WO2022168378A1 - Laser radar - Google Patents
Laser radar Download PDFInfo
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- WO2022168378A1 WO2022168378A1 PCT/JP2021/039997 JP2021039997W WO2022168378A1 WO 2022168378 A1 WO2022168378 A1 WO 2022168378A1 JP 2021039997 W JP2021039997 W JP 2021039997W WO 2022168378 A1 WO2022168378 A1 WO 2022168378A1
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- laser light
- photodetector
- laser
- projection
- light source
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- 238000001514 detection method Methods 0.000 claims abstract description 187
- 230000003287 optical effect Effects 0.000 claims description 77
- 238000012544 monitoring process Methods 0.000 claims description 41
- 238000012986 modification Methods 0.000 description 52
- 230000004048 modification Effects 0.000 description 52
- 238000005259 measurement Methods 0.000 description 24
- 238000003745 diagnosis Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 11
- 238000012545 processing Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
- 230000005856 abnormality Effects 0.000 description 7
- 238000009792 diffusion process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000035945 sensitivity Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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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
- G01S7/497—Means for monitoring or calibrating
Definitions
- the present invention relates to a laser radar that detects objects using laser light.
- a laser radar irradiates a target area with laser light and detects the presence or absence of an object in the target area based on the reflected light. Also, the laser radar measures the distance to an object based on the time required from the timing of irradiation of the laser beam to the timing of receiving the reflected light.
- the laser radar with the above configuration, it is necessary to monitor that the laser light source is operating at regular output power.
- the emission power of the laser light source drops below the predetermined emission power, it becomes impossible to detect an object at the maximum distance guaranteed by the device.
- the emission power of the laser light source increases from the predetermined emission power, the laser light may be emitted with an intensity exceeding the eye-safe standard.
- Patent Document 1 shows a configuration for monitoring the output power of a light source.
- the rotating reflector is illuminated by the beam.
- the beam revolves around the device to detect an object existing around the device and measure the distance to the object.
- a mirror is positioned in part of the swivel range of the beam and directs the beam onto a test target within the apparatus.
- the beam reflected from the test target travels back through the optical path and is directed to the receiver.
- the output of the receiver monitors the intensity of the beam.
- the beam is not emitted outside the apparatus in the angular range in which the mirrors are arranged, so that the detection of the object and the measurement of the distance cannot be performed in this angular range. That is, the angular range in which the mirrors are arranged is a blind spot in object detection.
- an object of the present invention is to provide a laser radar capable of monitoring the operation of a laser light source while detecting an object over the entire circumference.
- a laser radar includes a rotating portion rotated about a rotating shaft, a laser beam disposed on the rotating portion, projecting a laser beam to the outside in a direction away from the rotating shaft, and a projection detector that receives the reflected light from the object.
- the projection detector includes a laser light source that emits the laser light, and a photodetector that receives a portion of the laser light emitted from the laser light source that is not used for external projection.
- the projection detection unit rotating together with the rotating unit includes a laser light source that emits laser light for object detection, and a laser light emitted from the laser light source that is not used for external projection.
- a photodetector for receiving part of the laser light is arranged. For this reason, at any rotational position of the rotating part, while the laser beam is projected to the outside to detect the object, part of the laser beam that is not projected to the outside is received by the photodetector and projected to the outside.
- the intensity of laser light can be monitored. Therefore, it is possible to monitor the operation of the laser light source while detecting the object over the entire circumference of the device.
- a laser radar capable of monitoring the operation of a laser light source while detecting an object over the entire circumference.
- FIG. 1 is a partially exploded perspective view showing the configuration of a laser radar according to Embodiment 1.
- FIG. FIGS. 2A and 2B are a perspective view and a side view, respectively, showing the configuration of the projection detection section arranged in the optical unit according to the first embodiment.
- FIG. 2(c) is a plan view schematically showing the configuration of the sensor section of the photodetector according to the first embodiment.
- 3 is a side view showing a configuration of part of a projection detection unit according to the first embodiment;
- FIG. FIG. 4 is a circuit block diagram showing the configuration of the circuit section of the laser radar according to the first embodiment;
- FIG. 5(a) is a flowchart showing control performed by a control unit on the rotating unit side during distance measurement according to the first embodiment.
- FIG. 5B is a flowchart showing a subroutine of diagnostic processing according to the first embodiment.
- FIG. 6 is a time chart schematically showing drive signals for the laser light source and detection signals for the photodetector during the measurement operation according to the first embodiment.
- 7A is a side view showing a configuration of part of a projection detection unit according to Modification 1 of Embodiment 1.
- FIG. 7A is a side view showing another configuration example of part of the projection detection unit according to Modification 1 of Embodiment 1.
- FIG. 8 is a side view showing a configuration of part of a projection detection unit according to Modification 2 of Embodiment 1.
- FIG. 9 is a side view showing a configuration of part of a projection detection unit according to Modification 3 of Embodiment 1.
- FIG. 10A is a side view showing a configuration of part of a projection detection unit according to Modification 4 of Embodiment 1.
- FIG. 10B is a side view showing a configuration of part of the projection detection unit according to Modification 4 of Embodiment 1.
- FIG. 11 is a side view showing a configuration of part of a projection detection unit according to the second embodiment;
- FIG. 12 is a plan view showing a configuration of part of a projection detection unit according to the second embodiment;
- FIG. 13 is a side view showing a configuration of part of a projection detection unit according to a modification of the second embodiment;
- the Z-axis positive direction is the height direction of the laser radar 1 .
- FIG. 1 is a partially exploded perspective view showing the configuration of the laser radar 1.
- the laser radar 1 includes a cylindrical fixed portion 10 and a cylindrical rotating portion 20 .
- the rotating part 20 is rotatably supported by the fixed part 10 about the rotation axis R10 via a bearing mechanism. Further, the rotating portion 20 is connected to a drive shaft 31 of a motor 30 (see FIG. 4) arranged on the fixed portion 10 . By driving the motor 30, the rotating part 20 rotates about the rotation axis R10.
- Axis of rotation R ⁇ b>10 is defined by the central axis of drive shaft 31 .
- the rotation axis R10 is parallel to the Z-axis.
- the rotating part 20 is composed of a cylindrical base member 21 and a disk-shaped support member 22 .
- a drive shaft 31 is connected to the center of the base member 21 .
- a support member 22 is installed on the upper surface of the base member 21, and six optical units 40 are installed on the upper surface of the support member 22 at regular intervals in the circumferential direction.
- the support member 22 supports six optical units 40 . For convenience, only one optical unit 40 installed on the support member 22 is shown in FIG.
- the base member 21 is formed with six installation surfaces 21a at equal intervals (at intervals of 60°) along the circumferential direction of the rotation axis R10.
- the installation surface 21a is inclined with respect to a plane (XY plane) perpendicular to the rotation axis R10.
- the side of the installation surface 21a (the direction away from the rotation axis R10) and the upper side of the installation surface 21a (positive direction of the Z-axis) are open.
- the inclination angles of the six installation surfaces 21a are different from each other.
- the support member 22 In the support member 22, six circular holes 22a are formed at equal intervals (at intervals of 60°) along the circumferential direction around the rotation axis R10. The hole 22a penetrates the support member 22 vertically.
- the support member 22 is installed on the upper surface of the base member 21 so that the six holes 22a are positioned above the six installation surfaces 21a of the base member 21, respectively.
- the optical unit 40 includes a structure 41 and a mirror 42.
- the structure 41 includes a holding member 41a and a circuit board 41b.
- the holding member 41a holds the optical system included in the structure 41 .
- the circuit board 41b is installed on the upper surface of the holding member 41a.
- the holding member 41a has an open bottom surface.
- the structure 41 emits laser light (projected light) downward (negative Z-axis direction) and receives laser light (reflected light from an object) from below.
- the optical system held by the structure 41 will be described later with reference to FIGS. 2(a) and 2(b).
- the structures 41 are placed and installed. Thereby, the six optical units 40 are arranged at equal intervals (at intervals of 60°) along the circumferential direction of the rotation axis R10.
- the two structures 41 are arranged symmetrically about the rotation axis R10. Note that the optical units 40 do not necessarily have to be arranged at regular intervals in the circumferential direction.
- a mirror 42 of the optical unit 40 is installed on the installation surface 21 a of the base member 21 .
- the mirror 42 is a plate-shaped member having a reflecting surface 42a formed on its upper surface.
- the thickness of mirror 42 is uniform. Therefore, when the mirror 42 is installed on the installation surface 21a, the reflecting surface of the mirror 42 is tilted with respect to the plane perpendicular to the rotation axis R10 at the same inclination angle as the installation surface 21a.
- the six optical units 40 are installed on the rotary section 20 by installing the mirrors 42 on the six installation surfaces 21a and by installing the six structures 41 on the upper surface of the support member 22 . After that, a cylindrical transparent cover with an open bottom surface is installed on the fixed part 10 so as to accommodate the six optical units 40 and the rotating part 20 inside. Thus, assembly of the laser radar 1 is completed.
- FIG. 2(a) and (b) are a perspective view and a side view, respectively, showing the configuration of the projection detection section 100 (optical system) arranged in each optical unit 40.
- FIG. FIG. 2C is a plan view schematically showing the configuration of the sensor section 105a of the photodetector 105.
- the projection detection unit 100 projects laser light (projection light) to the outside in a direction away from the rotation axis R10, and receives reflected light of the projected laser light from the object.
- the projection detector 100 includes a projection optical system for projecting projection light and a light receiving optical system for receiving reflected light.
- a projection optical system is composed of a laser light source 101 , a collimator lens 102 and a mirror 42 .
- the light receiving optical system is composed of a condenser lens 103 , a filter 104 and a photodetector 105 .
- the projection detection unit 100 includes a deflector 106 as a configuration for monitoring the emission intensity of the laser light source 101 and the light receiving sensitivity of the photodetector 105 .
- a laser light source 101 emits laser light (projection light) of a predetermined wavelength.
- the emission optical axis of the laser light source 101 is parallel to the Z-axis.
- the collimator lens 102 converges the projection light emitted from the laser light source 101 so that it approaches parallel light.
- Collimator lens 102 is configured by, for example, an aspherical lens. Projection light converged by the collimator lens 102 is incident on the mirror 42 .
- the projection light incident on the mirror 42 is reflected by the mirror 42 in a direction away from the rotation axis R10.
- the projected light is then transmitted through the aforementioned cover and projected onto the target area.
- the projection light projected onto the target area is reflected by the object.
- Reflected light of the laser light reflected by the object passes through the cover and enters the mirror 42 . After that, the reflected light is reflected in the Z-axis positive direction by the mirror 42 .
- the condenser lens 103 converges the light reflected by the mirror 42 onto the light receiving surface of the photodetector 105 .
- the reflected light condensed by the condensing lens 103 enters the filter 104 .
- the filter 104 is configured to transmit light in the wavelength band of projection light emitted from the laser light source 101 and block light in other wavelength bands. Reflected light transmitted through the filter 104 is guided to the photodetector 105 .
- the photodetector 105 receives the reflected light and outputs a detection signal corresponding to the amount of received light.
- Photodetector 105 is, for example, an avalanche photodiode.
- the collimator lens 102 converts the laser light emitted from the laser light source 101 into parallel light in the Y-axis direction and slightly diverges from the parallel light in the X-axis direction. Secondly, it gives a convergence effect to the laser light. As a result, as shown in FIG. 2A, the projection light reflected by the mirror 42 is projected onto the target area while being slightly diffused in the Z-axis direction. In addition, the luminous flux of projection light reflected by the mirror 42 is longer in the direction parallel to the rotation axis R10 (Z-axis direction) than in the Y-axis direction.
- the condensing lens 103 is formed with an opening 103a through which the laser light transmitted through the collimator lens 102 passes.
- the opening 103a is a notch that is formed outside the center of the condenser lens 103 and penetrates the condenser lens 103 in the Z-axis direction. Since the condenser lens 103 is provided with the opening 103a, the optical axis of the projection optical system and the optical axis of the light reception optical system can be brought closer to each other, and the laser light emitted from the laser light source 101 can be condensed. It can be made incident on the mirror 42 almost without covering the lens 103 .
- the projection light incident on the mirror 42 is reflected in a direction corresponding to the angle ⁇ of the reflecting surface 42a of the mirror 42 with respect to the XY plane.
- the laser radar 1 has six optical units 40, and the inclination angles of the installation surfaces 21a on which the mirrors 42 of the optical units 40 are installed are different from each other. Therefore, the inclination angles of the reflection surfaces 42a of the six mirrors 42 respectively installed on the six installation surfaces 21a are also different from each other. Therefore, the projection light reflected by each mirror 42 is projected to different scanning positions in the height direction.
- the photodetector 105 has six sensor portions 105a on the light receiving surface on the negative side of the Z axis.
- the six sensor units 105a are arranged adjacently in a row in the X-axis direction.
- the direction in which the six sensor units 105a are arranged corresponds to the Z-axis direction of the scanning range (the direction parallel to the rotation axis R10). Therefore, the reflected light from each of the six divided areas obtained by dividing the target area in the Z-axis direction is incident on the six sensor units 105a. Thereby, an object existing in each divided area can be detected from the detection signal from each sensor unit 105a.
- By increasing the number of sensor units 105a it is possible to increase the resolution of object detection in the target area in the Z-axis direction.
- the emission power of the laser light source 101 may fluctuate due to deterioration, failure, temperature change, or the like of the laser light source 101 . Therefore, during operation of the laser radar 1, it is necessary to monitor that the laser light source 101 is operating at a regular emission power. When the emission power of the laser light source 101 drops from the predetermined emission power, it becomes impossible to detect an object at the maximum distance guaranteed by the device. Moreover, when the emission power of the laser light source 101 increases from the predetermined emission power, the laser light may be emitted with an intensity exceeding the eye-safe standard.
- the sensitivity of the photodetector 105 is lowered due to a defect in the photodetector 105, the reflected light from a long distance cannot be detected properly, and the object cannot be detected at the maximum distance guaranteed by the device. Therefore, it is also necessary to check the operation of the photodetector 105 as well.
- each projection detection unit 100 includes a deflector 106 as a configuration for confirming the operation of the laser light source 101 and the photodetector 105 .
- FIG. 3 is a side view showing the configuration of part of the projection detection unit 100.
- FIG. 3 For convenience, illustration of the filter 104 is omitted in FIG.
- the deflector 106 reflects and scatters incident light.
- the deflector 106 is made of, for example, white paper or a highly reflective diffusion plate.
- the deflector 106 is arranged at a position close to the collimator lens 102 on the Y-axis negative side. If the collimator lens 102 has a flange-like peripheral portion outside the area of the effective diameter, the deflector 106 may be arranged on the entrance-side surface of this peripheral portion.
- a laser beam B1 emitted from the laser light source 101 spreads to an area outside the collimator lens 102 .
- a part of the laser light spreading in the area outside the collimator lens 102 enters the deflector 106 and is reflected by the deflector 106 .
- the laser beam B2 reflected by the deflector 106 enters the photodetector 105 for object detection that receives the reflected light.
- the deflector 106 guides the outer portion of the laser light emitted from the laser light source 101 that is not captured by the collimator lens 102 to the photodetector 105 for object detection. That is, the deflector 106 constitutes a light guide optical system that guides a portion of the laser beam B1 emitted from the laser light source 101 (the laser beam B1) to the photodetector 105 for object detection.
- the laser beam B2 is incident on the photodetector 105 in accordance with the emission of the laser light source 101 . Whether or not the laser light source 101 and the photodetector 105 are operating properly can be monitored based on the magnitude of the detection signal output from the photodetector 105 due to this incidence.
- the sum of the outputs of all sensor units 105a arranged in the photodetector 105 is used as a detection signal for monitoring the operations of the laser light source 101 and the photodetector 105.
- FIG. When the magnitude of the detection signal is out of a threshold range set as an appropriate range in advance, it is determined that an abnormality has occurred in either the laser light source 101 or the photodetector 105 .
- FIG. 4 is a circuit block diagram showing the configuration of the circuit section of the laser radar 1. As shown in FIG.
- the laser radar 1 includes a control unit 201, a drive circuit 202, a processing circuit 203, a contactless power supply unit 204, a power supply circuit 205, a contactless communication unit 206, a control unit 211, and It includes a contactless power supply unit 212 , a power supply circuit 213 , and a contactless communication unit 214 .
- control unit 201 the drive circuit 202, the processing circuit 203, the contactless power supply unit 204, the power supply circuit 205, and the contactless communication unit 206 are arranged on the circuit board on the rotating unit 20 side. Also, the control unit 211, the non-contact power supply unit 212, the power supply circuit 213, and the non-contact communication unit 214 are arranged on the circuit board on the fixing unit 10 side.
- Power is supplied from an external power supply to each circuit unit on the fixed unit 10 side through the power supply circuit 213 .
- the power supplied from the power supply circuit 213 to the non-contact power supply section 212 is supplied to the non-contact power supply section 204 according to the rotation of the rotating section 20 .
- the supplied power is supplied to the power supply circuit 205 via the contactless power supply section 204 .
- Electric power is supplied from the non-contact power supply unit 204 through the power supply circuit 205 to each circuit unit of the rotating unit 20 .
- the control units 201 and 211 are equipped with an arithmetic processing circuit and memory, and are configured by FPGA or MPU, for example.
- Control section 201 controls each section of rotating section 20 according to a predetermined program stored in memory
- control section 211 controls each section of fixed section 10 according to a predetermined program stored in memory.
- the control unit 201 and the control unit 211 are communicably connected via the contactless communication units 206 and 214 .
- the control unit 211 is communicably connected to an external system. External systems are, for example, intrusion detection systems, cars, robots, and the like.
- the control unit 211 drives each unit of the fixed unit 10 according to control from the external system, and transmits drive instructions to the control unit 201 via the non-contact communication units 214 and 206 .
- the control unit 201 drives each part of the rotating unit 20 according to a drive instruction from the control unit 211 and transmits detection results to the control unit 201 via the contactless communication units 206 and 214 .
- the drive circuit 202 and the processing circuit 203 are provided in each of the six optical units 40 .
- the drive circuit 202 drives the laser light source 101 according to control from the control unit 201 .
- the processing circuit 203 performs processing such as amplification and noise removal on the detection signal input from the sensor unit 105 a of the photodetector 105 and outputs the processed signal to the control unit 201 .
- the control unit 211 controls the motor 30 to rotate the rotating unit 20 at a predetermined rotational speed, and controls the six drive circuits 202 to emit laser light at predetermined timing and every predetermined rotation angle. (Projection light) is emitted from the laser light source 101 . As a result, the projection light is projected onto the target area from the rotating section 20 and the reflected light is received by the sensor section 105 a of the photodetector 105 of the rotating section 20 .
- the control unit 201 determines whether an object exists in the target area based on the detection signal output from the sensor unit 105a. In addition, the control unit 201 measures the distance to an object existing in the target area based on the time difference (time of flight) between the timing at which the projection light is projected and the timing at which the reflected light is received from the target area. . The measurement results are sequentially transmitted to the control unit 211 on the stationary unit 10 side via the non-contact communication units 206 and 214, and further transmitted from the control unit 211 to the external system.
- control unit 201 diagnoses the operating states of the laser light source 101 and the photodetector 105 based on the detection result of the laser light incident on the photodetector 105 via the deflector 106 .
- the control unit 201 determines that there is an abnormality in either the laser light source 101 or the photodetector 105 through this diagnosis, the control unit 201 transmits information to that effect to the fixed unit via the contactless communication unit 206. It is transmitted to the control unit 211 on the 10 side. This information is transmitted from the control unit 211 to the external system. As a result, the external system executes a process of notifying that either the laser light source 101 or the photodetector 105 has an abnormality.
- FIG. 5(a) is a flowchart showing the control performed by the control section 201 on the rotating section 20 side during distance measurement.
- FIG. 5(b) is a flow chart showing a subroutine of the diagnosis process in step S14 of FIG. 5(a).
- the control unit 211 on the fixed unit 10 side controls the motor 30 to rotate the rotating unit 20 at a constant angular velocity.
- the control section 201 of each optical unit 40 on the rotating section 20 side executes the control shown in FIG. 5(a).
- the control unit 201 causes the laser light source 101 to emit pulse light at a constant light emission timing (S11: YES, S12).
- the light emission timing is set to the timing at which the rotating portion 20 rotates by a constant rotation angle (for example, 1 degree).
- the control unit 201 detects an object in the projection direction and measures the distance to the object (S13). As described above, the presence or absence of an object is detected by the presence or absence of the reflected light received by the photodetector 105, and the distance to the object is detected based on the time difference between the light emission timing of the laser light source 101 and the light reception timing of the reflected light. be done.
- control unit 201 diagnoses whether the laser light source 101 and the photodetector 105 are operating normally based on the detection signal of the photodetector 105 (S14). ).
- the control unit 201 converts the detection value D1 corresponding to the intensity of the laser beam incident on the photodetector 105 via the deflector 106 to the detection signal from the photodetector 105. (S21). Specifically, the control unit 201 acquires the peak value of the integration signal obtained by integrating the detection signals from all the sensor units 105a (see FIG. 2C) arranged in the photodetector 105 as the detection value D1. . Next, the control unit 201 determines whether or not the detected value D1 is within the preset threshold values Dth1 to Dth2 (S22).
- Threshold values Dth1 and Dth2 are detection values (default value), it is set to a value of about ⁇ 5%.
- step S22 determines that at least one of the laser light source 101 and the photodetector 105 is abnormal, and transmits information to that effect to the fixed unit 10 side control unit. It is transmitted to the unit 211 (S23). Upon receiving this information, the control unit 211 on the fixed unit 10 side transmits information for notifying the abnormality to the external system. As a result, the external system executes a process of notifying that either the laser light source 101 or the photodetector 105 has an abnormality. At this time, the light emission of the laser light source 101 may be stopped, for example, the measurement operation may be stopped.
- step S22 determines that neither the laser light source 101 nor the photodetector 105 is abnormal, and skips step S23.
- control unit 201 repeatedly executes the control of steps S11 to S14 until the measurement operation is completed (S15: NO). After that, when the measurement operation ends (S15: YES), the control unit 201 ends the control according to the flowchart of FIG. 5(a).
- FIG. 6 is a time chart schematically showing states of the drive signal for the laser light source 101 and the detection signal for the photodetector 105 during the measurement operation.
- the upper part of FIG. 6 shows the driving signal of the laser light source 101, and the middle and lower parts of FIG. 6 show the detection signal of the photodetector 105, respectively.
- the control unit 201 controls the drive circuit 202 to supply a pulsed drive signal S0 to the laser light source 101 at the light emission period T0.
- the laser light source 101 emits pulsed light with a predetermined emission intensity for each light emission cycle T0.
- the light emission cycle T0 corresponds to a period during which the rotating section 20 rotates by a constant angle (for example, 1 degree).
- the light emission timing in step S11 of FIG. 5A is defined by this light emission period T0.
- the control unit 201 sets the period from the light emission timing t1 of the laser light source 101 to the timing t2, which is slightly longer than the period until the photodetector 105 receives the laser light through the deflector 106, as the diagnosis period T1. , the signal output from the photodetector 105 during the diagnostic period T1 (sum of detection signals from all the sensor units 105a) is obtained as the detection signal S1. Then, the control section 201 obtains the peak value of the detection signal S1 as the detection value D1 in FIG. 5(b).
- the detection value D1 does not necessarily have to be the peak value of the detection signal S1. other parameter values.
- the photodetector 105 When the laser light (projection light) generated by pulse emission is reflected by an object in the projection direction, and the reflected light is incident on the photodetector 105, the photodetector 105 generates the lower detection signal S2.
- the control unit 201 sets the period from the end timing t2 of the diagnosis period T1 to the timing t3 at which the reflected light from the farthest distance in the distance measurement range is received as the distance measurement period T2.
- a signal output from the detector 105 (a detection signal from one of the sensor units 105a) is acquired as a detection signal S2. Then, the control unit 201 detects the distance to the object based on the time from the light emission timing (output timing of the drive signal S0) to the output timing of the detection signal S2.
- the control unit 201 diagnoses whether or not the operation of the laser light source 101 and the photodetector 105 is normal by the processing of FIG.
- the signal S2 is acquired, the presence or absence of the object and the distance to the object are detected based on this detection signal S2.
- the operation diagnosis of the laser light source 101 and the photodetector 105, and the detection and distance measurement of an object in the projection direction can be performed in parallel.
- a laser light source 101 that emits a laser beam for object detection to the projection detection unit 100 that rotates together with the rotating unit 20, and a laser beam that is emitted from the laser light source 101. and a photodetector 105 for receiving a portion of the laser light B2 that is not used for projection to the outside. Therefore, at any rotational position of the rotary unit 20, the laser light (projection light) is projected to the outside to detect an object, while the photodetector 105 receives part of the laser light that is not projected to the outside. , the intensity of the laser light (projection light) projected to the outside and the detection sensitivity of the photodetector 105 can be monitored. Therefore, it is possible to monitor the operations of the laser light source 101 and the photodetector 105 while performing object detection and distance measurement over the entire circumference.
- the photodetector that receives part of the laser light that is not projected to the outside is the object detection photodetector 105 that receives the reflected light.
- the projection detection unit 100 includes a light guide optical system (deflector 106) that guides a portion of the laser beam B2 to a photodetector 105 for object detection.
- the laser light source 101 and the photodetector can be efficiently detected while suppressing the complication of the configuration and the increase in the number of parts. 105 operation can be diagnosed.
- the projection detection unit 100 includes a collimator lens 102 (lens) arranged behind the laser light source 101.
- a deflector 106 is provided for guiding the outer part of the laser light emitted from the laser light source 101 that is not captured by the collimator lens 102 (lens) to the photodetector 105 for object detection.
- the operation of the laser light source 101 and the photodetector 105 is achieved while the projection light is properly projected. can be properly diagnosed.
- only the deflector 106 is separately arranged in the optical system for object detection. The operation of the laser light source 101 and the photodetector 105 can be monitored in a restrained and efficient manner.
- the deflector 106 Since the deflector 106 is positioned close to the photodetector 105 , even if a part of the laser light outside the collimator lens 102 is used, the laser light of sufficient intensity can be delivered to the photodetector 105 . can lead.
- the entire light receiving surface (six sensor portions 105a) of the photodetector 105 can be irradiated with the monitoring laser light in a spread manner. , local irradiation of the light receiving surface of the photodetector 105 with too strong laser light can be suppressed. Accordingly, the operation of the laser light source 101 and the photodetector 105 can be stably and appropriately monitored by the detection signal from the photodetector 105 .
- Modification 1> the outer portion of the laser light emitted from the laser light source 101 that is not captured by the collimator lens 102 is used as the monitor laser light for monitoring the operations of the laser light source 101 and the photodetector 105. was taken.
- Modification 1 part of the laser light transmitted through the collimator lens 102 is branched by the branching element to generate laser light for monitoring.
- FIG. 7(a) is a side view showing a partial configuration of the projection detection unit 100 according to Modification 1.
- FIG. 7(a) is a side view showing a partial configuration of the projection detection unit 100 according to Modification 1.
- FIG. 7(a) shows the configuration of the part held by the structure 41 in the configuration of the projection detection unit 100, as in FIG.
- the configuration and arrangement of the mirror 42 of the projection detection section 100 are the same as in the above embodiment.
- the illustration of the filter 104 is omitted in FIG. 7(a).
- the deflector 106 is omitted from the configuration of FIG. 3, and a branching element 111 and a deflector 112 are added.
- the branching element 111 is composed of a diffraction grating, and branches part of the laser light that has passed through the collimator lens 102 with a predetermined diffraction efficiency.
- the diffraction efficiency of splitting element 111 is such that, for example, the amount of split laser light (monitor light) is several percent (for example, 5%) of the amount of laser light that has passed through collimator lens 102, and most of the remaining laser light is It is set to be projected as projection light.
- the diffraction order of the branched laser light (monitor light) can be set arbitrarily.
- the projection light does not necessarily have to be zero-order light, and may be diffracted light of other orders as long as most of the laser light that has passed through the collimator lens 102 is used as projection light.
- 0th-order light is used as projection light.
- the branching element 111 is, for example, a blazed diffraction grating.
- the branching element 111 may be a step-type diffraction grating.
- the branching element 111 preferably has a configuration in which diffracted light (laser light for monitoring) is generated only on the deflector 112 side of the projected light. From this point of view, the branching element 111 is preferably a blazed diffraction grating.
- the deflector 112 is constructed similarly to the deflector 106 in FIG.
- the deflecting body 112 is arranged at a position where the laser light branched by the branching element 111 is incident and does not interfere with the optical paths of the projected light and the reflected light.
- the deflector 112 reflects and scatters the incident laser beam B2 to enter the photodetector 105 . Accordingly, as in the above embodiment, the operation of the laser light source 101 and the photodetector 105 can be diagnosed by the monitoring laser beam B2. Control during measurement may be performed in the same manner as in FIGS.
- the branching element 113 branches the laser light in the direction toward the photodetector 105 .
- the laser light branched by the branching element 113 is directly irradiated to the photodetector 105 .
- the branching element 113 is a partially reflecting mirror having a reflecting film that reflects about several percent (for example, 1%) of the laser light and transmits most of the remaining laser light.
- a reflective diffraction grating may be used instead of the partially reflective mirror. In this case, a predetermined order of diffracted light split by diffraction is guided to the photodetector 105 .
- the projection detection unit 100 includes a branching element 111 that branches a part of the laser light emitted from the laser light source 101, and the laser light branched by the branching element 111 to the photodetector for object detection.
- a light guide optical system includes a deflector 112 for guiding the light.
- the light amount and optical path of the monitor laser light can be more intentionally controlled than the configuration of Embodiment 1. As a result, it is possible to prevent erroneous detection of an object due to light spreading to unintended places in the device.
- Modification 2 the operation of the laser light source 101 is diagnosed by a monitoring photodetector arranged separately from the photodetector 105 . In Modification 2, operation diagnosis of the photodetector 105 for object detection is not performed.
- FIG. 8 is a side view showing the configuration of part of the projection detection unit 100 according to Modification 2. As shown in FIG.
- FIG. 8 shows the configuration of the portion held by the structure 41 in the configuration of the projection detection section 100.
- the configuration and arrangement of the mirror 42 of the projection detection section 100 are the same as in the above embodiment.
- the illustration of the filter 104 is omitted in FIG.
- the deflector 106 is omitted from the configuration of FIG. 3, and a branching element 121 and a photodetector 122 are added.
- the branching element 121 is a partially reflecting mirror that reflects part of the laser beam.
- the branching element 121 has a reflective film that reflects about several percent (for example, 1%) of the laser light and transmits most of the remaining laser light.
- the photodetector 122 receives the laser beam reflected by the branching element 121 and outputs a detection signal corresponding to the amount of received light.
- the photodetector 122 may have only one sensor section. A photodiode, for example, can be used as the photodetector 122 .
- the control unit 201 uses the detection signal from the photodetector 122 to perform the processing of FIG. 5(b).
- the thresholds Dth1 and Dth2 in step S22 are within a certain range (for example, about ⁇ several percent) with respect to the normal detection value (default value) obtained from the photodetector 122 when the laser light source 101 is normal. set to the value
- the control unit 201 transmits information for notifying that the laser light source 101 has an abnormality to the control unit 211 on the fixed unit 10 side. As a result, the external system executes a process of notifying that the laser light source 101 has an abnormality.
- the projection detector 100 includes a monitor photodetector 122 arranged separately from the object detection photodetector 105 that receives the reflected light, and a monitor photodetector 122 that receives a part of the laser light. and a light guide optical system (branching element 121 ) that guides the light to the photodetector 122 .
- the laser light projection light
- the photodetector 122 receives part of the laser light that is not projected to the outside.
- the intensity of the laser light (projection light) projected to the outside can be monitored. Therefore, it is possible to monitor the operation of the laser light source 101 while performing object detection and distance measurement over the entire circumference.
- the monitor laser light does not enter the object detection photodetector 105, so even if the distance to the object existing in the projection direction is remarkably short, the photodetector From 105, only the detection signal S2 is generated at a timing corresponding to the distance to the object. Therefore, even when the distance to the object is remarkably short, the distance to the object can be properly detected.
- the branching element 121 is a partially reflecting mirror, but a diffraction grating may be used as the branching element 121 as in Modification 1.
- the laser light branched by the diffraction grating may be directly guided to the photodetector 122, or, as in Modification 1, the branched laser light may pass through a deflector to the photodetector. 122.
- the branching element 111 may be replaced with a partially reflecting mirror, and the laser beam branched by the partially reflecting mirror may be guided to the deflector 112 .
- FIG. 9 is a side view showing the configuration of part of the projection detection unit 100 according to Modification 3. As shown in FIG.
- FIG. 9 shows the configuration of the portion held by the structure 41 in the configuration of the projection detection section 100.
- the configuration and arrangement of the mirror 42 of the projection detection section 100 are the same as in the above embodiment.
- the illustration of the filter 104 is omitted in FIG.
- a photodetector 132 for monitoring is arranged separately from the photodetector 105 for receiving the reflected light, and furthermore, the outer portion not captured by the collimator lens 102 is A deflector 131 is arranged for guiding to a photodetector 132 for monitoring.
- a monitoring laser light source 133 for irradiating the light receiving surface of the photodetector 132 with the monitoring laser light B3 is arranged.
- the photodetector 132 can be configured similarly to the photodetector 122 of the second modification.
- the laser light source 133 emits laser light in the same wavelength band as the laser light source 101 .
- a monitoring laser beam emitted from the laser light source 133 is applied to the photodetector 105 through the filter 104 shown in FIG.
- the control unit 201 uses the detection signal from the photodetector 132 to perform the processing of FIG. 5(b). Further, the control unit 201 causes the laser light source 133 to emit light at a timing that does not conflict with the measurement operation, and irradiates the photodetector 105 with the laser beam B3. Then, the control unit 201 refers to the detection signal output from the photodetector 105 by irradiation with the laser beam B3, and diagnoses the operation of the photodetector 105 depending on whether or not this detection signal is within the threshold range. .
- the projection detection unit 100 includes a collimator lens 102 (lens) arranged behind a laser light source 101 and a laser beam emitted from the laser light source 101 which is captured by the collimator lens 102 (lens). and a deflector 131 (light guiding optical system) for guiding the outer portion not exposed to the light to a photodetector 132 for monitoring.
- the laser light projection light
- the photodetector 132 receives part of the laser light that is not projected to the outside.
- the intensity of the laser light (projection light) projected to the outside can be monitored. Therefore, it is possible to monitor the operation of the laser light source 101 while performing object detection and distance measurement over the entire circumference of the device.
- the projection detection unit 100 further includes a monitor laser light source 133 that irradiates a laser light onto the object detection photodetector 105 that receives the reflected light.
- a monitor laser light source 133 that irradiates a laser light onto the object detection photodetector 105 that receives the reflected light.
- the laser light from the monitor laser light source 133 is applied to the photodetector 105 through the filter 104 (see FIG. 2A).
- a diffusion plate that transmits and diffuses the laser light from the laser light source 133 may be arranged between the filter 104 and the filter 104 .
- the outer portion that is not captured by the collimator lens 102 is guided to the photodetector 132 by the deflector 131.
- a configuration in which the photodetector 132 directly receives the outer portion that is not captured by 102 may be used.
- FIG. 10A is a side view showing the configuration of part of the projection detection unit 100 according to Modification 4.
- FIG. 10A is a side view showing the configuration of part of the projection detection unit 100 according to Modification 4.
- a part of the laser light transmitted through the collimator lens 102 is branched by the branching element 141 and guided to the deflector 142, and the laser light B2 reflected and scattered by the deflector 142 is sent to the photodetector 143. is received at Other configurations are the same as those of the third modification.
- the branching element 141 is a diffraction grating, like the branching element 111 in FIG. 7(a).
- the deflector 142 and photodetector 143 are similar to the deflector 131 and photodetector 132 of FIG.
- FIG. 10(a) may be changed as shown in FIG. 10(b).
- FIG. 10B shows only the optical system for projecting projection light, and the illustration of the optical system on the light receiving side is omitted.
- the configuration of the optical system on the light receiving side is the same as in FIG. 10(a).
- the branching element 144 branches the laser light in the direction toward the photodetector 143 .
- the laser light branched by the branching element 144 is directly applied to the photodetector 143 .
- the branching element 144 is a partially reflecting mirror having a reflecting film that reflects about several percent (for example, 1%) of the laser light and transmits most of the remaining laser light.
- a reflective diffraction grating may be used instead of the partially reflective mirror. In this case, a predetermined order of diffracted light split by diffraction is guided to the photodetector 143 .
- a filter may be arranged between the branching element 144 and the photodetector 143 to selectively transmit the monitoring laser light.
- the projection detection unit 100 serves as a light guide optical system that guides part of the laser light to the photodetector 143 for monitoring. and a deflector 142 for guiding the laser light branched by the branching element 141 to a photodetector 143 for monitoring.
- the laser beam is projected to the outside to detect an object, while part of the laser beam that is not projected to the outside is photodetected.
- the intensity of the laser light (projection light) received by the device 143 and projected to the outside can be monitored. Therefore, it is possible to monitor the operation of the laser light source 101 while performing object detection and distance measurement over the entire circumference of the device.
- a partially reflecting mirror may be used as the branching element 141 in the configuration of FIG. 10(a) as well.
- the monitoring laser light generated by one projection detection unit 100 is received by the photodetector 105 of the other projection detection unit 100 .
- FIG. 11 is a side view showing the configuration of part of the projection detection section 100 according to the second embodiment
- FIG. 12 is a plan view showing the configuration of part of the projection detection section 100 according to the second embodiment.
- 11 and 12 illustrate the configuration of the projection detection section 100 other than the mirror 42.
- FIG. For convenience, illustration of the filter 104 is omitted.
- FIG. 12 shows a set of two projection detection units 100 sandwiching the rotation axis R10 in the X-axis direction, out of the set of projection detection units 100 that mutually receive the monitoring laser beam B2.
- the outer portion of the laser beam B2 (monitoring laser beam) that is not captured by the collimator lens 102 is reflected and scattered by the deflector 151 (light guide optical system), is guided to the photodetector 105 of the projection detection unit 100 of .
- the holding member 41a of FIG. 1 is formed with an opening for passing the monitoring laser beam B2.
- the control unit 201 controls the light emission of these two projection detection units 100 so that the diagnosis period T1 in one projection detection unit 100 does not overlap with the distance measurement period T2 in the other projection detection unit 100.
- Set timing For example, the control unit 201 determines that the diagnosis period T1 in one projection detection unit 100 is included in the period between the end timing t3 of the distance measurement period T2 in the other projection detection unit 100 and the start timing of the next light emission period T0.
- the light emission timings of these two projection detection units 100 are set so that the light is emitted. Accordingly, the control unit 201 can appropriately acquire the detection signal of the monitoring laser light generated by one projection detection unit 100 using the photodetector 105 of the other projection detection unit 100 . Control during the measurement operation is the same as in FIGS.
- the projection detection unit 100 detects a portion of the laser light emitted from the laser light source 101 that is not used for external projection as light from the other projection detection unit 100 .
- a deflector 151 (light guide optical system) is provided to guide the detector 105 .
- laser light is projected externally from each of the two projection detection units 100 both arranged on the rotating unit 20 to detect an object, but the projection detection unit 100 does not project laser light to the outside.
- a part of the laser light is received by the photodetector 105 of the other projection detection unit 100, and the intensity of each laser light (projection light) and the detection sensitivity of each photodetector 105 can be monitored. Therefore, while each projection detection unit 100 detects an object over the entire circumference, the operation of each laser light source 101 and each photodetector 105 is controlled by a detection signal from the photodetector 105 of the other projection detection unit 100. can be diagnosed.
- the projection detection section 100 serves as a light guiding optical system to guide the outer portion not captured by the collimator lens 102 to the photodetector 105 of the other projection detection section 100.
- deflectors 151 are included.
- each projection detection unit 100 can appropriately project the projection light, and the laser light source 101 and the photodetector can be detected.
- 105 can be properly diagnosed. 11 and 12, only the deflector 151 is separately arranged in the optical system for object detection. The operation of laser light source 101 and photodetector 105 can be diagnosed.
- the outer portion not captured by the collimator lens 102 was guided by the deflector 151 to the photodetector 105 of the other projection detection unit 100.
- the laser beam B ⁇ b>2 split at 2 may be guided by the deflector 162 to the photodetector 105 of the other projection detection unit 100 .
- the branching element 161 is a diffraction grating, as in Modification 1 above.
- the branching element 161 may be a partially reflecting mirror as in the second modification.
- the deflector 162 reflects and scatters the split laser light and guides it to the photodetector 105 of the other projection detection section 100, as in the case of FIG.
- Other configurations and controls are the same as those of the second embodiment.
- the projection detection unit 100 includes, as a light guide optical system, a branching element 161 that branches a part of the laser light emitted from the laser light source 101, and the laser light B2 branched by the branching element 161 to the other and a deflector 162 for guiding to the photodetector 105 of the projection detector 100 . 12 as well, the operation of the laser light source 101 and the photodetector 105 can be properly diagnosed while each projection detection unit 100 projects the projection light properly.
- the monitor laser beam B2 is received by the two projection detectors 100 arranged across the rotation axis R10.
- the combination of the projection detectors 100 that mutually receive the light is not limited to this.
- the light guiding optical system may be configured such that the monitoring laser beam B2 is mutually received between two projection detection units 100 adjacent in the circumferential direction, or alternatively, two projection detection units 100 arranged alternately may be arranged.
- the light guiding optical system may be configured such that the monitoring laser beam B2 is mutually received between the detection units 100 .
- the configuration of the laser radar 1 can be modified in various ways other than the configurations shown in the first and second embodiments and their modifications.
- Embodiments 1 and 2 and their modifications white paper or a reflective diffusion plate was used as the deflector, but as long as it is possible to guide the laser light for monitoring to the corresponding photodetector, another member may be used as the deflector.
- a mirror may be used as the deflector, or a member in which a transmissive diffusion plate is laminated on the reflecting surface of a mirror may be used.
- the number of deflectors arranged in the projection detection unit 100 is not necessarily limited to one. good.
- part of the laser light may be reflected by a mirror (deflector) and then guided to a photodetector by a reflective diffusion plate (deflector).
- a waveguide such as an optical pipe may also be used as the deflector.
- a mirror is arranged as the deflector 151 , and the monitoring laser light reflected by the mirror is guided by a cylindrical light guide member spanning between the two projection detection units 100 . , may be guided to the photodetector 105 of the other projection detection unit 100 .
- the configuration of the projection detection unit 100 is not limited to the configurations of the first and second embodiments and their modifications, and may be changed as appropriate.
- the tilt angles of the mirrors 42 are different between the projection detection units 100 in the first and second embodiments and their modifications, the tilt angles of the mirrors 42 in all the projection detection units 100 may be the same. Alternatively, the inclination angles of the mirrors 42 may be the same in the predetermined combination of projection detection units 100 .
- the photodetector 105 does not have to have six sensor units 105a, and may have only one sensor unit 105a.
- the shape of the sensor section 105a may also be changed as appropriate.
- the condenser lens 103 may not have the opening 103a, and the laser light source 101 and the collimator lens 102 are arranged so that the projection light transmitted through the collimator lens 102 passes through a position away from the condenser lens 103. may be placed.
- the shape of the beam formed by the collimator lens 102 does not have to be a shape that spreads in one direction as described above. 102.
- the arrangement position of the deflector 106 does not have to be on the side of the collimator lens 102 , and may be shifted in the optical axis direction with respect to the collimator lens 102 .
- the projection detection unit 100 is rotated so that the mirror 42 is omitted from the projection detection unit 100, and the projection direction of the projection light transmitted through the collimator lens 102 and the light receiving direction of the condenser lens 103 are directed away from the rotation axis R10. It may be placed in section 20 .
- the number of projection detection units 100 arranged on the rotation unit 20 is not limited to six, and only one projection detection unit 100 may be arranged on the rotation unit 20 .
- the projection detection unit 100 may be arranged on the rotation unit 20 so that the optical axes of the laser light source 101 and the collimator lens 102 are aligned with the rotation axis R10 in the configuration shown in FIG. 2(a).
- the holding member 41a may be omitted, and each optical member constituting the projection detection section 100 may be installed directly on the base member 21.
- the optical system is configured such that the optical axis of the condenser lens 103 without the aperture 103a and the optical axis of the collimator lens 102 intersect, and the optical axis of the collimator lens 102 is positioned at the intersection of these optical axes.
- the projection detection unit 100 may be configured by arranging an optical element (a diffraction grating, a mirror, or the like) that aligns the optical axis of the condenser lens 103 with the optical axis of the condenser lens 103 . In this case, only one projection detection unit 100 is installed on the rotation unit 20 so that the optical axis of the condenser lens 103 coincides with the rotation axis R10.
- the deflector 106 is arranged between the laser light source 101 and the optical element so as to guide part of the laser light emitted from the laser light source 101 to the photodetector 105 .
- the configurations of modification examples 1 to 4 may be applied to this configuration.
- the operation diagnosis of the laser light source 101 and the photodetector 105 is performed at each light emission timing during the range finding operation, but the timing and frequency of the operation diagnosis are limited to this. not a thing
- the operation diagnosis of the laser light source 101 and the photodetector 105 may be performed each time the rotating section 20 rotates once or a predetermined number of times.
- the motor 30 is used as a drive source for rotating the rotating portion 20.
- a gear is provided on the entire outer peripheral surface of the rotating part 20 , and a gear provided on the drive shaft of the motor installed in the fixed part 10 is meshed with this gear, thereby rotating the rotating part 20 to the fixed part 10 . may be rotated with respect to
- the laser radar 1 may not have a distance measuring function, and may only have a function of detecting whether or not an object exists in the projection direction based on the signal from the photodetector 105 .
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Abstract
This laser radar comprises a rotation part that rotates around an axis of rotation and a projection and detection unit (100) that is disposed on the rotation part, projects laser light to the outside and in a direction away from the axis of rotation, and receives projected laser light that has been reflected by an object. The projection and detection unit (100) comprises a laser light source (101) for emitting laser light and a light receiver (105) for receiving, from among the laser light emitted by the laser light source (101), some laser light (B2) that is not used for projection to the outside.
Description
本発明は、レーザ光を用いて物体を検出するレーザレーダに関する。
The present invention relates to a laser radar that detects objects using laser light.
近年、建物への侵入を検知するセキュリティ用途などに、レーザレーダが用いられている。一般に、レーザレーダは、目標領域にレーザ光を照射し、その反射光に基づいて、目標領域における物体の有無を検出する。また、レーザレーダは、レーザ光の照射タイミングから反射光の受光タイミングまでの所要時間に基づいて、物体までの距離を測定する。
In recent years, laser radars have been used for security applications such as detecting intrusions into buildings. In general, a laser radar irradiates a target area with laser light and detects the presence or absence of an object in the target area based on the reflected light. Also, the laser radar measures the distance to an object based on the time required from the timing of irradiation of the laser beam to the timing of receiving the reflected light.
上記構成のレーザレーダでは、正規の出射パワーでレーザ光源が動作していることを監視する必要がある。レーザ光源の出射パワーが予め規定された出射パワーから低下した場合、装置が保証する最大距離で物体検出を行えなくなってしまう。また、レーザ光源の出射パワーが予め規定された出射パワーから高まると、アイセーフの基準を超える強度でレーザ光が出射されることが起こり得る。
In the laser radar with the above configuration, it is necessary to monitor that the laser light source is operating at regular output power. When the emission power of the laser light source drops below the predetermined emission power, it becomes impossible to detect an object at the maximum distance guaranteed by the device. Moreover, when the emission power of the laser light source increases from the predetermined emission power, the laser light may be emitted with an intensity exceeding the eye-safe standard.
以下の特許文献1には、光源の出射パワーを監視する構成が示されている。この構成では、回転する反射体にビームが照射される。これにより、ビームが装置の周りを旋回して、装置周囲に存在する物体の検出と、当該物体までの距離計測が行われる。ビームの旋回範囲の一部にミラーが配置され、このミラーにより、ビームが装置内のテストターゲットに照射される。テストターゲットで反射されたビームは、光路を逆行して受光器に導かれる。受光器の出力によって、ビームの強度が監視される。
Patent Document 1 below shows a configuration for monitoring the output power of a light source. In this configuration, the rotating reflector is illuminated by the beam. As a result, the beam revolves around the device to detect an object existing around the device and measure the distance to the object. A mirror is positioned in part of the swivel range of the beam and directs the beam onto a test target within the apparatus. The beam reflected from the test target travels back through the optical path and is directed to the receiver. The output of the receiver monitors the intensity of the beam.
上記特許文献1の構成では、ミラーが配置された角度範囲において、ビームが装置外に照射されないため、この角度範囲は、物体の検出および距離の計測を行い得ない。すなわち、ミラーが配置された角度範囲は、物体検出において死角となっている。
In the configuration of Patent Document 1, the beam is not emitted outside the apparatus in the angular range in which the mirrors are arranged, so that the detection of the object and the measurement of the distance cannot be performed in this angular range. That is, the angular range in which the mirrors are arranged is a blind spot in object detection.
かかる課題に鑑み、本発明は、全周に亘って物体検出を行いつつ、レーザ光源の動作を監視することが可能なレーザレーダを提供することを目的とする。
In view of such problems, an object of the present invention is to provide a laser radar capable of monitoring the operation of a laser light source while detecting an object over the entire circumference.
本発明の主たる態様に係るレーザレーダは、回転軸について回転される回転部と、前記回転部に配置され、前記回転軸から離れる方向にレーザ光を外部に投射するとともに、投射された前記レーザ光の物体からの反射光を受光する投射検出部と、を備える。前記投射検出部は、前記レーザ光を出射するレーザ光源と、前記レーザ光源から出射されたレーザ光のうち外部への投射に用いない一部のレーザ光を受光する光検出器と、を備える。
A laser radar according to a main aspect of the present invention includes a rotating portion rotated about a rotating shaft, a laser beam disposed on the rotating portion, projecting a laser beam to the outside in a direction away from the rotating shaft, and a projection detector that receives the reflected light from the object. The projection detector includes a laser light source that emits the laser light, and a photodetector that receives a portion of the laser light emitted from the laser light source that is not used for external projection.
本態様に係るレーザレーダによれば、回転部とともに回転する投射検出部に、物体検出用のレーザ光を出射するレーザ光源と、レーザ光源から出射されたレーザ光のうち外部への投射に用いない一部のレーザ光を受光する光検出器と、が配置される。このため、回転部の何れの回転位置においても、レーザ光を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器で受光して、外部に投射されるレーザ光の強度をモニターできる。よって、装置回りの全周に亘って、物体検出を行いつつ、レーザ光源の動作を監視することができる。
According to the laser radar according to this aspect, the projection detection unit rotating together with the rotating unit includes a laser light source that emits laser light for object detection, and a laser light emitted from the laser light source that is not used for external projection. A photodetector for receiving part of the laser light is arranged. For this reason, at any rotational position of the rotating part, while the laser beam is projected to the outside to detect the object, part of the laser beam that is not projected to the outside is received by the photodetector and projected to the outside. The intensity of laser light can be monitored. Therefore, it is possible to monitor the operation of the laser light source while detecting the object over the entire circumference of the device.
以上のとおり、本発明によれば、全周に亘って物体検出を行いつつ、レーザ光源の動作を監視することが可能なレーザレーダを提供できる。
As described above, according to the present invention, it is possible to provide a laser radar capable of monitoring the operation of a laser light source while detecting an object over the entire circumference.
本発明の効果ないし意義は、以下に示す実施形態の説明により更に明らかとなろう。ただし、以下に示す実施形態は、あくまでも、本発明を実施化する際の一つの例示であって、本発明は、以下の実施形態に記載されたものに何ら制限されるものではない。
The effects and significance of the present invention will become clearer from the description of the embodiments shown below. However, the embodiment shown below is merely one example of the implementation of the present invention, and the present invention is not limited to the embodiments described below.
ただし、図面はもっぱら説明のためのものであって、この発明の範囲を限定するものではない。
However, the drawings are for illustration only and do not limit the scope of the present invention.
以下、本発明の実施形態について、図面を参照して説明する。便宜上、各図には、互いに直交するX、Y、Z軸が付記されている。Z軸正方向は、レーザレーダ1の高さ方向である。
Hereinafter, embodiments of the present invention will be described with reference to the drawings. For convenience, each figure is labeled with mutually orthogonal X, Y, and Z axes. The Z-axis positive direction is the height direction of the laser radar 1 .
<実施形態1>
図1は、レーザレーダ1の構成を示す一部分解斜視図である。 <Embodiment 1>
FIG. 1 is a partially exploded perspective view showing the configuration of thelaser radar 1. FIG.
図1は、レーザレーダ1の構成を示す一部分解斜視図である。 <
FIG. 1 is a partially exploded perspective view showing the configuration of the
図1に示すように、レーザレーダ1は、円柱形状の固定部10と、円柱形状の回転部20とを備える。回転部20は、ベアリング機構を介して、回転軸R10について回転可能に固定部10に支持されている。また、回転部20は、固定部10に配置されたモータ30(図4参照)の駆動軸31に連結されている。モータ30が駆動されることにより、回転部20が回転軸R10について回転する。回転軸R10は、駆動軸31の中心軸により規定される。回転軸R10は、Z軸に平行である。
As shown in FIG. 1 , the laser radar 1 includes a cylindrical fixed portion 10 and a cylindrical rotating portion 20 . The rotating part 20 is rotatably supported by the fixed part 10 about the rotation axis R10 via a bearing mechanism. Further, the rotating portion 20 is connected to a drive shaft 31 of a motor 30 (see FIG. 4) arranged on the fixed portion 10 . By driving the motor 30, the rotating part 20 rotates about the rotation axis R10. Axis of rotation R<b>10 is defined by the central axis of drive shaft 31 . The rotation axis R10 is parallel to the Z-axis.
回転部20は、円柱状のベース部材21と円盤状の支持部材22とにより構成される。ベース部材21の中心に、駆動軸31が連結される。ベース部材21の上面に支持部材22が設置され、さらに、支持部材22の上面に6つの光学ユニット40が周方向に等間隔で設置される。支持部材22は、6つの光学ユニット40を支持する。便宜上、図1には、支持部材22に設置される光学ユニット40が1つだけ図示されている。
The rotating part 20 is composed of a cylindrical base member 21 and a disk-shaped support member 22 . A drive shaft 31 is connected to the center of the base member 21 . A support member 22 is installed on the upper surface of the base member 21, and six optical units 40 are installed on the upper surface of the support member 22 at regular intervals in the circumferential direction. The support member 22 supports six optical units 40 . For convenience, only one optical unit 40 installed on the support member 22 is shown in FIG.
ベース部材21には、回転軸R10の周方向に沿って6つの設置面21aが等間隔(60°間隔)で形成されている。設置面21aは、回転軸R10に垂直な平面(X-Y平面)に対して傾いている。設置面21aの側方(回転軸R10から離れる方向)および設置面21aの上方(Z軸正方向)は、開放されている。6つの設置面21aの傾き角は、互いに異なっている。
The base member 21 is formed with six installation surfaces 21a at equal intervals (at intervals of 60°) along the circumferential direction of the rotation axis R10. The installation surface 21a is inclined with respect to a plane (XY plane) perpendicular to the rotation axis R10. The side of the installation surface 21a (the direction away from the rotation axis R10) and the upper side of the installation surface 21a (positive direction of the Z-axis) are open. The inclination angles of the six installation surfaces 21a are different from each other.
支持部材22には、回転軸R10を中心とする周方向に沿って、円形の6つの孔22aが等間隔(60°間隔)で形成されている。孔22aは、上下に支持部材22を貫通している。6つの孔22aが、それぞれベース部材21の6つの設置面21aの上方に位置付けられるよう、支持部材22がベース部材21の上面に設置される。
In the support member 22, six circular holes 22a are formed at equal intervals (at intervals of 60°) along the circumferential direction around the rotation axis R10. The hole 22a penetrates the support member 22 vertically. The support member 22 is installed on the upper surface of the base member 21 so that the six holes 22a are positioned above the six installation surfaces 21a of the base member 21, respectively.
光学ユニット40は、構造体41とミラー42を備える。構造体41は、保持部材41aと、回路基板41bと、を備える。保持部材41aは、構造体41が備える光学系を保持する。回路基板41bは、保持部材41aの上面に設置されている。保持部材41aは、下面が開放されている。構造体41は、下方向(Z軸負方向)にレーザ光(投射光)を出射するとともに、下側からレーザ光(物体からの反射光)を受光する。構造体41に保持される光学系については、追って、図2(a)、(b)を参照して説明する。
The optical unit 40 includes a structure 41 and a mirror 42. The structure 41 includes a holding member 41a and a circuit board 41b. The holding member 41a holds the optical system included in the structure 41 . The circuit board 41b is installed on the upper surface of the holding member 41a. The holding member 41a has an open bottom surface. The structure 41 emits laser light (projected light) downward (negative Z-axis direction) and receives laser light (reflected light from an object) from below. The optical system held by the structure 41 will be described later with reference to FIGS. 2(a) and 2(b).
支持部材22上面の6つの孔22aに対応する位置に、それぞれ、構造体41が載せられて設置される。これにより、6つの光学ユニット40が、回転軸R10の周方向に沿って等間隔(60°間隔)で並ぶ。2つの構造体41は、回転軸R10について対称に配置される。なお、光学ユニット40は、必ずしも周方向に等間隔に並ばなくてもよい。
At positions corresponding to the six holes 22a on the upper surface of the support member 22, the structures 41 are placed and installed. Thereby, the six optical units 40 are arranged at equal intervals (at intervals of 60°) along the circumferential direction of the rotation axis R10. The two structures 41 are arranged symmetrically about the rotation axis R10. Note that the optical units 40 do not necessarily have to be arranged at regular intervals in the circumferential direction.
ベース部材21の設置面21aに光学ユニット40のミラー42が設置される。ミラー42は、上面に反射面42aが形成された板状の部材である。ミラー42の厚みは均一である。したがって、ミラー42が設置面21aに設置されると、ミラー42の反射面は、設置面21aの傾きと同じ傾き角で、回転軸R10に垂直な平面に対し傾く。
A mirror 42 of the optical unit 40 is installed on the installation surface 21 a of the base member 21 . The mirror 42 is a plate-shaped member having a reflecting surface 42a formed on its upper surface. The thickness of mirror 42 is uniform. Therefore, when the mirror 42 is installed on the installation surface 21a, the reflecting surface of the mirror 42 is tilted with respect to the plane perpendicular to the rotation axis R10 at the same inclination angle as the installation surface 21a.
6つの設置面21aにミラー42がそれぞれ設置され、さらに、支持部材22の上面に6つの構造体41が設置されることにより、6つの光学ユニット40が回転部20に設置される。その後、下面が開放された円筒状の透明なカバーが、6つの光学ユニット40および回転部20を内部に収容するように、固定部10に設置される。これにより、レーザレーダ1の組立が完了する。
The six optical units 40 are installed on the rotary section 20 by installing the mirrors 42 on the six installation surfaces 21a and by installing the six structures 41 on the upper surface of the support member 22 . After that, a cylindrical transparent cover with an open bottom surface is installed on the fixed part 10 so as to accommodate the six optical units 40 and the rotating part 20 inside. Thus, assembly of the laser radar 1 is completed.
図2(a)、(b)は、それぞれ、各光学ユニット40に配置される投射検出部100(光学系)の構成を示す斜視図および側面図である。図2(c)は、光検出器105のセンサ部105aの構成を模式的に示す平面図である。
2(a) and (b) are a perspective view and a side view, respectively, showing the configuration of the projection detection section 100 (optical system) arranged in each optical unit 40. FIG. FIG. 2C is a plan view schematically showing the configuration of the sensor section 105a of the photodetector 105. FIG.
投射検出部100は、回転軸R10から離れる方向に向かってレーザ光(投射光)を外部に投射するとともに、投射されたレーザ光の物体からの反射光を受光する。投射検出部100は、投射光を投射するための投射光学系と、反射光を受光するための受光光学系とを備える。投射光学系は、レーザ光源101と、コリメータレンズ102と、ミラー42とにより構成される。受光光学系は、集光レンズ103と、フィルタ104と、光検出器105とにより構成される。さらに、投射検出部100は、レーザ光源101の出射強度および光検出器105の受光感度を監視するための構成として、偏向体106を備える。
The projection detection unit 100 projects laser light (projection light) to the outside in a direction away from the rotation axis R10, and receives reflected light of the projected laser light from the object. The projection detector 100 includes a projection optical system for projecting projection light and a light receiving optical system for receiving reflected light. A projection optical system is composed of a laser light source 101 , a collimator lens 102 and a mirror 42 . The light receiving optical system is composed of a condenser lens 103 , a filter 104 and a photodetector 105 . Furthermore, the projection detection unit 100 includes a deflector 106 as a configuration for monitoring the emission intensity of the laser light source 101 and the light receiving sensitivity of the photodetector 105 .
レーザ光源101は、所定波長のレーザ光(投射光)を出射する。レーザ光源101の出射光軸は、Z軸に平行である。コリメータレンズ102は、レーザ光源101から出射された投射光を平行光に近づくように収束させる。コリメータレンズ102は、たとえば非球面レンズによって構成される。コリメータレンズ102により収束された投射光は、ミラー42に入射する。ミラー42に入射した投射光は、ミラー42によって、回転軸R10から離れる方向に反射される。その後、投射光は、上述のカバーを透過して、目標領域へと投射される。
A laser light source 101 emits laser light (projection light) of a predetermined wavelength. The emission optical axis of the laser light source 101 is parallel to the Z-axis. The collimator lens 102 converges the projection light emitted from the laser light source 101 so that it approaches parallel light. Collimator lens 102 is configured by, for example, an aspherical lens. Projection light converged by the collimator lens 102 is incident on the mirror 42 . The projection light incident on the mirror 42 is reflected by the mirror 42 in a direction away from the rotation axis R10. The projected light is then transmitted through the aforementioned cover and projected onto the target area.
目標領域に物体が存在する場合、目標領域に投射された投射光は、物体で反射される。物体によって反射されたレーザ光の反射光は、カバーを透過し、ミラー42に入射する。その後、反射光は、ミラー42によってZ軸正方向に反射される。集光レンズ103は、ミラー42で反射された反射光を、光検出器105の受光面に収束させる。
When an object exists in the target area, the projection light projected onto the target area is reflected by the object. Reflected light of the laser light reflected by the object passes through the cover and enters the mirror 42 . After that, the reflected light is reflected in the Z-axis positive direction by the mirror 42 . The condenser lens 103 converges the light reflected by the mirror 42 onto the light receiving surface of the photodetector 105 .
集光レンズ103で集光された反射光は、フィルタ104に入射する。フィルタ104は、レーザ光源101から出射される投射光の波長帯の光を透過し、その他の波長帯の光を遮光するよう構成されている。フィルタ104を透過した反射光は、光検出器105に導かれる。光検出器105は、反射光を受光して、受光光量に応じた検出信号を出力する。光検出器105は、たとえば、アバランシェフォトダイオードである。
The reflected light condensed by the condensing lens 103 enters the filter 104 . The filter 104 is configured to transmit light in the wavelength band of projection light emitted from the laser light source 101 and block light in other wavelength bands. Reflected light transmitted through the filter 104 is guided to the photodetector 105 . The photodetector 105 receives the reflected light and outputs a detection signal corresponding to the amount of received light. Photodetector 105 is, for example, an avalanche photodiode.
図2(a)、(b)に示すように、コリメータレンズ102は、レーザ光源101から出射されたレーザ光が、Y軸方向に平行光化され、X軸方向には平行光からやや広がるように、レーザ光に収束作用を付与する。これにより、図2(a)に示すように、ミラー42によって反射された投射光は、Z軸方向に僅かに拡散した状態で目標領域に投射される。また、ミラー42によって反射された投射光の光束は、Y軸方向の長さよりも、回転軸R10に平行な方向(Z軸方向)の長さが長くなる。
As shown in FIGS. 2A and 2B, the collimator lens 102 converts the laser light emitted from the laser light source 101 into parallel light in the Y-axis direction and slightly diverges from the parallel light in the X-axis direction. Secondly, it gives a convergence effect to the laser light. As a result, as shown in FIG. 2A, the projection light reflected by the mirror 42 is projected onto the target area while being slightly diffused in the Z-axis direction. In addition, the luminous flux of projection light reflected by the mirror 42 is longer in the direction parallel to the rotation axis R10 (Z-axis direction) than in the Y-axis direction.
集光レンズ103には、コリメータレンズ102を透過したレーザ光を通すための開口部103aが形成されている。開口部103aは、集光レンズ103の中心よりも外側に形成されており、Z軸方向に集光レンズ103を貫通する切欠きである。このように集光レンズ103に開口部103aが設けられることにより、投射光学系の光軸と受光光学系の光軸とを近付けることができ、レーザ光源101から出射されたレーザ光を、集光レンズ103にほぼ掛かることなくミラー42に入射させることができる。
The condensing lens 103 is formed with an opening 103a through which the laser light transmitted through the collimator lens 102 passes. The opening 103a is a notch that is formed outside the center of the condenser lens 103 and penetrates the condenser lens 103 in the Z-axis direction. Since the condenser lens 103 is provided with the opening 103a, the optical axis of the projection optical system and the optical axis of the light reception optical system can be brought closer to each other, and the laser light emitted from the laser light source 101 can be condensed. It can be made incident on the mirror 42 almost without covering the lens 103 .
図2(b)に示すように、ミラー42に入射する投射光は、ミラー42の反射面42aのX-Y平面に対する角度θに応じた方向に反射される。上述したように、レーザレーダ1は6つの光学ユニット40を備えており、各光学ユニット40のミラー42が設置される設置面21aの傾き角は、互いに異なっている。したがって、6つの設置面21aにそれぞれ設置される6つのミラー42の反射面42aの傾き角も、互いに異なっている。よって、各ミラー42によって反射された投射光は、互いに異なる高さ方向の走査位置に投射される。
As shown in FIG. 2(b), the projection light incident on the mirror 42 is reflected in a direction corresponding to the angle θ of the reflecting surface 42a of the mirror 42 with respect to the XY plane. As described above, the laser radar 1 has six optical units 40, and the inclination angles of the installation surfaces 21a on which the mirrors 42 of the optical units 40 are installed are different from each other. Therefore, the inclination angles of the reflection surfaces 42a of the six mirrors 42 respectively installed on the six installation surfaces 21a are also different from each other. Therefore, the projection light reflected by each mirror 42 is projected to different scanning positions in the height direction.
図2(c)に示すように、光検出器105は、Z軸負側の受光面に6つのセンサ部105aを備える。6つのセンサ部105aは、X軸方向に一列に隣接して並んでいる。6つのセンサ部105aの並び方向は、走査範囲のZ軸方向(回転軸R10に平行な方向)に対応する。したがって、6つのセンサ部105aには、目標領域をZ軸方向に6つに分割した各分割領域からの反射光が入射する。これにより、各センサ部105aからの検出信号により、各分割領域に存在する物体を検出できる。センサ部105aの数を増やすことにより、Z軸方向において、目標領域における物体検出の分解能を高めることができる。
As shown in FIG. 2(c), the photodetector 105 has six sensor portions 105a on the light receiving surface on the negative side of the Z axis. The six sensor units 105a are arranged adjacently in a row in the X-axis direction. The direction in which the six sensor units 105a are arranged corresponds to the Z-axis direction of the scanning range (the direction parallel to the rotation axis R10). Therefore, the reflected light from each of the six divided areas obtained by dividing the target area in the Z-axis direction is incident on the six sensor units 105a. Thereby, an object existing in each divided area can be detected from the detection signal from each sensor unit 105a. By increasing the number of sensor units 105a, it is possible to increase the resolution of object detection in the target area in the Z-axis direction.
ところで、上記構成のレーザレーダ1では、レーザ光源101の劣化や故障、温度変化等により、レーザ光源101の出射パワーが変動し得る。このため、レーザレーダ1の動作時には、正規の出射パワーでレーザ光源101が動作していることを監視する必要がある。レーザ光源101の出射パワーが予め規定された出射パワーから低下すると、装置が保証する最大距離で物体検出を行えなくなってしまう。また、レーザ光源101の出射パワーが予め規定された出射パワーから高まると、アイセーフの基準を超える強度でレーザ光が出射されることが起こり得る。同様に、光検出器105に不具合が生じて光検出器105の感度が低下すると、遠距離からの反射光を適正に検出できず、装置が保証する最大距離で物体検出を行えなくなってしまう。よって、光検出器105の動作確認も同様に必要となる。
By the way, in the laser radar 1 configured as described above, the emission power of the laser light source 101 may fluctuate due to deterioration, failure, temperature change, or the like of the laser light source 101 . Therefore, during operation of the laser radar 1, it is necessary to monitor that the laser light source 101 is operating at a regular emission power. When the emission power of the laser light source 101 drops from the predetermined emission power, it becomes impossible to detect an object at the maximum distance guaranteed by the device. Moreover, when the emission power of the laser light source 101 increases from the predetermined emission power, the laser light may be emitted with an intensity exceeding the eye-safe standard. Similarly, if the sensitivity of the photodetector 105 is lowered due to a defect in the photodetector 105, the reflected light from a long distance cannot be detected properly, and the object cannot be detected at the maximum distance guaranteed by the device. Therefore, it is also necessary to check the operation of the photodetector 105 as well.
そこで、本実施形態では、レーザ光源101および光検出器105の動作確認を行うための構成が、各光学ユニット40の投射検出部100に配置されている。具体的には、各投射検出部100は、レーザ光源101および光検出器105の動作確認のための構成として、偏向体106を備える。
Therefore, in this embodiment, a configuration for checking the operation of the laser light source 101 and the photodetector 105 is arranged in the projection detection section 100 of each optical unit 40 . Specifically, each projection detection unit 100 includes a deflector 106 as a configuration for confirming the operation of the laser light source 101 and the photodetector 105 .
図3は、投射検出部100の一部の構成を示す側面図である。便宜上、図3では、フィルタ104の図示が省略されている。
FIG. 3 is a side view showing the configuration of part of the projection detection unit 100. FIG. For convenience, illustration of the filter 104 is omitted in FIG.
偏向体106は、入射した光を反射および散乱させる。偏向体106は、たとえば白色の紙や、高反射率の拡散板によって構成される。偏向体106は、コリメータレンズ102に対してY軸負側に近接する位置に配置される。コリメータレンズ102が、有効径の領域の外側に鍔状の周辺部を有する場合、この周辺部の入射側の面に、偏向体106が配置されてもよい。
The deflector 106 reflects and scatters incident light. The deflector 106 is made of, for example, white paper or a highly reflective diffusion plate. The deflector 106 is arranged at a position close to the collimator lens 102 on the Y-axis negative side. If the collimator lens 102 has a flange-like peripheral portion outside the area of the effective diameter, the deflector 106 may be arranged on the entrance-side surface of this peripheral portion.
レーザ光源101から出射されるレーザ光B1は、コリメータレンズ102の外側の領域に広がる。コリメータレンズ102の外側の領域に広がるレーザ光の一部が、偏向体106に入射し、偏向体106で反射される。偏向体106で反射されたレーザ光B2は、反射光を受光する物体検出用の光検出器105に入射する。偏向体106は、レーザ光源101から出射されたレーザ光のうちコリメータレンズ102に取り込まれない外側の部分を物体検出用の光検出器105へと導く。すなわち、偏向体106は、レーザ光源101から出射されたレーザ光B1の一部(レーザ光B1)を物体検出用の光検出器105へと導く導光光学系を構成する。
A laser beam B1 emitted from the laser light source 101 spreads to an area outside the collimator lens 102 . A part of the laser light spreading in the area outside the collimator lens 102 enters the deflector 106 and is reflected by the deflector 106 . The laser beam B2 reflected by the deflector 106 enters the photodetector 105 for object detection that receives the reflected light. The deflector 106 guides the outer portion of the laser light emitted from the laser light source 101 that is not captured by the collimator lens 102 to the photodetector 105 for object detection. That is, the deflector 106 constitutes a light guide optical system that guides a portion of the laser beam B1 emitted from the laser light source 101 (the laser beam B1) to the photodetector 105 for object detection.
レーザレーダ1の動作時には、レーザ光源101の発光に応じて、レーザ光B2が光検出器105に入射する。この入射により光検出器105から出力される検出信号の大きさに基づいて、レーザ光源101および光検出器105が適正に動作しているか否かを監視できる。図2(c)の構成では、光検出器105に配置される全てのセンサ部105aの出力の総和が、レーザ光源101および光検出器105の動作を監視するための検出信号として用いられる。検出信号の大きさが、予め適正範囲として設定された閾値範囲を外れた場合に、レーザ光源101および光検出器105の何れかに異常が生じたと判定される。
When the laser radar 1 is in operation, the laser beam B2 is incident on the photodetector 105 in accordance with the emission of the laser light source 101 . Whether or not the laser light source 101 and the photodetector 105 are operating properly can be monitored based on the magnitude of the detection signal output from the photodetector 105 due to this incidence. In the configuration of FIG. 2C, the sum of the outputs of all sensor units 105a arranged in the photodetector 105 is used as a detection signal for monitoring the operations of the laser light source 101 and the photodetector 105. FIG. When the magnitude of the detection signal is out of a threshold range set as an appropriate range in advance, it is determined that an abnormality has occurred in either the laser light source 101 or the photodetector 105 .
図4は、レーザレーダ1の回路部の構成を示す回路ブロック図である。
FIG. 4 is a circuit block diagram showing the configuration of the circuit section of the laser radar 1. As shown in FIG.
レーザレーダ1は、回路部の構成として、制御部201と、駆動回路202と、処理回路203と、非接触給電部204と、電源回路205と、非接触通信部206と、制御部211と、非接触給電部212と、電源回路213と、非接触通信部214と、を備える。
The laser radar 1 includes a control unit 201, a drive circuit 202, a processing circuit 203, a contactless power supply unit 204, a power supply circuit 205, a contactless communication unit 206, a control unit 211, and It includes a contactless power supply unit 212 , a power supply circuit 213 , and a contactless communication unit 214 .
制御部201と、駆動回路202と、処理回路203と、非接触給電部204と、電源回路205と、非接触通信部206とは、回転部20側の回路基板に配置される。また、制御部211と、非接触給電部212と、電源回路213と、非接触通信部214とは、固定部10側の回路基板に配置される。
The control unit 201, the drive circuit 202, the processing circuit 203, the contactless power supply unit 204, the power supply circuit 205, and the contactless communication unit 206 are arranged on the circuit board on the rotating unit 20 side. Also, the control unit 211, the non-contact power supply unit 212, the power supply circuit 213, and the non-contact communication unit 214 are arranged on the circuit board on the fixing unit 10 side.
固定部10側の各回路部には、電源回路213を介して外部電源から電力が供給される。電源回路213から非接触給電部212に供給された電力は、回転部20の回転に応じて、非接触給電部204へと供給される。供給された電力は、非接触給電部204を介して、電源回路205に供給される。回転部20の各回路部には、電源回路205を介して非接触給電部204から電力が供給される。
Power is supplied from an external power supply to each circuit unit on the fixed unit 10 side through the power supply circuit 213 . The power supplied from the power supply circuit 213 to the non-contact power supply section 212 is supplied to the non-contact power supply section 204 according to the rotation of the rotating section 20 . The supplied power is supplied to the power supply circuit 205 via the contactless power supply section 204 . Electric power is supplied from the non-contact power supply unit 204 through the power supply circuit 205 to each circuit unit of the rotating unit 20 .
制御部201、211は、演算処理回路とメモリを備え、たとえばFPGAやMPUにより構成される。制御部201は、メモリに記憶された所定のプログラムに従って回転部20の各部を制御し、制御部211は、メモリに記憶された所定のプログラムに従って固定部10の各部を制御する。制御部201と制御部211は、非接触通信部206、214を介して通信可能に接続される。
The control units 201 and 211 are equipped with an arithmetic processing circuit and memory, and are configured by FPGA or MPU, for example. Control section 201 controls each section of rotating section 20 according to a predetermined program stored in memory, and control section 211 controls each section of fixed section 10 according to a predetermined program stored in memory. The control unit 201 and the control unit 211 are communicably connected via the contactless communication units 206 and 214 .
制御部211は、外部システムと通信可能に接続されている。外部システムは、たとえば、侵入検知システム、車、ロボットなどである。制御部211は、外部システムからの制御に応じて、固定部10の各部を駆動し、非接触通信部214、206を介して制御部201に駆動指示を送信する。制御部201は、制御部211からの駆動指示に応じて、回転部20の各部を駆動し、非接触通信部206、214を介して制御部201に検出結果を送信する。
The control unit 211 is communicably connected to an external system. External systems are, for example, intrusion detection systems, cars, robots, and the like. The control unit 211 drives each unit of the fixed unit 10 according to control from the external system, and transmits drive instructions to the control unit 201 via the non-contact communication units 214 and 206 . The control unit 201 drives each part of the rotating unit 20 according to a drive instruction from the control unit 211 and transmits detection results to the control unit 201 via the contactless communication units 206 and 214 .
駆動回路202と処理回路203は、6つの光学ユニット40にそれぞれ設けられている。駆動回路202は、制御部201からの制御に応じてレーザ光源101を駆動する。処理回路203は、光検出器105のセンサ部105aから入力される検出信号に対して増幅やノイズ除去等の処理を施して、制御部201に出力する。
The drive circuit 202 and the processing circuit 203 are provided in each of the six optical units 40 . The drive circuit 202 drives the laser light source 101 according to control from the control unit 201 . The processing circuit 203 performs processing such as amplification and noise removal on the detection signal input from the sensor unit 105 a of the photodetector 105 and outputs the processed signal to the control unit 201 .
検出動作において、制御部211は、モータ30を制御して回転部20を所定の回転速度で回転させつつ、6つの駆動回路202を制御して、所定のタイミングで所定の回転角度ごとにレーザ光(投射光)をレーザ光源101から出射させる。これにより、投射光が回転部20から目標領域に投射され、反射光が回転部20の光検出器105のセンサ部105aにより受光される。
In the detection operation, the control unit 211 controls the motor 30 to rotate the rotating unit 20 at a predetermined rotational speed, and controls the six drive circuits 202 to emit laser light at predetermined timing and every predetermined rotation angle. (Projection light) is emitted from the laser light source 101 . As a result, the projection light is projected onto the target area from the rotating section 20 and the reflected light is received by the sensor section 105 a of the photodetector 105 of the rotating section 20 .
制御部201は、センサ部105aから出力される検出信号に基づいて、目標領域に物体が存在するか否かを判定する。また、制御部201は、投射光を投射したタイミングと、目標領域から反射光を受光したタイミングとの間の時間差(タイムオブフライト)に基づいて、目標領域に存在する物体までの距離を計測する。計測結果は、逐次、非接触通信部206、214を介して、固定部10側の制御部211に送信され、さらに、制御部211から外部システムに送信される。
The control unit 201 determines whether an object exists in the target area based on the detection signal output from the sensor unit 105a. In addition, the control unit 201 measures the distance to an object existing in the target area based on the time difference (time of flight) between the timing at which the projection light is projected and the timing at which the reflected light is received from the target area. . The measurement results are sequentially transmitted to the control unit 211 on the stationary unit 10 side via the non-contact communication units 206 and 214, and further transmitted from the control unit 211 to the external system.
この他、制御部201は、偏向体106を介して光検出器105に入射するレーザ光の検出結果に基づいて、レーザ光源101および光検出器105の動作状態を診断する。そして、制御部201は、この診断により、レーザ光源101および光検出器105の何れかに異常があると判定すると、その旨を報知するための情報を、非接触通信部206を介して固定部10側の制御部211に送信する。この情報は、制御部211から外部システムに送信される。これにより、外部システムにおいて、レーザ光源101および光検出器105の何れかに異常があることを報知する処理が実行される。
In addition, the control unit 201 diagnoses the operating states of the laser light source 101 and the photodetector 105 based on the detection result of the laser light incident on the photodetector 105 via the deflector 106 . When the control unit 201 determines that there is an abnormality in either the laser light source 101 or the photodetector 105 through this diagnosis, the control unit 201 transmits information to that effect to the fixed unit via the contactless communication unit 206. It is transmitted to the control unit 211 on the 10 side. This information is transmitted from the control unit 211 to the external system. As a result, the external system executes a process of notifying that either the laser light source 101 or the photodetector 105 has an abnormality.
図5(a)は、距離測定時に回転部20側の制御部201が行う制御を示すフローチャートである。また、図5(b)は、図5(a)のステップS14における診断処理のサブルーチンを示すフローチャートである。
FIG. 5(a) is a flowchart showing the control performed by the control section 201 on the rotating section 20 side during distance measurement. FIG. 5(b) is a flow chart showing a subroutine of the diagnosis process in step S14 of FIG. 5(a).
測定動作が開始すると、まず、固定部10側の制御部211が、モータ30を制御して、回転部20を一定の角速度で回転させる。その後、回転部20側の各光学ユニット40の制御部201が、図5(a)の制御を実行する。
When the measurement operation starts, first, the control unit 211 on the fixed unit 10 side controls the motor 30 to rotate the rotating unit 20 at a constant angular velocity. After that, the control section 201 of each optical unit 40 on the rotating section 20 side executes the control shown in FIG. 5(a).
制御部201は、一定の発光タイミングで、レーザ光源101をパルス発光させる(S11:YES、S12)。発光タイミングは、回転部20が一定の回転角(たとえば1度)を回転するタイミングに設定される。次に、制御部201は、光検出器105の検出信号に基づいて、投射方向における物体の検出および当該物体までの距離の測定を行う(S13)。上記のように、光検出器105における反射光の受光の有無により物体の有無が検出され、レーザ光源101の発光タイミングと反射光の受光タイミングとの時間差に基づいて、当該物体までの距離が検出される。
The control unit 201 causes the laser light source 101 to emit pulse light at a constant light emission timing (S11: YES, S12). The light emission timing is set to the timing at which the rotating portion 20 rotates by a constant rotation angle (for example, 1 degree). Next, based on the detection signal of the photodetector 105, the control unit 201 detects an object in the projection direction and measures the distance to the object (S13). As described above, the presence or absence of an object is detected by the presence or absence of the reflected light received by the photodetector 105, and the distance to the object is detected based on the time difference between the light emission timing of the laser light source 101 and the light reception timing of the reflected light. be done.
また、この距離測定処理と並行して、制御部201は、光検出器105の検出信号に基づいて、レーザ光源101および光検出器105が正常に動作しているか否かの診断を行う(S14)。
In parallel with this distance measurement process, the control unit 201 diagnoses whether the laser light source 101 and the photodetector 105 are operating normally based on the detection signal of the photodetector 105 (S14). ).
すなわち、図5(b)に示すように、制御部201は、偏向体106を介して光検出器105に入射したレーザ光の強度に応じた検出値D1を、光検出器105からの検出信号に基づいて取得する(S21)。具体的には、制御部201は、光検出器105に配置された全てのセンサ部105a(図2(c)参照)からの検出信号を積算した積算信号のピーク値を検出値D1として取得する。次に、制御部201は、検出値D1が、予め設定した閾値Dth1~Dth2の範囲内にあるか否かを判定する(S22)。
That is, as shown in FIG. 5B, the control unit 201 converts the detection value D1 corresponding to the intensity of the laser beam incident on the photodetector 105 via the deflector 106 to the detection signal from the photodetector 105. (S21). Specifically, the control unit 201 acquires the peak value of the integration signal obtained by integrating the detection signals from all the sensor units 105a (see FIG. 2C) arranged in the photodetector 105 as the detection value D1. . Next, the control unit 201 determines whether or not the detected value D1 is within the preset threshold values Dth1 to Dth2 (S22).
閾値Dth1、Dth2は、レーザ光源101および光検出器105が正常である状態(たとえば、工場出荷時)において、目標強度の投射光が投射されたときに、光検出器105から得られる検出値(デフォルト値)に対し、±5%程度の値に設定される。
Threshold values Dth1 and Dth2 are detection values ( default value), it is set to a value of about ±5%.
ステップS22の判定がNOの場合、制御部201は、レーザ光源101および光検出器105の少なくとも一方に異常が生じていると判定して、その旨を報知する情報を、固定部10側の制御部211に送信する(S23)。固定部10側の制御部211は、この情報を受信したことに応じて、当該異常を報知する情報を外部システムに送信する。これにより、外部システムにおいて、レーザ光源101および光検出器105の何れかに異常があることを報知する処理が実行される。このとき、測定動作が中止される等、レーザ光源101の発光が中止されてもよい。
If the determination in step S22 is NO, the control unit 201 determines that at least one of the laser light source 101 and the photodetector 105 is abnormal, and transmits information to that effect to the fixed unit 10 side control unit. It is transmitted to the unit 211 (S23). Upon receiving this information, the control unit 211 on the fixed unit 10 side transmits information for notifying the abnormality to the external system. As a result, the external system executes a process of notifying that either the laser light source 101 or the photodetector 105 has an abnormality. At this time, the light emission of the laser light source 101 may be stopped, for example, the measurement operation may be stopped.
他方、ステップS22の判定がYESの場合、制御部201は、レーザ光源101および光検出器105の何れにも異常が生じていないと判定して、ステップS23をスキップする。
On the other hand, if the determination in step S22 is YES, the control unit 201 determines that neither the laser light source 101 nor the photodetector 105 is abnormal, and skips step S23.
図5(a)に戻り、制御部201は、測定動作が終了するまで(S15:NO)、ステップS11~S14の制御を繰り返し実行する。その後、測定動作が終了すると(S15:YES)、制御部201は、図5(a)のフローチャートによる制御を終了する。
Returning to FIG. 5(a), the control unit 201 repeatedly executes the control of steps S11 to S14 until the measurement operation is completed (S15: NO). After that, when the measurement operation ends (S15: YES), the control unit 201 ends the control according to the flowchart of FIG. 5(a).
図6は、測定動作時におけるレーザ光源101の駆動信号および光検出器105の検出信号の状態を模式的に示すタイムチャートである。図6の上段は、レーザ光源101の駆動信号を示し、図6の中段および下段は、それぞれ、光検出器105の検出信号を示している。
FIG. 6 is a time chart schematically showing states of the drive signal for the laser light source 101 and the detection signal for the photodetector 105 during the measurement operation. The upper part of FIG. 6 shows the driving signal of the laser light source 101, and the middle and lower parts of FIG. 6 show the detection signal of the photodetector 105, respectively.
制御部201は、駆動回路202を制御して、発光周期T0で、パルス状の駆動信号S0をレーザ光源101に供給する。これにより、レーザ光源101が、所定の出射強度で、発光周期T0ごとにパルス発光する。発光周期T0は、回転部20が一定角度(たとえば1度)だけ回転する期間に対応する。この発光周期T0により、図5(a)のステップS11における発光タイミングが規定される。
The control unit 201 controls the drive circuit 202 to supply a pulsed drive signal S0 to the laser light source 101 at the light emission period T0. As a result, the laser light source 101 emits pulsed light with a predetermined emission intensity for each light emission cycle T0. The light emission cycle T0 corresponds to a period during which the rotating section 20 rotates by a constant angle (for example, 1 degree). The light emission timing in step S11 of FIG. 5A is defined by this light emission period T0.
パルス発光により生じたレーザ光の一部が偏向体106を経由して光検出器105に入射することにより、中段の検出信号S1が生じる。制御部201は、レーザ光源101の発光タイミングt1から、光検出器105が偏向体106を介したレーザ光を受光するまでの期間よりも僅かに長いタイミングt2までの期間を診断期間T1に設定し、この診断期間T1内において光検出器105から出力される信号(全てのセンサ部105aからの検出信号の総和)を、検出信号S1として取得する。そして、制御部201は、この検出信号S1のピーク値を、図5(b)の検出値D1として取得する。
A part of the laser light generated by the pulse emission is incident on the photodetector 105 via the deflector 106, thereby generating the detection signal S1 in the middle stage. The control unit 201 sets the period from the light emission timing t1 of the laser light source 101 to the timing t2, which is slightly longer than the period until the photodetector 105 receives the laser light through the deflector 106, as the diagnosis period T1. , the signal output from the photodetector 105 during the diagnostic period T1 (sum of detection signals from all the sensor units 105a) is obtained as the detection signal S1. Then, the control section 201 obtains the peak value of the detection signal S1 as the detection value D1 in FIG. 5(b).
なお、検出値D1は、必ずしも、検出信号S1のピーク値でなくてもよく、たとえば、検出信号S1の面積等、レーザ光源101および光検出器105の動作が正常であるか否かを評価可能な他のパラメータ値であってもよい。
Note that the detection value D1 does not necessarily have to be the peak value of the detection signal S1. other parameter values.
パルス発光により生じたレーザ光(投射光)が投射方向の物体で反射され、その反射光が光検出器105に入射すると、光検出器105から、下段の検出信号S2が生じる。制御部201は、診断期間T1の終了タイミングt2から、測距範囲の最遠距離からの反射光を受光するタイミングt3までの期間を測距期間T2に設定し、この測距期間T2内において光検出器105から出力される信号(何れかのセンサ部105aからの検出信号)を、検出信号S2として取得する。そして、制御部201は、発光タイミング(駆動信号S0の出力タイミング)から検出信号S2の出力タイミングまでの時間に基づいて、物体までの距離を検出する。
When the laser light (projection light) generated by pulse emission is reflected by an object in the projection direction, and the reflected light is incident on the photodetector 105, the photodetector 105 generates the lower detection signal S2. The control unit 201 sets the period from the end timing t2 of the diagnosis period T1 to the timing t3 at which the reflected light from the farthest distance in the distance measurement range is received as the distance measurement period T2. A signal output from the detector 105 (a detection signal from one of the sensor units 105a) is acquired as a detection signal S2. Then, the control unit 201 detects the distance to the object based on the time from the light emission timing (output timing of the drive signal S0) to the output timing of the detection signal S2.
制御部201は、こうして取得した検出信号S1に基づいて、図5(b)の処理により、レーザ光源101および光検出器105の動作が正常であるか否かを診断し、さらに、その後に検出信号S2が取得される場合は、この検出信号S2に基づいて、物体の有無と物体までの距離を検出する。このように、本実施形態では、発光周期T0において、レーザ光源101および光検出器105の動作の診断と、投射方向における物体の検出および測距とが、並行して行われ得る。
Based on the detection signal S1 acquired in this way, the control unit 201 diagnoses whether or not the operation of the laser light source 101 and the photodetector 105 is normal by the processing of FIG. When the signal S2 is acquired, the presence or absence of the object and the distance to the object are detected based on this detection signal S2. Thus, in this embodiment, in the light emission cycle T0, the operation diagnosis of the laser light source 101 and the photodetector 105, and the detection and distance measurement of an object in the projection direction can be performed in parallel.
<実施形態1の効果>
本実施形態によれば、以下の効果が奏される。 <Effect ofEmbodiment 1>
According to this embodiment, the following effects are obtained.
本実施形態によれば、以下の効果が奏される。 <Effect of
According to this embodiment, the following effects are obtained.
図2(a)、(b)および図3に示したように、回転部20とともに回転する投射検出部100に、物体検出用のレーザ光を出射するレーザ光源101と、レーザ光源101から出射されたレーザ光のうち外部への投射に用いない一部のレーザ光B2を受光する光検出器105と、が配置される。このため、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器105で受光して、外部に投射されるレーザ光(投射光)の強度および光検出器105の検出感度をモニターできる。よって、全周に亘って物体検出および測距を行いつつ、レーザ光源101および光検出器105の動作を監視することができる。
As shown in FIGS. 2A, 2B, and 3, a laser light source 101 that emits a laser beam for object detection to the projection detection unit 100 that rotates together with the rotating unit 20, and a laser beam that is emitted from the laser light source 101. and a photodetector 105 for receiving a portion of the laser light B2 that is not used for projection to the outside. Therefore, at any rotational position of the rotary unit 20, the laser light (projection light) is projected to the outside to detect an object, while the photodetector 105 receives part of the laser light that is not projected to the outside. , the intensity of the laser light (projection light) projected to the outside and the detection sensitivity of the photodetector 105 can be monitored. Therefore, it is possible to monitor the operations of the laser light source 101 and the photodetector 105 while performing object detection and distance measurement over the entire circumference.
図2(a)、(b)および図3に示したように、外部に投射されないレーザ光の一部を受光する光検出器は、反射光を受光する物体検出用の光検出器105であり、投射検出部100は、一部のレーザ光B2を物体検出用の光検出器105へと導く導光光学系(偏向体106)を備える。このように、物体検出用の光検出器105をモニター用のレーザ光の受光に共用することにより、構成の複雑化および部品点数の増加を抑制しつつ効率的に、レーザ光源101および光検出器105の動作を診断できる。
As shown in FIGS. 2A, 2B, and 3, the photodetector that receives part of the laser light that is not projected to the outside is the object detection photodetector 105 that receives the reflected light. , the projection detection unit 100 includes a light guide optical system (deflector 106) that guides a portion of the laser beam B2 to a photodetector 105 for object detection. In this way, by sharing the photodetector 105 for object detection for receiving the laser light for monitoring, the laser light source 101 and the photodetector can be efficiently detected while suppressing the complication of the configuration and the increase in the number of parts. 105 operation can be diagnosed.
図2(a)、(b)および図3に示したように、投射検出部100は、レーザ光源101の後段に配置されたコリメータレンズ102(レンズ)を備え、投射検出部100は、導光光学系として、レーザ光源101から出射されたレーザ光のうちコリメータレンズ102(レンズ)に取り込まれない外側の部分を物体検出用の光検出器105へと導くための偏向体106を備える。このように、コリメータレンズ102(レンズ)に取り込まれない外側の部分のレーザ光をモニター用のレーザ光に用いることにより、投射光を適正に投射させつつ、レーザ光源101および光検出器105の動作を適正に診断できる。また、図2(a)、(b)および図3の構成では、物体検出用の光学系に、別途、偏向体106が配置されるだけであるため、構成の複雑化および部品点数の増加を抑制しつつ効率的に、レーザ光源101および光検出器105の動作を監視できる。
As shown in FIGS. 2A, 2B, and 3, the projection detection unit 100 includes a collimator lens 102 (lens) arranged behind the laser light source 101. As an optical system, a deflector 106 is provided for guiding the outer part of the laser light emitted from the laser light source 101 that is not captured by the collimator lens 102 (lens) to the photodetector 105 for object detection. In this way, by using the laser light of the outer portion that is not captured by the collimator lens 102 (lens) as the laser light for monitoring, the operation of the laser light source 101 and the photodetector 105 is achieved while the projection light is properly projected. can be properly diagnosed. 2(a), 2(b) and 3, only the deflector 106 is separately arranged in the optical system for object detection. The operation of the laser light source 101 and the photodetector 105 can be monitored in a restrained and efficient manner.
なお、偏向体106は光検出器105に接近した位置にあるため、このように、コリメータレンズ102の外側の一部のレーザ光を用いても、十分な強度のレーザ光を光検出器105に導くことができる。また、偏向体106として、上記のように、光を反射および散乱させる部材を用いることにより、光検出器105の受光面(6つのセンサ部105a)全体にモニター用のレーザ光を広げて照射でき、強すぎるレーザ光が局所的に光検出器105の受光面に照射されることを抑制できる。これにより、光検出器105からの検出信号によって、安定的かつ適正に、レーザ光源101および光検出器105の動作を監視できる。
Since the deflector 106 is positioned close to the photodetector 105 , even if a part of the laser light outside the collimator lens 102 is used, the laser light of sufficient intensity can be delivered to the photodetector 105 . can lead. In addition, by using a member that reflects and scatters light as the deflector 106 as described above, the entire light receiving surface (six sensor portions 105a) of the photodetector 105 can be irradiated with the monitoring laser light in a spread manner. , local irradiation of the light receiving surface of the photodetector 105 with too strong laser light can be suppressed. Accordingly, the operation of the laser light source 101 and the photodetector 105 can be stably and appropriately monitored by the detection signal from the photodetector 105 .
<変更例1>
上記実施形態では、レーザ光源101から出射されたレーザ光のうちコリメータレンズ102に取り込まれない外側の部分が、レーザ光源101および光検出器105の動作を監視するためのモニター用のレーザ光に用いられた。これに対し、変更例1では、コリメータレンズ102を透過したレーザ光の一部が、分岐素子により分岐されて、モニター用のレーザ光が生成される。 <Modification 1>
In the above embodiment, the outer portion of the laser light emitted from thelaser light source 101 that is not captured by the collimator lens 102 is used as the monitor laser light for monitoring the operations of the laser light source 101 and the photodetector 105. was taken. On the other hand, in Modification 1, part of the laser light transmitted through the collimator lens 102 is branched by the branching element to generate laser light for monitoring.
上記実施形態では、レーザ光源101から出射されたレーザ光のうちコリメータレンズ102に取り込まれない外側の部分が、レーザ光源101および光検出器105の動作を監視するためのモニター用のレーザ光に用いられた。これに対し、変更例1では、コリメータレンズ102を透過したレーザ光の一部が、分岐素子により分岐されて、モニター用のレーザ光が生成される。 <
In the above embodiment, the outer portion of the laser light emitted from the
図7(a)は、変更例1に係る、投射検出部100の一部の構成を示す側面図である。
FIG. 7(a) is a side view showing a partial configuration of the projection detection unit 100 according to Modification 1. FIG.
図7(a)には、図3と同様、投射検出部100の構成のうち構造体41に保持される部分の構成が示されている。投射検出部100のミラー42の構成および配置は、上記実施形態と同様である。図3と同様、図7(a)では、フィルタ104の図示が省略されている。
FIG. 7(a) shows the configuration of the part held by the structure 41 in the configuration of the projection detection unit 100, as in FIG. The configuration and arrangement of the mirror 42 of the projection detection section 100 are the same as in the above embodiment. As in FIG. 3, the illustration of the filter 104 is omitted in FIG. 7(a).
図7(a)に示すように、変更例1では、図3の構成から偏向体106が省略され、分岐素子111と偏向体112が追加されている。
As shown in FIG. 7(a), in modification 1, the deflector 106 is omitted from the configuration of FIG. 3, and a branching element 111 and a deflector 112 are added.
分岐素子111は、回折格子により構成され、コリメータレンズ102を透過したレーザ光の一部を、所定の回折効率で分岐させる。分岐素子111の回折効率は、たとえば、分岐されるレーザ光(モニター光)の光量が、コリメータレンズ102を透過したレーザ光の光量の数%(たとえば5%)となり、残りの大半のレーザ光が投射光として投射されるように設定される。分岐されるレーザ光(モニター光)の回折次数は、任意に設定され得る。投射光は、必ずしも、0次光でなくてもよく、コリメータレンズ102を透過したレーザ光の大半が投射光として用いられる限りにおいて、他の次数の回折光であってもよい。図7(a)の構成では、0次光が投射光として用いられている。
The branching element 111 is composed of a diffraction grating, and branches part of the laser light that has passed through the collimator lens 102 with a predetermined diffraction efficiency. The diffraction efficiency of splitting element 111 is such that, for example, the amount of split laser light (monitor light) is several percent (for example, 5%) of the amount of laser light that has passed through collimator lens 102, and most of the remaining laser light is It is set to be projected as projection light. The diffraction order of the branched laser light (monitor light) can be set arbitrarily. The projection light does not necessarily have to be zero-order light, and may be diffracted light of other orders as long as most of the laser light that has passed through the collimator lens 102 is used as projection light. In the configuration of FIG. 7A, 0th-order light is used as projection light.
分岐素子111は、たとえば、ブレーズ型の回折格子である。分岐素子111が、ステップ型の回折格子であってもよい。分岐素子111は、投射光に対して、偏向体112側のみに回折光(モニター用のレーザ光)が生じる構成であることが好ましい。この点から、分岐素子111は、ブレーズ型の回折格子であることが好ましい。
The branching element 111 is, for example, a blazed diffraction grating. The branching element 111 may be a step-type diffraction grating. The branching element 111 preferably has a configuration in which diffracted light (laser light for monitoring) is generated only on the deflector 112 side of the projected light. From this point of view, the branching element 111 is preferably a blazed diffraction grating.
偏向体112は、図3の偏向体106と同様に構成される。偏向体112は、分岐素子111で分岐されたレーザ光が入射し、且つ、投射光および反射光の何れの光路にも掛からない位置に配置される。偏向体112は、入射したレーザ光B2を反射および散乱して、光検出器105に入射させる。これにより、上記実施形態と同様、モニター用のレーザ光B2によって、レーザ光源101および光検出器105の動作が診断可能となる。測定時の制御は、図5(a)、(b)と同様に行われればよい。
The deflector 112 is constructed similarly to the deflector 106 in FIG. The deflecting body 112 is arranged at a position where the laser light branched by the branching element 111 is incident and does not interfere with the optical paths of the projected light and the reflected light. The deflector 112 reflects and scatters the incident laser beam B2 to enter the photodetector 105 . Accordingly, as in the above embodiment, the operation of the laser light source 101 and the photodetector 105 can be diagnosed by the monitoring laser beam B2. Control during measurement may be performed in the same manner as in FIGS.
なお、図7(a)の構成は、図7(b)のように変更されてもよい。この構成例では、光検出器105に向かう方向に分岐素子113がレーザ光を分岐させる。分岐素子113で分岐されたレーザ光は、直接、光検出器105に照射される。分岐素子113は、数%(たとえば1%)程度のレーザ光を反射し、残りの大半のレーザ光を透過する反射膜を有する一部反射ミラーである。一部反射ミラーに代えて、反射型の回折格子が用いられてもよい。この場合、回折により分岐された所定次数の回折光が光検出器105に導かれる。
Note that the configuration of FIG. 7(a) may be changed as shown in FIG. 7(b). In this configuration example, the branching element 113 branches the laser light in the direction toward the photodetector 105 . The laser light branched by the branching element 113 is directly irradiated to the photodetector 105 . The branching element 113 is a partially reflecting mirror having a reflecting film that reflects about several percent (for example, 1%) of the laser light and transmits most of the remaining laser light. A reflective diffraction grating may be used instead of the partially reflective mirror. In this case, a predetermined order of diffracted light split by diffraction is guided to the photodetector 105 .
この構成例によれば、図7(a)の構成に比べて、部品点数の削減と構成の簡素化を図ることができる。
According to this configuration example, it is possible to reduce the number of parts and simplify the configuration compared to the configuration of FIG. 7(a).
<変更例1の効果>
変更例1によっても、実施形態1と同様、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器105で受光して、外部に投射されるレーザ光(投射光)の強度および光検出器105の検出感度を監視できる。よって、全周に亘って物体検出および測距を行いつつ、レーザ光源101および光検出器105の動作を監視することができる。 <Effect ofModification 1>
According to Modification Example 1, as inEmbodiment 1, laser light (projection light) is projected to the outside to detect an object at any rotational position of the rotating portion 20, and part of the laser light that is not projected to the outside is detected. can be received by the photodetector 105 to monitor the intensity of the laser beam (projection light) projected to the outside and the detection sensitivity of the photodetector 105 . Therefore, it is possible to monitor the operations of the laser light source 101 and the photodetector 105 while performing object detection and distance measurement over the entire circumference.
変更例1によっても、実施形態1と同様、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器105で受光して、外部に投射されるレーザ光(投射光)の強度および光検出器105の検出感度を監視できる。よって、全周に亘って物体検出および測距を行いつつ、レーザ光源101および光検出器105の動作を監視することができる。 <Effect of
According to Modification Example 1, as in
また、変更例1では、投射検出部100が、レーザ光源101から出射されたレーザ光の一部を分岐させる分岐素子111と、分岐素子111で分岐されたレーザ光を物体検出用の光検出器へと導くための偏向体112とを導光光学系として含んでいる。この構成においても、物体検出用の光検出器105がモニター用のレーザ光の受光に共用されるため、構成の複雑化および部品点数の増加を抑制しつつ効率的に、レーザ光源101および光検出器105の動作を診断できる。
Further, in Modification 1, the projection detection unit 100 includes a branching element 111 that branches a part of the laser light emitted from the laser light source 101, and the laser light branched by the branching element 111 to the photodetector for object detection. A light guide optical system includes a deflector 112 for guiding the light. In this configuration as well, since the photodetector 105 for object detection is also used for receiving the laser light for monitoring, the laser light source 101 and the light detection can be performed efficiently while suppressing the complication of the configuration and the increase in the number of parts. The operation of the device 105 can be diagnosed.
なお、変更例1の構成によれば、実施形態1の構成よりも、モニター用のレーザ光の光量や光路を意図的に制御できる。これにより、装置内で意図しないところに光が行き渡ってしまい、物体の誤検知が生じることを防ぐことができる。
It should be noted that, according to the configuration of Modification 1, the light amount and optical path of the monitor laser light can be more intentionally controlled than the configuration of Embodiment 1. As a result, it is possible to prevent erroneous detection of an object due to light spreading to unintended places in the device.
<変更例2>
変更例2では、光検出器105とは別に配置されたモニター用の光検出器によって、レーザ光源101の動作が診断される。変更例2では、物体検出用の光検出器105の動作診断は行われない。 <Modification 2>
In Modification 2, the operation of thelaser light source 101 is diagnosed by a monitoring photodetector arranged separately from the photodetector 105 . In Modification 2, operation diagnosis of the photodetector 105 for object detection is not performed.
変更例2では、光検出器105とは別に配置されたモニター用の光検出器によって、レーザ光源101の動作が診断される。変更例2では、物体検出用の光検出器105の動作診断は行われない。 <Modification 2>
In Modification 2, the operation of the
図8は、変更例2に係る、投射検出部100の一部の構成を示す側面図である。
FIG. 8 is a side view showing the configuration of part of the projection detection unit 100 according to Modification 2. As shown in FIG.
図8には、図3と同様、投射検出部100の構成のうち構造体41に保持される部分の構成が示されている。投射検出部100のミラー42の構成および配置は、上記実施形態と同様である。図3と同様、図8では、フィルタ104の図示が省略されている。
As in FIG. 3, FIG. 8 shows the configuration of the portion held by the structure 41 in the configuration of the projection detection section 100. As shown in FIG. The configuration and arrangement of the mirror 42 of the projection detection section 100 are the same as in the above embodiment. As in FIG. 3, the illustration of the filter 104 is omitted in FIG.
図8に示すように、変更例2では、図3の構成から偏向体106が省略され、分岐素子121と光検出器122が追加されている。分岐素子121は、レーザ光の一部を反射する一部反射ミラーである。分岐素子121は、数%(たとえば1%)程度のレーザ光を反射し、残りの大半のレーザ光を透過する反射膜を有する。光検出器122は、分岐素子121で反射されたレーザ光を受光して、受光光量に応じた検出信号を出力する。光検出器122は、1つのセンサ部のみを有していればよい。光検出器122として、たとえば、フォトダイオードが用いられ得る。
As shown in FIG. 8, in modification 2, the deflector 106 is omitted from the configuration of FIG. 3, and a branching element 121 and a photodetector 122 are added. The branching element 121 is a partially reflecting mirror that reflects part of the laser beam. The branching element 121 has a reflective film that reflects about several percent (for example, 1%) of the laser light and transmits most of the remaining laser light. The photodetector 122 receives the laser beam reflected by the branching element 121 and outputs a detection signal corresponding to the amount of received light. The photodetector 122 may have only one sensor section. A photodiode, for example, can be used as the photodetector 122 .
制御部201は、光検出器122からの検出信号を用いて図5(b)の処理を行う。この場合、ステップS22の閾値Dth1、Dth2は、レーザ光源101が正常である場合に光検出器122から得られる正規の検出値(デフォルト値)に対して一定の範囲(たとえば±数%程度)の値に設定される。制御部201は、ステップS23において、レーザ光源101に異常があることを報知するための情報を、固定部10側の制御部211に送信する。これにより、外部システムにおいて、レーザ光源101に異常があることを報知する処理が実行される。
The control unit 201 uses the detection signal from the photodetector 122 to perform the processing of FIG. 5(b). In this case, the thresholds Dth1 and Dth2 in step S22 are within a certain range (for example, about ±several percent) with respect to the normal detection value (default value) obtained from the photodetector 122 when the laser light source 101 is normal. set to the value In step S23, the control unit 201 transmits information for notifying that the laser light source 101 has an abnormality to the control unit 211 on the fixed unit 10 side. As a result, the external system executes a process of notifying that the laser light source 101 has an abnormality.
<変更例2の効果>
図8に示したように、投射検出部100は、反射光を受光する物体検出用の光検出器105とは別に配置されたモニター用の光検出器122と、一部のレーザ光をモニター用の光検出器122へと導く導光光学系(分岐素子121)とを備える。これにより、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器122で受光して、外部に投射されるレーザ光(投射光)の強度をモニターできる。よって、全周に亘って物体検出および測距を行いつつ、レーザ光源101の動作を監視することができる。 <Effect of Modification 2>
As shown in FIG. 8, theprojection detector 100 includes a monitor photodetector 122 arranged separately from the object detection photodetector 105 that receives the reflected light, and a monitor photodetector 122 that receives a part of the laser light. and a light guide optical system (branching element 121 ) that guides the light to the photodetector 122 . As a result, at any rotational position of the rotary unit 20, the laser light (projection light) is projected to the outside to detect an object, while the photodetector 122 receives part of the laser light that is not projected to the outside. , the intensity of the laser light (projection light) projected to the outside can be monitored. Therefore, it is possible to monitor the operation of the laser light source 101 while performing object detection and distance measurement over the entire circumference.
図8に示したように、投射検出部100は、反射光を受光する物体検出用の光検出器105とは別に配置されたモニター用の光検出器122と、一部のレーザ光をモニター用の光検出器122へと導く導光光学系(分岐素子121)とを備える。これにより、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器122で受光して、外部に投射されるレーザ光(投射光)の強度をモニターできる。よって、全周に亘って物体検出および測距を行いつつ、レーザ光源101の動作を監視することができる。 <Effect of Modification 2>
As shown in FIG. 8, the
変更例2の構成では、モニター用のレーザ光が物体検出用の光検出器105に入射しないため、投射方向に存在する物体までの距離が顕著に短い場合においても、当該物体までの距離を適正に検出できる。すなわち、上記実施形態では、投射方向に存在する物体までの距離が顕著に短いと、図6に示した検出信号S1、S2がかなり接近する。この場合、両検出信号を適正に区別することが困難となり、その結果、物体までの距離を適正に検出できないことが起こり得る。これに対し、変更例2の構成では、モニター用のレーザ光が物体検出用の光検出器105に入射しないため、投射方向に存在する物体までの距離が顕著に短い場合においても、光検出器105からは、当該物体までの距離に応じたタイミングにおいて検出信号S2のみが生じる。よって、物体までの距離が顕著に短い場合においても、物体までの距離を適正に検出できる。
In the configuration of Modification 2, since the monitoring laser light does not enter the object detection photodetector 105, even if the distance to the object existing in the projection direction is remarkably short, the distance to the object can be properly adjusted. can be detected. That is, in the above-described embodiment, when the distance to the object existing in the projection direction is remarkably short, the detection signals S1 and S2 shown in FIG. 6 approach considerably. In this case, it becomes difficult to properly distinguish between the two detection signals, and as a result, it is possible that the distance to the object cannot be detected properly. On the other hand, in the configuration of Modification 2, the monitor laser light does not enter the object detection photodetector 105, so even if the distance to the object existing in the projection direction is remarkably short, the photodetector From 105, only the detection signal S2 is generated at a timing corresponding to the distance to the object. Therefore, even when the distance to the object is remarkably short, the distance to the object can be properly detected.
なお、変更例2の構成では、分岐素子121が一部反射ミラーであったが、分岐素子121として、変更例1と同様、回折格子が用いられてもよい。この場合、回折格子で分岐されたレーザ光が直接、光検出器122に導かれてもよく、あるいは、上記変更例1と同様、分岐されたレーザ光が、偏向体を介して、光検出器122に導かれてもよい。また、上記変更例1の構成においても、分岐素子111が一部反射ミラーに置き換えられて、一部反射ミラーで分岐されたレーザ光が偏向体112に導かれてもよい。
In addition, in the configuration of Modification 2, the branching element 121 is a partially reflecting mirror, but a diffraction grating may be used as the branching element 121 as in Modification 1. In this case, the laser light branched by the diffraction grating may be directly guided to the photodetector 122, or, as in Modification 1, the branched laser light may pass through a deflector to the photodetector. 122. Also in the configuration of Modified Example 1, the branching element 111 may be replaced with a partially reflecting mirror, and the laser beam branched by the partially reflecting mirror may be guided to the deflector 112 .
<変更例3>
変更例3においても、変更例2と同様、光検出器105とは別に配置されたモニター用の光検出器によって、レーザ光源101の動作が診断される。また、変更例3では、物体検出用の光検出器105の動作診断が、レーザ光源101とは別に配置されたモニター用のレーザ光源を用いて行われる。 <Modification 3>
In the third modification, as in the second modification, the operation of thelaser light source 101 is diagnosed by a photodetector for monitoring arranged separately from the photodetector 105 . Further, in Modification 3, operation diagnosis of the photodetector 105 for object detection is performed using a laser light source for monitoring arranged separately from the laser light source 101 .
変更例3においても、変更例2と同様、光検出器105とは別に配置されたモニター用の光検出器によって、レーザ光源101の動作が診断される。また、変更例3では、物体検出用の光検出器105の動作診断が、レーザ光源101とは別に配置されたモニター用のレーザ光源を用いて行われる。 <Modification 3>
In the third modification, as in the second modification, the operation of the
図9は、変更例3に係る、投射検出部100の一部の構成を示す側面図である。
FIG. 9 is a side view showing the configuration of part of the projection detection unit 100 according to Modification 3. As shown in FIG.
図9には、図3と同様、投射検出部100の構成のうち構造体41に保持される部分の構成が示されている。投射検出部100のミラー42の構成および配置は、上記実施形態と同様である。図3と同様、図9では、フィルタ104の図示が省略されている。
As in FIG. 3, FIG. 9 shows the configuration of the portion held by the structure 41 in the configuration of the projection detection section 100. As shown in FIG. The configuration and arrangement of the mirror 42 of the projection detection section 100 are the same as in the above embodiment. As in FIG. 3, the illustration of the filter 104 is omitted in FIG.
図9に示すように、変更例3では、反射光を受光するための光検出器105とは別にモニター用の光検出器132が配置され、さらに、コリメータレンズ102に取り込まれない外側の部分をモニター用の光検出器132へと導くための偏向体131が配置されている。また、投射光を出射するためのレーザ光源101とは別に、モニター用のレーザ光B3を光検出器132の受光面に照射するモニター用のレーザ光源133が配置されている。光検出器132は、変更例2の光検出器122と同様に構成され得る。レーザ光源133は、レーザ光源101と同様の波長帯のレーザ光を出射する。レーザ光源133から出射されたモニター用のレーザ光は、図2(a)に示したフィルタ104を介して、光検出器105に照射される。
As shown in FIG. 9, in Modification 3, a photodetector 132 for monitoring is arranged separately from the photodetector 105 for receiving the reflected light, and furthermore, the outer portion not captured by the collimator lens 102 is A deflector 131 is arranged for guiding to a photodetector 132 for monitoring. Separately from the laser light source 101 for emitting projection light, a monitoring laser light source 133 for irradiating the light receiving surface of the photodetector 132 with the monitoring laser light B3 is arranged. The photodetector 132 can be configured similarly to the photodetector 122 of the second modification. The laser light source 133 emits laser light in the same wavelength band as the laser light source 101 . A monitoring laser beam emitted from the laser light source 133 is applied to the photodetector 105 through the filter 104 shown in FIG.
変更例2と同様、制御部201は、光検出器132からの検出信号を用いて図5(b)の処理を行う。また、制御部201は、測定動作に抵触しないタイミングで、レーザ光源133を発光させて、レーザ光B3を光検出器105に照射する。そして、制御部201は、レーザ光B3の照射により光検出器105から出力される検出信号を参照し、この検出信号が閾値範囲内にあるか否かによって、光検出器105の動作を診断する。
As in Modification 2, the control unit 201 uses the detection signal from the photodetector 132 to perform the processing of FIG. 5(b). Further, the control unit 201 causes the laser light source 133 to emit light at a timing that does not conflict with the measurement operation, and irradiates the photodetector 105 with the laser beam B3. Then, the control unit 201 refers to the detection signal output from the photodetector 105 by irradiation with the laser beam B3, and diagnoses the operation of the photodetector 105 depending on whether or not this detection signal is within the threshold range. .
<変更例3の効果>
図9に示したように、投射検出部100は、レーザ光源101の後段に配置されたコリメータレンズ102(レンズ)と、レーザ光源101から出射されたレーザ光のうちコリメータレンズ102(レンズ)に取り込まれない外側の部分をモニター用の光検出器132へと導くための偏向体131(導光光学系)とを含む。これにより、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器132で受光して、外部に投射されるレーザ光(投射光)の強度を監視できる。よって、装置回りの全周に亘って、物体検出および測距を行いつつ、レーザ光源101の動作を監視することができる。 <Effect of Modification 3>
As shown in FIG. 9, theprojection detection unit 100 includes a collimator lens 102 (lens) arranged behind a laser light source 101 and a laser beam emitted from the laser light source 101 which is captured by the collimator lens 102 (lens). and a deflector 131 (light guiding optical system) for guiding the outer portion not exposed to the light to a photodetector 132 for monitoring. As a result, at any rotational position of the rotary unit 20, the laser light (projection light) is projected to the outside to detect an object, while the photodetector 132 receives part of the laser light that is not projected to the outside. , the intensity of the laser light (projection light) projected to the outside can be monitored. Therefore, it is possible to monitor the operation of the laser light source 101 while performing object detection and distance measurement over the entire circumference of the device.
図9に示したように、投射検出部100は、レーザ光源101の後段に配置されたコリメータレンズ102(レンズ)と、レーザ光源101から出射されたレーザ光のうちコリメータレンズ102(レンズ)に取り込まれない外側の部分をモニター用の光検出器132へと導くための偏向体131(導光光学系)とを含む。これにより、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器132で受光して、外部に投射されるレーザ光(投射光)の強度を監視できる。よって、装置回りの全周に亘って、物体検出および測距を行いつつ、レーザ光源101の動作を監視することができる。 <Effect of Modification 3>
As shown in FIG. 9, the
また、投射検出部100は、反射光を受光する物体検出用の光検出器105にレーザ光を照射するモニター用のレーザ光源133をさらに備える。これにより、モニター用のレーザ光源133を用いて、物体検出用の光検出器105の動作を、適宜、診断することができる。
In addition, the projection detection unit 100 further includes a monitor laser light source 133 that irradiates a laser light onto the object detection photodetector 105 that receives the reflected light. As a result, the operation of the photodetector 105 for object detection can be appropriately diagnosed using the laser light source 133 for monitoring.
なお、図9の構成では、モニター用のレーザ光源133からのレーザ光が、フィルタ104(図2(a)参照)を介して、光検出器105に照射されたが、さらに、レーザ光源133とフィルタ104との間に、レーザ光源133からのレーザ光を透過および拡散させる拡散板が配置されてもよい。
In the configuration of FIG. 9, the laser light from the monitor laser light source 133 is applied to the photodetector 105 through the filter 104 (see FIG. 2A). A diffusion plate that transmits and diffuses the laser light from the laser light source 133 may be arranged between the filter 104 and the filter 104 .
また、図9の構成では、コリメータレンズ102に取り込まれない外側の部分が偏向体131により光検出器132に導かれたが、偏向体131の位置に光検出器132を配置して、コリメータレンズ102に取り込まれない外側の部分を光検出器132で直接受光する構成であってもよい。
Also, in the configuration of FIG. 9, the outer portion that is not captured by the collimator lens 102 is guided to the photodetector 132 by the deflector 131. A configuration in which the photodetector 132 directly receives the outer portion that is not captured by 102 may be used.
<変更例4>
図10(a)は、変更例4に係る、投射検出部100の一部の構成を示す側面図である。 <Modification 4>
FIG. 10A is a side view showing the configuration of part of theprojection detection unit 100 according to Modification 4. FIG.
図10(a)は、変更例4に係る、投射検出部100の一部の構成を示す側面図である。 <Modification 4>
FIG. 10A is a side view showing the configuration of part of the
変更例4では、コリメータレンズ102を透過したレーザ光の一部が、分岐素子141で分岐されて偏向体142に導かれ、偏向体142で反射および散乱されたレーザ光B2が、光検出器143で受光される。その他の構成は、変更例3と同様である。分岐素子141は、図7(a)の分岐素子111と同様、回折格子である。偏向体142および光検出器143は、図9の偏向体131および光検出器132と同様である。
In Modification 4, a part of the laser light transmitted through the collimator lens 102 is branched by the branching element 141 and guided to the deflector 142, and the laser light B2 reflected and scattered by the deflector 142 is sent to the photodetector 143. is received at Other configurations are the same as those of the third modification. The branching element 141 is a diffraction grating, like the branching element 111 in FIG. 7(a). The deflector 142 and photodetector 143 are similar to the deflector 131 and photodetector 132 of FIG.
なお、図10(a)の構成は、図10(b)のように変更されてもよい。便宜上、図10(b)には、投射光を投射するための光学系のみが図示され、受光側の光学系の図示は省略されている。受光側の光学系の構成は、図10(a)と同様である。
Note that the configuration of FIG. 10(a) may be changed as shown in FIG. 10(b). For the sake of convenience, FIG. 10B shows only the optical system for projecting projection light, and the illustration of the optical system on the light receiving side is omitted. The configuration of the optical system on the light receiving side is the same as in FIG. 10(a).
この構成例では、光検出器143に向かう方向に分岐素子144がレーザ光を分岐させる。分岐素子144で分岐されたレーザ光は、直接、光検出器143に照射される。分岐素子144は、数%(たとえば1%)程度のレーザ光を反射し、残りの大半のレーザ光を透過する反射膜を有する一部反射ミラーである。一部反射ミラーに代えて、反射型の回折格子が用いられてもよい。この場合、回折により分岐された所定次数の回折光が光検出器143に導かれる。
In this configuration example, the branching element 144 branches the laser light in the direction toward the photodetector 143 . The laser light branched by the branching element 144 is directly applied to the photodetector 143 . The branching element 144 is a partially reflecting mirror having a reflecting film that reflects about several percent (for example, 1%) of the laser light and transmits most of the remaining laser light. A reflective diffraction grating may be used instead of the partially reflective mirror. In this case, a predetermined order of diffracted light split by diffraction is guided to the photodetector 143 .
この構成例によれば、図10(a)の構成に比べて、部品点数の削減と構成の簡素化を図ることができる。分岐素子144と光検出器143との間に、モニター用のレーザ光を選択的に透過させるフィルタが配置されてもよい。
According to this configuration example, it is possible to reduce the number of parts and simplify the configuration compared to the configuration of FIG. 10(a). A filter may be arranged between the branching element 144 and the photodetector 143 to selectively transmit the monitoring laser light.
<変更例4の効果>
図10(a)に示したように、投射検出部100は、一部のレーザ光をモニター用の光検出器143へと導く導光光学系として、レーザ光源101から出射されたレーザ光の一部を分岐させる分岐素子141と、分岐素子141で分岐されたレーザ光をモニター用の光検出器143へと導くための偏向体142と、を含む。これにより、変更例3と同様、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器143で受光して、外部に投射されるレーザ光(投射光)の強度をモニターできる。よって、装置回りの全周に亘って、物体検出および測距を行いつつ、レーザ光源101の動作を監視することができる。 <Effect of Modification 4>
As shown in FIG. 10A, theprojection detection unit 100 serves as a light guide optical system that guides part of the laser light to the photodetector 143 for monitoring. and a deflector 142 for guiding the laser light branched by the branching element 141 to a photodetector 143 for monitoring. Thus, as in the third modification, at any rotational position of the rotary unit 20, the laser beam (projection light) is projected to the outside to detect an object, while part of the laser beam that is not projected to the outside is photodetected. The intensity of the laser light (projection light) received by the device 143 and projected to the outside can be monitored. Therefore, it is possible to monitor the operation of the laser light source 101 while performing object detection and distance measurement over the entire circumference of the device.
図10(a)に示したように、投射検出部100は、一部のレーザ光をモニター用の光検出器143へと導く導光光学系として、レーザ光源101から出射されたレーザ光の一部を分岐させる分岐素子141と、分岐素子141で分岐されたレーザ光をモニター用の光検出器143へと導くための偏向体142と、を含む。これにより、変更例3と同様、回転部20の何れの回転位置においても、レーザ光(投射光)を外部に投射して物体検出を行いつつ、外部に投射されないレーザ光の一部を光検出器143で受光して、外部に投射されるレーザ光(投射光)の強度をモニターできる。よって、装置回りの全周に亘って、物体検出および測距を行いつつ、レーザ光源101の動作を監視することができる。 <Effect of Modification 4>
As shown in FIG. 10A, the
なお、図10(a)の構成においても、分岐素子141として、一部反射ミラーが用いられてもよい。
Note that a partially reflecting mirror may be used as the branching element 141 in the configuration of FIG. 10(a) as well.
<実施形態2>
実施形態2では、一の投射検出部100で生成されたモニター用のレーザ光が、他の投射検出部100の光検出器105で受光される。 <Embodiment 2>
In the second embodiment, the monitoring laser light generated by oneprojection detection unit 100 is received by the photodetector 105 of the other projection detection unit 100 .
実施形態2では、一の投射検出部100で生成されたモニター用のレーザ光が、他の投射検出部100の光検出器105で受光される。 <Embodiment 2>
In the second embodiment, the monitoring laser light generated by one
図11は、実施形態2に係る、投射検出部100の一部の構成を示す側面図、図12は、実施形態2に係る、投射検出部100の一部の構成を示す平面図である。図11および図12では、ミラー42以外の投射検出部100の構成が図示されている。便宜上、フィルタ104の図示が省略されている。
11 is a side view showing the configuration of part of the projection detection section 100 according to the second embodiment, and FIG. 12 is a plan view showing the configuration of part of the projection detection section 100 according to the second embodiment. 11 and 12 illustrate the configuration of the projection detection section 100 other than the mirror 42. FIG. For convenience, illustration of the filter 104 is omitted.
図12に示すように、回転軸R10を挟んで配置される2つの投射検出部100(光学ユニット40)において、モニター用のレーザ光B2が相互に受光される。図11には、モニター用のレーザ光B2が相互に受光する投射検出部100の組のうち、回転軸R10をX軸方向に挟む2つの投射検出部100の組が図示されている。
As shown in FIG. 12, the two projection detectors 100 (optical units 40) arranged across the rotation axis R10 mutually receive the monitoring laser beam B2. FIG. 11 shows a set of two projection detection units 100 sandwiching the rotation axis R10 in the X-axis direction, out of the set of projection detection units 100 that mutually receive the monitoring laser beam B2.
図11および図12に示すように、コリメータレンズ102に取り込まれない外側の部分のレーザ光B2(モニター用のレーザ光)が、偏向体151(導光光学系)により反射および散乱されて、他方の投射検出部100の光検出器105に導かれる。図1の保持部材41aには、モニター用のレーザ光B2を通過させるための開口が形成される。
As shown in FIGS. 11 and 12, the outer portion of the laser beam B2 (monitoring laser beam) that is not captured by the collimator lens 102 is reflected and scattered by the deflector 151 (light guide optical system), is guided to the photodetector 105 of the projection detection unit 100 of . The holding member 41a of FIG. 1 is formed with an opening for passing the monitoring laser beam B2.
制御部201は、図6のタイムチャートにおいて、一方の投射検出部100における診断期間T1が、他方の投射検出部100における測距期間T2に重ならないように、これら2つの投射検出部100の発光タイミングを設定する。たとえば、制御部201は、一方の投射検出部100における診断期間T1が、他方の投射検出部100における測距期間T2の終了タイミングt3と次の発光周期T0の開始タイミングとの間の期間に含まれるように、これら2つの投射検出部100の発光タイミングを設定する。これにより、制御部201は、一方の投射検出部100で生成されたモニター用のレーザ光の検出信号を、他方の投射検出部100の光検出器105を用いて適正に取得できる。測定動作時の制御は、検出信号の取得方法を除いて、図5(a)、(b)と同様である。
In the time chart of FIG. 6, the control unit 201 controls the light emission of these two projection detection units 100 so that the diagnosis period T1 in one projection detection unit 100 does not overlap with the distance measurement period T2 in the other projection detection unit 100. Set timing. For example, the control unit 201 determines that the diagnosis period T1 in one projection detection unit 100 is included in the period between the end timing t3 of the distance measurement period T2 in the other projection detection unit 100 and the start timing of the next light emission period T0. The light emission timings of these two projection detection units 100 are set so that the light is emitted. Accordingly, the control unit 201 can appropriately acquire the detection signal of the monitoring laser light generated by one projection detection unit 100 using the photodetector 105 of the other projection detection unit 100 . Control during the measurement operation is the same as in FIGS.
<実施形態2の効果>
図11および図12に示したように、投射検出部100は、レーザ光源101から出射されたレーザ光のうち外部への投射に用いない一部のレーザ光を、他の投射検出部100における光検出器105へと導く偏向体151(導光光学系)を備える。 <Effect of Embodiment 2>
As shown in FIGS. 11 and 12 , theprojection detection unit 100 detects a portion of the laser light emitted from the laser light source 101 that is not used for external projection as light from the other projection detection unit 100 . A deflector 151 (light guide optical system) is provided to guide the detector 105 .
図11および図12に示したように、投射検出部100は、レーザ光源101から出射されたレーザ光のうち外部への投射に用いない一部のレーザ光を、他の投射検出部100における光検出器105へと導く偏向体151(導光光学系)を備える。 <Effect of Embodiment 2>
As shown in FIGS. 11 and 12 , the
この構成によれば、共に回転部20に配置された2つの投射検出部100からそれぞれ外部にレーザ光(投射光)を投射して物体検出を行いつつ、各投射検出部100において外部に投射されないレーザ光の一部を、他方の投射検出部100の光検出器105で受光して、各レーザ光(投射光)の強度および各光検出器105の検出感度を監視できる。よって、各投射検出部100において、全周に亘って物体検出を行いつつ、他方の投射検出部100の光検出器105からの検出信号により、各レーザ光源101および各光検出器105の動作を診断することができる。
According to this configuration, laser light (projection light) is projected externally from each of the two projection detection units 100 both arranged on the rotating unit 20 to detect an object, but the projection detection unit 100 does not project laser light to the outside. A part of the laser light is received by the photodetector 105 of the other projection detection unit 100, and the intensity of each laser light (projection light) and the detection sensitivity of each photodetector 105 can be monitored. Therefore, while each projection detection unit 100 detects an object over the entire circumference, the operation of each laser light source 101 and each photodetector 105 is controlled by a detection signal from the photodetector 105 of the other projection detection unit 100. can be diagnosed.
図11および図12に示したように、投射検出部100は、導光光学系として、コリメータレンズ102に取り込まれない外側の部分を、他方の投射検出部100の光検出器105へと導くための偏向体151を含む。このように、コリメータレンズ102に取り込まれない外側の部分のレーザ光をモニター用のレーザ光に用いることにより、各投射検出部100において投射光を適正に投射させつつ、レーザ光源101および光検出器105の動作を適正に診断できる。また、図11および図12の構成では、物体検出用の光学系に、別途、偏向体151が配置されるだけであるため、構成の複雑化および部品点数の増加を抑制しつつ効率的に、レーザ光源101および光検出器105の動作を診断できる。
As shown in FIGS. 11 and 12, the projection detection section 100 serves as a light guiding optical system to guide the outer portion not captured by the collimator lens 102 to the photodetector 105 of the other projection detection section 100. of deflectors 151 are included. In this way, by using the laser light of the outer portion that is not captured by the collimator lens 102 as the laser light for monitoring, each projection detection unit 100 can appropriately project the projection light, and the laser light source 101 and the photodetector can be detected. 105 can be properly diagnosed. 11 and 12, only the deflector 151 is separately arranged in the optical system for object detection. The operation of laser light source 101 and photodetector 105 can be diagnosed.
<変更例>
図12の構成では、コリメータレンズ102に取り込まれない外側の部分が、偏向体151により、他方の投射検出部100の光検出器105に導かれたが、図13に示すように、分岐素子161で分岐されたレーザ光B2が、偏向体162により、他方の投射検出部100の光検出器105に導かれてもよい。分岐素子161は、上記変更例1と同様、回折格子である。分岐素子161が、上記変更例2と同様、一部反射ミラーであってもよい。偏向体162は、図12の場合と同様、分岐されたレーザ光を反射および散乱させて、他方の投射検出部100の光検出器105へと導く。その他の構成および制御は、上記実施形態2と同様である。 <Change example>
In the configuration of FIG. 12, the outer portion not captured by thecollimator lens 102 was guided by the deflector 151 to the photodetector 105 of the other projection detection unit 100. However, as shown in FIG. The laser beam B<b>2 split at 2 may be guided by the deflector 162 to the photodetector 105 of the other projection detection unit 100 . The branching element 161 is a diffraction grating, as in Modification 1 above. The branching element 161 may be a partially reflecting mirror as in the second modification. The deflector 162 reflects and scatters the split laser light and guides it to the photodetector 105 of the other projection detection section 100, as in the case of FIG. Other configurations and controls are the same as those of the second embodiment.
図12の構成では、コリメータレンズ102に取り込まれない外側の部分が、偏向体151により、他方の投射検出部100の光検出器105に導かれたが、図13に示すように、分岐素子161で分岐されたレーザ光B2が、偏向体162により、他方の投射検出部100の光検出器105に導かれてもよい。分岐素子161は、上記変更例1と同様、回折格子である。分岐素子161が、上記変更例2と同様、一部反射ミラーであってもよい。偏向体162は、図12の場合と同様、分岐されたレーザ光を反射および散乱させて、他方の投射検出部100の光検出器105へと導く。その他の構成および制御は、上記実施形態2と同様である。 <Change example>
In the configuration of FIG. 12, the outer portion not captured by the
この構成では、投射検出部100は、導光光学系として、レーザ光源101から出射されたレーザ光の一部を分岐させる分岐素子161と、分岐素子161で分岐されたレーザ光B2を、他方の投射検出部100の光検出器105に導くための偏向体162と、を含んでいる。この構成によっても、図12の構成と同様、各投射検出部100において投射光を適正に投射させつつ、レーザ光源101および光検出器105の動作を適正に診断できる。
In this configuration, the projection detection unit 100 includes, as a light guide optical system, a branching element 161 that branches a part of the laser light emitted from the laser light source 101, and the laser light B2 branched by the branching element 161 to the other and a deflector 162 for guiding to the photodetector 105 of the projection detector 100 . 12 as well, the operation of the laser light source 101 and the photodetector 105 can be properly diagnosed while each projection detection unit 100 projects the projection light properly.
なお、実施形態2およびその変更例では、回転軸R10を挟んで配置される2つの投射検出部100との間でモニター用のレーザ光B2が相互に受光されたが、モニター用のレーザ光B2を相互に受光する投射検出部100の組み合わせは、これに限られるものではない。たとえば、周方向に隣り合う2つの投射検出部100の間でモニター用のレーザ光B2が相互に受光されるよう導光光学系が構成されてもよく、あるいは、1つおきで並ぶ2つの投射検出部100の間でモニター用のレーザ光B2が相互に受光されるよう導光光学系が構成されてもよい。
In the second embodiment and its modifications, the monitor laser beam B2 is received by the two projection detectors 100 arranged across the rotation axis R10. The combination of the projection detectors 100 that mutually receive the light is not limited to this. For example, the light guiding optical system may be configured such that the monitoring laser beam B2 is mutually received between two projection detection units 100 adjacent in the circumferential direction, or alternatively, two projection detection units 100 arranged alternately may be arranged. The light guiding optical system may be configured such that the monitoring laser beam B2 is mutually received between the detection units 100 .
<その他の変更例>
レーザレーダ1の構成は、上記実施形態1、2およびその変更例に示した構成以外にも、種々の変更が可能である。 <Other modification examples>
The configuration of thelaser radar 1 can be modified in various ways other than the configurations shown in the first and second embodiments and their modifications.
レーザレーダ1の構成は、上記実施形態1、2およびその変更例に示した構成以外にも、種々の変更が可能である。 <Other modification examples>
The configuration of the
たとえば、上記実施形態1、2およびその変更例では、偏向体として白色の紙や反射型の拡散板が用いられたが、モニター用のレーザ光を対応する光検出器に導くことが可能な限りにおいて、他の部材が偏向体として用いられてもよい。たとえば、偏向体としてミラーが用いられてもよく、あるいは、ミラーの反射面に透過型の拡散板が積層された部材が用いられてもよい。
For example, in Embodiments 1 and 2 and their modifications, white paper or a reflective diffusion plate was used as the deflector, but as long as it is possible to guide the laser light for monitoring to the corresponding photodetector, , another member may be used as the deflector. For example, a mirror may be used as the deflector, or a member in which a transmissive diffusion plate is laminated on the reflecting surface of a mirror may be used.
また、投射検出部100に配置される偏向体の数は、必ずしも1つに限られるものではなく、複数の偏向体がモニター用のレーザ光を中継して光検出器に導く構成であってもよい。たとえば、レーザ光の一部(モニター用のレーザ光)をミラー(偏向体)で反射した後、反射型の拡散板(偏向体)で光検出器に導く構成であってもよい。
Also, the number of deflectors arranged in the projection detection unit 100 is not necessarily limited to one. good. For example, part of the laser light (laser light for monitoring) may be reflected by a mirror (deflector) and then guided to a photodetector by a reflective diffusion plate (deflector).
また、偏向体として、光パイプ等の導波路が用いられてもよい。たとえば、実施形態2およびその変更例の構成において、偏向体151としてミラーを配置し、ミラーで反射されたモニター用のレーザ光を、2つの投射検出部100間に跨る筒状の光ガイド部材によって、他方の投射検出部100の光検出器105へと導いてもよい。
A waveguide such as an optical pipe may also be used as the deflector. For example, in the configuration of the second embodiment and its modifications, a mirror is arranged as the deflector 151 , and the monitoring laser light reflected by the mirror is guided by a cylindrical light guide member spanning between the two projection detection units 100 . , may be guided to the photodetector 105 of the other projection detection unit 100 .
また、投射検出部100の構成は、上記実施形態1、2およびその変更例の構成に限られるものではなく、適宜変更されてよい。
Also, the configuration of the projection detection unit 100 is not limited to the configurations of the first and second embodiments and their modifications, and may be changed as appropriate.
たとえば、上記実施形態1、2およびその変更例では、ミラー42の傾き角が投射検出部100間で互いに相違したが、全ての投射検出部100においてミラー42の傾き角が同一であってもよく、あるいは、所定の組み合わせの投射検出部100においてミラー42の傾き角が同一であってもよい。
For example, although the tilt angles of the mirrors 42 are different between the projection detection units 100 in the first and second embodiments and their modifications, the tilt angles of the mirrors 42 in all the projection detection units 100 may be the same. Alternatively, the inclination angles of the mirrors 42 may be the same in the predetermined combination of projection detection units 100 .
また、光検出器105は、6つのセンサ部105aを有する構成でなくてもよく、1つのセンサ部105aのみを有する構成であってもよい。センサ部105aの形状も、適宜変更されてよい。また、集光レンズ103に開口部103aが形成されていなくてもよく、コリメータレンズ102を透過した投射光が集光レンズ103から外れた位置を通過するように、レーザ光源101とコリメータレンズ102が配置されてもよい。
Further, the photodetector 105 does not have to have six sensor units 105a, and may have only one sensor unit 105a. The shape of the sensor section 105a may also be changed as appropriate. Further, the condenser lens 103 may not have the opening 103a, and the laser light source 101 and the collimator lens 102 are arranged so that the projection light transmitted through the collimator lens 102 passes through a position away from the condenser lens 103. may be placed.
また、コリメータレンズ102によって形成されるビームの形状も、上記のように一方向に広がる形状でなくてもよく、全周に亘って均一に平行光化された円形または楕円形状のビームがコリメータレンズ102によって形成されてもよい。偏向体106の配置位置も、コリメータレンズ102の側方でなくてもよく、コリメータレンズ102に対して光軸方向にシフトした位置であってもよい。
Also, the shape of the beam formed by the collimator lens 102 does not have to be a shape that spreads in one direction as described above. 102. The arrangement position of the deflector 106 does not have to be on the side of the collimator lens 102 , and may be shifted in the optical axis direction with respect to the collimator lens 102 .
また、投射検出部100からミラー42が省略され、コリメータレンズ102を透過した投射光の投射方向および集光レンズ103の受光方向が回転軸R10から離れる方向となるように、投射検出部100が回転部20に配置されてもよい。
Further, the projection detection unit 100 is rotated so that the mirror 42 is omitted from the projection detection unit 100, and the projection direction of the projection light transmitted through the collimator lens 102 and the light receiving direction of the condenser lens 103 are directed away from the rotation axis R10. It may be placed in section 20 .
また、回転部20に配置される投射検出部100の数も6つに限られるものではなく、回転部20に1つだけ投射検出部100が配置されてもよい。この場合、投射検出部100は、図2(a)に示す構成において、たとえば、レーザ光源101およびコリメータレンズ102の光軸が回転軸R10に一致するように、回転部20に配置されてもよい。また、保持部材41aが省略されて、ベース部材21に直接、投射検出部100を構成する各光学部材が設置されてもよい。
Also, the number of projection detection units 100 arranged on the rotation unit 20 is not limited to six, and only one projection detection unit 100 may be arranged on the rotation unit 20 . In this case, the projection detection unit 100 may be arranged on the rotation unit 20 so that the optical axes of the laser light source 101 and the collimator lens 102 are aligned with the rotation axis R10 in the configuration shown in FIG. 2(a). . Further, the holding member 41a may be omitted, and each optical member constituting the projection detection section 100 may be installed directly on the base member 21. FIG.
あるいは、開口部103aが形成されていない集光レンズ103の光軸とコリメータレンズ102の光軸とが交差するように光学系が構成され、これら光軸の交差位置に、コリメータレンズ102の光軸を集光レンズ103の光軸に整合させる光学素子(回折格子やミラー等)が配置されて、投射検出部100が構成されてもよい。この場合、投射検出部100は、集光レンズ103の光軸が回転軸R10に一致するように、回転部20に1つだけ設置される。偏向体106は、レーザ光源101から出射されたレーザ光の一部を光検出器105に導くように、レーザ光源101と光学素子との間に配置される。この構成に、変更例1~4の構成が適用されてもよい。
Alternatively, the optical system is configured such that the optical axis of the condenser lens 103 without the aperture 103a and the optical axis of the collimator lens 102 intersect, and the optical axis of the collimator lens 102 is positioned at the intersection of these optical axes. The projection detection unit 100 may be configured by arranging an optical element (a diffraction grating, a mirror, or the like) that aligns the optical axis of the condenser lens 103 with the optical axis of the condenser lens 103 . In this case, only one projection detection unit 100 is installed on the rotation unit 20 so that the optical axis of the condenser lens 103 coincides with the rotation axis R10. The deflector 106 is arranged between the laser light source 101 and the optical element so as to guide part of the laser light emitted from the laser light source 101 to the photodetector 105 . The configurations of modification examples 1 to 4 may be applied to this configuration.
また、図5(a)の制御では、測距動作時の発光タイミングごとに、レーザ光源101および光検出器105の動作診断が行われたが、動作診断のタイミングおよび頻度は、これに限られるものではない。たとえば、回転部20が1回転または所定回数回転するごとに、レーザ光源101および光検出器105の動作診断が行われてもよい。
In addition, in the control of FIG. 5A, the operation diagnosis of the laser light source 101 and the photodetector 105 is performed at each light emission timing during the range finding operation, but the timing and frequency of the operation diagnosis are limited to this. not a thing For example, the operation diagnosis of the laser light source 101 and the photodetector 105 may be performed each time the rotating section 20 rotates once or a predetermined number of times.
また、上記実施形態1、2およびその変更例では、回転部20を回転させる駆動源として、モータ30が用いられたが、モータ30に代えて、固定部10と回転部20にそれぞれコイルと磁石を配置して、回転部20を固定部10に対して回転させてもよい。また、回転部20の外周面に全周にわたってギアが設けられ、このギアに固定部10に設置されたモータの駆動軸に設置されたギアが噛み合わされることにより、回転部20を固定部10に対して回転させてもよい。
Further, in Embodiments 1 and 2 and modifications thereof, the motor 30 is used as a drive source for rotating the rotating portion 20. may be arranged to rotate the rotating part 20 with respect to the fixed part 10 . Further, a gear is provided on the entire outer peripheral surface of the rotating part 20 , and a gear provided on the drive shaft of the motor installed in the fixed part 10 is meshed with this gear, thereby rotating the rotating part 20 to the fixed part 10 . may be rotated with respect to
また、レーザレーダ1は、距離測定機能を備えていなくてもよく、光検出器105からの信号により投射方向に物体が存在するか否かの検出機能のみを備えていてもよい。
Also, the laser radar 1 may not have a distance measuring function, and may only have a function of detecting whether or not an object exists in the projection direction based on the signal from the photodetector 105 .
この他、本発明の実施形態は、特許請求の範囲に示された技術的思想の範囲内において、適宜、種々の変更が可能である。
In addition, the embodiments of the present invention can be appropriately modified in various ways within the scope of the technical ideas indicated in the claims.
1 レーザレーダ
20 回転部
100 投射検出部
101 レーザ光源
102 コリメータレンズ(レンズ)
105、122、132、143 光検出器
106、112、131、142、151、162 偏向体(導光光学系)
111、121、141、161 分岐素子(導光光学系)
133 レーザ光源(モニター用のレーザ光源)Reference Signs List 1 laser radar 20 rotating unit 100 projection detection unit 101 laser light source 102 collimator lens (lens)
105, 122, 132, 143 photodetector 106, 112, 131, 142, 151, 162 deflector (light guide optical system)
111, 121, 141, 161 branching element (light guide optical system)
133 laser light source (laser light source for monitoring)
20 回転部
100 投射検出部
101 レーザ光源
102 コリメータレンズ(レンズ)
105、122、132、143 光検出器
106、112、131、142、151、162 偏向体(導光光学系)
111、121、141、161 分岐素子(導光光学系)
133 レーザ光源(モニター用のレーザ光源)
105, 122, 132, 143
111, 121, 141, 161 branching element (light guide optical system)
133 laser light source (laser light source for monitoring)
Claims (13)
- 回転軸について回転される回転部と、
前記回転部に配置され、前記回転軸から離れる方向にレーザ光を外部に投射するとともに、投射された前記レーザ光の物体からの反射光を受光する投射検出部と、を備え、
前記投射検出部は、
前記レーザ光を出射するレーザ光源と、
前記レーザ光源から出射されたレーザ光のうち外部への投射に用いない一部のレーザ光を受光する光検出器と、を備える、
ことを特徴とするレーザレーダ。
a rotating part rotated about an axis of rotation;
a projection detection unit disposed on the rotating unit, projecting a laser beam to the outside in a direction away from the rotation axis, and receiving reflected light of the projected laser beam from an object;
The projection detection unit is
a laser light source that emits the laser light;
a photodetector that receives a part of the laser light emitted from the laser light source that is not used for external projection,
A laser radar characterized by:
- 請求項1に記載のレーザレーダにおいて、
前記光検出器は、前記反射光を受光する物体検出用の光検出器であり、
前記投射検出部は、前記一部のレーザ光を前記物体検出用の光検出器へと導く導光光学系を備える、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 1,
The photodetector is a photodetector for object detection that receives the reflected light,
The projection detection unit includes a light guide optical system that guides the part of the laser light to the photodetector for object detection,
A laser radar characterized by:
- 請求項2に記載のレーザレーダにおいて、
前記投射検出部は、前記レーザ光源の後段に配置されたレンズを備え、
前記導光光学系は、前記レーザ光源から出射されたレーザ光のうち前記レンズに取り込まれない外側の部分を前記物体検出用の光検出器へと導くための偏向体を含む、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 2,
The projection detection unit includes a lens arranged behind the laser light source,
The light guide optical system includes a deflector for guiding an outer part of the laser light emitted from the laser light source that is not captured by the lens to the photodetector for object detection,
A laser radar characterized by:
- 請求項2に記載のレーザレーダにおいて、
前記導光光学系は、
前記レーザ光源から出射されたレーザ光の一部を分岐させる分岐素子と、
前記分岐素子で分岐された前記レーザ光を前記物体検出用の光検出器へと導くための偏向体を含む、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 2,
The light guide optical system is
a branching element that branches a part of the laser light emitted from the laser light source;
including a deflector for guiding the laser light branched by the branching element to the photodetector for object detection;
A laser radar characterized by:
- 請求項2に記載のレーザレーダにおいて、
前記導光光学系は、前記レーザ光源から出射されたレーザ光の一部を分岐させる分岐素子を備え、
前記物体検出用の光検出器は、前記分岐素子により分岐された前記レーザ光を直接受光する、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 2,
The light guide optical system includes a branching element that branches a part of the laser light emitted from the laser light source,
The photodetector for object detection directly receives the laser light branched by the branching element.
A laser radar characterized by:
- 請求項1に記載のレーザレーダにおいて、
前記光検出器は、前記反射光を受光する物体検出用の光検出器とは別に配置されたモニター用の光検出器であり、
前記投射検出部は、前記一部のレーザ光を前記モニター用の光検出器へと導く導光光学系を備える、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 1,
The photodetector is a monitor photodetector arranged separately from the object detection photodetector that receives the reflected light,
The projection detection unit includes a light guide optical system that guides the part of the laser light to the monitor photodetector,
A laser radar characterized by:
- 請求項6に記載のレーザレーダにおいて、
前記投射検出部は、前記レーザ光源の後段に配置されたレンズを備え、
前記導光光学系は、前記レーザ光源から出射されたレーザ光のうち前記レンズに取り込まれない外側の部分を前記モニター用の光検出器へと導くための偏向体を含む、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 6,
The projection detection unit includes a lens arranged behind the laser light source,
The light guide optical system includes a deflector for guiding an outer portion of the laser light emitted from the laser light source that is not captured by the lens to the monitor photodetector,
A laser radar characterized by:
- 請求項6に記載のレーザレーダにおいて、
前記導光光学系は、
前記レーザ光源から出射されたレーザ光の一部を分岐させる分岐素子と、
前記分岐素子で分岐された前記レーザ光を前記モニター用の光検出器へと導くための偏向体と、を含む、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 6,
The light guide optical system is
a branching element that branches a part of the laser light emitted from the laser light source;
a deflector for guiding the laser beam split by the splitting element to the monitor photodetector;
A laser radar characterized by:
- 請求項6に記載のレーザレーダにおいて、
前記導光光学系は、前記レーザ光源から出射されたレーザ光の一部を分岐させる分岐素子を備え、
前記モニター用の光検出器は、前記分岐素子により分岐された前記レーザ光を直接受光する、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 6,
The light guide optical system includes a branching element that branches a part of the laser light emitted from the laser light source,
The photodetector for monitoring directly receives the laser light branched by the branching element.
A laser radar characterized by:
- 請求項6ないし9の何れか一項に記載のレーザレーダにおいて、
前記投射検出部は、前記反射光を受光する物体検出用の光検出器にレーザ光を照射するモニター用のレーザ光源をさらに備える、
ことを特徴とするレーザレーダ。
In the laser radar according to any one of claims 6 to 9,
The projection detection unit further includes a monitor laser light source that irradiates a laser light onto an object detection photodetector that receives the reflected light.
A laser radar characterized by:
- 請求項1に記載のレーザレーダにおいて、
複数の前記投射検出部が前記回転部に配置され、
前記投射検出部は、前記レーザ光源から出射されたレーザ光のうち外部への投射に用いない一部のレーザ光を、他の前記投射検出部における光検出器へと導く導光光学系を備える、
ことを特徴とするレーザレーダ。
In the laser radar according to claim 1,
A plurality of the projection detection units are arranged on the rotating unit,
The projection detection section includes a light guide optical system that guides a portion of the laser light emitted from the laser light source that is not used for external projection to a photodetector in the other projection detection section. ,
A laser radar characterized by:
- 請求項11に記載のレーザレーダにおいて、
前記投射検出部は、前記レーザ光源の後段に配置されたレンズを備え、
前記導光光学系は、前記レーザ光源から出射された前記レーザ光のうち前記レンズに取り込まれない外側の部分を、前記他の投射検出部における前記光検出器へと導くための偏向体を含む、
ことを特徴とするレーザレーダ。
12. The laser radar of claim 11,
The projection detection unit includes a lens arranged behind the laser light source,
The light guide optical system includes a deflector for guiding an outer portion of the laser light emitted from the laser light source that is not captured by the lens to the photodetector in the other projection detection unit. ,
A laser radar characterized by:
- 請求項11に記載のレーザレーダにおいて、
前記導光光学系は、
前記レーザ光源から出射された前記レーザ光の一部を分岐させる分岐素子と、
前記分岐素子で分岐された前記レーザ光を、前記他の投射検出部の前記光検出器に導くための偏向体と、を含む、
ことを特徴とするレーザレーダ。 12. The laser radar of claim 11,
The light guide optical system is
a branching element that branches a part of the laser light emitted from the laser light source;
a deflector for guiding the laser beam split by the splitting element to the photodetector of the other projection detection unit;
A laser radar characterized by:
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