KR20180011510A - Lidar sensor system for near field detection - Google Patents

Abstract

The present invention suggests a flasher sensor system of a near field detection type which emits a pulsed laser light source beam at a full 360-degree angle range by using a beam transmission optical system and a horn-shaped polyhedral reflector, and detects a nearby object and terrain at high speed by observing the 360-degree angular range as a high frame rate speed by using two or more fixed photodetector modules. The present invention provides a lidar sensor system of a near field detection type which can be applied to the automatic parking of a high-speed vehicle, the prevention of collision of obstacles such as a robot and a drone, an unmanned aerial vehicle, and the like, and safety automatic landing. The lidar sensor system includes an optical transmission module; a light receiving module; a drive board; and an external power and signal connection terminal.

Description

[0001] LIDAR SENSOR SYSTEM FOR NEAR FIELD DETECTION [0002]

The following explanations are applicable not only for autonomous parking and proximity object detection, terrain analysis and collision prevention of automobiles, but also for anti-collision systems in robots and drones, and for 3D scanning, military and aerospace objects and terrain recognition. To a flashlight sensor system using a fixed-type ultrarapulgent light source and a multi-photodetector array to detect near objects and to observe a 360-degree range.

In recent years, researches and developments have been actively conducted on autonomous parking, detection of proximity objects, and collision avoidance structures of automobiles, and these ladder structures are used not only for vehicles but also for robots and drones, military / aerospace observations and scans It is highly utilized. Although various structures of vehicle ladder have been developed and reported, there is a somewhat inadequate disadvantage in the near field detection technology that can detect all directions and be priced at a fixed optical system.

(US Pat. No. 8,072,581), a light source and a photodetector are arranged side by side so as to detect a certain range of angles. In order to illuminate a light source, A zoom lens is used and a lens optical system capable of collecting reflected light is disposed in the photodetector sensor. The observation range of the Lada has a structure limited to the forward direction in which the light source and the photodetector array are directed, and thus has a disadvantage in that it can not detect the entire angular range of 360 degrees.

Other conventional flashlide technologies include a light sensor for measuring a three-dimensional image, a light sensor for measuring a two-dimensional image, a light beam splitter, and a flash circuit fixed to a common electronic circuit board (US 7,961, 301). Since Lada observes a given angle, it has a disadvantage in that it has to rotate the whole in order to observe the angle of 360 degrees.

Another conventional flashlider technique (US Pat. No. 8,736,818) proposed a structure that adjusts the range of light irradiation in an acousto-optic manner for ground measurement in air, rendezvous, docking, landing, robot adjustment, . In the case of the above structure, a function of actively deflecting the irradiation direction of light is required, and in order to observe the angular range of 360 degrees, the entire system must be rotated.

A US patent (US 8,655,513) proposes a method of obtaining map information based on image frame data with a reflection signal observed by a flashlight and ultimately securing the position and the flight information of the carrier. The above patent does not disclose the specific structure and function of the flashlight.

In another conventional technique, a Q-switched laser pulse and a laser pulse reflected from a gated camera are detected in the same manner as the laser pulse speed, thereby obtaining moving image information of the target object. The structure also uses a method of observing a certain range, and in order to observe all the angles of 360 degrees, there is a disadvantage that the entire Lada system must be rotated.

US Pat. No. 20150219764 proposes a ladder structure in which a plurality of surface emitting lasers (VCSELs) are arranged in a semicircle or a circle to observe an angular range of 180 degrees or 360 degrees. This structure has a drawback that a large number of high power surface emitting lasers are required.

A US patent (US 8,885,889) proposes a patent for a function that acts as a parking aid by recognizing nearby objects using a 3D flashlight. In the above patent, the structure and function of the flash lidar have not been disclosed.

Another US patent (US 9,285, 477) suggests a scan-type ladder structure that scans a mirror to observe a specific area. In this patent, a method of observing a certain range at 360 degrees is used, and in order to observe all angles of 360 degrees, there is a disadvantage that the entire Lada system must be rotated.

Korean Patent Laid-Open Publication No. 1990-0006795 proposes a radar sensor system using non-visible light pulses. The above-mentioned patent does not disclose a specific structure for observing all angles of 360 degrees.

In another prior art, Korean Patent Laid-Open Publication No. 10-2015-0116239 proposes a scan type laser diode structure including a laser emitting portion, a laser receiving portion, and a rotary motor portion capable of rotating the entire body. The above structure requires a driving device that rotates the entire body, and has a disadvantage of lowering the detection speed or the rotation speed.

Conventional flashlight technology is mainly used for landing or navigation of satellites or unmanned aerial vehicles. Researches on high - resolution image analysis technology using a photodetector array with a laser pulse and a reflected signal are introduced to the peripheral terrain and the object - sensing flashlight for landing of the spacecraft. Non-patent document [A. Bulushev, et al., Applied Optics 53 (12), 2583 (2014)], [G. Zhou, et al., "Advances of flash lidar development onboard UAV, Intern. Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences (XXII ISPRS), vol. XXXIX-B3, Melbourne, Australia (Aug. 25 - Sept. 1, 2012)] uses a flashlidar technique in a specific direction and does not provide a specific structure for observing all angles of 360 degrees.

Most of the above-mentioned conventional techniques are proposed to cover a 360-degree angle by observing a specific direction, rotate or scan in most cases, or to use a large number of laser die rods, It is difficult to implement a 360-degree sensing flasher with a simple structure without the use of a flash memory.

SUMMARY OF THE INVENTION The object of the present invention is to provide an optical detector module that observes an angle range of 360 degrees with two or more fixed photodetector modules at a frame speed of a high speed screen recognition mode of a photodetector, The object of the present invention is to provide a 360 degree observation type flashlight sensor system capable of detecting high-speed surrounding objects and obstacles by irradiating light at 360 degrees through a reflector and receiving light reflected from an observation object through a photodetector array.

According to one embodiment, the RL sensor system for short range sensing includes an optical transmission module that reflects a pulsed laser light source using a polyhedral reflector of a predetermined shape; A light receiving module for detecting light reflected from the pulsed laser light source through at least one photodetector array and an optical system; And a drive board for driving and signal processing the light source, the optical transmission module, and the light reception module; And an external power source and signal connection terminal for connecting the power source and the signal.

The optical transmission module includes: a laser module for emitting a high-power pulse laser beam to the pulsed laser light source; An optical system comprising a plurality of lenses for guiding the laser beam, wherein the plurality of lenses have a combination of lenses and an interval of lenses adjusted based on an angular range of 360 degrees; A support for supporting the plurality of lenses; And a reflector module for reflecting the laser beam based on the angle range of 360 degrees. The reflector module adjusts the number of the reflecting mirrors according to the configuration of the photodetector array of the light receiving module, One observation characteristic can be obtained.

Wherein the laser module comprises a pulsed laser diode, a pulse-driven semiconductor laser, a gain-switched semiconductor laser, a direct current-modulated semiconductor laser or an optical fiber laser as the pulsed laser light source or a pulsed laser light source driven by a continuous oscillation semiconductor laser and an external modulator Can be used.

Wherein the number of the reflecting mirrors is determined based on an observation angle of the photodetector array and the optical system set of the light receiving module, and the angle of the horn of the reflector module and the angle The curvature of the side reflecting surface of the reflecting mirror can be determined according to the irradiation range of the laser beam.

The light receiving module includes: an optical system for receiving light reflected from the pulsed laser light source; At least one photodetector array arranged to sense light received from the optical system in an angular range of 360 degrees; Wherein the photodetector array and the optical system are made of a transparent window and the input ends of the optical detector array and the optical system are made of transparent windows, The angular range of 360 degrees in total can be observed by detecting the horizontal angle range in which the number of the photodetector arrays is divided.

The light receiving module may include a narrowband transmission filter that removes noise and a signal other than the optical signal and transmits only the wavelength of the light source.

The optical system can be configured by determining the number and size of the photodetector array and the specifications and optical layout of the dual optical lens in consideration of an angle range and an angular resolution to be observed.

The photodetector array may include at least one of an Avalanche photodiode array, a CCD, a CMOS photodetector array, and a phototransistor.

According to another aspect of the present invention, the optical transmission module is provided inside a case having a side surface transparent with a structure in which a pulsed semiconductor laser and the optical system are attached to each inclined side surface of a polyhedral pyramid structure type laser mount, The structure to which the optical system is attached may be composed of a pulse type laser package, a laser beam forming lens, the pulse type laser package, and a mount for supporting the laser beam forming lens.

According to one embodiment, the RL sensor system for close range sensing comprises: a pulsed laser and an optical amplifier driver for acquiring a pulsed laser light source at a predetermined output or higher; A photodetector array driver and a video signal processor for driving at least one photodetector array and processing the measured video signals according to the number of photodetector arrays and optical system sets; An overall controller and signal analyzer for controlling the pulse laser and the optical amplifier driver, the photodetector array driver and the video signal processor, and analyzing signals of the observed light source; And an overall control unit for analyzing the signal received from the photodetector array driving unit and the video signal processing unit and controlling the safety management of the vehicle by transmitting a signal to the vehicle when necessary.

The present invention can detect all objects in a horizontal direction at a high speed at the same time without moving parts through a sensor system. . In addition, it has the advantage of being able to be used for prevention of collision of drones, robots, unmanned airplanes, etc. and safety landing as well as prevention of collision of the vehicle with automatic parking.

FIG. 1 is an overall configuration diagram of a sensor system for short range sensing according to an exemplary embodiment.
FIG. 2 is a configuration diagram illustrating a pulse-type light source and an irradiation optical system in the RRD sensor system according to an embodiment of the present invention.
FIG. 3 is an internal configuration diagram for explaining an example of a pulsed light source used in a sensor system for short range sensing according to an exemplary embodiment.
FIG. 4 is an illustration for explaining a reflector module in a sensor system for short distance sensing according to an exemplary embodiment.
FIG. 5 is a structural view illustrating a light receiving module in a sensor system for short range sensing according to an exemplary embodiment. Referring to FIG.
FIG. 6 is another example of the overall configuration of the RL sensor system for short range sensing according to an exemplary embodiment.
FIG. 7 is an internal configuration diagram of an optical transmission module in the sensor system for the near-distance sensing in FIG.
FIG. 8 is a block diagram for explaining a configuration of a sensor system for short range sensing according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

In the following embodiments, a plurality of two-dimensional photodetector arrays and a set of optical systems are configured to always observe the entire 360-degree angle, and the pulse-type light source is constructed by using a beam transmission optical system and a horn-shaped polyhedral reflector, We propose a flashlidar sensor structure capable of detecting high-speed peripheral objects and obstacles while illuminating the range.

FIG. 1 is an overall configuration diagram of a sensor system for short range sensing according to an exemplary embodiment.

The near infrared ray detector system 1000 is a system capable of observing 360 degrees and is composed of a pulsed light source capable of covering a 360 degree range of a vertical angle range and a horizontal angle range and a horn-shaped inclined polyhedron reflection type A light source module, a light source module, a light source module, a light source module, and a light source module, the light source module, the light source module, and the light source module, A driving board 310 for controlling and driving the receiving module, and an external power source and signal connection terminal for connecting a power source and a signal.

In FIG. 1, the RL sensor system 1000 includes three fixed-type photodetector arrays and an optical system set 400, each of which has an angular range of 120 degrees or more, so that three of them can detect the entire 360 degrees of angular range A driving board 310, an external case 300, an external power source, and a driving signal connection unit 320, which are installed inside the light receiving module 200 and are capable of controlling and driving the light source and the photodetector module, .

The light source irradiation optical system 100 may include a laser module 110 that emits a pulse laser, an optical system 120 that determines an irradiation angle of laser light, a 360 degree reflector 130, and a case 140 that is transparent on the side. At this time, the lower end portion 141 of the case 140 is not necessarily transparent.

The light receiving module 200 may be constituted by at least one or more than one according to an observation angle range of the individual fixed type photodetector array and the optical system set 400. If the fixed angle photodetector array and the optical system set 400 have an observation angle range of 180 degrees or more, they may be arranged in two opposite directions.

FIG. 2 is a configuration diagram illustrating a pulse-type light source and an irradiation optical system in the RRD sensor system according to an embodiment of the present invention.

2 (a) is a schematic diagram for explaining a pulse-type light source and an irradiation optical system 100 of the sensor system 100 for short range detection. FIG. 2 (b) shows the detailed structure inside the pulse-type light source and the irradiation optical system 100. FIG.

The pulsed light source and irradiation optical system 100 includes a laser module for emitting a high-power pulse laser beam as a pulsed laser light source, an optical system including a plurality of lenses for guiding the laser beam, a support for supporting a plurality of lenses, And a reflector module that reflects the laser beam based on the reflector module.

In other words, the pulsed light source and irradiation optical system 100 includes a pulsed laser light source 110, a laser output end 111 for outputting a pulsed laser, a lens for guiding the laser beam of the pulsed laser light source to a beam at an appropriate angle, A support base 122 for supporting the lens 1 120 and the lens 2 121 and a reflector module 130 for reflecting the pulsed light source in the 360 degree direction, Lt; / RTI >

The reflector module 130 has at least three mirror planes, and the number of faces of the reflector is determined based on the observation angle of the photodetector array and the optical system set of the light receiving module. The angle of the horn of the reflector module, The curvature of the side reflecting surface of the laser beam can be determined according to the irradiation range of the laser beam. Further, a light source module composed of a pulsed laser and an optical lens may be attached to each side of the reflector, which is formed of a horn-shaped polyhedron.

For example, the reflector module 130 may be composed of a transparent window 132 having a plurality of mirror surfaces 131 and having a pyramidal structure and being externally anti-reflective coated. The reflector of the multi-faceted pyramid structure can be composed of a reflector whose numerical reflection surface number is adjusted according to the configuration of the photodetector array of the light receiving module, and a conical shape made of a uniform reflective surface is also possible. The optical system consisting of the lens 1 120 and the lens 2 121 can adjust the appropriate lens combination and the distance between the lenses according to the observation angle range in the vertical direction and adjust the distance between the lenses 1 120, And the distance between the laser output stage can be used.

Accordingly, the reflector module 130 can acquire uniform observation characteristics in an angle range of 360 degrees by adjusting the number of reflectors according to the configuration of the photodetector array of the light receiving module.

FIG. 3 is an internal configuration diagram for explaining an example of a pulsed light source used in a sensor system for short range sensing according to an exemplary embodiment.

3 (a) is composed of a pulsed laser 112, a laser output stage 111, and a laser drive circuit board 113, according to an embodiment of the pulse laser light source 110 in FIG. Depending on the distance range to be observed and the receiving sensitivity of the photodetector array measuring the reflected light, it is necessary to select a suitable light source. The pulsed laser 112 may be a pulse-driven semiconductor laser, an optical fiber laser, or the like.

3 (b) is a schematic diagram of a pulse laser light source 110 according to another embodiment of the present invention. In the case where an optical pulse of an output of a predetermined reference or more is required, An amplifier 115, an amplified laser output 111, and a laser and an optical amplifier driving circuit board 116. The pulsed laser 113 may be a pulse-driven semiconductor laser, and may be a direct-current-modulated semiconductor laser, a gain-switched semiconductor laser, or a direct current-modulated semiconductor laser, or a pulsed laser light source driven by an external optical modulator .

FIG. 4 is an illustration for explaining a reflector module in a sensor system for short distance sensing according to an exemplary embodiment.

The reflector module 130 may have the form of a pyramidal structure having a plurality of side mirror surfaces. 4 (a) shows a case having three mirror surfaces, FIG. 4 (b) shows a case having four mirror surfaces, FIG. 4 (c) shows a case having six mirror surfaces, And FIG. 4 (e) show the concave and convex curved mirror surfaces. FIG. 4 (f) shows the conical shape with the side mirror surfaces. FIGS. And has a curved mirror surface.

The reflector module 130 may determine the number of reflective surfaces depending on the number and arrangement angle of the fixed optical detector array and optical system set 400 disposed in the light receiving module 200 receiving the reflected light. Further, the angle of the horn of the reflector module and the curvature of the reflecting side reflecting surface can be determined according to the irradiation range of the laser beam.

In the case of three mirror surfaces 131 as shown in FIG. 4 (a), four mirror surfaces 131 as shown in FIG. 4 (b) and six mirror surfaces 131 as shown in FIG. 4 (c) The number of reflecting surfaces can be determined based on the observation angle of the fixed optical detector array and the optical system set 400 disposed in the optical system 200.

Also, the horn angle of the reflector module 130 may be determined according to the irradiation range of the laser light. Fig. 4 (d) and Fig. 4 (e) can be configured as a curved reflector according to the irradiation angle range in the vertical direction of the pulsed laser light source.

FIG. 4 (f) shows a conical configuration for uniformly irradiating 360 degrees of horizontal angle. In this case, the angle of the cone and the curvature of the side reflecting surface can also be determined according to the irradiation angle range region in the vertical direction of the pulsed laser light source.

FIG. 5 is a structural view illustrating a light receiving module in a sensor system for short range sensing according to an exemplary embodiment. Referring to FIG.

FIG. 5A is a detailed structure of the light receiving module 200, in which the fixed photodetector array and the optical system set 400 shown in FIG. 1 are arranged to detect the entire 360.degree. Angle range. The outer structure 210 may be composed of transparent or opaque material skeletons 210 and 230, but the fixed photodetector array and the front surface of the input stage 220 of the optical system must be composed of a transparent window.

5 (b) is a top view of the optical receiver module 200, in which three fixed photodetector arrays and optical system set 400 are arranged to sense the entire 360 degree angular range. 5 (c) shows a detailed configuration diagram of one fixed photodetector array and optical system set 400. In FIG. The photodetector array 410, the primary lens 420, and the secondary lens 430 are configured to cover left and right and up and down observation ranges. The optical detector array 410, A fixed cylinder 450 in which an optical system as a whole is fixed by adding a narrowband transmission filter 440 for removing a light signal and transmitting only a light source wavelength.

The photodetector array 410 may comprise an Avalanche photodiode array, a CCD, a CMOS photodetector array, a phototransistor, or the like. The light receiving module 200 detects a horizontal angle range in which each photodetector array and optical system set 400 divides the number of each photodetector array and optical system set 400 at 360 degrees, Can be observed. But may be composed of two or more than three depending on the range of observation angles of the individual fixed type photodetector arrays and the optical system set 400. [ For example, when the light receiving module is composed of three photodetector arrays and optical systems, each photodetector array and optical system can observe a total of 360 degrees by observing an angular range of 120 degrees horizontally. Further, when the light receiving module is composed of two photodetector arrays and optical systems, each photodetector array and optical system can observe an angular range of 180 degrees in the horizontal direction and observe a total of 360 degrees. If the fixed angle photodetector array and the optical system set 400 have an observation angle range of 180 degrees or more, they may be arranged in two opposite directions.

FIG. 6 is another example of the overall configuration of the RL sensor system for short range sensing according to an exemplary embodiment.

The near infrared ray detector system 1000 is a system capable of observing 360 degrees and is composed of a pulsed light source capable of covering a 360 degree range of a vertical angle range and a horizontal angle range and a horn-shaped inclined polyhedron reflection type The illumination optical system 100 of the optical transmission module, the at least one photodetector array and the optical system set 400 may include a light receiving module 200 arranged to sense reflected light in an angular range of 360 degrees.

The pulsed light source and irradiation optical system 100 capable of covering the vertical angle range and the horizontal 360 degree angle range includes a pulse type semiconductor laser and an optical system module 160 on each slanted side 151 of the polyhedral pyramid structure type laser mount 150. [ And a case 140 (e.g., a case whose side surface is transparent) can be provided.

The three fixed photodetector arrays and the optical system set 400 can be arranged inside the light receiving module 200 so that they can observe an angular range of more than 120 degrees and three can detect the entire 360 degree angular range. The light receiving module 200 may be composed of two or more than three depending on the range of observation angles of the fixed optical detector array and the optical system set 400. [ If the fixed angle photodetector array and the optical system set 400 have an observation angle range of 180 degrees or more, they may be arranged in two opposite directions.

The LIDAR sensor system 1000 for short range sensing includes a driving board 310 for driving and signaling a light source, an optical transmitting module and an optical receiving module, an outer case 300 made of a transparent material outside the optical system of the optical transmitting module and the optical receiving module, And an external power supply and drive signal connection unit 320 for connecting the power supply and the signal.

FIG. 7 is an internal configuration diagram of an optical transmission module in the sensor system for the near-distance sensing in FIG.

FIG. 7 shows a portion of a pulsed light source and illumination system 100 in a sensor system 1000 for proximity sensing. 7A is an internal configuration diagram of an optical transmission module including a pulse type semiconductor light source, a lens-type irradiation optical system set, and an outer case attached to a polygonal side surface in the sensor system 1000 for short range sensing. The optical transmission module may be installed in a case 140 having a side structure that is constructed by attaching a pulsed semiconductor laser and an optical system module 160 to each inclined side surface 151 of the polyhedral pyramid structure type laser mount 150.

7 (b) is an internal configuration diagram of a pulse type semiconductor light source, a lens-type irradiation optical system, and an outer case set for supporting them in the sensor system 1000 for detection. A pulse type semiconductor laser and mounts 163 and 164 for supporting the pulse type semiconductor laser package 161 and the laser beam forming lens 162 as an internal structure of the optical system module 160.

FIG. 8 is a block diagram for explaining a configuration of a sensor system for short range sensing according to an embodiment.

The proximity sensing RI sensor system uses a pulsed laser and an optical amplifier driver 830 to drive the pulsed laser 810 and to drive the fixed photodetector array of the light receiving module 200 used as in the embodiments described above, A photodetector array driver and a video signal processor 840 for driving the plurality of photodetector arrays 820 according to the set number 400 and processing the measured video signals, a pulse laser and optical amplifier driver 830, And a signal analyzing unit 850 for controlling the entire driving unit and the video signal processing unit 840 and analyzing the observed signals. In this case, the laser light pulse may be sent as a coded signal, and the driving of the photodetector array may be driven in a gate mode to increase the distance and object recognition accuracy.

The general control unit and signal analyzing unit 850 analyzes signals received from the photodetector array driving unit and the video signal processing unit 840 and sends signals to the vehicle safety control unit 860 when necessary to control the vehicle, Can be provided.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. The apparatus and components described in the embodiments may be implemented, for example, as a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA) logic unit, a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be embodyed temporarily. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (10)

CLAIMS What is claimed is:
An optical transmission module that reflects the pulsed laser light source using a polyhedral reflector of a predetermined shape;
A light receiving module for detecting light reflected from the pulsed laser light source through at least one photodetector array and an optical system;
A drive board for driving and signal processing the light source, the optical transmission module, and the light reception module; And
External power and signal connections for power and signal connections
A sensor system for close range sensing. The method according to claim 1,
The optical transmission module includes:
A laser module for emitting a high-power pulse laser beam to the pulsed laser light source;
An optical system comprising a plurality of lenses for guiding the laser beam, wherein the plurality of lenses have a combination of lenses and an interval of lenses adjusted based on an angular range of 360 degrees;
A support for supporting the plurality of lenses;
A reflector module for reflecting the laser beam based on the angle range of 360 degrees;
/ RTI >
The reflector module includes:
The number of the reflecting mirrors is adjusted according to the configuration of the photodetector array of the light receiving module to thereby obtain a uniform observation characteristic in the angle range of 360 degrees
Wherein said sensor system comprises a plurality of sensors. 3. The method of claim 2,
The laser module includes:
A pulse-type semiconductor laser, a gain-switched semiconductor laser, a direct current-modulated semiconductor laser or an optical fiber laser as the pulsed laser light source, or a pulsed laser light source driven by a continuous oscillation semiconductor laser and an external modulator
Wherein said sensor system comprises a plurality of sensors. 3. The method of claim 2,
The reflector module includes:
Wherein the number of the surfaces of the reflecting mirror is determined based on the viewing angle of the photodetector array and the optical system set of the light receiving module, and the angle of the horn of the reflecting mirror module and the angle of the reflecting mirror Is determined according to the irradiation range of the laser beam
Wherein said sensor system comprises a plurality of sensors. The method according to claim 1,
The light receiving module includes:
An optical system for receiving light reflected from the pulsed laser source;
At least one photodetector array arranged to sense light received from the optical system in an angular range of 360 degrees; And
A transparent or opaque material framework for protecting the photodetector array and the optical system,
Lt; / RTI >
The input end of the optical detector array and the optical system being composed of a transparent window,
Each of the photodetector arrays and the optical system observes a horizontal angle range in which the number of the photodetector arrays is divided at 360 degrees, thereby observing an angular range of 360 degrees in total
Wherein said sensor system comprises a plurality of sensors. The method according to claim 1,
The light receiving module includes:
A narrowband transmission filter that removes noise and signals other than optical signals and transmits only the wavelength of the light source
A sensor system for close range sensing. 6. The method of claim 5,
The optical system includes:
The number and size of the photodetector array and the specification and optical layout of the double optical lens are determined in consideration of the angle range and the angular resolution to be observed,
Wherein said sensor system comprises a plurality of sensors. The method according to claim 1,
The photodetector array
Including at least one of an Avalanche photodiode array, a CCD, a CMOS photodetector array,
Wherein said sensor system comprises a plurality of sensors. The method according to claim 1,
The optical transmission module includes:
A polyhedral pyramid structure type laser mount is provided inside a case having a side surface transparent with a structure in which a pulse type semiconductor laser and the optical system are attached to each inclined side face,
In the structure in which the pulse type semiconductor laser and the optical system are attached,
A pulse type laser package, a laser beam forming lens, a pulse type laser package, and a mount for supporting the laser beam forming lens
Wherein said sensor system comprises a plurality of sensors. CLAIMS What is claimed is:
A pulsed laser and an optical amplifier driver for obtaining a pulsed laser light source having a predetermined output or more;
A photodetector array driver and a video signal processor for driving at least one photodetector array and processing the measured video signals according to the number of photodetector arrays and optical system sets;
An overall controller and signal analyzer for controlling the pulse laser and the optical amplifier driver, the photodetector array driver and the video signal processor, and analyzing signals of the observed light source; And
An overall controller for analyzing the signals received from the photodetector array driving unit and the video signal processing unit and controlling the safety management of the vehicle by transmitting a signal to the vehicle,
A sensor system for close range sensing.

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