KR102057199B1 - High-performance rorationless scanning lidar system having a wide field of view structure - Google Patents

Abstract

The present invention relates to a high-efficiency non-rotary scanning lidar system with a wide viewing angle structure which comprises: a light emitting unit including a plurality of light emitting elements, a plurality of driving devices, a plurality of collimating lenses, and a first reflecting unit; a light receiving unit including a second reflecting unit, a plurality of light receiving lenses, a plurality of light detectors, and a plurality of reading members; and a control device for controlling each operation of the light lighting unit and the light receiving unit.

Description

HIGH-PERFORMANCE RORATIONLESS SCANNING LIDAR SYSTEM HAVING A WIDE FIELD OF VIEW STRUCTURE}

The present invention relates to a lidar system.

More specifically, the present invention uses a plurality of light emitting devices, a first reflecting unit, and a second reflecting unit and a plurality of light sensing units, wherein the laser light emitted from each of the plurality of light emitting elements is the second reflecting unit. By the first reflector and the second reflector to continuously change the reflection direction of each laser light so as to be incident perpendicularly to the plurality of light detectors respectively after being reflected by By significantly reducing the amount of noise incident on each of the light detectors, the light receiving efficiency (signal-to-noise ratio (SNR)) is greatly improved, and the wide viewing angle structure allows the scanning angle of a particular single / multiple point or area of the subject to be greatly expanded. Relates to a high efficiency non-rotating lidar system.

LIDAR: Light Detection and Ranging (LIDAR) illuminates a subject, for example a laser, and then analyzes the light reflected from the subject to determine the physical properties of the subject, such as distance, direction, speed, temperature, material distribution and concentration. One of the remote detection devices that can measure characteristics, etc. The rider can take advantage of lasers that can generate pulse signals with high energy density and short periods to measure the physical properties of the object more precisely.

In addition, the lidar has been used in various fields such as 3D image acquisition, weather observation, measuring the speed or distance of the subject, autonomous driving, etc. using a laser light source having a specific wavelength or a laser light source having a variable wavelength as a light source. For example, the lidar is mounted on aircraft, satellites, etc., and is used for accurate atmospheric analysis and observation of the earth's environment. The lidar is mounted on spacecraft and roving robots and used as a means of supplementing camera functions such as distance measurement to a subject.

In addition, a simple form of lidar sensor technology has been commercially available on the ground for remote measurement, crackdown on car speed violations, and the like. Recently, it is used as a laser scanner or a 3D imaging camera, and is used for 3D reverse engineering or driverless cars.

Recently, a lidar that recognizes spatial information according to a 360 degree rotation has been developed. However, the lidar device due to the mechanical rotation of the motor, etc., there is a limitation that there are mechanical defects such as wear, play, etc., there is a difficulty in applying to autonomous driving that is directly related to human life.

In order to solve the problems of the above-described lidar apparatus of the prior art, the inventors of the present invention, on May 19 and October 20, 2017, respectively, under the name of the invention "lidar apparatus and lidar system including the same" Korean Patent Application Nos. 10-2017-0062296 (Unpublished: referred to as "296 application") and 10-2017-0136198 (Unpublished: referred to as "198 Application"). These 296 and 198 applications disclose that a large number of complex optics or optics can be used to implement coaxial (biaxial) applications and biaxial (198 applications) lidar devices. The disclosures of these 296 and 198 applications are incorporated into and constitute a part of the present invention.

Lidar devices disclosed in the above-mentioned 296 and 198 applications are capable of detecting a wide range of laser scanning range without rotating the reflector, which can be implemented as a MEMS mirror, 2) improved light receiving efficiency, 3) small size, The advantages of being lightweight and having improved durability are achieved, but still have the problem that the use of complex optics or optics is required.

Therefore, there is a need for a new solution to solve the problems of the prior art described above.

The embodiment disclosed in the present invention is to solve the above-described problems of the prior art, and uses a plurality of light emitting elements, a first reflecting unit, a second reflecting unit, and a plurality of light sensing units, The first reflecting unit and the second reflecting unit continuously changing the reflection directions of the respective laser lights such that the emitted laser light is reflected by the second reflecting unit and then is incident perpendicularly to the plurality of light detectors, respectively. Each operation is controlled in a synchronous manner to significantly reduce the amount of noise incident to each of the plurality of light detectors, thereby greatly improving the light receiving efficiency (signal-to-noise ratio (SNR)), and scanning specific single / multiple points or areas of the subject. An object is to provide a highly efficient rotationless lidar system having a wide viewing angle structure, which is greatly expandable in angle.

The lidar system according to the first aspect of the present invention is disposed spaced apart from each other, a plurality of light emitting elements each of which emits laser light, a plurality of driving devices for controlling the operation of each of the plurality of light emitting elements, the plurality of A plurality of collimating lenses each collimating the laser light emitted from the light emitting element, and a plurality of predetermined areas spaced apart from each other of the subject by continuously changing a reflection direction of each collimated laser light within a predetermined angle range A light emitting unit including a first reflecting unit scanning the light; A second reflector for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject, and receiving the respective laser light reflected by the second reflector A plurality of light receiving lenses, spaced apart from each other, a plurality of light detectors respectively sensing the respective laser light passing through the plurality of light receiving lenses, and reading the respective laser light detected by the plurality of light detectors A light receiving unit including a plurality of reading members; And a control device for controlling the operation of each of the light emitting part and the light receiving part, wherein the control device is configured such that the respective laser light reflected by the second reflecting part is incident perpendicularly to the plurality of light detectors. Controlling the operation of each of the first reflecting portion and the second reflecting portion to continuously change the reflection direction of each laser light in a synchronous manner, wherein the plurality of light emitting elements, the plurality of driving devices, the plurality of collimating lenses And the plurality of light receiving lenses, the plurality of light detectors, and the plurality of reading members are used two or three, respectively.

Lidar system according to a second aspect of the present invention is disposed spaced apart from each other, each of the plurality of light emitting elements for emitting a laser light, the first optical switch, and the first optical switch and the plurality of light emitting elements, respectively; A driving device connected to each other and controlling the operation of each of the plurality of light emitting devices through a switching operation of the first optical switch, a plurality of collimating lenses respectively collimating the laser light emitted from the plurality of light emitting devices, A light emitting unit including a first reflecting unit configured to continuously change a reflection direction of each collimated laser light within a predetermined angle range to continuously scan a plurality of predetermined areas of the subject; A second reflector for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject, and receiving the respective laser light reflected by the second reflector A plurality of light receiving lenses, spaced apart from each other, a plurality of light detectors respectively sensing the respective laser light passing through the plurality of light receiving lenses, a second optical switch connected to the plurality of light detectors, respectively; A light receiving unit connected to a second optical switch and including a reading member configured to read the respective laser lights sensed by the plurality of light detectors through a switching operation of the second optical switch; And a control device for controlling the operation of each of the light emitting part and the light receiving part, wherein the control device is configured such that the respective laser light reflected by the second reflecting part is incident perpendicularly to the plurality of light detectors. Controlling the operation of each of the first reflecting portion and the second reflecting portion to continuously change the reflection direction of each laser light in a synchronous manner, wherein the plurality of light emitting elements, the plurality of collimating lenses, the plurality of light receiving lenses , And the plurality of light detectors are used two or three, respectively.

Lidar system according to a third aspect of the present invention is a light emitting device for emitting a laser light, a driving device for controlling the operation of the light emitting device, the light emitting device and the first optical switch is connected, A plurality of optical fiber collimators for collimating and emitting the laser light transmitted from the light emitting element through a switching operation, and a reflection direction of each laser light collimated and emitted from the plurality of optical fiber collimators continuously changed within a predetermined angle range, thereby causing the subject to A light emitting unit including a first reflecting unit configured to continuously scan a plurality of predetermined regions of the plurality of spaced apart regions; A second reflector for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject, and receiving the respective laser light reflected by the second reflector A plurality of light receiving lenses, spaced apart from each other, a plurality of light detectors respectively sensing the respective laser light passing through the plurality of light receiving lenses, and reading the respective laser light detected by the plurality of light detectors A light receiving unit including a plurality of reading members; And a control device for controlling the operation of each of the light emitting part and the light receiving part, wherein the control device is configured such that the respective laser light reflected by the second reflecting part is incident perpendicularly to the plurality of light detectors. Controlling the operation of each of the first reflecting portion and the second reflecting portion to continuously change the reflection direction of each laser light in a synchronous manner, wherein the plurality of optical fiber collimators, the plurality of light receiving lenses, the plurality of light detectors, And two or three read members each.

According to a fourth aspect of the present invention, a lidar system includes a light emitting device for emitting laser light, a driving device for controlling an operation of the light emitting device, a collimating lens for collimating the laser light emitted from the light emitting device, and the light emitting device; A rotation stage in which the driving device is integrally mounted to be rotatable within a predetermined angle range, and a first reflection for continuously scanning a predetermined region of a subject by continuously changing a reflection direction of the collimated laser light within a predetermined angle range A light emitting unit including a part; A second reflector for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject, and receiving the respective laser light reflected by the second reflector A plurality of light receiving lenses, spaced apart from each other, a plurality of light detectors respectively sensing the respective laser light passing through the plurality of light receiving lenses, and reading the respective laser light detected by the plurality of light detectors A light receiving unit including a plurality of reading members; And a control device for controlling the operation of each of the light emitting part and the light receiving part, wherein the control device is configured such that the respective laser light reflected by the second reflecting part is incident perpendicularly to the plurality of light detectors. Controlling the operation of each of the first reflecting portion and the second reflecting portion to continuously change the reflection direction of each laser light in a synchronous manner, wherein the plurality of light receiving lenses, the plurality of light detectors, and the plurality of reading members It is characterized in that two or three are used respectively.

Using the LiDAR system according to the embodiment of the present invention the following effects are achieved.

1. Applicable to autonomous vehicles and many applications (specifically, golf courses, autonomous drones, automated robots in warehouses and distribution centers, robot cleaners, etc.) requiring distance measurement and detection of a particular single point or area of the subject. It can be implemented in the form.

2. It is possible to fabricate a high efficiency non-rotating lidar system with a wide viewing angle structure with improved light receiving efficiency (SNR) and greatly expanding scanning angle.

3. It is possible to manufacture high efficiency non-rotating lidar system with small size and light weight, high performance / low price, wide viewing angle structure.

4. It is possible to manufacture a highly efficient non-rotating lidar system with a wide viewing angle structure that compensates for mechanical defects by scanning specific single / multiple points or areas by optical configuration without mechanical rotation.

Further advantages of the present invention will become apparent from the following description with reference to the accompanying drawings in which like or like reference numerals designate like elements.

1 is a view showing a lidar apparatus according to an embodiment of the present invention.
2 is a block diagram of a lidar apparatus according to the first embodiment of the present invention shown in FIG.
3 is a view showing a light emitting unit of a lidar apparatus according to the first embodiment of the present invention shown in FIG.
FIG. 4 is a view illustrating a light receiving unit of a lidar apparatus according to the first embodiment of the present invention shown in FIG. 1.
5 is a view illustrating in detail the operation of the light receiving unit of the lidar apparatus according to the first embodiment of the present invention shown in FIG.
FIG. 6A is a view showing that a wavelength filter is additionally used in the light receiving unit of the LiDAR apparatus according to the first embodiment of the present invention shown in FIG. 1.
FIG. 6B is a diagram for describing a filtering state when laser light reflected from a subject in the light receiving unit of the lidar apparatus according to the first embodiment of the present invention does not vertically enter the wavelength filter.
7 is a view showing a light receiving unit of a lidar apparatus according to a second embodiment of the present invention.
8A illustrates a lidar apparatus according to a third embodiment of the present invention.
FIG. 8B is a view showing a modified embodiment of the light receiving unit used in the lidar apparatus according to the third embodiment of the present invention shown in 8A.
8C is a view showing a light receiving unit used in a lidar apparatus according to a fourth embodiment of the present invention.
9 illustrates a lidar system according to a first embodiment of the present invention.
10 is a view showing a modified embodiment of the lidar system according to the first embodiment of the present invention shown in FIG.
11 is a diagram illustrating a lidar system according to a second embodiment of the present invention.
12 is a view showing an embodiment of a light emitting unit used in a lidar system according to a third embodiment of the present invention.
FIG. 13 is a view illustrating a light emitting unit of a LiDAR system according to a fourth exemplary embodiment of the present invention.
FIG. 14A is a view showing a first modified embodiment of a light emitting part and a light receiving part used in a lidar system according to the first embodiment of the present invention and modified embodiments thereof shown in FIGS. 9 and 10.
FIG. 14B is a view showing a second modified embodiment of the light emitting part and the light receiving part used in the lidar system according to the first embodiment of the present invention and modified embodiments thereof shown in FIGS. 9 and 10.

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

1 is a view showing a lidar device according to a first embodiment of the present invention, Figure 2 is a block diagram of a lidar device according to a first embodiment of the present invention shown in Figure 1, Figure 3 4 is a view illustrating a light emitting unit of a lidar apparatus according to a first embodiment of the present invention, and FIG. 4 is a view illustrating a light receiving unit of a lidar apparatus according to a first embodiment of the present invention shown in FIG. 1. .

1 to 4, a lidar device 100 according to an embodiment of the present invention includes a light emitting device 112 for emitting a laser light and a driving device for controlling an operation of the light emitting device 112. 116, the collimating lens 114 collimating the laser light emitted from the light emitting element 112, and the reflection direction of the collimated laser light is continuously changed within a predetermined angle range in a predetermined region of the object. A light emitting unit 110 including a first reflecting unit 118 for continuously scanning FOV; A second reflector 128 for continuously changing and reflecting the laser light reflected from a predetermined region of the subject and receiving the laser light reflected by the second reflector 128 It includes a light receiving lens 124, a light detector 122 for detecting the laser light passing through the light receiving lens 124, and a reading member 126 for reading the laser light sensed by the light detector 122. A light receiving unit 120; And a controller 130 that controls each operation of the light emitting unit 110 and the light receiving unit 120, wherein the controller 130 is reflected by the second reflecting unit 128. Synchronize the operation of each of the first reflecting portion 118 and the second reflecting portion 128 to continuously change the reflection direction of the laser light so that the laser light is incident perpendicularly to the photodetector 122. (synchronously) control.

Hereinafter, a detailed configuration and operation of the lidar apparatus 100 according to an embodiment of the present invention will be described in detail.

1 to 4 again, the lidar apparatus 100 according to the first embodiment of the present invention includes a light emitting unit 110; Light-receiving unit 120; And a control device 130 that controls each operation of the light emitting unit 110 and the light receiving unit 120.

The light emitting unit 110 of the lidar device 100 includes a light emitting element 112 for emitting laser light. The light emitting element 112 may be implemented as a single laser diode (LD) or a single pulsed laser diode (PLD), and specifically, may be implemented as a PLD emitting a 905 nm wavelength. For this purpose, the control device 300 may include a pulse generator 134 (see FIG. 2), and a pulse generated by such a pulse generator 134 (eg, a 905 nm wavelength pulse) is implemented as a PLD. And light emitting element 112, which may emit laser light, for example, at a wavelength of 905 nm. In this case, the operation of the light emitting element 112 is controlled by the drive device 116. Specifically, the driving device 116 may be implemented as a current driver for controlling the output timing and output characteristics of the light emitting element 112, and for maintaining a short pulse width. Since the light emitting element 112 is a temperature sensitive device, a thermoelectric cooler (thermo-) is used to control the temperature at a constant value during operation to suppress a decrease in output due to thermal characteristics of the semiconductor and a change in the center wavelength of the laser resonator. electric cooler 113, a cooling fan 115, and a temperature sensor (not shown).

In addition, the light emitting device 112 may be integrally provided with a collimating lens 114 for collimating the emitted laser light. The laser light collimated by the collimating lens 114 proceeds to the first reflecting portion 118 and is reflected. In this case, the first reflecting unit 118 continuously changes the reflection direction of the collimated laser light within a predetermined angle range by the synchronous driving unit 136 included in the control device 130, and thus the predetermined region of the object. Scan continuously. Here, the first reflecting portion 118 and the second reflecting portions 118 and 128, which will be described later, may be implemented by, for example, a known MEMS mirror, in which case the size of the mirror is approximately 1 to 5 mm in diameter. It should be noted that having a range is preferred, but not limited thereto.

The predetermined angle range for continuously changing the reflection direction of the laser light collimated by the reflector 118 by the synchronous driver 136 is approximately ± 20 degrees (ie, 40 degrees) at maximum, and ± 15 degrees (ie, on average). 30 degrees). 3 and 4 exemplarily show that this predetermined angular range is ± 15 degrees (ie 30 degrees). That is, the synchronous driver 136 continuously rotates the reflector 118 within a range of ± 15 degrees (that is, 30 degrees) so that the reflection direction of one collimated laser light incident on the reflector 118 is 30 degrees. You can change it within the range.

In the lidar apparatus 100 according to the first embodiment of the present invention, unlike a prior art, a predetermined area (FOV) of a subject is scanned (specifically, as narrowly as possible) of a specific single point (area) of the subject. It should be noted that the present invention is intended for application to a particular single point (scanning area) having a field of view (FOV) of.

Meanwhile, the light receiver 120 of the lidar device 100 includes a second reflector 128. The second reflector 128 continuously changes and reflects the laser light reflected from a predetermined region of the subject within the predetermined angle range. Specifically, the second reflector 128 is continuously reflected by the synchronous driver 136 of the control device 130 in the predetermined region of the subject to change the reflection direction of the laser light toward the second reflector 128, For example, it is possible to change the reflection direction of the plurality of laser light incident on the second reflector 128 within the 30 degree range by continuously rotating within the range of ± 15 degrees. In this case, the synchronous driver 136 controls the rotation angles of the first reflector 118 and the second reflector 128 in a synchronous manner. Specifically, the synchronous driver 136 may be implemented to have a parallel voltage control structure so as to simultaneously control the rotation operations of the first reflector 118 and the second reflector 128 without time error (that is, at the speed of light). Can be. As a result, one collimated laser light emitted from the light emitting element 112 is reflected by the first reflecting unit 118 which rotates continuously and travels toward the predetermined area (FOV) of the subject. Thereafter, the plurality of laser lights reflected from the predetermined area (FOV) of the subject is reflected by the second reflecting unit 128 which rotates continuously in a synchronous manner with the first reflecting unit 118, and is shown in FIGS. 1 and 4. As shown, it is incident perpendicularly to the light detector 122 through the light receiving lens 124. The light receiving lens 124 is preferably implemented as, for example, a collimating lens for collimating a plurality of laser light reflected by the second reflector 128, but a plurality of lasers passing through the light receiving lens 124. It should be noted that the light may be implemented with a condensing lens that allows light receiving focus to be formed on the surface of the light detector 122.

The laser light received by the light detector 122 is converted into an analog light signal by the reading member 126 into a digital light signal and then read and stored. The read member 126 may be implemented as, for example, readout integrated circuits (ROICs) and may be integrally formed with the light detector 122. The light detector 122 may be implemented, for example, as a single Avalanche Photodiode (APD). The readout member 126 integrally including the light detector 122 may be referred to as, for example, a monophoton detector (SPD) module or a silicon photomultiplier (SiPM) module. In this case, the photodetector 122, which can be implemented as a single APD, has a single photon level of sensitivity, and thus passes through the light receiving lens 124 to be implemented as a read integrated circuit (ROIC). Noise arriving at the substrate surface of the reading member 126 or scattered noise inside the reading member 126 may be detected. Therefore, in order to prevent the reception of such noise, it is preferable to coat the light absorbing agent 127 on the substrate surface of the reading member 126 except the surface of the light detector 122 provided integrally with the reading member 126. . The light absorbing agent may be, for example, a known silicon light absorbing material (for example, a crystalline light absorbing material of monocrystalline Si or polycrystalline Si, or a thin film of a-Si thin film or μ c-Si / a-Si laminated structure). Absorption material), compound light absorption material (e.g., compound thin film type light absorption material of CIS / CdTe compound or CIGS / CdTe compound material), organic light absorption material (e.g., dye-sensitive type of metal complex dye material) Light absorption material) may be used, but is not limited thereto.

The digital optical signal read by the above-described reading member 126 is input to the time-to-digital converter (TDC) circuit 138 of the control device 300 and the flight time of the laser light flying between the lidar device 100 and the subject. This is measured (calculated). Thereafter, the measured flight time information is transmitted to the control and signal processing device 132 of the control device 300 to calculate the distance between the lidar device 100 and the subject and to process the error correction signal. The power supply 140 shown in FIG. 2 is a control and signal processing device 132, a pulse generator 134, a synchronous driver 136, and a TDC circuit 138 that are components of the control device 300. Supply power for each operation of the.

5 is a view illustrating in detail the operation of the light receiving unit of the lidar apparatus according to the first embodiment of the present invention shown in FIG. In FIG. 5, a plurality of laser lights reflected from a subject are received by the light detector 122 through the light receiving lens 124 constituting the light receiving unit 120 through the second reflecting unit 128. For convenience of description, it should be noted that the light is received by the light detector 122 through the light receiving lens 124 constituting the light receiving unit 120 is reflected by the second reflecting unit 128. The same applies to the case of FIGS. 6B and 7, which show the operation of the light receiving portion of the lidar apparatus which is the same as or similar to that of FIG. 5.

Referring to FIG. 5 together with FIGS. 1 to 4, the second reflecting unit 128 of the light receiving unit 110 of the lidar apparatus 100 according to the first embodiment of the present invention has a diameter of about 1 to 5 mm. MEMS mirrors (hereinafter referred to as " miniature MEMS mirrors 128 "), so that they are within a predetermined angular range (e.g., ± 15 degrees (i.e., 30 degrees)) in a predetermined area (FOV) of the subject. The plurality of laser lights reflected at are reflected by the ultra-small MEMS mirror 128 which rotates continuously and is received on the surface of the light detector 122 through the light receiving lens 124. In this case, ambient light 129 caused by sunlight or other light sources that generate background noise by sunlight or natural light reflected from an area other than a predetermined area of the subject (FOV) is a very small MEMS. Since it is reflected off the mirror 128 and proceeds out of the light receiving lens 129, it does not reach on the surface of the reading member 126 integrally including the light detector 122. Accordingly, noise generation due to ambient light on the outside and inside of the light detector 122 is eliminated or minimized. That is, the Lidar apparatus 100 according to the first embodiment of the present invention uses a first and a second reflector 128 implemented as an ultra-small MEMS mirror, so that a specific single point having a narrow viewing angle (FOV) is achieved. Significantly improves the signal-to-noise ratio (SNR) of the laser light received by the light detector 122 by scanning (area) and thereby eliminating or minimizing noise due to ambient light reflected from areas other than a particular single point (area). The advantage is that it can be achieved.

On the other hand, in the prior art lidar apparatus (not shown), when a mirror is not used, a plurality of laser lights reflected from a subject incident at a wide angle are received at a light receiving unit having a large opening of a large size such as a camera. Therefore, the ambient light noise also increases. In addition, in the conventional lidar apparatus (not shown), even when using a mirror, a relatively large size (for example, a diameter of approximately 3 to 5 cm) is used, so that a predetermined area (FOV) of the subject is used. Since the plurality of laser light reflected by the light is reflected by the mirror of the large size, the amount of laser light passing through the light receiving lens (eg, the light receiving lens 128 of FIG. 5) is relatively increased. Accordingly, in the prior art, a method of increasing the SNR by greatly increasing the amount of received light of the laser light in the photodetector 122 is used. However, in this prior art, instead of a large increase in the amount of light received by the laser light, the ambient light is also simultaneously received so that the noise is greatly increased to obtain a substantially high SNR is difficult or impossible. Therefore, as described above, the lidar apparatus 100 according to the first embodiment of the present invention can solve the problem of the conventional lidar apparatus.

FIG. 6A is a view showing that a wavelength filter is additionally used in the light receiving unit of the LiDAR apparatus according to the first embodiment of the present invention shown in FIG. 1, and FIG. 6B is a first embodiment of the present invention shown in FIG. FIG. 7 is a diagram illustrating a filtering state when the laser light reflected from the subject in the light receiving unit of the lidar apparatus does not perpendicularly enter the wavelength filter.

First, referring to FIG. 6A, the light receiving unit 120 of the lidar apparatus 100 according to the first embodiment of the present invention is a wavelength filter 127 provided between the second reflecting unit 128 and the light receiving mirror 124. ) May be further included. In the example of FIG. 6A, the wavelength filter 127 is shown to be provided between the second reflecting portion 128 and the light receiving mirror 124, although those skilled in the art will appreciate that the wavelength filter 127 may be a light detector (eg, a light detector). 122) It will be appreciated that it can be provided coated on the surface. The wavelength filter 127 may include, for example, a first wavelength filter that filters a wavelength in a range of ± 25 nm based on a wavelength of 905 nm, and two wavelength filters that filter a wavelength in a range of ± 10 nm based on a wavelength of 905 nm. The second and third filters) may be provided in a stacked form. Here, the wavelength of 905 nm is the wavelength with the least noise among the wavelength spectrum of sunlight. The use of the three stacked wavelength filters 127 further eliminates noise due to ambient light, and as can be seen in the graph of FIG. 6A, a laser light in the approximately 900 to 910 nm wavelength range substantially free of noise. This can be received by the light detector 122. It should be noted that the use of the wavelength filter 127 described above is not necessarily used as an option.

Meanwhile, referring to FIG. 6B, the laser light reflected by the second reflecting unit 128 from the light receiving unit 120 of the LiDAR apparatus 100 according to the first embodiment of the present invention is incident perpendicularly to the wavelength filter 127. If not, the transmission region of the wavelength filter 127 becomes wider and at the same time other regions (ie, the filtering region is approximately 888 to 907 nm as shown in FIG. 6B in the region of approximately 899 to 910 nm as shown in FIG. 6A). Area of the range). Thus, not only the same noise as the ambient light can be generated, but also the amount of light of the received light received by the light detector 122 is significantly reduced. Therefore, as described above, in order to solve the problem that the transmission region of the wavelength filter 127, which occurs when the laser light does not perpendicularly enter the wavelength filter 127, moves to another region at the same time, the wavelength filter 127 is widened. It is not desirable to change the design of) and increase the cost. Therefore, as shown in FIG. 6A, in the LiDAR apparatus 100 according to the first embodiment of the present invention, the laser light reflected by the second reflecting unit 128 constituting the light receiving unit 120 is wavelength filter 127. And / or by implementing perpendicular to the photodetector 122, the advantage that the light receiving efficiency and SNR in the photodetector 122 is significantly improved can be achieved.

7 is a view showing a light receiving unit of a lidar apparatus according to a second embodiment of the present invention.

Referring to FIG. 7, the first embodiment except that the light receiving lens 124 is not used in the light receiving unit 120 of the lidar apparatus 100 according to the first embodiment of the present invention illustrated in FIG. 1 is illustrated. It should be noted that is substantially the same as the lidar device 100 according to.

More specifically, referring to FIG. 7 together with FIGS. 1 to 4, the lidar apparatus 100 according to the second embodiment of the present invention includes a light emitting device 112 and a light emitting device 112 that emit laser light. The driving device 116 for controlling the operation of the light source; a collimating lens 114 collimating the laser light emitted from the light emitting element 112; and a reflection direction of the collimated laser light continuously changed within a predetermined angle range. A light emitting unit 110 including a first reflecting unit 118 that continuously scans a predetermined area FOV of an object; A second reflector 128 for continuously changing and reflecting the laser light reflected from a predetermined region of the subject to detect the laser light reflected by the second reflector 128 A light receiving unit (120) including a light detector (122) and a reading member (126) for reading the laser light sensed by the light detector (122); And a control device 130 for controlling each operation of the light emitting unit 110 and the light receiving unit 120, wherein the control device 130 is the laser reflected by the second reflecting unit 128. Synchronously operating each of the first reflecting portion 118 and the second reflecting portion 128 to continuously change the reflection direction of the laser light such that light is incident perpendicularly to the photodetector 122. ) And the light receiver 120 controls the optical filter 127 provided between the second reflector 128 and the light detector 122 or coated on the surface of the light detector 122. It is characterized in that it comprises selectively.

As shown in FIG. 7, in the LiDAR apparatus 100 according to the second embodiment of the present invention, the surface size of the light detector 122 may be implemented as a micro MEMS mirror having a diameter of 1 to 5 mm. It may be implemented to have a size substantially the same as the size of the reflecting portion 128 (a surface of a circular or square type having a diameter or one side of approximately 1 to 5 mm). Accordingly, after the plurality of laser light reflected from the predetermined area (FOV) of the subject is reflected by the second reflector 128, the light is received on the light detector 122 without using the light receiving lens 124 shown in FIG. 1. Can be. It should be noted that even in the embodiment of FIG. 7, the use of the wavelength filter 127 is optional.

FIG. 8A shows a lidar apparatus according to a third embodiment of the present invention, and 8B shows a modified embodiment of the light receiving unit used in the lidar apparatus according to the third embodiment of the present invention shown in 8A. One drawing. 8A and 8B, it should be noted that the illustration of the control device 130 of the lidar device 100 according to the first embodiment of the invention is omitted in FIG. 1.

 Referring back to FIG. 8A together with FIGS. 1 to 4, in the LiDAR apparatus 100 according to the third embodiment of the present invention, the light receiving unit 120 includes the same light receiving unit as the light receiving unit 120 illustrated in FIG. 1. It is substantially the same as the lidar apparatus 100 according to the first embodiment of the present invention shown in FIG. 1 except that it uses 120a and 120b. In this case, although the plurality of light receiving portions 120a and 120b are exemplarily illustrated as two in the embodiment of FIG. 8A, those skilled in the art will fully appreciate that a plurality of light receiving portions 120a and 120b may be provided. I can understand.

More specifically, the lidar apparatus 100 according to the third embodiment of the present invention includes a light emitting device 112 for emitting laser light, a driving device 116 for controlling the operation of the light emitting device 112, and The collimating lens 114 collimating the laser light emitted from the light emitting element 112, and continuously changes the reflection direction of the collimated laser light within a predetermined angle range to continuously change the predetermined area (FOV) of the object (object). A light emitting unit 110 including a first reflecting unit 118 scanning the light; By the plurality of second reflecting portions 128a and 128b and the plurality of second reflecting portions 128a and 128b for continuously changing and reflecting the laser light reflected from the predetermined region of the subject within the predetermined angle range. A plurality of light receiving lenses 124a and 124b respectively receiving the reflected laser light, and a plurality of light detectors 122a and 122b respectively detecting the laser light passing through the plurality of light receiving lenses 124a and 124b, respectively. And a plurality of light receiving units 120a and 120b including a plurality of reading members 126a and 126b for reading the laser light sensed by the plurality of light detectors 122a and 122b, respectively. ; And a control device 130 for controlling operations of the light emitting unit 110 and the plurality of light receiving units 120a and 120b, respectively, wherein the control device 130 includes the plurality of second reflecting units 128a, The first reflecting portion 118 and the plurality of second reflecting portions 128a and 128b are respectively provided such that the laser light reflected by the light beams 128b is incident perpendicularly to the plurality of light detectors 122a and 122b, respectively. And controlling the operation of continuously changing the reflection direction of the laser light in a synchronous manner. Here, since each configuration and operation of the plurality of light receiving units 120a and 120b constituting the light receiving unit 120 are the same as the configuration and operation of the light receiving unit 120 illustrated in FIG. 1 as described above, a detailed description thereof is omitted. Let's do it.

8b is a view showing a modified embodiment of the light receiving unit used in the lidar apparatus according to the third embodiment of the present invention shown in 8a.

Referring to FIG. 8B together with FIGS. 1 and 8A, in the light receiving unit 120 used in the lidar apparatus 100 according to the third embodiment of the present invention, the plurality of light receiving units 120a and 120b may be formed of a plurality of light receiving units. It further includes a plurality of reflecting mirrors 127a and 127b provided between the two reflecting portions 128a and 128b and the plurality of light receiving lenses 124a and 124b. Since the plurality of reflection mirrors 127a and 127b can change the paths of the plurality of laser beams reflected from the plurality of second reflecting portions 128a and 128b, the plurality of light receiving portions 120a and 120b may be formed. An advantage can be achieved that the degree of freedom of placement of a plurality of light detectors (not shown) can be increased.

8C is a view showing a light receiving unit used in a lidar apparatus according to a fourth embodiment of the present invention. In the embodiment of FIG. 8C, it should be noted that the illustration of the control device 130 of the lidar device 100 according to the first embodiment of the present invention is omitted from FIG. 1.

Referring back to FIG. 8C together with FIGS. 1 to 4, in the lidar apparatus 100 according to the fourth embodiment of the present invention, the light receiving unit 120 includes one second reflecting unit 128 shown in FIG. 1. Instead, a reflector array 128a in which the same plurality of second reflectors 128 are arranged is used, and a plurality of laser light reflected by the plurality of reflectors 128 passes through one light receiving lens 124 and is one. Is substantially the same as the lidar apparatus 100 according to the first embodiment of the present invention shown in FIG. 1 except that it is received by the optical receiver 122 of FIG.

More specifically, the lidar apparatus 100 according to the fourth embodiment of the present invention illustrated in FIG. 8C includes a light emitting device 112 for emitting laser light and a driving device for controlling the operation of the light emitting device 112. 116, a collimating lens 114 collimating the laser light emitted from the light emitting element 112, and a reflection area of the collimated laser light is continuously changed within a predetermined angle range so that a predetermined region of the object A light emitting unit 110 including a first reflecting unit 118 for continuously scanning FOV; Reflector array 128a and reflector array 128a in which a plurality of second reflectors 128 are arranged to continuously change and reflect the laser light reflected from a predetermined region of the subject within the predetermined angle range. A light receiving lens 124 for receiving the laser light reflected by the plurality of second reflecting portions 128 arranged in the light detector 122 for detecting the laser light passing through the light receiving lens 124 And a light receiving unit (120) including a reading member (126) for reading the laser light sensed by the light detector (122), respectively. And a control device 130 for controlling each operation of the light emitting unit 110 and the light receiving unit 120, wherein the control device 130 includes the plurality of control units arranged in the reflector array 128a. The first reflector 118 and the plurality of reflectors continuously changing the reflection directions of the respective laser lights such that the laser lights respectively reflected by the second reflector 128 are incident perpendicularly to the photodetector 122, respectively. Each operation of the second reflecting unit 128 is characterized in that the synchronous control method. Here, each configuration and operation of the plurality of second reflecting units 128 arranged in the reflecting unit array 128a constituting the light receiving unit 120 may be described as the second of the light receiving unit 120 illustrated in FIG. 1 as described above. Since the configuration and operation of the reflector 128 are the same, a detailed description thereof will be omitted.

In the lidar apparatus 100 according to the third or fourth embodiment of the present invention illustrated in FIGS. 8A to 8C described above, the light receiving unit 120 is implemented by a plurality of light receiving units 122a and 122b or a plurality of agents. Since the reflector array 128a in which the two reflectors 128 are arranged is used, the advantage that the light receiving efficiency is greatly increased is achieved.

9 illustrates a lidar system according to a first embodiment of the present invention.

Referring to FIG. 9 together with FIGS. 1 to 4, the lidar system 101 according to the first embodiment of the present invention is disposed to be spaced apart from each other, and each of the plurality of light emitting devices 112a and 112b that emits laser light. 112c, the plurality of driving devices 116a, 116b, and 116c controlling the operation of the plurality of light emitting elements 112a, 112b, and 112c, and the plurality of light emitting elements 112a, 112b, and 112c, respectively. A plurality of collimating lenses 114a, 114b and 114c each collimating the laser light, and a plurality of spaced apart objects of the object by continuously changing a reflection direction of each collimated laser light within a predetermined angle range. A light emitting unit 110 including a first reflecting unit 118 for continuously scanning the predetermined regions FOV1, FOV2, and FOV3; A second reflector 128 and the second reflector 128 for continuously changing and reflecting the respective laser light reflected from the plurality of predetermined areas FOV1, FOV2, and FOV3 of the subject within the predetermined angle range A plurality of light receiving lenses 124a, 124b, and 124c for receiving the respective laser light reflected by the beams, spaced apart from each other, and each of the light receiving lenses 124a, 124b, and 124c passing through the plurality of light receiving lenses, respectively. A plurality of light detectors 122a, 122b, 122c for sensing laser light, and a plurality of reading members 126a, 126b for reading the respective laser light sensed by the plurality of light detectors 122a, 122b, 122c, respectively. A light receiving unit 120 including 126c; And a control device 130 for controlling respective operations of the light emitting unit 110 and the light receiving unit 120, wherein the control device 130 is each reflected by the second reflecting unit 128. The first reflector 118 and the second reflector 128 to continuously change the reflection direction of each laser light such that the laser light is incident perpendicularly to the plurality of light detectors 122a, 122b, 122c. It characterized in that the control of each operation of (synchronously) (synchronously). Here, the plurality of predetermined areas FOV1, FOV2, and FOV3 may correspond to specific single points (areas) spaced apart from each other of the subject.

In the lidar system 101 according to the first embodiment of the present invention described above, the reflection direction of the laser light emitted from each of the plurality of light emitting devices 112a, 112b, and 112c by using one first reflector 118 is shown. Are continuously changed within a predetermined angular range (e.g., a range of ± 15 degrees (i.e., 30 degrees) for each laser light) so that a plurality of predetermined regions (FOV1, FOV2, FOV3, spaced apart from each other) of the object ) Are scanned sequentially. Thereafter, the reflection direction of each laser light reflected from the plurality of predetermined areas FOV1, FOV2, and FOV3 of the subject using one second reflecting unit 128 is adjusted to a predetermined angle range (for example, each laser). Continuously varying and reflecting within a range of ± 15 degrees (i.e., 30 degrees) with respect to the light, and each reflected laser light passes through the plurality of light receiving lenses 124a, 124b, and 124c, and is spaced apart from each other. Received and sensed by a plurality of light detectors 122a, 122b, and 122c. In this case, the plurality of light emitting elements 112a, 112b, and 112c are disposed so that the predetermined angle ranges in which the plurality of emitted laser lights are continuously changed by the first reflecting portion 118 do not overlap each other. In this case, in the embodiment of FIG. 9, each of the plurality of light emitting devices 112a, 112b, and 112c has a maximum scanning range of 30 degrees, so that when the three light emitting devices 112a, 112b, and 112c are used, the total maximum scanning range is 90 degrees.

In addition, in the embodiment of FIG. 9, the plurality of light emitting elements 112a, 112b, 112c, the plurality of driving devices 116a, 116b, 116c, the plurality of collimating lenses 114a, 114b, 114c, and the plurality of light receiving lenses Configurations and operations of the 124a, 124b, 124c, the plurality of light detectors 122a, 122b, 122c, the plurality of reading members 126a, 126b, 126c, and the control device 130 are illustrated in FIGS. Configurations of the light emitting element 112, the driving device 116, the collimating lens 114, the light receiving lens 124, the light detector 122, the reading member 126, and the control device 130 shown in FIG. And since the operation is substantially the same, a detailed description thereof will be omitted.

10 is a view showing a modified embodiment of the lidar system according to the first embodiment of the present invention shown in FIG.

Referring to FIG. 10 along with FIGS. 9 and 1 to 4, the lidar system 101 according to a modified embodiment of the present invention may include a plurality of laser lights emitted from the plurality of light emitting devices 112a, 112b, and 112c, respectively. Except for the fact that the predetermined angular range continuously changed by the first reflector 118 overlaps with each other partially so that the total maximum scanning range by the plurality of light emitting elements 112a, 112b, 112c is smaller than 90 degrees. 9 is identical in configuration and operation to the lidar system 101 shown in FIG. 9.

As described above, in the lidar system 101 according to the first embodiment of the present invention and modified embodiments thereof shown in FIGS. 9 and 10, respectively, a plurality of light emitting elements 112a, 112b, 112c, Driving devices 116a, 116b, 116c, a plurality of collimating lenses 114a, 114b, 114c, a plurality of light receiving lenses 124a, 124b, 124c, a plurality of light detectors 122a, 122b, 122c, and a plurality of Although three reading members 126a, 126b, and 126c are exemplarily described as being used, one of ordinary skill in the art will recognize, for example, two light emitting elements, two driving devices, two collimating lenses), and two light receiving lenses. It will be appreciated that only two light detectors, and two reading members can be used.

11 is a diagram illustrating a lidar system according to a second embodiment of the present invention.

Referring to FIG. 11 together with FIGS. 9 and 1 to 4, the lidar system 101 according to the second exemplary embodiment of the present invention is disposed to be spaced apart from each other, and each of the plurality of light emitting devices emitting laser light ( 112a, 112b, 112c and a first optical switch 113 connected to the plurality of light emitting elements 112a, 112b, 112c, and the first optical switch 113, respectively, and the first optical switch 113. The laser light emitted from the driving device 116 and the plurality of light emitting elements 112a, 112b, and 112c, respectively, to control the operations of the plurality of light emitting elements 112a, 112b, and 112c through a switching operation. A plurality of collimating lenses 114a, 114b and 114c for collimating the plurality of collimating lenses 114a, 114b and 114c and a plurality of predetermined areas (FOV1) spaced apart from each other of the object by continuously changing a reflection direction of each collimated laser light within a predetermined angle range. And a first reflector 118 for continuously scanning FOV2 and FOV3, respectively. Portion 110; A second reflector 128 and the second reflector 128 for continuously changing and reflecting the respective laser light reflected from the plurality of predetermined areas (FOV1, FOV2, FOV3) of the subject within the predetermined angle range; A plurality of light receiving lenses 124a, 124b and 124c for receiving the respective laser light reflected by 128, spaced apart from each other, and respectively passing through the plurality of light receiving lenses 124a, 124b and 124c, respectively. A plurality of light detectors 122a, 122b and 122c for sensing laser light of the second light switch, a second optical switch 123 and a second light switch 123 respectively connected to the plurality of light detectors 122a, 122b and 122c, respectively. And a reading member 126 connected to the second optical switch 123 and reading the respective laser beams detected by the plurality of light detectors 122a, 122b, and 122c through the switching operation of the second optical switch 123. And controlling the operations of the light emitting unit 110 and the light receiving unit 120. Includes a control device 130, wherein the control device 130 is configured such that each of the laser light reflected by the second reflector 128 is perpendicular to the plurality of light detectors 122a, 122b, 122c. Each operation of the first reflector 118 and the second reflector 128, which continuously changes the reflection direction of each laser light so as to be incident, is controlled synchronously.

In the lidar system 101 according to the second embodiment of the present invention shown in FIG. 11 described above, a plurality of driving devices used in the lidar system 101 according to the first embodiment of the present invention shown in FIG. 9. The first optical switch 113 and one driving device 116 are used instead of the 116a, 116b and 116c, and the second optical switch 123 and one is used instead of the plurality of reading members 126a, 126b and 126c. The laser light emission operation of the plurality of light emitting elements 112a, 112b, 112c and the plurality of light detectors 122a, 122b through the respective switching operations of the first and second optical switches 113, 123 using the reading device 126. Substantially with the operation of the lidar system 101 according to the first embodiment of the present invention shown in FIG. 9 shown in FIG. 9 except that it controls the reading operation of each laser light sensed at 122c. You will fully understand that it is the same.

12 is a view showing an embodiment of a light emitting unit used in a lidar system according to a third embodiment of the present invention.

Referring to FIG. 12 together with FIGS. 9 to 11, the light emitting unit 110 of the LiDAR system 101 according to the third exemplary embodiment of the present invention may include a light emitting device 112 and a light emitting device emitting laser light. The driving device 116 for controlling the operation of the 112, the light emitting element 112 and the first optical switch 113 is connected, and the light emitting element 112 through the switching operation of the first optical switch 113. A plurality of optical collimators (fiber collimator or fiber optic collimator (115a, 115b, 115c) for collimating and emitting the laser light transmitted from), each collimated and emitted from the plurality of optical fiber collimators (115a, 115b, 115c) First reflection unit 118 (FIGS. 9 to 9) for continuously scanning the plurality of predetermined areas FOV1, FOV2, and FOV3 spaced apart from each other of the object by continuously changing the reflection direction of the laser light within a predetermined angle range. 11). Although not shown in FIG. 12, the light receiving unit and the control device of the lidar system 101 according to the third embodiment of the present invention are the first and modified embodiments of the present invention shown in FIGS. 9 to 11, respectively. It should be noted that the light emitting unit 110 and the control device 130 used in the lidar system 101 according to the second embodiment have substantially the same configuration.

FIG. 13 is a view illustrating a light emitting unit of a LiDAR system according to a fourth exemplary embodiment of the present invention.

Referring to FIG. 13 along with FIGS. 9 to 11, the light emitting unit 110 of the LiDAR system 101 according to the fourth embodiment of the present invention may include a light emitting device 112 and a light emitting device emitting laser light. A driving device 116 for controlling the operation of the 112, a collimating lens 114 for collimating the laser light emitted from the light emitting element 112, and the driving device integrally formed with the light emitting element 112 ( The rotating stage 121 mounted so as to be rotatable within a predetermined angle range, and continuously changing a reflection direction of the collimated laser light within a predetermined angle range to continuously scan a predetermined area (FOV) of the object. And a first reflecting unit 118 (see FIGS. 9 to 11). Although not shown in FIG. 13, the light receiving unit and the control device of the lidar system 101 according to the fourth embodiment of the present invention are the first and modified embodiments of the present invention shown in FIGS. 9 to 11, respectively. It should be noted that the light emitting unit 110 and the control device 130 used in the lidar system 101 according to the second embodiment have substantially the same configuration.

In the lidar system 101 according to the fourth embodiment of the present invention shown in FIG. 13 described above, the rotation stage 121 may drive the driving device 116, for example, the plurality of driving devices shown in FIG. 9 ( It can rotate to the position of 116a, 116b, 116c so that rotation is possible. Accordingly, the light emitting device 112 of the lidar system 101 according to the fourth embodiment of the present invention receives the laser light collimated at the positions of the plurality of driving devices 116a, 116b, and 116c shown in FIG. As shown in FIG. 9, the reflection direction of each laser light collimated by the first reflector 118 may be continuously changed within a predetermined angle range, thereby allowing the plurality of objects to be spaced apart from each other. Each of the predetermined areas FOV1, FOV2, and FOV3 can be continuously scanned.

FIG. 14A is a view showing a first modified embodiment of a light emitting part and a light receiving part used in a LiDAR system according to the first embodiment of the present invention and modified embodiments thereof shown in FIGS. 9 and 10, and FIG. 9 and 10 illustrate a second modified embodiment of the light emitting part and the light receiving part used in the lidar system according to the first embodiment of the present invention and its modified embodiment.

First, referring to FIG. 14A, the light emitting unit 110 according to the first modified embodiment of the present invention includes a plurality of light emitting units 110a and 110b provided to be spaced apart from each other, and the light receiving unit unit 120 is connected to each other. It includes a plurality of light receiving parts (120a, 120b) provided spaced apart. In this case, the plurality of light emitting units 110a and 110b and the plurality of light receiving units 120a and 120b are substantially the same as the configuration and operation of the light emitting unit 110 and the light receiving unit 120 illustrated in FIG. 1, respectively.

In addition, referring to FIG. 14B, the light emitting unit 110 according to the second modified embodiment of the present invention includes a plurality of light emitting units 110a and 110b provided to be spaced apart from each other. It includes a plurality of light receiving parts (120a, 120b) provided spaced apart. In this case, the plurality of light emitting units 110a and 110b may include the plurality of first reflective mirrors 117a and 117b provided between the plurality of light emitting elements 112a and 112b and the plurality of first reflecting units 118a and 118b. In addition, the plurality of light receiving parts 120a and 120b may include a plurality of second reflection mirrors 127a and 127b provided between the plurality of second reflecting parts 128a and 128b and the plurality of light receiving lenses 124a and 124b. It contains additionally. Each path and a plurality of second reflections of laser light emitted from the plurality of light emitting elements 112a and 112b by the plurality of first reflection mirrors 117a and 117b and the plurality of second reflection mirrors 127a and 127b, respectively. Since the paths of the laser light reflected by the portions 128a and 128b can be changed, the plurality of light emitting elements 112a and 112b and the plurality of light receiving portions 120a and 120b constituting the light emitting portions 110a and 110b, respectively. The advantage that the degree of freedom of arrangement of the plurality of light detectors (not shown) constituting the N can be increased can be achieved.

In the embodiment of FIGS. 14A and 14B described above, the plurality of light emitting units 110a and 110b and the plurality of light receiving units 120a and 120b are exemplarily illustrated as two, but those skilled in the art will appreciate the plurality of light emitting units 110a. It will be appreciated that 110b) and a plurality of light receiving portions 120a and 120b may each be provided in three or more.

In addition, it is apparent that the use of the lidar system 101 according to the embodiments of the present invention illustrated in FIGS. 9 to 14B described above may expand the range of the FOV of a subject.

As various modifications may be made to the constructions and methods described and illustrated herein without departing from the scope of the invention, it is intended that all matter contained in the above description or shown in the accompanying drawings be exemplary, and not intended to limit the invention. It is not. Therefore, the scope of the present invention should not be limited by the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.

Reference Signs List 100 lidar device 101 lidar system 110, 110a, 110b: light emitting unit
112, 112a, 112b, 112c: light emitting element 114, 114a, 114b, 114c: collimating lens
116,116a, 116b, 116c: drive device 118,118a, 118b: first reflecting portion
120,120a, 120b: light receiving unit 122,122a, 122b, 122c: light detector
124,124a, 124b, 124c: light receiving lens 126,126a, 126b, 126c: reading member
128,128a, 128b: second reflecting unit 130: control device

Claims (12)

delete delete delete delete delete delete delete delete delete In the lidar system,
A light emitting device for emitting laser light, a driving device for controlling the operation of the light emitting device, a collimating lens for collimating the laser light emitted from the light emitting device, and the driving device integrally formed with the light emitting device have a predetermined angle range. A light emitting unit including a rotating stage mounted to be rotatable in the inside, and a first reflecting unit continuously scanning a plurality of predetermined areas of the subject by continuously changing a reflection direction of the collimated laser light within a predetermined angle range ;
A second reflector for continuously changing and reflecting each laser light reflected from a plurality of predetermined areas of the subject, and receiving the laser light reflected by the second reflector A plurality of light receiving lenses, spaced apart from each other, a plurality of light detectors for sensing each of the laser lights respectively passing through the plurality of light receiving lenses, and each of the laser lights detected by the plurality of light sensors A light receiving unit including a plurality of reading members; And
Control device for controlling the operation of each of the light emitting portion and the light receiving portion
Including,
The control device includes the first reflecting unit and the second reflecting unit continuously changing a reflection direction of each laser light such that each of the laser lights reflected by the second reflecting unit is incident perpendicularly to the plurality of light detectors. Control each operation of the reflector in a synchronous manner,
The plurality of light receiving lenses, the plurality of light detectors, and the plurality of reading members are each used two or three.
Lidar system. The method of claim 10,
The light receiving unit is a second reflector for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject, and the respective laser light reflected by the second reflector A plurality of light receiving lenses receiving light, a plurality of light detectors spaced apart from each other, a plurality of light detectors respectively sensing the respective laser light passing through the plurality of light receiving lenses, and a second light switch respectively connected to the plurality of light sensors And a light receiving unit connected to the second optical switch and including a reading member reading the respective laser lights sensed by the plurality of light detectors through a switching operation of the second optical switch.
The control device includes the first reflecting unit and the second reflecting unit continuously changing a reflection direction of each laser light such that the respective laser light reflected by the second reflecting unit is incident perpendicularly to the plurality of light detectors. To control each operation of the reflector in a synchronous manner
Lidar system. The method according to claim 10 or 11, wherein
And the first reflecting unit and the second reflecting unit are each implemented with a MEMS mirror having a diameter of 1 to 5 mm.

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