WO2016056543A1 - 走査光学系及びレーダー - Google Patents
走査光学系及びレーダー Download PDFInfo
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- WO2016056543A1 WO2016056543A1 PCT/JP2015/078324 JP2015078324W WO2016056543A1 WO 2016056543 A1 WO2016056543 A1 WO 2016056543A1 JP 2015078324 W JP2015078324 W JP 2015078324W WO 2016056543 A1 WO2016056543 A1 WO 2016056543A1
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- light
- mirror surface
- mirror
- optical system
- scanning
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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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/12—Scanning systems using multifaceted mirrors
- G02B26/123—Multibeam scanners, e.g. using multiple light sources or beam splitters
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/12—Scanning systems using multifaceted mirrors
- G02B26/124—Details of the optical system between the light source and the polygonal mirror
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/12—Scanning systems using multifaceted mirrors
- G02B26/129—Systems in which the scanning light beam is repeatedly reflected from the polygonal mirror
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/28—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising
- G02B27/286—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising for controlling or changing the state of polarisation, e.g. transforming one polarisation state into another
Definitions
- the present invention relates to a scanning optical system and a radar suitable for use in a radar that detects an object by irradiating a laser beam or the like.
- a laser radar which is a distance measuring device using optical scanning.
- a general laser radar scans a wide range by projecting a light beam emitted from a laser light source onto a mirror or a polygon mirror, and rotating or swinging the polygon mirror to scatter from a light projection object Distance measurement is performed by receiving light by a light receiving element.
- Patent Document 1 discloses a technique related to a polygon mirror that has an even number of planar reflecting surfaces and performs scanning by reflecting a light beam an even number of times.
- the object (measurement object) that is the object of distance measurement has the property of absorbing light and the property of specular reflection, the reflected light from the measurement object out of the luminous flux emitted from the radar is If it is weak or does not return, the intensity of the light incident on the light receiving element becomes weak, so that detection becomes difficult and distance measurement may become impossible. That is, it can be said that the radar can measure the distance more easily as the scattering intensity in the direction of the light receiving element by the measurement object per unit light projection intensity is higher.
- a laser beam can be used.
- Patent Document 1 does not disclose a technique for solving such a problem.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a scanning optical system and a radar that can obtain reflected light with sufficient intensity regardless of the measurement object.
- a scanning optical system reflecting one aspect of the present invention is provided.
- a mirror unit having a first mirror surface and a second mirror surface inclined with respect to the rotation axis;
- the light beam reflected by the second mirror surface is polarized within a range of ⁇ 30 degrees with respect to the main scanning surface when the direction included in the main scanning surface is 0 degree. .
- this scanning optical system since the light beam emitted from the light source is reflected twice by the first mirror surface and the second mirror surface, the polarization direction and the traveling direction orthogonal cross-sectional shape (beam profile) in the scanning range. It is possible to perform uniform light projection that hardly causes a change in the rotation angle. Thereby, when the light beam emitted from the light projecting system is projected to the object side, it does not substantially rotate with respect to the method shown in FIG. 6 described later. For example, an object existing behind a show window, a window glass, or the like. It is possible to provide a scanning optical system that can receive scattered light of sufficient intensity from an object and that is used for a radar that can easily measure a distance regardless of an object.
- (A) is a front view of the scanning optical system concerning this embodiment, (b) is the figure seen in the rotating shaft direction, Comprising: The state of the main scanning angle center is shown.
- (A) is a front view of the scanning optical system concerning this embodiment, (b) is the figure seen in the rotating shaft direction, Comprising: The state of a main scanning angle periphery is shown. It is a graph which shows the relationship between the main scanning angle concerning this embodiment, and a spot rotation angle. It is a figure which shows that an inclination does not change with the position of a main scanning direction in the spot light which carries out the scanning projection to the measuring object from the scanning optical system concerning this embodiment. It is a schematic block diagram of the laser radar LR concerning this embodiment. It is sectional drawing which shows the modification of this embodiment. It is sectional drawing which shows another modification of this embodiment. It is sectional drawing which shows another modification of this embodiment.
- Distance measurement with TOF can be performed by using pulsed LEDs or lasers as radar light sources.
- the resolution change is small with a wide main scanning angle, so that it is possible to provide a radar with a wide viewing angle that can be used effectively.
- the reflected light returns to the laser radar LR, and distance measurement can be performed.
- the glass GL stands upright with respect to the ground GD in the scanning plane
- the amount of reflected light changes according to the polarization direction of the laser light LB.
- the polarization direction of the laser beam LB at the time of incidence on the glass GL is substantially in the plane with respect to the main scanning surface (the surface formed by the trajectory of one scanning beam). (The solid line shown in FIG. 2) and the case of being substantially perpendicular to the main scanning plane (dotted line shown in FIG. 2), the former has less amount of regular reflection on the glass surface, and more light passes through the glass GL.
- the scattered light intensity from the object OBJ behind the glass GL increases. That is, when light is projected onto the glass GL whose surface is almost flat, the unit light projection intensity of the scattered light returning in the laser radar LR direction if the polarization direction is substantially included in the main scanning plane. This increases the distance, making distance measurement easier.
- the amount of specular reflection on the surface of the glass GL increases, and the amount of laser light beam LB transmitted through the glass GL decreases, so that the object behind the glass GL The scattered light intensity from the OBJ decreases, making distance measurement difficult.
- FIG. 3 is a diagram showing a state in which the laser beam LB is incident on the glass GL.
- the incident point is IP
- the normal direction of the glass GL at the incident point IP is the Z direction
- the laser beams LB and Z direction is defined as an incident surface INP.
- an intersection line between the glass GL surface and the incident surface INP is defined as an X direction.
- the laser light beam LB travels along the incident surface INP.
- the crossing angle between the laser beam LB and the Z axis is the incident angle ⁇ i, and the case where it has a polarization direction along the incident surface INP is p-polarized light, and the case where it has a polarization direction orthogonal to the incident surface INP is s-polarized light.
- the horizontal axis represents the incident angle ⁇ i with respect to the boundary surface (for example, the surface of the glass GL) of the laser beam LB used for scanning
- the vertical axis represents the reflection intensity (ratio to the incident light intensity) R at the boundary surface.
- R the reflection intensity
- the reflection intensity R 4%.
- the reflection intensity R 32%, which is 8 times the former.
- the laser beam LB When entering the glass GL, the laser beam LB does not necessarily have to be completely p-polarized light.
- a laser beam LB having a polarization angle ⁇ tilted by ⁇ 30 ° with respect to the polarization direction (p-polarization) along the incident surface INP shown in FIG. 3 is incident on the glass GL.
- the polarization direction of the laser beam LB is linearly polarized light having a polarization direction within a range of ⁇ 30 degrees with respect to the main scanning plane, it can be said that a sufficient amount of light returning to the laser radar LR can be secured. .
- linearly polarized light refers to a polarization direction determined by rotating a polarizer so as to obtain maximum intensity in a system that measures light intensity after passing through a polarizer that passes only a specific polarization direction.
- I' intensity I 0 therewith the intensity of the polarization direction orthogonal I refers to light that satisfies / I 0 ⁇ 0.2.
- the polarization direction with intensity I 0 is called the linear polarization direction.
- FIG. 5 and 6 show a scanning optical system of a comparative example.
- a comparison is made in which a laser beam emitted from the light projecting system LPS (hereinafter referred to as spot light) is reflected only once and travels toward the measurement object.
- spot light a laser beam emitted from the light projecting system LPS (hereinafter referred to as spot light) is reflected only once and travels toward the measurement object.
- the example scanning optical system there are the following problems.
- the mirror unit MU having the reflecting surface RM1 inclined with respect to the rotation axis RO is rotated around the rotation axis RO.
- the spot light SL emitted from the light source LD of the light projecting system LPS toward the reflecting surface RM1 has a different aspect ratio. Accordingly, in FIG.
- the spot light SL reflected by the reflecting surface RM1 and traveling toward the object travels in the direction perpendicular to the paper surface, but the traveling direction orthogonal cross section (shown by hatching) is in the main scanning angle direction (left-right direction in the figure).
- the traveling direction orthogonal cross section shown by hatching
- a light beam having a polarization direction in the length a direction is considered.
- FIG. 7 is a graph showing the relationship between the main scanning angle and the spot rotation angle when a light beam is incident parallel to the rotation axis RO on the reflection surface RM1 inclined by 45 ° with respect to the rotation axis.
- FIG. 8 is a diagram showing that the inclination of the spot light projected from the scanning optical system onto the measurement object changes depending on the position in the main scanning direction, and shows four different positions parallel to the main scanning direction. An example of scanning is shown.
- the spot light SL in the center of the scanning range has a spot rotation angle ⁇ of zero and stands in the main scanning direction, whereas the spot light SL around the scanning range
- the rotation angle ⁇ increases, that is, the rotation angle increases toward the periphery, and the inclination increases.
- the range that can be covered by one main scan is wide in the sub-scanning direction, whereas at both ends of the object range SR, the range that can be covered by one main scan is sub-scanned. It becomes narrow in the direction, i.e., there is a risk of measurement leakage of the object.
- the polarization direction of the spot light SL is the short direction of the cross section of the spot light as indicated by the arrow, the polarization direction of the center spot light SL in the scanning range is in the main scanning plane (p-polarized light).
- the spot light SL around the scanning range has a greater degree of polarization direction crossing the main scanning direction, that is, close to s-polarized light, so that it is incident on glass or the like as shown in FIG.
- the return light to the laser radar may decrease.
- FIG. 9 is a cross-sectional view along the rotation axis RO showing the scanning optical system used in the laser radar LR of the present embodiment.
- FIG. 10 is a front view of a scanning optical system used in the laser radar LR of the present embodiment
- FIG. 10B is a view seen in the direction of the rotation axis and shows a state at the center of the main scanning angle.
- FIG. 11A is a front view of a scanning optical system used in the laser radar LR of the present embodiment
- FIG. 11B is a view seen in the direction of the rotation axis and shows a state around the main scanning angle.
- the mirror unit MU and the light projecting system LPS constitute a scanning optical system. Further, it is assumed that the cross-section perpendicular to the traveling direction of the spot light is the same as that in the comparative example.
- the optical axis SO of the light projecting system LPS having the light source LD and the collimating lens CL is orthogonal to the rotation axis RO of the mirror unit MU having the first mirror surface M1 and the second mirror surface M2.
- the light projecting system LPS is arranged on the first mirror surface M1 side with reference to the intersection angle vertex formed by the first mirror surface M1 and the second mirror surface M2.
- the first mirror surface M1 is tilted by ⁇ 45 degrees with respect to the optical axis direction of the light projecting system LPS from the plane orthogonal to the rotation axis RO, and the light projection system LPS from the plane orthogonal to the rotation axis. It is tilted +45 degrees in the optical axis direction.
- the rotational position of the mirror unit MU becomes an angle at which the optical axis SO of the light projecting system LPS is located in a plane including the normal lines of the first mirror surface M1 and the second mirror surface M2.
- the optical axis SO is directed to the center of the main scanning angle
- the light beam LB emitted from the light projecting system LPS is reflected by the first mirror surface M1, proceeds parallel to the rotation axis RO, and then the second mirror surface M2. Reflected by.
- the reflected light beam LB is projected from the second mirror M2 onto the object.
- the optical axis SO of the light projecting system LPS may be shifted from the rotation axis RO to the left and right.
- the relationship between the spot rotation angle relative to the main scanning angle ⁇ , that is, the rotation angle of the polarization direction is shown in FIG.
- the spot rotation angle ⁇ that is, the polarization direction rotation
- the spot rotation angle ⁇ that is, the polarization direction rotation
- a mirror unit MU it is possible to realize a scanning optical system that can perform scanning projection without spot rotation over the entire main scanning angle, that is, without changing the polarization direction, and a laser radar including the scanning optical system.
- FIG. 13 is a diagram showing that the inclination does not change depending on the position in the main scanning direction in the spot light projected from the laser radar LR of the present embodiment to the measurement object, and shows an example having four sub-scanning directions.
- the spot lights SL arranged in the sub-scanning direction are not in contact with each other, but in actuality, it is preferable that they are in contact with each other or overlapped, so that measurement without leakage in the sub-scanning direction can be performed.
- the spot light SL does not substantially rotate with respect to the method of FIG. 6 over the entire object range, the polarization direction is constant regardless of the main scanning angle (short direction as indicated by the arrow). That is, when the spot light SL directed to any one of the object ranges is incident on the glass, a sufficient amount of return light to the laser radar LR can be secured.
- FIG. 14 is a perspective view showing the main configuration of the laser radar LR according to the present embodiment, but the shape and length of the components may differ from the actual ones.
- the laser radar LR includes, for example, a semiconductor laser LD as a light source, a collimator lens CL that converts divergent light from the semiconductor laser LD into parallel light, and a laser beam that is collimated by the collimator lens CL by a rotating reflecting surface.
- a mirror unit MU that scans and projects light toward the object OBJ (FIG. 1) and reflects reflected light from the scanned object OBJ, and a reflection from the object OBJ that is reflected by the mirror unit MU. It has a lens LS that collects light and a photodiode PD that receives the light collected by the lens LS.
- the semiconductor laser LD and the collimating lens CL constitute a light projecting system LPS
- the lens LS and the photodiode PD constitute a light receiving system RPS.
- the light beam emitted from the light projecting system LPS is longer in the sub scanning direction than in the main scanning direction within the scanning plane (see FIG. 5).
- the substantially square cylindrical mirror unit MU is made of resin, and is rotatably held around the rotation axis RO that is an axis, and four trapezoidal first mirror surfaces M1 are arranged on the outer periphery of the lower part. Oppositely, four trapezoidal second mirror surfaces M2 are arranged on the upper outer periphery.
- the crossing angles of the first mirror surface M1 and the second mirror surface M2 that are paired vertically are different.
- the first mirror surface M1 is inclined at 45 ° with respect to the plane orthogonal to the rotation axis RO
- the second mirror surface M2 is inclined at the opposite side at 60 °, 55 °, 50 °, and 45 °, respectively.
- the first mirror surface M1 and the second mirror surface M2 are formed by attaching a reflective film, a metal polishing mirror, a fill mirror, or the like by vapor deposition, coating, or plating.
- optical axes of the light projecting system LPS and the light receiving system RPS are orthogonal to the rotational axis RO of the mirror unit MU, and the light projecting system LPS is arranged farther in the direction of the rotational axis RO than the light receiving system RPS.
- the divergent light emitted intermittently in a pulse form from the semiconductor laser LD is converted into a parallel light beam by the collimator lens CL, is incident on the point P1 of the first mirror surface M1 of the rotating mirror unit MU, and is reflected here. Further, the light is reflected at the point P2 on the second mirror surface M2 and is projected to the object OBJ side.
- the crossing angles are different from each other in four types. Therefore, when one rotation is performed, four different sub-scanning directions can be scanned on the object side.
- the laser light is sequentially reflected by the first mirror surface M1 and the second mirror surface M2 that rotate, but first, the first pair of the first mirror surface M1 and the second mirror surface.
- the laser beam reflected by M2 is scanned from left to right in the horizontal direction in the uppermost region of the scanning surface in accordance with the rotation of the mirror unit MU.
- the laser light reflected by the second pair of the first mirror surface M1 and the second mirror surface M2 moves horizontally from left to right in the second region from the top of the scanning surface according to the rotation of the mirror unit MU. Is scanned.
- the object side can be scanned two-dimensionally.
- the laser beam reflected and reflected by the object OBJ out of the projected light beam is incident again on the second mirror surface M2 (P3) of the mirror unit MU as shown by the dotted line in FIG.
- the light is reflected by the first mirror surface M1 (P4), collected by the lens LS, and detected by the light receiving surface of the photodiode PD. Thereby, the object OBJ on the object range can be detected.
- FIG. 15 is a cross-sectional view showing a modification of the present embodiment.
- the crossing angles are all constant (90 °) in a plurality of pairs of the first mirror surface M1 and the second mirror surface M2 of the mirror unit MU.
- a reflecting mirror BE is used to reflect the light beam LB from the light projecting system LPS so as to be reflected by the first mirror surface M1 and then reflected by the second mirror surface M2.
- the reflecting mirror BE is rotatable around an axis PV extending in the direction perpendicular to the paper surface.
- the reflecting mirror BE is rotated around the axis PV as a deflecting element.
- the deflecting element is not limited to a reflecting mirror, and an acousto-optic element or a MEMS mirror can be used.
- FIG. 16 is a cross-sectional view showing another modification of the present embodiment.
- two light projecting systems LPS1 and LPS2 are provided at different incident angles in the sub-scanning angle direction. Other than that, it is the same as the embodiment described above.
- the light beams LB and LB ′ are incident from the light projecting systems LPS1 and LPS2 with different incident angles with respect to the first mirror surface M1
- the emission direction of 'changes in the sub-scanning angle direction which makes it possible to increase the number of scanning lines. By doing so, the sub-scanning range can be increased while using the vicinity of the intersection angle of 90 ° between the first mirror surface M1 and the second mirror surface M2.
- FIG. 17 is a cross-sectional view showing another modification of the present embodiment.
- the mirror unit MU, the light projecting system LPS, and the light receiving system RPS are arranged in a cylindrical casing BX.
- the housing BX has a window portion WD facing the second reflecting surface M2, and a conical transparent dustproof cover CV is bonded to the window portion WD.
- the present invention is not necessarily limited to this.
- the rotation axis RO of the mirror unit MU is in a substantially horizontal direction. You may make it suitable for.
- Such a laser radar can be used, for example, in an unmanned helicopter to detect ground conditions and obstacles.
- the laser beam projected from the laser radar may enter Ikenuma.
- the laser beam incident on Ikenuma has a polarization direction included in the main scanning plane, the amount of regular reflection on the water surface is reduced, as in the case described in the example of incident on the glass, Since the amount of light transmitted through the water increases, the intensity of scattered light from the object in the pond marsh increases. Therefore, the effect of the present invention can be exhibited.
- the mirror unit makes one rotation, not only the main scanning direction but also the sub-scanning direction has a wide range. It is possible to provide a scanning optical system used for a radar capable of projecting light.
- the mirror unit has a plurality of pairs of the first mirror surface and the second mirror surface, and the crossing angles of the first mirror surface and the second mirror surface in each pair are different.
- the mirror surface By configuring the mirror surface to be different from the adjacent surface angle, it is possible to emit a laser beam in a wide range not only in the main scanning direction but also in the sub scanning direction.
- the mirror unit has a plurality of pairs of the first mirror surface and the second mirror surface, and the plurality of pairs have the same intersection angle between the first mirror surface and the second mirror surface. And at least a pair whose crossing angle is different from the at least two pairs of crossing angles.
- the frame rate and the like can be improved.
- the frame rate is more important than the viewing angle because the host vehicle and other environments change rapidly.
- the frame rate can be partially improved while securing the field of view in the direction of the rotation axis. Further, considering the case where there are three pairs of the first mirror surface and the second mirror surface, the first pair and the second pair have the same first intersection angle, and the third pair is different from the first intersection angle. By configuring the second intersection angle, it is suitable for detecting a white line or a center line on a road surface that does not require a high frame rate.
- the deflection element that changes the traveling direction of the light beam emitted from the light source is provided between the light source and the mirror unit, in each pair of the first mirror surface and the second mirror surface. Even when the crossing angle is constant, the laser beam can be emitted in a wide range not only in the main scanning direction but also in the sub-scanning direction.
- the first mirror surface has a plurality of light sources, and the light beams emitted from the light sources have different angles of incidence on the first mirror surface in a cross section passing through the rotation axis of the mirror unit. Even when the crossing angle in each pair of the second mirror surface and the second mirror surface is constant, the laser beam can be emitted in a wide range not only in the main scanning direction but also in the sub scanning direction.
- the light beam emitted from the second mirror surface toward the object has a traveling direction orthogonal cross-sectional shape that is longer in the sub-scanning direction than in the main scanning direction.
- the sub-scanning direction can be covered.
- the dust cover is disposed so as to cover at least the second mirror surface and can transmit the light beam emitted from the second mirror surface, and the rotation axis of the mirror unit and the second mirror surface
- the tangent line passing through the intersection with the center of the light beam emitted from the dust cover intersects the rotation axis of the mirror unit at an angle ⁇ , and Meet. 10 ° ⁇ ⁇ 70 ° (1)
- a dustproof cover disposed so as to cover at least the second mirror surface, it is possible to exert a dustproof effect on the second mirror surface, and it is possible to prevent foreign matter collision with the mirror unit rotating at high speed. Furthermore, if the angle ⁇ is less than the upper limit of the formula (1), the possibility of interference between the mirror unit and the dustproof cover can be reduced, and if the angle ⁇ exceeds the lower limit of the formula (1), the surface of the dustproof cover is not projected outside. It is possible to suppress a problem that the laser beam reflected from the back surface enters the light receiving element and generates ghost light.
- the present invention is not limited to the embodiments described in the present specification, and includes other embodiments and modifications based on the embodiments and technical ideas described in the present specification. It is obvious to The description and the embodiments are for illustrative purposes only, and the scope of the present invention is indicated by the following claims. For example, the contents of the present invention described with reference to the drawings can be applied to the embodiments.
- the light source is not limited to a laser, and an LED may be used.
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Abstract
Description
回転軸に対して傾いた第1ミラー面と第2ミラー面を備えたミラーユニットと、
前記第1ミラー面に向けて光束を出射する少なくとも1つの光源を含む投光系と、を有し、
前記光源から出射された光束は、前記ミラーユニットの前記第1ミラー面で反射した後、前記第2ミラー面で反射され、前記ミラーユニットの回転に応じ、対象物に対して主走査方向に走査されつつ投光されるようになっており、
前記第2ミラー面で反射された光束は、主走査面内に含まれる方向を0度としたとき、前記主走査面に対して±30度以内の範囲に偏光していることを特徴とする。
10°<ε<70° (1)
10°<ε<70° (1)
BX 筐体
CL コリメートレンズ
CP 交点
CV 防塵カバー
GD 地面
GL ガラス
INP 入射面
IP 入射点
LB レーザー光束
LD 半導体レーザー
LPS 投光系
LPS1,LPS2 投光系
LR レーザーレーダー
LS レンズ
M1 第1ミラー面
M2 第2ミラー面
MU ミラーユニット
OBJ 対象物
PD フォトダイオード
PV 軸線
RO 回転軸
RPS 受光系
SL スポット光
SO 光軸
SR 対象物範囲
TL 接線
WD 窓部
Claims (9)
- 回転軸に対して傾いた第1ミラー面と第2ミラー面を備えたミラーユニットと、
前記第1ミラー面に向けて光束を出射する少なくとも1つの光源を含む投光系と、を有し、
前記光源から出射された光束は、前記ミラーユニットの前記第1ミラー面で反射した後、前記第2ミラー面で反射され、前記ミラーユニットの回転に応じ、対象物に対して主走査方向に走査されつつ投光されるようになっており、
前記第2ミラー面で反射された光束は、主走査面内に含まれる方向を0度としたとき、前記主走査面に対して±30度以内の範囲に偏光していることを特徴とする走査光学系。 - 前記ミラーユニットは、1回転する間に、前記対象物側における前記主走査方向と平行な、異なる複数の位置を走査する請求項1に記載の走査光学系。
- 前記ミラーユニットは、前記第1ミラー面と前記第2ミラー面とを複数対有し、各対における前記第1ミラー面と前記第2ミラー面との交差角は異なっている請求項1または2に記載の走査光学系。
- 前記ミラーユニットは、前記第1ミラー面と前記第2ミラー面とを複数対有し、前記複数対は、前記第1ミラー面と前記第2ミラー面との交差角が同じである少なくとも二対を含み、かつ、前記交差角が前記少なくとも二対の交差角と異なる少なくとも一対を含む請求項1または2に記載の走査光学系。
- 前記光源と前記ミラーユニットとの間に、前記光源から出射された光束の進行方向を変更する偏向素子を有する請求項1~4のいずれかに記載の走査光学系。
- 前記光源を複数個有し、各光源から出射された光束は、前記回転軸を通る断面において前記第1ミラー面への入射角が異なる請求項1~5のいずれかに記載の走査光学系。
- 前記第2ミラー面から前記対象物に向かって出射された光束は、主走査方向よりも副走査方向に長い進行方向直交断面形状を有する請求項1~6のいずれかに記載の走査光学系。
- 少なくとも前記第2ミラー面を覆うように配置され、前記第2ミラー面から出射された光束を透過可能な防塵カバーを有し、前記ミラーユニットの回転軸及び前記第2ミラー面から前記防塵カバーを通過して出射する光束の中心とを含む断面において、前記防塵カバーにおける前記出射光束の中心との交点を通る接線は、前記ミラーユニットの回転軸に対して角度εで交差し、以下の式を満たす請求項1~7のいずれかに記載の走査光学系。
10°<ε<70° (1) - 請求項1~8のいずれかに記載の走査光学系と、前記走査光学系から出射された光束の反射光を受光する受光系とを有することを特徴とするレーダー。
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