KR102609619B1 - Lidar optical apparatus - Google Patents

Abstract

The present invention relates to a lidar optical device, wherein the device includes a main housing having a circular pillar shape of a certain height, a fixed body that is fixed and operates inside the main housing, and a rotating body that rotates and operates. The motor stator includes a fixed substrate fixed to the inner lower side of the main housing for power and data processing and a fixed ferrite core formed along the upper circumference of the fixed substrate to generate a rotating magnetic field, The rotating body includes a motor rotor having a rotating ferrite core that generates rotating power by the rotating magnetic field of the motor stator, a rotating substrate that rotates 360 degrees by coupling with the motor rotor and interlocks with the fixed substrate, and The present invention relates to a lidar optical device that includes a barrel-type laser module consisting of a laser emitter and a laser receiver coupled to the upper side of the rotating substrate, and enables transmission and reception of laser light while the scan angle is adjusted by a mems mirror.

Description

LIDAR OPTICAL APPARATUS}

The present invention relates to a LiDAR optical device, and more specifically, to a LiDAR optical device that consists of a laser module that rotates by a motor and enables transmission and reception of laser light while the scan angle is adjusted by a MEMS mirror.

Recently, LIDAR (LIght Detection And Ranging), a laser radar device, has been widely used to detect surrounding terrain or objects in cars or mobile robots.

This LIDAR is a device that fires pulsed laser light into the atmosphere and uses reflected light from reflectors or scatterers in the atmosphere to measure distances, objects, or atmospheric phenomena. The time of the reflected light is calculated as a clock pulse, and its frequency is usually 30. It has a resolution of 5m at MHz and 1m at 150MHz.

In this way, LIDAR irradiates laser light to the surrounding area and uses the time and intensity of the reflected light that is reflected by surrounding objects or terrain to measure the distance, speed, and shape of the object to be measured, or to accurately measure surrounding objects or terrain. Scan properly.

These LIDARs are widely applied in various fields such as sensors for detecting obstacles in front of robots and unmanned cars, radar guns for speed measurement, aerial geo-mapping devices, 3D ground surveys, and underwater scanning.

However, because existing LIDAR emits a laser with a wide beam width corresponding to the angle of view and obtains the distance from the reflector by simultaneously acquiring reflected light from all directions within the angle of view, it requires a laser module with very high output, and therefore The problem is that it is very expensive. In addition, laser modules with high output are large in size and serve as a factor in increasing the overall size of the LiDAR device.

In addition, in the case of a conventional scanning LIDAR, when a polygonal mirror is applied to scatter the reflection and refraction angle of the laser, the mirror surface must be large when light is incident in parallel, which places a limit on the rotation speed. In order to overcome these speed limitations, eliminate spindle motor noise generated during high-speed response, and reduce the size of the optical scanning unit, a new mechanism that can replace the spindle motor and polygon mirror is required.

Due to the structure of this device, the conventional scanning lidar has poor performance in concentrating scans on a specific area of interest, cannot irradiate various laser patterns, and increases manufacturing costs due to the use of multiple laser emitters and light receivers. It has complex drawbacks.

In addition, most LiDAR devices equipped with panoramic scanning functions are configured so that the entire device, including the transmitting optical system and the receiving optical system, operates in rotation. However, when the entire device is rotated, the size of the device becomes larger, which not only looks unattractive, but also further aggravates the problem of increased prices and power consumption.

Therefore, a lidar optical device that can improve efficiency by using a relatively low-complexity structure and control algorithm and simplifies the device is required.

As a conventional technology for such a LiDAR optical device, a LiDAR device is disclosed in Republic of Korea Patent Publication No. 10-1977315 (May 20, 2019).

The conventional technology includes a laser output unit that emits a laser; a rotating multi-faceted mirror that has a multi-faceted pillar shape with a through hole formed therein, rotates along a rotation axis and reflects the laser emitted from the laser output unit toward an object; A cooling fan used to dissipate heat generated from the laser output unit and generates an airflow passing through the through hole, and installed on the rotating multi-faceted mirror; and a driving unit that provides rotational force to the cooling fan, wherein the cooling fan rotates with the provided rotational force, is coupled to the rotating multi-sided mirror, and is integrated with the rotating multi-sided mirror along the rotation axis of the rotating multi-sided mirror. It provides a rotating LiDAR device, and is equipped with an optical scanning unit using a MEMS (micro electro-mechanical system) structure that can replace an optical scanning unit using a polygonal mirror, thereby reducing the system size and providing a polygonal mirror. There is a difference from the present invention, which is intended to replace .

The present invention was created to solve the problems of the prior art. The purpose of the present invention is to improve the performance of the LiDAR device by constructing a laser module that rotates 360 degrees according to the motor rotor that rotates by the rotating magnetic field of the motor. The goal is to provide a lidar optical device that can simplify its structure and operation.

In addition, the present invention provides a LiDAR optical device that can transmit power between a rotating body and a fixed body in a non-contact manner and can transmit data by optical communication transmission and reception.

In addition, the present invention provides a lidar optical device with increased detection resolution by applying MEMS MIRROR to increase the number of laser reception channels and the field of view (FoV) of the scan area.

The present invention to solve the above technical problem is a lidar optical device for transmitting and receiving laser light, including a main housing having a circular pillar shape of a certain height, a 360° formed area along the side of the main housing, and a laser beam. It consists of a window made of a light-transmitting member to facilitate the transmission of light and protect the main housing, a fixture that is fixed and operates inside the main housing, and a rotating body that rotates and operates, wherein the fixture is a part of the main housing. It includes a motor stator that is fixed to the inner lower side and has a fixed substrate for power and data processing and a fixed ferrite core formed along an upper circumference of the fixed substrate to generate a rotating magnetic field, and the rotating body is the motor. A motor rotor having a rotating ferrite core that generates rotational power by the rotating magnetic field of the stator, a rotating substrate that rotates 360 degrees by coupling with the motor rotor and interlocking with the fixed substrate, and an upper side of the rotating substrate. It is characterized by being equipped with a barrel-type laser module consisting of a laser light emitting unit and a laser receiving unit for transmitting and receiving laser light.

Accordingly, the barrel-type laser module of the present invention is made in the form of an integrated barrel structure bent in a diagonal direction, and is equipped with a photodiode (PD) that receives laser light on one side and a laser diode (LD) that emits laser light, and a middle beam in the middle. A reflective mirror that allows the path of the laser light to be bent is disposed at the bending point, and a laser lens is formed on the other side, so that the laser emitting part and the laser receiving part are formed in an integrated barrel structure.

In addition, the barrel-type laser module of the present invention is divided into an upper upper part and a lower lower part, and the upper part has a straight barrel structure with a photodiode (PD) disposed on one side and a laser lens provided at the front end at a certain distance. It is a laser light receiving part, and the lower part is provided with a laser diode (LD) on one side bent in a straight line, a reflective mirror is provided to bend the path of the laser light emitted at the midpoint and reflects it, and the other side is located at the bottom of the laser lens of the upper part. It may be characterized as a laser light emitting unit in the shape of a rectangular-shaped barrel consisting of a laser lens disposed in.

The reflective mirror of the present invention may be characterized as a MEMS (Micro Electro Mechanical System) mirror that scans laser light by a scanning mirror while controlling and adjusting the divergence angle according to a seesaw rotation movement at a certain inclination angle.

In addition, the laser light emitting unit of the present invention is characterized in that laser light is emitted by either a single laser diode or a module consisting of a plurality of laser diodes.

Additionally, the laser light receiving unit of the present invention may include any one of a PIN photodiode, an avalanche photodiode (APD), or a silicon photomultiplier (SiPM).

Additionally, the laser light receiving unit of the present invention may include a light receiving sensor configured in any one of the following types: a TO (Transistor Outline) CAN package, an SMD package, or a micro cell array.

In addition, the present invention provides a non-contact method from the fixed body to the rotating body by generating an induced current by the fixed ferrite fixed to the fixed substrate of the fixed body and the rotating body ferrite rotating on the rotating substrate of the rotating body. It may be characterized by supplying power.

In addition, the present invention provides an optical communication transmitting and receiving means or a low-power wireless communication means between the fixed substrate of the fixed body and the rotating substrate of the rotating body for data transmission and reception for interworking between the fixed substrate of the fixed body and the rotating substrate of the rotating body. Any one of them may be provided.

Accordingly, the optical communication transmitting and receiving means of the present invention is equipped with infrared (IR) transmitting and receiving sensors aligned to face each other in the central portion of the rotating substrate that coincides with the central portion of the fixed substrate, and uses a wireless communication IrDA (Infrared Data Association) method. It can be done.

In addition, the low-power wireless communication means of the present invention uses a radio wave (RF) method using any one of a Bluetooth transmitting and receiving module and a ZigBee transmitting and receiving module provided at a specific position of the fixed substrate of the fixture and the rotating substrate of the rotating body. You can.

According to the above-described LiDAR optical device, the MEMS mirror applied to the laser module provided on the rotating body increases the FoV (Field of View) of the scan area and has the effect of increasing detection resolution.

In addition, the present invention constructs a LiDAR optical device using a MEMS mirror that rotates in horizontal and vertical axes, which has the effect of solving the problems of noise generation and limitations in scanning speed and miniaturization caused by conventional polygonal mirrors.

In addition, the present invention has the advantage of simplifying the LiDAR device by applying the principle of a motor configuration consisting of a fixed body and a rotating body, and using a relatively low complexity drive control algorithm, thereby improving efficiency.

1 is a perspective view showing the external shape of a lidar optical device according to the present invention,
Figure 2 is a perspective view showing the internal configuration of the lidar optical device according to the first embodiment of the present invention;
Figure 3 is an exemplary diagram showing the internal configuration of the laser module of the lidar optical device according to Figure 2,
Figure 4 is an exemplary diagram showing the transmission operation of laser light by a MEMS mirror rotating at a certain angle according to the present invention;
Figure 5 is a perspective view showing the internal configuration of a lidar optical device according to a second embodiment of the present invention;
FIG. 6 is an exemplary diagram showing the internal configuration of the laser module according to FIG. 5.

Terms or words used in this specification and claims should not be construed as limited to their common or dictionary meanings, and the inventor may appropriately define the concept of terms in order to explain his or her invention in the best way. It must be interpreted with meaning and concept consistent with the technical idea of the present invention based on the principle that it is.

Therefore, the embodiments described in this specification and the configuration shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, and therefore, various equivalents that can replace them at the time of filing the present application It should be understood that variations and variations may exist.

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

Figure 1 is a perspective view showing the external shape of a lidar optical device according to the present invention.

As shown in FIG. 1, the LiDAR optical device of the present invention includes a main housing 100 having a circular pillar shape of a certain height and a window 110 formed at 360° in a certain area along the side of the main housing 100. do.

The window 110 may be made of a light-transmitting member to facilitate laser light transmission into and out of the LiDAR optical device and to protect the main housing 100.

FIG. 2 is a perspective view showing the internal configuration of a LiDAR optical device according to an embodiment of the present invention, and FIG. 3 is an exemplary diagram showing the internal configuration of the LiDAR optical device laser module according to FIG. 2.

Accordingly, the LiDAR optical device according to an embodiment of the present invention consists of a fixed body 200 that is fixed and operated within the main housing 100 and a rotating body 300 that operates while rotating.

Accordingly, in the present invention, mechanically, the fixture 200 is referred to as a fixed unit of a motor, and the rotating body 300 is referred to as a part that rotates by the rotating magnetic field of the fixture 200, The fixture 200 has a structure to which a motor stator 220, that is, a motor stator, is applied, and the rotating body 300 has a structure to which a motor rotor (not shown), that is, a rotor, is applied. can see.

Therefore, it can be seen that the rotating body 300 and the laser module 400 coupled to the upper part are formed to rotate together by electromagnetic induction of the fixture 200.

To explain this in detail, the fixture 200 is a component device that is coupled and fixed to the lower part of the main housing 100 and includes a fixing board (main PCB) 210 and a motor stator 220.

The fixed substrate 210 is fixed to the inner lower side of the main housing 100 and interlocks with the rotating body 300, receives external power and transmits power to the rotating body 300, and the rotating body ( 300) performs the function of receiving and processing laser scanning data.

In this case, the fixed substrate 210 may perform the function of transmitting a control signal that synchronizes the laser light emission timing of the laser module 400 and the set timing to the rotating substrate 310.

Additionally, the fixed substrate 210 may include a control unit that controls the functions of the fixed body 200 and the rotating body 300. The control unit may be implemented to control the on-off operation and rotation speed for rotation of the rotating body 300, or to transmit received laser scanning data to an external device.

This control unit may be implemented with at least one device selected from a logic circuit, programming logic controller, microcomputer, microprocessor, etc., and may include a communication module or be coupled to a communication module. The communication module communicates with external devices through intranet, Internet, vehicle network, etc., and can transmit signals or data related to targets detected through laser scanning or distance in space to external devices.

The motor stator 220 is a fixed module that generates a rotating magnetic field in the motor rotor on the upper side of the fixed substrate 210, and includes a stator frame, a fixed ferrite core, and a stator coil. Thus, it can be formed along the outer circumference of the fixing substrate 210.

And the rotating body 300 rotates by coupling with a motor rotor (not shown), which rotates by the rotating magnetic field of the motor stator 220, and rotates in conjunction with the fixed substrate 210. It is comprised of a substrate 310 and a laser module 400 for transmitting and receiving laser light on the upper side of the rotating substrate 310.

The motor rotor is formed inside the motor stator 220, includes a rotating ferrite core and a rotor winding, and is a module that rotates according to the rotation principle of the motor according to the generation of a rotating magnetic field of the motor stator 220. .

Accordingly, for the motor rotor, ferrite may be used, each having a winding frame inserted into the inner ring space of the motor stator 220 and a coil wound on the outside of the winding frame. That is, the motor rotor has a structure in which a rotating ferrite core is formed with an internal through hole, and a winding frame is provided in the ring space inside the ferrite core so that a coil can be wound.

The ferrite core is a magnetic iron core made of ferrite, and is a ferromagnetic element used as a transformer or inductor core by utilizing the characteristics of high magnetic permeability and low conductivity. In this embodiment, a ferrite core is used, which has a cylindrical ring structure with a space such as a hollow hole or through hole formed on the inside, and is formed so that a coil can be wound inside and inserted into the inner ring space. The ferrite core may also be referred to as ferrite.

In the present invention, for convenience of explanation, the ferrite core can be divided into rotating ferrite and stationary ferrite, and the rotating ferrite and stationary ferrite have structures that are symmetrical to each other. Accordingly, the performance of the electromagnetic induction amount may depend on the amount of coil winding and the distance between the rotating ferrite and the stationary ferrite. For example, as the amount of windings wound on the coil increases and the separation distance becomes closer, the yield due to electromagnetic induction can increase.

The motor rotor is provided with a support structure, a bearing structure, or similar mechanical means to support the load of the rotating body 300 and enable rotation of the rotating body 300, so that the rotating body 300 rotates smoothly.

The rotating substrate 310 is coupled to the motor rotor, and a laser module 400 for transmitting and receiving laser light is disposed on the upper side, and a laser emitting portion of the laser module 400 and a laser receiving portion receiving laser light It includes a driving circuit and a power supply circuit.

At this time, the rotating substrate 310 is supplied with current by the induced current of the fixed substrate 210, and its operation is controlled according to the laser light transmission and reception control signals by the control unit in conjunction with the fixed substrate 210. , and includes means for transmitting the reception signal of the laser light received from the laser light receiving unit to the fixed substrate 210.

Accordingly, in the present invention, a non-contact power transmission method (Non Contact Power Supply) is used to transmit power between the stationary body 200 and the rotating body 300.

This power transmission method involves a ferrite or outer coil fixed to the fixed substrate 210 of the fixture and a ferrite or inner coil rotating on the rotating substrate 310 of the rotating body 300. A method of supplying power from the fixed body 200 to the rotating body 300 may be applied due to the generation of induced current. Power supplied through a non-contact power transmission method is configured to be used as power for the laser module 400. Accordingly, the fixture 200 may include a device that receives external power.

In addition, in the present invention, in order to transmit and receive data for interlocking between the fixed body 200 and the rotating body 300, optical communication is established between the fixed substrate 210 of the fixed body and the rotating substrate 310 of the rotating body. Either a transmitting/receiving means or a low-power wireless communication means may be provided.

The optical communication transmitting and receiving means is a data transmitting means using light, and is provided with a hollow portion in the central portion of the rotating substrate 310 that coincides with the central portion of the fixed substrate 210. Infrared rays (IR) are aligned to face each other in the hollow portion. It is equipped with an Infrared Rays (IR) transmission and reception sensor and enables data transmission and reception using the wireless communication IrDA (Infrared Data Association) method.

In addition, the low-power wireless communication means is a transmission means using a radio wave (RF) method, and is located at a specific location between the fixed substrate 210 of the fixed body and the rotating substrate 310 of the rotating body using either the Bluetooth method or the ZigBee method. Data transmission and reception can be accomplished through a transmission/reception module using any one of the following.

It can be seen that the laser module 400 according to an embodiment of the present invention is bent in an inverted direction as shown in FIG. 2 and is formed in the form of a barrel to prevent external leakage of laser light.

As shown in FIG. 3, the internal configuration of the barrel structure includes a side provided with a photodiode 420 for receiving laser light and a laser diode 410 for emitting laser light on one side, and a bend in the middle. A reflective mirror 430 is disposed so that the path of the laser light can be bent at a point, and a laser lens is formed on the other side so that the reception and reception of laser light is incident and emitted according to the structure of the barrel.

At this time, the reflection mirror 430 uses a MEMS (Micro Electro Mechanical System) mirror that is adjusted to accurately deflect the incident laser light by a scanning mirror so that it reaches the target point. The reflecting mirror 430 in the present invention refers to a MEMS mirror.

The MEMS mirror, also called a MEMS scanning mirror, is a reflective mirror that scans while controlling the divergence angle according to rotational movement at a certain inclination angle on the X and Y axes, that is, the horizontal and vertical axes.

That is, the MEMS mirror has a structure that resonates and seesaws oscillation by an external force. This MEMS mirror can be driven by an electrostatic or piezoelectric drive method, and the electromagnetically driven MEMS mirror is small and driven at a low voltage. It has the advantage of low power consumption.

This MEMS mirror forms a metal coil on a single crystal silicon, forms a mirror inside the coil through MEMS processing, places a magnet under the mirror, and can be implemented as an actuator using the electromagnetic field or magnetic field generated by the magnet. The mirror reflection angle can be induced by generating a Lorentz force based on the Fleming induction law of the current flowing in the coil surrounding the mirror in a magnetic field. Therefore, the path of the laser light incident on the mirror surface can be scanned and projected according to periodic rotation of a certain angle in this way.

Figure 4 is an exemplary diagram showing a laser light transmission operation by a MEMS mirror rotating at a certain angle according to the present invention, illustrating rotation to have an inclination angle in the X-axis direction.

At this time, a circuit board such as a Flexible Printed Circuit Board (FPCB) or a Printed Circuit Board (PCB) may be connected to the MEMS mirror 430, and this circuit board allows the laser light reflected from the MEMS mirror to be transmitted and received at a preset level. A MEMSmirror control module or MEMSmirror control driver is used to limit the tilt angle and rotation range of the mirror to the horizontal and vertical axes to cover the scanning range of the laser light, and to automatically align it on an external target. It can be included.

The MEMS mirror control module allows the MEMS mirror to operate according to a rotational movement at a certain tilt angle up and down (vertically) around the horizontal axis, as shown in FIG. 4.

Therefore, in the laser module according to the first embodiment of the present invention, laser light by one laser diode or laser light by a plurality of laser diodes is emitted, and the path is bent by the MEMS mirror to be reflected and diverged. , The MEMS MIRROR rotates around the horizontal axis so that the divergence angle of the laser beam can be controlled.

Accordingly, the first embodiment of the present invention seeks to provide a laser module 400 that rotates and scans 360 degrees while transmitting and receiving laser light in an integrated barrel structure while being reflected through a MEMS mirror.

Additionally, FIG. 5 is a perspective view showing the internal configuration of a LiDAR optical device according to a second embodiment of the present invention, and FIG. 6 is an exemplary diagram showing the internal configuration of the laser module according to FIG. 5.

As shown in Figures 5 and 6, another embodiment of the present invention illustrates that the laser module 400 is configured by duplicating the paths of the laser emitting unit and the laser receiving unit.

Accordingly, in the dual configuration of the laser module according to the second embodiment of the present invention, the laser module is divided into an upper upper part (400a) and a lower lower part (400b).

The upper part 400a has a structure in which only the laser light receiving part is formed by the photodiode 420a, and has the shape of a straight barrel consisting of a photodiode 420a disposed on one side and a laser lens provided at the front end at a certain distance.

Accordingly, the lower part 400b has a structure in which a laser light emitting part is formed by a laser diode 410a, and the laser diode 410a is provided on one side bent in an inverse direction, and a reflective mirror bends the path of the laser light emitted at the midpoint and reflects it. (430a) is provided, and is in the shape of a convex-shaped barrel made of a laser lens disposed at the bottom of the laser lens of the upper part 400a so that the laser light is transmitted in the same direction as the direction in which the laser light of the upper part 400a is received. It comes true. Therefore, it can be seen that the lower part 400b has a structure in which only the laser light receiving part is separated from the barrel structure of the above-described first embodiment. At this time, the reflecting mirror is implemented through a MEMS mirror and is the same as the first embodiment.

As such, the second embodiment of the present invention is intended to provide a laser module in which the laser module 400 is configured to be separated into upper and lower parts, and the laser light is transmitted and received in different barrel structures while rotating and scanning 360 degrees.

In the present invention, the laser diode (Laser Diode) 410, 410a provided in the laser emitting unit is a configuration that includes means for emitting laser light, and the spatial spread of the wave is uniform, the phase is regular, and the laser emits light. A module consisting of at least one or more light-emitting elements that output light.

Additionally, the photodiodes 420 and 420a provided in the laser light receiving unit may be implemented using either a single cell photodiode or a light receiving sensor comprised of a plurality of array cells.

That is, the photodiodes 420 and 420a have a structure in which laser light is received by a single photo cell made of a TO (Transistor Outline) cap type CAN package with a certain diameter, or a substrate-mounted (SMD) type. A structure in which laser light is received by a plurality of photo cells by applying a plurality of photodiodes, or a structure in which laser light is received by configuring a plurality of photodiodes in the form of a micro cell array. It can consist of a package that applies any one type.

Accordingly, the photodiodes 420 and 420a may be implemented using either a positive-intrinsic-negative (PIN) type photodiode or a high-sensitivity avalanche photodiode (APD), and may be implemented using a silicon photomultiplier (SiPM). The so-called silicon photomultiplier may have a structure formed in an array using a solid-state single-photon avalanche diode (SPAD)-based solid-state single-photon detection sensor implemented as an avalanche photodiode on a silicon substrate.

It is natural that the present invention as described above can be modified in various ways other than the above-described embodiments. The LiDAR device of the present invention can be generally applied to vehicles, but the present invention is not limited to this. In other words, the lidar optical device according to the present invention can be applied not only to vehicles, but also to mobile devices that can move, such as robots, ships, helicopters, and drones, and can also be applied without limitation to fixed devices with limited movement, such as buildings, pillars, and towers. You can.

Although the present invention has been described above with reference to preferred embodiments, those skilled in the art can make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as set forth in the claims. You will understand.

100: main housing 110: window
200: fixture 210: fixture substrate
220: motor stator 300: rotor
310: Rotating board 400: Laser module
400a: upper part 400b: lower part
410, 410a: laser diode 420, 420a: photodiode
430, 430a: Reflection mirror

Claims (12)

In the lidar optical device for transmitting and receiving laser light,
A main housing having a circular pillar shape of a certain height; A fixture fixed inside the main housing; And a rotating body that rotates and operates inside the main housing,
The fixture includes a motor stator that is fixed to the inner lower side of the main housing and is provided with a fixed substrate for power and data processing and a fixed ferrite core that is formed along the upper circumference of the fixed substrate and generates a rotating magnetic field. ,
The rotating body includes a motor rotor having a rotating ferrite core that generates rotating power by the rotating magnetic field of the motor stator, and a rotating substrate that rotates 360 degrees by coupling with the motor rotor and interlocks with the fixed substrate. , and a barrel-type laser module consisting of a laser emitting unit and a laser receiving unit coupled to the upper side of the rotating substrate,
The barrel-type laser module is divided into an upper upper part and a lower lower part, and the upper part is a laser light receiving part of a straight barrel structure with a photodiode (PD) disposed on one side and a laser lens provided at the front end at a certain distance,
The lower part is provided with a laser diode (LD) on one side that is bent in an inverse direction, a reflective mirror is provided to bend the path of the laser light emitted at the midpoint and reflects it, and on the other side, a laser lens is disposed at a position below the laser lens of the upper part. A lidar optical device characterized in that the laser light emitting unit consists of a barrel shape in the form of a rectangular barrel. In claim 1,
The barrel-type laser module is made in the form of an integrated barrel structure that is bent diagonally, and is equipped with a photodiode (PD) that receives laser light on one side and a laser diode (LD) that transmits laser light, and a laser diode (LD) that transmits laser light at one side. A lidar optical device characterized in that a reflective mirror is disposed to bend the path of the laser light, and a laser lens is formed on the other side, so that the laser emitting part and the laser receiving part are included in an integrated barrel structure. delete In claim 2,
The reflective mirror is a lidar optical device characterized in that it is a MEMS (Micro Electro Mechanical System) mirror that scans laser light by a scanning mirror while controlling and adjusting the divergence angle according to a seesaw rotation movement at a certain inclination angle. In claim 2,
The laser light emitting unit is a lidar optical device characterized in that laser light is emitted by either a single laser diode or a module consisting of a plurality of laser diodes. In claim 2,
The laser light receiving unit is a lidar optical device characterized in that it includes one of a PIN photodiode, an avalanche photodiode (APD), or a silicon photomultiplier (SiPM). In claim 2,
The laser light receiving unit is a lidar optical device characterized in that it includes a light receiving sensor configured in one of the following types: a TO (Transistor Outline) CAN package, an SMD package, or a micro cell array. In claim 1,
Power is supplied from the fixed body to the rotating body in a non-contact manner due to the generation of induced current by the fixed ferrite fixed to the fixed substrate of the fixed body and the rotating body ferrite rotating on the rotating substrate of the rotating body. Lidar optical device characterized in that. In claim 1,
In order to transmit and receive data for interworking between the fixed substrate of the fixed body and the rotating substrate of the rotating body, either an optical communication transmitting and receiving means or a low-power wireless communication means is used between the fixed substrate of the fixed body and the rotating substrate of the rotating body. A lidar optical device characterized in that it is provided. In claim 9,
The optical communication transmitting and receiving means is equipped with infrared (IR) transmitting and receiving sensors that are aligned to face each other in the central portion of the rotating substrate, which coincides with the central portion of the fixed substrate, and is characterized in that the wireless communication IrDA (Infrared Data Association) method is used. lidar optical device. In claim 9,
The low-power wireless communication means is characterized in that it uses a radio wave (RF) method using any one of a Bluetooth transmitting and receiving module and a ZigBee transmitting and receiving module provided at a specific position on the fixed substrate of the fixed body and the rotating substrate of the rotating body. It is an optical device. In claim 1,
The main housing is formed at 360° in a certain area along the side to facilitate the transmission of laser light and is provided with a window made of a light-transmissive member to protect the main housing.