WO2017130729A1 - Dispositif de radar à laser - Google Patents

Dispositif de radar à laser Download PDF

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Publication number
WO2017130729A1
WO2017130729A1 PCT/JP2017/000931 JP2017000931W WO2017130729A1 WO 2017130729 A1 WO2017130729 A1 WO 2017130729A1 JP 2017000931 W JP2017000931 W JP 2017000931W WO 2017130729 A1 WO2017130729 A1 WO 2017130729A1
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WO
WIPO (PCT)
Prior art keywords
light
substrate
light receiving
laser
mirror
Prior art date
Application number
PCT/JP2017/000931
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English (en)
Japanese (ja)
Inventor
磯野　雅史
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2016237837A external-priority patent/JP2017138301A/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to DE112017000570.1T priority Critical patent/DE112017000570T5/de
Priority to US16/072,338 priority patent/US11119194B2/en
Publication of WO2017130729A1 publication Critical patent/WO2017130729A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present disclosure relates to a laser radar device.
  • This type of laser radar device includes an irradiation unit that irradiates laser light, a scanning device that changes the irradiation direction of the laser light to the outside of the housing, and a reflection in which the irradiated laser light is reflected by an object and returned.
  • a light receiving unit that receives light
  • a distance measuring calculation unit that calculates a distance to an object (hereinafter referred to as a target) that reflects the laser light based on the time from irradiation of the laser light to reception of the reflected light
  • a housing for housing the container.
  • the irradiation unit includes a light source substrate on which a laser diode as a laser light source and an IC that controls driving of the laser diode are mounted, and an emission lens that shapes the laser light output from the laser diode.
  • the light receiving unit includes a light receiving lens that shapes reflected light from the target and collects it on the light receiving surface of the light receiving element, and a light receiving element that outputs an electrical signal corresponding to the intensity of light emitted from the light receiving lens.
  • the ranging calculation unit is realized using a CPU or an IC.
  • the housing is provided with an exit window for emitting the irradiated light to the outside of the housing and a light receiving window for guiding the reflected light from the target to the light receiving lens.
  • Various configurations have also been proposed in which the exit window is also used as the light receiving window.
  • the components of the light receiving system mainly indicate a light receiving lens and a light receiving substrate.
  • the depth direction of the laser radar device corresponds to a direction that is directly opposite to the direction in which the center (that is, the optical axis) of the angle range where the laser beam is irradiated.
  • This disclosure is intended to provide a laser radar device that suppresses the length in the depth direction in the laser radar device.
  • the laser radar device acquires distance information with respect to a target existing in a detection area determined according to the angular range by sweeping and irradiating laser light within a predetermined angular range.
  • the laser radar device includes a light source substrate on which a laser light source that outputs laser light is arranged.
  • the laser radar device further includes an emission lens that shapes and outputs the laser light output from the laser light source.
  • the laser radar device is a mirror for reflecting the laser beam output from the emission lens and emitting the laser beam to the outside of the housing, and a scanning mirror configured to change the attitude with respect to the laser light source, In addition.
  • the laser radar device further includes a scanning substrate that controls an attitude of the scanning mirror with respect to the laser light source.
  • the laser radar device further includes a light receiving substrate provided with a light receiving element that receives reflected light, which is laser light reflected by the target, and outputs an electrical signal corresponding to the intensity of the received reflected light.
  • the laser radar device further includes a light receiving lens that condenses the reflected light on the light receiving element.
  • the laser radar device further includes a housing that houses the light source substrate, the exit lens, the scanning mirror, the scanning substrate, the light receiving substrate, and the light receiving lens. Of the exit lens, the scanning mirror, and the light receiving lens, a position that does not overlap in the depth direction of the casing with the innermost member that has an end portion on the innermost side in the depth direction of the casing In addition, the light source substrate, the scanning substrate, and the light receiving substrate are disposed.
  • the drawing 1 is an external perspective view of a laser radar device 1; It is a front view of the laser radar apparatus 1, It is a side view of the laser radar apparatus 1, It is a top view of the laser radar apparatus 1, It is a figure for demonstrating the structure of the light reception light guide mirror 50, It is a functional block diagram showing an example of a schematic configuration of the main control board 80, It is a front view of the laser radar apparatus 1 in the modification 1, It is a side view of the laser radar apparatus 1 in the modification 1, It is a front view of the laser radar apparatus 1 in the modification 2, It is a side view of the laser radar apparatus 1 in the modification 2, It is a front view of the laser radar apparatus 1 in the modification 3, It is a side view of the laser radar apparatus 1 in the modification 3.
  • FIG. 1 is a schematic perspective view of an appearance of a laser radar device 1 according to the present disclosure.
  • the laser radar device 1 includes a rectangular parallelepiped casing 100 having a height of H [mm], a width of W [mm], and a depth of D [mm].
  • the side surface 110 (hereinafter referred to as the front portion) is provided with a radiation receiving window 111 for emitting and receiving laser light.
  • the shape of the housing 100 is a rectangular parallelepiped is illustrated as an example, but the present invention is not limited thereto.
  • the front part 110 may be formed in an arc shape having a predetermined radius of curvature when viewed from above.
  • the rectangular parallelepiped shape includes a substantially rectangular parallelepiped shape.
  • the substantially rectangular parallelepiped shape refers to a shape based on a rectangular parallelepiped in which corners of the rectangular parallelepiped are chamfered or partially deformed.
  • the shape itself of the housing 100 is a design matter.
  • the height direction and the width direction correspond to a vertical direction and a horizontal direction in a posture assumed in advance as a posture when the laser radar device 1 is used.
  • the depth direction is a direction from the front side toward the surface on the side facing the front part 110 (that is, the back surface).
  • the depth direction corresponds to a direction parallel to the center (so-called optical axis) of the angle range in which the laser radar device 1 irradiates laser light.
  • Specific values of the height H, width W, and depth D of the housing 100 may be appropriately designed so that various members described later can be accommodated.
  • the laser radar apparatus 1 discontinuously sweeps and irradiates a laser beam in a predetermined angle range from ⁇ a to + ⁇ a in the width direction (so-called scanning), so that the distance from the target existing in the direction of irradiating the laser beam.
  • ⁇ a is a value designed as appropriate, and may be 60 degrees, for example.
  • a mode in which laser light is swept in the width direction is illustrated as an example, but a mode in which sweep irradiation is performed in the height direction may be employed.
  • the range in which the laser beam is swept is equivalent to the detection area.
  • the left side surface portion (hereinafter, left side surface portion) of the housing 100 communicates with an electronic control device (ECU: Electronic Control Unit) provided outside the laser radar device 1.
  • ECU Electronic Control Unit
  • a connector hereinafter referred to as a relay connector
  • the relay connector is preferably provided at a position as close as possible to a position where a cable for connecting to the laser radar device 1 in the vehicle is drawn (hereinafter referred to as a cable drawing position).
  • FIG. 2 is a front view of the laser radar device 1 seen through the front portion 110
  • FIG. 3 is a side view of the housing 100 viewed from the right side
  • FIG. 4 is a top view of the laser radar device 1.
  • the right side surface portion (hereinafter, right side portion) 120 of the housing 100 is transmitted
  • the upper portion (hereinafter, upper surface portion) 130 is transmitted.
  • the laser radar device 1 includes a light source substrate 10, an emission lens 20, an emission light guide mirror 30, a scanner 40, a light reception light guide mirror 50, a light reception lens 60, a light reception substrate 70, and a main control.
  • a substrate 80 is provided.
  • the light source substrate 10 is provided with a laser diode 11 that emits laser light
  • the light receiving substrate 70 is provided with a light receiving element 71.
  • the scanner 40 includes a polygon mirror 41, a pedestal portion 42, a motor 43, and a scanning substrate 44. Each of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70 is connected to the main control substrate 80 so as to be able to communicate with each other using, for example, a flexible cable.
  • the light source substrate 10 causes the laser diode 11 to output pulsed laser light based on the light emission instruction signal input from the main control substrate 80.
  • the pulse width of the emitted laser light may be set to 20 nanoseconds, for example.
  • the laser diode 11 corresponds to a laser light source.
  • the emission lens 20 is a lens for shaping laser light.
  • the exit lens 20 shapes the pulsed laser light output from the laser diode 11 and outputs it in the direction in which the exit light guide mirror 30 exists.
  • the exit light guide mirror 30 is a planar mirror (that is, a planar mirror) that reflects the laser light output from the exit lens 20 in the direction in which the polygon mirror 41 exists.
  • the laser beam output from the laser diode is shaped by the exit lens 20, further reflected by the exit light guide mirror 30 and incident on the polygon mirror 41.
  • the solid line arrow shown in the figure conceptually represents the path of the laser beam output from the laser diode 11.
  • the exit light guide mirror 30 corresponds to an exit path bending member.
  • the scanner 40 is a unit for controlling the direction in which laser light is emitted outside the housing.
  • the scanner 40 includes a polygon mirror 41 as a reflector, a pedestal portion 42 that supports the polygon mirror 41, a motor 43 that rotates the polygon mirror 41 around an axis parallel to the height direction (hereinafter, a rotation axis), a motor And a scanning substrate 44 that controls the driving of 43.
  • the polygon mirror 41 is provided on the pedestal portion 42 so as to be rotatable around a rotation axis.
  • a motor drive circuit for driving the motor 43 is mounted on the scanning board 44 based on a drive signal input from the main control board 80.
  • the scanning substrate 44 drives the motor 43 based on the drive signal from the main control substrate 80 to rotate the polygon mirror 41.
  • the rotation angle of the motor 43 (in other words, the polygon mirror 41) with respect to the initial position is detected by the motor rotation position sensor and output to the main control board 80.
  • the motor rotation position sensor may be realized by adopting a well-known configuration. For example, a magnet or the like is provided for each of the rotating member and the non-rotating member, and the rotation angle is detected from a change in magnetic force acting between the magnets. What is necessary is just composition.
  • the rotation direction of the polygon mirror 41 may be designed as appropriate. For example, the polygon mirror 41 is rotated clockwise around the vertical rotation axis.
  • the polygon mirror 41 has four reflecting surfaces on the side surfaces around the rotation axis. Each reflecting surface is formed so as to make a predetermined inclination angle (here, 45 degrees) with respect to the rotation axis.
  • the polygon mirror 41 has the same shape as the solid on the side including the bottom surface of the original quadrangular pyramid among two solid bodies generated by cutting out a square pyramid having a square bottom surface in a plane parallel to the bottom surface ( That is, it is configured in a frustum shape.
  • the surface having the larger area is referred to as the first surface
  • the surface having the smaller area is referred to as the second surface.
  • the polygon mirror 41 is arranged such that the first surface is on the upper side in the housing than the second surface.
  • the laser light incident from the emission light guide mirror 30 is reflected by one of the four reflecting surfaces of the polygon mirror 41 and emitted outside the casing. While the incident light from the emission light guide mirror 30 is reflected by the same reflection surface, the emission direction of the laser light changes in the horizontal direction by rotation about the rotation axis. Therefore, the main control board 80 sweeps and irradiates laser light in a range of a predetermined angle in the horizontal direction by intermittently emitting laser light from the laser diode while rotating the polygon mirror 41 at a predetermined speed (that is, Scanning).
  • the polygon mirror 41 reflects the laser light (that is, the reflected light) that is returned after the emitted laser light is reflected by the target existing outside the housing in the direction in which the light receiving light guide mirror 50 exists.
  • the polygon mirror 41 not only emits the laser light incident from the emission light guide mirror 30 to the outside of the housing, but also reflects the reflected light to the inside of the housing, so that a light receiving light guide mirror 50 and a light receiving lens described later. It plays a role of guiding to the light receiving element 71 via 60.
  • the two-dot chain line arrow shown in the figure conceptually represents the path of the reflected light.
  • the broken line shown around the polygon mirror 41 represents the outline of a rotating body (hereinafter, polygon mirror rotating body) formed by rotating the polygon mirror 41. Since the polygon mirror 41 has a frustum shape, the polygon mirror rotating body has a truncated cone shape. In the polygon mirror rotating body, the diameter (hereinafter referred to as rotating body diameter) Dmt of the circular surface corresponding to the first surface of the polygon mirror 41 corresponds to the diagonal length of the first surface of the polygon mirror 41.
  • rotating body diameter Dmt of the circular surface corresponding to the first surface of the polygon mirror 41 corresponds to the diagonal length of the first surface of the polygon mirror 41.
  • reference numeral 411 denotes the innermost position where the vertex of the first surface of the polygon mirror 41 can be located when the polygon mirror 41 is rotated about the rotation axis (hereinafter, the mirror innermost position). ).
  • the mirror innermost position 411 corresponds to the position of the end portion on the innermost side in the polygon mirror rotating body.
  • the pedestal portion 42 is a plate-like member that supports the polygon mirror 41, and the shape thereof is substantially the same as the surface corresponding to the first surface of the polygon mirror 41 of the polygon mirror rotating body. Yes.
  • the pedestal portion 42 is an optional element.
  • the broken line shown in FIG. 4 indicates the position of the polygon mirror 41 arranged below the pedestal portion 42.
  • the light receiving / guiding mirror 50 is provided at a position where the reflected light reflected by the polygon mirror 41 arrives, and reflects the reflected light reflected by the polygon mirror 41 in the direction in which the light receiving lens 60 exists.
  • the light receiving / light guiding mirror 50 corresponds to a light receiving path bending member.
  • the light receiving / guiding mirror 50 may be realized by using a member that reflects laser light.
  • the light receiving / guiding mirror 50 guides as much reflected light from the target that has entered the housing 100 through the polygon mirror 41 to the light receiving lens 60 as much as possible.
  • the light receiving / guiding mirror 50 includes a notch 51 so as not to obstruct the passage of laser light from the exiting light guiding mirror 30 to the polygon mirror 41.
  • FIG. 5 is a top view of the vicinity of the light receiving / guiding mirror 50. Further, in FIG. 3, the light receiving and guiding mirror 50 is not shown.
  • the light receiving lens 60 is a translucent convex lens realized by using synthetic resin, glass, or the like, and shapes laser light (that is, reflected light from the target) coming from the direction in which the light receiving light guide mirror 50 exists. Then, the light is condensed on the light receiving surface of the light receiving element 71.
  • a portion of the light receiving lens 60 that is on the rear side of the casing with respect to the rotation axis of the polygon mirror 41 is cut off as shown in FIGS. This is because the reflected light from the polygon mirror 41 does not arrive at the portion on the rear side of the casing with respect to the rotation axis of the polygon mirror 41. Thereby, the space required for the arrangement of the light receiving lens 60 is reduced.
  • the shape of the light receiving lens 60 may be designed as appropriate.
  • the light receiving element 71 is an element that converts light into an electric signal.
  • the light receiving element 71 outputs a voltage having a magnitude corresponding to the intensity of the reflected light as a light receiving signal.
  • As the light receiving element 71 for example, an avalanche photodiode or the like can be employed.
  • the light receiving substrate 70 is provided with an amplifier for amplifying the light receiving signal output from the light receiving element 71.
  • the light receiving signal output from the light receiving element 71 is amplified at a predetermined amplification factor.
  • the amplifier may be realized by a known circuit configuration using, for example, an operational amplifier.
  • the ratio for amplifying the received light signal (that is, the amplification factor) is adjusted based on the amplification factor control signal input from the main control board 80. That is, the amplifier amplifies the received light signal at an amplification factor according to the amplification factor control signal input from the main control board 80.
  • the light reception signal amplified by the amplifier is output to the light reception processing unit 82 included in the main control board 80.
  • the main control board 80 is a board on which a function for controlling the operation of the entire laser radar apparatus 1 is mounted. As shown in FIG. 6, the main control board 80 includes an emission control unit 81, a light reception processing unit 82, and a distance measurement calculation unit 83 as functional blocks. The main control board 80 is provided with a connector 84 for communication connection with the ECU 2 via a relay connector (not shown). In addition to the configuration described above, the main control board 80 may be mounted with a power supply circuit module that controls power supply to each part of the laser radar device 1.
  • Each functional block may be realized by the CPU executing a predetermined program, or may be realized as a circuit module using one or a plurality of ICs or various circuit elements. Of course, it may be realized by combining execution of predetermined software by the CPU and hardware. Further, it may be mounted on a substrate as firmware.
  • a program for causing a normal computer to function as the distance measuring unit 83 or the like only needs to be stored in a non-transitory tangible storage medium.
  • Executing the main control program by the CPU corresponds to executing a method corresponding to the main control program.
  • the emission control unit 81 is a functional block for controlling the timing of emitting pulsed laser light in cooperation with the light source substrate 10 and the scanning substrate 44. Specifically, the injection control unit 81 outputs a drive signal to the scanning substrate 44 to rotate the motor 43. Further, a light emission instruction signal is output to the light source substrate 10 at a timing corresponding to the rotation angle of the polygon mirror 41 input from the scanning substrate 44. That is, the pulse laser beam is emitted at a predetermined interval at a timing synchronized with the rotation of the polygon mirror 41. Thus, the pulsed laser beam is swept and irradiated in a predetermined angle range so as to form a desired detection area.
  • the emission control unit 81 provides information indicating the timing at which the pulse laser beam is emitted to the distance measurement calculation unit 83.
  • the emission control unit 81 outputs a light emission instruction signal, and at the same time outputs an emission notification signal indicating that the distance calculation unit 83 has instructed emission of pulsed laser light.
  • the distance measurement calculation unit 83 recognizes the timing at which the emission notification signal is input as the timing at which the pulse laser beam is emitted.
  • the emission control unit 81 may output an output level instruction signal for instructing the output level to the light source substrate 10. . According to such an aspect, the emission control unit 81 can cause the laser diode 11 to emit laser light having an arbitrary intensity.
  • the light reception processing unit 82 detects that the reflected light has been received based on the time change of the light reception signal. For example, the light reception processing unit 82 determines that the reflected light has been received when the magnitude of the light reception signal exceeds a predetermined light reception determination threshold.
  • the light reception determination threshold is a threshold for determining that the reflected light is received from the magnitude of the light reception signal, and a specific value may be designed as appropriate. Moreover, what is necessary is just to implement the determination whether the light reception determination threshold was exceeded using a comparator.
  • the light reception processing unit 82 When the light reception processing unit 82 detects the reception of the reflected light, the light reception processing unit 82 outputs a signal indicating that fact (hereinafter, a light reception notification signal) to the distance measurement calculation unit 83.
  • the light reception processing unit 82 converts the light reception signal input from the light receiving substrate 70 into a digital signal or prepares a noise from the light reception signal using a known high-pass filter or the like as a preparation process for determining whether or not the reflected light is received. You may provide the function to remove a component.
  • the light receiving processing unit 82 is equipped with a function for performing signal processing for extracting information necessary for distance measurement processing from the light receiving signal input from the light receiving substrate 70.
  • the light receiving processing unit 82 outputs an amplification factor control signal to the amplifier provided on the light receiving substrate 70 to adjust the amplification factor.
  • the distance measurement calculation unit 83 specifies the injection timing based on the input of the injection notification signal from the injection control unit 81. Further, the timing at which the reflected light is received is specified based on the input of the light reception notification signal from the light reception processing unit 82. Thus, the flight time from when the pulse laser beam is emitted until the reflected light is received is specified. The flight time may be measured using a timer (not shown).
  • the distance to the target in the direction of irradiation with the laser light is calculated.
  • a known method may be applied as a method for calculating the distance to the target based on the flight time. For example, a value obtained by multiplying the flight time by the light propagation speed and dividing by 2 may be adopted as the distance to the target.
  • the process for calculating the distance to the target corresponds to the distance measurement calculation process.
  • the calculation result of the distance measurement calculation unit 83 is provided to the ECU 2 existing outside the laser radar device 1 via the connector 84.
  • the distance information with respect to the target detected by the laser radar device 1 is, for example, maintaining the inter-vehicle distance from the preceding vehicle. It can be used for running control. Of course, the distance information with respect to the target detected by the laser radar device 1 can also be used for other purposes such as automatic driving, automatic brake control for avoiding a collision, identification of a target type, and the like.
  • the ECU 2 may be a device that executes the vehicle control described above based on the detection result of the laser radar device 1.
  • the mounting mode of the laser radar device 1 in the vehicle is not limited to the above-described example. It may be mounted so as to sweep and irradiate the laser beam in the rear of the vehicle or in other directions.
  • the mounting position of the laser radar device 1 in the vehicle may be an appropriately selected position in the periphery of the vehicle body, such as a front bumper, a front grille, a vehicle door, or a rear bumper.
  • the laser beam reaches the outside of the vehicle and forms a desired detection area.
  • the laser radar device 1 may be mounted other than the vehicle.
  • the surface of the light source substrate 10 on the side where the laser diode 11 is not disposed (hereinafter, the light source solder surface) is the case 100.
  • the light source substrate 10 is disposed so that the end on the back side of the light source substrate 10 is located on the front surface 110 side (in other words, on the near side) with respect to the rearmost mirror position 411 so as to face the right side surface portion 120. It is assumed that the light source substrate 10 is formed so that the length in the depth direction is shorter than the rotating body warp Dmt.
  • the center of the irradiation angle range of the laser diode 11 faces the left side of the housing.
  • the center of the irradiation angle range of the laser diode 11 corresponds to the optical axis of the laser diode 11.
  • the left and right are the left and right when the casing 100 is viewed in the direction of the white arrow shown in FIG. 1 (in other words, in front view).
  • the term “upper and lower” here refers to the upper and lower when the laser radar device 1 is viewed from the front.
  • Up, down, left, and right are directions orthogonal to the depth direction.
  • the lower right corner of the housing 100 refers to a space that becomes the lower half of the space that becomes the right half of the housing 100.
  • the back side edge part of a certain member refers to the edge part which becomes the back
  • the emission lens 20 has a posture in which the optical axis of the laser diode 11 coincides with the optical axis of the emission lens 20 on the optical axis of the laser diode 11, and the distance from the laser diode 11 to the emission lens 20 is the emission lens 20. It arrange
  • the exit lens 20 and the light source substrate 10 are arranged so that the position of the exit lens 20 in the width direction is on the right side of the rotation axis of the polygon mirror 41.
  • the exit light guide mirror 30 is arranged so as to reflect the laser light incident from the exit lens 20 directly on the half line from the laser diode 11 to the exit lens 20.
  • the position of the exit light guide mirror 30 in the width direction is made to coincide with the position in the width direction where the rotation axis of the polygon mirror 41 is arranged.
  • the rotation axis of the polygon mirror 41 coincides with the vertical direction of the casing and the laser light incident from the exit light guide mirror 30 is reflected in a region positioned relatively upward in the casing 100. It arrange
  • the scanning substrate 44 is disposed above the polygon mirror 41 so as to face the upper surface portion 130.
  • the scanning substrate 44 is formed such that the length in the depth direction is shorter than the rotating body warp Dmt, and the rear side end of the scanning substrate 44 in the depth direction is positioned on the near side of the mirror innermost position 411. To place.
  • the light receiving / guiding mirror 50 is disposed so as to reflect the reflected light incident from the polygon mirror 41 to the left side of the casing on the path along which the reflected light reflected by the polygon mirror 41 travels.
  • the arrangement position of the light receiving / guiding mirror 50 in the width direction is a position where the center position of the light receiving / guiding mirror 50 in the width direction coincides with the position of the rotation axis of the polygon mirror 41 in the width direction.
  • Such a configuration corresponds to a configuration in which the exit light guide mirror 30 and the light receiving light guide mirror 50 are arranged on a straight line (hereinafter referred to as a central optical path) reflected by the polygon mirror 41 and on which reflected light from the target travels. To do.
  • the central optical path corresponds to a straight line through which the laser light reflected by the exit light guide mirror 30 passes.
  • the light receiving lens 60 is disposed at a position where most of the laser light reflected by the light receiving / guiding mirror 50 is incident, with the optical axis thereof being aligned with the direction in which the light receiving / guiding mirror 50 reflects the reflected light. . That is, the light receiving lens 60 is disposed so that the optical axis coincides with the width direction of the housing 100 in the region on the left side of the housing, and the optical axis passes through the center of the light receiving light guide mirror 50.
  • the light receiving substrate 70 is disposed so that the light receiving element 71 is positioned at the left focal point of the light receiving lens 60 in a posture facing the left side surface portion of the housing 100.
  • the light receiving substrate 70 is formed so that the length in the depth direction is shorter than the rotating body length Dmt, and the rear side end portion of the scanning substrate 44 in the depth direction is positioned on the near side of the mirror innermost position 411. To place.
  • the main control board 80 is located in the upper left corner of the housing 100, specifically, in the space on the left side of the scanner 40 and the upper side of the light receiving lens 60. It arrange
  • the above configuration corresponds to a configuration in which the main control board 80 is provided at a position relatively close to the relay connector provided in the housing 100 in the internal space of the housing 100. According to such a configuration, the length of the cable connecting the relay connector and the connector 84 can be reduced. Further, in the present embodiment, as an example, the connector 84 is assumed to be disposed on an edge portion of the edge portion of the main control board 80 that faces the left side surface portion of the housing 100. According to such a configuration, the distance from the relay connector provided in the housing 100 is shortened, and the length of the cable accommodated in the housing 100 can be further shortened.
  • the polygon mirror 41 behaves as an innermost member that is an optical member having an end on the innermost side in the depth direction of the housing 100 among various optical members, It also behaves as an optical system member having a maximum length in the depth direction (hereinafter referred to as a maximum depth length member) during housing.
  • the optical system member refers to a member that reflects / refracts the laser beam, such as the exit lens 20, the exit light guide mirror 30, the light receiving light guide mirror 50, and the light receiving lens 60, in addition to the polygon mirror 41.
  • the shaping of the laser light by the emission lens 20 and the collection of the reflected light by the light receiving lens 60 are also realized by light refraction. Therefore, the emission lens 20 and the light receiving lens 60 are also included in the above-described optical system members.
  • the light source substrate 10, the scanning substrate 44, the light receiving substrate 70, and the main control substrate 80 are arranged at positions that do not overlap the polygon mirror 41 in the depth direction. Further, optical members other than the polygon mirror 41 are also arranged so as not to overlap the polygon mirror 41 in the depth direction.
  • the length (that is, the thickness) in the depth direction of the laser radar device 1 is arranged on the back side of the polygon mirror 41 due to the arrangement of the substrate or the like on the back side of the polygon mirror 41. It is possible to suppress an increase in the thickness of the substrate or the like. That is, the depth D of the laser radar device 1 can be suppressed.
  • the depth D of the laser radar device 1 depends on the size of the polygon mirror 41, the thickness of the members constituting the casing 100, and the separation between the polygon mirror 41 and the casing in the depth direction. Determined. Therefore, according to the above configuration, the depth D of the laser radar device 1 can be brought close to a limit value determined according to the depth length of the polygon mirror 41 as the maximum depth length member.
  • substrate means the direction perpendicular
  • the main control board 80 only needs to be connected to the light source board 10 and the scanning board 44, and is not limited by the positional relationship with the optical system member such as the light receiving lens 60. Therefore, the main control board 80 can be placed in an empty space remaining in the housing 100 after the optical system member, the light source board 10, the scanner 40, the light receiving board 70, and the like are arranged. Therefore, according to the said structure, the space in the housing
  • the laser diode 11 and the light receiving element 71 are mounted on separate substrates, the alignment of the laser diode 11 with respect to the optical system member of the emission system and the light receiving element with respect to the optical system member of the light receiving system 71 alignments can be performed independently. Moreover, the arrangement
  • the emission light guide mirror 30 is used to bend the laser light path from the laser diode 11 to the polygon mirror 41 so as to be L-shaped when viewed from the front, and the light receiving light guide mirror 50 is used to make a polygon.
  • the path from the mirror 41 to the light receiving element 71 is bent in an inverted L shape.
  • the arrangement is such that the central optical path extending in the vertical direction through the polygon mirror 41 is opposed to each other (in other words, divided into left and right). According to such a configuration, the light source substrate 10 and the light receiving substrate 70 do not line up and down, so that the height H of the housing 100 can be suppressed.
  • a light receiving / guiding mirror 50 that is a relatively large optical system member is disposed between the light source substrate 10 and the light receiving substrate 70.
  • the light receiving / guiding mirror 50 also functions as a shielding member that separates the optical system and the light receiving system. As a result, it is possible to suppress erroneous detection of an object due to the laser light emitted from the laser diode 11 being received by the light receiving element 71.
  • the emission light guide mirror 30 and the light receiving light guide mirror 50 are used, and the laser light path from the laser diode 11 to the polygon mirror 41 (hereinafter referred to as the emission optical path), and the polygon mirror 41 to the light receiving element 71.
  • the above-described path (hereinafter referred to as the light receiving optical path) is illustrated as being bent so as to be L-shaped (that is, a right angle) in a front view, the present invention is not limited thereto.
  • FIG. 7 is a diagram corresponding to FIG. 2 of the embodiment, and is a front view through which the front part 110 of the laser radar device 1 according to the first modification is transmitted.
  • FIG. 8 is a diagram corresponding to FIG. 4 of the embodiment, and is a right side view through which the right side portion 120 of the laser radar device 1 in Modification 1 is transmitted.
  • the reflected light incident on the light receiving lens 60 is condensed on the light receiving element 71 disposed below the light receiving lens 60.
  • the exit optical path is bent in the width direction from the rotation axis direction of the polygon mirror 41 using the exit light guide mirror 30. This is to provide a certain distance between the light receiving element 71 and the laser diode 11.
  • the light receiving and guiding mirror 50 provided in the above-described embodiment can be omitted.
  • the light receiving / guiding mirror 50 is a member having a relatively large area as described above. According to the configuration of Modification 1, since a member having a large area can be omitted, the volume of the laser radar device 1 can be reduced as compared with the above-described embodiment.
  • the light receiving light guide mirror 50 may be used, but the exit light guide mirror 30 may not be used, so that the exit optical path is linear and the light receiving optical path is bent.
  • a member hereinafter referred to as a bending member
  • an optical path a member that bends the laser light path (hereinafter referred to as an optical path), such as the emission light guide mirror 30 or the light receiving light guide mirror 50. It suffices to be able to bend in the width direction.
  • the angle at which the optical path is bent by the bending member is 90 degrees ( That is, it is not limited to a right angle). Other angles such as 60 degrees and 45 degrees may be used. Further, making the optical path L-shaped corresponds to bending at a right angle, but the right angle here includes a substantially right angle.
  • a substantially right angle indicates, for example, a range from 80 degrees to 100 degrees and a range from 260 degrees to 280 degrees.
  • the emission optical path and the light receiving optical path formed by using the bending member do not necessarily have to be formed so that the entire process is parallel to the front part 110.
  • the light source substrate 10 is disposed so as to face the back surface, the optical path from the laser diode 11 to the exit light guide mirror 30 is parallel to the depth direction, and You may arrange
  • the emission light guide mirror 30 is arranged in a posture to reflect the laser light traveling forward from the rear side of the casing to the upper side of the casing.
  • the light source substrate 10 is arranged so as to be closer to the front side than the mirror innermost position 411.
  • FIG. 9 is a diagram corresponding to FIG. 2 of the embodiment, and is a front view through the front portion 110 of the laser radar device 1 according to the second modification.
  • 10 is a diagram corresponding to FIG. 3 of the embodiment, and is a right side view through which the right side surface 120 of the laser radar device 1 in Modification 2 is transmitted.
  • the emission optical path in such a configuration is formed to be L-shaped in a side view through the right side surface 120 of the housing 100 as shown in FIG. Even with such a configuration, the same effects as those of the above-described embodiment can be obtained. Further, according to the configuration disclosed as the second modification, the length W in the width direction can be reduced as compared with the configurations of the above-described embodiment and the first modification.
  • FIG. 11 is a view corresponding to FIG. 2 of the embodiment, and is a front view through which the front portion 110 of the laser radar device 1 according to Modification 3 is transmitted.
  • FIG. 12 is a diagram corresponding to FIG. 3 of the embodiment, and is a right side view through which the right side portion 120 of the laser radar device 1 in Modification 3 is transmitted.
  • the laser radar device 1 includes a substrate (hereinafter, integrated substrate) 90 on which the functions of the light source substrate 10 and the light receiving substrate 70 described above are mounted. That is, the integrated substrate 90 is provided with a laser diode 11, a light receiving element 71, an amplifier for amplifying a light receiving signal output from the light receiving element 71, and the like.
  • a mode is disclosed in which the integrated substrate 90 is disposed on the left side of the inner space of the housing 100 in a posture facing the left side surface portion of the housing 100.
  • the arrangement of the integrated substrate 90 is not limited thereto.
  • the integrated substrate 90 may be arranged on the right side of the internal space of the housing 100 in a posture facing the right side surface portion of the housing 100.
  • the exit light guide mirror 30 may be disposed at a position and an angle at which the laser light emitted from the laser diode 11 is reflected directly toward the reflection surface of the polygon mirror 41.
  • the light receiving / guiding mirror 50 may be disposed at a position and an angle at which the reflected light reflected by the polygon mirror 41 is reflected in the direction in which the light receiving lens 60 exists.
  • the exit light guide mirror 30 and the light receiving light guide mirror 50 are arranged in a posture inclined at a predetermined 45 degrees on the central optical path.
  • the number of substrates accommodated in the housing 100 can be reduced as compared with the above-described embodiment and the like. Therefore, the number of wirings (for example, flexible cables) that connect the substrates can be reduced.
  • the housing 100 can be downsized as a result. Furthermore, since the number of substrates attached to the housing 100 is reduced, the number of assembling steps of the laser radar apparatus 1 can be reduced, and the manufacturing cost can be suppressed.
  • the configuration of the above-described embodiment and the like has an advantage that the degree of freedom of arrangement of each member is high with respect to the third modification.
  • Modification 3 the configuration in which the light receiving element 71 and the laser diode 11 are arranged on the same substrate tends to increase the difficulty of alignment with the optical system member. For example, if the integrated substrate 90 is moved so that the light receiving element 71 is positioned at the focal point on the left side of the light receiving lens 60, the position of the laser diode 11 may be shifted from the focal point of the emission lens 20.
  • the configuration in which the light receiving element 71 and the laser diode 11 are provided on separate substrates as in the above-described embodiment is more aligned with the optical system member than the configuration of the third modification. There is an advantage that difficulty can be suppressed.
  • the substrate on which a circuit (hereinafter referred to as a main control circuit unit) that provides a function for controlling the operation of the entire laser radar device 1 is mounted as the main control substrate 80, and the light source substrate 10 and the light receiving substrate 70.
  • the main control circuit unit may be provided on any of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70.
  • any one of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70 may be formed integrally with the main control substrate 80. Even with such a configuration, since the number of substrates accommodated in the housing 100 can be reduced, the number of wirings connecting the substrates can be reduced, and the number of assembling steps can be reduced.
  • a plane mirror that is, a bending member
  • the bending member may be a parabolic mirror.
  • the optical path may be bent not by reflection but by refraction.
  • the bending member using the refraction of light may be realized by using a transparent material such as synthetic resin or glass.
  • the shape may be designed to provide a desired bending angle.
  • the mechanism for sweeping and irradiating the laser beam is not limited to the configuration in which the polygon mirror 41 is rotated.
  • laser light may be swept and irradiated using a MEMS (Micro Electro Mechanical Systems) mirror.
  • the irradiation direction of the laser beam can be changed by using a known configuration.
  • a polygon mirror 41, a MEMS mirror, a plane mirror for emitting laser light to the outside of the housing, and the like correspond to the scanning mirror.
  • the configuration using the plane mirror tends to be larger than the configuration using the polygon mirror.
  • the present invention is not limited to this.
  • the light receiving lens 60 may be the innermost member.
  • various substrates are arranged at positions that do not overlap the light receiving lens 60 in the depth direction.
  • the various substrates are arranged so as to be positioned on the front side of the innermost end portion of the light receiving lens 60.
  • the configuration on the premise that the laser radar device 1 and the ECU 2 are connected by wire is disclosed, but the configuration is not limited thereto.
  • the laser radar device 1 and the ECU 2 may be wirelessly connected.
  • the connector 84 provided in the main control board 80 can be omitted.
  • a communication module for wirelessly communicating with the ECU 2 is accommodated in the housing 100.
  • the above-described laser radar device obtains distance information with respect to a target existing in a detection area determined according to the angle range by sweeping and irradiating laser light in a predetermined angle range.
  • the laser radar apparatus includes a light source substrate 10, an emission lens 20, a scanning mirror 41, a scanning substrate 44, a light receiving substrate 70, a light receiving lens 60, and a housing 100.
  • a laser light source that outputs laser light is arranged on the light source substrate 10.
  • the emission lens 20 shapes and outputs the laser beam output from the laser light source.
  • the scanning mirror 41 is a mirror for reflecting the laser beam output from the emission lens and emitting it to the outside of the housing, and is configured to be able to change the attitude with respect to the laser light source.
  • the scanning substrate 44 controls the posture of the scanning mirror with respect to the laser light source.
  • the light receiving substrate 70 is provided with a light receiving element that receives reflected light, which is laser light reflected by the target, and outputs an electrical signal corresponding to the intensity of the received reflected light.
  • the light receiving lens 60 condenses the reflected light on the light receiving element.
  • the housing 100 accommodates the light source substrate 10, the emission lens 20, the scanning mirror 41, the scanning substrate 44, the light receiving substrate 70, and the light receiving lens 60.
  • the innermost member which is a member having an end portion on the innermost side in the depth direction of the housing, and the light source substrate at a position that does not overlap in the depth direction of the housing, A scanning substrate and a light receiving substrate are disposed.
  • the light source substrate, the scanning substrate, and the light receiving substrate are the depth-side member that is an optical system member having an end portion on the farthest side in the depth direction of the housing among various optical system members, and the depth. Place in a position that does not overlap in the direction.
  • the optical system member refers to a member that reflects or refracts laser light, such as an emission lens, a scanning mirror, or a light receiving lens.
  • the depth direction of the housing corresponds to a direction that is opposite to the direction in which the center of the angle range in which the laser beam is irradiated (that is, the optical axis for the laser radar device) is directed.
  • the length (that is, the thickness) in the depth direction of the laser radar apparatus is prevented from increasing due to the substrate due to the substrate being disposed on the back side of the optical system member. be able to. That is, the thickness of the laser radar device can be suppressed.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Selon l'invention, une source de lumière laser qui émet une lumière laser est agencée dans un substrat de source de lumière (10). Une lentille d'émission (10) lisse et émet une lumière laser émise par la source de lumière laser. Un miroir de balayage (41) réfléchit la lumière laser émise par la lentille d'émission, émet ladite lumière laser vers l'extérieur d'un boîtier, et peut changer d'orientation par rapport à la source de lumière laser. Un substrat de balayage (44) commande l'orientation du miroir de balayage par rapport à la source de lumière laser. Un substrat de réception de lumière (70) a un élément de réception de lumière agencé en son sein, qui reçoit une lumière réfléchie qui est la lumière laser qui a été réfléchie par une cible. Une lentille de réception de lumière (60) condense la lumière réfléchie sur l'élément de réception de lumière. Le boîtier renferme le substrat de source de lumière, la lentille d'émission, le miroir de balayage, le substrat de balayage, le substrat de réception de lumière, et la lentille de réception de lumière. Le substrat de source de lumière, le substrat de balayage, et le substrat de réception de lumière sont agencés à des positions qui ne se chevauchent pas dans la direction de la profondeur du boîtier, et un élément le plus interne est également agencé dans le boîtier, ledit élément le plus interne étant l'élément parmi la lentille d'émission, le miroir de balayage, et la lentille de réception de lumière dont une section d'extrémité est sur le côté le plus interne du boîtier dans la direction de la profondeur.
PCT/JP2017/000931 2016-01-28 2017-01-13 Dispositif de radar à laser WO2017130729A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112017000570.1T DE112017000570T5 (de) 2016-01-28 2017-01-13 Laserradarvorrichtung
US16/072,338 US11119194B2 (en) 2016-01-28 2017-01-13 Laser radar device

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2016014853 2016-01-28
JP2016-014853 2016-01-28
JP2016-237837 2016-12-07
JP2016237837A JP2017138301A (ja) 2016-01-28 2016-12-07 レーザレーダ装置

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110018484A (zh) * 2018-01-08 2019-07-16 Sos实验株式会社 激光雷达装置
WO2021169714A1 (fr) * 2020-02-28 2021-09-02 上海禾赛科技有限公司 Lidar et procédé anti-brouillage appliqué à celui-ci

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JPS6462613A (en) * 1987-09-03 1989-03-09 Fujitsu Ltd Image pickup device
JPH11326499A (ja) * 1998-05-20 1999-11-26 Mitsubishi Electric Corp 距離測定装置及びこれを利用した車両用制御装置
JP2000162533A (ja) * 1998-11-30 2000-06-16 Aisin Seiki Co Ltd 光走査装置
JP2002031685A (ja) * 2000-07-17 2002-01-31 Denso Corp 反射測定装置

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Publication number Priority date Publication date Assignee Title
JPS5229603B2 (fr) * 1971-08-10 1977-08-03
US4627734A (en) * 1983-06-30 1986-12-09 Canadian Patents And Development Limited Three dimensional imaging method and device
JPS6462613A (en) * 1987-09-03 1989-03-09 Fujitsu Ltd Image pickup device
JPH11326499A (ja) * 1998-05-20 1999-11-26 Mitsubishi Electric Corp 距離測定装置及びこれを利用した車両用制御装置
JP2000162533A (ja) * 1998-11-30 2000-06-16 Aisin Seiki Co Ltd 光走査装置
JP2002031685A (ja) * 2000-07-17 2002-01-31 Denso Corp 反射測定装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110018484A (zh) * 2018-01-08 2019-07-16 Sos实验株式会社 激光雷达装置
CN110018481A (zh) * 2018-01-08 2019-07-16 Sos实验株式会社 激光雷达装置
CN110018481B (zh) * 2018-01-08 2023-08-01 Sos实验株式会社 激光雷达装置
CN110018484B (zh) * 2018-01-08 2023-12-29 Sos实验株式会社 激光雷达装置
WO2021169714A1 (fr) * 2020-02-28 2021-09-02 上海禾赛科技有限公司 Lidar et procédé anti-brouillage appliqué à celui-ci

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