WO2019022304A1 - Scanner lidar hybride - Google Patents

Scanner lidar hybride Download PDF

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Publication number
WO2019022304A1
WO2019022304A1 PCT/KR2017/012364 KR2017012364W WO2019022304A1 WO 2019022304 A1 WO2019022304 A1 WO 2019022304A1 KR 2017012364 W KR2017012364 W KR 2017012364W WO 2019022304 A1 WO2019022304 A1 WO 2019022304A1
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WO
WIPO (PCT)
Prior art keywords
ladder
laser beam
mirror
laser
region
Prior art date
Application number
PCT/KR2017/012364
Other languages
English (en)
Korean (ko)
Inventor
정지성
장준환
김동규
황성의
원범식
Original Assignee
주식회사 에스오에스랩
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 에스오에스랩 filed Critical 주식회사 에스오에스랩
Publication of WO2019022304A1 publication Critical patent/WO2019022304A1/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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • 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
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • G02B27/14—Beam splitting or combining systems operating by reflection only
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/30—Collimators

Definitions

  • the present invention relates to a Lada scanner, and more particularly, to a hybrid Lada scanner capable of simultaneously measuring a near region and a remote region with a Lada scanner.
  • a laser Light Amplification by the Stimulated Emission of Radiation (LASER) emits a stimulated emission of light to amplify the laser light.
  • LiDAR Light Detection and Ranging
  • Lada When applied to an automobile, Lada can perform alarm or vehicle automatic control by measuring the inter-vehicle distance in real time so as to avoid collision with the vehicle ahead or minimize the impact.
  • Patent Documents 1 and 2 disclose an object sensor technology for detecting an object using a laser.
  • Patent Document 1 includes a laser light source for generating a laser beam, a front image and a camera for irradiating the laser light generated from the laser light source and photographing the front laser light irradiation image, and an image processing device for processing the image photographed by the camera And the image processing apparatus subtracts the other image from the front image and the laser light irradiated image and judges that there is an obstacle when the laser light is reflected on the subject in the subtracted image An obstacle sensing device configuration is described.
  • Patent Document 2 discloses an optical pickup device that includes a light emitting portion for emitting a laser beam, a light receiving portion for receiving a laser beam reflected by an obstacle after being emitted from the light emitting portion, an obstacle detecting portion for detecting an obstacle by using the laser beam received through the light receiving portion, And a display unit for displaying an obstacle detected by the obstacle detection unit on the screen.
  • a detection module light emitting unit and light receiving unit
  • An object of the present invention is to provide a hybrid Lada scanner capable of simultaneously measuring a near region and a remote region with a single Lada scanner.
  • first ladder portion including a first multi-faceted mirror formed of n reflective mirrors
  • a second lidar section including a second multi-faceted mirror formed with a smaller number of reflective mirrors than the first multi-faced mirror
  • a drive motor coaxially rotating the first ladder portion and the second ladder portion.
  • the second row portion is located at the upper portion or the lower portion of the first row portion, the first row portion measures a first region, And measures a second area located closer to the first area.
  • At least one of the first and second polyhedral mirrors includes at least one mirror having a different slope.
  • the first laser diode part may include a first laser diode for irradiating a laser beam to the first multi-faceted mirror, and a second laser diode disposed between the first multi-faceted mirror and the first laser diode, And a second collimating lens for converting the laser beam into a second laser beam and a second laser beam for converting the laser beam into a laser beam, And a second collimating lens for converting the beam into a parallel beam.
  • a laser processing apparatus comprising: a laser diode for generating a laser beam; A collimating lens for converting the laser beam into a parallel beam; And a beam splitter for dividing the converted laser beam and causing the divided laser beams to be irradiated to the first and second polyhedral mirrors, respectively.
  • the first ladder part measures a first area by performing time-of-flight (TOF), and the second ladder part performs a triangulation method or a flight time measurement method And the second area is measured.
  • TOF time-of-flight
  • the embodiment of the present invention it is possible to measure a long-distance region at a high speed and a short-distance region at a wide angle.
  • various altimeters can be measured while simultaneously measuring the near region and the far region.
  • FIG. 1 is a diagram illustrating a hybrid Raid scanner according to an embodiment of the present invention.
  • FIGS. 2 and 3 are views showing various embodiments of a hybrid Raid scanner according to an embodiment of the present invention.
  • Figs. 4 to 8 are plan views showing the operation states of the first row.
  • Figs. 9 to 12 are views for explaining the measured altitude when the reflection mirrors of the first multi-faceted mirror are formed at different slopes. Fig.
  • Figs. 13 to 17 are plan views showing the operation states of the second row.
  • Figs. 18 and 19 are views for explaining the arrangement directions of the first and second polyhedral mirrors. Fig.
  • FIG. 20 is a view showing a hybrid Raid scanner according to another embodiment of the present invention.
  • FIGS. 21 to 24 are diagrams illustrating an operation state of the hybrid Raid scanner according to an embodiment of the present invention.
  • the hybrid Lidar scanner according to the embodiment of the present invention is configured to measure at least two cross-sectional or multi-faceted mirrors having at least one mirror face formed therein, and each of the facets including each multi-faceted mirror measures different areas.
  • each ladder portion may be provided to perform different kinds of measurement methods depending on the measurement distance. (See Fig. 1)
  • one of the ladder units performs time-of-flight (TOF) in order to measure a relatively long distance, Triangulation can be done to measure nearness.
  • TOF time-of-flight
  • the flight time measurement method is a method of measuring a distance by measuring a time difference between a reference point at which a pulse is fired and a detection point of a pulse reflected back from the measurement object.
  • the triangulation method uses a triangle property It is a way to find out.
  • each ladder portion is not necessarily limited to performing another measurement, and each ladder portion may be measured at a distance or a near distance while performing the same measurement method. (See Fig. 2)
  • FIG. 1 is a diagram illustrating a hybrid Raid scanner according to an embodiment of the present invention.
  • a hybrid Lada scanner includes a first ladder unit 100 and a second ladder unit 200. Also, although not shown in the figure, it includes a driving motor (not shown) for coaxially rotating the first lid 100 and the second lid 200.
  • the first ladder 100 measures a first area A1 (see Fig. 21) at a long distance by performing time-of-flight (TOF)
  • the two-lider 200 performs a triangulation method to measure a second area A2 (see Fig. 21) at a short distance.
  • the second ladder 200 is located above the first ladder 100.
  • the second ladder 200 is not limited to the first ladder 100, It may be located.
  • the first ladder section 100 includes a first laser diode 120 for irradiating a laser beam to the first multi-facet mirror 110 and the first multi-facet mirror 110, a first laser diode 120 for irradiating the first multi- And a first collimating lens 131 disposed between the first collimating lens 120 and the second collimating lens 131 to convert the laser beam into a parallel beam.
  • the light receiving unit includes a condenser lens 132 for condensing the reflected laser beam and an image sensor 140 for receiving the condensed reflected laser beam.
  • the light receiving unit includes a condenser lens 132 for condensing the reflected laser beam and an image sensor 140 for receiving the condensed reflected laser beam.
  • the first multi-plane mirror 110 is formed of a predetermined number (n) of mirrors.
  • the first multi-sided mirror 110 may be formed in a cubic shape, and the side surface of the cube may function as a reflection mirror to reflect the laser beam irradiated by the first laser diode 120.
  • the laser beam irradiated by the first laser diode 120 is reflected And is forwarded at a predetermined angle. 6
  • the laser beam reflected in the direction of the first laser diode 120 according to the rotation of the first multi-facet mirror 110 is subjected to noise processing.
  • each of the reflection mirrors constituting the first multi-sided mirror 110 may have different slopes.
  • the inclination of the reflecting mirror means an angle (?, See Figs. 10 to 12) formed by the reflecting mirror and a vertical plane perpendicular to the bottom surface of the first multi-faceted mirror.
  • the laser beam irradiated from the first laser diode 120 is reflected by a plurality of reflection mirrors having different slopes so that various measurement heights can be measured. For example, as shown in Figs. 9 to 12, when there are four reflection mirrors having different slopes, four measurement heights (H1 to H4) are obtained every time the first multi-faced mirror 110 makes one revolution It becomes possible to measure.
  • the second ladder unit 200 includes a second laser diode 220 for emitting a laser beam to the second multi-faceted mirror 210 and the second multi-faceted mirror 210, a second multi-faceted mirror 210, And a second collimating lens 231 disposed between the second collimating lens 220 and converting the laser beam into a parallel beam.
  • the second lid unit 200 includes a camera 250 that captures an image of a measurement object located in a second area closer to the first area and acquires image information.
  • the second lidar 200 may calculate the distance to the measurement object by performing triangulation with the image information acquired by the camera 250.
  • the second ladder section 200 may calculate the distance to the measurement object by performing a flight time measurement method.
  • the second ladder section 200 may reflect And a light receiving unit for receiving the returned laser beam, and the light receiving unit includes a condenser lens 232 and an image sensor 240 for condensing the reflected laser beam.
  • the second multi-faceted mirror 210 is formed with a smaller number of reflective mirrors than the first multi-faceted mirror 110.
  • the second multi-faceted mirror 210 may be formed in a flat plate shape.
  • FIG. 3 Or the like.
  • Each side surface of the second multi-facet mirror 210 performs a reflecting mirror function to reflect the laser beam irradiated by the second laser diode 220.
  • the front and back surfaces of the second multi-faceted mirror 210 in the form of a flat plate as shown in FIG. 1 perform a reflecting mirror function to reflect the laser beam irradiated by the second laser diode 220.
  • the control unit measures the distance to the front by performing triangulation with the camera image obtained in the procedure of FIGS.
  • the camera image acquired in the process of FIGS. 13 to 15 can be used for noise processing or distance measurement of a rear object.
  • the number of the reflective mirrors of the second multi-faceted mirror 210 is less than the number of the reflective mirrors of the first multi-faceted mirror 110. Accordingly, a relatively large area is scanned at a slower speed than the first multi-facet mirror 110. Accordingly, it is preferable that the second ladder 200 including the second multi-faceted mirror 210 scans the near region and measures the distance.
  • the first multi-facet mirror 110 scans a relatively narrow area at a high speed. Accordingly, the first ladder section 100 including the first multi-faced mirror 110 is advantageous for high-speed scanning of a remote area and distance measurement.
  • each of the reflection mirrors constituting the second multi-sided mirror 210 may have a different slope.
  • the laser beam irradiated from the first laser diode 120 is reflected by a plurality of reflection mirrors having different slopes so that various measurement heights can be measured. For example, as shown in FIG. 24, when there are two reflection mirrors having different slopes, it is possible to measure two measured heights Ha to Hb each time the second multi-facet mirror 210 makes one revolution do.
  • the respective surfaces of the first and second polyhedral mirrors 110 and 210 are arranged so that normal lines perpendicular to the surfaces are not parallel to each other. That is, it is preferable that the respective surfaces of the first and second polyhedral mirrors 110 and 210 are not parallel to each other.
  • interference can occur between the two lid portions 100 and 200 by measuring the same azimuth angle at a specific rotation angle.
  • the two lid portions 100 and 200 when the plane directions of the mirrors 110 and 210 are not parallel to each other, the two lid portions 100 and 200 always measure different azimuth angles, thereby preventing interference between them.
  • first laser diode 120 and the second laser diode 220 irradiate the laser beams to the first and second polyhedral mirrors 110 and 210 in the above embodiments, But is not limited thereto.
  • the laser beam generated in the laser diode 320 is converted into a parallel beam by the collimating lens 330, the laser beam is divided into a beam splitter 340, The beams can be irradiated to the first and second polyhedral mirrors 110 and 210, respectively.
  • FIGS. 21 to 24 are diagrams illustrating an operation state of the hybrid Raid scanner according to an embodiment of the present invention.
  • a plurality of multi-faced mirrors are coaxially rotated by a single driving motor (not shown), and each of the multi-faceted mirrors includes different multi-faceted mirrors.
  • the first ladder section 100 narrowly measures the first area A1 relatively fast and the second ladder section 200 measures the second area A1, which is a relatively short- (A2) is measured at a low speed. Since the first ladder unit 100 is a remote area measurement, it is preferable to perform a flight time measurement method. Since the second ladder unit 200 is a local area measurement, it is preferable to perform a triangulation method. Of course, both the first ladder 100 and the second ladder 200 may perform the flight time measurement.
  • the same region can be measured at a high speed. For example, when there are four reflection mirrors, the same area can be measured four times when the first polyhedral mirror makes one rotation.
  • the present invention relates to a hybrid Lada scanner capable of simultaneously measuring a near region and a remote region with a single Lada scanner, and the hybrid Lada scanner of the present invention can be applied to an autonomous traveling vehicle, a mobile robot, There is a possibility.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un scanner LiDAR hybride permettant de mesurer simultanément une zone à courte distance et une zone à longue distance à l'aide d'un dispositif de balayage LiDAR. Selon un mode de réalisation de la présente invention, le scanner LiDAR hybride comprend : une première unité LiDAR comprenant un premier miroir à facettes multiples comprenant n miroirs réfléchissants ; une seconde unité LiDAR comprenant un second miroir à facettes multiples comprenant moins de miroirs réfléchissants que le premier miroir à facettes multiples ; et un moteur d'entraînement permettant de faire tourner de manière coaxiale la première unité LiDAR et la seconde unité LiDAR.
PCT/KR2017/012364 2017-07-25 2017-11-03 Scanner lidar hybride WO2019022304A1 (fr)

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KR1020170094119A KR102020037B1 (ko) 2017-07-25 2017-07-25 하이브리드 라이다 스캐너
KR10-2017-0094119 2017-07-25

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN113075644A (zh) * 2020-01-06 2021-07-06 深圳市速腾聚创科技有限公司 激光雷达及具有激光雷达的设备
WO2023059766A1 (fr) * 2021-10-06 2023-04-13 Neural Propulsion Systems, Inc. Système lidar hybride

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US10591598B2 (en) 2018-01-08 2020-03-17 SOS Lab co., Ltd Lidar device
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KR20210003003A (ko) 2019-07-01 2021-01-11 삼성전자주식회사 라이다 장치 및 그 제어 방법
KR102474126B1 (ko) * 2019-07-05 2022-12-05 주식회사 라이드로 라이다 광학 장치 및 이를 구비하는 라이다 장치
KR102490108B1 (ko) * 2019-07-19 2023-01-19 주식회사 라이드로 라이다 광학 장치
EP4020005A4 (fr) * 2019-08-23 2022-08-10 Suteng Innovation Technology Co., Ltd Radar laser et équipement de commande automatique
WO2021045529A1 (fr) * 2019-09-05 2021-03-11 주식회사 에스오에스랩 Dispositif lidar
KR20210047658A (ko) 2019-10-22 2021-04-30 주식회사 만도 라이다 스캐닝 장치
KR102526992B1 (ko) 2022-09-28 2023-04-28 람다이노비전 주식회사 코히어런트 라이다의 다채널 송수신 장치

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Publication number Priority date Publication date Assignee Title
CN113075644A (zh) * 2020-01-06 2021-07-06 深圳市速腾聚创科技有限公司 激光雷达及具有激光雷达的设备
CN113075644B (zh) * 2020-01-06 2023-08-04 深圳市速腾聚创科技有限公司 激光雷达及具有激光雷达的设备
WO2023059766A1 (fr) * 2021-10-06 2023-04-13 Neural Propulsion Systems, Inc. Système lidar hybride

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KR20190011497A (ko) 2019-02-07

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