WO2017168500A1 - Dispositif optique - Google Patents

Dispositif optique Download PDF

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Publication number
WO2017168500A1
WO2017168500A1 PCT/JP2016/059852 JP2016059852W WO2017168500A1 WO 2017168500 A1 WO2017168500 A1 WO 2017168500A1 JP 2016059852 W JP2016059852 W JP 2016059852W WO 2017168500 A1 WO2017168500 A1 WO 2017168500A1
Authority
WO
WIPO (PCT)
Prior art keywords
light source
light
source support
spherical
convex spherical
Prior art date
Application number
PCT/JP2016/059852
Other languages
English (en)
Japanese (ja)
Inventor
小島　滋
知秀 野田
仁史 滝口
文彦 仲村
敏秀 小林
Original Assignee
パイオニア株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to JP2018507827A priority Critical patent/JP6582124B2/ja
Priority to PCT/JP2016/059852 priority patent/WO2017168500A1/fr
Publication of WO2017168500A1 publication Critical patent/WO2017168500A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements

Definitions

  • the present invention relates to angle adjustment of an optical element of a distance measuring device using laser light.
  • Patent Document 1 discloses a main body unit in which a base part, a pressing part, and a deforming part are integrally formed, a pulling screw that applies a force toward the pressing part to the base part, and a base part.
  • a laser distance measuring device having a push screw for applying a pressing force and configured to adjust an angle between a base portion and a force applying portion by adjusting a pull screw and a push screw.
  • the laser distance measuring device described in Patent Document 1 has a problem that only a fine angle adjustment can be performed.
  • the laser distance measuring device that scans the laser beam by rotating the rotating body having the reflecting surface there is a problem that the optical axis is easily shifted from the rotation axis existing on the reflecting surface and it takes time to adjust the angle. .
  • An object of this invention is to provide the optical apparatus which can perform the angle adjustment of an optical element simply and correctly.
  • the invention according to claim 1 is a spherical pedestal portion that rotates about a rotation axis and is disposed so that at least a part of the reflection surface is on the rotation axis, and a spherical pedestal portion having at least a convex spherical surface And a light source support part installed so as to slide on the convex spherical surface of the spherical pedestal part, and a light source part installed on the light source support part so that light is reflected by the reflection part.
  • the center of the convex spherical surface exists on the reflective surface.
  • FIG. 1 shows an internal structure of a distance measuring apparatus according to an embodiment.
  • the internal structure of the upper half of the distance measuring apparatus according to the embodiment is shown.
  • the internal structure of the ranging apparatus which shows the state which moved the light source support part from the state of FIG. 3 is shown. It is an enlarged view of the fastening part of a light source support part and a spherical surface base part.
  • the optical device rotates around the rotation axis, and has a reflection portion arranged so that at least a part of the reflection surface is on the rotation axis, and a convex spherical surface at least at a part.
  • the center of the convex spherical surface is present on the reflecting surface.
  • the optical device includes a reflecting portion, a spherical pedestal portion, a light source support portion, and a light source portion.
  • the reflection unit rotates around the rotation axis, and is arranged so that at least a part of the reflection surface is on the rotation axis. That is, the reflection surface has an intersection that intersects the rotation axis.
  • the spherical pedestal has at least a convex spherical surface.
  • the “convex spherical surface” is a curved surface having a predetermined radius that is convex with respect to the installation surface, and a part of the optical path may be missing.
  • the light source support portion is installed so as to slide on the convex spherical surface of the spherical pedestal portion.
  • the light source unit is installed on the light source support unit so that light is reflected by the reflection unit.
  • the center of a convex spherical surface exists on a reflective surface.
  • the center of the convex sphere refers to the center of a sphere including the convex sphere as a spherical surface.
  • “on the reflecting surface” is not limited to a position that exactly overlaps the reflecting surface, but also includes a position that is far from the reflecting surface within an allowable error range that can occur in the manufacturing process.
  • the light source support portion is slid on the convex spherical surface of the spherical pedestal portion in order to adjust the light emission direction and the like. Even in this case, the light irradiation position on the reflecting surface is unlikely to change. Therefore, in this aspect, optical adjustment such as adjustment of the light emission angle can be easily performed without causing deterioration in product performance.
  • the optical axis of the light passes through the center of the convex spherical surface, and the center of the convex spherical surface exists at the intersection of the rotation axis and the reflecting surface.
  • the center of the convex sphere exists at the intersection of the rotational axis and the reflecting surface is not limited to an aspect in which the center of the convex sphere and the above-described intersection exactly overlap, but occurs in the manufacturing process. They may be separated as long as they are within acceptable tolerances.
  • the optical axis of the light is incident on a point on the reflection surface that intersects the rotation axis. Therefore, according to this aspect, even when the light source support portion is slid on the convex spherical surface of the spherical pedestal portion, the reflection point of the optical axis of the light on the reflection surface exists on the rotation axis.
  • An optical adjustment can preferably be performed.
  • the light source support part has at least a concave surface in contact with the convex spherical surface.
  • a concave surface is formed on at least a portion of the surface of the light source support portion that is in contact with the convex spherical surface.
  • the light source support portion can smoothly slide on the convex spherical surface by the concave surface portion, and the position adjustment of the light source support portion with respect to the spherical base portion can be suitably performed.
  • the light source unit includes a light source and a collimator lens.
  • the spherical pedestal portion has an optical path hole through which light emitted from the light source unit passes, and the light source unit is inserted and installed in the optical path hole. According to this aspect, the light emitted from the light source unit can suitably reach the reflecting unit.
  • the optical device is used in a distance measuring device using light.
  • a distance measuring device such as a lidar using light
  • the optical device described above is suitably applied because the reflecting unit is rotated to scan light on a horizontal plane.
  • FIG. 1 shows a schematic configuration of a distance measuring device to which an optical device of the present invention is applied.
  • the distance measuring device 100 projects the projection light L1 of infrared rays (for example, wavelength 905 nm) onto the measurement object 5, receives the reflected light L2, and measures the distance to the measurement object 5.
  • the distance measuring device 100 includes a motor 14, a light receiving unit 16, a control unit 18, a rotating body 30, and a light source 40.
  • the rotating body 30 includes a condenser lens 33 and a prism 34.
  • the light source 40 emits infrared projection light L1 toward the prism 34.
  • the prism 34 reflects the projection light L ⁇ b> 1 and emits it to the outside of the distance measuring device 100.
  • the prism 34 is provided on the rotating body 30 and emits the projection light L1 to the outside while rotating. Thereby, the distance of the measuring object 5 in all directions (around 360 degrees) of the distance measuring device 100 can be measured.
  • the light source 40 and the prism 34 are examples of the “light source unit” in the present invention.
  • the condenser lens 33 receives the reflected light L ⁇ b> 2 reflected by the measurement object 5 and sends it to the prism 34.
  • the prism 34 reflects the reflected light L2 toward the light receiving unit 16.
  • the light receiving unit 16 is, for example, an avalanche photodiode (Avalanche PhotoDiode), and generates a detection signal corresponding to the light amount of the received reflected light L2 and sends it to the control unit 18.
  • the control unit 18 controls the emission of the projection light L1 from the light source 40 and processes the detection signal supplied from the light receiving unit 16 to calculate the distance to the measurement object 5. Further, the control unit 18 controls the motor 14 to rotate the rotating body 30.
  • FIG. 2 is a cross-sectional view showing the internal structure of the distance measuring device 100.
  • the housing 10 of the distance measuring device 100 is substantially cylindrical, and is roughly composed of a bottom portion 10a, a cover 10b, and an upper portion 10c.
  • the distance measuring device 100 emits the projection light L1 in all directions and receives the reflected light L2 as the rotating body 30 rotates inside the housing 10.
  • the cover 10 b is made of a material that transmits infrared rays emitted from the light source 40.
  • a support column 13 and a motor 14 are provided in the bottom 10a.
  • the column 13 is positioned on the rotation shaft 70 of the rotating body 30 and is fixed to the bottom 10a.
  • the rotating body 30 includes an integrated bottom portion 30a and an upper portion 30b, and rotates around the support column portion 13 as a rotation axis.
  • the bottom portion 30 a of the rotating body 30 is rotatably provided around the support column 13 via the plurality of bearings 15, and is driven to rotate by the motor 14. Note that, among the components of the distance measuring device 100, all but the rotating body 30 are fixed to the housing 10.
  • the light receiving unit 16 and the light receiving unit substrate 22 are disposed on the support column 13.
  • a band-pass filter 17 made of an optical member is provided above the light receiving unit 16.
  • the bandpass filter 17 has a wavelength selection function that excludes light other than the wavelength of infrared rays emitted from the light source 40 (in this example, about 905 nm).
  • the motor 14 is electrically connected to the motor board 21.
  • a control unit (control board) 18 is provided below the motor board 21.
  • the control board 18 and the motor board 21 are connected by a wiring 24.
  • the control board 18 and the light receiving part board 22 are connected by a wiring 23.
  • a prism 34 is provided on the rotation shaft 70 on the upper surface of the upper portion 30 b of the rotating body 30.
  • the prism 34 accurately reflects the projection light L1 and the reflected light L2.
  • the prism 34 is an example of the “reflecting part” in the present invention.
  • a condensing lens 33 is provided on one side of the circumferential surface of the upper body 30b of the rotating body 30. The position of the condenser lens 33 is directed in the direction in which the reflected light L2 from the measurement object 5 arrives, that is, the reflective surface 51 that reflects the projection light L1 of the prism 34 and the reflective surface 52 that reflects the reflected light L2. It matches the direction.
  • a light source 40, a collimator lens 41, a light source substrate 42, a spherical pedestal portion 43, and a light source support portion 44 are provided on the upper portion 10 c of the housing 10.
  • the light source 40 emits infrared projection light L1.
  • the collimator lens 41 converts the projection light L1 from the light source 40 into parallel light and guides it to the prism 34 through the opening 11x formed in the upper part of the cover 10b.
  • the light source 40 is connected to the light source substrate 42, and the light source substrate 42 is connected to the control substrate 18 through the wiring 25.
  • the spherical pedestal 43 is mounted on the upper part of the cover 10 b and holds a light source support 44 that supports the light source 40 and the collimator lens 41.
  • a cylindrical optical path hole 47 communicating with the opening 11x is formed at the center of the spherical pedestal 43.
  • the spherical pedestal portion 43 is formed with a raised portion 48 that forms a convex spherical surface 63 that faces the wall surface of the optical path hole 47 and the light source support portion 44.
  • the convex spherical surface 63 has a center on the reflecting surface 51 of the prism 34 and has a convex spherical shape above the distance measuring device 100. A part of the convex spherical surface 63 is in contact with the light source support 44 and supports the light source support 44.
  • the light source support 44 supports the light source 40 and the collimator lens 41. Specifically, the light source 40 is fitted into the central portion of the light source support portion 44, and the collimator lens 41 is held by the arm portion 45 extending in the emission direction of the light source 40.
  • the light source support 44 is placed on the spherical pedestal 43 so that the extending arm 45 is inserted into the optical path hole 47.
  • the edge part of the light source support part 44 protrudes in the same direction as the extending direction of the arm part 45, and a mortar-shaped concave surface 64 is formed.
  • the concave surface 64 slidably contacts the convex spherical surface 63 in a state where the light source support portion 44 is placed on the spherical pedestal portion 43.
  • the spherical pedestal 43 has the center position of the sphere specified by the convex spherical surface 63 at the intersection of the reflecting surface 51 of the prism 34 and the rotating shaft 70 in a state where the light source support 44 is placed. It is formed to overlap. Thereby, even if it is a case where alignment of the light source support part 44 is performed for adjustment of the emission angle of the projection light L1, it is prevented suitably that the reflection position of the projection light L1 on the reflection surface 51 is fluctuated.
  • FIG. 3 is an enlarged view of the internal structure of the upper half of the distance measuring device 100.
  • the center position “Pc” of the sphere 55 specified by the convex spherical surface 63 is illustrated.
  • the center position Pc is on the rotation axis 70 and on the reflection surface 51.
  • the light source 40 and the collimator lens 41 are adjusted so that the optical axis of the projection light L1 passes through the center position of the sphere 55 in a state where the light source support 44 is placed on the spherical pedestal 43. Yes. Therefore, the optical axis of the projection light L1 emitted from the light source 40 and the collimator lens 41 is reflected from a point on the reflection surface 51 overlapping the center position Pc as a reflection point, and is emitted to the outside of the distance measuring device 100.
  • the spherical pedestal 43 is fixed to the upper surface of the cover 10b, and then the light source 40 and the light source support 44 holding the collimator lens 41 are adjusted to the spherical pedestal. It is placed on the part 43. Thereafter, the position of the light source support 44 on the spherical pedestal 43 is adjusted so that the optical axis of the projection light L1 is emitted from the prism 34 to the outside of the distance measuring device 100 in the horizontal direction.
  • the light source support 44 holding the light source 40 and the collimator lens 41 is tilted by sliding the concave surface 64 of the light source support 44 on the convex spherical surface 63 of the spherical base 43. adjust. Thereby, the emission angle (that is, the elevation angle) of the optical axis of the projection light L1 reflected by the prism 34 is adjusted.
  • the reflection point on the reflection surface 51 of the optical axis of the projection light L ⁇ b> 1 is not displaced in the position adjustment of the light source support 44. This will be described in more detail with reference to FIG.
  • FIG. 4A shows the distance measuring device 100 when the light source support 44 is slid counterclockwise by a predetermined angle from the state of FIG.
  • FIG. 4B shows the distance measuring device 100 when the light source support 44 is slid clockwise by a predetermined angle from the state of FIG. 4A and 4B
  • the broken line L1c indicates the optical axis of the projection light L1.
  • the light source support 44 slides on the convex spherical surface 63 having a spherical shape at the center position Pc, and thus is emitted from the light source 40 and the collimator lens 41.
  • the optical axis L1c of the projected light L1 is reflected with a point on the reflection surface 51 overlapping the center position Pc as a reflection point, as in the state before the light source support 44 is slid.
  • the reflection point on the reflection surface 51 of the optical axis L1c is before and after the movement of the light source support 44. And always exists on the rotating shaft 70.
  • the relative positions of the light source 40 and the collimator lens 41 with respect to the reflection surface 51 change, and thus the emission angle (1) of the projection light L1 after reflection on the reflection surface 51 ( That is, the elevation angle) changes in accordance with the direction and angle in which the light source support 44 is rotated.
  • the emission angle of the projection light L1 after being reflected by the reflecting surface 51 is In the example of FIG. 4B in which the light source support portion 44 is rotated upward by the predetermined angle from the state of FIG.
  • the emission angle of the projected light L1 changes downward by an angle corresponding to the predetermined angle.
  • the reflection point of the optical axis of the projection light L1 does not change from the center position Pc on the rotation shaft 70. . Thereby, the assembly of the distance measuring apparatus 100 can be performed easily and with high accuracy.
  • the spherical pedestal 43 has a downwardly convex spherical surface and the light source support 44 slides on the spherical surface, the movement center of the light source support 44 is separated from the reflection surface 51.
  • the spherical pedestal portion 43 of the distance measuring device 100 has a convex convex spherical surface 63 on the opposite side to the prism 34, and the moving center of the light source support portion 44 is on the reflection surface 51.
  • the reflection point of the optical axis of the projection light L1 at the time of adjusting the emission angle of the projection light L1 can be prevented from deviating from the rotation axis 70, and the performance degradation of the product can be suitably suppressed.
  • the light source support 44 is fixed to the spherical pedestal 43 by fixing means such as screwing or adhesive.
  • fixing means such as screwing or adhesive.
  • the angle formed by the horizontal plane of the spherical pedestal 43 and the horizontal plane of the light source support 44 changes by adjusting the emission angle of the projection light L1 described in FIG. The angle also changes with adjustment.
  • the distance measuring device 100 may have any structure within the predetermined range described above even if the angle formed by the horizontal plane of the spherical pedestal 43 and the horizontal plane of the light source support 44 can be within a predetermined range.
  • a screwing mechanism capable of fixing the light source support 44 to the spherical pedestal 43 at an angle is provided.
  • FIG. 5 is an enlarged view of a screwed portion between the spherical pedestal 43 and the light source support 44.
  • the spherical pedestal 43 and the light source support 44 are provided with screw holes 68 and 69. And the light source support part 44 is fastened.
  • the washer 71 has a curved surface on the surface facing the light source support 44
  • the washer 72 has a curved surface on the surface facing the spherical pedestal 43.
  • the screw hole 68 of the spherical pedestal 43 has a mortar-shaped slope that contacts the curved surface of the washer 72
  • the screw hole 69 of the light source support 44 has a mortar-shaped slope that contacts the curved surface of the washer 71. Is formed.
  • the cylindrical portions of the screw holes 68 and 69 have a larger width than the cylindrical portion of the bolt 70 so that the cylindrical portion of the bolt 70 can be inserted through the screw holes 68 and 69 even when the bolt 70 is tilted.
  • a nut having the same shape as the washer 72 (curved curved surface in the direction of the screw hole 68) is used. May be. In this case, it is not necessary to use the washer 72.
  • the distance measuring device 100 includes the prism 34 that rotates about the rotation axis 70, the spherical pedestal portion 43 in which the convex spherical surface 63 is formed at least partially, and the spherical surface.
  • the light source support part 44 installed so that it may slide on the convex spherical surface 63 of the base part 43, the light source 40, and the collimator lens 41 are provided.
  • the center position Pc of the convex spherical surface 63 exists on the reflection surface 51 of the prism 34 where the rotation axis 70 intersects, and the light source support 44 moves around the center position Pc.
  • the optical axis of the projection light L 1 is incident on a point on the reflection surface 51 that intersects the rotation axis 70. Therefore, according to this aspect, it is possible to suitably suppress the performance degradation of the product due to the adjustment of the emission angle of the projection light L1.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Mounting And Adjusting Of Optical Elements (AREA)
  • Mechanical Optical Scanning Systems (AREA)

Abstract

La présente invention concerne un dispositif de mesure de distance 100 qui est pourvu de : un prisme 34 qui tourne autour d'un axe de rotation 70 ; une section de socle sphérique 43 ayant une surface convexe sphérique 63 en tant qu'au moins une partie de celle-ci ; une section de support de source de lumière 44 disposée de sorte que la section de support de source de lumière glisse sur la surface convexe 63 de la section de socle sphérique 43 ; une source de lumière 40 ; et une lentille de collimateur 41. Une position centrale Pc de la surface convexe 63 est sur une surface réfléchissante 51 qui est croisée par l'axe de rotation 70, ladite surface réfléchissante 51 étant une partie du prisme 34, et la section de support de source de lumière 44 se déplace avec la position centrale Pc au centre. Même dans les cas dans lesquels la section de support de source de lumière 44 est glissée sur la surface convexe 63 de la section de socle sphérique 43, l'axe optique de la lumière de projection L1 est incident au niveau d'une surface réfléchissante 51, où la surface réfléchissante croise l'axe de rotation 70.
PCT/JP2016/059852 2016-03-28 2016-03-28 Dispositif optique WO2017168500A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2018507827A JP6582124B2 (ja) 2016-03-28 2016-03-28 光学装置
PCT/JP2016/059852 WO2017168500A1 (fr) 2016-03-28 2016-03-28 Dispositif optique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/059852 WO2017168500A1 (fr) 2016-03-28 2016-03-28 Dispositif optique

Publications (1)

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WO2017168500A1 true WO2017168500A1 (fr) 2017-10-05

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JP (1) JP6582124B2 (fr)
WO (1) WO2017168500A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20190130454A (ko) * 2018-05-14 2019-11-22 주식회사 에스오에스랩 라이다 장치
US10591598B2 (en) 2018-01-08 2020-03-17 SOS Lab co., Ltd Lidar device
KR20220039631A (ko) 2020-09-22 2022-03-29 주식회사 위멤스 라이다용 레이저 광학계
US11808889B2 (en) 2018-01-08 2023-11-07 Sos Lab Co., Ltd. LiDAR device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019106267A1 (de) * 2019-03-12 2020-09-17 Valeo Schalter Und Sensoren Gmbh Lichtsignalumlenkeinrichtung für ein optisches Messsystem zur Erfassung von Objekten, Messsystem und Verfahren zum Betreiben einer Lichtsignalumlenkeinrichtung

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JPS58106505A (ja) * 1981-12-21 1983-06-24 Nippon Kogaku Kk <Nikon> 反射鏡の傾き補正装置
JP2003214852A (ja) * 2002-01-21 2003-07-30 Topcon Corp 位置測定装置及びそれに使用する回転レーザ装置
JP2006349350A (ja) * 2005-06-13 2006-12-28 Audio Technica Corp レーザー墨出し器およびその三脚用傾き調整アタッチメント
JP2007007660A (ja) * 2005-06-28 2007-01-18 Olympus Corp レーザ加工装置
JP2015203758A (ja) * 2014-04-14 2015-11-16 リコー光学株式会社 角度調整装置および光学装置およびレーザ測距装置

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Publication number Priority date Publication date Assignee Title
JPS58106505A (ja) * 1981-12-21 1983-06-24 Nippon Kogaku Kk <Nikon> 反射鏡の傾き補正装置
JP2003214852A (ja) * 2002-01-21 2003-07-30 Topcon Corp 位置測定装置及びそれに使用する回転レーザ装置
JP2006349350A (ja) * 2005-06-13 2006-12-28 Audio Technica Corp レーザー墨出し器およびその三脚用傾き調整アタッチメント
JP2007007660A (ja) * 2005-06-28 2007-01-18 Olympus Corp レーザ加工装置
JP2015203758A (ja) * 2014-04-14 2015-11-16 リコー光学株式会社 角度調整装置および光学装置およびレーザ測距装置

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10591598B2 (en) 2018-01-08 2020-03-17 SOS Lab co., Ltd Lidar device
US10613224B2 (en) 2018-01-08 2020-04-07 SOS Lab co., Ltd LiDAR device
US11493630B2 (en) 2018-01-08 2022-11-08 SOS Lab co., Ltd LiDAR device
US11808889B2 (en) 2018-01-08 2023-11-07 Sos Lab Co., Ltd. LiDAR device
US11953626B2 (en) 2018-01-08 2024-04-09 SOS Lab co., Ltd LiDAR device
US11953596B2 (en) 2018-01-08 2024-04-09 Sos Lab Co., Ltd. LiDAR device
KR20190130454A (ko) * 2018-05-14 2019-11-22 주식회사 에스오에스랩 라이다 장치
KR102155425B1 (ko) * 2018-05-14 2020-09-11 주식회사 에스오에스랩 라이다 장치
KR20220039631A (ko) 2020-09-22 2022-03-29 주식회사 위멤스 라이다용 레이저 광학계

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