Sensor device

Abstract

To suppress troubles such as intrusion of noise light into a transmission part and adhesion of foreign matter to the transmission part with a simple configuration.SOLUTION: The left side surface 224a is inclined to the right in the negative direction of the first direction X from the proximal-end 222a toward the distal-end 222b. The right side 224b is inclined leftward in the positive direction of the first direction X from the proximal-end 222a toward the distal-end 222b. The upper surface 224c is inclined downward in the negative direction of the second direction Y from the proximal-end 222a toward the distal-end 222b. The lower surface 224d is inclined upward in the positive direction of the second direction Y from the proximal-end 222a toward the distal-end 222b.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sensor device. [Background technology]

[0002] In recent years, various sensor devices have been developed that have a sensor unit such as a LiDAR (Light Detection and Ranging) device. The sensor unit has an optical system that includes a light source such as a laser diode (LD) and a photodetector such as an avalanche photodiode (APD). The sensor unit may be housed in a housing. In this case, the housing is provided with a transmission section that allows the transmission beam and reception beam of the sensor unit to pass through.

[0003] Patent Document 1 describes an example of a housing that houses a sensor unit, and a light-shielding mask is provided in the transmitting portion of this housing.

[0004] Patent Document 2 describes an example of a housing that houses a sensor unit. In this example, an air duct is provided to send air to blow away foreign matter such as raindrops, mud, snow, dust, and insects that have adhered to the transparent part of the housing. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 8-327738 [Patent Document 2] Japanese Patent Application Laid-Open No. 2006-194639 Summary of the Invention [Problem to be solved by the invention]

[0006] To prevent noise light such as sunlight from entering the transparent portion, a light-shielding mask may be provided on a portion of the transparent portion, as described in Patent Document 1, for example. However, simply providing a light-shielding mask may result in the possibility that foreign matter such as raindrops, dust, snow, mud, insects, or oil adhering to the light-shielding mask may travel along the light-shielding mask to the transparent portion. Alternatively, as described in Patent Document 2, for example, foreign matter adhering to the transparent portion may be blown away with air. However, in this case, the configuration for blowing away foreign matter adhering to the transparent portion with air may be relatively complicated.

[0007] One example of a problem that the present invention aims to solve is to suppress, with a simple configuration, problems such as noise light entering the transmission section and foreign matter adhering to the transmission section. [Means for solving the problem]

[0008] The invention described in claim 1 is The housing and a transmission portion provided in the housing; a shield having an opening communicating with the transmission portion; Equipped with The width of at least a portion of the shield narrows as it moves away from the transmission portion.

[0009] The invention described in claim 4 is The storage device; a sensor unit housed in the housing; The sensor device is provided with: [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view of a sensor device according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a configuration of a sensor unit according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, similar components are designated by similar reference numerals, and the description thereof will be omitted as appropriate.

[0012] Fig. 1 is a perspective view of a sensor device 10 according to an embodiment. Fig. 2 is a diagram showing an example of the configuration of a sensor unit 100 according to an embodiment.

[0013] 1 and 2, the arrows indicating the first direction X, the second direction Y, or the third direction Z indicate that the direction from the base end of the arrow to the tip is the positive direction of the direction indicated by the arrow, and that the direction from the tip of the arrow to the base end is the negative direction of the direction indicated by the arrow. In Fig. 2, the white circle with a black dot indicating the second direction Y indicates that the direction from the back of the paper to the front is the positive direction of the second direction Y, and that the direction from the front of the paper to the back is the negative direction of the second direction Y.

[0014] In this embodiment, the first direction X is a direction parallel to the left-right direction of the sensor device 10. The positive direction of the first direction X is a direction from right to left of the sensor device 10 when viewed from the negative direction of the third direction Z. The negative direction of the first direction X is a direction from left to right of the sensor device 10 when viewed from the negative direction of the third direction Z. The second direction Y is a direction parallel to the height direction of the sensor device 10. The positive direction of the second direction Y is a direction from the bottom to the top of the sensor device 10. The negative direction of the second direction Y is a direction from the top to the bottom of the sensor device 10. The third direction Z is a direction parallel to the front-to-rear direction of the sensor device 10. The positive direction of the third direction Z is a direction from the rear to the front of the sensor device 10. The negative direction of the third direction Z is a direction from the front to the rear of the sensor device 10.

[0015] In this embodiment, the second direction Y is parallel to the vertical direction. The positive direction of the second direction Y is a direction from below to above in the vertical direction. The negative direction of the second direction Y is a direction from above to below in the vertical direction. The first direction X and the third direction Z are parallel to a horizontal direction perpendicular to the vertical direction. The relationship between the first direction X, the second direction Y, the third direction Z, the vertical direction, and the horizontal direction is not limited to the above example. For example, the first direction X or the third direction Z may be parallel to the vertical direction.

[0016] The sensor device 10 includes a sensor unit 100 shown in FIG. 2 and a housing device 20 shown in FIG. 1. As shown in FIG. 2, the sensor unit 100 includes a light source 110, a movable reflector 120, a light detector 130, and a beam splitter 140. As shown in FIG. 1, the sensor unit 100 has a field of view F. The cross-sectional area of ​​the field of view F perpendicular to the third direction Z increases toward the front in the positive direction of the third direction Z. As shown in FIG. 1, the housing 200 includes a housing 200, a transmitting portion 210, and a shielding body 220. The housing 200 includes a main body 202 and a protruding portion 204. The main body 202 houses the sensor unit 100. The shielding body 220 includes a proximal end 222a, a distal end 222b, a left side surface 224a, a right side surface 224b, an upper surface 224c, and a lower surface 224d.

[0017] The sensor unit 100 will be described with reference to Fig. 2. In the example shown in Fig. 2, the sensor unit 100 is a LiDAR (Light Detection and Ranging).

[0018] The light source 110 is, for example, a laser diode (LD). As indicated by the solid arrow extending from the light source 110 in Fig. 2, the light source 110 emits a transmission beam TB at a predetermined repetition period. The transmission beam TB is emitted from the light source 110, passes through the beam splitter 140, and is reflected by the movable reflector 120.

[0019] In this embodiment, the movable reflector 120 is a MEMS (Micro Electro Mechanical Systems) mirror. Specifically, the movable reflector 120 is capable of swinging around a predetermined first rotation axis and a predetermined second rotation axis that are orthogonal to each other. By swinging the movable reflector 120 around the first rotation axis, the emission direction of the transmission beam TB reflected by the movable reflector 120 can be changed in a first direction X. Furthermore, by swinging the movable reflector 120 around the second rotation axis, the emission direction of the transmission beam TB reflected by the movable reflector 120 can be changed in a second direction Y. This makes it possible to scan the field of view F.

[0020] The transmission beam TB, which is transmitted through the transmission section 210 and irradiated toward the outside of the housing 200, is irradiated onto an object (not shown) present outside the housing 200. As indicated by the dashed arrow extending toward the photodetection section 130 in FIG. 2, the reflected light or scattered light of the transmission beam TB irradiated onto the object is reflected by the movable reflection section 120 as a reception beam RB, is reflected by the beam splitter 140, and reaches the photodetection section 130. The photodetection section 130 is, for example, an APD (avalanche photodiode). The photodetection section 130 detects the reception beam RB.

[0021] 2, the optical axis of the transmitted beam TB and the optical axis of the received beam RB are substantially aligned. Therefore, both the transmitted beam TB and the received beam RB pass through the field of view F.

[0022] The storage device 20 will be described with reference to FIG.

[0023] In this embodiment, the main body 202 has a substantially rectangular parallelepiped shape, with a left side surface on the positive side in the first direction X, a right side surface on the negative side in the first direction X, a top surface on the positive side in the second direction Y, a bottom surface on the negative side in the second direction Y, a front surface on the positive side in the third direction Z, and a rear surface on the negative side in the third direction Z. However, the shape of the main body 202 is not limited to the shape according to this embodiment.

[0024] The protrusion 204 is provided on the front surface of the main body 202 on the positive side in the third direction Z. The protrusion 204 protrudes toward the front of the main body 202. In this embodiment, when viewed from the positive side in the third direction Z, the center in the first direction X of the protrusion 204 is located on the positive side in the first direction X with respect to the center in the first direction X of the main body 202. Note that the position at which the protrusion 204 is provided is not limited to the position according to this embodiment.

[0025] The transmitting portion 210 is provided on the front surface of the protruding portion 204 on the positive side in the third direction Z. In this embodiment, the transmitting portion 210 has a substantially rectangular shape when viewed from the positive side in the third direction Z. Note that the shape of the transmitting portion 210 is not limited to the shape according to this embodiment. The front surface of the transmitting portion 210 on the positive side in the third direction Z faces diagonally downward and forward in the positive direction of the third direction Z and the negative direction of the second direction Y. This makes it difficult for noise light such as sunlight to enter the transmitting portion 210 from diagonally above and forward in the positive direction of the third direction Z and the positive direction of the second direction Y. Furthermore, it is possible to make it difficult for foreign matter to remain on the front surface of the transmitting portion 210 on the positive side in the third direction Z. Note that the arrangement of the transmitting portion 210 is not limited to the arrangement according to this embodiment. For example, the front surface of the transmitting portion 210 on the positive side in the third direction Z may face forward in the positive direction of the third direction Z.

[0026] The transmitted beam TB and the received beam RB passing through the field of view F are transmitted through the transmissive portion 210. The projection area PA shown in FIG. 1 is the portion of the field of view F that is projected onto the transmissive portion 210. When viewed from a direction perpendicular to the front surface of the transmissive portion 210 in the positive direction of the third direction Z, the area of ​​the transmissive portion 210 is larger than the area of ​​the projection area PA. Therefore, for example, even if a change in the specifications of the sensor device 10 requires that at least one of the width of the field of view F in the first direction X and the width of the field of view F in the second direction Y be further increased, there is no need to replace the transmissive portion 210 with a transmissive portion 210 having a larger area.

[0027] The shield 220 is provided on the front surface of the protrusion 204 on the positive side in the third direction Z. In this embodiment, the shield 220 has a substantially tapered cylindrical shape.

[0028] The proximal end 222a is attached to the front surface of the protrusion 204 on the positive side in the third direction Z. In the present embodiment, when viewed from the positive side of the third direction Z, the outer edge of the proximal end 222a around the direction perpendicular to the third direction Z substantially coincides with the outer edge of the front surface of the protrusion 204 on the positive side in the third direction Z around the direction perpendicular to the third direction Z. Note that the shape of the proximal end 222a is not limited to the shape according to the present embodiment.

[0029] The distal end 222b is located on the distal side of the transmitting section 210 in the positive direction of the third direction Z relative to the proximal end 222a. An opening 222 is provided at the distal end 222b. The opening 222 is connected to the front surface of the transmitting section 210 on the positive side of the third direction Z. Therefore, the transmitted beam TB and the received beam RB can pass through the opening 222 and into the area surrounded by the shielding body 220 when viewed from the positive direction of the third direction Z.

[0030] In this embodiment, the width of the shield 220 in the first direction X and the width of the shield 220 in the second direction Y narrow as the distance from the transmitting portion 210 increases forward in the positive direction of the third direction Z. Specifically, the left side surface 224a is inclined toward the right in the negative direction of the first direction X from the proximal end 222a to the distal end 222b. The right side surface 224b is inclined toward the left in the positive direction of the first direction X from the proximal end 222a to the distal end 222b. The top surface 224c is inclined downward in the negative direction of the second direction Y from the proximal end 222a to the distal end 222b. The bottom surface 224d is inclined upward in the positive direction of the second direction Y from the proximal end 222a to the distal end 222b.

[0031] According to the present embodiment, compared to a case where the width of the shielding body 220 in the first direction X and the width of the shielding body 220 in the second direction Y are constant from the proximal end 222a to the distal end 222b, it is possible to make it more difficult for noise light such as sunlight and foreign matter such as raindrops, dust, snow, mud, insects, and oil to enter the inside of the opening 222. Therefore, according to the present embodiment, it is possible to suppress the intrusion of noise light into the transmission portion 210 and the adhesion of foreign matter to the transmission portion 210, compared to a case where the width of the shielding body 220 in the first direction X and the width of the shielding body 220 in the second direction Y are constant from the proximal end 222a to the distal end 222b.

[0032] Furthermore, according to this embodiment, there is no need to provide a configuration such as an air duct that uses air to blow away foreign matter adhering to the transmission portion 210. Therefore, according to this embodiment, the configuration of the sensor device 10 can be simplified compared to when a configuration such as an air duct is provided. Note that in an example different from this embodiment, the sensor device 10 may be provided with a configuration such as an air duct that uses air to blow away foreign matter adhering to the transmission portion 210.

[0033] As described above, in this embodiment, at least a portion of the upper surface 224c is inclined downward in the negative direction of the second direction Y as it moves away from the transmission portion 210 toward the front in the positive direction of the third direction Z. Therefore, even if foreign matter adheres to the upper surface 224c, the foreign matter tends to move toward the distal end 222b. This makes it difficult for foreign matter to remain on the upper surface 224c.

[0034] In this embodiment, the upper end of the opening 222 in the positive direction in the second direction Y is located farther in the positive direction in the third direction Z of the transmission unit 210 than the lower end of the opening 222 in the negative direction in the second direction Y. Therefore, compared to when the positions of the upper end of the opening 222 in the third direction Z and the lower end of the opening 222 in the third direction Z are aligned in the third direction Z, noise light such as sunlight is less likely to enter the opening 222 from a position diagonally above in the positive direction in the third direction Z and in the positive direction of the second direction Y. Furthermore, compared to when the positions of the upper end of the opening 222 in the third direction Z and the lower end of the opening 222 in the third direction Z are aligned in the third direction Z, even if a foreign object falls along the upper surface 224c into the space in front of the opening 222 in the positive direction in the third direction Z, the foreign object is less likely to enter the interior of the opening 222. Note that the shape of the opening 222 is not limited to the shape according to this embodiment. For example, the position in the third direction Z of the upper end of the opening 222 may be aligned with the position in the third direction Z of the lower end of the opening 222.

[0035] The area of ​​opening 222 may be, for example, 100% to 120% of the area of ​​the portion of field of view F projected onto opening 222. When the area of ​​opening 222 is equal to or greater than the lower limit of the range, field of view F can be prevented from being blocked by distal end 222b. When the area of ​​opening 222 is equal to or less than the upper limit of the range, noise light and foreign matter can be less likely to enter opening 222 compared to when the area of ​​opening 222 is greater than the upper limit.

[0036] The shield 220 may be detachable from the housing 200. For example, the proximal end 222a may have an engaging portion that can detachably engage with the front surface of the protrusion 204 on the positive side in the third direction Z. For example, a plurality of shields 220 may be prepared in advance, each having a different area of ​​the opening 222 and a different length in the third direction Z between the distal end 222b and the proximal end 222a. As the length in the third direction Z of the shield 220 between the distal end 222b and the proximal end 222a increases, the area of ​​the opening 222 needs to be increased in accordance with the area of ​​the portion of the field of view F that is projected onto the opening 222. Therefore, an appropriate shield 220 can be used depending on the type of noise light or foreign matter to be shielded by the shield 220.

[0037] Although the embodiments of the present invention have been described above with reference to the drawings, these are merely examples of the present invention, and various other configurations can also be adopted.

[0038] For example, the housing 200 may not have the protrusion 204. In this case, the transmission portion 210 may be provided, for example, on the front surface of the main body 202 on the positive side in the third direction Z. Furthermore, the shield 220 may be provided, for example, on the front surface of the main body 202 on the positive side in the third direction Z.

[0039] Furthermore, only one of the left side surface 224a, the right side surface 224b, the upper surface 224c, and the lower surface 224d may be inclined toward the center of the opening 222 in the first direction X and the second direction Y from the proximal end 222a to the distal end 222b. In other words, when at least one of the left side surface 224a, the right side surface 224b, the upper surface 224c, and the lower surface 224d is inclined toward the center of the opening 222 in the first direction X and the second direction Y from the proximal end 222a to the distal end 222b, the width of at least a portion of the shielding body 220 can be narrowed as it moves away from the transmitting portion 210 toward the front in the positive direction of the third direction Z.

[0040] Furthermore, the shielding body 220 does not necessarily have the lower surface 224d. For example, even if the shielding body 220 does not have the lower surface 224d, noise light such as sunlight coming from diagonally above and in the positive direction of the third direction Z and the positive direction of the second direction Y can be blocked by the upper surface 224c.

[0041] In the embodiment, the upper surface 224c is inclined with respect to the third direction Z over the entire area from the proximal end 222a to the distal end 222b. However, the upper surface 224c may be inclined with respect to the third direction Z only in a portion from the proximal end 222a to the distal end 222b. The same applies to the left side surface 224a, the right side surface 224b, and the lower surface 224d. [Explanation of symbols]

[0042] 10 Sensor device 20 Containment Device 100 Sensor unit 110 Light source 120 Movable reflector 130 Light detection unit 140 Beam Splitter 200 cabinets 202 Main body 204 Protrusion 210 Transparent part 220 Shield 222 Aperture 222a proximal end 222b distal end 224a left side 224b Right side 224c top surface 224d Bottom surface F field of view PA projection area RB receiving beam TB Transmit Beam X 1st direction Y Second direction Z 3rd direction

Claims

1. The housing and a sensor unit housed in the housing and including a light source and a light detection unit; a transmission portion provided in the housing; a shield having an opening communicating with the transmission portion; Equipped with a width of at least a portion of the shielding body narrows as it moves away from the transmitting portion, an upper end of the opening is located on a more distal side of the transmission section than a lower end of the opening in a direction in which light transmitted through the transmission section is emitted; Sensor device.

2. The sensor device according to claim 1, A sensor device, wherein at least a portion of an upper surface of the shield is inclined downward as it moves away from the transmission portion.

3. 3. The sensor device according to claim 1, A sensor device, wherein the width of at least a portion of the shield is the width of a side surface of the shield.

4. The sensor device according to any one of claims 1 to 3, A sensor device, wherein the area of ​​the opening is 100% or more and 120% or less of the area of ​​the portion of the field of view of the sensor unit that is projected onto the opening.

5. The sensor device according to any one of claims 1 to 4, A sensor device, wherein the area of ​​the transmission portion is larger than the area of ​​a portion of the field of view of the sensor portion that is projected onto the transmission portion.

6. The sensor device according to any one of claims 1 to 5, A sensor device, wherein an optical axis of a transmission beam from the sensor unit and an optical axis of a reception beam from the sensor unit are substantially aligned.

Images