WO2019022549A1

WO2019022549A1 - Lidar device

Info

Publication number: WO2019022549A1
Application number: PCT/KR2018/008501
Authority: WO
Inventors: 연용현
Original assignee: 주식회사 엠쏘텍
Priority date: 2017-07-27
Filing date: 2018-07-27
Publication date: 2019-01-31
Also published as: KR20190012345A; KR102350621B1

Abstract

A lidar device according to the present invention is configured to emit a source light, generated by a light source, outside the lidar device by a rotating mirror according to a scanning method, and guide received light, returned by being reflected by an external reflector, in the direction of a light detection unit by a light guide unit. According to the present invention, the light detection unit receives the received light with increased efficiency, and thus distance measurement can be more accurately performed.

Description

Lidar device

The present invention relates to a ladder device for measuring the distance to an external reflector and the shape of an external reflector using light.

Light Detection And Ranging (LIDAR) is a method of detecting an object using light and measuring the distance to the object. Lada is similar in function to RADAR (Radio Detection And Rangin), but differs in that it uses light instead of radar that uses radio waves, and Lada is also called 'image radar' in this respect. Due to the difference in the Doppler effect between the light and the microwave, Lida has a feature that the azimuth resolution and the distance resolution are superior to the radar.

The Lidar device has been the mainstream of air rivers that emit laser pulses at satellites or aircraft and receive backscattered pulses at ground stations from airborne particles, , Aerosols, cloud particles, etc., and to analyze the distribution of airborne dust particles or air pollution. However, recently, both the transmission system and the reception system are disposed on the ground, and the ground, which performs the obstacle detection, the terrain modeling, and the position acquisition to the object, , Civilian mobile robots, intelligent automobiles, and unmanned automobiles.

The terrestrial Lidar apparatus usually comprises a transmitting optical system for emitting laser pulses, a receiving optical system for receiving the transmitted light reflected by the external reflector, and an analyzer for determining the position of the object. In this case, the analyzer calculates the distance to the external reflector by determining the time required for transmitting and receiving the reflected light, and calculates the distance to the external reflector, in particular, the distance to the received light from each direction. You can also create a distance map in

However, since the conventional land laser apparatus emits a laser beam having a wide beam width corresponding to the angle of view and acquires the light beam from all directions in the angle of view at the same time to obtain the distance to the external reflector, And thus the price of the apparatus is very expensive. In addition, since the laser module having a high output is large in size, it is a factor for raising the overall size of the laser device.

In particular, in the case of a ladder device having a panoramic scanning function, the entire apparatus including the transmission optical system and the reception optical system is rotated and operated. Examples of such devices are described in U.S. Patent Application Publication Nos. 2011/0216304, 2012/0170029, 2014/0293263, and U.S. Patent No. 8,836,922. However, when the entire device is rotated as described above, the total size of the LRD device becomes very large, which results in a problem of the price of the device and the power consumption increase.

[Prior Art Literature]

[Patent Literature]

U.S. Published Patent Application No. 2011/0216304 (Publication date: 2011.09.08)

U.S. Published Patent Application No. 2012/0170029 (published on July 7, 2012)

U.S. Published Patent Application No. 2014/0293263 (Publication date: 2014.10.02)

U.S. Patent Publication No. 8836922 (Disclosure Date: 2014.09.16)

SUMMARY OF THE INVENTION The present invention has been conceived to solve the problems as described above, and it is an object of the present invention to provide a method and an apparatus for emitting a laser beam to an external reflector located outside of a ladder device in a scanning manner, , It is an object of the present invention to provide a laser apparatus which has a very low laser output and can reduce the size of the entire apparatus and which is low in production cost and operation cost.

Further, the present invention provides a Lada apparatus capable of measuring the distance more accurately by increasing the efficiency of receiving the received light by guiding the incoming reflected light reflected by the external reflector toward the photodetector part It has its purpose.

According to an aspect of the present invention, there is provided a ladder device including: a light source for generating a source light; A rotating mirror disposed rotatably on an optical path of the source light, the direction of the reflecting surface being temporally variable, and reflecting the source light upward as scanning light with a different direction in time; A lens unit disposed at an upper portion of the rotating mirror for extending the angle at which the scan light is emitted to the front of the PDP apparatus and refracting the received light reflected by the external reflector downward; A scan light transmitting portion is formed at a position facing the rotating mirror so as not to block an optical path of the scanning light emitted from the rotating mirror, the scanning light transmitting portion being disposed in front of the rotating mirror, reflecting the receiving light refracted by the lens portion, The receiving mirror; A light guide part for guiding the light reflected by the reception mirror; And a photodetector for detecting a light beam guided by the light guide unit.

Here, the ladder device according to an embodiment of the present invention may further include a first condenser lens for condensing the light reflected by the reception mirror, So that the converged light can be guided.

According to another aspect of the present invention, there is provided a lidar apparatus, wherein the ladder apparatus further includes a reflection mirror for reflecting the light collected by the first condenser lens toward the light guide section.

The source light generated from the light source may be reflected by the receiving mirror and incident on the rotating mirror.

The light guide unit may include an incidence unit into which the incoming light reflected by the receiving mirror is incident, and an exit unit through which the incoming light incident on the light guide unit is emitted, and the inside of the light guide unit may be hollow.

Here, the light guide portion may have a smaller sectional area from the incident portion toward the exit portion.

According to another aspect of the present invention, there is provided a lidar apparatus comprising: a light collecting unit that collects incident light guided by the light guide unit; It may be to detect the light that is condensed by the lens.

The lens unit may have at least two or more wide-angle lenses arranged in a line in the vertical direction.

Further, the ladder device according to an embodiment of the present invention may further include a rear reflecting mirror disposed adjacent to the lens portion and curved so as to project the scanning light incident on the rear of the ladder device .

According to another aspect of the present invention, there is provided a ladder device including: a light source for generating a source light; A rotating mirror disposed rotatably on an optical path of the source light, the direction of the reflecting surface being temporally variable, and reflecting the source light upward as scanning light with a different direction in time; A lens unit disposed at an upper portion of the rotating mirror for extending the angle at which the scan light is emitted to the front of the PDP apparatus and refracting the received light reflected by the external reflector downward; A light guide part for guiding the transmitted light refracted by the lens part; And a photodetector for detecting a light beam guided by the light guide unit.

Here, the rotating mirror, the lens section, the light guide section, and the optical detecting section may be arranged in a straight line.

Here, the laser device according to another embodiment of the present invention may further include a sub light guide portion which is in contact with the upper side of the light guide portion and hollow inside.

Here, the sub-light guide part may have a smaller sectional area from the lower side toward the upper side.

According to another aspect of the present invention, there is provided a lidar apparatus, which may further include a condenser lens for condensing the received light guided by the light guide unit, wherein the optical detector includes a condenser lens condensed by the condenser lens, It may be to detect the light.

The light source is disposed on one side of the light guide part, the rotating mirror is disposed inside the light guide part, and the light guide part is provided with a light guide path for guiding the light path of the source light, A source light transmitting portion may be formed in the light emitting portion.

Alternatively, the light source may be disposed at one side of the light guide unit, the rotating mirror may be disposed at a position opposite to the one side of the light guide unit, and the light guide unit may be provided with an optical path of the scan light, A scan light transmitting portion may be formed on the substrate.

Here, the source light generated from the light source may be reflected by the light guide unit and incident on the rotating mirror.

According to another aspect of the present invention, there is provided a lidar apparatus including a rear reflector disposed adjacent to the lens unit and curved so as to project the scan light incident on the rear of the ladder apparatus .

According to the present invention, since the source light emitted from the light source is emitted to the outside of the Lada apparatus by the scanning method by the rotating mirror, the laser output required in comparison with the conventional apparatus that emits the source light simultaneously in all directions within the angle of view The size of the entire device can be reduced, and the production cost and the operation cost can be made low.

In addition, according to the present invention, since the receiving light reflected by the external reflector and guided back toward the optical detecting portion is guided by the optical guiding portion, the efficiency of receiving the receiving light by the optical detecting portion is increased, .

1 is a diagram illustrating a laddering apparatus according to a first embodiment of the present invention.

2 is a diagram illustrating a ladder apparatus according to a second embodiment of the present invention.

3 is a diagram illustrating a ladder apparatus according to a third embodiment of the present invention.

FIG. 4 is a diagram illustrating a radar apparatus according to a fourth embodiment of the present invention.

5 is a diagram illustrating a laddering apparatus according to a fifth embodiment of the present invention.

6 is a diagram illustrating a ladder apparatus according to a sixth embodiment of the present invention.

7 is a diagram illustrating a laddering apparatus according to a seventh embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to various embodiments of the present invention, examples of which are illustrated in the accompanying drawings. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. Can be embodied.

Like reference numerals in the drawings denote like elements, and a detailed description of known functions and configurations that may unnecessarily obscure the essentials of the present invention will be omitted.

FIG. 1 is a diagram illustrating a ladder apparatus according to a first embodiment of the present invention, and FIG. 2 is a diagram illustrating a ladder apparatus according to a second embodiment of the present invention.

1 and 2, the Lidar apparatus according to the first embodiment of the present invention includes a light source 110, a rotating mirror 120, a lens unit 130, a receiving mirror 140, a light guide unit 170 And an optical detection unit 190. [0031]

The light source 110 generates a source laser beam (hereinafter, referred to as 'source light') for scanning an object (hereinafter, referred to as an 'external reflector') located outside the ladder device. The source light is preferably a pulsed laser. The source light generated in the light source 110 is incident on the rotating mirror 120.

The rotating mirror 120 reflects the source light generated from the light source 110 and advances the retroreflected source light (hereinafter, referred to as 'scan light') toward the lens unit 130. The rotating mirror 120 is disposed on the optical path of the source light so as to be rotatable in the biaxial direction so that the direction of the reflecting surface is temporally variable and reflects the source light upward as scanning light with a different direction in time. For example, the rotating mirror 120 may rotate in the left-right direction and the up-down direction with respect to the front surface thereof, and may rotate in the left-right direction while rotating from the upper direction to the lower direction. By means of such a rotating mirror 120, the source light can be periodically scanned towards the front of the radar device.

The rotating mirror 120 may be a MEMS mirror with a mirror disposed on the MEMS semiconductor. The MEMS mirror is shown in detail in Korean Patent Registration No. 10-0682955, and can be easily implemented by a typical technician based on the present specification, so a detailed description thereof will be omitted.

The lens unit 130 is disposed at an upper portion of the rotating mirror 120 so as to extend the angle at which scan light emitted from the rotating mirror 120 is emitted to the front of the apparatus. Further, the lens unit 130 refracts the received light that is reflected by the external reflector and returns to the outside.

The lens unit 130 may be formed of one wide-angle lens, or at least two or more wide-angle lenses may be arranged in a line in the vertical direction.

The receiving mirror 140 is disposed in front of the rotating mirror 120 and reflects the incoming light refracted by the lens unit 130 so that the optical path of the scanning light emitted from the rotating mirror 120 is not blocked. The scan light transmitting portion 145 is formed at a position opposite to the scan light transmitting portion 145.

The scan light transmitting portion 145 may be a through hole formed at a position approximately at the center of the receiving mirror 140. Alternatively, the scan light transmitting portion 145 may be a portion formed such that light can be transmitted by removing the mirror coating at a position approximately at the center of the receiving mirror 140.

The source light generated from the light source 110 may be reflected by the receiving mirror 140 and may be incident on the rotating mirror 120. To this end, Can be performed. With such a configuration, the size of the entire ladder device can be reduced.

It is preferable that the receiving light reflected by the receiving mirror 140 is condensed by the first condensing lens 150 so that the optical detecting unit 190 can detect the receiving light with higher efficiency.

The light that is condensed by the first condenser lens 150 may be reflected by the reflection mirror 160 in the direction of the light guide unit 170.

Here, the reflecting mirror 160 needs to be disposed in consideration of the position of the light guide unit 170. [ 2, when the light guide unit 170 is located on the same line as the optical path of the received light immediately after being reflected by the receiving mirror 140, the reflecting mirror 160 must be provided In this case, the Lada apparatus shown in FIG. 2 can reduce the size of the entire Lada apparatus and reduce the manufacturing cost by omitting the reflecting mirror 160 as compared with the Lada apparatus shown in FIG.

The light guide unit 170 guides the light reflected by the reception mirror 140 and the light guided by the light guide unit 170 is detected by the light detector 190.

In this case, a second condenser lens 180 may be disposed between the light guide unit 170 and the optical detector 190. The second condenser lens 180 condenses the incoming light guided by the light guide unit 170 and thus the optical detector 190 detects the converged light by the second condenser lens 180 do. The second focusing lens 180 focuses the receiving light reflected by the receiving mirror 140 in the same manner as the first focusing lens 150 so that the optical detecting unit 190 can detect the receiving light with higher efficiency help.

The light guide unit 170 includes an incident portion 171 on which incident light reflected by the reception mirror 140 is incident and an output portion 172 on which incident light incident on the incident portion 171 is emitted The inside is hollow. The light guide unit 170 may be made of a glass material, but may be made of a material other than a glass material.

The light received by the incident portion 171 of the light guide portion 170 is reflected by the inner surface of the light guide portion 170 and then exits to the emitting portion 172. The light guide unit 170 preferably has a shape in which the cross-sectional area of the light guide unit 170 decreases from the incident unit 171 toward the output unit 172 in order to receive the received light with high efficiency in the light detection unit 190. This is because the incident portion 171 of the light guide portion 170 allows a maximum amount of the incoming light reflected by the receiving mirror 140 to be incident and the exit portion 172 of the light guide portion 170 emits So as to minimize the divergence of the X-ray beam and make the maximum amount of the received light incident on the optical detector 190.

The light detecting unit 190 detects the light guided by the light guiding unit 170. As the optical detector 190, one or more avalanche photodiode (APD) arrays may be used.

FIG. 3 is a view showing a ladder apparatus according to a third embodiment of the present invention, FIG. 4 is a drawing showing a ladder apparatus according to a fourth embodiment of the present invention, and FIG. 5 is a cross- Lt; / RTI >

The embodiments shown in Figs. 3 to 5 differ from the embodiments shown in Figs. 1 and 2 in that they do not have a receiving mirror.

3, the Lidar apparatus according to the third embodiment of the present invention includes a light source 510, a rotating mirror 520, a lens unit 530, a light guide unit 570, and a light detecting unit 590, . &Lt; / RTI >

The light source 510 generates a source light for scanning an external reflector, and the source light is preferably a pulse laser. Meanwhile, the source light generated in the light source 510 is incident on the rotating mirror 520.

The rotating mirror 520 causes the scanning light, which is generated by the light source 510, to be reflected again by the source light toward the lens unit 530. The rotating mirror 520 is rotatably disposed in the biaxial direction on the optical path of the source light so that the direction of the reflecting surface is temporally variable and reflects the source light upward as scanning light with a different direction in time. For example, the rotating mirror 520 may rotate in the left-right direction and the up-and-down direction with respect to the front surface thereof, and may rotate a plurality of times in the left-to-right direction while rotating from the top to the bottom. By means of such a rotating mirror 120, the source light can be periodically scanned towards the front of the radar device.

The rotating mirror 520 may be a MEMS mirror in which a mirror is disposed on the MEMS semiconductor as described above.

The lens unit 530 is disposed on the upper portion of the rotating mirror 520 to extend the angle at which the scanning light reflected from the rotating mirror 520 is emitted to the front of the apparatus. In addition, the lens unit 530 refracts the received light, which is reflected by the external reflector and returns to the outside, in a downward direction.

The lens unit 530 may be formed of one wide-angle lens, or at least two or more wide-angle lenses may be arranged in a line in the vertical direction.

The light that is refracted by the lens unit 530 is incident on the light guide unit 570 disposed below the lens unit 530.

The light guide unit 570 guides the light that is refracted by the lens unit 530 and the light that is guided by the light guide unit 570 is detected by the light detector 590.

At this time, a condenser lens 580 may be disposed between the light guide portion 570 and the light detecting portion 590. The condenser lens 580 condenses the light that is guided by the light guide unit 570, and accordingly, the light detector 590 detects the light condensed by the condenser lens 580. The condensing lens 580 condenses the light reflected by the lens unit 530 and allows the optical detecting unit 590 to detect the received light with higher efficiency.

The light guide portion 570 includes an incident portion 571 on which incident light reflected by the lens portion 530 is incident and an exit portion 572 on which the incident light incident on the incident portion 571 is emitted The inside is hollow. The light guide unit 570 may be made of a glass material, but if it is made of a material other than glass, it may be a mirror coating.

The incident light that is incident on the incident portion 571 of the light guide portion 570 is reflected by the inner surface thereof and then exits to the output portion 572. [ It is preferable that the light guide unit 570 has a shape in which the cross sectional area gradually decreases from the incident portion 571 to the output portion 572 in order to receive the received light with high efficiency in the optical detection portion 590. [ This is because the incident portion 571 of the light guide portion 570 allows a maximum amount of the incoming light refracted by the lens portion 530 to be incident and the exit portion 572 of the light guide portion 570 emits The divergence of the light is minimized and the maximum amount of the received light is incident on the optical detector 590.

The light detection unit 590 detects the light guided by the light guide unit 570. As the optical detector 590, one or more avalanche photodiode (APD) arrays may be used.

As shown in FIG. 3, in the laddering apparatus according to the present invention, scan light reflected by the rotating mirror 520 is emitted in a scanning manner and is incident on the lens unit 530, while in the lens unit 530, The lens 530, the light guide portion 570, and the light detecting portion 590 can be arranged on a straight line, because the returning light reflected by the reflecting mirror 520 and refracted downward is returned. With such a configuration, the entire size of the Lada device can be reduced in size.

Referring to FIG. 4, the ladder apparatus shown in FIG. 4 differs from the ladder apparatus shown in FIG. 3 only in that it further includes a sub-light guide unit 600 above the light guide unit 570.

As described above, the lens unit 530 refracts the return light reflected by the external reflector downward. At this time, depending on the surface condition of the lens unit 530, the incoming light refracted by the lens unit 530 may be refracted downward with an optical path different from the expected optical path. Accordingly, by providing the sub-light guide portion 600 on the upper side of the light guide portion 570, it is possible to guide the light, which has an optical path different from the expected optical path, to be downwardly deflected toward the optical detecting portion 590 desirable.

The sub light guide portion 600 is in contact with the upper side of the light guide portion 570 and is connected thereto. The sub light guide part 600 may be made of a glass material as in the case of the light guide part 570, but may be a mirror coating if it is made of a material other than glass.

The sub light guide unit 600 may be configured to have a smaller sectional area from the lower side to the upper side of the sub light guide unit 600 in order to reflect the light incident thereon to the light guide unit 570. By arranging the sub light guide unit 600 on the upper side of the light guide unit 570, the focusing efficiency of the light refracted by the lens unit 530 can be increased.

5 differs in the position of the light source 510 and the rotating mirror 520 as compared with the ladder device shown in Fig.

5, the light source 510 is disposed on one side of the light guide unit 570, and the rotation mirror 520 is disposed on the inside of the light guide unit 570. In this case, the optical path of the source light generated in the light source 510 may be blocked by the light guide unit 570. Accordingly, it is preferable that the light guide portion 570 is formed with the source light transmitting portion 575 on the optical path of the source light so that the light path of the source light generated in the light source 510 is not blocked. Here, the source light transmitting portion 575 may be a through hole formed on the optical path of the source light.

6 differs in the shape of the light guide portion 570 and the position of the light source 510 and the rotating mirror 520 as compared with the laddering device shown in FIG.

Referring to FIG. 6, the light guide portion 570 has an asymmetrical shape in the left and right. The light source 510 is disposed at one side of the light guide unit 570 and the rotation mirror 520 is disposed at a position opposite to the one side of the light guide unit 570.

At this time, the optical path of the scan light emitted from the rotating mirror 520 may be blocked by the light guide part 570. Therefore, it is preferable that a scan light transmitting portion 578 is formed on the optical path of the scan light so that the optical path of the scan light emitted from the rotating mirror 520 is not blocked. Here, the scan light transmitting portion 578 may be a through hole formed on the optical path of the scan light.

In this case, the source light generated by the light source 510 may be reflected by the light guide unit 570 and may be incident on the rotation mirror 520. To this end, the source light is incident on the light guide unit 570 A mirror coating can be performed. With such a configuration, the size of the entire ladder device can be reduced.

7, the configuration of the lens unit 130 is different from that of the ladder apparatus shown in FIG. 1, and the rear reflection mirror 200 is further disposed adjacent to the lens unit 130 .

The lens unit 130 may be composed of one wide-angle lens as shown in FIG. Alternatively, as shown in FIG. 7, at least two or more wide-angle lenses may be arranged in a line in the vertical direction. When at least two or more wide-angle lenses are arranged in a line in the vertical direction, the scan light emitted from the rotary mirror 120 is emitted toward the front of the PDP, as compared with the case where the lens unit 130 is composed of only one wide- The angle can be expanded so that the range for detecting the external reflector can be further enlarged.

The rear reflecting mirror 200 is disposed adjacent to the lens unit 130 and is curved so that the incident scanning light is emitted to the rear of the rear unit. With such a rear-reflecting mirror 200, since the scanning light emitted from the rotating mirror 120 is emitted not only forward but also rearward of the Lada apparatus, the range in which an external reflector can be detected is further enlarged .

Although Fig. 7 shows a modification of the ladder device shown in Fig. 1, the configuration of the lens portion 130 shown in Fig. 7 and the rear reflective mirror 200 disposed adjacent to the lens portion 130 are shown in Figs. It goes without saying that the present invention can be similarly applied to other embodiments of the present invention shown in FIG.

While the invention has been shown and described with reference to certain exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. This is possible. Accordingly, it is intended that the technical scope of the present invention be defined only by the appended claims, and that all equivalent or equivalent variations thereof fall within the technical scope of the present invention.

[Description of Symbols]

110, 510: Light source

120, 520: rotating mirror

130, and 530:

140: Receiving mirror

150: first condensing lens

160: Reflective mirror

170, 570: light guide portion

180: second condensing lens

190, 590:

200: rear reflection mirror

Claims

A light source for generating a source light;

A rotating mirror disposed rotatably on an optical path of the source light, the direction of the reflecting surface being temporally variable, and reflecting the source light upward as scanning light with a different direction in time;

A lens unit disposed at an upper portion of the rotating mirror for extending the angle at which the scan light is emitted to the front of the PDP apparatus and refracting the received light reflected by the external reflector downward;

A scan light transmitting portion is formed at a position facing the rotating mirror so as not to block an optical path of the scanning light emitted from the rotating mirror, the scanning light transmitting portion being disposed in front of the rotating mirror, reflecting the receiving light refracted by the lens portion, The receiving mirror;

A light guide part for guiding the light reflected by the reception mirror; And

And a photodetector for detecting a transmitted light guided by the light guide unit.
The method according to claim 1,

Further comprising a first condenser lens for condensing the received light reflected by said receiving mirror,

Wherein the light guiding portion guides the light converged by the first condensing lens.
3. The method of claim 2,

And a reflection mirror for reflecting the received light condensed by the first condenser lens toward the light guide portion.
The method according to claim 1,

Wherein the source light generated by the light source is reflected by the receiving mirror and is incident on the rotating mirror.
The method according to claim 1,

Wherein the light guide portion includes an incident portion into which the incoming light reflected by the receiving mirror is incident, and an exit portion through which the incoming light incident on the light guide portion is emitted, and the inside is hollow.
6. The method of claim 5,

Wherein the light guide portion has a smaller sectional area from the incident portion toward the exit portion.
The method according to claim 1,

And a second condenser lens for condensing the transmitted light guided by the light guide portion,

Wherein the light detecting unit detects the light that is condensed by the second condenser lens.
The method according to claim 1,

Wherein at least two or more of the wide-angle lenses are arranged in a line in the vertical direction.
The method according to claim 1,

And a rear reflective mirror disposed adjacent to the lens unit and curved so as to project the scanning light incident thereon to the rear of the rear unit.
A light source for generating a source light;

A rotating mirror disposed rotatably on an optical path of the source light, the direction of the reflecting surface being temporally variable, and reflecting the source light upward as scanning light with a different direction in time;

A lens unit disposed at an upper portion of the rotating mirror for extending the angle at which the scan light is emitted to the front of the PDP apparatus and refracting the received light reflected by the external reflector downward;

A light guide part for guiding the transmitted light refracted by the lens part; And

And a photodetector for detecting a transmitted light guided by the light guide unit.
11. The method of claim 10,

Wherein the rotating mirror, the lens section, the light guide section, and the light detecting section are arranged on a straight line.
11. The method of claim 10,

Wherein the light guide portion includes an incident portion into which the incoming light reflected by the receiving mirror is incident, and an exit portion through which the incoming light incident on the light guide portion is emitted, and the inside is hollow.
13. The method of claim 12,

Wherein the light guide portion has a smaller sectional area from the incident portion toward the exit portion.
14. The method of claim 13,

And a sub-light guide part connected to the upper side of the light guide part and hollow inside.
15. The method of claim 14,

Wherein the sub-light guide portion has a smaller cross-sectional area as it goes from the lower side to the upper side.
11. The method of claim 10,

Further comprising a condenser lens for condensing the received light guided by the light guide portion,

Wherein the light detecting unit detects the light converged by the condensing lens.
11. The method of claim 10,

Wherein at least two or more of the wide-angle lenses are arranged in a line in the vertical direction.
11. The method of claim 10,

Wherein the light source is disposed on one side of the light guide part, the rotation mirror is disposed inside the light guide part, and the light guide part is provided with a light guide part on the light path of the source light so as not to block the light path of the source light generated in the light source Wherein a source light transmitting portion is formed.
11. The method of claim 10,

The light source is disposed on one side of the light guide unit, the rotating mirror is disposed at a position opposite to one side of the light guide unit, and the light guide unit is provided with a light guide And a scan light transmitting portion is formed on the light guide plate.
20. The method of claim 19,

Wherein the source light generated by the light source is reflected by the light guide unit and is incident on the rotating mirror.
11. The method of claim 10,

And a rear reflective mirror disposed adjacent to the lens unit and curved so as to project the scanning light incident thereon to the rear of the rear unit.