SENSOR DEVICE

A sensor device includes: a light-emitting section that outputs light to a first mirror or a second mirror, the second mirror facing the first mirror and being configured to change an orientation with respect to the first mirror; and a light-receiving section that receives reflection light, reflected from the first mirror and the second mirror, of the light outputted from the light-emitting section.

TECHNICAL FIELD

The present disclosure relates to a sensor device.

BACKGROUND ART

Recently, a sensor has been proposed that detects a magnitude of an external force applied to an object in various methods (for example, see Patent Literature 1). For example, a sensor has been proposed that detects a magnitude of an external force applied to an object by optically or electromagnetically detecting a deformation of the object.

CITATION LIST

Patent Literature

Patent Literature 1: Japanese Unexamined Patent Application Publication No. H10-274573

SUMMARY OF THE INVENTION

It is desirable that a sensor device used to detect an external force applied to an object or to detect a deformation of the object by the external force be high in sensitivity and high in rigidity.

Accordingly, it is desirable to provide a sensor device that is high in sensitivity and high in rigidity.

A sensor device according to one embodiment of the present disclosure includes: a light-emitting section that outputs light to a first mirror or a second mirror, the second mirror facing the first mirror and being configured to change an orientation with respect to the first mirror; and a light-receiving section that receives reflection light, reflected from the first mirror and the second mirror, of the light outputted from the light-emitting section.

According to the sensor device of one embodiment of the present disclosure, between the first mirror and the second mirror that faces the first mirror and is configured to change the orientation with respect to the first mirror, the light is outputted from the light-emitting section, and the reflection light, reflected from the first mirror and the second mirror, of the light outputted from the light-emitting section is received by the light-receiving section. Thus, it is possible to make long a light path length from the light-emitting section to the light-receiving section by, for example, a multiple reflection between the first mirror and the second mirror. Hence, it is possible to increase a displacement of a light-receiving position in the light-receiving section resulting from a displacement of the second mirror, without increasing a distance between the first mirror and the second mirror.

MODES FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. The embodiments to be described below are concrete examples of the present disclosure, and a technique according to the present disclosure is not limited to the following embodiments. In addition, the arrangement, the dimensions, the dimensional ratios, and the like of the respective components of the present disclosure are not limited to the embodiments illustrated in the respective drawings.

It should be noted that the description will be given in the following order.1. First Embodiment

1.1. Basic Configuration

1.2. Workings and Effects

1.3. Modification Examples

1. FIRST EMBODIMENT

1.1. BASIC CONFIGURATION

First, a basic configuration of a sensor device1according to a first embodiment of the present disclosure will be described with reference toFIG. 1.FIG. 1is an explanatory diagram schematically illustrating a basic configuration of the sensor device1according to the first embodiment of the present disclosure.

Referring toFIG. 1, the sensor device1according to the present embodiment includes a light-emitting section21and a light-receiving section22. The light-emitting section21and the light-receiving section22are provided on respective end part sides of a first mirror11and a second mirror12that face each other. For example, the light-emitting section21may be provided at an end part of one of the first mirror11and the second mirror12, and the light-receiving section22may be provided at the other end part that is on an opposite side of the end part of one of the first mirror11and the second mirror12. The sensor device1may be provided as a sensor that includes the light-emitting section21and the light-receiving section22as described above and does not include the first mirror11and the second mirror12, or as a sensor that includes the light-emitting section21, the light-receiving section22, the first mirror11, and the second mirror12.

Light30outputted from the light-emitting section21is reflected multiple times back and forth between the first mirror11and the second mirror12that face each other, following which the light30is received by the light-receiving section22. It is possible for the sensor device1according to the present embodiment to detect an external force applied to the sensor device1by detecting a displacement of a light-receiving position of the light in the light-receiving section22.

The first mirror11and the second mirror12are a pair of reflection mirrors so provided as to face each other. Specifically, the first mirror11and the second mirror12may be so provided as to have a longitudinal shape that extends in the same one direction as each other. For example, the first mirror11and the second mirror12may be so provided as to have a longitudinal shape that extends on a side in a direction in which the light30from the light-emitting section21is outputted. With this configuration, it is possible for the first mirror11and the second mirror12to cause the light30to be subjected to a multiple reflection continuously in a mutually-opposing space. The first mirror11and the second mirror12may be provided as a configuration of the sensor device1or may be provided as a separate configuration from the sensor device1.

The first mirror11functions as a reference member for detecting the external force applied to the sensor device1, and is fixed in position and orientation. On the other hand, the second mirror12functions as a detection member that detects the external force applied to the sensor device1, and is configured to change an orientation with respect to the first mirror. Specifically, a strain-causing member or the like that deforms in accordance with a magnitude of the external force applied to the sensor device1is coupled to the second mirror12, and the second mirror12is configured to change the orientation with respect to the first mirror11in accordance with a deformation of the strain-causing member. With this configuration, it is possible for the second mirror to change a light path and a reflection position of the light30having been subjected to the multiple reflection between the first mirror11and the second mirror12by changing the orientation with respect to the first mirror11in accordance with the external force applied to the sensor device1. Accordingly, it is possible for the sensor device1according to the present embodiment to detect the magnitude of the external force applied to the sensor device1as the displacement of the light-receiving position of the light-receiving section22via the strain-causing member and the second mirror12.

The light-emitting section21includes a light source that emits light belonging to any wavelength band and outputs the light30toward one of the first mirror11and the second mirror12. For example, the light-emitting section21may include LED (Light Emitting Diode) light source that emits light of a color that belongs to a visible-light band, an infrared LED light source, or a laser light source. The LED light source or the infrared LED light source is easy to handle and inexpensive, making it possible to reduce manufacturing costs of the sensor device1. The laser light source is difficult to handle because it is difficult to adjust the light path by the first mirror11and the second mirror12and easily generates a heat, but it is easy to detect a light spot, making it possible to further improve a sensitivity and an accuracy of the sensor device1.

The light-receiving section22includes a sensor that makes it possible to detect the light30outputted from the light-emitting section21, and receives the light30having been subjected to the multiple reflection by the first mirror11and the second mirror12. For example, the light-receiving section22may include an RGB (Red, Green, Blue) camera, an infrared camera, an event camera, or a light position sensor (Position Sensitive Detector: PSD). The RGB camera or the infrared camera is a so-called imaging device, and it is possible to easily detect a light-receiving position of the light30. The event camera is a sensor that detects a change in luminance and outputs the detected change in the luminance The event camera outputs only data of a pixel in which a luminance has changed, making it possible to detect the light30outputted from the light-emitting section21at an extremely high frame rate.

The light-emitting section21and the light-receiving section22may be provided on the same side with respect to the first mirror11and the second mirror12. In such a case, in the sensor device1, it is possible to dispose a power wiring line, a signal wiring line, etc., to the light-emitting section21and the light-receiving section22collectively on the same side, and thereby to further simply a structure of the sensor device1. For example, the light-emitting section21and the light-receiving section22may be provided on a side on which the first mirror11is present. Because the light-emitting section21and the light-receiving section22are configurations related to sensing of the sensor device1, it is possible to improve an accuracy of the sensing in the sensor device1by providing the light-emitting section21and the light-receiving section22on the first mirror11side whose position is fixed. In addition, in a case where the light-emitting section21and the light-receiving section22are provided on the first mirror11side, it is possible to avoid a risk of a stress that acts on the second mirror12, which is detection member, resulting from the wiring lines for the light-emitting section21and the light-receiving section22.

Although not illustrated, the sensor device1according to the present embodiment may include a force detecting section that detects the magnitude of the external force applied to the sensor device1on the basis of the displacement of the light-receiving position of the light in the light-receiving section22. For example, the force detecting section may derive a deformation amount of the strain-causing member coupled to the second mirror12using a reflection model, to the light-receiving section22, of the light30outputted from the light-emitting section21, and may derive the magnitude of the external force applied to the sensor device1from the deformation amount of the strain-causing member. Alternatively, the force detecting section may derive the magnitude of the external force applied to the sensor device1by performing a calibration on the basis of a displacement amount of the light-receiving position of the light30in the light-receiving section22at the time when a predetermined external force is applied to the sensor device1. It should be noted that the force detecting section may be provided outside the sensor device1.

It should be noted that the sensor device1according to the present embodiment may be provided as, for example, MEMS (Micro Electro Mechanical Systems) or a semiconductor device. With this configuration, it is possible for the sensor device1according to the present embodiment to achieve a miniaturization more easily.

1.2. WORKINGS AND EFFECTS

Next, referring toFIG. 2toFIG. 4B, workings and effects of the sensor device1according to the present embodiment will be described. First, referring toFIG. 2, a detection principle of an optical strain sensor will be described.FIG. 2is a schematic diagram illustrating a detection principle of the optical strain sensor.

It is possible for the optical strain sensor to detect a strain or a deformation of a strain-causing member by applying light to the strain-causing member that causes the strain or the deformation by an external force and detecting a position of the light reflected by the strain-causing member. It is also possible for the optical strain sensor to determine the external force applied to the strain-causing member from a magnitude of the strain or the deformation of the strain-causing member.

For example, as illustrated inFIG. 2, the second mirror12is provided to pivot relative to the first mirror11by the strain or the deformation of the strain-causing member to which the external force is applied. In such a case, in a case where the second mirror12is rotated leftward by the strain or the deformation of the strain-causing member, the light30reflected by the second mirror12is received by the light-receiving section22at a position more away from the light-emitting section21. On the other hand, in a case where the second mirror12is rotated rightward by the strain or the deformation of the strain-causing member, the light30reflected by the second mirror12is received by the light-receiving section22at a position closer to the light-emitting section21.

Here, in order to detect the pivot of the second mirror12with high sensitivity, it is important to increase a displacement of the position at which the light30reflected by the second mirror12is received by the light-receiving section22.

For example, in a case where the second mirror12is rotated at an angle θ with respect to the first mirror11, an angle at which the light30incident on the second mirror12is to be reflected by the second mirror is changed by 2θ. Accordingly, when the light30reflected by the second mirror12reaches the light-receiving section22, the light-receiving position of the light30in the light-receiving section22is displaced by a distance in which a distance between the first mirror11and the second mirror12is multiplied by sin 2θ. That is, it is possible to increase the displacement of the light-receiving position of the light30in the light-receiving section22as the distance between the first mirror11and the second mirror12(i.e., a light path length from the light-emitting section21to the light-receiving section22) is increased.

However, increasing the distance between the first mirror11and the second mirror12leads to an increase in a size of the sensor device1, which increases a load of a device on which the sensor device1is to be mounted.

Accordingly, the sensor device1according to the present embodiment extends the light path length from the light-emitting section21to the light-receiving section22by causing the light30to be subjected to the multiple reflection between the first mirror11and the second mirror12. With this configuration, it is possible for the sensor device1according to the present embodiment to detect the deformation of the strain-causing member with high sensitivity even with a smaller structure.

Hereinafter, an amplification of the displacement by the multiple reflection between the first mirror11and the second mirror12will be described with reference toFIGS. 3A to 3D.FIG. 3Ais a schematic diagram illustrating an entrance path of the light30from the light-emitting section21to the light-receiving section22in a case of no reflection.FIG. 3Bis a schematic diagram illustrating an entrance path of the light30from the light-emitting section21to the light-receiving section22in a case of one-time reflection.FIG. 3Cis a schematic diagram illustrating an entrance path of the light30from the light-emitting section21to the light-receiving section22in a case of two times reflection.FIG. 3Dis a schematic diagram illustrating an entrance path of the light30from the light-emitting section21to the light-receiving section22in a case of three times reflection.

InFIG. 3A, it is assumed that the second mirror12is pivoted with respect to the first mirror11at the angle θ about a midpoint between the light-emitting section21provided on the first mirror11and the light-receiving section22provided on the second mirror12. Further, inFIG. 3BtoFIG. 3D, it is assumed that the second mirror12is pivoted with respect to the first mirror11at the angle θ, with reference to the case where the light30outputted from the light-emitting section21is incident perpendicularly on the second mirror12.

As illustrated inFIG. 3A, the second mirror12is rotated by the angle θ in the case of no reflection. Accordingly, in the light-receiving section22present at a position of a radius R from the pivot center of the second mirror12, the light-receiving position is displaced by R sin θ in response to the pivot of the second mirror12.

On the other hand, as illustrated inFIG. 3B, the light30from the light-emitting section21is reflected at the angle 2θ by the second mirror12in the case of one-time reflection. Accordingly, in the light-receiving section22provided on the first mirror11side, the light-receiving position of the light30is displaced by L sin(2θ) (where L≈2R) as compared with a case where the light30outputted from the light-emitting section21is reflected perpendicularly by the second mirror12. In a case where θ is sufficiently small, it is possible to consider sin θ to be substantially equal to θ; accordingly, the displacement amount of the light-receiving position in the light-receiving section22in the case of one-time reflection is about 4 times the displacement amount (R sin θ) of the case of no reflection.

In addition, as illustrated inFIG. 3C, in the case of two times reflection, the light30outputted from the light-emitting section21is sequentially reflected by the second mirror12and the first mirror11and enters the light-receiving section22as with the cases illustrated inFIGS. 3A and 3B. Because the light-receiving position of the light30in the light-receiving section22at this time is considered to be the addition of the case illustrated inFIG. 3Aand the case illustrated inFIG. 3B, the light-receiving position of the light30is displaced by R sin θ+2 L sin(2θ). Accordingly, the displacement amount of the light-receiving position in the light-receiving section22in the case of two times reflection is about 9 times the displacement amount (R sin θ) of the case of no reflection.

Further, as illustrated inFIG. 3D, in the case of three times reflection, the light outputted from the light-emitting section21is sequentially reflected by the second mirror12, the first mirror11, and the second mirror12and enters the light-receiving section22as with the cases illustrated inFIGS. 3A to 3C. Because the light-receiving position of the light30in the light-receiving section22at this time is considered to be the addition of two times of the case illustrated inFIG. 3B, the light-receiving position of the light30is displaced 2 L sin(2θ)+L sin(4θ) in consideration of an increase in an incidence angle due to the increase in the number of reflections. Accordingly, the displacement amount of the light-receiving position in the light-receiving section22in the case of three times reflection is about 16 times the displacement amount (R sin θ) of the case of no reflection.

In this way, the light-receiving position in the light-receiving section22of the light outputted from the light-emitting section21is amplified by a magnification of (N+1)2, depending on the number of reflections N between the first mirror11and the second mirror12. Hence, it is possible for the sensor device1according to the present embodiment to make long the light path length from the light-emitting section21to the light-receiving section22without increasing the size of the device by using the multiple reflection between the first mirror11and the second mirror12.

Described now, with reference toFIGS. 4A and 4B, is an image of the increase in the displacement amount of the reflection position by the multiple reflection.FIGS. 4A and 4Bare each a schematic diagram illustrating the reflection position of the reflection light31at the first mirror11and the second mirror12that face each other.FIG. 4Aillustrates an image of the reflection light31in a case where the second mirror12is directly opposite (i.e., not tilted) to the first mirror11, andFIG. 4Billustrates an image of the reflection light31in a case where the second mirror12is tilted rightward in such a manner as to be directly opposite to the drawing.

InFIGS. 4A and 4B, the light-emitting section21is provided on the near side in such a manner as to be directly opposite to the drawing, and the light-receiving section22is provided on the back side in such a manner as to be directly opposite to the drawing. Accordingly, inFIGS. 4A and 4B, the reflection light31of the reflection position on the back side directly opposite to the drawing is larger in the number of reflections than the reflection light31of the reflection position on the near side.

As illustrated inFIG. 4A, in a case where the second mirror12is directly opposite (i.e., not tilted) to the first mirror11, the reflection position of the reflection light31on the first mirror11is present on a substantially straight line. On the other hand, as illustrated inFIG. 4B, the reflection position of the reflection light31on the first mirror11is displaced on a curved line that is curved rightward in a case where a load is so applied that the second mirror12is tilted rightward. That is, it can be seen inFIG. 4Bthat the reflection light31of the reflection position on the back side directly opposite to the drawing is displaced more than the reflection light31of the reflection position on the near side, with respect to the reflection position of the reflection light31illustrated inFIG. 4A.

Accordingly, it is possible for the sensor device1according to the present embodiment to increase the displacement amount of the position of the light to be detected by the light-receiving section22by using the multiple reflection between the first mirror11and the second mirror12. With this configuration, it is possible for the sensor device1according to the present embodiment to improve the sensitivity and the accuracy of the sensing with respect to the strain or the deformation of the strain-causing member without increasing the size of structure. Hence, it is also possible for the sensor device1according to the present embodiment to detect the external force applied to the strain-causing member with higher sensitivity and higher accuracy.

It is possible for the sensor device1according to the present embodiment to detect the smaller strain or the smaller deformation of the strain-causing member, allowing the strain-causing member to be formed by a higher rigidity material or structure. Accordingly, the sensor device1allows for high rigidity and thus allows for an attachment suitably to a part close to a base of a robot arm in which supporting of a large mass is demanded, or to a ground-connected part of a leg of a robot to which a large external force is to be applied, or to an end effector part of the robot arm.

1.3. MODIFICATION EXAMPLES

Next, modification examples of the sensor device1according to the present embodiment will be described with reference toFIGS. 5A to 5C, etc.

Referring toFIGS. 5A to 5C, in the sensor device1according to the present embodiment, it is possible for the first mirror11and the second mirror12to take various forms other than the flat plate having the longitudinal shape that extends in one direction.FIGS. 5A to 5Care each a schematic diagram illustrating a modification example of the first mirror11or the second mirror12.

For example, as illustrated inFIG. 5A, a second mirror12A may be so provided as to have a shape in which a portion of the flat plate shape is bent. Specifically, the second mirror12A may be provided to have a bent flat plate shape such that a distance between the first mirror11and the second mirror12A is wider on the light-receiving section22side, with a straight line orthogonal to an array direction of the light-emitting section21and the light-receiving section22being a folding line.

In addition, as illustrated inFIG. 5B, a second mirror12B may be so provided as to have a curved shape in which a reflection surface becomes a curved surface. Specifically, the second mirror12B may be provided to have a curved flat plate shape such that a distance between the first mirror11and the second mirror12A is wider on the light-receiving section22side.

Further, as illustrated inFIG. 5C, a second mirror12C may be configured by a plurality of division mirrors12C1and12C2each having a flat plate shape. Specifically, the second mirror12C may be configured by the division mirrors12C1and12C2that have the flat plate shapes and pivot in conjunction with each other with respect to the first mirror11. In addition, the division mirror12C2provided more on the light-receiving section22side than the division mirror12C1may be provided farther from the first mirror11than the division mirror12C1such that a distance between the first mirror11and the second mirror12A is wider on the light-receiving section22side.

According to the modification examples illustrated inFIGS. 5A to 5C, it is possible for the sensor device1to increase the light path length of the light30outputted from the light-emitting section21by partially increasing the distance between the first mirror11and the second mirror12. Thus, it is possible for the sensor device1to make greater the displacement amount of the light-receiving position in the light-receiving section22. In particular, by increasing the distance between the first mirror11and the second mirror12on the side distant from the light-emitting section21, it is possible to make greater the displacement amount of the light-receiving position in the light-receiving section22.

The modification examples illustrated inFIGS. 5A to 5Care modification examples of partially increasing the distance between the first mirror11and the second mirror12, for example, by effectively utilizing a space in a case where the space in which the first mirror11and the second mirror12are provided is limited. With this configuration, it is possible for the sensor device1to further improve the sensitivity and the accuracy of the sensing by making greater the displacement amount of the light-receiving position in the light-receiving section22.

Further, in the sensor device1according to the present embodiment, it is also possible for the light-emitting section21to include a plurality of light sources. By including the plurality of light sources, it is possible to for the light-emitting section21to improve the sensitivity and the accuracy of the sensor device1and to improve a resistance to a failure of a light source.

The light-emitting section21may include a plurality of light sources that outputs pieces of light belonging to different wavelength bands. With this configuration, it is possible for the sensor device1to detect a state of the second mirror12with higher accuracy by detecting the light30belonging to the different wavelength bands by the light-receiving section22. In particular, it is possible for the sensor device1to detect a positional relationship between the first mirror11and the second mirror12with higher accuracy immediately after the activation of the device.

For example, the light source included in the light-emitting section21may be configured to adjust a light amount of the light30to be outputted. Specifically, the light-emitting section21may be provided with a control circuit or a variable resistor for adjusting the light amount of the light30to be outputted from the light source. With this configuration, it becomes possible for the sensor device1to optimize the light amount of the light30to be outputted from the light-emitting section21in response to a magnitude and a light amount of the light30to be received by the light-receiving section22. Accordingly, for example, in a case where respective light spots of the light30having been subjected to the multiple reflection by the first mirror11and the second mirror12are large and it is difficult to separate them from each other, it is possible to reduce the light amount of the light30to be outputted from the light-emitting section21. In addition, in a case where the light amount of the light30received by the light-receiving section22is too small, it is possible to increase the light amount of the light30to be outputted from the light-emitting section21.

Further, in the sensor device1according to the present embodiment, it is also possible for the light-receiving section22to include a plurality of sensors.

For example, the light-receiving section22may include a plurality of RGB cameras (such as CMOS image sensors). With this configuration, it is possible for the sensor device1to detect reflection light in a wider range by carrying out imaging of different regions by the plurality of RGB cameras. Alternatively, it is also possible for the sensor device1to detect the reflection light with higher accuracy by carrying out imaging of the same region by the plurality of RGB cameras.

For example, the light-receiving section22may include various different types of sensors, including the RGB camera and the event camera. With this configuration, it is possible for the sensor device1to perform a division of roles for respective sensors, like performing the calibration immediately after the activation or periodically by the RGB camera and performing the detection of the reflection light upon the sensing by the event camera.

It should be noted that the light-receiving section22may include only the event camera. Because the event camera is a sensor that detects a change in luminance and outputs the detected change in the luminance, it is possible to detect stationary states of the first mirror11and the second mirror12by blinking the light source of the light-emitting section21.

Further, the sensor device1may include a mechanism for maintaining an overall temperature constant. For example, in a case where a temperature of the sensor device1fluctuates due to a heat generation from the light-emitting section21, the distance between the first mirror11and the second mirror12can possibly fluctuate due to a thermal expansion and the light-receiving position of the light30in the light-receiving section22can possibly fluctuate. Accordingly, the sensor device1may include the mechanism for maintaining the overall temperature constant to improve the accuracy and a stability of the sensing. In such a case, it is preferable that the mechanism for maintaining the temperature constant be provided for each of the first mirror11and the second mirror12.

1.4. CONCRETE EXAMPLES

First Concrete Example

Next, a first concrete example of the sensor device1according to the present embodiment will be described with reference toFIGS. 6A to 9.FIGS. 6A and 6Bare each a schematic diagram illustrating one mode of the first concrete example of the sensor device1.FIGS. 7 to 9are each a perspective diagram illustrating a detailed configuration of the first concrete example of the sensor device1. The first concrete example of the sensor device1is a concrete example of a case where the sensor device1is used as a torque sensor.

Referring toFIG. 6A, as one mode of the first concrete example, a sensor device100A may be configured by, for example, an outer wheel section141, an inner wheel section142, a strain-causing member section150, a first mirror111, a second mirror112, a light-emitting section121, and a light-receiving section222.

The outer wheel section141and the inner wheel section142are each provided to have a circular shape of a concentric circle. The inner wheel section142has the circular shape whose diameter is smaller than that of the outer wheel section141, and is coupled to the outer wheel section141via the strain-causing member section150that extends in a radial direction of the circular shape. The strain-causing member section150is provided as a member that is easily deformed as compared with the outer wheel section141and the inner wheel section142, and deforms when a torque in which the center of the circular shape is a rotation axis is applied to the outer wheel section141or the inner wheel section142.

The first mirror111is provided to extend, for example, from the inner wheel section142to the outer wheel section141. The second mirror112is provided to extend from the outer wheel section141to the inner wheel section142in such a manner as to face the first mirror111. The light-emitting section121is provided at an end part on the inner wheel section142side of the first mirror111, and the light-receiving section222is provided at an end part on the outer wheel section141side of the first mirror111. The light outputted from the light-emitting section121is subjected to the multiple reflection by the first mirror111and the second mirror112that face each other, following which the light is received by the light-receiving section222. In a case where the light-emitting section121is provided on the inner wheel section142side and the light-receiving section222is provided on the outer wheel section141side, it is possible for the sensor device100A to make greater the displacement amount of the light-receiving position of the light in the light-receiving section222.

In the sensor device100A, for example, in a case where the torque in which the center of the circular shape of the inner wheel section142is the rotation axis is applied to the inner wheel section142, the strain-causing member section150is deformed to change an angle of the second mirror112with respect to the first mirror111. This changes the light-receiving position of the light from the light-emitting section121in the light-receiving section222, making it possible for the sensor device100A to detect the torque applied to the inner wheel section142. The sensor device100A does not involve a change in the distance of the second mirror112with respect to the first mirror111by the deformation of the strain-causing member section150, and thus makes it possible to prevent the distance between the first mirror111and the second mirror112from being shifted from a focal distance of a laser light source in a case where the light-emitting section121includes the laser light source.

In addition, referring toFIG. 6B, as another mode of the first concrete example, a sensor device100B may be configured by, for example, the outer wheel section141, the inner wheel section142, a protrusion section143, the strain-causing member section150, the first mirror111, the second mirror112, the light-emitting section121, and the light-receiving section222.

The outer wheel section141and the inner wheel section142are each provided to have the circular shape of the concentric circle. The inner wheel section142has the circular shape whose diameter is smaller than that of the outer wheel section141, and is coupled to the outer wheel section141via the strain-causing member section150that extends in the radial direction of the circular shape. The strain-causing member section150is provided as the member that is easily deformed as compared with the outer wheel section141and the inner wheel section142, and deforms when the torque in which the center of the circular shape is the rotation axis is applied to the outer wheel section141or the inner wheel section142.

The second mirror112is so provided, for example, as to connect, with a plane, two points of a circular arc of the outer wheel section141. The first mirror111is so provided as to face the second mirror112at a tip of the protrusion section143that protrudes from the inner wheel section142to the outer wheel section141in a radial direction of the inner wheel section142. The light-emitting section121is provided at one end part of the first mirror111and the light-receiving section222is provided at the other end part of the first mirror111. The light outputted from the light-emitting section121is subjected to the multiple reflection by the first mirror111and the second mirror112that face each other, following which the light is received by the light-receiving section222.

In the sensor device100B, for example, in a case where the torque in which the center of the inner wheel section142is the rotation axis is applied to the inner wheel section142, the strain-causing member section150is deformed to change an angle and a distance of the second mirror112with respect to the first mirror111. This changes the light-receiving position of the light from the light-emitting section121in the light-receiving section222, making it possible for the sensor device100B to detect the torque applied to the inner wheel section142. It is possible for the sensor device100B to change the angle and the distance of the second mirror112with respect to the first mirror111by the deformation of the strain-causing member section150, making it possible to further improve the sensitivity of the sensing.

Further, referring toFIG. 7, as a detailed configuration of the first concrete example, a sensor device1000may be configured by, for example, a base side attachment section1410, a tip side attachment section1420, a strain-causing member section1500, a protrusion section1430, and a sensing section1100.

The base side attachment section1410is provided to have a circular shape, and is attached to one part of a target object of the sensing by a screw or the like. The tip side attachment section1420is provided at the center of the circular shape of the base side attachment section1410, and is attached to the other part of the target object of the sensing by a screw or the like. The strain-causing member section1500is provided as a beam-shaped structure that couples the tip side attachment section1420and the base side attachment section1410. The strain-causing member section1500is provided as a member that is easily deformed as compared with the tip side attachment section1420and the base side attachment section1410. The deformation of the strain-causing member section1500changes an angle between the tip side attachment section1420and the base side attachment section1410.

The sensing section1100includes: a first mirror1111provided on the base side attachment section1410; a second mirror1112provided at a tip of the protrusion section1430that protrudes from the tip side attachment section1420to the base side attachment section1410; and an unillustrated light-emitting section and an unillustrated light-receiving section that are provided inside the base side attachment section1410. A configuration of the sensing section1100will be described with reference toFIG. 8.FIG. 8is a perspective diagram illustrating the sensing section1100ofFIG. 7in a partial cross section.

Referring toFIG. 8, the first mirror1111is provided along an inner circumferential surface of the circular shape of the base side attachment section1410. Further, a light-emitting section1121includes a light source such as LED, and is provided inside the base side attachment section1410. A light-receiving section1122includes an imaging device such as a CMOS image sensor, and is provided inside the base side attachment section1410on an opposite side of the light-emitting section1121with the first mirror1111interposed therebetween. The second mirror1112is coupled to the tip side attachment section1420via a protrusion section1130, and is so provided as to face the first mirror1111, the light-emitting section1121, and the light-receiving section1222. The light outputted from the light-emitting section1121to the second mirror1112is reflected mutually between the second mirror1112and the first mirror1111, following which the light is received by the light-receiving section1222.

In the sensor device1000, for example, in a case where a torque in which the center of the circular shape of the base side attachment section1410is a rotation axis is applied to the tip side attachment section1420, the strain-causing member section1500having the beam-shaped structure that couples the base side attachment section1410and the tip side attachment section1420is deformed. Thus, an angle between the first mirror1111provided at the base side attachment section1410and the second mirror1112provided at the tip side attachment section1420changes, whereby a displacement of the light-receiving position of the light having been subjected to the multiple reflection therebetween is detected by the light-receiving section1222. Hence, it is possible for the sensor device1000to detect the torque applied to the tip side attachment section1420.

It is to be noted that, in a case where the number of reflections of the light between the first mirror1111and the second mirror1112is large, there is a possibility that it is not possible to separate respective light spots of the reflection light from each other because a distance between the respective light spots of reflection light becomes small. For example, in a case where the respective light spots of the reflection light are present on a substantially straight line as illustrated inFIG. 4A, the distance between the respective light spots of the reflection light tends to become small, and there is a possibility that it is not possible to separate the respective light spots of the reflection light from each other as described above accordingly. On the other hand, in a case where the respective light spots of the reflection light are present on a curved line as illustrated inFIG. 4B, the distance between the respective light spots of the reflection light tends to become large, and the respective light spots of the reflection light are highly likely to be separated from each other accordingly.

Accordingly, for example, so providing the first mirror1111and the second mirror1112as to be inclined with respect to each other in a perpendicular direction with respect to a direction in which the multiple reflection of the light proceeds makes it possible to cause the respective light spots of the reflection light to be present on the curved line as illustrated inFIG. 4B. With this configuration, it is possible for the sensor device1000to suppress the decrease in the detection sensitivity resulting from the mutual overlapping of the respective light spots of the reflection light.

In addition, it is possible for the sensor device1000to improve the sensitivity or the accuracy of the sensing by further providing another configuration on the light-receiving section1222.

For example, referring toFIG. 9, in the sensor device1000, a half mirror1123may be provided on the light-receiving section1222. The half mirror1123is an optical element that, for example, reflects a portion of the incident light (e.g., about 50%), and allows the remaining part of the incident light to transmit therethrough. For example, in a case where the light-receiving section1222is large, a region in which the first mirror1111is provided is reduced and there is a possibility that the number of reflections between the first mirror1111and the second mirror1112is reduced. Providing the half mirror1123on the light-receiving section1222makes it possible to further reflect the light between the half mirror1123and the second mirror1112while causing the light to enter the light-receiving section1222. With this configuration, it is possible for the sensor device1000to secure the number of reflections of the multiple reflection regardless of a size and a position of the light-receiving section1222.

Further, in the sensor device1000, a magnifying glass may be provided on the light-receiving section1222. The magnifying glass makes it possible to improve a sensitivity to a light spot group of the light to be detected by the light-receiving section1222by enlarging the light spot group of the light reflected by the second mirror1112. However, in a case where the light spot group of the light reflected by the second mirror1112is enlarged by the magnifying glass, sizes of the respective light spots are enlarged, increasing the possibility that the respective light spots are not separated from each other. In such a case, the light-receiving section122may detect only a portion of the second mirror1112to prevent the respective light spots from becoming inseparable from each other.

Second Concrete Example

Next, a second concrete example of the sensor device1according to the present embodiment will be described with reference toFIGS. 10A and 10B.FIGS. 10A and 10Bare each a schematic diagram illustrating one mode of the second concrete example of the sensor device1. The second concrete example of the sensor device1is a concrete example in a case where the sensor device1is used as a load cell or a uniaxial force sensor.

Referring toFIG. 10A, as one mode of the second concrete example, a sensor device210may be configured by, for example, a housing260, a first elastic section261, a second elastic section262, a strain-causing member section250, a load section270, a light-emitting section221, a light-receiving section222, a first mirror211, and a second mirror212. The sensor device210is used, for example, as the load cell that detects a load applied to the load section270.

The housing260contains respective parts of the sensor device210. The first mirror211, the light-emitting section221, and the light-receiving section222are fixed on a lower face side of the housing260. On the other hand, the second mirror212is so provided on an upper face side of the housing260as to face the first mirror211, and is coupled to the housing260via the strain-causing member section250. The light outputted from the light-emitting section221is subjected to the multiple reflection by the first mirror211and the second mirror212that face each other, following which the light is received by the light-receiving section222. In a case where a load is applied to the load section270provided on an upper face of the housing260, the strain-causing member section250is deformed, thereby changing the angle of the first mirror211with respect to the second mirror212. Thus, the light-receiving position of the light from the light-emitting section221in the light-receiving section222is changed, making it possible for the sensor device210to detect a magnitude of the load applied to the load section270.

It is to be noted that the second mirror212and the housing260are further coupled by the first elastic section261and the second elastic section262. The first elastic section261and the second elastic section262each may be, for example, a spring. With this configuration, when the load on the load section270is removed, it is possible for the second mirror212to return to its original state by an elastic force of the first elastic section261and the second elastic section262.

Further, referring toFIG. 10B, as one mode of the second concrete example, a sensor device220may be configured by, for example, the housing260, the first elastic section261, the second elastic section262, the strain-causing member section250, force acting sections271and272, the light-emitting section221, the light-receiving section222, the first mirror211, and the second mirror212. The sensor device210is used, for example, as the uniaxial force sensor.

A configuration of the sensor device220illustrated inFIG. 10Bis substantially similar to the configuration of the sensor device210illustrated inFIG. 10A. While the sensor device210illustrated inFIG. 10Adetects only a force in a compression direction from the load section270provided on the upper face of the housing260, the sensor device220illustrated inFIG. 10Bdetects each of a force in a compression direction and a force in a tensile direction from the acting sections271and272provided respectively on an upper face and a lower face of the housing260.

Specifically, the light outputted from the light-emitting section221is subjected to the multiple reflection by the first mirror211and the second mirror212that face each other, following which the light is received by the light-receiving section222. In a case where the force is applied to the force acting sections271and272provided on the upper face and the lower face of the housing260in the compression direction (a direction of contracting a distance between the force acting sections271and272) or in the tensile direction (a direction of expanding the distance between the force acting sections271and272), the strain-causing member section250deforms, thereby changing the angle of the second mirror212with respect to the first mirror211. Thus, the light-receiving position of the light from the light-emitting section221in the light-receiving section222is changed, making it possible for the sensor device220to detect a direction and a magnitude of the force applied to the force acting sections271and272.

Third Concrete Example

Next, a third concrete example of the sensor device1according to the present embodiment will be described with reference toFIGS. 11 to 13B.FIG. 11is a perspective diagram illustrating a detailed configuration of the third concrete example of the sensor device1.FIG. 12Ais a perspective diagram illustrating a configuration on an attachment face side of a first member300A, andFIG. 12Bis a perspective diagram illustrating a configuration on an attachment face side of a second member300B. The third concrete example of the sensor device1is a concrete example in a case where the sensor device1is used as a six-axis force sensor.

Referring toFIG. 11, a sensor device300may be configured by screwing the first member300A and the second member300B via a fastening section301and attaching them to each other. A low-rigidity, easy-to-deform strain-causing member section (not illustrated) is locally provided between the first member300A and the second member300B, and a deformation of the strain-causing member section changes the attachment between the first member300A and the second member300B. As will be described later, it is possible for the sensor device300to detect a force applied to the sensor device300by detecting a displacement of the light-receiving position of the light having been subjected to the multiple reflection between a first mirror provided on the first member300A and a second mirror provided on the second member300B.

Referring toFIG. 12A, the first member300A is provided with first mirrors311extending in three directions that are different from each other, and a light-emitting section321and a light-receiving section322disposed on both sides in an extending direction of the first mirror311. Further, referring toFIG. 12B, the second member300B is provided with second mirrors312extending in three directions that are different from each other so as to face the first mirrors311provided on the first member300A. The first member300A and the second member300B are attached to each other, whereby a sensor device that makes it possible to detect a deformation of two degrees of freedom is configured by the first mirror311, the second mirror312, the light-emitting section321, and the light-receiving section322. Accordingly, it is possible to configure the six-axis force sensor by providing three sets of first mirrors311and second mirrors312structuring the sensor device in the extending directions that are different from each other and in a facing direction. It should be noted that the three sets of first mirrors311and second mirrors312are disposed uniformly with respect to each other, allowing for uniformized sensing sensitivity and easier manufacturing of the sensor device300.

Here, a configuration of the sensor device configured by the first mirror311, the second mirror312, the light-emitting section321, and the light-receiving section322will be described more specifically with reference toFIGS. 13A and 13B.FIGS. 13A and 13Bare each a cross-sectional diagram illustrating more specifically a configuration of the sensor device configured by the first mirror311, the second mirror312, the light-emitting section321, and the light-receiving section322.FIG. 13Aillustrates a cross section taken along a cut line A-AA illustrated inFIG. 12A, andFIG. 13Billustrates a cross section taken along a cut line B-BB illustrated inFIG. 12A.

Referring toFIGS. 13A and 13B, the first mirror311and the second mirror312are so provided as to face each other by attaching the first member300A and the second member300B to each other. The first mirror311and the second mirror312may be so provided that a distance between the first mirror311and the second mirror312gradually widens on the light-receiving section322side in order to allow the light from the light-emitting section321to reach the light-receiving section322.

The light-emitting section321includes a light source such as LED, and is provided on one end part side of the first mirror311. The light-receiving section322includes an imaging device such as a CMOS image sensor, and is provided on the other end part side of the first mirror311. The light outputted from the light-emitting section321is subjected to the multiple reflection between the first mirror311and the second mirror312, following which the light is received by the light-receiving section322.

Here, a space in which the first mirror311, the second mirror312, the light-emitting section321, and the light-receiving section322are provided may be shielded from light by a light entrance prevention structure302such that the light does not enter from the outside. With this configuration, it is possible to reduce a possibility that the sensor device300malfunctions due to the light from the outside. The light entrance prevention structure302may be, for example, a structure that shields the light from the outside by a structure such as a step.

Further, the space in which the first mirror311, the second mirror312, the light-emitting section321, and the light-receiving section322are provided may include a structure member having a low light reflectance in order to suppress an influence of ambient light. For example, the inner side of the space in which the first mirror311, the second mirror312, the light-emitting section321, and the light-receiving section322are provided may be treated with a black plating, a black treatment, a blackening treatment, or a black coating treatment. Further, the first mirror311and the second mirror312may be treated with the above-described black plating, black treatment, blackening treatment, black coating treatment, or the like for any portion not related to the reflection of the light outputted from the light-emitting section321.

2. SECOND EMBODIMENT

The following describes a basic configuration of a sensor device according to a second embodiment of the present disclosure with reference toFIGS. 14A to 18D.FIG. 14Ais a perspective diagram schematically illustrating a basic configuration of a sensor device2according to the second embodiment of the present disclosure.FIG. 14Bis a front diagram in which the sensor device2illustrated inFIG. 14Ais viewed in a plan view in a direction from the light-receiving section22to the light-emitting section21.FIG. 14Cis a side diagram in which the sensor device2illustrated inFIG. 14Ais viewed in a plan view from a third mirror13.

Referring toFIGS. 14A to 14C, the sensor device2according to the present embodiment includes the first mirror11, the second mirror12, and the third mirror13that face each other, and the light-emitting section21and the light-receiving section22. The first mirror11, the second mirror12, and the third mirror13face each other to be provided at positions corresponding to respective side surfaces of a triangular prism.

In the sensor device2, light30A and light30B outputted from the light-emitting section21are reflected by the first mirror11, the second mirror12, and the third mirror13via light paths that are different from each other, respectively, following which the pieces of light are received by the light-receiving section22. It is possible for the sensor device2according to the present embodiment to detect an external force applied to the sensor device2by detecting a displacement of a light-receiving position of the light in the light-receiving section22.

In the sensor device2according to second embodiment, the light is outputted from the light-emitting section21inside a structure in which three or more reflection mirrors are combined, and the light outputted from the light-emitting section21passes through various light paths to be received by the light-receiving section22. In such a case, the light outputted from the light-emitting section21is observed by the light-receiving section22as a spot group in which the number of light spots is amplified with respect to the number of light sources. Each light spot included in the spot group is displaced while including information on reflection surfaces in respective light paths. Accordingly, it is possible to regard the spot group of the reflection light observed by the light-receiving section22as three-dimensional information as a whole (information on six degrees of freedom if including a position and an attitude) even if the spot group is caused by the light outputted from one light source. With this configuration, by combining the three or more reflection mirrors, it is possible for the sensor device2to function as a six-axis force sensor even in a case where the light-emitting section21including one light source is used.

The sensor device2is simple in structure as compared with, for example, the sensor device300that functions as the six-axis force sensor described with reference toFIGS. 11 to 13B, making it possible to increase ease of manufacturing and a reliability of a device.

In addition, because an information amount of an observation result of the spot group of the light reflected by the first mirror11, the second mirror12, and the third mirror13increases as the number of light spots included in the spot group increases, it is possible for the sensor device2to further improve a sensitivity and an accuracy of a sensing result. Further, because the sensor device2is simple in structure as compared with the sensor device300described with reference toFIGS. 11 to 13B, it is possible to reduce a manufacturing error and the like and to simplify wiring lines and the like as well. Furthermore, in the sensor device2, only one light-receiving section22is provided as compared with the sensor device300described with reference toFIGS. 11 to 13B, eliminating a necessity of performing a synchronization between the respective light-receiving sections22as compared with a case where the plurality of light-receiving sections22is provided. From this point of view, it is possible for the sensor device2to further improve the sensitivity and the accuracy of the sensing result.

It is possible for the sensor device2to detect a direction and a magnitude of a force applied to the second mirror12, the third mirror13, or a strain-causing member (not illustrated) coupled to these configurations through, for example, machine-learning of a displacement of the spot group of the light spots of the reflection light with respect to a displacement occurred at the second mirror12or the third mirror13.

Referring now toFIGS. 15 to 16C, variations of a region in which a displacement by a strain-causing member occurs in the sensor device2will be described.FIG. 15is a schematic diagram illustrating a basic structure of the sensor device2that uses three reflection mirrors.FIGS. 16A to 16Care each a schematic diagram illustrating a variation of a region in which a displacement occurs in the sensor device2illustrated inFIG. 15.

For example, referring toFIG. 15, a case is exemplified in which the first mirror11is provided with the light-emitting section21and the light-receiving section22, and the second mirror12and the third mirror13are so provided as to constitute, together with the first mirror11, side faces of the triangular prism.

In such a case, referring toFIG. 16A, the sensor device2may be provided such that the first mirror11, the second mirror12, and the third mirror13are provided in a divided fashion and such that a tilt of the second mirror12and the third mirror13is displaced by the coupled strain-causing member (not illustrated).

In addition, referring toFIG. 16B, the sensor device2may be provided such that the first mirror11, the second mirror12, and the third mirror13are provided in a divided fashion and such that a tilt of the third mirror13is displaced by the coupled strain-causing member (not illustrated).

Further, referring toFIG. 16C, the sensor device2may be provided such that the first mirror11, the second mirror12, and the third mirror13are each provided in a divided fashion and such that respective tilts of the second mirror12and the third mirror13are displaced independently of each other by the coupled strain-causing member (not illustrated).

Similarly, it is also possible to consider variations of a region in which a displacement occurs for a sensor device3that uses four reflection mirrors.

Referring toFIGS. 17 to 18D, variations of a region in which a displacement by a strain-causing member occurs in the sensor device3that uses four reflection mirrors will be described.FIG. 17is a schematic diagram illustrating a basic structure of the sensor device3that uses four reflection mirrors.FIGS. 18A to 18Dare each a schematic diagram illustrating a variation of a region in which a displacement occurs in the sensor device3illustrated inFIG. 17.

For example, referring toFIG. 17, a case is exemplified in which the first mirror11is provided with the light-emitting section21and the light-receiving section22, and the second mirror12, the third mirror13, and a fourth mirror14are so provided as to constitute, together with the first mirror11, side faces of a quadrangular prism.

In such a case, referring toFIG. 18A, the sensor device3may be provided such that the first and the third mirrors11and13and the second and the fourth mirrors12and14are provided in a divided fashion and such that a tilt of the second mirror12and the fourth mirror14is displaced by the coupled strain-causing member (not illustrated).

In addition, referring toFIG. 18B, the sensor device3may be provided such that the first, the third, and the fourth mirrors11,13, and14and the second mirror12are provided in a divided fashion and such that a tilt of the second mirror12is displaced by the coupled strain-causing member (not illustrated).

In addition, referring toFIG. 18C, the sensor device3may be provided such that the first and the third mirrors11and13, the second mirror12, and the fourth mirror14are each provided in a divided fashion and such that respective tilts of the second mirror12and the fourth mirror14are displaced independently of each other by the coupled strain-causing member (not illustrated).

Further, referring toFIG. 18D, the sensor device3may be provided such that the first and the second mirrors11and12, the third mirror13, and the fourth mirror14are each provided in a divided fashion and such that respective tilts of the second mirror12, the third mirror13, and the fourth mirror14are displaced independently of each other by the coupled strain-causing member (not illustrated).

It should be noted that, in the sensor device2according to the second embodiment, the number of reflection mirrors is not limited to the above example. In the sensor device2, the number of reflection mirrors may be three or four or more such as five or six, as long as the reflection mirrors are so disposed as to have a space therein and as to constitute side faces of a polygonal prism. However, from a viewpoint of a complexity of a structure and ease of manufacturing, the number of reflection mirrors included in the sensor device may be six or less.

As described above, the sensor device according to one embodiment of the present disclosure has a simplified structure and allows for formation with high rigidity accordingly. In addition, it is possible for the sensor device according to the present embodiment to detect a strain or a force with high sensitivity and high accuracy.

It is possible to use the sensor device according to one embodiment of the present disclosure as a load cell, a torque sensor, or a multi-axis force sensor, for example. It is also possible to apply the sensor device according to one embodiment of the present disclosure to a load cell, a torque sensor, or a multi-axis force sensor to be mounted on a wrist, an ankle, a finger, or the like of an arm of a robot for industrial use or the like. Further, it is also possible to apply the sensor device according to one embodiment of the present disclosure to a load cell, a torque sensor, or a multi-axis force sensor in various applications such as fluid measurement, a force sensor for mounting lower limb orthotics, behavior monitoring of a precision press, monitoring of an electrode pressurizing force of spot welding, monitoring of cable terminal crimping force, or measuring a bolt-tightening axial force.

A technique according to the present disclosure has been described above with reference to the first and the second embodiments and the modification examples. However, the technique according to the present disclosure is not limited to the above-described embodiments, and various modifications can be made.

In addition, it is possible to combine the modification examples described in the above first embodiment with each other as well.

Further, not all of the configurations and operations described in the respective embodiments are essential to the configuration and the operation of the present disclosure. For example, among the elements in the respective embodiments, elements not described in an independent claim based on the most generic concept of the present disclosure are to be understood as optional components.

The terms used throughout this specification and the appended claims should be construed as “non-limiting” terms. For example, the terms “including” or “included” should be construed as “not being limited to an embodiment in which it is described as including”. The term “has” should be construed as “not being limited to an embodiment in which it is described as having”.

The terms used in this specification are used merely for convenience of description and include terms that are not used for the purpose of limiting a configuration and an operation. For example, terms such as “right,” “left,” “up,” and “down” merely indicate a direction in the drawing being referenced. In addition, the terms “inner” and “outer” merely indicate directions toward the center of an element of interest and away from the center of the element of interest, respectively. This applies similarly to terms similar to these terms and terms having the similar meanings.

It should be noted that the technique according to the present disclosure may have the following configurations. According to the technique of the present disclosure having the following configurations, it is possible for the sensor device to make larger a displacement of a light-receiving position of reflection light by a displacement of the second mirror by causing the light outputted from the light-emitting section to be subjected to the multiple reflection between the first mirror and the second mirror. Thus, the sensor device allows for formation with high rigidity and makes it possible to detect an external force or a deformation of an object by the external force with higher sensitivity and higher accuracy. An effect to be exerted by the technique according to the present disclosure is not necessarily limited to the effect described herein, and may be any of the effects described in the present disclosure.

A sensor device including:

a light-emitting section that outputs light to a first mirror or a second mirror, the second mirror facing the first mirror and being configured to change an orientation with respect to the first mirror; and

a light-receiving section that receives reflection light, reflected from the first mirror and the second mirror, of the light outputted from the light-emitting section.

The sensor device according to (1), in which the light-receiving section receives the light outputted from the light-emitting section and having been subjected to a multiple reflection by the first mirror and the second mirror.

The sensor device according to (1) or (2), in which the light-receiving section detects an entrance position of the reflection light to the light-receiving section.

The sensor device according to (3), further including a force detecting section that determines a magnitude of an external force that has changed the orientation of the second mirror, on the basis of a displacement of the entrance position of the reflection light detected by the light-receiving section.

The sensor device according to any one of (1) to (4), in which the light-emitting section and the light-receiving section are provided on a same side with respect to the first mirror and the second mirror.

The sensor device according to (5), in which the light-emitting section and the light-receiving section are provided on a side on which the first mirror is present with respect to the second mirror.

The sensor device according to any one of (1) to (6), in which the first mirror and the second mirror have a longitudinal shape that extends in one direction.

The sensor device according to (7), in which

the light-emitting section is provided at one first end in a longitudinal direction of the longitudinal shape, and

the light-receiving section is provided at a second end, in the longitudinal direction, that faces the first end.

The sensor device according to any one of (1) to (8), further including:

the first mirror; and

the second mirror.

The sensor device according to (9), in which

the first mirror and the second mirror are coupled via a strain-causing member section; and

the second mirror changes the orientation with respect to the first mirror by a deformation of the strain-causing member section.

The sensor device according to (10), in which the second mirror changes the orientation with respect to the first mirror by pivoting, by the deformation of the strain-causing member section, in a circumferential direction of a circle in which a direction perpendicular to an extending direction of the first mirror is a radial direction.

The sensor device according to any one of (1) to (11), in which the light-emitting section includes a plurality of light sources.

The sensor device according to (12), in which the light-emitting section includes the plurality of light sources that emits pieces of light of wavelength bands that are different from each other.

The sensor device according to any one of (1) to (13), in which the light-receiving section includes a plurality of sensors configured to detect light.

The sensor device according to (14), in which the light-receiving section includes at least any one of an RGB camera, an infrared camera, or an event camera.

The sensor device according to any one of (1) to (15), in which at least any one of the first mirror or the second mirror includes a bent or curved mirror, or a plurality of mirrors spaced apart from each other.

The sensor device according to any one of (9) to (11), further including a third mirror that faces each of the first mirror and the second mirror and constitutes, together with the first mirror and the second mirror, side faces of a triangular prism.

The sensor device according to (17), in which the light-receiving section detects a light spot group of the light outputted from the light-emitting section and having been subjected to a multiple reflection by the first mirror, the second mirror, and the third mirror.

The sensor device according to (17) or (18), in which the third mirror is configured to change an orientation with respect to the first mirror either integrally with the second mirror or independently of the second mirror.

The sensor device according to any one of (9) to (11), further including a third mirror and a fourth mirror that face each of the first mirror and the second mirror and constitute, together with the first mirror and the second mirror, side faces of a quadrangular prism.

The present application claims the benefit of Japanese Priority Patent Application JP2019-198483 filed with the Japan Patent Office on Oct. 31, 2019, the entire contents of which are incorporated herein by reference.