JP5488099B2 - Laser radar equipment - Google Patents

Description

  The present invention relates to a laser radar device.

  Conventionally, for example, an apparatus as disclosed in Patent Document 1 is provided as a technique for detecting the distance and direction to a detection object using a laser beam. In the apparatus of Patent Document 1, an optical isolator that transmits laser light and reflects reflected light from a detection object toward the detection means is provided on the optical axis of the laser light from the laser light generation means. Furthermore, a concave mirror that rotates about the central axis in the optical axis direction is provided on the optical axis of the laser light that passes through the optical isolator. The concave mirror reflects the laser light toward the space and reflects it from the detection object. Reflecting light toward the optical isolator enables 360 ° horizontal scanning.

Japanese Patent Laid-Open No. 10-20035 JP 2008-216238 A

  By the way, the above laser radar device generally has a configuration in which a transparent cover for the purpose of dustproofing, dripproofing, etc. is provided on the irradiation path of laser light irradiated to the space from a deflecting unit (for example, a concave mirror). However, when a transparent cover is provided on the laser light irradiation path in this way, a part of the laser light irradiated to the space from the deflecting unit (for example, concave mirror) is reflected by the transparent cover, and the reflected light (disturbance light) is reflected. There is a problem that it is detected by the light detection means via the deflection section. If disturbance light is detected in this way, there is a possibility that reflected light (reflected light from a detection object existing in a space outside the apparatus) that should be detected cannot be detected accurately. It can be said that a configuration in which the light detection means is difficult to detect is desirable. In addition, a method of removing the disturbance light as described above as a noise can be considered. However, such a method alone can remove the disturbance light when the disturbance light reception timing is close to the regular detection signal reception timing. We cannot cope with difficult cases, and further solutions are required.

  In addition, disturbance light that can cause erroneous detection is not only disturbance light generated by reflection of laser light on a transparent cover, but also extraneous light (such as sunlight) that enters through the transparent cover from outside the apparatus. . This kind of disturbance light can also be a noise that causes erroneous detection of reflected light that should be detected originally (reflected light from a detection object existing in a space outside the apparatus), and therefore measures to make it difficult to detect such disturbance light. desired.

  The present invention has been made to solve the above-described problems, and is effective in detecting erroneous light caused by disturbance light generated by reflection of laser light from a transmission plate or disturbance light entering from the outside of the apparatus through the transmission plate. It is an object of the present invention to provide a laser radar device that can be prevented.

  According to the first aspect of the present invention, there is provided laser light generating means for generating laser light, and light detection for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means. And a deflecting means configured to be rotatable about a predetermined central axis, the laser light is deflected toward the space by the deflecting means, and the reflected light is directed to the light detecting means. Rotating deflection means for deflecting, a reflected light guiding portion for guiding the reflected light deflected by the deflection means to the light detecting means, drive means for driving the turning deflection means, and at least the turning deflection A laser radar device comprising: a housing configured to close a scanning path of the laser light from the deflecting means with a transmission plate capable of transmitting the laser light. On the inner wall, the disturbance light generated by a part of the laser beam from the deflecting means being reflected by the transmission plate is condensed, and the disturbance light is separated from the reflected light guiding part and the light detection means. It is characterized in that a light guide portion that leads to a different position is formed.

Further, the light guide section is characterized in that an inner surface is curved in a longitudinal section cut along a plane including the central axis.

The light guide is formed along the scanning path of the laser light around the deflection unit, and the curvature of the inner surface in the longitudinal section at the first position on the scanning path, and on the scanning path. The curvature of the inner surface in the longitudinal section at the second position is different from each other.

According to a second aspect of the present invention, the light guide section is configured such that the outer shape of the inner surface is a parabolic shape in the longitudinal section.

According to a third aspect of the present invention, in the light guide section, the center of curvature of the inner surface is located at a position deviating from the central axis in the longitudinal section.

The invention according to claim 4 is characterized in that the center of curvature is located at a position deviating from the path of the reflected light from the deflecting means to the light detecting means.

The invention of claim 5 is characterized in that an attenuation member for receiving and attenuating the disturbance light is provided on the path of the disturbance light collected by the light guide.

According to a sixth aspect of the present invention, a cover member that at least partially covers the path of the reflected light from the deflecting unit to the light detecting unit is provided, and the light guide unit transmits the disturbance light. It is characterized by being guided to the outside of the cover member.

The invention of claim 7 is characterized in that the light guide part guides the disturbance light so as to pass between the light detection means and the deflection means.

The invention according to claim 8 is configured such that the deflecting unit deflects the reflected light from the detection object to one side in the vertical direction when the direction of the central axis is the vertical direction, and the reflected light guiding unit. Comprises first reflecting means for reflecting the reflected light deflected by the deflecting means, and second reflecting means for further reflecting the reflected light reflected by the first reflecting means, and The reflected light deflected to the one side by the deflecting means is folded back to the other side in the vertical direction by the first reflecting means and the second reflecting means. The light detection means has a light receiving surface facing the one side in the up-down direction, and receives the reflected light folded back to the other side by the first reflecting means and the second reflecting means. The light guide unit guides the ambient light toward the one side in the vertical direction by passing the position away from the reflected light guiding unit and the light detection unit. It is configured as follows.

According to a ninth aspect of the present invention, there is provided laser light generating means for generating laser light, and light detection for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means. And a deflecting means configured to be rotatable about a predetermined central axis, the laser light is deflected toward the space by the deflecting means, and the reflected light is directed to the light detecting means. Rotating deflection means for deflecting, a reflected light guiding portion for guiding the reflected light deflected by the deflection means to the light detecting means, drive means for driving the turning deflection means, and at least the turning deflection And a case in which a scanning path of the laser light from the deflecting means is closed by a transmission plate through which the laser light can be transmitted. Is configured to deflect the reflected light from the detection object on one side in the vertical direction when the direction of the central axis is the vertical direction, and the reflected light guiding unit is deflected by the deflection unit A first reflecting means for reflecting the reflected light; and a second reflecting means for further reflecting the reflected light reflected by the first reflecting means, and deflected to the one side by the deflecting means. The reflected light is folded back to the other side in the up-down direction by the first reflecting means and the second reflecting means, and the light detecting means has a light receiving surface facing the one side in the up-down direction. In addition, the reflected light folded back to the other side by the first reflecting means and the second reflecting means is received by the light receiving surface, and further, on the inner wall portion of the transmission plate, from the deflecting means Part of the laser beam A light guide part is formed for directing disturbance light reflected by the transmission plate to the one side in the up-down direction and to a position away from the reflected light guide part and the light detection means. It is said.

According to a tenth aspect of the present invention, the reflected light deflected from the deflecting means toward the light detecting means is transmitted through the path of the reflected light from the deflecting means to the light detecting means, and the light guide is provided. Separating means for separating the disturbance light in a direction different from that of the reflected light by reflecting the disturbance light from the section is provided.

The invention of claim 11 is characterized in that the separating means comprises a polarizing plate.

The invention according to claim 12 is characterized in that the transmission plate is disposed along the scanning path of the laser light from the deflecting means and is inclined with respect to the direction of the central axis; A second transmissive portion disposed adjacent to the first transmissive portion around the deflection unit and configured to be parallel or inclined with respect to the direction of the central axis, and the direction of the central axis The inclination angle of the first inclined portion is set larger than the inclination angle of the second transmitting portion, and the light guide portion is formed on the inner wall portion of the first transmitting portion, and the deflection The laser light from the means is irradiated toward the space through the first transmission part, and the reflected light from the detection object can be detected by the light detection means through the second transmission part. It is characterized by being.

The invention according to claim 13 is characterized in that, in the transmission plate, the second transmission part is configured to be wider than the first transmission part.

The invention according to claim 14 is characterized in that, in the second transmission part, an inner surface and an outer surface are substantially parallel to the central axis in a longitudinal section cut by a plane including the central axis. Yes.

The invention according to claim 15 is directed to the transmission plate in which the extraneous light entering the transmission plate from outside the apparatus along the emission direction of the laser beam emitted to the space is passed through the transmission plate in the emission direction. A prism part that refracts the light so as to be directed in a tilted direction, and the prism part causes the extraneous light having a wavelength different from the wavelength of the laser light to be larger than the light having the wavelength of the laser light. It is characterized by being refracted.

According to a sixteenth aspect of the present invention, there is provided laser light generating means for generating laser light, and light detection for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means. And a deflecting means configured to be rotatable about a predetermined central axis, the laser light is deflected toward the space by the deflecting means, and the reflected light is directed to the light detecting means. Rotating deflection means for deflecting, a reflected light guiding portion for guiding the reflected light deflected by the deflection means to the light detecting means, drive means for driving the turning deflection means, and at least the turning deflection A laser radar apparatus comprising: a housing configured to close a scanning path of the laser beam from the deflecting unit with a transmission plate capable of transmitting the laser beam; The external light that enters the transmission plate from outside the apparatus along the emission direction of the laser light emitted to the space is directed to a direction inclined with respect to the emission direction after passing through the transmission plate. The prism portion is configured to refract the light, and the prism portion refracts the extraneous light having a wavelength different from the wavelength of the laser light to be larger than the light having the wavelength of the laser light.

According to a seventeenth aspect of the present invention, the laser light generating unit emits the infrared laser light, and the prism unit transmits the external light having a wavelength shorter than the wavelength of the laser light. It is characterized by being refracted larger than light of a wavelength.

According to an eighteenth aspect of the present invention, in the vertical direction in which the prism portion is parallel to the central axis, the external light having a wavelength shorter than the wavelength of the laser light is opposite to the deflection side of the reflected light by the deflecting means. It is characterized by being refracted to the side.

  According to the first aspect of the present invention, in the laser radar apparatus having a case in which the scanning path of the laser beam from the deflecting unit is closed by the transmitting plate capable of transmitting the laser beam, the deflecting unit is provided on the inner wall portion of the transmitting plate. A part of the laser beam from the laser beam is reflected by the transmission plate, and the disturbance light generated by the transmission plate is collected, and the disturbance light is guided to the position away from the reflected light guiding part and the light detection means. ing. If it does in this way, it will become difficult to irradiate the light (disturbance light) which the laser beam irradiated toward the space from a deflection | deviation means reflects on a permeation | transmission board to a reflected light guidance part and a light detection means, and disturbance light It is possible to effectively suppress erroneous detection received by the light detection means. In particular, since disturbance light is collected and guided to a position away from the reflected light guiding portion and the light detecting means, a configuration in which erroneous detection is unlikely to occur can be realized without enlarging the device configuration so much.

Further , the inner surface is configured to be curved in a longitudinal section of the light guide section (a section cut along a plane including a central axis). In this way, it is easy to suppress the spread of disturbance light in the vertical direction, and in particular, it is easy to guide to a position away from the reflected light guiding unit and the light detection means in the vertical direction.

The light guide is formed along the scanning path of the laser beam around the deflection unit, and the curvature of the inner surface in the longitudinal section at the first position on the scanning path and the longitudinal section at the second position on the scanning path. It is comprised so that the curvature of the inner surface in a surface may differ. If it does in this way, disturbance light from the 1st position will be easy to guide in the direction suitable for the 1st position, and disturbance light from the 2nd position will be easy to guide in the direction suitable for the 2nd position.

The invention of claim 2 is configured such that the outer shape of the inner surface in the longitudinal section of the light guide portion is a parabolic shape. In this way, it is possible to satisfactorily realize a configuration that can collect disturbance light in the vertical direction.

According to a third aspect of the present invention, the center of curvature of the inner surface is positioned away from the central axis in the longitudinal section of the light guide. In this way, it becomes easy to set the focus of the disturbance light at a position deviating from the central axis where the optical components are dense.

The invention according to claim 4 is configured such that the center of curvature is located at a position deviating from the path of reflected light from the deflecting means to the light detecting means. In this way, it becomes easy to set the focus of the disturbance light at a position outside the path of the reflected light.

According to a fifth aspect of the present invention, an attenuation member that receives and attenuates the disturbance light is provided on a path of the disturbance light collected by the light guide unit. In this way, the disturbance light that has been collected and guided to a position outside the reflected light guiding unit and the light detection means can be further attenuated, so the removed disturbance light is reflected by other components and erroneously detected. Is less likely to occur.

The invention of claim 6 is provided with a cover member that at least partially covers the path of the reflected light from the deflecting means to the light detecting means, and disturbing light is guided to the outside of the cover member by the light guide portion. ing. In this way, it becomes even more difficult for disturbance light to enter the path of the reflected light.

In the seventh aspect of the invention, the disturbance light is guided so that the light guide portion passes between the light detection means and the deflection means. In this way, the disturbance light can be guided to a position away from the reflected light guiding unit and the light detecting means by effectively using the region between the light detecting means and the deflecting means.

According to the eighth and ninth aspects of the present invention, the light detecting means is provided with a light receiving surface directed to one side in the vertical direction, and the reflected light folded back to the other side by the first reflecting means and the second reflecting means is received by the light receiving surface It is configured to receive light. On the other hand, the light guide unit guides disturbance light toward one side in the vertical direction with a configuration that passes the position away from the reflected light guiding unit and the light detection unit. In this way, if both the light receiving surface of the light detection means and the disturbance light from the light guide portion are directed to one side in the vertical direction, the disturbance light from the light guide portion is less likely to enter the light receiving surface, and the disturbance Misdetection of light can be prevented more effectively.

According to the tenth aspect of the present invention, the reflected light deflected from the deflecting means to the light detecting means is transmitted through the path of the reflected light from the deflecting means to the light detecting means, and the disturbance light from the light guide is reflected. Separation means for separating the disturbance light in a direction different from that of the reflected light is provided. In this way, the disturbance light can be actively separated in a direction different from the reflected light from the detection object, effectively preventing the disturbance light from being detected in the same manner as the reflection light from the detection object. it can.

In the invention of claim 11 , the separating means is constituted by a polarizing plate. In this way, it is possible to easily separate the reflected light from the detection object and the disturbance light without using a complicated configuration.

According to a twelfth aspect of the present invention, a transmission plate is disposed along the scanning path of the laser beam from the deflecting means, and the transmission plate is inclined with respect to the direction of the central axis. And a second transmissive portion arranged adjacent to the first transmissive portion and inclined with respect to the direction of the central axis around the deflecting means. And the inclination angle of the first inclined part is set larger than the inclination angle of the second transmitting part with respect to the direction of the central axis, and the light guide part is formed on the inner wall part of the first transmitting part, Laser light from the deflecting unit is irradiated toward the space through the first transmission unit, and reflected light from the detection object can be detected by the light detection unit through the second transmission unit.
In this way, it is possible to guide the disturbance light generated by the reflection of the laser light from the deflecting means to the position where it is difficult to be erroneously detected, and the reflected light from the detection object is inclined. It can be led into the device through a small second transmission. Therefore, the attenuation when the reflected light from the detection object passes through the transmission plate can be suppressed as much as possible, and the reflected light can be efficiently detected (received).

In the invention of claim 13 , in the transmission plate, the second transmission part is configured to be wider than the first transmission part. In this way, it is possible to secure a wider area in the transmission plate where the attenuation of the reflected light can be suppressed, and the light receiving efficiency can be further increased.

In the invention of claim 14 , the inner surface and the outer surface are configured to be substantially parallel to the central axis in the longitudinal section of the second transmission part (cut line cut along the plane including the central axis). In this way, the reflected light entering from the side can be taken into the apparatus without further attenuation, and the light receiving efficiency can be further increased.

According to the fifteenth and sixteenth aspects of the present invention, in the transmission plate, extraneous light that enters the transmission plate from the outside of the apparatus along the emission direction of the laser beam emitted to the space with respect to the emission direction after passing through the transmission plate A prism portion is formed that is refracted so as to be directed in an inclined direction. The prism unit is configured to refract extraneous light having a wavelength different from the wavelength of the laser light to be larger than light having the wavelength of the laser light. In this way, extraneous light having a wavelength different from that of the laser beam can be removed from the path of the reflected light (reflected light formed by reflecting the laser beam on the detection object), and the extraneous light having a wavelength different from that of the laser beam is generated. Even if it is taken in from outside the apparatus, the extraneous light is less likely to be erroneously detected.

The invention of claim 17 is configured such that the laser light generating means emits infrared laser light, and the prism portion emits extraneous light having a wavelength shorter than the wavelength of the laser light larger than light having the wavelength of the laser light. Refracted. In this way, visible light taken from outside can be removed from the path of the reflected light, so that visible light having a wavelength different from the wavelength of the laser light is less likely to be erroneously detected.

In the invention of claim 18 , the prism portion refracts the external light having a wavelength shorter than the wavelength of the laser light in the vertical direction parallel to the central axis to the side opposite to the deflection side of the reflected light by the deflecting means. . In this way, the external light having a shorter wavelength than the wavelength of the laser light can be directed in the direction opposite to the laser light deflection path, and the external light is more unlikely to be erroneously detected.

FIG. 1 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the first embodiment. FIG. 2 is a cross-sectional view schematically showing a cross section of the laser radar device of FIG. 1 cut in the horizontal direction. FIG. 3 is an explanatory diagram schematically illustrating a part of a longitudinal section cut along the irradiation path of irradiation light (laser light) in the laser radar apparatus of FIG. FIG. 4A is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the second embodiment, and FIG. 4B is a concave mirror, a photodiode, a transmission plate, and the like in the laser radar apparatus. FIG. FIG. 5A is a cross-sectional view schematically showing a state in which the concave mirror has an angle different from that in FIG. 4A in the laser radar device according to the second embodiment, and FIG. It is explanatory drawing which illustrates roughly arrangement | positioning of a concave mirror, a photodiode, a permeation | transmission board, etc. at the time. FIG. 6 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the third embodiment. FIG. 7 is a cross-sectional view schematically showing a state in which the concave mirror has an angle different from that in FIG. 6 in the laser radar device according to the third embodiment. FIG. 8 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the fourth embodiment. FIG. 9 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the fifth embodiment. FIG. 10 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the sixth embodiment. FIG. 11 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the seventh embodiment. FIG. 12 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the eighth embodiment. FIG. 13 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the ninth embodiment. FIG. 14 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the tenth embodiment. FIG. 15 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the eleventh embodiment. FIG. 16 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the twelfth embodiment. FIG. 17 is a cross-sectional view schematically illustrating a modified example of the laser radar device according to the twelfth embodiment. FIG. 18 is a cross-sectional view schematically illustrating a laser radar device according to the thirteenth embodiment. FIG. 19 is an explanatory view for conceptually explaining refraction when horizontal visible light including light of a plurality of wavelengths passes through the prism portion.

[First embodiment]
Hereinafter, a first embodiment of a laser radar device according to the present invention will be described with reference to the drawings.
(overall structure)
First, the overall configuration of the laser radar device according to the first embodiment will be described with reference to FIGS. 1 and 2.
FIG. 1 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the first embodiment. FIG. 2 is a cross-sectional view schematically showing a cross section of the laser radar device of FIG. 1 cut in the horizontal direction. FIG. 1 schematically shows a predetermined cut surface obtained by cutting the laser radar device along the central axis. FIG. 2 shows the laser radar device of FIG. 1 in the horizontal direction near the upper end of the transmission plate. The cut | disconnected surface cut | disconnected is shown roughly. FIG. 3 is an explanatory diagram illustrating a part of FIG. 1 in an enlarged manner. In the following description, the cross section of the transparent plate is shown in white.

  As shown in FIGS. 1 and 2, the laser radar device 1 includes a laser diode 10 and a photodiode 20 that receives reflected light L2 from the detection object, and detects the distance and direction to the detection object. It is configured.

  The laser diode 10 corresponds to an example of “laser light generation means”, receives a pulse current from a drive circuit (not shown) under the control of the control circuit 70, and receives a pulse laser light (laser light L1) corresponding to the pulse current. ) Is emitted intermittently. In the present embodiment, laser light from the laser diode 10 to the detection object is conceptually indicated by symbol L1, and reflected light from the detection object to the photodiode is conceptually indicated by symbol L2. Yes.

  The photodiode 20 corresponds to an example of “light detection means”, and is configured by, for example, an avalanche photodiode. When the laser light L1 is generated from the laser diode 10 and the laser light L1 is reflected by a detection object (not shown), the photodiode 20 receives the reflected light L2 and converts it into an electrical signal. In addition, about the reflected light from a detection object, the thing of a predetermined area | region is taken in into the concave mirror 41, and in FIG. 1, the reflected light of the area | region between two lines (two-dot chain line) shown with the code | symbol L2 is taken in. An example is shown.

  A lens 60 is provided on the optical axis of the laser light L1 emitted from the laser diode 10. The lens 60 is configured as a collimating lens, and converts the laser light L1 from the laser diode 10 into parallel light.

  A mirror 30 is provided in the vicinity of the optical path of the laser light L1 that has passed through the lens 60. The mirror 30 includes a reflecting surface 30a inclined at a predetermined angle with respect to the optical axis of the laser light L1, and a through path 32 in a direction intersecting the reflecting surface 30a. The laser light L1 from the laser diode 10 is provided. The reflected light L2 from the detection object (more specifically, the reflected light reflected by the concave mirror 41) is reflected toward the photodiode 20. In the present embodiment, the mirror 30 corresponds to an example of a “reflected light guiding portion” and functions to guide the reflected light L2 deflected by the “deflecting means” to the photodiode 20 (light detecting means). .

  In addition, a rotating reflection mechanism 40 is provided on the optical axis of the laser beam L1 that passes through the mirror 30. The rotation reflection mechanism 40 corresponds to an example of a “rotation deflection unit”, and is disposed so as to be rotatable about a central axis 42a extending in the optical axis direction of the laser light L1, and on the central axis 42a. A concave mirror 41 whose focal position is set, a shaft portion 42 connected to the concave mirror 41, and a bearing (not shown) that rotatably supports the shaft portion 42 are provided.

  The concave mirror 41 corresponds to an example of a “deflecting unit” and includes a concave reflecting surface 41a disposed on the optical axis of the laser light L1 that has passed through the mirror 30 and a central axis 42a (predetermined central axis). ), The laser beam L1 from the laser diode 10 is deflected (reflected) toward the space outside the case 3, and the reflected light from the detection object existing in the space outside the case 3 L2 is deflected (reflected) toward the photodiode 20.

  The direction of the central axis 42a, which is the rotation center of the concave mirror 41, substantially coincides with the direction of the laser light L1 that passes through the mirror 30 and enters the concave mirror 41, and the incident light that the laser light L1 enters the concave mirror 41. The position P1 is a position on the central axis 42a. In the present embodiment, the portion near the position P1 on the reflecting surface 41a of the concave mirror 41 is inclined at an angle of 45 ° with respect to the vertical direction (the direction of the laser beam L1 incident on the reflecting surface 41a). The laser beam L1 reflected by the reflection surface 41a of 41 is irradiated in the horizontal direction. Further, since the concave mirror 41 rotates around the central axis 42a in the direction coinciding with the direction of the incident laser light L1, the incident angle of the laser light L1 is always maintained at 45 ° regardless of the rotational position of the concave mirror 41, The direction of the laser beam L1 from P1 is configured to be always in the horizontal direction (direction orthogonal to the central axis 42a). In the present embodiment, the direction of the central axis 42a is the vertical direction (vertical direction, vertical direction), and the plane direction orthogonal to the central axis 42a is the horizontal direction.

  Further, the laser radar device 1 is provided with a motor 50 that drives the rotation reflection mechanism 40. The motor 50 corresponds to an example of “driving means”, and rotates the shaft portion 42 to rotationally drive the concave mirror 41 connected to the shaft portion 42. In addition, as a specific configuration of the motor 50, for example, a servo motor or the like may be used, or a pulsed laser beam is output in synchronization with the timing when the concave mirror 41 faces the direction in which the distance measurement is desired, using a motor that rotates constantly. Thus, detection of a desired direction may be possible. In the present embodiment, as shown in FIG. 1, a rotation angle sensor 52 that detects the rotation angle position of the shaft portion 42 of the motor 50 (that is, the rotation angle position of the concave mirror 41) is provided. Various types of rotation angle sensors 52 can be used as long as they can detect the rotation angle position of the shaft portion 42, such as a rotary encoder.

(Case structure)
Next, case 3 which is the main feature of this embodiment will be described.
In the laser radar device 1 according to the present embodiment, the laser diode 10, the photodiode 20, the mirror 30, the lens 60, the rotation reflection mechanism 40, the motor 50, and the like are accommodated in the case 3, and dust protection and impact protection are achieved. Yes. The case 3 includes a main case portion 5 and a transmission plate 80, and is configured in a box shape as a whole. The main case portion 5 is arranged such that the upper wall portion 5a and the lower wall portion 5b are opposed to each other in the vertical direction, the front wall portion 5c and the rear wall portion 5d are arranged opposed to each other in the front-rear direction, and the side wall portions 5e and 5f are left and right. They are arranged to face each other and have a box-like shape that is partially opened so that light can be guided.

  In the main case portion 5, a window portion 4 that allows the laser light L <b> 1 and the reflected light L <b> 2 to pass therethrough is formed around the concave mirror 41. The window portion 4 is a portion opened so as to allow light to enter and exit from the main case portion 5, and is formed in a groove shape from the front wall portion 5c of the main case portion 5 to both side wall portions 5e and 5f. ing. A transmission plate 80 is provided so as to close the window portion in the form of the opening.

  The transmission plate 80 is made of, for example, a transparent resin plate, a glass plate, or the like, and is arranged in a configuration that closes the window portion 4 around the concave mirror 41 as shown in FIG. The transmission plate 80 is disposed in the circumferential direction on the scanning path of the laser light L1 from the concave mirror 41, and closes the window 4 and transmits the laser light L1 projected from the concave mirror 41. Yes.

  A light guide portion 81 is formed on the inner wall portion of the transmission plate 80. As shown in FIGS. 1 and 3, the light guide unit 81 collects disturbance light L3 generated by reflecting a part of the laser light L1 from the concave mirror 41 by the transmission plate 80, and the disturbance light L3. Is guided to a position away from the concave mirror 41, the mirror 30 (reflected light guiding portion), and the photodiode 20 (light detecting means). In the present embodiment, the light guide portion 81 is formed at each incident position where the laser light L1 is incident on the transmission plate 80. Specifically, the light guide portion 81 is continuously formed around the half-circumference around the concave mirror 41. Has been.

  In the present embodiment, the mirror 30 and the concave mirror 41 are arranged at a predetermined interval so that disturbance light from the transmission plate 80 passes between the mirror 30 and the concave mirror 41 as shown in FIGS. A light guide portion 81 is formed on the surface. 3 illustrates the path of disturbance light from the laser light irradiation position in the state shown in FIGS. 1 and 2, the laser light scanned along the transmission plate 80 in this embodiment. The disturbance light from any irradiation position of L1 is guided so as to pass between the mirror 30 and the concave mirror 41, and is irradiated to a predetermined portion (for example, the inner wall of the main case 5) through the position away from the photodiode 20. It is like that. In addition, it is desirable that the part (for example, the inner wall of the main case 5) irradiated with the disturbance light L3 removed from the above components (concave mirror 41, mirror 30, photodiode 20) has a low reflectance, A black reflecting surface or a diffuse reflecting surface having fine irregularities may be provided at a position where the disturbance light L3 is irradiated.

Further, as illustrated in FIG. 3, the inner surface 80a is curved in a longitudinal section (a section cut so as to include the central axis 42a at each incident position) at each incident position of the laser light L1 in the transmission plate 80. More specifically, the outer shape of the inner surface 80a is configured as a parabola in a longitudinal section at each incident position (a section cut so as to include the central axis 42a at each incident position). For example, in FIG. 3, the outer shape of the inner surface 80a has a parabolic shape in a longitudinal section (a section cut so as to include the central axis 42a at the incident position) at the incident position P3 when the concave mirror 41 is at the predetermined rotation position. It is configured so as to be curved. In the example of FIG. 3, the predetermined cut surface cut along the plane including the central axis is the XY plane. Then, the position where the tangent of the outer shape constituting the inner surface 80a is the vertical direction (the direction parallel to the central axis 42a) on the cut surface is the origin, the vertical direction is the X-axis direction, and the direction orthogonal to the X-axis direction is The Y-axis direction is assumed. In such a XY plane, the outer shape of the inner surface 80a is configured as a part of a parabola such that Y = aX ^2. 3 illustrates the cut surface cut along the laser beam irradiation path in the state shown in FIGS. 1 and 2, but in this embodiment, the transmission plate is a plane including the central axis. The outer surface 80a is configured so that the outer shape of the inner surface 80a becomes the above parabola regardless of the position of 80.

  In addition, as shown in FIG. 3, the center of curvature P2 of the inner surface 80a is the central axis in a longitudinal section at each incident position of the laser beam L1 in the transmission plate 80 (a section cut so as to include the central axis 42a at each incident position). It is comprised so that it may become a position off 42a. Thereby, the focus of the disturbance light L3 from each incident position where the laser beam L1 enters the transmission plate 80 is deviated from the central axis 42a. More specifically, the center of curvature P2 of the inner surface 80a in the longitudinal section at each incident position where the laser beam L1 is incident on the transmission plate 80 (the section cut so as to include the central axis 42a at each incident position) The reflection light L2 is routed from the path to the diode 20 (light detecting means) (the path through which the reflected light L2 incident on the concave mirror 41 passes). Thereby, the focus of the disturbance light L3 from each incident position where the laser beam L1 enters the transmission plate 80 is deviated from the path of the reflected light L2.

(Main effects of this embodiment)
In the present embodiment, in the laser radar device 1 including the case 3 formed by closing the scanning path of the laser beam L1 from the concave mirror 41 with the transmission plate 80 that can transmit the laser beam L1, the inner wall portion of the transmission plate 80 is provided. In addition, the disturbance light L3 generated when a part of the laser light L1 from the concave mirror 41 is reflected by the transmission plate 80 is collected, and the disturbance light L3 is condensed into the concave mirror 41, the mirror 30 (reflected light guiding unit), and A light guide portion 81 is formed that leads to a position away from the photodiode 20 (light detection means). In this way, the light (disturbance light L3) generated by reflecting the laser light L1 irradiated from the concave mirror 41 toward the space with the transmission plate 80 is the concave mirror 41, the mirror 30 (reflected light guiding portion), and the photodiode. 20 (light detection means) is less likely to be irradiated, and erroneous detection of disturbance light L3 received by the photodiode 20 (light detection means) can be effectively suppressed. In particular, since the disturbance light L3 is collected and led to a position away from the concave mirror 41, the mirror 30 (reflected light guiding portion), and the photodiode 20 (light detecting means), the apparatus configuration is not increased so much. In both cases, it is possible to realize a configuration in which erroneous detection hardly occurs.

  In the present embodiment, the inner surface 80a is curved in the longitudinal section of the light guide section 81 (the section cut along the plane including the central axis 42a). In this way, it is easy to suppress the spread of the disturbance light L3 in the vertical direction, and in particular, it is easy to guide to a position away from the concave mirror 41, the mirror 30 (reflected light guiding portion), and the photodiode 20 (light detection means) in the vertical direction. Become. Accordingly, it is not necessary to increase the interval between parts in order to allow the disturbance light L3 to pass through, or to make the concave mirror 41 smaller than necessary in order to secure the path of the disturbance light L3. .

  In the present embodiment, the inner surface 80a in a longitudinal section at each position of the light guide portion 81 (a cross section cut through the central axis 42a at each position of the light guide portion 81 disposed around the concave mirror 41). Is configured so that the outer shape is parabolic (see FIG. 3). In this way, it is possible to satisfactorily realize a configuration that can collect the disturbance light L3 in the vertical direction.

  In addition, in a longitudinal section at each position of the light guide portion 81 (a section cut through the central axis 42a at each position of the light guide portion 81 disposed around the concave mirror 41), the center of curvature P2 of the inner surface 80a is It is comprised so that it may become a position off center axis 42a. In this way, it becomes easy to set the focus of disturbance light at a position deviating from the central axis 42a where optical components are densely packed.

  Further, the center of curvature P2 is configured so as to be out of the path of the reflected light L2 from the concave mirror 41 to the photodiode 20 (light detecting means). This makes it easy to set the focus of the disturbance light L3 at a position deviating from the path of the reflected light L2.

  Moreover, in this embodiment, the light guide part 81 guides the disturbance light L3 so that it may pass between the photodiode 20 (light detection means) and the concave mirror 41 (deflection means). In this way, the disturbance light L3 can be effectively utilized in the region between the photodiode 20 and the concave mirror 41, and the disturbance mirror L (deflecting means), the mirror 30 (reflected light guiding section), and the photodiode 20 (light detecting means). It is possible to lead to a position out of the range.

[Second Embodiment]
Next, a second embodiment will be described.
FIG. 4A is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the second embodiment, and FIG. 4B is a concave mirror, a photodiode, a transmission plate, and the like in the laser radar apparatus. FIG. FIG. 5A is a cross-sectional view schematically showing a state in which the concave mirror has an angle different from that in FIG. 4A in the laser radar device according to the second embodiment, and FIG. FIG. 3 is an explanatory diagram schematically illustrating the arrangement of a concave mirror, a photodiode, a transmission plate, and the like at that time. 4A and 5A schematically show a predetermined cut surface obtained by cutting the laser radar device along the central axis. In FIGS. 4B and 5B, The state seen from the upper side about each component is shown schematically.

  The laser radar device 200 according to the second embodiment is the same as the laser radar device 1 according to the first embodiment except that the case 203 is different from the case 3 of the first embodiment. Accordingly, the same parts (the laser diode 10, the lens 60, the mirror 30, the rotation reflection mechanism 40, the rotation shaft 42, the motor 50, and the rotation angle sensor 52 are denoted by the same reference numerals as those in the first embodiment, and are described in detail. Description is omitted.

  In the present embodiment, the main case portion 205 of the case 203 is configured in a substantially cylindrical shape. In the main case portion 205, a window portion 204 that allows the laser light L <b> 1 and the reflected light L <b> 2 to pass therethrough is formed around the concave mirror 41. The window portion 204 is a portion opened so as to allow light to enter and exit from the main case portion 205. In the present embodiment, the window portion 204 is formed over substantially the entire circumference in the circumferential direction of the main case 205. . And the permeation | transmission board 280 is distribute | arranged so that the window part 204 of this opening form may be obstruct | occluded. The transmission plate 280 is formed of, for example, a transparent resin plate, a glass plate, or the like, and is formed in an annular shape over substantially the entire circumference (360 °) around the concave mirror 41 on the scanning path of the laser light L1. The laser beam L1 from the concave mirror 41 is transmitted.

  Also in this embodiment, the light guide part 281 is formed on the inner wall part of the transmission plate 280. As shown in FIGS. 4 and 5, the light guide unit 281 collects the disturbance light L <b> 3 that is generated when a part of the laser light L <b> 1 from the concave mirror 41 is reflected by the transmission plate 280, and the disturbance light L <b> 3. Is guided to a position away from the concave mirror 41, the mirror 30 (reflected light guiding portion), and the photodiode 20 (light detecting means). Also in this embodiment, the light guide 281 is formed at each incident position (each position on the scanning path of the laser light L1 on the transmission plate 280) where the laser light L1 is incident on the transmission plate 280. The light guide part 281 is formed annularly and continuously over the entire circumference of the concave mirror 41.

  In addition, the transmission plate 280 used in the present embodiment has the same configuration as that of FIG. 3 shown in the first embodiment in the cut surface at each incident position where the laser light L1 is incident. The vertical cross section at any position (cross section cut along a plane including the central axis 42a) is formed by bending the inner surface 280a. In the first embodiment, the configuration as shown in FIG. 3 is continuous over the circumference of the concave mirror 41. However, in the second embodiment, the circumference of the concave mirror 41 is almost as shown in FIG. The structure is continuous.

  Also in this embodiment, the mirror 30 and the concave mirror 41 are arranged at a predetermined interval, and as shown in FIGS. 4 and 5, the laser light L <b> 1 scanned in the horizontal direction along the transmission plate 280. The disturbance light L3 from the irradiating position of the throat is guided so as to pass between the mirror 30 and the concave mirror 41, and is irradiated to a predetermined portion (for example, the inner wall of the main case 5) through the position deviated from the photodiode 20. It has become so. Also in this embodiment, a portion (for example, the inner wall of the main case 5) irradiated with the disturbance light L3 removed from the above components (concave mirror 41, mirror 30, photodiode 20) has a low reflectance. Desirably, for example, a black reflecting surface or a diffuse reflecting surface having fine irregularities may be provided at a position where the disturbance light L3 is irradiated.

[Third Embodiment]
Next, a third embodiment will be described.
FIG. 6 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the third embodiment. FIG. 7 illustrates an angle of the concave mirror in the laser radar device according to the second embodiment different from that in FIG. It is sectional drawing which shows the state which became. 6 and 7 schematically show a predetermined cut surface obtained by cutting the laser radar device along the central axis.

  The laser radar device 200 according to the third embodiment is the same as the laser radar device 200 according to the second embodiment except that the transmission plate 380 is different from the transmission plate 280 of the second embodiment. For example, the laser diode 10, the lens 60, the mirror 30, the rotation reflection mechanism 40, the rotation shaft 42, the motor 50, and the rotation angle sensor 52 are the same as those in the first and second embodiments. The detailed description is omitted. Further, since the main case portion 205 and the window portion 204 are the same as those in the second embodiment, the same reference numerals as those in the second embodiment are given and detailed description thereof is omitted.

  Also in this embodiment, the main case 205 is formed with a window portion 204 that opens over almost the entire circumference of the concave mirror 41, and a transparent resin plate, a glass plate, or the like is used to close the window portion 204. A transmission plate 380 is arranged. The transmission plate 380 is formed in an annular shape over substantially the entire circumference (360 °) around the concave mirror 41 on the scanning path of the laser light L1 from the concave mirror 41, and transmits the laser light L1 from the concave mirror 41. It has a configuration.

  A light guide portion 381 is formed on the inner wall portion of the transmission plate 380. As shown in FIGS. 6 and 7, the light guide unit 381 condenses the disturbance light L3 that is generated when a part of the laser light L1 from the concave mirror 41 is reflected by the transmission plate 380, and the disturbance light L3. Is guided to a position away from the concave mirror 41, the mirror 30 (reflected light guiding portion), and the photodiode 20 (light detecting means). The light guide unit 381 is formed at each incident position (each position on the scanning path of the laser beam L1 on the transmission plate 380) where the laser beam L1 is incident on the transmission plate 380. It is formed annularly and continuously over the entire circumference at the periphery.

  Furthermore, in this embodiment, as shown in FIGS. 6 and 7, a longitudinal section at the first position Pa1 on the scanning path of the laser beam L1 (cut along a plane including the central axis 42a and passing through the first position Pa1). The curvature of the inner surface 380a in the cross section) and the curvature of the inner surface 380b in the longitudinal section (cross section cut along a plane including the central axis 42a and passing through the second position Pa2) at the second position Pa on the scanning path. It is configured. Further, the inclination angle (inclination angle with respect to the direction of the central axis 42a) of the inner surface 380a in the longitudinal section at the first position Pa1 and the second position Pa2 of the inner surface 380b in the longitudinal section at the second position Pa2. The inclination angle at (inclination angle with respect to the direction of the central axis 42a) is different. Therefore, the angle of the disturbance light L3 from the first position Pa1 (inclination angle with respect to the central axis 42a: see FIG. 6) and the angle of the disturbance light L3 from the second position Pa2 (inclination angle with respect to the central axis 42a: see FIG. 7). Thus, disturbance light is induced in a direction suitable for each position by varying the inclination angle in this way.

  Also in this embodiment, the mirror 30 and the concave mirror 41 are arranged at a predetermined interval, and the laser beam L1 scanned in the horizontal direction along the transmission plate 380 as shown in FIGS. The disturbance light L3 from the irradiating position of the throat is guided so as to pass between the mirror 30 and the concave mirror 41, and is irradiated to a predetermined portion (for example, the inner wall of the main case 5) through the position deviated from the photodiode 20. It has become so. Also in this embodiment, a portion (for example, the inner wall of the main case 5) irradiated with the disturbance light L3 removed from the above components (concave mirror 41, mirror 30, photodiode 20) has a low reflectance. Desirably, for example, a black reflecting surface or a diffuse reflecting surface having fine irregularities may be provided at a position where the disturbance light L3 is irradiated.

  In the laser radar device 300 of this embodiment, the light guide unit 381 is formed along the scanning path of the laser light L1 around the concave mirror 41, and the curvature of the inner surface 380a in the longitudinal section at the first position Pa1 on the scanning path. And the curvature of the inner surface 380b in the longitudinal section at the second position Pa2 on the scanning path is different. In this way, disturbance light from the first position Pa1 can be easily guided in a direction suitable for the first position Pa1, and disturbance light from the second position Pa2 can be easily guided in a direction suitable for the second position Pa2.

[Fourth Embodiment]
Next, a fourth embodiment will be described.
FIG. 8 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the fourth embodiment. FIG. 8 schematically shows a predetermined cut surface obtained by cutting the laser radar device along the central axis.

  The laser radar device 400 according to the fourth embodiment is the same as the second embodiment except for the photodiode 20 and the mirror 30 except that the arrangement of the photodiode 20 and the angle of the mirror 30 are slightly different from those of the second embodiment. Therefore, parts other than the photodiode 20 and the mirror 30 are denoted by the same reference numerals as those in the second embodiment, and detailed description thereof is omitted.

  In the laser radar device 400 according to the present embodiment, the reflected light L2 taken into the device and reflected by the concave mirror 41 is reflected obliquely downward by the mirror 30, and the reflected light L2 is received by the obliquely upward photodiode 20. doing.

  On the other hand, the laser radar device 400 is provided with a transmission plate 280 similar to that of the second embodiment, and a light guide 281 similar to that of the second embodiment is formed on the transmission plate 280. The light guide unit 281 reflects the disturbance light L3 generated by the reflection of the laser light L1 from the concave mirror 41 while reflecting the light obliquely upward, and is scanned in the horizontal direction along the transmission plate 280. The disturbance light L3 from any irradiation position of the light L1 is guided so as to pass between the mirror 30 and the concave mirror 41, and passes through the position away from the photodiode 20 to a predetermined portion (for example, the inner wall of the main case 5). Irradiated. Thus, in the configuration of the present embodiment, the disturbance light L3 is directed upward, and the photodiode 20 is also directed upward (configuration in which the light receiving surface 20a faces upward), so that the disturbance light L3 is less likely to enter the light receiving surface of the photodiode 20. .

[Fifth Embodiment]
Next, a fifth embodiment will be described.
FIG. 9 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the fifth embodiment. FIG. 9 schematically shows a predetermined cut surface obtained by cutting the laser radar apparatus along the central axis.

  The laser radar apparatus 500 according to the fifth embodiment is different from the fourth embodiment only in the shape of the transmission plate 580, and is otherwise the same as the fourth embodiment. Therefore, parts other than the transmission plate 580 are denoted by the same reference numerals as those in the fourth embodiment, and detailed description thereof is omitted.

The transmission plate 580 used in the laser radar device 500 of the present embodiment is different from the fourth embodiment in the curvature and inclination angle of the inner surface 580a. Also in this embodiment, a light guide 581 is provided along the scanning path of the laser light L1, and the light guide 581 collects disturbance light L3 generated by reflection of the laser light L1 from the concave mirror 41. The disturbance light L3 from any irradiation position of the laser light L1 reflected obliquely upward and scanned in the horizontal direction along the transmission plate 580 passes outside the mirror 30 and the concave mirror 41 (that is, the mirror 30). And a concave mirror 41 so that the light is irradiated to a predetermined portion (for example, the inner wall of the main case 5) through a position away from the photodiode 20. Even in the configuration of the present embodiment, the disturbance light L3 is directed upward and the photodiode 20 is also directed upward, so that the disturbance light L3 is less likely to enter the light receiving surface of the photodiode 20.
[Sixth Embodiment]
Next, a sixth embodiment will be described.
FIG. 10 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the sixth embodiment. FIG. 10 schematically shows a predetermined cut surface obtained by cutting the laser radar apparatus along the central axis.

  The laser radar device 600 according to the sixth embodiment is the same as the second embodiment except that the attenuation member 601 is provided, and the rest is the same as the second embodiment. Therefore, portions other than the attenuation member 601 are denoted by the same reference numerals as those in the second embodiment, and detailed description thereof is omitted.

  Also in this embodiment, the light guide part 281 is formed on the inner wall part of the transmission plate 280 as in the second embodiment. And this light guide part 281 condenses the disturbance light L3 which a part of laser beam L1 from the concave mirror 41 reflects by the said permeation | transmission board 280, and also collects the disturbance light L3 into the concave mirror 41, the mirror 30 ( It is configured to lead to a position away from the reflected light guiding portion) and the photodiode 20 (light detecting means). Also in this embodiment, the light guide 281 is formed at each incident position (each position on the scanning path of the laser light L1 on the transmission plate 280) where the laser light L1 is incident on the transmission plate 280. The light guide part 281 is formed annularly and continuously over the entire circumference of the concave mirror 41.

  Furthermore, in the present embodiment, an attenuation member 601 that receives and attenuates the disturbance light L3 is provided on the path of the disturbance light L3 collected by the light guide unit 281. In the example of FIG. 10, the damping member 601 is annularly arranged around the central axis 42 a, and has a groove-like shape that opens in the central axis 42 a side and is continuous in the circumferential direction. In the configuration of FIG. 10, the light guide port 602 of the attenuation member 601 is formed in an annular shape around the central axis 42 a, and disturbance light L <b> 3 from any incident position on the transmission plate 281 is transmitted via the light guide port 602. The damping member 601 enters the inside.

  The damping member 601 includes an annular upper member 603 and an annular lower member 604, and the inner end of the upper member 603 and the inner end of the lower member 604 are not connected to each other and the inner side is opened. In addition, the outer end of the upper member 603 and the outer end of the lower member 604 are connected to block the outer side. The disturbance light L3 taken from the inside of the attenuation member 601 is attenuated while being repeatedly reflected on the inner wall surface of the attenuation member 601 to reduce the amount of light. Note that the inner wall surface of the attenuation member 601 can be made to be a structure that is more easily attenuated by forming a black surface or forming minute irregularities by embossing or the like.

According to the configuration of this embodiment, the light is condensed by the light guide unit 281 and guided to a position away from the concave mirror 41 (deflecting unit), the mirror 30 (reflected light guiding unit), and the photodiode 20 (light detecting unit). Since the disturbance light L3 can be further attenuated, it is difficult for the disturbance light L3 removed from these parts to be reflected by other parts and erroneously detected.
[Seventh Embodiment]
Next, a seventh embodiment will be described.
FIG. 11 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the seventh embodiment. In addition, in FIG. 11, the predetermined cut surface which cut | disconnected the laser radar apparatus along the central axis is shown schematically.

  The laser radar device 700 according to the seventh embodiment is the same as the second embodiment except that a cover member 701 is provided, and the rest is the same as the second embodiment. Therefore, components other than the cover member 701 are denoted by the same reference numerals as those in the second embodiment, and detailed description thereof is omitted.

  The laser radar device 700 of this embodiment is provided with a cover member 701 in a configuration that partially covers the path of reflected light between the mirror 30 and the photodiode 20. In the example of FIG. 11, the cover member 701 is configured in a substantially cylindrical shape, and the reflected light L <b> 2 captured from outside the apparatus is reflected by the concave mirror 41 and the mirror 30 and then passes through the cover member 701 to the photodiode 20. Light is received.

  On the other hand, also in the present embodiment, the disturbance light L3 from the light guide unit 281 is guided to a position avoiding the concave mirror 41, the mirror 30, and the photodiode 20, and specifically, any of the light guide units 281. Disturbance light L3 from the position is also guided so as to pass between the concave mirror 41 and the mirror 30 and outside the cover member 701 (that is, not to enter the inside from the opening of the cover member 701). . Therefore, the disturbance light L3 guided by the light guide unit 281 is further less likely to enter the path of the reflected light L2.

[Eighth Embodiment]
Next, an eighth embodiment will be described.
FIG. 12 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the eighth embodiment. In addition, in FIG. 12, the predetermined cut surface which cut | disconnected the laser radar apparatus along the central axis is shown schematically.

  The laser radar device 800 according to the eighth embodiment is the same as the laser radar device 200 according to the second embodiment except that the transmission plate 880 is different from the transmission plate 280 of the second embodiment. For example, the laser diode 10, the lens 60, the mirror 30, the rotation reflection mechanism 40, the rotation shaft 42, the motor 50, and the rotation angle sensor 52 are the same as those in the first and second embodiments. The detailed description is omitted. Further, since the main case portion 205 and the window portion 204 are the same as those in the second embodiment, the same reference numerals as those in the second embodiment are given and detailed description thereof is omitted.

  Also in this embodiment, the main case 205 is formed with a window portion 204 that opens over almost the entire circumference of the concave mirror 41, and a transparent resin plate, a glass plate, or the like is used to close the window portion 204. A transmission plate 880 is arranged. The transmission plate 880 is formed in an annular shape over substantially the entire circumference (360 °) around the concave mirror 41 on the scanning path of the laser light L1 from the concave mirror 41, and transmits the laser light L1 from the concave mirror 41. It has a configuration.

  A light guide portion 881 is formed on the inner wall portion of the transmission plate 880. As shown in FIG. 12, the light guide unit 881 condenses the disturbance light L3 generated when a part of the laser light L1 from the concave mirror 41 is reflected by the transmission plate 380, and also reflects the disturbance light L3 to the mirror. 30 (reflected light guiding portion) and the photodiode 20 (light detection means) are configured to be guided to a position off. The light guide portion 881 is formed at each incident position (each position on the scanning path of the laser light L1 on the transmission plate 880) where the laser light L1 is incident on the transmission plate 880. It is formed annularly and continuously over the entire circumference at the periphery.

  The light guide unit 881 used in the present embodiment reflects the disturbance light L3 in the direction opposite to the emission direction of the laser light L1 from the concave mirror 41, and the disturbance light L3 is emitted from the laser diode 10 (laser light generation means). The laser beam L is led to the laser diode 10 side in the opposite direction along the irradiation path of the laser beam L. Specifically, the disturbance light L3 collected and reflected by the light guide unit 881 enters the vicinity of the irradiation position P1 of the laser light L1 in the concave mirror 41, and is reflected at this position and directed toward the mirror 30 side. Has been. The disturbance light L 3 reflected by the concave mirror 41 enters the lens 60 through the through hole 32 formed in the mirror 30. In FIG. 12, the path of the disturbance light L <b> 3 when irradiated at a predetermined position is shown, but the disturbance light generated at the irradiation position regardless of which position of the light guide unit 881 is irradiated. L3 is collected and returned to the vicinity of the position P1 of the concave mirror 41, and returned to the laser diode 10 through the through hole 32.

  According to the configuration of the present embodiment, the disturbance light L3 can be removed from the mirror 30 and the photodiode 20 by using the irradiation path of the laser light L1 from the laser diode 10 (laser light generating means), so that a complicated arrangement is provided. In addition, it is possible to realize a configuration in which the disturbance light L3 is not easily received by the photodiode 20 (light detection means) without using a complicated configuration.

[Ninth Embodiment]
Next, a ninth embodiment will be described.
FIG. 13 is a cross-sectional view schematically illustrating the overall configuration of the laser radar device according to the ninth embodiment. FIG. 13 schematically shows a predetermined cut surface obtained by cutting the laser radar device along the central axis.

  In the laser radar apparatus 900 of FIG. 13, only the transmission plate 980 is different from the transmission plate 280 of the second embodiment, and the parts other than the transmission plate 980 have the same configuration as the second embodiment. Therefore, the same parts as those of the second embodiment are denoted by the same reference numerals as those of the second embodiment, and detailed description thereof is omitted.

The transmission plate 980 used in the present embodiment has the same inner wall as the transmission plate 280 of the second embodiment, the same inner surface shape as that of the second embodiment, and the same light guide unit as that of the second embodiment. 280 is formed. On the other hand, the configuration of the outer wall portion of the transmission plate 980 is different from that of the transmission plate 280 of the second embodiment. In this example, the outer wall portion of the transmission plate 980 is deflected by the concave mirror 41 and passes through the transmission plate 980. A lens portion 901 that condenses the laser light L1 is formed. In the present embodiment, since such a lens portion 901 is formed, the focused laser beam L1 can be irradiated toward the space, and object detection can be performed with the more focused laser beam L1. it can.
[Tenth embodiment]
Next, a tenth embodiment will be described.
FIG. 14 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the tenth embodiment. In FIG. 14, a predetermined cut surface obtained by cutting the laser radar device along the central axis is schematically shown.

  The laser radar apparatus 1000 according to the tenth embodiment is different from the second embodiment in that the photodiode 20 is arranged upward and a second mirror 1001 that turns back the reflected light from the mirror 30 is provided. Is the same as in the second embodiment. Therefore, the same parts as those of the second embodiment are denoted by the same reference numerals as those of the second embodiment, and detailed description thereof will be omitted.

  In the present embodiment, the concave mirror 41 is configured to deflect the reflected light L2 from the detection object on one side in the vertical direction when the direction of the central axis 42a is the vertical direction (upper side in the example of FIG. 14). The mirror 30 (first reflecting means) that reflects the reflected light L2 deflected by 41 and the second mirror 1001 (second reflecting) that further reflects the reflected light L2 reflected by the mirror 30 (first reflecting means). Means). The reflected light L2 deflected upward (on the one side) by the concave mirror 41 (deflecting means) is folded back downward (the other side in the vertical direction) by the mirror 30 and the second mirror 1001.

On the other hand, the photodiode 20 has a light receiving surface 20a facing upward (the one side in the vertical direction), and receives reflected light L2 that is folded back (the other side) by the mirror 30 and the second mirror 1001. The surface 20a is configured to receive light. In such a configuration, as in the second embodiment, the light guide unit 281 includes the concave mirror 41, the mirror 30 (reflected light guiding unit), the second mirror 1001 (reflected light guiding unit), and the photodiode 20 ( It is configured to guide the disturbance light L3 toward the upper side (the one side in the vertical direction) by passing the position away from the light detection means). In this way, if both the light receiving surface 20a of the photodiode 20 (light detecting means) and the disturbance light L3 from the light guide 281 are directed upward (one side in the vertical direction), the light from the light guide 281 is obtained. The disturbance light L3 is less likely to enter the light receiving surface 20a, and erroneous detection of the disturbance light L3 can be more effectively prevented.
[Eleventh embodiment]
Next, an eleventh embodiment will be described.
FIG. 15 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the eleventh embodiment. In FIG. 15, a predetermined cut surface obtained by cutting the laser radar device along the central axis is schematically shown.

  The laser radar device 1100 according to the eleventh embodiment is different from the second embodiment in that a deflector plate 1101 is provided, and the portions other than the polarizing plate 1101 are the same as those in the second embodiment. Therefore, the same parts as those of the second embodiment are denoted by the same reference numerals as those of the second embodiment, and detailed description thereof will be omitted.

  In the present embodiment, the reflected light L2 deflected from the concave mirror 41 toward the photodiode 20 is transmitted through the path of the reflected light L2 from the concave mirror 41 (deflecting means) to the photodiode 20 (light detecting means), and A polarizing plate 1101 (the polarizing plate 1101 corresponds to an example of a “separating unit”) is provided that reflects the disturbance light L3 from the light guide unit 281 to separate the disturbance light L3 in a direction different from the reflected light L2. Yes. In this way, the disturbance light L3 can be actively separated in a direction different from the reflected light L2 from the detection object, and the disturbance light L3 is effectively detected in the same manner as the reflection light L2 from the detection object. Can be prevented.

[Twelfth embodiment]
Next, a twelfth embodiment will be described.
FIG. 16 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the twelfth embodiment. FIG. 17 is a cross-sectional view schematically illustrating a modified example of the laser radar device according to the twelfth embodiment. 15 and 16 schematically show a predetermined cut surface obtained by cutting the laser radar device along the central axis.

  The laser radar devices 1200 and 1300 according to the present embodiment are different from the laser radar device 1 of the first embodiment only in the configuration of the transmission plates 1280 and 1380, and the other portions are the laser radar device 1 of the first embodiment. Is the same. Therefore, the same parts are denoted by the same reference numerals as those in the first embodiment, and detailed description thereof is omitted.

  In the laser radar apparatus 1200 shown in FIG. 16, the transmission plate 1280 is arranged along the scanning path of the laser light L1 from the concave mirror 41 (for example, arranged around about a half circumference around the concave mirror 41) and the central axis 42a. A first transmission portion 1282 configured to be inclined with respect to the direction of the first mirror, and disposed adjacent to the first transmission portion 1282 around the concave mirror 41 and configured to be parallel or inclined with respect to the direction of the central axis 42a. Second transmissive portions 1283 and 1284 are provided. The inclination angle of the first inclined portion 1282 is set to be larger than the inclination angle of the second transmitting portions 1283 and 1284 with respect to the direction of the central axis 42a.

  Furthermore, a light guide part 1281 is formed on the inner wall part of the first transmission part 1282, and this light guide part 1281 has the same configuration and function as the light guide part 81 of the first embodiment. . That is, the disturbance light L3 generated by a part of the laser beam L1 from the concave mirror 41 reflected by the transmission plate 80 is collected, and the disturbance light L3 is converted into the concave mirror 41, the mirror 30 (reflected light guiding unit), and It is configured to lead to a position away from the photodiode 20 (light detection means). In this embodiment, the light guide unit 1281 is formed at each incident position where the laser beam L1 is incident on the transmission plate 1280. Specifically, the light guide unit 1281 is continuously formed around the concave mirror 41 over approximately a half circumference. Has been.

  In the present embodiment, the laser beam L1 from the concave mirror 41 is irradiated toward the space via the first transmission unit 1282, and the reflected light L2 from the detection object is the second transmission unit 1283, The light passes through 1284 and enters the apparatus, and can be detected by the photodiode 20. In the configuration of FIG. 16, in the transmission plate 1280, the second transmission units 1283 and 1284 are configured wider than the first transmission unit 1282, and the second transmission units 1283 and 1284 are configured to be wider than the first transmission unit 1282. The reflected light L2 is more easily captured.

  According to the configuration of the present embodiment, the reflected light L2 from the detection object is realized while realizing a configuration capable of guiding the disturbance light L3 generated by the reflection of the laser light L1 by the transmission plate 1280 to a position where it is difficult to be erroneously detected. Can be guided into the apparatus through the second transmission parts 1283 and 1284 having a small inclination. Therefore, attenuation when the reflected light L2 from the detection object passes through the transmission plate 1280 can be suppressed as much as possible, and the reflected light L2 can be efficiently detected (received).

  Further, in the transmission plate 1280, the second transmission parts 1283 and 1284 are configured wider than the first transmission part 1282. In this way, it is possible to secure a wider area in the transmission plate 1280 where the attenuation of the reflected light L2 can be suppressed, and the light receiving efficiency can be further increased.

  In the example of FIG. 16, the inner surface and the outer surface are configured to be substantially parallel to the central axis in the longitudinal section of the second transmission parts 1283 and 1284 (cuts cut along the plane including the central axis 42 a). Yes. In this way, the reflected light L2 entering from the side can be taken into the device without further attenuation, and the light receiving efficiency can be further enhanced.

  FIG. 16 shows an example in which the first transmission part 1282 has a curved shape and the first transmission part 1282 has a condensing function. However, the first transmission part 1382 is configured to be flat as shown in FIG. May be. The laser radar device 1300 of FIG. 17 is the same as the configuration of FIG. 16 except that the first transmission unit 1382 is flat, and the second transmission units 1383 and 1384 are the same as the second transmission units 1283 and 1284 of FIG. Is provided.

[Thirteenth embodiment]
Next, a thirteenth embodiment will be described.
FIG. 18 is a cross-sectional view schematically illustrating the overall configuration of the laser radar apparatus according to the thirteenth embodiment. FIG. 19 is an explanatory diagram for explaining the state of refraction of visible light in the prism portion of the laser radar device according to the thirteenth embodiment. FIG. 18 schematically shows a predetermined cut surface obtained by cutting the laser radar device along the central axis.

  The laser radar device 1400 according to the thirteenth embodiment is the same as the laser radar device 1 according to the first embodiment except that the case 1403 is different from the case 3 of the first embodiment. Accordingly, the same parts (the laser diode 10, the photodiode 20, the lens 60, the mirror 30, the rotation reflection mechanism 40, the rotation shaft 42, the motor 50, and the rotation angle sensor 52 are assigned the same reference numerals as in the first embodiment. Further, since the method for detecting the direction of the object existing in the space and the distance to the object is the same as that in the first embodiment, the detailed detection method is omitted.

  A laser radar apparatus 1400 according to the present embodiment has the same basic configuration as that of the first embodiment, and a laser diode 10 (laser light generating means) that generates pulsed laser light, and pulse laser light L1 from the laser diode 10. And a photodiode 20 (light detection means) for detecting the reflected light (see symbol L2) reflected by the detection object when the pulsed laser light L1 occurs. Further, a concave mirror 41 (deflection means) configured to be rotatable about a predetermined central axis 42a is provided, and the concave mirror 41 deflects the pulse laser beam L1 toward the space, and the pulse laser beam L1 is A turning deflection mechanism 40 (turning deflection means) that deflects the reflected light reflected by the detection object toward the photodiode 20 (light detection means), and the reflected light deflected by the concave mirror 41 to the photodiode 20. A guiding mirror 30 (reflected light guiding portion) and a motor 50 (driving means) for driving the rotation deflection mechanism 40 are provided.

  Further, the laser radar device 1400 according to the present embodiment also accommodates the above-described laser diode 10, photodiode 20, lens 60, mirror 30, rotation reflection mechanism 40, rotation shaft 42, motor 50, rotation angle sensor 52, and the like. A case 1403 is provided to protect against dust and impact. The case 1403 includes a main case portion 5 and a transmission plate 1480, and is configured in a box shape as a whole.

  The main case portion 5 has substantially the same configuration as the main case portion of the first embodiment, and the upper wall portion 5a and the lower wall portion 5b are arranged to face each other vertically, and the front wall portion 5c and the rear wall portion 5d Are provided opposite to each other in the front-rear direction, and a part of the box is open so that light can be guided. Also in the main case portion 5, a window portion 4 that allows the laser light L <b> 1 and the reflected light L <b> 2 to pass therethrough is formed around the concave mirror 41. The window portion 4 is a portion opened to allow light to enter and exit from the main case portion 5, and a transmission plate 1480 is provided so as to close the window portion 4 in the form of the opening.

  The transmission plate 1480 is constituted by, for example, a transparent resin plate, a glass plate, etc., covers the same area as the transmission plate 80 in FIG. 2 in the circumferential direction, and has a window that extends approximately half a circumference around the concave mirror 41. It arrange | positions by the structure which obstruct | occludes the part 4. FIG. The transmission plate 1480 is arranged in the circumferential direction around the central axis 42a on the scanning path of the laser light L1 from the concave mirror 41, and closes the window portion 4 and projects the laser light L1 projected from the concave mirror 41. Is configured to transmit.

  The transmission plate 1480 is almost entirely configured as a prism portion 1841, and enters the transmission plate 1480 from the outside of the apparatus along the emission direction (horizontal direction in FIG. 18) of the laser light L1 emitted to the space. External light that enters (for example, external light that is about to enter the laser radar device 1400 horizontally) passes through the transmission plate 1480 (that is, after entering the case) with respect to the emission direction (horizontal direction) of the laser light L1. Refracted so as to be inclined.

  In the present embodiment, laser light L1 of infrared light (for example, infrared light having a wavelength of 900 nm) is emitted from the laser diode 10, and the prism portion 1481 has external light (for example, a wavelength shorter than the wavelength of the laser light L1). Visible light included in sunlight) is refracted more than light having the wavelength of the laser light L1. In the example of FIG. 18, the laser beam L1 and the reflected beam (see reference symbol L2) that is reflected by the object and returns along the horizontal direction are refracted almost linearly or slightly at the prism portion 1481. On the other hand, visible light L4 (external light) about to enter from the outside of the apparatus along the horizontal direction passes through the prism portion 1481 and enters the case with the reflected light (external light). The laser light L1 is refracted more largely than the reflected light that is reflected by the object and returned along the horizontal direction. In FIG. 18, the light path when visible light of any wavelength passes through the transmission plate 1480 from the outside of the apparatus and enters the apparatus horizontally is conceptually indicated by a symbol L4 ′. .

  FIG. 19 conceptually shows refraction when horizontal visible light L4 including light of a plurality of wavelengths passes through the prism portion 1481. Visible light (for example, sunlight) from the outside of the apparatus includes light having a long wavelength, red, orange, yellow, green, blue, green, violet, and the like, and the prism portion 1481 is shown in FIG. As described above, the violet light L47 (for example, light having a wavelength of 380 to 450 nm) on the short wavelength side is refracted more greatly than the red light L41 on the long wavelength side (for example, light having a wavelength of 620 nm to 750 nm). Yes. And it is comprised so that refraction may become large, so that the wavelength of external light becomes short. On the other hand, since the laser light L1 is infrared light having a wavelength longer than that of the red light L41, the reflected light (reference numeral L2: FIG. 18) of the laser light L1 passes through the prism portion 1481 and enters the apparatus. When doing so, the refraction is smaller than that of the infrared light L41.

  Also, the prism portion 1481 is configured so that extraneous light (visible light or the like) having a wavelength shorter than the wavelength of the laser light L1 is deflected (upper) on the reflected light L2 from the concave mirror 41 in a direction (vertical direction) parallel to the central axis 42a. Is configured to refract to the opposite side (lower side). In the example of FIG. 18, visible light passing through the prism portion 1481 is refracted downward, and part of the visible light deviates from the concave mirror 41, and another part of the concave mirror 41 is at an angle different from that of the reflected light (L2). So that it is out of the path of the reflected light.

  As described above, in the laser radar device 1400 of the present embodiment, external light that enters the transmission plate 1480 from the outside of the device along the emission direction (horizontal direction) of the laser light L1 emitted to the space is transmitted to the transmission plate. A prism portion 1481 is formed that is refracted so as to be directed in a direction inclined with respect to the emission direction (horizontal direction) after passing 1480. The prism unit 1481 is configured to refract the extraneous light having a wavelength different from the wavelength of the laser light L1 more than the light having the wavelength of the laser light L1. In this way, extraneous light having a wavelength different from that of the laser light L1 can be removed from the path of the reflected light (reflected light obtained by reflecting the laser light L1 on the detection object) and has a wavelength different from that of the laser light L1. Even if extraneous light is captured from outside the apparatus, the extraneous light is less likely to be erroneously detected by the photodiode 20.

  Specifically, infrared laser light L1 is emitted from the laser diode 10, and the prism unit 1481 lasers external light (for example, visible light) having a wavelength shorter than the wavelength of the laser light L1. The light is refracted more than the light having the wavelength of L1. In this way, visible light taken from outside (for example, visible light included in sunlight) can be removed from the reflected light path of the laser light L1, so that visible light having a wavelength different from the wavelength of the laser light L1 is generated. Misdetection is less likely.

  In addition, the prism portion 1481 is configured so that extraneous light having a wavelength shorter than the wavelength of the laser light L1 in the vertical direction parallel to the central axis 42a is opposite to the side where the concave mirror 41 reflects light (upper side in FIG. 18) ( In FIG. 18, the light is refracted downward. In this way, extraneous light having a wavelength shorter than the wavelength of the laser light L1 can be directed in the direction opposite to the deflection path of the laser light L1, and the extraneous light is more unlikely to be erroneously detected.

  In the present embodiment, an example in which the laser beam L1 of infrared light is irradiated has been described. However, the laser beam generation unit may irradiate visible laser beam or ultraviolet laser beam. In this case, the prism portion is configured so that the refractive index is increased as the wavelength is longer, and visible light having a longer wavelength than the laser light is transmitted through the prism portion rather than refraction when the laser light is transmitted through the prism portion. What is necessary is just to comprise so that the direction of refraction may become large.

1,200,300,400,500,600,700,800,900,1000,1100,1200,1300,1400 ... laser measuring device 3 ... case 10 ... laser diode (laser light generating means)
20 ... Photodiode (light detection means)
20a ... Light receiving surface 30 ... Mirror (reflected light guiding part, first reflecting member)
40: Rotation reflection mechanism (rotation deflection means)
41. Concave mirror (deflection means)
42a ... center shaft 50 ... motor (driving means)
80, 280, 380, 580, 880, 980, 1280, 1380, 1480 ... transmission plate 80a ... inner surface 81, 281, 381, 581, 881, 981, 1281 ... light guide 601 ... attenuation member 701 ... cover member 982 ... Lens unit 1001... Second mirror (second reflecting member)
1101 ... Polarizing plate (separating means)
1282, 1382 ... 1st transmission part 1283, 1284, 1383, 1384 ... 2nd transmission part 1481 ... Prism part L1 ... Laser light L2 ... Reflected light L3 ... Disturbance light L4 ... External light

Claims (18)

Laser light generating means for generating laser light;
A light detecting means for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means;
A deflection unit configured to be rotatable about a predetermined central axis is provided. The laser beam is deflected toward the space by the deflection unit, and the reflected light is deflected toward the light detection unit. Dynamic deflection means;
A reflected light guiding section for guiding the reflected light deflected by the deflecting means to the light detecting means;
Drive means for driving the rotation deflection means;
A case in which at least the rotation deflecting unit is accommodated, and a scanning path of the laser beam from the deflecting unit is closed by a transmission plate capable of transmitting the laser beam;
A laser radar device comprising:
The disturbance light generated by a part of the laser light from the deflecting means being reflected by the transmission plate is condensed on the inner wall of the transmission plate, and the disturbance light is converted into the reflected light guiding unit and the light detection unit. A light guide that leads to a position deviating from the means is formed ,
The light guide section is formed along the scanning path of the laser light around the deflection unit, and has an inner surface curved in a longitudinal section cut by a plane including the central axis. The curvature of the inner surface in the longitudinal section at the first position on the path is configured to be different from the curvature of the inner surface in the longitudinal section at the second position on the scanning path. Laser radar device. The light guiding unit, a laser radar apparatus according to claim 1, characterized in that the outer shape of the inner surface are configured so as to be parabolic in the vertical plane. 3. The laser radar device according to claim 1, wherein the light guide unit is configured such that a center of curvature of the inner surface is deviated from the central axis in the longitudinal section. 4. 4. The laser radar device according to claim 3 , wherein the center of curvature is configured so as to be out of a path of the reflected light from the deflecting unit to the light detecting unit. The attenuation member which receives the said disturbance light and attenuates it is provided on the path | route of the said disturbance light condensed by the said light guide part, The any one of Claims 1-4 characterized by the above-mentioned. The laser radar device described in 1. A cover member that at least partially covers the path of the reflected light from the deflection means to the light detection means is provided;
The light guiding unit, a laser radar apparatus according to any one of claims 1 to 5, characterized in that directing the ambient light outside of the cover member. The light guiding unit, a laser radar apparatus according to any one of claims 1 to 6, characterized in that guiding the disturbance light to pass between said light detecting means and the deflection means. Laser light generating means for generating laser light;
A light detecting means for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means;
A deflection unit configured to be rotatable about a predetermined central axis is provided. The laser beam is deflected toward the space by the deflection unit, and the reflected light is deflected toward the light detection unit. Dynamic deflection means;
A reflected light guiding section for guiding the reflected light deflected by the deflecting means to the light detecting means;
Drive means for driving the rotation deflection means;
A case in which at least the rotation deflecting unit is accommodated, and a scanning path of the laser beam from the deflecting unit is closed by a transmission plate capable of transmitting the laser beam;
A laser radar device comprising:
The disturbance light generated by a part of the laser light from the deflecting means being reflected by the transmission plate is condensed on the inner wall of the transmission plate, and the disturbance light is converted into the reflected light guiding unit and the light detection unit. A light guide that leads to a position deviating from the means is formed ,
The deflecting unit is configured to deflect the reflected light from the detection object on one side in the vertical direction when the direction of the central axis is the vertical direction,
The reflected light guiding section includes a first reflecting means for reflecting the reflected light deflected by the deflecting means, a second reflecting means for further reflecting the reflected light reflected by the first reflecting means, The reflected light deflected to the one side by the deflecting means is folded back to the other side in the vertical direction by the first reflecting means and the second reflecting means,
The light detecting means has a light receiving surface facing the one side in the up-down direction, and the reflected light folded back to the other side by the first reflecting means and the second reflecting means at the light receiving surface. It is configured to receive light,
The laser light guide device, wherein the light guide unit guides the disturbance light toward the one side in the up-down direction by passing through a position away from the reflected light guide unit and the light detection unit . Laser light generating means for generating laser light;
A light detecting means for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means;
A deflection unit configured to be rotatable about a predetermined central axis is provided. The laser beam is deflected toward the space by the deflection unit, and the reflected light is deflected toward the light detection unit. Dynamic deflection means;
A reflected light guiding section for guiding the reflected light deflected by the deflecting means to the light detecting means;
Drive means for driving the rotation deflection means;
A case in which at least the rotation deflecting unit is accommodated, and a scanning path of the laser beam from the deflecting unit is closed by a transmission plate capable of transmitting the laser beam;
A laser radar device comprising:
The deflecting unit is configured to deflect the reflected light from the detection object on one side in the vertical direction when the direction of the central axis is the vertical direction,
The reflected light guiding section includes a first reflecting means for reflecting the reflected light deflected by the deflecting means, a second reflecting means for further reflecting the reflected light reflected by the first reflecting means, The reflected light deflected to the one side by the deflecting means is folded back to the other side in the vertical direction by the first reflecting means and the second reflecting means,
The light detecting means has a light receiving surface facing the one side in the up-down direction, and the reflected light folded back to the other side by the first reflecting means and the second reflecting means at the light receiving surface. Configure to receive light,
Further, disturbance light generated by reflecting a part of the laser light from the deflecting means on the inner wall portion of the transmission plate is directed to the one side in the vertical direction, and the reflected light guide portion and A laser radar device, characterized in that a light guide portion is formed to lead to a position away from the light detection means. The reflected light deflected from the deflecting means toward the light detecting means is transmitted on the path of the reflected light from the deflecting means to the light detecting means, and the disturbance light from the light guide section is transmitted. laser radar apparatus as claimed in any one of claims 9, characterized in that separating means for separating the ambient light in a direction different from that of the reflected light by reflecting is provided. The laser radar apparatus according to claim 10 , wherein the separating unit is a polarizing plate. The transmission plate is disposed along a scanning path of the laser light from the deflection unit and is configured to be inclined with respect to the direction of the central axis, and the periphery of the deflection unit A second transmission part arranged adjacent to the first transmission part and parallel or inclined with respect to the direction of the central axis, and the second transmission with respect to the direction of the central axis. An inclination angle of the first inclined portion is set larger than an inclination angle of the portion, and the light guide portion is formed on an inner wall portion of the first transmission portion,
The laser light from the deflecting unit is irradiated toward the space through the first transmission unit, and the reflected light from the detection object can be detected by the light detection unit through the second transmission unit. The laser radar device according to any one of claims 1 to 11, wherein the laser radar device is provided. The laser radar device according to claim 12 , wherein the transmission plate is configured such that the second transmission unit is wider than the first transmission unit. The second transmission part, claim 12 or claim, characterized in that it is configured to inner and outer surfaces is substantially parallel to the central axis in a longitudinal section taken along a plane position including the central axis The laser radar device according to 13 . Laser light generating means for generating laser light;
A light detecting means for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means;
A deflection unit configured to be rotatable about a predetermined central axis is provided. The laser beam is deflected toward the space by the deflection unit, and the reflected light is deflected toward the light detection unit. Dynamic deflection means;
A reflected light guiding section for guiding the reflected light deflected by the deflecting means to the light detecting means;
Drive means for driving the rotation deflection means;
A case in which at least the rotation deflecting unit is accommodated, and a scanning path of the laser beam from the deflecting unit is closed by a transmission plate capable of transmitting the laser beam;
A laser radar device comprising:
The disturbance light generated by a part of the laser light from the deflecting means being reflected by the transmission plate is condensed on the inner wall of the transmission plate, and the disturbance light is converted into the reflected light guiding unit and the light detection unit. A light guide that leads to a position deviating from the means is formed ,
In the transmission plate, extraneous light that enters the transmission plate from outside the apparatus along the emission direction of the laser beam emitted to the space is inclined in the direction of the emission direction after passing through the transmission plate. There is a prism part that refracts so as to face,
The laser radar device , wherein the prism unit refracts the extraneous light having a wavelength different from the wavelength of the laser light more than the light having the wavelength of the laser light . Laser light generating means for generating laser light;
A light detecting means for detecting reflected light reflected by a detection object when the laser light is generated from the laser light generating means;
A deflection unit configured to be rotatable about a predetermined central axis is provided. The laser beam is deflected toward the space by the deflection unit, and the reflected light is deflected toward the light detection unit. Dynamic deflection means;
A reflected light guiding section for guiding the reflected light deflected by the deflecting means to the light detecting means;
Drive means for driving the rotation deflection means;
A case in which at least the rotation deflecting unit is accommodated, and a scanning path of the laser beam from the deflecting unit is closed by a transmission plate capable of transmitting the laser beam;
A laser radar device comprising:
In the transmission plate, extraneous light that enters the transmission plate from outside the apparatus along the emission direction of the laser beam emitted to the space is inclined in the direction of the emission direction after passing through the transmission plate. There is a prism part that refracts so as to face,
The laser radar device, wherein the prism unit refracts the extraneous light having a wavelength different from the wavelength of the laser light more than the light having the wavelength of the laser light. The laser light generating means is configured to emit infrared laser light,
The prism unit, a laser radar apparatus according to claim 15 or claim 16, characterized in that refract larger than the light of the external light having a wavelength shorter than the wavelength of the laser light wavelength of the laser beam. The prism portion refracts the extraneous light having a wavelength shorter than the wavelength of the laser light in a vertical direction parallel to the central axis to a side opposite to a deflection side of the reflected light by the deflecting unit. The laser radar device according to any one of claims 15 to 17 .

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