KR101924266B1 - Lidar Device - Google Patents

Abstract

A lidar apparatus according to an embodiment of the present invention includes a light source unit that includes at least one light source and emits light, a light source unit that reflects the light emitted from the light source and guides the light to a target object, A rotation driving unit coupled to the upper end of the first reflecting member so as to rotate integrally with the upper end of the first reflecting member and coupled to the lower end of the rotation driving unit such that a reflecting surface is disposed in the same direction as the first reflecting member, A second reflection member for reflecting the reflected light and guiding the direction, and a detection unit for receiving light guided from the second reflection member. According to an embodiment of the present invention, there is an effect that scan in a range of a 360-degree rotation radius and a scan in a plane direction perpendicular to a rotation direction can be implemented simultaneously through a rotation-driven reflection plate.

Description

Lidar Device}

The present invention relates to a Lydia device.

Light Detection And Ranging (LIDAR) is the detection of objects using light and the measurement of the distance to the object. Lada is similar in function to RADAR (Radio Detection And Ranging), but differs in that it uses light, unlike radars that use radio waves, and is sometimes referred to as an 'image radar' in this regard.

Due to the difference in Doppler effect between light and microwave, Lada has a feature that it has better azimuth resolution and distance resolution than radar.

The Lidar device is mainly composed of an airplane that emits laser pulses from satellites or aircraft and receives backscattered pulses from atmospheric particles at the ground station. It has been used to measure the presence and movement of smoke, aerosols, cloud particles, etc., and to analyze the distribution of airborne dust particles or air pollution. However, in recent years, both transmission systems and receiving systems have been installed on the ground to perform obstacle detection, terrain modeling, and ground acquisition, , Civilian mobile robots, intelligent automobiles, and unmanned automobiles.

However, there is a need for a ladder device for more effectively expanding the scan range of the ladder device, and the combination of various drive modules for simply driving the entire ladder device can be realized by the structure of the device to which the ladder device is applied There is a need to design a device for extending the scanning range of the LADIS device more effectively.

JP 1994-235764 A

According to an embodiment of the present invention, there is provided a radar apparatus capable of scanning in a plane direction corresponding to a reflection surface in a vertical direction perpendicular to a rotation direction and a rotation direction sensing through a rotation reflection member of the radar apparatus .

A lidar apparatus according to an embodiment of the present invention includes a light source unit that includes at least one light source and emits light, a light source unit that reflects the light emitted from the light source and guides the light to a target object, A rotation driving unit coupled to the upper end of the first reflecting member so as to rotate integrally with the upper end of the first reflecting member and coupled to the lower end of the rotation driving unit such that a reflecting surface is disposed in the same direction as the first reflecting member, A second reflection member for reflecting the reflected light and guiding the direction, and a detection unit for receiving light guided from the second reflection member.

Here, the light source control unit for controlling the driving of the light source, the driving control unit for controlling the driving of the rotation driving unit, the main control unit for controlling the light source control unit and the driving control unit, receiving the electrical signal data of the detection unit, And a processing unit for receiving information of the finally received light and processing and outputting related information.

The first reflecting member may include a first reflecting plate formed at a predetermined angle so as to reflect light of the light source unit in a reflecting direction and a second reflecting plate having one end of the first reflecting plate moved up and down in a vertical direction, Wherein the second reflection member includes a second reflection plate formed at a predetermined angle to reflect light reflected from the object and guide the light to the detection unit, The second angle adjuster may adjust the angle of reflection by moving one end of the two reflectors up and down in a vertical direction and linearly moving the other end corresponding to the other end in a corresponding horizontal direction.

The first reflecting member and the second reflecting member are rotated about their respective longitudinal center axes, and the light source unit is rotated together with the same axis as the rotational axis of the first reflecting member, and the inclined surface of the first reflecting member And a plurality of individual light sources arranged continuously in the longitudinal direction, wherein the plurality of individual light sources are configured to emit light sequentially in the same direction at a rotating instant position of the first reflecting member, Unit. ≪ / RTI >

The rotation driving unit may include a rotation shaft coupled to a center axis of a predetermined angular inclined surface of the first reflecting member and the second reflecting member so as to integrally rotate the first reflecting member and the second reflecting member, And a drive motor for driving the motor.

The light source unit may be integrally coupled to the rotation driving unit so as to correspond to the rotation direction of the first reflection member so that light can be vertically irradiated to the first reflection member.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to that, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor may properly define the concept of the term in order to best explain its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

According to an embodiment of the present invention, there is an effect that a target object can be scanned with a 360-degree rotation radius through a rotation-driven reflector.

In addition, since the light source is rotated about the longitudinal center axis of the reflector, it is unnecessary to drive the light source irradiated to the center of the reflector at the reflector rotation hole, and the scan in the rotation direction can be performed more stably.

In addition, by sequentially irradiating a plurality of light sources along the inclined surface of the reflecting plate of the reflecting member at a time interval, it is possible to perform scanning in the plane direction corresponding to the inclined surface, and to provide a single light receiving portion for a plurality of light sources sequentially irradiated in a moment It is possible to more effectively sense the surface direction scan.

Further, by adjusting the inclination angle of the reflection plate formed at a predetermined angle of the reflection member, the degree of freedom of light irradiation with respect to the range and direction to be scanned can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a device configuration diagram of a laddering device according to an embodiment of the present invention; FIG.
Figure 2a is a side view of a ladder device according to one embodiment of the present invention;
FIG. 2B is a partially enlarged view of a first reflection member according to an embodiment of the present invention; FIG.
3 is a perspective view of a laddering device according to an embodiment of the present invention;
4 is a side view of a lidar apparatus including a light source unit according to an embodiment of the present invention.
FIG. 5A is a perspective view of the Lada apparatus according to FIG.
FIG. 5B is a bottom view of the light source unit of FIG. 5A; FIG.
6 is a perspective view of a Lada device showing a scan range according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The objects, particular advantages and novel features of one embodiment of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings and the preferred embodiments thereof. It should be noted that, in the present specification, the reference numerals are added to the constituent elements of the drawings, and the same constituent elements are assigned the same number as much as possible even if they are displayed on different drawings. Also, the terms "one side," " first, "" first," " second, "and the like are used to distinguish one element from another, no. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description of the present invention, a detailed description of known arts which may unnecessarily obscure the gist of an embodiment of the present invention will be omitted.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings, in which like reference numerals refer to like elements.

FIG. 2 is a side view of a ladder device according to an embodiment of the present invention. FIG. 2B is a cross-sectional view of a first ladder device according to an embodiment of the present invention. FIG. 3 is a perspective view of a ladder device according to an embodiment of the present invention. FIG. 4 is a side view of a ladder device including a light source 10 according to an embodiment of the present invention. 5a is a perspective view of the Lada device according to FIG. 4, FIG. 5b is a bottom view of the light source 10 of FIG. 5a, and FIG. 6 is a perspective view of a Lada device showing a scan range according to an embodiment of the present invention.

The lidar according to an embodiment of the present invention includes a light source unit 10 that includes at least one light source and emits light, a light source unit 10 that reflects the light emitted from the light source, guides the light to a target object, A rotation drive unit 22 coupled to the upper end of the first reflection member 21 so as to rotate integrally with the upper end of the first reflection member 21, A second reflecting member 23 coupled to the reflecting surface 23 so as to be arranged in the same direction as the first reflecting member 23 and guiding the light reflected from the target object to guide the light, And a detection unit 30 that receives light.

1, a ladder device according to an embodiment of the present invention includes a first reflecting member 21 for irradiating light emitted from a light source 10 with a target object, A second reflecting member 23 that is incident and that reflects light in the direction of the detecting unit 30 and a rotation driving unit 22 that rotates and drives the first reflecting member 21 and the second reflecting member 23, (20). It is possible to scan all directions of 360 degree rotation with respect to a target object and a place to be scanned through the rotary ladder 20 and more effective and precise scanning effect can be obtained through appropriate control of the rotation range.

The light source unit 10 includes at least one light source and emits light. Specifically, the light source unit 10 emits light onto the first reflection plate 21a of the first reflection member 21. The first reflection member 21 may be formed such that the first reflection plate 21a for reflecting the light in the direction of the object has an appropriate tilt angle. Here, the light source may be a laser that emits pulsed light whose intensity is modulated by a laser, and the laser may emit light in an infrared wavelength range. The distance from the time point at which the laser light is irradiated using the modulated pulsed light to the time point at which the reflected light reflected by the object is received by the detection unit 30 through the second reflecting member 23, It is possible to more precisely measure the direction, speed, temperature material, etc. of the target.

The light source unit 10 may be formed with a light source control unit 40 so as to appropriately control the irradiation of light and the irradiation of the plurality of light sources. The light source control unit 40 may include a driving driver for irradiating the light source unit 10 with light.

The first reflecting member 21 reflects the irradiated light of the light source unit 10 in a desired direction. The first reflecting member 21 includes a first reflecting member 21 coupled to the rotation driving unit 22 and reflecting the light emitted from the light source unit 10. The entire first reflecting member 21 is designed to pivotally drive about the longitudinal central axis on the plane of the first reflecting member 21. [ Therefore, even if the light source unit 10 is not driven separately in accordance with the rotation of the first reflection member 21, the first reflection member 21 can be prevented from being damaged due to the coaxial position of the light source unit 10 with the central axis of the first reflection plate 21a. The light can be irradiated smoothly in the direction corresponding to the rotation direction only by the rotation of the light source.

2A and 2B, the first reflecting member 21 may include a first angle adjusting unit 21b for adjusting the tilt angle of the first reflecting plate 21a. The first angle regulating portion 21b includes a first upper and lower guide 21b-1 for driving the first reflector 21a in a vertical movement direction within a linear movement range at one end of the first reflector 21a, And a first horizontal guide 21b-2 for adjusting the proper reflection angle of the first reflector 21a by moving horizontally in a range corresponding to the linear movement of the one end of the reflector 21a. As shown in Fig. 2B, the first vertical guide 21b-1 and the first horizontal guide 21b-2 are formed with stoppers s1 and s2 so as to limit the linear movement range in the vertical direction and the vertical direction, The driving means may be provided with driving rails or driving wheels r1 and r2 which are coupled to one end of the first reflecting plate 21a so as to be properly adjustable between the first and second reflecting plates 21a and 21b, It will be apparent to those skilled in the art that substitutions and adaptations can be made.

As shown in FIGS. 2A and 3, the rotation driving unit 22 is coupled to the upper end of the first reflecting member 21 to integrally rotate the first reflecting member 21 about the rotating shaft 22a. Here, the rotation axis 22a is aligned with the longitudinal center axis of the first reflection plate 21a, and the light can be reflected in the rotation direction while the position of the single light source is fixed as described above. The rotational speed and the driving of the rotational driving unit 22 can be controlled through the driving control unit 50 and the rotational speed and the driving performance can be adjusted according to the arrangement and direction of the light source to be described later.

The rotary drive unit 22 includes a drive motor 22b and a rotary shaft 22a for a normal rotary drive and a rotary shaft 22a is coupled to the first reflective member 21 to drive the rotary drive unit 22 1 reflection member 21 as shown in FIG.

The second reflecting member 23 guides the reflected light reflected from the first reflecting member 21 and reflected by the target object toward the detecting unit 30 so that the detecting unit 30 receives and reflects the reflected light, And the final sensing value of the Lada device is calculated through the processing.

The second reflection member 23 is formed so that the second reflection plate 23a is formed in the same direction as the reflection direction of the first reflection plate 21a so that the reflected light of the light reflected from the first reflection member 21 is incident in the corresponding direction . The second reflection member 23 is coupled to the rotation axis 22a of the rotation drive unit 22 so that the longitudinal axis of the second reflection plate 23a can be rotated integrally with the first reflection member 21, So as to be rotated integrally.

The second reflecting member 23 also corresponds to the first vertical guide 21b-1 and the first horizontal guide 21b-2 for adjusting the reflection angle of the first reflecting plate 21a of the first reflecting member 21 The second angle adjuster 23b includes a second upper and lower guide 23b-1 and a second horizontal guide 23b-2. The second upper and lower guides 23b-1 and 23b- The specific configuration and description of the related configuration are substantially the same as those of the first up / down guide 21b-1 and the first horizontal guide 21b-2, Is omitted.

The light reflected from the second reflection member 23 is received by the detection unit 30. The detection unit 30 receives the reflected light irradiated by the light source unit 10 and reflected by the object from the second reflective member 23 and receives the reflected light, The desired sensing value can be obtained. The detection unit 30 may include a plurality of photodiodes and each of the plurality of photodiodes converts the incident reflected light into an electrical signal through the signal processing unit 70 and transmits the electrical signal to the processing unit 70 through the main control unit 60 do. The processing unit 70 can output and display such sensing values in an appropriate manner.

The processing unit 70 transmits the data converted into an electrical signal to the processing unit 70 through the main control unit 60 through the light source control unit 40, the drive control unit 50 and the detection unit 30. The main control unit 60 appropriately controls and controls the light source control unit 40 and the drive control unit 50 to control the irradiation of the light by the light source unit 10 and the rotation speed of the first reflection member 21, So that appropriate sensing in the direction of rotation of the desired object is possible.

4 and 5A, the light source unit 10 according to an embodiment of the present invention irradiates a plurality of lights side by side on an inclined surface of the first reflection plate 21a of the first reflection member 21, It is possible to scan in the plane direction corresponding to the inclined plane of the one reflection plate 21a. At this time, the light source unit 10 includes a unit light source unit 12 in which a plurality of individual light sources 12a are linearly arranged, and each individual light source 12a is sequentially irradiated with a time interval in a linear direction And can be controlled through the light source control unit 40. The detection unit 30 that receives the finally reflected light can sequentially process the signals for the individual light sources 12a as the light is irradiated to the target object by the respective individual light sources 12a at successively different time intervals It is possible to effectively perform the sensing in the plane direction through the single detection unit 30.

Here, when a plurality of lights are successively irradiated, if the first reflecting member 21 rotates during irradiation of light by the time difference of the individual light sources 12a, the irradiation direction of each individual light source 12a may be distorted A plurality of light sources 12a are sequentially irradiated in the rotational direction through the rotary drive unit 22 so that the plurality of individual light sources 12a are sequentially irradiated in a momentary position of the first reflection member 21, Can be appropriately controlled through the drive control section 50. [0156]

5B, a plurality of individual light sources 12a are arranged in a linear direction so that the unit light source unit 12 sequentially irradiates the individual light sources 12a along the inclined surfaces of the first reflector 21a of the first reflector 21, . The rotation center axis of the unit light source unit 12 is connected to the rotation axis 22a of the rotation driving unit 22 so that the unit light source unit 12 can be integrally rotated to correspond to the rotation direction of the first reflection member 21. [ The light source control unit 40 can appropriately control the rotation speed and direction of the drive control unit 50 through the main control unit 60. [

The first reflective member 21, the rotary drive unit 22 and the second reflective member 23 of the rotary ladder unit 20 are physically and physically rotatable about the rotary shaft 22a of the rotary drive unit 22, And the light reflected from the first reflecting member 21 is received by the detecting unit 30 through the second reflecting member 23 to secure the reliability of the process can do.

As a result, as shown in Fig. 6, the scan range of the lidar device with respect to the turning radius of 360 degrees is expanded through the rotation of the rotary ladder part 20, and by changing the design of the light source part 10, It is possible to simultaneously perform two-dimensional scanning in one direction.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification and the modification are possible.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10: light source unit 12: unit light source unit
12a: individual light source 13a: unit individual light source
20: rotating lid 21: first reflecting member
21a: first reflecting plate 21b: first angle adjusting portion
21b-1: a first vertical guide 21b-2: a first horizontal guide
22: rotation drive part 22a:
22b: drive motor 23: second reflection member
23a: second reflecting plate 23b: second angle adjusting portion
23b-1: a second vertical guide 23b-2: a second horizontal guide
30: Detection unit 40: Light source control unit
50: rotation drive control unit 60:
70:

Claims (7)

A light source unit including at least one light source for irradiating light;
A first reflecting member, which reflects the light emitted from the light source to guide the light to the object and is rotatable by 360 degrees;
A rotation driving unit coupled to the upper end of the first reflecting member so as to integrally rotate the first reflecting member;
A second reflecting member coupled to a lower end of the rotation driving unit so that a reflecting surface is disposed in the same direction as the first reflecting member and guiding the reflected light by reflecting the light reflected from the target object; And
And a detector for receiving light guided from the second reflecting member
Wherein the first reflecting member comprises:
A first reflection plate formed at a predetermined angle to reflect light of the light source unit in a reflection direction; And
Wherein the first reflector has a first up-and-down guide formed so that one end of the first reflector is driven to move within a linear movement range in a vertical up-and-down direction, and a second up- And a first angle adjuster for adjusting a reflection angle of the first reflector by including a first horizontal guide formed to be driven,
Wherein the second reflecting member comprises:
A second reflection plate formed at a predetermined angle to reflect light reflected from the object and guide the light to the detection unit; And
A second upper and lower guide in which one end of the second reflection plate is driven to move in a linear movement range in vertical vertical direction and a second vertical guide in a horizontal direction in a range corresponding to a range in which the other end of the second reflection plate linearly moves at one end of the second reflection plate, And a second angle adjuster for adjusting a reflection angle of the second reflector by including a second horizontal guide formed to be driven,
Wherein a stopper for limiting a linear movement range is formed in the first and second guide members, the first and second guide members, the second guide member, and the second guide member. The method according to claim 1,
A light source control unit for controlling driving of the light source;
A drive control unit for controlling driving of the rotation driving unit;
A main control unit for controlling the light source control unit and the drive control unit and receiving electrical signal data of the detection unit; And
And a processing unit for receiving information of the finally received light by the main control unit and processing and outputting related information. delete The method of claim 2,
The first reflecting member and the second reflecting member are rotated about their respective longitudinal centers,
The light source unit includes:
And a plurality of individual light sources which are rotated together with the same axis as the rotation axis of the first reflection member and are arranged continuously in the longitudinal direction of the slope of the first reflection member,
Wherein the plurality of individual light sources further comprises a unit light source unit controlled by the light source control unit to sequentially irradiate light in the same direction at a rotating instant position of the first reflecting member. The method according to claim 1,
The rotation drive unit
A rotating shaft coupled to a central axis of a predetermined angular inclined surface of the first reflecting member and the second reflecting member so as to integrally rotate the first reflecting member and the second reflecting member; And
And a driving motor for driving the rotating shaft. The method according to claim 1,
And the light source unit is integrally coupled to the rotation driving unit so as to correspond to the rotation direction of the first reflection member so that light can be vertically irradiated to the first reflection member. Controlling the light source control unit to irradiate light through the light source unit and drive the irradiation of the plurality of light sources;
Controlling the rotation speed and driving of the rotation driving unit in which the first reflecting member is coupled to the upper end, so that the light irradiated from the light source is reflected by the first reflecting member and guided to the target object;
Guiding the reflected light reflected from the target object through a second reflecting member coupled to the lower end of the rotation driving unit and receiving the reflected light by the detecting unit;
Wherein the detecting unit includes a plurality of photodiodes, each of the photodiodes converting the reflected light into an electrical signal through a signal processing unit and transmitting the electrical signal to the processing unit through the main control unit;
Transmitting the data converted into an electrical signal by the light source control unit and the drive control unit to the processing unit through the main control unit and controlling the light source control unit and the drive control unit by the main control unit;
And outputting and displaying a sensing value obtained through the processing unit.

Images