WO2019239845A1 - 物体検出装置および光検出器 - Google Patents
物体検出装置および光検出器 Download PDFInfo
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- WO2019239845A1 WO2019239845A1 PCT/JP2019/020599 JP2019020599W WO2019239845A1 WO 2019239845 A1 WO2019239845 A1 WO 2019239845A1 JP 2019020599 W JP2019020599 W JP 2019020599W WO 2019239845 A1 WO2019239845 A1 WO 2019239845A1
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- Prior art keywords
- light
- object detection
- reflected
- sensor
- mirror
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- 238000001514 detection method Methods 0.000 title claims abstract description 162
- 230000004048 modification Effects 0.000 description 36
- 238000012986 modification Methods 0.000 description 36
- 230000003287 optical effect Effects 0.000 description 27
- 238000010586 diagram Methods 0.000 description 10
- 238000005452 bending Methods 0.000 description 8
- 230000007935 neutral effect Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000007769 metal material Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B5/00—Optical elements other than lenses
- G02B5/18—Diffraction gratings
- G02B5/1814—Diffraction gratings structurally combined with one or more further optical elements, e.g. lenses, mirrors, prisms or other diffraction gratings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
- G01D5/38—Forming the light into pulses by diffraction gratings
-
- 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
- G01S17/04—Systems determining the presence of a target
-
- 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
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- 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
- 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
- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
-
- 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
- G02B26/106—Scanning systems having diffraction gratings as scanning elements, e.g. holographic scanners
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1822—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors comprising means for aligning the optical axis
- G02B7/1827—Motorised alignment
Definitions
- the present invention relates to an object detection device for detecting an object using light and a photodetector suitable for use in the object detection device.
- an object detection device that detects an object using light has been developed in various fields.
- this type of object detection device light is projected in a predetermined projection direction, and whether or not an object exists in the projection direction is determined based on the presence or absence of the reflected light. Further, the distance to the object is measured based on the light projection timing and the light reception timing of the reflected light.
- Patent Document 1 includes a plurality of light irradiation optical systems and a plurality of detection optical systems that respectively detect return light that is reflected by an object and returned from the light irradiated by these light irradiation optical systems.
- a distance measuring device is described. In this apparatus, by rotating the holder that holds the optical system, the distance to an object located in the peripheral space is measured while changing the light irradiation direction.
- the object detection capability can be enhanced.
- a set of a light irradiation optical system and a detection optical system is arranged for each projection direction, an increase in the number of parts and an increase in cost are caused.
- the present invention provides an object detection device capable of detecting an object with a plurality of lights having different projection directions with a simple configuration, and a photodetector suitable for use in the object detection device. With the goal.
- An object detection apparatus includes a light source that emits light, a branch element that branches the light emitted from the light source into a plurality of parts, a mirror that reflects light branched by the branch element, and the branch element And a holder that integrally holds the mirror, a drive unit that rotates the holder, a photodetector that receives the reflected light of each light reflected from an object, and the light detection of the reflected light of each light A condensing lens for condensing the light.
- the light branched by the branch element is projected, and the reflected light of each branched light is received by the photodetector, so that the light is individually opticalized for each projection direction. It is not necessary to provide a system, and an object can be detected by a plurality of lights having different projection directions with a very simple configuration.
- the second aspect of the present invention relates to a photodetector.
- the photodetector according to this aspect includes a first sensor and a second sensor arranged in an arc around the first sensor.
- the branching element of the object detection apparatus is a diffraction grating
- the optical system is configured such that the 0th-order diffracted light follows the rotation center axis of the mirror, the order different from the 0th-order diffracted light.
- the reflected light of the other diffracted light rotates around the incident position of the 0th-order diffracted light with the rotation of the mirror on the light receiving surface of the photodetector.
- the second sensor is arranged in an arc shape around the first sensor.
- the first sensor receives the reflected light of the 0th-order diffracted light and rotates the mirror. Accordingly, the movement trajectory of the reflected light of other orders of the diffracted light rotating can be made to follow the arc-shaped second sensor.
- the photodetector according to the second aspect can smoothly receive the reflected light of the 0th-order diffracted light and the reflected light of other orders of diffracted light, and generate a detection signal for each reflected light.
- an object detection device capable of detecting an object with a plurality of lights having different projection directions and a photodetector suitable for use with the simple configuration.
- FIGS. 1A to 1C are perspective views showing the configuration of the object detection apparatus according to the embodiment.
- FIGS. 2A and 2B are cross-sectional views showing the configuration of the object detection apparatus according to the embodiment.
- FIG. 3 is a graph showing an emission locus of laser light in the object detection apparatus according to the embodiment.
- 4A to 4C are diagrams schematically showing the configuration of the photodetector and the movement state of the reflected light of each diffracted light on the photodetector, according to the embodiment.
- FIG. 5 is a block diagram illustrating a configuration of the object detection device according to the embodiment.
- FIGS. 6A to 6F are diagrams schematically illustrating the configuration of the photodetector and the movement state of the reflected light of each diffracted light on the photodetector, according to the first modification.
- FIG. 7 is a block diagram illustrating a configuration of the object detection device according to the first modification.
- 8A and 8B are cross-sectional views illustrating the configuration of the object detection device according to the second modification.
- FIGS. 9A to 9C are diagrams schematically illustrating the configuration of the photodetector and the movement state of the reflected light of each diffracted light on the photodetector, according to the modification example 2, respectively.
- FIGS. 10A to 10D are diagrams schematically illustrating the configuration of the photodetector and the movement state of the reflected light of each diffracted light on the photodetector, according to Modification 3.
- FIG. 10E is a perspective view illustrating a configuration of the object detection device according to the fourth modification.
- FIG. 11A is a cross-sectional view illustrating the configuration of the object detection device according to the fifth modification.
- FIG. 11B is a plan view schematically showing the configuration of the optical path switching mirror according to the fifth modification.
- the Z-axis direction is the height direction of the object detection device
- the X-axis positive direction is the front direction of the object detection device.
- FIGS. 1A to 1C are perspective views showing the configuration of the object detection apparatus 10.
- FIGS. 1A to 1C show the state of the object detection apparatus 10 when the mirror 105 is in the neutral position.
- the “neutral position” is a position where the mirror 105 is inclined 45 degrees in a direction parallel to the ZX plane from a state perpendicular to the X axis. In this state, the projection direction of the laser light is the front direction (X-axis positive direction).
- the filter 106 is omitted from the configuration shown in FIG. 1A in FIG. 1B, and the cylinder 110 is further omitted in FIG. 1C.
- the object detection apparatus 10 shown in FIG. 1A is a complete body.
- an object detection apparatus 10 includes a light source 101, a collimator lens 102, a bending mirror 103, a diffraction grating 104, a mirror 105, a filter 106, and a condenser lens. 107 and a photodetector 108.
- the light source 101 emits infrared laser light.
- the light source 101 is, for example, a semiconductor laser that emits 905 nm laser light.
- the light source 101 is arranged so that the outgoing optical axis is parallel to the X axis.
- the collimator lens 102 converts the laser light emitted from the light source 101 into parallel light.
- the light source 101 and the collimator lens 102 are arranged so as to be aligned in the X-axis direction. More specifically, the light source 101 and the collimator lens 102 are arranged so that the emission optical axis of the light source 101 and the optical axis of the collimator lens 102 coincide with each other.
- the light source 101 is arranged so that the outgoing optical axis is orthogonal to the rotation center axis R10 of the mirror 105 (see FIGS. 2A and 2B).
- the laser light emitted from the light source 101 is converted into parallel light by the collimator lens 102 and then reflected by the bending mirror 103 in the negative Z-axis direction.
- the collimator lens 102 and the bending mirror 103 are attached to the cylindrical body 110.
- the cylindrical body 110 has a shape in which a hollow cylindrical portion 110a whose central axis is parallel to the X axis and a hollow cylindrical portion 110b whose central axis is parallel to the Z axis are integrally connected.
- the connecting portions of the cylindrical portions 110a and 110b are opened, and the bending mirror 103 is attached to the connecting portions so that the reflection surface is located inside the cylindrical body 110.
- the bending mirror 103 is attached to the cylinder 110 in a state where it is inclined 45 degrees in a direction parallel to the ZX plane from a state perpendicular to the Z axis.
- a collimator lens 102 is attached to the opening of the cylindrical body 110 on the light source 101 side.
- the laser light that has been collimated by the collimator lens 102 enters the bending mirror 103 through the inside of the cylindrical body 110 (cylindrical portion 110a). Thereafter, the laser light is reflected in the negative Z-axis direction by the bending mirror 103 and passes through the opening on the diffraction grating 104 side of the cylindrical body 110. In this way, the laser light is incident on the diffraction grating 104. The laser light is incident on the diffraction grating 104 along the rotation center axis R10 of the mirror 105 (see FIGS. 2A and 2B).
- the diffraction grating 104 divides the incident laser beam by diffraction as described above.
- the diffraction direction of the diffraction grating 104 is parallel to the laser beam projection direction (X-axis direction) by the mirror 105.
- the diffraction grating 104 is configured so that the laser beam branched by diffraction is incident on the mirror 105 in a direction parallel to the rotation center axis R10 of the mirror 105 (see FIGS. 2A and 2B).
- the laser beam from 101 is branched.
- the diffraction grating 104 is configured so that the diffraction efficiencies of the 0th-order diffracted light and the ⁇ 1st-order diffracted light are high, and the diffraction efficiencies of other orders of diffracted light are substantially zero.
- the diffraction efficiencies of the 0th-order diffracted light and the ⁇ 1st-order diffracted light are set to be approximately equal.
- the diffraction grating 104 is configured by, for example, a step type diffraction grating.
- the diffraction grating 104 may be a blazed diffraction grating.
- the mirror 105 reflects the laser light (0th order diffracted light and ⁇ 1st order diffracted light) branched by the diffraction grating 104 in the projection direction. In the neutral position, the mirror 105 is inclined 45 degrees from the state perpendicular to the X axis to the direction parallel to the ZX plane. As described above, since the laser light is incident on the diffraction grating 104 along the rotation center axis R10 (see FIGS. 2A and 2B) of the mirror 105, the laser light is transmitted through the diffraction grating 104 without being diffracted. The next diffracted light is incident on the mirror 105 along the rotation center axis R10.
- the diffraction grating 104 and the mirror 105 are held by a holder 120.
- the holder 120 is a cylindrical frame-shaped member whose upper surface and side surfaces are open.
- a beam portion 121 extending in the X-axis direction at the neutral position is formed on the upper surface of the holder 120, and the diffraction grating 104 is mounted at the center thereof.
- the beam portion 121 is disposed at the center position in the Y-axis direction on the upper surface of the holder 120.
- Openings 122 are provided on both sides of the beam portion 121 in the Y-axis direction.
- Laser light (0th order diffracted light and ⁇ 1st order diffracted light) reflected by the mirror 105 is projected in the positive direction of the X axis from the opening on the side surface of the holder 120.
- FIGS. 2A and 2B are cross-sectional views showing the configuration of the object detection apparatus 10, respectively.
- FIG. 2A and 2 (b) show a cross section of the configuration of FIG. 1 (a) cut at a plane parallel to the XZ plane at an intermediate position in the Y-axis direction.
- FIG. 2A shows laser beams (diffracted beams) L0 to L2 projected on the target area, and FIG. 2A shows the reflection of each laser beam reflected by an object existing in the target area.
- Lights R0-R2 are shown.
- L0, L1, and L2 are 0th-order diffracted light, + 1st-order diffracted light, and ⁇ 1st-order diffracted light generated by the diffraction grating 104, respectively.
- R0, R1, and R2 are reflected lights of the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the -1st-order diffracted light L2 that are reflected by the object, respectively.
- the laser light emitted from the light source 101 is branched into 0th-order diffracted light L0, + 1st-order diffracted light L1, and ⁇ 1st-order diffracted light L2 by the diffraction grating 104.
- the 0th-order diffracted light L0 is incident on the mirror 105 in parallel with the Z-axis, and is reflected by the mirror 105 in the X-axis direction (horizontal direction).
- the + 1st order diffracted light L1 and the ⁇ 1st order diffracted light L2 are incident on the mirror 105 at a predetermined diffraction angle in a direction parallel to the XZ plane from a state parallel to the Z axis. Therefore, the + 1st order diffracted light L1 and the ⁇ 1st order diffracted light L2 are respectively reflected by the mirror 105 in a direction inclined from the X axis direction to the Z axis positive / negative direction.
- the holder 120 has a circular hole 123 formed at the center position on the XY plane, and the rotation shaft 131 of the motor 130 is fitted into and connected to the hole 123. Yes.
- the motor 130 is driven, the holder 120 rotates around the rotation center axis R10, and the mirror 105 and the diffraction grating 104 rotate accordingly.
- the relative positional relationship of the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the ⁇ 1st-order diffracted light L2 with respect to the mirror 105 is the same even if the mirror 105 is rotated. Is unchanged. Therefore, the angles formed by the projection directions of the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the ⁇ 1st-order diffracted light L2 with respect to the horizontal plane (XY plane) are unchanged even when the mirror 105 rotates.
- FIG. 3 is a graph showing an emission locus of laser light (0th-order diffracted light L0, + 1st-order diffracted light L1, -1st-order diffracted light L2) in the object detection apparatus 10.
- the horizontal axis indicates the horizontal projection direction as an angle with respect to the front direction
- the vertical axis indicates the vertical projection direction as an angle with respect to the horizontal plane.
- the angles formed by the projection directions of the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the -1st-order diffracted light L2 with respect to the horizontal plane (XY plane) are set to 0 degrees, +5 degrees, and -5 degrees, respectively. . That is, the diffraction angles of the + 1st order diffracted light L1 and the ⁇ 1st order diffracted light L2 in the diffraction grating 104 are each 5 degrees.
- three laser beams (0th-order diffracted light L0, + 1st-order diffracted light L1, and ⁇ 1st-order diffracted light L2) separated in the vertical direction (Z-axis direction) are converted into a rotation center axis R10.
- the range of ⁇ 135 degrees to +135 degrees is shown as the range of the horizontal axis, but this is an example, and the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the ⁇ 1st-order diffracted light L2
- the rotation range is not limited to this.
- the rotation ranges of the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the ⁇ 1st-order diffracted light L2 may be set to a range wider than ⁇ 135 degrees to +135 degrees.
- reflected light R0, R1, and R2 of each diffracted light reflected by the object is The projection light path travels backward and enters the mirror 105.
- the two straight lines labeled with the reflected light R0 indicate the outermost rays of the reflected light that can be captured by the condenser lens 107.
- the reflected lights R0, R1, and R2 are shown as parallel lights having a predetermined beam diameter.
- the incident directions of the reflected lights R0, R1, and R2 incident on the mirror 105 are also different. Different from each other. That is, since the 0th-order diffracted light L0 is projected in the horizontal direction, the reflected light R0 of the 0th-order diffracted light L0 travels backward from the target area in the horizontal direction and enters the mirror 105.
- the + 1st order diffracted light L1 is projected in a direction inclined by a predetermined angle in the vertical upward direction (Z-axis positive direction) with respect to the horizontal direction, the reflected light R1 of the + 1st order diffracted light L1 is The light then enters the mirror 105 backward from the target area in a direction inclined by a predetermined angle in the vertically downward direction (Z-axis negative direction).
- the ⁇ 1st order diffracted light L2 is projected in a direction inclined by a predetermined angle in the vertical downward direction (Z-axis negative direction) with respect to the horizontal direction, the reflected light R2 of the ⁇ 1st order diffracted light L2 is reflected in the horizontal direction.
- the light then enters the mirror 105 backward from the target area in a direction inclined by a predetermined angle in the vertically upward direction (Z-axis raw direction).
- the reflected lights R1, R2, and R3 are reflected by the mirror 105 and travel toward the upper surface of the holder 120. Then, most of the reflected light R1, R2, R3 passes through the opening 122 (see FIG. 1A) on the upper surface of the holder 120, enters the filter 106, and further passes through the filter 106 to be collected. The light enters the optical lens 107.
- the filter 106 is a band-pass filter that transmits light in the wavelength band of the laser light emitted from the light source 101 and blocks light in other wavelength bands. Therefore, the reflected lights R1, R2, and R3 incident on the filter 106 pass through the filter 106 and enter the condenser lens 107 as they are. The condenser lens 107 converges the incident reflected lights R1, R2, and R3 on the light receiving surface of the photodetector 108.
- the reflected light R1, R2, and R3 are incident on the mirror 105 at different angles as described above, they are also incident on the condenser lens 107 at different angles.
- the optical axis of the condenser lens 107 coincides with the rotation center axis R10. Therefore, the reflected light R0 of the 0th-order diffracted light L0 enters the condenser lens 107 in parallel with the optical axis of the condenser lens 107.
- the reflected light R1 of the + 1st order diffracted light L1 enters the condenser lens 107 so as to be inclined in the positive direction of the X axis from a state parallel to the optical axis of the condenser lens 107.
- the reflected light R2 of the ⁇ 1st order diffracted light L2 enters the condenser lens 107 so as to be inclined in the negative direction of the X axis from a state parallel to the optical axis of the condenser lens 107.
- the convergence positions of the reflected lights R0, R1, and R2 are shifted in the X-axis direction on the light receiving surface of the photodetector 108. It becomes like this.
- the convergence position of the reflected light R0 is fixed even when the mirror 105 rotates, but the convergence positions of the reflected lights R1 and R2 rotate as the mirror 105 rotates.
- the photodetector 108 is configured to receive the reflected lights R0, R1, and R2 whose converging positions are shifted from each other and rotate as described above.
- 4A to 4C are diagrams schematically showing the configuration of the photodetector 108 and the movement state of the reflected light of each diffracted light on the photodetector 108, respectively.
- the photodetector 108 receives the reflected light R0 from the object of the 0th-order diffracted light L0, and the reflected lights R1 and R2 from the objects of the + 1st-order diffracted light L1 and the ⁇ 1st-order diffracted light L2 arranged around the sensor S1.
- Sensors S2 and S3 receive the reflected light R0 of the 0th-order diffracted light L0 along the movement trajectories of the reflected lights R1 and R2 of the + 1st-order diffracted light L1 and the ⁇ 1st-order diffracted light L2 that rotate as the mirror 105 rotates. It is arranged in an arc around S1.
- the sensors S2 and S3 are divided into two in the moving direction of the reflected light R1 and R2.
- a detection signal for the reflected light R0 is output from the sensor S1.
- a detection signal for the reflected light R1 is output from one of the sensors S2 and S3
- a detection signal for the reflected light R2 is output from the other of the sensors S2 and S3.
- the detection signal for the reflected light R1 is output from the sensor S2, and the detection signal for the reflected light R2 is the sensor S3. Is output from.
- FIG. 4B when the reflected lights R1 and R2 rotate clockwise and are equally applied to the boundaries of the sensors S2 and S3, the output of the detection signals to the reflected lights R1 and R2 stops.
- FIG. 4C when the reflected lights R1 and R2 rotate clockwise and the reflected lights R1 and R2 enter the photodetector 108 as shown in FIG. 4C, a detection signal for the reflected light R1 is output from the sensor S3.
- the detection signal for the reflected light R2 is output from the sensor S2.
- the detection signal for the reflected light R0 is acquired from the sensor S1
- the detection signals for the reflected light R1 and R2 are selectively acquired from the sensors S2 and S3, respectively.
- FIG. 5 is a block diagram showing a configuration of the object detection apparatus 10.
- the object detection apparatus 10 includes a controller 201, a laser drive circuit 202, a mirror drive circuit 203, and a timing detection circuit 204 as a circuit unit configuration.
- the controller 201 includes a microcomputer and a memory, and controls each unit according to a program held in the memory.
- the laser drive circuit 202 drives the light source 101 according to a control signal from the controller 201.
- the mirror drive circuit 203 drives the motor 130 by the control signal from the controller 201 to rotate the mirror 105.
- the timing detection circuit 204 detects the timing at which the sensors S1 to S3 receive the reflected lights R0 to R2, respectively, based on the detection signals of the sensors S1 to S3 of the photodetector 108.
- the timing detection circuit 204 outputs detection pulses of the reflected lights R0 to R2 to the controller 201 at the timing when the sensors S1 to S3 receive the reflected lights R0 to R2, respectively.
- the controller 201 controls the mirror drive circuit 203 to rotate the mirror 105 in the horizontal direction. Further, the controller 201 controls the laser driving circuit 202 to cause the light source 101 to emit pulsed laser light at every predetermined rotation angle in the horizontal direction. The controller 201 then reflects the reflected lights R0 to R2 of the laser light (0th order diffracted light L0, + 1st order diffracted light L1, and ⁇ 1st order diffracted light L2) emitted from the light source 101 at each rotation angle of the mirror 105. Whether or not the light is received is determined based on a signal from the timing detection circuit 204.
- the controller 201 When the reflected lights R0 to R2 are received by the photodetector 108 at each rotation angle of the mirror 105, the controller 201 causes the vertical angles of the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the ⁇ 1st-order diffracted light L2 at each rotation angle. It is determined that an object is present in the direction. Further, the controller 201 determines the 0th-order diffracted light L0 and the + 1st-order diffracted light based on the time difference between the timing at which the laser light is emitted from the light source 101 and the light reception timing of the reflected lights R0 to R2 detected by the timing detection circuit 204. The distance to the object in the projection direction of L1 and ⁇ 1st order diffracted light L2 is measured. Thus, the object detection operation in each projection direction is performed.
- the controller 201 acquires the detection signal of the reflected lights R1 and R2 along with the movement of the reflected lights R1 and R2. , S3 is selectively switched.
- the controller 201 is output from the timing detection circuit 204 so as to acquire a timing detection signal corresponding to the sensor to which the reflected lights R1 and R2 are incident, of the sensors S2 and S3, according to the rotational position of the mirror 105.
- Each timing detection signal is selectively assigned as a timing detection signal for the reflected lights R1 and R2.
- the controller 201 appropriately acquires the timing detection signals of the reflected lights R1 and R2 that rotate with the rotation of the mirror 105 by the two sensors S2 and S3 shown in FIGS. be able to.
- Laser beams (0th-order diffracted light L0, + 1st-order diffracted light L1, and ⁇ 1st-order diffracted light L2) branched by the diffraction grating 104 (branching element) are projected onto the target area, and each branched laser light (0th-order diffracted light) Since reflected light R0, R1, and R2 of L0, + 1st order diffracted light L1, and ⁇ 1st order diffracted light L2) is received by the photodetector 108, it is not necessary to provide an optical system separately for each projection direction, and an extremely simple configuration Thus, an object can be detected by a plurality of laser beams having different projection directions.
- the photodetector 108 includes a sensor S1 that receives the reflected light R0 from the object of the 0th-order diffracted light L0, and is arranged around the sensor S1 ⁇ 1 next time. Sensors S2 and S3 that receive the reflected lights R1 and R2 from the objects of the folded lights L1 and L2. As described above, by arranging the sensors S2 and S3 around the sensor S1, the reflected light R1 and R2 rotating with the rotation of the mirror 105 can be received by the sensors S2 and S3.
- the sensors S2 and S3 follow the movement trajectories of the reflected lights R1 and R2 of the ⁇ first-order diffracted lights L1 and L2 that rotate as the mirror 105 rotates.
- the sensor S1 that receives the reflected light R0 of the 0th-order diffracted light L0 is arranged in an arc shape.
- the area of the sensors S2 and S3 can be limited to the area corresponding to the movement trajectory of the reflected light R1 and R2. Thereby, it can suppress that sensor S2, S3 receives unnecessary light, such as a stray light, and can improve the detection accuracy of reflected light R1, R2.
- the controller 201 obtains the detection signals of the reflected lights R1 and R2 in accordance with the rotational movement of the reflected lights R1 and R2. S3 is selectively switched. Accordingly, the controller 201 appropriately acquires detection signals of the reflected lights R1 and R2 that rotate with the rotation of the mirror 105 by the two sensors S2 and S3 illustrated in FIGS. 4A to 4C. Can do.
- the diffraction grating 104 (branching element) is configured such that the branched laser light (0th-order diffracted light L0, + 1st-order diffracted light L1, -1st-order diffracted light L2) is the rotation center axis R10 of the mirror 105.
- the laser light from the light source 101 is branched so that it is incident on the mirror 105 in a direction parallel to the mirror 105.
- a plurality of branched laser beams (0th-order diffracted light L0, + 1st-order diffracted light L1, and ⁇ 1st-order diffracted light L2) can be projected in different projection directions in the vertical direction. Therefore, the detection range can be expanded in the vertical direction.
- a cylindrical body 110 is provided.
- the reflected light of the laser beam reflected by the incident surface of the diffraction grating 104 or the scattered light of the laser beam generated by the exit surface of the bending mirror 103 or the collimator lens 102 enters the condenser lens 107.
- the light can be prevented from being focused on the photodetector 108. Therefore, the detection accuracy of the object can be increased by using the cylindrical body 110.
- FIGS. 6A to 6F are diagrams schematically showing the configuration of the photodetector 108 and the movement states of the reflected lights R0 to R2 of the diffracted lights on the photodetector 108 according to the modification example 1, respectively. It is.
- the first modification four sensors S12 to S15 are arranged around the sensor S11 that receives the reflected light R0. That is, in the modified example 1, the number of divisions of the sensor for receiving the reflected lights R1 and R2 is larger than that in the above embodiment.
- the sensors S12 to S15 are arranged in an arc around the sensor S11 so as to follow the movement trajectories of the reflected lights R1 and R2.
- the configuration other than the photodetector 108 is the same as that shown in FIGS. 1A to 1C and FIGS. 2A and 2B shown in the first embodiment.
- the hatched sensor is a sensor used for detection of the reflected light R1
- the dot hatched sensor is It is a sensor used for detection of reflected light R2. That is, in the state of FIG. 6A, the sensors S12 and S13 are used for receiving the reflected light R1, and the sensors S14 and S15 are used for detecting the reflected light R2.
- the sensor S13 is used to receive the reflected light R1, and the sensor S15 is used to detect the reflected light R2.
- the sensors S13 and S14 are used for receiving the reflected light R1, and the sensors S15 and S12 are used for detecting the reflected light R2.
- the sensor S14 is used for receiving the reflected light R1, and the sensor S12 is used for detecting the reflected light R2.
- the sensors S12 and S13 are used for receiving the reflected light R2, and the sensors S14 and S15 are used for detecting the reflected light R1.
- the sensor S13 is used for receiving the reflected light R2, and the sensor S15 is used for detecting the reflected light R1.
- the sensor used for detecting the reflected lights R1 and R2 is selectively switched from the sensors S12 to S15.
- FIG. 7 is a block diagram illustrating a configuration of the object detection apparatus 10 according to the first modification.
- a selector 205 is added compared to the configuration of FIG.
- Other configurations are the same as those in FIG.
- the selector 205 selects a predetermined detection signal from the detection signals output from the sensors S12 to S15 under the control of the controller 201, and generates a detection signal for the reflected light R1 and a detection signal for the reflected light R2. Specifically, the controller 201 causes the selector 205 to select the detection signals from the sensors to which the reflected lights R1 and R2 are incident, among the detection signals output from the sensors S12 to S15, and the reflected lights R1 and R2 The detection signal is generated.
- the controller 201 causes the selector 205 to select the detection signals from the sensors S12 and S13, and generates the detection signal of the reflected light R1.
- the selector 205 adds the detection signals from the sensors S 12 and S 13 to generate a detection signal of the reflected light R 1, and outputs the generated detection signal to the timing detection circuit 204.
- the controller 201 causes the selector 205 to select the detection signal from the sensor S13 to generate the detection signal of the reflected light R1. In this case, the selector 205 outputs the detection signal from the sensor S13 as it is to the timing detection circuit 204 as the detection signal of the reflected light R1.
- the controller 201 determines, for example, which of the sensors S12 to S15 the reflected lights R1 and R2 are incident on, based on the rotational position of the mirror 105, for example. Further, it may be determined which of the sensors S12 to S15 the reflected lights R1 and R2 are incident on, considering which of the sensors S12 to S15 outputs the detection signal. Then, the controller 201 controls the selector 205 as described above based on the determination result, and causes the timing detection circuit 204 to output detection signals corresponding to the reflected lights R1 and R2. The selector 205 outputs the detection signal of the sensor S11 as it is to the timing detection circuit 204 as the detection signal of the reflected light R0.
- the timing detection circuit 204 detects the light reception timing of the reflected lights R0, R1, and R2 based on the detection signal input from the selector 205. Then, the timing detection circuit 204 outputs detection pulses of the reflected lights R0 to R2 to the controller 201 at the light reception timing of the detected reflected lights R0 to R2.
- the controller 201 causes the laser beam to be emitted from the light source 101 at every predetermined rotation angle in the horizontal direction while rotating the mirror 105 in the horizontal direction, as in the above embodiment. Then, the controller 201 determines, based on the signal from the timing detection circuit 204, whether or not the reflected lights R0 to R2 are received by the photodetector 108 at each rotation angle of the mirror 105. When the reflected lights R0 to R2 are received, the controller 201 determines that an object exists in the projection direction of the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the ⁇ 1st-order diffracted light L2.
- the controller 201 determines the 0th-order diffracted light L0 and the + 1st-order diffracted light based on the time difference between the timing at which the laser light is emitted from the light source 101 and the light reception timing of the reflected lights R0 to R2 detected by the timing detection circuit 204. The distance to the object in the projection direction of L1 and ⁇ 1st order diffracted light L2 is measured.
- the same effect as in the above embodiment can be obtained.
- the modified example 1 as described above, even when the reflected lights R1 and R2 are incident on the boundary position of the sensor, the detection signal loss and the crosstalk are not generated, and the reflected light is stably generated.
- the detection signals of R1 and R2 can be acquired. Further, since the areas of the sensors S12 to S15 are smaller than those of the sensors S2 and S3 shown in FIGS. 4A to 4C, the influence of unnecessary light such as stray light on the detection signals of the reflected lights R1 and R2 can be suppressed. The object detection accuracy can be increased.
- the signal switching by the selector 205 is preferably performed at a timing other than the object detection period, that is, at a timing other than the period from when the light source 101 is pulsed to when the received light signal is processed.
- the signal switching by the selector 205 is preferably performed immediately before the light source 101 emits pulses. In this way, it is possible to prevent noise at the time of signal switching from affecting the detection signal.
- 8A and 8B are cross-sectional views showing the configuration of the object detection apparatus 10 according to the second modification. 8A and 8B show cross sections similar to those in FIGS. 2A and 2B.
- the diffraction grating 104 is configured such that the diffraction efficiencies of the 0th-order diffracted light L0, the + 1st-order diffracted light L3, and the + 2nd-order diffracted light L4 are high, and the diffraction efficiency of other orders of diffracted light is substantially zero.
- the diffraction grating 104 is constituted by, for example, a blazed diffraction grating.
- the 0th-order diffracted light L0, the + 1st-order diffracted light L3, and the + 2nd-order diffracted light L4 are used for object detection.
- the combination of diffracted light used for object detection is not limited to this.
- 0th order diffracted light, + 2nd order diffracted light, and + 4th order diffracted light may be used for object detection
- 0th order diffracted light, + 1st order diffracted light, and ⁇ 2nd order diffracted light may be used for object detection.
- the reflected lights R0, R3, R4 based on the 0th-order diffracted light L0, the + 1st-order diffracted light L3, and the + 2nd-order diffracted light L4 enter the mirror 105.
- the convergence positions of the reflected lights R3 and R4 on the light receiving surface of the photodetector 108 are shifted in one direction with respect to the convergence position of the reflected light R0. Therefore, in the modified example 2, the photodetector 108 is configured to be able to appropriately receive the reflected lights R0, R3, and R4.
- FIGS. 9A to 9C schematically illustrate the configuration of the photodetector 108 and the movement states of the reflected lights R0, R3, and R4 of each diffracted light on the photodetector 108 according to the modification example 2, respectively.
- FIG. 9A to 9C schematically illustrate the configuration of the photodetector 108 and the movement states of the reflected lights R0, R3, and R4 of each diffracted light on the photodetector 108 according to the modification example 2, respectively.
- a sensor S22 for receiving the reflected light R3 is arranged in an arc around the sensor S21 that receives the reflected light R0, and further, the reflected light R4 is received around the sensor S22.
- the sensors S23 are arranged in an arc shape. The sensors S22 and S23 are formed along the movement trajectories of the reflected lights R3 and R4, respectively.
- the controller 201 needs to perform control such as switching the detection signals of the sensors S22 and S23 in accordance with the rotational position of the reflected light R3 and R4, that is, the rotational position of the mirror 105. There is no. Therefore, simplification of control can be achieved.
- the sensors S22 and S23 may be divided into a plurality in the circumferential direction as in FIGS. 6 (a) to 6 (f).
- a selector 205 is provided in the circuit unit as shown in FIG. Then, in accordance with the positions of the reflected lights R3 and R4, the detection signal from the divided sensors S22 and S23 is selected by the selector 205, and the detection signals of the reflected lights R3 and R4 are generated.
- the area of each divided sensor is reduced, the influence of unnecessary light such as stray light on the detection signals of the reflected light R3 and R4 is reduced compared to the configurations of FIGS. 9A to 9C. Can be suppressed. Therefore, the object detection accuracy can be increased.
- the number of divisions in the circumferential direction of the sensor that receives the reflected lights R1 and R2 is four.
- the number of divisions in the circumferential direction of the sensor that receives the reflected lights R1 and R2 is three or five. There may be more than one.
- the photodetector 108 is divided into 12 in the circumferential direction as a sensor S31 that receives the reflected light R0 and a sensor that receives the reflected lights R1 and R2.
- the sensors S32 to S43 may be provided.
- the detection signals of the reflected lights R1 and R2 are acquired by detection signals from one sensor or two adjacent sensors, respectively.
- the hatched sensor is a sensor for acquiring the detection signal of the reflected light R1
- the sensor hatched with the dot is the sensor of the reflected light R2. It is a sensor for acquiring a detection signal. Selection and generation of the detection signal are performed by the selector 205 under the control of the controller 201 as in the first modification.
- the configuration of the modification example 3 since the areas of the sensors S32 to S43 can be further reduced as compared with the modification example 1, the influence of unnecessary light such as stray light on the detection signals of the reflected lights R3 and R4 can be further suppressed. Therefore, the object detection accuracy can be further increased.
- FIG. 10E is a perspective view illustrating a configuration of the object detection device 10 according to the fourth modification.
- the filter 106 in the above embodiment is omitted, and the filter 141 is mounted on the upper surface of the holder 120 instead.
- the filter 141 is a bandpass filter that transmits light in the emission wavelength band of the light source 101 and blocks light of other wavelength bodies.
- a rectangular opening is formed in the center of the filter 141, and the diffraction grating 104 is attached to this opening. That is, in the modification example 4, the filter 141 also serves as a support member for the diffraction grating 104.
- Other configurations are the same as those in the above embodiment.
- the portions of the reflected lights R0, R1, and R2 that are shielded by the beam portion 121 in the above embodiment. Can be directed to the photodetector 108. Therefore, more reflected light R0, R1, and R2 can be condensed on the photodetector 108.
- the diffraction grating 104 may not be rectangular in a plan view but may be circular.
- an opening provided in the filter 141 for mounting the diffraction grating 104 is also adjusted to be circular. As a result, more reflected light R0, R1, and R2 can be collected on the photodetector 108.
- FIG. 11A is a cross-sectional view illustrating a configuration of the object detection device 10 according to the fifth modification.
- FIG. 11B is a plan view schematically illustrating the configuration of the optical path switching mirror 151 according to the fifth modification.
- the optical system composed of the light source 101 and the collimator lens 102 and the optical system composed of the filter 106, the condensing lens 107, and the photodetector 108 are interchanged.
- an optical path switching mirror 151 for switching the optical path is disposed between both optical systems.
- the light source 101 is disposed so that the outgoing optical axis is aligned with the rotation center axis R10.
- the optical path switching mirror 151 is provided with a hole 151a in the center.
- the laser beam converted into parallel light by the collimator lens 102 enters the diffraction grating 104 through the hole 151a.
- the 0th-order diffracted light L0, the + 1st-order diffracted light L1, and the ⁇ 1st-order diffracted light L2 are generated as in the above embodiment.
- the reflected light of the 0th-order diffracted light L0, the + 1st-order diffracted light L1 and the ⁇ 1st-order diffracted light L2 reflected from the target region is reflected by the mirror 105 and then the part other than the hole 151a of the optical path switching mirror 151, as in the above embodiment.
- the light is reflected in the negative X-axis direction.
- the reflected light enters the condenser lens 107 through the filter 106 and is converged on the light receiving surface of the photodetector 108 by the condenser lens 107.
- the convergence position of each reflected light is shifted in the Z-axis direction on the light receiving surface.
- Each reflected light is received by, for example, sensors S1, S2, and S3 having the configuration shown in FIGS. 4 (a) to (c).
- a cylinder may be provided between the hole 151a and the diffraction grating 104. As a result, it is possible to prevent the laser beam reflected by the incident surface of the diffraction grating 104 from being collected on the photodetector 108 as it is.
- ⁇ 1st order diffracted lights L1 and L2 are used for object detection as diffracted light other than 0th order diffracted light L0, but the diffracted light used for object detection is not limited to this.
- ⁇ 2nd order diffracted light may be used for object detection as diffracted light other than 0th order diffracted light, and only + 1st order diffracted light may be used for object detection.
- the number of diffracted lights used for object detection is not limited to three.
- the diffraction direction by the diffraction grating 104 is parallel to the XZ plane at the neutral position shown in FIG. 2A.
- the diffraction direction by the diffraction grating 104 is not limited to this. It is not something that can be done.
- the diffraction direction by the diffraction grating 104 may be inclined by a predetermined angle with respect to the XZ plane at the neutral position shown in FIG.
- the diffraction grating 104 uses the laser beam from the light source 101 so that the branched laser beam is incident on the mirror 105 in a direction parallel to the rotation center axis R10. It is preferable to make it branch.
- the sensor disposed around the sensor S1 that receives the reflected light R0 of the 0th-order diffracted light L0 does not necessarily have an arc shape, and receives the reflected light R1 and R2 even when the reflected light R1 and R2 move. Other shapes are possible as long as possible.
- the area of the sensor can be limited to an area according to the movement locus of the reflected light, and unnecessary light such as stray light is incident on the sensor. This can be suppressed. Therefore, the detection accuracy of the reflected light from the object can be increased.
- the photodetector 108 does not necessarily have a configuration having a predetermined sensor pattern, and may be an image sensor such as a CCD (Charge Coupled Device) or a two-dimensional PSD (Position Sensitive Detector).
- a CCD Charge Coupled Device
- PSD Position Sensitive Detector
- the holder 120 and the mirror 105 may be integrally formed.
- the mirror 105 may be formed by mirror-finishing the inclined surface of the holder 120.
- the branch element for branching light is not limited to the diffraction grating, and may be other elements as long as the light from the light source can be branched.
- the light source 101 can use an LED (light emitting diode) in addition to the laser light source.
- the distance to the object is measured together with the presence or absence of the object in the projection direction.
- the object detection device 10 may be configured to detect only the presence or absence of the object in the projection direction.
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Abstract
Description
上記実施の形態によれば、以下の効果が奏され得る。
図6(a)~(f)は、それぞれ、変更例1に係る、光検出器108の構成および光検出器108上における各回折光の反射光R0~R2の移動状態を模式的に示す図である。
上記実施形態および変更例1では、回折格子104で分岐された0次回折光L0および±1次回折光L1、L2が目標領域に投射されたが、変更例2では、投射に用いる回折光が変更されている。
上記変更例1では、反射光R1、R2を受光するセンサの周方向の分割数が4つであったが、反射光R1、R2を受光するセンサの周方向の分割数は、3つまたは5つ以上であってもよい。たとえば、図10(a)~(d)に示すように、光検出器108が、反射光R0を受光するセンサS31と、反射光R1、R2を受光するセンサとして、周方向に12に分割されたセンサS32~S43を備えていてもよい。
図10(e)は、変更例4に係る物体検出装置10の構成を示す斜視図である。
図11(a)は、変更例5に係る物体検出装置10の構成を示す断面図である。図11(b)は、変更例5に係る光路切替ミラー151の構成を模式的に示す平面図である。
上記実施形態では、0次回折光L0以外の回折光として±1次回折光L1、L2が物体検出に用いられたが、物体検出に用いる回折光はこれに限られるものではない。たとえば、0次回折光以外の回折光として、±2次回折光が物体検出に用いられてもよく、+1次回折光のみが物体検出に用いられてもよい。物体検出に用いる回折光の数も3つに限られるものではない。
104 … 回折格子(分岐素子)
105 … ミラー
107 … 集光レンズ
108 … 光検出器
120 … ホルダ
130 … モータ(駆動部)
201 … コントローラ
S1~S3 … センサ
S11~S15 … センサ
S21~S23 … センサ
S31~S43 … センサ
Claims (13)
- 光を用いて物体を検出する物体検出装置であって、
光を出射する光源と、
前記光源から出射された前記光を複数に分岐させる分岐素子と、
前記分岐素子により分岐された光を反射させるミラーと、
前記分岐素子および前記ミラーを一体的に保持するホルダと、
前記ホルダを回転させる駆動部と、
物体から反射された前記各光の反射光を受光する光検出器と、
前記各光の反射光を前記光検出器に集光させる集光レンズと、を備える、
物体検出装置。
- 請求項1に記載の物体検出装置において、
前記分岐素子は、回折格子である、
物体検出装置。
- 請求項2に記載の物体検出装置において、
前記光源からの前記光が前記ミラーの回転中心軸に沿って前記回折格子に入射し、
前記回折格子により生成される0次回折光と少なくとも1つの他の次数の回折光が、前記ミラーで反射されて投射され、
前記光検出器は、前記0次回折光の前記物体からの反射光を受光するセンサと、前記センサの周囲に配置され前記他の次数の回折光の前記物体からの反射光を受光する少なくとも1つの他のセンサとを備える、
物体検出装置。
- 請求項3に記載の物体検出装置において、
前記他のセンサは、前記ミラーの回転に伴い回転する前記他の次数の回折光の前記反射光の移動軌跡に沿うように、前記0次回折光の前記反射光を受光する前記センサの周囲に円弧状に配置されている、
物体検出装置。
- 請求項3または4に記載の物体検出装置において、
前記回折格子は、複数の前記他の次数の回折光を生成して前記ミラーに導き、
前記光検出器は、前記複数の他の次数の回折光の前記反射光を受光する前記他のセンサを備える、
物体検出装置。
- 請求項5に記載の物体検出装置において、
前記回折格子は、±n次(nは正の整数)の回折光を生成して前記ミラーに導き、
前記±n次数の回折光の前記反射光を受光する前記他のセンサは、前記反射光の移動方向において少なくとも2つに分割されている、
物体検出装置。
- 請求項5に記載の物体検出装置において、
前記回折格子は、前記0次回折光に対して回折角が互いに異なる所定次数の複数の回折光を生成して前記ミラーに導き、
前記他のセンサは、前記ミラーの回転に伴い回転する前記所定次数の各回折光の前記反射光ごとに個別に配置されている、
物体検出装置。
- 請求項7に記載の物体検出装置において、
前記所定次数の各回折光の前記反射光ごとに個別に配置された前記他のセンサは、周方向において少なくとも2つに分割されている、
物体検出装置。
- 請求項6または8に記載の物体検出装置において、
前記反射光の移動に伴い、前記各反射光の検出信号を取得するための前記他のセンサを選択的に切り替えるコントローラを備える、
物体検出装置。
- 請求項1から9の何れか一項に記載の物体検出装置において、
前記分岐素子は、分岐された光が前記ミラーの回転中心軸に平行な方向に離れて前記ミラーに入射するように、前記光源からの前記光を分岐させる、
物体検出装置。
- 第1のセンサと、
前記第1のセンサの周囲に円弧状に配置された第2のセンサと、を備える、
光検出器。
- 請求項11に記載の光検出器において、
前記第2のセンサの周囲に円弧状に配置された第3のセンサをさらに備える、
光検出器。
- 請求項11または12に記載の光検出器において、
前記第1のセンサ以外の前記センサは、前記第1のセンサの周りの周方向において少なくとも2つに分割されている、
光検出器。
Priority Applications (4)
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CN201980039226.3A CN112292609A (zh) | 2018-06-14 | 2019-05-24 | 物体检测装置以及光检测器 |
EP19819423.5A EP3809156A4 (en) | 2018-06-14 | 2019-05-24 | OBJECT DETECTION DEVICE AND PHOTODESTECTOR |
JP2020525392A JP7190667B2 (ja) | 2018-06-14 | 2019-05-24 | 物体検出装置 |
US17/085,746 US20210048566A1 (en) | 2018-06-14 | 2020-10-30 | Object detection device and photodetector |
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US17/085,746 Continuation US20210048566A1 (en) | 2018-06-14 | 2020-10-30 | Object detection device and photodetector |
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US (1) | US20210048566A1 (ja) |
EP (1) | EP3809156A4 (ja) |
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US11579014B1 (en) * | 2020-08-20 | 2023-02-14 | Amazon Technologies, Inc. | Optical detector system |
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JPWO2019239845A1 (ja) | 2021-07-26 |
CN112292609A (zh) | 2021-01-29 |
EP3809156A1 (en) | 2021-04-21 |
US20210048566A1 (en) | 2021-02-18 |
JP7190667B2 (ja) | 2022-12-16 |
EP3809156A4 (en) | 2021-07-28 |
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