WO2018026147A1 - 라이다 장치 - Google Patents
라이다 장치 Download PDFInfo
- Publication number
- WO2018026147A1 WO2018026147A1 PCT/KR2017/008220 KR2017008220W WO2018026147A1 WO 2018026147 A1 WO2018026147 A1 WO 2018026147A1 KR 2017008220 W KR2017008220 W KR 2017008220W WO 2018026147 A1 WO2018026147 A1 WO 2018026147A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- light
- mirror
- wavelength band
- transmission
- predetermined wavelength
- Prior art date
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Classifications
-
- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
Definitions
- the present invention relates to a lidar device for measuring the distance of an external object using light.
- LiDAR Light Detection And Ranging
- LiDAR Light Detection And Ranging
- RIDAR is similar to RADAR (Radio Detection And Ranging) measurement method, but the difference is that it uses light instead of radio wave, and in this regard it is called 'image radar'. And the rider is characterized by superior spatial resolution and resolution compared to radar.
- lidar is also used as an application for measuring various physical properties such as air velocity and component analysis using light.
- LIDA has been used exclusively for special fields such as aviation and satellites. It is being applied to various fields such as the field.
- recent studies on lidar applicable to autonomous driving have been actively conducted.
- Lidar devices typically include a light source, a transmission optical system for transmitting light, a receiving optical system for receiving light, and a photo detector for detecting a time difference or phase difference between the transmission light and the reception light, and measuring a distance.
- 3D image data can be generated within a field of view.
- a transmission optical system for transmitting light emitted from a light source and a reception optical system for receiving light reflected by an external object are separately configured.
- an expensive wide-angle lens must be used for the transmission optical system and the reception optical system, respectively, and there is a problem in that the implementation of the lidar device takes a lot of cost.
- the present invention has been made to solve the above problems, and an object of the present invention is to provide a lidar device capable of miniaturization and wide field of view by integrating a transmission space and a reception space of light.
- the lidar apparatus a light source for emitting light of a predetermined wavelength band;
- a transmission mirror which is provided on an optical path through which light of the predetermined wavelength band travels, and reflects light of the predetermined wavelength band that is incident to a predetermined angle range;
- a reception mirror provided integrally with the transmission mirror and configured to receive light from the outside;
- An optical detector detecting a transmission / reception time difference or phase difference of light in a predetermined wavelength band to obtain a distance-based 3D image;
- a first mirror provided between the light source and the transmission mirror and reflecting the light received by the reception mirror to the light detector.
- the lidar apparatus the image acquisition unit for obtaining an image; And a second mirror provided between the light source and the transmission mirror and reflecting light received by the reception mirror to the image acquisition unit, wherein the first mirror provides light of the predetermined wavelength band. Reflect, transmit light having a wavelength band other than the predetermined wavelength band, and the second mirror may reflect light having a wavelength band other than the predetermined wavelength band, and transmit light of the predetermined wavelength band. .
- the first mirror includes a first light transmitting part on the light path of the light source
- the second mirror includes a second light transmitting part on the light path of the light source. It may be.
- the transmission mirror and the reception mirror are integrally formed and a conventional unused shadow area is used as the light transmission area, there is an advantage that a separate design of the lidar device is possible without the need for a separate light transmission space.
- the mirror structure is adopted in place of the expensive wide-angle lens for securing a wide field of view (FOV) of the prior art, there is an advantage that the lidar device can be manufactured at low cost.
- FIG. 1 is a view showing a lidar apparatus according to an embodiment of the present invention.
- FIG. 2 is an embodiment of a transmitting mirror and a receiving mirror of the lidar apparatus shown in FIG. 1.
- FIG. 3 is a view showing an optical transmission path of the lidar apparatus shown in FIG.
- FIG. 4 is a view showing a light receiving path of the lidar apparatus shown in FIG.
- FIG. 5 is a diagram illustrating a distance-based 3D image and a general image acquired by a lidar device, respectively.
- the lidar apparatus emits light of a predetermined wavelength band and then, when the light of the predetermined wavelength band is reflected by the external object, receives the reflected light of the predetermined wavelength band and measures the distance of the external object.
- a lidar apparatus includes a light source 100, a transmission mirror 200, a reception mirror 300, a first mirror 410, and a second mirror.
- the mirror 420, the light detector 510, the image acquisition unit 520, the first lens unit 610, and the second lens unit 620 may be configured to be included.
- the light source 100 emits light of a predetermined wavelength band in order to measure the distance of an external object (not shown) existing outside the lidar device, and preferably emits laser light or LED light having good linearity. It may be.
- the transmission mirror 200 is provided on the path of the light emitted from the light source 100, and reflects the light emitted from the light source 100 to the outside in a predetermined angle range (ie, a field of view (FOV) range).
- a field of view (FOV) range ie, a field of view (FOV) range.
- 1 to 4 illustrate a case in which the horizontal field of view FOV is omnidirectional (360 degrees).
- the transmission mirror 200 is a mirror of a cone or axicon structure, and may be designed in various forms according to a required field of view (FOV), and may have a total wavelength or a predetermined wavelength band emitted from the light source 100. It can be configured as a dichroic mirror so that only light is selectively reflected.
- FOV required field of view
- the reception mirror 300 is a mirror that receives light reflected from an external object.
- the reception mirror 300 is a cone or axicon mirror like the transmission mirror 200, and may be designed in various forms according to a required field of view, and may be a dichroic mirror or a total reflection mirror. It can be configured as.
- the transmission mirror 200 and the reception mirror 300 may be separately or integrally formed.
- the reception mirror 300 can be designed in a reduced shape of the transmission mirror 200.
- FIG. 5 illustrates distance-based 3D images and general images acquired by a lidar device, where A region represents a shaded region, B region represents an actual measured or photographed region, and C region represents a design angle of view (FOV) Each area outside of is represented.
- a region represents a shaded region
- B region represents an actual measured or photographed region
- C region represents a design angle of view (FOV)
- the present invention utilizes an area (shading area) that is not actually used as the light transmission area, so that a separate space for the optical transmission optical system is not required, thereby miniaturizing the LiDAR device. Has an advantage.
- the transmission mirror 200 and the reception mirror 300 may be integrally formed by processing one mirror or may be integrally formed by processing two mirrors and bonding them together.
- each of the first mirror 410 and the second mirror 420 may be configured as a dichroic mirror or a dichroic prism that reflects only light of a specific wavelength band and transmits light of other wavelength bands. Can be.
- the first mirror 410 reflects only light of a predetermined wavelength band emitted from the light source 100 among the light reflected by the receiving mirror 300, and the light having a wavelength band other than the predetermined wavelength band Permeate.
- the second mirror 420 transmits light of a predetermined wavelength band emitted from the light source 100 among the light reflected by the receiving mirror 300, and reflects light having a wavelength band other than the predetermined wavelength band. Let's do it.
- the first mirror 410 is formed with a first transmission portion (not shown) on the path of the light emitted from the light source 100
- the second mirror In 420, a second transmission part (not shown) is formed on a path of light emitted from the light source 100.
- the first transmission part and the second transmission part refer to a fine hole or a mirror-free transparent area through which light emitted from the light source 100 can be transmitted.
- the light of a predetermined wavelength band emitted from the light source 100 through the first and second transmission parts may pass through the first mirror 410 and the second mirror 420 without light loss.
- the light detector 510 includes a 2D TOF sensor for distance measurement or a single optical receiver (photo diode (PD), avalanche photo diode (APD), etc.) in a two-dimensional arrangement.
- the distance of the external object is measured by detecting a time difference or a phase difference of transmitted / received light proportional to the distance of.
- the image acquisition unit 520 acquires an image of an external object by using the light reflected through the receiving mirror 300 and the second mirror 420, and an image sensor (CCD, RGB-IR, etc.) corresponds to this. Can be.
- an image sensor CCD, RGB-IR, etc.
- the first lens unit 610 is disposed between the first mirror 410 and the light detector 510 and performs a focus adjustment function.
- the second lens unit 620 is disposed between the second mirror 420 and the image acquisition unit 520 and performs a focus adjustment function.
- the transmission mirror 200 has a horizontal and vertical angle of view designed to reflect light to a predetermined area.
- the light transmitted toward the external object is reflected by the external object and then incident on the receiving mirror 300.
- only light of a predetermined wavelength band emitted from the light source 100 is reflected by the first mirror 410 to be incident on the light detector 510.
- the light detector 510 is based on a distance of an external object.
- a distance-based 3D image as shown in FIG. 5 (a) is obtained.
- Light having a wavelength band other than the predetermined wavelength band emitted from the light source 100 is incident on the image acquisition unit 520 through the receiving mirror 300 and the second mirror 420. 520 acquires a general image of the external object as shown in FIG.
- FIG. 5 (c) shows a 3D image obtained by spatially correcting the 3D image shown in FIG. 5 (a) through a spatial correction algorithm.
- FIG. 5 (d) shows a spatial correction algorithm of the normal image shown in FIG. 5 (b). It shows the space-corrected general image.
- the lidar apparatus can simultaneously acquire a distance-based 3D image together with the general image of the external object, and based on the real-world image based on the 3D image and the general image acquired simultaneously It can be used for modeling.
- the above-described embodiment of the present invention exemplarily describes a lidar device capable of measuring the horizontal angle of view (FOV) in all directions (360 degrees). Do.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
Claims (3)
- 소정 파장 대역의 광을 방출하는 광원;상기 소정 파장 대역의 광이 진행하는 광 경로 상에 구비되며, 입사되는 상기 소정 파장 대역의 광을 소정의 각도 범위로 반사시키는 송신용 미러;상기 송신용 미러와 일체로 구비되며, 외부로부터의 광을 수신하기 위한 수신용 미러;상기 소정 파장 대역의 광의 송수신 시간차 또는 위상차를 검출하여 거리 기반 3D 영상을 획득하는 광 검출부; 및상기 광원과 상기 송신용 미러 사이에 구비되며, 상기 수신용 미러에 의해 수신된 광을 상기 광 검출부로 반사하는 제1 미러;를 포함하는 라이다 장치.
- 제1항에 있어서,영상을 획득하는 영상 획득부; 및상기 광원과 상기 송신용 미러 사이에 구비되며, 상기 수신용 미러에 의해 수신된 광을 상기 영상 획득부로 반사하는 제2 미러;를 더 포함하고,상기 제1 미러는 상기 소정 파장 대역의 광을 반사하고, 상기 소정 파장 대역 이외의 파장 대역을 갖는 광을 투과하며,상기 제2 미러는 상기 소정 파장 대역 이외의 파장 대역을 갖는 광을 반사하고, 상기 소정 파장 대역의 광을 투과하는 것을 특징으로 하는 라이다 장치.
- 제2항에 있어서,상기 제1 미러는 상기 광원의 광 경로 상에 제1 광 투과부를 포함하고,상기 제2 미러는 상기 광원의 광 경로 상에 제2 광 투과부를 포함하는 것을 특징으로 하는 라이다 장치.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US16/322,873 US12025737B2 (en) | 2016-08-02 | 2017-07-31 | LiDAR device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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KR1020160098492A KR102209500B1 (ko) | 2016-08-02 | 2016-08-02 | 라이다 장치 |
KR10-2016-0098492 | 2016-08-02 |
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WO2018026147A1 true WO2018026147A1 (ko) | 2018-02-08 |
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PCT/KR2017/008220 WO2018026147A1 (ko) | 2016-08-02 | 2017-07-31 | 라이다 장치 |
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Cited By (1)
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CN109068033A (zh) * | 2018-08-30 | 2018-12-21 | 歌尔股份有限公司 | 景深摄像模组 |
Families Citing this family (5)
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WO2019225965A1 (en) | 2018-05-24 | 2019-11-28 | Samsung Electronics Co., Ltd. | Lidar device |
KR102272659B1 (ko) | 2019-05-02 | 2021-07-05 | 화진기업(주) | ToF를 적용한 장애물 검출 범용 회전형 라이다 센서 시스템 |
KR102317073B1 (ko) * | 2019-05-14 | 2021-10-25 | 현대모비스 주식회사 | 라이다 장치 |
KR20230095767A (ko) | 2021-12-22 | 2023-06-29 | 아이탑스오토모티브 주식회사 | 모듈형 플래시 라이다 장치 |
KR20240058475A (ko) | 2022-10-26 | 2024-05-07 | 주식회사 버츠 | 플래시 라이다 장치 |
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Publication number | Publication date |
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US20210389424A1 (en) | 2021-12-16 |
KR102209500B1 (ko) | 2021-02-01 |
KR20180014974A (ko) | 2018-02-12 |
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