KR102105310B1 - High-performance rorationless scanning lidar apparatus - Google Patents

Abstract

According to the present invention, a lidar device includes: a light emitting unit comprising a light emitting element emitting a laser beam, a driving device controlling the operation of the light emitting element, a collimating lens collimating the laser beam emitted from the light emitting element, and a first reflecting unit continuously scanning a predetermined region of a target by continuously changing the reflection direction of the collimated laser beam within a predetermined angular range; a light collecting unit comprising a second reflecting unit which reflects the laser beam reflected from the predetermined region of the target by continuously changing the same within the predetermined angular range, a light detector which detects the laser beam reflected by the second reflecting unit, and a read-out member which reads out the laser beam detected by the light detector; and a control device configured to control the operation of each of the light emitting unit and the light collecting unit, wherein the control device controls the operation of each of the first reflecting unit and the second reflecting unit, which are continuously changing the reflection direction of the laser beam, in a synchronous manner such that the laser beam reflected by the second reflecting unit is perpendicularly incident on the light detector.

Description

High-efficiency non-rotating scanning lidar device {HIGH-PERFORMANCE RORATIONLESS SCANNING LIDAR APPARATUS}

The present invention relates to a lidar device.

More specifically, the present invention uses one light emitting element and a first reflecting portion and one second reflecting portion and one light sensing portion, wherein laser light emitted from the one light emitting element is applied to the second reflecting portion. The amount of noise incident to the optical sensor by controlling the operation of each of the first and second reflectors continuously changing the reflection direction of the laser light so as to be incident perpendicularly to the light detector after being reflected by the The present invention relates to a high-efficiency non-rotating lidar device in which light reception efficiency (signal-to-noise ratio (SNR)) is significantly improved by significantly reducing and a scanning angle of a specific single point or region of a subject is greatly expandable.

LIDAR: Light Detection and Ranging (LIDAR) irradiates the subject with light, for example, a laser, and then analyzes the light reflected from the subject, thereby analyzing the subject's physical properties, such as distance, direction, speed, temperature, material distribution and concentration. It is one of the remote detection devices that can measure characteristics. Lida can measure the physical properties of a subject more precisely by utilizing the advantage of a laser capable of generating a pulse signal having a high energy density and a short period.

In addition, riders are used in various fields such as acquiring 3D images, weather observation, measuring the speed or distance of a subject, autonomous driving, etc. by using a laser light source of a specific wavelength or a laser light source having a variable wavelength as a light source. For example, riders are mounted on aircraft, satellites, etc., and are used for precise atmospheric analysis and observation of the global environment. They are mounted on spacecrafts and exploration robots and used as a means to supplement camera functions, such as measuring the distance to a subject.

In addition, on the ground, simple types of lidar sensor technologies for distance measurement and vehicle speed control are being commercialized. Recently, it has been used as a laser scanner or 3D imaging camera, and is used in 3D reverse engineering and driverless cars.

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

As a method for solving the problems of the above-described prior art lidar device, the present inventors respectively named the invention of "Lida device and lidar system including the same" on May 19 and October 20, 2017, respectively. Korea Patent Application No. 10-2017-0062296 (unpublished: hereinafter referred to as "296 application") and 10-2017-0136198 (unpublished: hereinafter referred to as "198 application"). In these 296 and 198 applications, it is disclosed that a coaxial (296 application) and a biaxial (biaxial: 198 application) lidar device can be implemented using a large number of complex optical systems or optical devices. The disclosures of these 296 and 198 applications are incorporated into the present specification and form part of the invention.

The Lida device disclosed in the above-mentioned 296 and 198 applications is 1) the reflecting part which can be implemented as a MEMS mirror is capable of detecting a wide laser scanning range in a non-rotating state, 2) the light receiving efficiency is improved, 3) small, The advantage of being lightweight and having improved durability is achieved, but still has the problem that the use of complex optical systems or optics is required.

Therefore, a new method for solving the above-mentioned problems of the prior art is required.

The embodiment disclosed in the present invention is for solving the above-mentioned problems of the prior art, and uses one light emitting element, a first reflecting portion, and a second reflecting portion and one light sensing portion, in the one light emitting element. The operation of each of the first reflector and the second reflector to continuously change the reflection direction of the laser light so that the emitted laser light is reflected by the second reflector and is incident on the photo sensor vertically. A high-efficiency non-rotating lidar device capable of significantly improving the light-receiving efficiency (signal-to-noise ratio (SNR)) by significantly reducing the amount of noise incident to the photodetector and greatly expanding the scanning angle of a specific single point or area of the subject It is intended to provide.

The lidar device according to the first aspect of the present invention includes a light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and the collimated device. A light emitting unit including a first reflecting unit continuously changing a reflection direction of the laser light within a predetermined angular range to continuously scan a predetermined area of the subject; A second reflector for continuously changing and reflecting the laser light reflected from a predetermined area of the subject within the predetermined angular range, a photo sensor for sensing the laser light reflected by the second reflector, and the light A light receiving unit including a reading member for reading the laser light detected by the detector; And a control device that controls the operation of each of the light emitting part and the light receiving part, wherein the control device reflects the direction of the laser light so that the laser light reflected by the second reflecting part is perpendicular to the light sensor. It characterized in that the operation of each of the first and second reflectors continuously changing the synchronously (synchronously) control.

The lidar device according to the second aspect of the present invention includes a light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and the collimated lens. A light emitting unit including a first reflecting unit continuously changing a reflection direction of the laser light within a predetermined angular range to continuously scan a predetermined area of the subject; A second reflector for continuously changing and reflecting the laser light reflected from a predetermined area of the subject within the predetermined angular range, a photo sensor for sensing the laser light reflected by the second reflector, and the light A light receiving unit including a reading member for reading the laser light detected by the detector; And a control device for controlling the operation of each of the light emitting part and the light receiving part, wherein the control device reflects the direction of the laser light so that the laser light reflected by the second reflecting part is incident on the photo sensor perpendicularly. It characterized in that for controlling the operation of each of the first and second reflectors continuously changing the synchronously.

The lidar device according to the third aspect of the present invention includes a light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and the collimated device. A light emitting unit including a first reflecting unit that continuously changes a reflection direction of the laser light within a predetermined angular range to continuously scan a predetermined area of the subject; A plurality of second reflecting units for continuously changing and reflecting the laser light reflected in a predetermined area of the subject within the predetermined angular range, respectively receiving the laser light reflected by the plurality of second reflecting units A plurality of light-receiving lenses, a plurality of light detectors for sensing the laser light passing through the plurality of light-receiving lenses, respectively, and a plurality of reading members for reading the laser light respectively detected by the plurality of light-sensors A light receiving unit consisting of a light receiving unit; And a control device that controls the operation of each of the light emitting part and the plurality of light receiving parts, wherein the control device has the laser light reflected by the plurality of second reflecting parts perpendicular to the plurality of light detectors, respectively. It characterized in that to control the operation of each of the first reflector and the plurality of second reflectors continuously changing the reflection direction of the laser light so as to be incident.

The lidar device according to the fourth aspect of the present invention includes a light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and the collimated lens. A light emitting unit including a first reflecting unit that continuously changes a reflection direction of the laser light within a predetermined angular range to continuously scan a predetermined area of the subject; An array of reflectors arranged with a plurality of second reflectors arranged to continuously change and reflect the laser light reflected from a predetermined area of the subject within the predetermined angle range, and the plurality of second reflectors arranged in the array of reflectors A light-receiving unit including a light-receiving lens for receiving the laser light reflected by each, a light sensor for sensing the laser light passing through the light-receiving lens, and a reading member for reading the laser light sensed by the light sensor, respectively; And a control device for controlling the respective operations of the light emitting part and the light receiving part, wherein the control device includes the laser light reflected by the plurality of second reflectors arranged in the reflector array, respectively. It characterized in that to control the operation of each of the first reflecting unit and the plurality of second reflecting unit to continuously change the reflection direction of each of the laser light so as to be incident perpendicular to each.

The following effects are achieved when using a lidar device according to an embodiment of the present invention.

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

2. The light-receiving efficiency (signal-to-noise ratio (SNR)) is improved by significantly reducing the amount of noise incident to the light sensing unit, and a high-efficiency non-rotating lidar device capable of greatly extending the scanning angle can be manufactured.

3. Small size and light weight, high performance / low price and high efficiency non-rotating lidar device can be manufactured.

4. It is possible to manufacture a highly efficient non-rotating lidar device that compensates for mechanical defects by scanning a specific single point or area with only an optical configuration without mechanical rotation.

Additional advantages of the present invention can be clearly understood from the following description with reference to the accompanying drawings in which identical or similar reference numerals indicate identical components.

1 is a view showing a lidar device according to an embodiment of the present invention.
FIG. 2 is a block diagram of a lidar device according to a first embodiment of the present invention shown in FIG. 1.
FIG. 3 is a view showing a light emitting unit of a lidar device according to a first embodiment of the present invention shown in FIG. 1.
FIG. 4 is a view showing a light-receiving unit of a lidar device according to a first embodiment of the present invention shown in FIG. 1.
5 is a view showing in detail the operation of the light receiving unit of the lidar device 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 a light receiving unit of a lidar device according to a first embodiment of the present invention shown in FIG. 1.
FIG. 6B is a view for explaining a filtering state when laser light reflected from an object in the light receiving unit of the rider apparatus according to the first embodiment of the present invention shown in FIG. 1 is not vertically incident on the wavelength filter.
7 is a view showing a light receiving unit of a lidar device according to a second embodiment of the present invention.
8A is a view showing a lidar device according to a third embodiment of the present invention.
8B is a diagram showing a modified embodiment of the light receiving unit used in the lidar device 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 device according to a fourth embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to examples 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 Figure 1 FIG. 4 is a view showing a light emitting part of a lidar device according to a first embodiment of the present invention, and FIG. 4 is a view showing a light receiving part of a lidar device according to a first embodiment of the present invention shown in FIG. 1. .

1 to 4, the lidar device 100 according to an embodiment of the present invention includes a light emitting device 112 that emits laser light, and a driver that controls 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 predetermined area of an object by continuously changing the reflection direction of the collimated laser light within a predetermined angle range A light emitting unit 110 including a first reflecting unit 118 for continuously scanning (FOV); A second reflecting unit 128 for continuously changing and reflecting the laser light reflected in a predetermined area of the subject within the predetermined angle range, and receiving the laser light reflected by the second reflecting unit 128 It includes a light receiving lens 124, a light sensor 122 for sensing the laser light passing through the light receiving lens 124, and a reading member 126 for reading the laser light detected by the light sensor 122 A light receiving unit 120; And a control device (130) controlling each operation of the light emitting part 110 and the light receiving part 120, wherein the control device 130 is reflected by the second reflecting part 128. Each operation of the first reflector 118 and the second reflector 128 continuously changing the reflection direction of the laser light so that the laser light is incident perpendicularly to the light detector 122 in a synchronous manner. It is characterized by (synchronously) controlling.

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

Referring to FIGS. 1 to 4 again, the lidar device 100 according to the first embodiment of the present invention includes a light emitting unit 110; A light receiving unit 120; And a control device 130 controlling respective operations of the light emitting part 110 and the light receiving part 120.

The light emitting unit 110 of the lidar device 100 includes a light emitting element 112 that emits laser light. The light emitting device 112 may be implemented as a single laser diode (LD) or a single pulsed laser diode (PLD), and may be specifically implemented as a PLD emitting 905 nm wavelength. To this end, the control device 300 may include a pulse generator 134 (see FIG. 2), and pulses generated by the pulse generator 134 (eg, 905 nm wavelength pulse) are implemented as PLDs. It can be transmitted to the light emitting device 112, the light emitting device 112, for example, may emit a laser light having a wavelength of 905nm. In this case, the operation of the light emitting element 112 is controlled by the driving 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 also keeping the pulse width short. Since the light emitting element 112 is a device that is very sensitive to temperature, the thermoelectric cooler (thermo-) is used to control the temperature to be fixed to a certain value during operation to suppress the reduction in output due to the thermal characteristics of the semiconductor and the change in the center wavelength of the laser resonator. electric cooler 113), a cooling fan 115, and a temperature sensor (not shown).

Further, the light emitting element 112 may be provided with a collimating lens 114 that collimates the emitted laser light. The laser light collimated by the collimating lens 114 proceeds to the first reflector 118 and is reflected. In this case, the first reflector 118 continuously changes the reflection direction of the collimated laser light within a predetermined angular range by the synchronous driving unit 136 included in the control device 130 to a predetermined area of the object. Scan continuously. Here, each of the first reflector 118 and the second reflector 118 and 128, which will be described later, may be embodied as, 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 it is desirable to have a range, but is 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 drive unit 136 is approximately a maximum of ± 20 degrees (ie, 40 degrees), and an average of ± 15 degrees (ie, 30 degrees). 3 and 4, the predetermined angular range is exemplarily shown as ± 15 degrees (ie, 30 degrees). That is, the synchronous driving unit 136 rotates the reflection unit 118 continuously within a range of ± 15 degrees (ie, 30 degrees), thereby changing the reflection direction of one collimated laser light incident on the reflection unit 118 by 30 degrees. Can be changed within range.

In the lidar apparatus 100 according to the first embodiment of the present invention, a predetermined area (FOV) of an object is scanned (specifically, as narrow a range as possible), unlike a conventional technique. It should be noted that it is intended to be applied to scanning of a specific single point (area) having a field of view (FOV) of.

Meanwhile, the light receiving unit 120 of the lidar device 100 includes a second reflecting unit 128. The second reflector 128 reflects the laser light reflected in a predetermined area of the subject by continuously changing within the predetermined angle range. Specifically, the second reflecting unit 128 is reflected by a synchronous driving unit 136 of the control device 130 in a predetermined area of the subject to continuously change the reflection direction of laser light directed to the second reflecting unit 128, For example, by continuously rotating within a range of ± 15 degrees, the reflection directions of a plurality of laser lights incident on the second reflecting unit 128 within a range of 30 degrees can be changed. In this case, the synchronous driving unit 136 controls the rotation angles of the first reflecting unit 118 and the second reflecting unit 128 in a synchronous manner. Specifically, the synchronous driving unit 136 may be implemented to have a parallel voltage control structure to simultaneously and simultaneously control the rotation operation of the first reflecting unit 118 and the second reflecting unit 128 without time error (ie, at a 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 that rotates continuously and proceeds toward a predetermined area (FOV) of the subject. Thereafter, a plurality of laser lights reflected from a predetermined area (FOV) of the subject are reflected by the second reflecting unit 128 continuously rotating in a synchronous manner with the first reflecting unit 118, and are shown in FIGS. 1 and 4. As illustrated, it is vertically incident on the light sensor 122 through the light receiving lens 124. The light receiving lens 124 is preferably implemented as a collimating lens for collimating a plurality of laser lights reflected from the second reflector 128, for example, but the plurality of lasers passing through the light receiving lens 124 It should be noted that the light may also be embodied as a condensing lens that allows a light receiving focus to be formed on the surface of the light sensor 122.

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

The digital optical signal read from the above-described reading member 126 is input to the Time to Digital converter (TDC) circuit 138 of the control device 300, and the flying 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 process the error correction signal. The power supply 140 shown in FIG. 2 includes a control and signal processing device 132, a pulse generator 134, a synchronous driver 136, and a TDC circuit 138, which are components of the control device 300. It supplies power for each operation.

5 is a view showing in detail the operation of the light receiving unit of the lidar device according to the first embodiment of the present invention shown in FIG. In FIG. 5, the plurality of laser lights reflected from the subject pass through the second reflector 128 and are shown to be received by the light detector 122 through the light receiving lens 124 constituting the light receiving unit 120, but this is It should be noted that, for convenience of description, it is actually reflected by the second reflecting unit 128 and received by the light sensor 122 through the light receiving lens 124 constituting the light receiving unit 120. This also applies to the case of FIGS. 6B and 7 showing the operation of the light-receiving unit of the same or similar lidar device as in FIG. 5.

Referring to FIG. 5 together with FIGS. 1 to 4, the second reflecting portion 128 of the light receiving portion 110 of the lidar device 100 according to the first embodiment of the present invention has a diameter of approximately 1 to 5 mm. It can be implemented as a MEMS mirror (hereinafter referred to as "miniature MEMS mirror 128"), and accordingly within a predetermined angular range (for example, ± 15 degrees (ie, 30 degrees)) in a predetermined area (FOV) of the subject. The plurality of laser light reflected from the light is reflected by the micro MEMS mirror 128 that rotates continuously, and is received on the surface of the light sensor 122 through the light receiving lens 124. In this case, ambient light (129) caused by sunlight or other light sources that generate background noise due to sunlight or natural light reflected from an area other than a predetermined area (FOV) of the subject is a very small MEMS. Since it is reflected off the mirror 128 and proceeds beyond the light receiving lens 129, it does not reach on the surface of the reading member 126, which integrally includes the light sensor 122. Accordingly, noise generation due to ambient light is eliminated or minimized outside and inside the light detector 122. That is, the lidar device 100 according to the first embodiment of the present invention uses a first and second reflector 128 implemented as an ultra-small MEMS mirror, and a specific single point having a narrow viewing angle (FOV) By scanning (area), and thereby removing or minimizing noise caused by ambient light reflected from an area other than a specific single point (area), the signal-to-noise ratio (SNR) of the laser light received by the light detector 122 is greatly improved. The advantage of being able to do is achieved.

On the other hand, in a prior art lidar device (not shown), when a mirror is not used, a plurality of laser lights reflected from an object incident at a wide angle are received at a light receiving unit having a large sized wide opening like a camera , As a result, ambient light noise also increases. Further, in the prior art lidar device (not shown), even when a mirror is used, a relatively large sized mirror (for example, approximately 3 to 5 cm in diameter) is used, so a predetermined area of the subject (FOV) Since the plurality of laser lights reflected by the mirror is reflected by a large size mirror, the amount of laser light passing through the light receiving lens (for example, the light receiving lens 128 of FIG. 5) is relatively large. Accordingly, in the prior art, a method of increasing the SNR by greatly increasing the amount of light received by the laser light in the photo sensor 122 is used. However, in such a conventional technique, it is difficult or impossible to obtain a substantially high SNR because the ambient light is also received at the same time and the noise is greatly increased instead of the laser light receiving amount is greatly increased. Therefore, as described above, the lidar device 100 according to the first embodiment of the present invention can solve the problems of the conventional lidar device.

FIG. 6A is a diagram showing that a wavelength filter is additionally used in the light receiving unit of the LIDAR device 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. 1 It is a view for explaining the filtering state when the laser light reflected from the subject in the light receiving unit of the lidar device according to the example does not vertically enter the wavelength filter.

First, referring to FIG. 6A, the light receiving unit 120 of the lidar device 100 according to the first embodiment of the present invention includes a wavelength filter 127 provided between the second reflecting unit 128 and the light receiving lens 124. ). In the example of FIG. 6A, although the wavelength filter 127 is shown to be provided between the second reflector 128 and the light receiving lens 124, the wavelength filter 127 is, for example, an optical sensor ( 122) It will be fully understood that it can be provided coated on a surface. The wavelength filter 127 includes, 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 905nm is the wavelength with the lowest noise among the wavelength spectrum of sunlight. When the three stacked wavelength filters 127 are used, noise caused by ambient light is further eliminated, and as can be seen in the graph of FIG. 6A, laser light in a wavelength range of approximately 900 to 910 nm substantially free of noise. The light can be received by the light detector 122. It should be noted that the use of the above-described wavelength filter 127 is not necessarily used as an option.

Meanwhile, referring to FIG. 6B, laser light reflected from the second reflector 128 in the light receiving unit 120 of the lidar device 100 according to the first embodiment of the present invention is vertically incident on the wavelength filter 127 If not, the transmission area of the wavelength filter 127 becomes wider and at the same time other areas (i.e., the filtering area is approximately 899 to 907 nm as shown in FIG. 6B in the area of approximately 899 to 910 nm as shown in FIG. 6A) Range). Accordingly, not only the same noise as the ambient light may be generated, but also the amount of light received by the light sensor 122 is significantly reduced. Therefore, as described above, in order to solve the problem that the transmission region of the wavelength filter 127, which is generated when the laser light is not vertically incident on the wavelength filter 127, is simultaneously widened and moves to another region, the wavelength filter 127 It is not desirable because the design of) has to be changed and the cost increases. Accordingly, as illustrated in FIG. 6A, in the lidar device 100 according to the first embodiment of the present invention, the laser light reflected from the second reflecting unit 128 constituting the light receiving unit 120 is a wavelength filter 127 ) And / or by vertically incident on the photo sensor 122, the advantage that the light receiving efficiency and SNR in the photo sensor 122 is significantly improved can be achieved.

7 is a view showing a light receiving unit of a lidar device 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 device 100 according to the first embodiment of the present invention shown in FIG. 1 It should be noted that it 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 device 100 according to the second embodiment of the present invention includes a light emitting device 112 that emits laser light, and the light emitting device 112. ), A driving device 116 for controlling the operation, a collimating lens 114 collimating the laser light emitted from the light emitting element 112, and continuously changing a reflection direction of the collimated laser light 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 area of the subject within the predetermined angle range, and detecting the laser light reflected by the second reflector 128 A light receiving unit 120 including a light sensor 122 and a reading member 126 for reading the laser light detected by the light sensor 122; And a control device 130 controlling respective operations of the light emitting part 110 and the light receiving part 120, wherein the control device 130 is the laser reflected by the second reflector 128 Each operation of the first reflector 118 and the second reflector 128, which continuously changes the reflection direction of the laser light so that light is incident perpendicularly to the light detector 122, is synchronously performed. ), The light receiving unit 120 is provided between the second reflecting unit 128 and the light sensor 122 or the optical filter 127 provided by coating on the surface of the light sensor 122 It is characterized by including selectively.

As shown in FIG. 7, in the lidar device 100 according to the second embodiment of the present invention, the surface size of the photo sensor 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 equal to the size of the reflector 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 lights reflected from the predetermined area (FOV) of the subject is reflected from the second reflector 128, the light is received on the light sensor 122 without using the light receiving lens 124 shown in FIG. Can be. It should be noted that even in the embodiment of FIG. 7, the use of the wavelength filter 127 is optional.

8A is a view showing a lidar device according to a third embodiment of the present invention, and 8B is a modified embodiment of a light receiving unit used in a lidar device according to a third embodiment of the present invention shown in 8A. It is one drawing. It should be noted that, in the embodiments of FIGS. 8A and 8B, the illustration of the control device 130 of the lidar device 100 according to the first embodiment of the present invention is omitted in FIG. 1.

 Referring again to FIG. 8A together with FIGS. 1 to 4, in the lidar device 100 according to the third embodiment of the present invention, the light receiving unit 120 has a plurality of light receiving units that are the same as the light receiving unit 120 shown in FIG. 1. It is substantially the same as the lidar device 100 according to the first embodiment of the present invention shown in FIG. 1 except that (120a, 120b) is used. In this case, in the embodiment of FIG. 8A, the plurality of light receiving units 120a and 120b is exemplarily illustrated as two, but those skilled in the art may sufficiently provide that the plurality of light receiving units 120a and 120b may be provided in three or more. You will understand.

More specifically, the lidar device 100 according to the third embodiment of the present invention includes a light emitting device 112 emitting a laser light, a driving device 116 controlling the operation of the light emitting device 112, the A collimating lens 114 collimating the laser light emitted from the light emitting element 112, and continuously changing a reflection direction of the collimated laser light within a predetermined angle range to continuously change a predetermined area (FOV) of an object A light emitting unit 110 including a first reflecting unit 118 for scanning; The plurality of second reflecting units 128a and 128b and the plurality of second reflecting units 128a and 128b reflect the laser light reflected in a predetermined area of the subject by continuously changing and reflecting within the predetermined angular range. A plurality of light receiving lenses (124a, 124b) for receiving the laser light reflected respectively, and a plurality of light detectors (122a, 122b) for sensing the laser light passing through the plurality of light receiving lenses (124a, 124b), respectively. , And a light receiving unit 120 composed of 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 controlling respective operations of the light emitting part 110 and the plurality of light receiving parts 120a and 120b, wherein the control device 130 includes the plurality of second reflecting parts 128a, The first reflecting unit 118 and the plurality of second reflecting units 128a and 128b are respectively respectively formed such that the laser light reflected by the 128b) is vertically incident on the plurality of light detectors 122a and 122b, respectively. It is characterized in that the operation of continuously changing the reflection direction of the laser light is controlled synchronously. Here, the configuration and operation of each of the plurality of light receiving units 120a and 120b constituting the light receiving unit 120 is the same as the configuration and operation of the light receiving unit 120 shown in FIG. 1 as described above, and detailed description thereof will be omitted. I will do it.

8B is a view showing a modified embodiment of the light receiving unit used in the lidar device 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 device 100 according to the third embodiment of the present invention, a plurality of light receiving units 120a and 120b 2 further includes a plurality of reflection mirrors 127a and 127b provided between the reflection units 128a and 128b and the plurality of light receiving lenses 124a and 124b. Since the paths of the plurality of laser lights reflected from the plurality of second reflecting units 128a and 128b can be changed by the plurality of reflecting mirrors 127a and 127b, the plurality of light receiving units 120a and 120b are configured. The advantage that the degree of freedom in placement of a plurality of light detectors (not shown in the drawing) can be increased can be achieved.

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

Referring back to FIG. 8C together with FIGS. 1 to 4, in the lidar device 100 according to the fourth embodiment of the present invention, the light receiving unit 120 has one second reflector 128 shown in FIG. 1. Instead, the same reflector array 128a in which the same plurality of second reflectors 128 are arranged is used, and a plurality of laser lights reflected from the plurality of reflectors 128 pass through one light receiving lens 124 to make one. 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 is received by the optical receiver 122 of FIG.

More specifically, the lidar device 100 according to the fourth embodiment of the present invention illustrated in FIG. 8C includes a light emitting device 112 emitting laser light and a driving device 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, a predetermined area of an object by continuously changing the reflection direction of the collimated laser light within a predetermined angle range A light emitting unit 110 including a first reflecting unit 118 for continuously scanning (FOV); A reflector array 128a and a reflector array 128a in which a plurality of second reflectors 128 are arranged to continuously reflect and reflect the laser light reflected from a predetermined area of the subject within the predetermined angle range. A light receiving lens 124 for receiving the laser light reflected by each of the plurality of second reflecting units 128 arranged in the photo sensor 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 controlling respective operations of the light emitting part 110 and the light receiving part 120, wherein the control device 130 comprises the plurality of agents arranged in the reflector array 128a. 2 The first reflector 118 and the plurality of reflectors that continuously change the reflection direction of each laser light such that the laser light reflected by the reflector 128 is incident perpendicularly to the light sensor 122, respectively It characterized in that for controlling the operation of each of the second reflector 128 in a synchronous manner. 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 is the second of the light receiving unit 120 shown 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 above-described third or fourth embodiment of the present invention shown in FIGS. 8A to 8C, in the lidar device 100, the light receiving unit 120 is implemented as 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.

Since various modifications can be made to the configurations and methods described and exemplified herein without departing from the scope of the present invention, all matters included in the above detailed description or shown in the accompanying drawings are exemplary and are intended to limit the present invention. It is not. Therefore, the scope of the present invention is not limited by the exemplary embodiments described above, and should be determined only according to the following claims and equivalents thereof.

100: lidar device 110,110a, 110b: light emitting unit
112,112a, 112b, 112c: light-emitting element 114,114a, 114b, 114c: collimating lens
116,116a, 116b, 116c: drive unit 118,118a, 118b: first reflector
120,120a, 120b: light receiving unit 122,122a, 122b, 122c: light sensor
124,124a, 124b, 124c: light receiving lens 126,126a, 126b, 126c: reading member
128,128a, 128b: second reflector 130: control device

Claims (12)

In the lidar device,
A light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and a reflective direction of the collimated laser light continuously within a predetermined angle range A light emitting unit including a first reflecting unit to continuously scan a predetermined area of the subject by changing;
A second reflector for continuously changing and reflecting the laser light reflected from a predetermined area of the subject within the predetermined angular range, a photo sensor for sensing the laser light reflected by the second reflector, and the light A light receiving unit including a reading member for reading the laser light detected by the detector; And
A control device that controls the operation of each of the light emitting unit and the light receiving unit
Including,
The control device operates each of the first reflector and the second reflector to continuously change the reflection direction of the laser light so that the laser light reflected by the second reflector is incident perpendicularly to the light sensor. Synchronously controlled
Lidar device. In the lidar device,
A light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and a reflective direction of the collimated laser light continuously within a predetermined angle range A light emitting unit including a first reflecting unit to continuously scan a predetermined area of the subject by changing;
A second reflecting unit for continuously changing and reflecting the laser light reflected from a predetermined area of the subject within the predetermined angle range, a light receiving lens for receiving the laser light reflected by the second reflecting unit, and the light receiving lens A light receiving unit including a light sensor for sensing the laser light passing through, and a reading member for reading the laser light sensed by the light sensor; And
A control device that controls the operation of each of the light emitting unit and the light receiving unit
Including,
The control device operates each of the first reflector and the second reflector to continuously change the reflection direction of the laser light so that the laser light reflected by the second reflector is incident perpendicularly to the light sensor. Controlled synchronously
Lidar device. The method according to claim 1 or 2,
The first reflector and the second reflector are each a lidar device implemented with a MEMS mirror having a diameter of 1 to 5mm. The method according to claim 1 or 2,
The first reflector and the second reflector may each change the reflection direction of the laser light within a range of 30 degrees. The method according to claim 1 or 2,
The readout member further comprises a light absorber coated on its surface. The method according to claim 1 or 2,
The light receiving unit further includes a wavelength filter provided between the second reflection unit and the light receiving lens or coated on the surface of the light sensor. In the lidar device,
A light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and a reflective direction of the collimated laser light continuously within a predetermined angle range A light emitting unit including a first reflecting unit to continuously scan a predetermined area of the subject by changing;
A plurality of second reflecting units for continuously changing and reflecting the laser light reflected in a predetermined area of the subject within the predetermined angular range, respectively receiving the laser light reflected by the plurality of second reflecting units A plurality of light-receiving lenses, a plurality of light detectors for sensing the laser light passing through the plurality of light-receiving lenses, respectively, and a plurality of reading members for reading the laser light respectively detected by the plurality of light-sensors A light receiving unit consisting of a light receiving unit; And
A control device for controlling the operation of each of the light emitting unit and the plurality of light receiving units
Including,
The control device includes the first reflector and the plurality of reflectors continuously changing the reflection direction of the laser light such that the laser light reflected by the plurality of second reflectors is incident to the plurality of light sensors, respectively. Controlling each operation of the second reflector in a synchronous manner
Lidar device. The method of claim 7,
The first reflector and the plurality of second reflectors are each a lidar device implemented as a MEMS mirror having a diameter of 1 to 5mm. The method of claim 7 or 8,
The light receiving unit further includes a plurality of wavelength filters provided between the plurality of second reflecting units and the plurality of light receiving lenses or coated on respective surfaces of the plurality of light sensors. In the lidar device,
A light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens that collimates the laser light emitted from the light emitting device, and a reflective direction of the collimated laser light continuously within a predetermined angle range A light emitting unit including a first reflecting unit to continuously scan a predetermined area of the subject by changing;
An array of reflectors arranged with a plurality of second reflectors arranged to continuously change and reflect the laser light reflected from a predetermined area of the subject within the predetermined angle range, and the plurality of second reflectors arranged in the array of reflectors A light-receiving unit including a light-receiving lens for receiving the laser light reflected by each, a light sensor for sensing the laser light passing through the light-receiving lens, and a reading member for reading the laser light sensed by the light sensor, respectively; And
A control device that controls the operation of each of the light emitting unit and the light receiving unit
Including,
The control device is configured to continuously change the reflection direction of each laser light such that the laser lights reflected by the plurality of second reflectors arranged in the array of reflectors are respectively incident perpendicularly to the optical sensor. Controlling the operation of each of the one reflector and the plurality of second reflectors in a synchronous manner
Lidar device. The method of claim 10,
The first reflector and the plurality of second reflectors are each a lidar device implemented as a MEMS mirror having a diameter of 1 to 5mm. The method of claim 10 or 11,
The light receiving unit further includes a wavelength filter provided between the plurality of second reflecting units and the plurality of light receiving lenses or coated on the surface of the light sensor.

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