Laser radar apparatus that measures direction and distance of an object

The present application relates to and incorporated by reference Japanese Patent Applications 2007-027167 filed on Feb. 6, 2007 and 2007-293225 filed on Nov. 12, 2007.

1. The Field of the Invention

The invention relates to a laser radar apparatus and a method for measuring both the direction of an object and the distance to an object from the apparatus using a laser beam.

2. Description of the Prior Art

As laser radar apparatus capable of measuring both the direction of an object and the distance to an object from the apparatus, there is a known apparatus such as disclosed by Hoashi et al. in Japanese Patent No. 2789741.

The laser radar apparatus of Hoashi et al. includes a laser beam generating means for emitting a laser beam or a laser pulse serving as an outgoing light into a measurement range, the outgoing light having an optical axis thereof, a photo detecting means for detecting the reflected laser beam or the reflected laser pulse that arrives after the outgoing light is reflected by an object located in the measurement range and serve as an incoming light, an optical isolator that allows the outgoing light to transmit therethrough and forbids the incoming light to pass, and an electric control unit (ECU). The laser beam generating means is, for example, a laser diode that produces laser emission including a laser beam and a laser pulse. The photo detecting means is, for example, a photo diode that converts an incident laser beam or an incident laser pulse to an electric current that is a function of intensity of the incident laser beam or the incident laser pulse. The optical isolator reflects the incoming light, and the incoming light reflected by the optical isolator will be directed to the photo detecting means. In order to realize these functions, it is preferable that the optical isolator is located on the optical axis of the outgoing light. The electric control unit (ECU) calculates a distance from the apparatus to the object, if it exists, based on the difference of the phases of the outgoing and incoming laser beams, or the time of flight between the emission and reception of the laser pulse utilizing the speed of light. Further, the laser radar apparatus of Hoashi et al. includes a concave mirror that deflects the outgoing light toward the measurement range and the incoming light reflected back by the object toward the photo detecting means. Further the concave mirror is arranged to rotate up to 360 degrees so that an angular scanning range in the horizontal direction can be realized to be of up to 360 degrees. It should be noted that in the optical laser apparatus of Hoashi et al., a projection optical system includes the laser beam generating means, the optical isolator, and the concave mirror, and a photo detecting system includes the concave mirror and the optical isolator. The projection optical system and the photo detecting means are arranged coaxially in part. In more detail, the axes of the outgoing light and the incoming light between the optical isolator and the object are identical.

As described above, in the laser radar apparatus of Hoashi et al. or a laser radar apparatus of similar type, the axes of the outgoing light and the incoming light are identical, and the optical isolator is arranged to be located on the common axis to the outgoing light and the incoming light. The outgoing light emitted by the laser beam generating means pass through the optical isolator although the incoming light reflected back by the object is reflected from the optical isolator. In general, attenuation of the laser beam or the laser pulse may be caused during both the transmission and the reflection of the laser beam or the laser pulse through and from the optical isolator, respectively. Hence, beam splitting efficiency is degraded during the transmission and the reflection of the laser light through and from the optical isolator. This leads to a special configuration of some elements of the optical laser radar apparatus, for example, a bigger mirror having a larger mirror plate to enlarge an effective photo-receiving area so as to improve the beam splitting efficiency. This conflicts with the tendency of reducing the size of the apparatus.

It is an object of the present invention to provide a laser radar apparatus that has an improved beam splitting efficiency and an improved accuracy of detecting the direction of an object and the distance to the object from the apparatus without sacrificing the small size of the laser radar apparatus due to a coaxial structure of the projection optical system and photo detecting system.

According to an aspect of the present invention, a laser radar apparatus that measures the distance of an object and the direction to the object, the object being located in a measurement range from the laser radar apparatus, includes laser beam generating means, photo detecting means, a mirror assembly, light deflecting means, and rotation driving means. The laser beam generating means generates a laser beam having an axis thereof and emitting the laser beam toward the measurement range. The photo detecting means detects a reflected laser beam that is reflected back by the object located in the measurement range. The mirror assembly further includes a through-hole and a reflecting surface. The through-hole pierces the mirror assembly being coaxial with the axis of the laser beam emitted from the laser beam generating means, and allows the laser beam emitted from the laser beam generating means to pass. The reflecting surface is arranged to be at a predetermined angle to the axis of the laser beam emitted from the laser beam generating means and reflects a reflected laser beam from the object toward the photo detecting means. The light deflecting means deflects the laser beam emitted from the laser beam generating means toward the measurement range, and deflects the laser beam reflected back by the object located in the measurement range toward the mirror assembly, wherein the light deflecting means has a rotation axis thereof and a mirror surface. The rotation driving means rotates the light deflecting means around the rotation axis of light deflecting means such that the mirror surface of the light deflecting means is turned to face in the direction of the measurement range.

According to another aspect of the present invention, a method for measuring the distance of an object located in a measurement range from the laser radar apparatus, includes steps of: generating a laser beam having an axis thereof and emitting the laser beam toward the measurement range; splitting the laser beam into the first laser beam that is directed to the measuring range and the second laser beam that is directed to the photo detecting mean; detecting the second laser beam by the photo detecting means to estimate the intensity of the second laser beam; estimating output power of the laser beam generating means based on the intensity of the second laser beam; comparing the estimated output power of the laser beam generating means with a reference value; adjusting the output power of the laser beam generating means according to the comparison; reflecting the reflected first laser beam from the object by the reflecting surface of the mirror assembly toward the photo detecting means; detecting the reflected first laser beam from the object by the photo detecting means; and calculating a distance from the apparatus to the object based on the difference of the phases of the outgoing and incoming laser beams or the time of flight between the emission and reception of the laser beam utilizing the speed of light.

The present invention will be understood more fully from the detailed description to be given hereinbelow and from the accompanying drawings of the preferred embodiment of the invention, which is not taken to limit the invention to the specific embodiments but should be recognized for the purpose of explanation and understanding only.

In the drawings:

FIG. 1 is a schematic view of a laser radar apparatus according to a first embodiment of the present invention;

FIG. 2 is a schematic view of a mirror having a through-hole of the laser radar according to the first embodiment shown in FIG. 1 ;

FIG. 3 is a cross sectional view and a bottom view of the mirror shown in FIG. 2 ;

FIG. 4 is a schematic view of a laser radar apparatus according to a second embodiment of the present invention;

FIG. 5 is a cross sectional view and a bottom view of a mirror assembly of the laser radar including a half-silvered mirror according to the second embodiment shown in FIG. 4 ;

FIG. 6 is a flow chart for explaining the feedback control operation of a laser diode performed by a laser-output control means that adjusts the output intensity of a laser beam from the laser diode of the laser radar shown in FIG. 4 ;

FIG. 7 is a cross sectional view of a mirror of the laser radar according to a modification of the second embodiment;

FIG. 8 is a schematic view of a laser radar apparatus according to a third embodiment of the present invention;

FIG. 9 is a schematic view of a laser radar apparatus according to a fourth embodiment of the present invention;

FIG. 10 is a graph illustrating a projection pattern of an outgoing light transmitted through beam transforming means and deflected by a flat reflecting portion of a concave mirror of the laser radar according to a fourth embodiment of the present invention;

FIG. 11 is a schematic view of the concave mirror used in the laser radar according to the fourth embodiment;

FIG. 12 is a schematic view of a laser radar apparatus according to a fifth embodiment of the present invention;

FIG. 13 is a graph illustrating a projection pattern of an outgoing light transmitted through a diffraction grating member and deflected by a planar mirror portion of a concave mirror of the laser radar according to a fifth embodiment of the present invention;

FIG. 14 is a schematic view of a laser radar apparatus according to a sixth embodiment of the present invention;

FIG. 15 is a graph illustrating a projection pattern of an outgoing light transmitted through a diffraction grating member and deflected by a planar mirror portion of a concave mirror of the laser radar according to a sixth embodiment of the present invention; and

FIG. 16 is a schematic view of a conventional laser radar apparatus.

Preferred embodiments of the present invention will be explained below with reference to attached drawings. Identical constituents are denoted by the same reference numerals throughout the drawings.

First Embodiment

Referring to FIGS. 1-3 , a laser radar apparatus according to a first embodiment of the present invention will be described.

FIG. 1 is a schematic view of the laser radar apparatus 100 according to the first embodiment of the present invention.

As shown in FIG. 1 , the laser radar apparatus 100 includes a laser diode 10 and a photo diode 20 . The laser radar apparatus 100 is designed to detect the direction to an object located in a measurement range, if it exists, and the distance of the object from the apparatus based on the difference of the phases of an outgoing light L 0 emitted by the laser diode 10 and an incoming light L 3 that is reflected back by the object and received by the photo diode 20 , or the time of flight between the emission of an outgoing light L 0 and reception of an incoming light L 3 utilizing the speed of light. In this embodiment, the laser diode 10 emits a laser pulse.

The laser diode 10 emits a laser pulse having an axis thereof as an outgoing laser beam L 0 into a measurement range in response to a command signal from a laser diode controlling block which is not shown in FIG. 1 . Laser beam generating means is constituted of the laser diode 10 and an unillustrated laser diode controlling block. The laser diode controlling block controls operation of the laser diode 10 by sending a command signal to the laser diode 10 . In the present case where the laser pulse is emitted from the laser diode 10 , the command signal contains an electric current pulse signal.

The photo diode 20 corresponds to a photo detecting means. The outgoing laser beam L 0 is reflected by the object located in the measurement range to form a reflected laser beam or the incoming laser beam L 3 . Then, the reflected laser beam L 3 is detected by the photo diode 20 and is converted to an electric signal whose amplitude is a function of an intensity of the reflected laser beam L 3 . In this embodiment, only that part of laser beam reflected by the object, the part of laser beam having an angle of reflection at a surface of the object of nearly 0 degree can return to the laser radar apparatus, as shown by parallel lines L 3 in FIG. 1 . The remaining part of the laser beam reflected by the object cannot be detected because of deviation from 0 degree in the angle of reflection at the surface of the object.

The laser radar apparatus 100 further includes an optical lens 60 and a mirror assembly 300 . Both the optical lens 60 and the mirror assembly 300 are arranged to be coaxial with the axis of outgoing laser beam L 0 .

The optical lens 60 is of type a collimating lens that transforms the emitted laser beam L 0 from the laser diode 10 to the laser pulses of parallel rays. The optical lens 60 corresponds to laser beam collimating means.

In the present embodiment, the mirror assembly 300 corresponds to a mirror 30 . The mirror 30 is substantially formed as a plate having two surfaces. The mirror 30 has a reflection plane 31 which corresponds to one of the surfaces of the mirror 30 and a through-hole 32 . The reflection plane 31 is arranged at predetermined angle to the axis of outgoing laser beam L 0 . The through-hole 32 has a center axis thereof and pierces the mirror 30 such that the center axis of the through-hole 32 crosses the surface of the reflection plate 31 . The laser radar apparatus 100 according to the present invention is arranged such that the outgoing laser beam L 0 and the incoming laser beam L 3 are coaxial. The mirror 30 is arranged such that the outgoing laser beam L 0 passes through the through-hole 32 . Thus, the outgoing laser beam L 0 passes through the mirror 30 , although the incoming laser beam L 3 is reflected by the mirror 30 . The through-hole 32 and the outgoing laser beam L 0 have a common axis. Further the reflection plate 31 of the mirror 30 reflects the incoming laser beam L 3 so as to direct it to the photo diode 20 . The mirror assembly 300 corresponds to beam isolating means.

The laser radar apparatus 100 according to the present embodiment further includes a rotary device 400 . The rotary device 400 is arranged to be rotatable around a rotation axis which is identical with the axis of the outgoing laser beam L 0 so that an angular scanning range in the horizontal direction can be realized to be of up to 360 degrees. The rotary device 400 includes a concave mirror 401 that deflects the outgoing laser beam L 0 toward the measurement range and the incoming laser beam L 3 reflected back by the object toward the mirror 30 . The concave mirror 401 has a focal point on the rotation axis of the rotary device 400 . The rotary device 400 is an example of a device having a concave shaped surface. The concave shaped surface is the concave mirror 401 . The rotation angle of the rotary device 400 determines the direction of the object to be detected. The concave mirror 401 corresponds to a light deflecting means that includes the device having the concave shaped surface.

In order to drive the rotary device 400 to execute a continuous rotating movement, a motor 50 is provided. The motor 50 has an output shaft 51 that drives the rotary device 400 and the concave mirror 401 . The motor 50 is an example of rotation driving means. A stepping motor may be used as the motor 50 . In the stepper motor, a full rotation is divided into a plural number of steps. If the stepper motor is controlled under a manner where one step has very small rotation angle, it is possible to perform the rotating movement of the rotary device 400 with high resolution. Therefore, an accurate determination of the direction of the object can be achieved. Furthermore, it is allowable to use other type of motor than the stepper motor as the motor 50 . For example, a servomotor may be useful. If a motor whose shaft rotates with a constant speed is used as the motor 50 , a necessary time until the rotary device 400 is directed to a measurement range can be calculated easily. Thus, the laser diode controlling block is operated in such a manner in which the timing of outputting the electric current pulse as the command signal to the laser diode 10 is synchronized with the arrival timing when the rotation angle of the shaft of the motor is achieved at the desired value. As the result of this, the laser diode 10 emits the outgoing laser beam L 0 with accurate timing to detect an object in the desired direction. Thus, the direction of the object and the distance to the object can be calculated quickly. In the present embodiment, in order to detect the rotation angle of the motor 50 , a rotation angle sensor 52 is provided and is connected to the motor 50 . A rotary encoder that converts the angle of the output shaft 51 of the motor 50 into an analog or digital electric signal is adopted to be used as an example of the rotation angle sensor 52 . As discussed above, any type of electric motor may be acceptable to be used as the motor 50 .

Further, in the present embodiment, a cover case 3 is provided to house the laser diode 10 , the photo diode 20 , the mirror assembly 300 , the optical lens 60 , and the rotary device 400 . Thus, those elements can be prevented from being exposed to dust or being physically shocked. The cover case 3 has an optical window 4 through which the outgoing laser beam L 0 exits the apparatus 100 and the incoming laser beam L 3 enters into the apparatus 100 , respectively. Hence, the optical window 4 is vertically aligned with the concave mirror 401 . The optical window 4 surrounds the concave mirror 401 and has the shape of a ring having a center located at a point where the axis of the outgoing laser beam L 0 intersects a cross section of the ring-shaped optical window 4 . The optical window 4 is covered by a transparent plate 5 such as a transparent glass in order to prevent the concave mirror 401 and other constituents of the apparatus 100 from being exposed to dust. The transparent plate 5 is arranged to be at an angle that is slightly deviated from right angles with the axes of the outgoing laser beam L 0 and the incoming laser beam L 3 . Thus, even if the outgoing laser beam L 0 is reflected by the transparent plate 5 , the reflected outgoing laser beam does not have its axis identical with the outgoing laser beam L 0 and the incoming laser beam L 3 . Therefore, a reflection of the outgoing laser beam L 0 by the transparent plate 5 may not generate any noise that interferes with determining the distance of the object from the apparatus 100 .

Next, referring to FIGS. 2 and 3 , the mirror assembly 300 corresponding to the mirror 30 in the present embodiment will be discussed in detail.

FIG. 2 is a schematic view of the mirror 30 having the through-hole 32 of the laser radar apparatus 100 according to the first embodiment shown in FIG. 1 .

As shown in FIG. 2 , the mirror 30 of the mirror assembly 300 is shaped like a plate having one surface 33 and another non-illustrated surface 31 opposite to the surface 33 . The surface 31 of the mirror 30 corresponds to the reflection plane. The through-hole 32 is formed near the center of the surface 31 so as to pierce the mirror 40 from the surface 33 to the opposite surface 31 .

FIG. 3 is the cross sectional view and over view of the mirror 30 shown in FIG. 2 .

In the present embodiment, the through-hole 32 is formed such that the outgoing laser beam L 0 passes through the through-hole 32 , that is, the center axis of the through-hole 32 is arranged to be identical with the axis of the outgoing laser beam L 0 . As can be seen in FIG. 3 , the through-hole 32 is empty in the present embodiment.

As shown in FIG. 3 , the through-hole 32 is formed in the shape of the tube having an axis. The axis of the through-hole 32 is coincident with that of the outgoing laser beam L 0 . The through-hole 32 has a circular shaped cross section 34 along its axis. That is, if the through-hole 32 is projected to a plane perpendicular to the axis of the outgoing laser beam L 0 as shown in FIG. 3 , the projected image of the through-hole 32 is a circle 34 having its center at a point X 1 that is the center of the cross section of the outgoing laser beam L 0 . The through-hole 32 has a constant diameter D 1 . It is allowed that the through-hole 32 has other shaped cross section such as an ellipse shaped one or the like.

As discussed above, in the laser radar apparatus 100 according to the present embodiment, the laser diode 10 , the through-hole 32 of the mirror 30 and the optical lens 60 are arranged to be coaxial with the axis of the outgoing laser beam L 0 . The optical lens 60 converts the laser beam emitted by the laser diode 10 to the parallel ray of laser pulses. The diameter D 1 of the through-hole 32 is determined according to optical characteristics of the laser diode 10 and the optical lens 60 . For example, the diameter D 1 of the through-hole 32 is determined to be slightly larger than that of the laser pulse of parallel rays collimated by the optical lens 60 . Inversely, it is allowed that the optical lens 60 is designed to collimate the laser beam emitted by the laser diode 10 so as to have the maximum width smaller than the diameter D 1 of the through-hole 32 . In accordance with the design of the through-hole 32 of the mirror 30 or the optical lens 60 , it is possible to prevent any reflection of the outgoing light L 0 from the surface 33 of the mirror 30 .

Further, it is allowed that in the laser radar apparatus 100 , the beam isolating means further comprises an un-illustrated optical element for transmitting the outgoing laser beam L 0 emitted from the laser beam generating means 10 toward the measurement range and reflecting the incoming laser beam L 3 reflected back by the object located in the measurement range via the light deflecting means 401 . In this case, the through-hole 32 of the beam isolating means 30 is at least partially covered by the optical element. Further, it is preferable that the optical element is made of a material that have high optical transmittancy.

The operation of the laser radar apparatus 100 will be explained.

First, the laser diode controlling block sends a command signal to the laser diode 10 . The command signal contains, for example, the electric current pulse that lead the laser diode 10 to output the laser beam pulse L 0 proportional to the electric current pulse. That is, the laser beam pulse having a width proportional to the electric current pulse L 0 is emitted from the laser diode 10 . The laser beam pulses L 0 emitted from the laser diode 10 may slightly diffuse during their travel because the laser beam pulses L 0 have an initial diffusion angle just after they are emitted from the laser diode 10 .

Next, the laser beam pulses L 0 are converted to the parallel laser pulses L 0 by the optical lens 60 .

The parallel ray of laser pulses L 0 collimated by the optical lens 60 pass through the through-hole 32 of the mirror 30 .

Then, the parallel ray of laser pulses L 0 passed through the through-hole 32 of the mirror 30 become incident laser pulses L 0 to the concave mirror 401 .

The concave mirror 401 deflects the incident laser pulses L 0 , and the laser pulses L 0 reflected from the concave mirror 401 emitted from the laser radar apparatus 100 toward the measurement range to detect an object.

If some object is located in the measurement range, the object reflects the laser pulses L 0 emitted from the apparatus 100 . Some part of the laser pulses having near-zero the angle of reflection at the surface of the object are reflected back to the apparatus 100 as the incoming laser beam L 3 .

After passing the optical window, the incoming laser beam L 3 or incoming laser pulses L 3 are deflected by the concave mirror 401 . In this case, the concave mirror 401 serves as a collector lens that collects the incoming laser beam L 3 to the mirror 30 such that the area of its cross section is reduced until all of the incoming laser beam L 3 can be captured by the mirror 30 . The deflected laser beam L 3 from the concave mirror 401 is reflected by the mirror 30 . Then, the incoming laser beam L 3 enters the photo diode 20 . The deflected laser beam L 3 is detected by the photo diode 20 and is converted to an electric signal whose amplitude is a function of an intensity of the reflected laser beam L 3 .

In the present configuration, the time of flight between a moment when the outgoing laser beam L 0 is emitted from the laser diode 10 and a further moment when the incoming laser beam L 3 is captured by the photo diode 20 is measured to obtain the distance to the object that is located in the measurement range and reflected the outgoing laser beam L 0 from the apparatus 100 using the speed of light. The direction of the object is directly obtained based on the rotation angle of the motor 50 that drives the concave mirror 401 .

(Advantages of the Laser Radar Apparatus)

FIG. 16 is a schematic view of a conventional laser radar apparatus 900 .

The known laser radar apparatus 900 has, similar to the laser radar apparatus 100 according to the present embodiment, included a laser diode 901 , a photo diode 902 , an optical isolator 903 , a concave mirror 904 , a motor 905 , a optical window 906 , a cover case 907 , a first slit 908 , a second slit 909 , and a third slit 910 . The apparatus 900 is configured to detect the distance of an object based on a time of flight between a moment when the laser diode 901 emits a laser beam toward a measurement range and a further moment when the photo diode 902 detects the reflected laser beam from the object using the speed of light. The direction of the object is determined by the rotation angle of the motor 905 .

The laser diode 901 emits the laser beam having a predetermined diffusion angle. The optical isolator 902 allows the laser beam emitted from the laser diode 901 to pass. The concave mirror 904 deflects the laser beam injected from the laser diode 901 via the optical isolator 903 toward the measurement range. If an object exists within the measurement range, the reflected laser beam comes back from the object. The reflected laser beam from the object is deflected by the concave mirror 904 . Because the concave mirror 904 is arranged with the laser diode 901 , the reflected laser beam from the object is deflected by the optical isolator 903 toward the photo diode 902 .

The laser diode 901 , the photo diode 902 , the optical isolator 903 , the concave mirror 904 , and the motor 905 are housed inside the cover case 907 having the optical window 906 . The laser beam is emitted to the measurement range and is reflected back by the object located in the measurement range via the optical window 906 .

In the apparatus 900 , the attenuation of the laser beam is necessarily caused during both the transmission and the reflection of the laser beam through and by the optical isolator, respectively.

In contrast to the case of the apparatus 900 , the laser radar apparatus 100 does not use the optical isolator.

As explained so far, in the laser radar apparatus 100 , there is the mirror 30 which is arranged at a predetermined angle, for example, at an angle of about 45 degrees with respect to the axis of the outgoing laser beam L 0 . Further, the mirror 30 has the through-hole 32 through which the outgoing laser beam L 0 passes without any loss of intensity. Further, the mirror 30 has the reflection plate 31 that reflects the incoming laser beam L 3 toward the photo diode 20 . Therefore, the mirror 30 of the laser radar apparatus 100 according to the present invention improves the optical loss characteristics thereof during the emission of the outgoing laser beam L 0 and the reflection of the incoming laser beam L 3 . As a result of this improvement of the optical loss characteristics of the mirror 30 , the accuracy of detecting the distance of an object from the apparatus 100 is also improved effectively. In particular, in the present embodiment in which the through-hole 32 of the mirror 30 is empty, the loss or the attenuation of the outgoing laser beam L 0 which caused during traveling through the mirror 30 is effectively improved. Further, the incoming laser beam L 3 is reflected from the reflection plane 31 of the mirror 30 in the present embodiment. Therefore, nearly prefect reflection of the incoming laser beam L 3 from the reflection plane 31 of the mirror 30 can be realized, in spite of the fact that some loss of the intensity of the incoming laser beam L 3 is caused due to the through-hole 32 and it is impossible to realize nearly prefect reflection in the optical isolator. Therefore, the attenuation of the incoming laser beam L 3 which caused during traveling in the apparatus 100 is effectively improved.

Further, in the present embodiment, the through-hole 32 of the mirror is designed such that the projected image of the through-hole 32 has the circular shape having the center at a point X 1 , if the through-hole 32 is projected to a plane perpendicular to the axis of the outgoing laser beam L 0 , as shown in FIG. 3 . Hence, the central part of the outgoing laser beam L 0 which has the maximum intensity of light pass through the through-hole 32 without any loss of the intensity. Therefore, it is possible to effectively improve the optical loss characteristics of the apparatus 100 .

Further, in the present embodiment, there is the optical lens 60 that is located between the laser diode 10 and the through-hole 32 of the mirror 30 and is arranged to be coaxial with the axis of the outgoing laser beam L 0 . Thus, during passing through the through-hole 32 of the mirror 30 , the outgoing laser beam L 0 is constituted of the parallel ray of laser pulses not having a diffusion angle, because the diffusive laser beam pulses emitted from the laser diode 10 are converted to the parallel laser pulses L 0 by the optical lens 60 . This fact results in the minimum diameter D 1 of the through-hole 32 and the optical loss characteristics of the mirror 30 in reflecting the incoming laser beam L 3 being improved. Therefore the loss of intensity of the incoming laser beam L 3 caused by being reflected by the mirror 30 can be minimized.

If a projection optical system is defined as an assembly including the laser diode 10 , the motor 50 , the optical lens 60 , the mirror 30 , and the concave mirror 401 and a photo detecting system is defined as an assembly including the concave mirror 401 , the mirror 30 , the motor 50 , and the photo diode 20 , the laser radar apparatus 100 according to the present embodiment has improved the beam splitting efficiency and improved detection accuracy of direction and the distance to an object without sacrificing the small size of the laser radar apparatus due to the coaxial structure of the projection optical system and the photo detecting system.

Second Embodiment

Referring to FIGS. 4-7 , a laser radar apparatus according to a second embodiment of the present invention will be described.

FIG. 4 is a schematic view of the laser radar apparatus 100 A according to the second embodiment of the present invention.

In the present embodiment, the differences from the previous embodiment are based on the presence of beam splitting means 80 and an improved method for operating a control device 82 and a memory 84 . Thus, detailed discussion about the constituents of the laser radar apparatuses having the same function and the structure with those used in previous embodiment will be omitted.

As shown in FIG. 4 , the laser radar apparatus 100 A according to the present embodiment includes a mirror assembly 300 A, a control device 82 , and a memory 84 . The control device 82 and the memory 84 correspond to control means and memorizing means, respectively. In the present embodiment, the projection optical system includes the laser diode 10 serving as an element of the laser beam generating means, the motor 50 serving as the rotation driving means, the optical lens 60 serving as collimating means, the mirror assembly 300 A, and the concave mirror 401 serving as the light deflecting means and the photo detecting system including the concave mirror 401 serving as the light deflecting means, the mirror assembly 300 A, the photo diode 20 serving as the element of the photo detecting means, and the motor 50 serving as the rotation driving means.

The mirror assembly 300 A includes the mirror 30 and a half-silvered mirror 80 .

As in the case of the first embodiment, the mirror 30 is arranged at a predetermined angle, for example, at an angle of about 45 degrees with respect to the axis of the outgoing laser beam L 0 . Further, the mirror 30 has a through-hole 32 through which the outgoing laser beam L 0 passes without any loss of the intensity thereof. The half-silvered mirror 80 covers the through-hole 32 at least in part. Further, the mirror 30 has the reflection plate 31 that reflects the incoming laser beam L 3 toward the photo diode 20 . The outgoing laser beam L 0 transmits the half-silvered mirror 80 of the mirror assembly 300 A. The half-silvered mirror 80 splits the outgoing laser beam L 0 into a first outgoing laser beam L 1 and a second outgoing laser beam L 2 . That is, a part of the outgoing laser beam L 0 transmits the half-silvered mirror 80 of the mirror assembly 300 A, although the incoming laser beam L 3 is deflected by the mirror 30 . The first outgoing laser beam L 1 has the same axis of the outgoing laser beam L 0 after transmission by the mirror assembly 300 A. The mirror 30 is substantially formed as a plate having two surfaces. The mirror 30 has a reflection plane 31 which corresponds to one of the surfaces of the mirror 30 and the through-hole 32 . The reflection plane 31 is arranged at a predetermined angle to the axis of the outgoing laser beam L 0 . The through-hole 32 has a center axis thereof and pierces the mirror 30 such that the center axis of the through-hole 32 crosses a surface of the reflection plate 31 .

Further, similar to the case of the first embodiment, the rotary device 400 is arranged to be rotatable around a rotation axis which is identical with the axis of the first outgoing laser beam L 1 so that an angular scanning range in the horizontal direction can be realized to be of up to 360 degrees. The rotary device 400 includes the concave mirror 401 that deflects the first outgoing laser beam L 1 toward the measurement range and the incoming laser beam L 3 reflected back by the object toward the mirror 30 . The concave mirror 401 has a focal point on the rotation axis of the rotary device 400 .

In contrast to the case of the first embodiment, the mirror assembly 300 A includes the half-silvered mirror 80 that serves as the beam splitting means. The half-silvered mirror 80 is arranged to be coaxial with the axis of the outgoing laser beam L 0 , that is with the axis of the through-hole 32 .

FIG. 5 is a cross sectional view and a bottom view of the mirror assembly 300 A of the laser radar having the half-silvered mirror 80 according to the second embodiment shown in FIG. 4 .

As shown in FIG. 5 , the mirror assembly 300 A according to the present embodiment splits the outgoing laser beam L 0 into the first outgoing laser beam L 1 and the second outgoing laser beam L 2 . The directions of the first outgoing laser beam L 1 and the second outgoing laser beam L 2 are different from each other. The first outgoing laser beam L 1 has the same optical path with the outgoing laser beam L 0 of the first embodiment. That is, the first outgoing laser beam L 1 enters to the concave mirror 401 .

As shown in FIG. 5 , the through-hole 32 is formed in the shape of the tube having an axis. The axis of the through-hole 32 is coincident with that of the outgoing laser beam L 0 . This means that the axis of the through-hole 32 is coincident with that of the first outgoing laser beam L 1 . The through-hole 32 has a circular shaped cross section 34 along its axis. That is, if the through-hole 32 is projected on a plane perpendicular to the axis of the first outgoing laser beam L 1 as shown in FIG. 5 , the projected image of the through-hole 32 is a circle 34 having its center at a point X 1 that is the center of the cross section of the first outgoing laser beam L 1 . The through-hole 32 has a constant diameter D 1 . It is allowed that the through-hole 32 has other shaped cross section such as an ellipse shaped one or the like.

The half-silvered mirror 80 covers the through-hole 32 . In this embodiment, as shown in FIG. 5 , the projected image of the half-silvered mirror 80 that is obtained by projecting the silvered mirror 80 onto the plane perpendicular to the axis of the first outgoing laser beam L 1 has a circular shape. That is, the silvered mirror 80 has a substantially elliptic shape because an ellipse arranged to be tilted in this manner has a circular projected image when the ellipse is projected onto the horizontal plane.

Further, the second outgoing laser beam L 2 split by the half-silvered mirror 80 are directed to the photo diode 20 and is detected by the photo diode 20 to measure the intensity thereof. The intensity of the second outgoing laser beam L 2 detected by the photo diode 20 is correlated to that of the outgoing laser beam L 0 emitted from the laser diode 10 . Hence if a feedback control operation is applied to control the laser diode 10 , the intensity of the outgoing laser beam L 0 is adjusted to a suitable value. In this embodiment, the control device 82 and the memory 84 carry out the feedback control operation for controlling the laser diode 10 .

The control device 82 can be constructed by a microcomputer that has a central processing unit (CPU). The memory 84 can be constructed by a memory such as a read only memory (ROM), a random access memory (RAM), a nonvolatile memory and the like. The control device 82 and the memory 84 are constituents of an example of output intensity adjusting means that adjusts the output intensity of the outgoing laser beam L 0 from the laser diode 10 .

The control device 82 carries out the feedback control operation defined by a computer program stored in the memory 84 . The feedback control operation comprises steps of estimating the output intensity of the outgoing laser beam L 0 from the laser diode 10 based on the intensity of the second outgoing laser beam L 2 , comparing the output intensity of the outgoing laser beam L 0 with a reference value, and correcting the output intensity of the outgoing laser beam L 0 . The feedback control operation is started at a predetermined interval or only when a predetermined condition occurs, for example, when an operator of the apparatus 100 A turns on a switch that controls the apparatus.

FIG. 6 is a flow chart for explaining the feedback control operation of the laser diode 10 performed by the control device 82 and the memory 84 which adjust the output intensity of the outgoing laser beam L 0 from the laser diode 10 .

In step S 10 , the output intensity of the outgoing laser beam L 0 from the laser diode 10 is estimated. In more detail, because the intensity of the second outgoing laser beam L 2 detected by the photo diode 20 is correlated to the output intensity of the outgoing laser beam L 0 emitted from the laser diode 10 , the output intensity of the outgoing laser beam L 0 from the laser diode 10 can be obtained based on the intensity of the second outgoing laser beam L 2 detected by the photo diode 20 .

Next, in step S 20 , the estimated value of the output intensity of the outgoing laser beam L 0 from the laser diode 10 is compared with the reference value. More explicitly, it is determined whether or not the intensity of the second outgoing laser beam L 2 detected by the photo diode 20 is larger than a threshold value. The threshold value of the intensity of the second outgoing laser beam L 2 depends on the reference value of the output intensity of the outgoing laser beam L 0 . In general, it is expected that the output intensity of the outgoing laser beam L 0 from the laser diode 10 is proportional to the intensity of the second outgoing laser beam L 2 detected by the photo diode 20 . In other words, it is expected that if the intensity of the second outgoing laser beam L 2 is larger than the threshold value, the output intensity of the outgoing laser beam L 0 is larger than the reference value. Thus, if the output intensity of the outgoing laser beam L 0 is larger than the reference value, the determination in the step S 20 is concluded to be “NO”, and the procedure proceeds to step S 30 .

In step S 30 , the output intensity of the outgoing laser beam L 0 is corrected by reducing the amplitude in the command signal that is controlled by the laser diode controlling block 82 . The command signal is supplied from a laser diode driving block which is not shown in FIG. 4 and is connected to all of the laser diode 10 , the control device 82 , and the memory 84 . As a result of the operation in this step, the output intensity of the outgoing laser beam L 0 is reduced and becomes in an allowable range. Then, the procedure proceeds to the step S 10 .

In contrast to this case, if the output intensity of the outgoing laser beam L 0 is smaller than or equal to the reference value, the determination in the step S 20 is “YES” and the feedback control operation of the laser diode 10 is completed.

In the present embodiment, the beam splitting means 80 of the mirror assembly 300 A splits the outgoing laser beam L 0 into the first outgoing laser beam L 1 and the second outgoing laser beam L 2 . The beam splitting means 80 includes a half-silvered mirror. The first outgoing laser beam L 1 enters to the concave mirror 401 although the second outgoing laser beam L 2 is directed to the photo diode 20 .

Further, the feedback control operation is performed to adjust the output intensity of the outgoing laser beam L 0 based on the detected intensity of the second laser beam L 2 by the photo diode 20 .

Therefore it is possible to properly adjust the output intensity of the outgoing laser beam L 0 based on the actual output intensity of the outgoing laser beam L 0 . Further, if the beam splitting means 80 is constituted of the half-silvered mirror 80 , effective splitting of the outgoing laser beam L 0 can be performed. Therefore, the laser radar apparatus 100 A according to the present embodiment obtains the improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object without sacrificing the small size of the laser radar apparatus due to the coaxial structure of the projection optical system and the photo detecting system.

Modification of the Second Embodiment

Referring to FIG. 7 , a laser radar apparatus according to a modification of the second embodiment will be explained.

FIG. 7 is a cross sectional view of a mirror assembly 300 B according to a modification of the second embodiment.

In the modification of the second embodiment, the only difference from the second embodiment is based on using the mirror assembly 300 B instead of the mirror assembly 300 A. Thus, detailed discussion about the constituents of the laser radar apparatuses having the same function and the structure with those used in previous embodiments will be omitted.

As shown in FIG. 7 , an auxiliary mirror 90 is provided with the mirror assembly 300 B to split the outgoing laser beam L 0 into the first outgoing laser beam L 1 and the second outgoing laser beam L 2 . In this case, a spectroscopic means includes the auxiliary mirror 90 . The auxiliary mirror 90 is arranged to block some part of the outgoing laser beam L 0 passed through the through-hole 32 of the mirror 30 . Further the auxiliary mirror 90 is joined to the mirror 30 such that the first outgoing laser beam L 1 enters to the concave mirror 401 although the second outgoing laser beam L 2 is directed to the photo diode 20 . Therefore, in the laser radar apparatus according to the modification of the second embodiment, the same advantages with the previous embodiments can be obtained.

Third Embodiment

Referring to FIG. 8 , a laser radar apparatus 100 B according to a third embodiment of the present invention will be described.

FIG. 8 is a schematic view of the laser radar apparatus 100 B according to the third embodiment of the present invention.

In the present embodiment, the differences from the first embodiment are based on the presence of a first cover member 92 having a first slit 93 and a second cover member 95 having a second slit 96 . Thus, detailed discussion about the constituents of the laser radar apparatuses having the same function and structure with those used in the first embodiment will be omitted.

As in the case of the first embodiment, the mirror 30 is arranged at a predetermined angle, for example, of about 45 degrees with respect to the axis of the outgoing laser beam L 0 . Further, the mirror 30 has the through-hole 32 through which the outgoing laser beam L 0 passes without any loss of intensity thereof. Further, the mirror 30 has a reflection plate 31 that reflects the incoming laser beam L 3 toward the photo diode 20 . The mirror 30 is substantially formed as a plate having two surfaces. The mirror 30 has the reflection plane 31 which corresponds to one of the surfaces of the mirror 30 and the through-hole 32 . The reflection plane 31 is arranged at predetermined angle to the axis of outgoing laser beam L 0 . The through-hole 32 has a center axis thereof and pierces the mirror 30 such that the center axis of the through-hole 32 crosses the surface of the reflection plate 31 .

Further, similar to the case of the first embodiment, the rotary device 400 is arranged to be rotatable around a rotation axis which is identical with the axis of the outgoing laser beam L 0 so that an angular scanning range in the horizontal direction can be realized to be of up to 360 degrees. The rotary device 400 includes the concave mirror 401 that deflects the outgoing laser beam L 0 toward the measurement range and the incoming laser beam L 3 reflected back by the object toward the mirror 30 . The concave mirror 401 has a focal point on the rotation axis of the rotary device 400 .

The laser radar apparatus 100 B according to the present embodiment includes the first cover member 92 having the first slit 93 , the second cover member 95 having the second slit 96 , and a frame member 94 that fix the second cover member 9 S.

The first cover member 92 is arranged to be coaxial with the outgoing laser beam L 0 and the incoming laser beam L 3 . In more detail, the first cover member 92 is positioned between the mirror 30 of the mirror assembly 300 and the concave mirror 401 . The first cover member 92 is formed to have substantially a plate shape and is fixed to the cover case 3 to keep a constant distance from the first cover member 92 to at least both the laser diode 10 and the motor 50 . The inner peripheral wall of the first slit 93 of the first cover member 92 has a cylindrical shape having a center axis thereof. That is, the first slit 93 is a cylindrical-shaped hole formed in the first cover member 92 . It is preferable that the center axis of the first slit 93 is in coaxial with the axis of the outgoing laser beam L 0 . However, it is allowed the center axis of the first slit 93 is parallel to but is deviated from the axis of the outgoing laser beam L 0 .

The second cover member 95 is arranged to be coaxial with the reflected incoming laser beam L 3 from the mirror 30 . Thus, the second cover member 95 is positioned between the mirror 30 and the photo diode 20 . The second cover member 95 is formed to have substantially a plate shape and is fixed by the frame member 94 and the first cover member 92 that is directly supported by the cover case 3 . The second cover member 95 is further fixed so as to keep a relative position to the mirror 30 . The inner peripheral wall of the second slit 96 of the second cover member 95 has a cylindrical shape having a center axis thereof. That is, the second slit 96 is a cylindrical-shaped hole formed in the second cover member 95 . If an axis 97 of the incoming laser beam traveling between the mirror 30 and the photo diode 20 is defined, the center axis of the slit 95 is in coaxial with the axis 97 of the incoming laser beam traveling between the mirror 30 and the photo diode 20 , as shown in FIG. 8 .

The laser radar apparatus 100 B shown in FIG. 8 includes the first cover member 92 having the first slit 93 and the second cover member 95 having the second slit 96 in addition to the constituents having the mirror assembly 300 included in the laser radar apparatus 100 shown in FIG. 1 . However, the mirror assembly 300 A shown in FIGS. 4 and 5 can be used instead of the mirror assembly 300 shown in FIGS. 2-3 .

In the laser radar apparatus 100 B according to the present embodiment, the first cover member 92 having the first slit 93 and the second cover member 95 having the second slit 96 are included. Hence, it is possible to improve the spectral efficiency and the accuracy of detecting the direction and the distance to an object due to blocking the component of the outgoing laser beam L 0 and the incoming laser beam L 3 that deviated from the proper optical path by the first cover member 92 and the second cover member 95 .

Further, due to the cylindrical-shaped first and second slits, 93 and 96 , it is possible to obtain the effective blocking characteristics for blocking the component of the outgoing laser beam L 0 and the incoming laser beam L 3 that deviated from the proper optical path.

Therefore, the laser radar apparatus 100 B according to the present embodiment has improved spectral efficiency and improved accuracy of detecting the direction and the distance to an object without sacrificing the small size of the laser radar apparatus due to the coaxial structure of the projection optical system and the photo detecting system. Therefore, in the laser radar apparatus 100 B according to the present embodiment, the same advantages with the previous embodiments can be obtained.

Fourth Embodiment

Referring to FIG. 9 , a laser radar apparatus 100 C according to a fourth embodiment of the present invention will be described.

FIG. 9 is a schematic view of the laser radar apparatus 100 C according to the fourth embodiment of the present invention.

In the present embodiment, the differences from the first embodiment are based on the different structure of a rotary device 400 A from the rotary device 30 having a concave mirror 401 shown in FIG. 4 and the presence of an optical element 500 that serves as beam transforming means. The rotary device 400 A includes a concave mirror 410 having a concave reflecting portion 411 that has a concave-shaped mirror surface 411 a and a flat reflecting portion 412 that has a flat mirror surface 412 a . Thus, detailed discussion about the constituents of the laser radar apparatuses having the same function and structure with those used in the second embodiment will be omitted.

As shown in FIG. 9 , the laser radar apparatus 100 C according to the present embodiment includes the mirror assembly 300 A, the control device 82 , and the memory 84 . In the present embodiment, the projection optical system includes the laser diode 10 serving as the elements of the laser beam generating means, the motor 50 serving as the rotation driving means, the optical lens 60 serving as collimating means, the mirror assembly 300 A, and the concave mirror 410 serving as the light deflecting means and the photo detecting system including the concave mirror 410 serving as the light deflecting means, the mirror assembly 300 A, the photo diode 20 serving as the element of the photo detecting means, and the motor 50 serving as the rotation driving means.

The mirror assembly 300 A includes the mirror 30 and the half-silvered mirror 80 .

As already discussed, the mirror 30 is arranged at a predetermined angle, for example, at an angle of about 45 degrees with respect to the axis of the outgoing laser beam L 0 . Further, the mirror 30 has the through-hole 32 through which the outgoing laser beam L 0 passes without any loss of the intensity thereof. Further, the mirror 30 has the reflection plate 31 that reflects the incoming laser beam L 3 toward the photo diode 20 . The outgoing laser beam L 0 transmitted by the mirror 30 to become a first outgoing laser beam L 1 , although the incoming laser beam L 3 is reflected by the mirror 30 . The first outgoing laser beam L 1 has the same axis of the outgoing laser beam L 0 after transmission by the mirror assembly 300 A. The mirror 30 is substantially formed as a plate having two surfaces. The mirror 30 has the reflection plane 31 which corresponds to one of the surfaces of the mirror 30 and the through-hole 32 . The reflection plane 31 is arranged at predetermined angle to the axis of outgoing laser beam L 0 . The through-hole 32 has a center axis thereof and pierces the mirror 30 such that the center axis of the through-hole 32 crosses a surface of the reflection plate 31 .

The mirror assembly 300 A according to the present embodiment splits the outgoing laser beam L 0 into the first outgoing laser beam L 1 and the second outgoing laser beam L 2 , as shown in FIG. 5 . The directions of the first outgoing laser beam L 1 and the second outgoing laser beam L 2 are different from each other. The first outgoing laser beam L 1 enters to the concave mirror 410 . Further, the cover case 3 is provided to house the laser diode 10 , the photo diode 20 , the mirror assembly 300 A, the optical lens 60 , and the rotary device 400 A. The cover case 3 has an optical window 4 through which the first outgoing laser beam L 1 and the incoming laser beam L 3 exits the apparatus 100 C and enters into the apparatus 100 C, respectively. The optical window 4 is covered by the transparent plate 5 such as transparent glass in order to prevent the concave mirror 410 and other elements of the apparatus 100 from being exposed to dust, as in the apparatus 100 A according to the second embodiment disclosed above.

Further, the laser radar apparatus 100 C according to the present embodiment includes the rotary device 400 A. The rotary device 400 A is arranged to be rotatable around a rotation axis which is identical with the axis of the first outgoing laser beam L 1 so that an angular scanning range in the horizontal direction can be realized to be of up to 360 degrees. The rotary device 400 A includes the concave mirror 410 that deflects the first outgoing laser beam L 1 toward the measurement range and the incoming laser beam L 3 reflected back by the object toward the mirror 30 . The concave mirror 410 corresponds to the light deflecting means.

In order to drive the rotary device 400 A to execute a continuous rotating movement, the motor 50 is provided. The motor 50 has the output shaft 51 that drives the rotary device 400 and the concave mirror 410 . The motor 50 corresponds to the rotation driving means. In order to detect the rotation angle of the motor 50 , a rotation angle sensor 52 is provided and is connected to the motor 50 .

The structure of the rotary device 400 A is different from that of the rotary device 400 disclosed in the first embodiment. That is, contrast to the case of the rotary device 400 , the rotary device 400 A used in the present embodiment includes the concave mirror 410 whose structure is different from that of the concave mirror 401 shown in FIG. 1 . The concave mirror 410 generates a projection pattern of the first outgoing light L 1 shown in FIG. 10 from the first outgoing light L 1 transmitted through the optical element 500 .

FIG. 11 is a schematic view of the rotary device 400 A used in the present embodiment.

As shown in FIG. 11 , the rotary device 400 A has the concave mirror 410 . The concave mirror 410 has the concave reflecting portion 411 that has the concave-shaped mirror surface 411 a and a flat reflecting portion 412 that has a flat mirror surface 412 a . The surface of the concave mirror 410 is covered by the flat mirror surface 412 a of the flat reflecting portion 412 and the concave-shaped mirror surface 411 a such that the flat mirror surface 412 a is enclosed by the concave-shaped mirror surface 411 a . Further the flat mirror surface 412 a is configured such that the first outgoing laser beam L 1 emitted by the laser diode 10 enters to and is reflected by the flat mirror surface 412 a . That is, the flat mirror surface 412 a of the concave mirror 410 is arranged to be coaxial with the axis of the first outgoing laser beam L 1 .

The rotary device 400 A has a rotation axis 51 a that is defined as the axis of the output shaft 51 of the motor 50 . The rotation axis 51 a is aligned with the axis of the outgoing laser beam L 0 and the first outgoing laser beam L 1 between the laser diode 10 and the concave mirror 410 . The concave reflecting portion 411 of the concave mirror 410 has a focal point on the rotation axis 51 a of the rotary device 400 A. Hence, after the incoming laser beam L 3 reflected back by the object is reflected by the concave reflecting portion 411 of the concave mirror 410 , the incoming laser beam L 3 is collected to the focal point positioned on the rotation axis 51 a.

As shown in FIG. 10 , the image of the flat reflecting portion 412 of the concave mirror 410 projected onto a plane perpendicular to the rotation axis 51 a has the shape of circle. That is, when the apparatus 100 C having the rotary device 400 A is set on the horizontal plane, the first outgoing laser beam L 1 exits from the apparatus 100 C in the horizontal direction. Thus, if a vertical plane F is prepared in the measuring range, and the first outgoing laser beam L 1 is incident on the vertical plane F, the distribution of intensity of the first outgoing laser beam L 1 has a circular shape, as shown in FIG. 10 .

Further, as shown in FIG. 9 , the laser radar apparatus 100 C according to the present embodiment includes the optical element 500 that serves as the beam transforming means. The optical element 500 is positioned on the axis of the outgoing laser beam L 0 between the laser diode 10 and the measurement range outside the apparatus 100 C.

The optical element 500 includes a transmission type diffraction grating. The outgoing laser beam L 0 is transmitted through the optical element 500 and is transformed so as to have a predetermined projection pattern that covers a larger cross sectional area than the cross sectional area of the collimated outgoing laser beam L 0 by the optical lens 60 . The incident laser beam to the optical element 500 is the laser beam of parallel rays collimated by the optical lens 60 . In the optical element 500 , the incident laser beam is dispersed such that the diameter of the outgoing laser beam L 0 is increased by its traveling through the optical element 500 . Hence the irradiated area on a target surface of the object located in the measurement range is also enlarged comparing with the case where the optical element 500 is not included.

FIG. 10 is a graph showing an exemplary projection pattern P 1 of the first outgoing light L 1 generated by the optical element 500 on the vertical plane F.

The projection pattern P 1 is obtained when the apparatus 100 C having the rotary device 400 A is set on the horizontal plane, the first outgoing laser beam L 1 exits from the apparatus 100 C in the horizontal direction. Thus, if a vertical plane F is prepared in the measuring range, and the first outgoing laser beam L 1 is incident on the vertical plane F, the distribution of intensity of the first outgoing laser beam L 1 has a circular shape, as shown in FIG. 10

In FIG. 10 , a ring-shaped projection pattern P 1 generated by the optical element 500 is shown. The ring-shaped projection pattern P 1 is drawn on a plane F perpendicular to the axis of the first outgoing laser beam L 1 after being deflected by the flat mirror surface 412 a of the flat reflecting portion 412 . The ring-shaped projection pattern P 1 includes a dark area A 1 and a bright area A 2 , wherein a greater intensity of the first outgoing laser beam L 1 shines upon the bright area A 2 than the dark area A 1 . The dark area A 1 is enclosed by the bright area A 2 . Other pattern than the ring-shaped projection pattern P 1 can be generated by utilizing known spectroscopic techniques.

In the present embodiment, the through-hole 32 has circular shaped cross section which is identical with the axis of the first outgoing laser beam L 1 , as shown in FIG. 5 . That is, if the through-hole 32 is projected to a plane perpendicular to the axis of the first outgoing laser beam L 1 , the projected image of the through-hole 32 is the circle. It is allowed that the through-hole 32 has other shaped cross section such as an ellipse shaped one or the like.

Further, the mirror assembly 300 A includes the half-silvered mirror 80 that serves as the beam splitting means. The half-silvered mirror 80 is arranged to be coaxial with the axis of the outgoing laser beam L 0 , that is, with the axis of the through-hole 32 . The mirror assembly 300 A splits the outgoing laser beam L 0 into a first outgoing laser beam L 1 and a second outgoing laser beam L 2 . The directions of the first outgoing laser beam L 1 and the second outgoing laser beam L 2 are different from each other. The first outgoing laser beam L 1 has the same optical path with the outgoing laser beam L 0 of the first embodiment. That is, the first outgoing laser beam L 1 enters to the concave mirror 401 . Hence, the feedback control operation can be performed to adjust the output intensity of the outgoing laser beam L 0 based on the detected intensity of the second laser beam L 2 by the photo diode 20 , as shown in FIG. 4 .

The laser radar apparatus 100 C according to the present embodiment has the same advantages achieved by the previous embodiments. The laser radar apparatus 100 C further has the optical element 500 positioned on the axis of the outgoing laser beam L 0 between the laser diode 10 and the measurement range. The outgoing laser beam L 0 is transmitted through the optical element 500 and is transformed so as to have a predetermined projection pattern that covers a larger cross sectional area than the cross sectional area of the collimated outgoing laser beam L 0 by the optical lens 60 . Hence, the distribution of the incoming laser beam L 3 reflected back by the object can be designed to prevent the incoming laser beam L 3 entering the through-hole 32 . Therefore, the loss or the attenuation of the incoming laser beam L 3 which was caused during traveling through the mirror assembly 300 is effectively countered.

Further, in the laser radar apparatus 100 C, the concave mirror 342 having a concave shaped surface that deflects the first outgoing laser beam L 1 emitted from the laser diode 10 toward the measurement range outside the apparatus 100 C and deflects the incoming laser beam L 3 from the object located in the measurement range, if it exists, toward the mirror 30 . Thus, the laser radar apparatus 100 C according to the present embodiment has improved the beam splitting efficiency and improved accuracy of detecting direction and the distance to an object without sacrificing the small size of the laser radar apparatus. Further, the concave mirror 410 has the flat reflecting portion 412 that has the flat mirror surface 412 a that is configured such that the outgoing laser beam L 0 emitted by the laser diode 10 enters to and is reflected by the flat mirror surface 412 a . Thus, it is possible to prevent diffusion phenomenon from occurring, when the first outgoing laser beam L 1 is deflected by the concave mirror 410 . Therefore, the laser radar apparatus 100 C has the improved beam splitting efficiency and improved accuracy of detecting direction and the distance to an object.

Further, the apparatus 100 C includes the optical element 500 positioned on the axis of the outgoing laser beam L 0 between the laser diode 10 and the through-hole 32 of the mirror assembly 300 A. In this configuration, only the outgoing laser beam L 0 enters the optical element 500 . That is, the incoming laser beam L 3 is not transmitted through the optical element 500 . Thus, the optical element 500 does not attenuate the incoming laser beam L 3 . Therefore, the laser radar apparatus 100 C has improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object.

Further, the optical element 500 includes the transmission type diffraction grating to generate the predetermined projection pattern of the outgoing laser beam L 0 . In the optical element 500 , the incident laser beam is dispersed such that the diameter of the outgoing laser beam L 0 is increased by its traveling through the optical element 500 . Hence the irradiated area on a target surface F of the object located in the measurement range is also enlarged comparing with the case where the optical element 500 is not included. Thus, the beam transforming means includes the optical element 500 . Hence, the functions of the beam transforming means can be easily and surely realized by the optical element 500 .

The predetermined projection pattern of the outgoing laser beam L 0 includes a dark area A 1 and a bright area A 2 , wherein a greater intensity of the outgoing laser beam L 0 shines upon the bright area A 2 than the dark area A 1 . Thus, the mirror assembly 300 A can reduce losses from the incoming laser beam L 3 caused by the incoming laser beam L 3 passing the through-hole 32 . Therefore, the laser radar apparatus 100 C has improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object.

Further, in the laser radar apparatus 100 C according to the present embodiment, the same advantages with the previous embodiments can be obtained.

Fifth Embodiment

Referring to FIGS. 12-13 , a laser radar apparatus 100 D according to a fifth embodiment of the present invention will be described.

FIG. 12 is a schematic view of the laser radar apparatus 100 D according to the fifth embodiment of the present invention.

In the present embodiment, the differences from the first embodiment are based on the different structure of a rotary device 400 B from the rotary device 400 A used in the fourth embodiment and the absence of an optical element 500 that serves as a beam transforming means that is included in the apparatus 100 C. The rotary device 400 B has a concave mirror 420 . Thus, detailed discussion about the constituents of the laser radar apparatuses having the same function and structure with those used in the fourth embodiment will be omitted.

As shown in FIG. 12 , the laser radar apparatus 100 D according to the present embodiment includes the mirror assembly 300 A, the control device 82 , and the memory 84 . In the present embodiment, the projection optical system includes the laser diode 10 serving as the elements of the laser beam generating means, the motor 50 serving as the rotation driving means, the optical lens 60 serving as laser beam collimating means, the mirror assembly 300 A, and the concave mirror 420 serving as the light deflecting means, and the photo detecting system includes the concave mirror 420 serving as the light deflecting means, the mirror assembly 300 A, the photo diode 20 serving as the element of the photo detecting means, and the motor 50 serving as the rotation driving means.

The mirror assembly 300 A includes the mirror 30 and the half-silvered mirror 80 .

As in the case of the first embodiment, the mirror 30 is arranged at a predetermined angle, for example, at an angle of about 45 degrees with respect to the axis of the outgoing laser beam L 0 . Further, the mirror 30 has the through-hole 32 through which the outgoing laser beam L 0 passes without any loss of the intensity thereof. Further, the mirror 30 has the reflection plate 31 that reflects the incoming laser beam L 3 toward the photo diode 20 . The outgoing laser beam L 0 is transmitted by the mirror assembly 300 A to become a first outgoing laser beam L 1 , although the incoming laser beam L 3 is reflected by the mirror 30 of the mirror assembly 300 A. The first outgoing laser beam L 1 has the same axis of the outgoing laser beam L 0 after transmission of the mirror assembly 300 A. The mirror 30 is substantially formed as a plate having two surfaces. The mirror 30 has the reflection plane 31 which corresponds to one of the surfaces of the mirror 30 and the through-hole 32 . The reflection plane 31 is arranged at predetermined angle to the axis of outgoing laser beam L 0 . The through-hole 32 has a center axis thereof and pierces the mirror 30 such that the center axis of the through-hole 32 crosses a surface of the reflection plate 31 .

The mirror assembly 300 A according to the present embodiment splits the outgoing laser beam L 0 into the first outgoing laser beam L 1 and the second outgoing laser beam L 2 . The directions of the first outgoing laser beam L 1 and the second outgoing laser beam L 2 are different from each other. The first outgoing laser beam L 1 has the same optical path with the outgoing laser beam L 0 of the first embodiment. That is, the first outgoing laser beam L 1 enters to the concave mirror 420 . Further, the cover case 3 is provided to house the laser diode 10 , the photo diode 20 , the mirror assembly 300 , the optical lens 60 , and the rotary device 400 B. The cover case 3 has an optical window 4 through which the outgoing laser beam L 0 and the incoming laser beam L 3 exits the apparatus 100 D and enters into the apparatus 100 D, respectively. The optical window 4 is covered by the transparent plate 5 such as a transparent glass in order to prevent the concave mirror 420 and other elements of the apparatus 100 from being exposed to dust, as in the apparatus 100 A according to the second embodiment disclosed above.

Further, the laser radar apparatus 100 D according to the present embodiment includes the rotary device 400 B. The rotary device 4005 is arranged to be rotatable around a rotation axis which is identical with the axis of the first outgoing laser beam L 1 so that an angular scanning range in the horizontal direction can be realized of up to 360 degrees. The rotary device 400 B includes the concave mirror 420 that deflects the first outgoing laser beam L 1 toward the measurement range and the incoming laser beam L 3 reflected back by the object toward the mirror 30 . The concave mirror 420 corresponds to light deflecting means.

In order to drive the rotary device 400 B to execute the continuous rotating movement, the motor 50 is provided. The motor 50 has the output shaft 51 that drives the rotary device 400 B and the concave mirror 420 . The motor 50 corresponds to rotation driving means. In order to detect the rotation angle of the motor 50 , a rotation angle sensor 52 is provided and is connected to the motor 50 .

The concave mirror 420 has a concave reflecting portion 421 that has a concave-shaped mirror surface 421 a and a flat reflecting portion 422 that has a flat mirror surface 422 a . The surface of the concave mirror 420 is covered by the flat mirror surface 422 a of the flat reflecting portion 422 and the concave-shaped mirror surface 421 a such that the flat mirror surface 422 a is enclosed with the concave-shaped mirror surface 421 a . Further the flat mirror surface 422 a is configured such that the first outgoing laser beam L 1 enters to and is reflected by the flat mirror surface 422 a . That is, the flat mirror surface 422 a of the concave mirror 420 is arranged to be coaxial with the axis of the first outgoing laser beam L 1 .

The rotary device 400 B has the rotation axis 51 a that is defined as the axis of the output shaft 51 of the motor 50 . The rotation axis 51 a agrees with the axis of the outgoing laser beam L 0 and the first outgoing laser beam. L 1 between the laser diode 10 and the concave mirror 420 . The concave reflecting portion 421 of the concave mirror 401 has a focal point on the rotation axis 51 a of the rotary device 400 B. Hence, after the incoming laser beam L 3 reflected back by the object is deflected by the concave reflecting portion 421 of the concave mirror 420 , the incoming laser beam L 3 is collected at the focal point positioned on the rotation axis 51 a.

Further, in the laser radar apparatus 100 D according to the present embodiment, the flat reflecting portion 422 of the concave mirror 420 includes a reflection type diffraction grating. The flat reflecting portion 422 reflects the first outgoing laser beam L 1 toward the measurement range and transforms the first outgoing laser beam L 1 so as to generate a predetermined projection pattern that covers a larger cross sectional area than the cross sectional area of the collimated outgoing laser beam L 0 by the optical lens 60 . The incident laser beam L 1 to the flat reflecting portion 422 is the laser beam of parallel rays collimated by the optical lens 60 . The incident laser beam is dispersed such that the diameter of the outgoing laser beam L 0 is increased by its reflection by the flat reflecting portion 422 .

FIG. 13 is a graph showing an exemplary projection pattern P 1 of the first outgoing light L 1 generated by the flat reflecting portion 422 including the reflection type diffraction grating.

The projection pattern P 1 is obtained when the apparatus 100 D having the rotary device 400 B is set on the horizontal plane, the first outgoing laser beam L 1 exits from the apparatus 100 D in the horizontal direction. Thus, if a vertical plane F is prepared in the measuring range, and the first outgoing laser beam L 1 is incident on the vertical plane F, the distribution of intensity of the first outgoing laser beam L 1 has a circular shape, as shown in FIG. 13

In FIG. 13 , a ring-shaped projection pattern P 1 generated by the flat reflecting portion 422 is shown. The ring-shaped projection pattern P 1 is drawn on a plane F perpendicular to the axis of the first outgoing laser beam L 1 after being deflected by the flat mirror surface 422 a of the flat reflecting portion 422 . The ring-shaped projection pattern P 1 includes a dark area A 1 and a bright area A 2 , wherein a greater intensity of the first outgoing laser beam L 1 shines upon the bright area A 2 than the dark area A 1 . The dark area A 1 is enclosed by the bright area A 2 , similar to the case shown in FIG. 10 .

The laser radar apparatus 100 D according to the present embodiment has the same advantages achieved by the previous embodiments. The laser radar apparatus 100 D further has the flat reflecting portion 422 of the concave mirror 420 including the reflection type diffraction grating. The flat reflecting portion 422 positioned on the axis of the outgoing laser beam L 0 between the laser diode 10 and the measurement range. The first outgoing laser beam L 1 is deflected by the flat reflecting portion 422 of the concave mirror 420 and is transformed so as to have a predetermined projection pattern that covers a larger cross sectional area than the cross sectional area of the collimated outgoing laser beam L 0 by the optical lens 60 . Hence, the distribution of the incoming laser beam L 3 reflected back by the object can be designed to prevent the incoming laser beam L 3 entering the through-hole 32 . Therefore, the loss or the attenuation of the incoming laser beam L 3 which was caused during traveling through the mirror assembly 300 A is effectively improved.

Further, in the laser radar apparatus 100 D, the concave mirror 442 serving as an object having a concave shaped surface reflects the outgoing laser beam L 0 emitted from the laser diode 10 toward the measurement range outside the apparatus 100 D and deflects the incoming laser beam L 3 from the object located in the measurement range, if it exists, toward the mirror 30 . Thus, the laser radar apparatus 100 D according to the present embodiment has improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object without sacrificing the small size of the laser radar apparatus. Further, the concave mirror 420 has the flat reflecting portion 422 that has the flat mirror surface 422 a that is configured such that the first outgoing laser beam L 1 emitted by the laser diode 10 and split by the half-silvered mirror 80 enters to and is reflected by the flat mirror surface 422 a . Thus, it is possible to prevent from causing beam diffusion during the outgoing laser beam L 0 being reflected by the concave mirror 420 . Therefore, the laser radar apparatus 100 D has improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object.

Further, in the present embodiment, the flat reflecting portion 422 includes the reflection type diffraction grating that transforms the laser beam to have the predetermined projection pattern. In this configuration, there is need to provide any optical element such as the optical element 500 shown in FIG. 9 between the mirror assembly 300 A and the measurement range via the concave mirror 420 . Thus, it is possible to reduce the size of the laser radar apparatus. Therefore, the laser radar apparatus 100 D according to the present embodiment has improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object without sacrificing the small size of the laser radar apparatus.

Further, the flat reflecting portion 422 includes the reflection type diffraction grating to generate the predetermined projection pattern of the first outgoing laser beam L 1 . In the flat reflecting portion 422 , the incident laser beam is dispersed such that the diameter of the outgoing laser beam L 0 is increased. Hence the irradiated area on a target surface F of the object located in the measurement range is also enlarged comparing with the case where the optical element 500 is not included. The beam transforming means includes the flat reflecting portion 422 . Therefore, the functions of the beam transforming means can be easily and surely realized by the flat reflecting portion 422 .

The predetermined projection pattern P 1 of the first outgoing laser beam L 1 includes a dark area A 1 and a bright area A 2 , wherein a greater intensity of the first outgoing laser beam L 1 shines upon the bright area A 2 than the dark area A 1 . Thus, the mirror assembly 300 A can reduce the loss of the incoming laser beam L 3 generated by the incoming laser beam L 3 passing the through-hole 32 . Therefore, the laser radar apparatus 100 D has improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object.

Further, in the laser radar apparatus 100 D according to the present embodiment, the same advantages with the previous embodiments can be obtained.

Sixth Embodiment

Referring to FIGS. 14-15 , a laser radar apparatus 100 E according to a sixth embodiment of the present invention will be described.

FIG. 14 is a schematic view of the laser radar apparatus 100 E according to the sixth embodiment of the present invention.

In the present embodiment, the differences from the fourth embodiment are based on the different structure of a rotary device 400 C from the rotary device 400 B because the rotary device 400 C includes a concave mirror 430 that is different from the concave mirror 420 . Thus, detailed discussion about the constituents of the laser radar apparatuses having the same function and structure with those used in the fourth embodiment will be omitted.

The laser radar apparatus 100 E has a rotary device 400 C having a concave mirror 430 . The concave mirror 430 has a concave reflecting portion 431 that has a concave-shaped mirror surface 431 a and a flat reflecting portion 432 that has a flat mirror surface 432 a . The reflecting portion 431 has the identical structure with the reflecting portion 421 disclosed in the fourth embodiment. The concave-shaped mirror surface 431 a of the concave reflecting portion 431 encloses the flat mirror surface 432 a of the flat reflecting portion 432 . The flat mirror surface 432 a of the flat reflecting portion 432 is positioned on the axis of the outgoing laser beam L 0 that is emitted from the laser diode 10 . In more detail, the first outgoing laser beam L 1 split by the half-silvered mirror 80 injects into the flat mirror surface 432 a.

The rotary device 400 C has a rotation axis 51 a that is defined as the axis of the output shaft 51 of the motor 50 . The rotation axis 51 a is coincident with the axis of the outgoing laser beam L 0 and the first outgoing laser beam L 1 between the laser diode 10 and the concave mirror 430 . The concave reflecting portion 431 of the concave mirror 430 has a focal point on the rotation axis 51 a of the rotary device 400 B. Hence, after the incoming laser beam L 3 reflected back by the object is deflected by the concave reflecting portion 431 of the concave mirror 430 , the incoming laser beam L 3 is collected to the focal point positioned on the rotation axis 51 a.

Further, in the laser radar apparatus 100 E according to the present embodiment, the flat reflecting portion 432 of the concave mirror 430 includes a reflection type diffraction grating. The flat reflecting portion 432 reflects the outgoing laser beam L 0 emitted from the laser diode 10 and transmitted through the half-silvered mirror 80 toward the measurement range and transforms the outgoing laser beam L 0 so as to generate a predetermined projection pattern that covers a larger cross sectional area than the cross sectional area of the collimated outgoing laser beam L 0 by the optical lens 60 . The incident laser beam to the flat reflecting portion 432 is the laser beam of parallel rays collimated by the optical lens 60 . The incident laser beam is dispersed such that the diameter of the first outgoing laser beam L 1 is increased by its deflection by the flat reflecting portion 432 .

FIG. 15 is a graph showing an exemplary projection pattern P 2 of the first outgoing light L 1 generated by the flat reflecting portion 432 including the reflection type diffraction grating. The projection pattern P 2 is different form the projection pattern P 1 .

The projection pattern P 2 is obtained when the apparatus 100 E having the rotary device 400 C is set on the horizontal plane, the first outgoing laser beam L 1 exits from the apparatus 100 E in the horizontal direction. Thus, if a vertical plane F is prepared in the measuring range, and the first outgoing laser beam L 1 is incident on the vertical plane F, the distribution of intensity of the first outgoing laser beam L 1 has a rectangular shape, as shown in FIG. 15 .

As shown in FIG. 15 , the projection pattern P 2 has three rectangular areas in a vertical direction parallel to the rotation axis 51 a . Thus, the projection pattern P 2 has the shape of a long narrow rectangle having a longer edge and a shorter edge. That is, the projection pattern P 2 has a dark area A 3 and a pair of bright areas A 4 . The dark area A 3 is sandwiched between the pair of the bright areas A 4 . The length of the longer edge W 1 is longer than the length of the shorter edge W 2 , as shown in FIG. 15 .

In the laser radar apparatus 100 E according to the present embodiment, the same advantages with the fifth embodiment can be obtained. Further, the flat reflecting portion 432 transforms the incident laser beam to have the projection pattern P 2 . The projection pattern P 2 has the pair of the bright areas A 4 and the dark area A 3 that is sandwiched between the pair of the bright areas A 4 . Thus, the mirror assembly 300 A can reduce the loss of the incoming laser beam L 3 generated by the incoming laser beam L 3 injecting the through-hole 32 . Therefore, the laser radar apparatus 100 E has improved beam splitting efficiency and improved accuracy of detecting the direction and the distance to an object.

Further, the projection pattern P 2 has the shape of a long narrow rectangle having the longer edge parallel to the rotation axis 51 a , and has a pair of the bright areas A 4 that sandwich the dark area A 3 in the direction parallel to the rotation axis 51 a . Thus, it is possible to improve the resolution of the direction of the object.

Modification of the Embodiments

While the present invention has been disclosed in terms of the preferred embodiment in order to facilitate a better understanding thereof, it should be appreciated that the invention can be embodied in various ways without departing from the principle of the invention.

For example, in the first and second embodiments, the optical lens 60 is provided between the laser diode 10 and the mirror 30 . The optical lens 60 corresponds to collimating means. However, it is possible to remove the optical lens 60 . In this case, the outgoing laser beam L 0 is diffusive and passes through the through-hole 32 . Further, it is preferable that the optical lens 60 includes a collector lens.

Further, in the first and second embodiments, the through-hole 32 of the mirror is designed such that the projected image of the through-hole 32 has a circular shape, if the through-hole 32 is projected to a plane perpendicular to the axis of the outgoing laser beam L 0 . However, it is allowed that the projected image of the through-hole 32 has the rectangular shape and others.

Further, in the second embodiment, both the second outgoing laser beam L 2 and the incoming laser beam L 3 are detected by the photo diode 20 . However, it is preferable that there are two photo diodes, one is used to detect the second outgoing laser beam L 2 and the other is used to detect the incoming laser beam L 3 . In this case, if a dispersion means may be useful if it is provided between the mirror assembly 300 A and the photo diode 20 .

Further, in the third embodiment, both the first cover member 92 having the first slit 93 and the second cover member 95 having the second slit 96 is included to the apparatus. However, it is allowed that only one of the first and second cover members 92 , 96 is included. Further the slits 93 , 96 are covered by a filter that adapts to transmit only laser beams.

In the third embodiment, the slits 93 , 96 are formed in the shape of circle. However, the shape of the slits is not limited to circular one. Other shapes such as a polygon may be acceptable.

Moreover, it is possible that the laser radar apparatuses in the second, fourth, fifth, and sixth embodiments further include the first cover member 92 having the first slit 93 and the second cover member 95 which are disclosed in the third embodiment.

In the fourth, fifth, and sixth embodiments, the mirror assembly 300 A includes the half-silvered mirror 80 . However, it is allowed that the mirror assembly 300 A does not include the half-silvered mirror 80 .