KR20200031746A - A lidar having a structure for blocking internal reflection - Google Patents

Abstract

The present invention relates to a Lidar having an internal reflection blocking structure for blocking internal reflection of sensing light. To this end, the Lidar having an internal reflection blocking structure comprises: a light transmission unit outputting sensing light toward a target; a light reception unit detecting reflected light incident by being reflected by the target; a body unit supporting the light transmission unit and the light reception unit; and a cover unit located on a progress path of the sensing light and the reflected light and blocking the inflow of a foreign material by covering a part of the body unit. An inner reflection blocking plate for blocking the sensing light reflected by an inner circumferential surface of the cover unit is provided on the inner circumferential surface of the cover unit.

Description

A LIDAR HAVING A STRUCTURE FOR BLOCKING INTERNAL REFLECTION

The present invention relates to a lidar, and more particularly, to a lidar having an internal reflection blocking structure capable of blocking sensing light reflected from the inner circumferential surface of the cover portion.

Recently, in the field of intelligent automobiles and smart cars, active response functions of vehicles to emergencies are required. That is, by detecting the appearance of pedestrians, detecting obstacles outside the range of lights in the dark at night, detecting obstacles due to weakening of headlight lighting in rainy weather, or detecting road damage in advance, It is necessary to check in advance the situation that threatens pedestrian safety.

On the other hand, it is installed in the front of the vehicle, and when the vehicle moves based on its own emission light, it checks the object in front and warns the driver in advance, as well as electronic control of the vehicle's data that is the basis for the vehicle itself to stop or avoid. It is transferred to an electronic control unit (ECU), and the ECU performs various controls using this data. Acquiring such data is called LiDAR.

Most of the sensing light generated inside the lidar is transmitted through the cover portion and output to the target, but a part of the sensing light is reflected from the inner circumferential surface of the cover at an angle equal to the incident angle. When the sensing light reflected from the cover is sensed by the light sensing unit, the position of the target may be incorrectly determined. In a lidar mounted on an autonomous vehicle, if the target position is misidentified, the vehicle may suddenly stop, so the internal reflection of the lidar is a problem to be solved.

The technology for solving the position recognition error due to the internal reflection of the lidar is described in Korean patent application 10-2000-0024898.

The prior art described in Korean Patent Application No. 10-2000-0024898 relates to a transparent window used in a position recognition device for a moving object. When a part of the laser light irradiated from the laser scanner is specularly reflected on the transparent window, the inner surface of the transparent window is formed to be inclined so that a part of the laser light specularly reflected by the transparent window is not mistaken for light reflected from the target. That is, the position recognition device of the moving object configured as above can prevent the position recognition error by directing the laser light reflected from the transparent window to a place other than the reflected light detection unit.

However, since the prior art does not block the laser light reflected from the transparent window, the laser light reflected from the transparent window is reflected back at a position other than the reflected light detection unit and is detected by the reflected light detection unit to cause a position recognition error.

On the other hand, when the inside of the lidar excluding the reflected light detection unit is made of a light absorbing material in the prior art, the reflected light reflected from the target and absorbed may also be absorbed and the amount of reflected light required for location determination may be insufficient.

It is an object of the present invention to provide a lidar having an internal reflection blocking structure capable of blocking the sensing light reflected from the cover part as being devised to solve the above-described problems.

In order to achieve the above object, a rider having an internal reflection blocking structure according to an embodiment of the present invention includes: a light transmitting unit outputting sensing light toward a target, and sensing reflected light reflected and incident by the target A light receiving part, a body part supporting the light transmitting part and the light receiving part, and a cover part positioned on a traveling path of the sensing light and the reflected light to cover a portion of the body part to block the inflow of foreign substances, and to the inner peripheral surface of the cover part. An internal reflection blocking plate that blocks adjacent sensing light reflected by the inner circumferential surface of the cover portion may be provided.

In addition, a plurality of the internal reflection blocking plate, the plurality of internal reflection blocking plate is provided on the progress path of the sensing light, and the upper internal reflection blocking plate to block the sensing light reflected upward by the cover portion , It may be provided below the progress path of the sensing light, it may include a lower internal reflection blocking plate to block the sensing light reflected downward by the cover portion.

In addition, further comprising a rotating mirror for deflecting the sensing light and the reflected light, the internal reflection blocking plate may be configured to be spaced apart from the rotating mirror.

In addition, the internal reflection blocking plate may be made of a light absorbing material.

In addition, it may further include an internal reflection blocking tube that surrounds the light source unit and protrudes a predetermined length in the form of a tube along the path of the sensing light.

In order to achieve the above object, a rider having an internal reflection blocking structure according to another embodiment of the present invention includes: a light transmitting unit outputting sensing light toward a target, and sensing reflected light reflected and incident by the target A light receiving part, a body part supporting the light transmitting part and the light receiving part, and a cover part positioned on a traveling path of the sensing light and the reflected light to cover a portion of the body part to block the inflow of foreign substances, and an inner peripheral surface of the cover part At least one internal reflection blocking groove is provided to block light reflected in the internal reflection blocking groove of the cover portion.

In addition, the internal reflection blocking groove, the sensing light is located on the progress path of the sensing light, the front portion for transmitting the sensing light, and the upper portion of the progress path of the sensing light, the sensing light reflected upward by the front portion It may be composed of an upper side portion for blocking, and a lower side portion positioned below the progress path of the sensing light and blocking the sensing light reflected downward by the front portion.

In addition, the plurality of internal reflection blocking grooves may be formed, and the plurality of internal reflection blocking grooves may be formed to be spaced apart from each other.

In addition, it may further include an internal reflection blocking tube that surrounds the light source unit and protrudes a predetermined length in the form of a tube along the path of the sensing light.

In addition, the at least one internal reflection blocking tube may be made of a light absorbing material.

In addition, it may further include an internal reflection blocking tube that surrounds the light source unit and protrudes a predetermined length in the form of a tube along the path of the sensing light.

A rider having an internal reflection blocking structure according to the present invention can be provided with an internal reflection blocking plate or an internal reflection blocking groove, thereby blocking the sensing light reflected from the cover using an internal reflection blocking plate or an internal reflection blocking groove. Therefore, a position recognition error caused by internal reflection can be prevented.

The rider having an internal reflection blocking structure according to the present invention is provided with an internal reflection blocking structure adjacent to the cover portion, so that it is easy to manufacture and assemble.

1 is a perspective cross-sectional view of a lidar having an internal reflection blocking structure according to an embodiment of the present invention.
FIG. 2 is a perspective view of a lidar having an internal reflection blocking structure with the housing removed in FIG. 1.
3 is a partial cross-sectional view of a lidar having an internal reflection blocking structure shown in FIG. 1.
4A to 4D are perspective views illustrating various forms of the internal reflection blocking plate shown in FIGS. 1 and 3.
5 is a view showing a progress path of the sensing light in the lidar without an internal reflection blocking plate.
6 is a view showing a progress path of the sensing light in the lidar equipped with an internal reflection blocking plate.
7 is a perspective cross-sectional view of a lidar having an internal reflection blocking structure according to another embodiment of the present invention.
8 is a view showing a progress path of the sensing light in the lidar equipped with an internal reflection blocking groove.

Hereinafter, exemplary embodiments disclosed herein will be described in detail with reference to the accompanying drawings, but the same or similar elements are assigned the same reference numbers regardless of the reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "modules" and "parts" for the components used in the following description are given or mixed only considering the ease of writing the specification, and do not have meanings or roles distinguished from each other in themselves.

In addition, in the description of the embodiments disclosed herein, when it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed herein, detailed descriptions thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed in the specification is not limited by the accompanying drawings, and all modifications included in the spirit and technical scope of the present invention , It should be understood to include equivalents or substitutes.

When an element is said to be "connected" or "connected" to another component, it is understood that other components may be directly connected to or connected to the other component, but may exist in the middle. It should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprises" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described herein, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the essential features of the present invention.

Hereinafter, a lidar having an internal reflection blocking structure according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6.

1 is a perspective cross-sectional view of a lidar having an internal reflection blocking structure according to an embodiment of the present invention, and FIG. 2 is a perspective view of a lidar having an internal reflection blocking structure with the housing removed in FIG. 1. And FIG. 3 is a partial cross-sectional view of a lidar having an internal reflection blocking structure shown in FIG. 1. Since the rider having the internal reflection blocking structure shown in FIG. 1 is a cross-sectional view of the center portion, the rest of the unshown portion has a shape symmetrical to the shape shown in FIG. 1.

1 to 3, the lidar 10 includes a light transmitting part 100, a light receiving part 200, a rotating mirror part 300, a housing 400, and an internal reflection blocking plate 500.

The transmitting unit 100 includes a light source unit 110 for outputting sensing light, a transmitting lens 120 for collecting the sensing light (SL) so as not to emit, and an internal reflection blocking tube (blocking the sensing light reflected from the inside) 130).

The light source unit 110 may generate the sensing light SL and output it in the target direction or output it in the target direction through the rotating mirror 310.

The light source unit 110 is disposed on the upper surface of the insulating unit 340. A plurality of light source units 110 may be provided to increase the output of the sensing light.

The light source unit 110 receives power from the power supply unit through the insulation unit 340. Also, the light source unit 110 may receive a control signal from the control unit through the insulating unit 340.

The transmitting lens 120 collects the sensing light SL, which is a radiation beam generated by the light source unit 110, and converts it into parallel light, and outputs it in one direction toward the target. In order to increase the light collecting efficiency, the light transmitting lens 120 may be configured in plural.

The internal reflection blocking tube 130 surrounds the light source unit 110 and is formed to protrude a certain length in the form of a tube along the path of the sensing light. At least one of the inner circumferential surface and the outer circumferential surface of the inner reflection blocking tube 130 may be formed of a light absorbing material and a transmissive material. Accordingly, the sensing light SL internally reflected by the cover 410 may be blocked by the internal reflection blocking tube 130 made of a light absorbing material.

1 to 3, the inner reflection blocking tube 130 is illustrated in a cylindrical shape having the same diameter at one end and the other end, but is not limited thereto. That is, the diameter of the inner reflection blocking tube 130 at one end and the other end may be formed differently, and the cross section of the inner reflection blocking tube 130 may be formed in a polygonal shape.

In particular, it is preferable that the cross-sectional area of the inner reflection blocking tube 130 is provided in a form that becomes wider toward the top. Such a structure effectively prevents the sensing light reflected internally from proceeding to the light sensing unit when the sensing light does not pass through the cover portion and internal reflection occurs.

The light receiving unit 200 includes a light sensing unit 210 for sensing reflected light RL and a concave mirror 220 for condensing the reflected light RL to the light sensing unit 210.

The light sensing unit 210 detects reflected light (RL) reflected and incident from the target. Meanwhile, when the reflected light RL from the target is deflected by the rotating mirror 310, the light sensing unit 210 detects the reflected light RL deflected by the rotating mirror 310.

The concave mirror 220 condenses the reflected light RL to the light sensing unit 210 using a concave hemispherical reflective surface. Meanwhile, the concave mirror 220 may be replaced with a light receiving lens capable of converging the reflected light RL to the light sensing unit 210.

The rotating mirror unit 300 includes a rotating mirror 310, a mirror connection unit 320, and a rotating motor 330.

The rotating mirror 310 deflects the sensing light SL output from the light transmitting unit 100 toward the target, and deflects the reflected light RL reflected and incident from the target toward the light receiving unit 200. That is, the sensing light SL output from the light transmitting unit 100 and the reflected light RL reflected by the target from the target are deflected by one rotating mirror 310.

The rotating mirror 310 is connected to the mirror connection unit 320 and is rotationally driven by rotational driving of the rotating motor 330. Accordingly, the rider can output the sensing light SL within the rotational driving range and sense the reflected light RL reflected from the target and returning.

The light source unit 110 is provided on the upper surface of the insulating unit 340, and the light sensing unit 210 is provided on the lower surface of the insulating unit 340.

The insulating portion 340 may be formed of any one of a printed circuit board, a flexible circuit board, and a circuit board.

The insulating portion 340 may be provided in a bar shape. When the insulating portion 340 is in the form of a bar, one end of the insulating portion 340 is provided with a light source portion 110 and a light sensing portion 210, and the other end of the insulating portion 340 is the housing 400, the body 420 ), Fixed to the concave mirror 220 may be supported.

The housing 400 forms the appearance of the lidar 10. The housing 400 includes a body 420 supporting an internal configuration and a light transmissive cover 410.

The body 420 supports internal components including the light transmitting unit 100, the light receiving unit 200, and the rotating mirror unit 300, and blocks external foreign matter from flowing into the lidar.

Since the body 420 is made of a material that is not light transmissive, it is possible to block the inflow of light other than reflected light. Unlike this, when the body 420 is made of a light-transmitting material, the body 420 may be integrally formed with the cover portion 410.

The body 420 may be formed with a hollow portion to which the cover portion 410 is coupled on the traveling path of the sensing light SL and the reflected light RL. Alternatively, the body 420 may be formed by separating the upper portion and the lower portion, and the cover portion 410 may be coupled between the upper portion and the lower portion of the body 420.

Although the body 420 is illustrated in a cylindrical shape having the same area on the top and bottom surfaces, the area of the top and bottom surfaces may be configured differently, and the top and bottom surfaces may be formed of polygons other than circular.

The cover part 410 is located on the traveling path of the sensing light SL and the reflected light RL, and covers a part of the body part 420, that is, the hollow part, to block the inflow of foreign substances.

The cover part 410 is made of a light-transmitting material, and transmits the sensing light SL and the reflected light RL.

The internal reflection blocking plate 500 may be provided adjacent to the inner circumferential surface of the cover portion 410 and supported by the cover portion 410. Alternatively, the internal reflection blocking plate 500 is provided adjacent to the inner circumferential surface of the cover portion 410, but may be supported by the body 420. Meanwhile, the internal reflection blocking plate 500 may be integrally formed with the cover portion 410.

The anti-reflection plate 500 is made of any one of a reflective material, a light transmitting material, and a light absorbing material. In particular, the anti-reflection plate 500 is preferably made of a light absorbing material to block the sensing light reflected from the cover portion.

When the rotating mirror 310 deflects the sensing light in the horizontal direction, the internal reflection blocking plate 500 is provided in a plate shape parallel to the horizontal plane along the inner circumferential surface of the cover portion 410. The internal reflection blocking plate 500 blocks the sensing light SL reflected upward or downward by the inner circumferential surface of the cover portion 410.

The internal reflection blocking plate 500 may be a plurality. The plurality of internal reflection blocking plates 500 include an upper internal reflection blocking plate 510 and a lower internal reflection blocking plate 520.

The upper internal reflection blocking plate 510 is provided adjacent to the inner circumferential surface of the cover portion 510 and is provided on the progress path of the sensing light, that is, on the upper portion of the transmission path, and the sensing light reflected upward by the cover portion 410 ( SL). In addition, the lower internal reflection blocking plate 520 is provided adjacent to the inner circumferential surface of the cover portion 510 and is provided below the traveling path of the sensing light SL to sense the sensing light reflected downward by the cover portion 410. Cut off.

In particular, the distance between the upper internal reflection blocking plate 510 and the lower internal reflection blocking plate 520 is preferably set larger than the cross-sectional diameter of the transmission path. In addition, it is preferable that the upper internal reflection blocking plate 510 is disposed on the upper portion of the transmission path, and the lower internal reflection blocking plate 520 is disposed below the transmission path. According to the above structure, the sensing light reflected upward and downward by the cover part 410 by the upper and lower internal reflection preventing plates 510 and 520 can be effectively blocked.

4A to 4D are perspective views illustrating various forms of the internal reflection blocking plate shown in FIGS. 1 and 3.

4A and 4B, the plurality of internal reflection blocking plates 500 may be provided with a plurality of plates parallel to the horizontal surface or the bottom surface of the body 420 spaced apart from each other in the vertical direction to the bottom surface.

When the plurality of internal reflection blocking plates 500 are all parallel to the bottom surface of the body 420, the sensing light SL reflected upward and downward by the cover portion 410 may be blocked.

Alternatively, referring to FIGS. 4C and 4D, a plurality of plates perpendicular to the bottom surface of the body 420 may be additionally spaced apart from each of the plurality of inner reflection blocking plates 500 illustrated in FIGS. 4A and 4B.

When the plurality of internal reflection blocking plates 500 are composed of plates parallel to the bottom surface of the body 420 and plates perpendicular to each other, the sensing light SL reflected upward, downward, left, and right by the cover portion 410 ) Can be blocked.

In addition, when the plurality of internal reflection blocking plates 500 are composed only of plates perpendicular to the bottom surface of the body 420, sensing light SL reflected to the left and right sides by the cover 410 may be blocked. .

Meanwhile, when the internal reflection blocking plate 500 is provided alone, the internal reflection blocking plate 500 may be provided at an appropriate position to block the sensing light SL reflected from the inside.

The internal reflection blocking plate 500 may be formed of any one of the same material as the cover part 410, a mirror material, or a light absorbing material, and among them, light to increase the blocking efficiency of the sensing light reflected from the cover part 410 It is preferably composed of an absorbent material.

When the inner reflection blocking plate 500 is integrally formed with the cover portion 410, the upper and lower surfaces of the inner reflection blocking plate 500 are coated with a material of a light absorbing material or a sticker or tape of a light absorbing material is to be attached. You can.

5 and 6, the difference between the progress path of the sensing light in the lidar having no internal reflection blocking plate and the lidar having the internal reflection blocking plate will be described.

5 is a view showing a progress path of a sensing light in a lidar without an internal reflection blocking structure, and FIG. 6 is a view showing a progress path of a sensing light in a lidar equipped with an internal reflection blocking structure.

Referring to FIG. 5, in the case of a lidar having no internal reflection blocking structure, a part of the sensing light SL reflected upward and downward by the cover part 410 is a rotating mirror 310 and a concave mirror 220 ) Can be detected by the light sensing unit 210. Therefore, a position recognition error may occur in a lidar without an internal reflection blocking structure.

Referring to FIG. 6, in the case of a lidar equipped with an internal reflection blocking structure according to an embodiment of the present invention, the sensing light SL reflected from the cover portion 410 is blocked by the internal reflection blocking plate 500 do.

Specifically, the sensing light SL reflected upward by the cover portion 410 is blocked by the upper internal reflection blocking plate 510 provided on the upper portion of the transmission path, and reflected downward by the cover portion 410 The sensed light SL is blocked by a lower internal reflection blocking plate 520 provided at a lower portion of the transmission path.

In addition, the sensing light SL that is not blocked by the internal reflection blocking plate 500 may also be blocked by the internal reflection blocking tube 130.

As described above, the rider having an internal reflection blocking structure according to the present invention is provided with an internal reflection blocking plate 500, thereby blocking the sensing light SL reflected from the cover portion 410 and thereby detecting the position of the lidar. Occurrence can be prevented.

7 is a cross-sectional view of a lidar equipped with an internal reflection blocking structure according to another embodiment of the present invention, and FIG. 8 is a view showing a progress path of the sensing light in the lidar equipped with the internal reflection blocking structure shown in FIG. 7. .

A rider having an internal reflection blocking structure according to another embodiment has a configuration in which the internal reflection blocking plate is changed to an internal reflection blocking groove among the configurations of the lidar according to the previous embodiment. Hereinafter, only different configurations will be described.

Referring to FIG. 7, the rider according to another embodiment of the present invention includes an internal reflection blocking groove 600 formed on the inner circumferential surface of the cover part 410.

In order to block the sensing light SL reflected from the inner circumferential surface of the cover portion 410, an internal reflection blocking groove 600 is provided along the circumference of the inner circumferential surface of the cover portion 410. The width of the internal reflection blocking groove 600 is formed to a size sufficient to accommodate the sensing light SL.

The internal reflection blocking groove 600 includes a front portion 610 entering the target direction from the cover portion 410, and an upper side portion 620 and a lower side portion formed by bending in opposite directions of the target from the upper end portion and the lower end portion of the front portion ( 630).

The front portion 610 is positioned on the progress path of the sensing light SL and transmits the sensing light SL. The upper side portion 620 is positioned above the traveling path of the sensing light SL and blocks the sensing light reflected upward by the inner circumferential surface of the cover portion 410, that is, the front portion 610 of the inner reflection blocking groove 600. do. In addition, the lower side portion 630 is located below the traveling path of the sensing light SL and blocks the sensing light reflected downward by the cover portion 410, that is, the front portion 610 of the internal reflection blocking groove 600. .

The upper side portion 620 and the lower side portion 630 except for the front portion 610 of the inner reflection blocking groove 600 may be composed of any one of the same material, mirror material, and light absorbing material as the cover part 410, , Of these, it is preferable to be composed of a light absorbing material.

On the other hand, when the upper side portion 620 and the lower side portion 630 is composed of a light absorbing material, the upper side portion 620 and the lower side portion 630 of the internal reflection blocking groove 600 are coated with a light absorbing material or absorbed light. A sticker of material can be attached.

Referring to FIG. 8, in the case of a lidar having an internal reflection blocking groove 600, the sensing light SL reflected from the front portion 610 of the internal reflection blocking groove 600 formed in the cover portion 410 Is blocked by the internal reflection blocking groove (600).

Specifically, the sensing light SL reflected upward by the front portion 410 is blocked by the upper side portion 620 of the internal reflection blocking groove 600 provided on the upper portion of the transmission path, and the front portion 410 The sensing light SL reflected downward by is blocked by the lower side portion 630 of the internal reflection blocking groove 600 provided in the lower portion of the transmission path.

In addition, the sensing light SL which is not blocked by the internal reflection blocking groove 500 may also be blocked by the internal reflection blocking tube 130.

In the case of a lidar having no internal reflection blocking structure, it is as described in FIG.

A rider having an internal reflection blocking structure according to the present invention can be provided with an internal reflection blocking plate or an internal reflection blocking groove, so that sensing light reflected from the cover can be blocked using an internal reflection blocking plate or an internal reflection blocking groove. Therefore, a position recognition error caused by internal reflection can be prevented.

 The rider having an internal reflection blocking structure according to the present invention is provided with an internal reflection blocking structure adjacent to the cover portion, so that it is easy to manufacture and assemble.

In addition, the rider having the internal reflection blocking structure according to the present invention is easy to manufacture and assemble because the internal reflection blocking structure is formed on the cover portion.

Accordingly, the above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

100: light transmitting unit 110: light source unit
120: transmission lens 130: internal reflection blocking tube
200: light receiving unit 210: light sensing unit
220: concave mirror 300: rotating mirror
310: rotating mirror 320: mirror connection
330: rotary motor 400: housing
410: cover portion 420: body
500: internal reflection blocking plate 510: upper internal reflection blocking plate
520: lower internal reflection blocking plate 600: internal reflection blocking groove
610: front portion 620: upper side portion
630: lower side

Claims (10)

A transmitter for outputting sensing light toward a target;
A light-receiving unit that detects reflected light incident by the target;
A body part supporting the light transmitting part and the light receiving part;
A cover portion positioned on a path of the sensing light and the reflected light and covering a portion of the body portion to block the inflow of foreign substances; And
It is provided adjacent to the inner circumferential surface of the cover portion, the line having an internal reflection blocking structure, characterized in that it comprises an inner reflection blocking plate for blocking the sensing light reflected by the inner circumferential surface of the cover portion.
According to claim 1,
A plurality of the internal reflection blocking plate,
The plurality of internal reflection blocking plate,
An upper internal reflection blocking plate which is provided on the progress path of the sensing light and blocks the sensing light reflected upward by the cover unit; And
A line having an internal reflection blocking structure, characterized in that it includes a lower internal reflection blocking plate which is provided below the progress path of the sensing light and blocks the sensing light reflected downward by the cover portion.
According to claim 1,
Further comprising a rotating mirror for deflecting the sensing light and the reflected light,
The internal reflection blocking plate is a line having an internal reflection blocking structure characterized in that it is configured to be spaced apart from the rotating mirror.
According to claim 1,
The internal reflection blocking plate is a line having an internal reflection blocking structure, characterized in that it is made of a light absorbing material.
According to claim 1,
A line having an internal reflection blocking structure, further comprising an internal reflection blocking tube surrounding a light source unit and protruding a predetermined length in the form of a tube along the path of the sensing light.
A transmitter for outputting sensing light toward a target;
A light-receiving unit that detects reflected light incident by the target;
A body part supporting the light transmitting part and the light receiving part;
Located on the traveling path of the sensing light and the reflected light and includes a cover portion covering a part of the body to block the inflow of foreign substances,
An inner reflection blocking groove is provided on the inner circumferential surface of the cover portion, and a line having an internal reflection blocking structure is characterized in that it blocks the sensing light reflected in the inner reflection blocking groove of the cover portion.
The method of claim 6,
The internal reflection blocking groove,
Located on the progress path of the sensing light, the front portion for transmitting the sensing light;
An upper side portion which is located above the progress path of the sensing light and blocks the sensing light reflected upward by the front part; And
A line having an internal reflection blocking structure, which is located at a lower portion of the progress path of the sensing light and is composed of a lower side part that blocks the sensing light reflected downward by the front part.
The method of claim 6,
The internal reflection blocking groove is plural, and the plurality of internal reflection blocking grooves are lined with an internal reflection blocking structure, characterized in that they are formed to be spaced apart from each other.
The method of claim 6,
The at least one internal reflection blocking tube is a line having an internal reflection blocking structure, characterized in that it is made of a light absorbing material.
The method of claim 6,
A line having an internal reflection blocking structure, further comprising an internal reflection blocking tube surrounding a light source unit and protruding a predetermined length in the form of a tube along the path of the sensing light.

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