KR102272659B1 - UNIVERAL ROTARY TYPE LIDAR SENONSOR SUSTEM TO DETECT OBSTACLES USING ToF - Google Patents

Abstract

The present invention provides a Time of Flight (ToF) sensor that calculates the return time of a laser pulse emitted toward an object from a first avalanche photo diode (APD), and an FPGA that drives the ToF sensor in real time. (Fiels Programmable Gate Array) a first unit including a driver and a PCB substrate on which the ToF sensor and the FPGA driver are arrayed; a second unit mounted with the first APD for reference and a laser diode electrically connected to the PCB substrate and serving as a light transmitting unit for sending the laser pulse to the object; and a second APD for light receiving that is electrically connected to the PCB substrate is mounted, is detachably connected to one side of the first unit, is disposed adjacent to the second unit, and is reflected from the object and returned From a configuration including a third unit serving as a light receiving unit for receiving the laser pulse, to a general-purpose rotating lidar sensor system for detecting obstacles applying ToF, which can be lightweight and compact with a relatively simple configuration. it's about

Description

Obstacle detection universal rotary lidar sensor system applying Tff {UNIVERAL ROTARY TYPE LIDAR SENONSOR SUSTEM TO DETECT OBSTACLES USING ToF}

The present invention relates to a general-purpose rotating lidar sensor system for detecting obstacles to which ToF is applied, and more particularly, to an obstacle detection general-purpose rotating lidar sensor system to which ToF is applied, which can be applied to autonomous vehicles, drones, or unmanned devices.

Recently, as interest in autonomous vehicles increases, the demand for LiDAR (Light Detection and Ranging) sensors, a key component, is growing. Since the sensor is expensive, it is an obstacle to popularization and dissemination.

For this reason, although there is a demand for various product groups incorporating lidar sensors in general industrial sites, it is impossible to apply to popularized products due to price barriers.

Invented from the above point of view, there may be mentioned the same as "Lidar device" (hereinafter referred to as prior art) of Patent Publication No. 10-2018-0014974.

The prior art is a light source emitting light of a predetermined wavelength band; a transmission mirror provided on an optical path through which the light of the predetermined wavelength band travels; a receiving mirror provided integrally with the transmitting mirror and configured to receive light from the outside; a light detector configured to obtain a distance-based 3D image by detecting a transmission/reception time difference or phase difference of light in the predetermined wavelength band; and a first mirror that is provided between the light source and the transmission mirror and reflects the light received by the reception mirror to the light detection unit.

However, the prior art is structurally very complicated, and there are many unnecessary parts such as a transmission/reception mirror, a light detection unit, and a first mirror, so that an installation space must be sufficiently secured, thereby increasing the volume and size of the entire device.

Above all, the prior art has a problem that does not match the trend of miniaturization and compactness of autonomous vehicles, drones, and unmanned devices.

Patent Publication No. 10-2018-0014974

The present invention was devised to improve the above problems, and to provide a general-purpose rotating lidar sensor system for detecting obstacles to which ToF is applied, which can be realized in a light weight and compact with a relatively simple configuration.

In addition, the present invention is to provide a low-cost, compact and reliable ToF-applied obstacle detection general-purpose rotary lidar sensor system.

In addition, the present invention is to provide a general-purpose rotating lidar sensor system for detecting obstacles to which ToF is applied, which can support various settings of the ToF sensor as well as build an integrated system that can implement a communication function capable of real-time monitoring.

In order to achieve the above object, the present invention is a ToF (Time of Flight) sensor for calculating the return time of the laser pulse emitted toward the object from the first avalanche photo diode (Avalanche Photo Diode, hereinafter APD), a first unit including a Fields Programmable Gate Array (FPGA) driver for driving the ToF sensor in real time, and a PCB board on which the ToF sensor and the FPGA driver are arrayed; A first APD and a laser diode for reference, which are electrically connected to the PCB board, are mounted, and a first flange through both ends that is detachably connected to one side of the first unit, and is connected to the first flange and an adapter through both ends having an outer diameter greater than that of the first flange, a first adjustable lens tube screwed to and out of the inner peripheral surface of the end of the adapter, and a first flat-convex lens seated and fixed to the first adjustable lens tube ( a second unit comprising a first plano-convex lens, the second unit serving as a light transmitting unit for sending the laser pulse to the object; And a second APD for light receiving that is electrically connected to the PCB substrate is mounted and is detachably connected to one side of the first unit, a second flange through both ends disposed adjacent to the second unit; , a second adjustable lens tube screw-coupled to and out of the inner circumferential surface of the end of the second flange, and a second flat-convex lens seated and fixed to the second adjustable lens tube, the laser pulse being reflected back from the object It is possible to provide a general-purpose rotating lidar sensor system for detecting obstacles to which the ToF is applied, characterized in that it includes a third unit serving as a light receiving unit for receiving.

Here, the first flange includes a ring disk-shaped first fixing piece detachably connected to one side of the first unit, and a first cylindrical connecting tube protruding along the inner edge of the first fixing piece. and the second flange includes a ring-disk-shaped second fixing piece detachably connected to one side of the first unit, and a cylindrical second connecting tube protruding along the inner edge of the second fixing piece. and the first APD and the laser diode are disposed in an inner region of the inner edge of the first fixing piece, and the second APD is disposed in an inner region of the inner edge of the second fixing piece.

In this case, the adapter includes a rim-shaped fixing rim that is caught along the inner circumferential surface of the end of the first flange, a ring disk-shaped support piece extending outwardly from the edge of the fixing rim, and an edge of the support piece It is characterized in that it includes a control tube having a cylindrical shape that protrudes along the first control lens tube is coupled.

In addition, a first adjusting female thread formed along the inner circumferential surface of the control tube, a first adjusting male screw thread formed on an outer circumferential surface of the first adjusting lens tube, and the first adjusting female screw thread and the first adjusting male screw thread are engaged In, it characterized in that it further comprises a first adjustment fixing ring engaged with the first adjustment male thread and screwed to press and fix the end surface of the adjustment tube.

In addition, a second adjusting female thread formed along the inner circumferential surface of the second connecting tube, a second adjusting male screw thread formed on the outer circumferential surface of the second adjusting lens tube, the second adjusting female screw thread and the second adjusting male screw thread In the engaged state, it characterized in that it further comprises a second adjustment fixing ring which is screwed in engagement with the second adjustment male thread and presses and fixes the end surface of the second connecting tube.

According to the present invention having the configuration as described above, the following effects can be achieved.

First, the present invention enables the implementation of light weight and compactness with a relatively simple configuration in which the second unit and the third unit are electrically connected to the first unit.

In particular, the present invention makes it possible to construct and provide a low-cost, compact and reliable system.

Above all, the present invention enables the construction of an integrated system capable of implementing a communication function capable of real-time monitoring as well as supporting various settings of the ToF sensor.

1 is a conceptual diagram showing the overall configuration of an obstacle detection general-purpose rotary lidar sensor system to which ToF is applied according to an embodiment of the present invention;
2 is an exploded perspective conceptual view showing the overall coupling relationship of the general-purpose rotary lidar sensor system for detecting obstacles to which ToF is applied according to another embodiment of the present invention;
3 is a conceptual diagram showing the overall configuration of an obstacle detection general-purpose rotary lidar sensor system to which ToF is applied according to another embodiment of the present invention;

Advantages and features of the present invention, and methods for achieving them, will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings.

However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms.

In the present specification, the present embodiment is provided to complete the disclosure of the present invention, and to fully inform those of ordinary skill in the art to which the present invention pertains to the scope of the present invention.

And the invention is only defined by the scope of the claims.

Accordingly, in some embodiments, well-known components, well-known operations, and well-known techniques have not been specifically described to avoid obscuring the present invention.

In addition, like reference numerals refer to like elements throughout the specification, and terms used (referred to) in this specification are for the purpose of describing the embodiments and are not intended to limit the present invention.

In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase, and elements and operations referred to as 'comprising (or having)' do not exclude the presence or addition of one or more other elements and operations. .

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs.

Also, terms defined in commonly used dictionary are not to be interpreted ideally or excessively unless defined.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

For reference, FIG. 1 is a conceptual diagram illustrating the overall configuration of an obstacle detection general-purpose rotating lidar sensor system to which ToF is applied according to an embodiment of the present invention.

In addition, FIG. 2 is an exploded perspective conceptual view showing the overall coupling relationship of the general-purpose rotating lidar sensor system for detecting obstacles to which ToF is applied according to another embodiment of the present invention.

In addition, FIG. 3 is a conceptual diagram showing the overall configuration of an obstacle detection general-purpose rotating lidar sensor system to which ToF is applied according to another embodiment of the present invention.

It can be understood that the present invention has a structure including a first unit 100 , a second unit 200 , and a third unit 300 as shown.

First, the first unit 100 is a ToF (Time of Flight) sensor 120 for calculating the return time of the laser pulse emitted toward the object from the first avalanche photo diode 110 (Avalanche Photo Diode, hereinafter APD). and a Field Programmable Gate Array (FPGA) driver 130 that drives the ToF sensor 120 in real time, and a PCB substrate 140 on which the ToF sensor 120 and the FPGA driver 130 are arrayed.

In addition, the second unit 200 is connected to one side of the first unit 100 to serve as a light transmitting unit for sending a laser pulse to an object, and includes a first flange 210 and an adapter 240 . and a first adjustable lens tube 220 and a first plano-convex lens 230 .

The first flange 210 is equipped with a first APD 110 and a laser diode 150 for reference that are electrically connected to the PCB substrate 140 and detachable from one side of the first unit 100 . It is a member of penetrating both ends connected to

The adapter 240 is a member that is connected to the first flange 210 and passes through both ends having an outer diameter larger than that of the first flange 210 .

The first adjustment lens tube 220 is a member that is screwed in and out of the inner peripheral surface of the end of the adapter 240 .

The first flat-convex lens 230 is seated and fixed to the first adjustment lens tube 220 and has an arc-shaped cross section.

The third unit 100 is connected to one side of the first unit 100 and serves as a light receiving unit for receiving a laser pulse that is reflected and returned from an object, and largely includes the second flange 310 and the second It can be seen that the structure includes the adjustment lens tube 320 and the second planar lens 330 .

First, the second flange 310 is mounted with a second APD 160 for light receiving that is electrically connected to the PCB substrate 140 and is detachably connected to one side of the first unit 100 to make the first 2 It is a member of the both ends which is arranged adjacent to the unit 200.

The second adjustment lens tube 320 is a member screwed in and out of the inner peripheral surface of the end of the second flange 310 .

The second flat-convex lens 330 is seated and fixed to the second adjustment lens tube 320 and has an arc-shaped cross section.

It goes without saying that the present invention can be applied to the above-described embodiments, and can also be applied to the following various embodiments.

First, the first flange 210, referring to FIG. 1 in more detail, the first fixing piece 211 of the ring disk shape detachably connected to one side of the first unit 100, and the first fixing It can be understood that the first connecting tube 212 of the cylindrical shape protruding along the inner edge of the piece 211 is included.

Here, it can be seen that the first APD 110 and the laser diode 150 are disposed in the inner region of the inner edge of the first fixing piece 211 .

Meanwhile, the second flange 310 protrudes along the inner edge of the ring disk-shaped second fixing piece 311 and the second fixing piece 311 detachably connected to one side of the first unit 100 . It can be understood that it includes a second connecting tube 312 of a cylindrical shape.

In this case, it can be seen that the second APD 160 is disposed in the inner region of the inner edge of the second fixing piece 311 .

On the other hand, the adapter 240 has a rim-shaped fixing rim 241 caught along the inner peripheral surface of the end of the first flange 210 and a ring disk shape extending outward from the edge of the fixing rim 241 . It can be understood that the support piece 242 of the , and the control tube 243 of a cylindrical shape protruding along the edge of the support piece 242 to which the first adjustment lens tube 220 is coupled.

Here, for the engagement of the adjustment tube 243 and the first adjustment lens tube 220, a first adjustment female thread 244, a first adjustment male screw thread 224, and a first adjustment fixing ring 250 may be further provided. may be

At this time, the first adjusting female thread 244 is formed along the inner circumferential surface of the control tube 243 , and the first adjusting male thread 224 is formed on the outer circumferential surface of the first adjusting lens tube 220 .

Accordingly, the first adjustment retaining ring 250 is threadedly engaged with the first adjustment male thread 224, with the first adjusting female thread 244 and the first adjusting male thread 224 engaged, and the adjusting tube 243 ) is pressed and fixed on the end face.

On the other hand, in order to engage the second connection tube 312 and the second adjustment lens tube 320, a second adjustment female thread 313, a second adjustment male thread 324, and a second adjustment fixing ring 340 are further added. Of course, it can be provided.

First, the second adjusting female screw thread 313 is formed along the inner circumferential surface of the second connecting tube 312 , and the second adjusting male screw thread 324 is formed on the outer circumferential surface of the second adjusting lens tube 320 .

Accordingly, the second adjustment retaining ring 340 is screwed into engagement with the second adjustment male thread 324 in the state in which the second adjustment female thread 313 and the second adjustment male thread 324 are engaged, and is screwed into the second connector tube. The end face of 312 is pressed and fixed.

On the other hand, the first adjustment lens tube 220, the first adjustment tube 221 having an outer circumferential surface screwed to the inner circumferential surface of the first adapter 240, and the first adjustment tube 221 extends stepwise from the edge of the distal end. It is formed and includes a first lens housing tube 222 having a larger inner diameter than the first adjustment tube (221).

In addition, the first adjustment lens tube 220 is installed in the first lens container 222 to regulate the separation of the first flat-convex lens 230 seated and fixed on the stepped surface of the first lens container 222 . and a first separation prevention ring 223 protruding from the inner circumferential surface and having an end edge in contact with the convex curved surface of the first flat-convex lens 230 .

In addition, the second adjustment lens tube 320, a second adjustment tube 321 having an outer circumferential surface screwed to the inner circumferential surface of the second flange 310, and the second adjustment tube 321 extending stepwise from the edge of the distal end It is formed and includes a second lens receiving tube 322 having a larger inner diameter than the second adjustment tube (321).

In addition, the second adjustment lens tube 320 is installed in the second lens container 322 to regulate the separation of the second flat-convex lens 330 seated and fixed on the stepped surface of the second lens container 322 . and a second separation prevention ring 323 protruding from the inner circumferential surface and having an end edge in contact with the convex curved surface of the second flat-convex lens 330 .

As such, it can be seen that the distance from the end of the laser diode 150 to the focal point of the first plano-convex lens 230 is the same as the distance from the end of the second APD 160 to the focal point of the second plano-convex lens 330 .

Meanwhile, in the present invention, as shown in FIG. 2 , the second unit 200 and the third unit 300 are mounted, and the lidar module 500 rotates the second unit 200 and the third unit 300 forward and reverse. ) may be further provided.

The lidar module 500 includes a body block 510 having a connection port 511 for fixing the second unit 200 and the third unit 300 and electrically connecting to the first unit 100 . may include

In addition, the lidar module 500 may include a body block 510 and a lower casing 520 that supports the second unit 200 and the third unit 300 .

In addition, the lidar module 500 covers the body block 510 and the second unit 200 and the third unit 300 and engages the lower casing 520 to engage the body block 510 and the second unit 200 . ) and an upper casing 530 accommodating the third unit 300 may be included.

And, the lidar module 500, a first coupling groove 521 that is recessed to the lower side on the front side of the lower casing 520, and a second coupling that is recessed to the upper side on the front side of the upper casing 530. It may include a front cover piece 512 in which two installation holes 513 are formed to engage the groove 531 and to fix the ends of the second unit 200 and the third unit 300 .

And, the lidar module 500 is disposed on the lower side of the lower casing 520, the main block 510 and the second unit 200 and the third unit 300 accommodated in the lower casing 520, It may include a servomotor 540 that generates a driving force for reverse rotation.

In addition, the lidar module 500 is disposed on the lower side of the servomotor 540 between the servomotor 540 and the PCB board electrically connected to the second unit 200 and the third unit 300 . It may include an insulating plate 550 for performing electrical insulation.

In addition, the lidar module 500 may include a cable 560 that electrically connects the PCB board and the connection port 511 to each other, and has a connector 561 engaged with the connection port 511 at an end thereof. have.

In addition, the lidar module 500 may include a slip ring 570 wrapped around the outer surface of one side of the cable 560 and inserted into the through hole 541 penetrating the upper and lower surfaces of the servomotor 540 .

In addition, the lidar module 500 is fixed in engagement with the lower surface of the lower casing 520 , the servomotor 540 , the insulating plate 550 , the cable 560 and the base 580 for accommodating the slip ring 570 . may include.

Accordingly, the second and third units 200 and 300 fixed to the body block 510 are servomotors 540 in which the upper and lower casings 530 and 520 accommodating the body block 510 are accommodated in the base 580 . It will be possible to maneuver to avoid obstacles by searching for objects over a wide viewing angle while interlocking the forward and reverse rotations.

On the other hand, the present invention enables monitoring by forward and reverse rotation of the body block 510 on which the second and third units 200 and 300 as shown in FIG. 2 are mounted, as well as the first unit 100 as shown in FIG. 3 . Of course, it is also possible to apply the embodiment in which the second unit 200 and the third unit 300 are rotatably mounted in all directions with respect to one side of the.

To this end, it is provided between one side of the first unit 100 and the second unit 200 , and between one side of the first unit 100 and the third unit 300 , respectively, and one side of the first unit 100 . It may further include a fourth unit 400 for rotating the second unit 200 and the third unit 300 in the forward direction at the same time or separately with respect to the.

The fourth unit 400 may include a first ball joint 411 extending from an end of the first flange 210 toward the first unit 100 .

In addition, the fourth unit 400 may include a first joint fitting 421 provided on one side of the outer surface of the first ball joint 411 .

In addition, the fourth unit 400 may include a first joint insert 422 that is fitted to the first joint receiver 421 and is rotatable in all directions.

And, the fourth unit 400 may include a first link rod 431 extending from the first joint insert 422 .

In addition, the fourth unit 400 may include a first rotating plate 441 having a disk shape to which an end of the first link rod 431 is inclinedly coupled.

In addition, the fourth unit 400 may include a first driving motor 451 having a first driving shaft 451s coupled to the center of the first rotating plate 441 .

In addition, the fourth unit 400 may include a second ball joint 412 extending from the end of the second flange 310 toward the first unit 100 .

In addition, the fourth unit 400 may include a second joint fitting 423 provided on one side of the outer surface of the second ball joint 412 .

In addition, the fourth unit 400 may include a second joint insert 424 that is fitted to the second joint receiver 423 and is rotatable in all directions.

In addition, the fourth unit 400 may include a second link rod 432 extending from the second joint insert 424 .

Also, the fourth unit 400 may include a second rotating plate 442 having a disk shape to which an end of the second link rod 432 is inclinedly coupled.

In addition, the fourth unit 400 may include a second driving motor 452 having a second driving shaft 452s coupled to the center of the second rotating plate 442 .

Accordingly, as the first drive motor 451 and the second drive motor 452 simultaneously or individually rotate the first drive shaft 451s and the second drive shaft 452s in the same or opposite directions forward and reverse, the first It will be possible to perform avoidance maneuvers by detecting objects within a wide and high field of view in real time according to the detailed omnidirectional rotation of the 2nd and 3rd units 300 .

As described above, it can be seen that the present invention has a basic technical idea to provide a general-purpose rotating lidar sensor system for detecting obstacles to which ToF is applied, which can realize light weight and compactness with a relatively simple configuration.

And, within the scope of the basic technical spirit of the present invention, many other modifications and applications are also possible for those of ordinary skill in the art.

100...first unit
110...first avalanche photodiode, first APD
120...ToF sensor
130...FPGA driver
140...PCB board
150...laser diode
160...Second APD
200...2nd unit
210...First Flange
211...the first fixed piece
212... first connector
220...first adjustable lens tube
221...first control cylinder
222...First Lens Receptacle
223...First release prevention ring
224...first adjustment male thread
230...First flat-convex lens
240...adapter
241...Fixed rim
242...
243...control box
244...first adjusting female thread
250...first adjustment retaining ring
300...3rd unit
310...second flange
311...Second fixed piece
312...Second connector
313...Second adjustment female thread
320...second adjustable lens tube
321...2nd control cylinder
322...Second Lens Receptacle
323...Second release prevention ring
324...2nd adjustment male thread
330...2nd flat-convex lens
340...Second adjustment retaining ring
400...4th unit
411... 1st ball joint
412...2nd ball joint
421... 1st joint apparatus
422... 1st joint shovel
423...Second joint apparatus
424...Second joint shovel
431...first link rod
432...Second Link Rod
441...First rotating plate
442...Second Rotating Plate
451 ... first drive motor
451s...first drive shaft
452...2nd drive motor
452s...2nd drive shaft
500...Lidar module
510...Body block
511...connection port
512...Front cover
513...Installation hole
520...lower casing
521 ... first coupling groove
530...upper casing
531...Second coupling groove
540...Servo motor
541...
550...insulated plate
560...cable
561...connector
570...slip ring
580...bass
h... The distance from the end of the laser diode 150 to the focal point of the first plano-convex lens 230 , and the distance from the end of the second APD 160 to the focal point of the second plano-convex lens 330 .

Claims (5)

A Time of Flight (ToF) sensor that calculates a return time of a laser pulse emitted from a first avalanche photo diode (APD) toward an object, and a Fields Programmable (FPGA) that drives the ToF sensor in real time Gate Array) a driver, a first unit including a PCB substrate on which the ToF sensor and the FPGA driver are arrayed;
A first APD and a laser diode for reference, which are electrically connected to the PCB board, are mounted, and a first flange through both ends that is detachably connected to one side of the first unit, and is connected to the first flange and an adapter through both ends having an outer diameter greater than that of the first flange, a first adjustable lens tube screwed to and out of the inner peripheral surface of the end of the adapter, and a first flat-convex lens seated and fixed to the first adjustable lens tube ( a second unit comprising a first plano-convex lens, the second unit serving as a light transmitting unit for sending the laser pulse to the object;
A second APD for light receiving that is electrically connected to the PCB substrate is mounted, and a second flange that is detachably connected to one side of the first unit and is disposed adjacent to the second unit through both ends of the flange; a second adjustable lens tube screwed to and out of the inner circumferential surface of the end of the second flange, and a second flat-convex lens seated and fixed to the second adjustable lens tube, wherein the laser pulse reflected from the object is returned. a third unit serving as a receiving light receiving unit; and
provided between one side of the first unit and the second unit, and between one side of the first unit and the third unit, the second unit and the third unit in an omnidirectional direction with respect to one side of the first unit a fourth unit for rotating the units simultaneously or separately;
The fourth unit is
a first ball joint extending from an end of the first flange toward the first unit;
a first joint fitting provided on one side of the outer surface of the first ball joint;
A first joint shovel that is fitted to the first joint socket and is rotatable in all directions,
a first link rod extending from the first joint insert;
A first rotating plate having a disk shape to which an end of the first link rod is inclinedly coupled;
a first drive motor having a first drive shaft coupled to a central portion of the first rotary plate;
a second ball joint extending from an end of the second flange toward the first unit;
a second joint fitting provided on one side of the outer surface of the second ball joint;
A second joint shovel that is fitted to the second joint socket and is rotatable in all directions,
a second link rod extending from the second joint insert;
a second rotating plate having a disk shape to which an end of the second link rod is inclinedly coupled;
Obstacle detection universal rotary lidar sensor system to which ToF is applied, characterized in that it comprises a second drive motor having a second drive shaft coupled to the center of the second rotary plate.
The method according to claim 1,
The first flange,
A first fixing piece in the shape of a ring disk that is detachably connected to one side of the first unit;
and a first connecting tube having a cylindrical shape protruding along the inner edge of the first fixing piece,
The second flange,
a second fixing piece in the shape of a ring disk detachably connected to one side of the first unit;
and a second connecting tube having a cylindrical shape protruding along the inner edge of the second fixing piece,
The first APD and the laser diode are disposed in the inner region of the inner edge of the first fixing piece,
The second APD is a general-purpose rotary lidar sensor system for detecting obstacles to which ToF is applied, characterized in that it is disposed in an inner region of the inner edge of the second fixing piece.
The method according to claim 1,
The adapter is
A fixing rim in the shape of a rim that is caught along the inner circumferential surface of the end of the first flange;
A ring disk-shaped support piece extending outwardly from the edge of the fixing rim;
Obstacle detection universal rotary lidar sensor system to which ToF is applied, characterized in that it protrudes along the edge of the support piece and includes a cylindrical adjustment tube to which the first adjustment lens tube is coupled.
4. The method according to claim 3,
a first adjusting female thread formed along the inner circumferential surface of the control tube;
a first adjusting male thread formed on an outer circumferential surface of the first adjusting lens tube;
In a state in which the first adjusting female screw thread and the first adjusting male screw thread are engaged, it further comprises a first adjusting fixing ring engaged with the first adjusting male screw thread and screwed and pressing and fixing the end surface of the adjusting tube. Obstacle detection universal rotary lidar sensor system with ToF applied.
3. The method according to claim 2,
a second adjusting female thread formed along the inner circumferential surface of the second connecting tube;
a second adjustment male thread formed on an outer circumferential surface of the second adjustment lens tube;
In a state in which the second adjusting female screw thread and the second adjusting male screw thread are engaged, the second adjusting fixing ring is threadedly engaged with the second adjusting male screw thread and further comprising a second adjusting fixing ring for pressing and fixing the end surface of the second connecting tube. A general-purpose rotating lidar sensor system for detecting obstacles to which ToF is applied.

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