LASER RADAR DEVICE

Abstract

A laser radar device configured to acquire distance information regarding a target existing in a detection range corresponding to a predetermined angular range by scanning and radiating a laser light in the angular range, the laser radar device comprising: a light source substrate (10) on which a laser light source for outputting the laser light is located; an emission lens (20) configured to shape the laser light from the laser light source and output the laser light; a scanning mirror (41) configured to reflect the laser light from the emission line (20) toward an outside of a housing and to change its position relative to the laser light source; a scanning substrate (44) configured to control the position of the scanning mirror (41) relative to the laser light source; a light receiving substrate (70) on which a light receiving device is located, the light receiving device being configured to receive a reflected light which is the laser light reflected on the target and output an electrical signal corresponding to an intensity of the received reflected light; a light-receiving lens (60) configured to condense the reflected light on the light-receiving device; and the housing (100) which accommodates the light source substrate (10), the emission lens (20), the scanning mirror (41), the scanning substrate (44), the light receiving substrate (70) and the light receiving lens (60), wherein an innermost element of one of the emission lens (20), the scanning mirror (41) and the light receiving lens (60) having an end portion on an innermost side of the housing (100) in a depth direction, the light source substrate (10), the scanning substrate (44) and the light receiving substrate (70) are arranged at positions such that they do not overlap with the innermost element in the depth direction of the housing (100), the scanning mirror (41) is configured to reflect the reflected light in a direction orthogonal to the depth direction, the laser radar device further comprises a light receiving path bending element (50) configured to reflect or deflect the light reflected at the scanning mirror (41) to change a traveling direction of the reflected light, the light receiving path bending element (50) is arranged in a position to reflect the reflected light incident from the scanning mirror (41) in a direction orthogonal to the depth direction, in a direction in which the scanning mirror (41) is not present, the light-receiving lens (60) and the light-receiving substrate (70) are arranged in a direction along which the light-receiving path bending element (50) reflects the reflected light incident from the scanning mirror (41), the laser radar device further comprises an emission path bending element (30) configured to reflect or deflect the laser light from the laser light source to change the direction of travel of the laser light, the light source substrate (10) is arranged to output the laser light from the laser light source in a direction perpendicular to the depth direction of the housing (100) and to allow the laser light to be incident on the scanning mirror (41) via the emission path bending element (30), the scanning mirror (41) is configured to scan and emit the laser light incident from the emission path bending element (30) in the angular range, the innermost element is the scanning mirror (41), and the light receiving path bending element (50) and the emission path bending element (30) are located at positions that do not overlap with the scanning mirror (41) in the depth direction of the housing (100).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a laser radar device. STATE OF THE ART

[0002] Conventionally, a known laser radar device scans and radiates pulsed laser light discontinuously within a predetermined angular range to form a predetermined detection area. The laser radar device of this type includes an irradiation unit that radiates laser light, a scanning unit that changes the irradiation direction of the laser light toward the outside of a casing, a light receiving unit that receives reflected light obtained from the laser light reflected and returned by an object, a distance calculation unit that calculates a distance to the object (hereinafter referred to as a target) from which the laser light is reflected based on a time from the irradiation of the laser light to the reception of the reflected light, and the casing that houses these components.

[0003] The emitting unit includes a light source substrate on which a laser diode as a laser light source and an integrated circuit (IC) that controls the driving of the laser diode are mounted, as well as an emitting lens that shapes the laser light emitted by the laser diode. Furthermore, the light receiving unit includes a light receiving lens and a light receiving substrate. The light receiving lens shapes the reflected light from the target and condenses the shaped light onto a light receiving surface of a light receiving device. The light receiving substrate is installed with the light receiving device, which outputs an electrical signal corresponding to the intensity of the light emitted by the light receiving lens. The distance calculation unit is manufactured using a CPU and an IC.

[0004] The housing is provided with an emission window for emitting radiated light to the exterior of the housing and a light-receiving window for guiding the reflected light from the target to the light-receiving lens. Various configurations have also been proposed in which the emission window also serves as the light-receiving window.

[0005] As an arrangement in which various components are housed in the housing, JP 2015-206590 A discloses a configuration in which components of a light receiving system are aligned in a row in a depth direction of the laser radar device. In this example, the components of the light receiving system mainly refer to the light receiving lens and the light receiving substrate. The depth direction of the laser radar device corresponds to a direction opposite to a direction in which a center (i.e., an optical axis) of an angular range in which the laser light is emitted is directed.

[0006] In this case, it is desirable to reduce the thickness of the laser radar device. Especially when the laser radar device is mounted on a vehicle, since the mounting space around a vehicle body is limited, a further reduction in the thickness of the laser radar device is required. However, in the configuration of JP 2015-206590 A, since the components of the light receiving system are aligned in a row in the depth direction, the length (i.e., the thickness) of the laser radar device also increases in the depth direction.

[0007] JP H11-326499 A also discloses a distance measuring device and a vehicle controller using the distance measuring device. The distance measuring device includes a light-emitting part for emitting a laser beam, a light-receiving part for receiving the laser beam, a polygon mirror, a driving part for the polygon mirror, and a distance measuring part for measuring a distance to an object based on the light transmission and reception times. JP S64-62613 A discloses an image pickup device, and JP 2002-31685 A teaches a reflection measuring device. BRIEF DESCRIPTION OF THE INVENTION

[0008] It is an object of the present invention to provide a laser radar device whose length is reduced in the depth direction.

[0009] This object is achieved by a laser radar device having the features of the main claim. Advantageous further developments are the subject of the subclaims. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The object, features, and advantages of the invention will become more apparent from the following detailed description with reference to the accompanying drawings. They show: Fig. 1 is an external perspective view showing a laser radar device 1; Fig. Fig. 2 is a front view showing the laser radar device 1; Fig. 3 is a side view showing the laser radar device 1; Fig. 4 is a plan view showing the laser radar device 1; Fig. 5 is a diagram illustrating a configuration of a light receiving light guide mirror 50; Fig. 6 is a functional block diagram illustrating an example of a schematic configuration of a main control substrate 80; Fig. 7 is a front view showing a laser radar device 1 in a modification 1; Fig. 8 is a side view showing the laser radar device 1 in the modification 1; Fig. 9 is a front view showing a laser radar device 1 in a modification 2; Fig. 10 is a side view showing the laser radar device 1 in the modification 2; Fig. 11 is a front view showing a laser radar device 1 in a modification 3; and Fig. 12 is a side view showing the laser radar device 1 in the modification 3. DESCRIPTION OF EMBODIMENTS

[0011] Embodiments of the invention are described below with reference to the accompanying drawings. Fig. 1 is a schematic perspective view of an exterior of a laser radar device 1 according to the present disclosure. As shown in Fig. 1, the laser radar device 1 includes a housing 100 having a rectangular parallelepiped shape with a height H [mm], a lateral width W [mm], and a depth D [mm], and a front surface (hereinafter referred to as a front portion) 110 of the housing 100 is provided with a light emitting and receiving window 111 for emitting and receiving a laser light.

[0012] In one example of the present embodiment, a configuration in which the shape of the housing 100 is a rectangular parallelepiped is exemplified, but the invention is not limited to the above configuration. For example, the front portion 110 may be shaped into an arc shape with a predetermined radius of curvature when viewed from above. The rectangular parallelepiped shape also includes a substantially rectangular parallelepiped shape. The substantially rectangular parallelepiped shape refers to a shape based on a rectangular parallelepiped whose corners are chamfered or partially deformed. The shape itself of the housing 100 is a matter of design.

[0013] A height direction and a width direction correspond to a vertical direction and a lateral direction of a posture assumed in advance as a posture when the laser radar device 1 is in use. A depth direction is a direction leading from a front side to a surface on a side facing the front portion 110 (i.e., a rear side). The depth direction corresponds to a direction parallel to a center (a so-called optical axis) of an angular range in which the laser radar device 1 radiates laser light. Specific values ​​of the height H, the width W, and the depth D of the housing 100 can be suitably designed to accommodate various elements to be described later.

[0014] The laser radar device 1 scans and radiates (so-called scanning) the laser light intermittently within a predetermined angular range from -θa to +θa in the width direction, thereby obtaining information about a distance to a target existing in a direction of laser light radiation. θa is a suitably designed value and may be set to, for example, 60 degrees. In an example of the present embodiment, a configuration of scanning and radiating the laser light in the width direction is exemplified, but a configuration of scanning and radiating the laser light in the height direction may be used. Further, a configuration of scanning and radiating the laser light in a predetermined angular range in each of the width direction and the height direction may be used.The area in which the laser light is scanned and emitted corresponds to a detection range or detection area.

[0015] In one example of the present embodiment, it is assumed that a connector (hereinafter referred to as a relay connector) for connecting a cable for communicating with an electronic control unit (ECU) installed outside the laser radar device 1 is arranged on a left-side surface portion (hereinafter referred to as a left surface portion) of the casing 100. The relay connector is located at a position as close as possible to a position (hereinafter referred to as a cable conductor position) in the vehicle where the cable for connecting the laser radar device 1 is led out.

[0016] Main components of the laser radar device 1 accommodated within the housing 100 are described below. Fig. Fig. 2 is a front view of the laser radar device 1 when viewed through the front section 110, Fig. 3 is a side view of the housing 100 seen from the right, and Fig. 4 is a plan view of the laser radar device 1. In Fig. 3, a right-side surface portion (hereinafter referred to as a right surface portion) 120 of the housing 100 is seen through, and in Fig. 4, an upper side portion (hereinafter an upper surface portion) 130 is seen through.

[0017] As in the Fig. 2 to 4, the laser radar device 1 includes a light source substrate 10, an emission lens 20, an emission light guide mirror 30, a scanner 40, a light reception light guide mirror 50, a light reception lens 60, a light reception substrate 70, and a main control substrate 80. The light source substrate 10 is provided with a laser diode 11 that emits the laser light, and a light reception device 71 is arranged on the light reception substrate 70. The scanner 40 includes a polygon mirror 41, a base portion 42, a motor 43, and a scanning substrate 44. Each of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70 is connected to the main control substrate 80 to communicate with each other, for example, using a flexible cable or the like.

[0018] The light source substrate 10 outputs pulsed laser light to the laser diode 11 based on a light emission instruction signal supplied from the main control substrate 80. A pulse width of the laser light to be emitted may be, for example, 20 nanoseconds or so. The laser diode 11 corresponds to a laser light source.

[0019] The emission lens 20 is a lens for shaping the laser light. The emission lens 20 shapes the pulsed laser light emitted by the laser diode 11 and emits the shaped pulsed laser light in a direction in which the emission light guide mirror 30 is present.

[0020] The emission light guide mirror 30 is a planar mirror (i.e., a planar mirror) that reflects the laser light output from the emission lens 20 in a direction in which the polygon mirror 41 is present. The laser light output from the laser diode is shaped by the emission lens 20, further reflected by the emission light guide mirror 30, and incident on the polygon mirror 41. A solid arrow in the figures conceptually indicates a path of the laser light output from the laser diode 11. The emission light guide mirror 30 corresponds to an emission path bending element.

[0021] The scanner 40 is a unit for controlling the direction in which laser light is emitted to the outside of the housing. The scanner 40 includes the polygon mirror 41 as a reflector, the base portion 42 for supporting the polygon mirror 41, the motor 43 for rotating the polygon mirror 41 about an axis parallel to the height direction (hereinafter referred to as a rotation axis), and the scanning substrate 44 for controlling the drive of the motor. The polygon mirror 41 is provided on the base portion 42 so as to be rotatable about the rotation axis.

[0022] A motor drive circuit for driving the motor 43 based on the drive signal supplied from the main control substrate 80 is mounted on the scanning substrate 44. The scanning substrate 44 drives the motor 43 based on the drive signal from the main control substrate 80 to rotate the polygon mirror 41.

[0023] The rotation angle of the motor 43 relative to an initial position (in other words, the polygon mirror) is detected by a motor rotation position sensor and output to the main control substrate 80. The motor rotation position sensor can be implemented using a well-known configuration. For example, a magnet or the like can be provided for each of a rotating element and a non-rotating element, and a rotation angle can be detected based on a temporary change in a magnetic force acting between the magnets. A rotation direction of the polygon mirror 41 can be configured appropriately; for example, the polygon mirror 41 can rotate clockwise around the rotation axis in the vertical direction.

[0024] In the polygon mirror 41, four reflection surfaces are formed on one side surface around the rotation axis. Each reflection surface is formed to have a predetermined inclination angle (in this example, 45 degrees) relative to the rotation axis. In other words, the polygon mirror 41 has the same shape (in other words, a truncated cone or pyramid shape) as that of two solid bodies created by intersecting a four-sided pyramid with a square bottom surface along a plane parallel to the bottom surface, including the bottom surface of the original four-sided pyramid.

[0025] For convenience, one of the two square surfaces of the polygon mirror 41 facing each other in the height direction, which is larger in area, is referred to as a first surface, and the other surface, which is smaller in area, is referred to as a second surface. The polygon mirror 41 is arranged such that the first surface is located on a side in the housing that is higher than the second surface.

[0026] The laser light incident from the emission light guide mirror 30 is reflected by any one of the four reflection surfaces of the polygon mirror 41 and emitted to the outside of the housing. While the incident light from the emission light guide mirror 30 is reflected from the same reflection surface, the emission direction of the laser light changes in the horizontal direction by rotating around the rotation axis. For this reason, the main control substrate 80 intermittently emits the laser light from the laser diode while the polygon mirror 41 rotates at a predetermined speed, thereby being able to sweep and emit (in other words, scan) the laser light within a predetermined angular range in the horizontal direction.

[0027] Furthermore, the polygon mirror 41 reflects the laser light (i.e., reflected light) obtained by reflecting and returning the emitted laser light on the target provided outside the housing in the direction in which the light-receiving light-guiding mirror 50 is provided. In other words, the polygon mirror 41 not only emits the laser light entering from the emitted light-guiding mirror 30 to the outside of the housing, but also reflects the reflected light into the inside of the housing to guide the reflected light to the light-receiving device 71 via the light-receiving light-guiding mirror 50 and the light-receiving lens 60, which will be described later. Double-dotted arrows shown in the figures conceptually indicate a path of the reflected light.

[0028] In the Fig. 2 and Fig. In FIG. 3, a broken line shown around the polygon mirror 41 indicates an outline of a rotation body (hereinafter referred to as a polygon mirror rotation body) formed by rotating the polygon mirror 41. Since the polygon mirror 41 has a truncated cone shape, the polygon mirror rotation body has a truncated cone shape. In the polygon mirror rotation body, a diameter Dmt (hereinafter referred to as the diameter of the rotation body) of a circular surface corresponding to the first surface of the polygon mirror 41 corresponds to a length of a diagonal line of the first surface of the polygon mirror 41.

[0029] A reference number 411 in the Fig. 3 and Fig. 4 indicates a position (hereinafter referred to as an innermost mirror position) of the polygon mirror 41 on an innermost side where a vertex of the first surface can be located when the polygon mirror 41 is rotated about the rotation axis. The innermost mirror position 411 corresponds to a position of the end portion of the innermost side in the polygon mirror rotation body.

[0030] As described above, the base portion 42 is a plate-like member for supporting the polygon mirror 41, and a shape of the base portion 42 is substantially the same as that of a surface corresponding to the first surface of the polygon mirror 41 of the polygon mirror rotating body. The base portion 42 is an optional member. A broken line shown in Fig. 4 indicates a position of the polygon mirror 41 located under the base portion 42.

[0031] The light-receiving light guide mirror 50 is provided at a position where the reflected light reflected by the polygon mirror 41 arrives, and reflects the reflected light reflected by the polygon mirror 41 in the direction in which the light-receiving lens 60 is present. The light-receiving light guide mirror 50 corresponds to a light-receiving path bending element.

[0032] The light-receiving light guide mirror 50 may be an element that reflects the laser light. Since the light-receiving light guide mirror 50 guides the reflected light incident from the target into the housing 100 to the light-receiving lens 60 via the polygon mirror 41 as far as possible, the area is relatively large compared to the emission light guide mirror 30. For example, as shown in Fig. 5, the light receiving light guide mirror 50 is provided with a notch 51 so as not to obstruct a path of the laser light from the emission light guide mirror 30 to the polygon mirror 41. Fig. 5 is a plan view of the surroundings of the light receiving light guide mirror 50. In Fig. 3, the illustration of the light receiving light guide mirror 50 is omitted.

[0033] The light receiving lens 60 is a light-transmitting convex lens made of a synthetic resin, glass, or the like, and shapes the laser light (i.e., the reflected light from the target) coming from the direction in which the light receiving light guide mirror 50 is present, and focuses the shaped laser light onto the light receiving surface of the light receiving device 71. In the present embodiment, as an example, it is assumed that a portion of the light receiving lens 60 that is closer to the housing depth side than the rotation axis of the polygon mirror 41, as shown in FIGS. Fig. 3 and Fig. 4. This is because the reflected light from the polygon mirror 41 does not arrive at the portion on the housing depth side relative to the rotation axis of the polygon mirror 41. This reduces the space required for disposing the light-receiving lens 60. The shape of the light-receiving lens 60 can be designed appropriately.

[0034] The light receiving device 71 is an element that converts light into an electrical signal. The light receiving device 71 outputs a voltage with a magnitude corresponding to the intensity of the reflected light as a light receiving signal. For example, an avalanche photodiode or the like can be used as the light receiving device 71.

[0035] An amplifier for amplifying the light reception signal output from the light reception device 71 is provided on the light reception substrate 70 in addition to the light reception device 71. The amplifier amplifies the light reception signal output from the light reception device 71 by a predetermined gain and outputs the amplified signal to the main control substrate 80. The amplifier can be implemented by a known circuit configuration, for example, an operational amplifier or the like. An amplification ratio of the light reception signal (i.e., the gain) is adjusted based on a gain control signal supplied from the main control substrate 80. In other words, the amplifier amplifies the light reception signal by a gain corresponding to the gain control signal supplied from the main control substrate 80.The light reception signal amplified by the amplifier is output to a light reception processing unit 82 included in the main control substrate 80.

[0036] The main control substrate 80 is a substrate on which functions for controlling the entire operation of the laser radar device 1 are implemented. As shown in Fig. 6 as a functional block, the main control substrate 80 includes an emission control unit 81, the light reception processing unit 82, and a distance calculation unit 83. A connector 84 for communicating with the ECU 2 via a relay connector (not shown) is arranged on the main control substrate 80. In addition to the configuration described above, a power supply circuit module for controlling the power supply to the respective components of the laser radar device 1 may be installed on the main control substrate 80.

[0037] The respective functional blocks may be implemented by the CPU executing a predetermined program, or may be implemented as a circuit module using one or more ICs or various circuit elements. Alternatively, the respective functional blocks may be implemented by combining the execution of predetermined software by the CPU with hardware. Furthermore, the respective functional blocks may be incorporated on a substrate as firmware.

[0038] In this example, it is assumed that the various functional blocks are realized by the CPU executing a program stored in a non-volatile storage medium (for example, a ROM). Note that a program (hereinafter referred to as a main control program) and the like for causing a normal computer to function as the distance calculation unit 83 or the like may be stored in a non-volatile tangible recording medium. The execution of the main control program by the CPU corresponds to the execution of a process corresponding to the main control program.

[0039] The emission control circuit 81 is a functional block for controlling the timing and the like of emitting the pulsed laser light in cooperation with the light source substrate 10 and the scanning substrate 44. Specifically, the emission control unit 81 outputs a drive signal to the scanning substrate 44 to rotate the motor 43. Furthermore, the emission control unit 81 outputs a light emission instruction signal to the light source substrate 10 at a timing corresponding to the rotation angle of the polygon mirror 41 supplied from the scanning substrate 44. In other words, the emission control unit 81 emits the pulsed laser light at a timing synchronized with the rotation of the polygon mirror 41 at a predetermined interval. As a result, the pulsed laser light is scanned and output within a predetermined angular range to create a predetermined detection area.

[0040] Furthermore, the emission control unit 81 supplies the distance calculation unit 83 with information indicating the timing at which the pulse laser light is emitted. In this example, assume that the emission control unit 81 sends an emission notification signal indicating that the emission of the pulse laser light is instructed to the distance calculation unit 83 at the same time as the output of the light emission instruction signal. According to the configuration described above, the distance calculation unit 83 recognizes the timing at which the emission notification signal is supplied as the timing at which the pulse laser light is emitted.

[0041] When the light source substrate 10 is configured to adjust an output level of the laser diode 11, the emission control unit 81 may output the output level instruction signal indicating the output level to the light source substrate 10. According to the above-described embodiment, the emission control circuit 81 may cause the laser diode 11 to output the laser light at an arbitrary intensity.

[0042] The light reception processing unit 82 detects that the reflected light has been received based on a temporary change in the light reception signal. For example, when the intensity of the light reception signal exceeds a predetermined light reception signal determination threshold, the light reception processing unit 82 determines that the reflected light has been received. The light reception determination threshold is a threshold for determining that reflected light has been received, in accordance with the amplitude of the light reception signal, and a specific threshold can be configured as appropriate. Furthermore, the determination as to whether or not the intensity of the received light signal exceeds the light reception determination threshold can be made using a comparator or the like.

[0043] Upon detecting the reception of the reflected light, the light reception processing unit 82 outputs a signal indicating the reception (hereinafter referred to as a light reception notification signal) to the distance calculation unit 83. The light reception processing unit 82 may have a function of converting the light reception signal supplied from the light reception substrate 70 into a digital signal, or removing noise components from the light reception signal using a well-known high-pass filter or the like, as a preparatory process for determining whether the reflected light is received or not. The light reception processing unit 82 implements a function of executing signal processing for extracting information necessary for a distance calculation process from the light reception signal supplied from the light reception substrate 70.In addition, the light receiving processing unit 82 outputs a gain control signal to the amplifier provided on the light receiving substrate 70 and adjusts the gain.

[0044] The distance calculation unit 83 specifies an emission timing based on the input of the emission notification signal from the emission control unit 81. Furthermore, the distance calculation unit 83 specifies the timing of reception of the reflected light based on the input of the light reception notification signal from the light reception processing unit 82. As a result, the distance calculation unit 83 specifies a travel time from the emission of the pulse laser light to the reception of the reflected light. The travel time measurement can be performed using a timer (not shown).

[0045] The distance calculation unit 83 calculates a distance to the target in the direction along which the laser light is radiated based on the travel time. A well-known method can be applied to the method of calculating the distance to the target based on the travel time. For example, a value obtained by multiplying the travel time by a light propagation speed by 2 can be used as the distance to the target. The process of calculating the distance to the target corresponds to the distance calculation process. The calculation result of the distance calculation unit 83 is provided via the connector 84 to the ECU 2 existing outside the laser radar device 1.

[0046] When the laser radar device 1 is installed on the vehicle so that the laser light is scanned and radiated at the front of the vehicle, the information on the distance to the target detected by the laser radar device 1 can be used for, for example, travel control that maintains an inter-vehicle distance between the subject vehicle and a preceding vehicle. Needless to say, the information on the distance to the target detected by the laser radar device 1 can also be used for, for example, self-driving, automatic braking control for collision avoidance, target type identification, and the like. The ECU 2 may be a device that performs the above-described vehicle control and the like based on the detection result of the laser radar device 1.

[0047] The configuration of installing the laser radar device 1 in the vehicle is not limited to the above-described example. The laser radar device 1 may be installed so that the laser light is scanned and radiated in a rearward direction of the vehicle or in other directions. Note that a mounting position of the laser radar device 1 in the vehicle may be set to an appropriately selected position in a peripheral edge of the vehicle body, such as a front bumper, a front grille, a vehicle door, or a rear bumper. However, it is assumed that the laser light arrives at the outside of the vehicle and forms a desired detection area. The laser radar device 1 may be mounted elsewhere than on the vehicle. <Einzelheiten positioneller Beziehungen jeweiliger Elemente in dem Gehäuse 100>

[0048] In this example, the shapes of the respective components housed in the above-described housing 100 and the placements of the respective components within the above-described housing 100 will be described in more detail. In this example, it is assumed that an element having the maximum length in the depth direction when the respective elements are housed in the housing 100 is the polygon mirror 41, and the configurations and placements of the respective elements will be described.

[0049] First, as in Fig. 2, the light source substrate 10 is arranged so that a surface of the light source substrate 10 on a side where the laser diode 11 is not located (hereinafter referred to as a light source soldering surface) at a lower right corner inside the housing 100 faces the right surface portion 120 of the housing 100, and a depth-side end portion of the light source substrate 100 is arranged on a side closer to the front portion 110 (in other words, at a front side) than the innermost mirror position 411. As a premise, it is assumed that a length of the light source substrate 10 in the depth direction is formed to be shorter than the rotating body diameter Dmt. The light source substrate 10 is arranged so that the light source soldering surface faces the right surface portion 120, whereby a center of an irradiation angle range of the laser diode 11 faces the left side of the housing.The center of the radiation angle range of the laser diode 11 corresponds to an optical axis of the laser diode 11.

[0050] It is noted that the term “left and right” in the present specification refers to the left and right when the housing 100 is in a direction of a Fig. 1 (in other words, in a front view). Further, the up and down in the present specification refers to up and down when the laser radar device 1 is viewed from the front. Both the up and down and the left and right are directions orthogonal to the depth direction. The lower right corner of the casing 100 refers to a space that is further a lower half of a space that becomes the right half of the casing 100. Further, the depth end portion of a certain element means an end portion that is the innermost side in the depth direction of the element.

[0051] The emission lens 20 is arranged in a position where an optical axis of the laser diode 11 coincides with an optical axis of the emission lens 10 on an optical axis of the laser diode 11, and at a position where a distance from the laser diode 11 to the emission lens 20 becomes a focal length of the emission lens 20. As a result, the laser light emitted from the laser diode 11 is arranged to travel parallel to the width direction from the right side to the left side of the housing through the emission lens 20. The emission lens 20 and the light source substrate 10 are arranged so that the position of the emission lens 20 in the width direction is on the right side of the rotation axis of the polygon mirror 41.

[0052] The emission light guide mirror 30 is arranged to reflect the laser light incident from the emission lens 20 directly above the laser diode 11 toward the emission lens 20 on a semi-straight line. The widthwise position of the emission light guide mirror 30 is aligned with the widthwise position where the rotation axis of the polygon mirror 41 is located.

[0053] The scanner 40 is arranged in a region located in a relatively upper side in the housing 100 so that the rotation axis of the polygon mirror 41 coincides with the vertical direction of the housing, and the laser light incident from the emission light guide mirror 30 is reflected by the reflection surface to be emitted to the outside of the housing.

[0054] The scanning substrate 44 is arranged on the upper side of the polygon mirror 41 so that it faces the upper surface portion 130. The scanning substrate 44 is arranged such that the length of the scanning substrate 44 in the depth direction is shorter than the rotating body diameter Dmt, and the depth end portion of the scanning substrate 44 in the depth direction is located on the front side of the innermost mirror position 411.

[0055] As described above, the light-receiving light guide mirror 50 is arranged to reflect the reflected light incident from the polygon mirror 41 to the left side of the housing on the path along which the reflected light reflected by the polygon mirror 41 travels. The placement position of the light-receiving light guide mirror 50 in the width direction is a position where the position of the center of the light-receiving light guide mirror 50 in the width direction coincides with the position of the rotation axis of the polygon mirror 41 in the width direction.The above-described configuration corresponds to a configuration in which the emission light guide mirror 30 and the light reception light guide mirror 50 are arranged on a straight line (hereinafter referred to as an optical center path) along which the reflected light travels from the target reflected by the polygon mirror 41. The optical center path corresponds to a straight line through which the laser light reflected by the emission light guide mirror 30 passes.

[0056] The light-receiving lens 50 is located at a position where most of the laser light reflected by the light-receiving light-guide mirror 50 is incident, in a position where the optical axis of the light-receiving lens 60 coincides with the direction in which the light-receiving light-guide mirror 50 reflects the reflected light. In other words, the light-receiving lens 60 is arranged so that the optical axis coincides with the width direction of the housing 100 and the optical axis passes through the center of the light-receiving light-guide mirror 50 in the region on the left side of the housing.

[0057] The light-receiving substrate 70 is arranged so that the light-receiving device 71 is located at the focal point on the left side of the light-receiving lens 60 in a position where the light-receiving substrate 70 faces the left surface portion of the housing 100. The light-receiving substrate 70 is arranged so that the length of the scanning substrate 44 in the depth direction is formed to be shorter than the rotating body diameter Dmt, and the depth end portion of the scanning substrate 44 in the depth direction is located on the front side of the innermost mirror position 411.

[0058] The main control substrate 80 is arranged facing a side surface portion (hereinafter referred to as a rear surface portion) on a rear side of the housing 100 in a space that is an upper left corner inside the housing 100, specifically, a space that is on the left side of the scanner 40 and above the light-receiving lens 60. In other words, the main control substrate 80 is located at a position that does not overlap with the scanner 40 and the light-receiving lens 60 when viewed from the front direction. However, the main control substrate 80 is positioned in front of the innermost mirror position 411 in the space.

[0059] The above-described configuration corresponds to a configuration in which the main control substrate 80 is provided in a position relatively close to a relay connector in the housing 100 in the interior of the housing 100. According to the above-described configuration, a length of the cable connecting the relay connector and the connector 84 can be reduced. Further, in an example of the present embodiment, it is assumed that the connector 84 is located on one of edges of the main control substrate 80, which is opposite to the left surface portion of the housing 100. According to the above-described configuration, the distance from the relay connector provided in the housing 100 is shortened, thereby making it possible to further shorten the length of the cable accommodated in the housing 100. <Overview of the implementation example>

[0060] Next, the configuration and effects of the present embodiment will be summarized. In the above-described embodiment, the polygon mirror 41 functions as the innermost element, which is an optical element having an end portion on the innermost side in the depth direction of the housing 100, among the various optical elements, and also functions as an optical element (hereinafter referred to as a "maximum depth length element") having the maximum length in the depth direction when the polygon mirror 41 is housed in the housing 100.

[0061] In this example, the optical element refers to an element that reflects and deflects laser light, such as the emission lens 20, the emission light guide mirror 30, the light-receiving light guide mirror 50, and the light-receiving lens 60, in addition to the polygon mirror 41. Shaping the laser light by the emission lens 20 and condensing the reflected light by the light-receiving lens 60 are also realized by refraction and deflection of light, respectively. Therefore, the emission lens 20 and the light-receiving lens 60 are also included in the optical elements.

[0062] In the configuration described above, the light source substrate 10, the scanning substrate 44, the light receiving substrate 70, and the main control substrate 80 are arranged at positions that do not overlap with the polygon mirror 41 in the depth direction. Furthermore, the optical elements other than the polygon mirror 41 are arranged so that they do not overlap with the polygon mirror 41 in the depth direction.

[0063] According to the configuration described above, the length (i.e., the thickness) of the laser radar device 1 in the depth direction can be prevented from increasing by the thickness of the substrate located on the depth side of the polygon mirror 41 due to the placement of the substrate or the like on the depth side of the polygon mirror 41. In other words, the thickness D of the laser radar device 1 can be reduced.

[0064] Furthermore, the optical elements other than the various substrates and the polygon mirror(s) 41 are arranged to be located in front of the innermost mirror position 411. According to the above-described configuration, the depth D of the laser radar device 1 is determined in accordance with a size of the polygon mirror 41, a thickness of a member constituting the casing 100, and a separation in the depth direction between the polygon mirror 41 and the casing. Therefore, according to the above-described configuration, the depth D of the laser radar device 1 can be brought closer to a limit value determined in accordance with the depth length of the polygon mirror 41 as the element with the maximum depth length. The thickness direction of the substrate means a direction perpendicular to the plane of the substrate.

[0065] Furthermore, according to the embodiment, the main control substrate 80 only needs to be connected to the light source substrate 10 and the scanning substrate 44, and is not limited by the positional relationship with the optical elements such as the light-receiving lens 60. Therefore, the main control substrate 80 can be placed in an empty space remaining in the housing 100 after the optical element, the light source substrate 10, the scanner 40, the light-receiving substrate 70, and the like are placed. For this reason, according to the above-described configuration, the space inside the housing 100 can be efficiently utilized, and a volume of the housing 100 as a whole can be reduced.Further, since the degree of freedom of the installation position of the main control substrate 80 is high, for example, the main control substrate 80 is arranged near the routing connector provided in the housing 100, thereby making it possible to shorten a routing distance of the cable in the housing 100.

[0066] Furthermore, in the above-described embodiment, since the laser diode 11 and the light-receiving device 71 are mounted on separate substrates, the alignment of the laser diode 11 on the optical element of the emission system and the alignment of the light-receiving device 71 on the optical element of the light-receiving system can be implemented independently. Furthermore, a placement that can prevent interference with the light-receiving system by the emitted light can be used.

[0067] Furthermore, in the above-described configuration, a path of the laser light from the laser diode 11 to the polygon mirror 41 is bent into an L-shape in a front view using the emission light guide mirror 30, and a path from the polygon mirror 41 to the light receiving device 71 is bent into an inverted L-shape using the light receiving light guide mirror 50. As a result, the path is arranged to face each other across an optical center path extending through the polygon mirror 41 in the vertical direction (in other words, divided into left and right). According to the above-described configuration, since the light source substrate 10 and the light receiving substrate 70 are not aligned in the vertical direction, the height H of the housing 100 can be reduced.

[0068] Furthermore, according to the present embodiment, the light-receiving light guide mirror 50, which is a relatively large optical element, is arranged between the light source substrate 10 and the light-receiving substrate 70. The light-receiving light guide mirror 50 can prevent the laser light output from the laser diode 11 provided on the light source substrate 10 from reaching the light-receiving device 71. In other words, the light-receiving light guide mirror 50 also functions as a shielding member for separating the optical system and the light-receiving system from each other. As a result, erroneous detection of an object caused by the light-receiving device 71 receiving the laser light emitted from the laser diode 11 can be prevented.

[0069] The embodiments of the present disclosure have been described above. However, the invention is not limited to the above-described embodiments, and various modifications described below also fall within the technical scope of the present disclosure. Furthermore, the invention can be implemented with various changes in addition to the following modifications without departing from the scope of the present disclosure. Furthermore, the above-described embodiment and the various modifications to be described below can be implemented in combination appropriately and without contradiction.

[0070] Elements having the same functions as those in the elements described in the above embodiment are denoted by identical reference numerals, so a description of the same elements will be omitted. Furthermore, while referring to only a part of the configuration, the configuration of the above-described embodiment can be applied to other sections. [Modification 1]

[0071] In the above-described embodiment, the configuration in which the path of the laser light from the laser diode 11 to the polygon mirror 41 (hereinafter referred to as the emission optical path) and the path from the polygon mirror 41 to the light receiving device 71 (hereinafter referred to as the light receiving optical path) are bent into the L-shape (that is, a right angle) in a front view by using the emission light guide mirror 30 and the light receiving light guide mirror 50 is exemplified, but the invention is not limited to the above configuration.

[0072] For example, as in the Fig. 7 and Fig. 8, the light receiving lens 60 and the light receiving substrate 70 may be arranged below the polygon mirror 41 without using the light receiving light guide mirror 50, so that the reflected light reflected by the polygon mirror 41 and guided into the housing can be directly incident on the light receiving lens 60. Fig. 7 is a diagram corresponding Fig. 2 of the embodiment and is a front view of the laser radar device 1 according to Modification 1, in which a front portion 110 is seen through. Fig. 8 is a diagram corresponding Fig. 4 of the embodiment and is a right side view showing the right surface portion 120 of the laser radar device 1 in the first modification 1.

[0073] Reflected light incident on the light receiving lens 60 in the Fig. 7 and Fig. 8 is converged on the light-receiving device 71 arranged below the light-receiving lens 60. However, in the case where the light-receiving optical path is linear, the emission optical path using the emission light guide mirror 30 is assumed to be curved in the width direction from the rotation axis direction of the polygon mirror 41. This is because a certain degree of separation is provided between the light-receiving device 71 and the laser diode 11.

[0074] In accordance with the Fig. 7 and Fig. In the configuration disclosed in Modification 1 of FIG. 8, the light-receiving light guide mirror 50 included in the above-described embodiment may be omitted. The light-receiving light guide mirror 50 is a member having a relatively large area, as described above. According to the configuration of Modification 1, since the large-area member can be omitted, the volume of the laser radar device 1 can be reduced compared to that in the above-described embodiment.

[0075] In another embodiment, the light-receiving light guide mirror 50 may be used, and the emission light guide mirror 30 may not be used, so that the emission optical path may be linear and the light-receiving optical path may be curved. At least one of the emission optical path and the light-receiving optical path needs to be bent only in the width direction using a member (hereinafter referred to as a bending member) that bends the path (hereinafter referred to as the optical path) of the laser light, such as the emission light guide mirror 30 and the light-receiving light guide mirror 50.

[0076] In the above description, the configuration in which various optical paths, such as the optical emission path or the optical reception path, are bent in an L-shape when viewed from the front is exemplified. However, an angle of bending of the optical path by the bending element is not limited to 90 degrees (i.e., a right angle). Other angles such as 60 degrees or 45 degrees may be adopted. The fact that the optical path is L-shaped corresponds to bending at a right angle, but the right angle in this specification includes a substantially right angle. A substantially right angle means, for example, a range from 80 degrees to 100 degrees and a range from 260 degrees to 280 degrees. (Modification 2)

[0077] Furthermore, the optical emission path and the optical light reception path created using the bending element are not necessarily formed to be parallel to the front portion 110 in an entire line. For example, as shown in the Fig. 9 and Fig. 10, the light source substrate 10 may be arranged facing the rear surface portion so that the optical path from the laser diode 11 to the emission light guide mirror 30 is parallel to the depth direction, and the laser light travels from the depth side to the front side. In this case, the emission light guide mirror 30 is arranged in a position that reflects the laser light traveling from the depth side of the housing to the front side to the upper side of the housing. The light source substrate 10 is arranged to be on the front side of the innermost mirror position 411.

[0078] Fig. 9 is a Fig. 2 of the embodiment and is a front view looking through the front portion 110 of the laser radar device 1 in the modification 2. Fig. 10 is a Fig. 3 of the embodiment and is a right side view of the laser radar device 1 in which the right side section 120 is viewed in a modification 2.

[0079] As in Fig. As shown in Fig. 10, the optical emission path configured as described above is formed to have an L-shape in a side view when viewed through the right surface portion 120 of the housing 100. Even with the above-described configuration, the same effects as those of the above-described embodiment can be obtained. Furthermore, according to the configuration disclosed as Modification 2, the length W in the width direction can be reduced compared with the configurations of the above-described embodiment and Modification 1.

[0080] In the Fig. 9 and Fig. 10, the light source substrate 10 is arranged so that the laser light is directed from the depth side to the front side, but the present disclosure is not limited to the above example. The light source substrate 10 may be arranged so that the laser light travels from the front side to the depth side. In the above description, the configuration in which the respective elements are arranged to bend the optical emission path in the depth direction or the opposite direction is shown, but the invention is not limited to the above example. The respective elements may be arranged to bend the optical light reception path in the depth direction or the opposite direction. (Modification 3)

[0081] In the above-described embodiment and modifications 1 and 2 (hereinafter referred to as embodiments and the like), the configuration in which the light source substrate 10 and the light receiving substrate 70 are formed as separate substrates was disclosed, but the invention is not limited to the above configuration. The light source substrate 10 and the light receiving substrate 70 may be formed integrally as one substrate. Hereinafter, the above configuration will be described with reference to Fig. 11 and Fig. 12 described as a modification 3.

[0082] Fig. 11 is a diagram corresponding Fig. 2 of the embodiment and is a front view looking through the front portion 110 of the laser radar device 1 in the modification 3. Fig. 12 is a diagram corresponding Fig. 3 of the embodiment and is a right side view of the laser radar device 1 in which the right surface portion 120 is viewed in the modification 3.

[0083] The laser radar device 1 according to Modification 3 includes a substrate (hereinafter referred to as an integrated substrate) 90 on which the functions of the light source substrate 10 and the light receiving substrate 70 described above are installed. In other words, the laser diode 11, the light receiving device 71, the amplifier for amplifying the light receiving signal output from the light receiving device 71, and the like are arranged on the integrated substrate 90.

[0084] As an example, the configuration in which the integrated substrate 90 is disposed in a posture facing the left surface portion of the package 100 on the left side of the internal space of the package 100 is disclosed, but the placement configuration of the integrated substrate 90 is not limited to the above example. The integrated substrate 90 may be disposed on the right side of the internal space of the package 100 in a posture facing the right surface portion of the package 100. The emission light guide mirror 30 may be disposed at a position and angle at which the laser light emitted from the laser diode 11 is directly reflected upward toward the reflection surface of the polygon mirror 41.Furthermore, the light-receiving light guide mirror 50 may be arranged at a position and angle at which the reflected light reflected by the polygon mirror 41 is reflected in the direction in which the light-receiving lens 60 is present. In a . Fig. 11 and Fig. In the example shown in Fig. 12, the emission light guide mirror 30 and the light reception light guide mirror 50 are arranged in a position inclined at a predetermined angle of 45 degrees on the optical center path.

[0085] According to the configuration disclosed above as Modification 3, the number of substrates accommodated in the casing 100 can be reduced compared with that in the above embodiment and the like. For this reason, the number of wires (e.g., flexible cables) connecting between the substrates can be reduced. Moreover, since a mechanism for holding the substrate can be reduced, the casing can be reduced in size as a result. Furthermore, since the number of substrates to be attached to the casing 100 is reduced, the number of assembling steps of the laser radar device 1 is reduced, and the manufacturing cost can be reduced.

[0086] The configuration of the above-described embodiment and the like has an advantage in that the degree of freedom of placement of the respective elements is higher than that of Modification 3. Furthermore, as disclosed in Modification 3, in the configuration in which the light-receiving device 71 and the laser diode 11 are arranged on the same substrate, the difficulty in alignment with the optical elements tends to increase. This is because, for example, when the integrated substrate 90 is moved so that the light-receiving device 71 is positioned at a focal point on the left side of the light-receiving lens 60, the position of the laser diode 11 may deviate from the focal point of the emission lens 20.In view of the above-described circumstances, in the configuration in which the light receiving device 71 and the laser diode 11 are provided on separate substrates as in the above-described embodiment and the like, there is an advantage in that difficulty in alignment with the optical elements can be reduced, as compared with the configuration of Modification 3. (Modification 4)

[0087] In the embodiment described above, the configuration is disclosed in which the substrate on which a circuit assembly (hereinafter referred to as a main control circuit unit) providing a function of controlling the operation of the entire laser radar device 1 is mounted is provided as the main control substrate 80 separately from the light source substrate 10 and the light receiving substrate 70. However, the invention is not restricted to the above configuration. The main control circuit unit may be provided on any one of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70. In other words, any one of the light source substrate 10, the scanning substrate 44, and the light receiving substrate 70 may be formed integrally with the main control substrate 80. Also, with orIn the above-described configuration, since the number of substrates accommodated in the housing 100 can be reduced, the number of wirings connecting between the substrates can be reduced, and the number of assembly steps can be reduced. (Modification 5)

[0088] In the above description, the configuration in which a planar mirror is used as an element (i.e., a bending element) that changes the traveling direction of the laser light by a predetermined angle is exemplified, but the invention is not limited to the above configuration. The bending element may be a parabolic mirror. Furthermore, the optical path may be bent by refraction instead of reflection.

[0089] The flexure element utilizing the refraction of light may be made of a transparent material, such as a synthetic resin or glass. The shape of the flexure element may be configured to provide a desired bending angle. (Modification 6)

[0090] The mechanism for scanning and emitting the laser light is not limited to the configuration in which the polygon mirror 41 is rotated. For example, the laser light can be scanned and emitted using a MEMS (Micro Electro Mechanical System) mirror. Furthermore, the planar mirror can be rotated using a motor to scan and emit the laser light. Furthermore, the emission direction of the laser light can be changed using a well-known configuration. The polygon mirror 41, the MEMS mirror, the planar mirror for emitting the laser light to the outside of the housing, and the like correspond to a scanning mirror.

[0091] Incidentally, when a relatively large detection area is to be provided, the configuration using the planar mirror tends to be more enlarged or larger than the configuration using the polygon mirror. In other words, the use of the polygon mirror as in the above-described embodiment or the like can achieve both the creation of a relatively large detection area and the miniaturization of the package 100. (Other modifications)

[0092] In the above description, the case where the polygon mirror 41 is the innermost element is exemplified, but the invention is not limited to the above case. For example, the light-receiving lens 60 may be the innermost element. In such a case, various substrates are arranged at positions that do not overlap with the light-receiving lens 60 in the depth direction. Furthermore, the various substrates may be arranged so that they are located on the front side of the innermost side end portion of the light-receiving lens 60.

[0093] Furthermore, in the above-described embodiment, the configuration is disclosed assuming that the laser radar device 1 and the ECU 2 are wired, but the invention is not limited to the above configuration. The laser radar device 1 and the ECU 2 may be wirelessly connected. In this case, the connector 84 of the main control substrate 80 may be omitted. Instead, a communication module for wireless communication with the ECU 2 is housed in the housing 100.

[0094] The laser radar device described above obtains the information about the distance to the target existing in the detection area according to the angular range by scanning and irradiating the laser light within a predetermined angular range. The laser radar device includes the light source substrate 10, the emission lens 20, the scanning mirror 41, the scanning substrate 44, the light-receiving substrate 70, the light-receiving lens 60, and the housing 100. The laser light source for outputting the laser light is arranged on the light source substrate 10. The emission lens 20 shapes and outputs the laser light output from the laser light source. The scanning mirror 41 is a mirror for reflecting the laser light output from the emission lens toward the outside of the housing and is configured to change its position relative to the laser light source.The scanning substrate 44 controls the position of the scanning mirror relative to the laser light source. The light receiving device is arranged on the light receiving substrate 70 and receives the reflected light, which is the laser light reflected off the target, and outputs the electrical signal corresponding to the intensity of the received reflected light. The light receiving lens 60 condenses the reflected light onto the light receiving device. The housing 100 houses the light source substrate 10, the emission lens 20, the scanning mirror 41, the scanning substrate 44, the light receiving substrate 70, and the light receiving lens 60. The innermost element is one of the emission lens, the scanning mirror, and the light receiving lens, with the end portion on an innermost side of the housing in the depth direction.The light source substrate, the scanning substrate, and the light receiving substrate are arranged at positions that do not overlap with the innermost element in the depth direction.

[0095] In the configuration described above, the light source substrate, the scanning substrate, and the light-receiving substrate are arranged at positions that do not overlap in the depth direction with the innermost element, which, among the various optical elements, is the optical element having an end portion on the innermost side in the depth direction of the housing. The term "optical element" as used in this specification refers to an element that reflects or deflects laser light, such as the emission lens, the scanning mirror, and the light-receiving lens. Furthermore, the depth direction of the housing corresponds to a direction opposite to the direction in which the center of the angular range in which the laser light is emitted (i.e., the optical axis for the laser radar device) is directed.

[0096] According to the configuration described above, by placing the substrate on the depth side of the optical element, the length (i.e., the thickness) of the laser radar device in the depth direction can be prevented from being increased by the substrate. In other words, the thickness of the laser radar device 1 can be reduced.

[0097] The invention is described based on the embodiments, and it should be understood that this disclosure is not limited to the embodiments or structure. The present disclosure includes various modification examples and modifications within the same scope. Furthermore, it should be understood that various combinations or aspects, or other combinations or aspects in which only one element, one or more elements, or one or fewer elements are included in the various combinations or aspects, are included within the scope or technical idea of ​​the invention.

Claims

[1] A laser radar device configured to obtain distance information regarding a target existing in a detection range corresponding to a predetermined angular range by scanning and radiating a laser light in the angular range, the laser radar device comprising: a light source substrate (10) on which a laser light source for outputting the laser light is located; an emission lens (20) configured to shape the laser light from the laser light source and output the laser light; a scanning mirror (41) configured to reflect the laser light from the emission line (20) toward an outside of a housing and to change its position relative to the laser light source; a scanning substrate (44) configured to control the position of the scanning mirror (41) relative to the laser light source; a light receiving substrate (70) on which a light receiving device is located, the light receiving device being configured to receive a reflected light which is the laser light reflected on the target and output an electrical signal corresponding to an intensity of the received reflected light; a light-receiving lens (60) configured to condense the reflected light on the light-receiving device; and the housing (100) which accommodates the light source substrate (10), the emission lens (20), the scanning mirror (41), the scanning substrate (44), the light receiving substrate (70) and the light receiving lens (60), wherein an innermost element of one of the emission lens (20), the scanning mirror (41) and the light receiving lens (60) having an end portion on an innermost side of the housing (100) in a depth direction, the light source substrate (10), the scanning substrate (44) and the light receiving substrate (70) are arranged at positions such that they do not overlap with the innermost element in the depth direction of the housing (100), the scanning mirror (41) is configured to reflect the reflected light in a direction orthogonal to the depth direction, the laser radar device further comprises a light receiving path bending element (50) configured to reflect or deflect the light reflected at the scanning mirror (41) to change a traveling direction of the reflected light, the light receiving path bending element (50) is arranged in a position to reflect the reflected light incident from the scanning mirror (41) in a direction orthogonal to the depth direction, in a direction in which the scanning mirror (41) is not present, the light-receiving lens (60) and the light-receiving substrate (70) are arranged in a direction along which the light-receiving path bending element (50) reflects the reflected light incident from the scanning mirror (41), the laser radar device further comprises an emission path bending element (30) configured to reflect or deflect the laser light from the laser light source to change the direction of travel of the laser light, the light source substrate (10) is arranged to output the laser light from the laser light source in a direction perpendicular to the depth direction of the housing (100) and to allow the laser light to be incident on the scanning mirror (41) via the emission path bending element (30), the scanning mirror (41) is configured to scan and emit the laser light incident from the emission path bending element (30) in the angular range, the innermost element is the scanning mirror (41), and the light receiving path bending element (50) and the emission path bending element (30) are located at positions that do not overlap with the scanning mirror (41) in the depth direction of the housing (100). [2] Laser radar device according to claim 1, wherein the scanning mirror (41) is configured to reflect the reflected light in a direction orthogonal to the depth direction, wherein the laser radar device further comprises: a light receiving path bending element (50) configured to reflect or deflect the light reflected on the scanning mirror (41) to change a traveling direction of the reflected light, wherein the light receiving path bending element (50) is arranged in a position to reflect the reflected light incident from the scanning mirror (41) in a direction orthogonal to the depth direction, in a direction in which the scanning mirror (41) is not present, and the light receiving lens (60) and the light receiving substrate (70) are arranged in a direction along which the light receiving path bending element (50) outputs the reflected light incident from the scanning mirror (41). [3] A laser radar device according to claim 1 or 2, wherein the emission path bending element (30) is arranged to change the traveling direction of the laser light from the laser light source at a right angle. [4] A laser radar device according to claim 1 or 2, wherein the light receiving path bending member (50) is arranged to change the traveling direction of the laser light from the laser light source at a right angle. [5] Laser radar device according to one of claims 1 to 4, further comprising: a main control substrate (80) arranged in the housing (100) and communicatively connected to the light source substrate (10), the scanning substrate (44) and the light receiving substrate (70), wherein the main control substrate (80) is configured to control the emission of the laser light from the laser light source and to generate the distance information based on a time from the emission of the laser light to the reception of the reflected light by the light receiving device, wherein the light source substrate (10), the light receiving substrate (70), the scanning substrate (44) and the main control substrate (80) are arranged at positions such that they do not interfere in the depth direction with an optical element configured to reflect or deflect the laser light. [6] The laser radar device according to claim 5, wherein the main control substrate (80) is arranged in a position in which the thickness direction of the main control substrate (80) is parallel to the depth direction. [7] Laser radar device according to one of claims 1 to 4, wherein a main control circuit unit is arranged in one of the light source substrate (10), the light receiving substrate (70) and the scanning substrate (44), wherein the main control circuit unit is configured to control the emission of the laser light from the laser light source and to generate the distance information based on a time from the emission of the laser light to the reception of the reflected light by the light receiving device. [8] A laser radar device according to any one of claims 1 to 7, wherein the light source substrate (10) and the light receiving substrate (70) are formed integrally with each other as one substrate. [9] Laser radar device according to claim 2, wherein the emission path bending element (30) and the light reception path bending element (50) are arranged in a predetermined order on a straight line through which the reflected light reflected by the scanning mirror (41) passes, and the light receiving substrate (70) is arranged on an opposite side of the light source substrate (10) transversely to the straight line in the housing (100). [10] Laser radar device according to one of claims 1 to 9, wherein the scanning mirror (41) comprises a polygon mirror having a plurality of reflection surfaces inclined with respect to its rotation axis, wherein the laser radar device further comprises: a motor configured to rotate the polygon mirror about the rotation axis and arranged on the scanning substrate (44), wherein the polygon mirror of the scanning mirror (41) is configured to reflect the reflected light reflected from the target in a direction parallel to the rotation axis. [11] The laser radar device according to any one of claims 1 to 6, wherein the laser radar device is mounted on a vehicle to provide the detection range outside the vehicle. [12] The laser radar device according to any one of claims 1 to 11, wherein the light source substrate (10), the scanning substrate (44), the light receiving substrate (70), the light receiving path bending member (50) and the emission path bending member (30) are located at positions that do not overlap in the depth direction of the housing (100). [13] Laser radar device according to one of claims 1 to 12, wherein a radial direction of the scanning mirror (41) runs along the depth direction, and a diameter (dmt) of the scanning mirror (41) is larger than a total of a length of the light source substrate (10), a length of the scanning substrate (44), a length of the light receiving substrate (70), a length of the light receiving path bending element (50) and a length of the emission path bending element (30) in the depth direction. [14] Laser radar device according to one of claims 1 to 13, wherein the light receiving path bending element (50) is a light receiving light guide mirror (50), the emission path bending element (30) is an emission light guide mirror (30), the light reception light guide mirror (50) is located between the laser light source and the light reception device (71), and the light receiving light guide mirror (50) is larger than the emission light guide mirror (30).

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