens 10 based on the search pattern stored in the storage unit. I do.
- the irradiation direction of the laser light may be changed based on, for example, the search pattern.
- the laser light is reflected by the object, and the reflected light is received by the light receiving element 32 via the projection / reception lens 10.
- the light receiving element 32 outputs a current value of the intensity of the received reflected light to the detection circuit 34.
- the detection circuit 34 processes this current value and outputs the processed current value to CPU 11e.
- CPU11e is output to the outside by an alarm device or a display device (not shown) indicating that an object exists outside the moving object.
- the CPU 11 e outputs a drive signal to the drive circuit 11 f to detect the object and detect the distance to the object, and outputs the drive signal to the drive circuit 11 f to transmit and receive the lens 10 0 of the movable member 3. Move.
- the moving object receives various disturbances. For example, This is the vibration generated by moving the moving object or the tilt caused by the moving object receiving wind.
- the projection / reception lens 10 may not move as expected by the CPU 11e. Since the CPU 11 e periodically obtains the displacement of the movable member 3 from the position detecting means 5, the drive circuit always moves the projection / reception lens 10 as expected. 1 Correct the drive signal output to 1 f.
- the object detection device 30 uses laser light, but the present invention is not limited to this, and may use radio waves.
- an antenna for transmitting and receiving radio waves (millimeter waves) instead of the lens 10 is provided on one of the movable members 3 of the actuators 1, 1 ', and 1 "used in the object detection device 30.
- the light emitting element 31 and the oscillation circuit 33 of the light emitting means shown in the figure are changed to a transmitting circuit as transmitting means, and the light receiving element 32 and the detecting circuit 34 of the light receiving means are changed to a receiving circuit as receiving means.
- the object detection device 30 uses the actuators 1, 1 ', and I "to move the projection / reception lens 10 or the antenna.
- the object detecting device 30 has the transmitting / receiving lens 10 or the transmitting / receiving antenna provided on the movable member 3, but at least the transmitting lens or the transmitting antenna is provided on the movable member 3.
- the force to be detected at a predetermined position of the flat portion of the plate spring that is displaced as the movable member moves is used. S, The flat part of this leaf spring curves as the movable member moves.
- the flat portion of the leaf spring is movable by this bending,
- the flat portion of the leaf spring is displaced with respect to the position detecting means. Since the leaf spring displacement is displaced in a range smaller than the movable member displacement of the movable member, inexpensive position detecting means having a narrow detection range can be used.
- the movable member displacement amount of the movable member can be calculated from the distance between the predetermined position of the flat portion and the position detecting means, and the positioning accuracy of the movable member can be ensured.
- the protruding portion is displaced relatively without bending around the fixed member side of the hollow portion with the displacement of the hollow portion on the fixed member side.
- the protruding portion has a smaller amount of leaf spring displacement, and the target for detection by the position detecting means is any position of the protruding portion of the leaf spring. Therefore, the degree of freedom in design can be improved.
- the protruding portion is displaced without being relatively curved, the reflection angle of the light projected from the position detecting means can be stabilized. Thereby, the position detecting means can receive light stably, and the positioning accuracy of the movable member can be further secured.
- the local stress applied to the leaf spring when the movable member moves can be dispersed, local fatigue can be prevented, and the life of the leaf spring can be extended.
- the position detecting means since the object to be detected by the position detecting means is not a leaf spring but a reflector, the reflectivity of light on the surface does not change due to aging as in a leaf spring, and the position detecting means can stably receive light for a long time. can do. Thereby, the positioning accuracy of the movable member can be ensured for a long time.
- an actuator that ensures the positioning accuracy of the movable member has a simple configuration and is low in cost. Can be provided at cost.
- a displacement member provided on the movable member is detected, and the displacement member is displaced in a direction orthogonal to the movable direction of the movable member as the movable member moves. Since the displacement amount of the displacement member is smaller than the displacement amount of the movable member, it is possible to use inexpensive position detecting means having a narrow detection range. Even when the movable amount of the movable member is large, the movable member displacement amount of the movable member can be calculated from the distance between the displacement member and the position detecting means, and the positioning accuracy of the movable member can be ensured.
- the triangular prism-shaped displacement member has an inclined surface having an inclined angle with respect to the movable direction of the movable member, and the position detecting means detects the inclined surface.
- the distance between the inclined surface and the position detecting means increases in a direction orthogonal to the moving direction of the movable member when the movable member is moved to one side by the driving means, and becomes larger when the movable member is displaced to the other side by the driving means. It becomes smaller in the direction orthogonal to the movable direction of the movable member. Since the displacement of the triangular prism-shaped displacement member is smaller than the displacement of the movable member of the movable member, inexpensive position detection means having a narrow detection range can be used.
- the amount of displacement of the movable member can be calculated from the distance between the displacement member and the position detecting means, and the positioning accuracy of the movable member can be ensured.
- an actuator that ensures the positioning accuracy of the movable member can be provided with a simple configuration and at low cost.
- the actuator since the above-described actuator is used as the actuator, an inexpensive position detecting means having a narrow detection range can be used, and the movable member provided with the optical element or the antenna can be moved. Even if the amount is large, the amount of displacement of the movable member can be calculated from the distance between the displacement member and the position detecting means, and the positioning accuracy of the movable member can be ensured. Therefore, it is possible to secure the positioning accuracy of the optical element provided on the movable member for changing the irradiation direction of the laser beam or the antenna for irradiating the radio wave.
- the actuator according to the present effort and the object detection device using the actuator are mounted on a moving object such as a car or a motorcycle, and are suitable for detecting information outside the moving object.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Geophysics And Detection Of Objects (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04712177A EP1596159B1 (en) | 2003-02-18 | 2004-02-18 | Actuator and object-detecting device |
CA002498190A CA2498190C (en) | 2003-02-18 | 2004-02-18 | Actuator and object detecting apparatus that uses actuator |
US11/078,623 US7060962B2 (en) | 2003-02-18 | 2005-03-14 | Actuator and object detecting apparatus that uses actuator using distance detection |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003040061A JP3949068B2 (ja) | 2003-02-18 | 2003-02-18 | アクチュエータ、このアクチュエータを用いた物体検出装置 |
JP2003-040061 | 2003-02-18 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/078,623 Continuation US7060962B2 (en) | 2003-02-18 | 2005-03-14 | Actuator and object detecting apparatus that uses actuator using distance detection |
Publications (1)
Publication Number | Publication Date |
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WO2004074772A1 true WO2004074772A1 (ja) | 2004-09-02 |
Family
ID=32905194
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/001791 WO2004074772A1 (ja) | 2003-02-18 | 2004-02-18 | アクチュエータ、このアクチュエータを用いた物体検出装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7060962B2 (ja) |
EP (1) | EP1596159B1 (ja) |
JP (1) | JP3949068B2 (ja) |
KR (1) | KR100773597B1 (ja) |
CN (1) | CN100543408C (ja) |
CA (1) | CA2498190C (ja) |
WO (1) | WO2004074772A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3949098B2 (ja) * | 2003-10-27 | 2007-07-25 | 日本発条株式会社 | 角度検出装置およびこれを用いたスキャン型アクチュエータ |
JP2007218876A (ja) * | 2006-02-20 | 2007-08-30 | Nhk Spring Co Ltd | 金属部材、位置検出装置、駆動装置、物体検出装置および金属部材の加工方法 |
JP5305749B2 (ja) * | 2008-06-18 | 2013-10-02 | オリンパスイメージング株式会社 | 光スキャン装置 |
US8635935B2 (en) * | 2010-03-16 | 2014-01-28 | Harris Waste Management Group, Inc. | Shear deflection detection |
US9702992B2 (en) * | 2012-10-11 | 2017-07-11 | Silicon Audio Seismic, LLC | Closed loop control techniques for displacement sensors with optical readout |
CN105509664B (zh) * | 2016-01-07 | 2017-12-01 | 杭州高品自动化设备有限公司 | 执行器调整检测台 |
CN113109789B (zh) * | 2021-04-09 | 2024-07-09 | 深圳煜炜光学科技有限公司 | 一种多线扫描激光雷达装置及控制方法 |
WO2024135531A1 (ja) * | 2022-12-19 | 2024-06-27 | アルプスアルパイン株式会社 | 光学素子駆動装置及び測距システム |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH11160436A (ja) * | 1997-11-28 | 1999-06-18 | Unisia Jecs Corp | 障害物検知装置 |
JP2002162470A (ja) * | 2000-11-28 | 2002-06-07 | Nhk Spring Co Ltd | 物体検出装置及びその基準軸設定方法 |
JP2002162469A (ja) * | 2000-11-28 | 2002-06-07 | Nhk Spring Co Ltd | 物体検出装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0599838A (ja) * | 1991-10-11 | 1993-04-23 | Nippon Telegr & Teleph Corp <Ntt> | 摩擦力測定装置 |
JPH0682238A (ja) * | 1992-08-31 | 1994-03-22 | Toshiba Corp | 三次元測定プロ−ブ |
JP3170438B2 (ja) * | 1995-09-26 | 2001-05-28 | 松下電工株式会社 | 手押し車 |
JP3681485B2 (ja) | 1996-10-21 | 2005-08-10 | 日本発条株式会社 | 車間距離検出装置 |
US6199427B1 (en) * | 1997-12-04 | 2001-03-13 | Intercomp Company | Apparatus and method for testing leaf springs |
JPH11351813A (ja) * | 1998-06-08 | 1999-12-24 | Canon Inc | 干渉装置及びそれを用いた位置検出装置 |
-
2003
- 2003-02-18 JP JP2003040061A patent/JP3949068B2/ja not_active Expired - Fee Related
-
2004
- 2004-02-18 CA CA002498190A patent/CA2498190C/en not_active Expired - Fee Related
- 2004-02-18 CN CNB2004800006981A patent/CN100543408C/zh not_active Expired - Fee Related
- 2004-02-18 EP EP04712177A patent/EP1596159B1/en not_active Expired - Fee Related
- 2004-02-18 WO PCT/JP2004/001791 patent/WO2004074772A1/ja active Application Filing
- 2004-02-18 KR KR1020057006427A patent/KR100773597B1/ko active IP Right Grant
-
2005
- 2005-03-14 US US11/078,623 patent/US7060962B2/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11160436A (ja) * | 1997-11-28 | 1999-06-18 | Unisia Jecs Corp | 障害物検知装置 |
JP2002162470A (ja) * | 2000-11-28 | 2002-06-07 | Nhk Spring Co Ltd | 物体検出装置及びその基準軸設定方法 |
JP2002162469A (ja) * | 2000-11-28 | 2002-06-07 | Nhk Spring Co Ltd | 物体検出装置 |
Also Published As
Publication number | Publication date |
---|---|
KR100773597B1 (ko) | 2007-11-05 |
JP2004264062A (ja) | 2004-09-24 |
EP1596159A4 (en) | 2011-05-18 |
JP3949068B2 (ja) | 2007-07-25 |
EP1596159B1 (en) | 2013-04-03 |
US20050157289A1 (en) | 2005-07-21 |
CN1697961A (zh) | 2005-11-16 |
CN100543408C (zh) | 2009-09-23 |
CA2498190C (en) | 2008-07-08 |
KR20050052534A (ko) | 2005-06-02 |
US7060962B2 (en) | 2006-06-13 |
CA2498190A1 (en) | 2004-09-02 |
EP1596159A1 (en) | 2005-11-16 |
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