KR20210047658A - Lidar scanning apparatus - Google Patents

Abstract

The present invention relates to a Lidar scanning device. For this purpose, a Lidar scanning device according to an aspect of the present invention includes: a beam irradiation unit for irradiating a laser beam; a multi-faceted reflection unit for radiating the irradiated laser beam in all directions; and a beam receiving unit for receiving the laser beam reflected from the object. The multi-faceted reflective unit includes a reflective member formed with reflective surfaces of different angles along the circumference, a driving member rotating the reflective member in a state inserted and disposed inside the reflective member, and a support member fixedly supporting the driving member. By accurately detecting the rotation of the reflective member, the detection precision is improved.

Description

Lidar scanning device {LIDAR SCANNING APPARATUS}

The present invention relates to a lidar scanning device.

In general, the LIDAR system (Light Detection And Ranging system) irradiates a laser beam to an object, analyzes the laser beam reflected and returned by the object, and measures and detects the distance, direction, and speed to the object. It is a capable system.

Such a lidar system has been used for weather observation or distance measurement, but recently, it has been used for autonomous vehicles, weather observation using satellites, unmanned robot sensors, and technologies for 3D image modeling.

This lidar system is applied to the vehicle to assist the driver's driving by calculating the distance to the object. At this time, a method of rotating the reflector is used to expand the measurement range of the vertical and horizontal angles. The same driving part is installed on the reflector.

However, in the conventional case, since such a driving unit is installed outside the reflector, the total volume of the lidar system is increased, and thus there is a problem in that the manufacturing cost is increased.

Therefore, there is a need for improvement in these areas.

Korean Patent Application Publication No. 10-2019-0011497 (published on February 7, 2019)

The technical problem to be solved in the present invention is to provide a lidar scanning device in which a driving member is inserted and disposed inside a reflective member, and capable of stably fixing the reflective member and the driving member.

Another technical problem to be solved in the present invention is to provide a lidar scanning device that can be fixed to each other in a state in which the starting positions of the driving member and the reflective member are accurately matched.

Another technical problem to be solved in the present invention is to provide a lidar scanning device in which a power wire supplying power to a driving member or a rotation detecting member is not exposed to the outside.

The technical problem to be solved in the present invention is not limited thereto, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

A lidar scanning device according to an aspect of the present invention for solving the above technical problem includes a beam irradiation unit for irradiating a laser beam, a multi-faceted reflector for radiating the irradiated laser beam in all directions, and a laser beam reflected from an object. In the lidar scanning apparatus comprising a receiving beam receiving unit, wherein the multi-faceted reflective unit rotates the reflective member in a state where a reflective member having a reflective surface of a different angle along the periphery is formed, and the reflective member is inserted and disposed inside the reflective member. And a driving member, and a support member for fixing and supporting the driving member.

In this case, a rotation detection member for sensing the rotation speed and rotation speed of the driving member may be further included, and a cover member extending upward so that the rotation detection member is inserted therein may be formed on an upper surface of the support member.

The rotation detection member may include an encoder member that rotates together with the driving member and a detection member that detects rotation of the encoder member.

In this case, the driving member may be fixedly disposed on the cover member, and an inner space may be formed in the reflective member so that the driving member and the cover member are inserted therein.

In addition, a flange member that rotates together with a rotation axis of the driving member may be provided on an upper portion of the driving member, and a rib supported and fixed to the inner circumferential surface of the reflective member may be formed on the flange member.

In addition, a seating groove in which the flange member is seated may be formed on an inner circumferential surface of the reflective member.

At this time, at least one cut surface may be formed around the flange member, and a circumference of the seating groove may be formed to correspond to a circumferential shape of the flange member.

Alternatively, at least two or more fixing members may be provided so as to penetrate through the flange member and the reflective member at the same time, and the distances from the center of the flange member to each of the fixing members may be formed differently.

In addition, a through hole through which the power wire passes may be formed in the cover member.

In this case, a wire groove may be formed on a lower surface of the support member so that the power wire disposed downward through the through hole extends in a radial direction of the support member.

In the lidar scanning apparatus of the present invention having the above configuration, since the driving member is inserted and disposed inside the reflective member, the total volume is reduced, and the reflective member and the driving member are stably fixed through the flange member, thereby improving durability.

In addition, since the starting positions of the driving member and the reflective member are accurately matched and fixed to each other, the rotation of the reflective member is accurately detected, thereby improving detection accuracy.

In addition, since the power wire supplying power to the driving member or the rotation sensing member is not exposed to the outside, the device can be compactly configured.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a perspective view showing a multi-faceted reflector of a lidar scanning device according to the present invention.
2 is an exploded perspective view of a multi-faceted reflector according to the present invention.
3 is a bottom view showing a state in which a reflective member and a flange member are coupled according to an embodiment of the present invention.
4 and 5 are bottom views illustrating a state in which a reflective member and a flange member are coupled according to various embodiments of the present disclosure.
6 is a plan view showing a support member according to the present invention.
7 is a cross-sectional view of a portion I-I of FIG. 6.
8 is a cross-sectional view of a portion II-II of FIG. 6.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art may easily implement the present invention. The present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and the same reference numerals are assigned to the same or similar components throughout the specification.

In the present specification, terms such as "comprise" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance. In addition, when a part such as a layer, film, region, plate, etc. is said to be "on" another part, this includes not only the case where the other part is "directly above", but also the case where there is another part in the middle. Conversely, when a part such as a layer, film, region, plate, etc. is said to be "below" another part, this includes not only the case where the other part is "directly below", but also the case where there is another part in the middle.

1 is a perspective view showing a multi-sided reflector of a lidar scanning device according to the present invention, FIG. 2 is an exploded perspective view of a multi-sided reflector according to the present invention, and FIG. 3 is a reflective member and a flange member according to an embodiment of the present invention. Is a bottom view showing a coupled state, FIGS. 4 and 5 are bottom views showing a state in which a reflective member and a flange member according to various embodiments of the present invention are coupled, and FIG. 6 is a support member according to the present invention FIG. 7 is a cross-sectional view of a portion I-I of FIG. 6, and FIG. 8 is a cross-sectional view of a portion II-II of FIG. 6.

A lidar scanning apparatus according to an aspect of the present invention includes a beam irradiator for irradiating a laser beam, a multi-faceted reflector for radiating the irradiated laser beam in all directions, and a beam receiver for receiving a laser beam reflected from an object.

The above-described beam irradiation unit may be formed in the form of a module in which a photodiode and a lens are assembled to irradiate a laser beam toward an object, and a plurality of modules may be spaced apart from each other to increase a sensing range. The laser beam irradiated from the photodiode may be a pulse laser or a continuous wave laser, and such a beam irradiation unit may be detachably assembled on a circuit board to be easily replaced.

In addition, the above-described beam receiver receives the laser beam reflected from the object as an electrical signal, and includes a CMOS type lock-in pixel image sensor and a single photon detection sensor (SPAD). Can include. In this way, when the beam receiver is configured with a CMOS type sensor, mass production is possible compared to an InGaAs APD type sensor.

This lock-in pixel image sensor is set to receive a laser beam when the vehicle's movement speed does not exceed a preset reference speed, and the single photon detection sensor receives the laser beam when the vehicle's movement speed exceeds the reference speed. Is set to That is, the single photon detection sensor is used as a beam receiving unit for a direct method that detects the time that the laser beam reflected from the object reaches the beam receiving unit by using an element that is very sensitive to light and measures TOF (Time Of Flight) using this. Then, the lock-in pixel image sensor is used as a beam receiver for an indirect method that detects and calculates a phase difference as a charge amount when the modulated pulsed light is reflected from the object and returned.

Meanwhile, the reference speed is a value for determining the detection range of the lidar, and may be changed according to the type of vehicle in which the lidar is installed or a driving environment.

At this time, the above-described multi-faceted reflective unit includes the reflective member 100 having a reflective surface at a different angle along the periphery, and a driving member 200 that rotates the reflective member 100 in a state inserted into the reflective member 100. ), and a support member 300 for fixing and supporting the driving member 200.

That is, the driving member 200 is inserted into the reflective member 100 so as to reduce the volume of the multi-faceted reflector. In addition, according to this configuration, since the size of the reflective member 100 is increased by a decreasing volume, the area of the reflective surface increases, thereby increasing the reception intensity of the laser beam, thereby improving the detection accuracy.

In this case, as shown in FIG. 2, a rotation detection member 400 for sensing the rotational speed and rotational speed of the driving member 200 may be further included, through which the exact position of the driving member 200 is found and reflected. By doing so, the detection precision can be improved.

In addition, a cover member 310 extending upward so that the rotation sensing member 400 is inserted into the upper surface of the support member 300 may be formed. That is, a support plate 320 is formed on the support member 300 to support the driving member 200, and the cover member 310 in which the rotation detection member 400 can be inserted and disposed on the upper surface of the support plate 320 By extending upwardly, the driving member 200 can be stably supported and the entire device can be compactly configured.

The rotation detection member 400 may include an encoder member 420 that rotates together with the driving member 200 and a detection member 410 that detects rotation of the encoder member 420.

At this time, the above-described detection member 410 may be a Hall sensor PCB 410 and the encoder member 420 may be a magnet encoder 420. That is, as the driving member 200 rotates, the magnet encoder 420 rotates together, and the positions of the N and S poles change as the magnet encoder 420 rotates, and this change in the Hall sensor PCB 410 Is detected and a pulse signal is generated.

In addition, the above-described detection member 410 may be an optical detector, and the encoder member 420 may be an optical encoder. The optical encoder includes a code disk having a slot formed by a method such as metal deposition or etching a metal sheet, and as the driving member 200 rotates, the code disk rotates with the slot. The rotational speed and rotational speed of the driving member 200 are sensed in such a way that the photodetector detects that light is transmitted or not transmitted through it. As the material of the original code, plastic or glass materials can be used, and these materials can be selected and used according to the required resolution. The photodetector may include a light-emitting device (LED) and a light-receiving device (photodiode, photo transistor).

In addition, the above-described detection member 410 may be an inductance detector, and the encoder member 420 may be an inductance encoder. The inductance encoder includes a rotor and a stator, and as the driving member 200 rotates, the rotor rotates together, and at this time, the driving member in a manner in which the inductance detector detects a change in voltage induced to the coil provided in the stator. It is to detect the rotation speed and rotation speed of (200).

However, any configuration capable of detecting the rotation of the driving member 200 is not limited thereto, and may be used in various ways.

In this case, the driving member 200 may be fixedly disposed on the cover member 310, and an inner space may be formed in the reflective member 100 so that the driving member 200 and the cover member 310 are inserted therein.

That is, a cover member 310 extending upward so that the rotation sensing member 400 is inserted into the upper surface of the support member 300 is formed, and an inner space is formed in the reflective member 100 to cover not only the driving member 200 but also the cover. The reflective member 100 is disposed to a position adjacent to the upper surface of the support plate 320 in a state in which the member 310 is inserted and disposed therein, thereby reducing the total volume of the lidar scanning device.

In addition, a motor PCB 10 for controlling the rotation of the driving member 200 may be disposed on the upper surface of the cover member 310.

In addition, as shown in FIG. 2, a flange member 220 that rotates together with the rotation shaft 210 of the driving member 200 is provided on an upper portion of the driving member 200, and the flange member 220 has a reflective member ( A rib supported and fixed to the inner circumferential surface of 100) may be formed.

If the rotation shaft 210 of the driving member 200 is directly fixed to the reflective member 100, the area to be fixed to each other decreases, so that stable fixing may be difficult. However, as described above, the rotation shaft of the driving member 200 ( The flange member 220 is fixedly installed on 210, and the rib of the flange member 220 is supported and fixed to the inner circumferential surface of the reflective member 100 so that the reflective member 100 and the driving member 200 are stably fixed. Durability is improved.

In addition, as shown in FIG. 3, a seating groove 110 in which the flange member 220 is seated may be formed on the inner circumferential surface of the reflective member 100.

That is, in the process of fixing the flange member 220 to the inside of the reflective member 100, when the flange member 220 is partially inserted in the axial direction into the reflective member 100 along the seating groove 110, The bonding force between them increases, so that stable bonding is possible.

In addition, a separate fixing member 120 for fixing and coupling the reflective member 100 and the flange member 220 may be provided.

At this time, as shown in FIG. 4, at least one cut surface (a1, a2, a3) is formed around the flange member 220, and the circumference of the seating groove 110 is in the circumferential shape of the flange member 220. It can be formed to correspond.

That is, in order to improve the detection accuracy, it is necessary to accurately detect the rotation of the reflective member 100, and in order to accurately detect the rotation of the reflective member 100, the position at which the rotation of the driving member 200 starts and the reflective member ( It is necessary to match the position of 100) exactly.

Therefore, when the position at which the rotation of the driving member 200 starts is displayed, the reflective member 100 must be accurately installed in accordance with this position, and as described above, the cut surfaces a1, a2, a3 on the flange member 220 And, if the mounting groove 110 is configured to correspond to the circumferential shape of the flange member 220, the installation position of the reflective member 100 is accurately fixed, so that the rotation of the driving member 200 starts without paying attention to the operator. It is possible to fix them to each other in a state in which the position of the reflective member 100 is easily matched with the position of the reflective member 100.

In this case, the fixing member 120 fixing the flange member 220 and the reflective member 100 may be disposed at the same distance r from the rotation center C.

At this time, even when two or more cut surfaces a1, a2, a3 are formed, the center of gravity of the flange member 220 is formed to coincide with the center of rotation C, thereby preventing a vibration problem due to eccentricity.

Alternatively, as shown in FIG. 5, at least two or more fixing members 120 are provided to simultaneously fix the flange member 220 and the reflective member 100 through, and each fixing member from the center of the flange member 220 Each distance to 120 may be formed differently.

In this configuration, as described above, since the installation position of the reflective member 100 is accurately fixed, the position at which the rotation of the driving member 200 starts and the position of the reflective member 100 are easily matched without paying attention to the operator. It becomes possible to fix them to each other in the state.

When configured in this way, since the circumference of the flange member 220 is formed in a circular shape, the center of gravity is aligned with the center of rotation C, thereby preventing a vibration problem due to eccentricity.

At this time, the distances (r1, r2, r3) from the center of the flange member 220 to each fixing member 120 are formed differently, but each fixing member 120 so that the center of gravity coincides with the rotation center (C). ) Is preferably formed by calculating the circumferential angles (θ12, θ13) between.

In addition, as shown in FIG. 6, a through hole 311 through which the power wire 20 passes may be formed in the cover member 310, and the driving member 200 located above the cover member 310 may be The power wire 20 may pass through the through hole 311 and be disposed downward.

In addition, as shown in FIGS. 7 and 8, a wire groove is provided on the lower surface of the support member 300 so that the power wire 20 disposed downward through the through hole 311 extends in the radial direction of the support member 300. 321 may be formed, and if configured in this way, the power wire 20 that supplies power to the driving member 200 or the rotation detection member 400 is not exposed to the outside, so that the device can be compactly configured. .

Although an embodiment of the present invention has been described, the spirit of the present invention is not limited to the embodiments presented in the present specification, and those skilled in the art who understand the spirit of the present invention add or change components within the scope of the same idea. Other embodiments may be easily proposed by deletion, addition, and the like, but it will be said that this is also within the scope of the present invention.

10: motor PCB 20: power wire
100: reflective member 110: seating groove
120: fixing member 200: driving member
210: rotation shaft 220: flange member
300: support member 310: cover member
311: through hole 320: support plate
321: wire groove 400: rotation detection member
410: detection member 420: encoder member

Claims (10)

In the lidar scanning apparatus comprising a beam irradiation unit for irradiating a laser beam, a multifaceted reflector for radiating the irradiated laser beam in all directions, and a beam receiving unit for receiving a laser beam reflected from an object,
The multi-faceted reflector,
A reflective member having reflective surfaces of different angles formed along the periphery;
A driving member that rotates the reflective member while being inserted into the reflective member; And
A support member fixedly supporting the driving member;
Lidar scanning device comprising a. The method of claim 1,
Further comprising a rotation detection member for sensing the rotation speed and the rotation speed of the driving member,
A lidar scanning device having a cover member extending upward so that the rotation detecting member is inserted into the upper surface of the support member. The method of claim 2,
The rotation detection member includes an encoder member that rotates together with the driving member and a detection member that detects rotation of the encoder member. The method of claim 2,
The driving member is fixedly disposed on the cover member,
A lidar scanning device in which an inner space is formed in the reflective member so that the driving member and the cover member are inserted therein. The method of claim 2,
A flange member rotating together with a rotation axis of the driving member is provided on the top of the driving member,
A lidar scanning device in which a rib supported and fixed to an inner circumferential surface of the reflective member is formed on the flange member. The method of claim 5,
A lidar scanning device in which a seating groove in which the flange member is seated is formed on an inner circumferential surface of the reflective member. The method of claim 6,
At least one cut surface is formed around the flange member,
The circumference of the seating groove is a lidar scanning device formed to correspond to a circumferential shape of the flange member. The method of claim 6,
At least two or more fixing members are provided to simultaneously fix the flange member and the reflective member through,
The distance from the center of the flange member to each of the fixing members is formed to be different from each other. The method of claim 2,
A lidar scanning device in which a through hole through which a power wire passes is formed in the cover member. The method of claim 9,
A lidar scanning device in which a wire groove is formed on a lower surface of the support member so that the power wire disposed downward through the through hole extends in a radial direction of the support member.

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