| 摘要 |
PROBLEM TO BE SOLVED: To provide a laser radar device that can reduce a dead angle occurring due to dust adhered to a housing window.SOLUTION: A laser radar device 1 comprises: a housing window 3; a laser projection unit 5 that projects laser light; and a scan unit 6 that irradiates the laser light from the housing window 3 as scanning the laser light across a prescribed scan angle range. The housing window 3, which is rotatable along a scan direction of the laser light, comprises: a drive unit 86 that rotates the housing window 3; a drive control unit that causes the housing window 3 to rotate in synchronization with the scan of the laser light; and a dust determination unit that determines whether dust adheres to the housing window 3 of a location where the laser light is irradiated. On the basis of the determination of the dust determination unit that the dust adheres to the housing window 3 of the location where the laser light is irradiated, the drive control unit is configured to, after changing a direction of the laser light with which the housing window 3 is irradiated with a rotation angular velocity of the housing window 3 set to an angular velocity different from a scan angular velocity of the laser light, cause the housing window 3 to rotate again in synchronization with the scan of the laser light.SELECTED DRAWING: Figure 4 |
