WO2014162380A1

WO2014162380A1 - External sensor

Info

Publication number: WO2014162380A1
Application number: PCT/JP2013/059815
Authority: WO
Inventors: 泰士上田; 亮介中村; 梓網野
Original assignee: 株式会社日立製作所
Priority date: 2013-04-01
Filing date: 2013-04-01
Publication date: 2014-10-09
Also published as: JPWO2014162380A1

Abstract

The purpose of the present invention is to provide an external sensor capable of removing contaminants within a detection area without blocking the detection area. The external sensor is provided with a detection device capable of detection in the circumferential direction of the detection device, a protection device that is for covering the detection device and can rotate while covering the detection device, and a cleaning unit for cleaning the protection device. The protection device is cleaned through the rotation of the protection device in relation to the cleaning unit. The cleaning unit is disposed in a position removed from the area of the circumferential direction of the detection device in which detection by the detection device is possible.

Description

External sensor

The present invention relates to an external sensor, and particularly relates to a protective device that covers the external sensor and a cleaning unit that cleans the protective device.

There is Patent Document 1 as background art. In Patent Document 1, a guard is provided on the front side of the optical sensor to prevent contamination from adhering to the optical sensor, a guard cleaner that is in close contact with the surface of the guard is disposed, and the guard rotates to rotate the guard. An optical sensor antifouling device is described in which the cleaner wipes off the fouling adhered to the surface of the guard.

JP 2011-194361 A

The device described in Patent Document 1 can remove contamination of an optical sensor that measures a distance in a specific direction. For example, a laser scanner that irradiates a laser in a plurality of directions or an image of all directions can be captured. When applied to an external sensor that observes a wide area, such as an omnidirectional camera, the guard cleaner attached to the front side of the external sensor is always included in the detection area of the external sensor, so that objects existing in the blind spot of the guard cleaner can be detected. It will disappear.

Therefore, an object of the present invention is to provide an external sensor capable of removing contamination in the detection region without obstructing the detection region of the external sensor.

In order to solve the above-described problems, an external sensor according to the present invention includes a detection device capable of detecting its own circumferential direction, a protection device that covers the detection device and is rotatable while covering the detection device. A cleaning unit that cleans the protection device, and the protection device rotates with respect to the cleaning unit, whereby the protection device is cleaned, and the cleaning unit is configured to detect the detection device. It arrange | positions in the position which remove | deviated from the area | region of the circumferential direction, It is characterized by the above-mentioned.

According to the present invention, it is possible to provide an external sensor capable of removing contamination in the detection area without obstructing the detection area of the external sensor.

It is an example of the system block diagram of the external sensor in Example 1 and 2. It is a mechanism block diagram of the external sensor 1 of Example 1. FIG. It is a figure which compares a detection area | region with the case where the rotational axis of a detection apparatus and a protection apparatus corresponds, and when it has shifted | deviated. It is a mechanism block diagram of the external sensor 2 of Example 2. FIG. It is a figure explaining the detection area | region of the external field sensor 2 of Example 2. FIG. It is a system configuration | structure figure of the external field sensor 3 of Example 3. FIG. It is a process flowchart of the external field sensor 3 of Example 3. FIG.

Hereinafter, embodiments suitable for carrying out the present invention will be described in detail with reference to the drawings as appropriate. However, the mechanisms to which the present invention can be applied are not limited to those described in the following specific embodiments, and any mechanism that can realize the function of each functional component can be suitably changed or added. In addition, in each drawing, about the same component, the same code | symbol is attached | subjected and description is abbreviate | omitted.

In the first embodiment, an example of an external sensor that uses information (for example, distance and radio wave intensity) in all directions on the same plane centering on the detection device as a detection area will be described.

Example 1 will be described with reference to FIGS. In FIG. 1, the system block diagram of the external sensor 1 of Example 1 is shown. As shown in the figure, the external sensor 1 acquires, from an input unit 1000, a device power source such as electric power and a trigger signal for starting device operation. In response to a signal sent from the input unit 1000, the control unit 1010 controls driving of the protection device driving unit 1020 and the detection device driving unit 1030. The detection device driving unit 1030 operates the detection device 1040. The detection device 1040 obtains, for example, luminous intensity obtained from a radial area centered on a predetermined axis (rotation axis A in FIGS. 2 and 3), and its circumferential direction with respect to the predetermined axis as a detection area. To do. The detection device 1040 is surrounded by a rotatable protective device 1050 in order to prevent dirt such as mud and dust from adhering to the detection device, and the protective device 1050 can rotate with the detection device 1040 covered. is there. The protective device 1050 is equipped with a cleaning unit 1060. After the external sensor 1 is activated, the protective device driving unit 1020 continues to rotate the protective device 1050, for example, at a constant speed, so that the protective device 1050 is moved to the cleaning unit 1060. The cleaning unit 1060 removes the contaminants attached on the protective device 1050. That is, it will be cleaned. Information acquired by the detection device 1040 is sent to the calculation unit 1070, converted into distance information, for example, by the calculation unit 1070, and transmitted to the output unit 1080. The output unit 1080 outputs the calculation result to the outside using, for example, a metal terminal or a wireless signal.

FIG. 2 shows a mechanism configuration diagram of the external sensor 1 of the present embodiment. The external sensor 1 has a housing 1090, a protection device driving unit 1020, a detection device driving unit 1030, a computer 1130 that also functions as a control unit 1010 and a calculation unit 1070, and functions as an input unit 1000 and an output unit 1080. The terminal 1120 is provided, and each part in the housing 1090 is electrically connected.

The housing 1090 further includes a holding member 1100 that holds the protective device 1050, and a holding member 1110 that holds the protective device 1050 and the cleaning unit 1060. A detection device 1040 that rotates around the rotation axis A is provided inside the holding member 1110. It has. A portion of the holding member 1110 in the protective device 1050 is indicated by a dotted line in FIG. The holding member 1110 is disposed on the housing 1090, and is disposed between the detection device 1040 having the laser irradiation unit 1041 described below and the protection device 1050 in the circumferential direction of the detection device 1040.

The detection device 1040 includes a laser irradiation unit 1041 and a reflected light detection unit 1042, and the reflected light detection unit 1410 detects the reflected light of the laser emitted from the laser irradiation unit 1041. The computer 1130 calculates the distance from the detection device 1040 to the laser reflection point based on the time difference from when the laser is irradiated until the reflected light is detected, and the distance information is output from the output unit 1120. Further, the detection device 1040 is provided with a rotational driving force by the detection device driving unit 1030, and always rotates at a constant speed with respect to a predetermined rotation axis, for example, after starting, and is omnidirectional on the same plane around the rotation axis. The distance to the laser reflection point can be measured.

Of the holding member 1110, the surface of the detection device 1040 that is irradiated with the laser and the reflected light of the laser is made of a transparent material that transmits the laser light and the reflected light of the laser. This makes it possible to reduce laser attenuation. Further, the surface of the protective device 1050 through which the laser and reflected light are irradiated is made of a transparent material that also transmits the laser light and the reflected light of the laser. This again makes it possible to reduce the attenuation of the laser. The protective device 1050 is held so as to rotate around the rotation axis B by a holding member 1100 that supports the protective device 1050 at the upper portion of the protective device 1050 and a holding member 1110 at the lower portion of the protective device 1050. A rail surface that prevents the holding member 1110 from shifting when the protective device 1050 rotates is formed below the protective device 1050, and the width of the rail surface is equal to or greater than that of the holding member 1110. Accordingly, the protection device 1050 can rotate around the rotation axis B when the protection device driving unit 1020 is driven.

The cleaning unit 1060 is attached to the holding member 1110 to clean the upper half or more of the protective device 1050 and to the housing 1090 to clean the lower half or more. In other words, the detection device 1040 is arranged on both sides of a region in the circumferential direction of the detection device 1040 that becomes a detection region. As a result, the entire surface of the protective device 1050 can be cleaned without blocking the laser and reflected light emitted from the laser irradiation unit 1041. Further, the protective device 1050 in the present embodiment is a conical shape in which the rotation axis B is in the height direction, and the laser is scattered in the protective device 1050 by maintaining an incident angle greater than a predetermined angle with respect to the laser. Is preventing.

Subsequently, the effect of this embodiment will be described with reference to FIG. In the figure, each component is shown in a simplified manner so that it can be easily seen. In addition, the detection area is represented by a fan shape for easy understanding of the blind spot described later, but in actuality, for example, the maximum distance at which the reflected point of the laser can be measured by the reflected light detection unit 1042 is the detection area. .

When the detection device 1040 is enclosed by the protection device 1050, the drive device axis can be shared by aligning the rotation axis A of the detection device 1040 and the rotation axis B of the protection device 1050 as shown in FIG. Easier to manufacture and assemble. However, in order to clean the entire outer surface of the protective device, for example, as shown in FIG. 3A, it is necessary to attach the cleaning unit 1060 so as to cross the detection area of the detection device 1040. A detection area 1060 in the depth direction is a blind spot D1.

In addition, as a result of soiled material adhering to the protective device 1050 and rubbing the soiled material by the cleaning unit 1060, the soiled material extends on the protective device 1050 along the rotational direction of the protective device 1050, or the rotational direction on the protective device. There are cases where scratches along the surface occur. At this time, the protection device 1050 and the detection device 1040 have the same rotation axis and the same rotation direction. That is, the damage along the rotation direction of the protection device 1050 generated on the protection device 1050 coincides with the rotation direction of the detection device 1040. For example, when the polluted material is elongated as shown in FIG. 3A, a blind spot D2 generated by the polluted material is generated, and the blind spot is increased rather than before the pollutant is elongated (by the cleaning unit 1060).

On the other hand, in the structure described in this embodiment, the rotation axis A of the detection device 1040 and the rotation axis B of the protection device 1050 do not coincide with each other, and the angle is shifted. As shown in FIG. 3B, for example, the cleaning device 1060 is installed at two positions farthest from the detection region in the positive and negative z-axis directions by shifting the angle between the rotation axis A of the detection device and the rotation shaft B of the protection device. If each cleaning device 1060 cleans the upper half and the lower half with respect to the horizontal cross section of the protection device 1050, the cleaning device 1060 does not block the laser beam and does not make a blind spot in the detection area. The entire outer surface can be cleaned.

Similarly to FIG. 3 (a), when the contaminated material extends along the rotation direction of the protective device, the blind spot generated by the contaminated material becomes D2 of FIG. 3 (b), but this time it is detected as the protective device 1050. The rotation axis is shifted in the device 1040, and the rotation direction is also shifted. That is, the scratch along the rotation direction of the protection device 1050 generated on the protection device 1050 does not coincide with the rotation direction of the detection device 1040, and the generated blind spot area is smaller than D2. In other words, compared to the case where the rotation axis A of the detection device 1040 and the rotation shaft of the protection device 1050 are made to coincide, it is possible to reduce the blind spot when the pollutant is extended. In addition, it is clear that the effect of reducing the blind spot when the above-mentioned fouling material is extended is exerted regardless of how the cleaning unit is attached.

That is, according to the present embodiment, the detection device 1040 that can detect its circumferential direction by rotating, the protection device 1050 that covers the detection device 1040 and that can rotate while covering the detection device 1040, and protection A cleaning unit 1060 that cleans the device 1050, and the rotation axis B of the protection device 1050 is inclined with respect to the rotation axis A of the detection device 1040, so that the detection region of the detection device 1040 is not obstructed. It is possible to provide an external sensor capable of removing the contamination of the outside.

Example 2 will be described with reference to FIGS. In the second embodiment, in all directions with the detection device as the central axis, an external sensor that has a detection region with a constant viewing angle in a direction parallel to the central axis and can measure three-dimensional information (distance, radio wave intensity) in all directions. An example will be described. The description overlapping with the first embodiment is omitted here.

FIG. 4 shows a mechanism configuration diagram of the external sensor according to the present embodiment. In the second embodiment, the detection device 2040 includes a plurality of laser irradiation units 2042 and a reflected light detection unit 2041, and a direction approximately perpendicular to the rotation axis A by the same calculation method as in the first embodiment (with a constant viewing angle). Not only can the distance to the laser reflection points in a plurality of directions within a parallel plane be measured. The detection device 2040 can rotate at a constant speed around the rotation axis A, for example after activation, and can measure a three-dimensional distance in all directions. The protective device 2050 is a protective device in the circumferential direction of the detection device (including a region irradiated with a laser or a region through which reflected light passes if it has a viewing angle). The surface is curved and has a shape that makes the holding part narrow.

The holding member 2110 in this embodiment penetrates the detection device 2040 and holds the upper part of the protection device 2050. The holding member 2110 and the housing 1090 are provided with a cleaning unit 1060. The cleaning unit 1060 is attached at a position that does not obstruct the laser and reflected light, and the protective device 2050 always rotates around the rotation axis B at a constant speed after activation. Then, the entire outer surface of the protective device 2050 is cleaned.

The effect of the present embodiment will be described with reference to FIG. Note that each component is shown in a simplified form so that it can be easily seen. In addition, the detection area is represented by a fan shape for easy understanding of the blind spot, but in practice, for example, the maximum distance of the range where the reflection point of the laser has an intensity that can be measured by the reflected light detection unit is the detection area. .

In this embodiment, the detection device 2040 is surrounded by a protection device 2050 whose cross section substantially perpendicular to the rotation axis B is, for example, substantially oval. In this way, the surface shape of the protective device 2050 is curved, and the holding portion is smoothed so as to be gradually narrowed, so that the change in the incident angle of the laser with respect to the protective device 2050 due to the rotation of the detection device 2040 is reduced. Therefore, there is an effect of reducing refraction when the laser passes through the protective device. Furthermore, it is possible to save space compared to the case where the protective device 2050 is cylindrical.

Further, the holding member 2110 penetrates the detection device 2040, is arranged inside the protection device 2050 and inside the detection device 2040, and holds the upper part of the protection device 2050. Therefore, in this example, since the laser passes only through the protective device 2050, the laser has an effect of suppressing the attenuation of the laser as compared with the case where the laser passes through the holding member 1110 and the protective device 1050 as in the first embodiment.

As described above, in all directions with the detection device as the central axis, a detection area with a constant viewing angle is also provided in the direction perpendicular to the central axis, and three-dimensional information (distance, radio wave intensity) in all directions can be measured and detected. An external sensor that can remove the contamination in the detection region without obstructing the region is also realized.

In each of the above embodiments, a case has been described in which a detection device capable of detecting its circumferential direction by rotating is provided, and the rotation shaft B of the protective device is inclined with respect to the rotation shaft A of the detection device. However, regardless of whether or not it rotates, the detection device can detect the circumferential direction of the detection device, and the cleaning unit is out of the circumferential region of the detection device (that is, out of the detectable region). If it is arranged in (), it is possible to provide an external sensor capable of removing contamination in the detection region without obstructing the detection region of the detection device.

In addition, since the cleaning unit is disposed on both sides of the circumferential region of the detection device serving as the detection region, the entire surface of the protection device can be cleaned without obstructing the detection region of the detection device. .

Example 3 will be described with reference to FIGS. In each of the above embodiments, the case has been described in which the protective device always rotates after activation of the external sensor, but in this embodiment, the case in which the protective device 3050 is rotated only when necessary will be described. By rotating only when necessary, wear and power consumption of the protective device 3050 and the cleaning unit 1060 are reduced. A description overlapping with the above embodiments is omitted here.

FIG. 6 shows a system configuration diagram of the external sensor in the present embodiment. The difference between the present embodiment and the above-described embodiments is that a stain determination unit 3000 is provided. Based on the reflected light data obtained from the calculation unit, the contamination determination unit 3000 determines whether the contamination is attached to the protective device 3050 by, for example, a method described later. If the contamination is attached, the control unit For example, a trigger signal for starting rotation of the protective device 3050 is transmitted to 1010.

FIG. 7 shows an example of a processing flowchart of the external sensor according to the present embodiment. After the external sensor device is activated, the detection device 1040 starts to rotate at a constant speed in S1. In S2, the distance from the detection device 1040 to the laser reflection point is acquired. In S3, in order to check whether the reflection point is reflected by dirt or the like on the protective device, the difference between the reflection point distance and the distance from the laser irradiation unit to the protective device in the laser light irradiation direction is calculated. Calculated in part 1070. The contamination determination unit 3000 compares the distance difference with a predetermined contamination determination value based on the reflected light data obtained from the calculation unit. If the difference in distance is smaller than a preset contamination determination value, it is determined that a contaminant is attached to the protective device, and the process proceeds to S4 to rotate the protective device. On the other hand, when the difference in the distance is larger than a preset contamination determination value, it is determined that no contamination is attached to the protective device, and the process skips S4 and proceeds to S5. If they are equal, they should be put in either. In S5, it is checked whether an end signal is received from the input unit. If the end signal is received, all devices are stopped. If not received, the process returns to S2 to continue the operation.

This mechanism can be configured, for example, by providing a contamination determination unit in the computer 1130 of the first or second embodiment.

As described above, according to the present embodiment, it is determined whether a fouling substance is attached to the protective device, and the protective device is rotated when it is determined that the fouling substance is attached. That is, it is only necessary to rotate it when necessary, and it is possible to provide an external sensor that reduces the wear and power consumption of the protective device and the cleaning unit.

In addition, this invention is not limited to the above-mentioned Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment. For example, although the distance sensor is used for all the detection devices described above, it can be applied to other optical sensors such as a rotary camera and an omnidirectional camera. Further, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Further, the rotational speed of the protective device or the detection device is not limited to be constant.

1, 2, 3 External sensor 1000 Input unit 1010 Control unit 1020 Protection device drive unit 1030 Detection device drive unit 1040 Detection device 1050 1 Protection device 1060 Cleaning unit 1070 Calculation unit 1080 Output unit 20402 Detection device 2050 2 Protective device 3000 Fouling determination unit 3050 3 Protective device

Claims

A detection device capable of detecting its circumferential direction;
A protective device that covers the detection device and is rotatable in a state of covering the detection device;
A cleaning unit for cleaning the protective device,
The protective device is cleaned by rotating the protective device relative to the cleaning unit,
The external sensor according to claim 1, wherein the cleaning unit is disposed at a position outside a region in a circumferential direction of the detection device that can be detected by the detection device.
The external sensor according to claim 1,
The detection device can detect its circumferential direction by rotating;
An external sensor, characterized in that a rotation shaft of the protection device is inclined with respect to a rotation shaft of the detection device.
The external sensor according to claim 1 or 2,
The external sensor according to claim 1, wherein the cleaning unit is disposed on both sides of the circumferential region.
The external sensor according to any one of claims 1 to 3,
The detection device is arranged inside the protection device;
A light source is arranged inside the protective device,
A part of the protective device to which the light emitted from the light source is irradiated is formed by a member that transmits the light emitted from the light source.
The external sensor according to claim 4,
A holding member disposed between the light source and the protection device and holding the protection device;
A part of the holding member that is irradiated with light emitted from the light source is formed of a member that transmits light emitted from the light source.
The external sensor according to claim 4,
An outside sensor, characterized in that a holding member that is arranged inside the light source and holds the protection device is provided inside the protection device.
The external sensor according to any one of claims 4 to 6,
An external sensor, wherein a surface of the protection device in a circumferential direction of the detection device is curved.
The external sensor according to claim 7,
The external device according to claim 1, wherein the protective device has a substantially oval cross-sectional shape substantially perpendicular to the rotation axis of the protective device.
The external sensor according to claim 7 or 8,
The external sensor according to claim 1, wherein the detection region of the detection device includes a detection region in addition to a direction perpendicular to a rotation axis of the detection device.
The external sensor according to any one of claims 1 to 9,
An outside sensor characterized by determining whether a fouling substance is attached to the protective device and rotating the protective device when it is determined that a fouling substance is attached.
The external sensor according to claim 10,
A difference in distance between the reflection point of the laser beam emitted from the light source and the protection device in the direction in which the laser beam is emitted is obtained, and if the difference in distance is smaller than a predetermined contamination judgment value, the protection device is contaminated. An external sensor characterized by determining that an object is attached.
The external sensor according to claim 11,
A protective device driving unit for applying a rotational driving force to the protective device;
A control unit for controlling the driving of the protective device driving unit;
A calculation unit for obtaining a difference in distance between a reflection point of the laser beam emitted from the light source and the protective device in a direction in which the laser beam is emitted;
When the difference in distance is smaller than a predetermined contamination determination value, a contamination determination unit that determines that contamination is attached to the protective device,
An external sensor, wherein the control unit drives the protection device driving unit when the contamination determination unit determines that a contamination is attached to the protection device.