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WO2018147454A1 - Système optique de balayage et dispositif radar laser - Google Patents

Système optique de balayage et dispositif radar laser Download PDF

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Publication number
WO2018147454A1
WO2018147454A1 PCT/JP2018/004755 JP2018004755W WO2018147454A1 WO 2018147454 A1 WO2018147454 A1 WO 2018147454A1 JP 2018004755 W JP2018004755 W JP 2018004755W WO 2018147454 A1 WO2018147454 A1 WO 2018147454A1
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WO
WIPO (PCT)
Prior art keywords
light
scanning
mirror
sub
light receiving
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Application number
PCT/JP2018/004755
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English (en)
Japanese (ja)
Inventor
菖蒲鷹彦
石川亮太
Original Assignee
コニカミノルタ株式会社
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Application filed by コニカミノルタ株式会社 filed Critical コニカミノルタ株式会社
Priority to JP2018567536A priority Critical patent/JP7157386B2/ja
Publication of WO2018147454A1 publication Critical patent/WO2018147454A1/fr

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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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the present invention relates to a scanning optical system for detecting return light from an object while scanning a projection beam, and a laser radar apparatus incorporating the scanning optical system.
  • a distance measuring device that detects a distance to an object by irradiating laser light while scanning in two dimensions and detecting reflected light returned from an object existing within the scanning range is known (for example, Patent Document 1).
  • high power is obtained by collecting laser outputs from a plurality of light sources at one point.
  • the viewing angle which is a range that can be irradiated at once, is narrow.
  • a general method for efficiently combining laser beams from a plurality of laser light sources is to use a polarization beam splitter.
  • component costs due to the limitation of polarization and the increase in the number of components, component costs There is a problem that the adjustment cost increases.
  • the S component is reflected with a high reflectivity due to the reflection at the transmission window that is curved or inclined, so that a relatively strong stray light is generated. Reliability can be reduced.
  • the present invention has been made in view of the above-described problems of the background art, and an object thereof is to provide a scanning optical system and a laser radar device that enable a wide range of rapid measurements by widening the viewing angle. To do.
  • a scanning optical system reflecting one aspect of the present invention includes a plurality of light sources and a plurality of collimator lenses that respectively input light from the plurality of light sources.
  • a light projecting system having a light source, a scanning mirror that scans the light projection beam by reflecting light from the light projecting system, a light receiving lens on which return light from the scanning mirror is incident, and return light that has passed through the light receiving lens
  • a plurality of light sources arranged at different positions in the direction corresponding to the sub-scanning direction and off-axis with respect to the direction corresponding to the sub-scanning direction with respect to the plurality of collimator lenses,
  • the light receiving element is arranged to detect return light corresponding to a plurality of light sources.
  • a laser radar device reflecting one aspect of the present invention includes the above-described scanning optical system and detects an object based on return light.
  • FIGS. 2A and 2B are a side view and a plan view for explaining the structure of the scanning optical system.
  • 3A and 3B correspond to FIGS. 2A and 2B, and are a side view and a plan view in which a light projecting system and a light receiving system are enlarged.
  • 4A to 4C are a front view, a side view, and a plan view around the light emitting surface of the first light source
  • FIGS. 4D to 4F are a front view, a side view, and a plan view around the light emitting surface of the second light source.
  • FIG. 5A is a diagram for explaining a projection state of the projection beam to a distant place
  • FIG. 5B is a conceptual diagram for explaining intersection of the projection beam, upside down of the projection beam, and the like. It is a figure explaining the state of a light receiving element.
  • 7A and 7B are a side view and a plan view for explaining the structure of the scanning optical system in the second embodiment.
  • 8A and 8B are a side view and a plan view for explaining the structure of the scanning optical system in the third embodiment. It is the schematic explaining the laser radar apparatus which concerns on 4th Embodiment.
  • a laser radar device 100 shown in FIG. 1 is an object detection device for indoor / outdoor monitoring or in-vehicle use, for example, and detects the presence of a detection target and the distance to the detection target.
  • the laser radar device 100 includes a light projecting system 10, a light receiving system 20, a rotary reflection unit 30, a control unit 40, and an exterior component 50.
  • the light projecting system 10, the light receiving system 20, and the rotary reflection unit 30 constitute a scanning optical system 101.
  • the light projecting system 10 projects the laser light L1 that is the source of the light projecting beam onto the scanning mirror 31 of the rotary reflector 30 described later.
  • the detailed structure of the light projecting system 10 will be described later.
  • the light receiving system 20 receives reflected light, that is, return light L2 from the detection target OB that is incident through the optical window 53 of the exterior component 50, and is reflected by the scanning mirror 31 of the rotary reflection unit 30. To do. More specifically, when there is a detection target OB such as an object in the detection region, the laser light (projection beam) L1 emitted from the laser radar device 100 is reflected by the detection target OB and reflected by the detection target OB. Part of the emitted light enters the light receiving system 20 through the scanning mirror 31 in the laser radar device 100 as return light L2. The detailed structure of the light receiving system 20 will be described later.
  • the rotation reflection unit 30 includes a scanning mirror 31 and a rotation drive unit 32.
  • the scanning mirror 31 is a double-reflection polygon mirror, and includes a first reflecting portion 31a and a second reflecting portion 31b for bending an optical path.
  • the first and second reflecting portions 31a and 31b are respectively arranged up and down along a rotation axis RX extending in parallel with the Z direction.
  • the first and second reflecting portions 31a and 31b have a pyramid shape, but the inclination angle of each reflecting surface is the rotational position of the scanning mirror 31 (in the example shown, the orientation is in four directions in units of 90 °). The position gradually changes with the position) (refer to International Publication No. 2014/168137 for specific shapes of the first and second reflecting portions 31a and 31b).
  • the mirror surface of the first reflecting portion 31a is inclined with respect to the Z-axis, and the laser beam (projected beam) L1 incident from the + X direction that is the left direction on the paper surface is substantially orthogonal to the direction. And is guided to the mirror surface of the second reflecting portion 31b in the upward direction on the paper surface.
  • the mirror surface of the second reflecting portion 31b is inclined with respect to the Z axis, reflects the laser beam L1 incident from the ⁇ Z direction, which is the downward direction on the paper surface, in a direction substantially orthogonal to the left surface on the paper surface. Guide to the detection target OB side.
  • a part of the return light L2 reflected by the detection target OB follows a path opposite to the path of the laser light L1, and is detected by the light receiving system 20.
  • the scanning mirror 31 reflects the return light L2 reflected by the detection target OB again by the mirror surface of the second reflection unit 31b and guides it to the mirror surface of the first reflection unit 31a. Subsequently, the return light L2 is reflected again by the mirror surface of the first reflecting portion 31a and guided to the light receiving system 20 side.
  • the scanning mirror 31 rotates, the traveling direction of the laser light L1 changes in a plane orthogonal to the Z-axis direction (that is, the XY plane).
  • the laser beam L1 is scanned, that is, main-scanned around the Z axis or along the Y axis direction in accordance with the rotation of the four pairs of reflecting surfaces constituting the scanning mirror 31.
  • An angle area scanned by the laser beam L1 is a detection area.
  • the range of the tilt angle with respect to the + X-axis direction, which is the traveling direction of the projecting laser beam L1 is the projecting angle, and the traveling direction of the laser beam L1 at the scanning start point and the traveling direction of the laser beam L1 at the scanning end point. Is an irradiation angle.
  • a projection visual field is formed by the projection angle and the irradiation angle.
  • the ⁇ Z direction parallel to the rotation axis RX is referred to as a sub-scanning direction
  • the ⁇ Y direction perpendicular to the rotation axis RX corresponding to main scanning is referred to as a main scanning direction. That is, the sub-scanning direction and the main scanning direction are orthogonal to each other.
  • the center angle of the light projection beam in the vertical direction or the Z direction of the light projection field gradually changes according to the rotation position of the scanning mirror 31 as described above, and accompanies one rotation of the scanning mirror 31. For example, sub-scanning that moves in four stages is achieved.
  • the control unit 40 controls operations of the light sources 11a and 11b of the light projecting system 10 (see FIG. 2A and the like), the light receiving element 24 of the light receiving system 20 (see FIG. 2A and the like), the rotation driving unit 32 of the rotary reflecting unit 30, and the like. . Further, the control unit 40 obtains the object information of the detection target OB from the electrical signal obtained by converting the return light L2 incident on the light receiving element 24 of the light receiving system 20. Specifically, when the output signal from the light receiving element 24 is equal to or greater than a predetermined threshold, the control unit 40 determines that the light receiving element 24 has received the return light L2 from the detection target OB.
  • the distance to the detection target OB is obtained from the difference between the light emission timings of the light sources 11a and 11b and the light reception timing of the light receiving element 24. Further, based on the light receiving position of the return light L2 to the light receiving element 24 in the sub-scanning direction and the rotation angle corresponding to the main scanning direction of the scanning mirror 31, object information such as the position, size, and shape of the detection target OB is obtained. Can be sought.
  • the exterior part 50 is for covering and protecting the built-in part of the laser radar device 100.
  • the exterior component 50 includes a lid-shaped main exterior portion 51 and a cylindrical container-shaped sub-exterior portion 52.
  • the main exterior portion 51 and the sub-exterior portion 52 are detachably fixed with fasteners such as bolts while maintaining confidentiality inside the exterior component 50 at these edges.
  • the light projecting system 10 makes two light sources 11a and 11b as a plurality of light sources and light SB1 and SB2 from the two light sources 11a and 11b individually incident.
  • a plurality of collimator lenses 12a and 12b and an optical path combining mirror 13 are provided.
  • the light projecting system 10 since the light projecting system 10 includes the two light source sources 11a and 11b, the division of the light receiving field by the light projecting beam is simplified, and the number of parts constituting the light projecting system 10 is reduced to reduce the cost. Can be planned.
  • One light source 11a and one collimator lens 12a constitute a first light source element 14a
  • the other light source 11b and the other collimator lens 12b constitute a second light source element 14b
  • a combination of the collimator lenses 12 a and 12 b and the optical path combining mirror 13 is a collimator unit 18.
  • the second light source element 14b and the mirror 13 are arranged above the first light source element 14a, that is, at a position shifted in the + Z direction.
  • the light emitting surface 16a of the first light source 11a is relatively longer in the Z direction corresponding to the sub-scanning direction than in the Y direction corresponding to the main scanning direction. That is, the Z width which is the vertical dimension of the light emitting surface 16a is several times larger than the Y width which is the horizontal dimension of the light emitting surface 16a.
  • the light emitting surface 16b of the second light source 11b is relatively long in the Z direction corresponding to the sub-scanning direction. That is, the Z width, which is the vertical dimension of the light emitting surface 16b, is several times larger than the X width, which is the horizontal dimension of the light emitting surface 16b.
  • the light source optical axis SX1 passing through the first light source 11a and the collimator lens 12a extends parallel to the X axis (in the example shown, the light source optical axis SX1 is a collimator lens). 12a passes through the optical axis).
  • the light source optical axis SX2 passing through the second light source 11b and the collimator lens 12b extends in parallel to the Y axis in the upstream area A1 upstream of the mirror 13 and in the downstream area A2 downstream of the mirror 13 in the optical path. It extends parallel to the X axis (in the example shown, the light source optical axis SX2 passes through the optical axis of the collimator lens 12b).
  • the light source optical axis SX1 on the first light source 11a side is orthogonal to the preceding area A1 of the light source optical axis SX2 on the second light source 11b side, and both areas A1 and A2 are set in different angular directions. Yes. Further, the light source optical axis SX1 on the collimator lens 12a side and the rear region A2 of the light source optical axis SX2 on the collimator lens 12b side are arranged adjacent to each other in parallel, and the light sources 11a, 11a, It is about 11b wide.
  • the plurality of light sources 11a and 11b are arranged at different positions in the Z direction corresponding to the sub-scanning direction, and appear to overlap with the same position in plan view on the rear side in the Y direction corresponding to the main scanning direction. Is arranged.
  • the light emitting surface 16a of the first light source 11a is arranged in the ⁇ Z direction corresponding to the sub-scanning direction from the vicinity of the light source optical axis SX1. That is, the center C1 of the light emitting surface 16a is deviated in the ⁇ Z direction, and is arranged off-axis in the ⁇ Z direction corresponding to the sub-scanning direction with respect to the collimator lens 12a constituting the collimator unit 18. . Further, as shown in FIGS.
  • the light emitting surface 16b of the second light source 11b is arranged so as to be biased in the + Z direction corresponding to the sub-scanning direction from the vicinity of the light source optical axis SX2. That is, the center C2 of the light emitting surface 16b is deviated in the + Z direction, and is arranged off-axis with respect to the + Z direction corresponding to the sub-scanning direction with respect to the collimator lens 12b constituting the collimator unit 18.
  • the emission optical axis AX1 of the light projecting system 10 is on the optical path from the light projecting system 10 to the scanning mirror 31, and the light source optical axis SX1 of the first light source element 14a and the first light axis SX1.
  • the two light source elements 14b are arranged in the middle of the light source optical axis SX2 and the subsequent region A2.
  • the first light source 11a and the second light source 11b are slightly displaced along the direction of the emission optical axis AX1, but with respect to the emission optical axis AX1. It can be said that they are arranged substantially symmetrically.
  • the light SB1 emitted from the light emitting surface 16a of the light source 11a of the first light source element 14a exhibits a relatively wide divergence angle in the Y direction which is the horizontal direction and a relatively narrow divergence angle in the Z direction which is the vertical direction ( 4B and 4C).
  • the divergence angle of the light SB1 is initially wide in the horizontal Y direction, but on the downstream side of the optical path of the first reflecting portion 31a (specifically, the light source 11a After a few hundred mm, that is, about 50 mm in front of the optical window 53), the aspect ratio of the aspect ratio becomes 1: 1, and then becomes wider in the vertical Z direction corresponding to the sub-scanning direction than in the horizontal Y direction.
  • the light SB2 emitted from the light emitting surface 16b of the light source 11b of the second light source element 14b exhibits a relatively wide divergence angle in the X direction which is the horizontal direction and a relatively narrow divergence angle in the Z direction which is the vertical direction. (See FIGS. 4E and 4F).
  • the divergence angle of the light SB2 is initially wide in the horizontal X direction, but the vertical and horizontal aspect ratio is 1: on the downstream side of the optical path of the first reflecting portion 31a. After that, it becomes wider in the vertical Z direction corresponding to the sub-scanning direction than in the horizontal Y direction.
  • the light SB1 emitted from the light source 11a of the first light source element 14a disposed on the lower side is projected relatively downward in the distance through the scanning mirror 31, as shown in FIG. 5A.
  • the light SB2 emitted from the light source 11b of the second light source element 14b disposed on the upper side in the sub-scanning direction is illuminated relative to the far side via the scanning mirror 31 as shown in FIG. 5A. Is projected upward to illuminate the upper region.
  • the light paths SB1 and SB2 from the pair of light sources 11a and 11b intersect with the emission optical axis AX1 in the sub-scanning direction before and after entering the scanning mirror 31.
  • the projected light beams SB1 and SB2 are subjected to upside down by the collimator unit 18 and upside down by the scanning mirror 31.
  • the original vertical relationship is maintained as shown in FIG. 5A.
  • the light projecting system 10 can be made relatively small in the sub-scanning direction. it can.
  • the term “intersection” does not include those intersecting by reflection on the reflecting surface.
  • the scanning areas AR1 and AR2 formed by the pair of light sources 11a and 11b form a trajectory that moves the light SB1 and SB2 in the Y direction, which is the main scanning direction. , And projected in the Y direction.
  • the laser beam (projection beam) L1 composed of the light beams SB1 and SB2 extends in the Z direction or the sub-scanning direction on the object side to cover the range of projection angles.
  • the laser light (projected beam) L1 composed of the light SB1 and SB2 reciprocates in the Y direction or the main scanning direction within the range of the irradiation angle as the scanning mirror 31 rotates.
  • the light receiving system 20 includes a perforated mirror 21, a light receiving lens 22, a mirror 23, and a light receiving element 24.
  • the perforated mirror 21 is an optical path bending mirror.
  • the opening 21a of the perforated mirror 21 is formed at an appropriate position in the center of the perforated mirror 21 or in the vicinity thereof.
  • the exit optical axis AX1 and the incident optical axis AX2 of the light projecting system 10 pass through the approximate center of the opening 21a.
  • SB2 are narrowed down in the upper and lower Z directions corresponding to the sub-scanning direction, and spread is suppressed by the collimator lenses 12a and 12b in the left and right Y directions corresponding to the main scanning direction. As a result, the light SB1 and SB2 pass through the opening 21a without waste.
  • the return light L2 reflected by the first reflecting portion 31a through the second reflecting portion 31b of the scanning mirror 31 is reflected by the reflecting surface 21b of the perforated mirror (optical path folding mirror) 21 and bends the optical path in the orthogonal direction. It is done. At this time, a part of the return light L2 leaks out of the optical path through the opening 21a and is lost, but if the area ratio of the opening 21a to the first reflecting portion 31a is relatively small, the detection accuracy does not decrease.
  • the light receiving lens 22 has a role of narrowing the beam diameter of the return light L2, and the mirror 23 has a role of guiding the return light L2 having passed through the light receiving lens 22 to the light receiving element 24.
  • a band pass type filter 26 that blocks visible light other than the wavelength of the return light L2, that is, the laser light L1, is disposed.
  • the light receiving lens 22 and the mirror 23 are arranged along the incident optical axis AX2.
  • the light receiving element 24 detects the return light L2 that has passed through the light receiving lens 22 and the mirror 23.
  • the light receiving element 24 is, for example, a CMOS, CCD, or other semiconductor device, and detects the intensity of the return light L2, and has position resolution in the vertical Z direction corresponding to the sub-scanning direction. That is, the light receiving element 24 has two or more pixels in the sub-scanning direction, and can measure by dividing the sub-scanning direction into two or more regions.
  • FIG. 6 shows a specific example of the light detection surface 24 a of the light receiving element 24.
  • the longitudinal direction of the light detection surface 24a is the sub-scanning direction.
  • the light detection surface 24a includes six pixels 24p, and the six pixels 24p are arranged in the upper and lower Z directions corresponding to the sub-scanning direction. That is, the light detection surface 24a has a configuration of 6 pixels with respect to the Z direction corresponding to the sub-scanning direction and a configuration of 1 pixel with respect to the left and right Y directions corresponding to the main scanning direction.
  • the light detection surface 24a of the light receiving element 24 has a width capable of capturing the return light L2 reflected in the direction reverse to the object OB within the range of the projection angle of the laser light L1 with respect to the vertical Z direction and the horizontal Y direction.
  • the detection light L21 caused by the light SB1 from the light source 11a and the detection light L22 caused by the light SB2 from the light source 11b in the return light L2 are conceptually shown on the light detection surface 24a.
  • the collimator emits light periodically by the pair of light sources 11a and 11b of the light receiving system 20 under the control of the control unit 40.
  • the laser beam (projection beam) L1 synthesized by the unit 18 passes through the opening 21a of the perforated mirror (optical path bending mirror) 21 and passes through the scanning mirror 31, and the laser beam L1 that is long in the upper and lower sub-scanning directions is Main scanning is performed in the horizontal main scanning direction.
  • the plurality of light sources 11a and 11b are at different positions in the Z direction corresponding to the sub-scanning direction, and the direction corresponding to the sub-scanning direction with respect to the plurality of collimator lenses 12a and 12b.
  • Each of the light receiving elements 24 is arranged off-axis, and the light receiving element 24 has a plurality of pixels 24p that are arranged so as to detect return light L2 corresponding to the plurality of light sources 11a and 11b and realize position resolution in the Z direction corresponding to the sub-scanning direction. Therefore, it is possible to easily ensure a relatively wide light projection field in the sub-scanning direction, and a wide range of quick measurement is possible.
  • the plurality of light sources 11a and 11b are arranged at different positions in the Z direction corresponding to the sub-scanning direction, so that the laser light (projection light) L1 from the plurality of light sources 11a and 11b is aligned in the sub-scanning direction.
  • the scanning range in the main scanning direction can be widened to the limit.
  • the laser beam (projection beam) L1 is emitted so as to divide the light receiving field in the sub-scanning direction (see FIG. 5A), and the collimator unit 18 can have a simple configuration. ) L1 can be easily made uniform in the sub-scanning direction.
  • the light emitting surfaces 16a and 16b of the plurality of light sources 11a and 11b are relatively long in the Z direction corresponding to the sub-scanning direction, and it is easy to widen the projection field in the sub-scanning direction even with a small number of light sources.
  • one of the first light source element 14a and the second light source element 14b is bent so that the light source optical axes SX1 and SX2 extend close to each other in parallel on the emission side.
  • the plurality of light source optical axes SX1 and SX2 can be brought close to each other on the emission side in a parallel state, the size on the light projecting side can be compressed in the sub-scanning direction, and as a result, the light receiving aperture can be increased.
  • the size of the apparatus including the scanning mirror 31 can be reduced.
  • the emission optical axis AX1 and the incident optical axis AX2 are arranged to substantially coincide with each other in the section adjacent to the scanning mirror, and the return light L2 is transmitted through the laser light (projection beam) L1.
  • the reflecting perforated mirror 21 is used, and the size of the light projecting system 10 and the light receiving system 20 can be reduced in the sub-scanning direction, and the amount of received light can be increased.
  • the light projecting system 10 and the light receiving system 20 are easily separated, and the light projecting system 10 and the light receiving system 20 are related to the sub-scanning direction or the Z direction. They are located at different positions. That is, the emission optical axis AX1 and the incident optical axis AX2 of the light projecting system 10 are arranged adjacent to each other in parallel in the section between the mirror 23 and the scanning mirror 31, and are in the Z direction or the sub scanning direction. Are separated.
  • the exit optical axis AX1 and the incident optical axis AX2 are arranged at different positions in the Z direction corresponding to the sub-scanning direction, and the Y direction corresponding to the main scanning direction. Are arranged so as to overlap each other in plan view.
  • the light projecting system 10 and the light receiving system 20 are simply separated, and stray light components from the optical window 53 that emits the light projecting beam are difficult to enter the light receiving system 20.
  • the light receiving system 20 includes a light receiving lens 22, a mirror 23, and a light receiving element 24.
  • a perforated mirror is unnecessary.
  • the light detection surface 24a of the light receiving element 24 extends in the X direction due to the optical path bending by the mirror 23, but the X direction corresponds to the sub-scanning direction.
  • the first light source element 14a and the second light source element 14b are mirror images arranged in the vertical sub-scanning direction across the emission optical axis AX1.
  • the first light source 11a and the second light source 11b are disposed strictly symmetrically with respect to the emission optical axis AX1.
  • a combination of the pair of collimator lenses 12a and 12b is a collimator unit 18, and a mirror for synthesizing the optical path is not necessary.
  • the light source 11a is arranged off-axis so as to be asymmetric in the sub-scanning direction with respect to the collimator lens 12a constituting the collimator unit 18, and the second light source element 14b.
  • the light source 11b is arranged off-axis so as to be asymmetric in the sub-scanning direction with respect to the collimator lens 12b constituting the collimator unit 18.
  • the light receiving system 20 is the same as that shown in the first embodiment, but the light receiving system 20 is the same as that shown in the second embodiment, and the light path for light projection and the light receiving system are received. It is also possible to completely separate the optical path.
  • the laser radar device 100 includes a light projecting system 10, a light receiving system 20, a rotary reflection unit 30, a control unit 40, and an exterior component 50, as in the first embodiment.
  • the scanning mirror 31 of the rotary reflection unit 30 of this embodiment is a one-time reflection type polygon mirror, and includes only the first reflection unit 31a for bending the optical path.
  • the mirror surface of the first reflecting portion 31 a is inclined with respect to the Z axis, and reflects the laser beam L 1 incident from the ⁇ Z direction, which is the downward direction on the paper surface, in a direction substantially orthogonal to the scanning mirror 31. It is guided to the left side to be detected OB on the paper surface.
  • a part of the return light L2 reflected by the detection target OB follows a path opposite to the path of the laser light L1, and is detected by the light receiving system 20.
  • the left and right X directions perpendicular to the rotation axis RX of the scanning mirror 31 are sub-scanning directions
  • the Y direction perpendicular to the rotation axis RX is the main scanning direction. It has become.
  • the number of pixels 24p constituting the light detection surface 24a of the light receiving element 24 is not limited to six, and can be an appropriate number according to the detection resolution.
  • optical elements constituting the light projecting system 10 and the light receiving system 20 are not limited to those illustrated in FIG. 2A and the like, but various types such as increasing the number of mirrors for bending the optical path and increasing the number of lenses according to the application and specifications. It can be changed.

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Abstract

L'invention concerne un système optique de balayage (101) comprenant : un système de projection de lumière (10) comprenant une pluralité de sources de lumière (11a, 11b) et une pluralité de lentilles de collimation (12a, 12b) dans lesquelles la lumière provenant de la pluralité de sources de lumière (11a, 11b) est amenée à pénétrer ; un miroir de balayage (31) qui balaie un faisceau laser (L1) par réflexion de la lumière provenant du système de projection de lumière (10) ; une lentille de réception de lumière (22) sur laquelle la lumière de retour (L2) provenant du miroir de balayage (31) est incidente ; et un élément de réception de lumière (24) sur lequel la lumière de retour (L2) ayant traversé la lentille de réception de lumière (22) est incidente. La pluralité de sources de lumière (11a, 11b) sont disposées dans des positions qui diffèrent dans une direction correspondant à une direction de balayage auxiliaire et dans un état dans lequel chacune des sources de lumière est hors axe par rapport à la pluralité de lentilles de collimation (12a, 12b) dans une direction correspondant à la direction de balayage auxiliaire. L'élément de réception de lumière (24) est disposé de façon à pouvoir détecter une lumière de retour (L2) correspondant à la pluralité de sources de lumière (11a, 11b).
PCT/JP2018/004755 2017-02-09 2018-02-09 Système optique de balayage et dispositif radar laser WO2018147454A1 (fr)

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