KR20200113071A - A light emitting module and a scanning LiDAR having the same - Google Patents

Abstract

The present invention relates to a light transmitting module and to a scanning Lidar having the same, in order to reduce a length through a design change of the light transmitting module and to easily adjust a light output direction of a laser source. According to the present invention, the light transmitting module may include a housing, a tubular laser source installed in the housing, and a reflecting mirror unit, and may further include an output direction adjusting member. The reflecting mirror unit provides a reflecting mirror inclined and rotatably installed in front of the housing so as to reflect a pulsed laser incident from the laser source to a light transmitting rotatating mirror positioned below. The output direction adjusting member is installed to be connected to the laser source inserted in a laser installation hole, and adjusts the position of the laser source within the laser installation hole to adjust the output direction of the pulsed laser.

Description

A light emitting module and a scanning LiDAR having the same

The present invention relates to a scanning lidar, and more particularly, to a transmitting module applied to a biaxial type in which transmission and reception light is separated, and a scanning lidar having the same.

Scanning LiDAR is used to measure objects (targets) such as surrounding terrain, objects, and obstacles. This scanning radar uses a pulsed laser to measure the time reflected from the object and return to obtain information about the object. The information on the object acquired through the scanning lidar may include information on the existence of the object, the type of the object, and a distance to the object.

Scanning radars are used in various fields such as automobiles, mobile robots, ships, security systems, assembly lines, unmanned aerial vehicles, and drones, and the fields of application are also expanding in various fields.

The scanning radar condenses and transmits the diffused beam output from the high-power laser diode as parallel light through a collimation lens (transmitting lens), and detects the light reflected from the object with a photodetector through a large-diameter condensing lens (light-receiving lens). It has an optical system structure.

The scanning radar can be classified into an axial type and a biaxial type according to a transmission/reception method.

The axial type scanning radar has an advantage in miniaturization because the transmission axis and the reception axis coincide with each other because the transmission and reception axes are performed on the same axis, and the transmission module and the reception module are arranged on one side of the mirror unit. However, since the transmitting axis and the receiving axis are located on the same axis, there is a disadvantage that the light output from the laser diode is reflected by the cover through which the light is transmitted and received by the scanning lid and is immediately received.

The biaxial type scanning lidar has opposite advantages and disadvantages to the axial type scanning lidar. That is, since the transmission and reception are performed on different axes, there is no problem that the light output from the laser diode is reflected by the cover and received immediately.

Registered Patent Publication No. 10-1707033 (registered on Feb. 9, 2017)

However, since the biaxial type scanning radar has the transmission axis and the reception axis on different axes, the work of aligning the transmission axis and the reception axis must be done separately.

That is, in the alignment of the transmission axis and the light reception axis, it is necessary to align the transmission axis and the light reception axis in a vertical direction.

In addition, in the alignment of the transmission axis and the light reception axis, assuming that the transmission axis and the light reception axis are positioned in a vertical direction, a problem in that a scanning image cannot be obtained may occur when a left-right deviation occurs. That is, the reason why the scanning image cannot be obtained is that, when left-right deviation occurs, reflected light of the light output from the transmitting module is not received by the light receiving module.

In addition, since the biaxial type scanning radar has a structure in which the light transmitting module and the light receiving module are arranged in a line on both sides of the mirror part, there is a problem that the length is designed to be long. For this reason, in order to apply a biaxial type scanning lidar to an application field with a limited length, for example, a platform screen door, there is a need for a way to reduce the length. In other words, since the scanning radar installed on the platform screen door is installed on the rail side through which the train passes, the length should be designed to be shorter than the gap between the platform screen door and the train. In addition, it should be designed to scan whether an object is caught in the platform screen door or an object exists inside the platform screen door through a biaxial type scanning lidar.

Accordingly, an object of the present invention is to provide a transmission module capable of reducing a length through a design change of a transmission module and a scanning lidar having the same in a biaxial type scanning lidar.

Another object of the present invention is to provide a transmission module capable of easily aligning a transmission axis and a reception axis in a biaxial type scanning lidar, and a scanning lidar having the same.

Another object of the present invention is to provide a light transmitting module capable of easily adjusting the reflection direction of a pulsed laser incident from a laser source, and a scanning lidar having the same.

Another object of the present invention is to provide a transmitting module capable of easily adjusting an output direction of a pulsed laser output from a laser source, and a scanning lidar having the same.

In order to achieve the above object, the present invention is provided with a mounting table in which a reflective mirror unit is installed in front, and a laser mounting hole is formed in which a laser source is inserted and installed on a side facing the reflective mirror unit; A tubular laser source that is inserted into the laser installation hole and outputs a pulsed laser to the reflective mirror unit positioned in front; And a reflection mirror unit including a reflection mirror that is inclined and rotatably installed in front of the housing so as to reflect the pulsed laser incident from the laser source to the transmission rotation mirror positioned below. Modules are provided.

The housing, a mounting plate; A light transmitting housing connected to the mounting plate, protruding upward from the light transmitting rotating mirror, and having the laser installation hole formed therein; And a pair of protrusions in front of the light transmitting housing at regular intervals, and in which the reflective mirror unit is rotatably installed.

The reflection mirror unit, the reflection mirror; A mounting plate provided with the reflective mirror on a surface facing the laser source and interposed between a pair of mounting tables; And is installed to be connected in an axial direction to both sides of the installation plate through the installation table, and adjusts the reflection direction of the pulsed laser by adjusting the reflection angle of the reflection mirror through the rotation of the installation plate around the axial direction. It includes; reflection direction adjustment member.

The reflection mirror is installed at an angle of 45 degrees with respect to the angle at which the pulsed laser is incident, and the reflection angle is adjusted by the reflection direction adjustment member.

The light transmitting module according to the present invention is an output direction adjusting member that is installed to be connected to the laser source inserted in the laser installation hole and adjusts the position of the laser source within the laser installation hole to adjust the output direction of the pulsed laser. It may further include;

The light transmitting housing may be formed larger than the laser source so that the laser installation hole can adjust the position of the laser source, and may be formed wider to the left and right rather than vertically.

The light transmitting housing may have locking grooves formed above and below the entrance of the laser installation hole into which the laser source is inserted.

The laser source has a locking jaw inserted into the locking groove on an outer circumferential surface opposite to a side from which the pulsed laser is output, so that the locking jaw can be rotated left and right in the laser installation hole around the locking jaw.

The reflection direction adjustment member and the output direction adjustment member include pins or bolts.

The present invention also includes a housing in which a mounting table in which a reflection mirror unit is installed in front is formed, and a laser installation hole in which a laser source is inserted and installed on a side facing the reflection mirror unit is formed; A tubular laser source that is inserted into the laser installation hole and outputs a pulsed laser to the reflective mirror unit positioned in front; A reflective mirror unit including a reflective mirror that is inclined and rotatably installed in front of the housing so as to reflect the pulsed laser incident from the laser source to a light transmitting rotating mirror positioned below; And an output direction adjustment member installed to be connected to the laser source inserted into the laser installation hole, and configured to adjust a position of the laser source within the laser installation hole to adjust the output direction of the pulsed laser. Provides a transmission module for

In addition, the present invention is installed at both ends of the rotating shaft, but the rotating mirror unit having a light transmission rotating mirror and a light receiving rotating mirror installed inclined with respect to the rotation axis to transmit and receive light in the same direction; The transmission module disposed adjacent to the transmission rotation mirror, outputting a pulsed laser in a direction perpendicular to the rotation axis, and reflecting through a reflection mirror disposed facing the transmission rotation mirror to enter the transmission rotation mirror; And a light receiving module disposed under the rotation axis to face the light receiving rotating mirror and receiving reflected light reflected from the light receiving rotating mirror.

The rotating mirror unit includes a motor protruding from both ends of the rotating shaft; The transmission rotation mirror coupled to one end of the rotation shaft facing the reflection mirror; And the light receiving rotating mirror coupled to the other end of the rotating shaft facing the light receiving module.

In addition, the present invention is a biaxial type body for receiving reflected light reflected from the object by irradiating a pulse laser to the object; And a case in which the body is inserted and protects the body from an external environment. The main body includes the rotating mirror unit, the light transmitting module and the light receiving module.

The body may include a base substrate on which the light receiving module is mounted on an upper surface; A connection substrate coupled to one side of the base substrate in a vertical direction to be electrically connected; And a mirror substrate coupled to an upper end of the connection substrate to face the base substrate and electrically connected, and on which the transmitting module and the rotating mirror section are installed.

The base substrate and the mirror substrate are slidably coupled to the inside of the case.

And the scanning radar can be used for a platform screen door.

According to the present invention, the laser source is disposed on the side of the transmission rotating mirror to output a pulsed laser to the side of the transmission rotating mirror, and the output pulsed laser is incident on the transmission rotating mirror by the reflecting mirror, so that the laser source rotates In order to directly irradiate the pulsed laser with the mirror, the distance between the transmitting rotating mirror and the transmitting module can be reduced rather than the laser source being installed in line with the transmitting rotating mirror.

The light transmitting module according to the present invention can easily adjust the direction of the pulsed laser incident on the light transmitting rotating mirror positioned below the reflecting mirror by rotating the reflecting mirror using a reflective direction adjusting member connected to the reflecting mirror.

In addition, the light transmitting module according to the present invention can easily adjust the left and right output directions of the pulsed laser by adjusting the left and right positions of the laser source using the output direction adjusting members connected to the left and right of the laser source.

As described above, in the biaxial type scanning lidar according to the present invention, the light transmitting module can easily perform an operation of aligning the transmission axis and the light receiving axis through the reflection direction adjustment member and the output direction adjustment member.

1 is a schematic diagram showing a scanning lidar according to an embodiment of the present invention.
2 is an exploded perspective view showing a scanning lidar according to an embodiment of the present invention.
3 is a perspective view illustrating the scanning lidar of FIG. 2.
4 is an exploded perspective view showing the light transmitting module of FIG. 2.
5 is a perspective view showing the light transmitting module of FIG. 4.
6 is a cross-sectional view of the light transmitting module of FIG. 5.
7 is a front view of the light transmitting module of FIG. 5.
8 is a cross-sectional view of the light transmitting module of FIG. 5.
9 and 10 are views illustrating an example in which a scanning lidar according to an embodiment of the present invention is installed on a platform screen door.

In the following description, it should be noted that only parts necessary for understanding the embodiments of the present invention will be described, and descriptions of other parts will be omitted without distracting the gist of the present invention.

The terms or words used in the specification and claims described below should not be construed as being limited to a conventional or dictionary meaning, and the inventor is appropriate as a concept of terms in order to describe his own invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention on the basis of the principle that it can be defined. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only preferred embodiments of the present invention, and do not represent all the technical spirit of the present invention, and various equivalents that can replace them at the time of application And it should be understood that there may be variations.

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

1 is a schematic diagram showing a scanning lidar according to an embodiment of the present invention.

Referring to FIG. 1, the scanning lidar 100 according to the present embodiment is a biaxial type scanning lidar and includes a main body 10 and a case 90. The main body 10 transmits and receives light in a biaxial type, and receives reflected light reflected from the object by irradiating a pulse laser onto the object. In addition, the case 90 has the body 10 inserted therein, and protects the body 10 from an external environment.

The main body 10 includes a rotating mirror unit 20, a light transmitting module 30 and a light receiving module 70. The rotating mirror unit 20 is installed at both ends of the rotating shaft 25 to rotate, but has a transmitting rotating mirror 27 and a receiving rotating mirror 29 installed inclined with respect to the rotating shaft 25 to transmit and receive light in the same direction. . The transmission module 30 is disposed adjacent to the transmission rotation mirror 27, outputs the pulsed laser in a direction perpendicular to the rotation axis 25, and then through a reflection mirror 61 disposed facing the transmission rotation mirror 27. Reflected and incident on the transmission rotation mirror 27. Further, the light receiving module 70 is disposed under the rotation shaft 25 to face the light receiving rotating mirror 29 and receives the reflected light reflected from the light receiving rotating mirror 29.

Here, the rotating mirror unit 20 includes a motor 21 having a rotating shaft 25, a transmitting rotating mirror 27 and a receiving rotating mirror 29. The motor 21 has both ends of the rotation shaft 25 protruding from the motor body 23 on both sides. The transmission rotation mirror 27 is coupled to one end of the rotation shaft 25 facing the reflection mirror 61. And the light receiving rotating mirror 29 is coupled to the other end of the rotating shaft 25 facing the light receiving module 70.

For example, as shown in FIG. 1, when the rotation shaft 25 of the motor 21 is positioned in the Z-axis direction, the transmission rotation mirror 27 and the light reception rotation mirror 29 may transmit and receive light in the XY plane. It is installed at an angle of 45 degrees to the Z-axis direction. The reflective surfaces of the light transmitting rotating mirror 27 and the light receiving rotating mirror 29 are arranged to face the same direction so that the transmitting axis and the receiving axis are aligned. For example, the transmission rotation mirror 27 is installed at one end of the rotation shaft 25 at +45 degrees with respect to the Z-axis direction, and the light-receiving rotation mirror 29 is installed at the other end of the rotation shaft 25 at -45 degrees in the Z-axis direction. . At this time, the reflection mirror 61 is fixedly installed at +45 degrees with respect to the Z-axis direction so as to face the reflection surface of the transmission rotation mirror 27.

The light transmitting module 30 includes a housing 40, a tubular laser source 50, a reflective mirror unit 60, and an output direction adjusting member 59. The housing 40 provides a space in which the laser source 50, the reflective mirror unit 60, and the output direction adjustment member 59 can be installed. The laser source 50 outputs a pulsed laser to the reflective mirror unit 60. The reflection mirror unit 60 reflects the pulsed laser incident from the laser source 50 to the light transmission rotating mirror 27 positioned below. The reflective mirror unit 60 is inclined and rotatably installed in front of the housing 40 so as to reflect the pulsed laser incident from the laser source 50 to the transmission rotating mirror 27 positioned below. ). The reflection mirror 61 is rotated by the reflection direction adjustment member 65. The reflection mirror 61 is rotatably installed on the housing 40 via the mounting plate 63. Further, the output direction adjustment member 59 is installed to be connected to the laser source 50 and adjusts the position of the laser source 50 to adjust the output direction of the pulsed laser.

At this time, the reflection mirror 61 assumes that the pulsed laser is incident in the X-axis direction, and if it is installed at +45 degrees with respect to the Z-axis direction, the pulsed laser is reflected in the -Z-axis direction by the reflection mirror 61 and transmits light. It can be made incident on the mirror 27.

However, since assembly tolerances are generated in the process of installing the laser source 50 and the reflection mirror unit 60 in the housing 40, the output direction adjustment member 59 connected to the laser source 50 and the reflection By adjusting the positions of the laser source 50 and the reflecting mirror 61 through the rotation of the mirror unit 60, the operation of aligning the transmission axis and the light receiving axis can be easily performed.

For example, when the rotation axis 25 of the motor 21 is positioned in the Z-axis direction, the laser source 50 irradiates a pulsed laser in the X-axis direction. As described above, the reflection mirror 61 is installed at +45 degrees with respect to the Z-axis direction so as to face the reflection surface of the transmission rotation mirror 27, and reflects the pulsed laser incident in the X-axis direction in the -Z-axis direction. The output direction adjustment member 59 is connected to the laser source 50 in the Y-axis direction with the laser source 50 as the center, and adjusts the position of the laser source 50 on the XY plane to adjust the output direction of the pulsed laser. do. That is, by using the output direction adjusting member 59, the laser source 50 is rotated at a certain angle in the XY plane around the side opposite to the output side of the laser source 50 to adjust the output direction of the pulsed laser.

In addition, since the reflecting mirror 61 is installed to be rotatable with respect to the Y-axis, the direction of the pulsed laser 50 incident on the transmission rotating mirror 27 positioned under the reflecting mirror 61 can be easily adjusted.

Since the pulsed laser output from the laser source 50 is reflected at 90 degrees by the reflecting mirror 61 and incident on the transmission rotating mirror 27, the laser source 50 is placed close to the transmission rotating mirror 27. I can. That is, since the laser source 50 is disposed in a direction perpendicular to the rotation axis 25, an increase in length in the Z-axis direction can be reduced rather than disposed in a direction coincident with the rotation axis 27. That is, the length of the scanning lidar 100 in the Z-axis direction can be reduced.

In addition, the light receiving module 70 includes a light receiving lens 71 and a photo detector 73. The light-receiving lens 71 and the photo-detector 73 are sequentially arranged under the light-receiving rotating mirror 29 to collect the reflected light reflected from the light-receiving rotating mirror 29, converting the light into an electric signal, and outputting it.

The light-receiving lens 71 is installed under the light-receiving rotating mirror 29 to face the light-receiving rotating mirror 29, and condensing the reflected light reflected from the light-receiving rotating mirror 29 to a position where the photodetector 73 is installed.

In addition, the photodetector 73 is installed under the light-receiving lens 71 to face the light-receiving lens 71, and the focal position of the light-receiving lens 71 so as to stably receive the light condensed by the light-receiving lens 71 It is disposed at, and receives the light condensed from the light-receiving lens 71 and converts it into an electric signal.

As described above, according to this embodiment, the laser source 50 is disposed on the side of the transmission rotating mirror 27 to output a pulsed laser to the side of the transmission rotating mirror 27, and the output pulsed laser is the reflection mirror 60 Since the laser source 50 is reflected by the transmission rotating mirror 27 and incident on the transmission rotating mirror 27, the laser source 50 is rotated rather than installed in line with the transmission rotating mirror 27 in order to directly irradiate the pulsed laser with the transmission rotating mirror 27. The distance between the mirror 27 and the transmission module 30 can be reduced.

The transmitting module 30 is incident on the transmitting rotating mirror 27 located under the reflecting mirror 61 by rotating the reflecting mirror 61 using the reflecting direction adjusting member 65 connected to the reflecting mirror 61. The direction of the pulsed laser can be easily adjusted. Since the reflecting mirror 61 is rotatably installed in the Y-axis direction through the reflecting direction adjusting member 65, the angle of the reflecting mirror 61 is adjusted through the reflecting direction adjusting member 65 to reduce pulses in the XZ plane. The direction of reflection of the laser can be easily adjusted.

In addition, the light transmitting module 30 can easily adjust the left and right output directions of the pulsed laser by adjusting the left and right positions of the laser source 50 using the output direction adjusting members 59 connected to the left and right of the laser source 50. That is, the output direction of the pulsed laser output from the laser source 50 in the XY plane can be adjusted through the output direction adjusting member 59.

As described above, in the biaxial type scanning lidar 100 according to the present embodiment, the transmission module 30 outputs and reflects the pulsed laser through the reflection direction adjustment member 65 and the output direction adjustment member 59. By adjusting the direction, it is possible to easily perform the work of aligning the transmission axis and the light receiving axis.

The scanning lidar 100 according to this embodiment may be implemented as shown in FIGS. 2 and 3. 2 is an exploded perspective view showing a scanning lidar 100 according to an embodiment of the present invention. 3 is a perspective view illustrating the scanning line 100 of FIG. 2.

2 and 3, the scanning lidar 100 according to the present embodiment includes a main body 10 and a case 90 as described above.

The body 10 includes a rotating mirror unit 20, a light transmitting module 30, and a light receiving module 70 as described above. The main body 10 further includes a plurality of substrates 81, 83, and 85 on which the rotating mirror unit 20, the transmitting module 30, and the receiving module 70 are mounted. The outer shape of the main body 10 is formed by mutual coupling of the plurality of substrates 81, 83, and 85. The plurality of substrates 81, 83 and 85 includes a base substrate 81, a connection substrate 83, and a mirror substrate 85. Various components including a microprocessor that controls the driving of the scanning lidar 100 are mounted on the plurality of substrates 81, 83 and 85.

The base substrate 81 has a light receiving module 70 mounted on an upper surface thereof. The light-receiving lens 71 of the light-receiving module 70 is mounted to face the upper surface of the base substrate 81.

The connection substrate 83 is coupled to one side of the base substrate 81 in a vertical direction. One side of the base substrate 81 to which the connection substrate 83 is coupled is the opposite side to the side through which light is transmitted and received.

In addition, the mirror substrate 85 is coupled to the upper end of the connection substrate 83 to face the base substrate 81, and the transmitting module 30 and the rotating mirror unit 20 are installed. That is, the rotating mirror unit 20 is installed on both sides centering on the mirror unit substrate 85, the motor 21 and the transmission rotating mirror 27 are installed on the upper surface of the mirror unit substrate 85, and the mirror unit substrate A light receiving rotating mirror 29 is installed on the lower surface of the 85. Of course, the other end of the rotation shaft of the motor 21 protrudes from the lower surface of the mirror substrate 85, and the light receiving rotation mirror 29 is installed at the other end of the rotation shaft.

On the other hand, in this embodiment, an example in which the motor 21 is installed on the upper surface of the mirror substrate 85 is disclosed, but is installed on the lower surface or penetrated through the mirror substrate 85 and inserted into the mirror substrate 85 It can also be installed.

The transmission module 30 is installed on the upper surface of the mirror substrate 85 and is installed close to the transmission rotation mirror 27. The transmission module 30 is installed on the upper surface of the mirror substrate 85 close to the connection substrate 83. In addition, the transmission module 30 will be described later.

In addition, the case 90 provides an inner space 93 in which the main body 10 can be accommodated and positioned to protect it from an external environment. This case 90 includes a case body 91 and a cover 97.

The case body 91 has an inner space 93 in the form of a box in which an opening is formed on one side, and the body 10 is inserted into the inner space 93 through the opening. The case body 91 transmits and receives light through a surface facing the open portion, and an IR pass filter 96 may be installed in a region through which light is transmitted and received. The case body 91 has a slide groove 95 that guides the stable coupling of the main body on the side adjacent to the opening. The main body 10 is inserted into the inner space 93 of the case body 91 along the slide groove 95 and is stably fixed. For example, the base substrate 81 and the mirror substrate 85 may be slidably coupled along the slide groove 95 formed inside the case body 91. The edge portion of the light-receiving module 70 mounted on the base substrate 18 may also be slidably coupled along the slide groove 95 formed inside the case body 91.

And the cover 97 covers the opening of the case body 91.

The transmission module 30 according to the present embodiment will be described with reference to FIGS. 4 to 8 as follows. Here, FIG. 4 is an exploded perspective view showing the light transmitting module 30 of FIG. 2. 5 is a perspective view showing the light transmitting module 30 of FIG. 4. 6 is a cross-sectional view of the light transmitting module 30 of FIG. 5. 7 is a front view of the light transmitting module 30 of FIG. 5. And FIG. 8 is a cross-sectional view of the light transmitting module 30 of FIG. 5. Here, FIG. 6 is a cross-sectional view of the XZ plane, and FIG. 8 is a cross-sectional view of the XY plane.

The transmission module 30 includes a housing 40, a tubular laser source 50, and a reflective mirror unit 60 as described above. The housing 40 has a mounting table 41 on which a reflective mirror unit 60 is installed in front, and a laser installation hole 43 into which a laser source 50 is inserted and installed on a side facing the reflective mirror unit 60 Is formed. The tubular laser source 50 is inserted into the laser mounting hole 43 and outputs a pulsed laser to the reflective mirror unit 60 positioned in front. In addition, the reflective mirror unit 60 includes a reflective mirror 61 that is inclined and rotatably installed in front of the housing 40 so as to reflect the pulsed laser incident from the laser source 50 to the light transmitting rotating mirror positioned below. Equipped.

The light transmitting module 30 according to the present embodiment may further include an output direction adjusting member 59. The output direction adjustment member 59 is installed to be connected to the laser source 50 inserted in the laser mounting hole 43, and adjusts the position of the laser source 50 in the laser mounting hole 43 to output the pulsed laser. Adjust the direction.

Here, the laser source 50 outputs a pulsed laser. The laser source 50 includes a light source for outputting a pulsed laser, and a lens for converting the pulsed laser output from the light source into a collimated beam or a divergence beam.

The laser source 50 is installed to protrude from one surface of the laser source substrate 87. The laser source substrate 87 controls the driving of the laser source 50.

The laser source 50 includes a laser body 53 and a laser housing 55 into which the laser body 53 is inserted. The laser housing 55 functions to protect the laser body 51. The laser housing 55 has a locking protrusion 53 formed to protrude in the Z-axis direction.

The housing 40 includes a mounting plate 48, a light transmitting housing 49, and a mounting table 41. The mounting plate 48 supports the light transmitting housing 49 and the mounting table 41. The transmission housing 49 is connected to the mounting plate 48 and protrudes upward by a transmission rotation mirror, and a mounting table 41 and a laser installation hole 43 are formed. In addition, a pair of mounting tables protrude to the front of the light transmitting housing 49 at regular intervals, and a reflective mirror unit 60 is rotatably installed.

At this time, the laser source substrate 87 is coupled to the mounting plate 48. The lower portion of the mounting plate 48 is fixedly installed on the upper surface of the mirror substrate.

The light transmitting housing 49 has a laser mounting hole 43 formed in front of the mounting plate 48.

The laser mounting hole 43 is formed larger than the laser source 50 so that the position of the laser source 50 can be adjusted, and is formed wider in the left and right rather than the top and bottom. That is, the laser mounting hole 43 is formed in the Y-axis direction longer than the Z-axis direction. The length of the laser mounting hole 43 in the Z-axis direction may correspond to the length of the outer diameter of the laser source 50. For example, the cross section of the laser mounting hole 43 may be formed in an elliptical shape having a length in the Y-axis direction rather than in the Z-axis direction.

The light transmitting housing 49 has locking grooves 45 formed above and below the entrance of the laser mounting hole 43 into which the laser source 50 is inserted, corresponding to the locking projection 51. That is, the locking groove 45 is formed in the ㅁZ-axis direction.

The laser source 50 has a locking protrusion 51 inserted into the locking groove 45 on an outer peripheral surface opposite to the side where the pulse laser is output. Therefore, it is possible to rotate the locking projection 51 as an axis in the laser installation hole 43 left and right, that is, in the XY plane.

The light transmitting housing 49 has an output direction adjusting hole 47 formed to communicate with the laser mounting hole 43 left and right. That is, the output direction adjustment hole 47 is formed in the Y-axis direction.

The output direction adjusting member 59 is connected to the laser source 50 through the output direction adjusting hole 47 to adjust the left and right positions of the laser source 50 to adjust the left and right output directions of the pulsed laser. At this time, a pin or a bolt may be used as the output direction adjustment member 59.

The transmitting module 30 is preferably assembled so that the pulsed laser 50 is output in the X-axis direction and reflected by the reflecting mirror 61 in the -Z-axis direction. However, since the assembly tolerance is generated in the process of assembling the transmission module 30, the assembly tolerance is corrected through the output direction adjustment member 59, and as described above, the pulsed laser is output in the X-axis direction and is output by the reflecting mirror. -Adjust the output direction of the pulsed laser so that it can be reflected in the Z-axis direction.

The mounting table 41 is installed in front of the light transmitting housing 49 so that the reflective mirror unit 60 can be disposed on the side facing the laser mounting hole 43. A reflective mirror unit 60 is rotatably installed between the pair of mounting tables 41.

In addition, the reflection mirror unit includes a reflection mirror 61, an installation plate 63, and a reflection direction adjustment member 65. The reflecting mirror 61 reflects the pulsed laser incident from the pulsed laser 50 to the transmission rotating mirror. The mounting plate 63 is provided with a reflective mirror 61 on a surface facing the laser source 50, and is interposed between a pair of mounting tables 41. And the reflection direction adjustment member 65 is installed to be connected to both sides of the installation plate 63 in the Y-axis direction through the installation table 41, and the reflection mirror through rotation of the installation plate 63 centered on the Y-axis direction. By adjusting the position of 61, that is, the angle, the reflection direction of the pulsed laser is adjusted.

An adhesive discharge hole 67 is formed in the mounting plate 63. That is, in the adhesive discharge hole 67, the excess adhesive is discharged after the adhesive is distributed between the installation plate 63 and the reflection mirror 61 in the process of attaching the reflective mirror 61 to the installation plate 63 with an adhesive. By making it possible, the adhesive can be distributed with a uniform thickness between the installation plate 63 and the reflective mirror 61. Accordingly, it is possible to attach the reflective mirror 61 on the installation plate 63 while minimizing the height deviation. As the adhesive, an epoxy-based adhesive may be used, but is not limited thereto.

The reflection mirror unit 60 is installed on the mounting table 41 of the light transmitting housing 49 at an angle of 45 degrees to the angle at which the pulsed laser is incident. For example, when it is assumed that the pulsed laser is output in the X-axis direction, the reflection mirror 61 is preferably installed on the mounting table 41 at an angle of 45 degrees to the X-axis direction so that the pulsed laser can be reflected in the -Z-axis direction. . The angle of the reflection mirror 61 may be adjusted by the reflection direction adjustment member 65.

Meanwhile, as described above, the reflecting mirror 61 is preferably assembled so that the pulsed laser 50 is output in the X-axis direction and reflected by the reflecting mirror 61 in the -Z-axis direction. However, since the assembly tolerance is generated in the process of assembling the reflection mirror unit 60, the assembly tolerance is corrected through the reflection direction adjustment member 65, and as described above, the pulsed laser is output in the X-axis direction and the reflection mirror ( 61), the angle of the reflection mirror 61 is adjusted so that it can be reflected in the -Z axis direction.

An example in which the scanning lidar 100 according to the present embodiment is installed on the platform screen door 110 will be described with reference to FIGS. 9 and 10 as follows. Here, FIGS. 9 and 10 are views showing an example in which the scanning lidar 100 according to an embodiment of the present invention is installed on the platform screen door 110.

First, the platform screen door 110 has a structure in which the screen door 120 and the safety door 130 are alternately arranged. The screen door 120 is opened and closed by interlocking with the entrance of the train 150 arriving at the platform screen door 110 installed, and the open screen door 120 is located on the safety door 130 side. In the process of opening and closing the screen door 120, problems such as an object being caught in the screen door 120 or the presence of an object inside the screen door 120 may occur.

The scanning lidar 100 scans whether an object is caught in the screen door 120 or an object exists inside the screen door 120 in the process of opening and closing the screen door 120. The scanning lidar 100 may be installed above the safety door 130 close to the screen door 120.

When the scanning lidar 100 is installed on the safety door 130, the scanning lidar 100 is located at the side where the light receiving module is close to the platform screen door 110, and the transmitting module is located at the side far from the platform screen door 110. It is installed on the top of the safety door 130 to be positioned. That is, the transmission module is installed toward the rail through which the train 150 passes.

The scanning lidar 100 may scan an area 180 degrees based on the installed position, and the area where the screen door 120 is located among the scanning areas is set as the sensing area 140. For example, assuming that the scanning lidar 100 is installed in the X-axis direction, the scanning lidar 100 scans the YZ plane.

Meanwhile, the present embodiment discloses an example in which the scanning lidar 100 is installed on the safety door 130, but is not limited thereto. Of course, if the scanning lidar is a place where the screen door can be set as a detection area, it can be installed elsewhere. For example, if there is an external structure supporting the platform screen door 110, the scanning lid 110 may be installed on the external structure. Alternatively, a scanning lidar 100 may be installed under the safety door 130.

On the other hand, the embodiments disclosed in the specification and drawings are only presented specific examples to aid understanding, and are not intended to limit the scope of the present invention. It is obvious to those of ordinary skill in the art that other modifications based on the technical idea of the present invention may be implemented in addition to the embodiments disclosed herein.

10: main body 20: rotating mirror unit
21: motor 23: motor body
25: rotation shaft 27: transmission rotation mirror
29: light receiving rotating mirror 30: light transmitting module
40: housing 41: mounting table
43: laser mounting hole 45: locking groove
47: output direction adjustment hole 48: mounting plate
49: light transmitting housing 50: laser source
51: locking jaw 53: laser body
55: laser housing 59: output direction adjustment member
60: reflective mirror unit 61: reflective mirror
63: mounting plate 65: reflection direction adjustment member
67: adhesive discharge hole 70: light receiving module
71: light receiving lens 73: photodetector
81: base board 83: connection board
85: mirror substrate 87: laser source substrate
90: case 91: case body
93: inner space 95: slide groove
96: IR pass filter 97: cover
100: scanning lid 110: platform screen door
120: screen door 130: safety door
140: detection area 150: train

Claims (15)

A housing in which a mounting table in which a reflective mirror unit is installed in front is formed, and a laser installation hole in which a laser source is inserted and installed on a side facing the reflective mirror unit is formed;
A tubular laser source that is inserted into the laser installation hole and outputs a pulsed laser to the reflective mirror unit positioned in front; And
A reflective mirror unit including a reflective mirror that is inclined and rotatably installed in front of the housing so as to reflect the pulsed laser incident from the laser source to a light transmitting rotating mirror positioned below;
Transmitting module for scanning lidar comprising a. The method of claim 1, wherein the housing,
Mounting plate;
A light transmitting housing connected to the mounting plate, protruding upward from the light transmitting rotating mirror, and having the laser installation hole formed therein; And
A pair of protrusions at a predetermined interval in front of the light transmitting housing, and the reflective mirror unit is rotatably installed;
Transmitting module for scanning lidar, characterized in that it comprises a. The method of claim 2, wherein the reflection mirror unit,
The reflection mirror;
A mounting plate provided with the reflective mirror on a surface facing the laser source and interposed between a pair of mounting tables; And
A reflection that is installed to be connected in an axial direction to both sides of the installation plate through the installation table, and adjusts the reflection direction of the pulsed laser by adjusting the reflection angle of the reflection mirror through rotation of the installation plate about the axial direction Direction adjustment member;
Transmitting module for scanning lidar, characterized in that it comprises a. The method of claim 3,
The reflection mirror is installed at an angle of 45 degrees with respect to the incident angle of the pulsed laser, and the reflection angle is adjusted by the reflection direction adjusting member. The method of claim 3,
An output direction adjusting member installed to be connected to the laser source inserted in the laser mounting hole, and adjusting a position of the laser source within the laser mounting hole to adjust an output direction of the pulsed laser;
Transmitting module for scanning lidar, characterized in that it further comprises. The method of claim 5,
The light transmitting housing is a light transmitting module for scanning lidar, characterized in that the laser mounting hole is formed larger than the laser source so that the position of the laser source can be adjusted, and is formed wider to the left and right rather than vertically. The method of claim 6,
The light transmitting housing has locking grooves formed above and below the entrance of the laser mounting hole into which the laser source is inserted,
The laser source is characterized in that the locking jaw inserted into the locking groove is formed on an outer circumferential surface of the side opposite to the side where the pulse laser is output, so that the locking jaw can be rotated left and right in the laser installation hole with the axis Transmitting module for scanning lidar. The method of claim 7,
The reflective direction adjusting member and the output direction adjusting member include a pin or a bolt. A housing in which a mounting table in which a reflective mirror unit is installed in front is formed, and a laser installation hole in which a laser source is inserted and installed on a side facing the reflective mirror unit is formed;
A tubular laser source that is inserted into the laser installation hole and outputs a pulsed laser to the reflective mirror unit positioned in front;
A reflective mirror unit including a reflective mirror that is inclined and rotatably installed in front of the housing so as to reflect the pulsed laser incident from the laser source to a light transmitting rotating mirror positioned below; And
An output direction adjusting member installed to be connected to the laser source inserted in the laser mounting hole, and adjusting a position of the laser source within the laser mounting hole to adjust an output direction of the pulsed laser;
Transmitting module for scanning lidar comprising a. A rotating mirror unit which is installed at both ends of the rotating shaft and has a rotating mirror and a light receiving rotating mirror installed at an angle to the rotating shaft to transmit and receive light in the same direction;
A light transmission module disposed adjacent to the light transmission rotation mirror, outputting a pulsed laser in a direction perpendicular to the rotation axis, and reflecting through a reflection mirror disposed to face the light transmission rotation mirror to enter the light transmission rotation mirror; And
Including; a light receiving module disposed under the rotation shaft to face the light receiving rotating mirror and receiving reflected light reflected from the light receiving rotating mirror,
The transmission module,
A housing in which a mounting table in which a reflective mirror unit is installed in front is formed, and a laser installation hole in which a laser source is inserted and installed on a side facing the reflective mirror unit is formed;
A tubular laser source that is inserted into the laser installation hole and outputs a pulsed laser to the reflective mirror unit positioned in front;
The reflection mirror unit including a reflection mirror that is inclined and rotatably installed in front of the housing so as to reflect the pulsed laser incident from the laser source to the transmission rotation mirror positioned below; And
An output direction adjusting member installed to be connected to the laser source inserted in the laser mounting hole, and adjusting a position of the laser source within the laser mounting hole to adjust an output direction of the pulsed laser;
Scanning lidar including. The method of claim 10, wherein the rotating mirror unit,
A motor with both ends of the rotation shaft protruding from both sides;
The transmission rotation mirror coupled to one end of the rotation shaft facing the reflection mirror; And
The light receiving rotating mirror coupled to the other end of the rotating shaft facing the light receiving module;
Scanning lidar comprising a. A biaxial type body that irradiates a pulsed laser onto an object to receive reflected light reflected from the object; And
Includes; a case in which the main body is inserted and protects the main body from an external environment,
The main body,
A rotating mirror unit which is installed at both ends of the rotating shaft and has a rotating mirror and a light receiving rotating mirror installed at an angle to the rotating shaft to transmit and receive light in the same direction;
A light transmission module disposed adjacent to the light transmission rotation mirror, outputting a pulsed laser in a direction perpendicular to the rotation axis, and reflecting through a reflection mirror disposed to face the light transmission rotation mirror to enter the light transmission rotation mirror; And
Including; a light receiving module disposed under the rotation shaft to face the light receiving rotating mirror and receiving reflected light reflected from the light receiving rotating mirror,
The transmission module,
A housing in which a mounting table in which a reflective mirror unit is installed in front is formed, and a laser installation hole in which a laser source is inserted and installed on a side facing the reflective mirror unit is formed;
A tubular laser source that is inserted into the laser installation hole and outputs a pulsed laser to the reflective mirror unit positioned in front;
The reflection mirror unit including a reflection mirror that is inclined and rotatably installed in front of the housing so as to reflect the pulsed laser incident from the laser source to the transmission rotation mirror positioned below; And
An output direction adjusting member installed to be connected to the laser source inserted in the laser mounting hole, and adjusting a position of the laser source within the laser mounting hole to adjust an output direction of the pulsed laser;
Scanning lidar including. The method of claim 12, wherein the main body,
A base substrate on which the light receiving module is mounted on an upper surface;
A connection substrate coupled to one side of the base substrate in a vertical direction to be electrically connected; And
A mirror substrate coupled to an upper end of the connection substrate to face the base substrate and electrically connected, and on which the transmitting module and the rotating mirror section are installed;
The scanning lid further comprises a. The method of claim 13,
The scanning lidar is characterized in that the base substrate and the mirror substrate are slidably coupled to the inside of the case. The method of claim 12,
The scanning lidar is a scanning lidar, characterized in that used for a platform screen door.

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