JP2006170699A - Optical device for object identification - Google Patents

Optical device for object identification Download PDF

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JP2006170699A
JP2006170699A JP2004361302A JP2004361302A JP2006170699A JP 2006170699 A JP2006170699 A JP 2006170699A JP 2004361302 A JP2004361302 A JP 2004361302A JP 2004361302 A JP2004361302 A JP 2004361302A JP 2006170699 A JP2006170699 A JP 2006170699A
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light
optical
lens
identification device
light receiving
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Hideo Wada
秀夫 和田
Tsunehisa Watabe
恒久 渡部
Takayuki Taminaga
隆之 民長
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Sharp Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an optical device for object identification identifying an object under measurement with high accuracy, with its identification accuracy kept from lowering on the surface condition of the object even when the device is tilted relative to the object. <P>SOLUTION: This device satisfies f<a1, assuming that the focal distance of a first lens 9 is f mm and an optical path distance is al mm from the object 8 under measurement, via a reflective surface 4a-1 of a non-polarizing beam splitter 4a, to the first lens 9. Since the path distance a1 mm between the first lens 9 and the object 8 is longer than the focal distance f mm of the first lens 9, the regular reflection optical axis of a reflected light beam 7 reflected by the surface of the object 8 is directed toward light receiving surfaces of light receiving elements 11a and 11b even when an incident angle θ of a first light beam 5 changes that comes in the surface of the object 8. Accordingly, identification accuracy on the object can be enhanced. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

この発明は、光学式物体識別装置に関し、例えば、被測定物にレーザ光を照射し、このレーザ光の反射による偏光解消特性を測定することにより、被測定物の種類を識別する光学式物体識別装置に関し、例えば、じゅうたんや板間、畳などの床面の種類を判別する光学式物体識別装置に関する。   BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an optical object identification device, for example, an optical object identification for identifying the type of an object to be measured by irradiating the object to be measured with laser light and measuring a depolarization characteristic due to reflection of the laser light. For example, the present invention relates to an optical object identification device that discriminates types of floors such as carpets, inter-board spaces, and tatami mats.

また、一例として、この発明は、床面の種類を判別し、じゅうたんや畳、板間などの床面の違いによる掃除機の運転状況の最適化を実現するのに好適な光学式物体識別装置に関し、さらに、上記光学式物体識別装置を内蔵した掃除機および自走式掃除機に関する。   In addition, as an example, the present invention is an optical object identification device suitable for identifying the type of floor surface and realizing optimization of the operation state of the vacuum cleaner due to the difference in floor surface such as carpets, tatami mats, and boards. Further, the present invention relates to a vacuum cleaner and a self-propelled vacuum cleaner incorporating the optical object identification device.

従来、家庭用の電気掃除機に塔載されてきた床面判別センサは、機械式、吸引圧力式、超音波式、光学式のセンサに大別できる。   Conventionally, floor surface determination sensors that have been mounted on household vacuum cleaners can be broadly classified into mechanical, suction pressure, ultrasonic, and optical sensors.

機械式の床面判別センサとしては、(１)可動部を床面に押し当てる方式(特開平２−５２６１９号公報)、(２)多角柱あるいは歯車状のローラの回転状態により判別する方式(特開平２−５２６２３号公報および特開平３−１０６３２５号公報)、(３)床面から受ける押圧により変化する導電性ゴムの抵抗値により判別する方式 (特開平５−５６８８８号公報および特開平５−５６８８９号公報)等のものがある。   As a mechanical floor surface detection sensor, (1) a method in which a movable part is pressed against the floor surface (Japanese Patent Laid-Open No. 2-52619), (2) a method in which a determination is made based on the rotation state of a polygonal column or a gear-shaped roller ( (3) A method of discriminating by the resistance value of the conductive rubber that changes due to the pressure received from the floor (JP-A-5-56888 and JP-A-5-56325) No. -568889).

また、特開平６−７８８６２号公報には、吸引圧力式の床面判別センサが記載されている。この吸引圧力式の床面判別センサは、集塵フィルタ前部の圧力を検知して床面の種類を判別する。このセンサでは、床面が絨毯の場合は絨毯が吸込み口に吸着することにより真空度が上昇するのに対し、板間等は吸込み口に吸着しないので真空度が上昇しないことを利用して床面の種類を判別する。   Japanese Patent Application Laid-Open No. 6-78862 discloses a suction pressure type floor surface discrimination sensor. This suction pressure type floor surface discrimination sensor detects the pressure of the front part of the dust collecting filter and discriminates the type of the floor surface. In this sensor, when the floor surface is a carpet, the degree of vacuum rises due to the carpet adsorbing to the suction port, while the space between the plates does not adsorb to the suction port, so the degree of vacuum does not increase. Determine the type of face.

また、特開平１−２３２２５５号公報、特開平３−７７５１９号公報および特開平３−２１２２４９号公報には、超音波式の床面判別センサが記載されている。この超音波式の床面判別センサでは、床面に対向して取り付けられた送波部から発信された超音波パルスが、床面との間でエコーとして複数回反射を繰り返した後、受信部で受信される。この受信部で受信した信号により床面の種類を判別する。   Japanese Laid-Open Patent Publication Nos. 1-2232255, 3-77519, and 3-212249 describe ultrasonic floor discriminating sensors. In this ultrasonic type floor surface discrimination sensor, an ultrasonic pulse transmitted from a wave transmitting unit mounted opposite to the floor surface is repeatedly reflected as an echo between the floor surface and a receiving unit. Received at. The type of the floor surface is determined based on the signal received by the receiving unit.

また、特開平３−１２３５２２号公報および特開平３−２２８７２４号公報には、光学式の床面判別センサが記載されている。この光学式の床面判別センサは、床面に対して水平な光を受発光する第１の受発光素子と、床面に垂直な光を受発光する第２の受発光素子を有し、これら２組の受発光素子の出力から床面の種類を判別する。   Japanese Patent Application Laid-Open No. 3-123522 and Japanese Patent Application Laid-Open No. 3-228724 describe optical floor surface discrimination sensors. This optical floor discrimination sensor has a first light emitting / receiving element that receives and emits light that is horizontal to the floor, and a second light emitting and receiving element that receives and emits light perpendicular to the floor, The type of the floor surface is discriminated from the outputs of these two sets of light emitting / receiving elements.

ところで、一般的に、機械式の床面判別センサなどの接触部を有する構成、特に、接触部が接触によって可動する可動部を有する構成の装置においては、その接触部(可動部)の磨耗や機械的信頼性の経年劣化など様々な問題点が多い。   By the way, in general, in a configuration having a contact portion such as a mechanical floor surface discrimination sensor, particularly in an apparatus having a movable portion whose contact portion is movable by contact, the contact portion (movable portion) is worn or There are many problems such as aging degradation of mechanical reliability.

したがって、非接触で目的の効果を得ることができる光学式の床面判別センサが装置の信頼性の上で優れている。なお、機械式における上述の(２)，(３)の各方式の床面判別センサも、接触部と可動部を有しており、その変位による物理量を測定していることから、光学式の床面判別センサに比べて、信頼性上問題がある。   Therefore, an optical floor discrimination sensor that can obtain a desired effect in a non-contact manner is superior in terms of device reliability. In addition, the floor type discrimination sensor of each of the above methods (2) and (3) in the mechanical type also has a contact part and a movable part, and measures the physical quantity due to the displacement, so that the optical type There is a problem in reliability compared with the floor surface detection sensor.

一方、吸引圧力式の床面判別センサでは、掃除する床面の種類だけでなく、集塵フィルタの目詰まり等の他の要素によっても真空度が変化するので、床面の種類を誤検知する恐れがある。   On the other hand, in the suction pressure type floor surface discrimination sensor, the degree of vacuum changes not only due to the type of floor surface to be cleaned but also due to other factors such as clogging of the dust collecting filter. There is a fear.

また、超音波式の床面判別センサでは、送受信素子とも何らかのホーンが必要となるので、一般の掃除機に取り付けた場合には大型化し、使い勝手が悪くなる。また、耐衝撃性、低コスト化についても考慮が必要である。   In addition, in the ultrasonic floor sensor, the transmission / reception element needs some kind of horn, so when it is attached to a general vacuum cleaner, the size is increased and the usability is deteriorated. In addition, it is necessary to consider impact resistance and cost reduction.

また、上述の２組の受発光素子を有する光学式の床面判別センサでは、床面に水平に出射した光を絨毯の毛が遮り、受光量が低下することを検知して、床面が絨毯であることを判別しているが、毛足の短い絨毯の場合には上記光を遮ることがないので、床面が絨毯であることを検知するのが困難である。また、受発光素子を２組使用しているので、安価に製造することは困難である。   Further, in the optical floor discrimination sensor having the two sets of light receiving and emitting elements described above, the floor surface is detected by detecting that the light emitted horizontally on the floor is blocked by the hair of the carpet and the amount of received light is reduced. Although it is determined that the carpet is a carpet, it is difficult to detect that the floor is a carpet because the light is not blocked in the case of a carpet with short hairs. Further, since two sets of light emitting / receiving elements are used, it is difficult to manufacture at low cost.

以上のように、床面判別センサとしては、種々の方式が提案されているが、一長一短があるのが現状であり、基本的に絨毯かそれ以外の床面かを区別するもので、日本の一般的な室内環境である畳との識別が可能な装置ではない。
特開平３−１２３５２２号公報 特開平３−２２８７２４号公報 As described above, various methods have been proposed as floor surface detection sensors, but the current situation is that there are pros and cons, and basically distinguishes between carpets and other floor surfaces. It is not a device that can be distinguished from tatami, which is a general indoor environment.
Japanese Patent Laid-Open No. 3-123522 JP-A-3-228724

そこで、この発明の課題は、被測定物に対して傾斜したときにも、被測定物の表面状態の識別精度が低下せず、被測定物の高精度な識別が可能な光学式物体識別装置を提供することにある。   Accordingly, an object of the present invention is to provide an optical object identification device capable of highly accurately identifying a measured object without deteriorating the identification accuracy of the surface state of the measured object even when tilted with respect to the measured object. Is to provide.

上記課題を解決するため、この発明の光学式物体識別装置は、半導体発光素子を有する発光部と、
上記発光部から出射した光を第１光束と第２光束に分割する第１光分岐素子を有すると共に上記第１光束を被測定物に照射する投光部と、
上記被測定物で反射した反射光を集光する第１レンズと、
上記第１レンズで集光した光束を第１反射光束と第２反射光束に分割する第２光分岐素子と、
上記第１反射光束が入射すると共にこの第１反射光束のうちの所定の偏光方向の成分を通過させる第１直線偏光子と、
上記第２反射光束が入射すると共にこの第２反射光束のうちの上記所定の偏光方向と直交する偏光方向の成分を通過させる第２直線偏光子と、
上記第１直線偏光子を通過した第１反射光束を受光する第１受光素子と、
上記第２直線偏光子を通過した第２反射光束を受光する第２受光素子と、
上記第１受光素子が出力する第１受光信号と上記第２受光素子が出力する第２受光信号とが入力され、この第１,第２受光信号に基づいて、上記反射光の偏光情報を測定する信号処理部とを備え、
上記被測定物の表面で反射した上記反射光のうちの正反射光成分が上記第１レンズを介して上記第１および第２受光素子の受光面内に入射することを特徴としている。 In order to solve the above problems, an optical object identification device of the present invention includes a light emitting unit having a semiconductor light emitting element,
A light projecting unit that has a first light branching element that divides the light emitted from the light emitting unit into a first light beam and a second light beam, and irradiates the object to be measured with the first light beam;
A first lens that collects the reflected light reflected by the object to be measured;
A second light branching element that splits the light beam collected by the first lens into a first reflected light beam and a second reflected light beam;
A first linear polarizer that allows the first reflected light beam to enter and allows a component in a predetermined polarization direction of the first reflected light beam to pass through;
A second linear polarizer that allows the second reflected light beam to enter and pass a component of the second reflected light beam that has a polarization direction orthogonal to the predetermined polarization direction;
A first light receiving element that receives the first reflected light beam that has passed through the first linear polarizer;
A second light receiving element that receives the second reflected light beam that has passed through the second linear polarizer;
The first light receiving signal output from the first light receiving element and the second light receiving signal output from the second light receiving element are input, and the polarization information of the reflected light is measured based on the first and second light receiving signals. And a signal processing unit
The specularly reflected light component of the reflected light reflected from the surface of the object to be measured is incident on the light receiving surfaces of the first and second light receiving elements through the first lens.

この発明の光学式物体識別装置によれば、投光部の第１光分岐素子で分割された第１光束を被測定物に照射し、この被測定物で反射した反射光を第１レンズによって集光する。この集光した光束は第２光分岐素子で第１および第２反射光束に分割され、第１および第２直線偏光子を経て、互いに偏光方向が直交する第１および第２反射光束を第１および第２受光素子で受光する。そして、上記第１および第２受光素子で検出した受光信号を信号処理回路部で処理することによって、この被測定物で反射した反射光の偏光解消特性を評価する。この発明によれば、被測定物の表面の粗度に対応して変化する受光信号が得られ、被測定物の種類を識別することができる。   According to the optical object identification device of the present invention, the object to be measured is irradiated with the first light beam divided by the first light branching element of the light projecting unit, and the reflected light reflected by the object to be measured is reflected by the first lens. Condensate. The condensed light flux is split into first and second reflected light fluxes by the second light splitting element, and the first and second reflected light fluxes whose polarization directions are orthogonal to each other pass through the first and second linear polarizers. The second light receiving element receives light. Then, the light receiving signals detected by the first and second light receiving elements are processed by the signal processing circuit unit, thereby evaluating the depolarization characteristics of the reflected light reflected by the object to be measured. According to the present invention, a light reception signal that changes in accordance with the roughness of the surface of the object to be measured is obtained, and the type of the object to be measured can be identified.

また、この発明では、上記被測定物の表面で反射した上記反射光の正反射光成分が上記第１レンズを介して上記第１および第２受光素子の受光面内に入射する。つまり、この発明では、上記投光部からの第１光束が被測定物の表面に入射する入射角度が変化して斜入射となったときでも、この斜入射の角度に応じた正反射光成分を第１および第２受光素子で受光できる光学系になっている。   In the present invention, the specularly reflected light component of the reflected light reflected from the surface of the object to be measured is incident on the light receiving surfaces of the first and second light receiving elements via the first lens. That is, in the present invention, even when the incident angle at which the first light flux from the light projecting unit is incident on the surface of the object to be measured changes and becomes obliquely incident, the specularly reflected light component corresponding to the angle of oblique incidence is obtained. Is an optical system capable of receiving light by the first and second light receiving elements.

したがって、この発明では、光学式物体識別装置と被測定物の表面とが相対的に傾き、この被測定物の表面に入射する第１光束の入射角が変化したときでも、被測定物の表面状態の情報を含んだ正反射光成分を第１,第２受光素子へと導くことができる。したがって、この発明の光学式物体識別装置によれば、被測定物の表面に対して相対的に傾いた状態でも、被測定物の表面状態の識別精度を低下させることがなく、高精度な被測定物の識別が可能となる。   Therefore, in the present invention, even when the optical object identification device and the surface of the object to be measured are relatively inclined and the incident angle of the first light beam incident on the surface of the object to be measured is changed, the surface of the object to be measured is changed. A specularly reflected light component including state information can be guided to the first and second light receiving elements. Therefore, according to the optical object identification device of the present invention, even when the surface of the object to be measured is inclined relative to the surface of the object to be measured, the accuracy of identifying the surface state of the object to be measured is not lowered, and a high accuracy object is detected. The object to be measured can be identified.

また、一実施形態の光学式物体識別装置では、上記第１レンズの焦点距離をｆ(ｍｍ)とし、上記被測定物から上記第１光分岐素子を経由して上記第１レンズに至る光路距離をａ１(ｍｍ)とするとき、
ｆ＜ａ１ …(１)
上式(１)を満たすことを特徴としている。 In the optical object identification device according to an embodiment, the focal length of the first lens is f (mm), and the optical path distance from the object to be measured to the first lens via the first optical branching element. Is assumed to be a1 (mm),
f <a1 (1)
It is characterized by satisfying the above formula (1).

上記構成の光学式物体識別装置では、第１レンズと被測定物との間の光路距離ａ１(ｍｍ)が第１レンズの焦点距離ｆ(ｍｍ)よりも長いので、被測定物の表面に入射する第１光束の入射角θが変化したときでも、上記被測定物の表面で反射した上記反射光の正反射光軸は受光素子の受光面の方へと向けられる。したがって、被測定物の識別精度を向上させることができる。   In the optical object identification device having the above configuration, since the optical path distance a1 (mm) between the first lens and the object to be measured is longer than the focal length f (mm) of the first lens, the light is incident on the surface of the object to be measured. Even when the incident angle θ of the first light flux changes, the regular reflection optical axis of the reflected light reflected by the surface of the object to be measured is directed toward the light receiving surface of the light receiving element. Therefore, it is possible to improve the identification accuracy of the object to be measured.

また、一実施形態の光学式物体識別装置では、上記第１レンズの半径をｒ１(ｍｍ)とし、上記第１光束と上記被測定物の上記表面の法線とがなす角をθ(ラジアン)とするとき、
ｔａｎ−１(ｒ１/ａ１)＞２θ …(２)
上式(２)を満たすことを特徴としている。 In one embodiment, the radius of the first lens is r1 (mm), and the angle formed by the first light beam and the normal of the surface of the object to be measured is θ (radian). And when
tan −1 (r1 / a1)> 2θ (2)
It is characterized by satisfying the above formula (2).

上記構成の光学式物体識別装置では、第１光束の被測定物表面への入射角θの２倍を、第１レンズの半径ｒ１(ｍｍ)を第１レンズと被測定物との間の光路距離をａ１(ｍｍ)で除算した値のアークタンジェントよりも小さくした。これにより、被測定物の表面に入射する第１光束の入射角θが変化したときでも、被測定物の表面状態の情報を含んだ正反射光が上記第１レンズに確実に入射し、この第１レンズで第１,第２受光素子の受光面に向かって屈折する。したがって、被測定物の識別精度を向上させることができる。   In the optical object identification device having the above-described configuration, the angle of incidence θ of the first light beam on the surface of the object to be measured is set to twice, and the radius r1 (mm) of the first lens is set to the optical path between the first lens and the object to be measured. It was made smaller than the arc tangent of the value obtained by dividing the distance by a1 (mm). As a result, even when the incident angle θ of the first light beam incident on the surface of the object to be measured changes, the specularly reflected light including information on the surface state of the object to be measured is reliably incident on the first lens. The first lens refracts toward the light receiving surfaces of the first and second light receiving elements. Therefore, it is possible to improve the identification accuracy of the object to be measured.

また、一実施形態の光学式物体識別装置では、上記第１レンズから上記第２光分岐素子を経由して上記第１,第２受光素子に至る光路距離をｂ１(ｍｍ)とするとき、
１/ｆ＝（１/ａ１）＋（１/ｂ１） …(３)
上式(３)を満たすことを特徴としている。 In the optical object identification device of one embodiment, when the optical path distance from the first lens to the first and second light receiving elements via the second light branching element is b1 (mm),
1 / f = (1 / a1) + (1 / b1) (3)
It is characterized by satisfying the above formula (3).

上記構成の光学式物体識別装置では、第１レンズの焦点距離ｆ、第１レンズと被測定物との間の光路距離および第１レンズと第１,第２受光素子との間の光路距離がガウスのレンズ公式の関係を満たしている。したがって、被測定物の表面に入射する第１光束の入射角が変化したときでも、被測定物の表面状態の情報を含んだ反射光の正反射光成分を第１,第２受光素子の受光面上に集光できる。したがって、第１,第２受光素子で信号光(第１,第２反射光束)を効率よく受光でき、より高精度な被測定物の識別が可能となる。   In the optical object identification device configured as described above, the focal length f of the first lens, the optical path distance between the first lens and the object to be measured, and the optical path distance between the first lens and the first and second light receiving elements are as follows. Satisfies the Gauss lens formula. Therefore, even when the incident angle of the first light beam incident on the surface of the object to be measured changes, the specularly reflected light component of the reflected light including the information on the surface state of the object to be measured is received by the first and second light receiving elements. Condensed on the surface. Therefore, the first and second light receiving elements can efficiently receive the signal light (first and second reflected light beams), and the object to be measured can be identified with higher accuracy.

また、一実施形態の光学式物体識別装置では、上記第１レンズの半径をｒ１(ｍｍ)とし、
上記第２光分岐素子の１辺の長さをＬｂ(ｍｍ)とし、
上記第２光分岐素子と上記第１,第２受光素子との間の距離をｘ１(ｍｍ)とするとき、
ｘ１＜(Ｌｂ/２)・(ｂ１−ｒ１)/ｒ１ …(４)
上式(４)を満たすことを特徴としている。 In the optical object identification device of one embodiment, the radius of the first lens is r1 (mm),
The length of one side of the second optical branching element is Lb (mm),
When the distance between the second light branching element and the first and second light receiving elements is x1 (mm),
x1 <(Lb / 2). (b1-r1) / r1 (4)
It is characterized by satisfying the above formula (4).

上記構成の光学式物体識別装置では、第２光分岐素子と第１,第２受光素子との間の距離ｘ１が上式(４)の関係を満たしている。つまり、第２光分岐素子の１辺の長さをＬｂ(ｍｍ)の２分の１に、第１レンズと上記第１,第２受光素子との間の光路距離ｂ１(ｍｍ)から第１レンズの半径ｒ１(ｍｍ)を減算した値を乗算して、さらに、第１レンズの半径ｒ１(ｍｍ)で除算した値を、第２光分岐素子と上記第１,第２受光素子との間の距離ｘ１(ｍｍ)よりも大きくした。   In the optical object identification device having the above configuration, the distance x1 between the second light branching element and the first and second light receiving elements satisfies the relationship of the above formula (4). That is, the length of one side of the second optical branching element is set to one half of Lb (mm), and the first optical path distance b1 (mm) between the first lens and the first and second light receiving elements is first. A value obtained by subtracting the radius r1 (mm) of the lens is multiplied, and a value obtained by dividing the value by the radius r1 (mm) of the first lens is calculated between the second optical branch element and the first and second light receiving elements. The distance x1 (mm) is larger.

これにより、被測定物の表面状態の情報を含んだ正反射光成分を第１レンズで集光して、第２光分岐素子へ効果的に入射させ、分割することができる。したがって、被測定物の識別精度を向上できる。   Thereby, the specularly reflected light component including information on the surface state of the object to be measured can be condensed by the first lens, and can be effectively incident on the second optical branching element and divided. Therefore, it is possible to improve the identification accuracy of the object to be measured.

また、一実施形態の光学式物体識別装置では、上記被測定物から上記第１光分岐素子を経由して上記第１レンズに至る光路距離をａ１(ｍｍ)とし、
上記第１レンズから上記第２光分岐素子を経由して上記第１,第２受光素子に至る光路距離をｂ１(ｍｍ)とし、
上記第１および第２受光素子の受光面の大きさをｄ(ｍｍ)とし、
上記被測定物の表面での上記第１光束のビーム径をφ(ｍｍ)とするとき、
ｄ＞(ｂ１/ａ１)・φ …(５)
上式(５)を満たすことを特徴としている。 In the optical object identification device of one embodiment, an optical path distance from the object to be measured to the first lens via the first light branching element is a1 (mm),
The optical path distance from the first lens to the first and second light receiving elements via the second light branching element is b1 (mm),
The size of the light receiving surface of the first and second light receiving elements is d (mm),
When the diameter of the first light beam on the surface of the object to be measured is φ (mm),
d> (b1 / a1) · φ (5)
It is characterized by satisfying the above formula (5).

上記構成の光学式物体識別装置では、被測定物の表面での第１光束のビーム径φ(ｍｍ)と第１,第２受光素子の受光面の大きさｄ(ｍｍ)とが上式(５)の関係を満たしている。つまり、第１レンズと上記第１,第２受光素子との間の光路距離ｂ１(ｍｍ)を第１レンズと上記被測定物との間の光路距離ａ１(ｍｍ)で除算した値(ｂ１/ａ１)に、第１光束のビーム径φを乗算した値を、第１および第２受光素子の受光面の大きさｄ(ｍｍ)よりも小さくした。これにより、被測定物の表面に入射する第１光束のビームスポット領域からの全ての正反射光成分を第１,第２受光素子の受光面上に導くことができる。したがって、被測定物の識別をより高精度にすることが可能となる。なお、この第１,第２受光素子の受光面の大きさｄ(ｍｍ)とは一例として、受光面が円形の場合は直径であり、受光面が矩形の場合はその一辺の長さである。   In the optical object identification device having the above configuration, the beam diameter φ (mm) of the first light flux on the surface of the object to be measured and the size d (mm) of the light receiving surface of the first and second light receiving elements are expressed by the above formula ( The relationship of 5) is satisfied. That is, a value obtained by dividing the optical path distance b1 (mm) between the first lens and the first and second light receiving elements by the optical path distance a1 (mm) between the first lens and the object to be measured (b1 / The value obtained by multiplying a1) by the beam diameter φ of the first light flux is made smaller than the size d (mm) of the light receiving surfaces of the first and second light receiving elements. Thereby, all the specularly reflected light components from the beam spot region of the first light beam incident on the surface of the object to be measured can be guided onto the light receiving surfaces of the first and second light receiving elements. Therefore, it becomes possible to make the measurement object to be identified more accurately. The size d (mm) of the light receiving surface of the first and second light receiving elements is, for example, the diameter when the light receiving surface is circular, and the length of one side when the light receiving surface is rectangular. .

また、一実施形態の光学式物体識別装置では、上記第１レンズと上記第２光分岐素子との間の光軸上に、第２レンズを配置した。   In one embodiment, the second lens is disposed on the optical axis between the first lens and the second optical branching element.

上記構成の光学式物体識別装置では、第１レンズと第１,第２受光素子との間に第２レンズを配置したことにより、被測定物の表面に入射する第１光束の入射角が変化したときでも、被測定物の表面状態の情報を含んだ反射光の正反射光束を受光素子へ効率よく集光できる。したがって、被測定物の識別精度を向上できる。   In the optical object identification device having the above configuration, the incident angle of the first light beam incident on the surface of the object to be measured is changed by arranging the second lens between the first lens and the first and second light receiving elements. Even in this case, the regular reflection light beam of the reflected light including the information on the surface state of the object to be measured can be efficiently condensed on the light receiving element. Therefore, it is possible to improve the identification accuracy of the object to be measured.

また、一実施形態の光学式物体識別装置では、上記被測定物から上記第１光分岐素子を経由して上記第１レンズに至る光路距離をａ２(ｍｍ)とし、上記第１レンズの焦点距離をｆ１(ｍｍ)とすると、上記ａ２(ｍｍ)と上記ｆ１(ｍｍ)とが略等しい。   In one embodiment, the optical path distance from the object to be measured to the first lens via the first optical branching element is a2 (mm), and the focal length of the first lens is Is f1 (mm), the a2 (mm) and the f1 (mm) are substantially equal.

上記構成の光学式物体識別装置では、第１レンズと被測定物との間の光路距離が第１レンズの焦点距離と略等しいので、第１レンズを通過した後の正反射光成分はほぼ平行光となる。これにより、上記ほぼ平行光となった正反射光成分を、第１レンズの後の第２レンズで第１,第２受光素子の受光面上に効果的に集光できる。したがって、被測定物の表面状態の測定精度を向上でき、被測定物の識別をより高精度にすることが可能となる。   In the optical object identification device having the above configuration, since the optical path distance between the first lens and the object to be measured is substantially equal to the focal length of the first lens, the specularly reflected light component after passing through the first lens is substantially parallel. Become light. Thus, the specularly reflected light component that has become substantially parallel light can be effectively condensed on the light receiving surfaces of the first and second light receiving elements by the second lens after the first lens. Therefore, the measurement accuracy of the surface state of the object to be measured can be improved, and the object to be measured can be identified more accurately.

また、一実施形態の光学式物体識別装置では、上記第１レンズの半径をｒ１(ｍｍ)とし、
上記第１光束と上記被測定物の表面の法線とがなす角をθ(ラジアン)とするとき、
ｔａｎ−１(ｒ１/ａ２)＞２θ …(６)
上式(６)を満たすことを特徴としている。 In the optical object identification device of one embodiment, the radius of the first lens is r1 (mm),
When the angle formed by the first luminous flux and the normal of the surface of the object to be measured is θ (radian),
tan −1 (r1 / a2)> 2θ (6)
It is characterized by satisfying the above formula (6).

上記構成の光学式物体識別装置では、第１光束が被測定物の表面に入射する入射角θの２倍を、第１レンズの半径ｒ１(ｍｍ)を第１レンズと被測定物との間の光路距離ａ２(ｍｍ)で除算した値(ｒ１/ａ２)のアークタンジェントよりも小さくした。これにより、被測定物の表面に入射する第１光束の入射角θが変化したときでも、被測定物の表面状態の情報を含んだ正反射光が確実に上記第１レンズに入射して、第２レンズにより第１,第２受光素子に向かって屈折するので、被測定物の識別精度をより向上できる。   In the optical object identification device having the above-described configuration, the incident angle θ that is incident on the surface of the object to be measured is twice the incident angle θ, and the radius r1 (mm) of the first lens is between the first lens and the object to be measured. It was made smaller than the arc tangent of the value (r1 / a2) divided by the optical path distance a2 (mm). Thereby, even when the incident angle θ of the first light beam incident on the surface of the object to be measured changes, the specularly reflected light including information on the surface state of the object to be measured is surely incident on the first lens, Since the second lens refracts toward the first and second light receiving elements, the identification accuracy of the object to be measured can be further improved.

また、一実施形態の光学式物体識別装置では、上記第１および第２受光素子と上記第２レンズとの間の光路距離をｂ２(ｍｍ)とし、上記第２レンズの焦点距離をｆ２(ｍｍ)とするとき、上記光路距離ｂ２(ｍｍ)と焦点距離ｆ２(ｍｍ)とが略等しいことを特徴としている。   In the optical object identification device of one embodiment, the optical path distance between the first and second light receiving elements and the second lens is b2 (mm), and the focal length of the second lens is f2 (mm). ), The optical path distance b2 (mm) and the focal length f2 (mm) are substantially equal.

上記構成の光学式物体識別装置では、第２レンズと第１,第２受光素子との間の光路距離ｂ２(ｍｍ)と第２レンズの焦点距離ｆ２(ｍｍ)とが略等しい。したがって、被測定物の表面に対する第１光束の入射角θが変化したときでも、第１レンズによって略平行光束化された正反射光成分を、第２レンズによって受光素子の受光面内に効果的に集光できる。したがって、被測定物の表面状態の測定精度を向上でき、より高精度な被測定物の識別が可能となる。   In the optical object identification device having the above configuration, the optical path distance b2 (mm) between the second lens and the first and second light receiving elements is substantially equal to the focal length f2 (mm) of the second lens. Therefore, even when the incident angle θ of the first light beam with respect to the surface of the object to be measured changes, the specularly reflected light component converted into a substantially parallel light beam by the first lens is effectively applied to the light receiving surface of the light receiving element by the second lens. Can be condensed. Therefore, the measurement accuracy of the surface state of the object to be measured can be improved, and the object to be measured can be identified with higher accuracy.

また、一実施形態の光学式物体識別装置では、上記第２光分岐素子の一辺の長さをＬｂ(ｍｍ)とし、上記第２レンズの半径をｒ２(ｍｍ)とし、上記第２光分岐素子の反射面と上記第１,第２受光素子との間の光路距離をｘ２(ｍｍ)とするとき、
ｘ２＜(Ｌｂ/２)・(ｂ２−ｒ２)/ｒ２ …(７)
上式(７)を満たすことを特徴としている。 In one embodiment, the length of one side of the second light branching element is Lb (mm), the radius of the second lens is r2 (mm), and the second light branching element is used. When the optical path distance between the reflecting surface and the first and second light receiving elements is x2 (mm),
x2 <(Lb / 2) · (b2-r2) / r2 (7)
It is characterized by satisfying the above formula (7).

上記構成の光学式物体識別装置では、第２光分岐素子の反射面と第１,第２受光素子との間の距離ｘ２(ｍｍ)が上式(７)の関係を満たしている。つまり、第２光分岐素子の一辺の長さＬｂ(ｍｍ)の２分の１に、第２レンズと第１,第２受光素子との間の光路距離ｂ２(ｍｍ)から第２レンズの半径ｒ２(ｍｍ)を減算した値を乗算し、さらに、第２レンズの半径ｒ２(ｍｍ)で除算した値を、第２光分岐素子と第１受光素子との間の距離ｘ２(ｍｍ)よりも大きくした。   In the optical object identification device having the above configuration, the distance x2 (mm) between the reflection surface of the second light branching element and the first and second light receiving elements satisfies the relationship of the above expression (7). That is, the radius of the second lens from the optical path distance b2 (mm) between the second lens and the first and second light receiving elements is reduced to one half of the length Lb (mm) of one side of the second optical branching element. The value obtained by multiplying the value obtained by subtracting r2 (mm) and further dividing by the radius r2 (mm) of the second lens is greater than the distance x2 (mm) between the second light branching element and the first light receiving element. Increased.

これにより、上記第１レンズと第２レンズを介して集光される被測定物の表面状態の情報を含んだ正反射光成分を効果的に第２光分岐素子へ入射させて、分割することができる。したがって、被測定物の識別精度を向上できる。   Thereby, the specularly reflected light component including the surface state information of the object to be measured collected through the first lens and the second lens is effectively incident on the second light branching element and divided. Can do. Therefore, it is possible to improve the identification accuracy of the object to be measured.

また、一実施形態の光学式物体識別装置では、上記第２レンズの半径ｒ２(ｍｍ)は上記第１レンズの半径ｒ１(ｍｍ)以上であることを特徴としている。   In one embodiment, the radius r2 (mm) of the second lens is not less than the radius r1 (mm) of the first lens.

上記構成の光学式物体識別装置では、第２レンズの半径ｒ２(ｍｍ)が第１レンズの半径ｒ１(ｍｍ)以上であるので、第１レンズを通過した後に拡散方向に広がる正反射光成分を第２レンズで第１,第２受光素子へ向けて集光できる。したがって、被測定物の識別精度をより向上できる。   In the optical object identification device having the above configuration, since the radius r2 (mm) of the second lens is equal to or larger than the radius r1 (mm) of the first lens, the specularly reflected light component that spreads in the diffusion direction after passing through the first lens is generated. The second lens can collect light toward the first and second light receiving elements. Therefore, the identification accuracy of the object to be measured can be further improved.

また、一実施形態の光学式物体識別装置では、上記第１レンズと第２レンズとの間の距離をＳ(ｍｍ)とし、
上記被測定物上での第１光束のビーム径をφ(ｍｍ)とするとき、
ｒ２/ｒ１＞(Ｓ・(φ/２)＋ａ２・ｒ１)/(ａ２・ｒ１) …(８)
上式(８)を満たすことを特徴としている。 In the optical object identification device of one embodiment, the distance between the first lens and the second lens is S (mm),
When the beam diameter of the first light beam on the object to be measured is φ (mm),
r2 / r1> (S · (φ / 2) + a2 · r1) / (a2 · r1) (8)
It is characterized by satisfying the above formula (8).

上記構成の光学式物体識別装置では、第１レンズを通過した後に拡散方向に広がる正反射光成分を第２レンズで確実に第１,第２受光素子へ向けて集光できるので、被測定物の識別精度を向上できる。   In the optical object identification device having the above configuration, the specularly reflected light component that spreads in the diffusing direction after passing through the first lens can be reliably collected by the second lens toward the first and second light receiving elements. The identification accuracy can be improved.

また、一実施形態の光学式物体識別装置では、上記第１および第２受光素子の受光面の大きさをｄ(ｍｍ)とするとき、
ｄ＞(ｂ２/ａ２)・φ …(９)
上式(９)を満たすことを特徴としている。 In the optical object identification device of one embodiment, when the size of the light receiving surfaces of the first and second light receiving elements is d (mm),
d> (b2 / a2) · φ (9)
It is characterized by satisfying the above formula (9).

上記構成の光学式物体識別装置では、被測定物の表面での第１光束のビーム径φ(ｍｍ)と、第１,第２受光素子の受光面の大きさｄ(ｍｍ)が上式(９)の関係を満たしている。つまり、第１,第２受光素子と第２レンズとの間の光路距離ｂ２(ｍｍ)を第１レンズと被測定物との間の光路距離ａ２(ｍｍ)で除算した値(ｂ２/ａ２)に第１光束のビーム径φ(ｍｍ)を乗算した値を、第１,第２受光素子の受光面の大きさｄ(ｍｍ)よりも小さくした。この第１,第２受光素子の受光面の大きさｄ(ｍｍ)とは一例として、受光面が円形の場合は直径であり、受光面が矩形の場合はその一辺の長さである。   In the optical object identification device having the above configuration, the beam diameter φ (mm) of the first light beam on the surface of the object to be measured and the size d (mm) of the light receiving surface of the first and second light receiving elements are represented by the above formula ( The relationship of 9) is satisfied. That is, a value (b2 / a2) obtained by dividing the optical path distance b2 (mm) between the first and second light receiving elements and the second lens by the optical path distance a2 (mm) between the first lens and the object to be measured. Is multiplied by the beam diameter φ (mm) of the first light flux to be smaller than the size d (mm) of the light receiving surfaces of the first and second light receiving elements. The size d (mm) of the light receiving surface of the first and second light receiving elements is, for example, a diameter when the light receiving surface is circular, and a length of one side when the light receiving surface is rectangular.

これにより、被測定物の表面上の第１光束のビームスポット領域からの全ての正反射光成分を第１,第２受光素子の受光面上に導くことができる。したがって、より高精度な被測定物の識別が可能となる。   Thereby, all the specularly reflected light components from the beam spot region of the first light beam on the surface of the object to be measured can be guided onto the light receiving surfaces of the first and second light receiving elements. Therefore, it becomes possible to identify the object to be measured with higher accuracy.

また、一実施形態の光学式物体識別装置では、上記第１光分岐素子で２分割される光束について、
上記第１光分岐素子で反射する成分が第１光束であり、
上記第１光分岐素子を透過する成分が第２光束であることを特徴としている。 Further, in the optical object identification device of one embodiment, the light beam divided into two by the first light branching element is as follows.
The component reflected by the first light branching element is the first light flux,
The component transmitted through the first optical branching element is a second light flux.

上記構成の光学式物体識別装置では、被測定物に照射される第１光束が上記第１光分岐素子で反射される成分であるので、第１,第２受光素子で受光する反射光束は第１光分岐素子を透過する。したがって、被測定物で反射した正反射光成分は、第１光分岐素子の大きさに関係なく、第１光分岐素子と第１レンズを経由して第１,第２受光素子へと導かれる。   In the optical object identification device having the above configuration, since the first light beam applied to the object to be measured is a component reflected by the first light branching element, the reflected light beam received by the first and second light receiving elements is the first light beam. One light splitting element is transmitted. Therefore, the specularly reflected light component reflected by the object to be measured is guided to the first and second light receiving elements via the first light branching element and the first lens regardless of the size of the first light branching element. .

このように、この実施形態では、第１光分岐素子で反射する成分が第１光束であることによって、光学部品の大きさや配置の制約が大幅に軽減される。   As described above, in this embodiment, since the component reflected by the first optical branching element is the first light flux, restrictions on the size and arrangement of the optical components are greatly reduced.

これに対して、第１光分岐素子を透過する成分が第１光束である場合には、被測定物による反射光束は第１光分岐素子で反射して第１,第２受光素子に入射するので、被測定物で反射した正反射光成分が第１光分岐素子の反射面に入射する必要があるので、光学部品の配置に制約が大きくなる。   On the other hand, when the component transmitted through the first light branching element is the first light beam, the reflected light beam from the object to be measured is reflected by the first light branching element and enters the first and second light receiving elements. As a result, the specularly reflected light component reflected by the object to be measured needs to be incident on the reflecting surface of the first optical branching element, and thus the restrictions on the arrangement of the optical components are increased.

また、一実施形態の光学式物体識別装置では、上記第２光分岐素子と第１および第２直線偏光子が偏光ビームスプリッタで構成されている。   In one embodiment, the second optical branching element and the first and second linear polarizers are configured by a polarizing beam splitter.

上記構成の光学式物体識別装置では、複数の光学部品(第２光分岐素子と第１,第２直線偏光子)を一つの部品(偏光ビームスプリッタ)で構成できるので、光学式物体識別装置の構成を簡略化できる。   In the optical object identification device configured as described above, a plurality of optical components (second optical branching element and first and second linear polarizers) can be configured as a single component (polarization beam splitter). The configuration can be simplified.

また、一実施形態の光学式物体識別装置では、上記被測定物の上記表面から上記第１光分岐素子までの距離が約１５ｍｍであるので、被測定物の上記表面からの正反射光を受光する上で好適である。   Further, in the optical object identification device of one embodiment, since the distance from the surface of the object to be measured to the first light branching element is about 15 mm, the specularly reflected light from the surface of the object to be measured is received. This is preferable.

また、一実施形態の掃除機では、上記光学式物体識別装置を掃除機のヘッド部に搭載した。この掃除機によれば、被測定物となる床面の識別を自動的に行うことができて好適である。   Moreover, in the cleaner of one Embodiment, the said optical object identification device was mounted in the head part of the cleaner. This vacuum cleaner is suitable because it can automatically identify the floor surface to be measured.

また、一実施形態の自走式掃除機では、上記光学式物体識別装置を搭載したことで、自走しつつ床面の種類を自動的に検出することが可能となり最も好適である。   Moreover, in the self-propelled cleaner of one embodiment, it is most preferable that the optical object identification device is installed, so that the type of the floor surface can be automatically detected while self-propelled.

この発明の光学式物体識別装置によれば、投光部からの出射光を第１光分岐素子で第１,第２光束に分割し、第１,第２光束のうちの第１光束を被測定物の表面に所定の入射角θで入射させて反射させ、反射光を第１レンズで集光し、さらに、第２光分岐素子で第１,第２反射光束に分割し、第１,第２直線偏光子によって偏光方向が互いに直交した第１,第２反射光束として第１,第２受光素子で受光する。この第１,第２反射光束には被測定物の表面粗度に対応する情報を含んでいるから、信号処理回路で、第１,第２受光素子が出力する第１,第２受光信号に基づいて、上記反射光の偏光情報を測定し、被測定物の表面で反射した反射光の偏光解消特性を評価することにより、被測定物の種類を識別できる。   According to the optical object identification device of the present invention, the light emitted from the light projecting unit is divided into the first and second light beams by the first light branching element, and the first light beam of the first and second light beams is covered. The incident light is incident on the surface of the object to be measured at a predetermined incident angle θ, reflected, the reflected light is collected by the first lens, and further divided into first and second reflected light beams by the second optical branching element. The first and second light receiving elements receive light as first and second reflected light beams whose polarization directions are orthogonal to each other by the second linear polarizer. Since the first and second reflected light fluxes contain information corresponding to the surface roughness of the object to be measured, the signal processing circuit converts the first and second light receiving signals output from the first and second light receiving elements. Based on this, the polarization information of the reflected light is measured, and the depolarization characteristic of the reflected light reflected from the surface of the measured object is evaluated, whereby the type of the measured object can be identified.

また、この発明では、上記被測定物の表面で反射した上記反射光のうちの正反射光軸が上記第１レンズを介して上記第１および第２受光素子の受光面内に入射する構成になっているから、被測定物への第１光束の入射角度が変化して斜入射となったときでも、この入射角度に応じた反射光の正反射光成分を第１,第２受光素子で受光できる。したがって、この発明の光学式物体識別装置によれば、被測定物の表面に対して相対的に傾いた状態でも、被測定物の表面状態の識別精度を低下させることがなく、高精度な被測定物の識別が可能となる。   In the present invention, the regular reflection optical axis of the reflected light reflected from the surface of the object to be measured is incident on the light receiving surfaces of the first and second light receiving elements via the first lens. Therefore, even when the incident angle of the first light flux on the object to be measured changes and becomes obliquely incident, the specularly reflected light component of the reflected light corresponding to this incident angle is reflected by the first and second light receiving elements. Can receive light. Therefore, according to the optical object identification device of the present invention, even when the surface of the object to be measured is inclined relative to the surface of the object to be measured, the accuracy of identifying the surface state of the object to be measured is not lowered, and a high accuracy object is detected. The object to be measured can be identified.

また、この発明の光学式物体識別装置を掃除機や自走式掃除機に搭載することにより、床面の種類を自動的に判別し掃除機の運転状況を最適化させる機能を持たせることが可能となる。   In addition, by mounting the optical object identification device of the present invention on a vacuum cleaner or a self-propelled cleaner, it is possible to have a function of automatically determining the type of floor and optimizing the operation status of the cleaner. It becomes possible.

以下、この発明を図示の実施の形態により詳細に説明する。   Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments.

(第１の実施の形態)
図１は、この発明の第１実施形態の光学式物体識別装置の概略構成図である。図１では光線の軌跡や主要な光学部品を図示し、光学部品を保持する部品などの図示は省略している。ここで、光源である半導体発光素子としては発光ダイオード(ＬＥＤ：Ｌight Ｅmitting Ｄiode)や半導体レーザ(ＬＤ：Ｌａseｒ Ｄiode)などを採用可能であり、被測定物８の表面８Ａに入射させる第１光束５の光量が所定の値以上を示せばどちらでもよい。ただし、ＬＥＤよりＬＤの方がコリメート性に優れ、偏光方向もそろっているので、本発明の動作説明が簡単になる。このため、本発明の以下の実施形態では半導体発光素子の一例として半導体レーザを採用する。 (First embodiment)
FIG. 1 is a schematic configuration diagram of an optical object identification device according to a first embodiment of the present invention. In FIG. 1, the locus of light rays and main optical components are illustrated, and illustrations of components that hold the optical components are omitted. Here, a light emitting diode (LED: Light Emitting Diode), a semiconductor laser (LD: Laser Diode), or the like can be adopted as the semiconductor light emitting element as the light source, and the first light beam 5 incident on the surface 8A of the object 8 to be measured. As long as the amount of light indicates a predetermined value or more, it may be either. However, since the LD is more collimating and has the same polarization direction than the LED, the operation of the present invention is simplified. For this reason, in the following embodiments of the present invention, a semiconductor laser is employed as an example of a semiconductor light emitting device.

この第１実施形態の光学式物体識別装置では、半導体レーザ１と、コリメータレンズ２と、円形開口を有する絞り３とが発光部を構成し、第１光分岐素子としての無偏光ビームスプリッタ４ａが投光部を構成している。   In the optical object identification device according to the first embodiment, the semiconductor laser 1, the collimator lens 2, and the diaphragm 3 having a circular aperture constitute a light emitting unit, and the non-polarizing beam splitter 4a as the first optical branching element is provided. It constitutes a light projecting unit.

また、この第１の実施形態は、第１レンズ９と第２光分岐素子としての無偏光ビームスプリッタ４ｂと、偏光状態を選択する第１,第２直線偏光子１０ａ,１０ｂと、フォトダイオード等からなる第１,第２受光素子１１ａ,１１ｂと、信号処理部としての信号処理回路１４を備えている。   The first embodiment also includes a first lens 9, a non-polarizing beam splitter 4b as a second optical branching element, first and second linear polarizers 10a and 10b for selecting a polarization state, a photodiode, and the like. And a signal processing circuit 14 as a signal processing unit.

第１直線偏光子１０ａが選択する偏光状態と第２直線偏光子１０ｂが選択する偏光状態とは直交しており、一例として、第１直線偏光子１０ａが選択する偏光状態を半導体レーザ１の出射光の偏光状態としている。   The polarization state selected by the first linear polarizer 10a and the polarization state selected by the second linear polarizer 10b are orthogonal to each other. As an example, the polarization state selected by the first linear polarizer 10a is output from the semiconductor laser 1. The polarization state of the incident light is assumed.

上記発光部の半導体レーザ１より出射した光は、コリメータレンズ２により平行光束に変換され、この平行光束のうちのビーム中心付近の光強度がほぼ一様となる部分の光束のみが絞り３の円形開口を通過する。これにより、上記平行光束は、ビーム断面形状が円形に変形される。   The light emitted from the semiconductor laser 1 of the light emitting unit is converted into a parallel light beam by the collimator lens 2, and only the light beam in the portion of the parallel light beam where the light intensity in the vicinity of the beam center is substantially uniform is circular. Pass through the opening. Thereby, the cross-sectional shape of the parallel light beam is deformed into a circular shape.

その後、上記平行光束は、無偏光ビームスプリッタ４ａに入射し、この無偏光ビームスプリッタ４ａを通過する第１光束５と、無偏光ビームスプリッタ４ａで反射して被測定物８の表面８ａと略平行に進行する第２光束６とに分割される。   Thereafter, the parallel light beam enters the non-polarizing beam splitter 4a, is reflected by the non-polarizing beam splitter 4a and the first light beam 5 passing through the non-polarizing beam splitter 4a, and is approximately parallel to the surface 8a of the object 8 to be measured. Is divided into a second light beam 6 traveling in the direction of.

図１に示す一例では、無偏光ビームスプリッタ４ａをキューブ型のビームスプリッタとしたが、プレート型のハーフミラーとしても同様の効果が得られる。また、上述のように、光源としては半導体レーザ１を採用したが、発光ダイオードを用いてもよい。ただし、光源として発光ダイオードを用いる場合は、発光ダイオードからの放射光束を適切なレンズを用いて略平行光に変換し、偏光板を介して直線偏光に変換し、適当な径を有する絞りにより光束を最適な形状に整形する必要がある。この直線偏光に変換する偏光板による偏光の向きは後述する受光部が有する第１,第２直線偏光子１０ａ,１０ｂによる偏光の方向に対して、水平または垂直である必要がある。以上の無偏光ビームスプリッタ４ａと半導体発光素子としての半導体レーザ１に関する説明は以下のすべての実施形態に当てはまるが、以後の説明は省略する。   In the example shown in FIG. 1, the non-polarizing beam splitter 4a is a cube-type beam splitter, but the same effect can be obtained by using a plate-type half mirror. As described above, the semiconductor laser 1 is used as the light source, but a light emitting diode may be used. However, when a light emitting diode is used as the light source, the emitted light beam from the light emitting diode is converted into substantially parallel light using an appropriate lens, converted into linearly polarized light through a polarizing plate, and the light beam is emitted by a diaphragm having an appropriate diameter. Need to be shaped into an optimal shape. The direction of polarized light by the polarizing plate that converts to linearly polarized light needs to be horizontal or vertical with respect to the direction of polarized light by the first and second linear polarizers 10a and 10b of the light receiving section described later. The above description regarding the non-polarizing beam splitter 4a and the semiconductor laser 1 as the semiconductor light emitting element is applicable to all the following embodiments, but the subsequent description is omitted.

無偏光ビームスプリッタ４ａで反射した第２光束６は、無偏光ビームスプリッタ４ａ以降の第１光束５を扱う光学系から外れる。この第２光束６は、例えば、光学系を囲う筐体側壁(図示せず)などで反射し、ノイズ光として第１,第２受光素子１１ａ,１１ｂで検出されてしまうことがある。このノイズ光を除去するために、第２光束６の光軸上に第２光束６の偏光方向と直交する偏光方向の光を透過させるような直線偏光子１０ｃを迷光防止手段として設置している。これにより、直線偏光子１０ｃを第２光束６は透過できないので、筐体側壁に照射されることはなく、ノイズ光源となることはない。   The second light beam 6 reflected by the non-polarizing beam splitter 4a deviates from the optical system that handles the first light beam 5 after the non-polarizing beam splitter 4a. For example, the second light beam 6 may be reflected by a side wall (not shown) surrounding the optical system and detected as noise light by the first and second light receiving elements 11a and 11b. In order to remove the noise light, a linear polarizer 10c that transmits light in the polarization direction orthogonal to the polarization direction of the second light beam 6 is installed on the optical axis of the second light beam 6 as stray light prevention means. . Thereby, since the 2nd light beam 6 cannot permeate | transmit the linear polarizer 10c, it does not irradiate to a housing | casing side wall and it does not become a noise light source.

被測定物８の表面８ａで反射した反射光束７は無偏光ビームスプリッタ４ａで反射し、第１レンズ９で集光され、第２光分岐素子としての無偏光ビームスプリッタ４ｂで第１反射光束１２と第２反射光束１３に２分割される。この第１,第２反射光束１２,１３は、それぞれ、透過偏光方向が直交する第１,第２直線偏光子１０ａ,１０ｂを介して、第１,第２受光素子１０ａ,１０ｂで検出される。この第１,第２受光素子１１ａ,１１ｂは、例えばフォトダイオードで構成される。   The reflected light beam 7 reflected by the surface 8a of the object 8 to be measured is reflected by the non-polarizing beam splitter 4a, condensed by the first lens 9, and the first reflected light beam 12 by the non-polarizing beam splitter 4b as the second optical branching element. And the second reflected light beam 13. The first and second reflected light beams 12 and 13 are detected by the first and second light receiving elements 10a and 10b via the first and second linear polarizers 10a and 10b whose transmission polarization directions are orthogonal, respectively. . The first and second light receiving elements 11a and 11b are constituted by, for example, photodiodes.

この第１,第２受光素子１１ａ,１１ｂで検出された第１,第２受光信号は、それぞれ、後段の信号処理回路１４に入力され、この信号処理回路１４は、上記第１受光信号と第２受光信号との比を計算する。   The first and second light receiving signals detected by the first and second light receiving elements 11a and 11b are respectively input to the signal processing circuit 14 at the subsequent stage, and the signal processing circuit 14 receives the first light receiving signal and the first light receiving signal. The ratio with the two received light signals is calculated.

図１では、被測定物８の表面８ａの法線が第１光束５の光軸と一致する(つまり、被測定物８の傾斜角度θが０°)の場合の正反射光軸Ｊ１を一点破線で示している。また、被測定物８の表面８ａの法線Ｇが第１光束５の光軸から角度θ１だけ傾いたときの正反射光軸Ｊ２を破線で示している。この正反射光軸Ｊ２は、法線Ｇから第１光束５の反対側に角度θ１だけ傾く。   In FIG. 1, the specular reflection optical axis J1 when the normal line of the surface 8a of the object to be measured 8 coincides with the optical axis of the first light beam 5 (that is, the tilt angle θ of the object to be measured 8 is 0 °) is one point. It is indicated by a broken line. Further, the specular reflection optical axis J2 when the normal line G of the surface 8a of the object to be measured 8 is inclined by the angle θ1 from the optical axis of the first light beam 5 is indicated by a broken line. The regular reflection optical axis J2 is inclined from the normal line G to the opposite side of the first light beam 5 by an angle θ1.

図１に示すように、被測定物８の傾斜角度θが０°のときもθ１だけ傾いたときも、正反射光軸Ｊ１,Ｊ２は第１受光素子１１ａと第２受光素子１１ｂに入射している。   As shown in FIG. 1, the regular reflection optical axes J1 and J2 are incident on the first light receiving element 11a and the second light receiving element 11b both when the inclination angle θ of the object to be measured 8 is 0 ° and when it is inclined by θ1. ing.

図１に示す光学系を備えた光学式物体識別装置によって、被測定物８として、２種類の板１,板２、畳、２種類の絨毯１,絨毯２を測定した結果を図２に示す。図２に、特性ｋ１で示すように、表面がフラットな板１,板２は第１光束５に対して法線が傾く(入射角を有する)に従い、偏光比が小さくなる。これに対し、特性ｋ３で示す畳や特性ｋ４,ｋ５で示す絨毯１,２では偏光比の傾斜角依存はほとんどない。   FIG. 2 shows the result of measuring two types of plate 1, plate 2, tatami mat, two types of carpet 1, and carpet 2 as an object to be measured 8 by the optical object identification device having the optical system shown in FIG. . As shown by the characteristic k1 in FIG. 2, the plates 1 and 2 having flat surfaces have a polarization ratio that decreases as the normal line is inclined with respect to the first light beam 5 (having an incident angle). On the other hand, in the tatami mat shown by the characteristic k3 and the carpets 1 and 2 shown by the characteristics k4 and k5, the polarization ratio hardly depends on the inclination angle.

板などのフラットな面による反射は偏光状態が保存される割合が高いのに対して、絨毯１,２などのように表面の凹凸が激しく、誘電体質による反射材の場合には反射によって偏光が解消される。絨毯や畳による反射は偏光が解消されるので、偏光状態の傾斜角依存性はほとんど均等になっている。   Reflection by a flat surface such as a plate has a high ratio of preserving the polarization state, but the surface irregularities such as carpets 1 and 2 are severe, and in the case of a reflective material made of a dielectric material, the polarization is reflected by reflection. It will be resolved. Reflection by carpets and tatami is depolarized, so that the tilt angle dependence of the polarization state is almost uniform.

つまり、被測定物８が絨毯や畳の場合、被測定物８の傾斜角θの変化に対して偏光比の変化は見られない。これに対し、被測定物８が板の場合には、傾斜角θ＝０°では、偏光が正反射方向に保存された光が強く反射する一方、板の傾斜角が増大するに従って偏光状態が保存された成分が受光部である第１,第２受光素子１１ａ,１１ｂの受光面１１ａ−１,１１ｂ−１から徐々に外れていくので、偏光比値が減少する。しかし、図２に示すように、傾斜角θを±６°まで傾斜させても、各特性ｋ１〜ｋ５が表す偏光比値がオーバーラップすることはない。したがって、信号処理回路１４で、第１受光素子１１ａからの第１受光信号と第２受光素子１１ｂからの第２受光信号との比を計算して、第１反射光束１２と第２反射光束１３の偏光比値を算出することによって、２種類の絨毯１,２、畳、および２種類の板１,２の識別が可能となる。   That is, when the measured object 8 is a carpet or a tatami mat, no change in the polarization ratio is observed with respect to the change in the inclination angle θ of the measured object 8. On the other hand, when the DUT 8 is a plate, at an inclination angle θ = 0 °, the light whose polarization is stored in the regular reflection direction is strongly reflected, while the polarization state increases as the inclination angle of the plate increases. Since the stored components gradually deviate from the light receiving surfaces 11a-1 and 11b-1 of the first and second light receiving elements 11a and 11b, which are light receiving portions, the polarization ratio value decreases. However, as shown in FIG. 2, even if the inclination angle θ is inclined to ± 6 °, the polarization ratio values represented by the characteristics k1 to k5 do not overlap. Accordingly, the signal processing circuit 14 calculates the ratio between the first light receiving signal from the first light receiving element 11a and the second light receiving signal from the second light receiving element 11b, and the first reflected light beam 12 and the second reflected light beam 13 are calculated. By calculating the polarization ratio value, it is possible to distinguish between the two types of carpets 1, 2, tatami and the two types of plates 1, 2.

なお、参考例として、被測定物８の傾斜角θに対して、被測定物８の表面８ａで反射した第１光束５の正反射光軸が受光素子１１ａ,１１ｂの受光面１１ａ−１,１１ｂ−１から外れる光学系で、上述の２種類の板１,板２、畳、２種類の絨毯１,絨毯２を測定した結果を図３に示す。図３を参照すれば、絨毯１,２の偏光比を表す特性ｍ４,ｍ５や畳の偏光比を表す特性ｍ３は、図２と同様、偏光比の傾斜角依存性は見られない。一方、板１,２の偏光比を表す特性ｍ１,ｍ２は、傾斜角の増加とともに大きく減少し、およそ４°の傾斜角で畳の偏光比を表す特性ｍ３とオーバーラップしてしまい、畳との識別が不可能になっている。   As a reference example, the specularly reflected optical axis of the first light beam 5 reflected by the surface 8a of the object 8 to be measured with respect to the inclination angle θ of the object 8 is the light receiving surfaces 11a-1, 11b of the light receiving elements 11a, 11b. FIG. 3 shows the results of measuring the above-described two types of plate 1, plate 2, tatami mat, two types of carpet 1, and carpet 2 with an optical system deviating from 11b-1. Referring to FIG. 3, the characteristics m4 and m5 representing the polarization ratios of the carpets 1 and 2 and the characteristic m3 representing the tatami polarization ratio do not show the inclination angle dependency of the polarization ratio as in FIG. On the other hand, the characteristics m1 and m2 representing the polarization ratio of the plates 1 and 2 greatly decrease as the tilt angle increases, and overlap with the characteristic m3 representing the polarization ratio of the tatami at a tilt angle of about 4 °. Cannot be identified.

次に、図１の光学系を図４を参照してさらに詳細に説明する。図４は、図１の光学系の受光部をなす第１レンズ９、無偏光ビームスプリッタ４ｂ、第２受光素子１１ｂを抜き出して示している。なお、無偏光ビームスプリッタ４ａでの反射光束７の反射を透過と考えても等価であるので、図４では、理解を簡単にするために無偏光ビームスプリッタ４ａを省略し、反射光束７の無偏光ビームスプリッタ４ａでの反射による光軸の向きの変更を考慮していない。   Next, the optical system of FIG. 1 will be described in more detail with reference to FIG. FIG. 4 shows the first lens 9, the non-polarizing beam splitter 4 b, and the second light receiving element 11 b that are the light receiving portion of the optical system in FIG. 1. Note that the reflection of the reflected light beam 7 at the non-polarizing beam splitter 4a is equivalent to transmission, and therefore the non-polarizing beam splitter 4a is omitted in FIG. A change in the direction of the optical axis due to reflection by the polarizing beam splitter 4a is not taken into consideration.

図４に示すように、第１レンズ９と被測定物８との間の距離ａ１(ｍｍ)が第１レンズ９の焦点距離ｆ(ｍｍ)よりも長く、第１レンズ９の焦点距離ｆよりも離れた位置に被測定物８が位置している。なお、この距離ａ１(ｍｍ)は、第１レンズ９の中心から無偏光ビームスプリッタ４ａの反射面４ａ−１を経由する被測定物８の表面８ａまでの間の距離である。   As shown in FIG. 4, the distance a1 (mm) between the first lens 9 and the object to be measured 8 is longer than the focal length f (mm) of the first lens 9 and is larger than the focal length f of the first lens 9. The object to be measured 8 is located at a far away position. The distance a1 (mm) is a distance from the center of the first lens 9 to the surface 8a of the object 8 to be measured via the reflection surface 4a-1 of the non-polarizing beam splitter 4a.

これにより、被測定物８が、図４においてｚ軸回りに反時計回りに所定の角度だけ傾斜したとき、この被測定物８での第１光束５の正反射光軸は＋ｙ方向に出射し、第１レンズ９により−ｙ方向に集光される。したがって、受光素子１１ｂで反射光束７の正反射光成分を受光できる。また、被測定物８の傾斜角度がθの時、反射光束７の正反射光軸の傾斜角度は２θとなる。この反射光束７の正反射光軸が第１レンズ９に入射する必要がある。この必要を満たすために、図１の光学系では第１レンズ９の半径ｒ１(ｍｍ)と第１レンズ９と被測定物８との間の距離ａ１(ｍｍ)と被測定物８の傾斜角θ(ラジアン)とは、次式(２)を満たす関係を有している。   As a result, when the object 8 to be measured is inclined by a predetermined angle counterclockwise around the z axis in FIG. 4, the specularly reflected optical axis of the first light beam 5 at the object 8 is emitted in the + y direction. The light is condensed in the −y direction by the first lens 9. Therefore, the regular reflection component of the reflected light beam 7 can be received by the light receiving element 11b. When the tilt angle of the object 8 to be measured is θ, the tilt angle of the regular reflection optical axis of the reflected light beam 7 is 2θ. The regular reflection optical axis of the reflected light beam 7 needs to be incident on the first lens 9. In order to satisfy this need, in the optical system of FIG. 1, the radius r1 (mm) of the first lens 9, the distance a1 (mm) between the first lens 9 and the object 8 to be measured, and the inclination angle of the object 8 to be measured. θ (radian) has a relationship satisfying the following expression (2).

ｔａｎ−１(ｒ１/ａ１)＞２θ …(２)
また、第１レンズ９の焦点距離ｆ(ｍｍ)と、第１レンズ９と被測定物８との間の距離ａ１(ｍｍ)と、第１レンズ９の中心と受光素子１１ｂの受光面１１ｂ−１との間の距離ｂ１(ｍｍ)との間に、次式(３)を満たす関係を有している。これにより、第１レンズ９で集光する正反射光軸が受光素子１１ｂの受光面１１ｂ−１の中心に来るようにしている。 tan −1 (r1 / a1)> 2θ (2)
Further, the focal length f (mm) of the first lens 9, the distance a1 (mm) between the first lens 9 and the object 8 to be measured, the center of the first lens 9, and the light receiving surface 11b- of the light receiving element 11b. 1 and a distance b1 (mm) between 1 and 1 satisfies the following expression (3). Thereby, the regular reflection optical axis which condenses with the 1st lens 9 is made to come to the center of the light-receiving surface 11b-1 of the light receiving element 11b.

１/ｆ＝（１/ａ１）＋（１/ｂ１） …(３)
また、図４では、第１,第２受光素子１１ａ,１１ｂのうちの第２受光素子１１ｂのみを図示しているが、実際は、偏光比をとるために図１に示すように第１受光素子１１ａも配置されて、この第１,第２受光素子１１ａ,１１ｂからの第１,第２の受光信号が入力される信号処理回路１４によって上記偏光比が算出される。 1 / f = (1 / a1) + (1 / b1) (3)
In FIG. 4, only the second light receiving element 11b of the first and second light receiving elements 11a and 11b is illustrated, but in actuality, the first light receiving element as shown in FIG. The polarization ratio is calculated by the signal processing circuit 14 to which the first and second light receiving signals from the first and second light receiving elements 11a and 11b are input.

第２光分岐素子としての無偏光ビームスプリッタ４ｂにより、第１レンズ９で集光された反射光束７を等価的に分割するには、反射光束７が無偏光ビームスプリッタ４ｂの反射面４ｂ−１(図中の斜辺)に入射する必要がある。図５に、図４の第１レンズ９より後段側を拡大して示す。図５に示すように、第１レンズ９で集光された最も外周部の光束５１がビームスプリッタ４ｂの頂点を通るときが境界条件であり、最も外周部の光束５１が上記頂点よりも内側を通る場合には、受光素子１１ｂで受光でき問題がない。図５に示すように、第２受光素子１１ｂの受光面１１ｂ−１とビームスプリッタ４ｂの反射面４ｂ−１との間の距離をｘ１(ｍｍ)とし、ビームスプリッタ４ｂの一辺の長さをＬｂ(ｍｍ)とし、第１レンズ９の中心と受光素子１１ｂの受光面１１ｂ−１との間の距離をｂ１(＝焦点距離ｆ)とし、第１レンズ９の半径をｒ１(ｍｍ)とすると、反射光束７をビームスプリッタ４ｂで等価的に２分割するには、次式(４)を満足する必要がある。   In order to equivalently divide the reflected light beam 7 collected by the first lens 9 by the non-polarizing beam splitter 4b as the second optical branching element, the reflected light beam 7 is reflected on the reflecting surface 4b-1 of the non-polarizing beam splitter 4b. It is necessary to enter (the hypotenuse in the figure). FIG. 5 is an enlarged view of the rear stage side from the first lens 9 of FIG. As shown in FIG. 5, the boundary condition is when the outermost luminous flux 51 collected by the first lens 9 passes through the apex of the beam splitter 4b, and the outermost luminous flux 51 is located inside the apex. When passing, there is no problem because light can be received by the light receiving element 11b. As shown in FIG. 5, the distance between the light receiving surface 11b-1 of the second light receiving element 11b and the reflecting surface 4b-1 of the beam splitter 4b is x1 (mm), and the length of one side of the beam splitter 4b is Lb. (mm), the distance between the center of the first lens 9 and the light receiving surface 11b-1 of the light receiving element 11b is b1 (= focal length f), and the radius of the first lens 9 is r1 (mm). In order to equivalently divide the reflected light beam 7 into two by the beam splitter 4b, it is necessary to satisfy the following expression (4).

ｘ１＜(Ｌｂ/２)・(ｂ１−ｒ１)/ｒ１ … (４)
図１の光学系では、半導体レーザ１からの光をコリメート光として被測定物８に照射しているので、被測定物８の表面８ａでは第１光束５はビーム径φを有している。このため、反射光束７は点からの放射ではなく、幅をもった領域からの放射となる。図６(Ａ),(Ｂ)は、反射光束７の経路を考察するために、図１から必要な箇所を抜粋して示したものである。図６(Ａ),(Ｂ)において、ｘ軸は被測定物８の傾斜角θが０°のときの正反射光軸を示しており、ｙ軸が被測定物８の表面８ａを示している。原点を中心とするビーム径φで第１光束５が被測定物８に照射されている。この第１光束５を、図６(Ａ),(Ｂ)に太線で示している。図６(Ａ)は、第１光束５のビーム幅のうち、＋ｙ端(つまりｙ軸の正方向の端)から出射する反射光束７の光線の軌跡７ａを示す図であり、図６(Ｂ)は−ｙ端(つまりｙ軸の負方向の端)から出射する光線の軌跡７ｂを示す図である。この図６(Ａ),(Ｂ)では、被測定物８の表面８ａに第１光束５が垂直入射するときの状態(つまり入射角θ＝０)を示している。 x1 <(Lb / 2). (b1-r1) / r1 (4)
In the optical system of FIG. 1, the light from the semiconductor laser 1 is applied to the object 8 as collimated light, so that the first light beam 5 has a beam diameter φ on the surface 8 a of the object 8 to be measured. For this reason, the reflected light beam 7 is not emitted from a point but emitted from a region having a width. FIGS. 6A and 6B are excerpts of necessary portions from FIG. 1 in order to consider the path of the reflected light beam 7. 6 (A) and 6 (B), the x-axis indicates the regular reflection optical axis when the inclination angle θ of the object 8 is 0 °, and the y-axis indicates the surface 8a of the object 8 to be measured. Yes. The object 8 is irradiated with the first light beam 5 with a beam diameter φ centered at the origin. The first light beam 5 is indicated by a thick line in FIGS. 6 (A) and 6 (B). FIG. 6A is a diagram showing the locus 7a of the reflected light beam 7 emitted from the + y end (that is, the end in the positive direction of the y-axis) out of the beam width of the first light beam 5, and FIG. ) Is a diagram showing a locus 7b of light rays emitted from the -y end (that is, the end in the negative direction of the y-axis). 6A and 6B show a state when the first light beam 5 is perpendicularly incident on the surface 8a of the object 8 to be measured (that is, the incident angle θ = 0).

なお、入射角θが０でない場合は、原点を中心にｚ軸回りに第１光束５(光線の軌跡７ａ,７ｂ)を回転させることにより、第１光束５のビーム端からの正反射光軸を考察できる。原点を中心にｚ軸回りに第１光束５を回転させるので、回転角に応じて第１光束５のビーム端の座標は変化するが、図２に一例として示したような傾斜角θが数°程度でビーム径が数ｍｍの範囲の場合には、ｘ座標に変わりはなく、ｙ座標の変化量は無視できるほど小さい。したがって、図６(Ａ),図６(Ｂ)では、第１光束５が被測定物８の表面８ａに垂直に入射する場合におけるビーム端を通る光線を、入射角が零でない場合の正反射光軸に近似して議論する。   When the incident angle θ is not 0, the first reflected light beam 5 from the beam end of the first light beam 5 is rotated by rotating the first light beam 5 (light ray traces 7a and 7b) around the origin about the z axis. Can be considered. Since the first light beam 5 is rotated around the origin about the z-axis, the coordinates of the beam end of the first light beam 5 change according to the rotation angle, but the tilt angle θ as shown in FIG. When the beam diameter is in the range of several millimeters at about 0 °, the x coordinate does not change, and the change amount of the y coordinate is so small that it can be ignored. Therefore, in FIGS. 6A and 6B, the light beam that passes through the beam end when the first light beam 5 is perpendicularly incident on the surface 8a of the DUT 8 is regularly reflected when the incident angle is not zero. Discuss by approximating the optical axis.

図６(Ａ)に示すように、被測定物８の表面８ａ上でのビーム径をφ(ｍｍ)、ビーム径端と第１レンズ９端を通る光線７ａがｘ軸と交差する点Ｐ０と原点との間の距離(光路距離)をｘａとする。また、その光線７ａが第１レンズ９を通過した後に再びｘ軸と交差する点Ｐ１と受光面１１ｂ−１との間の距離をｘｂ(ｍｍ)とする。また、受光面１１ｂ−１上での光線７ａの入射位置を座標ｙｂ(ｍｍ)、とすると、第１光束５のビームから発せられる正反射光軸をすべて受光面１１ｂ−１内に入射させるには、受光面１１ｂ−１の一辺の大きさをｄ(ｍｍ)とすると、次式(５)´を満たす必要がある。
ｙｂ＜ｄ …(５)´ As shown in FIG. 6 (A), the beam diameter on the surface 8a of the object 8 to be measured is φ (mm), and the light beam 7a passing through the beam diameter end and the first lens 9 end intersects with the point P0. Let xa be the distance (optical path distance) from the origin. Further, the distance between the point P1 that intersects the x-axis again after the light ray 7a passes through the first lens 9 and the light receiving surface 11b-1 is xb (mm). Further, assuming that the incident position of the light beam 7a on the light receiving surface 11b-1 is a coordinate yb (mm), all the specularly reflected optical axes emitted from the beam of the first light beam 5 are incident on the light receiving surface 11b-1. If the size of one side of the light receiving surface 11b-1 is d (mm), it is necessary to satisfy the following equation (5) ′.
yb <d (5) ′

各パラメータを用いて、座標ｙｂを計算すると、図６(Ａ)の場合も、図６(Ｂ)の場合も、結果は同じであり、第１光束５のビーム径φ(ｍｍ)と受光面１１ｂ−１の大きさｄ(ｍｍ)との間には、上式(５)´の関係は次式(５)の関係になる。上記大きさｄ(ｍｍ)とは一例として受光面１１ｂ−１の直径である。
ｄ＞(ｂ１/ａ１)・φ …(５) When the coordinate yb is calculated using each parameter, the result is the same in both FIG. 6A and FIG. 6B, and the beam diameter φ (mm) of the first light beam 5 and the light receiving surface. The relationship of the above equation (5) ′ with the size d (mm) of 11b-1 is the relationship of the following equation (5). The size d (mm) is, for example, the diameter of the light receiving surface 11b-1.
d> (b1 / a1) · φ (5)

上式(５)において、ｂ１(ｍｍ)は、上記第１レンズ９の中心と第２受光素子１１ｂの受光面１１ｂ−１との間の距離である。この式(５)の条件を満たす場合に、被測定物８の表面８ａがフラットで反射による偏光解消が少ない被測定物体であっても、図２に特性ｋ１,ｋ２で示したような第１光束５の入射角依存性が小さくなる。したがって、識別精度を格段に向上させることが可能となる。また、図６(Ａ),(Ｂ)では、第２受光素子１１ｂについて説明したが、第１受光素子１１ａについても上述と同様のことが成り立つ。   In the above equation (5), b1 (mm) is the distance between the center of the first lens 9 and the light receiving surface 11b-1 of the second light receiving element 11b. When the condition of the equation (5) is satisfied, even if the surface 8a of the object to be measured 8 is flat and the object to be measured has little depolarization due to reflection, the first as shown by the characteristics k1 and k2 in FIG. The incident angle dependency of the light beam 5 is reduced. Therefore, it is possible to significantly improve the identification accuracy. 6A and 6B, the second light receiving element 11b has been described, but the same thing as described above holds true for the first light receiving element 11a.

(第２の実施の形態)
次に、図７に、この発明の第２実施形態の光学式物体識別装置の概略構成を示す。図７では、図１と同様、光線の軌跡や主要な光学部品を図示し、光学部品を保持する部品などの図示は省略している。この第２実施形態は、第１レンズ９と第２光分岐素子としての無偏光ビームスプリッタ４ｂとの間に第２レンズ１５を配置した点だけが、前述の第１実施形態と異なる。したがって、この第２実施形態では図１の第１の実施形態の構成と異なる部分を主に説明する。また、図７では第１実施形態と同じ構成要素には同じ符号を付している。なお、図７では、図１と同様に、被測定物８の表面８ａの法線Ｇが第１光束５の光軸と一致する(つまり、被測定物８の傾斜角度θが０°)の場合の正反射光軸Ｊ１を一点破線で示している。また、被測定物８の表面８ａの法線Ｇが第１光束５の光軸から角度θだけ傾いたときの正反射光軸Ｊ２を破線で示している。この正反射光軸Ｊ２は、法線Ｇから第１光束５の反対側に角度θだけ傾く。 (Second embodiment)
Next, FIG. 7 shows a schematic configuration of the optical object identification device according to the second embodiment of the present invention. In FIG. 7, as in FIG. 1, the trajectory of light rays and main optical components are illustrated, and the components that hold the optical components are not illustrated. This second embodiment is different from the first embodiment described above only in that the second lens 15 is disposed between the first lens 9 and the non-polarizing beam splitter 4b as the second optical branching element. Therefore, in the second embodiment, portions different from the configuration of the first embodiment in FIG. 1 will be mainly described. Moreover, in FIG. 7, the same code | symbol is attached | subjected to the same component as 1st Embodiment. In FIG. 7, as in FIG. 1, the normal line G of the surface 8a of the object 8 to be measured coincides with the optical axis of the first light beam 5 (that is, the inclination angle θ of the object 8 to be measured is 0 °). The regular reflection optical axis J1 in this case is indicated by a one-dot broken line. Further, the specular reflection optical axis J2 when the normal line G of the surface 8a of the object to be measured 8 is inclined by the angle θ from the optical axis of the first light beam 5 is indicated by a broken line. This regular reflection optical axis J2 is inclined from the normal line G to the opposite side of the first light beam 5 by an angle θ.

この第２実施形態の光学式物体識別装置では、図７に示すように、第１レンズ９の後方に第２レンズ１５が配置されている。被測定物８の表面８ａで反射した反射光束は、ビームスプリッタ４ａで反射し、第１レンズ９と第２レンズ１５を通り、無偏光ビームスプリッタ４ｂの反射面４ｂ−１を経由して、第１,第２受光素子１１ａ,１１ｂの受光面１１ａ−１,１１ｂ−１上に集光される。   In the optical object identification device according to the second embodiment, a second lens 15 is disposed behind the first lens 9 as shown in FIG. The reflected light beam reflected by the surface 8a of the object 8 to be measured is reflected by the beam splitter 4a, passes through the first lens 9 and the second lens 15, and passes through the reflecting surface 4b-1 of the non-polarizing beam splitter 4b. 1, the light is condensed on the light receiving surfaces 11a-1 and 11b-1 of the second light receiving elements 11a and 11b.

このように、第１レンズ９だけでなく第２レンズ１５でも集光する構成にすることにより、第１レンズ９のみで集光する場合に比べて、第１,第２受光素子１１ａ,１１ｂの受光角を広くすることができる。したがって、第１,第２受光素子１１ａ,１１ｂの受光量が増大するので、測定感度が高くなり、Ｓ/Ｎ比を高くすることができる。   As described above, the configuration in which not only the first lens 9 but also the second lens 15 condenses the first and second light receiving elements 11a and 11b as compared to the case where the first lens 9 alone condenses. The light receiving angle can be widened. Accordingly, the amount of light received by the first and second light receiving elements 11a and 11b increases, so that the measurement sensitivity can be increased and the S / N ratio can be increased.

また、この発明の第１,第２実施形態の光学式物体識別装置を掃除機などに搭載して、床面を自動的に識別するために使用する場合、特に、床面が黒系のカーペット類などの反射光量が小さい被測定物となる場合に、第１,第２受光素子１１ａ,１１ｂに入射する反射光束は微弱光となる。   Further, when the optical object identification device according to the first and second embodiments of the present invention is mounted on a vacuum cleaner or the like and used to automatically identify the floor surface, in particular, the carpet having a black floor surface. When the object to be measured has a small amount of reflected light such as a light, the reflected light flux incident on the first and second light receiving elements 11a and 11b becomes weak light.

拡散光は受光角が同じであれば、距離には依存しないが、被測定物８と第１,第２受光素子１１ａ,１１ｂとの間の距離が大きくなるにつれて、第１レンズ,第１,第２受光素子等の光学部品も大きくなってしまうので、装置の大きさや価格の制限もあり好ましくない。したがって、図７に示すように、第１レンズ９と第２レンズ１５とをペアで使用することによって、上記距離の短縮を図れ、最適な光学設計が可能となる。   The diffused light does not depend on the distance as long as the reception angle is the same, but as the distance between the DUT 8 and the first and second light receiving elements 11a and 11b increases, the first lens, the first, Since the optical components such as the second light receiving element also become large, there are restrictions on the size and price of the apparatus, which is not preferable. Therefore, as shown in FIG. 7, by using the first lens 9 and the second lens 15 in pairs, the distance can be shortened, and an optimum optical design can be achieved.

以下に、図７に示す第２実施形態の光学系を詳細に説明する。   The optical system of the second embodiment shown in FIG. 7 will be described in detail below.

図８は、図７の光学系の受光部分を主要部を部分的に抜き出して示したものである。図８では、反射光束７の無偏光ビームスプリッタ４ａでの反射による光軸の向きの変更は考慮していない。無偏光ビームスプリッタ４ａでの反射を、透過と考えても等価であるので、理解を簡単にするため、図８では、無偏光ビームスプリッタ４ａを省略している。   FIG. 8 shows the light receiving part of the optical system of FIG. 7 with the main part partially extracted. In FIG. 8, a change in the direction of the optical axis due to reflection of the reflected light beam 7 by the non-polarizing beam splitter 4a is not taken into consideration. Since the reflection at the non-polarizing beam splitter 4a is equivalent to transmission, the non-polarizing beam splitter 4a is omitted in FIG. 8 for easy understanding.

図８に示すように、第１レンズ９の焦点距離ｆ１(ｍｍ)の位置に被測定物８が位置している。つまり、第１レンズ９の中心から無偏光ビームスプリッタ４ａの反射面４ａ−１を経由する被測定物８の表面８ａまでの距離ａ２(ｍｍ)が上記焦点距離ｆ１(ｍｍ)に略等しくなっている。これにより、被測定物８が第１光束５に対して傾斜したとき、第１光束５の正反射光軸は図８に示すように第１レンズ９によりｘ軸とほぼ平行な光束に変換される。そして、第２受光素子１１ｂの受光面１１ｂ−１は、第２レンズ１５の焦点距離ｆ２(ｍｍ)の位置に配置されている。つまり、第２受光素子１１ｂの受光面１１ｂ−１と第２レンズ１５の中心との間の距離ｂ２(ｍｍ)を第２レンズ１５の焦点距離ｆ２(ｍｍ)とを略等しくした(ｆ２＝ｂ２)。   As shown in FIG. 8, the DUT 8 is located at the focal length f1 (mm) of the first lens 9. That is, the distance a2 (mm) from the center of the first lens 9 to the surface 8a of the object 8 to be measured via the reflecting surface 4a-1 of the non-polarizing beam splitter 4a is substantially equal to the focal length f1 (mm). Yes. As a result, when the DUT 8 is tilted with respect to the first light beam 5, the specularly reflected optical axis of the first light beam 5 is converted into a light beam substantially parallel to the x-axis by the first lens 9 as shown in FIG. The The light receiving surface 11b-1 of the second light receiving element 11b is disposed at the focal length f2 (mm) of the second lens 15. That is, the distance b2 (mm) between the light receiving surface 11b-1 of the second light receiving element 11b and the center of the second lens 15 is made substantially equal to the focal length f2 (mm) of the second lens 15 (f2 = b2). ).

これにより、第２レンズ１５にほぼ平行光で入射する正反射光成分は受光面１１ｂ−１上に集光されて受光される。第２実施形態では、上述のような距離関係で各光学部品が配置されているので、被測定物８の表面８ａが第１光束５に対して傾斜し、第１光束５の入射角が０でない場合でも、受光面１１ｂ−１で正反射光を受光できる。したがって、図２で示した各結果と同様の高い識別精度を有する光学式物体識別装置を提供することが可能となる。   Thereby, the specularly reflected light component incident on the second lens 15 with substantially parallel light is condensed on the light receiving surface 11b-1 and received. In the second embodiment, since the optical components are arranged in the distance relationship as described above, the surface 8a of the object to be measured 8 is inclined with respect to the first light beam 5, and the incident angle of the first light beam 5 is 0. Even if it is not, regular reflection light can be received by the light-receiving surface 11b-1. Therefore, it is possible to provide an optical object identification device having high identification accuracy similar to the results shown in FIG.

また、被測定物８の傾斜角がθの時、反射光束７の正反射光軸の傾斜角度は２θとなる。この正反射光軸が第１レンズ９に入射する必要があるので、図７の光学系では第１レンズ９の半径ｒ１と第１レンズ９と被測定物８の距離ａ２と被測定物８の傾斜角θの間に、次式(６)を満足する関係を有している。
ｔａｎ−１(ｒ１/ａ２)＞２θ … (６) When the tilt angle of the object 8 to be measured is θ, the tilt angle of the regular reflection optical axis of the reflected light beam 7 is 2θ. Since this regular reflection optical axis needs to enter the first lens 9, in the optical system of FIG. 7, the radius r 1 of the first lens 9, the distance a 2 between the first lens 9 and the object 8 to be measured, and the object 8 to be measured There is a relationship satisfying the following expression (6) between the inclination angles θ.
tan −1 (r1 / a2)> 2θ (6)

また、図８では、第１,第２受光素子１１ａ,１１ｂのうちの第２受光素子１１ｂのみを図示しているが、実際は、偏光比をとるために、図７に示すように、第１,第２の２つの受光素子１１ａと１１ｂとが配置される。無偏光ビームスプリッタ４ｂにより、第１レンズ９で集光された反射光束７を第１受光素子１１ａと第２受光素子１１ｂとに向けて等価的に分割するには、反射光束７がビームスプリッタ４ｂの反射面４ｂ−１(図中の斜辺)に入射する必要がある。   Further, in FIG. 8, only the second light receiving element 11b of the first and second light receiving elements 11a and 11b is illustrated, but in actuality, as shown in FIG. The second two light receiving elements 11a and 11b are arranged. In order to split the reflected light beam 7 collected by the first lens 9 equivalently toward the first light receiving element 11a and the second light receiving element 11b by the non-polarizing beam splitter 4b, the reflected light beam 7 is converted into the beam splitter 4b. It is necessary to enter the reflective surface 4b-1 (the oblique side in the figure).

図９は図８の第２レンズ１５より後段側を拡大した図である。図９に示すように、第２レンズ１５で集光された最も外周部の光束９１がビームスプリッタ４ｂの頂点を通るときが境界条件であり、光束９１がその頂点よりも内側を通る場合には受光面１１ｂ−１に入射するから問題がない。図９に示すように、第２受光素子１１ｂの受光面１１ｂ−１と無偏光ビームスプリッタ４ｂの反射面４ｂ−１との間の距離をｘ２とし、ビームスプリッタ４ｂの一辺をＬｂ(ｍｍ)とし、第２レンズ１５の中心と第２受光素子１１ｂの受光面１１ｂ−１との間の距離をｂ２(ｍｍ)(ｂ２＝ｆ２)とし、第２レンズ１５の半径をｒ２(ｍｍ)とすると、反射光束７をビームスプリッタ４ｂで等価的に２分割するには、次式(７)を満足する必要がある。
ｘ２＜(Ｌｂ/２)・(ｂ２−ｒ２)/ｒ２ … (７) FIG. 9 is an enlarged view of the rear side of the second lens 15 in FIG. As shown in FIG. 9, the boundary condition is when the outermost luminous flux 91 condensed by the second lens 15 passes through the apex of the beam splitter 4b, and when the luminous flux 91 passes inside the apex, There is no problem because the light enters the light receiving surface 11b-1. As shown in FIG. 9, the distance between the light receiving surface 11b-1 of the second light receiving element 11b and the reflecting surface 4b-1 of the non-polarizing beam splitter 4b is x2, and one side of the beam splitter 4b is Lb (mm). When the distance between the center of the second lens 15 and the light receiving surface 11b-1 of the second light receiving element 11b is b2 (mm) (b2 = f2) and the radius of the second lens 15 is r2 (mm), In order to equivalently divide the reflected light beam 7 into two by the beam splitter 4b, it is necessary to satisfy the following equation (7).
x2 <(Lb / 2). (b2-r2) / r2 (7)

図８に示す光学系では、半導体レーザ１からの光をコリメート光として被測定物８に照射しているので、被測定物８の表面８ａでは第１光束５はビーム径φ(ｍｍ)を有している。このため、反射光束７は点からの放射ではなく、幅をもった領域からの放射となる。   In the optical system shown in FIG. 8, since the light from the semiconductor laser 1 is irradiated on the object 8 as collimated light, the first light beam 5 has a beam diameter φ (mm) on the surface 8a of the object 8 to be measured. is doing. For this reason, the reflected light beam 7 is not emitted from a point but emitted from a region having a width.

図１０は、反射光束７を考察するために必要な箇所を抜粋して示した模式図である。図１０において、ｘ軸は、被測定物８の傾斜角θが０°(つまり被測定物８の表面８ａに第１光束５が垂直に入射する)の場合の正反射光軸を示している。一方、ｙ軸は被測定物８の表面８ａを示している。原点を中心にビーム径φ(ｍｍ)で第１光束５が被測定物８の表面８ａに照射されており、図１０において太線で第１光束５を示している。この図１０では、被測定物８の表面８ａに第１光束５が垂直入射する場合の状態を示している。なお、第１光束５が表面８ａに対して零でない入射角を有する場合には、第１光束５を原点を通るｚ軸を中心に上記入射角だけ回転させることよりのビーム端からの正反射光軸を考察することができる。   FIG. 10 is a schematic diagram showing excerpts of points necessary for considering the reflected light beam 7. In FIG. 10, the x-axis indicates a regular reflection optical axis when the inclination angle θ of the object 8 to be measured is 0 ° (that is, the first light beam 5 is perpendicularly incident on the surface 8 a of the object 8 to be measured). . On the other hand, the y-axis indicates the surface 8a of the object 8 to be measured. The first light beam 5 is irradiated on the surface 8a of the object 8 to be measured with a beam diameter φ (mm) around the origin, and the first light beam 5 is indicated by a thick line in FIG. FIG. 10 shows a state in which the first light beam 5 is perpendicularly incident on the surface 8a of the object 8 to be measured. When the first light beam 5 has a non-zero incident angle with respect to the surface 8a, regular reflection from the beam end by rotating the first light beam 5 by the incident angle about the z axis passing through the origin. The optical axis can be considered.

この場合、ｚ軸を中心に第１光束５を上記入射角だけ回転させるので、この回転角に応じてビーム端の座標が変化する。ここで、図２に示す測定結果のように傾斜角θが数°程度で第１光束５のビーム径φが数ｍｍの範囲のときには、第１光束５のビームスポットのｘ座標に変わりはなく、ｙ座標の変化量も無視できるほど小さい。したがって、図１０では、被測定物８の表面８ａに垂直に入射する第１光束５のビーム端を通る光線を、第１光束５の入射角が零でない場合の正反射光軸に近似して議論する。   In this case, since the first light beam 5 is rotated by the incident angle around the z-axis, the coordinates of the beam end change according to the rotation angle. Here, when the inclination angle θ is about several degrees and the beam diameter φ of the first light beam 5 is in the range of several millimeters as in the measurement result shown in FIG. 2, the x coordinate of the beam spot of the first light beam 5 remains unchanged. The amount of change in y-coordinate is so small that it can be ignored. Therefore, in FIG. 10, the light beam passing through the beam end of the first light beam 5 perpendicularly incident on the surface 8a of the object 8 to be measured is approximated to the regular reflection optical axis when the incident angle of the first light beam 5 is not zero. Discuss.

図１０に示すように、被測定物８が反時計回りに若干量だけ傾斜したとき、第１光束５のビームスポットの−ｙ端から発せられる正反射光７ｃは第１レンズ９の＋ｙ側のレンズ端９ａ(ｘ軸からｒ１(ｍｍ)の位置にある)を通過した後、＋ｙ方向に屈折する。このため、この屈折した正反射光７ｃの成分を受光するには、少なくとも第２レンズ１５の半径ｒ２(ｍｍ)は第１レンズ９の半径ｒ１(ｍｍ)よりも大きい必要がある。さらに、具体的には、正反射光７ｃが第１レンズ９を通過した後に第２レンズ１５に入射するｙ座標をｙ２(ｍｍ)とすると、次式を満たす必要がある。
ｙ２ ＜ ｒ２ As shown in FIG. 10, when the DUT 8 is slightly tilted counterclockwise, the specularly reflected light 7 c emitted from the −y end of the beam spot of the first light beam 5 is on the + y side of the first lens 9. After passing through the lens end 9a (located at r1 (mm) from the x axis), the light is refracted in the + y direction. Therefore, in order to receive the component of the refracted regular reflection light 7c, at least the radius r2 (mm) of the second lens 15 needs to be larger than the radius r1 (mm) of the first lens 9. More specifically, if the y coordinate that enters the second lens 15 after the specularly reflected light 7c passes through the first lens 9 is y2 (mm), the following equation must be satisfied.
y2 <r2

ここで、第１レンズ９の中心と第２レンズ１５の中心との間の距離をＳ(ｍｍ)とすると、上式は次式(８)となる。なお、次式(８)において、φ(ｍｍ)は被測定物８の表面８ａでの第１光束５のビーム径である。
ｒ２/ｒ１＞(Ｓ・(φ/２)＋ａ２・ｒ１)/(ａ２・ｒ１) …(８) Here, when the distance between the center of the first lens 9 and the center of the second lens 15 is S (mm), the above equation is expressed by the following equation (8). In the following equation (8), φ (mm) is the beam diameter of the first light beam 5 on the surface 8a of the object 8 to be measured.
r2 / r1> (S · (φ / 2) + a2 · r1) / (a2 · r1) (8)

図１１(Ａ),図１１(Ｂ)に示すように、被測定物８の表面８ａ上での第１光束５のビームの径をφ(ｍｍ)とし、このビームの径方向の端と第１レンズ９の径方向の端とを通る光線７ｃがｘ軸と交差する点と原点の距離をｘａ(ｍｍ)とする。また、その光線７ｃが、第１レンズ９を通過した後に、再び、ｘ軸と交差する点Ｐ０と受光面１１ｂ−１との距離をｘｂ(ｍｍ)とする。また、受光面１１ｂ−１上での光線７ｃの入射位置を座標ｙｂ(ｍｍ)とする。この場合に、第１光束５のビームから発せられる正反射光軸をすべて受光面１１ｂ−１内に入射させるには、受光面１１ｂ−１の一辺の大きさをｄ(ｍｍ)とすると、次式を満たす必要がある。
ｙｂ ＜ ｄ As shown in FIGS. 11 (A) and 11 (B), the diameter of the beam of the first light beam 5 on the surface 8a of the object 8 to be measured is φ (mm). Let xa (mm) be the distance between the point where the light beam 7c passing through the radial end of one lens 9 intersects the x axis and the origin. Further, after the light ray 7c passes through the first lens 9, the distance between the point P0 intersecting the x axis and the light receiving surface 11b-1 is again xb (mm). Further, the incident position of the light beam 7c on the light receiving surface 11b-1 is set as a coordinate yb (mm). In this case, in order to make all the regular reflection optical axes emitted from the beam of the first light beam 5 enter the light receiving surface 11b-1, if the size of one side of the light receiving surface 11b-1 is d (mm), It is necessary to satisfy the formula.
yb <d

各パラメータを用いて、上式の座標ｙｂ(ｍｍ)を計算すると、第１光束５のビーム径φ(ｍｍ)と受光面１１ｂ−１の大きさｄ(ｍｍ)との間には、図１１(Ａ)および図１１(Ｂ)の両方に対して、計算結果は同様になり、上式は次式(９)になる。
ｄ＞(ｂ２/ａ２)・φ …(９) When the coordinates yb (mm) of the above equation are calculated using each parameter, the distance between the beam diameter φ (mm) of the first light beam 5 and the size d (mm) of the light receiving surface 11b-1 is calculated as shown in FIG. The calculation results are the same for both (A) and FIG. 11 (B), and the above equation becomes the following equation (9).
d> (b2 / a2) · φ (9)

上式(９)において、ｂ２は、第２レンズ１５の中心から無偏光ビームスプリッタ４ｂを経由して第２受光素子１１ｂの受光面１１ｂ−１までの間の距離(ｍｍ)である。また、ａ２は、被測定物８の表面８ａから無偏光ビームスプリッタ４ａを経由する第１レンズ９の中心までの距離(ｍｍ)である。   In the above equation (9), b2 is the distance (mm) from the center of the second lens 15 to the light receiving surface 11b-1 of the second light receiving element 11b via the non-polarizing beam splitter 4b. Further, a2 is a distance (mm) from the surface 8a of the DUT 8 to the center of the first lens 9 via the non-polarizing beam splitter 4a.

この式(９)の如く、第１光束５のビームから発せられる正反射光軸をすべて受光面１１ｂ−１内に入射させる条件は、第１レンズ９と第２レンズ１５と間の距離Ｓには依存しないことがわかる。この式(９)の条件を満たすとき、図２の特性ｋ１,ｋ２に例示した表面がフラットで反射による偏光解消が少ない板の床のような物体を識別する場合に、第１光束５の反射光束７の偏光比の入射角依存性を小さくできる。したがって、識別精度を格段に向上させることが可能となる。なお、上述のことは、第１受光素子１１ａについても同様に当てはまる。   As shown in this equation (9), the condition for causing all the regular reflection optical axes emitted from the beam of the first light beam 5 to enter the light receiving surface 11b-1 is the distance S between the first lens 9 and the second lens 15. It turns out that is not dependent. When the condition of the equation (9) is satisfied, the reflection of the first light beam 5 is performed when identifying an object such as a floor of a plate whose surfaces illustrated in the characteristics k1 and k2 in FIG. The incident angle dependence of the polarization ratio of the light beam 7 can be reduced. Therefore, it is possible to significantly improve the identification accuracy. Note that the above applies similarly to the first light receiving element 11a.

上述の図１の第１実施形態、および図８の第２実施形態では、図１２(Ｂ)に示すように、被測定物８に入射する第１光束５は無偏光ビームスプリッタ４ａを通過する光束として説明してきた。この場合は、反射光束７はビームスプリッタ４ａで反射した成分が信号光として検出されるので、ビームスプリッタ４ａの反射面４ａ−１(斜辺)に入射する角度の光が受光素子１１ａ,１１ｂに向かう方向へ反射され、信号光として受光素子１１ａ,１１ｂで検出される。この場合、ビームスプリッタ４ａの反射面４ａ−１の中心から被測定物８の表面８ａまでの距離をＬ(ｍｍ)とすると、受光素子１１ａ,１１ｂは次式(１０)で表される受光角で反射光を受光できる。
２ｔａｎ−１(Ｌ１/(２(Ｌ−Ｌ１))) …(１０) In the first embodiment shown in FIG. 1 and the second embodiment shown in FIG. 8, as shown in FIG. 12B, the first light beam 5 incident on the device under test 8 passes through the non-polarizing beam splitter 4a. It has been described as a luminous flux. In this case, since the component reflected by the beam splitter 4a of the reflected light beam 7 is detected as signal light, the light having an angle incident on the reflection surface 4a-1 (the oblique side) of the beam splitter 4a is directed to the light receiving elements 11a and 11b. Reflected in the direction and detected by the light receiving elements 11a and 11b as signal light. In this case, if the distance from the center of the reflecting surface 4a-1 of the beam splitter 4a to the surface 8a of the object 8 to be measured is L (mm), the light receiving elements 11a and 11b have a light receiving angle represented by the following equation (10). Can receive reflected light.
2 tan -1 (L1 / (2 (L-L1))) (10)

上式(１０)において、Ｌ１(ｍｍ)は図１２(Ｂ)に示す無偏光ビームスプリッタ４ａの一辺の長さである。   In the above equation (10), L1 (mm) is the length of one side of the non-polarizing beam splitter 4a shown in FIG.

これに対し、図１２(Ａ)に示すように、被測定物８の表面８ａに入射する第１光束５を無偏光ビームスプリッタ４ａの反射面４ａ−１(斜辺)で反射する光束とした場合、被測定物８の表面８ａで反射した反射光は、ビームスプリッタ４ａの反射面４ａ−１へ入射するか否かに関わらず、次式(１１−１)または(１１−２)で表される受光角でもって、受光素子に導くことができる。
２ｔａｎ−１(ｒ１/ａ１) … (１１−１)
２ｔａｎ−１(ｒ１/ａ２) … (１１−２) On the other hand, as shown in FIG. 12A, the first light beam 5 incident on the surface 8a of the object 8 to be measured is a light beam reflected by the reflecting surface 4a-1 (slanted side) of the non-polarizing beam splitter 4a. The reflected light reflected by the surface 8a of the object 8 to be measured is expressed by the following equation (11-1) or (11-2) regardless of whether or not the light enters the reflecting surface 4a-1 of the beam splitter 4a. The light receiving angle can be guided to the light receiving element.
2 tan -1 (r1 / a1) (11-1)
2 tan -1 (r1 / a2) (11-2)

上式(１１−１)は第１実施形態の場合に該当し、ｒ１(ｍｍ)は第１レンズ９の半径であり、ａ１(ｍｍ)は第１レンズ９の中心から無偏光ビームスプリッタ４ａの反射面４ａ−１を経由して被測定物８の表面８ａに至る光路距離である。   The above formula (11-1) corresponds to the case of the first embodiment, r1 (mm) is the radius of the first lens 9, and a1 (mm) is the center of the first lens 9 from the non-polarizing beam splitter 4a. This is the optical path distance from the reflecting surface 4a-1 to the surface 8a of the object 8 to be measured.

また、上式(１１−２)は第２実施形態の場合に該当し、ｒ１(ｍｍ)は第１レンズ９の半径であり、ａ２(ｍｍ)は第１レンズ９の中心から無偏光ビームスプリッタ４ａの反射面４ａ−１を経由して被測定物８の表面８ａに至る光路距離である。   Further, the above expression (11-2) corresponds to the case of the second embodiment, r1 (mm) is the radius of the first lens 9, and a2 (mm) is a non-polarizing beam splitter from the center of the first lens 9. This is the optical path distance from the surface 4a-1 to the surface 8a of the object 8 to be measured.

よって、図１２(Ａ)に示すように、ビームスプリッタ４ａで反射した光束を第１光束５として被測定物８に照射し、被測定物８からの反射光束７が無偏光ビームスプリッタ４ａを透過して、第１レンズ９に入射するように配置することによって、第１レンズ９の後段に配置される受光素子への受光量を増大させることができる。これにより、Ｓ/Ｎ比が高くなるので、被測定物８の識別を高精度にすることが可能となる。   Therefore, as shown in FIG. 12A, the light beam reflected by the beam splitter 4a is irradiated to the object 8 as the first light beam 5, and the reflected light beam 7 from the object 8 passes through the non-polarizing beam splitter 4a. Then, by arranging the light incident on the first lens 9, it is possible to increase the amount of light received by the light receiving element disposed at the subsequent stage of the first lens 9. Thereby, since the S / N ratio becomes high, it becomes possible to make the identification of the DUT 8 highly accurate.

また、上述の各実施の形態では、図１や図７で示したように、反射光束７を無偏光ビームスプリッタ４ｂによって２分割し、この２分割されたそれぞれの反射光束が互いに直交する偏光成分として第１,第２受光素子で受光する。このために、無偏光ビームスプリッタ４ｂと光学軸が直交するように配置された第１,第２直線偏光子１０ａ,１０ｂを備えていたが、これらの光学部品をＰビームスプリッタ(偏光ビームスプリッタ)としてもよい。このＰビームスプリッタを用いた方が部品点数を減少させることができ、さらに受光量も増大する。   In each of the above-described embodiments, as shown in FIGS. 1 and 7, the reflected light beam 7 is divided into two by the non-polarizing beam splitter 4b, and the two divided divided light beams are orthogonal to each other. Is received by the first and second light receiving elements. For this purpose, the first and second linear polarizers 10a and 10b are arranged so that their optical axes are orthogonal to the non-polarizing beam splitter 4b. However, these optical components are replaced with a P beam splitter (polarizing beam splitter). It is good. The use of this P beam splitter can reduce the number of components and further increase the amount of received light.

また、上述した光学式物体識別装置は、電気掃除機、特に、自走式の電気掃除機に搭載することが好適である。図１３は、本発明の各実施の形態で示した光学式物体識別装置を床面識別センサ１７として自走式の電気掃除機に搭載した様子を示す概略構成図である。掃除機本体１６の底面１６ａから第１光束５が出射するようになっている。この第１光束６が、床Ｆの表面で反射した反射光を受光して床面の種類を判別する。図１３(Ａ)には、被測定物がフローリングなどの平坦な床面Ｆ１である場合を示し、図１３(Ｂ)には、被測定物が絨毯などの毛足の長い床面Ｆ２である場合を示している。図１３(Ａ),(Ｂ)では、床面と床面識別センサ１７との間の距離Ｄが１５ｍｍである一例を示しているが、この距離Ｄが小さいと、図１３(Ｂ)に示す状態において、毛先が掃除機本体１６やセンサ部(無偏光ビームスプリッタ４ａ)に接触して好ましくない。さらに、図１４に示すように、床面に何らかの障害物Ｅがあり、掃除機が障害物Ｅに乗り上げて、掃除機が床面に対して傾いた場合に、床面と床面識別センサ１７との間の距離が大きいと正反射光軸は受光系に入射しなくなる。また、この場合にも、正反射光を受光しようとすると各光学部品を大きくする必要ある。したがって、被測定物８の表面８ａからビームスプリッタ４ａまでの距離を約１５ｍｍとすることにより、床面識別センサ１７の大きさが、それを必要とする電子機器(例えば、自走式掃除機)に搭載することを可能とする。この距離が１５ｍｍのときはビームスプリッタ４ａの一辺のサイズを一例として１０ｍｍとすることができ、床面識別センサ１７(光学式物体識別装置)全体のサイズを例えば３０ｍｍ×４０ｍｍ×２０ｍｍ程度の外径寸法にすることができる。   The optical object identification device described above is preferably mounted on a vacuum cleaner, particularly a self-propelled vacuum cleaner. FIG. 13 is a schematic configuration diagram showing a state in which the optical object identification device shown in each embodiment of the present invention is mounted on a self-propelled electric vacuum cleaner as a floor surface identification sensor 17. The first light beam 5 is emitted from the bottom surface 16 a of the cleaner body 16. The first light beam 6 receives the reflected light reflected from the surface of the floor F and determines the type of the floor surface. FIG. 13A shows the case where the object to be measured is a flat floor surface F1 such as flooring, and FIG. 13B shows the object to be measured is a floor surface F2 having a long bristle such as a carpet. Shows the case. 13A and 13B show an example in which the distance D between the floor surface and the floor surface identification sensor 17 is 15 mm. If the distance D is small, the distance D is shown in FIG. In this state, the hair ends are not preferable because they contact the cleaner body 16 and the sensor unit (non-polarizing beam splitter 4a). Furthermore, as shown in FIG. 14, when there is some obstacle E on the floor, the cleaner rides on the obstacle E, and the cleaner is tilted with respect to the floor, the floor and floor identification sensor 17. When the distance between the optical axis and the optical axis is large, the regular reflection optical axis does not enter the light receiving system. Also in this case, it is necessary to enlarge each optical component in order to receive regular reflection light. Therefore, by setting the distance from the surface 8a of the object to be measured 8 to the beam splitter 4a to be about 15 mm, the size of the floor surface identification sensor 17 is set to an electronic device that requires it (for example, a self-propelled cleaner). It can be mounted on. When this distance is 15 mm, the size of one side of the beam splitter 4a can be set to 10 mm as an example, and the overall size of the floor surface identification sensor 17 (optical object identification device) is, for example, an outer diameter of about 30 mm × 40 mm × 20 mm. Can be dimensioned.

この発明の光学式物体識別装置の第１実施形態の概略構成を示す模式図である。1 is a schematic diagram showing a schematic configuration of a first embodiment of an optical object identification device of the present invention. 上記第１実施形態によって各種の被測定物を測定した結果を示す特性図である。It is a characteristic view which shows the result of having measured various to-be-measured objects by the said 1st Embodiment. 参考例によって各種の被測定物を測定した結果を示す特性図である。It is a characteristic view which shows the result of having measured various to-be-measured objects by the reference example. 図１の光学系の受光に関する要部を示す模式図である。It is a schematic diagram which shows the principal part regarding the light reception of the optical system of FIG. 図１の光学系の第１レンズと受光素子との間の構成を示す模式図である。It is a schematic diagram which shows the structure between the 1st lens and light receiving element of the optical system of FIG. 図６(Ａ),(Ｂ)は第１光束の一端と他端からの反射光束の経路を詳細に示す説明図である。FIGS. 6A and 6B are explanatory diagrams showing in detail the path of the reflected light beam from one end and the other end of the first light beam. この発明の光学式物体識別装置の第２実施形態の構成を示す模式図である。It is a schematic diagram which shows the structure of 2nd Embodiment of the optical object identification device of this invention. 上記第２実施形態の光学系の受光に関する要部を示す模式図である。It is a schematic diagram which shows the principal part regarding the light reception of the optical system of the said 2nd Embodiment. 図７の光学系の第１レンズと受光素子との間の構成を示す模式図である。It is a schematic diagram which shows the structure between the 1st lens and light receiving element of the optical system of FIG. 図７の光学系の第１レンズと第２レンズとの配置関係を詳細に示す模式図である。It is a schematic diagram which shows the arrangement | positioning relationship between the 1st lens of the optical system of FIG. 7, and a 2nd lens in detail. 図７の光学系の各光学部品の最適配置を説明する図である。It is a figure explaining the optimal arrangement | positioning of each optical component of the optical system of FIG. 図１２(Ａ)は、第１,第２実施形態の出射系の変形例の構成を示す図であり、図１２(Ｂ)は、第１,第２実施形態の出射系に相当する構成を示す図である。FIG. 12A is a diagram showing a configuration of a modification of the emission system of the first and second embodiments, and FIG. 12B shows a configuration corresponding to the emission system of the first and second embodiments. FIG. 図１３(Ａ)は上記光学式物体識別装置を搭載した自走式掃除機が平らな床面を走行している様子を示す模式図であり、図１３(Ｂ)は上記自走式掃除機が絨毯等の床面を走行している様子を示す模式図である。FIG. 13A is a schematic view showing a state where a self-propelled cleaner equipped with the optical object identification device is traveling on a flat floor surface, and FIG. 13B is a diagram showing the self-propelled cleaner. It is a schematic diagram which shows a mode that is driving | running | working floor surfaces, such as a carpet. 上記自走式掃除機が床面の障害物に乗り上げた様子を示す模式図である。It is a schematic diagram which shows a mode that the said self-propelled vacuum cleaner got on the obstacle of a floor surface.

符号の説明Explanation of symbols

１ 半導体レーザ
２ コリメータレンズ
３ 絞り
４ａ,４ｂ 無偏光ビームスプリッタ
５ 第１光束
６ 第２光束
７ 反射光束
８ 被測定物
９ 第１レンズ
１０ａ,１０ｂ 直線偏光子
１１ａ,１１ｂ 受光素子
１２ 第１反射光束
１３ 第２反射光束
１４ 信号処理回路
１５ 第２レンズ
１６ 自走式掃除機
１７ 床面識別センサ DESCRIPTION OF SYMBOLS 1 Semiconductor laser 2 Collimator lens 3 Diaphragm 4a, 4b Non-polarizing beam splitter 5 1st light beam 6 2nd light beam 7 Reflected light beam 8 Measured object 9 1st lens 10a, 10b Linear polarizer 11a, 11b Light receiving element 12 1st reflected light beam 13 Second reflected light beam 14 Signal processing circuit 15 Second lens 16 Self-propelled vacuum cleaner 17 Floor surface identification sensor

Claims (19)

半導体発光素子を有する発光部と、
上記発光部から出射した光を第１光束と第２光束に分割する第１光分岐素子を有すると共に上記第１光束を被測定物に照射する投光部と、
上記被測定物で反射した反射光を集光する第１レンズと、
上記第１レンズで集光した光束を第１反射光束と第２反射光束に分割する第２光分岐素子と、
上記第１反射光束が入射すると共にこの第１反射光束のうちの所定の偏光方向の成分を通過させる第１直線偏光子と、
上記第２反射光束が入射すると共にこの第２反射光束のうちの上記所定の偏光方向と直交する偏光方向の成分を通過させる第２直線偏光子と、
上記第１直線偏光子を通過した第１反射光束を受光する第１受光素子と、
上記第２直線偏光子を通過した第２反射光束を受光する第２受光素子と、
上記第１受光素子が出力する第１受光信号と上記第２受光素子が出力する第２受光信号とが入力され、この第１,第２受光信号に基づいて、上記反射光の偏光情報を測定する信号処理部とを備え、
上記被測定物の表面で反射した上記反射光のうちの正反射光成分が上記第１レンズを介して上記第１および第２受光素子の受光面内に入射することを特徴とする光学式物体識別装置。 A light emitting unit having a semiconductor light emitting element;
A light projecting unit that has a first light branching element that divides the light emitted from the light emitting unit into a first light beam and a second light beam, and irradiates the object to be measured with the first light beam;
A first lens that collects the reflected light reflected by the object to be measured;
A second light branching element that splits the light beam collected by the first lens into a first reflected light beam and a second reflected light beam;
A first linear polarizer that allows the first reflected light beam to enter and allows a component in a predetermined polarization direction of the first reflected light beam to pass through;
A second linear polarizer that allows the second reflected light beam to enter and pass a component of the second reflected light beam that has a polarization direction orthogonal to the predetermined polarization direction;
A first light receiving element that receives the first reflected light beam that has passed through the first linear polarizer;
A second light receiving element that receives the second reflected light beam that has passed through the second linear polarizer;
The first light receiving signal output from the first light receiving element and the second light receiving signal output from the second light receiving element are input, and the polarization information of the reflected light is measured based on the first and second light receiving signals. And a signal processing unit
An optical object in which a specularly reflected light component of the reflected light reflected from the surface of the object to be measured is incident on the light receiving surfaces of the first and second light receiving elements through the first lens. Identification device. 請求項１に記載の光学式物体識別装置において、
上記第１レンズの焦点距離をｆ(ｍｍ)とし、上記被測定物から上記第１光分岐素子を経由して上記第１レンズに至る光路距離をａ１(ｍｍ)とするとき、
ｆ＜ａ１ …(１)
上式(１)を満たすことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 1,
When the focal length of the first lens is f (mm) and the optical path distance from the object to be measured to the first lens via the first optical branching element is a1 (mm),
f <a1 (1)
An optical object identification device satisfying the above expression (1). 請求項２に記載の光学式物体識別装置において、
上記第１レンズの半径をｒ１(ｍｍ)とし、上記第１光束と上記被測定物の上記表面の法線とがなす角をθ(ラジアン)とするとき、
ｔａｎ−１(ｒ１/ａ１)＞２θ …(２)
上式(２)を満たすことを特徴とする光学式物体識別装置。 In the optical object identification device according to claim 2,
When the radius of the first lens is r1 (mm) and the angle formed by the first light beam and the normal of the surface of the object to be measured is θ (radian),
tan −1 (r1 / a1)> 2θ (2)
An optical object identification device satisfying the above equation (2). 請求項３に記載の光学式物体識別装置において、
上記第１レンズから上記第２光分岐素子を経由して上記第１,第２受光素子に至る光路距離をｂ１(ｍｍ)とするとき、
１/ｆ＝（１/ａ１）＋（１/ｂ１） …(３)
上式(３)を満たすことを特徴とする光学式物体識別装置。 In the optical object identification device according to claim 3,
When the optical path distance from the first lens to the first and second light receiving elements via the second light branching element is b1 (mm),
1 / f = (1 / a1) + (1 / b1) (3)
An optical object identification device satisfying the above expression (3). 請求項４に記載の光学式物体識別装置において、
上記第１レンズの半径をｒ１(ｍｍ)とし、
上記第２光分岐素子の１辺の長さをＬｂ(ｍｍ)とし、
上記第２光分岐素子の反射面と上記第１,第２受光素子との間の距離をｘ１(ｍｍ)とするとき、
ｘ１＜(Ｌｂ/２)・(ｂ１−ｒ１)/ｒ１ …(４)
上式(４)を満たすことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 4,
The radius of the first lens is r1 (mm),
The length of one side of the second optical branching element is Lb (mm),
When the distance between the reflection surface of the second light branching element and the first and second light receiving elements is x1 (mm),
x1 <(Lb / 2). (b1-r1) / r1 (4)
An optical object identification device satisfying the above expression (4). 請求項１乃至５のいずれか１つに記載の光学式物体識別装置において、
上記被測定物から上記第１光分岐素子を経由して上記第１レンズに至る光路距離をａ１(ｍｍ)とし、
上記第１レンズから上記第２光分岐素子を経由して上記第１,第２受光素子に至る光路距離をｂ１(ｍｍ)とし、
上記第１および第２受光素子の受光面の大きさをｄ(ｍｍ)とし、
上記被測定物の表面での上記第１光束のビーム径をφ(ｍｍ)とするとき、
ｄ＞(ｂ１/ａ１)・φ …(５)
上式(５)を満たすことを特徴とする光学式物体識別装置。 The optical object identification device according to any one of claims 1 to 5,
The optical path distance from the object to be measured to the first lens via the first light branching element is a1 (mm),
The optical path distance from the first lens to the first and second light receiving elements via the second light branching element is b1 (mm),
The size of the light receiving surface of the first and second light receiving elements is d (mm),
When the diameter of the first light beam on the surface of the object to be measured is φ (mm),
d> (b1 / a1) · φ (5)
An optical object identification device satisfying the above expression (5). 請求項１に記載の光学式物体識別装置において、
上記第１レンズと上記第２光分岐素子との間の光軸上に、第２レンズを配置したことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 1,
An optical object identification device, wherein a second lens is disposed on an optical axis between the first lens and the second optical branching element. 請求項７に記載の光学式物体識別装置において、
上記被測定物から上記第１光分岐素子を経由して上記第１レンズに至る光路距離をａ２(ｍｍ)とし、上記第１レンズの焦点距離をｆ１(ｍｍ)とすると、上記ａ２(ｍｍ)と上記ｆ１(ｍｍ)とが略等しいことを特徴とする光学式物体識別装置。 In the optical object identification device according to claim 7,
If the optical path distance from the object to be measured to the first lens via the first optical branching element is a2 (mm) and the focal length of the first lens is f1 (mm), the a2 (mm) And f1 (mm) are substantially equal to each other. 請求項８に記載の光学式物体識別装置において、
上記第１レンズの半径をｒ１(ｍｍ)とし、
上記第１光束と上記被測定物の表面の法線とがなす角をθ(ラジアン)とするとき、
ｔａｎ−１(ｒ１/ａ２)＞２θ …(６)
上式(６)を満たすことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 8,
The radius of the first lens is r1 (mm),
When the angle formed by the first luminous flux and the normal of the surface of the object to be measured is θ (radian),
tan −1 (r1 / a2)> 2θ (6)
An optical object identification device satisfying the above equation (6). 請求項８または９に記載の光学式物体識別装置において、
上記第１および第２受光素子と上記第２レンズとの間の光路距離をｂ２(ｍｍ)とし、上記第２レンズの焦点距離をｆ２(ｍｍ)とするとき、上記光路距離ｂ２(ｍｍ)と焦点距離ｆ２(ｍｍ)とが略等しいことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 8 or 9,
When the optical path distance between the first and second light receiving elements and the second lens is b2 (mm) and the focal length of the second lens is f2 (mm), the optical path distance b2 (mm) An optical object identification device having a focal length f2 (mm) substantially equal. 請求項１０に記載の光学式物体識別装置において、
上記第２光分岐素子の一辺の長さをＬｂ(ｍｍ)とし、
上記第２レンズの半径をｒ２(ｍｍ)とし、
上記第２光分岐素子の反射面と上記第１,第２受光素子との間の距離をｘ２(ｍｍ)とするとき、
ｘ２＜(Ｌｂ/２)・(ｂ２−ｒ２)/ｒ２ …(７)
上式(７)を満たすことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 10,
The length of one side of the second optical branching element is Lb (mm),
The radius of the second lens is r2 (mm),
When the distance between the reflection surface of the second light branching element and the first and second light receiving elements is x2 (mm),
x2 <(Lb / 2) · (b2-r2) / r2 (7)
An optical object identification device satisfying the above expression (7). 請求項１０または１１に記載の光学式物体識別装置において、
上記第２レンズの半径ｒ２(ｍｍ)は上記第１レンズの半径ｒ１(ｍｍ)以上であることを特徴とする光学式物体識別装置。 The optical object identification device according to claim 10 or 11,
An optical object identification device, wherein a radius r2 (mm) of the second lens is equal to or larger than a radius r1 (mm) of the first lens. 請求項１２に記載の光学式物体識別装置において、
上記第１レンズと第２レンズとの間の距離をＳ(ｍｍ)とし、
上記被測定物の表面での第１光束のビーム径をφ(ｍｍ)とするとき、
ｒ２/ｒ１＞(Ｓ・(φ/２)＋ａ２・ｒ１)/(ａ２・ｒ１) …(８)
上式(８)を満たすことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 12,
The distance between the first lens and the second lens is S (mm),
When the beam diameter of the first light beam on the surface of the object to be measured is φ (mm),
r2 / r1> (S · (φ / 2) + a2 · r1) / (a2 · r1) (8)
An optical object identification device satisfying the above equation (8). 請求項１３に記載の光学式物体識別装置において、
上記第１および第２受光素子の受光面の大きさをｄ(ｍｍ)とするとき、
ｄ＞(ｂ２/ａ２)・φ …(９)
上式(９)を満たすことを特徴とする光学式物体識別装置。 The optical object identification device according to claim 13,
When the size of the light receiving surface of the first and second light receiving elements is d (mm),
d> (b2 / a2) · φ (9)
An optical object identification device satisfying the above equation (9). 請求項１乃至１４のいずれか１つに記載の光学式物体識別装置において、
上記第１光分岐素子で２分割される光束について、
上記第１光分岐素子で反射する成分が第１光束であり、
上記第１光分岐素子を透過する成分が第２光束であることを特徴とする光学式物体識別装置。 The optical object identification device according to any one of claims 1 to 14,
About the light beam divided into two by the first optical branching element,
The component reflected by the first light branching element is the first light flux,
An optical object identification device characterized in that a component transmitted through the first light branching element is a second light beam. 請求項１乃至１５のいずれか１つに記載の光学式物体識別装置において、
上記第２光分岐素子と第１および第２直線偏光子が偏光ビームスプリッタで構成されていることを特徴とする光学式物体識別装置。 In the optical object identification device according to any one of claims 1 to 15,
An optical object identification device, wherein the second optical branching element and the first and second linear polarizers are constituted by a polarization beam splitter. 請求項１乃至１６のいずれか１つに記載の光学式物体識別装置において、
上記被測定物の上記表面から上記第１光分岐素子までの距離が約１５ｍｍであることを特徴とする光学式物体識別装置。 The optical object identification device according to any one of claims 1 to 16,
An optical object identification device, wherein a distance from the surface of the object to be measured to the first light branching element is about 15 mm. 請求項１乃至１７のいずれか１つに記載の光学式物体識別装置を搭載したことを特徴とする電気掃除機。   A vacuum cleaner comprising the optical object identification device according to any one of claims 1 to 17. 請求項１乃至１８のいずれか１つに記載の光学式物体識別装置を搭載したことを特徴とする自走式電気掃除機。
A self-propelled electric vacuum cleaner equipped with the optical object identification device according to any one of claims 1 to 18.
JP2004361302A 2004-06-04 2004-12-14 Optical device for object identification Withdrawn JP2006170699A (en)

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