KR101979374B1 - A lidar device and rotating poligon mirror used in the lidar device - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary multi-faceted mirror used in a ladder apparatus and a ladder apparatus, and more particularly to a multi-facet mirror apparatus and a rotary multi-faceted mirror used in a ladder apparatus. The laser device according to the present invention includes a laser output unit for emitting a laser beam, a first scanning unit for acquiring a laser beam emitted from the laser output unit and continuously changing the moving path of the laser beam, A second scanning unit for acquiring a laser beam having a line shape irradiated from the first scanning unit to continuously change the movement path to extend the irradiation area into a planar shape, Wherein the first scanning unit includes a nodding mirror for nodding in a predetermined angle range and extending the irradiation area in a vertical line shape by changing the traveling path of the laser light in a vertical direction, As the second scanning unit rotates about one axis set in the vertical direction, the irradiation area And a rotating multi-faceted mirror for expanding the irradiated area into a face shape by changing the traveling path of the laser in the form of a vertical line in the horizontal direction.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a rotary multi-

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a Lada apparatus for acquiring distance information of a target object using a laser. More particularly, the present invention relates to a Lada apparatus for irradiating a laser toward a scan region and sensing a laser reflected from a target existing on the scan region to obtain distance information.

Light Detecting And Ranging (LiDAR) is a device that detects the distance to an object using a laser. In addition, the lidar device is a device that can acquire position information about an object existing in the vicinity by generating a point cloud using a laser. Also, researches on meteorological observations, 3D mapping, autonomous vehicles, autonomous traveling drones, and unmanned robot sensors have been actively conducted.

Conventional lidar devices have been used to mechanically rotate the lidar itself or to extend the scan area using a diffuse lens. However, when the Lada apparatus itself is mechanically rotated, problems such as thermal problems occurring in a plurality of lasers and stability and durability due to mechanical rotation have been encountered. In addition, in the case of a Lada device for extending a scan area using a diffusion lens, there is a problem that the measurement distance is reduced due to the diffusion of the laser.

In recent years, in order to solve such a problem, it is possible to extend the scan range without mechanically rotating the lidar device itself, and studies for improving the performance of the ladar device have been continued.

A problem to be solved according to an embodiment of the present invention relates to a Lada device having a desired scan area even with a single channel laser alone.

Another object of the present invention is to provide a radar apparatus for detecting a target object positioned at a longer distance with a minimum power without diffusing a laser beam.

Another object of the present invention is to provide a ladder device for detecting a target object positioned at a longer distance with a minimum power by increasing the amount of received laser beam.

The Lada device according to one embodiment includes a laser output unit for emitting a laser beam, a first scanning unit for acquiring a laser beam emitted from the laser output unit and continuously changing a moving path of the laser beam, A second scanning unit for acquiring a laser beam irradiated from the first scanning unit and linearly changing a moving path to expand the scanning area to a planar shape, Wherein the first scanning unit includes a nodding mirror for nodding in a predetermined angle range and extending the irradiation area in a vertical line shape by changing a moving path of the laser light in a vertical direction, The second scanning unit rotates about one axis set in the vertical direction, If reverse rotation that extends in the form if the scanning area by changing the path of movement of the line shape in the vertical direction in the horizontal direction of the laser may include a mirror.

According to another embodiment of the present invention, a ladder device includes a laser output unit for emitting a laser beam, a first scanning unit for acquiring a laser beam emitted from the laser output unit and continuously changing a moving path of the laser beam, A second scanning unit for acquiring a laser beam irradiated from the first scanning unit and linearly changing a moving path to extend the scanning area to a planar shape, and a second scanning unit for reflecting the reflected light from the object located on the scanning area, And a sensor unit for detecting a laser beam emitted from the laser output unit, wherein the laser output unit is configured to irradiate a laser beam emitted from the laser output unit to a target object located on the scan region, The laser light having a light receiving path until reaching the sensor section, And the second scanning unit, the light receiving path may be set to face the sensor unit through the first scanning unit and the second scanning unit, .

According to another aspect of the present invention, there is provided a rotary multi-faceted mirror, comprising: a rotatable body coupled to a driving unit to receive a driving force and a reflecting surface for reflecting a transmitted laser; And a pillar that connects the upper part and the lower part and rotates about a rotation axis passing vertically through the center of the upper part and the lower part and the reflection surface is located on a side surface excluding the upper part and the lower part of the body, And a light receiving part for acquiring and reflecting the laser beam reflected from the object located on the scan area.

It is to be understood that the solution of the problem of the present invention is not limited to the above-mentioned solutions, and the solutions which are not mentioned can be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

The Lada device according to one embodiment can extend the scan area with only a single-channel laser by using the rotating polyhedral mirror to expand the scan area.

In addition, according to another embodiment, the ladder device can detect a target object positioned at a longer distance with a minimum power by changing the moving direction of the laser to expand the scan area.

In addition, according to another embodiment of the present invention, by using the rotary polyhedral mirror for receiving light, the amount of laser light received can be increased to detect a target object positioned at a longer distance with minimum power.

1 is a block diagram illustrating a Lydia device according to one embodiment.
2 is a diagram for explaining the function of the scanning unit in the Lada apparatus according to an embodiment.
3 is a block diagram illustrating a ladder apparatus according to another embodiment.
4 is a diagram of a ladder apparatus according to one embodiment.
5 is a view for explaining a rotating polygon mirror according to an embodiment.
6 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of reflecting surfaces is three and the top and bottom of the body are equilateral triangular.
7 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of reflecting surfaces is four and the top and bottom of the body are square.
8 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of reflection surfaces is 5 and the upper and lower portions of the body are in a pentagonal shape.
9 is a view for explaining an irradiated portion and a light receiving portion of a rotating polyhedral mirror according to an embodiment.
10 is a view for explaining an irradiated portion and a light receiving portion of a rotating polyhedral mirror according to another embodiment.
11 is a view for explaining an irradiated portion and a light receiving portion of a rotating multi-faceted mirror according to another embodiment.
12 is a diagram for explaining a positional relationship of an irradiated portion and a light receiving portion of a rotating polyhedral mirror according to an embodiment.
13 is a view for explaining a positional relationship of an irradiated portion and a light receiving portion of a rotating multi-faceted mirror according to another embodiment.
FIG. 14 is a view for explaining a height of a rotating multi-faceted mirror according to an embodiment.
15 is a view for explaining the height of a rotating polygon mirror according to another embodiment.
16 is a view for explaining the height of a rotating multi-faceted mirror according to another embodiment.
17 is a view for explaining a rotating multi-faceted mirror including a light blocking portion according to an embodiment.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. Ranges should be construed as including modifications or variations that do not depart from the spirit of the invention.

Although the terms used in the present specification have been selected in consideration of the functions of the present invention, the present invention is not limited to the general terms used in the present invention, but may vary depending on the intention of the person skilled in the art, . However, if a specific term is defined as an arbitrary meaning, the meaning of the term will be described separately. Accordingly, the terms used herein should be interpreted based on the actual meaning of the term rather than on the name of the term, and on the content throughout the description.

The drawings attached hereto are intended to illustrate the present invention easily, and the shapes shown in the drawings may be exaggerated and displayed as necessary in order to facilitate understanding of the present invention, and thus the present invention is not limited to the drawings.

Hereinafter, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

According to one embodiment, there is provided a ladder device for measuring a distance using a laser, comprising: a laser output unit for emitting a laser; a laser output unit for acquiring a laser output from the laser output unit, A second scanning unit for acquiring a laser beam having a linear irradiation area irradiated from the first scanning unit to continuously change the moving path to enlarge the scan area into a surface shape; And a sensor section for sensing a laser beam reflected from a target object positioned on the scan region, wherein the first scanning section nodding in a predetermined angle range, and changing the travel path of the laser beam in a vertical direction, Wherein the second scanning unit includes a nodal mirror that extends in a vertical direction If the axis of rotation as the rotating surface, based on a scan area by changing the path of movement of the laser irradiation area is the line shape in the vertical direction in the horizontal direction expansion in the form it may be a d including a mirror provided with a device.

Here, the Lidar apparatus may include an irradiation path until a laser emitted from the laser output unit reaches a target object located on a scan region, and a laser beam reflected from a target object existing on the scan region reach the sensor unit Wherein the irradiation path is set so as to face the scan area sequentially through the nodding mirror and the rotating polygon mirror, and the light receiving path is set such that only the rotating polygon mirror among the nodding mirror and the rotating polygon mirror To the sensor unit.

Here, the rotary multi-faceted mirror acquires a laser beam having a line-shaped irradiation region irradiated from the nodding mirror and irradiates the irradiated portion to reflect the laser beam toward the scan region, and acquires a laser reflected from the object located on the scan region, And a light receiving portion for reflecting the laser beam toward the sensor portion, wherein the irradiated portion is in the form of a plane in which a line where the irradiation region of the laser irradiated by the nodding mirror meets the rotating polygon mirror is in the rotating direction of the rotating polygon mirror, And a portion of the reflective surface of the rotary polygonal mirror that is reflected to be transmitted toward the sensor portion among the reflective surfaces of the rotary polygonal mirror is extended in the rotation direction of the rotary polygonal mirror.

Here, the irradiated portion of the rotary polyhedral mirror may be included in the irradiation path, and the light receiving portion of the rotary polyhedral mirror may be included in the light receiving path.

Here, the size of the light receiving portion of the rotary polygonal mirror may be set at least larger than the size of the irradiated portion of the rotary polygonal mirror.

Wherein one of the irradiated portion and the light receiving portion is located on an imaginary cross section perpendicular to the rotation axis of the rotary polygonal mirror and the other of the irradiated portion and the light receiving portion is perpendicular to the rotation axis of the rotary polygonal mirror Can be positioned below the hypothetical cross-section.

Here, the irradiated portion and the light receiving portion may be located apart from each other.

Here, the height of the rotary polygon mirror may be larger than a sum of a height of the irradiated portion of the rotary polygonal mirror and a height of the light receiving portion.

Here, the height of the irradiated portion may be determined based on a predetermined angle range of the nodding mirror and a distance between the nodding mirror and the rotating polyhedral mirror.

Here, the height of the light receiving portion may be determined based on the size of the sensor portion.

According to another aspect of the present invention, there is provided a rotating multi-faceted mirror used in a ladder device for measuring distance using a laser, the rotating multi-faceted mirror comprising: a rotatable body coupled to a driving part to receive a driving force; Wherein the body includes an upper portion, a lower portion, and a column connecting the upper portion and the lower portion, wherein the body is rotated around a rotation axis passing vertically through the center of the upper portion and the lower portion, A rotating multi-faceted mirror which is located on a side surface and includes an irradiated portion for acquiring a laser emitted for distance measurement and reflecting the laser to a scan region, and a light receiving portion for acquiring and reflecting the laser reflected from the object located on the scan region, May be provided.

Here, the size of the light receiving portion of the rotary polygonal mirror may be larger than at least the size of the irradiating portion of the rotary polygonal mirror.

Here, the irradiated portion and the light receiving portion of the rotary multi-faceted mirror can be set based on an imaginary cross-section perpendicular to the rotation axis of the rotary multi-faceted mirror.

Here, the height of the rotary polygon mirror may be greater than a sum of at least the height of the irradiation area of the rotary polygonal mirror and the height of the light receiving area of the rotary polygonal mirror.

According to another embodiment, there is provided a ladder apparatus for measuring a distance using a laser, comprising: a laser output unit for emitting a laser; a laser output unit for acquiring a laser output from the laser output unit, A second scanning unit for extending the scan area to the surface shape by continuously changing the movement path by acquiring a laser beam having a line shape irradiated from the first scanning unit, And a sensor unit for sensing a laser beam reflected from a target object located on the scan area, wherein the laser device includes an irradiation path until a laser emitted from the laser output unit reaches a target object located on a scan area, The laser light reflected by the object existing on the scan area reaches the sensor unit, Wherein the irradiation path is set so as to face the scan area through the first scanning part and the second scanning part in sequence, and the light receiving path is set so as to face the second scanning part and the second scanning part out of the first scanning part and the second scanning part, And is set to face the sensor unit through the scanning unit.

Here, the second scanning unit may include a rotating multi-facet mirror for expanding the scan area into a plane shape by changing the traveling path of the laser, which is a linear line shape, in the horizontal direction as the irradiation area rotates with respect to the single axis set in the vertical direction .

Here, the rotating multi-faceted mirror may include an irradiated portion irradiated by the first scanning portion to acquire a laser beam having a linear shape and to reflect the laser beam toward the scan region, and a laser beam reflected from the object located on the scan region And a light receiving portion for reflecting the laser beam toward the sensor portion, wherein the irradiating portion includes a surface shape in which a line irradiated by the laser irradiated by the first scanning portion meets the rotating polygon mirror, And the light receiving portion is in the form of a surface extending in a direction of rotation of the rotary polygon mirror so that a portion of the reflection surface of the rotary polygonal mirror that is reflected to be transmitted toward the sensor portion is in the form of a surface, Path, and the light-receiving portion of the rotary polyhedral mirror may be included in the light-receiving path .

Here, the size of the light receiving portion of the rotary polygonal mirror may be larger than at least the size of the irradiating portion of the rotary polygonal mirror.

Wherein one of the irradiated portion and the light receiving portion is located on an imaginary cross section perpendicular to the rotation axis of the rotary polygonal mirror and the other of the irradiated portion and the light receiving portion is perpendicular to the rotation axis of the rotary polygonal mirror Can be positioned below the hypothetical cross-section.

Here, the height of the rotating multi-faceted mirror is greater than the sum of the height of the irradiating portion of the rotating multi-faceted mirror and the height of the light receiving portion, and the height of the irradiating portion is a distance between the first scanning portion and the rotating multi- And the height of the light receiving region may be determined based on the size of the sensing portion.

1. Lada device and terminology

,

)로 나타낼 수 있다. 또한, 이에 한정되는 것은 아니며, 예를 들어, 라이다 장치와 대상체와의 거리 및 라이다 장치를 기준으로 한 대상체의 위치는 직교좌표계 (X,Y,Z), 원통좌표계 (R,

,z) 등으로 나타낼 수 있다.A lidar device is a device for detecting the distance and position of an object using a laser. For example, the distance between the lidar device and the object and the position of the object with respect to the ladder device are (R,

,

). For example, the distance between the lidar device and the target object and the position of the target object with respect to the ladder device may be determined using a rectangular coordinate system (X, Y, Z), a cylindrical coordinate system (R,

, z), and so on.

In addition, the lidar device can use a laser reflected from the object to determine the distance R to the object.

According to one embodiment, the lidar may utilize time of flight (TOF), which is the time difference between the emitted laser and the sensed laser to determine the distance R to the object. For example, the Lidar apparatus may include a laser output unit for outputting a laser and a sensor unit for sensing the reflected laser. The lidar apparatus confirms the output time of the laser at the laser output unit, checks the time at which the laser reflected from the object is sensed by the sensor unit, and calculates the distance from the object based on the difference between the output time and the sensed time It can be judged.

Also according to one embodiment, the lidar device may use triangulation based on the sensed position of the laser sensed to determine the distance R to the object. For example, when the laser emitted from the laser output unit is reflected from a relatively close object, the reflected laser may be detected at a position relatively far from the laser output unit of the sensor unit. In addition, when the laser emitted from the laser output unit is reflected from a relatively far object, the reflected laser can be detected at a position relatively close to the laser output unit of the sensor unit. Accordingly, the Lada apparatus can determine the distance to the object based on the difference in the detection position of the laser.

Also, according to one embodiment, the lidar device may utilize a phase shift of the sensed laser to determine the distance R to the object. For example, the Lidar apparatus detects the phase of the amplitude by AM (Amplitude Modulation) the laser emitted from the laser output unit, detects the phase of the laser reflected from the object existing on the scan region, It is possible to determine the distance to the object existing on the scan region based on the phase difference between the laser and the sensed laser.

,

)를 알 수 있는 경우, 상기 스캔영역상에 존재하는 대상체로부터 반사된 레이저가 센서부에서 감지된다면, 라이다 장치는 조사된 레이저의 조사 각도(

,

)로 상기 대상체의 위치를 결정할 수 있다.Also, according to one embodiment, the lidar device may determine the position of the object using the angle of the irradiated laser. For example, the irradiation angle of one laser irradiated toward the scan area of the laser device in the laser device

,

If the laser reflected from the object existing on the scan area is detected by the sensor unit,

,

The position of the object can be determined.

,

)에 있는 경우, 제1 대상체에서 반사된 레이저와 제2 대상체에서 반사된 레이저는 센서부의 서로 다른 지점에서 감지될 수 있다. 라이다 장치는 반사된 레이저들이 센서부에서 감지된 지점을 기초로 대상체의 위치를 결정할 수 있다.In addition, according to one embodiment, the lidar apparatus can determine the position of the object using the angle of the laser beam received. For example, although the first object and the second object are at the same distance R from the Lada device,

,

), The laser reflected from the first object and the laser reflected from the second object can be sensed at different points of the sensor part. The lidar device can determine the position of the object based on the point at which the reflected lasers are sensed by the sensor.

Also, according to one embodiment, the radar device may have a scan area that includes the object to detect the position of any object in the vicinity. Here, the scan area represents a set of points, lines, and faces that form a screen for one frame, which is a representation of a detectable area in one screen. In addition, the scan area may refer to the irradiated area of the laser irradiated by the radar device, and the irradiated area refers to a set of points, lines, and surfaces where the laser irradiated during one frame meets the spherical surface at the same distance (R) . Also, the field of view (FOV) means a detectable field and can be defined as an angle range of the scan area when the LIDAR device is viewed as the origin.

2. Configuration of the Lada device

Hereinafter, each component of the Lada device according to one embodiment will be described in detail.

2.1 Components of the Lidar device

1 is a diagram illustrating a Lidar device according to one embodiment.

Referring to FIG. 1, a Lidar apparatus 100 according to an exemplary embodiment of the present invention may include a laser output unit 110, a scanning unit 120, a sensor unit 130, and a controller 140. However, without being limited to the above-described configuration, the laddering device 100 may be a device having more or less configuration than the above configuration. For example, the laddering device may include only the laser output unit, the sensor unit, and the control unit without the scanning unit.

Each of the laser output unit 110, the scanning unit 120, the sensor unit 130, and the control unit 140 included in the lidar apparatus 100 may have a plurality of units. For example, the ladder device may include a plurality of laser output units, a plurality of scanning units, and a plurality of sensor units. Of course, it may be composed of a single laser output unit, a plurality of scanning units, and a single sensor unit.

Each of the laser output unit 110, the scanning unit 120, the sensor unit 130 and the control unit 140 included in the lidar apparatus 100 may include a plurality of subcomponents. For example, the ladder device may comprise a plurality of laser output elements in one array to constitute a laser output section.

2.1.1 Laser output section

The laser output unit 110 can emit a laser. The lidar apparatus 100 can measure the distance to the object using the emitted laser.

In addition, the laser output section 110 may include one or more laser output elements. In one embodiment, the laser output 110 may comprise a single laser output element and may include a plurality of laser output elements. When a plurality of laser output elements are included, the plurality of laser output elements may constitute one array.

Also, the laser output unit 110 can emit laser in the 905 nm band and emit laser in the 1550 nm band. In addition, the laser output unit 110 may emit a laser having a wavelength of 800 nm to 1000 nm. The wavelength of the emitted laser may be in a wide range or in a specific range.

When there are a plurality of laser output elements of the laser output unit 110, each of the laser output elements can emit laser of the same wavelength band and can emit laser of different wavelength band. For example, in the case of a laser output unit including two laser output elements, one laser output element can emit laser in the 905 nm band, and the other laser output element emits laser in the 1550 nm band.

The laser output device may be a laser diode (LD), a solid-state laser, a high power laser, a light entry diode (LED), a vertical cavity surface emitting laser (VCSEL) But is not limited thereto.

2.1.2 Scanning section

The scanning unit 120 may change the irradiation direction and / or the size of the laser beam emitted from the laser output unit 110. For example, the scanning unit 120 may change the irradiation direction of the laser beam by changing the moving direction of the emitted laser beam, change the size of the laser beam by changing the phase of the emitted laser beam, Or may change the irradiation direction and size of the laser by diverging the laser and changing the moving direction of the laser.

Further, the scanning unit 120 may change the irradiation direction and / or the size of the laser beam irradiated from the laser output unit 110, thereby enlarging or changing the scanning direction of the Lidar apparatus 100 .

Further, the scanning unit 120 may include a fixed mirror for changing the moving direction of the laser at a fixed angle to change the moving direction of the emitted laser, a nodding unit for setting the moving direction of the laser continuously And a rotating mirror that rotates about one axis and continuously changes the moving direction of the laser. However, the present invention is not limited thereto.

Also, the scanning unit 120 may include a lens, a prism, a microfluidic lens, a liquid crystal, and the like in order to radiate the emitted laser, but is not limited thereto.

Also, the scanning unit 120 may include an optical phased array (OPA) or the like in order to change the phase of the emitted laser beam and thereby change the irradiation direction.

Further, the nodding mirror may continuously change the direction of movement of the emitted laser to nod within a predetermined angle range by expanding or changing the irradiation area of the laser. Here, the nodding can be referred to as rotating about one or more axes and reciprocating within a certain angle range. The nodding mirror may be a resonance scanner, a MEMs mirror, a voice coil motor (VCM), or the like, but is not limited thereto.

Further, the rotating mirror continuously rotates the moving direction of the emitted laser and expands or changes the irradiated area of the laser, so that the rotating mirror can rotate based on one axis. In addition, the rotating mirror may be one in which the end mirror rotates with respect to the axis, or the conical mirror may be rotated about the axis, or the multi-side mirror may rotate about the axis, but not limited thereto, It can be a mirror that rotates without limit of range.

The scanning unit 120 may be a single scanning unit or a plurality of scanning units. Further, the scanning unit may include one or two or more optical elements, and the configuration thereof is not limited.

2.1.3 Sensor section

The sensor unit 130 may sense the laser beam reflected from the target object located on the scan area of the radar apparatus 100.

In addition, the sensor unit 130 may include one or more sensor elements. In one embodiment, the sensor unit 130 may include a single sensor element and may include a sensor array composed of a plurality of sensor elements. For example, the sensor unit 130 may include one APD (Avalanche Photodiode), and may include SiPM (Silicon PhotoMultipliers) having a plurality of single-photon avalanche diodes (SPAD) arrays. Also, a plurality of APDs can be configured as a single channel or a plurality of channels.

The sensor element may include a PN photodiode, a phototransistor, a PIN photodiode, an APD, a SPAD, a SiPM, and a CCD (charge-coupled device).

2.1.4 Control section

The control unit 140 can determine the distance from the lidar device to the object located on the scan area based on the detected laser. The control unit 140 may control the operation of each component of the RDA apparatus such as the laser output unit 110, the scanning unit 120, and the sensor unit 130.

2.2 Scanning section

Hereinafter, the scanning unit 120 will be described in more detail.

2 is a diagram for explaining the function of the scanning unit in the Lada apparatus according to an embodiment.

Referring to FIG. 2, the scanning unit 120 may have different functions depending on the irradiation area of the laser beam emitted from the laser output unit 110.

2.2.1 When the irradiation area of the laser emitted from the laser output part is dotted

According to one embodiment, when the laser output unit 110 has a single laser output device, the irradiated area of the laser 111 emitted from the laser output unit may be in the form of a dot. At this time, the scanning unit 120 can change the irradiation direction and the size of the laser 111, and thus the scan area of the Lidar apparatus can be expanded into a line shape or a surface shape.

In addition, the scanning unit 120 may change the irradiation direction of the laser by continuously changing the moving direction of the laser 111 having the dotted irradiation area. Accordingly, Can be expanded.

In addition, the scanning unit 120 can change the size of the laser by causing the laser 111 having a dot-shaped irradiation area to be diverged. Accordingly, the scan area of the laser device can be extended .

In addition, the scanning unit 120 can change the size and the irradiation direction of the laser by changing the phase of the laser 111 having the irradiation region of the point shape. Accordingly, .

In addition, the scanning unit 120 continuously changes the moving direction of the laser 111 having the irradiation area of the point shape in a primary direction, and secondarily moves the moving direction of the laser in a direction different from the moving direction The irradiation direction of the laser can be changed, and the scan area of the laser device 100 can be expanded in the form of a plane.

In addition, the scanning unit 120 continuously changes the moving direction of the laser 111 having a point-shaped irradiation area, and secondarily diverges the laser so as to change the irradiation direction and size of the laser So that the scan area of the Lidar device can be expanded in the form of a plane.

Also, the scanning unit 120 first diverges the laser 111 having a point-shaped irradiation area, and secondly continuously changes the direction of movement of the emitted laser to change the irradiation direction and size of the laser So that the scan area of the lidar device can be expanded in the form of a plane.

2.2.2 When the irradiation area of the laser emitted from the laser output section is in a line form

According to another embodiment, when the laser output unit 110 is composed of a plurality of laser output elements, the irradiation area of the laser 112 emitted from the laser output unit may be in a line shape. Here, the scanning unit 120 can change the irradiation direction and the size of the laser 112, thereby expanding the scan area of the Lidar device to a planar shape.

At this time, the scanning unit 120 may change the irradiation direction of the laser by continuously changing the moving direction of the laser 112 having the linear irradiation region, . ≪ / RTI >

Also, the scanning unit 120 can change the size of the laser by diverging the laser 112 having a line-shaped irradiation area, thereby expanding the scan area of the Lada device to a planar shape.

In addition, the scanning unit 120 may change the phase of the laser 112 having a line-shaped irradiation area to change the irradiation direction and the size of the laser, .

According to another embodiment, when the laser output section 110 includes a laser output element composed of an array arranged in a line, the irradiation area of the laser 112 emitted from the laser output section 110 may be linear . Here, the scanning unit 120 can change the irradiation direction and the size of the laser 112, thereby expanding the scan area of the Lidar device to a planar shape.

At this time, the scanning unit 120 may change the irradiation direction of the laser by continuously changing the moving direction of the laser 112 having the linear irradiation region, . ≪ / RTI >

Also, the scanning unit 120 can change the size of the laser by diverging the laser 112 having a line-shaped irradiation area, thereby expanding the scan area of the Lada device to a planar shape.

In addition, the scanning unit 120 may change the phase of the laser 112 having a line-shaped irradiation area to change the irradiation direction and the size of the laser, .

2.2.3 When the irradiation area of the laser emitted from the laser output part is in the form of a plane

According to another embodiment, when the laser output unit 110 is composed of a plurality of laser output elements, the irradiation area of the laser 113 emitted from the laser output unit 110 may be in the form of a plane. Here, the scanning unit 120 can change the irradiation direction and the size of the laser, thereby expanding the scanning range of the lidar apparatus or changing the scanning direction.

At this time, the scanning unit 120 can change the irradiation direction of the laser by continuously changing the moving direction of the laser 113 having a planar irradiation region, Or change the scanning direction.

In addition, the scanning unit 120 can change the size of the laser by diverging the laser 113 having the irradiation area in the form of a plane. Accordingly, it is possible to expand the scanning area of the Lada device or to change the scanning direction have.

Further, the scanning unit 120 may change the phase of the laser 113 having a planar irradiation region to change the irradiation direction and the size of the laser, Or change the scanning direction.

According to another embodiment, the irradiation region of the laser 113 emitted from the laser output portion 110 when the laser output element includes a laser array of a planar array may be in the form of a plane. Here, the scanning unit 120 can change the irradiation direction and the size of the laser, thereby expanding the scanning range of the lidar apparatus or changing the scanning direction.

At this time, the scanning unit 120 can change the irradiation direction of the laser by continuously changing the moving direction of the laser 113 having a planar irradiation region, Or change the scanning direction.

In addition, the scanning unit 120 can change the size of the laser by diverging the laser 113 having the irradiation area in the form of a plane. Accordingly, it is possible to expand the scanning area of the Lada device or to change the scanning direction have.

Further, the scanning unit 120 may change the phase of the laser 113 having a planar irradiation region to change the irradiation direction and the size of the laser, Or change the scanning direction.

Hereinafter, a laddering device in which the irradiation area of the laser beam emitted from the laser output part is in a point shape will be described in detail.

3. An embodiment of the Lidar device

3.1 Configuration of the Lada device

3 is a block diagram illustrating a ladder apparatus according to another embodiment.

Referring to FIG. 3, the Lada apparatus according to one embodiment may include a laser output unit 110, a first scanning unit 121, a second scanning unit 126, and a sensor unit 130.

1 and 2, the laser output unit 110 and the sensor unit 130 will not be described in detail below.

The scanning unit 120 described above with reference to FIGS. 1 and 2 may include the first scanning unit 121 and the second scanning unit 126.

The first scanning unit 121 may change the irradiation direction and / or the size of the emitted laser so as to extend the irradiation area of the laser to a line shape. For example, the first scanning unit 121 may continuously change the moving direction of the emitted laser so as to extend the irradiation area of the laser to a linear shape. In addition, the first scanning unit 121 may extend the irradiated area of the laser to a linear shape by emitting the emitted laser in a line shape.

Further, the second scanning unit 126 may extend the irradiation area of the laser to the surface shape by changing the irradiation direction and / or the size of the laser irradiated by the first scanning unit 121. For example, the second scanning unit 126 may continuously change the moving direction of the laser beam irradiated from the first scanning unit 121 to expand the irradiation area of the laser beam into a plane shape. In addition, the second scanning unit 126 may extend the irradiation area of the laser to a planar shape by emitting the laser irradiated from the first scanning unit, Can be expanded to the surface shape.

3.2 Operation of the Lada device

Referring to FIG. 3, in FIG. 3, the optical path of the laser emitted from the lidar apparatus 100 is displayed. Specifically, the laser output unit 110 can emit a laser. The laser beam emitted from the laser output unit 110 reaches the first scanning unit 121 and the first scanning unit 121 irradiates the laser toward the second scanning unit 126 . Also. The laser may reach the second scanning unit 126 and the second scanning unit 126 may irradiate the laser toward the scan area 150. [ The laser irradiated onto the scan area 150 of the lidar apparatus 100 is reflected from the target object 160 existing on the scan area 150 and is reflected by the sensor unit 150 through the second scan unit 126. [ 130). ≪ / RTI > The sensor unit 130 may sense the laser beam irradiated through the second scanning unit 126.

3.2.1 Investigation method of Lada device

The laser device 100 may be a device for measuring the distance from the laser device 100 to the object 160 using a laser. Therefore, the lidar apparatus 100 must irradiate a laser toward the object 160, and accordingly, the ladar apparatus 100 can have an irradiation method for efficiently measuring the distance to the object. Here, the irradiation method determines the irradiation path until the laser emitted from the laser output unit 110 reaches the target object 160 positioned on the scan area 150, and determines the scan area 150 . Therefore, the irradiation path and the scan area 150 of the lidar device will be described below.

Specifically, the laser output unit 110 may emit laser toward the first scanning unit 121, and the first scanning unit 121 may irradiate the emitted laser to the second scanning unit 126 And the second scanning unit 126 can irradiate the irradiated laser toward the scan area 150 of the Lidar apparatus 100. [

More specifically, the irradiation area of the laser beam emitted from the laser output part 110 is in a point shape, and the emitted laser beam is irradiated through the first scanning part 121 toward the second scanning part 126 . At this time, the irradiation direction and / or the size of the laser beam in the irradiation area in the first scanning unit 121 may be changed to expand the irradiation area of the laser beam into a linear shape. That is, the first scanning unit 121 receives the laser beam having the irradiation region from the laser output unit 110, and irradiates the laser beam having the linear irradiation region toward the second scanning unit 126 have.

At this time, the irradiation direction and / or the size of the laser beam having the linear irradiation region in the second scanning unit 126 may be changed to expand the irradiation region of the laser beam into a plane shape. The first scanning unit 121 may be irradiated through the second scanning unit 126 toward the scan area. That is, the second scanning unit 126 can irradiate a laser beam having a line-shaped irradiation region from the first scanning unit 121 to the scanning region 150 . The scanning area 150 of the lidar apparatus 100 can be expanded in the form of a surface by irradiating a laser beam having a surface shape in the irradiation area in the second scanning unit 126.

3.2.2 Method of receiving Lada device

The lidar apparatus 100 must sense the laser reflected from the object, and accordingly, the ladar apparatus 100 can have a light receiving method for efficiently measuring the distance to the object. Here, the light receiving method may include a method for determining the light receiving path until the laser reflected from the object reaches the sensor portion, and for determining the amount of laser reaching the sensor portion. Therefore, the following description will be made about the amount of laser light reaching the light receiving path and the sensor unit of the LD 100.

The laser irradiated to the scan area 150 of the lidar device 100 may be reflected from the target object 160 existing on the scan area 150 of the ladar device. The laser reflected from the target object 160 may be directed to the second scanning unit 126 and the second scanning unit 126 may receive and reflect the laser reflected from the target object 160, (130). ≪ / RTI > At this time, properties of the laser reflected from the target object 160 may vary depending on the color, material, or the incident angle of the laser.

Further, the laser reflected from the target body 160 may be irradiated toward the sensor unit 130 through the second scanning unit 126. That is, the laser reflected from the target body 160 can be irradiated toward the sensor unit only through the second scanning unit 126, and the first scanning unit 121 and the second scanning unit 126 And may not be irradiated toward the sensor unit 130 through all of them. The laser reflected from the object 160 may be irradiated toward the sensor unit 130 only through the second scanning unit 126 and the first scanning unit 121 and the second scanning 126 May not be irradiated toward the sensor unit 130 without passing through all of the sensor unit 130. Therefore, the amount of laser reaching the sensor unit 130 can be determined based on the second scanning unit 126. [

3, laser beams reflected from the target object 160 are directed toward the sensor unit 130 only through the second scanning unit 126. However, The laser beam reflected from the target object 160 may reach the sensor unit 130 through the first scanning unit 121 and the second scanning unit 126 . The laser reflected from the target body 160 may reach the sensor unit 130 without passing through the first scanning unit 121 and the second scanning unit 126.

As described above, the Lada apparatus including the laser output unit 110, the first scanning unit 121, and the second scanning unit 126 that emits a laser beam in the form of a point has the first scanning unit 121 and the second scanning unit 121, The scan area 150 can be expanded in the form of a surface by using the scanning unit 126. FIG. Therefore, it is possible to exert a better effect in terms of durability and stability than the Lada device which extends the scan area to the surface shape through the mechanical rotation of the Lada device itself. Further, it is possible to measure a distance longer than the Lada device which extends the scan area to the surface shape by using the laser diffusion. Further, by controlling the operations of the first scanning unit 121 and the second scanning unit 126, it is possible to irradiate the laser with a region of interest of interest.

4. Lidar device using a nodding mirror and a rotating polygon mirror

When the irradiation area of the laser emitted from the laser output unit 110 of the laser device 100 is a point shape, the laser device 100 includes the first scanning unit 121 and the second scanning unit 126 can do. Here, the emitted laser having the irradiation region in the form of a dot is expanded in a planar form through the first scanning unit 121 and the second scanning unit 126 so that the scanning area of the laser device 100 Lt; RTI ID = 0.0 > 150 < / RTI >

Also, the lidar apparatus 100 may have a different viewing angle (FOV) depending on its use. For example, in the case of a fixed ladder device for 3D mapping, a wide viewing angle may be required in the vertical and horizontal directions, and in the case of a ladder device disposed in the vehicle, a relatively wide viewing angle in the horizontal direction A relatively narrow viewing angle in the vertical direction may be required. Also, in the case of the ladder disposed in the dron, a wide viewing angle in the vertical and horizontal directions may be required. Therefore, when the viewing angle required in the vertical direction is different from the viewing angle required in the horizontal direction, the moving direction of the laser is changed in a direction requiring a relatively narrow viewing angle in the first scanning unit 121, The overall size of the apparatus 100 can be reduced by changing the moving direction of the laser in a direction requiring a relatively wide viewing angle.

The lidar apparatus 100 is a device for measuring a distance by detecting a reflected laser when a laser irradiated toward the scan region 150 is reflected from a target object 160 existing on the scan region 150. Here, the laser may be irregularly reflected in all directions in accordance with the color, the material of the object 160 existing on the scan region 150, or the incident angle of the laser irradiated toward the target object 160. Therefore, in order to measure the distance of the object 160 at a long distance, it is necessary to reduce the diffusion of the laser. To this end, the first scanning unit 121 and the second scanning unit 126 do not extend the size of the laser, It may be to continuously change the moving direction to extend the irradiation area of the laser.

In addition, the first scanning unit 121 and the second scanning unit 126 may change the moving direction of the laser in different directions so that the lidar 100 scans in three dimensions. For example, the first scanning unit 121 continuously changes the moving direction of the laser in a direction perpendicular to the paper surface, and the second scanning unit 126 continuously changes the moving direction of the laser in a direction parallel to the paper surface .

The first scanning unit 121 of the laser radar apparatus 100 receives a laser beam having an irradiation area of a point shape from the laser output unit 110 while the second scanning unit 126 receives the laser beam of a point shape from the laser output unit 110, The irradiation region can receive a laser beam having a linear shape. Therefore, the size of the second scanning unit 126 may be larger than that of the first scanning unit 121. Accordingly, the first scanning unit 121 having a smaller size can be scanned faster than the second scanning unit 126 having a larger size. Here, the scanning speed may mean the speed at which the moving direction of the laser is continuously changed.

The lidar apparatus 100 is a device for measuring a distance by detecting a reflected laser when a laser irradiated toward the scan region 150 is reflected from a target object 160 existing on the scan region 150. Here, the laser may be irregularly reflected in all directions in accordance with the color, the material of the object 160 existing on the scan region 150, or the incident angle of the laser irradiated toward the target object 160. Therefore, it is necessary to increase the amount of laser that can be detected by the sensor unit 130 in order to measure the distance of the object 160 at a long distance. For this purpose, The first scanning unit 121 and the second scanning unit 126 can be irradiated to the sensor unit 130 only through the second scanning unit 126 having a large size.

The first scanning unit 121 of the radar apparatus 100 may include a nodding mirror so that the second scanning unit 126 of the radar apparatus 100 may be rotated A multi-faceted mirror may be included.

Hereinafter, the first scanning unit 121 includes a nodding mirror, and the second scanning unit 126 includes a rotating polygon mirror.

4.1 Configuration of Lada device

4 is a diagram of a ladder device according to an embodiment.

Referring to FIG. 4, the Lidar apparatus 100 according to an exemplary embodiment may include a laser output unit 110, a nodding mirror 122, a rotating multi-faced mirror 127, and a sensor unit 130.

1 and 2, the laser output unit 110 and the sensor unit 130 will not be described in detail below.

The first scanning unit 121 described above in FIG. 3 may include a nodding mirror 122 and the second scanning unit 126 may include a rotating polygon mirror 127.

The nodding mirror 122 may be an example of the first scanner unit 121 described above. The nodding mirror 122 may nod in a predetermined angle range with respect to one axis and may nod within a predetermined angle range with respect to the two axes. At this time, when the nodding mirror 122 is nodding in a predetermined angle range with respect to one axis, the irradiated area of the laser irradiated from the nodding mirror may be in a line shape. In addition, when the nodding mirror 122 is nodding in a predetermined angle range with respect to the two axes, the irradiation area of the laser irradiated from the nodding mirror may be in the form of a plane.

Also, the nodding speed of the nodding mirror 122 may be the same in all the predetermined angles, and may be different in the entire predetermined angles. For example, the nodding mirror 122 may nod at the same angular velocity over a predetermined angle range. Also, for example, the nodding mirror 122 may be relatively slow at both ends of a predetermined angle, and may nod at a relatively high angular velocity at a central portion of a predetermined angle.

Further, the nodding mirror 122 receives and reflects the laser beam emitted from the laser output unit 110, and can continuously change the moving direction of the laser according to nodding in a predetermined angle range. Accordingly, the irradiation region of the laser can be expanded in the form of a line or a plane.

In addition, the rotary polygonal mirror 127 may be an example of the second scanner 126 described above. The rotary polygon mirror 127 can rotate about one axis. Here, the rotating multi-facet mirror 127 receives and reflects the laser irradiated from the nodding mirror 122, and can continuously change the moving direction of the laser as it rotates about one axis. As a result, the irradiation area of the laser can be expanded in the form of a plane, and as a result, the scan area 310 of the lidar apparatus 100 can be expanded in the form of a plane.

In addition, the rotational speed of the rotary polygon mirror 127 may be the same throughout the range of the rotating angle, and may be different from each other in the range of the rotating angle. For example, when the direction of the laser beam irradiated from the rotating polygon mirror 127 is directed toward the central portion of the scan region 310, the rotational speed of the laser beam irradiated from the rotating polygon mirror 127 is changed from the scan region 310 It is relatively slower than the rotational speed. In addition, rotation speeds may be different from each other depending on the number of rotations of the rotary polygon mirror 127.

When the vertical viewing angle of the laser device 100 is set to be narrower than the horizontal viewing angle, the nodding mirror 122 continuously moves the laser beam emitted from the laser output part 110 in a direction perpendicular to the paper So that the irradiation area of the laser can be expanded to a line shape perpendicular to the paper surface. At this time, the rotating multi-facet mirror 127 can continuously change the moving direction of the laser irradiated from the nodding mirror 122 in a horizontal direction with respect to the paper surface, Accordingly, the scan area 310 of the lidar apparatus 100 can be expanded in the form of a plane. Accordingly, the nodding mirror 122 vertically extends the scan region 310, and the rotary polyhedral mirror 127 extends the scan region 310 horizontally.

Also, since the nodding mirror 122 reflects the laser beam emitted from the laser output unit 110, the size of the nodding mirror 122 may be similar to the diameter of the laser beam. However, since the irradiation area of the laser irradiated by the nodding mirror 122 is linear, the size of the rotating polyhedral mirror 127 may be larger than the size of the irradiation area to reflect the laser irradiated by the nodding mirror 122 . Therefore, the size of the nodding mirror 122 may be smaller than the size of the rotating polygon mirror 127, and the nodding speed of the nodding mirror 122 may be faster than the rotating speed of the rotating polygon mirror 127.

Hereinafter, the laser irradiation method and the laser light receiving method of the lidar apparatus 100 having the above-described configuration will be described.

4.2 Operation of the Lidar device

Referring again to FIG. 4, the movement path of the laser can be known from when the laser of the LD 100 is detected until it is detected. Specifically, the laser beam emitted from the laser output unit 110 of the laddering apparatus 100 is directed toward the rotating polygon mirror 127 through the nodding mirror 122, May be irradiated through the rotating polygon mirror 127 toward the scan region 150 of the LD 100. The laser irradiated to the scan region 150 of the lidar apparatus 100 is reflected from a target object 160 existing on the scan region 150 and is reflected by the sensor unit 130 ). ≪ / RTI > Also, the sensor unit 130 can detect the laser beam irradiated through the rotary polygon mirror 127. [

4.2.1 Investigation of Lada apparatus

The laser device 100 may be a device for measuring the distance from the laser device 100 to the object 160 using a laser. Therefore, the lidar apparatus 100 has to irradiate the laser beam toward the object 160, and accordingly, the ladar apparatus 100 can have an irradiation method for efficiently measuring the distance to the object 160. Here, the method for determining the irradiation path determines the irradiation path until the laser emitted from the laser output unit 110 reaches the object 160 located on the scan area 150, and determines the scan area 150 . Therefore, the irradiation path of the lidar 100 and the scan area 150 will be described below.

Specifically, the laser can be emitted from the laser output unit 110 toward the nodding mirror 122. The nodding mirror 122 receives the emitted laser beam and reflects the reflected laser beam toward the rotating polyhedral mirror 127 And the rotating multi-faceted mirror 127 may receive the irradiated laser beam, reflect the laser beam, and irradiate the laser beam toward the scan area 150 of the LD 100.

At this time, the laser can be emitted from the laser output unit 110 toward the nodding mirror 122, and the irradiated area of the emitted laser can be point-shaped.

Here, the laser beam emitted from the laser output unit 110 may be irradiated toward the rotating polygon mirror 127 through the nodding mirror 122. At this time, it is possible to extend the irradiation area of the laser beam into a linear shape by changing the irradiation direction of the laser beam in the irradiation area in the nodal mirror 122. That is, the nodding mirror 122 can irradiate a laser beam having a line-shaped irradiation area to the rotating polygon mirror 127 by receiving a laser beam having a point shape in the irradiation area from the laser output part 110.

At this time, the nodding mirror 122 continuously changes the moving direction of the laser emitted from the laser output unit 110 in a direction perpendicular to the paper surface, so that the irradiation area of the laser is linearly formed Can be expanded.

The laser irradiated from the nodding mirror 122 may be irradiated toward the scan region 150 through the rotating polygon mirror 127. At this time, the irradiation direction of the laser beam having the linear irradiation area in the rotary multi-faceted mirror 127 can be changed to expand the irradiation area of the laser beam into a plane shape. That is, the rotating multi-facet mirror 127 can irradiate the laser beam having a line-shaped irradiation region from the nodding mirror 122 and directed to the scan region 150. The scan area 150 of the lidar apparatus 100 can be expanded in the form of a plane by irradiating a laser beam having a surface shape in the irradiation area of the rotary polygonal mirror 127.

In addition, the rotating multi-facet mirror 127 may continuously change the moving direction of the laser irradiated by the nodding mirror 122 in a horizontal direction with respect to the paper surface, thereby expanding the irradiated area of the laser to a surface form.

In this case, the scan area 150 of the lidar apparatus 100 may be determined based on a predetermined angle of the nodding mirror 122 and the number of reflecting surfaces of the rotating polyhedral mirror 127, The viewing angle of the lidar apparatus 100 can be determined. For example, when the nodding mirror 122 continuously changes the laser moving direction in a direction perpendicular to the paper surface, the vertical viewing angle of the laddering device 100 is set to a predetermined angle of the nodding mirror 122 Can be determined. When the direction of movement of the laser is continuously changed in the direction parallel to the paper surface, the horizontal viewing angle of the rotary apparatus 100 is set to be equal to the number of reflecting surfaces of the rotary polygonal mirror 127 Can be determined.

4.2.2 Method of receiving Lada device

The laser device 100 may be a device for measuring the distance from the laser device 100 to the object 160 using a laser. Therefore, it is necessary to sense the laser reflected from the target object 160, and accordingly, the LIDAR apparatus 100 can have a light receiving method for efficiently measuring the distance to the target object 160. Here, the light receiving method may include a method for determining the light receiving path until the laser reflected by the object 160 reaches the sensor unit 130 and determining the amount of laser reaching the sensor unit 130 . Accordingly, the following description will be made about the amount of laser light reaching the sensor unit 130 and the light receiving path of the LD 100.

The laser irradiated to the scan area 150 of the lidar device 100 may be reflected from the target object 160 existing on the scan area 150 of the lidar device 100. [ The laser reflected from the object 160 may be directed to the rotary polygonal mirror 127. The rotary polygonal mirror 127 receives the laser reflected from the object 160 and reflects the laser, ). ≪ / RTI > At this time, properties of the laser reflected from the target object 160 may vary depending on the color, material, or the incident angle of the laser.

Also, the laser reflected from the target body 160 may be irradiated toward the sensor unit 130 through the rotary polygonal mirror 127. That is, the laser reflected from the object 160 can be irradiated toward the sensor unit 130 through only the rotating polygon mirror 127, and the nodding mirror 122 and the rotating polygon mirror 127 And may not be irradiated toward the sensor unit 130 through all of them. The laser reflected from the object 160 may be irradiated toward the sensor unit 130 through only the rotary polygonal mirror 127 and may be irradiated to both the nodding mirror 122 and the rotary polygonal mirror 127 It may not be irradiated toward the sensor unit 130 without passing through the sensor unit 130. Therefore, the amount of laser reaching the sensor unit 130 can be determined based on the rotary polygon mirror 127. [

Here, the laser beam reflected from the target body 160 is irradiated toward the sensor unit 130 through only the rotating multi-faceted mirror 127, which is transmitted through both the nodding mirror 122 and the rotating multi-facet mirror 127 The amount of laser beams reaching the sensor unit 130 can be increased and the amount of laser beams reaching the sensor unit 130 can be made more uniform than the amount of laser beams irradiated toward the sensor unit 130.

Specifically, when the laser reflected from the target object 160 is irradiated toward the sensor unit 130 only through the rotary polygon mirror 127, the amount of laser reaching the sensor unit 130 is reduced 127 and the rotation angle of the rotary polygon mirror 127. The rotation angle of the rotary multi-

On the other hand, when the laser reflected from the object 160 is irradiated toward the sensor unit 130 through both the nodding mirror 122 and the rotary polyhedral mirror 127, The amount of laser can be determined based on the size of the nodding mirror 122, the nodding angle of the nodding mirror 122, the size of the reflecting surface of the rotating polyhedral mirror 127 and the rotation angle of the rotating polyhedral mirror 127 have. That is, the amount of laser that reaches the sensor unit 130 may be determined based on the size of the nodding mirror 122 and the size of the rotating polyhedral mirror 127, and the nodding mirror 122 And the rotation angle of the rotary polygon mirror 127. [0157] Therefore, the amount of the laser beam reaching the sensor unit 130 is smaller than that of the laser beam irradiated toward the sensor unit 130 through only the rotating multi-facet mirror 127, The amount of change of the amount can be large.

5. Rotating Polygon mirror

5.1 Structure

5 is a view showing a rotating polygon mirror according to an embodiment.

5, a rotating multi-faceted mirror 1100 according to one embodiment may include a reflecting surface 1120 and a body 1110, and the upper portion 1112 and the lower portion 1111 of the body 1110 may have a curved surface, And can rotate around a rotation axis 1130 passing vertically through the center. However, the rotary polygonal mirror 1100 may be formed of only a part of the structures described above, and may include more components. For example, the rotary multi-faceted mirror 1100 may include a reflecting surface 1120 and a body 1110, and the body 1110 may include only a lower portion 1111. The reflective surface 1120 may be supported by the lower portion 1111 of the body 1110.

The reflective surface 1120 may include a reflection mirror, a reflective plastic, and the like, but is not limited thereto.

The reflection surface 1120 may be provided on a side surface of the body 1110 excluding the upper portion 1111 and the lower portion 1112 of the body 1110 so that the normal line between the rotation axis 1130 and the reflection surface 1120 is orthogonal Can be installed. This may be done to scan the same scan area repeatedly by making the scan area of the laser irradiated by each of the reflection surfaces 1120 the same.

The reflective surface 1120 may be provided on a side surface of the body 1110 excluding the upper portion 1111 and the lower portion 1112. The normal of the reflective surfaces 1120 may be different from the rotation axis 1130 It can be installed so as to have an angle. This may be done to extend the scan area of the Lada device by making the scan area of the laser irradiated by each of the reflection surfaces 1120 different.

Further, the reflecting surface 1120 may have a rectangular shape, but it is not limited thereto, and may have various shapes such as a triangle, a trapezoid, and the like.

The body 1110 may include a top 1112, a bottom 1111 and a column 1113 connecting the top 1112 and the bottom 1111 to support the reflective surface 1120. The column 1113 may be installed so as to connect the centers of the upper portion 1112 and the lower portion 1111 of the body 1110 and the upper portion 1112 and the lower portion 1111 of the body 1110, The upper portion 1112 and the lower portion 1111 of the body 1110 may be connected to each other so that the upper portion 1112 and the lower portion 1111 of the body 1110 are connected to each other. ) Is connected to the support structure.

The body 1110 may be fastened to the driving unit 1140 in order to receive a driving force for rotating the body 1110. The body 1110 may be fastened to the driving unit 1140 through a lower portion 1111 of the body 1110, 1110 may be fastened to the driving unit 1140 through an upper portion 1112 of the driving unit 1140.

The upper portion 1112 and the lower portion 1111 of the body 1110 may be polygonal. The upper portion 1112 of the body 1110 and the lower portion 1111 of the body 1110 may have the same shape but the present invention is not limited thereto and the upper portion 1112 of the body 1110 and the lower portion 1111 of the body 1110 may be the same, 1110 may be different from each other.

The upper portion 1112 and the lower portion 1111 of the body 1110 may have the same size. The dimensions of the upper portion 1112 of the body 1110 and the lower portion 1111 of the body 1110 may be different from each other.

Further, the upper portion 1112 and / or the lower portion 1111 of the body 1110 may include an empty space through which air can pass.

5, the rotary polygonal mirror 1100 is described as a quadrangular pyramid having four reflecting surfaces 1120. However, the reflecting surface 1120 of the rotary polygonal mirror 1100 must have four It is not necessarily a hexahedron in the form of a quadrangular prism.

In addition, in order to detect the rotation angle of the rotary polygon mirror 1100, the Lada apparatus may further include an encoder unit. In addition, the lidar device can control the operation of the rotary polyhedral mirror 1100 using the detected rotation angle. In this case, the encoder unit may be included in the rotary polygonal mirror 1100, or may be disposed apart from the rotary polygon mirror 1100.

5.2 Field Of View (FOV)

The Lidar device may have a different viewing angle (FOV) depending on its application. For example, in the case of a fixed ladder device for 3D mapping, a wide viewing angle may be required in the vertical and horizontal directions, and in the case of a ladder device disposed in the vehicle, a relatively wide viewing angle in the horizontal direction A relatively narrow viewing angle in the vertical direction may be required. Also, in the case of the ladder disposed in the dron, a wide viewing angle in the vertical and horizontal directions may be required.

Also, the scan area of the lidar device may be determined based on the number of reflecting surfaces of the rotating polyhedral mirror, so that the viewing angle of the lidar device can be determined. Therefore, it is possible to determine the number of reflecting surfaces of the rotating polygon mirror based on the required viewing angle of the radar apparatus.

5.2.1 Number of reflective surfaces and viewing angle

6 to 8 are views for explaining the relationship between the number of reflection surfaces and the viewing angle.

6 to 8 illustrate the case where the number of reflection surfaces is 3, 4, and 5, but the number of the reflection surfaces is not fixed. In the case where the number of reflection surfaces is different, the following description can be easily calculated by analogy with the following description. 6 to 8 illustrate the case where the upper and lower portions of the body are regular polygons. However, even when the upper and lower portions of the body are not regular polygons, the following explanation can be easily derived.

6 is a top view for explaining a viewing angle of the rotary multi-faceted mirror 1200 in which the number of the reflection surfaces is three and the upper and lower portions of the body are equilateral triangular.

6, the laser 1250 may be incident in a direction coinciding with the rotation axis 1240 of the rotary polygonal mirror 1200. [ Since the upper portion of the rotary polygonal mirror 1200 has an equilateral triangular shape, the angle formed by the three reflective surfaces may be 60 degrees. 6, when the rotary polygonal mirror 1200 is slightly rotated in the clockwise direction, the laser beam is reflected to the upper portion of the drawing, and when the rotary polygonal mirror is slightly rotated counterclockwise The laser can be reflected downward in the figure. 6, the maximum viewing angle of the rotary polygonal mirror can be determined by calculating the path of the reflected laser beam.

For example, when reflected through the first reflection surface of the rotary polygonal mirror 1200, the reflected laser may be reflected at an angle of 120 degrees upward with the incident laser 1250. Further, when the laser beam is reflected through the third reflection surface of the rotary polyhedral mirror, the reflected laser beam may be reflected at an angle of 120 degrees downward with the incident laser beam.

Accordingly, when the number of the reflection surfaces of the rotary multi-faceted mirror 1200 is three and the upper and lower portions of the body are equilateral triangular, the maximum angle of view of the rotary multi-faceted mirror may be 240 degrees.

7 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of the reflection surfaces is four and the top and bottom of the body are square.

Referring to FIG. 7, the laser 1350 may be incident in a direction coinciding with the rotation axis 1340 of the rotary polygon mirror 1300. Since the upper portion of the rotary polygon mirror 1300 has a square shape, the angle formed by the four reflective surfaces may be 90 degrees. 7, when the rotary polygonal mirror 1300 is slightly rotated in the clockwise direction, the laser is reflected to the upper portion of the drawing, and the rotary polygonal mirror 1300 rotates slightly in the counterclockwise direction, The laser may be reflected to the lower portion of the figure. 7, the maximum viewing angle of the rotary polygonal mirror 1300 can be determined by calculating the path of the reflected laser beam.

For example, when the laser beam is reflected through the first reflection surface of the rotary polyhedral mirror 1300, the reflected laser beam may be reflected at an angle of 90 degrees upward with the incident laser beam 1350. Further, when the laser beam is reflected through the fourth reflection surface of the rotary polyhedral mirror 1300, the reflected laser beam may be reflected at an angle of 90 degrees downward with the incident laser beam 1350.

Accordingly, when the number of the reflection surfaces of the rotary polygonal mirror 1300 is four and the upper and lower portions of the body are square, the maximum angle of view of the rotary polygonal mirror 1300 may be 180 degrees.

8 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of the reflection surfaces is 5 and the upper and lower portions of the body are in a pentagonal shape.

8, the laser 1450 may be incident in a direction coinciding with the rotation axis 1440 of the rotary polyhedral mirror 1400. Here, since the upper portion of the rotary polygon mirror 1400 has a regular pentagon shape, the angle formed by the five reflective surfaces may be 108 degrees. 8, when the rotary polygonal mirror 1400 is slightly rotated in the clockwise direction, the laser is reflected to the upper portion of the drawing, and the rotary polygonal mirror 1400 rotates slightly in the counterclockwise direction When positioned, the laser can be reflected downward in the figure. Therefore, the maximum viewing angle of the rotary polygonal mirror can be determined by calculating the path of the reflected laser beam with reference to FIG.

For example, when reflected through the first reflection surface of the rotary polyhedral mirror 1400, the reflected laser may be reflected at an angle of 72 degrees upward with the incident laser 1450. In addition, when the laser beam is reflected through the fifth reflection surface of the rotary polyhedral mirror 1400, the reflected laser beam may be reflected at an angle of 72 degrees with the incident laser beam 1450 downward.

Therefore, when the number of the reflection surfaces of the rotary multi-faceted mirror 1400 is 5, and the upper and lower portions of the body are square pentagonal, the maximum angle of view of the rotary multi-faceted mirror may be 144 degrees.

라 하면, 상기 회전 다면 미러의 최대 시야각은 360도-2

가 될 수 있다.6 to 8, when the number of reflection surfaces of the rotary polygonal mirror is N and the upper and lower portions of the body are N-angular,

, The maximum viewing angle of the rotary polygonal mirror is 360 ° -2

.

However, since the viewing angle of the rotary polygon mirror is calculated only in the maximum value, the viewing angle determined by the rotary polygon mirror in the Lada apparatus may be smaller than the calculated maximum value. Further, at this time, the Lidar apparatus can use only a part of each reflection surface of the rotary polygonal mirror for scanning.

5.3 Irradiation section and receiving section

If the scanning unit of the lidar apparatus includes a rotating multi-faceted mirror, the rotating multi-faceted mirror can be used to irradiate the laser emitted from the laser output unit toward the scan region of the laser apparatus, The laser can be used to receive the laser beam from the sensor unit.

One portion of each reflecting surface of the rotating polyhedral mirror used for irradiating the emitted laser to the scan region of the Lydia device will be referred to as an irradiated portion. And a part of each reflection surface of the rotary polygonal mirror for receiving the laser reflected from the object on the scan area to the sensor unit will be referred to as a light receiving part.

5.3.1 Rotating multi-faceted mirror with irradiation and receiving parts

5.3.1.1 The rotating multi-faceted mirror of a lidar apparatus including a rotating multi-

9 is a view for explaining an irradiated portion and a light receiving portion of a rotating polyhedral mirror according to an embodiment.

Referring to FIG. 9, the laser emitted from the laser output unit 110 may have a point-shaped irradiation area and may be incident on the reflecting surface of the rotating polyhedral mirror 1500. Although not shown in FIG. 9, the laser emitted from the laser output unit 110 may have an irradiation area in the form of a line or a plane.

When the laser output from the laser output unit 110 has a point-shaped irradiation area, the irradiated portion 1551 of the rotary polygonal mirror 1500 reflects a point at which the emitted laser meets the rotary polygonal mirror, It can be in the form of a line that follows the direction of rotation of the multi-faceted mirror. In this case, the irradiated portion 1551 of the rotating multi-faceted mirror 1500 may be positioned on the respective reflecting surfaces in the form of a line perpendicular to the rotational axis 1510 of the rotating multi-faceted mirror 1500.

The laser irradiated from the irradiated portion 1551 of the rotary polygonal mirror 1500 and irradiated to the scan region 150 of the radar apparatus 100 is irradiated onto the target region 160 on the scan region 150, And the laser 1530 reflected from the object 160 may be reflected in a range larger than the irradiated laser 1520. [ Therefore, the laser 1530 reflected from the object 160 is parallel to the irradiated laser, and can be received by the laser device 100 in a wider range.

At this time, the laser 1530 reflected from the object 160 may be transmitted to a larger size than the reflection surface of the rotary polygonal mirror 1500. The light receiving portion 1561 of the rotating multi-faceted mirror 1500 is a portion for receiving the laser 1530 reflected from the object 160 by the sensor portion 130, Size portion of the reflective surface. For example, as shown in FIG. 9, when the laser 1530 reflected from the object 160 is transmitted toward the sensor unit 130 through the rotating multi-faceted mirror 1500, the rotating multi- The light receiving portion 1561 may be a portion that reflects light reflected by the sensor portion 130 to be transmitted toward the sensor portion 130. Therefore, the light receiving portion 1561 of the rotating multi-faceted mirror 1500 may be a part of the reflecting surface that is reflected to be transmitted toward the sensor unit 130 and extends in the rotating direction of the rotating multi- have.

The light receiving portion 1561 of the rotary polygonal mirror 1500 may be disposed between the rotary polygonal mirror 1500 and the sensor portion 130 so that the light receiving portion 1561 may be transmitted toward the condenser lens And may be a portion that reflects a part of the light reflected in the rotating direction of the rotary polygon mirror 1500.

9, the irradiation part 1551 of the rotary polygonal mirror 1500 and the light receiving part 1561 are separated from each other. However, the irradiation part 1551 and the light receiving part 1561 of the rotary polygonal mirror 1550, And the irradiated portion 1551 may be included in the light receiving portion 1561. [0145] FIG.

5.3.1.2 A rotating multi-faceted mirror of a ladder device including a first scanning portion and a rotating multi-

10 is a view for explaining an irradiated portion and a light receiving portion of a rotating polyhedral mirror according to another embodiment.

Referring to FIG. 10, the laser beam irradiated from the first scanning unit 121 may have a line-shaped irradiation area and may be incident on the reflecting surface of the rotating polygon mirror 1500. Although not shown in FIG. 10, the laser irradiated by the first scanning unit 121 may have a planar irradiation area.

When the laser irradiated from the first scanning unit 121 has a line-shaped irradiation area, the irradiation part 1552 of the rotating polygon mirror 1500 irradiates the irradiation area of the laser to the rotating polygonal mirror 1500 And the point cloud of the line shape meeting with the rotation direction of the rotary polygon mirror 1500 can be a surface shape. In this case, the irradiated portion 1552 of the rotary polygonal mirror 1500 may be positioned on each reflection surface in the form of a plane having a normal perpendicular to the rotation axis 1510 of the rotary polygonal mirror.

The laser irradiated from the irradiated portion 1552 of the rotary polygonal mirror 1500 and irradiated to the scan region 150 of the radar apparatus 100 is irradiated from the object 160 existing on the scan region 150 And the laser 1530 reflected from the object 160 may be reflected in a range larger than the irradiated laser. Therefore, the laser 1530 reflected from the object 160 is parallel to the irradiated laser 1520, and can be received by the laser device 100 in a wider range.

At this time, the laser 1530 reflected from the object 160 may be transmitted to a larger size than the reflection surface of the rotary polygonal mirror 1500. The light receiving portion 1562 of the rotary multi-faceted mirror 1500 is a portion for receiving the laser 1530 reflected from the object 160 by the sensor portion 130, Size portion of the reflective surface. For example, as shown in FIG. 10, when the laser 1530 reflected from the object 160 is transmitted toward the sensor unit 130 through the rotating multi-faceted mirror 1500, The light receiving portion 1562 may reflect the light reflected by the sensor portion 130 to be transmitted toward the sensor portion 130. Accordingly, the light receiving portion 1562 of the rotating multi-faceted mirror 1500 may be a part of the reflecting surface that is reflected to be transmitted toward the sensor unit 130 and extends in the rotating direction of the rotating multi- have.

In addition, in the case of further including a condensing lens between the rotating multi-faceted mirror 1500 and the sensor unit 130, the light receiving portion 1562 of the rotating multi-faceted mirror 1500 is moved toward the condensing lens And may be a portion that reflects a part of the light reflected in the rotating direction of the rotary polygon mirror 1500.

10 shows that the irradiated portion 1552 and the light receiving portion 1562 of the rotary polygonal mirror 1500 are spaced apart from each other. And the irradiated portion 1552 may be included in the light receiving portion 1562. [0142] FIG.

5.3.1.3 A rotating multi-faceted mirror of a ladder device including a nodding mirror and a rotating multi-

11 is a view for explaining an irradiated portion and a light receiving portion of a rotating polyhedral mirror according to another embodiment.

11, the laser beam irradiated from the nodding mirror 122 may have a line-shaped irradiation region and may be incident on the reflecting surface of the rotating polyhedral mirror 1500. However, although not shown in FIG. 11, the laser irradiated by the nodding mirror 122 may have a planar irradiation area.

When the laser irradiated from the nodding mirror 122 has a line-shaped irradiation area, the irradiation part 1553 of the rotary polygonal mirror 1500 irradiates the irradiation area of the laser to the rotary polygonal mirror 1500 And the line that meets the rotation direction of the rotary polygonal mirror 1500 may be a surface shape. In this case, the irradiated portion 1553 of the rotary polygonal mirror 1500 may be positioned on each reflection surface in the form of a surface having a normal to the rotation axis 1510 of the rotary polygonal mirror 1500.

The laser irradiated from the irradiated portion 1563 of the rotating multi-faceted mirror 1500 and irradiated to the scan region 150 of the radar apparatus 100 is irradiated from the target object 160 existing on the scan region 150 And the laser 1530 reflected from the object 160 may be reflected in a range larger than the irradiated laser 1520. [ Therefore, the laser 1530 reflected from the object 160 is parallel to the irradiated laser 1520 and can be received by the Lada device in a wider range.

At this time, the laser 1530 reflected from the object 160 may be transmitted to a larger size than the reflection surface of the rotary polygonal mirror 1500. The light receiving portion 1563 of the rotating multi-faceted mirror 1500 is a portion for receiving the laser 1530 reflected from the object 160 by the sensor portion 130, Size portion of the reflective surface. For example, as shown in FIG. 11, when the laser 1530 reflected from the object 160 is transmitted toward the sensor unit 130 through the rotating multi-faceted mirror 1500, the rotating multi- Receiving portion 1563 may be a portion that reflects light reflected by the sensor portion 130 to be transmitted to the sensor portion 130. Accordingly, the light receiving portion 1563 of the rotary multi-faceted mirror 1500 may reflect a portion of the reflective surface to be transmitted toward the sensor portion 130 in the direction of rotation of the rotary multi- have.

In addition, in the case of further including a condenser lens between the rotary multi-faceted mirror 1500 and the sensor unit 130, the light receiving portion 1563 of the rotary multi-faceted mirror 1500 may be configured to be transmitted toward the condenser lens And may be a portion that reflects a part of the light reflected in the rotating direction of the rotary polygon mirror 1500.

11 shows that the irradiated portion 1553 of the rotary polygonal mirror 1500 and the light receiving portion 1563 are spaced apart from each other. And the irradiated portion 1553 may be included in the light receiving portion 1563. [0154] FIG.

5.3.2. The irradiation path and the light receiving path of the ladder device including the rotating multi-faceted mirror having the irradiating portion and the light receiving portion

The path from when the laser beam emitted from the laser output unit of the laser device reaches the object located on the scan area is referred to as an irradiation path and the path from when the laser beam reflected by the object reaches the sensor unit is called a light path .

Hereinafter, the irradiation path and the light receiving path of the Lada apparatus including the rotating multi-faceted mirror having the irradiating portion and the light receiving portion will be described.

5.3.2.1 Lidar apparatus including a rotating polyhedral mirror

Referring again to FIG. 9, the Lidar apparatus 100 according to an embodiment may include a laser output unit 110, a rotating multi-faceted mirror 1500, and a sensor unit 130.

The laser emitted from the laser output unit 110 of the Lidar apparatus 100 may be irradiated to the scan area 150 of the Lidar apparatus 100 through the rotary polygonal mirror 1500.

In detail, the laser can be emitted from the laser output unit 110 toward the rotary polygonal mirror 1500. The rotary polygonal mirror 1500 receives and reflects the emitted laser, It is possible to irradiate the laser beam toward the scan area 150 of the semiconductor laser. At this time, the irradiated area of the emitted laser may be in the form of a dot.

In this case, the irradiated portion 1551 of the rotary multi-faceted mirror 1500 may be formed in a line shape in which the emitted laser meets the rotary multi-faceted mirror 1500 in the direction of rotation of the rotary multi-faceted mirror 1500 have. In this case, the irradiated portion 1551 of the rotating multi-faceted mirror 1500 may be positioned on the respective reflecting surfaces in the form of a line perpendicular to the rotational axis 1510 of the rotating multi-faceted mirror 1500.

The irradiation path of the laser device 100 may be a path starting from the laser output part 110 and continuing to the scan area 150 through the irradiated part 1551 of the rotary polyhedral mirror 1500. Therefore, the irradiated portion 1551 of the rotary multi-faceted mirror 1500 may be included in the irradiation path of the laddering device 100. [

The laser irradiated to the scan area 150 of the lidar apparatus 100 is reflected from the target object 160 existing on the scan area 150 and passes through the sensor unit 130 through the rotary multi- Lt; / RTI >

The laser irradiated to the scan area 150 of the lidar device 100 may be reflected from the target object 160 existing on the scan area 150 of the lidar device 100. [ The laser reflected from the object 160 can be directed to the rotary polygonal mirror 1500. The rotary polygonal mirror 1500 receives and reflects the laser 1530 reflected from the object 160, The light can be irradiated toward the light emitting portion 130.

The light receiving portion 1561 of the rotating multi-faceted mirror 1500 is a portion for receiving the laser 1530 reflected from the object 160 by the sensor portion 130, And may be a portion of the reflective surface smaller than the size of the reflective surface. In this case, the light-receiving portion 1561 of the rotary polygonal mirror 1500 extends a portion of the reflection surface that is reflected to be transmitted toward the sensor unit 130 in the rotation direction of the rotary polygonal mirror 1500 Lt; / RTI >

The light receiving path of the lidar 100 may be a path extending from the object 160 to the sensor unit 130 through the light receiving part 1561 of the rotary polygonal mirror 1500. Therefore, the light receiving portion 1561 of the rotating multi-faceted mirror 1500 may be included in the light receiving path of the laddering device 100. [

The laser 1530 reflected from the target object 160 may be irradiated toward the sensor unit 130 through the rotary polygonal mirror 1500. That is, the laser 1530 reflected from the object 160 can be irradiated toward the sensor unit 130 through the rotary polygonal mirror 1500, and the rotation of the rotary polygonal mirror 1500 and the sensor unit 130 may include other optical devices such as condenser lenses.

5.3.2.2 Lidar device including first scanning portion and rotating multi-faceted mirror

Referring again to FIG. 10, the Ldar device according to one embodiment may include a laser output unit 110, a first scanning unit 121, a rotating polygon mirror 1500, and a sensor unit 130.

The laser output from the laser output unit 110 of the Lidar apparatus 100 is transmitted to the scan area of the Lidar apparatus 100 through the first scanning unit 121 and the rotary polygonal mirror 1500 150 < / RTI >

Specifically, the laser can be emitted from the laser output unit 110 toward the first scanning unit 121. The first scanning unit 121 receives the reflected laser beam, reflects the emitted laser beam, 1500, and the rotating multi-faceted mirror 1500 may receive the irradiated laser beam, reflect the irradiated laser beam, and irradiate the scanned laser beam 150 to the scan area 150 of the laser device 100. At this time, the irradiated area of the emitted laser may be in the form of a dot, and the irradiated area of the laser irradiated by the first scanning unit 121 may be in the form of a line or a plane.

When the laser beam irradiated from the first scanning unit 121 has a linear irradiation area, the irradiated portion 1552 of the rotating multi-faceted mirror 1500 is irradiated with the irradiated laser beam from the rotating multi- ) May be in the form of a plane that intersects the rotation direction of the rotary polygonal mirror 1500. [ In this case, the irradiated portion 1552 of the rotary polygonal mirror 1500 may be positioned on each reflection surface in the form of a surface having a normal to the rotation axis 1510 of the rotary polygonal mirror 1500.

The irradiation path of the laser device 100 starts from the laser output unit 110 and is directed to the irradiated portion of the rotary polygonal mirror 1500 through the first scanning unit 121, 1500 to the scan region 150 through the irradiated portion 1552. [ Therefore, the irradiated portion 1552 of the rotating multi-faceted mirror 1500 can be included in the irradiation path of the radar apparatus 100.

The laser irradiated to the scan area 150 of the lidar apparatus 100 is reflected from the target object 160 existing on the scan area 150 and passes through the sensor unit 130 through the rotary multi- Lt; / RTI >

The laser irradiated to the scan area 150 of the lidar device 100 may be reflected from the target object 160 existing on the scan area 150 of the lidar device 100. [ The laser 1530 reflected from the object 160 may be directed to the rotary polygonal mirror 1500 and the rotary polygonal mirror 1500 may receive the laser 1530 reflected from the object 160, And irradiate the light toward the sensor unit 130.

The light receiving portion 1562 of the rotating multi-faceted mirror 1500 is a portion for receiving the laser 1530 reflected from the object 160 by the sensor portion 130, And may be a portion of the reflective surface smaller than the size of the reflective surface. In this case, the light receiving portion 1562 of the rotating multi-faceted mirror 1500 may include a portion of the reflecting surface that is reflected so as to be transmitted toward the sensor portion 130 in a direction of rotation of the rotating multi- Lt; / RTI >

The light receiving path of the ladder device 100 may be a path extending from the object 160 to the sensor unit 130 through the light receiving part 1562 of the rotary polygonal mirror 1500. Therefore, the light receiving portion 1562 of the rotating multi-faceted mirror 1500 may be included in the light receiving path of the laddering device 100. [

Further, the laser reflected from the target body 160 may be irradiated toward the sensor unit 130 through the rotary polygonal mirror 1500. That is, the laser 1530 reflected from the object 160 can be irradiated toward the sensor unit 130 through the rotary polygonal mirror 1500, and the rotation of the rotary polygonal mirror 1500 and the sensor unit 130 may include other optical devices such as condenser lenses.

5.3.2.3 Lidar apparatus including nodding mirror and rotating multi-faceted mirror

Referring again to FIG. 11, the Lidar apparatus 100 according to one embodiment may include a laser output unit 110, a nodding mirror 122, a rotating multi-faceted mirror 1500, and a sensor unit 130.

The laser emitted from the laser output unit 110 of the Lidar apparatus 100 is transmitted to the scan area 150 of the Lidar apparatus 100 through the nodal mirror 122 and the rotary polygonal mirror 1500, Lt; / RTI >

Specifically, the laser can be emitted from the laser output unit 110 toward the nodding mirror 122. The nodding mirror 122 receives the emitted laser and reflects the laser beam toward the rotating polyhedral mirror 1500 And the rotating multi-faceted mirror 1500 receives the irradiated laser beam and reflects the laser beam to the scan area 150 of the LD 100. At this time, the irradiated region of the emitted laser may be in the form of a dot, and the irradiated region of the laser irradiated by the nodding mirror may be in the form of a line or a plane.

When the laser beam irradiated from the nodding mirror 122 has a linear irradiation area, the irradiated portion 1553 of the rotating multi-faceted mirror 1500 is irradiated with the irradiated laser beam from the rotating multi- And the line that meets the rotation direction of the rotary polygonal mirror 1500 may be a surface shape. In this case, the irradiated portion 1553 of the rotary multi-faceted mirror 1500 may be positioned on each of the reflective surfaces in the form of a plane having a normal line perpendicular to the rotation axis of the rotary multi-faceted mirror 1500.

The irradiation path of the laser device 100 starts from the laser output part 110 and is directed to the irradiated part 1553 of the rotary polygonal mirror 1500 through the nodding mirror 122, And the scan area 150 through the irradiated part 1553 of the scan area 1500. Therefore, the irradiated portion 1553 of the rotating multi-faceted mirror 1500 can be included in the irradiation path of the laddering apparatus 100.

The laser irradiated to the scan area 150 of the lidar apparatus 100 is reflected from the target object 160 existing on the scan area 150 and passes through the sensor unit 130 through the rotary multi- Lt; / RTI >

The laser irradiated to the scan area 150 of the lidar device 100 may be reflected from the target object 160 existing on the scan area 150 of the lidar device 100. [ The laser 1530 reflected from the object 160 may be directed to the rotary polygonal mirror 1500 and the rotary polygonal mirror 1500 may receive the laser 1530 reflected from the object 160, And irradiate the light toward the sensor unit 130.

The light receiving portion 1563 of the rotating multi-faceted mirror 1500 is a portion for receiving the laser 1530 reflected from the object 160 by the sensor portion 130, And may be a portion of the reflective surface smaller than the size of the reflective surface. In this case, the light-receiving portion 1563 of the rotary polygonal mirror 1500 is a part of the reflection surface that is reflected to be transmitted toward the sensor unit 130 and extends in the rotation direction of the rotary polygonal mirror have.

The light receiving path of the lidar apparatus 100 may be a path extending from the object 160 to the sensor unit 130 through the light receiving portion 1563 of the rotary polygonal mirror 1500. Therefore, the light receiving portion 1563 of the rotary multi-faceted mirror 1500 may be included in the light receiving path of the laddering device 100.

The laser 1530 reflected from the target object 160 may be irradiated toward the sensor unit 130 through the rotary polygonal mirror 1500. That is, the laser 1530 reflected from the object 160 can be irradiated toward the sensor unit 130 through the rotary polygonal mirror 1500, and the rotation of the rotary polygonal mirror 1500 and the sensor unit 130 may include other optical devices such as condenser lenses.

5.3.3 Position of irradiation part and receiving part - Drawing 9

5.3.3.1 Separation of irradiated and light receiving sections

12 is a diagram for explaining a positional relationship of an irradiated portion and a light receiving portion of a rotating polyhedral mirror according to an embodiment.

Referring to FIG. 12, the irradiated portion 1571 and the light receiving portion 1581 of the rotating polyhedral mirror 1500 according to one embodiment can be set in a divided manner.

Specifically, the rotating multi-faceted mirror 1500 includes a reflecting surface and a body, and the body includes an upper portion, a lower portion, and a column. At this time, the rotary multi-faceted mirror can be rotated about the rotation axis 1510 passing through the centers of the upper and lower portions of the body.

Here, each of the reflection surfaces of the rotary polygonal mirror 1500 may include an irradiation portion 1571 and a light receiving portion 1581 in each reflection surface, and the irradiation portion 1571 and the light receiving portion 1581 may be formed in the And may be set based on a virtual cross section 1540 perpendicular to the rotational axis 1510 of the multi-faceted mirror 1500.

The virtual cross section 1540 perpendicular to the rotation axis 1510 may be located inside the rotary polygonal mirror 1500 depending on the size of the irradiation part 1571 and the light receiving part 1581.

Here, any one of the irradiation part 1571 and the light receiving part 1581 may be set on the upper side with respect to the section 1540 perpendicular to the rotation axis 1510, and the other part may be perpendicular to the rotation axis Can be set on the lower side with respect to the cross section.

As described above, when the irradiated portion 1571 and the light receiving portion 1581 are divided, the irradiation path and the light receiving path of the radar apparatus are separated from the rotating polyhedral mirror, so that the irradiated portion 1571 and the light receiving portion 1581 1581 are overlapped, it is possible to reduce the error caused by the laser beam irradiated toward the scan region and to increase the amount of laser transmitted to the sensor portion from the case where the irradiation path and the light receiving path are separated from the object on the scan region.

5.3.3.2 Separation of irradiation part and receiving part

13 is a view for explaining a positional relationship of an irradiated portion and a light receiving portion of a rotating multi-faceted mirror according to another embodiment.

Referring to FIG. 13, the irradiated portion 1572 and the light receiving portion 1582 of the rotating multi-faceted mirror 1500 according to the embodiment may be spaced apart.

Specifically, the rotating multi-faceted mirror 1500 includes a reflecting surface and a body, and the body includes an upper portion, a lower portion, and a column. At this time, the rotary multi-faceted mirror 1500 can rotate around a rotation axis 1510 passing through the centers of the upper and lower portions of the body.

Each of the reflective surfaces of the rotary polygonal mirror 1500 may include an irradiating portion 1572 and a light receiving portion 1582 in each reflective surface and the irradiating portion 1572 and the light receiving portion 1582, And may be spaced apart from a plane perpendicular to the rotational axis 1510 of the multi-faceted mirror 1500. [

Here, the cross section perpendicular to the rotation axis may be located inside the rotary polygonal mirror depending on the size of the irradiation portion 1572 and the light receiving portion 1582.

Here, any one of the irradiation part 1572 and the light receiving part 1582 may be positioned on the upper side with respect to a section perpendicular to the rotation axis, and the other one may be a lower side And the irradiation portion and the light receiving portion may be located apart from each other.

As described above, when the irradiating portion 1572 and the light receiving portion 1582 are divided, the irradiation path and the light receiving path of the radar apparatus are further separated from the rotary polygonal mirror 1500, The error caused by the laser beam irradiated toward the scan area can be reduced and the amount of the laser beam transmitted to the sensor part can be increased compared with the case where the irradiation path and the light receiving path are separated from the object on the scan area .

5.3.4 Height of rotating multi-faceted mirror

Wherein the rotary multi-faceted mirror used in the lidar apparatus has an irradiated portion and a light receiving portion, and when the irradiated portion and the light receiving portion are divided, the height of the rotary multi-faceted mirror is greater than the sum of the irradiated portion and the light receiving portion have.

5.3.4.1 Ladders incorporating a rotating multi-faceted mirror

FIG. 14 is a view for explaining a height of a rotating multi-faceted mirror according to an embodiment.

Referring to FIG. 14, a Lidar apparatus 100 including a rotating multi-faceted mirror according to an embodiment may include a laser output 110, a rotating multi-faceted mirror 1600, and a sensor unit 130.

When the laser beam emitted from the laser output unit 110 has a point-shaped irradiation region, the irradiated portion 1651 of the rotating multi-faceted mirror 1600 is irradiated with the laser beam emitted from the laser multi- Point mirror can be in a line state that is in the direction of rotation of the rotary polygon mirror 1600. [ Therefore, the height of the irradiated portion 1651 of the rotating multi-faceted mirror 1600 can be determined based on the diameter of the laser beam emitted from the laser output portion 110.

When the laser 1630 reflected from the object 160 existing on the scan area 150 of the lidar apparatus 100 is transmitted toward the sensor unit 130 through the rotary polygonal mirror 1600 A portion of the reflection surface of the rotary polygonal mirror 1600 that is reflected to be transmitted toward the sensor unit 130 may be a light receiving portion 1661. In addition, a portion reflected to be transmitted toward the sensor unit 130 may be in the form of a surface crossing the rotation direction of the rotary polygon mirror 1600. Therefore, the height of the light receiving portion 1661 of the rotary multi-faceted mirror 1600 can be determined based on the size of the sensor portion 130. [

Since the height 1640 of the rotary polygonal mirror 1600 should be equal to or greater than the sum of the heights of the irradiated portion 1651 and the light receiving portion 1661, the height 1640 of the rotary polygon mirror 1600 is The diameter of the laser output from the laser output unit 110, and the size of the sensor unit 130.

The light receiving portion 1661 of the rotary multi-faceted mirror 1600 may further include a condenser lens disposed between the rotary multi-faceted mirror 1600 and the sensor unit 130, And a portion of the reflection surface that is reflected to be transmitted toward the condensing lens is a portion extending in the rotation direction of the rotary polygon mirror 1600. Therefore, the light receiving portion 1661 of the rotating polygon mirror 1600 can be determined based on the diameter of the condensing lens.

Since the height 1640 of the rotary polygonal mirror 1600 should be equal to or greater than the sum of the height of the irradiated portion 1651 and the height of the light receiving portion 1661, Can be determined based on the diameter of the laser beam emitted from the light source 110 and the diameter of the condenser lens.

5.3.4.2 Lada device including first scanning portion and rotating multi-faceted mirror

15 is a view for explaining the height of a rotating polygon mirror according to another embodiment.

15, a ladder apparatus 100 including a rotating multi-facet mirror 1700 according to an embodiment includes a laser output unit 110, a first scanning unit 121, a rotating multi-facet mirror 1700, (130).

When the laser beam irradiated from the first scanning unit 121 has a line-shaped irradiation area, the irradiated portion 1751 of the rotating multi-faceted mirror 1700 irradiates the laser beam onto the rotating multi- 1700 in the direction of the rotation of the rotary polygon mirror 1700. In this case, Therefore, the height of the irradiated portion 1751 of the rotating multi-faceted mirror 1700 is determined by the distance between the first scanning portion 121 and the rotating multi-faceted mirror 1700 and the distance from the first scanning portion 121 to the irradiated region Can be determined based on the angle.

When the laser 1730 reflected from the object 160 existing on the scan area 150 of the lidar apparatus 100 is transmitted toward the sensor unit 130 through the rotary polyhedral mirror 1700 A portion of the reflection surface of the rotary polygonal mirror 1700 that is reflected to be transmitted toward the sensor unit 130 may be a light receiving portion 1761. In addition, a portion reflected to be transmitted toward the sensor unit 130 may be in the form of a surface crossing the rotation direction of the rotary polygon mirror 1700. Therefore, the height of the light receiving portion 1761 of the rotary multi-faceted mirror 1700 can be determined based on the size of the sensor portion 130.

Since the height 1740 of the rotary polygon mirror 1700 should be equal to or greater than the sum of the height of the irradiated portion 1751 and the height of the light receiving portion 1761, the height 1740 of the rotary polygon mirror 1700 is May be determined based on the distance between the first scanning unit 121 and the rotary polygon mirror 1700, the angle from the first scanning unit 121 to the irradiation area, and the size of the sensor unit 130 .

In addition, when the lidar apparatus 100 further includes a condenser lens disposed between the rotary multi-faceted mirror 1700 and the sensor unit 130, the light receiving portion 1761 of the rotary multi- And a portion of the reflection surface that is reflected to be transmitted toward the condensing lens is a portion extending in the rotation direction of the rotary polygon mirror 1700. [ Therefore, the height of the light receiving portion 1761 of the rotary polyhedral mirror 1700 can be determined based on the diameter of the condensing lens.

Since the height 1740 of the rotary polygon mirror 1700 should be equal to or greater than the sum of the height of the irradiated portion 1751 and the height of the light receiving portion 1761, the height 1740 of the rotary polygon mirror 1700 is May be determined based on a distance between the first scanning unit 121 and the rotary polygon mirror 1700, an angle from the first scanning unit 121 to the irradiation area, and a diameter of the condensing lens.

5.3.4.3 Lidar apparatus including nodding mirror and rotating multi-faceted mirror

16 is a view for explaining the height of a rotating multi-faceted mirror according to another embodiment.

16, a ladder apparatus 100 including a rotating multi-faceted mirror 1800 according to an embodiment includes a laser output unit 110, a nodding mirror 122, a rotating multi-faceted mirror 1800, a sensor unit 130).

When the laser beam irradiated from the nodding mirror 122 has a linear irradiation area, the irradiated portion 1851 of the rotating multi-faceted mirror 1800 is irradiated with the irradiated laser beam from the rotating multi- And a line that meets the rotation direction of the rotary polygon mirror 1800 may be a surface shape. The height of the irradiated portion 1851 of the rotary polyhedral mirror 1800 is determined based on the distance between the nodding mirror 122 and the rotary polyhedral mirror 1800 and the angle from the nodding mirror 122 to the irradiation region. ≪ / RTI > At this time, an angle from the nodding mirror 122 to the irradiation area can be determined based on a predetermined angle of the nodding mirror 122.

When the laser 1830 reflected from the object 160 existing on the scan area 150 of the lidar apparatus 100 is transmitted toward the sensor unit 130 through the rotary polyhedral mirror 1800 A portion of the reflection surface of the rotary polygonal mirror 1800 that is reflected to be transmitted toward the sensor unit 130 may be a light receiving portion 1861. In addition, the portion that is reflected to be transmitted toward the sensor unit 130 may be in the form of a surface that crosses the rotation direction of the rotary polygon mirror 1800. Therefore, the height of the light receiving portion 1861 of the rotary multi-faceted mirror 1800 can be determined based on the size of the sensor portion 130. [

Since the height 1840 of the rotary polyhedral mirror 1800 should be equal to or greater than the height of the irradiated portion 1851 and the light receiving portion 1861, the height 1840 of the rotary polyhedral mirror 1800 is May be determined based on a distance between the nodding mirror 122 and the rotary polygon mirror 1800, an angle from the nodding mirror 122 to the irradiation region, and a size of the sensor unit 130. At this time, an angle from the nodding mirror 122 to the irradiation area can be determined based on a predetermined angle of the nodding mirror 122.

The light receiving portion 1861 of the rotary multi-faceted mirror 1800 may further include a condenser lens disposed between the rotary multi-faceted mirror 1800 and the sensor unit 130, And a portion of the reflection surface that is reflected to be transmitted toward the condensing lens may be a portion extending in the rotation direction of the rotary polygon mirror 1800. [ Therefore, the height of the light receiving portion 1861 of the rotary polyhedral mirror 1800 can be determined based on the diameter of the condensing lens.

Since the height 1840 of the rotary polyhedral mirror 1800 should be equal to or greater than the height of the irradiated portion 1851 and the light receiving portion 1861, the height 1840 of the rotary polyhedral mirror 1800 is A distance between the nodding mirror 122 and the rotary polygon mirror 1800, an angle from the nodding mirror 122 to the irradiation area, and a diameter of the condensing lens. At this time, an angle from the nodding mirror 122 to the irradiation area can be determined based on a predetermined angle of the nodding mirror 122.

5.4 A rotating multi-faceted mirror comprising a light blocking portion

17 is a view for explaining a rotating multi-faceted mirror including a light blocking portion according to an embodiment.

When the rotary polygonal mirror 1900 is used in the lithographic apparatus, the rotary polygon mirror 1900 may have the irradiating portion 1951 and the light receiving portion 1961. Further, the lidar device may have a light-receiving path including the light-receiving portion 1961 and a light-emitting path including the light-emitting portion 1951. However, in the case where irregular reflection occurs on the surface of the rotary polyhedral mirror 1900, the laser emitted from the laser output portion of the laser device does not follow the irradiation path of the laser device and is reflected by the irradiated portion 1951, Lt; / RTI > This may cause an error of the Lada device for measuring the distance to the object using a laser.

The rotary polygon mirror 1900 may further include a light blocking portion 1940 disposed between the irradiated portion 1951 and the light receiving portion 1961 of the rotary polygonal mirror 1900. The light intercepting portion 1940 may be reflected by the irradiating portion 1951 and may be prevented from being erroneously sensed by the sensor portion.

The light shielding part 1940 may be disposed on the rotary polygon mirror 1900 or may be disposed apart from the rotary polygon mirror 1900.

The light intercepting portion 1940 is disposed between the irradiating portion 1951 and the light receiving portion 1961 when the irradiating portion 1951 and the light receiving portion 1961 of the rotary polyhedral mirror 1900 are spaced apart from each other. .

Further, the light interception part 1940 may be made of a material which absorbs light. For example, rubber, cloth, and the like.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (20)

1. A ladder apparatus for measuring a distance using a laser,
A laser output unit for emitting a laser;
A first scanning unit for acquiring and reflecting the laser beam emitted from the laser output unit;
A second scanning unit that acquires and reflects the laser beam emitted from the first scanning unit; And
A sensor unit for detecting a laser beam reflected from a target object positioned on the scan region; , ≪ / RTI &
Wherein the first scanning unit includes a nodding mirror for nodding in a predetermined angular range and changing a travel path of the laser,
Wherein the second scanning unit includes a rotating polygonal mirror for changing a travel path of the laser as the first scanning unit rotates about one axis,
Wherein the laser device includes an irradiation path until a laser beam emitted from the laser output unit reaches a target object located on a scan region and a laser beam reflected from a target object existing on the scan region until reaching the sensor unit Light receiving path,
Wherein the irradiation path is set to face the scan region sequentially through the nodding mirror and the rotating polyhedral mirror,
Wherein the light receiving path is set to face the sensor unit via only the rotary polygon mirror among the nodding mirror and the rotary polygon mirror
Lt; / RTI >
delete The method according to claim 1,
Wherein the rotating multi-faceted mirror acquires a laser beam having a line-shaped irradiation region irradiated from the nodding mirror and irradiates the irradiated portion to reflect the laser beam toward the scan region and acquires a laser reflected from the object located on the scan region, And a light-receiving portion for reflecting the light toward the light-
Wherein the irradiated portion has a surface shape in which a line where the irradiated region of the laser irradiated by the nodding mirror meets the rotating polyhedral mirror is parallel to the rotating direction of the rotating polyhedral mirror,
Wherein the light receiving portion is a surface type in which a portion of the reflection surface of the rotary polygonal mirror that is reflected so as to be transmitted toward the sensor portion is extended in the rotation direction of the rotary polygonal mirror
Lt; / RTI >
The method of claim 3,
Wherein the irradiated portion of the rotary polyhedral mirror is included in the irradiation path,
Wherein the light-receiving portion of the rotary multi-faceted mirror is included in the light-
Lt; / RTI >
The method of claim 3,
Wherein the size of the light receiving portion of the rotating multi-faceted mirror is at least equal to or larger than the size of the irradiating portion of the rotating multi-
Lt; / RTI >
The method of claim 3,
Wherein one of the irradiated portion and the light receiving portion is located on an imaginary cross section perpendicular to the rotation axis of the rotary polyhedral mirror
And the other of the irradiating portion and the light receiving portion is positioned below a virtual section perpendicular to the rotation axis of the rotary polygonal mirror
Lt; / RTI >
The method according to claim 6,
Wherein the irradiated portion and the light receiving portion are spaced apart from each other
Lt; / RTI >
The method according to claim 6,
Wherein the height of the rotary polygon mirror is at least equal to or greater than a sum of a height of the irradiated portion of the rotary polygonal mirror and a height of the light receiving portion
Lt; / RTI >
9. The method of claim 8,
The height of the irradiated portion is determined based on a predetermined angular range of the nodding mirror and a distance between the nodding mirror and the rotating polyhedral mirror
Lt; / RTI >
9. The method of claim 8,
The height of the light receiving portion is determined based on the size of the sensor portion
Lt; / RTI >
delete delete delete delete 1. A ladder apparatus for measuring a distance using a laser,
A laser output unit for emitting a laser;
A first scanning unit for acquiring a laser beam emitted from the laser output unit and continuously changing a moving path of the laser beam to expand the irradiation area into a line shape;
A second scanning unit for acquiring a laser beam having a linear irradiation area irradiated from the first scanning unit to continuously change the moving path to extend the irradiation area into a surface shape; And
A sensor unit for detecting a laser beam reflected from a target object positioned on the scan region; , ≪ / RTI &
Wherein the laser device includes an irradiation path until a laser beam emitted from the laser output unit reaches a target object located on a scan region and a laser beam reflected from a target object existing on the scan region until reaching the sensor unit Light receiving path,
Wherein the irradiation path is set to face the scan region sequentially through the first scanning unit and the second scanning unit,
The light receiving path is set to face the sensor unit through the second scanning unit of the first scanning unit and the second scanning unit
Lt; / RTI >
16. The method of claim 15,
And the second scanning unit includes a rotating polygonal mirror for expanding the irradiated area into a surface shape by changing the traveling path of the laser, which is a line shape in the vertical direction, in the horizontal direction as the irradiation area rotates with respect to a single axis set in the vertical direction
Lt; / RTI >
17. The method of claim 16,
Wherein the rotating multi-faceted mirror acquires a laser beam having a line-shaped irradiation region irradiated from the first scanning unit and irradiates the irradiated portion to reflect the laser beam toward the scan region and acquires a laser beam reflected from the object located on the scan region, And a light receiving portion for reflecting toward the sensor portion,
Wherein the irradiated portion has a surface shape in which a line where an irradiation area of the laser irradiated by the first scanning unit meets the rotating polyhedral mirror is in a rotational direction of the rotating polyhedral mirror,
Wherein the light receiving portion is a surface shape in which a portion of the reflection surface of the rotary polygonal mirror that is reflected so as to be transmitted toward the sensor portion is extended in the rotation direction of the rotary polygonal mirror,
Wherein the irradiated portion of the rotary polyhedral mirror is included in the irradiation path,
Wherein the light-receiving portion of the rotary multi-faceted mirror is included in the light-
Lt; / RTI >
18. The method of claim 17,
Wherein the size of the light receiving portion of the rotating multi-faceted mirror is at least equal to or larger than the size of the irradiating portion of the rotating multi-
Lt; / RTI >
18. The method of claim 17,
Wherein one of the irradiated portion and the light receiving portion is located on an imaginary cross section perpendicular to the rotation axis of the rotary polyhedral mirror
And the other of the irradiating portion and the light receiving portion is positioned below a virtual section perpendicular to the rotation axis of the rotary polygonal mirror
Lt; / RTI >
20. The method of claim 19,
Wherein the height of the rotating polygon mirror is at least larger than a sum of a height of the irradiated portion of the rotating polygon mirror and a height of the light receiving portion,
The height of the irradiated portion is determined based on a distance between the first scanning portion and the rotating polyhedral mirror and an angle from the first scanning portion to the irradiation region,
The height of the light receiving portion is determined based on the size of the sensor portion
Lt; / RTI >

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