KR102490108B1 - Lidar optical apparatus - Google Patents

Abstract

The present invention is an optical device of a light detection and ranging radar (LIDAR) for transmitting and receiving laser light, comprising: a first laser module for transmitting and receiving a first laser beam in a first direction from an upper side; A laser module assembly having a second laser module disposed on the lower side in a stacked form with one laser module and transmitting and receiving a second laser beam from the lower side, and a reflective surface reflecting the first laser beam on the front surface of the first laser module A quadrangular pillar-shaped upper mirror having a reflective surface for reflecting the second laser beam from the front surface of the second laser module, and a quadrangular pillar-shaped lower mirror having a pair of side faces inclined in the same direction facing each other are integrally formed. It includes a coupled mirror block and a rotation unit that rotates the mirror block.

Description

Lidar optical device {LIDAR OPTICAL APPARATUS}

The present invention relates to a lidar optical device, and more particularly, to a lidar optical device having an upper mirror and a lower mirror providing different scan angles in one rotating mirror block.

Recently, a laser radar device, LIDAR (LIght Detection And Ranging) is widely used in order to detect surrounding terrain or objects in automobiles or mobile robots.

This LIDAR is a device that emits pulsed laser light into the air and measures the distance, object, or atmospheric phenomenon by using the reflected light from the reflector or scatterer in the air. It has a resolution of 5 m at MHz and 1 m at 150 MHz.

In this way, lidar irradiates laser light to the surrounding area and uses the time and intensity of the reflected light reflected from the surrounding object or terrain to measure the distance, speed, and shape of the measurement object or to accurately measure the surrounding object or topography. scan it carefully

Such lidar is widely applied in various fields such as sensors for detecting front obstacles of robots and unmanned vehicles, radar guns for measuring speed, aerial geo-mapping devices, 3D ground surveys, and underwater scanning.

However, since conventional lidar emits a laser with a wide beam width corresponding to the angle of view and simultaneously acquires reflected light from all directions within the angle of view to obtain the distance to the reflector, a laser module with very high output is required. The problem is that it is very expensive. In addition, a laser module with high output is large in size, and acts as a factor increasing the overall size of the LIDAR device.

In particular, most lidar devices having a panoramic scanning function are configured such that the entire device rotates, including a transmitting optical system and a receiving optical system. However, when the entire device is rotated, the size of the system becomes larger, which is not only aesthetically undesirable, but also intensifies problems of price and power consumption increase.

In addition, in the case of the conventional scanning lidar, it is necessary to change the angle of the reflection mirror (Mirror) to scatter the reflection and refraction angles of the laser. Due to this structure, the conventional scanning lidar has poor intensive scanning performance for a specific region of interest, cannot irradiate various laser patterns, and uses a large number of laser light emitting units and light receiving units, resulting in high manufacturing cost and complex structure. There are downsides.

As the conventional technology described above, a lidar device and a distance measurement method are disclosed in Korean Patent Publication No. 10-2018-0012059 (2018.02.05.).

However, the prior art includes a light source for irradiating a laser pulse to an object; a light receiving unit that receives the laser pulse reflected from the object; a first periodic wave generating unit that generates a first periodic wave when the light source emits a laser pulse, and forms a second periodic wave having the same frequency as the first periodic wave when the light receiving unit receives the laser pulse; and a first comparator for comparing the phases of the first periodic wave and the second periodic wave generated by the first periodic wave generator, based on the phases compared by the first comparator, to the target object. It provides a method for deriving the distance of .

Therefore, as in the present invention, there is a difference from the lidar optical device composed of a rotating mirror block having upper and lower mirrors providing different scan angles.

The present invention has been made to solve the problems of the prior art, and an object of the present invention is a lidar that improves the performance of a lidar device by rotating and driving a multi-layer mirror block to provide different scan angles at the top and bottom. It is to provide an optical device.

Another object of the present invention is to provide a lidar optical device capable of improving performance while simplifying the device configuration of a rotating mirror block using only a single motor as a rotating means.

Another object of the present invention is to provide high reflectance for IR (Infrared) and NIR (Near Infrared Spectroscopy) wavelengths with a protective metallic coating capable of providing high reflectance values.

An optical device of a light detection and ranging radar (LIDAR) for transmitting and receiving laser light according to an aspect of the present invention for solving the above technical problem transmits and receives a first laser in a first direction from the upper side A laser module assembly comprising a first laser module and a second laser module disposed on the lower side in a stacked form with the first laser module and transmitting and receiving a second laser in a direction parallel to the first direction; An upper mirror in the shape of a square pillar having a reflective surface for reflecting the first laser on the front surface of one laser module and a square pillar shape having a reflective surface for reflecting the second laser on the front surface of the second laser module and tilting at an angle. It may include a mirror block in which the lower mirrors are integrally coupled, and a rotation unit that integrally rotates the upper mirror and the lower mirror around a rotation axis formed by penetrating the mirror block from the center.

In addition, the mirror block of the present invention has a rectangular parallelepiped shape having reflective surfaces on four sides, and the other side parallel to one side is formed as a reflective surface inclined at a certain angle with respect to the vertical axis in the same direction, and has a height of a certain length. It may be characterized in that a lower mirror in the form of a rectangular parallelepiped column having a lower mirror and an upper mirror in the shape of a rectangular parallelepiped column vertically erected at a height smaller than the height of the lower mirror by a predetermined ratio are integrally formed at an upper end of the lower mirror.

In addition, in the present invention, between the upper mirror and the lower mirror of the mirror block, a support coupling portion extending from the inner side laterally is formed, a central opening through which a rotating shaft passes is formed at the center of the support coupling portion, and a reflective surface of the mirror block is formed. A support reinforcing structure may be formed to support it.

In addition, the rotation unit of the present invention may include a rotation motor that rotates about a rotation shaft passing through the inner center of the mirror block and may be inserted into the inner hollow of the lower mirror.

In addition, the reflective surface of the mirror block of the present invention may be formed of a protected gold metal mirror coating.

In addition, the mirror block of the present invention may be formed of a polycarbonate material.

In addition, the mirror block of the present invention may be characterized in that the surface flatness has a flatness of any one of λ/4 to λ/10.

In addition, the present invention further includes a control unit for controlling the operation of the laser module assembly and the rotation unit, wherein the control unit controls the rotational speed of the rotation unit and the transmission cycle of the first laser and the second laser. Control can adjust the resolution of the sensing or scanning area.

According to the above-described lidar optical device and lidar device having the same of the present invention, by rotating a mirror block having a reflective surface divided into upper and lower parts for providing different scan angles, the surroundings of the lidar device are effectively It has the advantage of being able to scan, detect a person or object, or measure the distance to a person or object.

In addition, according to the present invention, a mirror coating layer of a protected gold method, which is one of the metal mirror coating methods, is formed on the reflective surface to provide high reflectance for IR (infrared) and NIR (Near Infrared Spectroscopy) wavelengths. It works.

In addition, the mirror block according to the present invention provides excellent transparency, impact resistance and excellent dimensional stability suitable for optical products by applying a polycarbonate material, and has an effect of providing a lightweight lidar optical device.

1 is a perspective view of a lidar optical device according to an embodiment of the present invention.
2 and 3 are perspective views showing the internal configuration and operating state of the lidar optical device according to an embodiment of the present invention.
FIG. 4 is a perspective view for explaining an example of an internal structure of a mirror block that can be employed in the lidar optical device of FIG. 3 .
5 is a plan view of the mirror block of FIG. 4;
FIG. 6 is a cross-sectional view taken along line CC of the mirror block of FIG. 5 .
FIG. 7 is a cross-sectional view taken along line FF of the mirror block of FIG. 5 .
FIG. 8 is a left side view of a mirror block employed in the lidar optical device of FIG. 2 .
9 is a cross-sectional view illustrating a maximum outer width and a minimum inner width of the mirror block as an example for explaining a characteristic configuration of a mirror block that can be employed in a lidar optical device according to an embodiment of the present invention.
FIG. 10 is a diagram illustrating design specifications of a mirror block having the characteristic configuration of FIG. 9 .
11 is a perspective view of a mirror block that can be employed in a lidar optical device according to another embodiment of the present invention.

The terms or words used in this specification and claims should not be construed as being limited to ordinary or dictionary meanings, and the inventors may appropriately define the concept of terms in order to explain their invention in the best way. It should be interpreted as a meaning and concept consistent with the technical spirit of the present invention based on the principle that there is.

Therefore, since the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention, various equivalents that can replace them at the time of the present application It should be understood that there may be waters and variations.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

1 is a perspective view of a lidar optical device according to an embodiment of the present invention. 2 and 3 are perspective views showing the internal configuration and operating state of the lidar optical device according to an embodiment of the present invention.

As shown in FIG. 1, the lidar optical device 100 according to the present embodiment includes an upper case 110 and a lower case 130, and is disposed on one side of the upper case 110 to provide an internal laser beam. It is provided with a window 120 that transmits to the outside and transmits the laser beam reflected from the outside to the inside.

In addition, as shown in FIGS. 2 and 3, in the LiDAR optical device 100, the lower case 130 is erected vertically on the bottom plate and the bottom plate to the inside of the upper case 110 in the form of a box with an open bottom. It has a wall frame installed to be inserted. The wall frame is built on the four side edges of the square plate-shaped bottom plate, and most of the wall frame built on the window 120 side is removed and installed so that the inside of the device is open to the outside through the window 120.

In addition, the lidar device 100 of the present invention includes a laser module assembly 10, a mirror block 20, and a rotation unit (not shown) installed on the lower case 130.

The laser module assembly 10 includes a first laser module 10a for transmitting and receiving a first laser in a first direction from the upper side, and a first laser module 10a, which are disposed on the lower side in a stacked form, and are disposed in the first direction and the first laser module 10a. and a second laser module 10b for transmitting and receiving a second laser in a substantially parallel direction.

The first laser module 10a and the second laser module 10b are installed so as to emit laser light toward the mirror on the surface of the mirror block 20 while being parallel to each other or at an acute angle to each other when emitting points are aligned.

The first or second laser module includes at least one laser diode emitting a pulsed laser beam and at least one photodiode. Here, the laser diode may correspond to the laser transmitting module, and the photodiode may correspond to the laser receiving module.

The mirror block 20 reflects the upper mirror 22 that reflects the first laser beam of the first laser module 10a and the second laser beam of the second laser module 10b on the front surface of the laser module assembly 10. The lower mirror 21 is integrally stacked and coupled.

The first laser module 10a is installed to irradiate a laser beam to the upper mirror 22 disposed above the mirror block 20, and the second laser module 10b is disposed below the mirror block 20 It is installed to irradiate a laser beam to the lower mirror 21.

The rotation unit is supported on the support plate 30 installed on the bottom plate of the lower case 130, and is installed in the inner center of the mirror block 20 to rotate the upper mirror 22 and the lower mirror 21. can include To this end, the rotation unit may be inserted into the inner space of the lower mirror 21 of the mirror block 20 .

The rotation unit extends from the bottom to the top so that the rotation axis penetrates the partition wall extending in the transverse direction inside the mirror block 20, and the interior of the mirror block 20 is secured by fastening the rotation plate and the partition wall coupled to the rotation shaft with a fastening means. It can be installed to rotate the mirror block 20 in . According to this configuration, the mirror block 20 is coupled to the rotation shaft of the rotation unit and can rotate stably without substantial fluctuation.

Of course, depending on implementation, the rotation unit may be formed to rotate the rotation support plate 30 rotatably and to rotate the mirror block 20 fixedly disposed on the rotation support plate 30 .

FIG. 4 is a perspective view for explaining an example of an internal structure of a mirror block that can be employed in the lidar optical device of FIG. 3 . 5 is a plan view of the mirror block of FIG. 4; 6 is a cross-sectional view taken along line C-C of the mirror block of FIG. 5; FIG. 7 is a cross-sectional view taken along line F-F of the mirror block of FIG. 5; FIG. 8 is a left side view of a mirror block used in the lidar optical device of FIG. 2 . 9 is a cross-sectional view illustrating a maximum outer width and a minimum inner width of the mirror block as an example for explaining a characteristic configuration of a mirror block that can be employed in a lidar optical device according to an embodiment of the present invention.

The mirror block of the present invention will be described in detail with reference to FIGS. 4 to 9 .

As shown in FIG. 4 , the mirror block 20 of the present invention has a schematic rectangular pillar shape, and two sides facing each other have a lower mirror 21 and an upper mirror 22, respectively.

In addition, the mirror block 20 has two remaining sides 23 connecting the two facing sides, but the other two side surfaces 23 do not include a lower mirror 21 and an upper mirror 22. It can be formed as a single mirror that does not differentiate or divide.

In addition, the mirror block 20 may include a frame structure 25 internally supporting the square pillar-shaped mirror block 20 . The frame structure can be of various shapes, but when a rotation unit such as a motor is accommodated inside the mirror block 20, it is installed to have a hollow part in the form of a rhombus cross section or a hollow part in the form of a circular longitudinal section in consideration of the insertion size of the rotation unit. It can be.

The upper mirror 22 is in the form of a rectangular parallelepiped column having a reflective surface for reflecting the first laser beam on the front surface of the first laser module, and the lower mirror 21 is a half mirror for reflecting the second laser beam on the front surface of the second laser module. It is made in the form of a rectangular parallelepiped column with slopes.

Furthermore, in the mirror block 20, the two lower mirrors 21 on the two sides facing each other are tilted in the same form with respect to the extension line of the upper mirror 22 when viewed from the other side direction and tilted to each other. It may have the form of two straight parallel lines or the form of parallel reflection surfaces inclined parallel to each other. That is, in the rectangular parallelepiped mirror block 20, one side and the other side parallel to the one side are formed as reflective surfaces inclined at a certain angle with respect to a vertical axis in the same direction and have a rectangular parallelepiped column shape having a certain length and height. can According to this configuration, the lower mirror 21 and the upper mirror 22 in the form of a rectangular parallelepiped column vertically erected at a height smaller than the height of the lower mirror 21 by a predetermined ratio are integrally coupled at the upper end of the lower mirror 21. shape can be provided.

Next, referring to FIGS. 5 to 7 , between the upper mirror 22 and the lower mirror 21 of the mirror block 20, a support coupling portion 27 extending in the transverse direction may be installed on the inside. . The support coupling part 27 is integrally formed with the upper mirror 22 and the lower mirror 21 and can rotate according to the rotational force of the rotation unit by being coupled to the rotation shaft of the rotation unit.

At the center of the support coupling portion 27, a central opening 28 is formed through which the rotation shaft of the rotation unit passes, and around the center opening 28, a rotation plate coupled to the support coupling portion 27 and the rotation shaft of the rotation unit (not shown) ) may be provided with a fastening hole 29 for a fastening means for fixing fastening. According to this configuration, the rotation unit can stably rotate the mirror block 20 firmly coupled to the rotation shaft.

As a specific example of the above configuration, as shown in FIG. 8, the first height h1 of the lower mirror 21 and the second height h2 of the upper mirror 22 of the mirror block are at a constant height from the floor or It may be designed considering the mounting of the rotation unit. In this embodiment, the first height h1 is greater than the second height h2. In this case, the width w1 of the mirror block may be larger than the second height h2 and smaller than the first height h1.

In addition, as shown in FIG. 8, the lower mirror 21 has one side surface forming an acute angle A1 to the inside with respect to the vertical axis, and the other side surface corresponding to the lower mirror 21 is parallel to the vertical axis while forming an obtuse angle A2 inward to the vertical axis. It may have a structure in the form of a square pillar having an obliquely inclined reflective surface.

Here, the acute angle A1 having an inclination as much as the angle formed by the extension line 21a of the mirror surface of the lower mirror 21 on one side of the mirror block and the extension line of the mirror surface of the upper mirror 22 on one side is smaller than 90°. It is preferably smaller than 89.9° and larger than 89°. Similarly, an obtuse angle having a slope inclined by the angle formed by the extension line 21b of the mirror surface of the lower mirror 21 on the other side opposite to one side of the mirror block and the extension line of the mirror surface of the upper mirror 22 on the other side. (A2) is larger than 90°, preferably larger than 90.1° and smaller than 91°. In this embodiment, the sum of the acute angle A1 and the obtuse angle A2 is 180°. The inclination angle of these two lower mirror pairs can significantly contribute to increasing the performance and speed of scanning by extending the scanning range by the laser beam in the vertical direction.

For example, the lower mirror 21 on one side may be formed as a reflective surface inclined at an acute angle of 89° and the lower mirror 21 on the other side may be formed as a reflective surface inclined at an obtuse angle of 91°.

In addition, as shown in FIG. 9, the other reflective surface parallel to one reflective surface of the lower mirror 22 of the mirror block 20 has an inclined shape of the same angle, and at this time, the minimum width w2 on the inside and the reflective surface on the outside An optimal design value for the maximum width w3 can be provided.

The inner minimum width w2 and the outer maximum width w3 may be determined according to the first height of the lower mirror 21 and may be designed in consideration of the installation area of the mirror block and the size of the reflective surface. For example, a lidar optical device used for a vehicle may have a smaller minimum width w2 and a larger maximum width w3 than a lidar optical device for a cleaning robot having a relatively short scan distance.

In this embodiment, the reflective surfaces of the lower mirror 21 and the upper mirror 22 may be formed of a metal mirror coating such as a protected gold method. The protected gold coating has a relatively high reflectance for IR (Infrared) and NIR (Near Infrared Spectroscopy) wavelengths.

In addition, the reflective surfaces of the lower mirror 21 and the upper mirror 22 may have surface flatness with a plane deviation within λ/4 to λ/10. It can be achieved with a precise surface deviation, preferably with a lambda of 8, ie λ/8.

In addition, the surface quality of the reflective surface may be manufactured with precision quality for reflection of low-power laser with a scratch-dig standard of 40 to 20.

In addition, the mirror block 20 may be entirely formed of a polycarbonate resin (PC) material, which can provide transparency suitable for optical products of the mirror block, and has impact resistance and appropriate chemical resistance. , processability, excellent dimensional stability and rigidity over a wide temperature range. In addition, it is possible to provide a lightweight lidar optical device due to the lightness, which is a characteristic of PC material.

FIG. 10 is a diagram illustrating design specifications of a mirror block having the characteristic configuration of FIG. 9 .

Referring to FIG. 10, the structure of the mirror block that can be employed in the LIDAR optical device according to the present embodiment is such that the lower mirror has a rectangular structure of 59 mm X 37 mm in length X 59 mm at an angle of inclination and a first 40 mm It can be made with a design specification in which the upper mirror is combined with the top of the lower mirror at a height of 25 mm.

11 is a perspective view of a mirror block that can be employed in a lidar optical device according to another embodiment of the present invention.

Referring to FIG. 11, the mirror block 20a used in the lidar optical device according to the present embodiment may have a square box shape circumscribed to a circle, and a frame structure 25 forming a cylindrical hollow therein can be supported by

The configurations of the lower mirror 21, the upper mirror 22, the support coupling portion 27, the central opening 28, and the fastening hole 29 of the mirror block 20a are substantially the same as those of the foregoing embodiment. Therefore, detailed descriptions thereof will be omitted to avoid duplication.

According to the above-described embodiment, the LiDAR optical device rotates a mirror block having a lower mirror having an inclination angle inclined at an angle and a reflective surface of the upper mirror extending vertically from the lower mirror to direct a laser beam to a measurement object. The reflected laser beam that is irradiated and reflected from the object to be measured is reflected back to the mirror block to receive light, so that the distance to the object to be measured and the surrounding terrain or objects can be effectively sensed.

In particular, by changing the reflection angle of the laser through the mirror block of the above-described configuration, transmitting and receiving a laser beam on a scan line corresponding to one horizontal line is performed, and a number of laser beams having different laser beam emission positions or laser beam emission angles are transmitted and received. By using the laser transmission module, the angle and resolution of scanning can be changed and a desired resolution can be obtained.

In addition, although the control unit is not specifically mentioned in the above-described embodiment, the lidar optical device or the lidar device having the same according to the present embodiment may further include a control unit. In this case, the control unit may be implemented to control an on/off operation or a rotation speed of a rotation unit such as a motor, or to control a transmission and reception operation of a laser module assembly, and to transmit a received signal to an external device. In addition, the control unit may be configured to perform a control operation by synchronizing the laser beam transmission timing of the laser transmission module and the rotational position of the mirror block to a preset position and timing, thereby adjusting the scan resolution of the detection area of the lidar device. can

The above-described control unit may be implemented as at least one device selected from a logic circuit, a programming logic controller, a microcomputer, a microprocessor, and the like, and may include a communication module or be coupled to the communication module. The communication module communicates with an external device through an intranet, the Internet, a vehicle network, or the like, and may transmit signals or data related to a target or a distance to the target detected through laser scanning to the external device. This control unit may be mounted in the case of the laser module assembly, but is not limited thereto.

In addition, although not shown in the drawing, the LiDAR optical device may include a wire, an adapter, or a power supply means for supplying power. The power supply unit may include an internal power source or a rechargeable power supply device, and in that case, the lidar optical device or the lidar device using the same may be implemented as a detachable device.

Using the aforementioned LIDAR optical device, the laser beam emitted from the laser module can be effectively reflected and emitted to a desired target range, and the laser beam reflected from the outside can be effectively received to detect the target or measure the target by the laser beam. can be performed effectively. That is, the rotating mirror block effectively adjusts the incident angle and the reflection angle of the laser beam emitted through the window from the inside of the outer case through the mirrors on the surface of the mirror block, and the laser modules rotating at a certain angle rotate the mirrors of the mirror block to each other. A laser scanning operation can be effectively performed using another area.

In addition, according to the above configuration, the laser module, the mirror block, and the rotation unit combination structure in the lidar device effectively controls the reflection and scattering angles of the laser beam while maximizing spatial scan performance capable of securing spatial data. There are advantages to doing so.

It goes without saying that the present invention is capable of various modifications other than the above-described embodiments. LiDAR apparatus of the present invention can be generally applied to vehicles, but the present invention is not limited thereto. That is, the lidar optical device according to the present invention and the lidar device having the same can be applied to movable bodies such as robots, ships, helicopters, and drones as well as vehicles, and the movement of buildings, columns, towers, etc. is limited. It can also be applied to fixed bodies without limitation.

As described above, the detailed description of the present invention has been described with respect to preferred embodiments, but those skilled in the art within the scope that does not depart from the spirit and scope of the present invention described in the claims below It will be understood that various modifications and variations may be made to the present invention.

Claims (8)

As an optical device of a light detection and ranging radar (LIDAR) that transmits and receives laser light,
A first laser module for emitting and receiving a first laser in a first direction from the upper side, and a second laser module disposed on the lower side in a stacked form with the first laser module and emitting and receiving a second laser from the lower side a laser module assembly;
A pair of quadrangular pillar-shaped upper mirrors having a reflective surface for reflecting the first laser at the front of the first laser module and a reflective surface for reflecting the second laser at the front of the second laser module and facing each other. a mirror block formed by combining a lower mirror having a quadrangular pillar shape with side surfaces inclined in the same direction; and
Includes a rotation unit for rotating the mirror block,
Each of the upper mirror and the lower mirror has a rectangular parallelepiped shape having a reflective surface on at least two of the four side surfaces,
The lower mirror has a structure in the form of a square pillar having one side surface having a reflective surface forming an acute angle inward with respect to the vertical axis, and the other side surface opposite to the one side surface having a reflective surface forming an obtuse angle inward with respect to the vertical axis. Lidar optical device, characterized in that.
The method of claim 1,
One side of the lower mirror is formed as a reflective surface inclined at an acute angle of 89 ° and the other side of the opposite side is formed as a reflective surface inclined at an obtuse angle of 91 °.
The method of claim 1,
The mirror block has a support coupling part extending from the inside in a transverse direction between two areas of the upper mirror and the lower mirror,
The support coupling part is characterized in that it has a central opening into which the rotary shaft of the rotary unit is inserted or coupled, and a fastening hole for coupling the rotary plate coupled to the rotary shaft of the rotary unit around the central opening through a fastening means. This is an optical device.
The method of claim 1,
LiDAR optical device, characterized in that the rotation unit is inserted into the hollow inside the lower mirror of the mirror block.
The method of claim 1,
The reflective surface of the mirror block comprises a metal mirror coating layer of a protected gold method.
The method of claim 1,
The mirror block has a body made of polycarbonate, and a frame structure supporting an upper mirror and a lower mirror is provided inside the body,
The frame structure is installed inside the mirror block in the form of a rhombus hollow column or a cylindrical column for accommodating the rotation unit, and is formed to support the reflective surface of the mirror block from the inside.
The method of claim 1,
LiDAR optical device, characterized in that the surface flatness of the mirror block has a plane deviation within λ / 4 to λ / 10.
The method of claim 1,
A control unit for controlling operations of the laser module assembly and the rotation unit is further included, wherein the control unit controls the rotational speed of the rotation unit and the transmission cycles of the first laser and the second laser to determine the scan area. Lidar optical device, characterized in that for adjusting the resolution.

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