KR20200102899A - A lidar device and rotating mirror used in the lidar device - Google Patents

Abstract

The present invention relates to a Lidar device and a rotating mirror used in the Lidar device. More specifically, provided are the Lidar device for measuring a distance using a laser and the rotating mirror used in the Lidar device. According to the present invention, the Lidar device comprises: a laser output unit which emits a laser; a sensor unit which detects the laser reflected from an object positioned on a scan area; and a scanning unit which acquires the laser emitted from the laser output unit and reflects the laser toward the scan area, and acquires the laser reflected from the object positioned on the scan area and reflects the laser toward the sensor unit. The scanning unit includes an irradiation mirror for acquiring and reflecting the laser emitted from the laser output unit and a light receiving mirror for acquiring and reflecting the laser reflected from the object. When viewed from the side, the irradiation mirror and the light receiving mirror are substantially formed perpendicular to each other. When viewed from the top, the irradiation mirror is formed to include a circular annular reflective surface. When viewed from a lower surface, the light receiving mirror may be formed to include a disc-shaped reflective surface.

Description

A lidar device and a rotating mirror used in a lidar device {A LIDAR DEVICE AND ROTATING MIRROR USED IN THE LIDAR DEVICE}

The present invention relates to a lidar device that acquires distance information of an object using a laser. In more detail, the present invention relates to a lidar device for obtaining distance information by irradiating a laser toward a scan area and detecting a laser reflected from an object existing on the scan area.

LiDAR (Light Detecting And Ranging) is a device that detects a distance to an object using a laser. In addition, the lidar device is a device capable of acquiring location information on objects existing around it by generating a point cloud using a laser. In addition, studies on meteorological observation using a lidar device, 3D mapping, autonomous vehicles, autonomous drones, and unmanned robot sensors are also actively progressing.

The problem to be solved according to an embodiment relates to a lidar device that irradiates and receives light using a single scanner.

Another problem to be solved according to an embodiment relates to a rotating mirror capable of efficiently irradiating and receiving light.

Another problem to be solved according to an exemplary embodiment relates to a lidar device capable of blocking a laser reflected from a window and received incorrectly.

Another problem to be solved according to an embodiment relates to a lidar device having an arrangement structure for efficient scanning.

The problem to be solved of the present invention is not limited to the problems to be solved described above, and the problems to be solved that are not mentioned are from the present specification and the accompanying drawings to those of ordinary skill in the art to which the present invention belongs. It can be clearly understood.

In the lidar apparatus according to an exemplary embodiment, a laser output unit that emits a laser, a sensor unit that detects a laser reflected from an object positioned on a scan area, and a laser emitted from the laser output unit are obtained and are directed toward the scan area. A scanning unit that reflects and acquires a laser reflected from an object positioned on the scan area and reflects it toward the sensor unit, wherein the scanning unit acquires and reflects the laser emitted from the laser output unit, and the It includes a light-receiving mirror for acquiring and reflecting the laser reflected from the object, and the irradiation mirror and the light-receiving mirror are formed substantially perpendicular to each other when viewed from the side, and the irradiation mirror has a circular ring shape when viewed from the top surface. The light-receiving mirror may be formed to include a reflective surface of, and when viewed from a lower surface, the light-receiving mirror may be formed to include a reflective surface of a disk shape.

In accordance with another embodiment, a laser output unit for emitting a laser and a sensor unit for detecting a laser reflected from an object, and a rotating mirror used in a lidar device that measures a distance using a laser is provided at the laser output unit. An irradiation mirror for acquiring the emitted laser, a light receiving mirror for acquiring and reflecting the laser reflected from the object, and a rotation motor for rotating the irradiation mirror and the light receiving mirror, wherein the irradiation mirror and The light-receiving mirrors are formed to be substantially perpendicular to each other, and when viewed from an upper surface, the irradiation mirror is formed to include a circular annular reflective surface, and when viewed from a lower surface, the light-receiving mirror includes a disc-shaped reflective surface. Is formed, and the irradiation mirror and the light receiving mirror are integrally formed to rotate about the same axis of rotation.

A lidar apparatus according to another embodiment includes a laser output unit that emits a laser, a sensor unit that detects a laser reflected from an object positioned on a scan area, and obtains a laser emitted from the laser output unit to obtain the scan area. A scanning unit that reflects toward and reflects toward the sensor unit by acquiring a laser reflected from an object positioned on the scan area, a laser acquired by the scanning unit and reflected toward the scan area, and the laser reflected from the object It includes an optical window for transmitting the laser obtained from the scanning unit, wherein the scanning unit acquires and reflects the laser emitted from the laser output unit, and a transmission mirror acquires and reflects the laser reflected from the object. Receiving mirror and backbeam for performing-The backbeam represents a laser obtained from the sensor unit by reflecting a laser reflected from the irradiation mirror from the optical window when the laser emitted from the laser output unit is reflected by the irradiation mirror -Includes a backbeam prevention member for preventing, the backbeam prevention member includes an aperture for passing the laser reflected from the object toward the receiving mirror, and is emitted from the laser output unit to transmit the The path of the laser reflected by the mirror may be set outside the backbeam preventing member, and the path of the laser reflected from the object and reflected by the receiving mirror may be set inside the backbeam preventing member.

A lidar device according to another embodiment includes a laser output unit that emits a laser, a sensor unit that detects a laser reflected from an object positioned on a scan area, and a laser emitted from the laser output unit to obtain the scan area. A scanning unit that irradiates toward and acquires a laser reflected from an object positioned on the scan area and reflects it toward the sensor unit; Including, wherein the scanning unit includes a rotation axis, the sensor unit is disposed so that the center thereof corresponds to the rotation axis of the scanning unit in order to improve light receiving efficiency, and the laser output unit is disposed so that the center is spaced apart from the rotation axis of the scanning unit, and the laser The laser shape emitted from the output unit may have an elongated shape, and the laser output unit may be arranged such that the orientation of the laser shape changes according to the height of the laser irradiated to the scan area.

The solution means of the subject of the present invention is not limited to the above-described solution means, and solutions not mentioned will be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings. I will be able to.

The lidar device according to an embodiment may efficiently irradiate and receive light using a single scanner.

The rotating mirror according to another embodiment can efficiently irradiate and receive light due to its geometric structure.

The lidar device according to another embodiment may easily block a laser that is incorrectly received by the sensor unit by further including a backbeam prevention member.

In the lidar device according to another embodiment, efficient scanning is possible due to an arrangement structure having an orientation to compensate for a change in height of a laser.

The effects of the present invention are not limited to the above-described effects, and effects that are not mentioned will be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings.

1 is a diagram for describing a lidar device according to an exemplary embodiment.
2 is a diagram showing a lidar device according to an embodiment.
3 is a diagram for describing a lidar device according to an exemplary embodiment.
4 is a diagram illustrating a lidar device according to an exemplary embodiment.
FIG. 5 is a diagram for explaining an arrangement relationship between components included in a lidar device, a laser irradiation direction, and a scan point according to an exemplary embodiment.
6 is a diagram for explaining an arrangement relationship between components included in a lidar device, a laser irradiation direction, and a scan point according to another exemplary embodiment.
7 is a diagram for explaining an arrangement relationship between components included in a LiDAR device, a laser irradiation direction, and a scan point according to another exemplary embodiment.
8 is a diagram illustrating a shape of a laser of a lidar device according to an exemplary embodiment.
9 is a diagram for explaining an arrangement relationship between components included in a lidar device, a laser irradiation direction, a scan point, and an orientation of a laser shape according to an exemplary embodiment.
10 is a diagram for describing a scan pattern according to an arrangement of a lidar device.
11 is a diagram for describing a scan pattern according to an arrangement of a lidar device.
12 is a diagram illustrating a lidar device according to an embodiment.
13 is a side view illustrating a lidar device according to an exemplary embodiment.
14 is a top view illustrating a lidar device according to an embodiment.
15 is a rear view illustrating a lidar device according to an exemplary embodiment.
16 is a diagram for describing a lidar device according to an exemplary embodiment.
17 is a diagram for describing a lidar device according to an embodiment.
18 is a diagram for describing a back beam of a lidar device according to an exemplary embodiment.
19 is a diagram illustrating a lidar device including a backbeam preventing member according to an exemplary embodiment.
20 is a diagram illustrating a lidar device including a backbeam preventing member according to an exemplary embodiment.
21 is a diagram illustrating a lidar device including a backbeam preventing member according to an exemplary embodiment.
22 is a diagram illustrating a lidar device including a backbeam preventing member according to an exemplary embodiment.
23 is a view showing a housing of a lidar device according to an embodiment.

The embodiments described in the present specification are intended to clearly explain the spirit of the present invention to those of ordinary skill in the field of technology to which the present invention belongs, and thus the present invention is not limited to the embodiments described in the present specification. The scope should be construed as including modifications or variations that do not depart from the spirit of the present invention.

The terms used in this specification have been selected as general terms that are currently widely used in consideration of functions in the present invention, but this varies according to the intention of a person of ordinary skill in the art, precedents, or the emergence of new technologies. I can. However, if a specific term is defined and used in an arbitrary meaning unlike this, the meaning of the term will be separately described. Therefore, terms used in the present specification should be interpreted based on the actual meaning of the term and the entire contents of the present specification, rather than a simple name of the term.

The drawings attached to the present specification are for easy explanation of the present invention, and the shapes shown in the drawings may be exaggerated and displayed as needed to aid understanding of the present invention, so the present invention is not limited by the drawings.

In the present specification, when it is determined that a detailed description of a known configuration or function related to the present invention may obscure the subject matter of the present invention, a detailed description thereof will be omitted as necessary.

According to an embodiment, as a lidar device that measures a distance using a laser, a laser output unit that emits a laser, a sensor unit that detects a laser reflected from an object positioned on a scan area, and emits from the laser output unit A scanning unit for acquiring and reflecting the laser beam toward the scan area, acquiring a laser reflected from an object positioned on the scan area and reflecting it toward the sensor unit, wherein the scanning unit is a laser emitted from the laser output unit And an irradiation mirror for acquiring and reflecting and a light receiving mirror for acquiring and reflecting the laser reflected from the object. When viewed from a side, the irradiation mirror and the light-receiving mirror cross each other to be formed substantially vertically, When viewed from, the irradiation mirror may be formed to include a circular annular reflective surface, and when viewed from a lower surface, the light receiving mirror may be provided with a lidar device formed to include a disc-shaped reflective surface.

Here, in order to improve the light-receiving efficiency of the sensor unit, the portion of the irradiation mirror that acquires and reflects the laser emitted from the laser output unit changes as the scanning unit rotates, but the laser reflected from the object is acquired and reflected. The portion of the light-receiving mirror may remain unchanged even when the scanning unit rotates.

Here, when viewed from the side, the laser output unit is located above the irradiation mirror, the sensor unit is located below the light receiving mirror, and when viewed from the top surface, at least a part of the laser output unit overlaps the irradiation mirror. The sensor unit may be disposed so that at least a portion of the sensor unit overlaps the light receiving mirror when viewed from a lower surface.

Here, when viewed from the top, the irradiation mirror has a circular annular shape, and the irradiation mirror has a first radius that is an inner radius of the circular annular shape and a second radius that is an outer radius of the circular annular shape, and The included reflective surface may be located between the first radius and the second radius.

Here, when viewed from a lower surface, the light receiving mirror has a disk shape, the light receiving mirror has a third radius that is a radius of the disk shape, and the first radius and the third radius may be the same.

Here, when viewed from the bottom, the light receiving mirror has a disk shape, the light receiving mirror has a third radius that is a radius of the disk shape, and the third radius is larger than the first radius and smaller than the second radius. Can be set.

Here, the flight path of the laser output from the laser output unit toward the irradiation mirror and the flight path of the laser reflected by the light receiving mirror toward the sensor unit are parallel and in the same direction, and are reflected by the irradiation mirror toward the scan area. The flight path of the laser and the flight path of the laser reflected from the object positioned in the scan area and directed toward the light receiving mirror may be parallel and may be in different directions.

According to another embodiment, a lidar device measuring a distance using a laser, comprising: a laser output unit that emits a laser, a sensor unit configured to detect a laser reflected from an object positioned on a scan area, and the laser output unit And a scanning unit that acquires the laser emitted from and reflects it toward the scan area, and acquires a laser reflected from an object positioned on the scan area and reflects it toward the sensor unit, and the scanning unit is emitted from the laser output unit. An irradiation mirror for acquiring and reflecting the laser and a light receiving mirror for acquiring and reflecting the laser reflected from the object, the irradiation mirror and the light receiving mirror are integrally formed to rotate about the same axis of rotation, and the top surface As seen in, the laser output unit may be provided to be spaced apart from the rotation axis, and the sensor unit may be provided with a lidar device disposed to correspond to the rotation axis.

Here, in order to improve the light-receiving efficiency of the sensor unit, the portion of the irradiation mirror that acquires and reflects the laser emitted from the laser output unit changes as the scanning unit rotates, but the laser reflected from the object is acquired and reflected. The portion of the light-receiving mirror may remain unchanged even when the scanning unit rotates.

Here, when viewed from the side, the laser output unit is located above the irradiation mirror, the sensor unit is located below the light receiving mirror, and when viewed from the top surface, at least a part of the laser output unit overlaps the irradiation mirror. The sensor unit may be disposed so that at least a portion of the sensor unit overlaps the light receiving mirror when viewed from a lower surface.

Here, when viewed from the top, the irradiation mirror has a circular annular shape, and the irradiation mirror has a first radius that is an inner radius of the circular annular shape and a second radius that is an outer radius of the circular annular shape, and The included reflective surface may be located between the first radius and the second radius.

Here, when viewed from a lower surface, the light receiving mirror has a disk shape, the light receiving mirror has a third radius that is a radius of the disk shape, and the first radius and the third radius may be the same.

Here, when viewed from the bottom, the light receiving mirror has a disk shape, the light receiving mirror has a third radius that is a radius of the disk shape, and the third radius is larger than the first radius and smaller than the second radius. Can be set.

Here, the flight path of the laser output from the laser output unit toward the irradiation mirror and the flight path of the laser reflected by the light receiving mirror toward the sensor unit are parallel and in the same direction, and are reflected by the irradiation mirror toward the scan area. The flight path of the laser and the flight path of the laser reflected from the object positioned in the scan area and directed toward the light receiving mirror may be parallel and may be in different directions.

According to another embodiment, a rotating mirror used in a lidar device that includes a laser output unit for emitting a laser and a sensor unit for detecting a laser reflected from an object, and measures a distance using a laser, wherein the laser output Including an irradiation mirror for acquiring a laser emitted from the part, a light receiving mirror for acquiring and reflecting the laser reflected from the object, and a rotation motor for rotating the irradiation mirror and the light receiving mirror, and the irradiation when viewed from the side The mirror and the light-receiving mirror are formed to be substantially perpendicular to each other, and when viewed from an upper surface, the irradiation mirror is formed to include a circular annular reflective surface, and when viewed from a lower surface, the light-receiving mirror has a disc-shaped reflective surface. It is formed to include, the irradiation mirror and the light-receiving mirror are integrally formed to be provided with a rotating mirror that rotates about the same axis of rotation.

Here, when viewed from the top, the irradiation mirror has a circular annular shape, and the irradiation mirror has a first radius that is an inner radius of the circular annular shape and a second radius that is an outer radius of the circular annular shape, and The included reflective surface may be located between the first radius and the second radius.

Here, when viewed from a lower surface, the light receiving mirror has a disk shape, the light receiving mirror has a third radius that is a radius of the disk shape, and the first radius and the third radius may be the same.

Here, when viewed from the bottom, the light receiving mirror has a disk shape, the light receiving mirror has a third radius that is a radius of the disk shape, and the third radius is larger than the first radius and smaller than the second radius. Can be set.

According to another embodiment, as a lidar device measuring a distance using a laser, a laser output unit that emits a laser, a sensor unit that detects a laser reflected from an object positioned on a scan area, and the laser output unit A scanning unit that acquires an emitted laser and reflects it toward the scan area, and acquires a laser reflected from an object positioned on the scan area and reflects it toward the sensor unit, and is acquired from the scanning unit and reflects toward the scan area And an optical window for transmitting the laser that is reflected from the object and obtained by the scanning unit, wherein the scanning unit acquires and reflects the laser emitted from the laser output unit, and the A receiving mirror and a back beam for acquiring and reflecting the laser reflected from the object-In the case of the back beam, when the laser emitted from the laser output unit is reflected by the irradiation mirror, the laser reflected by the irradiation mirror is reflected by the optical window. Indicative of the laser obtained from the sensor unit-includes a backbeam prevention member for preventing, the backbeam prevention member includes an aperture for passing the laser reflected from the object toward the receiving mirror, The path of the laser emitted from the laser output unit and reflected from the transmission mirror is set outside the backbeam prevention member, and the path of the laser reflected from the object and reflected from the receiving mirror is set inside the backbeam prevention member. Is device can be provided.

Here, when viewed from the side, the irradiation mirror and the light-receiving mirror intersect each other to be formed substantially vertically, and when viewed from the top, the irradiation mirror is formed to include a circular annular reflective surface, and when viewed from the bottom, the light-receiving mirror The mirror may be formed to include a disk-shaped reflective surface.

According to another embodiment, as a lidar device measuring a distance using a laser, a laser output unit that emits a laser, a sensor unit that detects a laser reflected from an object positioned on a scan area, and the laser output unit A scanning unit that acquires the emitted laser and irradiates it toward the scan area, and acquires the laser reflected from the object positioned on the scan area and reflects it toward the sensor unit; Including, wherein the scanning unit includes a rotation axis, the sensor unit is disposed so that the center thereof corresponds to the rotation axis of the scanning unit in order to improve light receiving efficiency, and the laser output unit is disposed so that the center is spaced apart from the rotation axis of the scanning unit, and the laser The laser shape emitted from the output unit may have an elongated shape, and the laser output unit may be provided with a lidar device arranged such that the orientation of the laser shape changes according to the height of the laser irradiated to the scan area. .

Here, in order to compensate for the change in the height of the laser irradiated to the scan area, the laser output unit may be arranged such that the orientation of the laser shape becomes elongated in a vertical direction as the height of the laser irradiated to the scan area increases. have.

Here, in order to compensate for a change in the height of the laser irradiated into the scan area, the laser output unit may be arranged such that the orientation of the laser shape becomes elongated in a vertical direction as the height of the laser irradiated into the scan area decreases. have.

Here, in order to compensate for a change in the height of the laser irradiated to the scan area, the laser output unit may be arranged such that the orientation of the laser shape at the highest point and the lowest point of the laser is elongated in a vertical direction.

One. LiDAR device and terminology

로 표현될 수 있다. 다만, 이에 한정되는 것은 아니며, 직교좌표계(X,Y,Z) 또는 원통 좌표계(R,

Z) 등으로 표현될 수 있다.The lidar device is a device for detecting a distance to an object and a location of the object using a laser. For example, the lidar device may output a laser, and when the output laser is reflected from the object, the reflected laser may be received to measure the distance between the object and the lidar device and the position of the object. In this case, the distance and position of the object may be expressed through a coordinate system. For example, the distance and position of the object can be determined in the spherical coordinate system (R,

It can be expressed as However, it is not limited thereto, and a Cartesian coordinate system (X,Y,Z) or a cylindrical coordinate system (R,

Z) and the like.

In addition, the lidar device may use a laser output from the lidar device and reflected from the object to measure the distance of the object.

The lidar device according to an exemplary embodiment may use a time of flight (TOF) of the laser until it is detected after the laser is output to measure the distance of the object. For example, the LiDAR device may measure the distance of the object by using a difference between a time value based on an output time of an output laser and a time value based on a detected time of a laser reflected and sensed by the object.

In addition, in addition to the flight time, the LiDAR device according to an embodiment may use a triangulation method, an interferometry method, a phase shift measurement, etc., in order to measure the distance of the object, It is not limited to this.

2. Configuration of lidar device

Hereinafter, various embodiments of the components of the lidar device will be described in detail.

1 is a diagram for describing a lidar device according to an exemplary embodiment.

Referring to FIG. 1, a lidar device 1000 according to an embodiment may include a laser output unit 100.

In this case, the laser output unit 100 according to an embodiment may emit a laser.

In addition, the laser output unit 100 may include one or more laser output devices. For example, the laser output unit 100 may include a single laser output device, may include a plurality of laser output devices, and also include a plurality of laser output devices, the plurality of laser output devices One array can be configured.

In addition, the laser output unit 100 includes a laser diode (LD), a solid-state laser, a high power laser, a light entitling diode (LED), a vertical cavity surface emitting laser (VCSEL), and an external cavity diode laser. (ECDL) may be included, but is not limited thereto.

In addition, the laser output unit 100 may output a laser having a predetermined wavelength. For example, the laser output unit 100 may output a laser of a 905 nm band or a laser of a 1550 nm band. In addition, for example, the laser output unit 100 may output a laser of 940 nm band. Also, for example, the laser output unit 100 may output a laser including a plurality of wavelengths between 800 nm and 1000 nm. In addition, when the laser output unit 100 includes a plurality of laser output devices, some of the plurality of laser output devices may output a laser in a 905 nm band, and other parts may output a laser in a 1550 nm band. have.

Referring back to FIG. 1, the lidar apparatus 1000 according to an embodiment may include a scanning unit 200.

In this case, the scanning unit 200 according to an embodiment may change the flight path of the laser. For example, the scanning unit 200 may change the flight path of the laser so that the laser emitted from the laser output unit 100 faces the scan area. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the scanning unit 200 according to an embodiment may change the flight path of the laser by reflecting the laser. For example, the scanning unit 200 may reflect the laser emitted from the laser output unit 100 and change the flight path of the laser so that the laser is directed toward the scan area. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the scanning unit 200 according to an embodiment may include various optical means to reflect a laser. For example, the scanning unit 200 includes a mirror, a resonance scanner, a MEMS mirror, a voice coil motor (VCM), a polygonal mirror, and a rotating mirror. , Or a Galvano mirror, etc., but is not limited thereto.

In addition, the scanning unit 200 according to an embodiment may change the flight path of the laser by refracting the laser. For example, the scanning unit 200 may refract the laser emitted from the laser output unit 100 to change the flight path of the laser so that the laser is directed toward the scan area. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the scanning unit 200 according to an exemplary embodiment may include various optical means to refract a laser. For example, the scanning unit 200 may include a lens, a prism, a micro lens, or a microfluidie lens, but is not limited thereto.

In addition, the scanning unit 200 according to an embodiment may change the flight path of the laser by changing the phase of the laser. For example, the scanning unit 200 may change the flight path of the laser so that the laser is directed toward the scan area by changing the phase of the laser emitted from the laser output unit 100. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the scanning unit 200 according to an embodiment may include various optical means to change the phase of the laser. For example, the scanning unit 200 may include an optical phased array (OPA), a meta lens, or a meta surface, but is not limited thereto.

In addition, the scanning unit 200 according to an embodiment may include one or more optical means. Further, for example, the scanning unit 200 may include a plurality of optical means.

Referring back to FIG. 1, the lidar device 100 according to an embodiment may include a sensor unit 300.

In this case, the sensor unit 300 according to an exemplary embodiment may detect a laser. For example, the sensor unit may detect a laser reflected from an object positioned within the scan area.

In addition, the sensor unit 300 according to an embodiment may receive a laser, and may generate an electrical signal based on the received laser. For example, the sensor unit 300 may receive a laser reflected from an object positioned within the scan area, and generate an electric signal based on this. In addition, for example, the sensor unit 300 may receive a laser reflected from an object located in the scan area through the scanning unit 200 and generate an electric signal based on this.

In addition, the sensor unit 300 according to an embodiment may detect a laser based on the generated electrical signal. For example, the sensor unit 300 may detect a laser by comparing a predetermined threshold value with a magnitude of the generated electrical signal, but is not limited thereto.

In addition, the sensor unit 300 according to an embodiment may include various sensor elements. For example, the sensor unit 300 includes a PN photodiode, a phototransistor, a PIN photodiode, APD (Avalanche Photodiode), SPAD (Single-photon avalanche diode), SiPM (Silicon Photo Multipliers), CMOS (Complementary metal-oxide- semiconductor) or a charge coupled device (CCD), but is not limited thereto.

In addition, the sensor unit 300 according to an embodiment may include one or more sensor elements. For example, the sensor unit 300 may include a single sensor element, or may include a plurality of sensor elements.

Referring back to FIG. 1, the lidar device 1000 according to an embodiment may include a control unit 400.

In this case, the control unit 400 according to an embodiment may control the operation of the laser output unit 100, the scanning unit 200, or the sensor unit 300.

In addition, the control unit 400 according to an embodiment may control the operation of the laser output unit 100.

For example, the control unit 400 may control a timing at which the laser output from the laser output unit 100 is output. In addition, the control unit 400 may control the power of the laser output from the laser output unit 100. In addition, the controller 400 may control a pulse width of the laser output from the laser output unit 100. In addition, the control unit 400 may control a period of the laser output from the laser output unit 100. In addition, when the laser output unit 100 includes a plurality of laser output elements, the control unit 400 may control the laser output unit 100 so that some of the plurality of laser output elements are operated.

In addition, the control unit 400 according to an embodiment may control the operation of the scanning unit 200.

For example, the control unit 400 may control the operation speed of the scanning unit 200. Specifically, when the scanning unit 200 includes a rotating mirror, the rotation speed of the rotating mirror can be controlled, and when the scanning unit 200 includes a MEMS mirror, the MEMS mirror is repeated. The cycle can be controlled, but is not limited thereto.

Also, for example, the control unit 400 may control the degree of operation of the scanning unit 200. Specifically, when the scanning unit 200 includes a MEMS mirror, the operating angle of the MEMS mirror may be controlled, but is not limited thereto.

In addition, the control unit 400 according to an embodiment may control the operation of the sensor unit 300.

For example, the controller 400 may control the sensitivity of the sensor unit 300. Specifically, the controller 400 may control the sensitivity of the sensor unit 300 by adjusting a predetermined threshold value, but is not limited thereto.

In addition, for example, the control unit 400 may control the operation of the sensor unit 300. Specifically, the control unit 400 may control On/Off of the sensor unit 300, and when the sensor unit 300 includes a plurality of sensor elements, some of the plurality of sensor elements It is possible to control the operation of the sensor unit 300 to operate.

In addition, the control unit 400 according to an exemplary embodiment may determine a distance from the lidar device 1000 to an object located in the scan area based on the laser detected by the sensor unit 300.

For example, the control unit 400 determines a distance to an object located in the scan area based on a time when the laser is output from the laser output unit 100 and a time when the laser is detected by the sensor unit 300 can do.

Specifically, the laser output unit 100 may output a laser, the control unit 400 may obtain a time point at which the laser is output from the laser output unit 100, and the laser output unit 100 When the laser output from is reflected from an object located within the scan area, the sensor unit 300 may detect the laser reflected from the object, and the controller 400 detects the laser by the sensor unit 300 The determined viewpoint may be obtained, and the controller 4000 may determine a distance to an object located in the scan area based on the output time and detection time of the laser.

2 is a diagram showing a lidar device according to an embodiment.

Referring to FIG. 2, a lidar device 1100 according to an exemplary embodiment may include a laser output unit 100, a scanning unit 210, and a sensor unit 300.

Since the laser output unit 100 and the sensor unit 300 have been described in FIG. 1, detailed descriptions of the laser output unit 100 and the sensor unit 300 will be omitted below.

The scanning unit 210 according to an embodiment may be an example of the scanning unit 200. For example, the scanning unit 210 may reflect the laser output from the laser output unit 100 to change the flight path of the laser so that the laser is directed toward the scan area.

In addition, the scanning unit 210 may include a rotating mirror.

In addition, the lidar device 1100 may have an irradiation path that is an optical path until the laser output from the laser output unit 100 reaches the object 500 located in the scan area.

Specifically, the laser output from the laser output unit 100 may be obtained from the scanning unit 210. In addition, the laser acquired by the scanning unit 210 may be reflected by the scanning unit 210, and the flight path may be changed to face the scan area. In addition, the laser reflected by the scanning unit 210 may reach the object 500.

In addition, the lidar device 1100 may have a light-receiving path that is an optical path until the laser reflected from the object 500 reaches the sensor unit 300.

Specifically, the laser reflected from the object 500 may be acquired by the scanning unit 210. In addition, the laser obtained by the scanning unit 210 may be reflected by the scanning unit 210 and the flight path may be changed to face the sensor unit 300. In addition, the laser reflected by the scanning unit 210 may reach the sensor unit 300.

In addition, a portion of the scanning unit 210 included in the irradiation path of the lidar device 1100 and a portion of the scanning unit 210 included in the light receiving path may be identical to each other, and are different from each other. It may or may partially overlap each other, but is not limited thereto.

3. Various embodiments of the lidar device

3 and 4 are diagrams for describing a LiDAR device according to an exemplary embodiment.

3 and 4, the lidar device according to an embodiment may include a laser output unit 120, a scanning unit 220, and a sensor unit 320.

Since the laser output unit 120 and the sensor unit 320 have been described in FIG. 1, detailed descriptions of the laser output unit 120 and the sensor unit 320 will be omitted below.

The scanning unit 220 according to an embodiment may include a reflective surface 221 and a rotation motor 222.

In this case, the reflective surface 221 according to an exemplary embodiment may acquire and reflect a laser. For example, the reflective surface 221 may acquire the laser output from the laser output unit 120 and reflect it toward the scan area. Also, for example, the reflective surface 221 may acquire a laser reflected from an object and reflect it toward the sensor unit 320.

In addition, the reflective surface 221 according to an exemplary embodiment may be disposed to have a predetermined angle with respect to the rotation axis 223 of the rotation motor 222. For example, the reflective surface 221 may be disposed at an angle of 45 degrees with respect to the rotation shaft 223 of the rotation motor 222.

In addition, the reflective surface 221 according to an exemplary embodiment may change the flight path of the laser output from the laser output unit 120. For example, as shown in FIG. 3, the laser output unit 120 is disposed so that the flight path of the output laser follows a vertical direction, and the reflective surface 221 is 45 with respect to the rotation axis 223. In this case, the laser output from the laser output unit 120 and flying along a vertical direction is reflected from the reflective surface 221 and the flight path is changed to fly along a horizontal direction. Can be.

In addition, the reflective surface 221 according to an embodiment may rotate through the rotation motor 222. Specifically, the reflective surface 221 may rotate based on the rotation shaft 223 of the rotation motor 222.

In addition, the reflective surface 221 according to an exemplary embodiment may change the flight path of the laser output from the laser output unit 120 in a different direction according to a rotation angle. For example, when the reflective surface 221 is rotated at an angle as shown in FIG. 3, the laser output from the laser output unit 120 and flying along a vertical direction is the reflective surface 221 ), the flight path can be changed to fly along the horizontal left direction. In contrast, although not shown in FIG. 3, when the reflective surface 221 is rotated by 180 degrees with respect to the rotation axis 223 in the state shown in FIG. 3, the laser output unit 120 outputs the output. Thus, the flight path may be changed so that the laser flying along the vertical direction is reflected from the reflective surface 221 to fly along the horizontal right direction.

Referring back to FIG. 3, the laser output unit 120 according to an exemplary embodiment may output a laser, and may be disposed so that the output laser is incident on the reflective surface 221.

For example, as shown in FIG. 3, the laser output unit 120 according to an exemplary embodiment may be disposed on the reflective surface 221.

In addition, for example, although not shown in FIG. 3, the laser output unit 120 may further include a fixed mirror, and the fixed mirror is disposed on the reflective surface 221 so that the laser output unit ( 120) may be disposed so that the output laser may be incident on the reflective surface 221.

In addition, the laser output unit 120 may be disposed to be spaced apart from the rotation shaft 223.

Also, although not shown in FIG. 3, the laser output unit 120 may be disposed to correspond to the rotation shaft 223.

Referring back to FIG. 3, the sensor unit 320 according to an exemplary embodiment may obtain a laser, and when a laser reflected from an object located in a scan area is reflected from the reflective surface 221, the reflective surface ( It may be arranged to obtain the laser reflected at 221).

For example, as shown in FIG. 3, the sensor unit 320 according to an exemplary embodiment may be disposed on the reflective surface 221.

In addition, for example, although not shown in FIG. 3, the sensor unit 320 may further include a fixed mirror, and the fixed mirror is disposed on the reflective surface 221 so that the sensor unit 320 May be disposed so that the laser reflected from the reflective surface 221 is incident on the sensor unit 320.

In addition, the sensor unit 320 may be disposed to correspond to the rotation shaft 223.

Further, although not shown in FIG. 3, the sensor unit 320 may be disposed to be spaced apart from the rotation shaft 223.

In addition, when the laser output unit 120 is disposed to be spaced apart from the rotation shaft 223, a position at which the laser output from the laser output unit 120 enters the reflective surface 221 is the reflective surface 221 It can change as it rotates.

In addition, when the sensor unit 320 is disposed to correspond to the rotation shaft 223, when the laser obtained from the sensor unit 320 is reflected from the reflective surface 221, the laser is reflected from the reflective surface 221. The position may not change even when the reflective surface 221 rotates.

In addition, the lidar device 1200 may include the laser output unit 120 and the sensor unit 320, and the lidar device 1200 is the center of the laser obtained from the sensor unit 320 The sensor unit 320 is arranged to correspond to the rotation shaft 223 in order to maximize light-receiving efficiency by constant, but the laser output unit 120 does not interfere with the laser obtained from the sensor unit 320 For this purpose, the laser output unit 120 may be disposed to be spaced apart from the rotation shaft 223.

3.1 Arrangement and scan points of a lidar device according to an embodiment

FIG. 5 is a diagram for explaining an arrangement relationship between components included in a lidar device, a laser irradiation direction, and a scan point according to an exemplary embodiment.

Before describing FIG. 5, terms may be defined for convenience of description, and a direction, a scan point, an origin of a lidar device, and the like may be defined.

Also, in this chapter, the direction can be defined using a coordinate system.

For example, if the +x direction is defined as forward based on the Cartesian coordinate system (x,y,z), the -x direction is the rear, the +y direction is the right direction, the -y direction is the left direction, and the +z direction is The upward and -z directions can be defined as downwards, and this chapter will be used to describe them. Also, at this time, the front side may correspond to the center of a plurality of lasers output from the lidar device.

를 이용해서 표현할 수 있다. 이 때,

는 라이다 장치의 원점과 상기 스캔 포인트를 연결한 선이 +x 축과 이루는 각도를 의미할 수 있으나, 이에 한정되지 않는다.In addition, in this chapter, the point generated by the laser irradiated by the lidar device can be defined as a scan point, and the location of the scan point is

It can be expressed using. At this time,

May mean an angle formed by a line connecting the origin of the lidar device and the scan point with the +x axis, but is not limited thereto.

In addition, the origin of the lidar device is a virtual point for expressing the position of the scan point and may be arbitrarily set. For example, the origin of the lidar device may be set to correspond to the center of a reflective surface included in the scanning unit, but is not limited thereto.

Referring to FIG. 5, the lidar device according to an embodiment may include a laser output unit 120, a scanning unit 220, and a sensor unit 320.

Also, the scanning unit 220 may rotate about a rotation axis.

In this case, the scanning unit 220 may rotate to become a first state 2010, a second state 2020, and a third state 2030.

Further, referring to FIG. 5, a top view 2000 and a front view 2100 in the first state 2010, the second state 2020, and the third state 2030 can be confirmed.

In this case, referring to the top view 2000 and the front view 2100, between the laser output unit 120, the scanning unit 220, and the sensor unit 320 included in the lidar device. The arrangement relationship can be explained.

Further, referring to the top view 2000, the laser output unit 120 may be disposed at the rear with respect to the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed to correspond to the rotation axis of the scanning unit 220.

Further, referring to the front view 2100, the laser output unit 120 may be disposed above the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220.

Accordingly, the laser output unit 120 may be disposed above the scanning unit 220, and may be disposed rearward based on the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220 and may be disposed to correspond to a rotation axis of the scanning unit 220.

Further, referring to the top view 2000 in the first state 2010, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated to the left.

Further, referring to the front view 2100 in the first state 2010, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 to the left direction. Can be investigated.

In addition, referring to the top view 2000 and the front view 2100 in the first state 2010, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the first state 2010 may generate a scan point 2210, and referring to the scan plane 2200, from the laser output unit 120 The laser output and reflected by the scanning unit 220 may generate a scan point 2210 at a position near -90 degrees.

Specifically, as the laser output from the laser output unit 120 in the first state is incident to a portion corresponding to the center of the scanning unit 220 when viewed from the front, the laser is A scan point 2210 may be generated at a central position in the z direction.

Further, referring to the top view 2000 in the second state 2020, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated forward.

In addition, referring to the front view 2100 in the second state 2020, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 and irradiated forward. Can be.

Also, referring to the top view 2000 and the front view 2100 in the second state 2020, the laser output from the laser output unit 120 is It is incident at a portion spaced apart from the center, and may be incident at a portion corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the second state 2020 may generate a scan point 2220, and referring to the scan plane 2200, the laser output unit 120 The laser output from and reflected by the scanning unit 220 may generate a scan point 2220 at a position near 0°.

Specifically, as the laser output from the laser output unit 120 in the second state 2020 is incident to a portion spaced upward from the center of the scanning unit 220 when viewed from the front, the laser is scanned A scan point 2220 may be generated at a position in the +z direction of the plane 2200.

Further, referring to the top view 2000 in the third state 2030, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated in the right direction.

In addition, referring to the front view 2100 in the third state 2030, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 to the right. Can be investigated.

In addition, referring to the top view 2000 and the front view 2100 in the third state 2030, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the third state 2030 may generate a scan point 2230, and referring to the scan plane 2200, the laser output unit 120 The laser output from and reflected by the scanning unit 220 may generate a scan point 2230 at a position near +90 degrees.

Specifically, as the laser output from the laser output unit 120 in the third state 2030 is incident to a portion corresponding to the center of the scanning unit 220 when viewed from the front, the laser is in the scan plane ( A scan point 2230 may be generated at a central position in the z direction of 2200.

3.2 Arrangement and scan points of a lidar device according to another embodiment

6 is a diagram for explaining an arrangement relationship between components included in a lidar device, a laser irradiation direction, and a scan point according to another exemplary embodiment.

Since the definition of terms for describing FIG. 6 has been described with reference to FIG. 5, detailed descriptions will be omitted.

Referring to FIG. 6, the lidar device according to an embodiment may include a laser output unit 120, a scanning unit 220, and a sensor unit 320.

Also, the scanning unit 220 may rotate about a rotation axis.

In this case, the scanning unit 220 may rotate to become a first state 2310, a second state 2320, and a third state 2330.

Further, referring to FIG. 6, a top view 2300 and a front view 2400 in the first state 2310, the second state 2320, and the third state 2330 can be confirmed.

In this case, referring to the top view 2300 and the front view 2400, between the laser output unit 120, the scanning unit 220, and the sensor unit 320 included in the lidar device. The arrangement relationship can be explained.

In addition, referring to the top view 2300, the laser output unit 120 may be disposed in front of the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed to correspond to the rotation axis of the scanning unit 220.

In addition, referring to the front view 2400, the laser output unit 120 may be disposed above the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220.

Accordingly, the laser output unit 120 may be disposed above the scanning unit 220 and may be disposed in front of the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220 and may be disposed to correspond to a rotation axis of the scanning unit 220.

In addition, referring to the top view 2300 in the first state 2310, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated to the left.

Further, referring to the front view 2400 in the first state 2310, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 to the left direction. Can be investigated.

In addition, referring to the top view 2300 and the front view 2400 in the first state 2310, the laser output from the laser output unit 120 is viewed from the top, the scanning unit 220 It is incident to a part spaced apart from the center of, and may be incident to a part corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the first state 2310 may generate a scan point 2510, and referring to the scan plane 2500, from the laser output unit 120 The laser output and reflected by the scanning unit 220 may generate a scan point 2510 at a location near -90 degrees.

Specifically, as the laser output from the laser output unit 120 in the first state is incident to a portion corresponding to the center of the scanning unit 220 when viewed from the front, the laser is A scan point 2510 may be generated at a central position in the z direction.

Also, referring to the top view 2300 in the second state 2320, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated forward.

In addition, referring to the front view 2400 in the second state 2320, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 and irradiated forward. Can be.

In addition, referring to the top view 2300 and the front view 2400 in the second state 2320, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the second state 2320 may generate a scan point 2520, and referring to the scan plane 2500, the laser output unit 120 The laser output from and reflected by the scanning unit 220 may generate a scan point 2520 at a position near 0°.

Specifically, as the laser output from the laser output unit 120 in the second state 2320 is incident to a portion spaced downward from the center of the scanning unit 220 when viewed from the front, the laser is scanned A scan point 2520 may be generated at a position in the -z direction of the plane 2500.

In addition, referring to the top view 2300 in the third state 2330, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated in a right direction.

In addition, referring to the front view 2400 in the third state 2330, the laser output from the laser output unit 120 is output downward, and is reflected from the scanning unit 220 to the right. Can be investigated.

In addition, referring to the top view 2300 and the front view 2400 in the third state 2330, the laser output from the laser output unit 120 is the top view of the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the third state 2330 may generate a scan point 2530, and referring to the scan plane 2500, the laser output unit 120 The laser output from and reflected by the scanning unit 220 may generate a scan point 2530 at a position near +90 degrees.

Specifically, as the laser output from the laser output unit 120 in the third state 2330 is incident to a portion corresponding to the center of the scanning unit 220 when viewed from the front, the laser is in the scan plane ( The scan point 2530 may be generated at a center position in the z direction of 2500).

3.3 Arrangement and scan points of a lidar device according to another embodiment

7 is a diagram for explaining an arrangement relationship between components included in a LiDAR device, a laser irradiation direction, and a scan point according to another exemplary embodiment.

Since the definition of terms for describing FIG. 7 has been described with reference to FIG. 5, a detailed description will be omitted.

Referring to FIG. 7, the lidar device according to an embodiment may include a laser output unit 120, a scanning unit 220, and a sensor unit 320.

Also, the scanning unit 220 may rotate about a rotation axis.

In this case, the scanning unit 220 may rotate to become a first state 2610, a second state 2620, and a third state 2630.

In addition, referring to FIG. 7, a top view 2600 and a front view 2700 in the first state 2610, the second state 2620, and the third state 2630 can be confirmed.

In this case, referring to the top view 2600 and the front view 2700, between the laser output unit 120, the scanning unit 220, and the sensor unit 320 included in the lidar device. The arrangement relationship can be explained.

In addition, referring to the top view 2600, the laser output unit 120 may be disposed in a right direction with respect to the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed to correspond to the rotation axis of the scanning unit 220.

Further, referring to the front view 2600, the laser output unit 120 may be disposed above the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220.

Accordingly, the laser output unit 120 may be disposed above the scanning unit 220, and may be disposed in the right direction with respect to the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220 and may be disposed to correspond to a rotation axis of the scanning unit 220.

Further, referring to the top view 2600 in the first state 2610, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated in the left direction.

Further, referring to the front view 2700 in the first state 2610, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 to the left direction. Can be investigated.

In addition, referring to the top view 2600 and the front view 2700 in the first state 2610, the laser output from the laser output unit 120 is viewed from the top, the scanning unit 220 The incident may be incident on a portion spaced apart from the center of, and may be incident on a portion spaced upward from the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the first state 2610 may generate a scan point 2810. Referring to the scan plane 2800, from the laser output unit 120 The laser output and reflected by the scanning unit 220 may generate a scan point 2810 at a position near -90 degrees.

Specifically, as the laser output from the laser output unit 120 in the first state is incident to a portion spaced apart from the scanning unit 220 in the upward direction when viewed from the front, the laser is the scan plane 2800 A scan point 2810 can be created at a location spaced apart in the +z direction of.

Also, referring to the top view 2600 in the second state 2620, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated forward.

In addition, referring to the front view 2600 in the second state 2620, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 and irradiated forward. Can be.

In addition, referring to the top view 2600 and the front view 2700 in the second state 2620, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced from the center, and may be incident at a portion spaced from the center of the scanning unit 220 in a right direction when viewed from the front.

In addition, the laser output from the laser output unit 120 in the second state 2620 may generate a scan point 2820, and referring to the scan plane 2800, the laser output unit 120 The laser output from and reflected by the scanning unit 220 may generate a scan point 2820 at a position near 0°.

Specifically, as the laser output from the laser output unit 120 in the second state is incident to a portion corresponding to the upper and lower center of the scanning unit 220 when viewed from the front, the laser is applied to the scan plane 2800 A scan point 2820 may be created at a location corresponding to the center of the z direction.

Further, referring to the top view 2600 in the third state 2630, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated in a right direction.

In addition, referring to the front view 2600 in the third state 2630, the laser output from the laser output unit 120 is output downward, and is reflected from the scanning unit 220 to the right. Can be investigated.

In addition, referring to the top view 2600 and the front view 2700 in the third state 2630, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion spaced downward from the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the third state 2630 may generate a scan point 2830, and referring to the scan plane 2800, the laser output unit 120 The laser output from and reflected by the scanning unit 220 may generate a scan point 2830 at a position near +90 degrees.

Specifically, as the laser output from the laser output unit 120 in the third state is incident to a portion spaced apart from the scanning unit 220 in a downward direction when viewed from the front, the laser is applied to the scan plane 2800 A scan point 2830 can be created at a location spaced apart in the -z direction of.

As described above in FIGS. 5 to 7, when the laser output unit 120 is disposed to be spaced apart from the rotation axis of the scanning unit 220, the arrangement of the laser output unit 120 and the scanning unit 220 The generation position of the scan point also changes in the z direction according to the rotation of. Accordingly, there is a need to consider the effective arrangement of the laser output unit 120 in consideration of the purpose and effect of the lidar device.

For example, in order to minimize the degree of separation between the scan points in the z direction of the scan plane, it may be preferable that the laser output unit be disposed in front or rear of the rotation axis of the scanning unit when viewed from the top.

In addition, for example, in order to compensate the degree of inclination of the ground, it may be preferable that the laser output unit be disposed on the left or right side with respect to the rotation axis of the scanning unit when viewed from above.

3.4 A lidar device including a laser output unit that outputs an elongated laser.

8 is a diagram illustrating a shape of a laser of a lidar device according to an exemplary embodiment.

Referring to FIG. 8, the lidar device 3000 according to an embodiment may output a laser.

Specifically, the laser output from the lidar device 3000 according to an embodiment may have an elongated shape.

For example, when the laser 3010 output from the lidar device 3000 is cut into a virtual plane 3020 perpendicular to the laser 3010, the cross section 3030 of the laser 3010 may have an elongated shape. have.

In this case, how the orientation of the laser, which has an elongated cross section, is arranged in the scan area can play an important role in securing the scan area.

Hereinafter, an arrangement and a scan pattern between components of a lidar device for arranging the orientation of a laser having an elongated cross section will be described.

3.4.1 Arrangement and Scan Point of LiDAR Device According to an Embodiment

9 is a diagram for explaining an arrangement relationship between components included in a lidar device, a laser irradiation direction, a scan point, and an orientation of a laser shape according to an exemplary embodiment.

Since the definition of terms for describing FIG. 9 has been described with reference to FIG. 5, detailed descriptions will be omitted.

Referring to FIG. 9, the lidar device according to an embodiment may include a laser output unit 120, a scanning unit 220, and a sensor unit 320.

In addition, the shape of the laser output from the laser output unit 120 may have an elongated shape.

Also, the scanning unit 220 may rotate about a rotation axis.

In this case, the scanning unit 220 may rotate to become a first state 3110, a second state 3120, and a third state 3130.

Further, referring to FIG. 9, a top view 3100 and a front view 3200 in the first state 3110, the second state 3120, and the third state 3130 can be confirmed.

In this case, referring to the top view 3100 and the front view 3200, between the laser output unit 120, the scanning unit 220, and the sensor unit 320 included in the lidar device. The arrangement relationship can be explained.

Further, referring to the top view 3100, the laser output from the laser output unit 120 may have an elongated shape in a front-rear direction when viewed from the top.

In addition, referring to the top view 3100, the laser output unit 120 may be disposed at the rear with respect to the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed to correspond to the rotation of the scanning unit 220.

Further, referring to the front view 3200, the laser output unit 120 may be disposed above the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220.

Accordingly, the laser output unit 120 may be disposed above the scanning unit 220, and may be disposed rearward based on the rotation axis of the scanning unit 220. In addition, the sensor unit 320 may be disposed above the scanning unit 220 and may be disposed to correspond to a rotation axis of the scanning unit 220.

In addition, referring to the top view 3100 in the first state 3110, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated to the left.

In addition, referring to the front view 3200 in the first state 3110, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 to the left. Can be investigated.

In addition, referring to the top view 3100 and the front view 3200 in the first state 3110, the laser output from the laser output unit 120 may have an elongated shape in the front and rear direction, and It may be output in a direction and reflected by the scanning unit 220 to be irradiated in a left direction.

Accordingly, the laser may have a horizontally elongated shape when viewed from the lidar device in a left direction to which the laser is irradiated.

In addition, referring to the top view 3100 and the front view 3200 in the first state 3110, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the first state 3110 may generate a scan point 3310, and referring to the scan plane 3300, from the laser output unit 120 The laser output and reflected by the scanning unit 220 may generate a scan point 3310 at a position near -90 degrees.

Specifically, as the laser output from the laser output unit 120 in the first state is incident to a portion corresponding to the center of the scanning unit 220 when viewed from the front, the laser is A scan point 3310 may be generated at a central position in the z direction.

More specifically, the laser output from the laser output unit 120 in the first state has an elongated shape in the front-rear direction, is reflected by the scanning unit 220 and irradiated in the left direction. Further, at this time, the shape of the laser at a position of -90 degrees may have an elongated shape in the horizontal direction.

Accordingly, the laser output from the laser output unit 120 in the first state generates a scan point 3310 at a center position in the z direction near -90 degrees of the scan plane 3300 as shown in FIG. In this case, the shape of the laser may have an orientation of an elongated shape in the horizontal direction.

Also, referring to the top view 3100 in the second state 3120, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated forward.

In addition, referring to the front view 3200 in the second state 3120, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 and irradiated forward. Can be.

In addition, referring to the top view 3100 and the front view 3200 in the second state 3120, the laser output from the laser output unit 120 may have an elongated shape in the front and rear direction, and It may be output in a direction and reflected by the scanning unit 220 to be irradiated forward.

Accordingly, when viewed from the lidar device toward the front where the laser is irradiated, the shape of the laser may have a vertically elongated shape.

In addition, referring to the top view 3100 and the front view 3200 in the second state 3120, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion spaced upward from the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the second state 3120 may generate a scan point 3320, and referring to the scan plane 3300, from the laser output unit 120 The laser output and reflected by the scanning unit 220 may generate a scan point 3320 at a position near 0°.

Specifically, as the laser output from the laser output unit 120 in the second state 3120 is incident to a portion spaced upward from the center of the scanning unit 220 when viewed from the front, the laser is A scan point 3320 may be generated at a position in the +z direction of the scan plane 3300.

More specifically, the laser output from the laser output unit 120 in the second state 3120 has an elongated shape in the front-rear direction, is reflected by the scanning unit 220 and irradiated forward. Further, at this time, the shape of the laser at the 0 degree position may have an elongated shape in the vertical direction.

Accordingly, the laser output from the laser output unit 120 in the second state generates a scan point 3320 at a position in the +z direction near 0 degrees of the scan plane 3300 as shown in FIG. 9, In this case, the shape of the laser may have an orientation of an elongated shape in a vertical direction.

In addition, referring to the top view 3100 in the third state 3130, the laser output from the laser output unit 120 may be reflected by the scanning unit 220 and irradiated in a right direction.

In addition, referring to the front view 3200 in the third state 3130, the laser output from the laser output unit 120 is output downward, and is reflected by the scanning unit 220 to the right. Can be investigated.

In addition, referring to the top view 3100 and the front view 3200 in the third state 3130, the laser output from the laser output unit 120 may have an elongated shape in the front and rear direction, and It may be output in the direction and reflected by the scanning unit 220 to be irradiated in the right direction.

Accordingly, when viewed from the lidar device toward the right side to which the laser is irradiated, the shape of the laser may have a horizontally elongated shape.

In addition, referring to the top view 3100 and the front view 3200 in the third state 3130, the laser output from the laser output unit 120 is the scanning unit 220 when viewed from the top. It is incident at a portion spaced apart from the center, and may be incident at a portion corresponding to the center of the scanning unit 220 when viewed from the front.

In addition, the laser output from the laser output unit 120 in the third state 3130 may generate a scan point 3330, and referring to the scan plane 3300, from the laser output unit 120 The laser output and reflected by the scanning unit 220 may generate a scan point 3330 at a position near +90 degrees.

Specifically, in the third state 3130, as the laser output from the laser output unit 120 is incident to a portion corresponding to the center of the scanning unit 220 when viewed from the front, the laser is in the scan plane ( The scan point 3330 may be generated at a position corresponding to the center of the z direction of the 3300.

More specifically, the laser output from the laser output unit 120 in the third state 3130 has an elongated shape in the front-rear direction, is reflected by the scanning unit 220 and irradiated in the right direction. Further, at this time, the shape of the laser at the +90 degree position may have an elongated shape in the horizontal direction.

Therefore, the laser output from the laser output unit 120 in the third state 3130 is at a position corresponding to the center in the z direction near +90 degrees of the scan plane 3300 as shown in FIG. 9. 3330 is generated, and at this time, the shape of the laser may have an orientation of an elongated shape in the horizontal direction.

3.4.2 Scan pattern according to the orientation of the laser shape and the arrangement of the laser output unit according to an embodiment

10 is a diagram for describing a scan pattern according to an arrangement of a lidar device.

Referring to FIG. 10, a lidar device according to an embodiment includes a laser output unit 120, a scanning unit 220 and a sensor unit 320, and the laser output from the laser output unit 120 is elongated. It can have a shape.

In addition, referring to FIG. 10, the lidar device according to an embodiment may have various arrangement structures, for example, a first arrangement structure 3410, a second arrangement structure 3420, and a third arrangement structure ( 3430), and a fourth arrangement structure 3440.

Further, referring to the first arrangement structure 3410, when viewed from the top, the laser output unit 120 may be disposed to be spaced apart from the rotation axis of the scanning unit 220, and more specifically, the laser output unit ( 120) may be disposed on the left side of the rotation axis of the scanning unit 220.

Further, referring to the first arrangement structure 3410, when viewed from the top, the laser output from the laser output unit 120 may have an elongated shape in the front-rear direction.

In addition, a scan pattern of a laser irradiated from the lidar device disposed in the first arrangement structure 3410 may be expressed as a first scan plane 3411.

In addition, referring to the first scan plane 3411, a scan point is created at a location near -90 degrees in the -z direction, and a scan point is created at a location near +90 degrees in the +z direction. Can be.

Further, referring to the first scan plane 3411, the laser output from the laser output unit 120 may have an orientation of a horizontally elongated shape at a position near -90 degrees, and at a position near 0 degrees. You can have an orientation of a vertically elongated shape, and you can have an orientation of a horizontally elongated shape at a position near +90 degrees.

Therefore, when the lidar device is disposed in the first arrangement structure 3410, the lidar device has an orientation of a vertically elongated shape at the center of the z-direction in the laser output from the laser output unit 120 It can have a wide scan range from the vertical center line to the vertical direction, and has a vertically elongated orientation near 0 degrees, so that even the horizontal center line can have a wide scan range in the vertical direction.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated near 0 degrees, thereby minimizing a change in distance between scan points.

In addition, referring to the second arrangement structure 3420, the laser output unit 120 may be disposed to be spaced apart from the rotation axis of the scanning unit 220 when viewed from the top, and more specifically, the laser output unit ( 120) may be disposed in front of the rotation axis of the scanning unit 220.

In addition, referring to the second arrangement structure 3420, the laser output from the laser output unit 120 may have an elongated shape in the front-rear direction when viewed from the top.

In addition, a scan pattern of a laser irradiated from the lidar device disposed in the second arrangement structure 3420 may be expressed as a second scan plane 3421.

In addition, referring to the second scan plane 3421, a scan point is generated at a central position in the z direction at a position of -90°, a scan point is generated at a position in the -z direction at a position near 0°, and +90 A scan point may be generated at a central position in the z direction in the position of the road.

Further, referring to the second scan plane 3421, the laser output from the laser output unit 120 may have an orientation of a horizontally elongated shape at a position near -90°, and at a position near 0° You can have an orientation of a vertically elongated shape, and you can have an orientation of a horizontally elongated shape at a position near +90 degrees.

Therefore, when the lidar device is arranged in the second arrangement structure 3420, the lidar device has an orientation of a vertically elongated shape in the -z direction in the laser output unit 120. The degree of separation in the direction can be compensated, and by having an orientation of a vertically elongated shape near 0 degrees, a wide scan range can be obtained from the horizontal center line to the vertical direction.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated for around 0 degrees, thereby minimizing a change in distance between scan points.

In addition, referring to the third arrangement structure 3430, the laser output unit 120 may be disposed to be spaced apart from the rotation axis of the scanning unit 220 when viewed from the top, and more specifically, the laser output unit ( 120) may be disposed on the right side based on the rotation axis of the scanning unit 220.

Further, referring to the third arrangement structure 3430, when viewed from the top, the laser output from the laser output unit 120 may have an elongated shape in a front-rear direction.

In addition, the scan pattern of the laser irradiated from the lidar device disposed in the third arrangement structure 3430 may be expressed as a third scan plane 3431.

In addition, referring to the third scan plane 3431, a scan point is created at a position in the +z direction from a position of -90°, a scan point is created at a center position in the z direction at a position near 0°, and +90° A scan point may be generated at a central position in the -z direction from the position.

In addition, referring to the third scan plane 3431, the laser output from the laser output unit 120 may have an orientation of a horizontally elongated shape at a position near -90°, and at a position near 0°. You can have an orientation of a vertically elongated shape, and you can have an orientation of a horizontally elongated shape at a position near +90 degrees.

Accordingly, when the lidar device is disposed in the third arrangement structure 3430, the lidar device has an orientation of a vertically elongated shape at the center of the z-direction in the laser output from the laser output unit 120. It can have a wide scan range from the vertical center line to the vertical direction, and has a vertically elongated orientation near 0 degrees, so that even the horizontal center line can have a wide scan range in the vertical direction.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated near 0 degrees, thereby minimizing a change in distance between scan points.

In addition, referring to the fourth arrangement structure 3440, the laser output unit 120 may be disposed to be spaced apart from the rotation axis of the scanning unit 220 when viewed from the top, and more specifically, the laser output unit ( 120) may be disposed behind the rotation axis of the scanning unit 220.

In addition, referring to the fourth arrangement structure 3440, the laser output from the laser output unit 120 may have an elongated shape in the front-rear direction when viewed from the top.

In addition, a scan pattern of a laser irradiated from the lidar device disposed in the fourth arrangement structure 3440 may be expressed as a fourth scan plane 3451.

In addition, referring to the fourth scan plane 341, a scan point is generated at a center position in the z direction at a position of -90°, a scan point is generated at a position near 0° to a position in the +z direction, and +90 A scan point may be generated at a central position in the z direction in the position of the road.

Further, referring to the fourth scan plane 341, the laser output from the laser output unit 120 may have an orientation of a horizontally elongated shape at a position near -90 degrees, and at a position near 0 degrees. You can have an orientation of a vertically elongated shape, and you can have an orientation of a horizontally elongated shape at a position near +90 degrees.

Accordingly, when the lidar device is disposed in the fourth arrangement structure 3430, the laser output from the laser output unit 120 has an orientation of a vertically elongated shape in the +z direction. The degree of separation in the direction can be compensated, and by having an orientation of a vertically elongated shape near 0 degrees, a wide scan range can be obtained from the horizontal center line to the vertical direction.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated for around 0 degrees, thereby minimizing a change in distance between scan points.

3.4.3 Scan pattern according to the orientation of the laser shape and the arrangement of the laser output unit according to an embodiment

11 is a diagram for describing a scan pattern according to an arrangement of a lidar device.

Referring to FIG. 11, a lidar device according to an embodiment includes a laser output unit 120, a scanning unit 220 and a sensor unit 320, and the laser output from the laser output unit 120 is elongated. It can have a shape.

Further, referring to FIG. 11, the lidar device according to an embodiment may have various arrangement structures, for example, a first arrangement structure 3510, a second arrangement structure 3520, and a third arrangement structure ( 3530), and a fourth arrangement structure 3540.

In addition, referring to the first arrangement structure 3510, the laser output unit 120 may be disposed to be spaced apart from the rotation axis of the scanning unit 220 when viewed from the top, and more specifically, the laser output unit ( 120) may be disposed on the left side of the rotation axis of the scanning unit 220.

Further, referring to the first arrangement structure 3510, when viewed from the top, the laser output from the laser output unit 120 may have an elongated shape in a left and right direction.

In addition, a scan pattern of a laser irradiated by a lidar device disposed in the first arrangement structure 3510 may be expressed as a first scan plane 3511.

In addition, referring to the first scan plane 3511, a scan point is created at a location near -90 degrees in the -z direction, and a scan point is created at a location near +90 degrees in the +z direction. Can be.

In addition, referring to the first scan plane 3511, the laser output from the laser output unit 120 may have a vertically elongated orientation at a position near -90 degrees, and at a position near 0 degrees. You can have an orientation of a horizontally elongated shape, and you can have an orientation of a vertically elongated shape at a position near +90 degrees.

Therefore, when the lidar device is arranged in the first arrangement structure 3510, the laser output from the laser output unit 120 is vertically elongated in the +z direction and the -z direction. By having a, it is possible to compensate the degree of separation in the z direction, and by having an orientation of a vertically elongated shape near -90 degrees and +90 degrees, a wide scan range in the vertical direction can be obtained.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated, so that a change in distance between scan points can be minimized.

Further, referring to the second arrangement structure 3520, when viewed from the top, the laser output unit 120 may be disposed to be spaced apart from the rotation axis of the scanning unit 220, and more specifically, the laser output unit ( 120) may be disposed in front of the rotation axis of the scanning unit 220.

In addition, referring to the second arrangement structure 3520, when viewed from the top, the laser output from the laser output unit 120 may have an elongated shape in a left and right direction.

In addition, a scan pattern of a laser irradiated from the lidar device disposed in the second arrangement structure 3520 may be expressed as a second scan plane 3251.

In addition, referring to the second scan plane 3251, a scan point is generated at a center position in the z direction at a position near -90 degrees, and a scan point is created at a position near 0° in the -z direction. , A scan point may be generated at a central position in the z direction at a position near +90 degrees.

In addition, referring to the second scan plane 3251, the laser output from the laser output unit 120 may have an orientation of a vertically elongated shape at a position near -90°, and at a position near 0°. You can have an orientation of a horizontally elongated shape, and you can have an orientation of a vertically elongated shape at a position near +90 degrees.

Therefore, when the lidar device is disposed in the second arrangement structure 3520, the lidar device has an orientation of a vertically elongated shape at the center of the z direction in the lidar device. The degree of separation in the direction can be compensated, and by having an orientation of a vertically elongated shape near -90 degrees and +90 degrees, it is possible to have a wide scan range in the vertical direction.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated, so that a change in distance between scan points can be minimized.

In addition, referring to the third arrangement structure 3530, when viewed from the top, the laser output unit 120 may be disposed to be spaced apart from the rotation of the scanning unit 220, and more specifically, the laser output unit 120 may be disposed in front of the rotation axis of the scanning unit 220.

Further, referring to the third arrangement structure 3530, when viewed from the top, the laser output from the laser output unit 120 may have an elongated shape in a left and right direction.

In addition, a scan pattern of a laser irradiated from the lidar device disposed in the third arrangement structure 3530 may be expressed as a third scan plane 3531.

In addition, referring to the third scan plane 3531, a scan point is generated at a location near -90 degrees in the +z direction, and a scan point is generated at a location near +90 degrees in the -z direction. Can be.

In addition, referring to the third scan plane 3531, the laser output from the laser output unit 120 may have a vertically elongated orientation at a position near -90 degrees, and at a position near 0 degrees. You can have an orientation of a horizontally elongated shape, and you can have an orientation of a vertically elongated shape at a position near +90 degrees.

Therefore, when the lidar device is disposed in the third arrangement structure 3530, the lidar device has an orientation in which the laser output from the laser output unit 120 is vertically elongated in the +z direction and the -z direction. By having a, it is possible to compensate the degree of separation in the z direction, and by having an orientation of a vertically elongated shape near -90 degrees and +90 degrees, a wide scan range in the vertical direction can be obtained.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated, so that a change in distance between scan points can be minimized.

In addition, referring to the fourth arrangement structure 3540, the laser output unit 120 may be disposed to be spaced apart from the rotation axis of the scanning unit 220 when viewed from the top, and more specifically, the laser output unit ( 120) may be disposed behind the rotation axis of the scanning unit 220.

Further, referring to the fourth arrangement structure 3540, when viewed from the top, the laser output from the laser output unit 120 may have an elongated shape in a left and right direction.

In addition, the scan pattern of the laser irradiated from the lidar device disposed in the fourth arrangement structure 3540 may be expressed as a fourth scan plane 3451.

In addition, referring to the fourth scan plane 3451, a scan point is generated at a center position in the z direction from a position near -90°, and a scan point is generated at a position near 0° in the +z direction. , A scan point may be generated at a central position in the z direction at a position near +90 degrees.

Further, referring to the fourth scan plane 3451, the laser output from the laser output unit 120 may have an orientation of a vertically elongated shape at a position near -90 degrees, and at a position near 0 degrees. You can have an orientation of a horizontally elongated shape, and you can have an orientation of a vertically elongated shape at a position near +90 degrees.

Therefore, when the lidar device is disposed in the second arrangement structure 3540 in 90, the lidar device has an orientation of a vertically elongated shape in the center of the z direction in the laser output from the laser output unit 120 The degree of separation in the z direction can be compensated, and a wide scan range in the vertical direction can be obtained by having an orientation of a vertically elongated shape near -90 degrees and +90 degrees.

Accordingly, as the laser output unit 120 is spaced apart from the rotation axis of the scanning unit 220, a position that changes in the z direction is compensated, so that a change in distance between scan points can be minimized.

4. Various embodiments of the lidar device

12 is a diagram illustrating a lidar device according to an embodiment.

Referring to FIG. 12, a lidar device 4000 according to an embodiment may include a laser output unit 100, a scanning unit 230, and a sensor unit 300.

Since the laser output unit 100 and the sensor unit 300 have been described in FIG. 1, detailed descriptions of the laser output unit 100 and the sensor unit 300 will be omitted below.

In addition, the scanning unit 230 may include an irradiation mirror 231 that reflects the laser output from the laser output unit 100 and changes a flight path of the laser so that the laser is directed toward the scan area.

In addition, the scanning unit 230 includes a light-receiving mirror 232 that reflects the laser reflected from the object 500 located in the scan area to change the flight path of the laser so that the laser is directed toward the sensor unit 300 can do.

In addition, the lidar device 4000 may have an irradiation path that is an optical path until the laser output from the laser output unit 100 reaches the object 500 located in the scan area.

Specifically, the laser output from the laser output unit 100 may be obtained from the irradiation mirror 231. In addition, the laser obtained from the irradiation mirror 231 is reflected by the irradiation mirror 231, and the flight path may be changed to face the scan area. In addition, the laser reflected from the irradiation mirror 231 may reach the object 500.

In addition, the lidar device 4000 may have a light-receiving path that is a light path for the laser reflected from the object 500 to reach the sensor unit 300.

Specifically, the laser reflected from the object 500 may be obtained from the light receiving mirror 232. In addition, the laser obtained by the light receiving mirror 232 may be reflected by the light receiving mirror 232 to change a flight path toward the sensor unit 300. In addition, the laser reflected from the light receiving mirror 232 may reach the sensor unit 300.

13 is a side view illustrating a lidar device according to an exemplary embodiment.

Referring to FIG. 13, the lidar device according to an embodiment may include a laser output unit 140, a scanning unit 240, and a sensor unit 340.

Since the laser output unit 140 and the sensor unit 340 have been described in FIG. 1, detailed descriptions of the laser output unit 140 and the sensor unit 340 will be omitted below.

In addition, the scanning unit 240 may include an irradiation mirror 241 and a light receiving mirror 242.

In this case, the irradiation mirror 241 according to an embodiment may acquire and reflect a laser. For example, the irradiation mirror 241 may acquire the laser output from the laser output unit 120 and reflect it toward the scan area.

Further, although not shown in the drawings, the irradiation mirror 241 may be continuously formed in a circular annular shape. For example, as shown in FIG. 13, the upper and lower portions of the irradiation mirror 241 may be connected to each other, and in FIG. 13, a blank portion shown between the upper and lower portions of the irradiation mirror 241 is the When the irradiation mirror 241 has a circular annular shape, it may correspond to a circular blank portion included therein.

In addition, the light-receiving mirror 242 according to an exemplary embodiment may acquire and reflect a laser. For example, the light-receiving mirror 242 may acquire a laser reflected from the object and reflect it toward the sensor unit 340.

Further, although not shown in the drawings, the scanning unit 240 may include a rotation motor.

In this case, the irradiation mirror 241 and the light receiving mirror 242 according to an exemplary embodiment may be disposed to have a predetermined angle with respect to the rotation axis of the rotation motor. For example, the irradiation mirror 241 may be disposed at an angle of 45 degrees to the rotation axis of the rotation motor, and the light receiving mirror 242 is disposed at an angle of 45 degrees to the rotation axis of the rotation motor. Can be. In addition, the irradiation mirror 241 and the light receiving mirror 242 may be disposed substantially perpendicular to each other.

In addition, the irradiation mirror 241 according to an exemplary embodiment may change the flight path of the laser output from the laser output unit 140. For example, as shown in FIG. 13, the laser output unit 140 may be arranged such that the flight path of the output laser follows a downward direction, and the irradiation mirror 241 is at an angle of 45 degrees with respect to the rotation axis. In this case, the laser output from the laser output unit 140 and flying in the downward direction may be reflected from the irradiation mirror 241 and the flight path may be changed to fly along a horizontal direction. .

In addition, the light receiving mirror 242 according to an exemplary embodiment may change the flight path of the laser reflected from the object. For example, as shown in FIG. 13, the laser reflected from the object flies in a horizontal direction, and the light receiving mirror 242 may be disposed at an angle of 45 degrees to the rotation axis, and the light receiving mirror ( The 242 may be disposed substantially vertically with respect to the irradiation mirror 241, and in this case, the laser reflected from the object and flying along the horizontal direction is reflected by the light receiving mirror 242 to fly along the downward direction. Flight route may be changed.

In addition, the irradiation mirror 241 and the light receiving mirror 242 according to an exemplary embodiment may be rotated through the rotation motor. Specifically, the irradiation mirror 241 and the light receiving mirror 242 may rotate based on the rotation axis of the rotation motor.

In addition, the irradiation mirror 241 according to an embodiment may change the flight path of the laser output from the laser output unit 140 in a different direction according to a rotation angle. For example, when the irradiation mirror 241 is rotated at an angle as shown in FIG. 13, the laser output from the laser output unit 140 and flying in the downward direction is the irradiation mirror 241 The flight path can be altered to reflect from and fly along a horizontal left direction. On the other hand, although not shown in FIG. 13, when the irradiation mirror 241 is rotated by 180 degrees with respect to the rotation axis in the state shown in FIG. 13, it is output from the laser output unit 140 and downward direction. The flight path may be changed so that the laser that has been flying along is reflected by the irradiation mirror 241 to fly in a horizontal right direction.

In addition, the light-receiving mirror 242 according to an embodiment may change the flight path of the laser obtained from different directions in the same direction according to the rotation angle. For example, when the light-receiving mirror 242 is rotated at an angle as shown in FIG. 13, the laser reflected from the object located in the scan area and flying along the horizontal right direction is the light-receiving mirror 242 ), the flight path can be changed to fly along the downward direction. In contrast, although not shown in FIG. 13, when the light receiving mirror 242 is rotated 180 degrees with respect to the rotation axis in the state shown in FIG. 13, it is reflected from an object positioned in the scan area and is The laser flying along the direction may be reflected by the light-receiving mirror 242 and the flight path may be changed to fly along the downward direction.

Referring back to FIG. 13, the laser output unit 140 according to an exemplary embodiment may output a laser, and may be disposed so that the output laser is incident on the irradiation mirror 241.

For example, as shown in FIG. 13, the laser output unit 140 according to an exemplary embodiment may be disposed above the irradiation mirror 241.

In addition, for example, although not shown in FIG. 13, the laser output unit 120 may further include a fixed mirror, and the fixed mirror is disposed above the irradiation mirror 241 to the laser output unit ( 140) may be disposed so that the output laser may be incident on the irradiation mirror 241.

In addition, the laser output unit 140 may be arranged to be spaced apart from the rotation axis.

Referring back to FIG. 13, the sensor unit 340 according to an exemplary embodiment may obtain a laser, and when a laser reflected from an object positioned in a scan area is reflected from the light receiving mirror 242, the light receiving mirror ( It may be arranged to obtain the laser reflected at 242).

For example, as shown in FIG. 13, the sensor unit 340 according to an exemplary embodiment may be disposed under the light receiving mirror 242.

Further, for example, although not shown in FIG. 13, the sensor unit 340 may further include a fixed mirror, and the fixed mirror is disposed under the light receiving mirror 242 so that the sensor unit 340 May be disposed so that the laser reflected from the light receiving mirror 242 is incident on the sensor unit 340.

In addition, the sensor unit 340 may be disposed to correspond to the rotation axis.

In addition, as shown in FIG. 13, when the laser output unit 140 and the sensor unit 340 are disposed vertically with respect to the scanning unit 240, thermal interference between each other can be minimized.

In addition, when the laser output unit 140 is disposed to be spaced apart from the rotation axis, the position at which the laser output from the laser output unit 140 enters the irradiation mirror 241 is due to the rotation of the irradiation mirror 241 It can change accordingly.

In addition, when the sensor unit 340 is disposed to correspond to the rotation axis, when the laser obtained from the sensor unit 340 is reflected by the light receiving mirror 242, the position reflected by the light receiving mirror 242 is Even when the light receiving mirror 242 rotates, it may not change.

In addition, the lidar device may include the laser output unit 140 and the sensor unit 340, and the lidar device uniformizes the center of the laser obtained from the sensor unit 340 to achieve light receiving efficiency. The sensor unit 340 is disposed so as to correspond to the rotation axis in order to maximize the laser output unit 140 so that the laser output unit 140 does not interfere with the laser obtained from the baby sensor unit 340 May be disposed to be spaced apart from the rotation shaft.

In this case, the scanning unit 240 may include an irradiation mirror 241 and a light receiving mirror 242, and the irradiation mirror 241 may be disposed so that the laser output unit 140 is spaced apart from the rotation axis. It may have a circular ring shape, and the light receiving mirror 242 may have a disk shape so that the sensor unit 340 may be disposed to correspond to the rotation axis. In this case, the irradiation mirror 241 and the light receiving mirror 242 may be disposed in a substantially perpendicular relationship to each other.

14 is a top view illustrating a lidar device according to an embodiment.

15 is a rear view illustrating a lidar device according to an exemplary embodiment.

14 and 15, a lidar device according to an embodiment may include a laser output unit 140, an irradiation mirror 241, a light receiving mirror 242, and a sensor unit 340.

Further, referring to FIG. 14, when viewed from the top, the irradiation mirror 241 may be provided in a circular ring shape. More specifically, the irradiation mirror 241 may have a first radius R1 and a second radius R2, and a reflective surface is formed between the first radius R1 and the second radius R2. , It may be provided in a circular ring shape in which a reflective surface is not formed inside the first radius R1 and outside the second radius R2.

In addition, the irradiation mirror 241 does not have a reflective surface formed inside the first radius R1, but a reflective surface may be formed outside the first radius R1 without limitation in shape. For example, although not shown in FIG. 14, the irradiation mirror 241 may be provided such that the reflective surface has a rectangular shape, but the reflective surface is not formed at the center portion by the first radius R1.

Further, referring to FIG. 14, when viewed from above, the laser output unit 140 may be disposed to be at least partially included in the irradiation mirror 241. For example, as shown in FIG. 14, the laser output unit 140 may be disposed to be included in the irradiation mirror 241 viewed from the top.

Further, referring to FIG. 15, when viewed from the bottom, the light receiving mirror 242 may be provided in a disk shape. More specifically, the light-receiving mirror 242 may have a first radius R1 and may be provided in a circular shape having the first radius R1.

Further, the light-receiving mirror 242 may be formed to be included in a portion where the reflective surface of the irradiation mirror 241 is formed when viewed from the bottom. For example, a reflective surface of the irradiation mirror 241 is formed between the first radius R1 and the second radius R2, and the reflective surface of the light receiving mirror 242 is the first radius R1 ) Is formed in a circular shape so that the reflective surface of the light-receiving mirror 242 is included in a portion where the reflective surface of the irradiation mirror 241 is formed.

Further, referring to FIG. 15, when viewed from the bottom, the sensor unit 340 may be disposed to be at least partially included in the light receiving mirror 242. For example, as shown in FIG. 15, the sensor unit 340 may be disposed to be included in the light receiving mirror 242 when viewed from above.

16 and 17 are diagrams for describing a LiDAR device according to an exemplary embodiment.

Since each component has been described with reference to FIGS. 13 to 15, detailed descriptions will be omitted below.

5. Lida device with backbeam prevention structure.

18 is a diagram for describing a back beam of a lidar device according to an exemplary embodiment.

Referring to FIG. 18, a lidar device according to an embodiment may include a laser output unit 140, a scanning unit 240, a sensor unit 340, and a window 640.

In this case, since the laser output unit 140, the scanning unit 240, and the sensor unit 340 have been described in detail, detailed descriptions will be omitted.

In addition, the window 640 may be positioned on the flight path of the laser when the laser reflected by the scanning unit 240 after being output from the laser output unit 140 is irradiated toward the scan area.

In addition, the window 640 may transmit the laser reflected from the scanning unit 240 after being output from the laser output unit 140.

In addition, the window 640 may be positioned on a flight path of the laser reflected from the object when the laser is reflected from the object located within the scan area.

In addition, the window 640 may transmit a laser reflected from the object.

In addition, the back beam does not pass through the window 640 after the laser output from the laser output unit 140 is reflected by the scanning unit 240, and is reflected by the window 640 to the sensor unit 340. It may mean a laser that is received by.

For example, as shown in FIG. 18, the laser output from the laser output unit 140 may be reflected by the irradiation mirror 241 included in the scanning unit 240. In addition, the laser reflected by the irradiation mirror 241 may be irradiated toward the scan area. In addition, the window 640 may be located on the flight path of the reflected laser. In addition, the laser reflected from the irradiation mirror 241 may be reflected from the window 640. In addition, the laser reflected from the window 640 may be reflected by the light receiving mirror 242 included in the scanning unit 240 and received by the sensor unit 340.

In addition, such a back beam may be received by the sensor unit 340 before the laser output from the laser output unit 140 reaches the object, so the error of the lidar device measuring the distance using the flight time of the laser Can occur.

Accordingly, the lidar device may include a structure for preventing backbeam.

Hereinafter, a lidar device further including a structure for preventing a back beam will be described in detail.

19 and 20 are diagrams for describing a lidar device including a backbeam preventing member according to an exemplary embodiment.

Referring to FIG. 19, a lidar device according to an embodiment may include a laser output unit 140, a scanning unit 240, a sensor unit 340, and a window 640, and the scanning unit 240 A silver irradiation mirror 241, a light receiving mirror 242, and a backbeam prevention member 243 may be included.

Since the laser output unit 140, the scanning unit 240, the sensor unit 340, and the window 640 have been described above, detailed descriptions will be omitted.

The backbeam prevention member 243 may prevent the backbeam reflected from the window 640 from being received by the sensor unit 340.

More specifically, the laser 141 output from the laser output unit 140 may be reflected by the irradiation mirror 241, and the laser 142 reflected by the irradiation mirror 241 is the window 640 Can be reflected from In addition, the laser 143 reflected from the window 640 may be blocked by the backbeam preventing member 243 and thus may not be received by the sensor unit 340. In addition, the laser 143 reflected from the window 640 may be blocked by the backbeam preventing member 243 and thus may not be obtained from the light receiving mirror 242.

In addition, the backbeam preventing member 243 may not interfere with the laser reflected from the object from being acquired by the light receiving mirror 242.

More specifically, the backbeam preventing member 243 may be provided in a form including a through hole therein, and a laser reflected from the object may pass through the through hole.

For example, the laser 144 transmitted through the window 640 may be reflected from an object located in the scan area, and the laser 145 reflected from the object may pass through the through hole of the backbeam prevention member 243. Pass through and may be obtained from the light receiving mirror 242.

In addition, the through hole of the backbeam preventing member 243 may be formed to substantially correspond to the receiving mirror 242 when viewed from the front.

In addition, the flight path of the laser reflected from the irradiation mirror 241 may be set outside the backbeam prevention member 243, and the flight path of the laser reflected from the object and obtained from the receiving mirror 242 is the It may be set inside the backbeam prevention member 243.

In addition, as the lidar device further includes the backbeam prevention member 243, the laser reflected from the window 640 is blocked from being received by the sensor unit 340 to reduce the error of the lidar device. , It is possible to omit an additional configuration for processing the signal due to the backbeam.

21 is a diagram illustrating a lidar device including a backbeam preventing member according to an exemplary embodiment.

Referring to FIG. 21, a lidar device according to an embodiment may include a laser output unit 140, a scanning unit 240, a sensor unit 340, and a window 640, and the scanning unit 240 May include an irradiation mirror 241, a light receiving mirror 242, and a backbeam preventing member 243.

Since the laser output unit 140, the scanning unit 240, the sensor unit 340, and the window 640 have been described above, detailed descriptions will be omitted.

In addition, since the backbeam preventing member 243 has been described above, a detailed description will be omitted.

In addition, the backbeam preventing member 243 may further include a condensing lens 350.

In addition, the condensing lens 350 may condense the laser 145 reflected from the object.

In addition, the laser 145 condensed through the condensing lens 350 may be reflected by the light receiving mirror 242.

In addition, the laser reflected by the light receiving mirror 242 may be condensed to the sensor unit 340.

In addition, since the backbeam preventing member 243 further includes the condensing lens 350, the size of a reflective surface included in the light receiving mirror 242 may be reduced.

In addition, since the backbeam preventing member 243 further includes the condensing lens 350, the efficiency of receiving light from the sensor unit 340 may be improved.

22 is a diagram illustrating a lidar device including a backbeam preventing member according to an exemplary embodiment.

Referring to FIG. 22, a lidar device according to an embodiment may include a laser output unit 140, a scanning unit 240, a sensor unit 340, and a window 640, and the scanning unit 240 May include an irradiation mirror 241, a light receiving mirror 242, and a backbeam prevention member 243.

Detailed descriptions of the laser output unit 140, the scanning unit 240, the sensor unit 340, the backbeam preventing member 243, and the window 640 will be omitted.

In addition, the light receiving mirror 242 may be provided in a concave mirror shape.

In addition, since the light-receiving mirror 242 is provided in a concave mirror shape, the laser 145 reflected from the object may be focused.

In addition, the laser 145 condensed through the light receiving mirror 242 may be received by the sensor unit 340.

In addition, since the light-receiving mirror 242 is provided in a concave mirror shape, it is possible to improve the efficiency of receiving light by the sensor unit 340 without an additional condensing lens.

In addition, since it is apparent that the arrangement relationship of the LiDAR device described above with reference to FIGS. 5 to 11 is applied to the LiDAR device described above with reference to FIGS. 12 to 22, duplicate description will be omitted.

23 is a view showing a housing of a lidar device according to an embodiment.

Referring to FIG. 23, the lidar device 1000 according to an embodiment may include a housing 700 and a window 710.

In addition, the housing 700 and the window 710 may be provided integrally, or may be provided separately.

In addition, the housing 700 and the window 710 may protect the components of the lidar device described above from external impact.

In addition, the housing 700 may be provided in various shapes. For example, the housing 700 may be provided in a shape as shown in FIG. 23, but is not limited thereto and may be provided in various shapes.

In addition, components such as the laser output unit, the scanning unit, the sensor unit, and the control unit described above may be located inside the housing 700.

In addition, the window 710 may protect the internal structure of the lidar device 1000 from contaminants.

In addition, the window 710 may be provided in various shapes. For example, the window may be provided including a curved surface, but is not limited thereto and may be provided in various shapes.

In addition, the window 710 may pass a laser through.

In addition, the window 710 may include a transparent material to pass the laser.

In addition, the window 710 may include a filter. For example, the window 710 may include a band pass filter that transmits a laser of a specific wavelength band and does not transmit a laser of another wavelength band.

In addition, it is apparent that the housing and the window as shown in FIG. 23 are merely an example, and that the housing of the lidar device 1000 may be provided in other forms.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description by those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and claims and equivalents fall within the scope of the claims to be described later.

Claims (24)

In a lidar device that measures a distance using a laser,
A laser output unit that emits a laser;
A sensor unit configured to detect a laser reflected from an object positioned on the scan area; And
A scanning unit that acquires the laser emitted from the laser output unit and reflects it toward the scan area, and acquires the laser reflected from an object positioned on the scan area and reflects it toward the sensor unit,
The scanning unit includes an irradiation mirror for acquiring and reflecting the laser emitted from the laser output unit and a light receiving mirror for acquiring and reflecting the laser reflected from the object,
When viewed from the side, the irradiation mirror and the light-receiving mirror are formed to be substantially perpendicular to each other,
When viewed from the top, the irradiation mirror is formed to include a circular annular reflective surface,
When viewed from the bottom, the light-receiving mirror is formed to include a disk-shaped reflective surface.
Lida device.
The method of claim 1,
In order to improve the light receiving efficiency of the sensor unit, a portion of the irradiation mirror that acquires and reflects the laser emitted from the laser output unit changes as the scanning unit rotates,
The portion of the light receiving mirror that acquires and reflects the laser reflected from the object does not change even when the scanning unit rotates.
Lida device.
The method of claim 1,
When viewed from the side, the laser output unit is located above the irradiation mirror, the sensor unit is located below the light receiving mirror,
When viewed from the top, the laser output unit is disposed such that at least a portion of the laser output unit overlaps the irradiation mirror,
When viewed from the bottom, the sensor unit is disposed so that at least a part of the sensor unit overlaps the light receiving mirror.
Lida device.
The method of claim 1,
When viewed from the top, the irradiation mirror has a circular ring shape,
The irradiation mirror has a first radius that is an inner radius of the circular annular shape and a second radius that is an outer radius of the circular annular shape,
The reflective surface included in the irradiation mirror is located between the first radius and the second radius.
Lida device. The method of claim 4,
When viewed from the lower surface, the light receiving mirror has a disk shape,
The light receiving mirror has a third radius that is a radius of the disk shape,
The first radius and the third radius are the same
Lida device.
The method of claim 4,
When viewed from the lower surface, the light receiving mirror has a disk shape,
The light receiving mirror has a third radius that is a radius of the disk shape,
The third radius is larger than the first radius and is set to be smaller than the second radius
Lida device.
The method of claim 1,
The flight path of the laser output from the laser output unit toward the irradiation mirror and the flight path of the laser reflected from the light receiving mirror toward the sensor unit are parallel and in the same direction,
The flight path of the laser reflected from the irradiation mirror toward the scan area and the flight path of the laser reflected from the object positioned within the scan area toward the light receiving mirror are parallel and in different directions.
Lida device.
In a lidar device that measures a distance using a laser,
A laser output unit that emits a laser;
A sensor unit configured to detect a laser reflected from an object positioned on the scan area; And
A scanning unit that acquires the laser emitted from the laser output unit and reflects it toward the scan area, and acquires the laser reflected from an object positioned on the scan area and reflects it toward the sensor unit,
The scanning unit includes an irradiation mirror for acquiring and reflecting the laser emitted from the laser output unit and a light receiving mirror for acquiring and reflecting the laser reflected from the object,
The irradiation mirror and the light receiving mirror are integrally formed to rotate about the same axis of rotation,
When viewed from the top, the laser output unit is disposed to be spaced apart from the rotation axis, and the sensor unit is disposed to correspond to the rotation axis.
Lida device.
The method of claim 8,
In order to improve the light receiving efficiency of the sensor unit, a portion of the irradiation mirror that acquires and reflects the laser emitted from the laser output unit changes as the scanning unit rotates,
The portion of the light receiving mirror that acquires and reflects the laser reflected from the object does not change even when the scanning unit rotates.
Lida device.
The method of claim 8,
When viewed from the side, the laser output unit is located above the irradiation mirror, the sensor unit is located below the light receiving mirror,
When viewed from the top, the laser output unit is disposed such that at least a portion of the laser output unit overlaps the irradiation mirror,
When viewed from the bottom, the sensor unit is disposed so that at least a part of the sensor unit overlaps the light receiving mirror.
Lida device.
The method of claim 8,
When viewed from the top, the irradiation mirror has a circular ring shape,
The irradiation mirror has a first radius that is an inner radius of the circular annular shape and a second radius that is an outer radius of the circular annular shape,
The reflective surface included in the irradiation mirror is located between the first radius and the second radius.
Lida device. The method of claim 11,
When viewed from the lower surface, the light receiving mirror has a disk shape,
The light receiving mirror has a third radius that is a radius of the disk shape,
The first radius and the third radius are the same
Lida device.
The method of claim 11,
When viewed from the lower surface, the light receiving mirror has a disk shape,
The light receiving mirror has a third radius that is a radius of the disk shape,
The third radius is larger than the first radius and is set to be smaller than the second radius
Lida device.
The method of claim 8,
The flight path of the laser output from the laser output unit toward the irradiation mirror and the flight path of the laser reflected from the light receiving mirror toward the sensor unit are parallel and in the same direction,
The flight path of the laser reflected from the irradiation mirror toward the scan area and the flight path of the laser reflected from the object positioned within the scan area toward the light receiving mirror are parallel and in different directions.
Lida device.
A rotating mirror used in a lidar device comprising a laser output unit for emitting a laser and a sensor unit detecting a laser reflected from an object, and measuring a distance using a laser,
An irradiation mirror for acquiring the laser emitted from the laser output unit;
A light receiving mirror for acquiring and reflecting the laser reflected from the object; And
Including a rotation motor for rotating the irradiation mirror and the light receiving mirror,
When viewed from the side, the irradiation mirror and the light-receiving mirror are formed to be substantially perpendicular to each other,
When viewed from the top, the irradiation mirror is formed to include a circular annular reflective surface,
When viewed from the lower surface, the light-receiving mirror is formed to include a disc-shaped reflective surface,
The irradiation mirror and the light receiving mirror are integrally formed to rotate based on the same rotation axis.
Rotating mirror.
The method of claim 15,
When viewed from the top, the irradiation mirror has a circular ring shape,
The irradiation mirror has a first radius that is an inner radius of the circular annular shape and a second radius that is an outer radius of the circular annular shape,
The reflective surface included in the irradiation mirror is located between the first radius and the second radius.
Rotating mirror.
The method of claim 16,
When viewed from the lower surface, the light receiving mirror has a disk shape,
The light receiving mirror has a third radius that is a radius of the disk shape,
The first radius and the third radius are the same
Rotating mirror.
The method of claim 16,
When viewed from the lower surface, the light receiving mirror has a disk shape,
The light receiving mirror has a third radius that is a radius of the disk shape,
The third radius is larger than the first radius and is set to be smaller than the second radius
Rotating mirror.
In a lidar device that measures a distance using a laser,
A laser output unit that emits a laser;
A sensor unit configured to detect a laser reflected from an object positioned on the scan area;
A scanning unit that acquires the laser emitted from the laser output unit and reflects it toward the scan area, and acquires the laser reflected from an object positioned on the scan area and reflects it toward the sensor unit; And
A laser obtained by the scanning unit and reflected toward the scan area, and an optical window for transmitting the laser reflected by the object and obtained by the scanning unit,
The scanning unit acquires and reflects the laser emitted from the laser output unit, a receiving mirror and a back beam for acquiring and reflecting the laser reflected from the object-The back beam is the laser emitted from the laser output unit In the case of reflection from the irradiation mirror, the laser reflected by the irradiation mirror is reflected from the optical window to indicate a laser obtained from the sensor unit, including a back beam prevention member,
The backbeam preventing member includes an aperture for passing the laser reflected from the object toward the receiving mirror,
The path of the laser emitted from the laser output unit and reflected from the transmission mirror is set outside the backbeam prevention member, and the path of the laser reflected from the object and reflected from the receiving mirror is set inside the backbeam prevention member.
Lida device.
The method of claim 19,
When viewed from the side, the irradiation mirror and the light-receiving mirror are formed to be substantially perpendicular to each other,
When viewed from the top, the irradiation mirror is formed to include a circular annular reflective surface,
When viewed from the bottom, the light-receiving mirror is formed to include a disk-shaped reflective surface.
Lida device.
In a lidar device that measures a distance using a laser,
A laser output unit that emits a laser;
A sensor unit configured to detect a laser reflected from an object positioned on the scan area; And
A scanning unit that acquires the laser emitted from the laser output unit and irradiates it toward the scan area, and acquires the laser reflected from the object positioned on the scan area and reflects it toward the sensor unit; Including,
The scanning unit includes a rotating shaft,
In order to improve light-receiving efficiency, the sensor unit is disposed so that the center thereof corresponds to the rotation axis of the scanning unit, and the laser output unit is disposed so that the center is spaced apart from the rotation axis of the scanning unit,
The laser shape emitted from the laser output unit has an elongated shape,
The laser output unit is arranged to change the orientation of the laser shape according to the height of the laser irradiated to the scan area.
Lida device.
The method of claim 21,
In order to compensate for a change in the height of the laser irradiated to the scan area, the laser output unit is arranged such that the orientation of the laser shape becomes elongated in a vertical direction as the height of the laser irradiated to the scan area increases.
Lida device.
The method of claim 21,
In order to compensate for a change in the height of the laser irradiated to the scan area, the laser output unit is arranged such that the orientation of the laser shape becomes elongated in a vertical direction as the height of the laser irradiated to the scan area decreases.
Lida device.
The method of claim 21,
In order to compensate for a change in the height of the laser irradiated to the scan area, the laser output unit is arranged such that the orientation of the laser shape at the highest point and the lowest point of the laser is elongated in a vertical direction.
Lida device.

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