WO2016047847A1

WO2016047847A1 - Lidar system

Info

Publication number: WO2016047847A1
Application number: PCT/KR2014/010108
Authority: WO
Inventors: 정영대; 이종원
Original assignee: 한화테크윈 주식회사
Priority date: 2014-09-22
Filing date: 2014-10-27
Publication date: 2016-03-31
Also published as: KR20160034719A

Abstract

A lidar system comprises: a base; a rotation part rotatably connected to the base on one side thereof; a support part for rotatably supporting the other side of the rotation part from the base; a light generation part for radiating light from the base toward the rotation part; an optical part for outwardly guiding the light from the light generation part, the optical part being installed in the rotation part; a reception part for receiving reflected light entering the rotation part and converting the reflected light into an electrical signal; a signal transmission part for transmitting a signal to the reception part, the signal transmission part being installed between the other side of the rotation part and the support part so as to rotatably support the rotation part; a wiring part for electrically connecting the base and the signal transmission part to each other, the wiring part being installed in the support part; a driving part for rotating the rotation part; and a control unit for controlling the light generation part, the driving part, and the reception part, the control unit being installed in the base and electrically connected to the light generation part, the driving part, and the wiring part.

Description

Lidar systems

Embodiments relate to a lidar system, and more particularly, to a lidar system having a compact design by reducing the size and weight of a rotating part for emitting light.

The LIDAR system (Light Detection And Ranging System) is a system that can irradiate a laser toward a target and detect the distance, direction, speed, temperature, material distribution and concentration characteristics to an object.

Lidar system has been utilized for the purpose of weather observation and distance measurement, etc. Recently, it has been studied for techniques for weather observation using satellite, driverless robot sensor, driverless driving vehicle, and 3D image modeling.

In a rotary lidar system designed to rotate a laser emitting portion, a light source for generating a laser and a module for controlling and supplying a light source should be disposed on a rotating body that performs a rotary motion. In addition, in order to supply power to the rotor, an accessory for electrical connection between the body supporting the rotor and the rotor should be used.

In such a rotary lidar system, the overall size and weight of the rotor are greatly increased, so the compact design of the lidar system is difficult. In addition, since a large-capacity drive motor must be adopted to drive the heavy rotor, the overall size and weight of the LiDAR system are increased, making it difficult to control and increasing power consumption for driving the drive motor.

-Patent Document: US Patent 7,969,558 (June 28, 2011)

The object of the embodiments is to provide a lidar system which is compact and has improved safety.

Another object of the embodiments is to provide a lidar system in which the size and weight of the rotating part for emitting light to the outside is minimized.

Yet another object of the embodiments is to provide a lidar system of compact design by installing a light generating portion for generating light on a base supporting a rotating portion.

Yet another object of the embodiments is to provide a lidar system in which safety is improved by protecting the rotating part.

A lidar system according to an embodiment includes a base, a rotating part rotatably connected to one side of the base, a support part extending from the base to the other side of the rotating part and rotatably supporting the other side of the rotating part, and installed on the base and directed toward the rotating part. A light generating unit for emitting light, an optical unit installed in the rotating unit and guiding the light generating unit to the outside of the rotating unit, a receiving unit for receiving reflected light reflected from the outside and introduced into the rotating unit and converting the light into an electrical signal, and a rotating unit A signal transmission unit installed between the other side of the support unit and the support unit to rotatably support the rotating unit and transmitting a signal to the receiver unit, a wiring unit installed in the support unit electrically connecting the base and the signal transmission unit, and installed in the base unit A driving unit for rotating and installed in the base and electrically connected to the light generating unit, the driving unit and the wiring unit And a control unit for controlling the driving unit and the receiving unit and the biological father.

The rotating part may have a hollow rotating shaft on one side, the base may include a supporting shaft for rotatably supporting the rotating shaft, and the lidar system may further include a first bearing installed between the supporting shaft and the rotating shaft. The driving unit may generate a driving force for rotating the rotating shaft with respect to the supporting shaft.

The light generating unit may emit light toward the rotating unit through the rotation axis.

The support portion may have an upper support portion having a through hole for rotatably supporting the other side of the rotating portion, and the rotating portion may have an upper shaft rotatably inserted into the through hole of the upper support portion on the other side, and the lidar system includes an upper support portion. A second bearing disposed between the upper shaft of the rotating part may be further provided, and the signal transmission part may be inserted into a through hole passing through the center of the upper shaft and fixed to the upper support part.

The optical unit may emit light in a first direction and a second direction, and the rotating unit may include a plurality of light exit holes through which light in the first direction and the second direction passes outside the rotating unit.

The optical unit may include a prism, a first mirror disposed on one surface of the prism to reflect light in the first direction, and a second mirror disposed on the other surface of the prism to reflect light in the second direction.

The receiver may include a first receiver and a second receiver that receive reflected light incident from different directions, and the rotating unit may include a light inlet at respective positions corresponding to the first receiver and the second receiver.

A plurality of support parts may be disposed outside the rotating part to be spaced apart along the rotation direction of the rotating part, and the wiring part may be disposed on at least one of the plurality of support parts.

A lidar system according to another embodiment includes a base, a rotating part having a hollow rotating shaft on one side and rotatably coupled to the base by the rotating shaft, and disposed on the base to generate light and passing the light through the rotating shaft to the rotating part. A light generating unit for transmitting, a support unit extending from the base to the other side of the rotating unit and rotatably supporting the other side of the rotating unit, an optical unit disposed in the rotating unit and radiating the light transmitted from the light generating unit to the outside of the rotating unit, and the rotating unit It is disposed in the receiving unit for receiving the reflected light from the outside to generate an electrical signal, and is provided between the other side of the rotating portion and the support portion and a signal transmission unit for transmitting a signal to the receiving unit.

In a lidar system according to another embodiment, the base may have a support shaft rotatably supporting the rotary shaft, the lidar system having a first bearing installed between the support shaft and the rotary shaft, and the support shaft mounted on the base. A driving unit for generating a driving force for rotating the rotary shaft with respect to may be further provided.

The lidar system according to another embodiment may further include a controller installed at the base and electrically connected to the light generator, the driver, and the wiring unit to control the light generator, the driver, and the receiver.

In the LiDAR system according to the embodiments as described above, the light generating unit for generating light may be disposed on the base, thereby greatly reducing the number and volume of components included in the rotating unit. In addition, since the light generating unit can be disposed on the base, the weight of the rotating unit can be reduced, thereby reducing the size and power consumption of the driving unit necessary for driving the rotating unit. In addition, since the support part which transmits an electric signal to the rotating part while rotatably supporting the rotating part surrounds the rotating part and protects the rotating part, safety can be improved.

1 is a perspective view of a lidar system according to one embodiment.

FIG. 2 is a perspective view of a cut away portion of the lidar system of FIG. 1. FIG.

3 is a cross-sectional view of the lidar system of FIG. 1.

4 is a perspective view of some components of the lidar system of FIG. 1.

FIG. 5 is a conceptual diagram schematically illustrating an operation of an optical unit of the lidar system of FIG. 1.

FIG. 6 is a block diagram schematically illustrating a relationship between components of the lidar system of FIG. 1.

Hereinafter, with reference to the embodiments of the accompanying drawings, the configuration and operation of the lidar system according to the embodiments will be described in detail. The expression 'and / or' as used in the description refers to one or a combination of elements.

1 is a perspective view of a lidar system according to one embodiment, FIG. 2 is a perspective view showing a portion of the lidar system of FIG. 1 cut away, and FIG. 3 is a cross-sectional view of the lidar system of FIG.

The lidar system according to the embodiment illustrated in FIGS. 1 to 3 includes a rotating part 20 to which one side 20a is rotatably connected to the base 10 and the base 10, and the rotating part 20 on the base 10. And a support part 30 which rotatably supports the other side 20b of the rotating part 20 and extends to the other side 20b of the rotating part 20, and is installed in the base 10 to emit light toward the rotating part 20. The light generating unit 40 and the optical unit 50 installed in the rotating unit 20 to guide the light from the light generating unit 40 to the outside of the rotating unit 20 and the rotating unit 20 are disposed outside A receiver 60 for receiving the reflected light from the light generator to generate an electric signal, and a signal transmitter 70 installed at a connection portion of the supporter 30 of the rotating unit 20 to transmit a signal to the receiver 60. do.

The support unit 30 may be provided with a wiring unit 80 that electrically connects the base 10 and the signal transmission unit 70. As the wiring unit 80, a copper wire or an optical fiber for transmitting an optical signal may be used.

The base 10 may be provided with a driving unit 90 for generating a driving force for rotating the rotating unit 20. In addition, the control unit 100 may be installed in the base 10. The controller 100 is electrically connected to the light generator 40, the driver 90, and the wiring unit 80 to control each of the light generator 40, the driver 90, and the receiver 60. Can be.

2 and 3, the rotating unit 20 includes a hollow rotating shaft 21 on one side 20a. The rotating shaft 21 has a center hole 21a through which light generated by the light generating portion 40 passes. The base 10 includes a support shaft 11 surrounding the rotation shaft 21 to rotatably support the rotation shaft 21. Since the first bearing 17 is installed between the support shaft 11 and the rotation shaft 21, the rotation shaft 21 may rotate with respect to the support shaft 11.

The driving unit 90 may include a stator 91 fixed to the support shaft 11 and a rotor 92 fixed to the rotation shaft 21. The driving unit 90 may be, for example, a brushless direct current motor (BLDC motor), and the embodiment is not limited by the type of motor used in the driving unit 90, and thus various types of motors. Using the driving unit 90 can be implemented. The driving unit 90 may rotate the rotary shaft 21 with respect to the support shaft 11 by operating by a control signal transmitted from the controller 100.

The light generating unit 40 passes through the rotating shaft 21 to emit light toward the rotating unit 20. The light generator 40 may generate a pulsed laser by operating by a control signal transmitted from the controller 100.

The support part 30 may be manufactured in a tubular shape having a circular cross section or a polygonal cross section. One end 30a of the support 30 is connected to the base 10, and an upper support 30b for rotatably supporting the other side 20b of the rotating unit 20 is installed at the other end of the support 30. do.

Referring to FIG. 1, the support part 30 may include a plurality of

support parts

31, 32, and 33 spaced apart from each other along the rotation direction of the rotation part 20. The number of

supports

31, 32, 33 is not limited to three as shown in FIG. 1, and a larger number may be installed, or two or only one may be installed. The support unit 30 may perform a function of mechanically and electrically connecting the base 10 and the rotating unit 20, and may also perform a function of rotatably connecting the rotating unit 20.

In addition, the support unit 30 may function as a skeleton to surround the rotating unit 20 to protect the rotating unit 20 from external impact. As the rotating unit 20 rotates, the light radiated to the rotating unit 20 to the outside hits an external object, and the reflected reflected light enters the rotating unit 20 again. In the process of radiating the light from the rotating part 20, the support part 30 may block the path of the light or the reflected light, but in this case, since the measurement may be performed by the proximity signal due to the divergent irradiation angle of the laser, the area of the sound region may be generated. I never do that.

In FIG. 2, the wiring unit 80 is disposed only on one support unit 31 of the three

support units

31, 32, and 33, and the embodiment is not limited to the arrangement of the wiring unit 80 and is required. Accordingly, the wiring unit 80 may be disposed on or partially disposed on all of the

support units

31, 32, and 33.

2 and 3, the upper support part 30b includes a through hole 38 rotatably supporting the other side 20b of the rotating part 20. The rotating part 20 has an upper shaft 28 which is rotatably inserted into the through hole 38 of the upper support part 30b. Since the second bearing 37 is installed between the upper shaft 28 and the through hole 38 of the rotating part 20, the upper support part 30b may rotatably support the rotating part 20.

A sealing ring 39 may be installed between the outer edge of the upper support part 30b and the rotating part 20. The sealing ring 39 maintains the sealing state of the connection portion between the upper support part 30b and the rotating part 20 while the rotating part 20 is rotated, so that foreign matters from the inside of the rotating part 20 and the upper support part 30b are retained. It performs a function to prevent intrusion into the inside.

The upper shaft 28 of the other side 20b of the rotating unit 20 and the rotating shaft 21 of one side 20a of the rotating unit 20 may be installed to be aligned along the rotation center axis C of the rotating unit 20. .

The signal transmission unit 70 is rotatably inserted into the through hole 28a of the upper shaft 28 and fixed to the upper support unit 30b. The signal transmission unit 70 rotatably supports the upper shaft 28, and at the same time, an electrical signal is transmitted between the upper shaft 28 and the signal transmission unit 70 while the rotation unit 20 rotates. Can be.

In the signal transmission unit 70, a slip ring for rotatably connecting mechanical elements and transmitting an electrical signal may be used. An end portion of the wiring unit 80 disposed on the support unit 30 is electrically connected to the signal transfer unit 70.

4 is a perspective view illustrating some components of the lidar system of FIG. 1, and FIG. 5 is a conceptual diagram schematically illustrating operation of an optical unit of the lidar system of FIG. 1.

The optical unit 50 is disposed inside the rotating unit 20. The optical unit 50 serves to guide the light transmitted from the light generating unit 40 of the base 10 to the outside of the rotating unit 20.

The optical unit 50 includes a prism 51, a first mirror 52 disposed on one surface of the prism 51 (corresponding to a right side surface of the prism of FIG. 5), and the other surface of the prism 51 (of the prism of FIG. 5). The second mirror 52 disposed on the left side).

The prism 51, the first mirror 52, and the second mirror 52 are supported by the optical frame 53 and are positioned at positions corresponding to the center hole 21a of the rotation shaft 21 of the rotating unit 20. Is placed.

Referring to FIG. 5, the prism 51 of the optical unit 50 and the first mirror 52 on the right side reflect the light transmitted from the light generating unit 40 in the left direction (first direction) to rotate the rotating unit 20. Emits light L1 to the outside. In addition, the prism 51 and the second mirror 52 on the left side reflect the light transmitted from the light generator 40 in the right direction (the second direction) to emit light L2 to the outside of the rotating unit 20. Radiate. The rotating unit 20 includes a light outlet 35 for passing the light in the first direction and the second direction to the outside of the rotating unit 20.

Referring to FIGS. 3 and 6, the receiver 60 receives the reflected light flowing into the rotating unit 20 from the outside, and the converter unit converts the light of the lens unit 61 into electrical signals. 62 is provided. The converting unit 62 converts the image light into an electrical signal. For example, the conversion unit 62 generates an electrical signal representing an image of a space by using a charge coupled device (CCD) or an electrical signal representing a distance. A signal may be generated, or an electrical signal representing a speed of wind or the like may be generated.

The rotating unit 20 includes a light inlet 36 at a position corresponding to the receiving unit 60 so as to pass light reflected from the outside and introduced into the rotating unit 20. A plurality of receivers 60 may be disposed in the rotating unit 20.

Referring to FIG. 4, an example in which two receivers are arranged is shown. Each of the first receiver 60a and the second receiver 60b includes

lens sections

61a and 61b and

converters

62a and 62b. The first receiver 60a and the second receiver 60b perform a function of receiving the reflected light incident on the rotating unit 20 in different directions and converting the reflected light into an electrical signal. When two receiving units are disposed, the rotating unit 20 may include the light inlets 36 at positions corresponding to each of the first receiving unit 60a and the second receiving unit 60b.

Referring to FIG. 6, the controller 100 is electrically connected to each of the driver 90, the light generator 40, and the receiver 60, and the driver 90, the light generator 40, The operation of the receiver 60 may be controlled.

The controller 100 receives signals from the drive controller 101 for controlling the driver 90, the light emission controller 102 for controlling the light generator 40, and the converter 62 of the receiver 60. A signal processing unit 104 for receiving and processing, and an analysis unit 103 for analyzing the electrical signal transmitted from the receiving unit 60 may be provided. The controller 100 may be implemented in various forms such as, for example, a circuit board including a semiconductor chip and a circuit, a circuit or software embedded in a semiconductor chip, or software that can be executed in a computer.

In the lidar system of the above-described configuration, the support portion rotatably supports the rotating portion and transmits an electrical signal to the rotating portion. Therefore, since the light generating unit generating light can be disposed on the base, the number and volume of components included in the rotating unit can be greatly reduced.

The configuration and effects of the above-described embodiments are merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the invention should be defined by the appended claims.

Embodiments relate to a LIDAR system (Light Detection And Ranging System) capable of irradiating a laser toward a target and detecting distance, direction, speed, temperature, mass distribution and concentration characteristics to an object. It can be applied to weather observation using, unmanned robot sensor, driverless car, and 3D image modeling.

Claims

Base;

A rotating part rotatably connected to one side of the base;

A support part extending from the base to the other side of the rotating part and rotatably supporting the other side of the rotating part;

A light generating unit installed at the base and emitting light toward the rotating unit;

An optical unit installed in the rotating unit and guiding light of the light generating unit toward an outer side of the rotating unit;

A receiver which receives the reflected light reflected from the outside and introduced into the rotating unit and converts the reflected light into an electric signal;

A signal transmission unit installed between the other side of the rotation unit and the support unit to rotatably support the rotation unit and to transmit a signal to the reception unit;

A wiring part installed at the support part to electrically connect the base and the signal transmission part;

A driving unit installed at the base to rotate the rotating unit; And

And a control unit installed at the base and electrically connected to the light generating unit, the driving unit, and the wiring unit to control the light generating unit, the driving unit, and the receiving unit.
The method of claim 1,

The rotating unit has a hollow rotating shaft on the one side, the base has a support shaft for rotatably supporting the rotating shaft,

The lidar system further includes a first bearing installed between the support shaft and the rotation shaft,

And the drive unit generates a driving force for rotating the rotary shaft about the support shaft.
The method of claim 2,

And the light generating unit radiates light toward the rotating unit through the rotating shaft.
The method of claim 1,

The support portion has an upper support having a through hole for rotatably supporting the other side of the rotating part, the rotating portion has an upper shaft rotatably inserted into the through hole of the upper support on the other side,

The lidar system further comprises a second bearing disposed between the upper support and the upper shaft of the rotary part,

And the signal transmission portion is inserted into a through hole passing through the center of the upper shaft and fixed to the upper support portion.
The method of claim 1,

Wherein said optical portion emits light in a first direction and a second direction, and said rotating portion includes a plurality of light exits through which light in said first direction and said second direction passes outwardly of said rotating portion.
The method of claim 5,

The optical unit includes a prism, a first mirror disposed on one surface of the prism to reflect light in the first direction, and a second mirror disposed on the other surface of the prism to reflect light in the second direction, Lidar system.
The method of claim 1,

The receiver includes a first receiver and a second receiver for receiving reflected light incident from different directions, and the rotating unit includes light inlets at respective positions corresponding to the first receiver and the second receiver. Is system.
The method of claim 1,

And a plurality of the support parts are disposed on the outside of the rotating part so as to be spaced apart along the rotation direction of the rotating part, and the wiring part is disposed on at least one of the plurality of the supporting parts.
Base;

A rotating part having a hollow rotating shaft on one side and rotatably coupled to the base by the rotating shaft;

A light generating unit disposed on the base to generate light, and transmitting light to the rotating unit through the rotating shaft;

A support part extending from the base to the other side of the rotating part and rotatably supporting the other side of the rotating part;

An optical part disposed in the rotating part and emitting light transmitted from the light generating part to the outside of the rotating part;

A receiver disposed in the rotating unit and configured to receive reflected light introduced from the outside to generate an electric signal; And

And a signal transmission unit installed between the other side of the rotating unit and the support unit to transmit a signal to the reception unit.
The method of claim 9,

A plurality of support parts are disposed on the outside of the rotating part to be spaced apart along the rotation direction of the rotating part,

And the lidar system further comprises a wiring portion disposed on at least one of the plurality of support portions to electrically connect the base and the signal transmission portion.
The method of claim 10,

The base has a support shaft for rotatably supporting the rotating shaft,

The lidar system includes a first bearing installed between the support shaft and the rotation shaft; And a driving unit installed at the base to generate a driving force for rotating the rotating shaft with respect to the supporting shaft.
The method of claim 11,

And a control unit installed in the base and electrically connected to the light generating unit, the driving unit, and the wiring unit to control the light generating unit, the driving unit, and the receiving unit.
The method of claim 9,

The support portion has an upper support having a through hole for rotatably supporting the other side of the rotating part, the rotating portion further includes an upper shaft rotatably inserted into the through hole of the upper support on the other side,

The lidar system further comprises a second bearing disposed between the upper support and the upper shaft of the rotary part,

And the signal transmission part is inserted into a through hole passing through the center of the upper shaft and fixed to the upper support part.
The method of claim 9,

Wherein said optical portion emits light in a first direction and a second direction, and said rotating portion includes a plurality of light exits through which light in said first direction and said second direction passes outwardly of said rotating portion.
The method of claim 14,

The optical unit includes a prism, a first mirror disposed on one surface of the prism to reflect light in the first direction, and a second mirror disposed on the other surface of the prism to reflect light in the second direction, Lidar system.
The method of claim 9,

The receiver includes a first receiver and a second receiver for receiving reflected light incident from different directions, and the rotating unit includes light inlets at respective positions corresponding to the first receiver and the second receiver. Is system.