WO2022190704A1 - 光検出装置 - Google Patents

光検出装置 Download PDF

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Publication number
WO2022190704A1
WO2022190704A1 PCT/JP2022/003483 JP2022003483W WO2022190704A1 WO 2022190704 A1 WO2022190704 A1 WO 2022190704A1 JP 2022003483 W JP2022003483 W JP 2022003483W WO 2022190704 A1 WO2022190704 A1 WO 2022190704A1
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WO
WIPO (PCT)
Prior art keywords
light
receiving
axis
light receiving
along
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/003483
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English (en)
French (fr)
Japanese (ja)
Inventor
一寿 恩田
早樹人 三木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to CN202280020086.7A priority Critical patent/CN116981958A/zh
Publication of WO2022190704A1 publication Critical patent/WO2022190704A1/ja
Priority to US18/456,618 priority patent/US20230400556A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems

Definitions

  • the present disclosure relates to a photodetector.
  • a photodetector that scans a projection beam toward a detection area in the external world and detects a beam reflected from the detection area with respect to the projection beam is widely known.
  • the reflected beam is guided by a lens and received by a light receiver, thereby outputting a detection signal.
  • the aspect ratio of the light receiving surface of the light receiver is designed with respect to the scanning direction of the projected beam by the scanning mirror so as to suppress erroneous detection due to stray light.
  • the reflected beam is retroreflected on the light-receiving surface arranged perpendicular to the light-receiving optical axis of the lens that guides the reflected beam
  • the retroreflected component of the reflected beam is detected along the light-receiving optical axis.
  • Light is guided to the area.
  • the retroreflected component of the reflected beam may be further reflected and returned to the light receiving surface, causing ghosts and erroneous detection. .
  • An object of the present disclosure is to provide a photodetector that ensures detection accuracy.
  • a first aspect of the present disclosure is A photodetector that scans a projected light beam toward a detection area in the external world and detects a reflected beam from the detection area with respect to the projected light beam, a light-receiving optical system that guides the reflected beam along the light-receiving optical axis; a light receiver that outputs a detection signal by receiving the reflected beam imaged by the light receiving optical system,
  • the light receiver forms a light receiving surface having a light receiving aspect ratio set as an aspect ratio in which the long side is along a first reference axis orthogonal to the light receiving optical axis,
  • the light-receiving surface is arranged in an attitude inclined about the first reference axis with respect to the attitude along the second reference axis orthogonal to the light-receiving optical axis and the first reference axis.
  • the light receiving aspect ratio along the long side of the first reference axis orthogonal to the light receiving optical axis is set on the light receiving surface of the light receiver. Therefore, according to the first aspect, on the light-receiving surface that is inclined about the first reference axis with respect to the orientation along the second reference axis orthogonal to the light-receiving optical axis and the first reference axis, the reflected beam is recursively arranged. Even if reflection occurs, the retroreflected component of the reflected beam can be guided as far as possible in a direction off the light receiving optical axis.
  • the light-receiving surface is tilted around the first reference axis along which the long side of the light-receiving aspect ratio is along, so that the tilt causes image blurring in the direction of the short side of the same ratio that intersects the second reference axis. can be suppressed.
  • the generation of ghosts caused by further reflection of the retroreflection component is suppressed, and deterioration of the detection resolution caused by the configuration for suppressing the ghosts is also suppressed, thereby ensuring detection accuracy. It becomes possible to
  • a second aspect of the present disclosure is A photodetector that scans a projected light beam toward a detection area in the external world and detects a reflected beam from the detection area with respect to the projected light beam, a light-receiving optical system that guides the reflected beam along the light-receiving optical axis; a light receiver that outputs a detection signal by receiving the reflected beam imaged by the light receiving optical system; a light receiving prism that refracts the reflected beam on the front stage side of the light receiver,
  • the light receiver forms a light receiving surface having a light receiving aspect ratio set as an aspect ratio in which the long side is along a first reference axis orthogonal to the light receiving optical axis,
  • the light-receiving prism has an optical surface arranged in an attitude inclined about the first reference axis with respect to the attitude along the second reference axis perpendicular to the light-receiving optical axis and the first reference axis, Formed by at least one.
  • the light receiving aspect ratio along the long side of the first reference axis orthogonal to the light receiving optical axis is set on the light receiving surface of the light receiver. Therefore, according to the second aspect, at least one of the incident surface and the exit surface of the light receiving prism that refracts the reflected beam on the front stage side of the light receiver is positioned along the second reference axis orthogonal to the light receiving optical axis and the first reference axis. , forming an optical surface that is inclined about a first reference axis. As a result, even if the reflected beam is retroreflected on the light receiving surface, the retroreflected component of the reflected beam can be guided as far as possible in a direction away from the light receiving optical axis.
  • the optical surface of the light-receiving prism is tilted around the first reference axis along which the long side of the light-receiving aspect ratio of the light-receiving surface is aligned. can be suppressed.
  • the generation of ghosts caused by further reflection of the retroreflection component is suppressed, and deterioration of the detection resolution caused by the configuration for suppressing the ghosts is also suppressed, thereby ensuring detection accuracy. It becomes possible to
  • FIG. 1 is a schematic diagram showing the overall configuration of a photodetector according to a first embodiment; FIG. It is a schematic diagram which shows the light projector by 1st embodiment.
  • 4 is a schematic diagram showing a scanning unit and a light receiving unit according to the first embodiment;
  • FIG. 4 is a schematic diagram showing a scanning unit and a light receiving unit according to the first embodiment;
  • FIG. It is a schematic diagram which expands and shows the light receiving unit by 1st embodiment.
  • It is a schematic diagram which shows the light receiver by 1st embodiment.
  • It is a schematic diagram which expands and shows the light receiving unit by 1st embodiment.
  • It is a schematic diagram which shows the whole structure of the photon detection apparatus by 2nd embodiment.
  • FIG. 5 is a schematic diagram showing a scanning unit and a light receiving unit according to a second embodiment; It is a schematic diagram which expands and shows the light receiving unit by 2nd embodiment. It is a schematic diagram which shows the light receiver by 2nd embodiment. It is a schematic diagram which expands and shows the light receiving unit by 2nd embodiment. It is a schematic diagram which shows the whole structure of the photon detection apparatus by 3rd embodiment.
  • FIG. 11 is a schematic diagram showing a scanning unit and a light receiving unit according to a third embodiment; It is a schematic diagram which expands and shows the light receiving unit by 3rd embodiment. It is a schematic diagram which expands and shows the light receiving unit by 3rd embodiment. It is a schematic diagram which expands and shows the light receiving unit by 3rd embodiment. It is a schematic diagram which expands and shows the light receiving unit by 3rd embodiment.
  • FIG. 11 is a schematic diagram showing a scanning unit and a light receiving unit according to a fourth embodiment; It is a schematic diagram which expands and shows the light receiving unit by 4th embodiment. It is a schematic diagram which expands and shows the light receiving unit by 4th embodiment.
  • FIG. 11 is a schematic diagram showing a scanning unit and a light receiving unit according to a modified example;
  • FIG. 11 is a schematic diagram showing a scanning unit and a light receiving unit according to a modified example;
  • the photodetector 10 As shown in FIG. 1, the photodetector 10 according to the first embodiment of the present disclosure is a LiDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging) mounted on a vehicle as a mobile object.
  • LiDAR Light Detection and Ranging/Laser Imaging Detection and Ranging
  • front, rear, up, down, left, and right directions are defined with reference to the vehicle on a horizontal plane.
  • the horizontal direction indicates a direction parallel to the horizontal plane
  • the vertical direction indicates a direction perpendicular to the horizontal plane.
  • the photodetector 10 is arranged in at least one place in the vehicle, for example, among the front part, the left and right side parts, the rear part, the upper roof, and the like.
  • the photodetector 10 scans the projected light beam PB toward the detection area DA corresponding to the location of the vehicle outside the vehicle.
  • the photodetector 10 detects the return light as the reflected beam RB that is returned when the projected light beam PB is reflected by the target in the detection area DA.
  • Light in the near-infrared region which is difficult for humans in the outside world to visually recognize, is usually selected as the projected light beam PB that becomes the reflected beam RB.
  • the photodetector 10 observes the target in the detection area DA by detecting the reflected beam RB.
  • the observation of the target is at least one of, for example, the distance from the photodetector 10 to the target, the direction in which the target exists, the reflection intensity of the reflected beam RB from the target, and the like.
  • a typical target to be observed in the photodetector 10 applied to a vehicle may be at least one of moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles.
  • a typical target to be observed in the photodetector 10 applied to a vehicle is at least one of stationary objects such as guardrails, road signs, roadside structures, and fallen objects on the road. There may be.
  • a three-dimensional orthogonal coordinate system is defined by the X-axis, Y-axis, and Z-axis as three axes orthogonal to each other.
  • the Y-axis which is the first reference axis
  • the X-axis which is the second reference axis
  • the left side of the one-dot chain line along the Y axis is actually a cross section perpendicular to the right side of the one-dot chain line (units 21 and 41 side described later). is illustrated.
  • the photodetector 10 includes a housing 11 , a light projecting unit 21 , a scanning unit 31 , a light receiving unit 41 and a controller 51 .
  • the housing 11 forms an exterior of the photodetector 10 .
  • the housing 11 has a light shielding case 12 and a cover panel 15 .
  • the light-shielding case 12 is made of, for example, synthetic resin or metal that has light-shielding properties.
  • the light shielding case 12 has a box shape as a whole.
  • the light-shielding case 12 is constructed by a single component or a combination of multiple components.
  • the light shielding case 12 defines an accommodation chamber 13 that accommodates the light projecting unit 21, the scanning unit 31, the light receiving unit 41, and the controller 51 therein.
  • the storage chamber 13 in the light shielding case 12 is provided in common for the light projecting unit 21 and the light receiving unit 41 .
  • the light shielding case 12 forms an open optical window 14 .
  • the optical window 14 is also provided commonly to the light projecting unit 21 and the light receiving unit 41 .
  • the cover panel 15 is mainly formed of a base material such as synthetic resin or glass that has translucency in the near-infrared region.
  • the cover panel 15 is provided with translucency in the near-infrared region and light-shielding property in the visible region, for example, by coloring the base material, forming an optical thin film, or attaching a film to the surface of the base material. may be
  • the cover panel 15 has a flat shape or a curved shape as a whole.
  • the cover panel 15 completely closes the optical window 14 so that both the projected light beam PB and the reflected beam RB can pass therethrough. As a result, both the projected light beam PB and the reflected beam RB can reciprocate between the storage chamber 13 and the detection area DA, and foreign matter can be prevented from entering the housing 11. ing.
  • the light projecting unit 21 includes a light projector 22 and a light projecting optical system 26 .
  • the light projector 22 emits a laser beam in the near-infrared region that becomes the light beam PB.
  • the light projector 22 is arranged inside the housing 11 and held by the light shielding case 12 .
  • the light projector 22 is formed by arranging a plurality of laser oscillation elements 24 in an array on a substrate.
  • Each laser oscillation element 24 is arranged in a single row along the Y-axis in the vertical direction of the vehicle.
  • Each laser oscillating element 24 has a coherent laser beam that is in phase with a resonator structure that resonates the laser beam oscillated in the PN junction layer and a mirror layer structure that repeatedly reflects the laser beam across the PN junction layer. emitted.
  • Each laser oscillation element 24 generates pulsed laser light that becomes a part of the projected light beam PB by following a control signal from the controller 51 .
  • the light projector 22 has a light projection window 25 defined by a pseudo-rectangular outline formed on one side of the substrate.
  • the light projection window 25 is configured as an aggregate of laser oscillation apertures in each laser oscillation element 24 .
  • a projection aspect ratio RP which is the aspect ratio of the projection window 25, is defined such that the long side is along the Y-axis and the short side is along the X-axis. That is, the projected light aspect ratio RP is set along each of the Y-axis, which is the first reference axis, and the X-axis, which is the second reference axis.
  • the laser beam projected from the laser oscillation aperture of each laser oscillation element 24 is projected as a projection beam PB which is fictitiously formed into a long line along the Y-axis in the detection area DA shown in FIG. Projected from window 25 .
  • the projected light beam PB may include non-light-emitting portions corresponding to the arrangement intervals of the laser oscillation elements 24 in the direction of the Y-axis (hereinafter referred to as the Y-axis direction). Even in this case, it is preferable to form a linear projected light beam PB in which the non-light-emitting portion is macroscopically eliminated by the diffraction action in the detection area DA.
  • the projection optical system 26 projects the projection beam PB from the light projector 22 toward the scanning mirror 32 of the scanning unit 31 .
  • the projection optical system 26 is arranged between the projector 22 and the scanning mirror 32 on the optical path of the projection beam PB.
  • the projection optical system 26 exerts at least one type of optical action among, for example, condensing, collimating, and shaping.
  • the projection optical system 26 forms a projection optical axis POA along the Z-axis.
  • the projection optical system 26 has at least one projection lens 27 held by the light shielding case 12 .
  • At least one projection lens 27 is mainly made of a light-transmitting base material such as synthetic resin or glass, and is formed into a lens shape corresponding to the optical action to be exhibited.
  • the projection optical axis POA is defined as a virtual ray axis that passes through, for example, the center of curvature of the lens surface of at least one projection lens 27 .
  • a principal ray of the projection beam PB emitted from the center of the projection window 25 is guided along the projection optical axis POA.
  • the scanning unit 31 has a scanning mirror 32 and a scanning motor 35 .
  • the scanning mirror 32 scans the light beam PB projected from the light projecting optical system 26 of the light projecting unit 21 toward the detection area DA, and transmits the reflected beam RB from the detection area DA with respect to the light projecting beam PB to the light receiving unit.
  • the light is reflected toward the light receiving optical system 42 of 41 .
  • the scanning mirror 32 is arranged between the cover panel 15 and the light projecting optical system 26 on the optical path of the projected light beam PB and between the cover panel 15 and the light receiving optical system 42 on the optical path of the reflected beam RB.
  • the scanning mirror 32 is mainly formed of a base material such as synthetic resin or glass.
  • the scanning mirror 32 has a flat plate shape as a whole.
  • the scanning mirror 32 has a reflecting surface 33 with a rectangular outline formed in a mirror surface by depositing a reflecting film such as aluminum, silver, or gold on one side of a base material.
  • the scanning mirror 32 has a rotating shaft 34 that is rotatably held by the light shielding case 12 .
  • the vertical direction of the vehicle along which the rotation center line CM extends on the rotating shaft 34 substantially coincides with the longitudinal direction of the reflecting surface 33 as the Y-axis direction.
  • the scanning mirror 32 rotates around the rotation center line M along the Y-axis so that the normal direction of the reflecting surface 33 can be adjusted around the rotation center line CM.
  • the scanning mirror 32 oscillates within a limited drive range DR by, for example, a mechanical or electrical stopper. Thereby, the projected light beam PB reflected by the scanning mirror 32 is restricted so as not to deviate from the optical window 14 .
  • the scanning mirror 32 is provided in common for the light projecting unit 21 and the light receiving unit 41 . That is, the scanning mirror 32 is commonly provided for the projected light beam PB and the reflected beam RB. As a result, the scanning mirror 32 forms a light projecting reflecting portion 331 used for projecting the projected light beam PB and a light receiving reflecting portion 332 used for receiving the reflected beam RB on the reflecting surface 33 so as to be shifted in the Y-axis direction. is doing.
  • the light projecting reflector 331 and the light receiving reflector 332 are provided at positions separated from each other or at positions at least partially overlapping each other.
  • the projection beam PB is reflected by the projection reflector 331 whose normal direction is adjusted in accordance with the rotational driving of the scanning mirror 32, so that the projection beam PB is transmitted through the optical window 14 and temporally and spatially passes through the detection area DA. scan effectively. Scanning of the detection area DA with the light projection beam PB is substantially limited to scanning in the horizontal direction according to the rotational driving of the scanning mirror 32 around the rotation center line CM. Accordingly, the driving range DR of the scanning mirror 32 defines the horizontal angle of view in the detection area DA.
  • the projected light beam PB becomes a reflected beam RB returning to the photodetector 10 by being reflected by a target existing in the detection area DA.
  • the reflected beam RB is transmitted through the optical window 14 again and is incident on the light receiving/reflecting portion 332 of the scanning mirror 32 .
  • the velocities of the projected light beam PB and the reflected beam RB are sufficiently large with respect to the rotational motion velocity of the scanning mirror 32 .
  • the reflected beam RB is reflected by the light-receiving reflecting portion 332 at the scanning mirror 32 having substantially the same rotational angle as the light-receiving beam PB. light will be guided to
  • the scanning motor 35 is arranged around the scanning mirror 32 inside the housing 11 .
  • the scanning motor 35 is, for example, a voice coil motor, a brushed DC motor, a stepping motor, or the like.
  • the output shaft of the scanning motor 35 is coupled to the rotating shaft 34 of the scanning mirror 32 directly or indirectly via a drive mechanism such as a speed reducer.
  • the scanning motor 35 is held by the light shielding case 12 so as to be able to rotate the rotating shaft 34 together with the output shaft.
  • the scanning motor 35 rotationally drives the rotary shaft 34 within the drive range DR according to a control signal from the controller 51 .
  • the light receiving unit 41 includes a light receiving optical system 42 and a light receiver 45, as shown in FIGS.
  • the light receiving optical system 42 guides the reflected beam RB reflected by the scanning mirror 32 toward the light receiver 45 .
  • the light receiving optical system 42 is positioned below the light projecting optical system 26 in the vertical direction of the vehicle along the Y axis.
  • the light receiving optical system 42 exerts an optical action so as to form an image of the reflected beam RB on the light receiver 45 .
  • the light receiving optical system 42 forms a light receiving optical axis ROA along the Z axis.
  • the light receiving optical system 42 has at least one light receiving lens 43 held by the light shielding case 12 via the lens barrel 44 .
  • At least one light-receiving lens 43 is mainly made of a light-transmitting base material such as synthetic resin or glass, and has a lens shape (for example, the shape of FIG. 3 or the shape of FIG. 5 described later) according to the optical action to be exhibited. etc.).
  • the light-receiving optical axis ROA is defined as a virtual ray axis that passes through, for example, the center of curvature of the lens surface of at least one light-receiving lens 43 .
  • the principal ray of the reflected beam RB reflected from the light receiving reflector 332 of the scanning mirror 32 is guided along the light receiving optical axis ROA at any rotation angle within the driving range DR as shown in FIGS. be. That is, the light-receiving optical axis ROA along which the reflected beam RB extends becomes the optical axis along which the reflected beam RB extends over the driving range DR of the scanning mirror 32 that is rotationally driven.
  • the light receiving optical system 42 has a lens barrel 44 held by the light shielding case 12 .
  • the lens barrel 44 is mainly formed of a light-shielding base material such as synthetic resin or metal.
  • the lens barrel 44 has a tubular shape as a whole.
  • the lens barrel 44 accommodates and positions at least one light receiving lens 43 .
  • the light receiver 45 outputs a detection signal by receiving the reflected beam RB imaged by the light receiving optical system 42 .
  • the light receiver 45 is arranged inside the housing 11 and held by the light shielding case 12 .
  • the light receiver 45 is positioned below the light projector 22 in the vertical direction of the vehicle along the Y axis and on the light receiving optical axis ROA.
  • the photodetector 45 is perpendicular to the Y-axis and has an acute angle to each of the light-receiving optical axis ROA (that is, the Z-axis) and the X-axis on one side around the Y-axis.
  • a tilt axis IA is defined which tilts around at an obtuse angle.
  • the light receiver 45 is formed by arranging a plurality of light receiving pixels 46 in an array on the substrate.
  • Each light receiving pixel 46 is arranged in a single row along the Y-axis in the vertical direction of the vehicle.
  • each light receiving pixel 46 is composed of a plurality of light receiving elements 461 .
  • the light-receiving elements 461 of each light-receiving pixel 46 are arranged in a predetermined number along each of the Y-axis and the tilt axis IA. That is, since there are a plurality of light receiving elements 461 for each light receiving pixel 46, the output value differs according to the number of responses.
  • the light-receiving element 461 of each light-receiving pixel 46 is constructed mainly of a photodiode such as a Single Photon Avalanche Diode (SPAD).
  • the light receiving element 461 of each light receiving pixel 46 may be integrally constructed by stacking a microlens array in front of the photodiode array.
  • FIG. 6 some of the reference numerals attached to the light receiving element 461 are omitted.
  • the light receiver 45 has a rectangular outline light receiving surface 47 formed on one side of the substrate.
  • the light-receiving surface 47 is configured as a collection of incident surfaces of the respective light-receiving pixels 46 .
  • the geometric center of the rectangular outline of the light receiving surface 47 is aligned on the light receiving optical axis ROA or slightly shifted from the light receiving optical axis ROA in the direction of the X axis (hereinafter referred to as the X axis direction).
  • Each light-receiving pixel 46 receives and detects the reflected beam RB incident on the incident surface constituting the light-receiving surface 47 with the respective light-receiving element 461 .
  • the light-receiving aspect ratio RR which is the aspect ratio of the light-receiving surface 47, is defined such that the long side is along the Y-axis and the short side is along the tilt axis IA. That is, the light receiving aspect ratio RR of the first embodiment differs from the light projecting aspect ratio RP in that the Y axis, which is the first reference axis, the X axis, which is the second reference axis, and the tilt axis IA with respect to the light receiving optical axis ROA. , are set along each.
  • the reflected beam RB becomes a linearly spread beam corresponding to the projected light beam PB which is simulated linearly in the detection area DA.
  • the photodetector 45 has a decoder 48 integrally.
  • the decoder 48 sequentially reads the electrical pulses generated by the light receiving pixels 46 in response to detection of the reflected beam RB by sampling processing.
  • the decoder 48 outputs the sequentially read electrical pulses to the controller 51 as detection signals.
  • the detection for observing the target in the detection area DA also ends.
  • the controller 51 controls observation of targets in the detection area DA.
  • the controller 51 is mainly composed of at least one computer including a processor and memory.
  • the controller 51 is connected to the light projector 22 , scanning motor 35 and light receiver 45 .
  • the controller 51 outputs a control signal to the light projector 22 so that each laser oscillation element 24 oscillates to generate the light projection beam PB at the light emission timing.
  • the controller 51 outputs a control signal to the scanning motor 35 so as to control scanning and reflection by the scanning mirror 32 in synchronization with the emission timing of the projection beam PB.
  • the controller 51 performs arithmetic processing on the electrical pulses output as detection signals from the light receiver 45 in accordance with the light emission timing of the light projector 22 and the scanning and reflection by the scanning mirror 32, thereby obtaining observation data of the target in the detection area DA. to generate
  • the lens barrel 44 forms an aperture diaphragm 442 that narrows the exit opening 441 on the light receiver 45 side.
  • Aperture stop 442 gives exit aperture 441 a rectangular contour with an aspect ratio whose long side is along the Y-axis and whose short side is along X-axis.
  • the diaphragm diameter ⁇ of the aperture diaphragm 442, which is the inner dimension of the exit port 441, is set as small as possible as long as the reflected beam RB returning from the detection area DA can be emitted entirely.
  • the diaphragm diameter ⁇ of the aperture diaphragm 442 is preferably set according to the following formula 1 in a cross section perpendicular to the Y-axis and on the light receiving optical axis ROA as shown in FIG.
  • L is the separation distance on the light-receiving optical axis ROA from the incident end of the aperture diaphragm 442 to the light-receiving surface 47 of the light receiver 45 .
  • ⁇ is the amount of light incident on the light receiving surface 47 from the single light receiving lens 43 or the last light receiving lens 43 among the plurality of light receiving lenses 43 via the incident end of the exit opening 441 narrowed by the aperture diaphragm 442.
  • Equation 1 F is the F value set for a single light receiving lens 43 or the composite value of the F values set for a plurality of light receiving lenses 43 .
  • the lens barrel 44 in the light receiving optical system 42 forms a light absorbing surface 443 around the exit port 441 on the light receiver 45 side (that is, around the aperture stop 442).
  • the light absorbing surface 443 is formed by subjecting the outer surface of the base material to blackening treatment such as alumite treatment, plating treatment, or painting treatment.
  • the light absorbing surface 443 is provided on the entire outer wall surface facing the light receiver 45 in the setting direction of the light receiving optical axis ROA, which is the setting direction of the Z axis of the lens barrel 44 (hereinafter referred to as the Z axis direction).
  • the retroreflected component RC of the reflected beam RB can be absorbed by being incident on the light absorbing surface 443 as shown in FIGS. It has become.
  • the substantially planar light receiving surface 47 of the light receiver 45 is arranged in a posture that spreads in the setting direction of the tilt axis IA and the Y-axis direction.
  • the posture of the light receiving surface 47 is changed from the long side of the light receiving aspect ratio RR to the posture along the X axis as the second reference axis that intersects the short side direction of the light receiving aspect ratio RR, which is the setting direction of the tilt axis IA. It is tilted around the Y-axis as the first reference axis along which the direction is aligned.
  • the inclination angle ⁇ of the light receiving surface 47 in the direction of approach from the X axis to the light receiving optical axis ROA is, for example, greater than or equal to the maximum angle ⁇ in Equation 1.
  • An acute angle such as a range, is set.
  • the tilt angle ⁇ increases, the retroreflected component RC of the reflected beam RB on the light receiving surface 47 tends to deviate from the light receiving optical axis ROA.
  • Image blurring of RB becomes difficult to occur particularly in the setting direction of the tilt axis IA (that is, the short side direction of the light receiving aspect ratio RR). Therefore, the tilt angle ⁇ should be set according to the balance (that is, the trade-off) between the tendency of the retroreflection component RC to be deviated and the difficulty of occurrence of image blurring.
  • the light-receiving aspect ratio RR along the long side of the Y-axis as the first reference axis perpendicular to the light-receiving optical axis ROA is set on the light-receiving surface 47 of the light receiver 45 .
  • the light-receiving surface 47 which is inclined around the Y-axis with respect to the posture along the X-axis as the second reference axis orthogonal to the light-receiving optical axis ROA and the Y-axis, reflects Even if the beam RB is retroreflected, the retroreflected component RC of the reflected beam RB can be guided as far as possible in a direction away from the light receiving optical axis ROA as shown in FIGS.
  • the light-receiving surface 47 is tilted around the Y-axis along which the long side of the light-receiving aspect ratio RR is aligned. can be suppressed.
  • the generation of ghosts caused by further reflection of the retroreflection component RC is suppressed, and deterioration of the detection resolution caused by the configuration for suppressing the ghosts is also suppressed. can be ensured.
  • problems such as erroneous detection of a distance that is twice the actual distance to the target, for example, occur.
  • the photodetector 10 that can suppress erroneous detection by suppressing occurrence, it is possible to ensure detection accuracy.
  • the plurality of light-receiving pixels 46 forming the light-receiving surface 47 are arranged in a single row along the Y-axis along which the long side of the light-receiving aspect ratio RR is aligned. According to this, the spread of the light receiving surface 47 can be reduced as much as possible in the direction of the short side of the light receiving aspect ratio RR that intersects the X axis. Therefore, it is possible to suppress the deterioration of the detection resolution due to the imaging blur, and to improve the detection accuracy.
  • the scanning mirror 32 which scans the projected beam PB toward the detection area DA and reflects the reflected beam RB toward the light receiving optical system 42, rotates around the rotation center line CM along the Y axis. driven. Therefore, if the light receiving optical system 42 guides the reflected beam RB along the light receiving optical axis ROA over the driving range DR of the scanning mirror 32, it is possible to suppress the generation of the ghost and the deterioration of the detection resolution. It is possible to improve the detection accuracy by applying to the entire detection area DA scanned by the light beam PB.
  • the light projector 22 that emits the light beam PB directed toward the scanning mirror 32 is set to have a light projection aspect ratio RP with the long side along the Y-axis, similar to the long side of the light receiving aspect ratio RR.
  • a light projection window 25 is formed. According to this, image blurring on the light receiving surface 47 can be suppressed in the Y-axis direction, which is the long side direction common to the light receiving aspect ratio RR and the light projecting aspect ratio RP. Therefore, it is possible to suppress the deterioration of the detection resolution and improve the detection accuracy.
  • the light receiving lens 43 of the light receiving optical system 42 forms an image of the reflected beam RB on the light receiver 45 .
  • the retroreflection component RC of the reflected beam RB generated at the light receiving surface 47 can be restricted from being reflected by retro-incidence to the light receiving lens 43 . Therefore, it is possible to suppress the occurrence of flare due to the retro-incidence of the retro-reflection component RC to the light-receiving lens 43 and improve the detection accuracy.
  • the light receiving lens 43 in the light receiving optical system 42 is housed in the lens barrel 44 .
  • the retroreflection component RC of the reflected beam RB generated at the light receiving surface 47 becomes stray light due to reflection inside the photodetector 10 (specifically, inside the housing 11) and travels toward the detection area DA. Situation can be limited. Therefore, it is possible to suppress the occurrence of a ghost due to the stray light of the retroreflection component RC and improve the detection accuracy.
  • an exit aperture 441 on the side of the light receiver 45 in the lens barrel 44 is narrowed down by an aperture stop 442 .
  • the retroreflection component RC of the reflected beam RB generated on the light receiving surface 47 is incident on the interior of the lens barrel 44 and is reflected on the inner wall surface by being incident on the interior of the lens barrel 44. can be restricted. Therefore, it is possible to suppress the occurrence of flare and clutter due to the incidence of the retroreflection component RC into the lens barrel 44, and to improve the detection accuracy.
  • the retroreflection component RC of the reflected beam RB generated on the light receiving surface 47 can be absorbed by the light absorbing surface 443 around the exit port 441 on the light receiver 45 side in the lens barrel 44 . According to this, the reflectance for the retroreflection component RC incident on the outer wall surface of the lens barrel 44 can be reduced. Therefore, it is possible to suppress the generation of clutter due to the reflection of the retroreflection component RC on the outer wall surface of the lens barrel 44 and improve the detection accuracy.
  • the second embodiment is a modification of the first embodiment.
  • the light receiving surface 2047 of the light receiver 2045 is arranged substantially orthogonal to the light receiving optical axis ROA along the Z axis. Accordingly, the light receiving aspect ratio RR of the light receiving surface 2047 is set along each of the first reference axis, Y axis, and the second reference axis, X axis, similarly to the light projection aspect ratio RP. .
  • the light-receiving surface 2047 of the second embodiment which is composed of a plurality of light-receiving pixels 46 arranged in a single row as in the first embodiment, has a light-receiving aspect ratio RR in the long side direction along the Y-axis and the X-axis direction. It spreads in the direction of the short side of the light-receiving aspect ratio RR.
  • the light receiving unit 2041 of the second embodiment further includes a light receiving prism 2049 as shown in FIGS.
  • the light-receiving prism 2049 is arranged inside the housing 11 between the exit 441 of the light-receiving optical system 42 and the light-receiving surface 2047 of the light receiver 2045 .
  • the light receiving prism 2049 is directly held by the light shielding case 12 or indirectly via the light receiver 2045 .
  • the light receiving prism 2049 refracts the reflected beam RB on the front stage side of the light receiver 2045 .
  • the light-receiving prism 2049 is mainly formed of a translucent base material such as synthetic resin or glass.
  • the light-receiving prism 2049 forms an incident surface 2492 and an exit surface 2493 that are non-parallel to each other with an acute angle therebetween as optical surfaces that impart a refractive action to the reflected beam RB.
  • the incident surface 2492 faces the exit 441 of the light receiving optical system 42 in the setting direction of the light receiving optical axis ROA, which is the Z-axis direction.
  • the incident surface 2492 is such that all of the reflected beam RB returning from the detection area DA can be incident and at least part of the retroreflected component RC incident on the exit surface 2493 from the light receiving surface 2047 can be emitted.
  • a rectangular outline or the like with an aspect ratio whose sides are along the Y-axis may be provided.
  • the exit surface 2493 faces the light receiving surface 2047 of the light receiver 2045 in the setting direction of the light receiving optical axis ROA.
  • the emission surface 2493 can emit all of the reflected beam RB incident on the incident surface 2492 from the detection area DA, and at least a part of the retroreflection component RC from the light receiving surface 2047 can be incident.
  • a rectangular outline or the like with an aspect ratio whose sides are along the Y-axis may be provided.
  • a substantially planar incident surface 2492 in the light receiving prism 2049 is arranged in a posture that spreads in the setting direction of the tilt axis IA and the Y-axis direction.
  • the posture of the incident surface 2492 is set along the X-axis as the second reference axis, which is set in the direction of the short side of the light-receiving aspect ratio RR of the light-receiving surface 2047, which intersects the setting direction of the tilt axis IA.
  • the ratio RR is tilted around the Y-axis as the first reference axis along which the long side direction extends. As shown in FIGS.
  • the inclination angle ⁇ of the incident surface 2492 in the approach direction (clockwise direction in FIGS. 10 and 12) from the X axis to the light receiving optical axis ROA is defined by the formula 1 defined by the first embodiment, for example. is set to an acute angle such as a range that is equal to or greater than the maximum angle ⁇ of .
  • the tilt angle ⁇ increases, the retroreflection component RC of the reflected beam RB at the light receiving surface 2047 tends to deviate from the light receiving optical axis ROA.
  • Image blurring of RB becomes difficult to occur particularly in the X-axis direction (that is, the direction of the short side of the light receiving aspect ratio RR). Therefore, the tilt angle ⁇ should be set according to the balance (that is, trade-off) between the tendency of the retroreflection component RC to come off and the difficulty of causing image blurring.
  • the substantially planar exit surface 2493 of the light receiving prism 2049 is arranged in a posture substantially orthogonal to the light receiving optical axis ROA along the Z axis.
  • the exit surface 2493 spreads in the Y-axis direction and the X-axis direction, similarly to the light receiving surface 2047 . Therefore, in particular, the exit surface 2493 is preferably arranged so as to overlap the light receiving surface 2047 .
  • the exit surface 2493 may be placed over the light receiving surface 2047 directly or indirectly via a cover glass covering the light receiving surface 2047 .
  • the superimposed emission surface 2493 is directly bonded to the light-receiving surface 2047 by, for example, a translucent optical adhesive, or indirectly bonded via the optical adhesive and the cover glass of the light-receiving surface 2047. It may be integrated with the light receiver 2045 by, for example,
  • the light-receiving prism 2049 is held directly by the light-shielding case 12, which is a separate member, or indirectly by the light-shielding case 12 via another member, so that the exit surface 2493 of the light-receiving surface 2047 is projected onto the light-receiving surface 2047. You may maintain the overlapping arrangement posture.
  • the light-receiving prism 2049 itself may constitute a cover glass for the light-receiving surface 2047 .
  • the light-receiving aspect ratio RR along the long side of the Y-axis as the first reference axis perpendicular to the light-receiving optical axis ROA is set on the light-receiving surface 2047 of the light receiver 2045 . Therefore, according to the second embodiment, the incident surface 2492 of the light receiving prism 2049 that refracts the reflected beam RB on the front stage side of the light receiver 2045 is along the X axis as the second reference axis orthogonal to the light receiving optical axis ROA and the Y axis. An optical surface is formed with a posture that is tilted around the Y-axis with respect to the posture. As a result, even if the reflected beam RB is retroreflected on the light receiving surface 2047, the retroreflected component of the reflected beam RB can be guided as far as possible in a direction away from the light receiving optical axis ROA.
  • the incident surface 2492 of the light-receiving prism 2049 is inclined around the Y-axis along which the long side of the light-receiving aspect ratio RR of the light-receiving aspect ratio RR of the light-receiving surface 2047 is aligned.
  • Image blur can be suppressed.
  • the light receiving aspect ratio RR on the light receiving surface 2047 is set along each of the Y axis and the X axis. Image blurring can be suppressed.
  • the occurrence of ghosts caused by further reflection of the retroreflection component RC is suppressed, and deterioration of the detection resolution caused by the configuration for suppressing the ghosts is also suppressed. can be ensured.
  • the plurality of light-receiving pixels 46 forming the light-receiving surface 2047 are arranged in a single row along the Y-axis along which the long side of the light-receiving aspect ratio RR is along. According to this, the spread of the light receiving surface 2047 can be reduced as much as possible in the short side direction of the light receiving aspect ratio RR along the X axis. Therefore, it is possible to suppress the deterioration of the detection resolution due to the imaging blur, and to improve the detection accuracy.
  • the third embodiment is a modification obtained by combining the first embodiment and the second embodiment.
  • the light receiving unit 3041 of the third embodiment includes a light receiving device 45 with an inclined light receiving surface 47 and a light receiving prism 2049 with an incident surface 2492 inclined.
  • the light-receiving surface 47 along the tilt axis IA1 on both sides of the light-receiving optical axis ROA in the X-axis direction is the light-receiving optical axis ROA.
  • the side where the incident surface 2492 along the tilt axis IA2 is tilted in the direction of approaching the light receiving optical axis ROA are different. That is, the light-receiving surface 47 and the incident surface 2492 are inclined in opposite directions about the Y-axis, which is the first reference axis, with respect to the orientation along the X-axis, which is the second reference axis.
  • the inclination angle ⁇ of the light receiving surface 47 in the approach direction from the X axis to the light receiving optical axis ROA and the inclination angle ⁇ of the incident surface 2492 in the approach direction from the X axis to the light receiving optical axis ROA are set to the same or different sizes.
  • the tilt angles ⁇ and ⁇ are preferably set to acute angles such as a range equal to or greater than the maximum angle ⁇ in Equation 1 defined in the first embodiment.
  • the retroreflection component RC is more likely to deviate from the light receiving optical axis ROA.
  • the tilt angle ⁇ is set to a predetermined fixed angle
  • the retroreflection component RC is more likely to deviate from the light receiving optical axis ROA as the tilt angle ⁇ increases in the order of FIGS.
  • the light-receiving surface 47 of the light-receiving device 45 and the incident surface 2492 of the light-receiving prism 2049 are arranged around the Y-axis as the first reference axis along which the long side of the light-receiving aspect ratio RR of the light-receiving surface 47 is aligned. incline. According to this, image blurring can be suppressed in the direction of the short side of the light receiving aspect ratio RR on the light receiving surface 47 that intersects the X-axis as the second reference axis. Therefore, it is possible to suppress the deterioration of the detection resolution due to the imaging blur, and to improve the detection accuracy.
  • the fourth embodiment is a modification of the third embodiment.
  • the light receiving unit 4041 of the fourth embodiment has a light receiving prism 4049 corresponding to the light receiving prism 2049 rotated around the Y axis.
  • a substantially planar incident surface 4492 of the light receiving prism 4049 is arranged in a posture substantially perpendicular to the light receiving optical axis ROA along the Z axis. Accordingly, unlike the light receiving surface 47 of the light receiver 45, the incident surface 4492 spreads in the Y-axis direction and the X-axis direction.
  • a substantially planar exit surface 4493 non-parallel to the incident surface 4492 is arranged in a posture that extends in the direction in which the tilt axis IA is set and in the Y-axis direction.
  • the posture of the exit surface 4493 is different from the posture along the X-axis as the second reference axis, which intersects the short side direction of the light-receiving aspect ratio RR on the light-receiving surface 47, which is the direction in which the tilt axis IA is set.
  • the ratio RR is inclined around the Y-axis as the first reference axis along which the long side direction extends.
  • the light-receiving surface 47 along the inclined axis IA is located on both sides of the light-receiving optical axis ROA in the X-axis direction. and the side on which the emergent surface 4493 along the common tilt axis IA with the light receiving surface 47 is tilted in the direction of approaching the light receiving optical axis ROA coincides with each other. That is, the light-receiving surface 47 and the exit surface 4493 are inclined in the same direction around the Y-axis, which is the first reference axis, with respect to the orientation along the X-axis, which is the second reference axis.
  • the inclination angle ⁇ of the light-receiving surface 47 in the approach direction from the X-axis to the light-receiving optical axis ROA and the inclination angle ⁇ of the exit surface 4493 in the approaching direction from the X-axis to the light-receiving optical axis ROA are shown in FIGS. are set to the same or different sizes.
  • the tilt angles ⁇ and ⁇ are preferably set to acute angles such as a range equal to or greater than the maximum angle ⁇ in Equation 1 defined in the first embodiment.
  • the exit surface 4493 whose tilt angle ⁇ is set to the same angle as the tilt angle ⁇ of the light receiving surface 47 is preferably arranged so as to overlap the light receiving surface 47 .
  • the exit surface 4493 may be arranged to overlap the light receiving surface 47 directly or indirectly through a cover glass that covers the light receiving surface 47 .
  • the superimposed emission surface 4493 is directly bonded to the light-receiving surface 47 by, for example, a translucent optical adhesive, or indirectly bonded via the optical adhesive and the cover glass of the light-receiving surface 47. It may be integrated with the light receiver 45 by, for example,
  • the light-receiving prism 4049 is held directly by the light-shielding case 12, which is a separate member, or indirectly by the light-shielding case 12 via another member, so that the exit surface 4493 of the light-receiving surface 47 is projected onto the light-receiving surface 47. You may maintain the overlapping arrangement posture.
  • the light-receiving prism 4049 itself may constitute a cover glass for the light-receiving surface 47 .
  • the light-receiving surface 47 of the light-receiving device 45 and the exit surface 4493 of the light-receiving prism 4049 are arranged around the Y-axis as the first reference axis along which the long side of the light-receiving aspect ratio RR of the light-receiving surface 47 is aligned. incline. According to this, image blurring can be suppressed in the direction of the short side of the light receiving aspect ratio RR on the light receiving surface 47 that intersects the X-axis as the second reference axis. Therefore, it is possible to suppress the deterioration of the detection resolution due to the imaging blur, and to improve the detection accuracy.
  • the laser oscillation elements 24 forming the light projection window 25 may be arranged such that the element rows along the Y axis are arranged in multiple rows in the X axis direction.
  • the plurality of light receiving pixels 46 forming the light receiving surfaces 47 and 2047 may be arranged such that the pixel rows along the Y axis are arranged in multiple rows in the direction in which the tilt axis IA is set or in the X axis direction.
  • the rotation axis 34 of the scanning mirror 32 may be arranged such that the rotation center line CM extends along two axes other than the Y-axis in the three-dimensional orthogonal coordinate system, or in a direction that intersects the Y-axis.
  • the relationship between each axial direction of the three-dimensional orthogonal coordinate system and each direction of the vehicle may be appropriately defined according to, for example, the location where the photodetector 10 is arranged.
  • the lens barrel 44 may be integrally formed with the housing 11 as part of the light shielding case 12 .
  • at least one of the aperture diaphragm 442 and the light absorbing surface 443 may not be provided on the lens barrel 44 .
  • the light-receiving prisms 2049 and 4049 are held by the lens barrel 44 as long as they are between the single or final light-receiving lens 43 in the light-receiving optical system 42 and the light-receiving surfaces 47 and 2047 in the light receivers 45 and 2045.
  • the light receiving prisms 2049 and 4049 may form part of the light receiving optical system 42 .
  • an incident surface 2492 inclined from the X axis to the Y axis according to the second and third embodiments may be applied to the light receiving prism 4049 of the fourth embodiment.
  • the light-receiving surface 47 and the exit surface 4493 along the tilt axis IA1 on both sides of the light-receiving optical axis ROA in the X-axis direction are aligned with the light-receiving optical axis ROA. and the side on which the incident surface 2492 along the tilt axis IA2 is inclined in the approach direction to the light receiving optical axis ROA may be different as shown in FIG. 24 or may coincide with each other.
  • a plate-like reflective optical filter (for example, a near-infrared bandpass filter or the like) 1050 may be arranged between the light receiving surfaces 47 and 2047 of 2045 .

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Mechanical Optical Scanning Systems (AREA)
  • Mechanical Light Control Or Optical Switches (AREA)
PCT/JP2022/003483 2021-03-11 2022-01-31 光検出装置 Ceased WO2022190704A1 (ja)

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JP2019110236A (ja) * 2017-12-19 2019-07-04 京セラ株式会社 光学装置
WO2019146647A1 (ja) * 2018-01-24 2019-08-01 株式会社デンソー ライダー装置、運転支援システム、及び車両

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JP4830311B2 (ja) * 2005-02-21 2011-12-07 株式会社デンソー 車載用レーダ装置
FR3090125B1 (fr) * 2018-12-18 2021-02-26 Thales Sa Système lidar compact
CN209858727U (zh) * 2019-03-18 2019-12-27 北京因泰立科技有限公司 一种360°扫描三维激光雷达
US11693102B2 (en) * 2019-06-07 2023-07-04 Infineon Technologies Ag Transmitter and receiver calibration in 1D scanning LIDAR
JP7421437B2 (ja) * 2020-07-27 2024-01-24 株式会社トプコン 測量装置

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JPH0674763A (ja) * 1992-08-28 1994-03-18 Mitsubishi Electric Corp 距離測定装置
US5543612A (en) * 1994-05-13 1996-08-06 Texas Instruments Incorporated Image pickup device with attached interference stripe noise prevention mechanism
JP2019110236A (ja) * 2017-12-19 2019-07-04 京セラ株式会社 光学装置
WO2019146647A1 (ja) * 2018-01-24 2019-08-01 株式会社デンソー ライダー装置、運転支援システム、及び車両

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