WO2017130729A1 - Laser radar device - Google Patents

Abstract

A laser light source that outputs laser light is arranged in a light source substrate (10). An emission lens (20) smooths and outputs laser light output by the laser light source. A scanning mirror (41) reflects laser light output from the emission lens, emits said laser light to outside a case, and can change orientation relative to the laser light source. A scanning substrate (44) controls the orientation of the scanning mirror relative to the laser light source. A light-receiving substrate (70) has a light-receiving element provided therein that receives reflected light being laser light that has been reflected by a target. A light-receiving lens (60) condenses the reflected light on to the light-receiving element. The case houses the light source substrate, the emission lens, the scanning mirror, the scanning substrate, the light-receiving substrate, and the light-receiving lens. The light-source substrate, the scanning substrate, and the light-receiving substrate are arranged at positions that do not overlap in the depth direction of the case and an innermost member is also arranged in the case, said innermost member being the member among the emission lens, the scanning mirror, and the light-receiving lens that has an end section thereof on the innermost side of the case in the depth direction.

Description

Laser radar equipment Cross-reference of related applications

This application is based on Japanese Patent Application No. 2016-144853 filed on January 28, 2016 and Japanese Application No. 2016-237837 filed on December 7, 2016. Is used.

The present disclosure relates to a laser radar device.

Conventionally, there has been known a laser radar apparatus that sweeps and emits pulsed laser light within a predetermined angular range so as to form a predetermined detection area. This type of laser radar device includes an irradiation unit that irradiates laser light, a scanning device that changes the irradiation direction of the laser light to the outside of the housing, and a reflection in which the irradiated laser light is reflected by an object and returned. A light receiving unit that receives light, a distance measuring calculation unit that calculates a distance to an object (hereinafter referred to as a target) that reflects the laser light based on the time from irradiation of the laser light to reception of the reflected light, and A housing for housing the container.

The irradiation unit includes a light source substrate on which a laser diode as a laser light source and an IC that controls driving of the laser diode are mounted, and an emission lens that shapes the laser light output from the laser diode. In addition, the light receiving unit includes a light receiving lens that shapes reflected light from the target and collects it on the light receiving surface of the light receiving element, and a light receiving element that outputs an electrical signal corresponding to the intensity of light emitted from the light receiving lens. A light receiving substrate. The ranging calculation unit is realized using a CPU or an IC.

The housing is provided with an exit window for emitting the irradiated light to the outside of the housing and a light receiving window for guiding the reflected light from the target to the light receiving lens. Various configurations have also been proposed in which the exit window is also used as the light receiving window.

As a layout when arranging various components in the housing, for example, as disclosed in Patent Document 1, a configuration in which the components of the light receiving system are arranged in a straight line in the depth direction of the laser radar device is disclosed. Has been. Here, the components of the light receiving system mainly indicate a light receiving lens and a light receiving substrate. The depth direction of the laser radar device corresponds to a direction that is directly opposite to the direction in which the center (that is, the optical axis) of the angle range where the laser beam is irradiated.

Here, it is desired to make the laser radar device thinner. In particular, when a laser radar device is mounted on a vehicle, the mounting space around the body is limited, and therefore further reduction in thickness is required. However, in the configuration of Patent Document 1, since the components of the light receiving system are arranged in a line in the depth direction, the length (that is, the thickness) of the laser radar device in the depth direction is increased accordingly.

Japanese Patent Laying-Open No. 2015-206590

This disclosure is intended to provide a laser radar device that suppresses the length in the depth direction in the laser radar device.

The laser radar device according to the first aspect of the present disclosure acquires distance information with respect to a target existing in a detection area determined according to the angular range by sweeping and irradiating laser light within a predetermined angular range. The laser radar device includes a light source substrate on which a laser light source that outputs laser light is arranged. The laser radar device further includes an emission lens that shapes and outputs the laser light output from the laser light source. The laser radar device is a mirror for reflecting the laser beam output from the emission lens and emitting the laser beam to the outside of the housing, and a scanning mirror configured to change the attitude with respect to the laser light source, In addition. The laser radar device further includes a scanning substrate that controls an attitude of the scanning mirror with respect to the laser light source. The laser radar device further includes a light receiving substrate provided with a light receiving element that receives reflected light, which is laser light reflected by the target, and outputs an electrical signal corresponding to the intensity of the received reflected light. The laser radar device further includes a light receiving lens that condenses the reflected light on the light receiving element. The laser radar device further includes a housing that houses the light source substrate, the exit lens, the scanning mirror, the scanning substrate, the light receiving substrate, and the light receiving lens. Of the exit lens, the scanning mirror, and the light receiving lens, a position that does not overlap in the depth direction of the casing with the innermost member that has an end portion on the innermost side in the depth direction of the casing In addition, the light source substrate, the scanning substrate, and the light receiving substrate are disposed.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. The drawing
1 is an external perspective view of a laser radar device 1; It is a front view of the laser radar apparatus 1, It is a side view of the laser radar apparatus 1, It is a top view of the laser radar apparatus 1, It is a figure for demonstrating the structure of the light reception light guide mirror 50, It is a functional block diagram showing an example of a schematic configuration of the main control board 80, It is a front view of the laser radar apparatus 1 in the modification 1, It is a side view of the laser radar apparatus 1 in the modification 1, It is a front view of the laser radar apparatus 1 in the modification 2, It is a side view of the laser radar apparatus 1 in the modification 2, It is a front view of the laser radar apparatus 1 in the modification 3, It is a side view of the laser radar apparatus 1 in the modification 3.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic perspective view of an appearance of a laser radar device 1 according to the present disclosure. As shown in FIG. 1, the laser radar device 1 includes a rectangular parallelepiped casing 100 having a height of H [mm], a width of W [mm], and a depth of D [mm]. The side surface 110 (hereinafter referred to as the front portion) is provided with a radiation receiving window 111 for emitting and receiving laser light.

In the present embodiment, an example in which the shape of the housing 100 is a rectangular parallelepiped is illustrated as an example, but the present invention is not limited thereto. For example, the front part 110 may be formed in an arc shape having a predetermined radius of curvature when viewed from above. The rectangular parallelepiped shape includes a substantially rectangular parallelepiped shape. The substantially rectangular parallelepiped shape refers to a shape based on a rectangular parallelepiped in which corners of the rectangular parallelepiped are chamfered or partially deformed. The shape itself of the housing 100 is a design matter.

The height direction and the width direction correspond to a vertical direction and a horizontal direction in a posture assumed in advance as a posture when the laser radar device 1 is used. The depth direction is a direction from the front side toward the surface on the side facing the front part 110 (that is, the back surface). The depth direction corresponds to a direction parallel to the center (so-called optical axis) of the angle range in which the laser radar device 1 irradiates laser light. Specific values of the height H, width W, and depth D of the housing 100 may be appropriately designed so that various members described later can be accommodated.

The laser radar apparatus 1 discontinuously sweeps and irradiates a laser beam in a predetermined angle range from −θa to + θa in the width direction (so-called scanning), so that the distance from the target existing in the direction of irradiating the laser beam. Get information. θa is a value designed as appropriate, and may be 60 degrees, for example. In the present embodiment, a mode in which laser light is swept in the width direction is illustrated as an example, but a mode in which sweep irradiation is performed in the height direction may be employed. Moreover, it is good also as an aspect which carries out sweep irradiation in the predetermined angle range in each of the width direction and the height direction. The range in which the laser beam is swept is equivalent to the detection area.

In this embodiment, as an example, the left side surface portion (hereinafter, left side surface portion) of the housing 100 communicates with an electronic control device (ECU: Electronic Control Unit) provided outside the laser radar device 1. Assume that a connector (hereinafter referred to as a relay connector) for connection with a cable is provided. The relay connector is preferably provided at a position as close as possible to a position where a cable for connecting to the laser radar device 1 in the vehicle is drawn (hereinafter referred to as a cable drawing position).

Hereinafter, main components of the laser radar device 1 housed inside the housing 100 will be described. 2 is a front view of the laser radar device 1 seen through the front portion 110, FIG. 3 is a side view of the housing 100 viewed from the right side, and FIG. 4 is a top view of the laser radar device 1. In FIG. 3, the right side surface portion (hereinafter, right side portion) 120 of the housing 100 is transmitted, and in FIG. 4, the upper portion (hereinafter, upper surface portion) 130 is transmitted.

As shown in FIGS. 2 to 4, the laser radar device 1 includes a light source substrate 10, an emission lens 20, an emission light guide mirror 30, a scanner 40, a light reception light guide mirror 50, a light reception lens 60, a light reception substrate 70, and a main control. A substrate 80 is provided. The light source substrate 10 is provided with a laser diode 11 that emits laser light, and the light receiving substrate 70 is provided with a light receiving element 71. The scanner 40 includes a polygon mirror 41, a pedestal portion 42, a motor 43, and a scanning substrate 44. Each of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70 is connected to the main control substrate 80 so as to be able to communicate with each other using, for example, a flexible cable.

The light source substrate 10 causes the laser diode 11 to output pulsed laser light based on the light emission instruction signal input from the main control substrate 80. The pulse width of the emitted laser light may be set to 20 nanoseconds, for example. The laser diode 11 corresponds to a laser light source.

The emission lens 20 is a lens for shaping laser light. The exit lens 20 shapes the pulsed laser light output from the laser diode 11 and outputs it in the direction in which the exit light guide mirror 30 exists.

The exit light guide mirror 30 is a planar mirror (that is, a planar mirror) that reflects the laser light output from the exit lens 20 in the direction in which the polygon mirror 41 exists. The laser beam output from the laser diode is shaped by the exit lens 20, further reflected by the exit light guide mirror 30 and incident on the polygon mirror 41. In addition, the solid line arrow shown in the figure conceptually represents the path of the laser beam output from the laser diode 11. The exit light guide mirror 30 corresponds to an exit path bending member.

The scanner 40 is a unit for controlling the direction in which laser light is emitted outside the housing. The scanner 40 includes a polygon mirror 41 as a reflector, a pedestal portion 42 that supports the polygon mirror 41, a motor 43 that rotates the polygon mirror 41 around an axis parallel to the height direction (hereinafter, a rotation axis), a motor And a scanning substrate 44 that controls the driving of 43. The polygon mirror 41 is provided on the pedestal portion 42 so as to be rotatable around a rotation axis.

A motor drive circuit for driving the motor 43 is mounted on the scanning board 44 based on a drive signal input from the main control board 80. The scanning substrate 44 drives the motor 43 based on the drive signal from the main control substrate 80 to rotate the polygon mirror 41.

The rotation angle of the motor 43 (in other words, the polygon mirror 41) with respect to the initial position is detected by the motor rotation position sensor and output to the main control board 80. The motor rotation position sensor may be realized by adopting a well-known configuration. For example, a magnet or the like is provided for each of the rotating member and the non-rotating member, and the rotation angle is detected from a change in magnetic force acting between the magnets. What is necessary is just composition. The rotation direction of the polygon mirror 41 may be designed as appropriate. For example, the polygon mirror 41 is rotated clockwise around the vertical rotation axis.

The polygon mirror 41 has four reflecting surfaces on the side surfaces around the rotation axis. Each reflecting surface is formed so as to make a predetermined inclination angle (here, 45 degrees) with respect to the rotation axis. In other words, the polygon mirror 41 has the same shape as the solid on the side including the bottom surface of the original quadrangular pyramid among two solid bodies generated by cutting out a square pyramid having a square bottom surface in a plane parallel to the bottom surface ( That is, it is configured in a frustum shape.

For convenience, of the two square-shaped surfaces provided so that the polygon mirror 41 faces each other in the height direction, the surface having the larger area is referred to as the first surface, and the surface having the smaller area is referred to as the second surface. . The polygon mirror 41 is arranged such that the first surface is on the upper side in the housing than the second surface.

The laser light incident from the emission light guide mirror 30 is reflected by one of the four reflecting surfaces of the polygon mirror 41 and emitted outside the casing. While the incident light from the emission light guide mirror 30 is reflected by the same reflection surface, the emission direction of the laser light changes in the horizontal direction by rotation about the rotation axis. Therefore, the main control board 80 sweeps and irradiates laser light in a range of a predetermined angle in the horizontal direction by intermittently emitting laser light from the laser diode while rotating the polygon mirror 41 at a predetermined speed (that is, Scanning).

Further, the polygon mirror 41 reflects the laser light (that is, the reflected light) that is returned after the emitted laser light is reflected by the target existing outside the housing in the direction in which the light receiving light guide mirror 50 exists. In other words, the polygon mirror 41 not only emits the laser light incident from the emission light guide mirror 30 to the outside of the housing, but also reflects the reflected light to the inside of the housing, so that a light receiving light guide mirror 50 and a light receiving lens described later. It plays a role of guiding to the light receiving element 71 via 60. The two-dot chain line arrow shown in the figure conceptually represents the path of the reflected light.

2 and 3, the broken line shown around the polygon mirror 41 represents the outline of a rotating body (hereinafter, polygon mirror rotating body) formed by rotating the polygon mirror 41. Since the polygon mirror 41 has a frustum shape, the polygon mirror rotating body has a truncated cone shape. In the polygon mirror rotating body, the diameter (hereinafter referred to as rotating body diameter) Dmt of the circular surface corresponding to the first surface of the polygon mirror 41 corresponds to the diagonal length of the first surface of the polygon mirror 41.

3 and 4, reference numeral 411 denotes the innermost position where the vertex of the first surface of the polygon mirror 41 can be located when the polygon mirror 41 is rotated about the rotation axis (hereinafter, the mirror innermost position). ). The mirror innermost position 411 corresponds to the position of the end portion on the innermost side in the polygon mirror rotating body.

As described above, the pedestal portion 42 is a plate-like member that supports the polygon mirror 41, and the shape thereof is substantially the same as the surface corresponding to the first surface of the polygon mirror 41 of the polygon mirror rotating body. Yes. The pedestal portion 42 is an optional element. The broken line shown in FIG. 4 indicates the position of the polygon mirror 41 arranged below the pedestal portion 42.

The light receiving / guiding mirror 50 is provided at a position where the reflected light reflected by the polygon mirror 41 arrives, and reflects the reflected light reflected by the polygon mirror 41 in the direction in which the light receiving lens 60 exists. The light receiving / light guiding mirror 50 corresponds to a light receiving path bending member.

The light receiving / guiding mirror 50 may be realized by using a member that reflects laser light. The light receiving / guiding mirror 50 guides as much reflected light from the target that has entered the housing 100 through the polygon mirror 41 to the light receiving lens 60 as much as possible. For example, as shown in FIG. 5, the light receiving / guiding mirror 50 includes a notch 51 so as not to obstruct the passage of laser light from the exiting light guiding mirror 30 to the polygon mirror 41. FIG. 5 is a top view of the vicinity of the light receiving / guiding mirror 50. Further, in FIG. 3, the light receiving and guiding mirror 50 is not shown.

The light receiving lens 60 is a translucent convex lens realized by using synthetic resin, glass, or the like, and shapes laser light (that is, reflected light from the target) coming from the direction in which the light receiving light guide mirror 50 exists. Then, the light is condensed on the light receiving surface of the light receiving element 71. In the present embodiment, as an example, it is assumed that a portion of the light receiving lens 60 that is on the rear side of the casing with respect to the rotation axis of the polygon mirror 41 is cut off as shown in FIGS. This is because the reflected light from the polygon mirror 41 does not arrive at the portion on the rear side of the casing with respect to the rotation axis of the polygon mirror 41. Thereby, the space required for the arrangement of the light receiving lens 60 is reduced. The shape of the light receiving lens 60 may be designed as appropriate.

The light receiving element 71 is an element that converts light into an electric signal. The light receiving element 71 outputs a voltage having a magnitude corresponding to the intensity of the reflected light as a light receiving signal. As the light receiving element 71, for example, an avalanche photodiode or the like can be employed.

In addition to the light receiving element 71, the light receiving substrate 70 is provided with an amplifier for amplifying the light receiving signal output from the light receiving element 71. The light receiving signal output from the light receiving element 71 is amplified at a predetermined amplification factor. To the main control board 80. The amplifier may be realized by a known circuit configuration using, for example, an operational amplifier. The ratio for amplifying the received light signal (that is, the amplification factor) is adjusted based on the amplification factor control signal input from the main control board 80. That is, the amplifier amplifies the received light signal at an amplification factor according to the amplification factor control signal input from the main control board 80. The light reception signal amplified by the amplifier is output to the light reception processing unit 82 included in the main control board 80.

The main control board 80 is a board on which a function for controlling the operation of the entire laser radar apparatus 1 is mounted. As shown in FIG. 6, the main control board 80 includes an emission control unit 81, a light reception processing unit 82, and a distance measurement calculation unit 83 as functional blocks. The main control board 80 is provided with a connector 84 for communication connection with the ECU 2 via a relay connector (not shown). In addition to the configuration described above, the main control board 80 may be mounted with a power supply circuit module that controls power supply to each part of the laser radar device 1.

Each functional block may be realized by the CPU executing a predetermined program, or may be realized as a circuit module using one or a plurality of ICs or various circuit elements. Of course, it may be realized by combining execution of predetermined software by the CPU and hardware. Further, it may be mounted on a substrate as firmware.

Here, as an example, it is assumed that the various functional blocks are realized by the CPU executing a program stored in a nonvolatile storage medium (for example, ROM). It should be noted that a program (hereinafter referred to as a main control program) for causing a normal computer to function as the distance measuring unit 83 or the like only needs to be stored in a non-transitory tangible storage medium. . Executing the main control program by the CPU corresponds to executing a method corresponding to the main control program.

The emission control unit 81 is a functional block for controlling the timing of emitting pulsed laser light in cooperation with the light source substrate 10 and the scanning substrate 44. Specifically, the injection control unit 81 outputs a drive signal to the scanning substrate 44 to rotate the motor 43. Further, a light emission instruction signal is output to the light source substrate 10 at a timing corresponding to the rotation angle of the polygon mirror 41 input from the scanning substrate 44. That is, the pulse laser beam is emitted at a predetermined interval at a timing synchronized with the rotation of the polygon mirror 41. Thus, the pulsed laser beam is swept and irradiated in a predetermined angle range so as to form a desired detection area.

Further, the emission control unit 81 provides information indicating the timing at which the pulse laser beam is emitted to the distance measurement calculation unit 83. Here, as an example, the emission control unit 81 outputs a light emission instruction signal, and at the same time outputs an emission notification signal indicating that the distance calculation unit 83 has instructed emission of pulsed laser light. According to such a configuration, the distance measurement calculation unit 83 recognizes the timing at which the emission notification signal is input as the timing at which the pulse laser beam is emitted.

When the light source substrate 10 is configured so that the output level of the laser diode 11 can be adjusted, the emission control unit 81 may output an output level instruction signal for instructing the output level to the light source substrate 10. . According to such an aspect, the emission control unit 81 can cause the laser diode 11 to emit laser light having an arbitrary intensity.

The light reception processing unit 82 detects that the reflected light has been received based on the time change of the light reception signal. For example, the light reception processing unit 82 determines that the reflected light has been received when the magnitude of the light reception signal exceeds a predetermined light reception determination threshold. The light reception determination threshold is a threshold for determining that the reflected light is received from the magnitude of the light reception signal, and a specific value may be designed as appropriate. Moreover, what is necessary is just to implement the determination whether the light reception determination threshold was exceeded using a comparator.

When the light reception processing unit 82 detects the reception of the reflected light, the light reception processing unit 82 outputs a signal indicating that fact (hereinafter, a light reception notification signal) to the distance measurement calculation unit 83. The light reception processing unit 82 converts the light reception signal input from the light receiving substrate 70 into a digital signal or prepares a noise from the light reception signal using a known high-pass filter or the like as a preparation process for determining whether or not the reflected light is received. You may provide the function to remove a component. The light receiving processing unit 82 is equipped with a function for performing signal processing for extracting information necessary for distance measurement processing from the light receiving signal input from the light receiving substrate 70. In addition, the light receiving processing unit 82 outputs an amplification factor control signal to the amplifier provided on the light receiving substrate 70 to adjust the amplification factor.

The distance measurement calculation unit 83 specifies the injection timing based on the input of the injection notification signal from the injection control unit 81. Further, the timing at which the reflected light is received is specified based on the input of the light reception notification signal from the light reception processing unit 82. Thus, the flight time from when the pulse laser beam is emitted until the reflected light is received is specified. The flight time may be measured using a timer (not shown).

Then, based on the flight time, the distance to the target in the direction of irradiation with the laser light is calculated. A known method may be applied as a method for calculating the distance to the target based on the flight time. For example, a value obtained by multiplying the flight time by the light propagation speed and dividing by 2 may be adopted as the distance to the target. The process for calculating the distance to the target corresponds to the distance measurement calculation process. The calculation result of the distance measurement calculation unit 83 is provided to the ECU 2 existing outside the laser radar device 1 via the connector 84.

If the laser radar device 1 is mounted on the vehicle so as to sweep and radiate laser light forward of the vehicle, the distance information with respect to the target detected by the laser radar device 1 is, for example, maintaining the inter-vehicle distance from the preceding vehicle. It can be used for running control. Of course, the distance information with respect to the target detected by the laser radar device 1 can also be used for other purposes such as automatic driving, automatic brake control for avoiding a collision, identification of a target type, and the like. The ECU 2 may be a device that executes the vehicle control described above based on the detection result of the laser radar device 1.

Of course, the mounting mode of the laser radar device 1 in the vehicle is not limited to the above-described example. It may be mounted so as to sweep and irradiate the laser beam in the rear of the vehicle or in other directions. Note that the mounting position of the laser radar device 1 in the vehicle may be an appropriately selected position in the periphery of the vehicle body, such as a front bumper, a front grille, a vehicle door, or a rear bumper. However, it is assumed that the laser beam reaches the outside of the vehicle and forms a desired detection area. The laser radar device 1 may be mounted other than the vehicle.

<Details of Positional Relationship of Each Member in Case 100>
Here, the shape of each component member accommodated in the casing 100 described above and the arrangement inside the casing 100 will be described in more detail. Here, as an example, assuming that the member having the maximum length in the depth direction when each member is accommodated in the housing 100 is the polygon mirror 41, the configuration and arrangement of each member will be described.

First, as shown in FIG. 2, in the light source substrate 10, the surface of the light source substrate 10 on the side where the laser diode 11 is not disposed (hereinafter, the light source solder surface) is the case 100. The light source substrate 10 is disposed so that the end on the back side of the light source substrate 10 is located on the front surface 110 side (in other words, on the near side) with respect to the rearmost mirror position 411 so as to face the right side surface portion 120. It is assumed that the light source substrate 10 is formed so that the length in the depth direction is shorter than the rotating body warp Dmt. By disposing the light source solder surface so as to face the right side surface portion 120, the center of the irradiation angle range of the laser diode 11 faces the left side of the housing. The center of the irradiation angle range of the laser diode 11 corresponds to the optical axis of the laser diode 11.

Here, the left and right are the left and right when the casing 100 is viewed in the direction of the white arrow shown in FIG. 1 (in other words, in front view). Further, the term “upper and lower” here refers to the upper and lower when the laser radar device 1 is viewed from the front. Up, down, left, and right are directions orthogonal to the depth direction. The lower right corner of the housing 100 refers to a space that becomes the lower half of the space that becomes the right half of the housing 100. Moreover, the back side edge part of a certain member refers to the edge part which becomes the back | innermost side in the depth direction among the members.

The emission lens 20 has a posture in which the optical axis of the laser diode 11 coincides with the optical axis of the emission lens 20 on the optical axis of the laser diode 11, and the distance from the laser diode 11 to the emission lens 20 is the emission lens 20. It arrange | positions in the position used as the focal distance. As a result, the laser light emitted from the laser diode 11 passes through the emission lens 20 and is arranged from the right side of the housing to the left side so as to proceed in parallel in the width direction. The exit lens 20 and the light source substrate 10 are arranged so that the position of the exit lens 20 in the width direction is on the right side of the rotation axis of the polygon mirror 41.

The exit light guide mirror 30 is arranged so as to reflect the laser light incident from the exit lens 20 directly on the half line from the laser diode 11 to the exit lens 20. The position of the exit light guide mirror 30 in the width direction is made to coincide with the position in the width direction where the rotation axis of the polygon mirror 41 is arranged.

In the scanner 40, the rotation axis of the polygon mirror 41 coincides with the vertical direction of the casing and the laser light incident from the exit light guide mirror 30 is reflected in a region positioned relatively upward in the casing 100. It arrange | positions so that it may inject | emitted by the exterior of a housing | casing.

The scanning substrate 44 is disposed above the polygon mirror 41 so as to face the upper surface portion 130. The scanning substrate 44 is formed such that the length in the depth direction is shorter than the rotating body warp Dmt, and the rear side end of the scanning substrate 44 in the depth direction is positioned on the near side of the mirror innermost position 411. To place.

As described above, the light receiving / guiding mirror 50 is disposed so as to reflect the reflected light incident from the polygon mirror 41 to the left side of the casing on the path along which the reflected light reflected by the polygon mirror 41 travels. The arrangement position of the light receiving / guiding mirror 50 in the width direction is a position where the center position of the light receiving / guiding mirror 50 in the width direction coincides with the position of the rotation axis of the polygon mirror 41 in the width direction. Such a configuration corresponds to a configuration in which the exit light guide mirror 30 and the light receiving light guide mirror 50 are arranged on a straight line (hereinafter referred to as a central optical path) reflected by the polygon mirror 41 and on which reflected light from the target travels. To do. The central optical path corresponds to a straight line through which the laser light reflected by the exit light guide mirror 30 passes.

The light receiving lens 60 is disposed at a position where most of the laser light reflected by the light receiving / guiding mirror 50 is incident, with the optical axis thereof being aligned with the direction in which the light receiving / guiding mirror 50 reflects the reflected light. . That is, the light receiving lens 60 is disposed so that the optical axis coincides with the width direction of the housing 100 in the region on the left side of the housing, and the optical axis passes through the center of the light receiving light guide mirror 50.

The light receiving substrate 70 is disposed so that the light receiving element 71 is positioned at the left focal point of the light receiving lens 60 in a posture facing the left side surface portion of the housing 100. The light receiving substrate 70 is formed so that the length in the depth direction is shorter than the rotating body length Dmt, and the rear side end portion of the scanning substrate 44 in the depth direction is positioned on the near side of the mirror innermost position 411. To place.

The main control board 80 is located in the upper left corner of the housing 100, specifically, in the space on the left side of the scanner 40 and the upper side of the light receiving lens 60. It arrange | positions so that a side part (henceforth a back part) may be opposed. In other words, the main control board 80 is disposed at a position that does not overlap with each of the scanner 40 and the light receiving lens 60 when viewed from the front. However, the main control board 80 is positioned in front of the rearmost mirror position 411 in the space.

The above configuration corresponds to a configuration in which the main control board 80 is provided at a position relatively close to the relay connector provided in the housing 100 in the internal space of the housing 100. According to such a configuration, the length of the cable connecting the relay connector and the connector 84 can be reduced. Further, in the present embodiment, as an example, the connector 84 is assumed to be disposed on an edge portion of the edge portion of the main control board 80 that faces the left side surface portion of the housing 100. According to such a configuration, the distance from the relay connector provided in the housing 100 is shortened, and the length of the cable accommodated in the housing 100 can be further shortened.

<Summary of Embodiment>
Next, the configuration and effects of this embodiment will be summarized. In the above-described embodiment, the polygon mirror 41 behaves as an innermost member that is an optical member having an end on the innermost side in the depth direction of the housing 100 among various optical members, It also behaves as an optical system member having a maximum length in the depth direction (hereinafter referred to as a maximum depth length member) during housing.

Here, the optical system member refers to a member that reflects / refracts the laser beam, such as the exit lens 20, the exit light guide mirror 30, the light receiving light guide mirror 50, and the light receiving lens 60, in addition to the polygon mirror 41. The shaping of the laser light by the emission lens 20 and the collection of the reflected light by the light receiving lens 60 are also realized by light refraction. Therefore, the emission lens 20 and the light receiving lens 60 are also included in the above-described optical system members.

In the above configuration, the light source substrate 10, the scanning substrate 44, the light receiving substrate 70, and the main control substrate 80 are arranged at positions that do not overlap the polygon mirror 41 in the depth direction. Further, optical members other than the polygon mirror 41 are also arranged so as not to overlap the polygon mirror 41 in the depth direction.

According to the above configuration, the length (that is, the thickness) in the depth direction of the laser radar device 1 is arranged on the back side of the polygon mirror 41 due to the arrangement of the substrate or the like on the back side of the polygon mirror 41. It is possible to suppress an increase in the thickness of the substrate or the like. That is, the depth D of the laser radar device 1 can be suppressed.

Also, various substrates and optical members other than the polygon mirror 41 are arranged so as to be positioned in front of the mirror innermost position 411. According to such a configuration, the depth D of the laser radar device 1 depends on the size of the polygon mirror 41, the thickness of the members constituting the casing 100, and the separation between the polygon mirror 41 and the casing in the depth direction. Determined. Therefore, according to the above configuration, the depth D of the laser radar device 1 can be brought close to a limit value determined according to the depth length of the polygon mirror 41 as the maximum depth length member. In addition, the thickness direction of a board | substrate means the direction perpendicular | vertical to the plane of a board | substrate.

In addition, according to the embodiment, the main control board 80 only needs to be connected to the light source board 10 and the scanning board 44, and is not limited by the positional relationship with the optical system member such as the light receiving lens 60. Therefore, the main control board 80 can be placed in an empty space remaining in the housing 100 after the optical system member, the light source board 10, the scanner 40, the light receiving board 70, and the like are arranged. Therefore, according to the said structure, the space in the housing | casing 100 can be utilized efficiently and the volume as a whole can be suppressed. Further, since the degree of freedom of the installation position of the main control board 80 is high, for example, by arranging the main control board 80 near the relay connector provided in the casing 100, the cable is routed in the casing 100. The distance can be shortened.

Furthermore, in the above embodiment, since the laser diode 11 and the light receiving element 71 are mounted on separate substrates, the alignment of the laser diode 11 with respect to the optical system member of the emission system and the light receiving element with respect to the optical system member of the light receiving system 71 alignments can be performed independently. Moreover, the arrangement | positioning which can suppress the interference to the light-receiving system by emitted light can be employ | adopted.

In the above configuration, the emission light guide mirror 30 is used to bend the laser light path from the laser diode 11 to the polygon mirror 41 so as to be L-shaped when viewed from the front, and the light receiving light guide mirror 50 is used to make a polygon. The path from the mirror 41 to the light receiving element 71 is bent in an inverted L shape. As a result, the arrangement is such that the central optical path extending in the vertical direction through the polygon mirror 41 is opposed to each other (in other words, divided into left and right). According to such a configuration, the light source substrate 10 and the light receiving substrate 70 do not line up and down, so that the height H of the housing 100 can be suppressed.

In the present embodiment, a light receiving / guiding mirror 50 that is a relatively large optical system member is disposed between the light source substrate 10 and the light receiving substrate 70. With this light receiving / guiding mirror 50, the possibility that the laser light emitted from the laser diode 11 provided on the light source substrate 10 reaches the light receiving element 71 can be suppressed. That is, the light receiving / guiding mirror 50 also functions as a shielding member that separates the optical system and the light receiving system. As a result, it is possible to suppress erroneous detection of an object due to the laser light emitted from the laser diode 11 being received by the light receiving element 71.

The embodiments of the present disclosure have been described above. However, the present disclosure is not limited to the above-described embodiments, and various modifications described below are also included in the technical scope of the present disclosure. However, various modifications can be made without departing from the scope of the invention. In addition, the above-described embodiment and the following various modifications can be implemented in appropriate combination within a range where no contradiction occurs.

In addition, about the member which has the same function as the member described in the above-mentioned embodiment, the same code | symbol is attached | subjected and the description is abbreviate | omitted. In addition, when only a part of the configuration is mentioned, the configuration of the above-described embodiment can be applied to the other portions.

[Modification 1]
In the above-described embodiment, the emission light guide mirror 30 and the light receiving light guide mirror 50 are used, and the laser light path from the laser diode 11 to the polygon mirror 41 (hereinafter referred to as the emission optical path), and the polygon mirror 41 to the light receiving element 71. Although the above-described path (hereinafter referred to as the light receiving optical path) is illustrated as being bent so as to be L-shaped (that is, a right angle) in a front view, the present invention is not limited thereto.

For example, as shown in FIG. 7 and FIG. 8, by disposing the light receiving lens 60 and the light receiving substrate 70 below the polygon mirror 41 without using the light receiving / guiding mirror 50, the light is reflected by the polygon mirror 41 and reflected in the casing. It is also possible to adopt a mode in which the reflected light guided to is directly incident on the light receiving lens 60. FIG. 7 is a diagram corresponding to FIG. 2 of the embodiment, and is a front view through which the front part 110 of the laser radar device 1 according to the first modification is transmitted. FIG. 8 is a diagram corresponding to FIG. 4 of the embodiment, and is a right side view through which the right side portion 120 of the laser radar device 1 in Modification 1 is transmitted.

7 and 8, the reflected light incident on the light receiving lens 60 is condensed on the light receiving element 71 disposed below the light receiving lens 60. However, when the light receiving optical path is linear, the exit optical path is bent in the width direction from the rotation axis direction of the polygon mirror 41 using the exit light guide mirror 30. This is to provide a certain distance between the light receiving element 71 and the laser diode 11.

According to the configuration disclosed in FIGS. 7 and 8 as the modified example 1, the light receiving and guiding mirror 50 provided in the above-described embodiment can be omitted. The light receiving / guiding mirror 50 is a member having a relatively large area as described above. According to the configuration of Modification 1, since a member having a large area can be omitted, the volume of the laser radar device 1 can be reduced as compared with the above-described embodiment.

As another embodiment, the light receiving light guide mirror 50 may be used, but the exit light guide mirror 30 may not be used, so that the exit optical path is linear and the light receiving optical path is bent. By using at least one of the emission optical path and the light receiving optical path, a member (hereinafter referred to as a bending member) that bends the laser light path (hereinafter referred to as an optical path), such as the emission light guide mirror 30 or the light receiving light guide mirror 50. It suffices to be able to bend in the width direction.

In the above, an example in which various optical paths performed with the emission optical path and the light receiving optical path are bent so as to be L-shaped when viewed from the front is illustrated, but the angle at which the optical path is bent by the bending member is 90 degrees ( That is, it is not limited to a right angle). Other angles such as 60 degrees and 45 degrees may be used. Further, making the optical path L-shaped corresponds to bending at a right angle, but the right angle here includes a substantially right angle. A substantially right angle indicates, for example, a range from 80 degrees to 100 degrees and a range from 260 degrees to 280 degrees.

[Modification 2]
Further, the emission optical path and the light receiving optical path formed by using the bending member do not necessarily have to be formed so that the entire process is parallel to the front part 110. For example, as shown in FIGS. 9 and 10, the light source substrate 10 is disposed so as to face the back surface, the optical path from the laser diode 11 to the exit light guide mirror 30 is parallel to the depth direction, and You may arrange | position so that a laser beam may progress from the back side to this side. In this case, the emission light guide mirror 30 is arranged in a posture to reflect the laser light traveling forward from the rear side of the casing to the upper side of the casing. The light source substrate 10 is arranged so as to be closer to the front side than the mirror innermost position 411.

FIG. 9 is a diagram corresponding to FIG. 2 of the embodiment, and is a front view through the front portion 110 of the laser radar device 1 according to the second modification. 10 is a diagram corresponding to FIG. 3 of the embodiment, and is a right side view through which the right side surface 120 of the laser radar device 1 in Modification 2 is transmitted.

The emission optical path in such a configuration is formed to be L-shaped in a side view through the right side surface 120 of the housing 100 as shown in FIG. Even with such a configuration, the same effects as those of the above-described embodiment can be obtained. Further, according to the configuration disclosed as the second modification, the length W in the width direction can be reduced as compared with the configurations of the above-described embodiment and the first modification.

9 and 10 exemplify a mode in which the light source substrate 10 is arranged so that the laser light is directed from the back side toward the near side, but the present invention is not limited thereto. You may arrange | position so that a laser beam may progress from the near side to the back side. Moreover, although the aspect which arrange | positions each member so that an injection | emission optical path may be bent in the depth direction or the reverse direction was illustrated above, it does not restrict to this. Each member may be arranged so that the light receiving optical path is bent in the depth direction or the opposite direction.

[Modification 3]
In the above-described embodiment and modification examples 1 and 2 (hereinafter referred to as embodiments and the like), the configuration in which the light source substrate 10 and the light receiving substrate 70 are separate substrates is disclosed, but the present invention is not limited thereto. The light source substrate 10 and the light receiving substrate 70 may be integrally formed as one substrate. Hereinafter, such a configuration will be described as a third modification with reference to FIGS. 11 and 12.

FIG. 11 is a view corresponding to FIG. 2 of the embodiment, and is a front view through which the front portion 110 of the laser radar device 1 according to Modification 3 is transmitted. FIG. 12 is a diagram corresponding to FIG. 3 of the embodiment, and is a right side view through which the right side portion 120 of the laser radar device 1 in Modification 3 is transmitted.

The laser radar device 1 according to the third modification includes a substrate (hereinafter, integrated substrate) 90 on which the functions of the light source substrate 10 and the light receiving substrate 70 described above are mounted. That is, the integrated substrate 90 is provided with a laser diode 11, a light receiving element 71, an amplifier for amplifying a light receiving signal output from the light receiving element 71, and the like.

Here, as an example, a mode is disclosed in which the integrated substrate 90 is disposed on the left side of the inner space of the housing 100 in a posture facing the left side surface portion of the housing 100. However, the arrangement of the integrated substrate 90 is not limited thereto. . The integrated substrate 90 may be arranged on the right side of the internal space of the housing 100 in a posture facing the right side surface portion of the housing 100. The exit light guide mirror 30 may be disposed at a position and an angle at which the laser light emitted from the laser diode 11 is reflected directly toward the reflection surface of the polygon mirror 41. The light receiving / guiding mirror 50 may be disposed at a position and an angle at which the reflected light reflected by the polygon mirror 41 is reflected in the direction in which the light receiving lens 60 exists. In the example shown in FIGS. 11 and 12, the exit light guide mirror 30 and the light receiving light guide mirror 50 are arranged in a posture inclined at a predetermined 45 degrees on the central optical path.

According to the configuration disclosed as the third modification, the number of substrates accommodated in the housing 100 can be reduced as compared with the above-described embodiment and the like. Therefore, the number of wirings (for example, flexible cables) that connect the substrates can be reduced. In addition, since the mechanism for holding the substrate can be reduced, the housing 100 can be downsized as a result. Furthermore, since the number of substrates attached to the housing 100 is reduced, the number of assembling steps of the laser radar apparatus 1 can be reduced, and the manufacturing cost can be suppressed.

The configuration of the above-described embodiment and the like has an advantage that the degree of freedom of arrangement of each member is high with respect to the third modification. In addition, as disclosed as Modification 3, the configuration in which the light receiving element 71 and the laser diode 11 are arranged on the same substrate tends to increase the difficulty of alignment with the optical system member. For example, if the integrated substrate 90 is moved so that the light receiving element 71 is positioned at the focal point on the left side of the light receiving lens 60, the position of the laser diode 11 may be shifted from the focal point of the emission lens 20. In view of such circumstances, the configuration in which the light receiving element 71 and the laser diode 11 are provided on separate substrates as in the above-described embodiment is more aligned with the optical system member than the configuration of the third modification. There is an advantage that difficulty can be suppressed.

[Modification 4]
In the embodiment described above, the substrate on which a circuit (hereinafter referred to as a main control circuit unit) that provides a function for controlling the operation of the entire laser radar device 1 is mounted as the main control substrate 80, and the light source substrate 10 and the light receiving substrate 70. Although the structure provided separately was disclosed, it is not restricted to this. The main control circuit unit may be provided on any of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70. In other words, any one of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70 may be formed integrally with the main control substrate 80. Even with such a configuration, since the number of substrates accommodated in the housing 100 can be reduced, the number of wirings connecting the substrates can be reduced, and the number of assembling steps can be reduced.

[Modification 5]
In the above, an example in which a plane mirror is used as a member (that is, a bending member) that changes the traveling direction of the laser light by a predetermined angle is illustrated, but the present invention is not limited thereto. The bending member may be a parabolic mirror. Further, the optical path may be bent not by reflection but by refraction.

The bending member using the refraction of light may be realized by using a transparent material such as synthetic resin or glass. The shape may be designed to provide a desired bending angle.

[Modification 6]
The mechanism for sweeping and irradiating the laser beam is not limited to the configuration in which the polygon mirror 41 is rotated. For example, laser light may be swept and irradiated using a MEMS (Micro Electro Mechanical Systems) mirror. Moreover, you may perform sweep irradiation by rotating a plane mirror using a motor. In addition, the irradiation direction of the laser beam can be changed by using a known configuration. A polygon mirror 41, a MEMS mirror, a plane mirror for emitting laser light to the outside of the housing, and the like correspond to the scanning mirror.

When a relatively large detection area is to be formed, the configuration using the plane mirror tends to be larger than the configuration using the polygon mirror. In other words, by using a polygon mirror as in the above-described embodiment, it is possible to achieve both the formation of a relatively wide detection area and the miniaturization of the housing 100.

[Other variations]
Although the case where the polygon mirror 41 is the innermost member has been illustrated above, the present invention is not limited to this. For example, the light receiving lens 60 may be the innermost member. In such a case, various substrates are arranged at positions that do not overlap the light receiving lens 60 in the depth direction. In addition, it is preferable that the various substrates are arranged so as to be positioned on the front side of the innermost end portion of the light receiving lens 60.

In the above-described embodiment, the configuration on the premise that the laser radar device 1 and the ECU 2 are connected by wire is disclosed, but the configuration is not limited thereto. The laser radar device 1 and the ECU 2 may be wirelessly connected. In that case, the connector 84 provided in the main control board 80 can be omitted. Instead, a communication module for wirelessly communicating with the ECU 2 is accommodated in the housing 100.

The above-described laser radar device obtains distance information with respect to a target existing in a detection area determined according to the angle range by sweeping and irradiating laser light in a predetermined angle range. The laser radar apparatus includes a light source substrate 10, an emission lens 20, a scanning mirror 41, a scanning substrate 44, a light receiving substrate 70, a light receiving lens 60, and a housing 100. A laser light source that outputs laser light is arranged on the light source substrate 10. The emission lens 20 shapes and outputs the laser beam output from the laser light source. The scanning mirror 41 is a mirror for reflecting the laser beam output from the emission lens and emitting it to the outside of the housing, and is configured to be able to change the attitude with respect to the laser light source. The scanning substrate 44 controls the posture of the scanning mirror with respect to the laser light source. The light receiving substrate 70 is provided with a light receiving element that receives reflected light, which is laser light reflected by the target, and outputs an electrical signal corresponding to the intensity of the received reflected light. The light receiving lens 60 condenses the reflected light on the light receiving element. The housing 100 accommodates the light source substrate 10, the emission lens 20, the scanning mirror 41, the scanning substrate 44, the light receiving substrate 70, and the light receiving lens 60. Of the emission lens, the scanning mirror, and the light receiving lens, the innermost member, which is a member having an end portion on the innermost side in the depth direction of the housing, and the light source substrate at a position that does not overlap in the depth direction of the housing, A scanning substrate and a light receiving substrate are disposed.

In the above configuration, the light source substrate, the scanning substrate, and the light receiving substrate are the depth-side member that is an optical system member having an end portion on the farthest side in the depth direction of the housing among various optical system members, and the depth. Place in a position that does not overlap in the direction. Here, the optical system member refers to a member that reflects or refracts laser light, such as an emission lens, a scanning mirror, or a light receiving lens. Further, the depth direction of the housing corresponds to a direction that is opposite to the direction in which the center of the angle range in which the laser beam is irradiated (that is, the optical axis for the laser radar device) is directed.

According to such a configuration, the length (that is, the thickness) in the depth direction of the laser radar apparatus is prevented from increasing due to the substrate due to the substrate being disposed on the back side of the optical system member. be able to. That is, the thickness of the laser radar device can be suppressed.

Although the present disclosure has been described based on the embodiments, it is understood that the present disclosure is not limited to the embodiments and structures. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

Claims (13)

1. A laser radar device that obtains distance information with a target existing in a detection area determined according to the angular range by sweeping and irradiating laser light in a predetermined angular range,
   A light source substrate (10) on which a laser light source for outputting laser light is disposed;
   An injection lens (20) for shaping and outputting laser light output from the laser light source;
   A mirror for reflecting the laser beam output from the emission lens (20) and emitting the laser beam to the outside of the housing, the scanning mirror (41) configured to change the attitude with respect to the laser light source;
   A scanning substrate (44) for controlling the posture of the scanning mirror (41) relative to the laser light source;
   A light receiving substrate (70) provided with a light receiving element that receives reflected light, which is laser light reflected by the target, and outputs an electrical signal according to the intensity of the received reflected light;
   A light receiving lens (60) for condensing the reflected light on the light receiving element;
   A housing (100) for housing the light source substrate (10), the exit lens (20), the scanning mirror (41), the scanning substrate (44), the light receiving substrate (70), and the light receiving lens (60). ) And
   Of the exit lens (20), the scanning mirror (41), and the light receiving lens (60), a rearmost member that is a member having an end on the innermost side in the depth direction of the housing (100) And the light source substrate (10), the scanning substrate (44), and the light receiving substrate (70) at positions that do not overlap in the depth direction of the housing (100).
2. In claim 1,
   The scanning mirror (41) is configured to reflect the reflected light in a direction orthogonal to the depth direction,
   A light receiving path bending member (50) for changing the traveling direction of the reflected light by reflecting or refracting the reflected light reflected by the scanning mirror (41);
   The light receiving path bending member (50) is a direction in which the reflected light incident from the scanning mirror (41) is perpendicular to the depth direction and the scanning mirror (41) is not present. It is arranged in a posture that reflects on the
   The light receiving lens (60) and the light receiving substrate (70) are arranged in a direction in which the light receiving path bending member (50) reflects the reflected light incident from the scanning mirror (41). apparatus.
3. In claim 1,
   An emission path bending member (30) that changes the traveling direction of the laser light by reflecting or refracting the laser light output from the laser light source;
   The light source substrate (10) outputs laser light in a direction orthogonal to the depth direction of the casing (100), and the output laser light is bent in the emission path. Arranged to enter the scanning mirror (41) via a member (30),
   The scanning radar (41) is a laser radar device configured to sweep and irradiate laser light incident from the exit path bending member (30) in the angular range.
4. In claim 3,
   The scanning mirror (41) is configured to reflect the reflected light in a direction orthogonal to the depth direction,
   A light receiving path bending member (50) for changing the traveling direction of the reflected light by reflecting or refracting the reflected light reflected by the scanning mirror (41);
   The light receiving path bending member (50) is configured so that the reflected light incident from the scanning mirror (41) is in a direction perpendicular to the depth direction and the scanning mirror (41) is not present. It is arranged in a reflective posture,
   The light receiving lens (60) and the light receiving substrate (70) are arranged in a direction in which the light receiving path bending member (50) outputs the reflected light incident from the scanning mirror (41). apparatus.
5. In claim 3 or 4,
   The emission path bending member (30) is a laser radar device arranged to change the traveling direction of the laser beam output from the laser light source to a right angle.
6. In claim 2 or 4,
   The light receiving path bending member (50) is a laser radar device arranged so as to change the traveling direction of the reflected light to a right angle.
7. In any one of Claim 1 to 6,
   In the housing (100), the laser light is emitted by the laser light source connected to the light source substrate (10), the scanning substrate (44), and the light receiving substrate (70) in a communicable manner. And a main control board (80) for generating the distance information based on the time from when the laser light is emitted until the light receiving element receives the reflected light,
   Each of the light source substrate (10), the light receiving substrate (70), the scanning substrate (44), and the main control substrate (80) does not overlap with an optical member that reflects or refracts laser light in the depth direction. Laser radar device placed at a position.
8. In claim 7,
   The main radar control board (80) is a laser radar device arranged such that the thickness direction of the board is parallel to the depth direction.
9. In any one of Claim 1 to 6,
   The light receiving element controls the emission of the laser light from the laser light source and emits the laser light to any of the light source substrate (10), the light receiving substrate (70), and the scanning substrate (44). A laser radar apparatus provided with a main control circuit unit that generates the distance information based on a time until the reflected light is received.
10. In any one of Claim 1 to 9,
    The laser radar device, wherein the light source substrate (10) and the light receiving substrate (70) are integrally formed as one substrate.
11. In claim 4,
    The emission path bending member (30) and the light receiving path bending member (50) are arranged in a predetermined order on a straight line through which the reflected light reflected by the scanning mirror (41) passes,
    The light receiving substrate (70) is a laser radar device arranged on the opposite side of the light source substrate (10) across the straight line in the housing (100).
12. In any one of Claims 1-11,
    The scanning mirror (41) is a polygon mirror having a plurality of reflecting surfaces inclined with respect to the rotation axis,
    The scanning substrate (44) is provided with a motor for rotating the polygon mirror around the rotation axis,
    The laser mirror device, wherein the polygon mirror as the scanning mirror (41) is configured to reflect the reflected light from the target in a direction parallel to the rotation axis.
13. In any one of Claim 1 to 8,
    A laser radar device mounted on the vehicle so as to form the detection area outside the vehicle.

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