WO2012132086A1 - 情報取得装置及び情報取得装置を搭載する物体検出装置 - Google Patents
情報取得装置及び情報取得装置を搭載する物体検出装置 Download PDFInfo
- Publication number
- WO2012132086A1 WO2012132086A1 PCT/JP2011/075387 JP2011075387W WO2012132086A1 WO 2012132086 A1 WO2012132086 A1 WO 2012132086A1 JP 2011075387 W JP2011075387 W JP 2011075387W WO 2012132086 A1 WO2012132086 A1 WO 2012132086A1
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- WIPO (PCT)
- Prior art keywords
- housing
- laser light
- information acquisition
- laser
- light source
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/20—Cooling means
Definitions
- the present invention relates to an object detection apparatus that detects an object in a target area based on a state of reflected light when light is projected onto the target area, and an information acquisition apparatus suitable for use in the object detection apparatus.
- An object detection device using light has been developed in various fields.
- An object detection apparatus using a so-called distance image sensor can detect not only a planar image on a two-dimensional plane but also the shape and movement of the detection target object in the depth direction.
- light in a predetermined wavelength band is projected from a laser light source or LED (Light-Emitting-Diode) onto a target area, and the reflected light is received by a light-receiving element such as a CMOS image sensor.
- CMOS image sensor Light-Emitting-Diode
- a distance image sensor of a type that irradiates a target region with laser light having a predetermined dot pattern reflected light from the target region of laser light having a dot pattern is received by a light receiving element. Based on the light receiving position of the dot on the light receiving element, the distance to each part of the detection target object (irradiation position of each dot on the detection target object) is detected using triangulation (for example, non-patent) Reference 1).
- triangulation for example, non-patent
- a laser light source, a collimator lens, and a diffractive optical element are used as an optical system for projecting a dot pattern laser beam.
- these optical elements are arranged side by side in the projection direction, the dimensions of the optical system in the projection direction become large.
- a temperature adjusting element such as a Peltier element
- the size of the projection optical system in the projection direction is further increased.
- the optical characteristics of the diffractive optical element depend on the wavelength of the laser light, a configuration for suppressing the temperature change of the laser light source is required. Further, if the laser light source is held at a high temperature, the life of the laser light source is shortened.
- the present invention has been made to solve such a problem, and provides an information acquisition device capable of suppressing a temperature change of a laser light source while reducing the size of the device, and an object detection device equipped with the information acquisition device. For the purpose.
- the first aspect of the present invention relates to an information acquisition device.
- the information acquisition device includes a light emitting device that irradiates a target region with a laser beam of a dot pattern, a light receiving device that is arranged side by side on the light emitting device, and that images the target region, and the light emitting device and the light receiving device include And a support plate having thermal conductivity.
- the light emitting device includes a laser light source, a collimator lens that converts laser light emitted from the laser light source into parallel light, and a diffractive optical element that converts the laser light converted into the parallel light into a laser having the dot pattern.
- the side surface of the housing opposite to the reflection direction of the laser light by the mirror is a flat surface, and the housing is installed on the support plate so that the flat surface is placed on the upper surface of the support plate. ing.
- the second aspect of the present invention relates to an object detection apparatus.
- the object detection apparatus according to this aspect includes the information acquisition apparatus according to the first aspect.
- an information acquisition device capable of suppressing a temperature change of a laser light source and an object detection device equipped with the information acquisition device while reducing the size of the device.
- an information acquisition device of a type that irradiates a target area with laser light having a predetermined dot pattern is exemplified.
- FIG. 1 shows a schematic configuration of the object detection apparatus according to the present embodiment.
- the object detection device includes an information acquisition device 1 and an information processing device 2.
- the television 3 is controlled by a signal from the information processing device 2.
- the information acquisition device 1 projects infrared light over the entire target area and receives the reflected light with a CMOS image sensor, whereby the distance between each part of the object in the target area (hereinafter referred to as “three-dimensional distance information”). To get.
- the acquired three-dimensional distance information is sent to the information processing apparatus 2 via the cable 4.
- the information processing apparatus 2 is, for example, a controller for TV control, a game machine, a personal computer, or the like.
- the information processing device 2 detects an object in the target area based on the three-dimensional distance information received from the information acquisition device 1, and controls the television 3 based on the detection result.
- the information processing apparatus 2 detects a person based on the received three-dimensional distance information and detects the movement of the person from the change in the three-dimensional distance information.
- the information processing device 2 is a television control controller
- the information processing device 2 detects the person's gesture from the received three-dimensional distance information and outputs a control signal to the television 3 in accordance with the gesture.
- the application program to be installed is installed.
- the user can cause the television 3 to execute a predetermined function such as channel switching or volume up / down by making a predetermined gesture while watching the television 3.
- the information processing device 2 when the information processing device 2 is a game machine, the information processing device 2 detects the person's movement from the received three-dimensional distance information, and displays a character on the television screen according to the detected movement.
- An application program that operates and changes the game battle situation is installed. In this case, the user can experience a sense of realism in which he / she plays a game as a character on the television screen by making a predetermined movement while watching the television 3.
- FIG. 2 is a diagram showing the configuration of the information acquisition device 1 and the information processing device 2.
- XYZ axes orthogonal to each other are attached to indicate directions related to the projection optical system 100 and the light receiving optical system 200.
- the information acquisition apparatus 1 includes a projection optical system 100 and a light receiving optical system 200 as a configuration of an optical unit.
- the projection optical system 100 and the light receiving optical system 200 are arranged in the information acquisition apparatus 1 so as to be aligned in the Z-axis direction.
- the projection optical system 100 includes a laser light source 110, a collimator lens 120, a rising mirror 130, and a diffractive optical element (DOE: Diffractive Optical Element) 140.
- the light receiving optical system 200 includes a filter 210, an aperture 220, an imaging lens 230, and a CMOS image sensor 240.
- the information acquisition device 1 includes a CPU (Central Processing Unit) 21, a laser driving circuit 22, an imaging signal processing circuit 23, an input / output circuit 24, and a memory 25 as a circuit unit.
- CPU Central Processing Unit
- the laser light source 110 outputs laser light in a narrow wavelength band with a wavelength of about 830 nm in a direction away from the light receiving optical system 200 (Z-axis positive direction).
- the collimator lens 120 converts the laser light emitted from the laser light source 110 into light slightly spread from parallel light (hereinafter simply referred to as “parallel light”).
- the raising mirror 130 reflects the laser beam incident from the collimator lens 120 side in the direction toward the DOE 140 (Y-axis positive direction).
- the DOE 140 has a diffraction pattern on the incident surface. Due to the diffraction effect of the diffraction pattern, the laser light incident on the DOE 140 is converted into a dot pattern laser light and irradiated onto the target region.
- the diffraction pattern has, for example, a structure in which a step type diffraction hologram is formed in a predetermined pattern. The diffraction hologram is adjusted in pattern and pitch so as to convert the laser light converted into parallel light by the collimator lens 120 into laser light of a dot pattern.
- the DOE 140 irradiates the target region with the laser beam incident from the rising mirror 130 as a laser beam having a dot pattern that spreads radially.
- the size of each dot in the dot pattern depends on the beam size of the laser light when entering the DOE 140.
- Laser light (0th order light) that is not diffracted by the DOE 140 passes through the DOE 140 and travels straight.
- the laser light reflected from the target area enters the imaging lens 230 via the filter 210 and the aperture 220.
- the filter 210 is a band-pass filter that transmits light in a wavelength band including the emission wavelength (about 830 nm) of the laser light source 110 and cuts the wavelength band of visible light.
- the aperture 220 stops the light from the outside so as to match the F number of the imaging lens 230.
- the imaging lens 230 condenses the light incident through the aperture 220 on the CMOS image sensor 240.
- the CMOS image sensor 240 receives the light collected by the imaging lens 230 and outputs a signal (charge) corresponding to the amount of received light to the imaging signal processing circuit 23 for each pixel.
- the output speed of the signal is increased so that the signal (charge) of the pixel can be output to the imaging signal processing circuit 23 with high response from the light reception in each pixel.
- the CPU 21 controls each unit according to a control program stored in the memory 25.
- the CPU 21 is provided with the functions of a laser control unit 21a for controlling the laser light source 110 and a distance calculation unit 21b for generating three-dimensional distance information.
- the laser drive circuit 22 drives the laser light source 110 according to a control signal from the CPU 21.
- the imaging signal processing circuit 23 controls the CMOS image sensor 240 and sequentially takes in the signal (charge) of each pixel generated by the CMOS image sensor 240 for each line. Then, the captured signals are sequentially output to the CPU 21. Based on the signal (imaging signal) supplied from the imaging signal processing circuit 23, the CPU 21 calculates the distance from the information acquisition device 1 to each part of the detection target by processing by the distance calculation unit 21b.
- the input / output circuit 24 controls data communication with the information processing apparatus 2.
- the information processing apparatus 2 includes a CPU 31, an input / output circuit 32, and a memory 33.
- the information processing apparatus 2 has a configuration for performing communication with the television 3 and for reading information stored in an external memory such as a CD-ROM and installing it in the memory 33.
- an external memory such as a CD-ROM
- the configuration of these peripheral circuits is not shown for the sake of convenience.
- the CPU 31 controls each unit according to a control program (application program) stored in the memory 33.
- a control program application program
- the CPU 31 is provided with the function of the object detection unit 31a for detecting an object in the image.
- a control program is read from a CD-ROM by a drive device (not shown) and installed in the memory 33, for example.
- the object detection unit 31a detects a person in the image and its movement from the three-dimensional distance information supplied from the information acquisition device 1. Then, a process for operating the character on the television screen according to the detected movement is executed by the control program.
- the object detection unit 31 a detects a person in the image and its movement (gesture) from the three-dimensional distance information supplied from the information acquisition device 1. To do. Then, processing for controlling functions (channel switching, volume adjustment, etc.) of the television 3 is executed by the control program in accordance with the detected movement (gesture).
- the input / output circuit 32 controls data communication with the information acquisition device 1.
- FIG. 3A is a diagram schematically showing the irradiation state of the laser light on the target region
- FIG. 3B is a diagram schematically showing the light receiving state of the laser light in the CMOS image sensor 240.
- FIG. 6B shows a light receiving state when a flat surface (screen) exists in the target area.
- laser light having a dot pattern (hereinafter, the entire laser light having this pattern is referred to as “DP light”) is irradiated onto the target area.
- DP light laser light having a dot pattern
- the light flux region of DP light is indicated by a solid line frame.
- dot regions (hereinafter simply referred to as “dots”) in which the intensity of the laser light is increased by the diffraction action by the DOE 140 are scattered according to the dot pattern by the diffraction action by the DOE 140.
- the light beam of DP light is divided into a plurality of segment regions arranged in a matrix.
- dots are scattered in a unique pattern.
- the dot dot pattern in one segment area is different from the dot dot pattern in all other segment areas.
- each segment area can be distinguished from all other segment areas with a dot dot pattern.
- the segment areas of DP light reflected thereby are distributed in a matrix on the CMOS image sensor 240 as shown in FIG.
- the light in the segment area S0 on the target area shown in FIG. 11A is incident on the segment area Sp shown in FIG.
- the light flux region of DP light is indicated by a solid frame, and for convenience, the light beam of DP light is divided into a plurality of segment regions arranged in a matrix.
- the position of each segment area on the CMOS image sensor 240 is detected, and the position corresponding to each segment area of the detection target object is determined based on the triangulation method from the detected position of each segment area.
- the distance to is detected. Details of such a detection technique are described in, for example, Non-Patent Document 1 (The 19th Annual Conference of the Robotics Society of Japan (September 18-20, 2001), Proceedings, P1279-1280).
- the optical characteristics of the DOE 140 depend on the wavelength of the laser beam.
- the wavelength of the laser light is likely to change, and the dot pattern of the laser light is likely to change accordingly.
- the dot pattern changes in this way, the dot pattern cannot be properly verified. As a result, there is a possibility that the accuracy of detecting the distance to the detection target object is lowered.
- a temperature adjusting element such as a Peltier element can be used as the temperature adjusting means of the laser light source.
- a temperature adjusting element such as a Peltier element
- the projection optical system 100 when the projection optical system 100 is arranged in the projection direction of the light toward the target area, the dimension of the projection optical system 100 in the projection direction becomes large. On the other hand, a certain distance or more is required between the projection optical system 100 and the light receiving optical system 200 in order to measure the distance based on the triangulation method. Therefore, when the size of the projection optical system 100 in the projection direction is increased as described above, the outer shape of the entire information acquisition apparatus 1 is increased in combination with the interval between the projection optical system 100 and the light receiving optical system 200.
- a configuration for suppressing an increase in size of the information processing apparatus 1 and efficiently dissipating the heat of the laser light source 110 is provided.
- FIG. 4 is an exploded perspective view showing a configuration example of the light emitting device 10 according to the present embodiment.
- the light emitting device 10 is a device in which the projection optical system 100 in FIG. 2 is unitized together with other components.
- FIG. 4A shows the front, rear, left, right, and up and down directions along with the XYZ axes shown in FIG. The vertical direction is parallel to the Y-axis direction, the horizontal direction is parallel to the X-axis direction, and the front-back direction is parallel to the Z-axis direction.
- the light emitting device 10 includes a laser holder 111, a lens holder 121, and a DOE holder in addition to the laser light source 110, the collimator lens 120, the rising mirror 130, and the DOE 140 described above. 141, a housing 150, and a pressing spring 160 are provided.
- the laser light source 110 has a base 110a and a CAN 110b.
- the base 110a has a circular outline with a part of the outer periphery cut out when viewed from the front.
- the collimator lens 120 has a large diameter portion 120a having a cylindrical outer peripheral surface and a small diameter portion 120b having a diameter smaller than that of the large diameter portion.
- the laser holder 111 is a frame member having a square outline in a front view and having a circular opening 111a formed at the center.
- the opening 111a penetrates the laser holder 111 in the front-rear direction, and has a configuration in which two cylindrical holes having different diameters are arranged on the same axis.
- the diameter of the hole in front of the opening 111a is larger than the diameter of the hole in the rear, and a ring-shaped step is formed at the boundary where the diameter changes.
- the diameter of the hole in front of the opening 111a is slightly larger than the diameter of the base 110a of the laser light source 110.
- the laser light source 110 is positioned with respect to the laser holder 111 by fitting the base 110a into the opening 111a from the front side until the rear surface of the base 110a of the laser light source 110 contacts the step in the opening 111a. In this state, an adhesive is injected into a cutout on the outer periphery of the base 110 a, and the laser light source 110 is bonded and fixed to the laser holder 111.
- the laser holder 111 is formed of a material having high thermal conductivity.
- the laser holder 111 is made of a material such as zinc having a high thermal conductivity of 121 W / (m ⁇ K), and is manufactured by general die casting.
- step portions 111 b that are one step higher than the other portions are formed on the outer peripheral portion of the back surface of the laser holder 111.
- the four step portions 111b have the same height and the same shape.
- the end faces in the height direction of the four step portions 111b are all parallel to the XY plane.
- the position of the laser light source 110 is adjusted by displacing the laser holder 111 in the in-plane direction of the XY plane while the stepped portion 111b is in contact with the outer surface of the housing 150. At this time, since the contact area between the step portion 111b and the outer surface of the housing 150 is small, the laser holder 111 can be displaced smoothly.
- the lens holder 121 is formed of a frame member having a substantially circular outline in a front view and having an opening 121a formed at the center.
- the opening 121a penetrates the lens holder 121 in the front-rear direction, and has a configuration in which two cylindrical holes having different diameters are arranged on the same axis.
- the diameter of the hole in front of the opening 121a is larger than the diameter of the hole in the rear, and a ring-shaped step is formed at the boundary where the diameter changes.
- the diameter of the hole in front of the opening 121a is slightly larger than the diameter of the large diameter portion 120a of the collimator lens 120.
- the collimator lens 120 is positioned with respect to the lens holder 121 by fitting the large diameter portion 120a into the opening 121a from the front side until the rear surface of the large diameter portion 120a of the collimator lens 120 contacts the step in the opening 121a. In this state, the collimator lens 120 is bonded and fixed to the lens holder 121.
- a recess 121c extending in the front-rear direction is formed on the upper surface of the lens holder 121.
- a convex part 121d extending in the front-rear direction is formed in the concave part 121c.
- two grooves 121 b are formed on the side surfaces of the lens holder 121 for allowing an adhesive to flow in when the collimator lens 120 and the lens holder 121 are bonded and fixed.
- a rectangular groove 121e extending linearly in the left-right direction (X-axis direction) is formed on the lower surface of the lens holder 121 (see FIG. 5B).
- This groove 121e is used when adjusting the position of the lens holder 121 in the front-rear direction (Z-axis direction).
- the center of the convex part 121d and the center of the groove 121e in the circumferential direction of the lens holder 121 are in a state shifted from each other by 180 degrees. Therefore, when the convex portion 121d faces right above, the groove 121e turns right below.
- the DOE holder 141 has a step (not shown) for mounting the DOE 140 on the lower surface.
- an opening 141 a for guiding the laser beam to the target area is formed in the center of the DOE holder 141.
- the DOE 140 is fitted into the DOE holder 141 from below the DOE holder 141, and is fixed by adhesion.
- step portions 141 b for fixing the DOE holder 141 to the housing 150 are formed at the left and right ends of the DOE holder 141.
- the housing 150 is formed of a bottomed frame member having a rectangular outline in a top view.
- the housing 150 has a symmetrical shape with respect to a plane parallel to the YZ plane, except for the shape of the screw hole 150i.
- the housing 150 is formed of a material having high thermal conductivity.
- the housing 150 is made of a material having a high thermal conductivity such as zinc having a thermal conductivity of 121 W / (m ⁇ K) or magnesium having a thermal conductivity of 157 W / (m ⁇ K).
- a material having a high thermal conductivity such as zinc having a thermal conductivity of 121 W / (m ⁇ K) or magnesium having a thermal conductivity of 157 W / (m ⁇ K).
- zinc is slightly inferior in thermal conductivity compared with magnesium, manufacturing cost can be suppressed.
- the best material is used for the housing 150 depending on the situation.
- a mirror mounting portion 150a inclined by 45 ° in the in-plane direction of the YZ plane is formed on the inner rear side of the housing 150.
- the rising mirror 130 is mounted on the mirror mounting portion 150a and fixed by adhesion.
- a U-shaped opening 150 b is formed on the front side surface of the housing 150. The width of the opening 150b in the left-right direction is larger than the diameter of the CAN 110b of the laser light source 110.
- a hole 150c for guiding a Z-axis adjusting jig (not shown) to the groove 121e of the lens holder 121 is formed on the bottom surface of the housing 150 (see FIG. 5B).
- the diameter of the hole 150c is larger than the width of the groove 121e of the lens holder 121 in the Z-axis direction.
- Two holes 150e for allowing the UV adhesive to flow into the interior of the housing 150 are formed in the two side surfaces of the housing 150 in the left-right direction.
- a pair of inclined surfaces 150d facing each other are formed at the lower ends of the two inner side surfaces of the housing 150 in the left-right direction.
- the two inclined surfaces 150d are inclined at the same angle in the downward direction with respect to the plane parallel to the XZ plane.
- a step 150f for mounting the DOE holder 141 and four screw holes 150g are formed on the upper surface of the housing 150.
- the width of the step portion 150f in the Z-axis direction is slightly larger than the width of the left and right step portions 141b of the DOE holder 141.
- Two flanges 150 h projecting in the outer direction of the housing 150 are formed at the lower ends of the two outer surfaces aligned in the left-right direction of the housing 150.
- Each of the two flanges 150h is formed with a screw hole 150i for fixing the housing 150 to the base plate 300 described later.
- the holding spring 160 is a leaf spring having a spring property, and has a step portion 160a that is one step lower in the center.
- the holding spring 160 has a symmetrical shape.
- the presser spring 160 is formed with four screw holes 160b for fixing the presser spring 160 to the housing 150 from above.
- the rising mirror 130 is mounted on the mirror mounting portion 150 a in the housing 150. Accordingly, the rising mirror 130 is installed in the housing 150 so as to have an inclination of 45 degrees in the in-plane direction of the YZ plane with respect to the XZ plane.
- the lens holder 121 on which the collimator lens 120 is mounted is placed on the pair of inclined surfaces 150d so that the grooves 121e and the holes 150c are aligned, and is accommodated inside the housing 150.
- the groove 121e and the hole 150c can be aligned by placing the lens holder 121 on the inclined surface 150d so that the convex portion 121d faces right above.
- the pressing spring 160 is applied to the upper portion of the housing 150 so that the four screw holes 160b of the pressing spring 160 are aligned with the four screw holes 150g of the housing 150.
- four metal screws 161 are screwed into the four screw holes 150g from above through the four screw holes 160b.
- the convex portion 121 d of the lens holder 121 is pressed downward by the step portion 160 a of the pressing spring 160.
- the lens holder 121 is pressed against the inclined surface 150d of the housing 150 by the urging force of the holding spring 160, and is temporarily fixed so as not to move in the X-axis direction (left-right direction) and the Y-axis direction (up-down direction). .
- the convex portion 121d When the holding spring 160 is mounted on the housing 150, the convex portion 121d is positioned in the middle of the stepped portion 160a, and the holding spring 160 bends evenly from side to side about the stepped portion 160a. For this reason, the lens holder 121 is less likely to be displaced in the circumferential direction. If the convex portion 121d is displaced from the middle of the step portion 160a, the lens holder 121 can be rotated in the circumferential direction so that the convex portion 121d is positioned in the middle of the step portion 160a with the convex portion 121d as a mark. That's fine. Thereby, the groove
- the rear surface of the laser holder 111 is brought into contact with the outer surface of the housing 150 so that the CAN 110b of the laser light source 110 is inserted into the U-shaped opening 150b of the housing 150.
- the three steps 111b excluding the upper step 111b among the steps 111b of the laser holder 111 shown in FIG. A predetermined gap exists between the CAN 110b of the laser light source 110 and the opening 150b of the housing 150 so that the laser light source 110 can move in the XY axis direction (up / down / left / right direction).
- the laser light source 110 is displaced in the XY axis direction (up / down / left / right direction), and the XY axis direction (up / down / left / right direction). ) Is adjusted. As a result, the optical axis of the laser light source 110 and the optical axis of the collimator lens 120 are aligned.
- a Z-axis adjusting jig (not shown) is engaged with the groove 121e of the lens holder 121 through a hole 150c formed in the lower portion of the housing 150, and the Z-axis direction (front-rear direction) of the lens holder 121 is engaged. The position is adjusted. Thereby, the focal position of the collimator lens 120 is appropriately positioned with respect to the light emitting point of the laser light source 110.
- the UV adhesive is evenly attached to the boundary between the two left and right side surfaces of the laser holder 111 and the side surface of the housing 150. After the UV adhesive is attached, the deviation of the optical axis of the laser light is confirmed again. If there is no problem, the UV adhesive is irradiated with ultraviolet rays, and the laser holder 111 is bonded and fixed to the housing 150. If there is a problem in confirming the deviation of the optical axis of the laser beam, the laser holder 111 is finely adjusted again, and then the UV adhesive is irradiated with ultraviolet rays, and the laser holder 111 is bonded and fixed to the housing 150. Is done.
- the UV adhesive is evenly attached to the left and right at the positions where the lens holder 121 and the inclined surface 150d inside the housing 150 are in contact with each other through the holes 150e formed on the left and right side surfaces of the housing 150.
- the positional relationship between the laser light source 110 and the collimator lens 120 is confirmed again. If there is no problem, the UV adhesive is irradiated with ultraviolet rays, and the lens holder 121 is bonded and fixed to the housing 150. . If there is a problem in confirming the positional relationship between the laser light source 110 and the collimator lens 120, the lens holder 121 is finely adjusted again, and then the UV adhesive is irradiated with ultraviolet rays. Adhered and fixed to.
- FIG. 5A is a perspective view of the light emitting device 10 viewed from above
- FIG. 5B is a perspective view of the light emitting device 10 viewed from below.
- the projection optical system 100 is configured such that the optical path of the laser light emitted from the laser light source 110 is bent in this way, the light emitting device 10 has a high height in the Y-axis direction toward the target region. And the length in the Z-axis direction is increased. Accordingly, the surface area of the bottom surface of the outer surface of the housing 150 is the largest. That is, the housing 150 has the largest area on the side surface opposite to the direction in which the rising mirror 130 reflects the laser light.
- FIG. 6 to 8 are perspective views showing an assembling process of the information acquisition device 1. For convenience, the assembly process of the light receiving device 20 and the mounting process of the light receiving device 20 to the base plate 300 are not shown.
- the light receiving device 20 is a device in which the light receiving optical system 200 in FIG. 2 is unitized with other components.
- reference numeral 300 denotes a base plate that supports the light emitting device 10 and the light receiving device 20.
- the light emitting device 10 and the light receiving device 20 are arranged on the base plate 300.
- the base plate 300 has a rectangular plate shape.
- the base plate 300 is made of stainless steel or the like having a thermal conductivity of 16.7 to 20.9 W / (m ⁇ K) and excellent in flexibility resistance.
- the base plate 300 In the base plate 300, two screw holes 300a for fixing the light emitting device 10 to the base plate 300 are formed. Further, the base plate 300 is formed with a step portion 301 that determines the installation position of the light emitting device 10. The installation position of the light emitting device 10 is set in advance so that the light emitting center of the light emitting device 10 and the light receiving center of the light receiving device 20 are aligned in the Z-axis direction.
- the installation interval between the light emitting device 10 and the light receiving device 20 is set according to the distance between the information acquisition device 1 and the reference plane of the target area.
- the distance between the reference plane and the information acquisition apparatus 1 varies depending on how far away the target is to be detected. The closer the distance to the target to be detected is, the narrower the interval between the light emitting device 10 and the light receiving device 20 is. Conversely, as the distance to the target to be detected increases, the installation interval between the light emitting device 10 and the light receiving device 20 increases.
- the size of the base plate 300 increases in the direction in which the light emitting device 10 and the light receiving device 20 are arranged.
- the base plate 300 having such a large area is used as a heat sink for dissipating heat generated from the light emitting device 10, and temperature rise of the laser light source 110 is suppressed.
- a heat radiating resin 300b is applied to the portion of the base plate 300 where the bottom surface of the housing 150 contacts (dotted line portion in the figure).
- the heat dissipation resin 300b contains a heat conductive resin and metal powder, and has a heat conductivity of 3 to 4 W / (m ⁇ K).
- the stainless steel of the base plate 300 and the heat-dissipating resin 300b have a sufficiently large thermal conductivity compared to the thermal conductivity of the PPS resin used for the holder or the like is about 0.4 W / (m ⁇ K).
- the hole 302 for taking out the wiring of the laser light source 110 to the back part of the base plate 300 is formed in the center lower part of the base plate 300.
- an opening 303 for exposing the connector 202 of the light receiving device 20 to the back portion of the base plate 300 is formed below the installation position of the light receiving device 20 on the base plate 300.
- a flange 304 is formed in the base plate 300, and a screw hole 304 a for fixing a cover 400 described later to the base plate 300 is formed in the flange 304.
- the light receiving device 20 includes a filter 210, an aperture 220, an imaging lens 230, and a CMOS image sensor 240 as shown in FIG.
- the light receiving device 20 is fixed to the base plate 300 by the substrate fixing unit 201.
- the connector 202 of the light receiving device 20 is exposed on the back surface of the base plate 300 through an opening 303 formed in the base plate 300.
- the light emitting device 10 is arranged so that the side surface of the housing 150 abuts on the step portion 301 of the base plate 300.
- the bottom surface of the housing 150 is brought into close contact with the base plate 300 by the heat radiating resin 300 b applied to the surface of the base plate 300.
- the two screw holes 300a and the two screw holes 150i are combined, and the two metal screws 305 are respectively screwed into the screw holes 150i and the screw holes 300a.
- the screw 305 is made of a metal having high thermal conductivity such as stainless steel. Thereby, the light emitting device 10 is fixed to the base plate 300.
- the structure shown in FIG. 7 is assembled.
- the light emitting device 10 is thermally coupled by the heat radiating resin 300b such that the bottom surface of the housing 150 is in close contact with the surface of the base plate 300.
- the housing 150 is fixed to the base plate 300 by the metal screws 305, the housing 150 is thermally coupled to the base plate 300 even if the screws 305 are interposed.
- the laser holder 111 is fixed to the outer surface of the housing 150, the laser holder 111 is thermally coupled to the housing 150.
- the heat generated by the light emission of the laser light source 110 is transmitted to the base plate 300 through the laser holder 111 and the housing 150 by the screws 305 and the heat radiation resin 300b.
- the heat transferred to the base plate 300 is radiated from the surface of the base plate 300 to the outside air.
- the housing 150 since the light emitting device 10 has a large size along the surface (XZ plane) of the base plate 300, the housing 150 has a large surface area where the bottom surface of the housing 150 contacts the surface of the base plate 300. .
- the amount of heat transfer between different materials increases in proportion to the size of the surface area in contact. Therefore, the amount of heat transferred from the housing 150 to the base plate 300 is also large.
- each of the laser holder 111, the housing 150, the screw 305, and the heat radiation resin 300b serving as a heat transfer path is made of a material having high thermal conductivity. Therefore, the light emitting device 10 can efficiently transmit the heat generated by the light emission of the laser light source 110 to the base plate 300, thereby obtaining a sufficient heat dissipation effect.
- FIG. 8A is a perspective view of the structure viewed from the front
- FIG. 8B is a perspective view of the structure viewed from the back.
- a projection window 401 for guiding the light emitted from the light emitting device 10 to the target and a light receiving window 402 for guiding the reflected light from the target to the light receiving device 20 are formed on the front surface of the cover 400.
- a circuit board 500 is further installed on the back surface of the base plate 300 (not shown).
- the laser light source 110 is connected to the circuit board 500 through a hole 302 formed in the back portion of the base plate 300.
- the circuit board 500 is connected to the connector 202 of the light receiving device 20 through an opening 303 formed in the back portion of the base plate 300.
- the circuit board 500 is mounted with a circuit unit of the information acquisition device 1 such as the CPU 21 and the laser driving circuit 22 shown in FIG.
- FIG. 9 is a schematic diagram for explaining the heat dissipation characteristics of the light emitting device 10 according to the present embodiment and the heat dissipation characteristics in the comparative example.
- laser light source 110 in the present embodiment is installed toward the Z-axis direction.
- Laser light emitted from the laser light source 110 is converted into parallel light by the collimator lens 120 and reflected toward the DOE 140 by the rising mirror 130. Therefore, the length of the laser light source 110, the collimator lens 120, and the raising mirror 130 in the arrangement direction (Z-axis direction) is long, and the height H in the direction toward the target region (Y-axis direction) is low. . Therefore, the surface area S where the bottom surface of the housing 150 contacts the surface of the base plate 300 is large.
- FIG. 9B shows a comparative example in which the laser light source 110 is not installed in the Z-axis direction and the projection optical system 100 is arranged in the direction toward the target area (Y-axis direction). ing.
- the Peltier element 170 is disposed between the housing 150 and the base plate 300.
- the same number as this Embodiment is attached
- an n-type / p-type thermoelectric semiconductor 170c electrically connected by electrodes is sandwiched and held by a ceramic insulating substrate 170a and a ceramic insulating substrate 170b.
- the Peltier element 170 absorbs the heat generated in the laser light source 110 from the ceramic insulating substrate 170a in contact with the housing 150 by passing a current through the n-type / p-type thermoelectric semiconductor 170c, and heats the other ceramic insulating substrate 170b. Has the effect of transmitting. As a result, the Peltier element 170 dissipates heat generated by the laser light source 110 to the outside through the base plate 300 that also serves as a heat sink.
- the Peltier element 170 moves heat from the ceramic insulating substrate 170a to the ceramic insulating substrate 170b, the Peltier element 170 itself generates heat. Therefore, the heat radiation amount of the light emitting device 10 as a whole increases, and the base plate 300 that also serves as a heat sink may not be able to smoothly radiate heat. In such a case, it is necessary to make the size W0 of the base plate 300 larger than the size W of the base plate 300 of the present embodiment as shown in FIG.
- the Peltier element 170 in order to effectively move the heat generated by the laser light source 110, it is necessary to dispose the Peltier element 170 at the lower part of the housing 150 as shown in FIG. Since they are aligned in the optical axis direction of light, the height H0 in the direction toward the target area (Y-axis direction) of the projection optical system 100 in the comparative example is considerably higher than the height H of the projection optical system 100 in the present embodiment. Become.
- the height of the light reception optical system 200 is matched to the height H0 of the projection optical system 100. h0 also increases.
- the thermal conductivity of the ceramic insulating substrates 170a and 170b of the Peltier element 170 that is in contact with the bottom surface of the housing 150 is generally the same as that of the stainless base plate 300 that is in contact with the housing 150 in this embodiment. It is larger than 7 to 20.9 W / (m ⁇ K).
- the surface area S where the bottom surface of the housing 150 and the base plate 300 contact each other is considerably larger than the surface area S0 where the housing 150 of the comparative example and the ceramic insulating substrate 170a of the Peltier element 170 contact.
- the surface area in contact increases, the amount of heat transfer between different materials also increases proportionally. Therefore, in the present embodiment, a sufficient heat dissipation effect can be obtained without providing the Peltier element 170.
- the housing 150 that accommodates the projection optical system 100 has the target The height in the direction toward the region decreases, and the surface area of the bottom surface of the housing 150 that contacts the surface of the base plate 300 that also serves as a heat sink increases. Therefore, the light emitting device 10 can be thinned and sufficient heat dissipation characteristics can be obtained.
- the laser holder 111, the housing 150, and the screw 305, which serve as a transfer path of heat generated from the laser light source 110 are each made of a material having high thermal conductivity. Heat generated by light emission from the light source 110 can be efficiently transmitted to the base plate 300.
- the laser holder 111 is mounted on the housing 150 so that the side surface of the housing 150 and the side surface of the laser holder 111 overlap with each other. Heat of the laser light source 110 is transmitted to the housing 150 through the overlapping portion. Therefore, the heat dissipation effect for the laser light source 110 can be enhanced.
- sufficient heat dissipation characteristics can be obtained without providing a temperature adjusting element such as a Peltier element, so that the total heat dissipation amount applied to the base plate 300 can be reduced. Even if it is small, the heat can be properly radiated.
- a temperature adjusting element such as a Peltier element
- the light emitting device 10 can be thinned in the direction toward the target area
- the light receiving device 20 can also be thinned.
- the number of parts can be reduced by using the base plate 300 also as a heat sink.
- the base plate 300 is made of a material having flexibility and high thermal conductivity, the base plate can be made thin and the transmitted heat can be efficiently used. It can dissipate heat.
- the housing 150 and the base plate 300 are in close contact with each other and thermally coupled. Therefore, heat can be efficiently transferred from the housing 150 to the base plate 300.
- a metal such as zinc or magnesium having high thermal conductivity is used as the material of the laser holder 111 and the housing 150.
- the surface area in contact with the heat sink may be increased.
- a heat dissipation PPS resin having a thermal conductivity of about 20 to 30 W / (m ⁇ K) may be used.
- the heat dissipating PPS resin is a resin in which metal particles are included in the PPS resin to improve heat dissipating characteristics.
- the materials such as the laser holder 111, the housing 150, and the base plate 300 shown in the above embodiment are exemplifications, and are made of materials other than those shown in the above embodiment or an alloy in which those materials are combined. It may be.
- the housing 150 may use aluminum having a thermal conductivity of 237 W / (m ⁇ K) in addition to zinc and magnesium. Aluminum is inferior in casting accuracy and requires secondary processing as compared with zinc and magnesium used in the above embodiment, but has high thermal conductivity and low cost.
- the base plate 300 may be made of copper having a thermal conductivity of 398 W / (m ⁇ K). Since copper is inferior in resistance to stainless steel as compared with stainless steel, it is necessary to make the base plate 300 thick. However, since the thermal conductivity is high, further heat dissipation characteristics can be obtained.
- the laser light source 110 was installed in the position which approaches the light receiving device 20 rather than the projection window 140, as shown to Fig.10 (a), the position which is separated from the light receiving device 20 rather than the projection window 140 Alternatively, the laser light source 110 may be installed at a position where the arrangement direction of the light emitting device 10 and the light receiving device 20 and the optical axis of the laser light source 110 are orthogonal to each other as shown in FIG. If the laser light source 110 is installed in the vicinity of the periphery of the base plate 300 as shown in FIGS. 10A and 10B, heat from the laser light source 110 is easily dissipated, and heat is not easily generated inside the information acquisition apparatus 1. However, in the case of FIGS. 10A and 10B, the size of the base plate 300 is larger in the Z-axis direction or the X-axis direction than in the above embodiment.
- the interval between the light emitting device 10 and the light receiving device 20 is shortened, so that it is difficult to arrange the laser light source 110 between the light emitting device 10 and the light receiving device 20.
- the reference plane of the target area is sufficiently far away, a sufficient space can be secured between the light emitting device 10 and the light receiving device 20, so that the laser light source 110 is attached to the light receiving device 20 as in the above embodiment. By placing it at the approaching position, the size of the base plate 300 can be reduced.
- the laser light source 110 moves in any direction in the in-plane direction horizontal to the surface of the base plate 300 depending on the situation. You may install it.
- the laser holder 111 is brought into contact with the outer surface of the housing 150.
- the laser holder 111 is directly attached to the outside of the housing 150 without providing the stepped portion 111b. You may make it contact
- a heat radiation resin may be interposed between the laser holder 111 and the outer surface of the housing 150.
- the laser light source 110 may be accommodated directly in the housing 150 without providing the laser holder 111.
- the cubic-shaped housing 150 having a rectangular cross section in the in-plane direction perpendicular and horizontal to the optical axis of the laser light source 111 is used.
- a rectangular cubic housing may be used.
- the housing having the largest surface area in contact with the base plate 300 the heat from the laser light source 111 can be efficiently radiated as in the above embodiment.
- the rising mirror 130 is used to reflect the laser light emitted toward the Z-axis direction in the direction of the target region.
- the incident light is used instead of the rising mirror 130.
- a polarizing beam splitter or a leakage mirror that reflects a part of the light may be used.
- the CMOS image sensor 240 is used as the light receiving element, but a CCD image sensor can be used instead. Furthermore, the configuration of the light receiving optical system 200 can be changed as appropriate.
- the information acquisition device 1 and the information processing device 2 may be integrated, or the information acquisition device 1 and the information processing device 2 may be integrated with a television, a game machine, or a personal computer.
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Abstract
Description
10 … 発光装置
20 … 受光装置
110 … レーザ光源
111 … レーザホルダ
120 … コリメータレンズ
130 … 立ち上げミラー(ミラー)
140 … DOE(回折光学素子)
150 … ハウジング
300 … ベースプレート(支持板)
300b … 放熱樹脂
Claims (6)
- 目標領域にドットパターンのレーザ光を照射する発光装置と、
前記発光装置に並べて配置され、前記目標領域を撮像する受光装置と、
前記発光装置と前記受光装置が設置され、熱伝導性を有する支持板と、を備え、
前記発光装置は;
レーザ光源と、
前記レーザ光源から出射されたレーザ光を平行光に変換するコリメータレンズと、
前記平行光に変換されたレーザ光を前記ドットパターンのレーザに変換する回折光学素子と、
前記コリメータレンズを透過した前記レーザ光を前記回折光学素子の方向に向けて反射するミラーと、
前記レーザ光源、前記コリメータレンズおよび前記ミラーが直線状に並ぶように、前記レーザ光源、前記コリメータレンズ、前記ミラーおよび前記回折光学素子を保持する熱伝導性を有するハウジングと、を有し、
前記ミラーによるレーザ光の反射方向と反対側の前記ハウジングの側面が平面となっており、当該平面が前記支持板の上面に置かれるように前記ハウジングが前記支持板に設置されている、
ことを特徴とする情報取得装置。 - 請求項1に記載の情報取得装置において、
前記ハウジングの前記平面が設置される前記支持板の上面に、放熱樹脂が塗布されている、
ことを特徴とする情報取得装置。 - 請求項1または2に記載の情報取得装置において、
前記ハウジングは、前記レーザ光源、前記コリメータレンズおよび前記ミラーを収容するために上部が開放された筐体であり、当該筐体の下面が前記支持板の上面に設置される、
ことを特徴とする情報取得装置。 - 請求項1ないし3の何れか一項に記載の情報取得装置において、
前記レーザ光源は、熱伝導性を有するレーザホルダを介して、前記ハウジングに装着され、前記レーザホルダは、前記ハウジングの側面と前記レーザホルダの側面とが重なるように、前記ハウジングに装着される、
ことを特徴とする情報取得装置。 - 請求項4に記載の情報取得装置において、
前記ミラーよりも前記レーザ光源が前記受光装置に近づくように、前記ハウジングが前記支持板に設置される、
ことを特徴とする情報取得装置。 - 請求項1ないし5の何れか一項に記載の情報取得装置を有する物体検出装置。
Priority Applications (3)
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CN2011800052034A CN102822622A (zh) | 2011-03-25 | 2011-11-04 | 物体检测装置及信息取得装置 |
JP2012525800A JP5174285B1 (ja) | 2011-03-25 | 2011-11-04 | 情報取得装置及び情報取得装置を搭載する物体検出装置 |
US13/605,546 US20120327223A1 (en) | 2011-03-25 | 2012-09-06 | Object detecting device and information acquiring device |
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JP2011068478 | 2011-03-25 | ||
JP2011-068478 | 2011-03-25 |
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US13/605,546 Continuation US20120327223A1 (en) | 2011-03-25 | 2012-09-06 | Object detecting device and information acquiring device |
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PCT/JP2011/075387 WO2012132086A1 (ja) | 2011-03-25 | 2011-11-04 | 情報取得装置及び情報取得装置を搭載する物体検出装置 |
Country Status (4)
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US (1) | US20120327223A1 (ja) |
JP (1) | JP5174285B1 (ja) |
CN (1) | CN102822622A (ja) |
WO (1) | WO2012132086A1 (ja) |
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CN104345316B (zh) * | 2013-07-26 | 2017-08-29 | 南京德朔实业有限公司 | 激光测距仪 |
CN105323508A (zh) * | 2015-11-24 | 2016-02-10 | 深圳奥比中光科技有限公司 | 一种图像信息处理装置及用于其中的激光模组 |
CN105323507B (zh) * | 2015-11-24 | 2019-01-18 | 深圳奥比中光科技有限公司 | 一种图像信息处理装置及用于其中的激光模组 |
CN105450949B (zh) * | 2015-12-24 | 2018-11-30 | 深圳奥比中光科技有限公司 | 结构紧凑的图像信息处理装置及用于其中的激光模组 |
DE102017105997A1 (de) * | 2017-03-21 | 2018-09-27 | Valeo Schalter Und Sensoren Gmbh | Sendeeinrichtung für eine optische Erfassungseinrichtung eines Kraftfahrzeugs mit einem spezifischen Vormontagemodul, optische Erfassungseinrichtung sowie Kraftfahrzeug |
CN110398876A (zh) * | 2018-04-25 | 2019-11-01 | 三赢科技(深圳)有限公司 | 承载结构及其形成方法及光学投影模组 |
WO2019213861A1 (zh) * | 2018-05-09 | 2019-11-14 | 深圳阜时科技有限公司 | 一种光源模组、图像获取装置、身份识别装置及电子设备 |
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2011
- 2011-11-04 JP JP2012525800A patent/JP5174285B1/ja not_active Expired - Fee Related
- 2011-11-04 CN CN2011800052034A patent/CN102822622A/zh active Pending
- 2011-11-04 WO PCT/JP2011/075387 patent/WO2012132086A1/ja active Application Filing
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2012
- 2012-09-06 US US13/605,546 patent/US20120327223A1/en not_active Abandoned
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JPH01318905A (ja) * | 1988-06-20 | 1989-12-25 | Omron Tateisi Electron Co | マルチ・ビーム・プロジェクタおよびそれを利用した形状認識装置 |
JPH07159519A (ja) * | 1993-12-08 | 1995-06-23 | Kansei Corp | 光学式測距装置 |
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US20120327223A1 (en) | 2012-12-27 |
JP5174285B1 (ja) | 2013-04-03 |
JPWO2012132086A1 (ja) | 2014-07-24 |
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