Distance measuring device

Abstract

To provide a LiDAR (Light Detection and Ranging) that can prevent damage of a mirror.SOLUTION: A mirror 18 of a LiDAR (Light Detection and Ranging) 1 is oscillated and driven by an oscillation motor 20, and scans light towards the outside. A base 11 has the mirror 18 provided inside. A spindle 13, in which the mirror 18 is fixed, is rotatably supported on the base 11 in a state where at least one end part protrudes from the base 11. A position holding part 16 has a preload spring 165 that urges the spindle 13 toward one side in an axial direction, and an E ring 161 that restricts a movement to an urging direction of the spindle 13, and supports a position in the axial direction of the spindle 13. A disk hub 31 is fixed to the spindle 13 at an outer side of the base 11. A distance between an end part of the disk hub 31 present in a direction opposite the urging direction of the spindle 13 and a housing part 50 is smaller than that between an end part of the mirror 18 in a direction opposite the urging direction of the spindle 13 and the base 11.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Conventionally, there has been known a rotary reciprocating actuator used in a LiDAR (Light Detection and Ranging). For example, in Patent Document 1, a rotary shaft to which a mirror part is attached is rotatably attached to left and right wall parts of a base via bearings. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-127381 Summary of the Invention [Problem to be solved by the invention]

[0004] In a structure in which a mirror is placed between opposing wall surfaces, as in Patent Document 1, if the axial position is regulated by a preload spring or the like, there is a risk that the mirror may come into contact with the wall surface and be damaged if it receives an impact that exceeds the load generated by the preload spring.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a distance measuring device capable of preventing damage to the mirror. [Means for solving the problem]

[0006] The distance measuring device of the present invention measures the distance to an object by scanning light externally and detecting the light reflected by the object, and is equipped with a mirror (18), a base (11), an oscillating shaft (13, 130), a position holding part (16), and an abutment member (31).

[0007] The mirror is driven to swing by an actuator (20) to scan the light to the outside. The mirror is provided inside the base. The swing shaft has the mirror fixed thereto and is swingably supported on the base with at least one end protruding from the base. The position holding portion has a biasing member (165) that biases the swing shaft toward one side in the axial direction, and position restricting portions (161, 132) that restrict movement of the swing shaft in the biasing direction, and holds the axial position of the swing shaft. The abutment member is fixed to the swing shaft outside the base.

[0008] The portion that includes the base and is not driven by the actuator is referred to as the housing portion (50). The distance between the end of the abutment member opposite the biasing direction of the oscillation shaft and the housing portion is smaller than the distance between the end of the mirror opposite the biasing direction of the oscillation shaft and the base. In a normal state, the contact member and the housing are spaced apart. This can prevent the mirror from being damaged. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing a distance measuring device according to a first embodiment. [Figure 2] 1 is a cross-sectional view showing a rocking actuator according to a first embodiment. [Figure 3] FIG. 10 is a cross-sectional view showing a rocking actuator according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] A distance measuring device according to the present invention will be described below with reference to the drawings. In the following, substantially the same components in a plurality of embodiments are designated by the same reference numerals, and the description thereof will be omitted.

[0011] (First embodiment) The first embodiment is shown in Figures 1 and 2. As shown in Figure 1, the distance measuring device 1 is a LiDAR (Light Detection and Ranging) device that measures the distance to an object by emitting light and detecting reflected light from the object. The distance measuring device 1 is mounted on, for example, a vehicle and used to detect an object present in front of the vehicle.

[0012] The distance measuring device 1 includes a light emitting unit 91, a light receiving unit 92, and a swing actuator 5, and is housed in a housing 93. The light emitting unit 91 intermittently outputs a light beam B. The output light beam B is reflected by a mirror 18 that is driven to swing, and is emitted to the outside through an optical window 94. The light receiving unit 92 receives the light reflected from an object that is irradiated with the light beam B. The light detected by the light receiving unit 92 is converted into an electrical signal, which is used to calculate the distance to the object.

[0013] As shown in Fig. 2, the oscillation actuator 5 includes a mirror unit 10, an oscillation motor 20, and an encoder 30. The mirror unit 10 includes a base 11, a spindle 13, a position holder 16, a holder 17, and a mirror 18. The base 11 includes a mounting unit 111 and holding walls 112 and 113, which are integrally formed from, for example, metal. The mounting unit 111 is attached to a base housing (not shown) with bolts or the like. The holding walls 112 and 113 are provided substantially perpendicularly on both ends of the mounting unit 111.

[0014] The spindle 13 is disposed substantially parallel to the mounting portion 111 and is rotatably supported on the base 11 by bearings 14 and 15 provided on the retaining walls 112 and 113. In this embodiment, the bearings 14 and 15 are ball bearings, but bearings other than ball bearings may also be used. The spindle 13 is formed to extend from the bearing side 15 to the outside of the base 11 toward the swing motor 20 and encoder 30. Hereinafter, the swing axis direction of the spindle 13 will be referred to simply as the "axial direction" where appropriate.

[0015] The position retaining portion 16 has an E-ring 161 and a preload spring 165, and positions the axial position of the spindle 13 while being pressed to one side in the axial direction. The E-ring 161 is provided on the axial outer side of the bearing 14, and functions to prevent the spindle 13 from coming off.

[0016] The preload spring 165 is provided between the rotor magnet 22 and the bearing 15, with one end abutting against the inner ring of the bearing 15 and the other end abutting against the rotor magnet 22. A separate member may be provided between the rotor magnet 22 and the preload spring 165. The preload spring 165 biases the spindle 13 toward the encoder 30 (toward the left on the paper in FIG. 2). That is, in this embodiment, a member for maintaining the axial position of the spindle 13 is not provided inside the base 11, and therefore optical consideration for the position maintaining unit 16 is not required.

[0017] Holder 17 is press-fitted and fixed to spindle 13. Mirror 18 is formed in a flat plate shape and is attached to holder 17 so as to be symmetrical about the swing axis. By forming holder 17 and mirror 18 symmetrical about the swing axis, the moment of inertia during swing can be made equal in both directions.

[0018] The holder 17 and the mirror 18 are disposed inside the base 11 so that the mirror surface 181 faces away from the mounting portion 111, and are driven to swing by a swing motor 20. The mirror 18 reflects the light beam B output from the light emitting portion 91 on the mirror surface 181, and emits the light beam B to the outside in a direction according to the swing position of the mirror 18, thereby scanning the light beam B within a preset scanning range.

[0019] The oscillation motor 20 is provided on one axial side of the mirror unit 10. The oscillation motor 20 has a stator 21, a rotor magnet 22, etc. The stator 21 is fixed to the holding wall 113 with bolts or the like. The stator 21 is provided with an electromagnetic coil and a fixed magnet (not shown). The rotor magnet 22 is a cylindrical two-pole magnet, and the spindle 13 is inserted into an axial hole 221 and fixed to the spindle 13 by a magnet fixing member 23.

[0020] The rotor magnet 22 is a so-called inner rotor that is disposed inside the stator 21, and oscillates around a stationary position when current is applied to the electromagnetic coil. Here, "oscillation" refers to a motion that periodically repeats forward and reverse rotation within a predetermined angular range less than 360°. When current is turned off to the electromagnetic coil, the rotor magnet 22 returns to its stationary position due to the magnetic force of the fixed magnet and becomes stationary. The size of the rotor magnet 22 can be designed as desired depending on mounting constraints, the required magnetic force, etc.

[0021] The encoder 30 is, for example, a reflective optical encoder, and has a disk hub 31, a disk 32, and a detection element 33, and is housed in a case 35. The disk hub 31 is press-fitted and fixed to the spindle 13. The disk 32 is attached to the disk hub 31 and rotates integrally with the spindle 13. Reflective and non-reflective patterns are formed on the disk 32 in the circumferential direction.

[0022] The detection element 33 is mounted on a substrate 34. The detection element 33 is an optical sensor that emits LED light, receives light reflected in accordance with the rotation of the disk 32, and detects the rotation position of the disk 32 based on changes in the amount of received light. This allows the encoder 30 to detect the oscillation positions of the oscillation motor 20 and the mirror 18. The substrate 34 is fixed to a case 35 with screws or the like (not shown). A through hole 341 is formed in the substrate 34, and the spindle 13 is inserted through it.

[0023] The case 35 is formed in a cylindrical shape with a bottom that opens on the side opposite the mirror unit 10, and is fixed to the stator 21 by, for example, a through bolt (not shown). An insertion hole 352 is formed in the bottom 351, and the spindle 13 is inserted through the insertion hole 352. The bottom 351 is located between the rotor magnet 22 and the disk hub 31. In this embodiment, the base 11, the stator 21, and the case 35, which do not move even when the oscillating motor 20 is driven, are referred to as the housing unit 50.

[0024] In this embodiment, the axial position of the spindle 13 is restricted by the E-ring 161 and the preload spring 165, and the spindle 13 is biased in the opposite direction to the E-ring 161 (i.e., to the left on the page) by the preload spring 165. If vibration or impact is applied to the swing actuator 5 and the spindle 13 moves in the axial direction, the mirror 18 may come into contact with the base 11, potentially damaging the mirror 18.

[0025] When an impact is applied to the swing actuator 5, the movement of the spindle 13 to the left in the drawing is restricted by the E-ring 161. On the other hand, when an impact exceeding the load of the preload spring 165 is received, there is a risk that the spindle 13 will move to the right in the drawing. In order to be able to withstand a larger impact, it is possible to increase the spring force of the preload spring 165, but in that case, the size of the spindle 13 will increase. Hereinafter, the direction in which the spindle 13 moves when an impact exceeding the spring force of the preload spring 165 is received (i.e., the right in the drawing) will be referred to as the "axial movement direction."

[0026] In this embodiment, there is provided a location where the clearance between the member fixed to the spindle 13 and the housing part 50 is smaller than the clearance C1 between the mirror 18 and the retaining wall 112 of the base 11 in the axial movement direction. Specifically, the clearance C2 between the disk hub 31 and the bottom part 351 of the case 35 is smaller than the clearance C1 between the mirror 18 and the retaining wall 112.

[0027] As a result, when an impact greater than the load of the preload spring 165 is applied to the swing actuator 5 and the spindle 13 moves in the axial movement direction, the disk hub 31 abuts against the case 35 before the mirror 18 abuts against the base 11, so the mirror 18 does not collide with the base 11 and damage to the mirror 18 can be prevented.

[0028] Furthermore, if the disk hub 31 comes into contact with the case 35 due to movement of the spindle 13 caused by vibration or impact, and the disk hub 31 is deformed or damaged, the positional relationship between the disk 32 and the detection element 33 becomes abnormal, causing a sensing abnormality. This makes it possible to detect an abnormality in the oscillating actuator 5.

[0029] As described above, the distance measuring device 1 of this embodiment measures the distance to an object by scanning light externally and detecting the light reflected by the object, and is equipped with a mirror 18, a base 11, a spindle 13, a position holding unit 16, and a disk hub 31.

[0030] The mirror 18 is driven to swing by a swing motor 20, thereby scanning the light to the outside. The mirror 18 is provided inside the base 11. The spindle 13 has the mirror 18 fixed thereto and is rotatably supported by the base 11 with at least one end thereof protruding from the base 11. The position holder 16 has a preload spring 165 that biases the spindle 13 toward one side in the axial direction, and an E-ring 161 that restricts movement of the spindle 13 in the biasing direction, and holds the axial position of the spindle 13. The disk hub 31 is fixed to the spindle 13 outside the base 11.

[0031] The fixed portion that includes the base 11 and is not driven by the swing motor 20 is referred to as the housing portion 50. The distance between the end of the disk hub 31 on the side opposite to the biasing direction of the spindle 13 and the housing portion 50 is smaller than the distance between the end of the mirror 18 on the side opposite to the biasing direction of the spindle 13 and the base 11. Specifically, the clearance C2 between the disk hub 31 and the bottom 351 of the case 35 is smaller than the clearance C1 between the mirror 18 and the retaining wall 112.

[0032] As a result, when an impact greater than the load of the preload spring 165 is applied to the oscillation actuator 5, the disk hub 31 abuts against the case 35, preventing the mirror 18 from colliding with the base 11. Therefore, damage to the mirror 18 can be prevented. Furthermore, when providing a structure inside the base 11 that abuts against the base 11 before the mirror 18, optical considerations such as avoiding high reflection are necessary. In this embodiment, the disk hub 31, which is the abutting member, is provided on the outside of the base 11, so optical considerations and restrictions for providing an abutting structure can be reduced.

[0033] The distance measuring device 1 is provided with an oscillating motor 20 and an encoder 30 capable of detecting the oscillating position of the mirror 18 on the outside of the base 11. The encoder 30 has a disk 32 that is driven integrally with the spindle 13, a disk hub 31 that is fixed to the spindle 13 and to which the disk 32 is attached, and a detection element 33 that detects the driving state of the disk 32. In detail, the detection unit is the encoder, and the detection element 33 is an optical sensor that detects light reflected by the disk 32.

[0034] In this embodiment, the contact member is the disk hub 31. By configuring the disk hub 31 to contact the case 35 when an impact is applied to the swing actuator 5, an abnormality in the swing actuator 5 can be detected.

[0035] The position maintaining portion 16 is provided outside the base 11. In other words, no member related to maintaining the axial position of the spindle 13 is provided inside the base 11. The position restricting portion is an E-ring 161 provided on the opposite side of the base 11 from the preload spring 165. This allows the axial positioning of the spindle 13 to be determined without affecting the light scanning by the mirror 18.

[0036] (Second embodiment) A second embodiment is shown in FIG. 3. In this embodiment, the shape of the spindle 130 differs from that of the above-described embodiment, and this point will be mainly described. In the spindle 130 of this embodiment, a shaft portion 131 and a position restricting portion 132 are integrally formed. The position restricting portion 132 is provided axially outside the bearing 14, protruding radially outward from the shaft portion 131, and functions to prevent the spindle 130 from coming off. That is, in this embodiment, the preload spring 165 and the position restricting portion 132 form the position retaining portion 16. Even with this configuration, the same effects as the above-described embodiment can be achieved.

[0037] In the embodiment, the spindles 13 and 130 correspond to the "oscillating axis," the E-ring 161 and the position regulating portion 132 correspond to the "position regulating portion," the preload spring 165 corresponds to the "biasing member," the encoder 30 corresponds to the "detection portion," the disk hub 31 corresponds to the "contact member" and the "holding member," and the disk 32 corresponds to the "detected portion."

[0038] (Other embodiments) In the above embodiment, the clearance C2 between the disk hub 31 and the bottom 351 of the case 35 is smaller than the clearance C1 between the mirror 18 and the retaining wall 112. In other embodiments, the abutting member may be a member other than the disk hub. That is, a location may be provided where the clearance between the end of a member other than the disk hub on the axial movement direction side and the housing is smaller than the clearance C1. Note that if the abutting member is provided inside the base, optical considerations must be taken so as not to interfere with reflection on the mirror, so it is desirable to provide the abutting member on the outside of the base.

[0039] In the above embodiment, the detection element is an optical sensor. In other embodiments, something other than an optical sensor (for example, a magnetic sensor) may be used to detect the driving state of the oscillation shaft, and something other than an encoder may be used as the detection unit. Also, in other embodiments, the actuator and mirror unit may have different configurations and arrangements from those in the above embodiment, as long as they can oscillate the mirror. As described above, the present invention is not limited to the above embodiment, and can be implemented in various forms without departing from the spirit of the invention. [Explanation of symbols]

[0040] 1. Distance measuring device 5. Swing actuator 11...Base 13, 130... Spindle (swinging shaft) 132... Position control part 16...Position holding part 161 E-ring (position restricting portion) 165 Preload spring (biasing member) 18. Mirror 20. Oscillating motor (actuator) 30 Encoder (detection unit) 31...Disc hub (contact member, holding member) 32 Disk (detection target) 50 Housing

Claims

1. A distance measuring device that measures a distance to an object by scanning light externally and detecting light reflected by the object, a mirror (18) that is driven to swing by an actuator (20) to scan light outward; a base (11) in which the mirror is mounted; a swing shaft (13, 130) to which the mirror is fixed and which is swingably supported by the base with at least one end protruding from the base; a position holding section (16) that has a biasing member (165) that biases the swing shaft toward one side in the axial direction and a position restricting section (161, 132) that restricts movement of the swing shaft toward the biasing direction, and that holds the axial position of the swing shaft; a contact member (31) fixed to the swing shaft outside the base; Equipped with If a fixed portion including the base and not driven by the actuator is a housing portion (50), a distance between the housing and an end of the abutting member on the side opposite to the biasing direction of the swing shaft is smaller than a distance between the base and an end of the mirror on the side opposite to the biasing direction of the swing shaft; In a normal state, the contact member and the housing are spaced apart from each other.

2. A detector (30) capable of detecting the swing positions of the actuator and the mirror is provided on the outside of the base, The detection unit has a detected part (32) that is driven integrally with the swing shaft, a holding member (31) that is fixed to the swing shaft and to which the detected part is attached, and a detection element (33) that detects the driving state of the detected part, 2. The distance measuring device according to claim 1, wherein the contact member is the holding member.

3. the detection unit is an encoder, 3. The distance measuring device according to claim 2, wherein the detection element is an optical sensor that detects light reflected by the detection target portion.

4. the position maintaining portion is provided on the outside of the base, 4. The distance measuring device according to claim 1, wherein the position restricting portion is an E-ring provided on the opposite side of the base from the biasing member.

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