Photodetection device and method for manufacturing same

Abstract

To provide a light detection device that ensures desired optical characteristics.SOLUTION: A light detection device comprises: a base 11 that defines reference directions Y and X which are orthogonal to each other; a light projection holder 61 that is positioned in the reference directions Y and X with respect to the base 11; a light projection unit 21 that has a light projector 22 which is held by the base 11 and a light projection lens system 26 which is held by the light projection holder 61 on a light projection optical axis POA which is orthogonal to the reference directions Y and X, and that guides a light projection beam from the light projector 22 by the light projection lens system 26; a first light projection shim 64 that is exchangeably interposed in a first light projection gap 63a which expands along the reference direction Y between the base 11 and the light projection holder 61; a second light projection shim 66 that is exchangeably interposed in a second light projection gap 63c which expands along a light projection intersection direction PD intersecting the reference directions Y and X between the base 11 and the light projection holder 61; and a light projection screw 68 that fixes the light projection holder 61 to the base 11 by screwing in the reference direction Y.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a light detection device and a method for manufacturing the same. [Background technology]

[0002] Photodetectors that project a light beam toward the outside world and detect a reflected beam from the outside world in response to the projected beam are widely known. For example, the photodetector disclosed in Patent Document 1 positions and fixes a light source holding member that holds a light source and a lens holding member that holds a lens to a base member. Therefore, the photodetector disclosed in Patent Document 1 proposes a structure having a reference plane in order to adjust the position of the lens holding member in the direction of the lens optical axis relative to the base member. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-3938 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the light detection device disclosed in Patent Document 1, the position of the light source holding member is merely adjusted along a reference plane provided on the base member perpendicular to the lens optical axis. Therefore, the light source holding member needs to be adjusted in an arbitrary direction perpendicular to the lens optical axis, and it is difficult to ensure the position adjustment accuracy in the arbitrary direction. Furthermore, the light source holding member needs to be screwed at multiple points around the lens after the position adjustment in the arbitrary direction perpendicular to the lens optical axis, and the light source holding member during the screwing is easily displaced on the reference plane of the base member, which reduces the positioning accuracy. These problems are obstacles to ensuring the desired optical characteristics.

[0005] An object of the present disclosure is to provide a photodetector that ensures desired optical characteristics and a method for manufacturing the same. [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] A first aspect of the present disclosure is A light detection device (10) that projects a projected beam (PB) toward an external environment and detects a reflected beam (RB) reflected from the external environment in response to the projected beam, A base (11) configured to be positionable with respect to an object to be placed and defining a first reference direction (Y) and a second reference direction (X) perpendicular to each other; a light projecting holder (61) that is positioned in a first reference direction and a second reference direction relative to the base; a light-projecting unit (21) including a light-projector (22) held by one of a base and a light-projecting holder, and a light-projecting lens system (26) held by the other of the base and the light-projecting holder, the light-projecting unit (21) being aligned on a light-projecting optical axis (POA) perpendicular to a first reference direction and a second reference direction, and guiding a light projection beam emitted from the light-projector by the light-projecting lens system; a first light-projecting shim (64) replaceably interposed in a first light-projecting gap (63a) extending along a first reference direction between the base and the light-projecting holder; a second light-projecting shim (66) replaceably interposed in a second light-projecting gap (63c) extending along a light-projection cross direction (PD) that crosses the first reference direction and the second reference direction between the base and the light-projecting holder; The light projecting holder is provided with a light projecting screw (68) that fixes the light projecting holder to the base by screwing along the first reference direction.

[0008] According to the first aspect, the light projector and the light projector lens system are held by one of the base defining the first and second reference directions perpendicular to each other and the light projector holder positioned in the reference directions relative to the base capable of being positioned relative to an object to be mounted. Between the base and the light projector holder, a first light projector shim is interposed in a first light projecting gap extending along the first reference direction, and a second light projecting shim is interposed in a second light projecting gap extending along a light projecting intersecting direction intersecting the first and second reference directions.

[0009] According to this, by adjusting the relative positions of the base and the light-projection holder in the first reference direction and the second reference direction in accordance with the size adjustment of the first light-projection shim and the second light-projection shim, which are replaceable for the first light-projection gap and the second light-projection gap, respectively, it is possible to align the light projector and the light-projection lens system on the light-projection optical axis perpendicular to these reference directions. Furthermore, at the mounting interface of the second light-projection shim, which spreads along the light-projection cross direction, the axial force action of the light-projection screw due to the screw fastening along the first reference direction is also dispersed in the second reference direction, so that the light-projection holder can be fixed while remaining positioned relative to the base. Therefore, it is possible to ensure the light-projection characteristics of the light-projection beam as the desired optical characteristics.

[0010] A second aspect of the present disclosure is A method of manufacturing a photodetector device (10) of the first embodiment, comprising the steps of: a light projector is held on one of the base and the light projector holder, and a light projector lens system is held on the other of the base and the light projector holder; A relative position of the light projection holder with respect to the base is temporarily fixed, and a light projection shift amount (ΔPSy, ΔPSx) of the light projection beam with respect to the light projection optical axis is acquired in a first reference direction and a second reference direction; This includes interposing a first light-emitter shim and a second light-emitter shim of a size corresponding to the amount of light-emitter shift in the first light-emitter gap and the second light-emitter gap, respectively, and screwing the light-emitter holder to the base with a light-emitter screw.

[0011] According to the second aspect, the relative position of the light-projecting holder with respect to the base is temporarily fixed, and the amount of light-projection shift of the light-projecting beam with respect to the light-projecting optical axis is acquired in the first reference direction and the second reference direction. Then, the first light-projecting shim and the second light-projecting shim having a size corresponding to the amount of light-projection shift are respectively interposed in the first light-projecting gap and the second light-projecting gap, and the light-projecting holder is screwed to the base by the light-projecting screw.

[0012] According to this, the size adjustment of the first light-projecting shim and the second light-projecting shim, which are respectively inserted in the first light-projecting gap and the second light-projecting gap, can be optimized for the alignment of the light projector and the light-projecting lens system, and at the same time, the position adjustment of the light-projecting holder relative to the base can be completed. Furthermore, the axial force of the light-projecting screw caused by the screw fastening along the first reference direction is also distributed in the second reference direction, so that the light-projecting holder can be fixed while remaining positioned relative to the base. Therefore, it is possible to ensure the projection characteristics of the light projection beam as the desired optical characteristics.

[0013] A third aspect of the present disclosure is A light detection device (10) that projects a projected beam (PB) toward an external environment and detects a reflected beam (RB) reflected from the external environment in response to the projected beam, A base (11) configured to be positionable with respect to an object to be placed and defining a first reference direction (Y) and a second reference direction (X) perpendicular to each other; a light receiving holder (71) positioned in a first reference direction and a second reference direction relative to the base; a light-receiving unit (41) including a light-receiving device (45) held by one of a base and a light-receiving holder, and a light-receiving lens system (42) held by the other of the base and the light-receiving holder, the light-receiving unit (41) being aligned on a light-receiving optical axis (ROA) perpendicular to a first reference direction and a second reference direction, and forming an image of a reflected beam received by the light-receiving device through the light-receiving lens system; a first light-receiving shim (74) replaceably interposed in a first light-receiving gap (73a) extending along a first reference direction between the base and the light-receiving holder; a second light-receiving shim (76) replaceably interposed in a second light-receiving gap (73c) extending along a light-receiving cross direction (RD) intersecting the first reference direction and the second reference direction between the base and the light-receiving holder; The light-receiving holder is provided with a light-receiving screw (78) that fixes the light-receiving holder to the base by screwing along the first reference direction.

[0014] According to the third aspect, the light receiver and the light receiving lens system are held by one of the base defining the first and second reference directions perpendicular to each other and the light receiving holder positioned in the reference directions relative to the base capable of being positioned relative to an object to be mounted. Between the base and the light receiving holder, a first light receiving shim is interposed in a first light receiving gap extending along the first reference direction, and a second light receiving shim is interposed in a second light receiving gap extending along a light receiving cross direction that crosses the first and second reference directions.

[0015] According to this, by adjusting the relative positions of the base and the light receiving holder in the first reference direction and the second reference direction in accordance with the size adjustment of the first light receiving shim and the second light receiving shim, which are replaceable for the first light receiving gap and the second light receiving gap, respectively, it is possible to align the light receiving device and the light receiving lens system on the light receiving optical axis perpendicular to these reference directions. Furthermore, at the mounting interface of the second light receiving shim, which spreads along the light receiving cross direction, the axial force action of the light receiving screw due to the screw fastening along the first reference direction is also distributed in the second reference direction, so that the light receiving holder can be fixed while remaining positioned relative to the base. Therefore, it is possible to ensure the light receiving characteristics of the reflected beam as the desired optical characteristics.

[0016] A fourth aspect of the present disclosure is A method of manufacturing a light detection device (10) of the third embodiment, comprising the steps of: a light receiver is held by one of the base and the light receiving holder, and a light receiving lens system is held by the other of the base and the light receiving holder; A relative position of the light receiving holder with respect to the base is temporarily fixed, and a light receiving shift amount (ΔRSy, ΔRSx) of the reflected beam with respect to the light receiving optical axis is acquired in a first reference direction and a second reference direction; This includes interposing a first light-receiving shim and a second light-receiving shim having a size corresponding to the amount of light-receiving shift in the first light-receiving gap and the second light-receiving gap, respectively, and screwing the light-receiving holder to the base with a light-receiving screw.

[0017] According to the fourth aspect, the relative position of the light-receiving holder with respect to the base is temporarily fixed, and the light-receiving shift amount of the reflected beam with respect to the light-receiving optical axis is obtained in the first reference direction and the second reference direction. Then, the first light-receiving shim and the second light-receiving shim having a size corresponding to the light-receiving shift amount are inserted in the first light-receiving gap and the second light-receiving gap, respectively, and the light-receiving holder is screwed to the base by the light-receiving screw.

[0018] According to this, the size adjustment of the first light receiving shim and the second light receiving shim, which are respectively inserted in the first light receiving gap and the second light receiving gap, can be optimized for the alignment of the light receiving device and the light receiving lens system, and at the same time, the position adjustment of the light receiving holder relative to the base can be completed. Furthermore, the axial force of the light receiving screw caused by the screw fastening along the first reference direction is also distributed in the second reference direction, so that the light receiving holder can be fixed while remaining positioned relative to the base. Therefore, it is possible to ensure the light receiving characteristics of the reflected beam as the desired optical characteristics. [Brief description of the drawings]

[0019] [Figure 1] 1 is a cross-sectional view showing an overall configuration of a photodetector according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram illustrating a light projector according to an embodiment. [Diagram 3] FIG. 2 is a schematic diagram illustrating a receiver according to an embodiment. [Figure 4] FIG. 2 is a front view showing a positioning structure of a light detection device according to an embodiment. [Diagram 5] 1 is a cross-sectional view showing a positioning structure of a light detection device according to an embodiment. [Figure 6] 1 is a cross-sectional view showing a positioning structure of a light detection device according to an embodiment. [Figure 7] FIG. 4 is a plan view illustrating an example of a first light-projecting shim according to one embodiment. [Figure 8] FIG. 13 is a plan view showing another example of the first light-projecting shim according to an embodiment. [Figure 9] FIG. 13 is a plan view showing yet another example of a first light-projecting shim according to an embodiment. [Figure 10] FIG. 4 is a plan view illustrating an example of a second light-projecting shim according to one embodiment. [Figure 11] FIG. 13 is a plan view showing another example of the second light-projecting shim according to the embodiment. [Figure 12] FIG. 13 is a plan view showing yet another example of a second light-projecting shim according to an embodiment. [Figure 13] 1 is a flow chart illustrating a manufacturing method according to one embodiment. [Figure 14] 1A to 1C are schematic diagrams for explaining a manufacturing method according to one embodiment. [Figure 15] 1A to 1C are schematic diagrams for explaining a manufacturing method according to one embodiment. [Figure 16] 1A to 1C are schematic diagrams for explaining a manufacturing method according to one embodiment. [Figure 17] 1A to 1C are schematic diagrams for explaining a manufacturing method according to one embodiment. [Figure 18] 1A to 1C are schematic diagrams for explaining a manufacturing method according to one embodiment. [Figure 19] 1A to 1C are schematic diagrams for explaining a manufacturing method according to one embodiment. [Figure 20] FIG. 13 is a schematic diagram showing a light projection unit according to a modified example. [Figure 21] FIG. 13 is a schematic diagram showing a light receiving unit according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] As shown in FIG. 1, a light detection device 10 according to an embodiment of the present disclosure is a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) that is disposed on a moving body and optically observes the outside world. The moving body on which the light detection device 10 is disposed is, for example, 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 noted, the directions indicated by front, rear, up, down, left, and right are defined based on the vehicle on a horizontal plane. In addition, 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. Furthermore, in the following description, the direction of gravity means the downward direction of the vertical direction of the vehicle on the horizontal plane.

[0021] The light detection device 10 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 light detection device 10 projects a light projecting beam PB toward a detection area DA in the outside world of the vehicle that corresponds to the location of the light detection device 10 on the vehicle. The light detection device 10 detects, as a reflected beam RB, return light that is returned when the light projecting beam PB is reflected by a target in the detection area DA in the outside world of the vehicle. The light projecting beam PB that thus becomes the reflected beam RB uses light in the near-infrared range that is difficult for humans to see.

[0022] The light detection device 10 detects the reflected beam RB to observe a target in the detection area DA. Here, the observation of the target refers to at least one of the following: the distance from the light detection device 10 to the target, the direction in which the target exists, and the reflection intensity of the reflected beam RB from the target. The target that is a typical observation target in the light detection device 10 applied to a vehicle may be at least one of moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles. The target that is a typical observation target in the light detection device 10 applied to a vehicle may be at least one of stationary objects such as guardrails, road signs, roadside structures, and objects that have fallen on the road.

[0023] In the light detection device 10, a three-dimensional orthogonal coordinate system is defined by three mutually orthogonal reference directions X, Y, and Z. In particular, in this embodiment, the first reference direction Y is defined along the vertical direction of the vehicle, and the second reference direction X and the third reference direction Z are defined along different horizontal directions of the vehicle. Note that in FIG. 1, the right side of the dashed dotted line along the first reference direction Y (the optical window 12 side described later) actually shows a cross section perpendicular to the left side of the dashed dotted line (the units 21, 41 side described later).

[0024] The light detection device 10 includes a base 11, a light projecting unit 21, a scanning unit 31, a light receiving unit 41, and a controller 51. The light-shielding base 11 is formed in a box shape from, for example, metal or resin. The base 11 houses the light projecting unit 21, the scanning unit 31, and the light receiving unit 41 inside. The base 11 has an opening that is closed by an optical window 12. The light-transmitting optical window 12 is formed in a plate shape from, for example, resin or glass.

[0025] The light projection unit 21 includes a light projector 22 and a light projection lens system 26. As shown in FIG. 2, the light projector 22 is constructed by arranging a plurality of laser oscillation elements 24 in an array on a substrate. In particular, the laser oscillation elements 24 in this embodiment are arranged in a single row along the first reference direction Y. Each laser oscillation element 24 emits coherent laser light with a uniform phase due to a resonator structure that resonates the laser light oscillated in the PN junction layer and a mirror layer structure that repeatedly reflects the laser light with the PN junction layer sandwiched therebetween. Each laser oscillation element 24 generates a pulsed laser light that becomes a part of the light projection beam PB according to a control signal from the controller 51.

[0026] The light projector 22 has a light projection port 25 formed on one side of the substrate, the light projection port 25 being quasi-defined as a rectangular contour whose longitudinal direction is along the first reference direction Y and whose transverse direction is along the second reference direction X. The light projection port 25 is configured as an assembly of laser oscillation apertures in each of the laser oscillation elements 24. The laser light projected from the laser oscillation apertures of each of the laser oscillation elements 24 is emitted from the light projection port 25 as a projection beam PB shaped into a line whose longitudinal direction is along the first reference direction Y and whose transverse direction is along the second reference direction X in the detection area DA shown in FIG.

[0027] 1, the light projecting lens system 26 is constructed in a structure in which at least one light projecting lens 27a is held by a lens barrel 27b. The light transmissive light projecting lens 27a is formed mainly of a base material such as resin or glass into a lens shape according to the optical function to be exerted. The light projecting lens 27a exerts at least one type of optical function, such as focusing, collimation, and shaping, on the light projecting beam PB from the light projector 22. The light projecting lens 27a is positioned within the lens barrel 27b formed of, for example, metal or resin.

[0028] The projector lens system 26 thus configured is aligned with the projector 22 so as to form a projector optical axis POA along a third reference direction Z perpendicular to the first reference direction Y and the second reference direction X, for example, as a virtual light axis passing from the center of the light projector port 25 to the center of the projector lens 27a. Thus, the chief ray of the projector beam PB emitted from the projector 22 is subjected to the optical action of the projector lens system 26 and is guided along the projector optical axis POA.

[0029] The scanning unit 31 includes a scanning mirror 32 and a scanning motor 35. The scanning mirror 32 is formed in a plate shape mainly made of a base material such as synthetic resin or glass. In the scanning mirror 32, a reflective film such as aluminum, silver, or gold is evaporated onto one side of the base material, so that a reflective surface 33 is formed in a mirror shape.

[0030] The scanning mirror 32 is supported by the base 11 so as to be rotatable about a rotation center line along the first reference direction Y. The scanning mirror 32 performs a swinging rotational motion within a driving range that is limited by a mechanical or electrical stopper. The scanning mirror 32 has a light projecting reflection portion 34a used for projecting the light projecting beam PB and a light receiving reflection portion 34b used for receiving the reflected beam RB, which are shifted in the first reference direction Y on the reflection surface 33.

[0031] The scanning motor 35 is, for example, a voice coil motor, a brushed DC motor, or a stepping motor. An output shaft of the scanning motor 35 is directly coupled to the scanning mirror 32, or indirectly coupled via a driving mechanism such as a reducer. The scanning motor 35 is held by the base 11 so as to be able to rotate the scanning mirror 32 together with the output shaft. The scanning motor 35 rotates the scanning mirror 32 in accordance with a control signal from the controller 51.

[0032] The projector beam PB is reflected by the light projecting and reflecting portion 34a in response to the rotational driving of the scanning mirror 32 by the scanning motor 35, and passes through the optical window 12, thereby being scanned toward the detection area DA in the outside world of the vehicle. At this time, the scanning of the projector beam PB with respect to the detection area DA is substantially limited to scanning in the horizontal direction in accordance with the rotational driving of the scanning mirror 32.

[0033] The projector beam PB is reflected by a target present in the detection area DA in the outside world of the vehicle, and passes through the optical window 12 again to become a reflected beam RB that is incident on the light receiving and reflecting portion 34b of the scanning mirror 32. At this time, the speeds of the projector beam PB and the reflected beam RB are sufficiently greater than the rotational drive speed of the scanning mirror 32. As a result, the reflected beam RB is reflected by the light receiving and reflecting portion 34b of the scanning mirror 32, which can be assumed to have substantially the same rotation angle as the projector beam PB, and is guided to the light receiving unit 41 in a reverse direction to the projector beam PB.

[0034] The light receiving unit 41 includes a light receiving lens system 42 and a light receiver 45. The light receiving lens system 42 is constructed in a structure in which at least one light receiving lens 43a is held by a lens barrel 43b. The light transmitting light receiving lens 43a 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 43a exerts an optical action so as to form an image of the reflected beam RB from the scanning mirror 32 on the light receiver 45. The light receiving lens 43a is positioned within the lens barrel 43b formed of, for example, metal or resin.

[0035] The receiving lens system 42 having such a configuration is aligned with the receiver 45 so as to form a receiving optical axis ROA along a third reference direction Z perpendicular to the first reference direction Y and the second reference direction X, for example as a virtual light axis passing from the center of the receiving lens 43a through the center of a receiving surface 47 of the receiver 45 described later.

[0036] Here, the light receiving optical axis ROA of the light receiving lens system 42 is shifted in the first reference direction Y with respect to the light projecting optical axis POA of the light projecting lens system 26. Particularly in this embodiment, the light receiving unit 41 is disposed above the light projecting unit 21 in the first reference direction Y, so that the light receiving optical axis ROA is shifted upward in the first reference direction Y from the light projecting optical axis POA. Thus, the chief ray of the reflected beam RB reflected from the light receiving reflector 34b, which is shifted upward in the first reference direction Y from the light projecting reflector 34a, toward the light receiving unit 41 is guided along the light receiving optical axis ROA by the optical action of the light receiving lens system 42, and is imaged on the light receiver 45.

[0037] 3, the light receiver 45 is constructed by arranging a plurality of light receiving pixels 46 in an array on a substrate. The light receiving pixels 46 are arranged in a two-dimensional array along a first reference direction Y and a second reference direction X. Each of the light receiving pixels 46 is further formed of a plurality of light receiving elements 460, for example, single photon avalanche diodes.

[0038] The light receiver 45 has a light receiving surface 47 formed on one side of the substrate, the light receiving surface 47 having a rectangular contour with its long sides along the first reference direction Y and its short sides along the second reference direction X. The light receiving surface 47 is configured as a collection of incident surfaces of the light receiving pixels 46. As shown in FIG. 1, each light receiving pixel 46 receives the reflected beam RB incident on the light receiving surface 47 from the light receiving lens system 42 as a line-shaped beam with its long sides along the first reference direction Y and its short sides along the second reference direction X.

[0039] The light receiver 45 has an output circuit 48. The output circuit 48 executes sampling processing for each control period according to a control signal from the controller 51 in a measurement frame for each scanning line that corresponds to the rotation angle of the scanning mirror 32 synchronized with the projection period of the light projecting beam PB by the light projector 22. At this time, the output circuit 48 generates a detection signal by synthesizing output signals 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 48 to the controller 51 for each scanning line.

[0040] The controller 51 controls the observation of targets in the detection area DA. The controller 51 is mainly constructed of at least one computer including a processor and a memory. The controller 51 is connected to the light projector 22, the scanning motor 35, and the light receiver 45.

[0041] The controller 51 outputs a control signal to the projector 22 so as to generate a projected beam PB by the oscillation of each laser oscillation element 24 for each light projection period. The controller 51 outputs a control signal to the scanning motor 35 so as to control scanning and reflection by the scanning mirror 32 synchronized with the light projection period of the projector 22. The controller 51 processes the detection signal output from the photoreceiver 45 in accordance with the light projection period of the projector 22 and the scanning and reflection by the scanning mirror 32, thereby generating observation data of the target in the detection area DA.

[0042] Next, a positioning structure for positioning the photodetector 10 relative to the vehicle on which it is to be installed will be described.

[0043] 1 and 4 to 6, the light detection device 10 includes a base 11 that defines reference directions X, Y, and Z common to the light projecting unit 21 and the light receiving unit 41. The base 11 holds the light projector 22 and the light receiver 45 in a positioned state.

[0044] 1, the base 11 has a planar common reference surface 13 extending along the first reference direction Y and the second reference direction X on its outer wall surface. In particular, the common reference surface 13 in this embodiment is provided on the opposite side of the scanning unit 31 across both the light projecting unit 21 and the light receiving unit 41 in the third reference direction Z, and faces the opposite side. The base 11 is mounted on the vehicle with the common reference surface 13 in surface contact with a planar positioning reference surface 3 that is fixed in position on the vehicle. Mounting the base 11 in such a surface contact state allows the base 11 to be positioned at a location on the vehicle where a desired detection area DA is set.

[0045] 4 and 5, the base 11 has therein a block-shaped light-projection reference portion 14 as a positioning structure dedicated to the light-projecting unit 21. The light-projection reference portion 14 has, on a side surface thereof, a planar first light-projection base surface 15a that extends along the first reference direction Y and the third reference direction Z. In particular, the first light-projection base surface 15a in this embodiment faces the light-projection lens system 26 side in the second reference direction X.

[0046] The light-projecting reference portion 14 has a cylindrical light-projecting protrusion 15b protruding from the first light-projecting base surface 15a. In particular, the light-projecting protrusion 15b in this embodiment protrudes toward the light-projecting lens system 26 in the second reference direction X.

[0047] The light-projection reference portion 14 has, on its upper surface, a planar second light-projection base surface 15c that spreads along a light-projection cross direction PD that crosses the first reference direction Y and the second reference direction X, and a third reference direction Z. In particular, the second light-projection base surface 15c of this embodiment faces obliquely upward by being inclined toward the gravity direction in the first reference direction Y as it becomes farther away from the light-projection lens system 26 in the second reference direction X. Here, the light-projection cross direction PD that determines the inclination state of the second light-projection base surface 15c has different angles with the reference directions Y and X such that an axial force dispersion component of a light-projection screw 68, which will be described later, becomes larger in one of the reference directions Y and X in which the vehicle vibration is greater.

[0048] The light-projection reference portion 14 has a female-threaded light-projection screw hole 15d that opens into the second light-projection base surface 15c. In particular, in this embodiment, the opening of the light-projection screw hole 15d faces upward in the first reference direction Y.

[0049] 4 and 6, the base 11 has a block-shaped light-receiving reference portion 16 therein as a positioning structure dedicated to the light-receiving unit 41. The light-receiving reference portion 16 has a planar first light-receiving base surface 17a on its side, the first light-receiving base surface 17a extending along the first reference direction Y and the third reference direction Z. In particular, the first light-receiving base surface 17a in this embodiment faces the light-receiving lens system 42 in the second reference direction X. Furthermore, the first light-receiving base surface 17a in this embodiment is provided on the side farther from the light-receiving lens system 42 out of the two side surfaces of the light-receiving reference portion 16 that form a step via a second light-receiving base surface 17c described below.

[0050] The light receiving reference portion 16 has a cylindrical light receiving protrusion 17b protruding from the first light receiving base surface 17a. In particular, the light receiving protrusion 17b in this embodiment protrudes toward the light receiving lens system 42 in the second reference direction X.

[0051] The light-receiving reference portion 16 has, on its upper surface, a planar second light-receiving base surface 17c that spreads along a light-receiving cross direction RD that crosses the first reference direction Y and the second reference direction X, and a third reference direction Z. In particular, the second light-receiving base surface 17c of this embodiment is tilted toward the gravity direction in the first reference direction Y as it moves away from the light-receiving lens system 42 in the second reference direction X, so that it faces obliquely upward. Here, the light-receiving cross direction RD that determines the inclination state of the second light-receiving base surface 17c has different angles with the reference directions Y and X such that the axial force dispersion component of a light-receiving screw 78, which will be described later, becomes larger in one of the reference directions Y and X in which the vehicle vibration is larger.

[0052] The light-receiving reference portion 16 has a light-receiving screw hole 17d having a female screw hole shape that opens to the second light-receiving base surface 17c. In particular, in this embodiment, the opening of the light-receiving screw hole 17d faces upward in the first reference direction Y.

[0053] The light receiving reference portion 16 has a planar third light receiving base surface 17e on its side surface, the planar third light receiving base surface 17e extending along the first reference direction Y and the third reference direction Z. In particular, the third light receiving base surface 17e of this embodiment faces the light receiving lens system 42 in the second reference direction X. Furthermore, the third light receiving base surface 17e of this embodiment is provided on the side closer to the light receiving lens system 42 of the two side surfaces of the light receiving reference portion 16 that form a step via the second light receiving base surface 17c.

[0054] 4 and 5, the light detection device 10 includes a light-projecting holder 61, a first light-projecting shim 64, a second light-projecting shim 66, and a light-projecting screw 68 as a positioning structure dedicated to the light-projecting unit 21. The light-projecting holder 61 is formed in a block shape from, for example, metal or resin. The light-projecting holder 61 holds the lens barrel 27b, in which the light-projecting lens 27a is fixed, in the light-projecting lens system 26 in a positioned state.

[0055] The light-projecting holder 61 has, on its side, a planar first light-projecting holder surface 62a extending along the first reference direction Y and the third reference direction Z. In particular, the first light-projecting holder surface 62a in this embodiment faces the first light-projecting base surface 15a, which is the side opposite the light-projecting lens system 26 in the second reference direction X. As a result, the first light-projecting holder surface 62a and the first light-projecting base surface 15a face each other with a first light-projecting gap 63a extending along the first reference direction Y and the third reference direction Z in the second reference direction X.

[0056] The light-emitter holder 61 has a rectangular groove-shaped light-emitter escape hole 62b that opens on the first light-emitter holder surface 62a. In particular, the opening of the light-emitter escape hole 62b in this embodiment faces the first light-emitter gap 63a in the second reference direction X. The light-emitter protrusion 15b protrudes into the light-emitter escape hole 62b through a first light-emitter shim 64 that is interposed in the first light-emitter gap 63a as described below. This leaves a space 63b between the light-emitter protrusion 15b and the light-emitter escape hole 62b on both sides in the first reference direction Y and on the tip side in the second reference direction X.

[0057] The light-projecting holder 61 has a planar second light-projecting holder surface 62c on its lower surface, the planar second light-projecting holder surface 62c extending along the light-projecting cross direction PD and the third reference direction Z. In particular, the second light-projecting holder surface 62c of this embodiment is inclined toward the gravity direction in the first reference direction Y as it moves away from the light-projecting lens system 26 in the second reference direction X, so that it faces obliquely downward. As a result, the second light-projecting holder surface 62c and the second light-projecting base surface 15c face each other with a second light-projecting gap 63c extending along the light-projecting cross direction PD and the third reference direction Z in the first reference direction Y. Here, the light-projecting cross direction PD that determines the inclination state of the second light-projecting holder surface 62c is set to be substantially the same direction as the light-projecting cross direction PD that determines the inclination state of the second light-projecting base surface 15c.

[0058] The light-emitter holder 61 has a light-emitter loose insertion hole 62d in the form of a cylindrical hole penetrating from the second light-emitter holder surface 62c to an upper surface 62e on the opposite side in the first reference direction Y. In particular, in this embodiment, each opening of the light-emitter loose insertion hole 62d faces the direction of gravity and the opposite upward direction in the first reference direction Y. Also, in this embodiment, the inner diameter of the light-emitter loose insertion hole 62d is set to be larger than the outer diameter of the light-emitter screw 68.

[0059] In the light-emitter holder 61, the second light-emitter holder surface 62c and the first light-emitter holder surface 62a are continuous with each other so as to form an acute angle. Thus, the light-emitter holder 61 is reinforced and has increased rigidity by a plate-shaped light-emitter rib 62f that spans from the second light-emitter holder surface 62c to the first light-emitter holder surface 62a. The light-emitter rib 62f does not necessarily have to be provided.

[0060] The first light-emitter shim 64 is formed in a flat plate shape as a whole, for example, from metal or resin. The first light-emitter shim 64 is configured to be replaceable by a single shim material or a combination of multiple shim materials. The first light-emitter shim 64 is interposed in the first light-emitter gap 63a between the first light-emitter base surface 15a and the first light-emitter holder surface 62a with the overall plate thickness direction substantially aligned with the second reference direction X. As a result, in the first light-emitter shim 64, one plate surface 65a is in surface contact with the first light-emitter base surface 15a, and the other plate surface 65b is in surface contact with the first light-emitter holder surface 62a.

[0061] The first light-emitter shim 64 has a first light-emitter through hole 65c through which the light-emitter protrusion 15b passes in a fitted state in the first light-emitter gap 63a. In particular, the first light-emitter through hole 65c in this embodiment may be formed in a cylindrical hole shape that opens only in the second reference direction X as shown in Fig. 7. Alternatively, the first light-emitter through hole 65c may be formed in an elongated hole shape that opens in the third reference direction Z or the first reference direction Y in addition to the second reference direction X as shown in Figs. 8 and 9.

[0062] As shown in Figs. 4 and 5, the second light-projecting shim 66 is generally formed in a flat plate shape, for example, from metal or resin. The second light-projecting shim 66 is configured to be replaceable by a single shim material or a combination of multiple shim materials. The second light-projecting shim 66 is interposed in the second light-projecting gap 63c between the second light-projecting base surface 15c and the second light-projecting holder surface 62c with the overall plate thickness direction substantially aligned with the direction perpendicular to the light-projection cross direction PD. As a result, in the second light-projecting shim 66, one plate surface 67a is in surface contact with the second light-projecting base surface 15c, and the other plate surface 67b is in surface contact with the second light-projecting holder surface 62c.

[0063] The second light-projecting shim 66 has a second light-projecting through hole 67c through which the light-projecting screw 68 is inserted in a fitted state in the second light-projecting gap 63c. In particular, the second light-projecting through hole 67c in this embodiment may be formed in a cylindrical hole shape that opens only in the direction perpendicular to the light-projection cross direction PD as shown in Fig. 10. Alternatively, the second light-projecting through hole 67c may be formed in an elongated hole shape that opens in the third reference direction Z or the light-projection cross direction PD in addition to the direction perpendicular to the light-projection cross direction PD as shown in Figs. 11 and 12.

[0064] 4 and 5, the light-emitter screw 68 is formed into a male screw shape using, for example, metal or the like. The light-emitter screw 68 fixes the light-emitter holder 61 to the base 11 by screwing along the first reference direction Y. For this purpose, the light-emitter screw 68 is loosely inserted into the light-emitter loose insertion hole 62d with a circumferential space 69b left therebetween, with a head 69a in contact with an upper surface 62e of the light-emitter holder 61 on the opposite side in the first reference direction Y to the second light-emitter holder surface 62c. At the same time, the light-emitter screw 68 is screwed into the light-emitter screw hole 15d of the light-emitter reference portion 14 through the second light-emitter through hole 67c of the second light-emitter shim 66 in the second light-emitter gap 63c.

[0065] In particular, in the light projector screw 68 of this embodiment, a first reference direction Y extending from the head 69a side in contact with the light projector holder 61 toward the screw-fitted side with the base 11 substantially coincides with the direction of gravity among the vertical directions. In a positioning structure dedicated to the light projector unit 21 using screw fastening with such a light projector screw 68, the light projector holder 61 that holds the light projector lens system 26 is positioned in each of the reference directions X, Y, and Z relative to the base 11 that holds the light projector 22.

[0066] Here, the relative position of the light-projecting holder 61 with respect to the base 11 in the first reference direction Y is determined by the size in the first reference direction Y according to the size in the plate thickness direction of the second light-projecting shim 66. Also, the relative position of the light-projecting holder 61 with respect to the base 11 in the second reference direction X is determined by the size of the first light-projecting shim 64 in the plate thickness direction that substantially coincides with the second reference direction X. By such positioning, the light-projecting lens system 26 and the light projector 22 are aligned on the light-projecting optical axis POA that is perpendicular to the first reference direction Y and the second reference direction X.

[0067] 4 and 6, the light detection device 10 includes a light receiving holder 71, a first light receiving shim 74, a second light receiving shim 76, and a light receiving screw 78 as a positioning structure dedicated to the light receiving unit 41. The light receiving holder 71 is formed into a block shape from, for example, metal or resin. The light receiving holder 71 holds the lens barrel 43b, in which the light receiving lens 43a is fixed, in a positioned state in the light receiving lens system 42.

[0068] The light-receiving holder 71 has a planar first light-receiving holder surface 72a on its side, which extends along the first reference direction Y and the third reference direction Z. In particular, the first light-receiving holder surface 72a in this embodiment faces the first light-receiving base surface 17a, which is the side opposite the light-receiving lens system 42 in the second reference direction X. The first light-receiving holder surface 72a in this embodiment is provided on the side farther from the light-receiving lens system 42, of the two side surfaces that form a step via a second light-receiving holder surface 72c described later. As a result, the first light-receiving holder surface 72a and the first light-receiving base surface 17a face each other with a first light-receiving gap 73a extending along the first reference direction Y and the third reference direction Z in the second reference direction X.

[0069] The light-receiving holder 71 has a rectangular groove-shaped light-receiving escape hole 72b that opens on the first light-receiving holder surface 72a. In particular, the opening of the light-receiving escape hole 72b in this embodiment faces the first light-receiving gap 73a in the second reference direction X. The light-receiving protrusion 17b protrudes into the light-receiving escape hole 72b through a second light-receiving shim 76 that is interposed in the first light-receiving gap 73a as described below. This leaves a space 73b between the light-receiving protrusion 17b and the light-receiving escape hole 72b on both sides in the first reference direction Y and on the tip side in the second reference direction X.

[0070] The light-receiving holder 71 has a planar second light-receiving holder surface 72c on its underside, which spreads along the light-receiving cross direction RD and the third reference direction Z. In particular, the second light-receiving holder surface 72c of this embodiment faces obliquely downward by inclining toward the gravity direction in the first reference direction Y as it moves away from the light-receiving lens system 42 in the second reference direction X. As a result, the second light-receiving holder surface 72c and the second light-receiving base surface 17c face each other with a second light-receiving gap 73c, which spreads along the light-receiving cross direction RD and the third reference direction Z, in the first reference direction Y. Here, the light-receiving cross direction RD that determines the inclination state of the second light-receiving holder surface 72c is set to be substantially the same direction as the light-receiving cross direction RD that determines the inclination state of the second light-receiving base surface 17c.

[0071] The light-receiver holder 71 has a light-receiver loose insertion hole 72d in the form of a cylindrical hole penetrating from the second light-receiver holder surface 72c to the upper surface 72e on the opposite side in the first reference direction Y. In particular, in this embodiment, each opening of the light-receiver loose insertion hole 72d faces the gravity direction and the opposite upward direction in the first reference direction Y. In addition, in this embodiment, the inner diameter of the light-receiver loose insertion hole 72d is set to be larger than the outer diameter of the light-receiver screw 78.

[0072] The light-receiver holder 71 has a planar third light-receiver holder surface 72g on a side surface thereof, the planar third light-receiver holder surface 72g extending along the first reference direction Y and the third reference direction Z. In particular, the third light-receiver holder surface 72g in this embodiment faces the third light-receiver base surface 17e side, which is the side opposite the light-receiver lens system 42 in the second reference direction X. Furthermore, the third light-receiver holder surface 72g in this embodiment is provided on the side closer to the light-receiver lens system 42, of the two side surfaces forming a step via the second light-receiver holder surface 72c.

[0073] In the light-receiver holder 71, the third light-receiver holder surface 72g and the second light-receiver holder surface 72c are continuous with each other so as to form an acute angle. Thus, the light-receiver holder 71 is reinforced and has high rigidity by a plate-shaped light-receiver rib 72f that spans from the second light-receiver holder surface 72c to the third light-receiver holder surface 72g. The light-receiver rib 72f does not necessarily have to be provided.

[0074] The first light-receiving shim 74 is formed into a flat plate shape as a whole, for example, from metal or resin. The first light-receiving shim 74 is configured to be replaceable by a single shim material or a combination of multiple shim materials. The first light-receiving shim 74 is interposed in the first light-receiving gap 73a between the first light-receiving base surface 17a and the first light-receiving holder surface 72a with the overall plate thickness direction substantially aligned with the second reference direction X. As a result, in the first light-receiving shim 74, one plate surface 75a is in surface contact with the first light-receiving base surface 17a, and the other plate surface 75b is in surface contact with the first light-receiving holder surface 72a.

[0075] The first light-receiving shim 74 has a first light-receiving through hole 75c through which the light-receiving protrusion 17b is fitted in the first light-receiving gap 73a. In particular, the first light-receiving through hole 75c in this embodiment may be formed as a cylindrical hole that opens only in the second reference direction X, similar to the first light-emitter through hole 65c of the first light-emitter shim 64. Alternatively, the first light-receiving through hole 75c may be formed as an elongated hole that opens in the third reference direction Z or the first reference direction Y in addition to the second reference direction X, similar to the first light-emitter through hole 65c.

[0076] Here, the third light-receiving holder surface 72g and the third light-receiving base surface 17e face each other with a third light-receiving gap 73d, which expands along the first reference direction Y and the third reference direction Z, provided in the second reference direction X. Therefore, the first light-receiving shim 74 may be interposed in the third light-receiving gap 73d instead of being interposed in the first light-receiving gap 73a. That is, the third light-receiving gap 73d may function as the first light-receiving gap in which the first light-receiving shim 74 is interposed. In this case, it is preferable that the light-receiving escape hole 72b opens to the third light-receiving holder surface 72g, and the light-receiving protrusion 17b protrudes from the third light-receiving base surface 17e.

[0077] The second light-receiving shim 76 is generally formed in a flat plate shape, for example, from metal or resin. The second light-receiving shim 76 is configured to be replaceable by a single shim material or a combination of multiple shim materials. The second light-receiving shim 76 is interposed in the second light-receiving gap 73c between the second light-receiving base surface 17c and the second light-receiving holder surface 72c with the overall plate thickness direction substantially aligned with the direction perpendicular to the light-receiving cross direction RD. As a result, in the second light-receiving shim 76, one plate surface 77a is in surface contact with the second light-receiving base surface 17c, and the other plate surface 77b is in surface contact with the second light-receiving holder surface 72c.

[0078] The second light-receiving shim 76 has a second light-receiving through hole 77c through which the light-receiving screw 78 is fitted in the second light-receiving gap 73c. ​​In particular, the second light-receiving through hole 77c of this embodiment may be formed as a cylindrical hole that opens only in the direction perpendicular to the light-receiving cross direction RD, similar to the second light-emitter through hole 67c of the second light-emitter shim 66. Alternatively, the second light-receiving through hole 77c may be formed as an elongated hole that opens in the third reference direction Z or the light-receiving cross direction RD in addition to the direction perpendicular to the light-receiving cross direction RD, similar to the second light-emitter through hole 67c.

[0079] The light-receiving screw 78 is formed into a male screw shape, for example, from metal or the like. The light-receiving screw 78 fixes the light-receiving holder 71 to the base 11 by screwing along the first reference direction Y. For this purpose, the light-receiving screw 78 is loosely inserted into the light-receiving loose insertion hole 72d with a circumferential space 79b left therebetween, with a head 79a in contact with an upper surface 72e of the light-receiving holder 71 on the opposite side in the first reference direction Y to the second light-receiving holder surface 72c. At the same time, the light-receiving screw 78 is screwed into the light-receiving screw hole 17d of the light-receiving reference portion 16 through the second light-receiving through hole 77c of the second light-receiving shim 76 in the second light-receiving gap 73c.

[0080] In particular, in the light-receiving screw 78 of this embodiment, a first reference direction Y extending from the head 79a side in contact with the light-receiving holder 71 toward the screw-fitted side with the base 11 substantially coincides with the direction of gravity among vertical directions. In a positioning structure dedicated to the light-receiving unit 41 using screw fastening with the light-receiving screw 78, the light-receiving holder 71 that holds the light-receiving lens system 42 is positioned in each of the reference directions X, Y, and Z relative to the base 11 that holds the light receiver 45.

[0081] Here, the relative position of the light-receiving holder 71 with respect to the base 11 in the first reference direction Y is determined by the size in the first reference direction Y according to the size in the plate thickness direction of the second light-receiving shim 76. Also, the relative position of the light-receiving holder 71 with respect to the base 11 in the second reference direction X is determined by the size of the first light-receiving shim 74 in the plate thickness direction that substantially coincides with the second reference direction X. By such positioning, the light-receiving lens system 42 and the light-receiving device 45 are aligned on the light-receiving optical axis ROA that is perpendicular to the first reference direction Y and the second reference direction X.

[0082] Next, a method for manufacturing the above-described photodetector 10 will be described with reference to the flowchart shown in Fig. 13. The flow of this manufacturing method proceeds automatically by an adjustment system 100, which will be described later. Note that each "S" in the flow of this manufacturing method indicates a plurality of steps for manufacturing the photodetector 10.

[0083] In step S101 of the manufacturing method, the light projector 22 and the light receiver 45 are held on the base 11 together with the scanning unit 31. In addition, in step S101, the light projector holder 61 and the light receiver holder 71 are made to hold the light projector lens system 26 and the light receiver lens system 42, respectively.

[0084] In S102 of the manufacturing method, the relative position of the light projector holder 61 with respect to the base 11 is temporarily fixed, and the light projection shift amount ΔPSy of the light projector beam PB with respect to the light projection optical axis POA in the first reference direction Y and the light projection shift amount ΔPSx in the second reference direction X are obtained as shown in Figures 14 to 16.

[0085] Specifically, in S102, the base 11 is set in the adjustment system 100 as shown in Fig. 14. At this time, the common reference surface 13 is brought into surface contact with an adjustment reference surface 103 provided in the adjustment system 100 in correspondence with the positioning reference surface 3, thereby positioning the base 11.

[0086] Next, in S102, the first light-projecting shim 64 and the second light-projecting shim 66, whose initial sizes have been set, are respectively inserted into the first light-projecting gap 63a and the second light-projecting gap 63c, and temporarily fixed by the light-projecting screw 68. At this time, the light-projecting holder 61 is temporarily fixed to the base 11, which has been set in a positioned state in the adjustment system 100.

[0087] Furthermore, S102 projects the light projection beam PB through the optical window 12 onto a screen 105 provided in the adjustment system 100 as shown in Figs. 14 to 16. At this time, the screen 105 is installed at an adjustment position at a predetermined distance from the adjustment reference plane 103 so as to correspond to a detection area DA in the outside world of the vehicle. Also, at this time, the scanning mirror 32 is stopped at a predetermined rotation angle set for adjustment. Therefore, in the following description and Figs. 14 to 16, for convenience, the respective reference directions X, Y, and Z of the light detection device 10 are assumed to be the reference directions X, Y, and Z, respectively, for the respective directions that correspond to the outside world side of the scanning mirror 32 and the outside world including the screen 105 according to the rotation angle of the scanning mirror 32.

[0088] During projection of the projector beam PB, S102 assumes a theoretically designed projector optical axis POA of the projector 22 held by the base 11, and acquires projector shift amounts ΔPSy, ΔPSx of the projector beam PB from the projector optical axis POA on the screen 105 as shown in Figs. 14 to 16. At this time, on the screen 105, the difference between the theoretically designed intersection point PIP of the projector optical axis POA, which is the target position of the projector beam PB, and the center point PCP of the projector beam PB that is actually projected is acquired as the projector shift amounts ΔPSy, ΔPSx in the reference directions Y and X. At this time, as the center point PCP of the projector beam PB, for example, the geometric center point of the beam spot on the screen 105 or the peak intensity point on the screen 105 can be extracted by photographing with an infrared camera.

[0089] In addition, in S102, prior to obtaining the light projection shift amounts ΔPSy and ΔPSx, the holding position of the light projection lens system 26 by the light projection holder 61 may be finely adjusted in the third reference direction Z so that the projected image of the light projection beam PB can be confirmed on the screen 105. The fine adjustment at this time can be realized, for example, by sliding the lens barrel 27b of the light projection lens system 26 that fits into the holding hole of the light projection holder 61.

[0090] As shown in Figure 13, S103 of the manufacturing method involves interposing a first light-projecting shim 64 and a second light-projecting shim 66 of a size that matches the light-projection shift amounts ΔPSy and ΔPSx into the first light-projecting gap 63a and the second light-projecting gap 63c, respectively, and screwing them in place using a light-projecting screw 68.

[0091] Specifically, in S103, as the position adjustment amount in each of the reference directions Y and X of the light projector holder 61 relative to the base 11, light projection deviation amounts ΔPAy and ΔPAx, which are deviations of the lens optical axis of the light projector lens system 26 from the light projection optical axis POA in the design theory of the light projector 22, are acquired as shown in Figs. 14 and 15. At this time, the light projection deviation amounts ΔPAy and ΔPAx are converted from the light projection shift amounts ΔPSy and ΔPSx acquired in S102 based on the focal length of the light projector lens system 26 and the projection distance between the light projector 22 and the screen 105. In addition, as the focal length at this time, the focal length of only one light projector lens 27a constituting the light projector lens system 26, or the combined focal length of the multiple light projector lenses 27a constituting the light projector lens system 26 is used.

[0092] Next, in S103, the second light-projection shim 66 of the initial size interposed in the second light-projection gap 63c in S102 is replaced with a second light-projection shim 66 of a size increased or decreased from the initial size by the light-projection deviation amount ΔPAy in the first reference direction Y. At this time, for example, as shown in Figures 14 and 16, when the light-projection deviation amount ΔPAy of the light-projection lens system 26 occurs in the gravity direction in the first reference direction Y in accordance with the light-projection shift amount ΔPSy, the second light-projection shim 66 of which size is increased in the first reference direction Y from the initial size is interposed in the second light-projection gap 63c.

[0093] At the same time, in S103, the first light-projecting shim 64 of the initial size interposed in the first light-projection gap 63a in S102 is replaced with a first light-projecting shim 64 of a size increased or decreased from the initial size by the light-projection deviation amount ΔPAx in the second reference direction X. At this time, for example, as shown in Figures 15 and 16, if the light-projection deviation amount ΔPAx of the light-projection lens system 26 occurs in the approaching direction to the light-projection reference portion 14 in the second reference direction X in accordance with the light-projection shift amount ΔPSx, the first light-projection shim 64 whose size is increased in the second reference direction X from the initial size is interposed in the first light-projection gap 63a.

[0094] In S103, the light-projection deviation amounts ΔPAy, ΔPAx in the case where the first light-projecting shim 64 and the second light-projecting shim 66 of the initial size are replaced can be said to be position correction amounts that correct the relative position of the light-projection holder 61 with respect to the base 11. However, when at least one of the light-projection deviation amounts ΔPAy, ΔPAx can be assumed to be a zero value within the error range, replacement of the shim corresponding to at least one of the first light-projecting shim 64 and the second light-projecting shim 66 becomes unnecessary.

[0095] After the above, in S103, the projector holder 61 is screwed to the base 11 by the projector screw 68, thereby positioning the projector lens system 26 on the projector optical axis POA with respect to the projector 22. At this time, the axial force of the projector screw 68 caused by the screw fastening along the first reference direction Y also acts in a dispersed manner in the second reference direction X. Therefore, in S103, the tightening torque at the time of screw fastening that generates the axial force of the projector screw 68 is controlled at one location, thereby simultaneously managing the loads acting on the projector shims 64, 66 at two locations.

[0096] When the position adjustment on the light-projecting unit 21 side is completed in this manner, the position adjustment on the light-receiving unit 41 side is then performed as shown in Fig. 13. Specifically, in S104 of the manufacturing method, the relative position of the light-receiving holder 71 with respect to the base 11 is temporarily fixed, and the light-receiving shift amount ΔRSy of the reflected beam RB in the first reference direction Y with respect to the light-projecting optical axis POA and the light-receiving shift amount ΔRSx in the second reference direction X are obtained as shown in Figs.

[0097] Specifically, in S104, the first light-receiving shim 74 and the second light-receiving shim 76, whose initial sizes have been set, are respectively inserted into the first light-receiving gap 73a and the second light-receiving gap 73c, and temporarily fixed by the light-receiving screw 78. At this time, the light-receiving holder 71 is temporarily fixed to the base 11, which has been set in a positioned state in the adjustment system 100 in the previous S102.

[0098] Next, in S104, as shown in Figs. 17 and 18, the projection beam PB is projected along the projection optical axis POA after the previous adjustment onto the screen 105 provided in the adjustment system 100, and the reflected beam RB from the screen 105 is received by the receiver 45. At this time, the screen 105 is also installed at an adjustment position at a predetermined distance from the adjustment reference surface 103 so as to correspond to the detection area DA in the outside world of the vehicle. Also at this time, the scanning mirror 32 is stopped at a predetermined rotation angle set for adjustment. Therefore, in the following explanation and Figs. 17 and 18, for convenience, the respective directions that correspond according to the rotation angle of the scanning mirror 32 in the outside world side of the scanning mirror 32 and the outside world including the screen 105 are also assumed to be the reference directions X, Y, and Z for the light detection device 10.

[0099] During projection of the projection beam PB, S104 assumes the theoretically designed light receiving optical axis ROA of the receiver 45 held by the base 11, and acquires the light receiving shift amounts ΔRSy, ΔRSx of the reflected beam RB from the light receiving optical axis ROA on the light receiving surface 47 as shown in Figs. 17 to 19. At this time, on the light receiving surface 47, the difference between the theoretically designed intersection point RIP of the light receiving optical axis ROA, which is the target position of the reflected beam RB, and the center point RCP of the reflected beam RB that is actually received is acquired as the light receiving shift amounts ΔRSy, ΔRSx in each of the reference directions Y and X. At this time, as the center point RCP of the reflected beam RB, for example, the geometric center point of the beam spot on the light receiving surface 47 or the peak intensity point on the light receiving surface 47 can be extracted based on the detection signal from the output circuit 48.

[0100] Incidentally, in S104, prior to obtaining the light-receiving shift amounts ΔRSy and ΔRSx, the holding position of the light-receiving lens system 42 by the light-receiving holder 71 may be finely adjusted in the third reference direction Z so that the reflected beam RB can be imaged on the light-receiving surface 47. This fine adjustment can be realized, for example, by sliding the lens barrel 43b of the light-receiving lens system 42 that fits into the holding hole of the light-receiving holder 71.

[0101] As shown in Figure 13, in S105 of the manufacturing method, a first light-receiving shim 74 and a second light-receiving shim 76 of a size that matches the light-receiving shift amounts ΔRSy and ΔRSx are interposed into the first light-receiving gap 73a and the second light-receiving gap 73c, respectively, and then screwed in place using a light-receiving screw 78.

[0102] Specifically, in S105, as the position adjustment amount in each of the reference directions Y and X of the light receiving holder 71 relative to the base 11, light receiving deviation amounts ΔRAy, ΔRAx, which are deviations of the lens optical axis of the light receiving lens system 42 from the light receiving optical axis ROA in the design theory of the light receiving device 45, are acquired as shown in Figures 17 and 18. At this time, the light receiving deviation amounts ΔRAy, ΔRAx are converted from the light receiving shift amounts ΔRSy, ΔRSx acquired in S104 based on the focal length of the light receiving lens system 42 and the light receiving distance between the light receiving device 45 and the screen 105. In addition, as the focal length at this time, the focal length of one light receiving lens 43a constituting the light receiving lens system 42 alone, or the composite focal length of the multiple light receiving lenses 43a constituting the light receiving lens system 42 is used.

[0103] Next, in S105, the second light-receiving shim 76 of the initial size interposed in the second light-receiving gap 73c in S104 is replaced with a second light-receiving shim 76 of a size increased or decreased from the initial size by the light-receiving shift amount ΔRAy in the first reference direction Y. At this time, for example, as shown in Figures 17 and 19, if the light-receiving shift amount ΔRAy of the light-receiving lens system 42 occurs in the direction opposite to the direction of gravity in the first reference direction Y in accordance with the light-receiving shift amount ΔRSy, the second light-receiving shim 76 of a size reduced from the initial size in the first reference direction Y is interposed in the second light-receiving gap 73c.

[0104] At the same time, in S105, the first light-receiving shim 74 of the initial size interposed in the first light-receiving gap 73a in S104 is replaced with a first light-receiving shim 74 of a size increased or decreased from the initial size by the light-receiving shift amount ΔRAx in the second reference direction X. At this time, for example, as shown in Figures 18 and 20, if the light-receiving shift amount ΔRAx of the light-receiving lens system 42 occurs in the direction away from the light-receiving reference portion 16 in the second reference direction X in accordance with the light-receiving shift amount ΔRSx, the first light-receiving shim 74 of a size reduced from the initial size in the second reference direction X is interposed in the first light-receiving gap 73a.

[0105] In S105, the light-receiving deviation amounts ΔRAy, ΔRAx when the first light-receiving shim 74 and the second light-receiving shim 76 of the initial size are replaced can be said to be position correction amounts that correct the relative position of the light-receiving holder 71 with respect to the base 11. However, when at least one of the light-receiving deviation amounts ΔRAy, ΔRAx can be assumed to be zero within the error range, replacement of the shim corresponding to at least one of the first light-receiving shim 74 and the second light-receiving shim 76 becomes unnecessary.

[0106] After the above, in S105, the light-receiving holder 71 is screwed to the base 11 with the light-receiving screw 78, thereby positioning the light-receiving lens system 42 on the light-receiving optical axis ROA with respect to the receiver 45. At this time, the axial force of the light-receiving screw 78 caused by screwing along the first reference direction Y also acts in a dispersed manner in the second reference direction X. Therefore, in S105, the tightening torque generated by the screwing when the light-receiving screw 78 is screwed in one location is controlled, thereby simultaneously managing the load acting on the light-receiving shims 74, 76 in two locations. The light-detecting device 10 completed by the manufacturing method described up to this point can be used in a vehicle with the common reference surface 13 in surface contact with the positioning reference surface 3 shown in FIG. 1.

[0107] (Action and effect) The effects of this embodiment will be described below.

[0108] According to this embodiment, the floodlight 22 and the floodlight lens system 26 are held by the base 11 that defines a first reference direction Y and a second reference direction X that are perpendicular to each other, and the light-projecting holder 61 that is positioned in the reference directions Y and X with respect to the base 11 that can be positioned with respect to a vehicle as an installation target. Thus, between the base 11 and the light-projecting holder 61, a first light-projecting shim 64 is interposed in a first light-projecting gap 63a that expands along the first reference direction Y, and a second light-projecting shim 66 is interposed in a second light-projecting gap 63c that expands along a light-projection cross direction PD that crosses the first reference direction Y and the second reference direction X.

[0109] According to this, by adjusting the relative positions of the base 11 and the light-projecting holder 61 in the first reference direction Y and the second reference direction X in accordance with the size adjustment of the first light-projecting shim 64 and the second light-projecting shim 66, which are replaceable for the first light-projecting gap 63a and the second light-projecting gap 63c, respectively, it is possible to align the light projector 22 and the light-projecting lens system 26 on the light-projecting optical axis POA perpendicular to the reference directions Y and X. Furthermore, at the interposed interface of the second light-projecting shim 66, which spreads along the light-projection cross direction PD, the axial force action of the light-projecting screw 68 due to the screw fastening along the first reference direction Y is also dispersed in the second reference direction X, so that the light-projecting holder 61 can be fixed while remaining positioned relative to the base 11. Therefore, it is possible to ensure the light-projecting characteristics of the light-projecting beam PB as the desired optical characteristics.

[0110] According to this embodiment, it is possible to adjust the sizes of the first light-projecting shim 64 and the second light-projecting shim 66 so as to adjust the relative position of the light-projecting holder 61 that holds the light-projecting lens system 26 with respect to the base 11 that holds the light-projecting device 22. This makes it possible to avoid failures caused by adjusting the position of the light-projecting device 22, which is an electronic device, and to ensure the projection characteristics of the light projecting beam PB.

[0111] According to this embodiment, the light-projecting protrusion 15b of the base 11 enters the light-projecting escape hole 62b that opens on the first light-projecting gap 63a side in the light-projecting holder 61 through the first light-projecting shim 64 so as to leave a space 63b in the first reference direction Y between the light-projecting protrusion 15b and the light-projecting escape hole 62b. This makes it possible to adjust the position of the light-projecting holder 61 in the second reference direction X relative to the base 11 within the range of the space 63b while locking the size-adjusted first light-projecting shim 64 in the correct position by the light-projecting protrusion 15b. Therefore, it is possible to suppress positional deviation between the base 11 and the light-projecting holder 61 due to a positional deviation of the first light-projecting shim 64, and ensure the projection characteristics of the light projecting beam PB.

[0112] The light-projecting screw 68 according to this embodiment is loosely inserted into the light-projecting holder 61 with the head 69a in contact with the light-projecting holder 61, and is screwed into the base 11 through the second light-projecting shim 66. This makes it possible to adjust the position of the light-projecting holder 61 in the first reference direction Y relative to the base 11 while locking the size-adjusted second light-projecting shim 66 in the correct position by the light-projecting screw 68. This makes it possible to suppress misalignment between the base 11 and the light-projecting holder 61 due to misalignment of the second light-projecting shim 66, and ensure the projection characteristics of the light projecting beam PB.

[0113] According to this embodiment, the first reference direction Y of the light projector screw 68 from the head 69a side in contact with the light projector holder 61 toward the screw-fitted side with the base 11 is defined as the direction of gravity in the vehicle on a horizontal plane. This distributes not only the axial force of the light projector screw 68 due to screw fastening but also the gravitational force on the light projector holder 61 in the second reference direction X, so that even if the light projector screw 68 should loosen, the positioning state of the light projector holder 61 with respect to the base 11 can be maintained. This makes it possible to suppress changes over time in the light projecting characteristics of the light projector beam PB.

[0114] The light projecting unit 21 according to this embodiment generates a line beam-shaped light projecting beam PB that is long in the first reference direction Y and short in the second reference direction X. As a result, it may be assumed that the positional accuracy required for the light projecting beam PB is stricter in the second reference direction X than in the first reference direction Y. In response to this assumption, since size adjustment is easy in the plate thickness direction of the first light projecting shim 64 that substantially coincides with the second reference direction X, it is possible to perform highly accurate alignment of the light projector 22 and the light projecting lens system 26. This makes it possible to improve the projection characteristics of the light projecting beam PB.

[0115] According to this embodiment, the relative position of the light-projecting holder 61 with respect to the base 11 is temporarily fixed, and the light-projection shift amounts ΔPSy, ΔPSx of the light-projecting beam PB with respect to the light-projecting optical axis POA are obtained in the first reference direction Y and the second reference direction X, respectively. Then, a first light-projecting shim 64 and a second light-projecting shim 66 having sizes matching the light-projection shift amounts ΔPSy, ΔPSx are interposed in the first light-projecting gap 63a and the second light-projecting gap 63c, respectively, and the light-projecting holder 61 is screwed to the base 11 by the light-projecting screw 68.

[0116] According to this, the size adjustment of the first light-projecting shim 64 and the second light-projecting shim 66, which are respectively inserted in the first light-projecting gap 63a and the second light-projecting gap 63c, can be optimized for the alignment of the light projector 22 and the light-projecting lens system 26, and at the same time, the position adjustment of the light-projecting holder 61 relative to the base 11 can be completed. Furthermore, the axial force of the light-projecting screw 68 due to the screw fastening along the first reference direction Y is also dispersed in the second reference direction X, so that the light-projecting holder 61 can be fixed while remaining positioned relative to the base 11. Therefore, it is possible to ensure the projection characteristics of the light projecting beam PB as the desired optical characteristics.

[0117] According to this embodiment, the projection shift amounts ΔPSy, ΔPSx of the projector beam PB from the projector optical axis POA are acquired on the screen 105 at a position corresponding to the outside world of the vehicle. This makes it possible to accurately measure the projection shift amounts ΔPSy, ΔPSx on the screen 105 and reflect the accurate projection shift amounts ΔPSy, ΔPSx in the size adjustment of the first projector shim 64 and the second projector shim 66 for optimizing the alignment of the projector 22 and the projector lens system 26. Therefore, it becomes possible to ensure the projection characteristics of the projector beam PB while simplifying the manufacturing process of the photodetector 10 as much as possible by effectively utilizing the screen 105.

[0118] According to this embodiment, the light receiver 45 and the light receiving lens system 42 are held by the base 11 which defines a first reference direction Y and a second reference direction X which are orthogonal to each other, and the light receiving holder 71 which is positioned in the reference directions Y and X with respect to the base 11 which can be positioned with respect to a vehicle as an installation target. Therefore, between the base 11 and the light receiving holder 71, a first light receiving shim 74 is interposed in a first light receiving gap 73a which spreads along the first reference direction Y, and a second light receiving shim 76 is interposed in a second light receiving gap 73c which spreads along a light receiving cross direction RD which crosses the first reference direction Y and the second reference direction X.

[0119] According to this, by adjusting the relative positions of the base 11 and the light-receiving holder 71 in the first reference direction Y and the second reference direction X in accordance with the size adjustment of the first light-receiving shim 74 and the second light-receiving shim 76, which are replaceable for the first light-receiving gap 73a and the second light-receiving gap 73c, respectively, it is possible to align the light-receiving device 45 and the light-receiving lens system 42 on the light-receiving optical axis ROA perpendicular to the reference directions Y and X. Furthermore, at the mounting interface of the second light-receiving shim 76, which spreads along the light-receiving cross direction RD, the axial force action of the light-receiving screw 78 due to the screw fastening along the first reference direction Y is also distributed in the second reference direction X, so that the light-receiving holder 71 can be fixed while remaining positioned relative to the base 11. Therefore, it is possible to ensure the light-receiving characteristic of the reflected beam RB as the desired optical characteristic.

[0120] According to this embodiment, it is possible to adjust the sizes of the first light receiving shim 74 and the second light receiving shim 76 so as to adjust the relative position of the light receiving holder 71 that holds the light receiving lens system 42 with respect to the base 11 that holds the light receiving device 45. This makes it possible to avoid failures caused by position adjustment of the light receiving device 45, which is an electronic device, and to ensure the light receiving characteristics of the reflected beam RB.

[0121] According to this embodiment, the light-receiving protrusion 17b of the base 11 enters the light-receiving escape hole 72b that opens on the first light-receiving gap 73a side in the light-receiving holder 71 through the first light-receiving shim 74 so as to leave a space 73b in the first reference direction Y between the light-receiving protrusion 17b and the light-receiving escape hole 72b. This makes it possible to adjust the position of the light-receiving holder 71 in the second reference direction X relative to the base 11 within the range of the space 73b while locking the size-adjusted first light-receiving shim 74 in the correct position by the light-receiving protrusion 17b. Therefore, it is possible to suppress misalignment between the base 11 and the light-receiving holder 71 due to misalignment of the first light-receiving shim 74, and ensure the light-receiving characteristics of the reflected beam RB.

[0122] The light-receiving screw 78 according to this embodiment is loosely inserted into the light-receiving holder 71 with the head 79a in contact with the light-receiving holder 71, and is screwed into the base 11 through the second light-receiving shim 76. This makes it possible to adjust the position of the light-receiving holder 71 in the first reference direction Y relative to the base 11 while locking the size-adjusted second light-receiving shim 76 in the correct position by the light-receiving screw 78. This makes it possible to suppress misalignment between the base 11 and the light-receiving holder 71 due to misalignment of the second light-receiving shim 76, and ensure the light-receiving characteristics of the reflected beam RB.

[0123] According to this embodiment, the first reference direction Y of the light-receiving screw 78 from the head 79a side in contact with the light-receiving holder 71 toward the screw-fitted side with the base 11 is defined as the direction of gravity on the vehicle on a horizontal plane. This distributes not only the axial force of the light-receiving screw 78 due to screw fastening, but also the gravitational force on the light-receiving holder 71 in the second reference direction X, so that even if the light-receiving screw 78 should loosen, the positioning state of the light-receiving holder 71 with respect to the base 11 can be maintained. This makes it possible to suppress changes over time in the light-receiving characteristics of the reflected beam RB.

[0124] The light receiving unit 41 according to this embodiment receives the reflected beam RB in the form of a line beam that is long in the first reference direction Y and short in the second reference direction X. As a result, the positional accuracy required for the reflected beam RB is stricter in the second reference direction X than in the first reference direction Y. Here, since the size adjustment is easy in the plate thickness direction of the first light receiving shim 74, which substantially coincides with the second reference direction X, the positioning of the light receiver 45 and the light receiving lens system 42 can be performed with high accuracy. Therefore, it is possible to improve the light receiving characteristics of the reflected beam RB.

[0125] According to this embodiment, the relative position of the light-receiving holder 71 with respect to the base 11 is temporarily fixed, and the light-receiving shift amounts ΔRSy and ΔRSx of the reflected beam RB with respect to the light-receiving optical axis ROA are obtained in the first reference direction Y and the second reference direction X, respectively. Then, a first light-receiving shim 74 and a second light-receiving shim 76 having sizes matching the light-receiving shift amounts ΔRSy and ΔRSx are interposed in the first light-receiving gap 73a and the second light-receiving gap 73c, respectively, and the light-receiving holder 71 is screwed to the base 11 by the light-receiving screw 78.

[0126] According to this, the size adjustment of the first light-receiving shim 74 and the second light-receiving shim 76 respectively inserted in the first light-receiving gap 73a and the second light-receiving gap 73c can be optimized for the alignment of the light-receiving device 45 and the light-receiving lens system 42, and at the same time, the position adjustment of the light-receiving holder 71 relative to the base 11 can be completed. Furthermore, the axial force of the light-receiving screw 78 screwed along the first reference direction Y is also distributed in the second reference direction X, so that the light-receiving holder 71 can be fixed in position relative to the base 11. Therefore, it is possible to ensure the light-receiving characteristics of the reflected beam RB as the desired optical characteristics.

[0127] According to this embodiment, the light-receiving shift amounts ΔRSy, ΔRSx of the reflected beam RB from the light-receiving optical axis ROA are acquired on the light-receiving surface 47 provided on the light-receiving device 45 to receive the reflected beam RB. This makes it possible to accurately measure the light-receiving shift amounts ΔRSy, ΔRSx on the light-receiving surface 47 and reflect the accurate light-receiving shift amounts ΔRSy, ΔRSx in the size adjustment of the first light-receiving shim 74 and the second light-receiving shim 76 for optimizing the alignment of the light-receiving device 45 and the light-receiving lens system 42. This makes it possible to ensure the light-receiving characteristics of the reflected beam RB while simplifying the manufacturing process of the light-detecting device 10 as much as possible by effectively utilizing the light-receiving device 45.

[0128] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope not departing from the gist of the present disclosure.

[0129] The base 11 of the modified example may define a first reference direction Y along the horizontal direction and conversely define a second reference direction X along the vertical direction for a positioning structure dedicated to the light-projecting unit 21. The base 11 of the modified example may define a first reference direction Y along the horizontal direction and conversely define a second reference direction X along the vertical direction for a positioning structure dedicated to the light-receiving unit 41.

[0130] In a modified example, the light-projection intersecting direction PD may be set to sandwich substantially the same angle (i.e., about 45 degrees) between both of the reference directions Y and X. In a modified example, the light-receiving intersecting direction RD may be set to sandwich substantially the same angle (i.e., about 45 degrees) between both of the first reference directions Y and X.

[0131] 20, in the light projecting unit 21 of the modified example, the base 11 may hold the light projecting lens system 26, and the light projecting holder 61 may hold the light projector 22. In this case, in S102 and S103 of the manufacturing method, it is preferable to acquire the light projecting shift amounts ΔPSy and ΔPSx of the light projecting beam PB and the light projecting deviation amounts ΔPAy and ΔPAx of the light projector 22 with respect to the light projecting optical axis POA assumed as the lens optical axis of the light projecting lens system 26 in the design theory.

[0132] 21, in the modified light-receiving unit 41, the base 11 may hold the light-receiving lens system 42, and the light-receiving holder 71 may hold the light receiver 45. In this case, in S104 and S105 of the manufacturing method, light-receiving shift amounts ΔRSy and ΔRSx of the reflected beam RB and light-receiving deviation amounts ΔRAy and ΔRAx of the light receiver 45 may be acquired with respect to the light-receiving optical axis ROA assumed as the lens optical axis of the light-receiving lens system 42 in terms of design theory.

[0133] In a modified example, a dedicated positioning structure for light receiving unit 41 may not be employed, and both light receiver 45 and light receiving lens system 42 may be held by base 11. In this case, the manufacturing method omits the execution of S104 and S105.

[0134] In a modified example, a positioning structure dedicated to the light projecting unit 21 may not be adopted, and both the projector 22 and the light projecting lens system 26 may be held by the base 11. In the manufacturing method in this case, the steps of S102 other than positioning the base 11 and S103 are omitted. As a manufacturing method in this case, or as a manufacturing method of a modified example in which a positioning structure dedicated to the light projecting unit 21 is adopted, when obtaining the light-receiving shift amounts ΔRSy and ΔRSx in S104, a dedicated light source instead of the screen 105 may be set in the adjustment system 100, and the position adjustment of the light-receiving unit 41 side may be performed separately from the light projecting unit 21 side.

[0135] In a modified example, the light-projecting protrusion 15b may be provided on the light-projecting holder 61, and conversely, the light-projecting escape hole 62b may be provided on the light-projecting reference portion 14 of the base 11. In a modified example, the light-projecting protrusion 15b may be formed in a shape other than a cylindrical shape, for example, a square prism shape, and accordingly, the first light-projecting through hole 65c of the first light-projecting shim 64 may be formed in a shape other than a cylindrical hole, for example, a rectangular hole shape. In a modified example, a plurality of light-projecting protrusions 15b may be provided, and accordingly, a plurality of light-projecting escape holes 62b and a plurality of first light-projecting through holes 65c may be provided.

[0136] In a modified example, the light-receiving protrusion 17b may be provided on the light-receiving holder 71, and conversely, the light-receiving escape hole 72b may be provided on the light-receiving reference portion 16 of the base 11. In a modified example, the light-receiving protrusion 17b may be formed in a shape other than a cylindrical shape, for example, a square prism shape, and accordingly the first light-receiving through hole 75c of the first light-receiving shim 74 may be formed in a shape other than a cylindrical hole, for example, a rectangular hole shape. In a modified example, a plurality of light-receiving protrusions 17b may be provided, and accordingly a plurality of light-receiving escape holes 72b and a plurality of first light-receiving through holes 75c may be provided.

[0137] In a modified example, the head 69a of the light-projector screw 68 may be in contact with the base 11 that forms the light-projector loose insertion hole 62d, and conversely, the light-projector screw 68 may be screwed into the light-projector holder 61 that forms the light-projector screw hole 15d. In the light-projector screw 68 of the modified example, the first reference direction Y from the head 69a side to the screwing side may substantially coincide with the vertical direction opposite to the direction of gravity. In a modified example, a plurality of light-projector screws 68 may be provided, and a plurality of light-projector loose insertion holes 62d and a plurality of light-projector screw holes 15d may be provided accordingly.

[0138] In a modified example, the head 79a of the light-receiving screw 78 may be in contact with the base 11 that forms the light-receiving loose insertion hole 72d, and conversely, the light-receiving screw 78 may be screwed into the light-receiving holder 71 that forms the light-receiving screw hole 17d. In the light-receiving screw 78 of the modified example, the first reference direction Y from the head 79a side to the screwing side may substantially coincide with the vertical direction opposite to the direction of gravity. In a modified example, a plurality of light-receiving screws 78 may be provided, and a plurality of light-receiving loose insertion holes 72d and a plurality of light-receiving screw holes 17d may be provided accordingly.

[0139] In the manufacturing method of the modified example, at least one of the first light-emitting shim 64 and the second light-emitting shim 66 does not have to be interposed in a gap corresponding to at least one of the first light-emitting gap 63a and the second light-emitting gap 63c when temporarily fastening in S102. In the manufacturing method of the modified example, at least one of the first light-receiving shim 74 and the second light-receiving shim 76 does not have to be interposed in a gap corresponding to at least one of the first light-receiving gap 73a and the second light-receiving gap 73c when temporarily fastening in S104.

[0140] The scanning unit 31 of the modified example may employ, in addition to the mechanical oscillation type in which scanning is limited to the horizontal direction described above, a mechanical oscillation type in which scanning is limited to the vertical direction, or a mechanical oscillation type capable of scanning in both the horizontal and vertical directions, etc. In addition to such mechanical oscillation types, the scanning unit 31 of the modified example may employ various two-dimensional or three-dimensional scanning methods, such as a rotation type, a MEMS (Micro Electro Mechanical Systems) type, or a Lissajous type.

[0141] In a modified example, the projector beam PB may be directly projected onto an infrared camera instead of the screen 105, and the projection shift amounts ΔPSy and ΔPSx may be extracted from the image capturing result of the infrared camera. In a modified example, the beam spot shapes of the projector beam PB and the reflected beam RB corresponding thereto may be any one of a shape elongated in the second reference direction X, a shape having approximately the same width in each of the reference directions X and Y, a circular shape, etc.

[0142] In a modified example, the moving body on which the light detection device 10 is to be disposed may be, for example, a traveling robot whose movement can be remotely controlled. In a modified example, the moving body on which the light detection device 10 is to be disposed may be, for example, a stationary structure other than the moving body. [Explanation of symbols]

[0143] 10: light detection device, 11: base, 15b: light-emitting projection, 17b: light-receiving projection, 21: light-emitting unit, 22: light-emitting device, 26: light-emitting lens system, 32: scanning mirror, 41: light-receiving unit, 42: light-receiving lens system, 45: light-receiving device, 47: light-receiving surface, 61: light-emitting device holder, 62b: light-emitting device escape hole, 63a: first light-emitting device gap, 63b: space, 63c: second light-emitting device gap, 64: first light-emitting device shim, 66: second light-emitting device shim, 68: light-emitting device screw, 69a: head, 71: light-receiving device holder da, 72b: light-receiving escape hole, 73a: first light-receiving gap, 73b: space, 73c: second light-receiving gap, 74: first light-receiving shim, 76: second light-receiving shim, 78: light-receiving screw, 79a: head, 105: screen, PB: light-projecting beam, PD: light-projecting cross direction, POA: light-projecting optical axis, RB: reflected beam, RD: light-receiving cross direction, ROA: light-receiving optical axis, X: second reference direction, Y: first reference direction, ΔPSy, ΔPSx: light-projecting shift amount, ΔRSy, ΔRSx: light-receiving shift amount

Claims

1. A light detection device (10) that projects a light projection beam (PB) toward an external environment and detects a reflected beam (RB) reflected from the external environment in response to the light projection beam, A base (11) configured to be positionable with respect to an object to be placed and defining a first reference direction (Y) and a second reference direction (X) perpendicular to each other; A light projecting holder (61) that is positioned in the first reference direction and the second reference direction relative to the base; a light-projecting unit (21) including a light-projector (22) held by one of the base and the light-projecting holder, and a light-projecting lens system (26) held by the other of the base and the light-projecting holder, the light-projecting unit (21) being aligned on a light-projecting optical axis (POA) perpendicular to the first reference direction and the second reference direction, and guiding the light-projection beam emitted from the light-projector through the light-projecting lens system; a first light-projecting shim (64) replaceably interposed in a first light-projecting gap (63a) extending along the first reference direction between the base and the light-projecting holder; a second light-projecting shim (66) replaceably interposed in a second light-projecting gap (63 c) extending along a light-projection cross direction (PD) that crosses the first reference direction and the second reference direction between the base and the light-projecting holder; a light-projecting screw (68) that fixes the light-projecting holder to the base by screwing along the first reference direction,

2. The base holds the light projector, The light detection device according to claim 1 , wherein the light projecting holder holds the light projecting lens system.

3. One of the base and the light-projecting holder has a light-projecting escape hole (62b) that opens toward the first light-projecting gap, The optical detection device according to claim 1 or 2, wherein the other of the base and the light-projecting holder has a light-projecting protrusion (15b) that leaves a space (63b) in the first reference direction between the light-projecting protrusion (15b) and the light-projecting escape hole that protrudes through the first light-projecting shim.

4. The light detection device according to any one of claims 1 to 3, wherein the light-projecting screw is loosely inserted into one of the base and the light-projecting holder with its head (69a) in contact with the base and the light-projecting holder, and is screwed into the other of the base and the light-projecting holder through the second light-projecting shim.

5. 5. The light detection device according to claim 4, wherein the first reference direction extending from the head side of the light projecting screw in contact with the light projecting holder toward the screw-in side with the base is defined as the direction of gravity in the object to be placed on a horizontal plane.

6. 6. The light detection device according to claim 1, wherein the light projection unit generates the light projection beam in the form of a line beam that is long in the first reference direction and short in the second reference direction.

7. a light receiving holder (71) positioned relative to the base in the first reference direction and the second reference direction; a light receiving unit (41) having a light receiver (45) held by one of the base and the light receiving holder, and a light receiving lens system (42) held by the other of the base and the light receiving holder, aligned on a light receiving optical axis (ROA) perpendicular to the first reference direction and the second reference direction, and forming an image of the reflected beam received by the light receiver by the light receiving lens system; a first light-receiving shim (74) replaceably interposed in a first light-receiving gap (73a) extending along the first reference direction between the base and the light-receiving holder; a second light-receiving shim (76) replaceably interposed in a second light-receiving gap (73c) extending along a light-receiving cross direction (RD) that crosses the first reference direction and the second reference direction between the base and the light-receiving holder; The light detection device according to any one of claims 1 to 6, further comprising a light receiving screw (78) that fixes the light receiving holder to the base by screwing along the first reference direction.

8. The optical detection device according to claim 7, further comprising a scanning mirror (32) drivably supported by the base, scanning the light projecting beam from the light projecting unit toward the outside world and reflecting the reflected beam from the outside world toward the light receiving unit.

9. A light detection device (10) that projects a light projection beam (PB) toward an external environment and detects a reflected beam (RB) reflected from the external environment in response to the light projection beam, A base (11) configured to be positionable with respect to an object to be placed and defining a first reference direction (Y) and a second reference direction (X) perpendicular to each other; a light receiving holder (71) positioned relative to the base in the first reference direction and the second reference direction; a light receiving unit (41) having a light receiver (45) held by one of the base and the light receiving holder, and a light receiving lens system (42) held by the other of the base and the light receiving holder, aligned on a light receiving optical axis (ROA) perpendicular to the first reference direction and the second reference direction, and forming an image of the reflected beam received by the light receiver by the light receiving lens system; a first light-receiving shim (74) replaceably interposed in a first light-receiving gap (73a) extending along the first reference direction between the base and the light-receiving holder; a second light-receiving shim (76) replaceably interposed in a second light-receiving gap (73c) extending along a light-receiving cross direction (RD) that crosses the first reference direction and the second reference direction between the base and the light-receiving holder; a light-receiving screw (78) that fixes the light-receiving holder to the base by screwing along the first reference direction,

10. The base holds the optical receiver; 10. The light detection device according to claim 7, wherein the light receiving holder holds the light receiving lens system.

11. One of the base and the light-receiving holder has a light-receiving escape hole (72b) that opens to the first light-receiving gap side, An optical detection device as described in any one of claims 7 to 10, wherein the other of the base and the light receiving holder has a light receiving protrusion (17b) that leaves a space (73b) in the first reference direction between the light receiving escape hole that protrudes through the first light receiving shim.

12. The light detection device according to any one of claims 7 to 11, wherein the light-receiving screw is loosely inserted into one of the base and the light-receiving holder with its head (79a) in contact with the base and the light-receiving holder, and is screwed into the other of the base and the light-receiving holder through the second light-receiving shim.

13. The light detection device according to claim 12 , wherein the first reference direction extending from the head side of the light receiving screw in contact with the light receiving holder to the screw-attached side of the light receiving screw with the base is defined as the direction of gravity in the object to be placed on a horizontal plane.

14. 14. The light detection device according to claim 7, wherein the light receiving unit receives the reflected beam in the form of a line beam whose longitudinal direction is in the first reference direction and whose transverse direction is in the second reference direction.

15. A method for manufacturing a light detection device (10) according to any one of claims 1 to 8, comprising the steps of: holding the light projector on one of the base and the light projector holder, and holding the light projector lens system on the other of the base and the light projector holder; temporarily fixing a relative position of the light projection holder with respect to the base, and acquiring a light projection shift amount (ΔPSy, ΔPSx) of the light projection beam with respect to the light projection optical axis in the first reference direction and the second reference direction; A manufacturing method including: interposing the first light-emitting shim and the second light-emitting shim, each having a size that matches the light-emitting shift amount, into the first light-emitting gap and the second light-emitting gap, respectively; and screwing the light-emitting holder to the base using the light-emitting screw.

16. The manufacturing method according to claim 15 , wherein the acquisition of the projection shift amount includes acquiring the projection shift amount on a screen (105) at a position corresponding to the outside world.

17. A method for manufacturing a light detection device (10) according to any one of claims 7 to 14, comprising the steps of: holding the light receiver on one of the base and the light receiving holder, and holding the light receiving lens system on the other of the base and the light receiving holder; temporarily fixing a relative position of the light receiving holder with respect to the base, and acquiring a light receiving shift amount (ΔRSy, ΔRSx) of the reflected beam with respect to the light receiving optical axis in the first reference direction and the second reference direction; A manufacturing method including: interposing the first light-receiving shim and the second light-receiving shim, each having a size corresponding to the light-receiving shift amount, into the first light-receiving gap and the second light-receiving gap, respectively, and screwing the light-receiving holder to the base using the light-receiving screw.

18. The manufacturing method according to claim 17 , wherein acquiring the amount of light reception shift includes acquiring the amount of light reception shift on a light reception surface (47) provided on the light receiver for receiving the reflected beam.

Images