KR20200082167A - An accurate and highly reliable lidar device - Google Patents

Abstract

The present invention relates to a high-precision and high-reliability Lidar device. The Lidar device of the present invention comprises: a laser transmission module (1100) for repeatedly transmitting a laser at a predetermined transmission period; a first laser detection module (2100) for receiving the laser reflected back by the laser to an object (2); a transmission driving module (3000) for driving the laser transmission module (1100); and a distance operation module (4000) for calculating a distance between the Lidar device (1) and the object (2) based on an output signal of the first laser detection module (2100) and calculating a distance of the same distance even if the reflectance of the object (2) changes. According to the present invention, the measurement accuracy performance and reliability can be improved by preventing a distance measurement error from occurring in accordance with the laser reflectance.

Description

High precision and high reliability lidar device {AN ACCURATE AND HIGHLY RELIABLE LIDAR DEVICE}

The present invention relates to a lidar device.

The lidar sensor is a technology that can detect distance, direction, speed, temperature, material distribution, and concentration characteristics to an object by shining a laser at a target. The lidar sensor is generally used for more precise observation of physical properties and distance measurement by utilizing the advantages of a laser capable of generating a pulse signal having a high energy density and a short period.

The lidar sensor can be classified into a time-of-flight (TOF) method and a phase-shift method according to a modulation method of a laser signal. The TOF method measures the distance by measuring the time at which the reflected pulse signals from objects within the measurement range reach the receiver by emitting a pulse signal. The phase-shift method is a method that calculates time and distance by emitting a laser beam that is continuously modulated with a specific frequency and measuring the amount of phase change of a signal reflected back from an object within the measurement range. The present invention relates to a lidar device employing the TOF method.

1 shows a conventional lidar device. As shown in FIG. 1, the lidar device generally includes a laser transmission module 100, a laser detection module 200, a transmission driving module 300 that drives and controls the laser transmission module 100, and a distance calculation module ( 400), the distance calculation module 400 calculates the distance between the lidar device and the object based on the detected digital signal and the signal conversion unit 410 that generates a corresponding digital signal from the output signal of the laser detection module. It consists of a distance calculation unit 420. Here, the signal converter 410 compares the input signal with a predetermined reference value, and outputs a digital signal in a high (or low) case and a low (or high) case.

2 illustrates an analog signal 421 that is an output signal of the laser detection module and an input signal of the signal converter 410 and a digital signal 422 that is an output signal of the signal converter 410 to illustrate the problems of the prior art. It was shown. Figure 2 (a) is a case where the amount of return of the laser reflected by the object is 100%, Figure 2 (b) is a case of 30%. When comparing the case of (a) and (b) of FIG. 2, when the reflectance is low, the output of the laser detection module becomes relatively small, and the signal conversion unit 410 changes to a digital signal by comparing with a predetermined reference value. Is the time at which the state changes from the initial state (for example, Low) of the digital signal to another state (for example, High) in the case of FIG. 2(b) (hereinafter referred to as '1st edge'). Time'). The distance calculating unit 420 for calculating the distance calculates a distance based on a time difference between the reference time at which the laser is emitted and the 1st edge time, as shown in FIG. 2, depending on the amount of laser reflected and returned. The 1st edge time of the digital signal 422 changes, which acts as a measurement error, thereby deteriorating the accuracy performance of the measured distance.

The present invention is to solve the problems of the prior art, by employing a calculation unit (circuit) for extracting a characteristic signal that remains unchanged even in a laser detection signal that changes depending on the reflectance, to prevent the distance measurement accuracy from being reduced by the reflectance Therefore, an object of the present invention is to provide a high precision and highly reliable lidar device.

The present invention provides a laser transmission module that repeatedly transmits a laser over a predetermined transmission period, a first laser detection module that receives the laser reflected and returned by the laser, and a transmission driving module that drives the laser transmission module. And a distance calculation module for calculating a distance between the rider device and the object based on the output signal of the first laser detection module, and calculating a distance having the same length even if the reflectivity of the object changes. Provide a device.

Preferably, the laser transmission module includes a laser light emitting unit and a light emitting lens, and the first laser detection module includes a first laser light receiving unit and a light receiving lens.

The distance calculation module is connected to the first laser detection module, generates a digital signal based on the output signal of the first laser detection module, the same digital signal even if the magnitude of the output signal of the first laser detection module changes It is preferable that it includes a first signal conversion unit for generating, and a distance calculation unit for calculating a distance between the rider device and the object based on the digital signal received from the first signal conversion unit.

The first signal conversion unit receives a signal based on the output of the first laser detection module and compares the analog signal with a predetermined first reference value to generate a first analog signal based on the rate of change of the received signal. It is preferred to include a first comparator that generates the digital signal based on one result.

Preferably, the first operation unit includes a differential circuit.

Preferably, the first signal conversion unit is provided between the first laser detection module and the first operation unit, and further includes a first filter unit for removing noise components from the output signal of the first laser detection module.

Preferably, the first filter unit includes a band filter that passes only a predetermined frequency component set based on an output signal frequency component of the first laser detection module.

Preferably, the first filter unit further includes a nonlinear filter that outputs a signal equal to or less than a predetermined minimum value from the band filter output signal as Low, and passes a signal larger than a predetermined minimum value as it is.

Preferably, the first signal conversion unit changes the state of the digital signal at a time when the output signal of the first laser detection module is the largest value in a period in which the laser transmission module transmits the laser.

Preferably, the first signal converter changes the digital signal state to a predetermined state for each transmission cycle.

The transmission driving module generates the digital signal state initialization signal for each transmission period, and the first signal converter changes the digital signal state to an initialization state based on the digital signal state initialization signal received from the transmission driving module. It is desirable to do.

The first signal converter compares an output signal of the first laser detection module with a predetermined gain and converts it into a signal of a certain size, and compares an output signal of the first calculator with a predetermined first reference value. It is preferred to include a first comparator that generates the digital signal based on the results.

Preferably, the predetermined gain is set based on a maximum value of the output signal of the first laser detection module within at least one transmission period.

The predetermined gain is preferably set so that the maximum value of the output signal of the first laser detection module becomes a predetermined value within the transmission period.

Preferably, the predetermined gain is set based on a maximum value of the output signal of the first laser detection module within a previous transmission period.

The first signal converter includes a first comparator that receives a signal based on an output signal of the first laser detection module and generates the digital signal based on a result of comparing the signal with a predetermined first reference value. , It is preferable that the first reference value is variable based on the signal.

Preferably, the first reference value is set according to a maximum value of a signal based on an output signal of the first laser detection module within at least one of the transmission periods.

It is preferable that the smaller the maximum value of the signal based on the output signal of the first laser detection module, the smaller the first reference value.

Preferably, the first reference value is set within a range of a predetermined minimum value and a predetermined maximum value.

Preferably, the distance calculating unit calculates a distance between the rider device and the object based on a reference signal based on a laser transmitted by the laser transmission module and an output signal of the first signal conversion unit.

It is preferable that the transmission driving module generates the reference signal.

Further comprising a second laser detection module for directly receiving the laser transmitted from the laser transmission module, the distance calculation module is connected to the second laser detection module, based on the output signal of the second laser detection module It is preferable to further include a second signal converter for generating the reference signal.

Preferably, the transmission driving module detects a failure of the laser transmission module based on the reference signal.

It is preferable that the laser transmission module determines that the laser transmission module is defective when the time interval exceeds a predetermined time by comparing the laser transmission module driving signal and the reference signal.

It is preferable that at least some of the transmission driving module and the distance calculating module are integrally formed.

Preferably, the transmission module driving control unit included in the transmission driving module and the distance calculation unit included in the distance calculating module are implemented as one microcomputer.

Hereinafter, the present invention will be described in more detail through examples, but the description of these examples is only to illustrate the practice of the present invention, and the present invention is not limited by the description of these examples.

As described above, according to the present invention has the following effects.

(1) The performance of the lidar device can be improved.

(2) The accuracy of distance measurement between the lidar device and the object can be improved.

(3) The distance measurement error caused by the reflectance of the laser reflected by the object can be reduced.

(4) When the control signal of the laser driving module is used as the reference signal, the time difference between the control signal and the actually transmitting laser may not be constant depending on the rising speed of voltage and current applied to the laser transmission module 1100. In the present invention, there is a problem in that the reference signal itself generates an error, thereby reducing the accuracy of distance measurement. The present invention further includes a second laser detection module, and generates a reference signal based on the actually transmitted laser, thereby measuring distance as above. It is possible to prevent deterioration of accuracy.

(5) When a rate of change of a signal is used, or when a differentiator is used, high-frequency noise may be amplified to increase the distance measurement error. There is an advantage.

(6) Simply, when using a low-frequency bandpass filter, there may be a problem that the response speed is slowed depending on the application application or system characteristics. The present invention considers the output signal frequency component of the first laser detection module 2100. Therefore, by adopting a band pass filter, there is an advantage that the response speed can be prevented from being reduced.

(7) Furthermore, by detecting a laser transmission module failure using a second laser detection module provided for generating a reference signal, and promptly notifying a user or system of a failure of the lidar device, without adding additional hardware, The reliability of the distance from the object by the Ida device can be greatly improved.

1 shows an example of a configuration diagram of a conventional lidar device.
2 illustrates a laser detection module reception signal according to the laser reflectance in a conventional lidar device and a digital signal based on the signal.
Figure 3 shows an embodiment of the configuration of the proposed lidar device of the present invention.
4A to 4D show a first laser detection module received signal according to the laser reflectance in the proposed lidar device of the present invention and a digital signal based on the signal.
Figure 5 shows another embodiment of the configuration of the proposed lidar device of the present invention.
6 is a view showing first and second laser detection module received signals according to the laser reflectance and digital signals based on the signals in another embodiment of the proposed lidar device of the present invention.

Objects, features and advantages of the present invention described above will become more apparent through the following examples with reference to the accompanying drawings. The following specific structures or functional descriptions are merely exemplified for the purpose of explaining an embodiment according to the concept of the present invention, and the embodiments according to the concept of the present invention can be implemented in various forms and described in the present specification or application It should not be construed as being limited to the embodiments. Embodiments according to the concept of the present invention can be modified in various ways and have various forms, so specific embodiments are illustrated in the drawings and are described in detail in the present specification or application. However, this is not intended to limit the embodiments according to the concept of the present invention to a specific disclosure form, and it should be understood that all modifications, equivalents, and substitutes included in the spirit and scope of the present invention are included. Terms such as first and/or second may be used to describe various components, but the components are not limited to the terms. The above terms are only for the purpose of distinguishing one component from other components, for example, without departing from the scope of rights according to the concept of the present invention, the first component may be referred to as the second component, and similar Thus, the second component may also be referred to as a first component. When a component is referred to as being connected to or connected to another component, it should be understood that other components may exist in the middle, although they may be directly connected to or connected to the other component. On the other hand, when it is mentioned that one component is directly connected to another component or is directly connected, it should be understood that no other component exists in the middle. Other expressions to describe the relationship between the components, such as between ∼ between and immediately between ∼ or adjacent to ∼ and directly adjacent to ∼, should also be interpreted. The terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. Terms such as include or have in this specification are intended to designate the presence of a feature, number, step, action, component, part, or combination thereof described, one or more other features or numbers, steps, actions, It should be understood that the existence or addition possibilities of components, parts or combinations thereof are not excluded in advance. Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms such as those defined in a commonly used dictionary should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined herein. Does not. Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. The same reference numerals in each drawing denote the same members.

[Example 1]

As shown in FIG. 3, the present invention provides a laser transmission module 1100 for repeatedly transmitting a laser over a predetermined transmission period, and a first laser detection module for receiving the laser reflected and returned from the object 2 (2100), the transmission driving module for driving the laser transmission module 1100, based on the output signal of the first laser detection module 2100, the rider device 1 and the object (2) between It may be characterized in that it comprises a distance calculating module 4000 for calculating the distance, but calculating the distance of the same length even if the reflectivity of the object 2 changes. The laser transmission module 1100 includes a laser light emitting unit 1110 and a light emitting lens 1120, and the first laser detection module 2100 includes a first laser light receiving unit 2110 and a light receiving lens 2120 It can be characterized by.

The distance calculation module 4000 is connected to the first laser detection module 2100 and generates a digital signal based on the output signal of the first laser detection module 2100, wherein the first laser detection module ( The first signal converter 4200 which generates substantially the same digital signal even when the output signal of the 2100) changes, based on the digital signal received from the first signal converter 4200 (1) ) And a distance calculator 4100 for calculating the distance between the object 2. Here, the term'substantially identical digital signal' means that if the 1st edge time when two digital signals change from an initial state (for example, Low or High) to another state (for example, High or Low) is the same. It is defined as the same digital signal.

The first signal converter 4200 receives a signal based on the output of the first laser detection module 2100 and generates a first analog signal based on a rate of change of the received signal. It may be characterized in that it comprises a first comparator (4230) for generating the digital signal based on the result of comparing the analog signal with a predetermined first reference value.

Due to these features, the present invention can improve the performance of the lidar device by reducing the distance measurement error caused by the reflectance of the laser reflected according to the object.

The first operation unit 4220 may include a differential circuit.

4A to 4D are (a) control signals 10 for controlling the laser transmission module 1100; (b) and (c) are analog signals 21 which are output signals of the first laser detection module 2100, modified signals 22 converted by the first operation unit 4220, and the first comparison unit 4230. The digital signal 23, which is the output of, is represented by (b) when the reflectance of the object is 100% and (c) when the reflectance of the object is 30%. The modified signal 22 of FIGS. 4A to 4D represents an embodiment in which the first operation unit 4220 is a differential circuit.

4B is a case in which analog signals and digital signals are inverted compared to FIG. 4A, FIG. 4C is a case where only analog signals are inverted compared to FIG. 4A, and FIG. 4D is a case where only digital signals are inverted compared to FIG. 4A. In order to clarify the meaning of the present invention, terms have been described based on the case of FIG. 4A throughout the specification including the claims, but are not limited thereto. That is, it is natural that the technical idea of the present invention can be applied similarly even when at least one of the analog signal and the digital signal is inverted compared to FIG. 4A as shown in FIGS. 4B to 4D, and accordingly, the terms described in the claims of the present invention Among them, in order to apply the technical idea of the present invention in the case of FIGS. 4B to 4D, some changes are included in the claims in substantially the same scope. As shown in FIG. 4A, the first laser detection module 2100 The magnitude of the output signal of may vary depending on the reflectance, but the position of the maximum value of the output signal of the first laser detection module 2100 does not change in time. In view of this point, the present invention is capable of measuring an accurate distance regardless of reflectivity by detecting a temporal position of a maximum value of the output signal of the first laser detection module 2100 that is not affected by reflectivity using a differentiator. It works.

However, in a noisy environment, the signal may be distorted by the high frequency noise, and when a rate of change of the signal is used, or when using a differentiator, the high frequency noise may be amplified to increase the distance measurement error.

In the present invention, the first signal conversion unit 4200 is provided between the first laser detection module 2100 and the first operation unit 4220, the noise from the output signal of the first laser detection module 2100 It may be characterized in that it further comprises a first filter portion 4210 to remove the component. The first filter unit 4210 may include a band filter that passes only a predetermined frequency component set based on an output signal frequency component of the first laser detection module 2100. The first filter unit 4210 may be a low-frequency band filter.

Due to these features, the present invention has an advantage of improving the distance measurement accuracy based on the rate of change of the signal even in a noisy environment.

However, when simply using a low-frequency bandpass filter, there may be a problem in that the response speed is slowed down according to the application or system characteristics.

The present invention may be characterized in that the first filter unit 4210 is a band pass filter.

By adopting a band-pass filter in consideration of the frequency component of the output signal of the first laser detection module 2100, which is such a feature, there is an effect of preventing a decrease in response speed.

The first filter unit 4210 may further include a nonlinear filter that limits the band filter output signal to a predetermined minimum value or a predetermined maximum value.

Due to this feature, there is an effect that is more robust to noise and can achieve improved distance measurement accuracy.

[Example 2]

The first signal conversion unit 4200, the output signal of the first laser detection module 2100, the state of the digital signal at a time that is the largest value in the period in which the laser transmission module 1100 transmits the laser. It can be characterized by changing.

The magnitude of the output signal of the first laser detection module 2100 may vary depending on the reflectance, but the position of the maximum value of the output signal of the first laser detection module 2100 does not change in time. In view of this, the present invention detects the time at which the maximum value of the output signal of the first laser detection module 2100, which is not affected by the reflectance, occurs, and uses the time, thereby accurately determining the distance without being affected by the reflectance. It has measurable effects.

The first signal converter 4200 may change the digital signal state to a predetermined state for each transmission cycle.

The transmission driving module 3000 generates the digital signal state initialization signal for each transmission period, and the first signal conversion unit 4200 is based on the digital signal state initialization signal received from the transmission driving module 3000. In this way, the digital signal state may be changed to an initialization state.

[Example 3]

The first signal conversion unit 4200, the first operation unit 4220 to amplify the output signal of the first laser detection module 2100 with a predetermined gain (K) to a signal of a constant size, the first It may be characterized in that it comprises a first comparator (4230) for generating the digital signal based on the result of comparing the output signal with a predetermined first reference value of the operation unit.

The magnitude of the output signal of the first laser detection module 2100 may vary depending on the reflectance, but the shape of the output signal of the first laser detection module 2100 does not change. In view of this, the present invention has an effect of accurately measuring a distance without being affected by reflectance by correcting the magnitude of the output signal of the first laser detection module 2100 to be the same.

The predetermined gain K may be set based on a maximum value of the output signal of the first laser detection module 2100 within at least one transmission period.

The predetermined gain (K) may be characterized in that the maximum value of the output signal of the first laser detection module 2100 is set to a predetermined value within the transmission period.

The predetermined gain K may be set based on a maximum value of the output signal of the first laser detection module 2100 within a previous transmission period.

[Example 4]

The first signal converter 4200 receives a signal based on the output signal of the first laser detection module 2100, and generates the digital signal based on a result of comparing the signal with a predetermined first reference value. And a first comparator 4230, wherein the first reference value is variable based on the signal.

The magnitude of the output signal of the first laser detection module 2100 may vary depending on the reflectance, but the shape of the output signal of the first laser detection module 2100 does not change. In view of this, the present invention has an effect of accurately measuring a distance without being affected by reflectivity by correcting a first reference value to be compared with a signal based on the output signal of the first laser detection module 2100.

The first reference value may be set according to a maximum value of a signal based on an output signal of the first laser detection module 2100 within at least one of the transmission periods. The smaller the maximum value of the signal based on the output signal of the first laser detection module 2100, the smaller the first reference value may be. The first reference value may be set within a predetermined minimum value and a predetermined maximum value range.

[Example 5]

The distance calculating unit 4100 is based on the laser-transmitted module 1100 and the reference signal based on the laser and the output signal of the first signal conversion unit 4200, the rider device 1 and the object (2) It can be characterized by calculating the distance between. The transmission driving module 3000 may generate the reference signal.

[Example 6]

As shown in FIG. 5, the laser transmission module 1100 further includes a second laser detection module 2200 that directly receives the laser, and the distance calculation module 4000 detects the second laser It may be characterized in that it further comprises a second signal converter 4300 that is connected to the module 2200 and generates the reference signal based on the output signal of the second laser detection module 2200.

When the control signal of the laser driving module is used as a reference signal, the time difference between the control signal and the actually transmitting laser may not be constant according to the rising speed of the voltage and current applied to the laser transmission module 1100, so the reference There is a problem that the distance measurement accuracy is lowered due to an error in the signal itself, and the present invention further includes a second laser detection module, and by generating a reference signal based on the actually transmitted laser, the distance measurement accuracy is reduced as described above. There is an effect that can be prevented.

6 is (a) a control signal 10 for controlling the laser transmission module 1100; (b) is an analog signal 31 that is an output signal of the second laser detection module 2200, a modified signal 32 that is converted by the second operation unit 4320, and a digital that is the output of the second comparison unit 4330 Signal 33; (c) and (d) are analog signals 21 that are output signals of the first laser detection module 2100, modified signals 22 converted by the first operation unit 4220, and first comparison units 4230. The digital signal 23, which is the output of, is represented by (b) when the reflectance of the object is 100% and (c) when the reflectance of the object is 30%. The modified signal 22 of FIG. 6 represents an embodiment in which the first operation unit 4220 is a differential circuit.

Compared to FIG. 4A, FIG. 6 is a reference signal to be compared with the digital signal 23 that is the output of the first comparator 4230, and is a digital signal (which is the output of the second comparator 4330 rather than the control signal 10) 33) indicates that the measurement accuracy is further improved.

[Example 7]

The transmission driving module 3000 may be configured to detect a failure of the laser transmission module 1100 based on the reference signal. The laser transmission module 1100 compares the driving signal of the laser transmission module 1100 with the reference signal, and determines that the laser transmission module 1100 is defective when the time interval exceeds a predetermined time. Can.

By detecting a laser transmission module failure using a second laser detection module provided for generating a reference signal, and promptly notifying a user or system of a failure of the lidar device, an object by the lidar device without adding additional hardware. There is an effect that can significantly improve the reliability of the distance to the.

[Example 8]

At least some of the transmission driving module 3000 and the distance calculating module 4000 may be configured as an integral type.

The transmission module driving control unit 3100 included in the transmission driving module 3000 and the distance calculating unit 4100 included in the distance calculating module 4000 may be implemented as one microcomputer.

Due to this feature, when the wiring between the transmission module driving control unit 3100 and the distance calculating unit 4100 included in the distance calculating module 4000 is lengthened or varied, measurement errors that may occur due to a change in impedance of the wiring are reduced. By doing so, the accuracy of distance measurement can be improved.

1: Lidar device
2: Object
10: emission control signal
410: signal converter
420: distance calculator
1100: laser transmission module
1110: laser light emitting unit
1120: luminous lens
2100: first laser detection module
2110: first laser light receiving unit
2120: light receiving lens
2200: second laser detection module
2210: second laser light receiving unit
3000: transmission drive module
3100: Transmission module drive control
3200: Transmission module driver
4000: distance calculation module
4100: distance calculator
4200: first signal converter
4210: first filter unit
4220: first operation unit
4230: first comparison unit
4300: second signal converter
4310: second filter unit
4320: second calculation unit
4330: second comparison unit

Claims (23)

In the lidar device (1),
A laser transmission module 1100 that repeatedly transmits a laser at a predetermined transmission cycle,
A first laser detection module (2100) for receiving the laser is returned to the laser beam reflected on the object (2),
Transmission drive module 3000 for driving the laser transmission module 1100,
The distance between the rider device 1 and the object 2 is calculated based on the output signal of the first laser detection module 2100, but the distance of the same length is calculated even if the reflectivity of the object 2 changes. Including distance calculation module 4000
Lidar device characterized in that.

According to claim 1,
The laser transmission module 1100 includes a laser light emitting unit 1110 and a light emitting lens 1120,
The first laser detection module 2100 includes a first laser light receiving unit 2110 and a light receiving lens 2120
Lidar device characterized in that.

According to claim 2,
The distance calculation module 4000,
Is connected to the first laser detection module 2100, and generates a digital signal based on the output signal of the first laser detection module 2100, even if the size of the output signal of the first laser detection module 2100 changes A first signal converter 4200 for generating substantially the same digital signal,
And a distance calculator 4100 for calculating a distance between the rider device 1 and the object 2 based on the digital signal received from the first signal converter 4200.
Lidar device characterized in that.

The method of claim 3,
The first signal converter 4200,
The first operation unit 4220 receives a signal based on the output of the first laser detection module 2100 and generates an analog signal based on a rate of change of the received signal.
And a first comparator (4230) for generating the digital signal based on a result of comparing the analog signal with a predetermined first reference value.
Lidar device characterized in that.

The method of claim 4,
The first operation unit 4220 includes a differential circuit
Lidar device characterized in that.

The method of claim 4,
The first signal converter 4200,
It is provided between the first laser detection module 2100 and the first operation unit 4220, and further includes a first filter unit 4210 removing noise components from the output signal of the first laser detection module 2100. Doing
Lidar device characterized in that.

The method of claim 6,
The first filter part 4210,
And a band filter passing only a predetermined frequency component set based on the frequency component of the output signal of the first laser detection module 2100.
Lidar device characterized in that.

The method of claim 7,
The first filter portion 4210 is a low-frequency band filter
Lidar device characterized in that.

The method of claim 7,
The first filter portion 4210 is a band pass filter
Lidar device characterized in that.

The method of claim 3,
The first signal conversion unit 4200, the output signal of the first laser detection module 2100, the state of the digital signal at a time that is the largest value in the period in which the laser transmission module 1100 transmits the laser. Changing
Lidar device characterized in that.

The method of claim 10,
The first signal converter 4200 changes the digital signal state to a predetermined state for each transmission cycle.
Lidar device characterized in that.

The method of claim 11,
The transmission driving module 3000 generates the digital signal state initialization signal for each transmission cycle,
The first signal converter 4200 changes the digital signal state to an initialization state based on the digital signal state initialization signal received from the transmission driving module 3000.
Lidar device characterized in that.

The method of claim 3,
The first signal converter 4200,
The first operation unit 4220 amplifies the output signal of the first laser detection module 2100 with a predetermined gain (K) and converts it into a signal of a certain size,
And a first comparator (4230) generating the digital signal based on a result of comparing the output signal of the first operation unit with a predetermined first reference value.
Lidar device characterized in that.

The method of claim 13,
The predetermined gain (K) is
Set based on a maximum value of the output signal of the first laser detection module 2100 within at least one transmission cycle
Lidar device characterized in that.

The method of claim 14,
The predetermined gain (K) is
The maximum value of the output signal of the first laser detection module 2100 is set to be a predetermined value within the transmission period.
Lidar device characterized in that.

The method of claim 14,
The predetermined gain (K) is
It is set based on the maximum value of the output signal of the first laser detection module 2100 in the previous transmission period.
Lidar device characterized in that.

The method of claim 3,
The first signal converter 4200,
And a first comparator 4230 that receives a signal based on the output signal of the first laser detection module 2100 and generates the digital signal based on a result of comparing the signal with a predetermined first reference value,
The first reference value is variable based on the signal
Lidar device characterized in that.

The method of claim 17,
The first reference value is set according to a maximum value of a signal based on an output signal of the first laser detection module 2100 within at least one of the transmission periods.
Lidar device characterized in that.

The method of claim 3,
The distance calculating unit 4100 is based on the laser-transmitted module 1100 and the reference signal based on the laser and the output signal of the first signal conversion unit 4200, the rider device 1 and the object (2) To calculate the distance between
Lidar device characterized in that.

The method of claim 19,
The transmission driving module 3000 generates the reference signal
Lidar device characterized in that.

The method of claim 19,
The laser transmission module 1100 further includes a second laser detection module 2200 for directly receiving the laser,
The distance calculation module 4000,
The second laser detection module 2200 is connected to, and further comprising a second signal conversion unit 4300 for generating the reference signal based on the output signal of the second laser detection module 2200
Lidar device characterized in that.

The method of claim 21,
The transmission driving module 3000 detects a failure of the laser transmission module 1100 based on the reference signal.
Lidar device characterized in that.

The method of claim 22,
The laser transmission module 1100 compares the driving signal of the laser transmission module 1100 with the reference signal and determines that the laser transmission module 1100 is defective when the time interval exceeds a predetermined time.
Lidar device characterized in that.

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