WO2018173589A1 - Dispositif de mesure de distance et dispositif de déplacement - Google Patents

Dispositif de mesure de distance et dispositif de déplacement Download PDF

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Publication number
WO2018173589A1
WO2018173589A1 PCT/JP2018/005889 JP2018005889W WO2018173589A1 WO 2018173589 A1 WO2018173589 A1 WO 2018173589A1 JP 2018005889 W JP2018005889 W JP 2018005889W WO 2018173589 A1 WO2018173589 A1 WO 2018173589A1
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Prior art keywords
light
axis
measuring device
distance measuring
reflection
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PCT/JP2018/005889
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English (en)
Japanese (ja)
Inventor
智浩 江川
佐伯　哲夫
石丸　裕
岡本　修治
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日本電産株式会社
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Publication of WO2018173589A1 publication Critical patent/WO2018173589A1/fr

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  • the present invention relates to a distance measuring device and a moving device.
  • a distance measuring device is mounted on the moving device in order to avoid collision with surrounding objects.
  • the distance measuring device detects the presence / absence of a surrounding object and the distance to the object based on the result of receiving the reflected light of the laser light applied to the surroundings.
  • Patent Document 1 teaches an automatic guided vehicle equipped with a laser obstacle detection sensor.
  • the laser light is irradiated with the optical axis of the laser light reflected by the light projection mirror facing upward from the horizontal line.
  • Patent Document 1 makes no mention of this point. *
  • an object of the present invention is to provide a distance measuring device and a moving device that can reduce a measurement error due to adjustment of the inclination of a reflecting surface.
  • an exemplary distance measuring device of the present invention irradiates light outside, receives reflected light of the light reflected by the external object, and receives the reflected light as a result of receiving the reflected light.
  • a distance measuring device for measuring a distance between the object and the light source a light source that emits the light, a light irradiation unit that irradiates the light to the outside, and the light irradiation unit with a central axis as a center
  • a motor having a rotatable shaft, wherein the light irradiating portion has a reflecting member having a reflecting surface for reflecting the light emitted from the light source, and a first axis on the reflecting surface.
  • An adjustment member capable of adjusting the inclination of the reflection surface in a first circumferential direction; and a support member that supports the reflection member, wherein the first axis is perpendicular to the axial direction along the central axis.
  • the reflection member passes through a reflection point of the light on the reflection surface; Further has a first curved surface, when viewed from the first direction parallel to the axis, the curvature of the first curved surface with respect to the first axis is configured to be constant.
  • an exemplary distance measuring device of the present invention irradiates light outside, receives reflected light of the light reflected by the external object, and receives the reflected light.
  • a distance measuring device for measuring a distance between the object based on a result a light source that emits the light, a light irradiation unit that irradiates the light to the outside, and the light irradiation around a central axis
  • a motor having a shaft that can rotate together with a part, wherein the light irradiation part includes a MEMS mirror element having a mirror part that reflects the light emitted from the light source by a reflection surface, and is on the reflection surface
  • the tilt of the reflecting surface can be adjusted in the first circumferential direction by swinging the mirror portion in a first circumferential direction around the first axis, and the first axis is the central axis. Perpendicular to the axial direction along the reflective surface It is configured to pass through the reflection point. *
  • an exemplary mobile device of the present invention is a mobile device that travels on a road and includes the above-described distance measuring device.
  • the exemplary distance measuring device and the moving device of the present invention it is possible to reduce measurement errors caused by adjusting the inclination of the reflecting surface.
  • FIG. 1 is a schematic side sectional view of a distance measuring device according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing an electrical configuration of the distance measuring apparatus according to the embodiment of the present invention.
  • FIG. 3 is a diagram illustrating a first configuration example of the light projecting mirror unit.
  • FIG. 4 is a diagram illustrating a second configuration example of the light projecting mirror unit.
  • FIG. 5 is a diagram illustrating a third configuration example of the light projecting mirror unit.
  • FIG. 6 is a diagram illustrating a fourth configuration example of the light projecting mirror unit.
  • FIG. 7 is a perspective view of a moving device according to an embodiment of the present invention.
  • FIG. 8 is a side view of the moving apparatus according to the embodiment of the present invention.
  • FIG. 9 is a plan view of the moving device according to the embodiment of the present invention as viewed from above.
  • a direction orthogonal to the central axis J is referred to as a “radial direction”, and a circumferential direction around the central axis J is referred to as a “circumferential direction”.
  • a direction toward the central axis J is referred to as “inward”
  • a direction away from the central axis J is referred to as “outward”.
  • a side surface facing inward in the radial direction is called an “inner side surface”
  • a side surface facing outward in the radial direction is called an “outer side surface”.
  • the distance measuring device 7 is a device that measures a distance from an external object.
  • the distance measuring device 7 irradiates the projection light L1 to the outside, receives the reflected light L2 of the projection light L1 reflected by the external object, and determines the distance to the object based on the light reception result of the reflected light L2. taking measurement.
  • FIG. 1 is a cross-sectional view illustrating a configuration example of the distance measuring device 7. In FIG. 1, the distance measuring device 7 is cut along a cut surface including the central axis J of the motor 79.
  • the distance measuring device 7 includes a laser light source 71, a collimating lens 72, a light projecting mirror unit 73, a light receiving lens 74, a light receiving mirror unit 75, a light receiving unit 77, a rotating housing 78, a motor 79, a housing, and a housing.
  • a body 80, a substrate 81, a wiring 82, and a gyro sensor 83 are included. *
  • the casing 80 has, for example, a substantially cylindrical shape extending in the vertical direction in appearance and stores the laser light source 71 and the light projecting mirror unit 73 in the internal space. More specifically, the housing 80 stores the components 71 to 79 and 81 to 83 of the distance measuring device 7 as described above. A laser light source 71 and a substrate 81 on which a gyro sensor 83 is mounted are provided on the lower surface of the upper end portion in the axial direction Da of the housing 80. Note that the shape of the housing 80 in the external view is not limited to the example of the present embodiment, and may be, for example, a prismatic shape. *
  • the laser light source 71 emits laser light in the infrared region, for example, below the axial direction Da.
  • the type of the laser light source 71 is not particularly limited, but a laser element that emits laser light in the infrared region is preferable in order to reduce manufacturing costs.
  • the collimating lens 72 is disposed below the laser light source 71 in the axial direction Da.
  • the collimating lens 72 emits laser light emitted from the laser light source 71 as parallel light below the axial direction Da.
  • the light projecting mirror 73 is disposed below the collimating lens 72 in the axial direction Da, and is fixed to the rotary casing 78.
  • the light projection mirror unit 73 is an example of a light irradiation unit that irradiates laser light to the outside of the distance measuring device 7.
  • the optical path of the laser light emitted from the laser light source 71 and reaching the light projection mirror unit 73 is on the central axis J.
  • the light projection mirror unit 73 reflects the laser beam emitted from the collimator lens 72 at the reflection point Pr on the reflection surface 731a, and emits the reflected laser beam as the projection light L1.
  • a specific configuration of the light projecting mirror unit 73 will be described later. *
  • the rotary casing 78 is fixed to the shaft 79A of the motor 79, and is driven to rotate about the central axis J by the motor 79. Along with the rotation of the rotary casing 78, the light projecting mirror 73 is also driven to rotate about the central axis J. Therefore, the projection light L1 is emitted in a range of 360 [degree] in the circumferential direction around the central axis J. *
  • the housing 80 has a light-transmitting light transmitting portion 801 in the middle of the vertical direction.
  • the light transmission portion 801 is formed using, for example, a resin material, glass, or the like.
  • the light transmission part 801 has a cylindrical part 801A and a curved part 801B through which the projection light L1 irradiated to the outside from the light projection mirror part 73 passes.
  • the curved portion 801B is provided adjacent to the upper portion of the cylindrical portion 801A in the axial direction Da, and is curved so as to protrude outward in the radial direction. More specifically, the cylindrical portion 801A and the curved portion 801B have an arc shape centered on the central axis J when viewed from the axial direction Da.
  • the cylindrical portion 801A and the curved portion 801B may be annular with the central axis J as the center when viewed from the axial direction Da.
  • the curved portion 801B may have a cylindrical shape or a truncated cone shape along the central axis J, but preferably the reflection point Pr is seen from the circumferential direction centering on the central axis J as shown in FIG.
  • the center is an arc shape.
  • the inner side surface of the curved portion 801B facing the reflecting surface 731a is a concave surface.
  • the irradiation direction DL of the projection light L1 irradiated to the outside through the light transmission unit 801 is centered on the irradiation direction DL of the projection light L1 by adjusting the inclination of the reflection surface 731a described later and rotating the projection mirror unit 73. It is possible to suppress variation due to the movement in the circumferential direction around the axis J. *
  • the shortest distance r1 from the reflection point Pr of the projection light L1 on the reflective surface 731a to the inner surface of the curved portion 801B is constant as shown in FIG. That is, the curvature r2 of the first curved surface 731b with respect to the reflection point Pr is constant when viewed from the circumferential direction centered on the central axis J. In this way, it is possible to prevent a change in the distance r1 until the projection light L1 reaches the curved portion 801B of the light transmission portion 801 from the reflection point Pr on the reflection surface 731a. Therefore, variation in the irradiation direction DL of the projection light L1 irradiated to the outside can be prevented.
  • the projection light L1 passes through the curved portion 801B and is irradiated to the outside of the housing 80.
  • the curved portion 801B is arranged over a predetermined angular range ⁇ in the circumferential direction around the central axis J so as to correspond at least to the predetermined angular range ⁇ of scanning with the projection light L1.
  • the predetermined angle range ⁇ is set to 270 [degree] around the central axis J as an example. That is, the projection light L1 is transmitted through the curved portion 801B at least in the range of 270 degrees around the central axis J. Outside the angle range ⁇ , the projection light L1 is blocked by the inner wall of the housing 80, the wiring 82, or the like.
  • the light receiving lens 74 is provided on the side surface in the radial direction of the rotating housing 78.
  • the light receiving mirror portion 75 is fixed to the lower surface of the upper end portion in the axial direction Da of the rotary casing 78 and is located below the light projecting mirror portion 73 in the axial direction Da.
  • the light receiving portion 77 is positioned below the light receiving mirror portion 75 and is fixed to the upper surface of the lower end portion in the axial direction Da of the rotating housing 78.
  • the light receiving lens 74 and the light receiving unit 77 are rotatable together with the rotating housing 78.
  • the light receiving unit 77 is not limited to this example, and may be configured not to rotate. That is, for example, the light receiving unit 77 may be configured not to be fixed to the rotating casing 78 and to rotate around the central axis J. *
  • the projection light L1 emitted from the distance measuring device 7 is reflected by an external object and becomes diffused light. Part of the diffused light passes through the cylindrical portion 801A as reflected light L2 and enters the light receiving lens 74.
  • the reflected light L2 transmitted through the light receiving lens 74 is incident on the light receiving mirror unit 75 and reflected downward by the light receiving mirror unit 75.
  • the reflected reflected light L2 is received by the light receiving unit 77.
  • the optical path of the reflected light L ⁇ b> 2 that is reflected by the light receiving mirror unit 75 and reaches the light receiving unit 77 is on the central axis J.
  • the light receiving unit 77 converts the received light into an electrical signal by photoelectric conversion.
  • the cylindrical portion 801A is configured in a circumferential range similar to the range in which the curved portion 801B is configured.
  • the motor 79 has a shaft 79 ⁇ / b> A that can rotate together with the projection mirror 73 around the central axis J.
  • the motor 79 is connected to the substrate 81 by the wiring 82 and is driven to rotate when energized from the substrate 81.
  • the motor 79 rotates the rotary casing 78 at a predetermined rotation speed.
  • the rotary casing 78 is driven to rotate at about 3000 rpm.
  • the wiring 82 is routed in the vertical direction of the axial direction Da along the rear inner wall of the housing 80. *
  • the gyro sensor 83 detects the angular velocity or each acceleration of the distance measuring device 7. *
  • the distance measuring device 7 may further include a wavelength filter 76 that extracts light in the infrared region.
  • the wavelength filter 76 is provided between the light receiving mirror unit 75 and the light receiving unit 77, for example.
  • the wavelength filter 76 may be fixed to the rotary casing 78 and rotatable with the rotary casing 78.
  • the wavelength filter 76 may be configured not to rotate. That is, the wavelength filter 76 may be configured not to be fixed to the rotary casing 78 and to rotate around the central axis J, for example.
  • the reflected light L ⁇ b> 2 reflected by the light receiving mirror unit 75 passes through the wavelength filter 76 and is received by the light receiving unit 77.
  • the wavelength filter 76 By providing the wavelength filter 76, it is possible to suppress or prevent light derived from, for example, sunlight other than the reflected light L2 from entering the light receiving mirror unit 75. Therefore, noise included in the light reception result of the light receiving unit 77 can be reduced, so that the measurement accuracy of the distance measuring device 7 can be improved.
  • FIG. 2 is a block diagram showing an electrical configuration of the distance measuring device 7 according to one embodiment of the present invention.
  • the distance measuring device 7 includes a laser light emitting unit 701, a laser light receiving unit 702, a distance meter side unit 703, an arithmetic processing unit 704, a data communication interface 705, and a driving unit 707. Also have. *
  • the laser light emitting unit 701 includes a laser light source 71 (see FIG. 1), an LD driver 701a, and the like.
  • the LD driver 701 a is mounted on the substrate 81 and controls driving of the laser light source 71.
  • the laser light receiving unit 702 includes a light receiving unit 77, a comparator 702a, and the like.
  • the comparator 702 a is mounted on the substrate 81 and receives an electrical signal output from the light receiving unit 77. Further, the comparator 702a compares the level of the electric signal with a predetermined threshold level, and outputs a measurement pulse having a high level or a low level according to the comparison result to the distance measuring unit 703. *
  • the laser emission unit 701 emits laser light using the laser emission pulse output from the arithmetic processing unit 704 as a trigger. At this time, the projection light L ⁇ b> 1 is emitted from the light projecting mirror unit 73.
  • the reflected light L2 is received by the laser light receiving unit 702.
  • a measurement pulse is generated according to the amount of light received by the laser light receiving unit 702, and the measurement pulse is output to the distance measuring unit 703.
  • a reference pulse is output from the arithmetic processing unit 704 to the distance measuring unit 703.
  • the distance measuring unit 703 can acquire the distance to the external measurement object OJ by measuring the elapsed time from the rising timing of the reference pulse to the rising timing of the measurement pulse. That is, the distance measuring unit 703 measures the distance by a so-called TOF (Time Of Flight) method.
  • the distance measurement result is output from the distance measurement unit 703 as measurement data.
  • the drive unit 707 controls the rotational drive of the motor 79.
  • the motor 79 is driven to rotate at a predetermined rotation speed by the drive unit 707.
  • the arithmetic processing unit 704 outputs a laser emission pulse every time the motor 79 rotates by a predetermined unit angle.
  • the predetermined unit angle is 1 [degree].
  • the laser light emitting unit 701 emits light and the projection light L1 is emitted from the light projecting mirror unit 73 each time the rotating housing 78 and the light projecting mirror unit 73 rotate by a predetermined unit angle.
  • the arithmetic processing unit 704 is arranged on an orthogonal coordinate system based on the distance measuring device 7 based on the rotation angle position of the motor 79 at the timing when the laser emission pulse is output and the measurement data obtained corresponding to the laser emission pulse.
  • the position information of is generated. That is, the position of the external measurement object OJ is acquired based on the rotation angle position of the projection mirror unit 73 and the measured distance.
  • the acquired position information is output from the arithmetic processing unit 704 as measurement distance data. In this way, a distance image of the external measurement object OJ can be acquired by scanning with the projection light L1 in the angle range ⁇ . *
  • the data communication interface 705 is a communication unit for outputting the measurement distance data output from the arithmetic processing unit 704 to an external device. *
  • the distance measurement device 7 determines whether or not the external measurement object OJ is located in a predetermined area set around the distance measurement device 7 based on the measurement distance data output from the arithmetic processing unit 704. You may further provide the object determination part (not shown) to determine. For example, if the position of a certain external measurement object OJ indicated by the measurement distance data is located within a predetermined area, the object determination unit determines that the external measurement object OJ is located within the predetermined area. When the object determination unit determines that the external measurement object OJ is located within the predetermined area, the object determination unit outputs a detection signal that is a flag as a high level.
  • the distance measuring device 7 can be used as a device for detecting an obstacle (that is, an external measuring object OJ) located in a predetermined area around the distance measuring device 7.
  • FIG. 3 is a perspective view illustrating a first configuration example of the light projecting mirror unit 73.
  • the light projecting mirror unit 73 includes a reflection member 731, an adjustment member 732, a support member 733, and a fixing member 734. *
  • the reflective member 731 has a reflective surface 731a and a first curved surface 731b.
  • the reflection surface 731 a reflects the laser light emitted from the laser light source 71.
  • the curvature r2 of the first curved surface 731b with respect to the first axis Ax1 is constant as viewed from the direction parallel to the first axis Ax1. That is, the shortest distance r2 from the first axis Ax1 to the first curved surface 731b is constant when viewed from a direction parallel to the first axis Ax1.
  • the first axis Ax1 is perpendicular to the axial direction Da along the central axis J and passes through the reflection point Pr of the laser beam on the reflection surface 731a. *
  • the material of the reflecting member 731 is not particularly limited, and a metal material, a resin material, glass, or the like can be used. More specifically, the reflecting surface 731a is provided on a member formed using the above-described material. *
  • the adjusting member 732 can adjust the inclination of the reflecting surface 731a in the first circumferential direction Dc1 centering on the first axis Ax1 on the reflecting surface 731a.
  • the first circumferential direction Dc1 is a circumferential direction around the first axis Ax1. More specifically, the first circumferential direction Dc1 is a circumferential direction when the first axis Ax1 is a rotation axis, and is, for example, the pitching direction of the reflecting surface 731a.
  • the adjustment member 732 is provided on the upper and lower portions of the reflection member 731. As shown in FIG.
  • the adjustment member 732 is reflected in the first circumferential direction Dc1 by rotating the reflecting member 731 in the first circumferential direction Dc1 with respect to the support member 733 around the first axis Ax1.
  • the inclination of the surface 731a can be adjusted.
  • the support member 733 supports the reflection member 731.
  • the support member 733 includes a storage portion 733 a that stores the reflection member 731.
  • the storage portion 733a has a second curved surface 733b.
  • the second curved surface 733 b faces the first curved surface 731 b and is along the first curved surface 731 b of the reflecting member 731.
  • the adjustment member 732 tilts the reflection surface 731a of the reflection member 731 in the first circumferential direction Dc1 with the first axis Ax1 on the reflection surface 731a as the center.
  • the irradiation direction DL of the projection light L1 reflected by the reflecting surface 731a and irradiated to the outside can be adjusted to the first circumferential direction Dc1.
  • the reflection member 731 supported by the support member 733 has a first curved surface 731b having a constant curvature r2 with respect to the first axis Ax1 on the reflection surface 731a when viewed from a direction parallel to the first axis Ax1. Have.
  • the inclination of the reflection surface 731a can be easily adjusted in the first circumferential direction Dc1 without shifting the reflection point Pr of the projection light L1 on the reflection surface 731a. Therefore, the measurement error of the distance measuring device 7 due to the adjustment of the inclination of the reflecting surface 731a can be reduced.
  • the distance measuring device 7 when the distance measuring device 7 is arranged with the central axis J parallel to the vertical line, even if the distance measuring device 7 is at a height close to the ground (such as a road surface of a road), the first circumferential direction Dc1 described above. For example, the reflection of the projection light L1 on the ground can be suppressed. Therefore, measurement errors such as the distance to an external object (measurement object OJ) can be reduced.
  • the reflection member 731 supported by the support member 733 is stored in the storage portion 733a having the second curved surface 733b along the first curved surface 731b. Therefore, when the inclination of the reflecting surface 731a is adjusted, the first curved surface 731b of the reflecting member 731 can be moved along the second curved surface 733b. Therefore, the tilt of the reflection surface 731a can be easily adjusted in the first circumferential direction Dc1 without shifting the reflection point Pr of the laser beam on the reflection surface 731a. Therefore, the measurement error of the distance measuring device 7 due to the adjustment of the inclination of the reflecting surface 731a can be reduced.
  • the fixing member 734 fixes the reflecting member 731 to the support member 733. More specifically, after the inclination of the reflection surface 731 a is adjusted by the adjustment member 732, the reflection member 731 is fixed to the support member 733 by the fixing member 734. By doing so, it is possible to prevent a deviation in the inclination of the reflecting surface 731a, and thus it is possible to prevent a deviation in the irradiation direction DL of the projection light L1 after adjustment of the reflecting surface 731a.
  • the fixing member 734 is not particularly limited, and an acrylic adhesive, an ultraviolet curing agent, or the like can be used. *
  • Second Configuration Example> Next, a second configuration example of the light projecting mirror unit 73 will be described.
  • the same components as those in the first configuration example may be denoted by the same reference numerals, and the description thereof may be omitted.
  • FIG. 4 is a perspective view illustrating a second configuration example of the light projecting mirror unit 73.
  • the adjustment member 732 is further arranged in a plurality of second circumferential directions Dc2 around the respective second axes Ax2 on the reflection surface 731a.
  • the inclination of the reflecting surface 731a can be adjusted.
  • Each second axis Ax2 intersects the first axis Ax1 and passes through the reflection point Pr on the reflection surface 731a.
  • the second circumferential direction Dc2 is more specifically a circumferential direction when the second axis Ax2 is used as a rotation axis.
  • the first curved surface 731b of the reflecting member 731 is a spherical surface having a constant curvature r2 with respect to the reflection point Pr. That is, as shown in FIG. 4, the shortest distance r2 from the reflection point Pr on the reflection surface 731a to the first curved surface 731b is constant.
  • the adjustment member 732 further tilts the reflection surface 731a of the reflection member 731 in the second circumferential direction Dc2 around the second axis Ax2 on the reflection surface 731a.
  • the irradiation direction DL By adjusting the irradiation direction DL, the irradiation direction DL of the projection light L1 reflected by the reflecting surface 731a and irradiated to the outside can be adjusted to the second circumferential direction Dc2.
  • the first curved surface 731b of the reflecting member 731 has a curvature r2 with respect to the reflection point Pr on the reflecting surface 731a. Is a constant spherical surface.
  • the tilt of the reflection surface 731a can be easily adjusted to the first circumferential direction Dc1 and the second circumferential direction Dc2 without shifting the reflection point Pr of the laser beam on the reflection surface 731a. Therefore, the measurement error of the distance measuring device 7 due to the adjustment of the inclination of the reflecting surface 731a can be further reduced.
  • the second circumferential direction Dc2 is plural in FIG. 4, but is not limited to this example. There may be one second circumferential direction Dc2. More specifically, the second circumferential direction Dc2 only needs to include the third circumferential direction Dc3 centered on the third axis Ax3 on the reflecting surface 731a.
  • the third axis Ax3 is orthogonal to the first axis Ax1 and passes through the reflection point Pr on the reflection surface 731a.
  • the third circumferential direction Dc3 is more specifically a circumferential direction when the third axis Ax3 is a rotation axis, and is, for example, the yawing direction of the reflecting surface 731a. In this way, the inclination of the reflecting surface 731a can be adjusted also in the third circumferential direction Dc3.
  • FIG. 5 is a perspective view illustrating a third configuration example of the light projecting mirror unit 73.
  • the light projecting mirror unit 73 of the third configuration example includes a MEMS mirror element 735.
  • the MEMS mirror element 735 includes a mirror portion 735a that reflects the laser light emitted from the laser light source 71 on the reflection surface 731a.
  • the MEMS mirror element 735 swings the mirror portion 735a in the first circumferential direction Dc1 centered on the first axis Ax1 on the reflection surface 731a, thereby tilting the reflection surface 731a in the first circumferential direction Dc1. It can be adjusted.
  • the first axis Ax1 is perpendicular to the axial direction Da along the central axis J and passes through the reflection point Pr of the laser beam on the reflection surface 731a. *
  • the MEMS mirror element 735 adjusts the inclination of the reflecting surface 731 a based on the detection result of the gyro sensor 83 that detects the angular velocity or the angular acceleration of the distance measuring device 7. More specifically, a mirror drive control unit (not shown) is mounted on the substrate 81, for example, and controls the swing drive of the mirror unit 735a based on the detection result of the gyro sensor 83. *
  • the light projecting mirror unit 73 includes the mirror unit 735a of the MEMS mirror element 735 in the first circumferential direction Dc1 centered on the first axis Ax1 on the reflection surface 731a. And the tilting direction of the reflecting surface 731a is adjusted to the first circumferential direction Dc1, so that the irradiation direction Dx of the projection light L1 reflected by the reflecting surface 731a and irradiated to the outside is changed to the first circumferential direction. It can be adjusted to Dc1. Further, the mirror portion 735a of the MEMS mirror element 735 is very small compared to the optical path length of the projection light L1 irradiated to the outside.
  • the mirror portion 735a is driven to swing, it can be said that the reflection point Pr of the laser beam on the reflection surface 731a does not shift. Therefore, the tilt of the reflecting surface 731a can be easily adjusted in the first circumferential direction Dc1 at any timing without shifting the reflection point Pr of the laser light on the reflecting surface 731a. Therefore, the measurement error of the distance measuring device 7 due to the adjustment of the inclination of the reflecting surface 731a can be reduced.
  • the distance measuring device 7 when the distance measuring device 7 is arranged with the central axis J parallel to the vertical line, even if the distance measuring device 7 is at a height close to the ground (such as a road surface of a road), the first circumferential direction Dc1 described above. For example, the reflection of the projection light L1 on the ground can be suppressed. Therefore, measurement errors such as the distance to an external object (measurement object OJ) can be reduced.
  • the mirror unit 735a is driven to swing based on the detection result of the angular velocity or angular acceleration of the distance measuring device 7 by the sensor 83. Therefore, for example, the inclination of the reflecting surface 731a can be adjusted in consideration of the inclination of the distance measuring device 7 with respect to the vertical line. Therefore, for example, when the distance measuring device 7 is inclined in the first circumferential direction Dc1, the inclination of the reflecting surface 731a is set in the first circumferential direction Dc1 in consideration of the inclination of the first circumferential direction Dc1 in the distance measuring device 7. Can be adjusted. Therefore, even if the distance measuring device 7 is at a height close to the ground (road surface of the road, etc.), reflection of the projection light L1 on the ground (road surface of the road, etc.) can be more reliably suppressed. *
  • FIG. 6 is a perspective view illustrating a fourth configuration example of the light projecting mirror unit 73.
  • the light projecting mirror unit 73 of the fourth configuration example includes a MEMS mirror element 736.
  • the MEMS mirror element 736 can swing the mirror portion 735a in a first circumferential direction Dc1 centered on the first axis Ax1 and in a third circumferential direction Dc3 centered on the third axis Ax3.
  • the third axis Ax3 is orthogonal to the first axis Ax1 and passes through the reflection point Pr on the reflection surface 731a. *
  • the MEMS mirror element 736 swings the mirror portion 735a in the first circumferential direction Dc1 centering on the first axis Ax1 on the reflection surface 731a, thereby changing the inclination of the reflection surface 731a to the first. 1 in the circumferential direction Dc1. Further, the MEMS mirror element 736 further swings the mirror portion 735a in the third circumferential direction Dc3 centering on the third axis Ax3 on the reflecting surface 731a, thereby reducing the inclination of the reflecting surface 731a to the third circumference. Adjustment is possible in the direction Dc3. In this way, for example, the inclination of the reflecting surface 731a of the mirror portion 735a can be adjusted also in the third circumferential direction Dc3 that is the yawing direction of the reflecting surface 731a. *
  • the distance measuring device 7 is mounted on the moving device 200 that travels on the road G.
  • the mobile device 200 can travel autonomously by two-wheel drive.
  • a configuration different from that of the first embodiment will be described, and the same components as those in the first embodiment may be denoted by the same reference numerals, and the description thereof may be omitted. *
  • the use of the moving device 200 on which the distance measuring device 7 is mounted is not limited to the example of the present embodiment, but is suitable for an automatic guided vehicle for use in, for example, carrying goods.
  • automated guided vehicles are designed to be short to facilitate loading and unloading of articles. Therefore, the distance measuring device 7 is arranged at a position relatively close to the road surface of the road G when mounted on the automatic guided vehicle. Therefore, the laser beam is emitted from a position relatively close to the road surface.
  • the spot size of the laser light becomes larger. Therefore, the laser light is easily reflected on the road surface of the road G.
  • the reflected light from the road surface may cause detection errors of the measurement object OJ around the automatic guided vehicle, increase the measurement error of the distance to the measurement object OJ, or cause a measurement abnormality.
  • the moving device 200 as the automatic guided vehicle does not shift the reflection point Pr on the reflection surface 731a of the distance measuring device 7, and the inclination of the reflection surface 731a is at least in the first circumferential direction Dc1 (for example, the pitching direction). Can be adjusted. Therefore, the moving device 200 as an automatic guided vehicle can make it difficult for the laser light to be reflected on the road surface of the road G even when the irradiation distance of the laser light becomes long. Therefore, even in a short moving device 200 such as an automatic guided vehicle, generation of detection errors due to reflected light from the road surface, increase in measurement errors, and generation of measurement abnormalities can be more effectively suppressed or prevented. can do. *
  • a direction perpendicular to the vertical line is referred to as a “horizontal direction”.
  • the normal traveling direction of the moving device 200 is referred to as “front”, and the direction opposite to the normal traveling direction is referred to as “rear”.
  • the direction orthogonal to the normal traveling direction and facing the right side toward the front is referred to as “right”, and is orthogonal to the normal traveling direction and toward the left side toward the front.
  • the direction is called “left”.
  • a surface facing in the horizontal direction is referred to as a “side surface”. *
  • FIG. 7 is a perspective view of a moving device 200 according to an embodiment of the present invention.
  • FIG. 8 is a side view of the moving apparatus 200 according to an embodiment of the present invention.
  • FIG. 9 is a plan view of the moving device 200 according to an embodiment of the present invention as viewed from above. *
  • the moving device 200 includes a vehicle body 1, a loading platform 2, support portions 3L and 3R, drive motors 4L and 4R, drive wheels 5L and 5R, driven wheels 6F and 6R, and a distance measuring device 7. Yes. *
  • the vehicle body 1 includes a base portion 1A and a base portion 1B.
  • the plate-like pedestal 1B is fixed to the rear upper surface of the base 1A.
  • the base part 1B has a triangular part Tr protruding forward. *
  • the plate-shaped loading platform 2 is fixed to the upper surface of the platform 1B. A load can be placed on the upper surface of the loading platform 2.
  • the loading platform 2 extends further forward than the platform 1B. Thus, a gap S is formed between the front of the base 1A and the front of the loading platform 2.
  • the support portion 3L is fixed to the left side of the base portion 1A and supports the drive motor 4L.
  • the drive motor 4L is configured by an AC servo motor as an example.
  • the drive motor 4L incorporates a reduction gear (not shown).
  • the drive wheel 5L is attached to a shaft (not shown) of the drive motor 4L and contacts the road G. The drive wheel 5L can be rotated together with the shaft by the rotational drive of the drive motor 4L. *
  • the support portion 3R is fixed to the right side of the base portion 1A and supports the drive motor 4R.
  • the drive motor 4R is configured by an AC servo motor as an example.
  • the drive motor 4R incorporates a reduction gear (not shown).
  • the drive wheel 5R is attached to a shaft (not shown) of the drive motor 4R and is in contact with the road G. The drive wheel 5R can be rotated together with the shaft by the rotational drive of the drive motor 4R. *
  • the moving device 200 By rotating the drive wheels 5L and 5R with the drive motors 4L and 4R, the moving device 200 can be moved forward and backward on the road G. Further, by controlling so as to provide a difference in the rotational speeds of the drive wheels 5L and 5R, the moving device 200 can be rotated clockwise or counterclockwise to change the direction. *
  • the driven wheel 6F is rotatably attached to the front side of the base portion 1A and is in contact with the road G.
  • the driven wheel 6R is rotatably attached to the rear side of the base portion 1A and contacts the road G.
  • the driven wheels 6F and 6R rotate passively according to the rotation of the drive wheels 5L and 5R. *
  • the distance measuring device 7 is a device that measures a distance from an external object (measurement object OJ).
  • the distance measuring device 7 irradiates the projection light L1 to the outside, receives the reflected light L2 of the projection light L1 reflected by the external measurement object OJ, and measures the measurement object OJ based on the light reception result of the reflected light L2. Measure the distance between. Since the configuration of the distance measuring device 7 is the same as that of the first embodiment, the description thereof is omitted. *
  • the distance measuring device 7 is disposed at the front position of the apex of the triangular portion Tr of the base portion 1B in the gap S between the base portion 1A and the loading platform 2.
  • the center axis J of the distance measuring device 7 is parallel to the vertical ship.
  • In the gap S at least the light transmission part 801 of the distance measuring device 7 is exposed. Without being blocked by the base 1 ⁇ / b> A and the loading platform 2 of the vehicle body 1 through the gap S, it is possible to irradiate the projection light L ⁇ b> 1 from the distance measuring device 7 or to allow the reflected light L ⁇ b> 2 to enter the distance measuring device 7 from the outside. It has become. *
  • the projection light L1 irradiated from the distance measuring device 7 passes through the gap S, is irradiated to the outside of the moving device 200, and is scanned over the measurement range Rs having a predetermined angle range ⁇ in the horizontal direction.
  • the angle range ⁇ includes 180 [degree] in front of the moving device 200 and 45 [degree] in each of the left and right sides.
  • the projection light L1 emitted from the distance measuring device 7 is reflected by the measurement object OJ and becomes diffused light.
  • the distance measuring device 7 measures the distance by a so-called TOF (Time Of Flight) method. Specifically, the distance measuring device 7 receives the reflected light L2 in which the projection light L1 is reflected by the measurement object OJ from the emission of the laser light that is reflected by the light projection mirror unit 73 and becomes the projection light L1. The distance to the measurement object OJ is measured based on the elapsed time until the light is received. Furthermore, the distance measuring device 7 acquires the position of the measurement object OJ based on the elapsed time and the scanning angle position of the projection light L1.
  • TOF Time Of Flight
  • the moving device 200 is equipped with a distance measuring device 7 that can adjust the inclination of the reflecting surface 731a of the light projection mirror unit 73 at least in the first circumferential direction (for example, the pitching direction). For this reason, for example, since the light reflected by the light receiving unit 77 of the light reflected from the ground (road surface of the road, etc.) can be suppressed by adjusting the inclination, the measurement object OJ generated due to the reception of the light reflected from the ground can be suppressed. The measurement error of the distance between them can be reduced.
  • the distance measuring device 7 can reduce the measurement error due to the adjustment of the inclination of the reflecting surface 731a of the projection mirror unit 73, the measurement error such as the distance to the measurement object OJ can be reduced. Therefore, the mobile device 200 can accurately perform surrounding map information creation, self-position identification, obstacle detection, and the like.
  • the mobile device 200 further includes a control unit U, a battery B, and a communication unit T as shown in FIGS.
  • the control unit U, the battery B, and the communication unit T are accommodated in the base 1A. *
  • the control unit U is connected to the drive motors 4L, 4R, the communication unit T, and the like.
  • the control unit U is further connected to the distance measuring device 7 and receives various signals from the distance measuring device 7 to perform various controls.
  • the control unit U also performs drive control of the drive motors 4L and 4R. *
  • the communication unit T performs communication with an external tablet terminal (not shown) based on, for example, Bluetooth (registered trademark). Thereby, the mobile device 200 can be remotely operated by an external information device such as a tablet terminal.
  • an external tablet terminal not shown
  • Bluetooth registered trademark
  • the battery B is composed of, for example, a lithium ion battery, and supplies power to each unit such as the distance measuring device 7, the control unit U, the communication unit T, and the like.
  • the present invention is useful for a distance measuring device mounted on a moving device such as an automatic guided vehicle, for example. *
  • T communication unit
  • Tr triangular part
  • S ... gap
  • ⁇ ... angle range Rs ⁇ ..Measurement range
  • J center axis
  • L1 projection light
  • L2 ... reflection light
  • DL ... irradiation direction
  • Da ... axial direction
  • Pr reflection point
  • Ax1 ... -1st axis Ax2 ... 2nd axis
  • Dc1 ... 1st circumferential direction
  • Dc2 ... 2nd Dc3 ... third circumferential direction, r1, r2 ... curvature, OJ ... measurement object

Landscapes

  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'invention concerne un dispositif de déplacement qui se déplace sur une route comprenant un dispositif de mesure de distance. Le dispositif de mesure de distance émet de la lumière vers l'extérieur, reçoit une lumière de réflexion réfléchie par un objet extérieur et mesure la distance à l'objet en fonction du résultat de la réception de la lumière de réflexion. Le dispositif de mesure de distance comprend une source de lumière qui émet de la lumière, une unité de rayonnement de lumière qui rayonne de la lumière vers l'extérieur et un moteur présentant un arbre capable de tourner conjointement avec l'unité de rayonnement de lumière autour d'un axe central. L'unité de rayonnement de lumière présente un élément de réflexion présentant une surface de réflexion qui réfléchit la lumière émise par la source de lumière, un élément de réglage permettant de régler l'inclinaison de la surface de réflexion dans une première direction circonférentielle autour d'un premier axe situé dans la surface de réflexion et un élément de maintien permettant de maintenir l'élément de réflexion. Le premier axe est perpendiculaire à la direction axiale, qui est alignée avec l'axe central, et passe à travers un point de réflexion de lumière sur la surface de réflexion. L'élément de réflexion présente en outre une première surface incurvée. La courbure de la première surface incurvée par rapport au premier axe est fixe lorsque cette dernière est vue depuis une direction parallèle au premier axe.
PCT/JP2018/005889 2017-03-22 2018-02-20 Dispositif de mesure de distance et dispositif de déplacement WO2018173589A1 (fr)

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JP2017-056181 2017-03-22

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200233090A1 (en) * 2019-01-18 2020-07-23 Continental Automotive Systems, Inc. Actively aligned solid-state lidar system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002090615A (ja) * 2000-09-13 2002-03-27 Sumitomo Heavy Ind Ltd 可動反射鏡
JP2005156976A (ja) * 2003-11-26 2005-06-16 Olympus Corp 二次元光偏向器
JP2008292271A (ja) * 2007-05-24 2008-12-04 Suzuki Motor Corp 車両用制御装置
JP2013210378A (ja) * 2009-12-08 2013-10-10 Denso Wave Inc レーザレーダ装置
JP2017009524A (ja) * 2015-06-25 2017-01-12 シャープ株式会社 レーザ距離測定モジュール及びレーザ距離測定装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002090615A (ja) * 2000-09-13 2002-03-27 Sumitomo Heavy Ind Ltd 可動反射鏡
JP2005156976A (ja) * 2003-11-26 2005-06-16 Olympus Corp 二次元光偏向器
JP2008292271A (ja) * 2007-05-24 2008-12-04 Suzuki Motor Corp 車両用制御装置
JP2013210378A (ja) * 2009-12-08 2013-10-10 Denso Wave Inc レーザレーダ装置
JP2017009524A (ja) * 2015-06-25 2017-01-12 シャープ株式会社 レーザ距離測定モジュール及びレーザ距離測定装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200233090A1 (en) * 2019-01-18 2020-07-23 Continental Automotive Systems, Inc. Actively aligned solid-state lidar system

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