KR20160034719A - Lidar system - Google Patents

Lidar system Download PDF

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Publication number
KR20160034719A
KR20160034719A KR1020140126055A KR20140126055A KR20160034719A KR 20160034719 A KR20160034719 A KR 20160034719A KR 1020140126055 A KR1020140126055 A KR 1020140126055A KR 20140126055 A KR20140126055 A KR 20140126055A KR 20160034719 A KR20160034719 A KR 20160034719A
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KR
South Korea
Prior art keywords
unit
light
rotation
base
shaft
Prior art date
Application number
KR1020140126055A
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Korean (ko)
Inventor
정영대
이종원
Original Assignee
한화테크윈 주식회사
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Publication date
Application filed by 한화테크윈 주식회사 filed Critical 한화테크윈 주식회사
Priority to KR1020140126055A priority Critical patent/KR20160034719A/en
Priority to PCT/KR2014/010108 priority patent/WO2016047847A1/en
Publication of KR20160034719A publication Critical patent/KR20160034719A/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The purpose of the present invention is to provide a lidar system having a compact and improved safety. The lidar system comprises: a base; a rotating unit of which one side is connected to the base to be rotatable; a supporting unit which supports the other side of the rotating unit to be rotatable from the base; a light generating unit which emits light to the rotating unit in the base; an optical unit which is installed in the rotating unit and guides the light of the light generating unit to the outside; a receiving unit which receives a reflected light having entered the rotating unit and converts the reflected light into electrical signals; a signal transmitting unit which is installed between the other side of the rotating unit and the supporting unit, supports the rotating unit to be rotatable, and transmits signals to the receiving unit; a wiring unit which is installed in the supporting unit and electrically connects the base to the signal transmitting unit; a driving unit which rotates the rotating unit; and a controller which is installed in the base, and electrically connected to the light generating unit, the driving unit and the wiring unit, thereby controlling the light generating unit, the driving unit and the receiving unit.

Description

Lidar system}

Embodiments relate to a ladder system, and more particularly to a ladder system having a compact design by reducing the size and weight of a rotating portion that emits light.

Light Detection And Ranging System (LIDAR) is a system that can detect the distance, direction, velocity, temperature, material distribution and concentration characteristics to a target.

Lidar system has been used for meteorological observation and distance measurement. Recently, it has been studied for satellite meteorological observation, unmanned robot sensor, unmanned vehicle, and 3D image modeling.

In a rotary laser system designed to rotate a laser-emitting part, a light source for generating a laser in the rotating body for rotating motion and a module for controlling the light source and supplying power are to be arranged. In addition, to supply power to the rotating body, an accessory for electrical connection between the body supporting the rotating body and the rotating body is to be used.

In such a rotary ladder system, the overall size and weight of the rotating body is greatly increased, making it difficult to design a compact lidar system. In addition, since a large-capacity driving motor must be employed to drive a heavy rotating body, the overall size and weight of the LIDAR system increase, which makes it difficult to control and power consumption for driving the driving motor increases.

US registered patent 7,969,558 (June 28, 2011)

It is an object of embodiments to provide a compact and safety-enhanced ladder system.

Another object of the embodiments is to provide a ladder system in which the size and weight of the rotating part for radiating light to the outside are minimized.

It is still another object of the embodiments to provide a compact design ladder system by providing a light generating portion for generating light on a base for supporting a rotary portion.

Another object of the embodiments is to provide a ladder system in which safety is improved by protecting a rotating rotary part.

The lidar system according to one embodiment includes a base, a rotating portion rotatably connected to one side of the base, a support portion extending from the base to the other side of the rotatable portion and rotatably supporting the other side of the rotatable portion, An optical part provided in the rotating part and guiding the light of the light generating part toward the outside of the rotating part, a receiving part for receiving the reflected light reflected from the outside and reflected by the rotating part and converting the received light into an electric signal, A wiring part provided on the supporting part for electrically connecting the base and the signal transmitting part, and a wiring part provided on the base for supporting the rotating part, A light source, a driving unit, and a wiring unit, And a control unit for controlling the driving unit and the receiving unit and the biological father.

The rotary part may include a hollow rotary shaft at one side thereof and the base may include a support shaft for rotatably supporting the rotary shaft. The system may further include a first bearing installed between the support shaft and the rotary shaft And the driving unit can generate a driving force for rotating the rotation shaft with respect to the support shaft.

The light generating part can radiate light toward the rotating part by passing through the rotating shaft.

The support portion may include an upper support portion having a through hole for rotatably supporting the other side of the rotation portion and the rotation portion may include an upper shaft rotatably inserted into the through hole of the upper support portion on the other side, And a second bearing disposed between the upper shaft of the rotary part and the signal transmission part may be inserted into the through hole passing through the center of the upper shaft and fixed to the upper support part.

The optical unit may emit light in the first direction and the second direction, and the rotating unit may include a plurality of light outlets for passing the light in the first direction and the second direction to the outside of the rotation unit.

The optical unit may include a prism, a first mirror disposed on one surface of the prism to reflect light in a first direction, and a second mirror disposed on the other surface of the prism to reflect light in a second direction.

The receiving unit may include a first receiving unit and a second receiving unit for receiving reflected light incident from different directions, and the rotating unit may include a light inlet at each position corresponding to the first receiving unit and the second receiving unit.

A plurality of support portions may be disposed on the outer side of the rotary portion so as to be spaced along the rotation direction of the rotary portion, and the wiring portion may be disposed on at least one of the plurality of support portions.

Another aspect of the present invention provides a lidar system comprising a base, a rotating part having a hollow rotary shaft on one side and rotatably coupled to the base by a rotating shaft, a light source disposed on the base for generating light, A supporting portion extending from the base to the other side of the rotating portion and rotatably supporting the other side of the rotating portion, an optical portion disposed in the rotating portion and emitting the light transmitted from the light generating portion to the outside of the rotating portion, And a signal transmission unit disposed between the other side of the rotation unit and the support unit for transmitting a signal to the reception unit.

In a ladder system according to another embodiment, the base may include a support shaft for rotatably supporting the rotation shaft, the ladder system may include a first bearing installed between the support shaft and the rotation shaft, And a driving unit for generating a driving force for rotating the rotating shaft about the rotating shaft.

The ladder system according to another embodiment may further include a control unit installed in the base and electrically connected to the light generating unit, the driving unit, and the wiring unit to control the light generating unit, the driving unit, and the receiving unit.

In the ladder system according to the above-described embodiments, since the light generating unit for generating light can be disposed on the base, the number and volume of the components incorporated in the rotating rotary unit can be greatly reduced. Also, since the light generating part can be disposed on the base, the weight of the rotating part can be reduced, and the size and power consumption of the driving part required for driving the rotating part can be reduced. In addition, since the supporting part that rotatably supports the rotation part and transmits the electric signal to the rotation part surrounds the rotation part and protects the rotation part, the safety can be improved.

1 is a perspective view of a ladder system according to one embodiment.
Figure 2 is a perspective view of a portion of the ladle system of Figure 1 cut away.
3 is a cross-sectional view of the ladder system of Fig.
Figure 4 is a perspective view showing some of the components of the ladle system of Figure 1;
5 is a conceptual diagram schematically illustrating the operation of the optical portion of the ladder system of Fig.
Figure 6 is a block diagram schematically illustrating the relationship of the components of the ladal system of Figure 1;

Hereinafter, the structure and operation of the ladder system according to the embodiments will be described in detail through the embodiments of the accompanying drawings. The expression " and / or " used in the description refers to one of the elements or a combination of elements.

FIG. 1 is a perspective view of a ladder system according to one embodiment, FIG. 2 is a perspective view of a portion of the ladia system of FIG. 1 cut away, and FIG. 3 is a cross sectional view of the ladder system of FIG.

The lidar system according to the embodiment shown in Figs. 1 to 3 is provided with a rotary part 20 in which one side 20a is rotatably connected to a base 10 and a base 10, a rotary part 20 in the base 10, A supporting part 30 extending to the other side 20b of the rotating part 20 and rotatably supporting the other side 20b of the rotating part 20; An optical part 50 provided in the rotary part 20 and guiding the light of the light generating part 40 toward the outside of the rotary part 20; And a signal transmission unit 70 provided at a connection part between the support part 30 of the rotary part 20 and the signal transmission part 70 for transmitting a signal to the reception part 60 do.

The supporting portion 30 may be provided with a wiring portion 80 for electrically connecting the base 10 and the signal transmitting portion 70. The wiring portion 80 may be made of a copper wire or an optical fiber for transmitting an optical signal.

The base 10 may be provided with a driving unit 90 for generating a driving force for rotating the rotation unit 20. The control unit 100 may be installed on the base 10. The control unit 100 controls each of the light generating unit 40, the driving unit 90 and the receiving unit 60 by being electrically connected to the light generating unit 40, the driving unit 90, and the wiring unit 80 .

Referring to FIGS. 2 and 3, the rotary part 20 has a hollow rotary shaft 21 on one side 20a thereof. The rotary shaft 21 has a center hole 21a through which the light generated by the light generating portion 40 passes. The base 10 has a support shaft 11 surrounding the rotation shaft 21 for rotatably supporting the rotation shaft 21. The first bearing 17 is provided between the support shaft 11 and the rotation shaft 21 so that the rotation shaft 21 can rotate with respect to the support shaft 11. [

The driving unit 90 may include a stator 91 fixed to the supporting shaft 11 and a rotor 92 fixed to the rotating shaft 21. [ For example, a brushless direct current motor (BLDC motor) may be used as the driving unit 90, and the embodiment is not limited by the type of the motor used in the driving unit 90, The driving unit 90 can be implemented. The driving unit 90 can rotate the rotation shaft 21 with respect to the support shaft 11 by operating by the control signal transmitted from the control unit 100. [

The light generating unit 40 performs a function of passing light through the rotation axis 21 and emitting light toward the rotation unit 20. The light generating unit 40 may generate a pulsed laser by operating by a control signal transmitted from the controller 100.

The support portion 30 can be manufactured in a tubular shape having a circular cross section or a polygonal cross section. One end portion 30a of the support portion 30 is connected to the base 10 and an upper support portion 30b for rotatably supporting the other side 20b of the rotation portion 20 is installed at the other end portion of the support portion 30 do.

Referring to FIG. 1, the support portion 30 may include a plurality of support portions 31, 32, and 33 spaced from each other along the rotation direction of the rotation portion 20. The number of supports 31, 32, and 33 is not limited to three as shown in FIG. 1, and a larger number may be provided, or only two or only one support may be installed. The supporting portion 30 may function to mechanically and electrically connect the base 10 and the rotary portion 20 and may also function to connect the rotary portion 20 in a rotatable manner.

Also, the support portion 30 can function as a skeleton that surrounds the rotation portion 20 and protects the rotation portion 20 from an external impact. As the rotation unit 20 rotates, the light radiated outward to the rotation unit 20 hits an external object, and the reflected light is incident on the rotation unit 20 again. In this case, since the beam can be measured by the proximity signal due to the divergence angle of the laser beam, it is possible to prevent the occurrence of the occurrence of the translucent zone I never do that.

2, the wiring portion 80 is disposed only in one of the three support portions 31, 32, and 33. The embodiment is not limited by the arrangement of the wiring portion 80, The wiring portions 80 may be disposed on all or part of the supporting portions 31, 32,

2 and 3, the upper support part 30b has a through hole 38 for rotatably supporting the other side 20b of the rotation part 20. [ The rotary part 20 has an upper shaft 28 rotatably inserted into the through hole 38 of the upper support part 30b. The second bearing 37 is provided between the upper shaft 28 of the rotary part 20 and the through hole 38 so that the upper support 30b can rotatably support the rotary part 20. [

A seal ring 39 may be provided between the outer edge of the upper support portion 30b and the rotation portion 20. [ The seal ring 39 maintains the sealed state of the connection portion between the upper support portion 30b and the rotation portion 20 while the rotation portion 20 rotates so that the foreign matter is prevented from being separated from the inside of the rotation portion 20 and the upper portion of the upper support portion 30b And functions to prevent intrusion into the inside.

The upper shaft 28 of the other side 20b of the rotary part 20 and the rotary shaft 21 of the one side 20a of the rotary part 20 may be arranged to be aligned along the rotation center axis C of the rotary part 20 .

The signal transmitting portion 70 is rotatably inserted into the through hole 28a of the upper shaft 28 and is fixed to the upper supporting portion 30b. The signal transmission unit 70 rotatably supports the upper shaft 28 and an electrical signal is transmitted between the upper shaft 28 and the signal transmission unit 70 while the rotation unit 20 is rotating .

The signal transmission unit 70 may be a slip ring that rotatably connects mechanical elements and transmits electrical signals. The end portion of the wiring portion 80 disposed in the support portion 30 is electrically connected to the signal transmission portion 70. [

Fig. 4 is a perspective view showing some components of the ladal system of Fig. 1, and Fig. 5 is a conceptual view schematically showing the operation of the optical portion of the ladal system of Fig.

The optical part 50 is disposed inside the rotation part 20. The optical unit 50 has a function of guiding the light transmitted from the light generating unit 40 of the base 10 to the outside of the rotary unit 20.

The optical portion 50 includes a prism 51, a first mirror 52 disposed on one surface of the prism 51 (corresponding to the right surface of the prism in Fig. 5), and a second mirror 52 disposed on the other surface of the prism 51 And a second mirror 52 disposed on the left side (corresponding to the left side).

The prism 51, the first mirror 52 and the second mirror 52 are supported by the optical sub-frame 53 and are disposed at positions corresponding to the center hole 21a of the rotary shaft 21 of the rotary part 20 .

5, the prism 51 of the optical part 50 and the first mirror 52 of the right side reflect the light transmitted from the light generating part 40 in the left direction (first direction) And emits the light L1 to the outside. The prism 51 and the second mirror 52 on the left side reflect the light transmitted from the light generating unit 40 to the right direction (second direction) and light the light L2 to the outside of the rotation unit 20 Radiate. The rotary unit 20 has a light outlet 35 for passing the light in the first direction and the second direction to the outside of the rotary unit 20.

Figure 6 is a block diagram schematically illustrating the relationship of the components of the ladal system of Figure 1;

3 and 6, the receiver 60 includes a lens unit 61 for receiving reflected light from the outside to the rotation unit 20, a conversion unit for electrically converting the light of the lens unit 61 into electric signals, (62). The conversion unit 62 converts the image light into an electrical signal. For example, the conversion unit 62 generates an electrical signal representing an image of a space using a charge coupled device (CCD) Generate a signal, or generate an electrical signal indicative of the speed of the wind or the like.

The rotation unit 20 includes a light inlet 36 at a position corresponding to the reception unit 60 so as to allow light to be reflected from the outside and to flow into the rotation unit 20. [ A plurality of reception units 60 may be disposed in the rotation unit 20. [

Referring to Fig. 4, an example in which two receivers are arranged is shown. Each of the first receiving unit 60a and the second receiving unit 60b includes lens units 61a and 61b and conversion units 62a and 62b. The first receiving unit 60a and the second receiving unit 60b receive reflected light incident on the rotation unit 20 in different directions and convert the received light into electrical signals. When two receiving units are disposed, the rotary unit 20 may include a light inlet 36 at a position corresponding to each of the first receiving unit 60a and the second receiving unit 60b.

6, the control unit 100 is electrically connected to each of the driving unit 90, the light generating unit 40 and the receiving unit 60, and includes a driving unit 90, a light generating unit 40, , And the operation of the receiving unit 60 can be controlled.

The control unit 100 includes a drive control unit 101 for controlling the driving unit 90, a light emission control unit 102 for controlling the light generation unit 40, and a control unit 60 for controlling the signal of the conversion unit 62 of the reception unit 60 A signal processing unit 104 for receiving and processing the received signal, and an analysis unit 103 for analyzing the electrical signal transmitted from the receiving unit 60. [ The control unit 100 may be implemented in various forms, for example, a circuit board including a semiconductor chip and a circuit, a circuit or software embedded in the semiconductor chip, or software executable by a computer.

In the ladder system of the above-described configuration, the support portion rotatably supports the rotary portion and transmits an electric signal to the rotary portion. Therefore, since the light generating unit for generating light can be disposed on the base, the number and volume of the components incorporated in the rotating rotating unit can be greatly reduced.

The construction and effect of the above-described embodiments are merely illustrative, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Accordingly, the true scope of protection of the invention should be determined by the appended claims.

10: base 52: mirror
11: support shaft 53: optical subframe
17: first bearing 60: receiving part
20a: one side 60a: first receiving section
20b: the other side 60b: the second receiver
20: rotation part 61: lens part
21a: center hole 62: conversion section
21: rotation shaft 70: signal transmission part
28a: through hole 80: wiring part
28: upper shaft 90:
30b: upper support portion 91:
30a: one end 92: rotor
30: Support parts 31, 32, 33: Support parts
35: light outlet 100:
36: light inlet 101: drive control section
37: second bearing 102: light emission control section
38: through hole 103: analysis section
39: seal ring 104: signal processing section
40: Light generating part 61a, 61b:
50: optical part 62a, 62b:
51: prism

Claims (16)

Base;
A rotating part rotatably connected to the base at one side thereof;
A support portion extending from the base to the other side of the rotation portion and rotatably supporting the other side of the rotation portion;
A light generating unit installed in the base and emitting light toward the rotation unit;
An optical unit installed in the rotation unit and guiding light of the light generation unit toward the outside of the rotation unit;
A receiver for receiving the reflected light reflected from the external part and converting the light into the electric signal;
A signal transmission unit installed between the other side of the rotation unit and the support unit and rotatably supporting the rotation unit and transmitting a signal to the reception unit;
A wiring part provided on the support part and electrically connecting the base and the signal transfer part;
A driving unit installed on the base for rotating the rotation unit; And
And a control unit installed in the base and electrically connected to the light generating unit, the driving unit, and the wiring unit to control the light generating unit, the driving unit, and the receiving unit. The method according to claim 1,
Wherein the rotary part has a hollow rotary shaft at one side thereof, and the base has a support shaft for rotatably supporting the rotary shaft,
The lidar system further comprises a first bearing disposed between the support shaft and the rotation shaft,
Wherein the driving unit generates a driving force for rotating the rotation shaft with respect to the supporting shaft. 3. The method of claim 2,
Wherein the light generating unit radiates light toward the rotating unit through the rotating shaft. The method according to claim 1,
Wherein the support portion includes an upper support portion having a through hole for rotatably supporting the other side of the rotation portion, and the rotation portion has an upper shaft rotatably inserted into the through hole of the upper support portion on the other side,
The lidar system further comprises a second bearing disposed between the upper support and the upper shaft of the rotation portion,
Wherein the signal transmission portion is inserted into a through hole passing through the center of the upper shaft and fixed to the upper support portion. The method according to claim 1,
Wherein the optical unit emits light in a first direction and a second direction, and the rotation unit has a plurality of light outlets for passing light in the first direction and the second direction outside the rotation unit. 6. The method of claim 5,
And a second mirror disposed on the other surface of the prism and reflecting light in the second direction, wherein the second mirror is disposed on one side of the prism and reflects light in the first direction, Lida system. The method according to claim 1,
Wherein the receiving unit includes a first receiving unit and a second receiving unit for receiving reflected light incident from different directions and the rotating unit has a light inlet at each position corresponding to the first receiving unit and the second receiving unit, System. The method according to claim 1,
A plurality of support portions are disposed on the outer side of the rotary portion so as to be spaced along the rotation direction of the rotary portion, and the wiring portion is disposed on at least one of the plurality of support portions. Base;
A rotary part having a hollow rotary shaft on one side and rotatably coupled to the base by the rotary shaft;
A light generating unit disposed in the base to generate light and passing light through the rotation axis to the rotation unit;
A support portion extending from the base to the other side of the rotation portion and rotatably supporting the other side of the rotation portion;
An optical unit disposed in the rotation unit and emitting the light transmitted from the light generation unit to the outside of the rotation unit;
A receiving unit disposed in the rotary unit and receiving reflected light incident from the outside to generate an electric signal; And
And a signal transmission unit provided between the other side of the rotation unit and the support unit and transmitting a signal to the reception unit. 10. The method of claim 9,
A plurality of support portions are disposed on the outer side of the rotation portion so as to be spaced apart from each other along the rotation direction of the rotation portion,
The lidar system further comprising a wiring portion disposed on at least one of the plurality of support portions and electrically connecting the base and the signal transfer portion. 11. The method of claim 10,
The base includes a support shaft for rotatably supporting the rotation shaft,
The lidar system comprising: a first bearing installed between the support shaft and the rotation shaft; And a driving unit installed on the base for generating a driving force for rotating the rotation shaft with respect to the supporting shaft. 12. The method of claim 11,
And a control unit installed in the base and electrically connected to the light generating unit, the driving unit, and the wiring unit to control the light generating unit, the driving unit, and the receiving unit. 10. The method of claim 9,
Wherein the supporting portion includes an upper supporting portion having a through hole for rotatably supporting the other side of the rotating portion, and the rotating portion further includes an upper shaft rotatably inserted into the through hole of the upper supporting portion on the other side,
The lidar system further comprises a second bearing disposed between the upper support and the upper shaft of the rotation portion,
Wherein the signal transmission portion is inserted into a through hole passing through the center of the upper shaft and fixed to the upper support portion. 10. The method of claim 9,
Wherein the optical unit emits light in a first direction and a second direction, and the rotation unit has a plurality of light outlets for passing light in the first direction and the second direction outside the rotation unit. 15. The method of claim 14,
And a second mirror disposed on the other surface of the prism and reflecting light in the second direction, wherein the second mirror is disposed on one side of the prism and reflects light in the first direction, Lida system. 10. The method of claim 9,
Wherein the receiving unit includes a first receiving unit and a second receiving unit for receiving reflected light incident from different directions and the rotating unit has a light inlet at each position corresponding to the first receiving unit and the second receiving unit, System.
KR1020140126055A 2014-09-22 2014-09-22 Lidar system KR20160034719A (en)

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PCT/KR2014/010108 WO2016047847A1 (en) 2014-09-22 2014-10-27 Lidar system

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KR101678124B1 (en) 2016-06-17 2016-11-21 윤봉수 Apparatus for omnidirectional lidar and modeling method for executing the same
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WO2019139340A1 (en) * 2018-01-09 2019-07-18 엘지전자 주식회사 Lidar device for vehicle
KR102046258B1 (en) * 2018-09-05 2019-11-19 (주)카네비컴 A optical system capable of adjusting a beam angle, a Lidar sensor and adjustable emitting angle method
KR20200009757A (en) 2018-07-20 2020-01-30 현대모비스 주식회사 Lidar system and operating method thereof
WO2020092034A1 (en) * 2018-11-01 2020-05-07 Waymo Llc Preload mechanism for rotating mirror bearing
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KR101678124B1 (en) 2016-06-17 2016-11-21 윤봉수 Apparatus for omnidirectional lidar and modeling method for executing the same
CN108072869A (en) * 2016-11-11 2018-05-25 燕成祥 Rotary distance sensing device
US11500068B2 (en) 2018-01-09 2022-11-15 Lg Electronics Inc. Lidar apparatus for vehicle
WO2019139340A1 (en) * 2018-01-09 2019-07-18 엘지전자 주식회사 Lidar device for vehicle
KR20200009757A (en) 2018-07-20 2020-01-30 현대모비스 주식회사 Lidar system and operating method thereof
US11828878B2 (en) 2018-07-20 2023-11-28 Hyundai Mobis Co., Ltd. LiDAR system and operating method thereof
KR102046258B1 (en) * 2018-09-05 2019-11-19 (주)카네비컴 A optical system capable of adjusting a beam angle, a Lidar sensor and adjustable emitting angle method
WO2020092034A1 (en) * 2018-11-01 2020-05-07 Waymo Llc Preload mechanism for rotating mirror bearing
KR20200116284A (en) 2019-04-01 2020-10-12 구영욱 Motorless omnidirectional obstacle recognition sensor
KR20200116276A (en) 2019-04-01 2020-10-12 구영욱 Motorless omnidirectional obstacle recognition sensor
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KR102685735B1 (en) 2023-05-11 2024-07-19 오토엘 주식회사 Lidar system with biased vertical field of view

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