KR20230099333A - Lidar apparatus and method for the same - Google Patents

Abstract

The present invention relates to a lidar device and method thereof, and in detecting the presence or absence of an object and measuring a distance to the object, by setting an operation mode so that at least a part of the transmitter and the receiver operates to variably control the resolution, unnecessary operation , optimize operation, reduce noise by reducing heat generation and power consumption, and improve sensing performance by reducing computational load.

Description

LIDAR device and its method {LIDAR APPARATUS AND METHOD FOR THE SAME}

The present invention relates to a lidar device and a method for optimizing the operation of a transmitter and a receiver of a lidar device that detects a target object using irradiated light and measures a distance to the object.

The LIDAR (10) sensor irradiates light, detects an object by receiving a signal from which the irradiated light is reflected from an object, and calculates the distance to the object by measuring the time between the transmitted signal and the received signal.

These lidar sensors have recently been applied to various devices such as automobiles, drones, and robot vacuum cleaners.

In the lidar sensor, a transmitter for irradiating laser light and a receiver for receiving reflected light form a two-dimensional array. Since the lidar sensor continuously operates using the entire array of the transmitter and the receiver that transmit and receive light, power is consumed unnecessarily regardless of the object to be sensed.

The lidar sensor has a problem in that heat is generated as the entire array constituting the transceiver is continuously used.

When the lidar sensor continues to continuously operate the entire array, problems such as acceleration of deterioration of the lidar sensor itself and generation of noise may occur.

Since the lidar sensor detects the target object with a fixed field of view (FOV) and resolution, it must store its own result data and continuously maintain the output, so the amount of data over time As this increases, there is a problem in that memory is restricted and computation is overloaded in the process of processing a large amount of data.

In order to solve the heat problem and computational overload, lidar sensors need a way to reduce the amount of computation by reducing the amount of data while detecting objects more efficiently and solve the heat problem.

Republic of Korea Patent Registration No. 10-1877388 describes a technique related to the operation of the LIDAR device.

Republic of Korea Patent Publication No. 10-1877388

In the present invention, in detecting the presence or absence of an object and measuring the distance to the object using LIDAR, the operation of the transmitter and the receiver is changed according to the object to reduce errors in object detection and measurement distance and optimize the operation. The purpose is to provide a lidar device and method for doing.

LiDAR device according to the present invention in order to achieve the above object, a plurality of light sources are formed in an array structure, a transmission unit for irradiating light to the object to be sensed; a receiving unit in which a plurality of photodiodes are formed in an array structure to receive light reflected and incident on the object; a driving unit controlling the transmission unit and the reception unit to operate in designated operation modes; a signal conversion unit measuring a signal transmission time of the transmission unit and a signal reception time of the reception unit; and when the object is detected based on the received signal of the receiver, the operation mode is set to variably control resolutions of the transmitter and the receiver, and the signal conversion unit corresponds to the transmission time and the reception time to control the resolution of the object. a controller that calculates a distance; includes

The driver may activate at least a portion of the plurality of light sources and the plurality of photodiodes in response to the operation mode.

The driving unit causes the plurality of light sources and 1/4 of the plurality of photodiodes to be activated in a first mode, and the plurality of light sources and 1/3 of the plurality of photodiodes to be activated in a second mode. In the third mode, 1/2 of the plurality of light sources and the plurality of photodiodes are activated, and in the fourth mode, the plurality of light sources and the plurality of photodiodes are activated.

The transmitting part may form an arrangement structure of N rows and M columns of the plurality of light sources, and the plurality of photodiodes may form an arrangement structure of N rows and M columns of the receiving part.

The driver may activate the plurality of light sources and the plurality of photodiodes in units of columns of an array structure in response to the operation mode.

The driver may activate the plurality of light sources and the plurality of photodiodes in row units of an array structure in response to the operation mode.

The controller senses the object by operating the transmitter and the receiver in an initial mode in which the plurality of light sources and the plurality of photodiodes operate, and sets the operation mode according to the temporary distance calculated in the initial mode to perform the operation of the plurality of light sources and the plurality of photodiodes. It is characterized in that the resolution of the transmitter and the receiver is changed.

The control unit may decrease the resolution when the distance to the object is short and increase the resolution when the distance to the object is long, corresponding to the temporary distance.

The signal conversion unit calculates a difference between the transmission time in which light is irradiated from the transmission unit and the reception time in which light is received by the reception unit, and applies the calculated difference to the control unit, and the control unit responds to the difference, which is the time at which the light travels. to calculate the distance to the object.

A method of operating a lidar device according to the present invention comprises the steps of irradiating light by operating a transmitting unit composed of a plurality of light sources; sensing an object in response to a received signal by a receiving unit composed of a plurality of photodiodes; setting an operation mode corresponding to the object; corresponding to the operation mode, operating the transmitting unit and the receiving unit with a changed resolution; measuring a signal transmission time of the transmitter and a signal reception time of the receiver; and calculating a distance to the object corresponding to the transmission time and the reception time. includes

Before setting the operation mode, the transmitting unit and the receiving unit operate in an initial mode in which the plurality of light sources and the plurality of photodiodes are all operated.

Setting the operation mode may include calculating a temporary distance to the object; and setting an operation mode to one of a first mode to a fourth mode corresponding to the temporary distance. includes

The step of setting the operation mode is characterized by setting an operation mode for reducing the resolution when the distance to the object is short, and setting an operation mode for increasing the resolution when the distance to the object is long. .

The calculating of the distance to the object may include calculating the distance to the object in response to a difference between the transmission time of the transmission signal in which light is irradiated from the transmission unit and the reception time of the reception signal in which light is received. to be characterized

The operating with the changed resolution may include activating at least some of the plurality of light sources and the plurality of photodiodes in response to the operation mode.

The operating with the changed resolution may include activating 1/4 of the plurality of light sources and the plurality of photodiodes in a first mode among the operation modes, and activating 1/4 of the plurality of light sources and the plurality of photodiodes in a second mode. 1/3 is activated, 1/2 of the plurality of light sources and the plurality of photodiodes are activated in the third mode, and the plurality of light sources and the plurality of photodiodes are activated in the fourth mode. .

The operating with the changed resolution may include activating the plurality of light sources and the plurality of photodiodes forming an arrangement structure of N rows and M columns in a row or column unit in correspondence with the operation mode.

According to one aspect, the lidar device and method of the present invention eliminate unnecessary operations and variably control the operation by changing the resolution of the transmitter and the receiver when the lidar apparatus detects an object and measures the distance. can be optimized.

According to one aspect of the present invention, by optimizing the operation of the lidar device, it is possible to reduce noise by reducing heat generation and power consumption, and to reduce computational load by converting data throughput.

The present invention has an effect of improving object sensing performance by changing the resolution according to the distance to the object.

1 is a diagram showing the configuration of a lidar device according to an embodiment of the present invention.
2 is a diagram showing an arrangement of a lidar device according to an embodiment of the present invention.
3 is a diagram referenced to describe an operation mode of a lidar device according to an embodiment of the present invention.
4 is a flowchart illustrating a method of operating a lidar device according to an embodiment of the present invention.
5 is a reference diagram for explaining an activation state for each operation mode of a lidar apparatus according to an embodiment of the present invention.
6 is a diagram referenced to explain a method for detecting an object of a lidar device according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

1 is a diagram showing the configuration of a lidar device according to an embodiment of the present invention.

As shown in FIG. 1, the lidar device includes a transmitter 141, a receiver 142, a drive unit 120, a signal conversion unit (TDC) 130, and a control unit 110.

LIDAR (Light Detection And Ranging) 10 detects the presence or absence of the object 50 by irradiating light on the object 50, which is a sensing target, and uses the time when the light is reflected and returned to distance the object 50. to measure

The transmitter 141 radiates light through a plurality of light sources including a plurality of light sources. Light irradiated from the transmitter 141 is reflected by the object 50 and incident to the receiver 142 .

The transmitter 141 is composed of a plurality of light sources in an NxM array.

The receiving unit 142 includes a plurality of photodiodes to detect incident light and detects the presence or absence of the object 50 using the detected light.

The receiver 142 includes a plurality of photodiodes in an NxM array.

The driving unit 120 controls driving of the transmitting unit 141 and the receiving unit 142 in response to a control command from the control unit 110 . The driving unit 120 causes some or all of the arrays of the transmitting unit 141 and the receiving unit 142 to operate.

When the operation mode of the LIDAR 10 is set by the control unit 110, the driving unit 120 controls at least a part of the array structure of the transmitting unit 141 and the receiving unit 142 to operate accordingly.

The driving unit 120 controls driving of the transmitting unit 141 and the receiving unit 142 to one of 1/4, 1/3, 1/2, and all of the array. The driving unit 120 can also control 1/5, 1/6, and 1/10 arrays to operate according to the number of operation modes to be set.

The driving unit 120 may control an operation based on a row or column in the array structure of the transmitting unit 141 and the receiving unit 142 .

The driving unit 120 controls the activation positions of the transmitter 141 and the receiver 142 to be the same. For example, when 1/2 of the transmission unit 141 operates, the driving unit 120 also causes the 1/2 of the reception unit 142 to operate. In addition, when the first column of the transmitter 141 operates, the driver 120 controls the first column of the receiver 142 to operate as well.

The driving unit 120 may designate an area for a plurality of photodiodes in an array structure to control operation in units of areas. The driving unit 120 may divide the array structure of photodiodes by the number of operation modes to control operation after classifying regions. For example, after dividing a plurality of photodiodes into 1/4 areas, it is possible to control the operation of the upper left, upper right, lower left, and lower right areas for each area.

The signal conversion unit 130 converts the signal in a Time to Digital Converter (TDC) method. In some cases, the signal conversion unit 130 may also convert a signal using an analog to digital converter (ADC) method. An analog-to-digital converter (ADC) method converts an analog signal into a digital signal and measures the strength of the signal.

The signal conversion unit (TDC) 130 measures the time required from the time when light is transmitted from the transmission unit 141 to the time when light is incident on the reception unit 142 and applies it to the control unit 110. That is, the signal conversion unit 130 measures the difference (Δt) between the transmission time and the reception time and applies it to the control unit 110.

The control unit 110 sets an operation mode for the LIDAR 10 and applies a control command to the driving unit 120 .

The control unit 110 calculates the distance to the object 50 based on data input from the signal conversion unit 130 .

The control unit 110 sets the operation mode of the LIDAR 10 according to the distance of the object 50 to be sensed, and variably controls the resolution of the LIDAR.

The controller 110 sets the transmitter 141 and the receiver 142 to operate at a low resolution when an object is located at a short distance.

By changing, power consumption is reduced by operating at a low resolution while detecting an object when the object is located at a short distance.

The controller 110 temporarily calculates the distance to the object based on the initial measurement value, and sets an operation mode corresponding to the temporarily calculated distance.

The control unit 110 calculates the distance to the object 50 based on the input of the difference (Δt) between the transmission time and the reception time from the signal conversion unit 130, that is, the required time.

After setting the operation mode, the controller 110 finally calculates the distance to the object 50 and outputs information about it. The controller 110 may repeatedly calculate the distance at regular intervals in response to the movement of the lidar device or object 50 and output data for it.

For example, the controller 110 may transmit information about the distance of the object 50 to the main controller of the vehicle when the lidar device is installed in the vehicle.

2 is a diagram showing an arrangement of a lidar device according to an embodiment of the present invention.

The transmitter 141 and the receiver 142 are configured in an array structure.

As shown in (a) of FIG. 2, the transmitting unit 141 is composed of a plurality of light sources (LD, Light Diode) in an NxM array.

The transmitter 141 is composed of an LD array in which light sources are arranged in N rows and M columns.

The driver 120 causes some columns or some rows to operate for N rows or M columns of the transmitter 141 according to an operation mode.

Corresponding to the operation mode, the transmission unit 141 operates some or all of the N rows or M columns by the driving unit 120 so that light sources provided in each column or each row emit light.

As shown in (b) of FIG. 2 , the receiver 142 includes a plurality of photodiodes (PDs) in an NxM array.

In the receiver 142, photodiodes PDs are arranged in N rows and M columns to form a PD array.

With respect to N rows or M columns of the receiver 142 of the driver 120, some columns or some rows are operated according to the operation mode.

In the receiver 142, a photodiode at a position corresponding to an activated position in the transmitter 141 operates. The transmitter 141 and the receiver 142 are activated in a one-to-one symmetrical structure.

Corresponding to the operation mode of the receiving unit 142, some or all of the N rows or M columns are operated by the driving unit 120 so that light sources provided in each column or each row emit light.

3 is a diagram referenced to describe an operation mode of a lidar device according to an embodiment of the present invention.

As shown in Figure 3, the controller 110 sets the operation mode of the LIDAR (10).

When the LIDAR is operating, the control unit 110 operates in an initial mode and then sets an operation mode based on the temporary distance measured in the initial mode.

The control unit 110 controls the driving unit 120 so that the entire LIDAR array operates in the initial mode, sets an operation mode corresponding to the distance calculated in the initial mode, and applies a control command to the driving unit 120. do.

The control unit 110 divides into a plurality of sections based on the maximum measurable distance, and then sets an operation mode of the LIDAR 10 according to each section.

For example, the controller 110 sets the first to fourth sections D1 to D4 by dividing the maximum distance into equal intervals D, and sets the operation mode corresponding to the section corresponding to the distance calculated in the initial mode. Set up.

In addition, the controller 110 may set the interval to be differentiated according to the interval. The controller 110 may also set the distance wider as the distance increases or set the distance wider as the distance increases.

The controller 110 selects the first mode when the distance in the initial mode corresponds to the first section D1, the second mode when the distance corresponds to the second section D2, and the third mode when the distance corresponds to the third section D3. And, if it corresponds to the fourth period (D4), the operation mode is set to the fourth mode.

The driving unit 120 controls the operation of the transmitting unit 141 and the receiving unit 142 in response to the operation mode set by the control unit 110 .

The driver 120 causes the 1/4 array of the transmitter 141 and the receiver 142 to operate in the first mode, and the 1/3 array of the transmitter 141 and the receiver 142 to operate in the second mode, In the third mode, the 1/2 array of the transmitter 141 and receiver 142 operates, and in the fourth mode, the entire array of transmitter 141 and receiver 142 operates.

Accordingly, the transmitter 141 and the receiver 142 operate at least some of the arrays corresponding to the operation mode to irradiate light, and when the light reflected by the object 50 is incident to the receiver 142, a corresponding signal is generated. print out

The signal conversion unit 130 measures the transmission time of the transmission unit 141 and the reception time of the reception unit 142, respectively, calculates the difference, and applies the difference to the control unit 110.

The controller 110 calculates the distance of the object 50 corresponding to the difference between the transmission time and the reception time.

4 is a flowchart illustrating a method of operating a lidar device according to an embodiment of the present invention.

As shown in FIG. 4, the control unit 110 applies a control command so that the LIDAR 10 operates in an initial mode, and the driving unit 120 responds to the control command to the transmission unit 141 and the reception unit ( 142) is operated.

The driving unit 120 controls the entire array of the transmitting unit 141 and the receiving unit 142 to operate in the initial mode.

The transmission unit 141 irradiates light by operating the LD array of N rows and M columns. The transmitter 141 irradiates light by operating each light source x times per second.

The receiving unit 142 receives the incident light as the light irradiated from the transmitting unit 141 is reflected on the object 50 and outputs a signal corresponding thereto to the signal conversion unit 130 . The receiver 142 senses incident light from a plurality of photodiodes constituting the PD array of N rows and M columns.

The signal conversion unit 130 calculates the transmission time, the reception time, and the difference, and applies the calculation to the control unit 110.

While the transmitter 141 emits light x times per second, the controller 110 calculates the distance to the object 50 based on the transmission time, reception time, and difference for the light irradiated n times (S310).

The controller 110 determines whether the distance calculated in the initial mode corresponds to the first section D1 (S320), and sets the operation mode to the first mode if the distance corresponds to the first section D1.

The driving unit 120 controls a 1/4 array among arrays of the transmitting unit 141 and the receiving unit 142 to operate in the first mode (S330).

The controller 110 determines whether the calculated distance corresponds to the second section D2 (S340), and sets the operation mode to the second mode when the calculated distance corresponds to the second section D2.

The driving unit 120 controls the 1/3 array of the transmitting unit 141 and the receiving unit 142 to operate in the second mode (S350).

In addition, the controller 110 determines whether the calculated distance corresponds to the third section D3 (S360), and sets the operation mode to the third mode when it corresponds to the third section D3.

The driving unit 120 controls the 1/2 array of the transmitting unit 141 and the receiving unit 142 to operate in the third mode (S370).

When the calculated distance does not correspond to the first to third intervals D1 to D3, the controller 110 determines the fourth interval D4 and sets the operation mode to the fourth mode.

The driving unit 120 controls the entire array of the transmitting unit 141 and the receiving unit 142 to operate in response to the operation mode set by the control unit 110 (S380).

Accordingly, the LIDAR is released from the initial mode and operates in the set operation mode.

The signal conversion unit 130 converts the signal applied through the receiver 142 into TDC and applies it to the control unit.

The controller 110 calculates the distance of the sensed object 50 based on the transmission time, the reception time, and the difference (S390).

A car, drone, or robot cleaner in which a lidar device is installed changes a driving path based on a distance between the object 50 detected by the lidar device and prevents collision with the object 50.

5 is a reference diagram for explaining an activation state for each operation mode of a lidar device according to an embodiment of the present invention.

In the LIDAR 10, at least a portion of light sources or photodiodes having an array structure are activated in response to an operation mode.

As shown in (a) of FIG. 5 , in the first mode, the transmitter 141 and the receiver 142 emit and receive light as the 1/4 array is activated.

The driver 120 controls the first column, the fourth column, and the ninth column of the transmitter 141 and the receiver 142 to be activated in the second mode.

The transmitter 141 and the receiver 142 operate at a resolution of 1/4 of the full resolution in the first mode.

The driver 120 controls the first column, the fifth column, and the ninth column of the transmitter 141 and the receiver 142 to be activated in the first mode.

As shown in (b) of FIG. 5 , in the second mode, the transmitter 141 and the receiver 142 emit and receive light with the 1/3 array activated.

The driver 120 controls the first column, the fourth column, and the ninth column of the transmitter 141 and the receiver 142 to be activated in the second mode.

The LIDAR 10 operates at a resolution of 1/3 of the full resolution in the second mode.

As shown in (c) of FIG. 5, in the third mode, the transmitter 141 and the receiver 142 emit and receive light with the 1/2 array activated.

The driving unit 120 controls the first column, the third column, the fifth column, the seventh column, and the ninth column of the transmitter 141 and the receiver 142 to be activated in the third mode.

The LIDAR 10 operates at a resolution of 1/2 of the full resolution in the third mode.

As shown in (d) of FIG. 5 , in the fourth mode, the transmitter 141 and the receiver 142 activate the entire array to emit and receive light.

The driver 120 controls columns 1 to M or columns 1 to N of the transmitter 141 and the receiver 142 to be activated in the fourth mode.

The LIDAR 10 operates at full resolution in the fourth mode.

6 is a diagram referenced to explain a method for detecting an object of a lidar device according to an embodiment of the present invention.

As shown in (a) of FIG. 6, in the first mode, the transmitter 141 and the receiver 142 operate at 1/4 resolution.

As the 1/4 array operates, the LIDAR 10 emits light at a first angle A1 based on the entire FOV (A0).

At this time, when the object 50 is located at the first position 51, the distance to the lidar 10 is short and the distance between the light sources is short, so the object 50 at the first position 51 is sensed.

On the other hand, when the object 50 is located at the second position 52, the FOV of the LIDAR 10 is the first angle A1, but the LIDAR 10 Since the distance between the light sources increases as the distance increases, the light source at the second position 52 does not detect the object.

As shown in (b) of FIG. 6, in the third mode, the transmitter 141 and the receiver 142 operate at 1/2 resolution.

As the 1/2 array operates, the LIDAR 10 emits light at a second angle A2 based on the entire FOV (A0).

When the object 50 is located at the first position 51, the distance to the lidar 10 is short and the distance between the light sources is short, so the object 50 at the first position 51 is sensed.

When the object 50 is located at the second position 52, the FOV of the transmission signal is the same as the second angle A2, and the distance from the LIDAR 10 increases. Accordingly, since the distance between the light sources becomes closer in the first mode, the object at the second position 52 can be sensed.

After calculating the temporary distance through the initial mode, the control unit 110 reduces the resolution of the LIDAR 10 when the distance to the object 50 is short, and sets the resolution high as the distance increases, (LIDAR) 10 to operate.

The control unit 110 changes the resolution of the LIDAR 10 according to the distance of the object 50 to be detected, so that when the object is located at a short distance, power consumption is reduced while detecting the object as it operates at a low resolution.

As the resolution of the LIDAR 10 decreases, power consumption decreases, and thus heat generation also decreases. In addition, since noise due to heat generation can be reduced and the number of operating light sources and photodiodes decreases, the amount of calculation also decreases.

Accordingly, the present invention can variably control the resolution of the LIDAR 10 according to the distance to optimize the operation of the transmitter and receiver and improve object recognition performance while solving problems caused by heat and noise.

Although the present invention has been described with reference to the embodiments shown in the drawings, it should be noted that this is only exemplary and various modifications and equivalent other embodiments are possible from those skilled in the art in the art to which the technology pertains. will understand Therefore, the true technical protection scope of the present invention should be defined by the claims below.

10: LIDAR 50: object
110: control unit 120: driving unit
130: signal conversion unit
141: transmitter 142: receiver

Claims (17)

a transmitting unit in which a plurality of light sources are formed in an array structure to emit light to an object to be sensed;
a receiving unit in which a plurality of photodiodes are formed in an array structure to receive light reflected and incident on the object;
a driving unit controlling the transmission unit and the reception unit to operate in designated operation modes;
a signal conversion unit measuring a signal transmission time of the transmission unit and a signal reception time of the reception unit; and
When the object is detected based on the received signal of the receiving unit, the operation mode is set to variably control the resolution of the transmitting unit and the receiving unit, and the distance to the object corresponding to the transmission time and the reception time of the signal conversion unit A control unit that calculates; Lidar device comprising a. According to claim 1,
LiDAR device, characterized in that the driving unit causes at least a portion of the plurality of light sources and the plurality of photodiodes to be activated in response to the operation mode. According to claim 2,
The driver causes the plurality of light sources and 1/4 of the plurality of photodiodes to be activated in a first mode;
In a second mode, 1/3 of the plurality of light sources and the plurality of photodiodes are activated;
In a third mode, 1/2 of the plurality of light sources and the plurality of photodiodes are activated;
A LiDAR device characterized in that in the fourth mode, the plurality of light sources and the plurality of photodiodes are activated. According to claim 1,
The transmitting unit forms an array structure of N rows and M columns of the plurality of light sources,
The receiving unit lidar device, characterized in that the plurality of photodiodes form an array structure of N rows M columns. According to claim 2,
LiDAR device, characterized in that the driving unit activates the plurality of light sources and the plurality of photodiodes in column units of an array structure in response to the operation mode. According to claim 2,
LiDAR device, characterized in that the driving unit activates the plurality of light sources and the plurality of photodiodes row by row in an array structure in response to the operation mode. According to claim 1,
The control unit detects the object by operating the transmitter and the receiver in an initial mode in which the plurality of light sources and the plurality of photodiodes operate,
LiDAR device, characterized in that the resolution of the transmitting unit and the receiving unit is changed by setting the operation mode according to the temporary distance calculated in the initial mode. According to claim 7,
The control unit corresponds to the temporary distance to reduce the resolution when the distance to the object is short, LiDAR device characterized in that to increase the resolution when the distance to the object is long. According to claim 1,
The signal conversion unit calculates a difference between the transmission time in which light is irradiated from the transmission unit and the reception time in which light is received by the reception unit, and applies it to the control unit;
The controller is a lidar device, characterized in that for calculating the distance to the object in response to the difference, which is the time the light travels. radiating light by operating a transmitter composed of a plurality of light sources;
sensing an object in response to a received signal by a receiving unit composed of a plurality of photodiodes;
setting an operation mode corresponding to the object;
corresponding to the operation mode, operating the transmitting unit and the receiving unit with a changed resolution;
measuring a signal transmission time of the transmitter and a signal reception time of the receiver; and
calculating a distance to the object corresponding to the transmission time and the reception time; Method of operating a lidar device comprising a. According to claim 10,
Before the step of setting the operation mode,
The method of operating a lidar device, characterized in that the transmitting unit and the receiving unit operate in an initial mode in which both the plurality of light sources and the plurality of photodiodes operate. According to claim 10,
The step of setting the operation mode,
calculating a temporary distance to the object; and
setting an operation mode to one of a first mode to a fourth mode in response to the temporary distance; Method of operating a lidar device comprising a. According to claim 10,
The step of setting the operation mode,
When the distance to the object is short, the operation mode for reducing the resolution is set, and when the distance to the object is long, the operation mode for increasing the resolution is set. According to claim 10,
Calculating the distance to the object,
Method of operating a lidar device, characterized in that for calculating the distance to the object in response to the difference between the transmission time of the transmission signal to which light is irradiated from the transmission unit and the reception time of the reception signal to which light is received. According to claim 10,
The step of operating with the changed resolution
Corresponding to the operation mode, the operating method of the LiDAR device, characterized in that for activating at least a portion of the plurality of light sources and the plurality of photodiodes. According to claim 15,
The step of operating with the changed resolution
Among the operation modes, in a first mode, the plurality of light sources and 1/4 of the plurality of photodiodes are activated;
1/3 of the plurality of light sources and the plurality of photodiodes are activated in a second mode;
In a third mode, 1/2 of the plurality of light sources and the plurality of photodiodes are activated;
A method of operating a LiDAR device, characterized in that the plurality of light sources and the plurality of photodiodes are activated in the fourth mode. According to claim 15,
The step of operating with the changed resolution
For the plurality of light sources and the plurality of photodiodes forming an array structure of N rows and M columns,
Corresponding to the operation mode, a method of operating a lidar apparatus, characterized in that activated in a row or column unit.

Images