WO2017204459A1 - Appareil optique lidar ayant une structure améliorée - Google Patents

Appareil optique lidar ayant une structure améliorée Download PDF

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Publication number
WO2017204459A1
WO2017204459A1 PCT/KR2017/003885 KR2017003885W WO2017204459A1 WO 2017204459 A1 WO2017204459 A1 WO 2017204459A1 KR 2017003885 W KR2017003885 W KR 2017003885W WO 2017204459 A1 WO2017204459 A1 WO 2017204459A1
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Prior art keywords
optical
light
laser
unit
lidar
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PCT/KR2017/003885
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English (en)
Korean (ko)
Inventor
조성주
Original Assignee
(주) 정상라이다
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Priority claimed from KR1020160088748A external-priority patent/KR20170134945A/ko
Application filed by (주) 정상라이다 filed Critical (주) 정상라이다
Publication of WO2017204459A1 publication Critical patent/WO2017204459A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the present invention relates to lidar optics, and more particularly to an improved structure of lidar optics.
  • LIDAR Light Detection and Ranging
  • the rider which has been continuously developed for earth science and space exploration, is now used on aircraft and satellites as the primary means for precise earth topography and environmental observations. Lidar is also used in space stations, spacecraft docking systems, and space exploration robots.
  • LIDAR is a key technology for lasers for 3D image reconstruction and 3D image sensors for future driverless vehicles, including a simple type of lidar for remote distance measurement on the ground and cracking down on automobile speed violations. As they are utilized, their utility and importance are increasing.
  • the lidar optical device is composed of a separate type consisting of a separate system in which the transmitting and receiving optical devices are separated.
  • Separate lidar system is composed of separate system of transmitting optical device and receiving optical device, so there is a lack of stability and blind spots, and the receiving optical device becomes excessively large when the output of transmission beam is lowered. There was this.
  • the present invention has been made in response to the foregoing background, and relates to an improved structure of a transceiver integrated lidar optics.
  • a first aspect of the embodiments of the present invention for solving the above problems is, the light transmitting unit for generating a laser, irradiating the generated laser; An optical receiver focusing an optical signal scattered from the target; An optical sensing unit sensing an optical signal focused by the optical receiving unit; And a light reflecting unit for reflecting the laser irradiated by the light transmitting unit to correspond to the optical axis of the light receiving unit and the transmission optical axis of the laser. It can provide a lidar optical device, including.
  • the present invention is devised in response to the above-described background, and provides an improved structure of a transceiver integrated lidar optic.
  • FIG. 1 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • FIG. 2 illustratively illustrates components of a lidar optics associated with an embodiment of the present invention.
  • FIG. 3 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • FIG. 4 exemplarily shows a lidar optic according to another embodiment of the present invention.
  • FIG. 5 exemplarily shows a lidar optic according to another embodiment of the present invention.
  • FIG. 6 is a view for explaining a reception range of the light receiving unit according to an embodiment of the present invention.
  • FIG. 7 exemplarily illustrates a lidar optical device in which the light reflection unit 200 is omitted, according to an embodiment of the present invention.
  • optical axis refers to the axis of rotation symmetry of the optical device.
  • the optical axis of the laser may mean the central axis of the laser
  • the transmission optical axis of the laser may mean the central axis of the laser transmitted by the lidar optical device 1000
  • the optical axis of the light receiving unit 400 may be the optical number.
  • the bride 400 may refer to a central axis of an area in which the bride 400 may receive an optical signal.
  • FIG. 1 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • the lidar optical apparatus 1000 may detect at least one of a distance, a direction, a speed, a temperature, a material distribution, and a concentration characteristic to an object by shining a laser on a target.
  • the lidar optics 1000 emits a pulse signal and measures the time at which reflected pulse signals from objects within the measurement range are detected, thereby measuring the object and the lidar optics 1000. You can measure the distance between
  • the lidar optical apparatus 1000 may be a transmission / reception integrated optical apparatus.
  • the lidar optics 1000 may irradiate light and sense light scattered from the object.
  • the lidar optical apparatus 1000 may include an optical transmitter 100 and an optical detector 300.
  • Light for example, a laser, etc.
  • irradiated from the optical transmitter 100 may be scattered from an object to generate an optical signal.
  • the optical signal may be focused by the light receiver 400, and the focused optical signal may be detected by the light detector 300.
  • the lidar optical apparatus 1000 may combine the signals detected by the light sensing unit 300 to create a 3D image.
  • the lidar optical apparatus 1000 may repeat a step of irradiating light, detecting an optical signal scattered from an object a plurality of times, and generating a 3D image using the optical signals collected for a plurality of times.
  • the lidar optics 1000 collects distance information of an object in a surrounding space by rotating or mirror-scanning using a single or multiple laser beams. And a 3D image.
  • the lidar optics 1000 may expand and irradiate a single laser beam simultaneously in the observation target space and receive the reflected laser light through a multi-array receiving element, thereby obtaining segmented pixel-specific distance information. By using the three-dimensional image can be obtained in real time.
  • lidar optical device does not correspond to the optical axis of the transmission optical axis of the laser and the optical receiving unit 300, a number of problems occurred. For example, since the optical axis of the laser irradiated from the optical transmitter 100 and the optical axis of the optical detector 300 do not correspond, the optical receiver 400 has a wide field of view to detect a scattered signal. Should have had).
  • the transmission optical axis of the laser irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may correspond.
  • the wide viewing angle of the optical receiver 400 may be reduced.
  • the signal-to-noise ratio (SNR) of the lidar optics 1000 can be increased, and the maximum viewing distance can be increased even when using lasers of the same output.
  • the viewing angle of the lidar optical device can be widened, so that the number of installation of the lidar optical device can be reduced.
  • the transmission optical axis of the irradiated laser and the optical axis of the light receiving unit 400 correspond to each other, it is possible to use the light receiving unit 400 having a smaller area than the conventional lidar optical device, thereby miniaturizing the lidar optical device. It is possible to reduce the cost of the lidar optics, and to increase the reaction speed of the light sensing unit 300. In addition, the possibility of disturbance by laser irradiation in other lidar optics can be reduced.
  • FIG. 2 illustratively illustrates components of a lidar optics associated with an embodiment of the present invention.
  • the lidar optical apparatus 1000 includes an optical transmitter 100, an optical reflector 200, an optical detector 300, an optical receiver 400, a polarization change unit 500, and It may include a control unit 600.
  • the controller 600 may include an image generator 610, but is not limited thereto.
  • the optical transmitter 100 may irradiate light having various characteristics.
  • the optical transmitter 100 may emit light having various phases, outputs, wavelengths, spectral characteristics, pulse widths, and pulse shapes, but is not limited thereto.
  • the optical transmitter 100 may be configured by various modules.
  • the light transmitter 100 may be configured by a laser light source for irradiating light of a specific wavelength, a laser light source of variable wavelength, and a semiconductor laser diode capable of low power, but is not limited thereto.
  • the light reflection unit 200 may reflect the irradiated light.
  • the light reflection unit 200 may be configured with various lenses, and may be configured with various mirrors, but is not limited thereto.
  • the light reflection unit 200 may be configured as a mirror mirror, a prism mirror, or a polarizing beam splitter.
  • the light reflection unit 200 may be configured as one mirror, may be configured by combining a plurality of mirrors, and may be configured by a combination of a mirror and a lens, but is not limited thereto.
  • the light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.
  • the light reflection unit 200 may reflect the irradiated light, thereby matching the direction of the optical axis of the light receiving unit 400 with the direction of the transmission optical axis of the irradiated light.
  • the light reflection unit 200 may reflect the irradiated light, thereby matching the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light, but is not limited thereto.
  • the light reflection unit 200 may be disposed at various positions.
  • the light reflecting unit 200 may be disposed between the light detecting unit 300 and the light receiving unit 400.
  • the light reflection unit 200 may be disposed between the light detection unit 300 and the target object. In this case, the light reflection unit 200 may be disposed in contact with the light receiving unit 400.
  • the light reflection unit 200 may reflect a laser having a specific polarization form, and transmit a laser having another specific polarization form.
  • the light reflection unit 200 may reflect the laser having the first polarization form.
  • the light reflection unit 200 may transmit a laser having a second polarization form, but is not limited thereto.
  • the light reflection unit 200 may reflect an optical signal having a specific polarization form, and may transmit an optical signal having another specific polarization form.
  • the light reflection unit 200 may reflect the optical signal having the first polarization form.
  • the light reflection unit 200 may transmit an optical signal having a second polarization form, but is not limited thereto.
  • the light receiver 400 may focus the scattered laser beam so that the light detector 300 may detect the light signal scattered from the object.
  • the light receiver 400 may be configured of various lenses.
  • the light receiver 400 may be configured by a convex lens or a concave lens, but is not limited thereto.
  • the optical signal scattered from the object may be focused by the light receiver 400, and the focused optical signal may be detected by the light detector 300.
  • the light detector 300 may detect an optical signal.
  • the light detector 300 may detect an optical signal focused by the light receiver 400.
  • the light detector 300 may transmit information on the detected light signal to the controller 600.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the wide viewing angle (FOV) of the light receiver 400 may be adjusted.
  • the light receiving unit 400 may receive an optical signal introduced into a wide area.
  • the optical receiver 400 may receive an optical signal that is introduced into a wide area, while the signal-to-noise ratio may be lowered.
  • the light receiving unit 400 may detect an optical signal introduced into a narrow area. In this case, the light receiver 400 detects an optical signal entering a narrow area, while the signal-to-noise ratio may be high.
  • the polarization changing unit 500 may change the polarization of the transmitted light.
  • the polarization changing unit 500 may change the polarization of the laser reflected by the light reflection unit 200.
  • the polarization changing unit 500 may change the laser polarization in a specific direction into a circle.
  • the polarization changing unit 500 may change the polarization of the optical signal focused by the light receiving unit 400.
  • the polarization changing unit 500 may change the polarization of the optical signal to linear polarization in a specific direction.
  • the polarization changing unit 500 may change the polarization of the optical signal to polarization that may pass through the light reflection unit 200.
  • the optical signal whose polarization is changed may be introduced into the light sensing unit 300 through the light reflecting unit 200, and the light sensing unit 300 may sense the incoming optical signal.
  • the controller 600 may be configured by various modules.
  • the controller 600 may be configured of at least one processor that is driven according to preset software, but is not limited thereto.
  • the controller 600 may control the optical transmitter 100, the optical detector 300, the optical receiver 400, the polarization change unit 500, and the optical reflector 200. have.
  • the controller 600 controls at least one of the optical transmitter 100, the optical detector 300, and the optical reflector 200, so that the transmission optical axis of the irradiated laser and the optical axis of the optical receiver 400 are adjusted. Can be allowed to match.
  • the controller 600 may move the position of the optical transmitter 100 and adjust the direction in which the optical transmitter 100 irradiates light.
  • the controller 600 may change the direction of the light reflection unit 200, and may change the distance between the light transmitter 100 and the light reflection unit 200.
  • the controller 600 may change the position, the direction, or a combination thereof of the light reflection unit 200 to correspond to the transmission optical axis of the irradiated light and the optical axis of the optical receiver 400.
  • control unit 600 may change the optical axis of the light receiving unit 400 to correspond to the transmission optical axis of the irradiated light and the optical axis of the light receiving unit 400. In addition, the controller 600 may adjust the reception range of the light receiver 400.
  • the controller 600 may control the modules included in the lidar optical apparatus 1000 to perform various operations.
  • an object detecting sensor (not shown) equipped with the above-described lidar optical apparatus 1000 may be provided.
  • the object detecting sensor (not shown) may include a lidar optical device 1000 and a controller (not shown).
  • the object detecting sensor may acquire various characteristics of the object by using the LiDAR optical apparatus 1000.
  • an object detecting sensor may illuminate a laser beam on a target, and detect a scattered light signal from the object to detect the distance to the object, the direction of the object, the speed of the object, the temperature of the object, the material distribution of the object, and the object.
  • At least one of the 3D image and the concentration characteristics of the object can be obtained, but is not limited thereto.
  • the controller of the object detecting sensor may control the provided LiDAR optical apparatus 1000.
  • the controller of the object detecting sensor may control the provided LiDAR optical apparatus 1000 to allow the LiDAR optical apparatus 1000 to perform the above-described operation, thereby obtaining a 3D image of the object.
  • a vehicle equipped with the above-described lidar optics 1000 may be provided.
  • a vehicle may include any device that can move, such as a car, a drone, a spaceship, a motorcycle, a helicopter, and the like, but is not limited thereto.
  • the moving body may include a controller for controlling the lidar optical device and the lidar optical device 1000.
  • the controller of the moving object may acquire the 3D image of the object by controlling the lidar optical apparatus 1000 to perform the above-described operation.
  • the movable body may perform autonomous driving by using the LiDAR optical apparatus 1000 provided.
  • the moving object obtains distance information with respect to the object and direction information of the object using the provided LiDAR optical apparatus 1000 and adjusts the speed and direction based on the obtained information to perform autonomous driving. can do.
  • the moving object may transmit the object information of the surrounding to the user using the provided LiDAR optical apparatus 1000.
  • the moving object may generate a 3D image of the surrounding object by using the provided LiDAR optical apparatus 1000 and show the generated 3D image to the user.
  • FIG. 3 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • the optical transmitter 100 may irradiate light.
  • the optical transmitter 100 may irradiate a laser.
  • the direction of the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may be different.
  • the angle between the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may be 90 degrees, or may be a preset angle, but is not limited thereto.
  • the light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.
  • the transmission optical axis of the laser reflected by the light reflecting unit 200 and the direction of the optical axis of the light receiving unit 400 may coincide.
  • the optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.
  • the light reflection unit 200 may be disposed at various positions.
  • the light reflecting unit 200 may be disposed adjacent to the light receiving unit 400.
  • the light reflecting unit 200 may be located between the light receiving unit 400 and the object. In this case, the light reflection unit 200 may be disposed adjacent to the light receiving unit 400.
  • the light reflection unit 200 may be configured with various lenses, and may be configured with various mirrors, but is not limited thereto.
  • the light reflecting unit 200 may be configured as a mirror mirror
  • the light reflecting unit 200 may be configured as a prism mirror. It doesn't work.
  • the transmission optical axis of the laser and the optical axis of the optical receiver 400 may correspond to each other.
  • the reflected laser may be scattered by the object to generate an optical signal.
  • the optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused in the direction of the optical detector 300.
  • the light detector 300 may detect the focused optical signal and transmit information about the detected optical signal to the controller 600.
  • the wide viewing angle of the light receiver 400 may be adjusted. Due to the adjustment of the wide viewing angle, the reception range of the light receiver 400 may be adjusted. As the reception range of the light receiver 400 is reduced, the production cost of the light receiver 400 is lowered, and the sensing distance of the light receiver 400 can be increased.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the transmission optical axis of the light irradiated by the optical transmitter 100 may be changed by the optical reflector 200 to correspond to the optical axis of the optical receiver 400.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the controller 600 may generate information on the object by using the information on the optical signal.
  • the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.
  • FIG. 4 exemplarily shows a lidar optic according to another embodiment of the present invention.
  • the optical transmitter 100 may irradiate light.
  • the optical transmitter 100 may irradiate a laser.
  • the direction of the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may be different.
  • the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may be perpendicular, but are not limited thereto.
  • the light reflection unit 200 reflects the irradiated light, so that the optical axis of the light sensing unit 300 may correspond to the transmission optical axis of the irradiated light.
  • the transmission optical axis of the laser reflected by the light reflection unit 200 and the direction of the optical axis of the light sensing unit 300 may coincide.
  • optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.
  • the light reflection unit 200 may be disposed at various positions.
  • the light reflecting unit 200 may be disposed adjacent to the light receiving unit 400.
  • the light reflecting unit 200 may be positioned between the light receiving unit 400 and the light detecting unit 300, and in this case, may be disposed adjacent to the light receiving unit 400.
  • the transmission optical axis of the laser and the optical axis of the optical receiver 400 may correspond to each other.
  • the reflected laser can be scattered by the subject.
  • the laser may be scattered by the object to generate an optical signal.
  • the optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused toward the optical detector 300.
  • the light detector 300 may detect the transmitted light signal and transmit information about the detected light signal to the controller 600.
  • the wide viewing angle of the light receiver 400 may be adjusted. Due to the adjustment of the wide viewing angle, the reception range of the light receiver 400 may be adjusted. For example, the wide viewing angle of the light receiver 400 may be reduced, and thus, the size of the light receiver 400 may be reduced. As the size of the light receiver 400 is reduced, the production cost of the light receiver 400 is lowered, and the sensing distance of the light receiver 400 can be increased.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the transmission optical axis of the light irradiated by the optical transmitter 100 may be changed by the optical reflector 200 to correspond to the optical axis of the optical receiver 400.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the controller 600 may generate information on the object by using the information on the optical signal.
  • the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.
  • FIG. 5 exemplarily illustrates a lidar optic according to another embodiment of the present invention.
  • Lidar optical device 1000 includes a light transmitting unit 100, a light reflecting unit 200, a polarization changing unit 500, a light receiving unit 400 and the light detecting unit 300. can do.
  • the optical transmitter 100 may emit various lights.
  • the optical transmitter 100 may irradiate a laser having a specific phase, but is not limited thereto.
  • the light reflection unit 200 may reflect the irradiated light, and may be formed of various members capable of reflecting light.
  • the light reflection unit 200 may be configured as a polarizing beam splitter.
  • the light reflection unit 200 may reflect light in a specific polarization direction and transmit light in another specific polarization direction.
  • the laser irradiated by the light transmitting unit 100 may have a first polarization direction, and the light reflection unit 200 may reflect the laser having the first polarization direction.
  • the optical signal scattered from the object may have a second polarization direction, and the light reflection unit 200 may transmit the optical signal having the second polarization direction.
  • the light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.
  • the transmission optical axis of the laser reflected by the light reflecting unit 200 and the direction of the optical axis of the light receiving unit 400 may correspond.
  • the transmission optical axis of the laser reflected by the light reflection unit 200 and the direction of the optical axis of the light receiving unit 400 may coincide.
  • optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.
  • the laser reflected by the light reflection unit 200 may pass through the polarization changing unit 500.
  • the polarization form of the laser may be changed.
  • the polarization changing unit 500 may be introduced from the light reflection unit 200 and change linearly polarized light of a laser having polarization in a specific direction into circularly polarized light.
  • the laser of circular polarization may be irradiated to the object.
  • the irradiated laser can be scattered by the subject.
  • the laser scattered from the object may generate an optical signal.
  • the optical signal may pass through the optical receiver 400.
  • the optical signal passing through the light receiving unit 400 may be focused in the direction of the light sensing unit 300 by the light receiving unit 400.
  • the optical signal scattered from the object may pass through the polarization changing unit 500.
  • the polarization changing unit 500 may change the polarization of the optical signal introduced through the light receiving unit 400 to linear polarization.
  • the polarization changing unit 500 may change the polarization of the optical signal to linear polarization in a predetermined direction.
  • the polarization changing unit 500 may change the polarization of the optical signal scattered from the object into linear polarization in a direction that can pass through the light reflection unit 200.
  • the optical signal transmitted through the light reflection unit 200 may be detected by the light detection unit 300.
  • the light detector 300 may detect an optical signal and transmit information about the detected optical signal to the image generator 610 of the controller 600.
  • the image generator 610 of the controller 600 may generate a 3D image of an object around the lidar optical apparatus by using the received information about the optical signal.
  • FIG. 6 is a view for explaining a reception range of the light receiving unit according to an embodiment of the present invention.
  • the reception range of the light receiving unit 400 may be adjusted.
  • the reception range of the light receiver 400 may be adjusted according to the adjustment of the wide viewing angle.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 300.
  • the optical axis of the laser irradiated by the optical transmitter 100 corresponds to the optical axis of the optical receiver 400
  • the optical axis of the optical receiver 400 transmits the laser irradiated by the optical transmitter 100. Can be determined based on the optical axis.
  • the detection range of the light receiving unit 400 can be reduced in various ways. For example, as the wide field of view (FOV) of the light receiving unit 400 is reduced, the sensing range of the light receiving unit 400 may be reduced. In this case, as the size of the lens included in the light receiving unit 400 is reduced, the wide viewing angle (FOV) may be reduced, and the wide viewing angle of the light receiving unit 300 may be reduced in various ways.
  • FOV wide field of view
  • the reception range 620 of the light receiving unit 400 of the conventional Lidar optical apparatus has always been a large area irrespective of the transmission optical axis 660 of the irradiated laser.
  • the reception range 640 of the LiDAR optical apparatus 1000 according to the exemplary embodiment may be formed around the transmission optical axis 630 of the irradiated laser.
  • the signal-to-noise ratio of the lidar optical apparatus 1000 may increase. Also, due to the increase in the signal-to-noise ratio, the maximum observation distance of the lidar optics 1000 can be increased.
  • the amount of noise detected by the light receiving unit 400 may be reduced, and the light sensing unit 300 may be quickly operated due to the reduction of the amount of noise.
  • FIG. 7 exemplarily illustrates a lidar optical device in which the light reflection unit 200 is omitted, according to an embodiment of the present invention.
  • the optical transmitter 100 may irradiate light.
  • the optical transmitter 100 may irradiate a laser.
  • the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may correspond to each other.
  • the direction of the optical axis of the light irradiated by the optical transmitter 100 may coincide with the direction of the optical axis of the optical receiver 400, and the optical axis of the light irradiated by the optical transmitter 100 coincides with the optical axis of the optical receiver 400. It may be, but is not limited to such.
  • the optical transmitter 100 may be located at the center of the optical receiver 400. Since the optical transmitter 100 is located at the center of the optical receiver 400, the optical axis of the optical transmitter 100 and the optical axis of the optical receiver 400 may correspond to each other.
  • the laser irradiated by the light transmitter 100 may be scattered by the object.
  • the laser may be scattered by the object to generate an optical signal.
  • the optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused toward the optical detector 300.
  • the light detector 300 may detect the transmitted light signal and transmit information about the detected light signal to the controller 600.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the controller 600 may generate information on the object by using the information on the optical signal.
  • the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.
  • One embodiment of the present invention can also be implemented in the form of a recording medium containing instructions executable by a computer, such as a program module executed by the computer.
  • Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media.
  • the computer-readable recording medium may include a temporary recording medium and a non-transitory recording medium.
  • Computer readable media may include both computer storage media and communication media.
  • Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data.
  • Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transmission mechanism, and includes any information delivery media.
  • the present invention can be used in a variety of industries using lidar optical technology.

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  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un appareil optique lidar ayant une structure améliorée. L'appareil optique lidar comprend : une unité de transmission de lumière pour générer un laser et irradier le laser généré ; une unité de réception de lumière pour focaliser le laser réfléchi par une cible ; une unité de réception de lumière pour détecter un signal optique focalisé au moyen de l'unité de réception de lumière ; et une unité de réflexion de lumière pour mettre en correspondance l'axe optique de l'unité de réception de lumière et l'axe optique de transmission du laser par réflexion du laser irradié au moyen de l'unité de transmission de lumière.
PCT/KR2017/003885 2016-05-26 2017-04-11 Appareil optique lidar ayant une structure améliorée WO2017204459A1 (fr)

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CN110954890A (zh) * 2019-12-16 2020-04-03 西南交通大学 一种应用于获取地基激光雷达配准点坐标的装置
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WO2023040377A1 (fr) * 2021-09-15 2023-03-23 上海禾赛科技有限公司 Radar laser

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