Optical sensor

Abstract

To provide a small optical sensor suppressing unnecessary beam leakage.SOLUTION: An optical sensor 100 includes: an optical unit 2 including a light projection part 20 projecting light projection beam PB in a housing unit 1 dividing an outer world and an inner part and a light receiving part 40 receiving reflection beam RB in the housing unit 1; a scanning unit 3 which scans the light projection beam PB from the light projection part 20 in the housing unit 1 toward the outer world and reflects the reflection beam RB from the outer world to the light receiving part 40 in the housing unit 1; and a control unit controlling the optical unit 2 and the scanning unit 3. The control unit 5 is configured to perform monitor control to monitor optical properties of the optical unit 2 as respective optical paths PL, RL are formed by the scanning unit 3 between a reflection part 190 disposed outside footprints of the respective optical paths PL, RL in detection control in the housing unit 1 and the optical unit 2.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to optical sensors. [Background technology]

[0002] Optical sensors in which a light projecting unit projects a light beam and a light receiving unit receives a reflected beam are widely known. Patent Document 1, which shows one type of such optical sensor, describes a sensor that changes the projection destination of a light projecting beam from the outside to inside a housing by a scanning unit, and performs self-diagnosis of the operating states of the light projecting unit and the light receiving unit based on the reflected beam. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-31685 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the optical sensor disclosed in Patent Document 1, the optical path of the reflected beam is separated by a partition wall from the optical path of the projected beam scanned by the scanning unit during distance detection, which is an obstacle to reducing the overall size of the sensor. Moreover, in the optical sensor disclosed in Patent Document 1, when the projected beam during self-diagnosis enters the optical path of the reflected beam through a hole in the partition wall and is reflected by the inner surface of the entrance window inside the housing, there is a concern that the projected beam may unnecessarily leak from the entrance window to the outside world.

[0005] An object of the present disclosure is to provide a compact optical sensor that suppresses unnecessary beam leakage. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] One aspect of the present disclosure is An optical sensor (100) that receives a reflected beam (RB) reflected against a projected beam (PB), A housing unit (1) that separates the outside world from the inside; an optical unit (2) including a light projecting section (20) that projects a light projecting beam within the housing unit and a light receiving section (40) that receives a reflected beam within the housing unit; a scanning unit (3) that scans a light projected from a light projecting unit toward an outside world within the housing unit and reflects a reflected beam from the outside world toward a light receiving unit within the housing unit; a control unit (5) for controlling the optical unit and the scanning unit; The housing unit is A reflecting portion (190, 2190) having a reflecting characteristic for a projected light beam; The control unit a detection control (Cd) for detecting the outside world in response to forming optical paths (PL, RL) between the optical unit and the outside world by the scanning unit, in which the footprints (PF, RF) of the projected beam and the reflected beam are overlapped with each other within the housing unit; The housing unit is configured to perform a reflecting unit that is positioned outside the footprint of each optical path in the detection control, and a monitoring control (Cm) that monitors the optical characteristics of the optical unit as each optical path is formed between the housing unit and the optical unit by the scanning unit.

[0008] According to one aspect of the present disclosure, in the detection control for detecting the outside world, the scanning unit forms optical paths in which the footprints of the projected beam and the reflected beam overlap between the optical unit and the outside world within the housing unit that separates the outside world from the inside. This allows the optical unit in the housing unit to arrange the light projecting section that projects the projected beam and the light receiving section that receives the reflected beam as close as possible to each other, thereby making it possible to reduce the size of the entire optical sensor.

[0009] Moreover, according to one aspect of the present disclosure, in the monitoring control for monitoring the optical characteristics of the optical unit, the scanning unit forms each optical path between the reflecting portion of the housing unit, which is disposed outside the footprint of each optical path in the detection control and given a reflection characteristic, and the optical unit. This makes it possible to keep the light projection beam in the monitoring control within the housing unit, away from the optical path toward the outside world in the detection control, and to suppress leakage of unnecessary light projection beam. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing a cross-sectional view of an overall configuration of an optical sensor according to a first embodiment; [Diagram 2] 1 is a schematic diagram showing a vertical cross section of an overall configuration of an optical sensor according to a first embodiment; [Diagram 3] FIG. 2 is a schematic diagram showing a light projecting unit according to the first embodiment. [Figure 4] FIG. 2 is a schematic diagram showing a light receiving section according to the first embodiment. [Diagram 5] FIG. 2 is a perspective view showing a detailed structure of the optical sensor according to the first embodiment. [Figure 6] FIG. 2 is a schematic diagram showing a cross-sectional view of the monitoring control of the optical sensor according to the first embodiment. [Figure 7] 5A to 5C are schematic diagrams for explaining detailed functions of the optical sensor according to the first embodiment. [Figure 8] FIG. 11 is an enlarged schematic diagram showing a detailed structure of an optical sensor according to a second embodiment. [Figure 9] 10A and 10B are schematic diagrams for explaining detailed functions of an optical sensor according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. In addition, when only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Furthermore, in addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0012] First embodiment As shown in FIGS. 1 and 2, the optical sensor 100 according to the first embodiment of the present disclosure is a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) that is disposed on a moving body to optically detect the outside world. The moving body on which the optical sensor 100 is disposed is a vehicle such as an automobile that can be operated in at least one of manual operation, automatic operation, and remote operation. In the following description, unless otherwise specified, the directions indicated by front, rear, up, down, left, and right are defined based on the vehicle on a horizontal plane. In the following description, the horizontal direction and the vertical direction respectively mean the parallel direction and the perpendicular direction to the horizontal plane of the vehicle on the horizontal plane.

[0013] The optical sensor 100 is disposed in at least one location on the vehicle, such as the front, left and right side portions, rear portion, or upper roof. The optical sensor 100 scans a projected light beam PB toward a detection area DA in the outside world that corresponds to the location of the optical sensor 100 on the vehicle. The optical sensor 100 detects, as a reflected beam RB, return light that is returned when the projected light beam PB is reflected by a target in the detection area DA in the outside world. For the projected light beam PB that thus becomes the reflected beam RB, light in the near-infrared range that is difficult for humans to see is selected.

[0014] The optical sensor 100 detects a target object present in a detection area DA in the outside world by receiving the reflected beam RB reflected by the projected beam PB. The detection of such an external target object is, for example, one or more types of detection including at least distance among the distance from the optical sensor 100 to the target object, the direction in which the target object exists, and the reflection intensity of the reflected beam RB from the target object. A representative target object to be detected by the optical sensor 100 applied to a vehicle may be at least one of moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles. A representative target object to be detected by the optical sensor 100 applied to a vehicle may be at least one of stationary objects such as guardrails, road signs, roadside structures, and objects fallen on the road.

[0015] In the optical sensor 100, a three-dimensional coordinate system is defined by three mutually orthogonal axes, an X-axis, a Y-axis, and a Z-axis. In particular, in the three-dimensional coordinate system of the optical sensor 100, the Y-axis direction as a reference direction is defined along the vertical direction of the vehicle, and the X-axis direction and the Z-axis direction are defined along different horizontal directions of the vehicle. As a result, for a vehicle on a horizontal plane, the XY plane and the YZ plane of the three-dimensional coordinate system are aligned along a vertical plane perpendicular to the horizontal plane, and the XZ plane is aligned along the horizontal plane.

[0016] The optical sensor 100 includes a housing unit 1, an optical unit 2, a scanning unit 3, and a control unit 5. The housing unit 1, which separates the outside world from the inside, has a housing main body 12 and a light-transmitting window 16 for forming an accommodation chamber 10 therein that accommodates other units 2, 3, and 5 in the optical sensor 100.

[0017] The housing body 12 is mainly made of multiple base materials such as metal or synthetic resin, and is formed in a box shape surrounding the storage chamber 10. The housing body 12 forms an optical opening 13 that opens toward the X-axis direction. At least one of the outer surface and the inner surface of the housing body 12 is given a light blocking characteristic by setting low transmittance, low reflectance, and high absorptance as optical characteristics for light in the near-infrared region and the visible region.

[0018] The light-transmitting window 16 is formed in a flat plate shape facing the accommodation chamber 10, mainly made of a base material such as resin or glass. The light-transmitting window 16 is surrounded and held by the housing main body 12 from the outer periphery side, thereby closing the optical opening 13. The light-transmitting window 16 is given light-transmitting properties by being set with high transmittance, low absorptance, and low reflectance as optical properties for light in the near-infrared range. As described above, the light-transmitting window 16 exhibits light-transmitting properties between the outside world and the inside of the housing unit 1, so as to transmit the projected beam PB from the accommodation chamber 10 to the detection area DA and transmit the reflected beam RB from the detection area DA to the accommodation chamber 10.

[0019] The optical unit 2 includes a light projecting section 20 and a light receiving section 40. In the following, in order to facilitate understanding of the description, the light projecting section 20 will be described first, and the light receiving section 40 will be described after the description of the scanning unit 3.

[0020] The light projecting section 20 has a light projecting light source module 22 and a light projecting lens module 26 as shown in Fig. 1. As shown in Fig. 3, the light projecting light source module 22 is constructed by mounting a plurality of light projecting light sources 24 in an array on a substrate held by the housing unit 1. In particular, the light projecting light sources 24 in this embodiment are laser diodes arranged in a single row spaced apart from each other along the Y-axis direction. Each light projecting light source 24 generates a laser beam that becomes a part of the light projecting beam PB as a pulsed individual beam PBi (see Fig. 7 described later) according to a control signal from the control unit 5. Each light projecting light source 24 may be an edge emitter laser or a vertical cavity surface emitting laser (VCSEL).

[0021] The light projecting light source module 22 has a light source window 25 formed on one side of the substrate, the light source window 25 being quasi-defined as a rectangular contour that is long along the Y-axis direction and short along the X-axis direction. The light source window 25 is configured as a collection of laser oscillation apertures in each light projecting light source 24. An individual beam PBi (see FIG. 7 described later) projected from the laser oscillation aperture of each light projecting light source 24 is projected from the light source window 25 as a light projecting beam PB shaped into a line beam long along the vertical direction at least in the detection area DA of the outside world.

[0022] 1, the light projecting lens module 26 is constructed in a structure in which at least one light projecting lens 260 is held by the housing unit 1 via a lens barrel 261. The light transmitting light projecting lens 260 is formed mainly of a base material such as resin or glass into a lens shape according to the optical action to be exerted. The light projecting lens 260 exerts at least one optical action of focusing, collimating, shaping, etc. on the light projecting beam PB from the light projecting light source module 22. The light projecting lens 260 is positioned in a lens barrel 261 having a light blocking property, which is formed of, for example, metal, resin, etc.

[0023] 1 and 2, the projector lens module 26 having such a configuration is aligned with a deviation in the Z-axis direction from the projector light source module 22 so as to form a projector optical axis POA in the accommodation chamber 10 in the housing unit 1. In the accommodation chamber 10, the projector beam PB projected from the projector light source module 22 is projected along the projector optical axis POA toward the scanning unit 3 side, which is the outside world side, by the optical action of the projector lens module 26.

[0024] The scanning unit 3 has a scanning mirror 32 and a scanning motor 36. In the accommodation chamber 10 in the housing unit 1, the scanning mirror 32 is disposed offset in the Z-axis direction from the optical unit 2 and offset in the X-axis direction from the light-transmitting window 16. The scanning mirror 32 is formed in a plate shape with a reflective film deposited on a mirror surface 33, which is one surface of a base material. The scanning mirror 32 is supported by the housing unit 1 so as to be rotatable about a rotation center line along the Y-axis direction. The scanning mirror 32 is capable of swinging motion within a driving range that is limited by a mechanical or electrical stopper.

[0025] In the accommodation chamber 10, the scanning motor 36 is disposed around the scanning mirror 32. The scanning motor 36 is, for example, a voice coil motor, a brushed DC motor, or a stepping motor. An output shaft of the scanning motor 36 is directly coupled to the scanning mirror 32, or indirectly coupled via a driving mechanism such as a reducer. The scanning motor 36 is held by the housing unit 1 so as to be able to rotate the scanning mirror 32 together with the output shaft. The scanning motor 36 rotates (i.e., swings) the scanning mirror 32 within a driving range in accordance with a control signal from the control unit 5.

[0026] In the accommodation chamber 10, the scanning mirror 32 reflects the projected beam PB projected from the projector lens module 26 of the light projector 20 toward the light-transmitting window 16 by the mirror surface 33 according to the rotation angle of the scanning motor 36. In this way, the scanning mirror 32 scans the projected beam PB transmitted through the light-transmitting window 16 toward the detection area DA in the outside world. At this time, scanning of the detection area DA by the projected beam PB is substantially limited to scanning in the horizontal direction in this embodiment according to the rotational drive of the scanning mirror 32.

[0027] At the same time, in the storage chamber 10, the scanning mirror 32 reflects the reflected beam RB, which is incident from the detection area DA of the outside world through the light-transmitting window 16, toward the light-receiving unit 40 by the mirror surface 33 according to the rotation angle of the scanning motor 36. At this time, the speeds of the projected beam PB and the reflected beam RB are sufficiently high compared to the rotational speed of the scanning mirror 32. As a result, the reflected beam RB is reflected by the scanning mirror 32, whose angle with respect to the projected beam PB can be assumed to be substantially the same as the rotation angle, and is guided toward the light-receiving unit 40 in the opposite direction to the projected beam PB.

[0028] The light receiving unit 40 is arranged offset in the Y-axis direction with respect to the light projecting unit 20, and together with the light projecting unit 20, constitutes an optical unit 2 offset in the Z-axis direction from the scanning mirror 32. The light receiving unit 40 has a light receiving lens module 42 and a light receiving and detecting module 45 as shown in FIG. 1. The light receiving lens module 42 is constructed in a structure in which at least one light receiving lens 420 is held by the housing unit 1 via a lens barrel 421. The light transmitting light receiving lens 420 is formed into a lens shape according to the optical action to be exerted, mainly made of a base material such as resin or glass. The light receiving lens 420 exerts an optical action so as to form an image of the reflected beam RB from the scanning mirror 32 on the light receiving and detecting module 45. The light receiving lens 420 is positioned in a light blocking lens barrel 421 formed of, for example, metal or resin.

[0029] 1 and 2, the light-receiving lens module 42 is aligned with the light-receiving detection module 45 while being shifted in the Z-axis direction so as to form a light-receiving optical axis ROA in the accommodation chamber 10 in the housing unit 1. The light-receiving optical axis ROA of the light-receiving lens module 42 is shifted in the Y-axis direction with respect to the light-projecting optical axis POA of the light-projecting lens module 26. As a result, in the accommodation chamber 10, the reflected beam RB reflected from the mirror surface 33 of the scanning mirror 32 while being shifted in the Y-axis direction from the projecting beam PB is guided along the light-receiving optical axis ROA by the optical action of the light-receiving lens module 42, and is received by the light-receiving detection module 45.

[0030] In the storage chamber 10, the footprint PF of the optical path PL formed by the projected beam PB and the footprint RF of the optical path RL formed by the reflected beam RB form an overlapping area SA that overlaps partially in the Y-axis direction over the driving range of the scanning mirror 32. Here, the footprints PF and RF of the projected beam PB and the reflected beam RB are designed to overlap partially on at least one of the surfaces of the light-transmitting window 16 facing the storage chamber 10 and the outside world. As a result, the light-transmitting window 16 is located within the footprints PF and RF of the optical paths PL and RL in the storage chamber 10, and exerts a light-transmitting characteristic between the outside world and the storage chamber 10 for each beam PB and RB. In the above, the footprints PF and RF mean the spatial area in which the optical paths PL and RL, which are the trajectories of the beams PB and RB in the detection control Cd described later, can be formed over the driving range of the scanning mirror 32.

[0031] As shown in FIG. 4, the light receiving and detecting module 45 is constructed by mounting a plurality of light receiving pixels 46 in an array on a substrate held by the housing unit 1. The light receiving pixels 46 are arranged at least along the Y-axis direction. The light receiving and detecting module 45 has a light receiving surface 450 on one side of the substrate, the light receiving surface 450 having a rectangular contour that is long along the Y-axis direction and short along the X-axis direction. The light receiving surface 450 is configured as a collection of incident surfaces of the light receiving pixels 46. Here, each of the light receiving pixels 46 is further formed of a plurality of light receiving elements 460, such as single photon avalanche diodes. Each of the light receiving pixels 46 receives the reflected beam RB incident on the light receiving surface 450 from the light receiving lens module 42 as a linear beam spreading along the Y-axis direction.

[0032] 1, the light receiving and detecting module 45 has an output circuit 47. The output circuit 47 executes sampling processing for each control period according to a control signal from the control unit 5 in a detection frame for each scanning line that is synchronized with the light projection period of the light projecting beam PB by the light projecting light source module 22 and corresponds to the rotation angle of the scanning mirror 32. At this time, the output circuit 47 generates a detection signal by combining response outputs from the light receiving elements 460 of each light receiving pixel 46 for each control period. The detection signals thus generated are output from the output circuit 47 to the control unit 5 for each scanning line.

[0033] 2 is constructed mainly of at least one of a computer including a processor and a memory. The control unit 5 is connected to the light projecting light source module 22, the scanning motor 36, and the light receiving and detecting module 45. The control unit 5 controls the light projecting light source module 22 of the optical unit 2 so as to generate a light projecting beam PB for each light projecting period. At the same time, the control unit 5 controls the scanning motor 36 so as to control the scanning and reflection by the scanning mirror 32 synchronized with the light projecting period by the light projecting light source module 22. Furthermore, the control unit 5 processes a detection signal output from the light receiving and detecting module 45 of the optical unit 2 in accordance with the light projecting period by the light projecting light source module 22 and the scanning and reflection by the scanning mirror 32.

[0034] 1 and 2, in detection control Cd for detecting a target in a detection area DA in the outside world, the control unit 5 generates three-dimensional point cloud data as target detection data by processing detection signals from the light receiving and detecting module 45. The detection control Cd is executed in response to the scanning unit 3 forming, between the optical unit 2 and the outside world, the optical paths PL, RL in which the footprints PF, RF of the beams PB, RB overlap in the accommodation chamber 10 in the housing unit 1.

[0035] (Detailed structure / detailed functions) Next, a detailed description will be given of the structure and function of the optical sensor 100. As shown in FIGS.

[0036] The frame member 18 is mainly made of a base material such as metal or synthetic resin, and is formed in the shape of a partition that divides the accommodation chamber 10 in the X-axis direction. The frame member 18 is surrounded and held from the outer periphery by the housing main body 12, and is disposed with one side facing the light-transmitting window 16 in the X-axis direction. Both plate surfaces of the frame member 18 are given light-blocking properties by setting low transmittance, low reflectance, and high absorptance as optical characteristics for light in the near-infrared and visible ranges.

[0037] In the accommodation chamber 10 inside the housing unit 1, the frame member 18 holds the components 20, 40 of the optical unit 2 and the scanning motor 36 on the opposite side to the light-transmitting window 16 in the X-axis direction. At the same time, in the accommodation chamber 10, the frame member 18 surrounds, from the outer periphery, the footprints PF, RF of the optical paths PL, RL formed by the beams PB, RB with a scanning opening 180 penetrating between both faces.

[0038] On one side of the scanning opening 180 in the Z-axis direction, the frame member 18 is bent along each of the YZ plane and the XY plane, so that a light-shielding portion 181 around a reflecting portion 190 (described later) is formed with light-shielding properties against the beams PB and RB. As a result, in the accommodation chamber 10, the light-shielding portion 181 is disposed in an area outside the footprints PF and RF of the optical paths PL and RL in the detection control Cd, on the opposite side of the optical unit 2 across the scanning unit 3 in the Z-axis direction.

[0039] The reflecting member 19 is formed in a bent plate shape mainly made of a base material such as metal or synthetic resin. The reflecting member 19 is held on the light-transmitting window 16 side along the YZ plane in the light-shielding portion 181 of the frame member 18. As a result, in the storage chamber 10, the reflecting member 19 is arranged in an area outside the footprints PF, RF of each optical path PL, RL in the detection control Cd, on the opposite side of the optical unit 2 across the scanning unit 3 in the Z-axis direction. At the same time, in the storage chamber 10, the light-transmitting window 16 is provided in the footprints PF, RF of each optical path PL, RL in the detection control Cd, avoiding the arrangement area of ​​the reflecting member 19.

[0040] The reflecting member 19 forms a reflecting portion 190 in which the light-shielding portion 181 spreads around the units 3, 2 in the Z-axis direction by a bent portion extending along the YZ plane and the XY plane. The reflecting portion 190 forms a reflecting surface 191 that is elongated in the Y-axis direction as the reference direction by a surface of the bent portion that faces the units 3, 2 in the Z-axis direction along the YZ plane. The reflecting surface 191 is given a reflecting characteristic by setting low transmittance, low absorptance, and high diffuse reflectance as optical characteristics for light in the near-infrared range. Here, the diffuse reflectance of the reflecting surface 191 in particular represents an optical characteristic of diffusively reflecting (i.e., irregularly reflecting) light (here, the projected beam PB) by the unevenness of the surface of the reflecting portion 190. Therefore, the reflecting surface 191 is formed as, for example, a uniform diffuse reflecting surface.

[0041] 1 and 2 is not executed, such as when the optical sensor 100 is started up. In this case, the monitor control Cm monitors the optical characteristics of the monitored object, which is at least one of the sections 20 and 40 in the optical sensor 100, such as fluctuations in the projected intensity of the projected beam PB or fluctuations in the received intensity of the reflected beam RB caused by an abnormality, a malfunction, or deterioration over time.

[0042] Therefore, the monitoring control Cm is executed in response to the scanning unit 3 forming each of the optical paths PL, RL between the reflecting unit 190 located outside the footprints PF, RF of each of the optical paths PL, RL in the detection control Cd in the accommodation chamber 10 in the housing unit 1 and the optical unit 2. At this time, a part of the beam components of the reflected beam RB generated by the projecting beam PB being diffusely reflected by the reflecting surface 191 of the reflecting unit 190 reaches the light receiving surface 450 of the light receiving and detecting module 45, and thus each of the optical paths PL, RL is formed between the reflecting unit 190 and the optical unit 2 as shown in Fig. 6. As a result, the beam components that reach the light receiving surface 450 as the reflected beam RB are received by the light receiving and detecting module 45 with a set intensity lower than that of the original projecting beam PB within a range in which the optical characteristics of the target can be monitored. In addition, with regard to the reflected beam RB generated by diffuse reflection by the reflecting surface 191 of the reflecting portion 190, the beam components are prevented from reaching the light-transmitting window 16, and the intensity of the beam components leaking into the outside world after reaching the light-transmitting window 16 is also reduced.

[0043] As described above, in the monitoring control Cm, characteristic data representing the optical characteristics of the monitoring target is generated by the control unit 5 based on a detection signal received from the reflected beam RB reflected by the reflecting section 190, whose reflecting surface 191 has reflection characteristics that are substantially unchanged with respect to the projected beam PB. At this time, in the accommodation chamber 10, as shown in Fig. 7, a collective beam of the individual beams PBi that partially overlap in the Y-axis direction in the arrangement area of ​​the reflecting section 190 is reflected as the projected beam PB by the reflecting surface 191 that is elongated in the Y-axis direction.

[0044] (Action and effect) The effects of the first embodiment described above will now be described.

[0045] According to the first embodiment, in the detection control Cd for detecting the outside world, the scanning unit 3 forms, between the optical unit 2 and the outside world, the optical paths PL, RL in which the footprints PF, RF of the projected beam PB and the reflected beam RB overlap each other within the housing unit 1 that separates the outside world from the inside. This allows the optical unit 2 in the housing unit 1 to arrange the light projecting section 20 that projects the projected beam PB and the light receiving section 40 that receives the reflected beam RB as close as possible to each other, thereby making it possible to reduce the overall size of the optical sensor 100.

[0046] Moreover, according to the first embodiment, in the monitoring control Cm that monitors the optical characteristics of the optical unit 2, the scanning unit 3 forms each of the optical paths PL, RL between the reflecting section 190 of the housing unit 1, which is disposed outside the footprints PF, RF of each of the optical paths PL, RL in the detection control Cd in the housing unit 1 and given a reflection characteristic, and the optical unit 2. This makes it possible to remove the projected beam PB in the monitoring control Cm from the optical paths PL, RL toward the outside world in the detection control Cd and to keep it within the housing unit 1, thereby making it possible to suppress unnecessary leakage of the projected beam PB.

[0047] The reflecting section 190 according to the first embodiment is given a reflection characteristic to the reflecting surface 191 that diffusely reflects the projected beam PB. With this, even the reflected beam RB generated by reflection from the reflecting section 190, which is closer to the light receiving section 40 than the outside world, can be received by the light receiving section 40 with a lower intensity than the projected beam PB. Therefore, it is possible to prevent a situation in which the monitoring accuracy of the optical characteristics in the monitoring control Cm decreases due to saturation of the received light intensity of the reflected beam RB at the light receiving section 40.

[0048] The light projecting unit 20 according to the first embodiment projects a line-beam-shaped light projecting beam PB that is elongated along the Y-axis direction, which is a reference direction, at least in the outside world. Therefore, the reflecting unit 190 according to the first embodiment can be formed small to the minimum necessary size in accordance with the shape of the light projecting beam PB, since reflection characteristics are imparted to the reflecting surface 191 that is elongated along the Y-axis direction along which the light projecting beam PB runs. This can contribute to the miniaturization of the optical sensor 100.

[0049] The reflecting section 190 according to the first embodiment is disposed in an area opposite the optical unit 2 across the scanning unit 3 in the frame member 18 that holds the optical unit 2 and the scanning unit 3 in the housing unit 1. This makes it possible to effectively utilize the frame member 18 that constitutes the housing unit 1 and dispose the reflecting section 190 as close as possible to the optical unit 2, which can contribute to miniaturization of the optical sensor 100.

[0050] The light-shielding portion 181 of the housing unit 1 according to the first embodiment is given light-shielding characteristics around the reflecting portion 190 outside the footprints PF, RF of the optical paths PL, RL in the detection control Cd in the housing unit 1. With this, even if at least one of the beams PB, RB in the detection control Cd strays outside the optical paths PL, RL in the detection control Cd due to, for example, scattering, the light-shielding portion 181 can prevent the beam from reaching the reflecting portion 190. Therefore, it is possible to suppress beam leakage to the outside world and a decrease in the accuracy of outside world detection caused by unnecessary reflection at the reflecting portion 190.

[0051] In the housing unit 1 according to the first embodiment, the light-transmitting window 16 of the housing unit 1, which is provided with light-transmitting properties for both beams PB and RB between the housing unit 1 and the outside world, is provided in the footprints PF and RF of the optical paths PL and RL in the detection control Cd, avoiding the arrangement area of ​​the reflecting section 190. This makes it possible for the monitoring control Cm to suppress the reflected beam RB reflected by the reflecting section 190 arranged outside the footprints PF and RF of the optical paths PL and RL in the detection control Cd from leaking to the outside world through the light-transmitting window 16 in those footprints PF and RF.

[0052] In addition, in the first embodiment, each beam PB, RB passing through the light-transmitting window 16 in the footprint PF, RF in the detection control Cd can be suppressed from reaching the reflecting portion 190 outside the footprint PF, RF. Therefore, it is possible to suppress beam leakage to the outside world and a decrease in the accuracy of outside world detection caused by unnecessary reflection at the reflecting portion 190. Moreover, according to the first embodiment, the light-transmitting window 16 that transmits each beam PB, RB into the footprint PF, RF in the detection control Cd can suppress the arrival of the reflected beam RB diffusely reflected from the reflecting portion 190 outside the footprint PF, RF itself, and the intensity of the beam component leaking to the outside world even after the arrival occurs. Therefore, it is also possible to suppress beam leakage to the outside world caused by diffuse reflection.

[0053] Second Embodiment As shown in Fig. 8, the second embodiment is a modified example of the first embodiment. The reflecting member 2019 of the second embodiment has a plurality of projection-shaped reflecting portions 2190 spaced apart from each other along the Y-axis direction as a reference direction. Each reflecting portion 2190 has an individual reflecting surface 2191 formed by an inclined surface facing the side opposite to the light-transmitting window 16 in the X-axis direction along an acute angle direction α with respect to the YZ plane and the XY plane. The individual reflecting surfaces 2191 of each of these reflecting portions 2190 are given reflective characteristics by setting low transmittance, low absorptance, and high diffuse reflectance as optical characteristics for light in the near-infrared range in the same manner as in the first embodiment.

[0054] In accordance with such detailed structure, in the monitoring control Cm of the second embodiment, as shown in Fig. 9, in each reflecting section 2190, the corresponding individual beam PBi from the corresponding floodlight source 24 is reflected by each of the mutually separated reflecting surfaces 2191 to which reflection characteristics are given. At this time, in the arrangement area of ​​each reflecting section 2190, the adjacent individual beams PBi are separated and diffusely reflected by the mutually separated reflecting surfaces 2191 to avoid the mutual overlapping portions in the Y-axis direction between the adjacent individual beams PBi. Therefore, in the monitoring control Cm which receives the separated reflected beams RB respectively corresponding to the individual beams PBi, characteristic data is generated by the control unit 5 so as to represent the optical characteristics of each of the floodlight sources 24 to be monitored.

[0055] In the second embodiment described above, as in the first embodiment, the light projecting unit 20 projects a line beam-like light projecting beam PB that is longitudinal at least in the outside world along the Y-axis direction by collecting individual beams PBi from a plurality of light projecting light sources 24 spaced apart and arranged along the Y-axis direction as a reference direction. In the second embodiment, therefore, reflection characteristics are given to the individual beams PBi from the corresponding light projecting light sources 24 to the plurality of reflecting units 2190 spaced apart and arranged along the Y-axis direction. This allows the monitoring control Cm to receive the reflected beam RB from the reflecting unit 2190 for each individual beam PBi from each light projecting light source 24 that becomes the light projecting beam PB, and to individually monitor the optical characteristics of each of the light projecting light sources 24. Therefore, it is possible to improve the monitoring accuracy of the optical characteristics of the light projecting unit 20 in particular.

[0056] Here, also in the second embodiment, the light projecting unit 20 projects a line beam-like light projecting beam PB that is longitudinal along the Y-axis direction by a collection of the individual beams PBi that overlap in the Y-axis direction in the arrangement area of ​​the reflecting units 2190. According to this, in order to individually monitor the optical characteristics of each light projecting light source 24 by the monitoring control Cm, the multiple reflecting units 2190 that reflect the reflected beam RB for each individual beam PBi from each light projecting light source 24 that becomes the light projecting beam PB can be arranged as close as possible to each other, so that the optical sensor 100 can be made compact.

[0057] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0058] In a modified example, a Y-axis direction along the horizontal direction and an X-axis direction along the vertical direction may be defined. In a modified example, the reflecting portion 190, 2910 may be provided outside the footprints PF, RF of the optical paths PL, RL in the detection control Cd in, for example, the housing main body 12, etc., other than the frame member 18 that holds the optical unit 2 and the scanning unit 3 of the housing unit 1. In a modified example, the light-shielding portion 181 may not be provided around the reflecting portion 190, 2910. In a modified example, the reflecting surface 191, 2191 may be formed to be inclined along an acute angle direction with respect to the YZ plane and the XY plane and to face the opposite side to the light-transmitting window 16 side in the X-axis direction, so that the reflecting portion 190, 2190 may be given a regular reflection characteristic instead of a diffuse reflection characteristic.

[0059] In the modified example, the moving object to which the optical sensor 100 is applied may be, for example, an autonomous robot that is capable of transporting luggage or collecting information by autonomous or remote driving. In the modified example, the moving object to which the optical sensor 100 is applied may be, for example, a stationary structure other than the moving object.

[0060] (Additional remarks) This specification discloses the following technical ideas and combinations thereof.

[0061] (Technical thought 1) An optical sensor (100) that receives a reflected beam (RB) reflected against a projected beam (PB), A housing unit (1) that separates the outside world from the inside; an optical unit (2) including a light projecting section (20) that projects the light projecting beam within the housing unit and a light receiving section (40) that receives the reflected beam within the housing unit; a scanning unit (3) that scans the light projected from the light projecting unit toward the outside world within the housing unit and reflects the reflected beam from the outside world toward the light receiving unit within the housing unit; a control unit (5) for controlling the optical unit and the scanning unit, The housing unit comprises: A reflecting portion (190, 2190) having a reflecting characteristic for the projected light beam; The control unit a detection control (Cd) for detecting the outside world in response to forming optical paths (PL, RL) between the optical unit and the outside world by the scanning unit, in which footprints (PF, RF) of the projected beam and the reflected beam overlap each other within the housing unit; An optical sensor configured to perform: the reflector positioned outside the footprint of each of the optical paths in the detection control within the housing unit; and a monitoring control (Cm) for monitoring the optical characteristics of the optical unit in response to the scanning unit forming each of the optical paths between the optical unit and the reflector.

[0062] (Technical thought 2) The reflecting portion is The optical sensor according to Technical Idea 1, wherein the reflection characteristics are imparted to a reflecting surface (191, 2191) that diffusely reflects the projected beam.

[0063] (Technical Thought 3) The light projecting unit includes: The projection beam is projected in a line beam shape that is longitudinal along a reference direction (Y) at least in the outside world, The reflecting portion (190) is The optical sensor according to Technical Idea 1 or 2, wherein the reflection characteristic is given to a reflecting surface (191) that is elongated along the reference direction.

[0064] (Technical Thought 4) The light projecting unit includes: A line beam projected as the projection beam is elongated along the reference direction (Y) at least in the outside world by a collection of individual beams (PBi) from a plurality of light sources (24) arranged at a distance along the reference direction (Y); The plurality of reflecting portions (2190) are An optical sensor according to technical idea 1 or 2, which is arranged at intervals along the reference direction and is given the reflection characteristics for the individual beams from the corresponding light sources.

[0065] (Technical Thought 5) The light projecting unit includes: An optical sensor according to technical idea 4, in which the individual beams that overlap in the reference direction in the arrangement area of ​​the reflecting portion are combined to project the projection beam in the form of a line beam that is longitudinal along the reference direction.

[0066] (Technical Thought 6) The reflecting portion is An optical sensor described in any one of Technical Ideas 1 to 5, wherein the optical sensor is arranged in an area opposite the optical unit, sandwiching the scanning unit, in a frame member (18) of the housing unit that holds the optical unit and the scanning unit.

[0067] (Technical Thought 7) The housing unit comprises: An optical sensor according to any one of technical ideas 1 to 6, having a shading portion (181) having shading characteristics for the projected beam and the reflected beam, located around the reflecting portion, outside the footprint of each of the optical paths during the detection control within the housing unit.

[0068] (Technical Thought 8) The housing unit comprises: An optical sensor as described in any one of Technical Ideas 1 to 7, having a light-transmitting window (16) that gives the projected beam and the reflected beam light-transmitting characteristics between the outside world and inside the housing unit, within the footprint of each of the optical paths during the detection control within the housing unit, avoiding the area where the reflecting portion is arranged. [Explanation of symbols]

[0069] 1: housing unit, 2: optical unit, 3: scanning unit, 5: control unit, 16: light-transmitting window, 18: frame member, 20: light-emitting section, 24: light-emitting source, 40: light-receiving section, 100: optical sensor, 181: light-shielding section, 190, 2190: reflecting section, 191, 2191: reflecting surface, Cd: detection control, Cm: monitoring control, PB: light-emitting beam, PBi: individual beam, PF, RF: footprint, PL, RL: optical path, RB: reflected beam, Y: reference direction

Claims

1. An optical sensor (100) that receives a reflected beam (RB) reflected against a projected beam (PB), A housing unit (1) that separates the outside world from the inside; an optical unit (2) including a light projecting section (20) that projects the light projecting beam within the housing unit and a light receiving section (40) that receives the reflected beam within the housing unit; a scanning unit (3) that scans the light projected from the light projecting unit toward the outside world within the housing unit and reflects the reflected beam from the outside world toward the light receiving unit within the housing unit; a control unit (5) for controlling the optical unit and the scanning unit; The housing unit comprises: A reflecting portion (190) having a reflecting characteristic with respect to the projected light beam, The control unit a detection control (Cd) for detecting the outside world in response to forming optical paths (PL, RL) between the optical unit and the outside world by the scanning unit, in which footprints (PF, RF) of the projected beam and the reflected beam overlap each other within the housing unit; and a monitoring control (Cm) for monitoring optical characteristics of the optical unit in response to forming each of the optical paths between the reflecting unit, which is disposed outside the footprint of each of the optical paths in the detection control in the housing unit, and the optical unit by the scanning unit; The light projecting unit includes: The projection beam is projected in a line beam shape that is longitudinal along a reference direction (Y) at least in the outside world, The reflecting portion is An optical sensor having a reflective surface elongated along the reference direction that is provided with the reflective characteristics.

2. The reflecting portion is 2. The optical sensor according to claim 1, wherein the reflectivity is provided to a reflecting surface (191) that diffusely reflects the projected light beam.

3. The light projecting unit includes: The optical sensor according to claim 1 , wherein the projection beam is a line beam that is elongated along the reference direction by a collection of individual beams (PBi) that overlap in the reference direction in an area where the reflecting portion is arranged.

4. The reflecting portion is An optical sensor according to any one of claims 1 to 3, wherein the optical sensor is arranged in an area opposite the optical unit, across the scanning unit, in a frame member (18) of the housing unit that holds the optical unit and the scanning unit.

5. The housing unit comprises: An optical sensor as described in any one of claims 1 to 3, having a shading portion (181) having shading characteristics for the projected beam and the reflected beam, located around the reflecting portion outside the footprint of each of the optical paths in the detection control within the housing unit.

6. The housing unit comprises: An optical sensor as described in any one of claims 1 to 3, comprising a light-transmitting window (16) that provides the projected beam and the reflected beam with light-transmitting characteristics between the outside world and inside the housing unit, the window being disposed within the footprint of each of the optical paths in the detection control within the housing unit and avoiding an area in which the reflecting portion is located.

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