LIDAR DEVICE

Abstract

Lidar device, featuring: - a light emitter (10) with at least one light source (11, 12) configured to emit a beam of light in a first direction; - a scanner (20) with a rotating shaft and at least one reflective surface, wherein the scanner is configured to rotate the at least one reflective surface together with the rotating shaft, such that: - to change the direction of the light beam emitted by the light source and falling on the scanner in order to output a modified light beam in a principal scanning direction that is orthogonal to an axial direction of the rotating shaft; and - to reflect an incoming light beam arriving from a scanning area, in order to emit the light beam in the direction in which the light beam falls on the scanner; and - a light receiver (30) configured to receive the incoming light beam reflected from the scanner, wherein - the light receiver has: - a receiving light deflection mirror (33) configured to deflect the incoming light beam emitted by the scanner in a second direction different from the first direction; and - a light receiving device (31) configured to receive the incoming light beam deflected by the receiving light deflection mirror; - the scanner has: - a mirror module (21) with at least one reflective surface; - a motor (23) mounted on the rotating shaft; and - a partition plate (22); - the mirror module (21) has a transmitting light deflector (20a) and a receiving light deflector (20b) in the axial direction of the rotating shaft, wherein the transmitting light deflector is arranged so that it is further away from the motor than the receiving light deflector; - the transmitting light deflector is configured to change the output direction of the light beam that hits it from the light transmitter; - the receiving light deflector is configured to output the incoming light beam in the direction of the receiving light deflection mirror; - the separating plate is arranged between the transmitting light deflector and the receiving light deflector to separate the transmitting light deflector and the receiving light deflector from each other in the axial direction of the rotating shaft; and - the light transmitter, the receiving light deflection mirror and the light receiving device are arranged parallel to the rotating shaft.

Description

[Technical field]

[0001] The present disclosure relates to a lidar device with a light deflector. [State of the art]

[0002] Lidar devices can include a deflection mirror, which acts as a light deflection device and is rotated to deflect light for scanning. "Lidar" or "LIDAR" stands for "Light Detection and Ranging".

[0003] JP H07-92 270 A discloses a device comprising a light-emitting board, a light-receiving board, and a deflecting mirror, wherein the boards are arranged in the same direction as viewed from the deflecting mirror. A light source for generating light that enters the deflecting mirror is mounted on the light-emitting board. A light-receiving element is mounted on the light-receiving board to receive light reflected from a target via the deflecting mirror.

[0004] The disclosing persons have discovered the following problems related to conventional technology according to JP H07-92270A.

[0005] In the conventional device, the light-transmitting board and the light-receiving board have the light source and the light-receiving element, respectively, mounted on their main surfaces, positioned so close together that these surfaces partially overlap in order to reduce the size of the device. This structure makes the boards susceptible to electrical noise they generate and increases the size of the device in the direction where the light-transmitting and light-receiving boards overlap.

[0006] From US 2020 / 0 150 243 A1, a laser scanner is further disclosed, comprising: a housing with a window, a light source for emitting a light beam, wherein the window is transparent to the wavelength(s) of the light beam, a scanning mirror rotatable about an axis of rotation to deflect the light beam in the direction of a scanning area, such that the light beam periodically sweeps over at least one scanning surface, and to deflect the light reflected by objects or persons in the scanning area into a light-collecting path, a motor for rotating the scanning mirror, and a photodetector element for generating an electrical signal, which is arranged in the light-collecting path, wherein the motor, the light source, and the photodetector element are all housed in the housing on the same side with respect to the at least one scanning surface.

[0007] US 10,078,132 B2 relates to an optical scanning system usable for a radar to detect an object by irradiating it with a laser beam, and to a radar. JP 2,789,741 B2 discloses a laser radar scanning device for detecting the distance and orientation to a target using laser light, and US 2016 / 0341,957 A1 teaches a mirror drive device for scanning a target area with a laser beam, an irradiation device with the mirror drive device, and a laser radar for detecting a state of the target area based on a laser beam reflected from the target area. US 10,788,572 B2 (US 2017 / 0350,966 A1) further discloses a laser scanner, a deflection mirror arrangement, and an optical separator for a deflection mirror arrangement. [Summary of the invention]

[0008] The purpose of the present disclosure is to provide lidar devices that are smaller in size and less susceptible to electrical noise.

[0009] The problem is solved by the subject matter of the main claim. Advantageous further developments are specified in the dependent claims.

[0010] The lidar device according to the invention allows the direction of transmission of the light beam from the at least one light source to differ from the direction of the incoming light beam falling on the light receiving device. This leaves so little space for arranging a light-transmitting board, on which the at least one light source is mounted, and a light-receiving board, on which the light receiving device is mounted, that their mounting surfaces overlap in parallel.

[0011] The lidar device is therefore less exposed to electrical noise generated between the circuit boards, and prevents an increase in the size of the lidar device in an overlap direction of the circuit boards. [Brief description of the drawings] Fig. Figure 1 shows a perspective view of a lidar device. Fig. Figure 2 shows a perspective view of the lidar device to illustrate the structure of a light detection module arranged in a housing of the device. Fig. Figure 3 shows a front view of the light detection module, the components of which are integrally built into a frame, which is partially shown. Fig. Figure 4 shows a top view of the lidar device, with the housing omitted. Fig. Figure 5 shows a schematic view to illustrate the arrangement of components of the lidar device. Fig. Figure 6 shows an illustration of the path of a transmitted light beam and the arrangement of a transmitting light deflection mirror in relation to the path of the beam. Fig. Figure 7 shows an illustration of the path of a received light ray. Fig. Figure 8 shows a schematic view to illustrate the arrangement of components of a first modification of the light detection module. Fig. Figure 9 shows a schematic view to illustrate the arrangement of components of a second modification of the light detection module. [Description of embodiments]

[0012] An embodiment of the present disclosure is described below with reference to the drawings. [1. Configuration]

[0013] Fig. Figure 1 shows a lidar device 1 of the present embodiment. The lidar device 1 is mounted on a vehicle and used, for example, to detect various objects around the vehicle. “Lidar” or “LIDAR” stands for “Light Detection and Ranging”.

[0014] As in Fig. As shown in Figure 1, the lidar device 1 has a housing 100 and an optical window 200.

[0015] The housing 100 is a rectangular parallelepiped housing made of resin. The housing has one substantially rectangular side with an opening. A light detection module 2 (described below) is arranged inside the housing 100.

[0016] The optical window 200 is a resin cover attached to the housing 100 to close its opening. The optical window 200 allows laser light emitted by the light detection module 2 inside the housing 100 to pass through.

[0017] In the following description, an x-axis direction is defined as extending along a longer side of the substantially rectangular opening of the housing 100; a y-axis direction is defined as extending along a shorter side of the opening; and a z-axis direction is defined as extending perpendicular to the xy-plane.

[0018] It should be noted that the x-axis direction has a left and a right side when viewed from a point facing the opening of the housing 100, and the y-axis direction has a top and a bottom side when viewed from a point facing the opening of the housing 100. One side of the opening of the housing 100 is defined as a front, and the side of the housing 100 opposite the side of the opening is defined as a back. The z-axis direction has a front and a back, referring to the front and back of the housing 100, respectively.

[0019] As in the Fig. 2, Fig. 3, Fig. 4 to Fig. As shown in Figure 5, the light detection module 2 has a light transmitter 10, a sensor 20 and a light receiver 30. The light detection module 2 is attached to the housing 100 via a frame 40. [1- 1- 1. Scanner]

[0020] The scanner 20 has a mirror module 21, a separating plate 22 and a motor 23.

[0021] The mirror module 21 includes a pair of deflecting mirrors 211 and 212 and a mirror frame 213.

[0022] Each of the deflecting mirrors 211 and 212 is a flat plate element with a reflective surface capable of reflecting light. The mirror frame 213 includes a disc element 213a and a mounting element 213b. The disc element 213a has the shape of a circular flat plate and is attached at a central section to a rotating shaft of the motor 23.

[0023] The plate-shaped mounting element 213b has two opposing main surfaces to which the deflection mirrors 211 and 212 are attached. The mounting element 213b is arranged vertically on the disk element 213a.

[0024] The first and second deflecting mirrors 211 and 212, as well as the fastening element 213b, together have the shape of two rectangles with opposite longer sides. The length of the longer side of one of the two rectangles differs from the length of the longer side of the other rectangle.

[0025] In particular, the two rectangles, each having opposite shorter sides, are combined in such a way that their central axes, each running parallel to the shorter sides, are aligned.

[0026] As described above, the first and second deflecting mirrors 211 and 212 and the mounting element 213b, each shaped as a combination of the two rectangles, are integrated to form a mirror arrangement consisting of a rectangular section with a narrower width and a rectangular section with a wider width. The rectangular section with the narrower width has a narrower width in its longitudinal direction, and the rectangular section with the wider width has a wider width in its longitudinal direction.

[0027] The first and second deflecting mirrors 211 and 212, which are combined via the mirror frame 213, are arranged such that (i) the rectangular section of greater width is lower than the rectangular section of narrower width, and (ii) the central axis of the combined first and second deflecting mirror assembly 211 and 212 is aligned with the center of the disk-shaped element 213a. The rotary drive of the motor 23 therefore allows the combined first and second deflecting mirror assembly 211 and 212 to rotate about the motor's shaft.

[0028] This means that the mirror module 21 is configured to rotate around the central axis of the mirror frame 213. The reflective surfaces of the first and second deflection mirrors 211 and 212 are parallel to the rotating shaft of the motor 23, regardless of the rotational position of the motor 23.

[0029] The partition plate 22 is a circular, plate-shaped element whose diameter is equal to the length of the wider section in its longitudinal direction. The partition plate 22 is divided into two semicircular sections. The partition plate 22 is attached to the mirror module 21, while the semicircular sections 1. Arrange the rectangular section of narrower width of the mirror module 21 between itself from both main sides of the rectangular section of narrower width, 2. border on the shoulders of the rectangular section of greater width of the mirror module 21.

[0030] Each of the first and second deflection mirrors 211 and 212 consists of 1. an upper section located above the partition plate 22 and forming the rectangular section of narrower width of the mirror arrangement, 2. a lower section located below the partition plate 22, forming the rectangular section of greater width of the mirror arrangement.

[0031] The upper section of each of the first and second deflection mirrors 211 and 212 is hereinafter referred to as the transmit light deflector 20a, and the lower section of each of the first and second deflection mirrors 211 and 212 is hereinafter referred to as the receive light deflector 20b. [1 - 1 - 2. Light emitter]

[0032] The light transmitter 10 has a pair of light sources 11 and 12. The light transmitter 10 can also have a pair of optical transmitting lenses 13 and 14 and a transmitting light deflection mirror 15.

[0033] In the following description, the transmitting light deflector 20a has opposing surfaces and, on each of the opposing surfaces, a reflection point onto which a light beam from each of the light sources 11 and 12 falls. Each of the opposing surfaces of the transmitting light deflector 20a is defined as a reference surface including the reflection point and is orthogonal to the axis of rotation of the mirror module 21.

[0034] Each of the light sources 11 and 12 is a semiconductor laser.

[0035] The light source 11, which has light emission surfaces, is located away from the reflection point on the left side of the x-axis direction, with its light emission surfaces facing the transmitting light deflector 20a.

[0036] The light source 12, which has light-emitting surfaces, is located away from a deflection point in the direction towards the back of the z-axis direction, with its light-emitting surfaces facing the front of the z-axis direction; the deflection point is located in a central region of a predetermined beam path between the reflection point and the light source 11.

[0037] Light source 11 has a first vertical position in the vertical direction (i.e., in the y-axis direction), and light source 12 has a second vertical position in the vertical direction, i.e., in the y-axis direction. The first vertical position of light source 11 is arranged to be lower in the y-axis direction than the reference surfaces of the transmitting light deflector 20a, and the second vertical position of light source 12 is arranged to be higher than the reference surfaces of the transmitting light deflector 20a. That is, the first and second vertical positions of the respective light sources 11 and 12 are different from each other.

[0038] The light-emitting lens 13 is arranged to face the light-emitting surfaces of the light source 11. Similarly, the light-emitting lens 14 is arranged to face the light-emitting surfaces of the light source 12. The light sources 11 and 12 are located near the focal points of the light-emitting lenses 13 and 14, respectively.

[0039] The transmitting light deflection mirror 15 is positioned at the deflection points and configured to deflect the light rays emitted by the light source 12 and passing through the light transmitting lens 14, thus directing each of the deflected light rays to the corresponding reflection point. Fig. The transmitting light deflection mirror 15 is omitted in 5.

[0040] The transmitting light deflection mirror 15 is, as in Fig. Figure 5 shows the reflector 15 positioned above the path of each light ray emitted by the light source 11, passing through the reflecting lens 13, and striking the corresponding reflection point. This arrangement of the reflector 15 prevents it from obstructing the path of each light ray. The path of each light ray from the light source 11 to the corresponding reflection point is the same length as the path of each light ray from the light source 12 through the reflector 15 to the corresponding reflection point. [1 - 1 - 3. Light receiver]

[0041] As in the Fig. 2, Fig. 3, Fig. 4 to Fig. As shown in Figure 5, the light receiver 30 has a light receiving device 31. The light receiver 30 can also have a light receiving lens 32 and a receiving light deflecting mirror 33.

[0042] The light receiving device 31 is located below the receiving light deflection mirror 33. In the Fig. 3, Fig. 4 to Fig. Figure 5 shows that part of the frame 40 has been omitted to clearly illustrate the arrangement of the components of the light receiver 30. As in Fig. As shown in Figure 7, the light receiving device 31 comprises an APD array 311 with several APDs arranged in a row. "APD" stands for avalanche photodiode. The light receiving device 31 is arranged such that a light-receiving surface of each of the APDs points upwards in the y-axis direction. The APDs of the APD array 311 are arranged in the x-axis direction.

[0043] The receiving light deflection mirror 33 is located, as in the Fig. 2, Fig. 3, Fig. 4 to Fig. Figure 5 shows the left side of the x-axis direction with respect to the receiving light deflector 20b. The receiving light deflector mirror 33 is arranged to deflect light rays, each passing through the light receiving lens 32, downwards at a substantially right angle with respect to the y-axis direction, so that a deflected light ray reaches the light receiving device 31.

[0044] The light-receiving lens 32 is arranged between the receiving light deflector 20b and the receiving light deflection mirror 33. The receiving light lens 32 has a predetermined aperture that allows each light beam that has passed through the aperture of the receiving light lens 32 to enter the light-receiving device 31 to have a reduced width in the z-axis direction; the reduced width of the light beam in the z-axis direction is on the order of the width of the APD in the z-axis direction. [1 - 1 - 4. Frame]

[0045] The frame 40 is configured to combine the components of the light transmitter 10, the sensor 20 and the light receiver 30 and to attach the combined components to the inside of the housing 100, while these components are fixedly arranged at predetermined respective positions in the housing 100.

[0046] As in the Fig. 2, Fig. 3, Fig. 4 to Fig. As shown in Figure 5, the frame 40 has a lower section 41, a side section 42, and a rear section 43. The frame 40 also has a separating section 44.

[0047] A light-receiving board 51 has a mounting surface on which the light-receiving device 30 is mounted, and a motor board 52 has a mounting surface on which the motor 23 is mounted. The light-receiving board 51 and the motor board 52 are attached to a bottom surface of the lower frame section 41.

[0048] The lower frame section 41 has a first hole through which light travels from the receiving light deflection mirror 33 to the light receiving device 31. The lower frame section 41 also has a second hole over which the motor 23 of the sensor 20 is arranged.

[0049] The mounting surfaces of the light receiving board 51 and the motor board 52, on which the light receiving device 31 and the motor 23 are mounted, are essentially coplanar.

[0050] The side frame section 42 has a front surface and a rear surface that face each other and is arranged such that the front surface faces the scanner 20. A cylindrical holder 421 projects from the front surface of the side frame section 42. The cylindrical holder 421 has a cylindrical opening with a front and rear end that are opposite each other, i.e., opposite ends on the right and left sides in the x-axis direction. The light-emitting lens 13 is fitted into the front end of the cylindrical opening of the cylindrical holder 421.

[0051] A light-emitting board 53, to which the light source 11 is mounted, is mounted on the rear surface of the side frame section 42. When the light-emitting board 53 is mounted on the side frame section 42, the light source 11 is located at the rear end of the cylindrical opening of the cylindrical holder 421.

[0052] As with the side frame section 42, a cylindrical holder 431 projects from a front surface of the rear frame section 43. The cylindrical holder 431 has a cylindrical opening with opposing front and rear ends, i.e., opposite ends on the right and left sides in the x-axis direction. The light-transmitting lens 13 is fitted into the front end of the cylindrical opening of the cylindrical holder 431.

[0053] A light-emitting board 54, to which the light source 12 is mounted, is mounted on the rear surface of the rear frame section 43. When the light-emitting board 54 is mounted on the rear frame section 43, the light source 12 is located at the rear end of the cylindrical opening of the cylindrical holder 431.

[0054] The partition section 44 is positioned at a predetermined location to form a partition between a space containing the components of the light transmitter 10 and a space containing the components of the light receiver 30. The transmitting light deflection mirror 15, the receiving light deflection mirror 33, and the receiving lens 32 are mounted on the partition section 44.

[0055] The light-receiving board 51 and the pair of light-transmitting boards 53 and 54 are attached to the frame 40 by screws. This means that by adjusting at least either the position or the angle of the light-receiving board 51 with screws, at least either the position or the angle of the light-receiving device 31 can be fine-tuned three-dimensionally. Similarly, by adjusting at least either the position or the angle of each of the light-transmitting boards 53 and 54, at least either the position or the angle of the corresponding light sources 11 and 12 can be fine-tuned three-dimensionally.

[0056] The holder 421 is integrated into the side frame section 42, but can also be integrated into the light transmitter board 53. The holder 431 is integrated into the rear frame section 43, but can also be integrated into the light transmitter board 54. [1- 2nd operation]

[0057] As in Fig. As shown in Figure 6, each light ray emitted by the light source 11 passes through the light-emitting lens 13 and then reaches the corresponding reflection point on one of the reflective surfaces of the light deflector 20a. Furthermore, each light ray emitted by the light source 12 passes through the light-emitting lens 14 and is deflected essentially at right angles by the light-deflection mirror 15. The light ray deflected by the mirror 15a then strikes the corresponding reflection point on the other of the reflective surfaces of the light deflection unit 20a.

[0058] The light beams striking the transmitting light deflection unit 20a are each emitted in a corresponding direction, which is determined by the rotational position of the mirror module 21. This allows the light beams to scan within a predetermined scanning range based on the rotation of the mirror module 21.

[0059] As in Fig. As shown in Figure 7, reflected light rays from a detection target, located in a predetermined direction depending on the rotational position of the mirror module 21, arrive as incoming light rays at the receiving light deflection unit 20b. The incoming light rays are reflected by the receiving light deflection unit 20b and deflected by it. The deflected light rays are then received by the light receiving device 31 via the light receiving lens 32 and the receiving light deflection mirror 33. The predetermined direction, which depends on the rotational position of the mirror module 21, refers to the direction of a light beam emitted by the transmitting light deflection unit 20a. The target object is one of several selected objects to be detected by the lidar device 1.

[0060] That is, the lidar device 1 is configured to rotate the mirror module 21 in order to mechanically perform the horizontal scanning, i.e. the main scanning, with the laser beams.

[0061] In addition, the lidar device 1 is configured to control the light sources 11 and 12, which emit the four vertically oriented light beams, while simultaneously controlling the APD array 31 to perform the vertical scanning, i.e., subsampling, electronically with the laser beams. [1-3. Beneficial Effects]

[0062] The lidar device 1 described above achieves the following advantageous effects.

[0063] (1a) The lidar device 1 has the light emitter 10 and the light receiver 30 arranged in the same direction as viewed from the scanner 20 (i.e. on the left side in the x-axis direction in the Fig. 2, Fig. 3, Fig. 4 to Fig. 5) The lidar device 1 is configured to deflect the light beams from the light source 12 using the transmit light deflection mirror 15 and to deflect the incoming light beams from a target object using the receive light deflection mirror 33. This configuration allows the transmit direction of each light beam from the light sources 11 and 12 to be substantially orthogonal to the receive direction of each incoming light beam striking the light receiving device 31.

[0064] In the lidar device 1 having this configuration, the light transmitter boards 53 and 54 and the light receiver board 51 are therefore arranged such that the mounting surfaces of the light transmitter boards 53 and 54 are perpendicular to the mounting surface of the light receiver board 51.

[0065] The mounting surface of each of the light-transmitting boards 53 and 54 refers to a surface of the corresponding light-transmitting boards 53 and 54 on which the respective light sources 11 and 12 are mounted. Furthermore, the mounting surface of the light-receiving board 51 refers to a surface of the light-receiving board 51 on which the light-receiving device 31 is mounted.

[0066] Consequently, the lidar device 1 is exposed to less electrical noise generated between the boards compared to conventional devices in which a light transmitting board and a light receiving board are arranged with their mounting surfaces parallel to each other and overlapping.

[0067] (1b) The lidar device 1 includes the receiving light deflection mirror 33, which is configured to deflect the incoming light beams reflected from the sensor 20a downwards in the y-axis direction. This configuration allows the light receiving board 51 and the motor board 52 to be arranged such that their mounting surfaces are substantially coplanar.

[0068] This allows for the effective use of a space located in the lower part of the housing 100, which has the thickness of the motor 23 in the y-axis direction (i.e., the length of the motor 23 in the y-axis direction; this space is conventionally unused or dead space). This effective use of the space located in the lower part of the housing also allows for a smaller size of the lidar device 1.

[0069] Furthermore, the arrangement of the light receiving board 51 and the motor board 52 simplifies the shape of the lower section 41 of the frame 41 on which the light receiving board 51 and the motor board 52 are mounted, thereby reducing both the labor required to manufacture the frame 40 and the labor required to mount the light receiving board 51 and the motor board 52 on the frame 40. [2. Modifications]

[0070] The present disclosure is not limited to the embodiments described above, but can be modified in various ways.

[0071] (2a) In the embodiment above, the light transmitter 10 of the light detection module 2 has the two light transmitter boards 53 and 54. However, the light transmitter 10 can also have only one of the light transmitter boards 53 and 54. In this modification, the two light sources 11 and 12 can be mounted on one light transmitter board.

[0072] If the light transmitter board 54 is omitted, as with a light transmitter 10a of a light detection module 2a in Fig. 8, the lidar device 1 can be reduced in size towards the rear (i.e. in the z-axis direction) and the transmit light deflection mirror 15 can be omitted.

[0073] If the light transmitter board 53 is omitted, as with the light transmitter 10b of a light detection module 2b in Fig. 9, the size of the lidar device 1 decreases in the width direction (i.e. in the x-axis direction).

[0074] (2b) Several functions of a component in the above embodiment can be implemented by several components, and a function of a component can be implemented by several components. Furthermore, several functions of several components can be implemented by one component, and a function implemented by several components can be implemented by one component. Part of the configuration in the above embodiment can be omitted. Part of the configuration of the above embodiment can be added to a configuration of at least one of the modifications or replaced by part of a configuration of at least one of the modifications.

[0075] (2c) In addition to the lidar device 1 described above, the present disclosure can be implemented in various forms, such as a system with the lidar device 1 as one component.

Claims

Lidar device comprising: - a light emitter (10) with at least one light source (11, 12) configured to emit a light beam in a first direction; - a scanner (20) with a rotating shaft and at least one reflective surface, the scanner being configured to rotate the at least one reflective surface together with the rotating shaft in order to: - change the direction of the light beam emitted by the light emitter and incident on the scanner, in order to output a modified light beam in a principal scanning direction orthogonal to an axial direction of the rotating shaft; and - reflect an incoming light beam arriving from a scanning area, in order to output the light beam in a direction in which the light beam incident on the scanner;and- a light receiver (30) configured to receive the incoming light beam reflected from the scanner, wherein- the light receiver comprises:- a receiving light deflection mirror (33) configured to deflect the incoming light beam emitted by the scanner in a second direction different from the first direction; and- a light receiving device (31) configured to receive the incoming light beam deflected by the receiving light deflection mirror;- the scanner comprises:- a mirror module (21) having at least one reflective surface;- a motor (23) mounted on the rotating shaft; and- a partition plate (22);- the mirror module (21) comprises a transmitting light deflector (20a) and a receiving light deflector (20b) in the axial direction of the rotating shaft, the transmitting light deflector being arranged to be further away from the motor than the receiving light deflector;- the transmitting light deflector is configured to change the output direction of the light beam arriving at it from the light source; - the receiving light deflector is configured to direct the incoming light beam towards the receiving light deflection mirror; - the separating plate is arranged between the transmitting light deflector and the receiving light deflector to separate the transmitting light deflector and the receiving light deflector from each other in the axial direction of the rotating shaft; and - the light source, the receiving light deflection mirror, and the light receiving device are arranged parallel to the rotating shaft. Lidar device according to claim 1, wherein the scanner has a deflection mirror and is configured to use the deflection mirror to: reflect the light beam emitted by the light source and striking the scanner, thereby changing the direction of the light beam emitted by the light source in order to output the modified light beam in the main scanning direction, and reflect the incoming light beam arriving from the scanning area located outside the lidar device. Lidar device according to claim 1, wherein: - the rotating shaft has a first and a second end in its axial direction, which are opposite each other; - the motor is arranged on the rotating shaft such that it is located closer to the first end than to the second end; and - the receiving light deflection mirror is configured to deflect the incoming light beam to one side of the first end in a predetermined direction parallel to the axial direction. Lidar device according to one of claims 1 to 3, wherein: - the light transmitter has a light transmitter board (53, 54) with a mounting surface on which the light source is mounted; - the light receiver has a light receiver board (51) with a mounting surface on which the light receiver device is mounted; and - the light transmitter board and the light receiver board are arranged such that the mounting surface of the light transmitter board and the mounting surface of the light receiver board are perpendicular to each other. Lidar device according to one of claims 1 to 3, wherein: - the light receiver has a light receiving board (51) with a mounting surface on which the light receiving device is mounted; - the scanner has a motor board with a mounting surface on which the motor mounted on the rotating shaft is mounted; and - the light receiving board and the motor board are arranged, while the mounting surface of the light receiving board and the mounting surface of the motor board are substantially coplanar.

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