KR101868963B1 - Structure to the one direction over the distance by using the detected light - Google Patents

Structure to the one direction over the distance by using the detected light Download PDF

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Publication number
KR101868963B1
KR101868963B1 KR1020160173967A KR20160173967A KR101868963B1 KR 101868963 B1 KR101868963 B1 KR 101868963B1 KR 1020160173967 A KR1020160173967 A KR 1020160173967A KR 20160173967 A KR20160173967 A KR 20160173967A KR 101868963 B1 KR101868963 B1 KR 101868963B1
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KR
South Korea
Prior art keywords
light
reflected
beam splitter
distance
reflector
Prior art date
Application number
KR1020160173967A
Other languages
Korean (ko)
Inventor
김준성
권의섭
신순철
Original Assignee
주식회사 카펙발레오
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Priority to KR1020160173967A priority Critical patent/KR101868963B1/en
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Publication of KR101868963B1 publication Critical patent/KR101868963B1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • G02B27/14—Beam splitting or combining systems operating by reflection only
    • G02B27/142—Coating structures, e.g. thin films multilayers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
    • H01S3/09—Processes or apparatus for excitation, e.g. pumping
    • H01S3/091—Processes or apparatus for excitation, e.g. pumping using optical pumping
    • H01S3/094—Processes or apparatus for excitation, e.g. pumping using optical pumping by coherent light
    • H01S3/0941—Processes or apparatus for excitation, e.g. pumping using optical pumping by coherent light of a laser diode
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G01J2001/4446—Type of detector
    • G01J2001/446—Photodiode

Abstract

The present invention relates to a structure of a sensor capable of measuring an object present within 360 degrees in a circumferential direction from one direction by using a laser light source. According to the present invention, the structure of the sensor for sensing a distance in more than one direction by using light includes: a light-emitting unit; a transmissive part for refracting and transmitting light outputted from the light-emitting unit; a reflector for reflecting the light transmitted through the transmissive part in a direction orthogonal to a traveling direction of the light, and reflecting reflection light, which is the reflected light reflected by and returned from an object, in an output direction; a beam splitter for reflecting the reflection light incident from the reflector in an orthogonal direction; and a light-receiving unit for receiving the reflection light reflected from the beam splitter to convert an optical signal for the object into an electrical signal.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a sensor structure,

[0001] The present invention relates to a sensor capable of detecting a distance in one direction or more using a light source, and more particularly to a sensor capable of detecting an object existing 360 degrees in a circumferential direction from one direction using a laser light source .

In general, techniques for measuring the presence or the distance to an object exist in the vicinity, and the application field of the object detecting apparatus equipped with the distance sensor is gradually increasing.

Such a distance sensor is provided in a home appliance such as a robotic vacuum cleaner or the like to detect the approach of the obstacle and automatically execute obstacle avoidance, or to provide a technique for preventing collision with pedestrians or other vehicles .

Such a sensor can detect the distance in one direction using light as shown in FIG. 6, and the sensor continuously rotates the mirror in the circumferential direction to measure the distance to the object within the radius of rotation. Therefore, a rotating mirror is necessary for sensing.

In order to measure the entire radius of rotation using such a sensor, it takes a long time to measure while moving by one point as shown in FIG. 7, and the angle of measurement can be widened when the rotation speed of the mirror is increased.

In addition, since the mechanism is continuously rotating, vibrations due to rotation are generated. Such vibrations affect the durability of the product and the reliability of measurement, which may be a problem for use in a system requiring reliability.

In addition, since the distance is measured in more than one direction by the rotation, in order to measure the first measured position again, it is necessary to finish the measurement in the other direction.

Korean Patent Publication No. 10-2002-0085356

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems of the prior art, and it is an object of the present invention to provide a method and apparatus for measuring a distance to an object in a 360- And a sensor for detecting a distance over a predetermined distance. It is still another object of the present invention to provide a structure of a sensor that detects a distance in one direction or more using light capable of downsizing the sensor.

The structure of a sensor for detecting a distance in at least one direction using light proposed by the present invention includes a light emitting portion; A transmissive portion that refracts and transmits light output from the light emitting portion; A reflector for reflecting the light transmitted through the transmission portion in a direction orthogonal to the traveling direction and for reflecting the reflected light reflected by the object in the output direction; A beam splitter for reflecting the reflected light incident on the reflector in an orthogonal direction; A light receiving unit receiving reflected light reflected from the beam splitter and converting an optical signal for an object into an electric signal; And a sensor for sensing a distance in one direction or more using light including light.

According to another aspect of the present invention, A reflector for refracting the light output from the light emitting unit in a direction orthogonal to the traveling direction and reflecting the reflected light reflected from the object in the output direction; A beam splitter for transmitting a part of light output from the light emitting unit to a reflector, refracting a part of the light in a direction orthogonal to the traveling direction, and reflecting the reflected light returning from the reflector in an orthogonal box shape; A light receiving unit receiving reflected light reflected from the beam splitter and converting an optical signal for an object into an electric signal; And a sensor for sensing a distance in one direction or more using light including light.

The light emitting unit is composed of a laser diode, and the light emitting unit is composed of a single body or a columnar arrangement in which the central part is empty.

The transmissive portion is made of a transparent glass or a transparent medium and is formed of a rhomboidal cone.

The reflector is made of a metal having an inverted conical shape, and the beam splitter has a conical shape whose interior is formed as a space.

The transmissive portion may be formed of transparent glass or a transparent medium, and may have a rhombic conical shape.

The light receiving unit is formed along the circumferential direction of the beam split, and the light receiving unit is formed of a photodiode array.

The structure of the sensor for sensing the distance in more than one direction by using the light according to the present invention is mechanically stable because all the constituent elements of the sensor are fixed. Therefore, the durability of the sensor and the reliability of the measured value can be increased.

In addition, the distance from the object to the 360 degree area can be quickly measured at once using the laser light source. And the transmission portion and the beam splitter are integrally formed, so that the sensor can be miniaturized.

1 is a perspective view of a sensor for detecting a distance in one direction or more using light according to a first embodiment of the present invention.
FIG. 2 is a view for explaining a state in which the sensor of FIG. 1 is operated.
3 is a perspective view of a sensor for sensing a distance in one direction or more using light according to a second embodiment of the present invention.
FIG. 4 is a view for explaining a state in which the sensor of FIG. 3 is operated.
FIG. 5 is a view showing a distance between an object in each direction and a sensor for sensing a distance in at least one direction using light according to the present invention.
6 is a perspective view showing a structure of a sensor for detecting a distance according to the related art.
FIG. 7 is a view showing a distance between an object in a 360-degree direction and a distance sensing sensor according to the related art.

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

As shown in FIGS. 1 and 2, a sensor for detecting a distance in at least one direction using light according to the first embodiment of the present invention includes a light emitting unit 2, a transmission unit 4, a reflector 6, (8) and a light receiving portion (10).

The light emitting portion 2 may be a laser diode, and includes a driving circuit for driving the laser diode although not shown. The laser diode and the driving circuit are disposed inside the housing and one side of the housing is opened to output the output light L1 from the laser diode to the outside.

When the light emitting unit 2 is formed of a laser diode, the output light L1 output from the laser diode is higher in straightness than the LED, so that the light can reach the object to be detected without spreading the light. have. In addition, it is advantageous to miniaturize the device by using a laser diode as the light source of the light emitting portion 2.

The laser diode used as the light source of the light emitting unit 2 may be a single unit or may be an array of arrays in which the respective laser diodes are arranged in the circumferential direction as required.

The transmissive portion 4 is formed of a transparent glass or transparent medium to such a degree that light emitted from the light emitting portion 2 can be transmitted therethrough and is formed into a rhombic conical shape so that light can be refracted.

The light emitted from the light emitting portion 2 is refracted while passing through the transmissive portion 4 and then passes through the beam splitter 8 and is emitted in the same straight line direction as the output light L1 outputted from the light emitting portion 2 Go ahead.

The reflector 6 is disposed in a state of being opposed to the light emitting portion 2 while being spaced from the light emitting portion 2. The reflector 6 is formed in an inverted conical shape of metal with respect to the light emitting portion 2, When the light having passed through the beam splitter 8 is incident on the reflector 6, it is reflected in a circumferential direction of 360 degrees in a direction orthogonal to the traveling direction of the incident light. Accordingly, the output light L1 reflected from the reflector 6 to the outside can be reflected in a range of 360 degrees in the circumferential direction. The reflected light L2 reflected by the object after being reflected is reflected by the light emitting unit 2 Direction. At this time, the reflected light L2 is also reflected back in a range of 360 degrees.

The reflected beam L2 is incident on the beam splitter 8. The beam splitter 8 provided in the present embodiment is formed in a conical shape that is positioned in a direction corresponding to the reflector 6 and faces each other with a point. The beam splitter 8 is formed on the same surface as the one side of the transmissive portion 4, and the inside thereof is formed as a space portion and can be integrally assembled to the transmissive portion 4. When the transmission portion 4 and the beam splitter 8 are integrally formed, the volume can be reduced, and therefore, the sensor can be downsized.

The reflected light L2 incident on the beam splitter 8 is reflected in the range of 360 degrees in the direction perpendicular to the traveling direction of the reflected light and can be received by the light receiving unit 10. [

The light receiving unit 10 is formed along the circumferential direction of the circumference of the beam split 8 and is capable of receiving all the reflected light L2 reflected by the beam splitter 8 at 360 degrees.

The light receiving unit 10 may be formed as a photo array in which the photodiodes are arranged in the circumferential direction. The light receiving unit 10 converts the reflected light L2 received by the light receiving unit 10 into an electrical signal, can do.

In order to detect a surrounding obstacle by using a sensor for detecting a distance in at least one direction using the light according to the first embodiment of the present invention as described above,

First, when the output light L1 is output from the light emitting unit 2 and is incident on the transmission unit 4, the output light L1 passes through the transmission unit 4 and proceeds while being refracted.

When the output light L1 passes through the transmissive portion 4 and reaches the beam splitter 8, the output light L1 travels in the same direction as the direction output from the light emitting portion 2 and enters the reflector 6 do.

When the output light L1 is incident on the reflector 6, the reflected light L1 is reflected in a 360-degree direction orthogonal to the traveling direction of the output light L1. The output light L1 reflected thereby, (L2) is also incident on the reflector (6) and is reflected in a range of 360 degrees corresponding to the output direction of the light emitting portion (2).

The reflected light L2 incident on the beam splitter 8 is reflected in a range of 360 degrees in a direction perpendicular to the traveling direction of the reflected light and is input to the light receiving unit 10. The amount of the reflected light L2 input to the light receiving unit 10 Is converted into an analog or digital signal and output, the same data as shown in FIG. 5 can be obtained.

Such data can be used to obtain a distance from the sensor to the surrounding objects in the 360 degrees direction. When such a sensor is installed in the vehicle, it is possible to detect obstacles in a range of 360 degrees located at a certain distance from the vehicle.

3 and 4 are views for explaining a structure of a sensor for detecting a distance in one direction or more using light according to a second embodiment of the present invention. In the second embodiment of the present invention, And the same parts are replaced with the description of the first embodiment.

As shown in the drawing, in the second embodiment of the present invention, the light emitting portion 20 is formed as an arrangement of an array of single or circumferential arrangements capable of emitting a donut-shaped laser, do.

The beam splitter 22 is composed of a polarizing portion capable of reflecting part of the output light L1 output from the light emitting portion 20 in a direction perpendicular to the traveling direction and partly traveling in the same direction as the traveling direction.

The sensor according to the second embodiment of the present invention has a cylindrical shape in which the output light L1 output from the light emitting unit 20 is hollow at the center. Therefore, the output light L1 passes through the beam splitter 22, Receiving portion 10, and a part of the light is incident on the reflector 6 having an inverted conical shape in the same direction as the traveling direction, reflected in a direction orthogonal to the traveling direction, In the circumferential direction.

The reflected light L2, which is reflected by the object, is incident on the reflector 6 while the direction of the reflected light L2 is changed to the orthogonal direction. The reflected light L2 incident on the beam splitter 8 L2 may be reflected in the direction of 360 degrees in the direction orthogonal to the traveling direction of the reflected light L2 and received by the light receiving unit 10 to be converted into electrical data.

While the preferred embodiments of the present invention have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.

2, 20:
4:
6: reflector
8, 22: Beam splitter
10:
L1: Output light
L2: Reflected light

Claims (10)

A light emitting portion;
A transmissive portion that refracts and transmits light output from the light emitting portion;
A reflector for reflecting the light transmitted through the transmission portion in a direction orthogonal to the traveling direction and for reflecting the reflected light reflected by the object in the output direction;
A beam splitter for reflecting the reflected light incident on the reflector in an orthogonal direction;
A light receiving unit receiving reflected light reflected from the beam splitter and converting an optical signal for an object into an electric signal;
Lt; / RTI >
The transmissive portion is made of a transparent glass or a transparent medium, and is formed of a rhomboidal cone,
Wherein the beam splitter is formed of the same surface as the one side of the transmission portion and is formed as a space portion and detects the distance in one direction or more by using the light integrally assembled with the transmission portion. delete The method according to claim 1,
Wherein the light emitting unit is formed of a laser diode. The method according to claim 1,
Wherein the light emitting unit is configured to emit light at one point. A sensor structure for sensing a distance in at least one direction using light. delete delete The method according to claim 1,
Wherein the reflector is made of a metal having an inverted conical shape. delete The method according to claim 1,
Wherein the light receiving unit is formed along the circumferential direction of the circumference of the beam splitter. The method according to claim 1,
Wherein the light receiving unit is formed of a photodiode array.
KR1020160173967A 2016-12-19 2016-12-19 Structure to the one direction over the distance by using the detected light KR101868963B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210100977A (en) * 2020-02-07 2021-08-18 주식회사세오 Miniaturized Lidar Optical System

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1123218A (en) * 1997-07-03 1999-01-29 Yaskawa Electric Corp Scanning laser distance-measuring apparatus
KR20020085356A (en) 2001-05-08 2002-11-16 엘지이노텍 주식회사 The stability measuring system and method of the optical rotor with sensor
KR100657562B1 (en) * 2005-12-26 2006-12-14 한국과학기술원 Apparatus for measuring distance using cylinder prism having conic groove
KR20130137536A (en) * 2012-06-07 2013-12-17 삼성전자주식회사 Fencing sense module and robot having the same

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1123218A (en) * 1997-07-03 1999-01-29 Yaskawa Electric Corp Scanning laser distance-measuring apparatus
KR20020085356A (en) 2001-05-08 2002-11-16 엘지이노텍 주식회사 The stability measuring system and method of the optical rotor with sensor
KR100657562B1 (en) * 2005-12-26 2006-12-14 한국과학기술원 Apparatus for measuring distance using cylinder prism having conic groove
KR20130137536A (en) * 2012-06-07 2013-12-17 삼성전자주식회사 Fencing sense module and robot having the same

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210100977A (en) * 2020-02-07 2021-08-18 주식회사세오 Miniaturized Lidar Optical System
KR102363318B1 (en) * 2020-02-07 2022-02-15 주식회사세오 Miniaturized Lidar Optical System

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