WO2021060919A1

WO2021060919A1 - Lidar optical device and scanning method therefor

Info

Publication number: WO2021060919A1
Application number: PCT/KR2020/013080
Authority: WO
Inventors: 문명일
Original assignee: 문명일
Priority date: 2019-09-25
Filing date: 2020-09-25
Publication date: 2021-04-01

Abstract

Disclosed are a LIDAR optical device and a scanning method therefor. A LIDAR optical device comprises a fixed body which operates while fixed inside a main body housing, and a rotating body which operates while rotating, wherein the fixed body comprises a fixed substrate fixed to the inner lower side of the main body housing in order to process power and data, and a motor stator formed along the upper circumference of the fixed substrate so as to generate a rotating magnetic field, and the rotating body comprises a motor rotor which rotates by means of the rotating magnetic field of the motor stator, a rotating substrate which rotates by means of coupling to the motor rotor, and which is linked with the fixed substrate, and a laser module, provided on the upper side of the rotating substrate, for transmitting/receiving laser light, and has a structure in which power is transmitted in a non-contact manner between the rotating body that rotates and the fixed body, data is transmitted through optical communication transmission/reception, and a laser receiving unit doubles a receiving channel and applies different receiving angles to a lens or a receiving unit, so as to increase detection resolution by increasing resolution in a specific area.

Description

Lidar optical device and its scanning method

The present invention relates to a lidar optical device, and more particularly, to a lidar optical device for transmitting and receiving a laser while rotating 360 degrees by configuring a laser module rotating by a motor, and a scanning method thereof.

In recent years, in order to detect surrounding terrain or objects in automobiles or mobile robots, LIDAR (Light Detection And Ranging), which is a laser radar device, has been widely used.

Such a radar is a device that emits pulsed laser light into the atmosphere and measures distances, objects, or atmospheric phenomena using the reflected light from a reflector or scatterer in the atmosphere, and calculates the time of the reflected light as a clock pulse. It has a resolution of 5m at ㎒ and 1m at 150 ㎒.

In this way, the radar irradiates the laser light to the surrounding area and uses the time and intensity of the reflected light reflected back to the surrounding object or terrain to measure the distance, speed, and shape of the object to be measured, or to accurately measure the surrounding object or terrain. Scan it.

Such a radar is widely applied in various fields such as sensors for detecting obstacles in front of robots and unmanned vehicles, radar guns for speed measurement, aerial geo-mapping devices, three-dimensional ground surveys, and underwater scanning.

However, the conventional radar emits a laser with a wide beam width corresponding to the angle of view and acquires the distance to the reflector by simultaneously acquiring reflected light from all directions within the angle of view, and thus requires a laser module with a very high output. There is a problem that it is very expensive. In addition, a laser module having a high output has a large size and acts as a factor to increase the overall size of the lidar device.

In addition, in the case of a conventional scanning lidar, it is necessary to change the angle of a reflection mirror in order to scatter the reflection and refraction angles of the laser. Due to this structure, the conventional scanning radar has poor intensive scanning performance for a specific region of interest, it is impossible to irradiate various laser patterns, and the manufacturing cost is increased due to the use of a plurality of laser light emitting units and light receiving units, and the structure is complex. There are drawbacks.

In particular, most of the lidar devices equipped with a panoramic scanning function are configured to rotate the entire device including the transmission optical system and the reception optical system. However, when the entire device is rotated, the size of the device increases, which is not good in terms of aesthetics, and further increases the problem of price and power consumption.

Therefore, it is possible to improve efficiency by using a drive control device and an algorithm with relatively low complexity, and a lidar optical device to simplify the device is required.

As the above-described conventional technology, a lidar device is disclosed in Korean Patent Publication No. 10-1977315 (2019.05.20.).

The conventional technology includes a laser output unit that emits a laser; A rotating multi-faceted mirror having a multi-faceted pillar shape having a through hole formed therein, rotating along a rotation axis and reflecting a laser emitted from the laser output unit toward an object; A cooling fan that is used for heat dissipation of heat generated from the laser output unit and generates an airflow passing through the through hole, and is installed in the rotating mirror; And a driving unit that provides a rotational force to the cooling fan, wherein the cooling fan rotates with the rotational force provided, and is coupled to the rotating multi-faceted mirror, and rotates integrally with the rotating multi-faceted mirror along a rotation axis of the rotating multi-faceted mirror. It provides a lidar device.

Meanwhile, in a lidar device, a device having an advanced function such as more effective scanning by varying the target scanning resolution according to the purpose of use or distance is required.

The present invention was conceived to solve the problems of the prior art, and an object of the present invention is to configure a laser module that rotates 360 degrees in a motor rotor that rotates by a rotating magnetic field of a stator of a motor located at the bottom. It is to provide a lidar optical device that can simplify its structure and operation while improving the performance of the device.

Another object of the present invention is to provide a lidar optical device capable of transmitting power in a contactless manner between a rotating rotating body and a fixed body and transmitting data through an optical communication transmission/reception method, and a scanning method thereof.

Another object of the present invention is a lidar optical device having a structure to increase the detection resolution by increasing the resolution of a specific area by dualizing the reception channel of the laser receiver and applying different reception angles of the lens or the receiver, and a scanning method thereof It is to provide.

A lidar optical device according to an embodiment of the present invention for solving the above technical problem is a lidar optical device that transmits and receives laser light to scan a target, a body housing having a circular column shape having a predetermined height, and the body A window made of a light-transmitting member that is formed 360° along the side of the housing in a certain area to facilitate the transmission of laser light and protects the main body housing, and rotates with a fixed body that is fixed and operated inside the main housing. A motor having a fixed substrate for power and data processing and a fixed ferrite core formed along the upper circumference of the fixed substrate to generate a rotating magnetic field by being fixed to the lower inside of the main body housing Consisting of a stator, the rotor is a motor rotor having a rotor ferrite core that generates rotational power by a rotational magnetic field of the motor stator, and rotates by coupling with the motor rotor, and the fixed substrate and It characterized in that it is provided with an interlocking rotating substrate and a laser module for transmitting and receiving laser light on the upper side of the rotating substrate.

The laser module is composed of a laser transmitting unit for transmitting laser light and a laser receiving unit for receiving laser light, and the laser transmitting unit is disposed on one side of the rotating substrate, and the laser receiving unit has the laser transmitting unit at the center and at both sides. The first receiver and the second receiver may be configured to be spaced apart from each other.

The laser receiving unit is characterized in that the detection resolution is increased by increasing the resolution of the receiving channel by applying different receiving angles of the lenses coupled to the first receiving unit and the second receiving unit, respectively.

In the present invention, the lens receiving angle of the second receiving unit is set narrower than the lens receiving angle of the first receiving unit, so that an overlap portion of the laser receiving area is formed at the lens receiving angle of the second receiving unit. have.

The laser receiving unit is configured such that the receiving angles of the lenses coupled to the first receiving unit and the second receiving unit are the same, but the first receiving unit and the second receiving unit are arranged at different inclination angles, It can be configured to form an overlap portion (Overlap portion).

The first laser receiving unit may be inclined at 24 degrees upward, and the second laser receiving unit may be inclined at 24 degrees downward, so that an overlap portion of the laser receiving area may be formed in an intermediate portion.

The light-receiving sensor of the laser receiver is characterized by being any one of a PIN (Positive-Intrinsic-Negative) photodiode, an avalanche photodiode (APD), or a silicon photomultiplier (SiPM).

The light-receiving sensor is characterized in that it is configured in any one type of a TO (Transistor Outline) CAN package, an SMD package, or a micro cell array.

The laser module may be characterized in that the same laser module is disposed on the other side opposite to one side of the rotating substrate to rotate.

In the present invention, power is supplied from the fixed body to the rotating body in a contactless manner by generating an induced current by the outer coil fixed to the fixed board of the fixed body and the inner coil rotating on the rotating board of the rotating body. It can be characterized.

In addition, in the present invention, in order to transmit and receive data for interlocking with the fixed substrate of the fixed body and the rotating substrate of the rotating body, an optical communication transmitting and receiving means or a low power wireless communication means between the fixed substrate of the fixed body and the rotating substrate of the rotating body There is a feature that any one of them is provided.

The optical communication transceiving means is characterized in that it is made in a wireless communication IrDA (Infrared Data Association) method by mounting an infrared ray (IR) transceiving sensor arranged to face each other in the central portion of the rotating substrate coincident with the central portion of the fixed substrate. can do.

The low-power wireless communication means may be characterized by using a radio wave (RF) method using any one of a Bluetooth transmission/reception module and a Zigbee transmission/reception module provided at a specific position of the fixed substrate of the fixed body and the rotating substrate of the rotating body. have.

A scanning method using a lidar optical device according to another embodiment of the present invention for solving the above technical problem is a lidar having a laser transmitter and a laser receiver installed on a rotating substrate that rotates 360 degrees by being coupled to a main body housing. A scanning method of an optical device, comprising: scanning in a first receiving area in a vertical direction of the main body housing through a first receiving unit included in the laser receiving unit, and a second receiving unit in the vertical direction through a second receiving unit included in the laser receiving unit The scanning is performed in a receiving area, and an image having a relatively high resolution is generated in an overlapping area of the first receiving area and the second receiving area compared to other areas. Here, the first receiving area and the second receiving area are partially overlapped with each other or include one of the other.

In one embodiment, the laser receiving unit further includes at least one third receiving unit. In this case, the lidar optical device may generate an image with a resolution that is relatively increased or multi-stepped as the number of receiving units having a receiving area included in the overlapping area increases.

In addition, in one embodiment, when the laser receiving unit further includes at least one third receiving unit, the LiDAR optical device generates an image in which the resolution of the plurality of overlapping areas spaced apart from each other is relatively higher than the resolution of the other surrounding receiving areas. It can be characterized by that.

According to the above-described lidar optical device, it is possible to improve reception efficiency by applying various laser modules to a rotating rotating body, secure various scan areas by applying one or more reception channels, or derive effective scanning precision of laser light. It works.

In addition, the present invention simplifies the lidar device by applying the principle of the configuration of a motor that rotates by a fixed body and a rotating body, and a drive control algorithm with relatively low complexity can be used, thereby improving efficiency. have.

In addition, the present invention has the effect of increasing the detection resolution by increasing the resolution of a specific region by dualizing the channels of the laser receiving unit and applying different reception angles of the lens or the receiving unit, and removing noise and errors.

1 is a perspective view showing an external shape of a lidar optical device according to the present invention,

2 is a perspective view showing the internal configuration of the lidar optical device according to the present invention,

3 is a cross-sectional view of a lidar optical device according to the present invention.

4A is an exemplary view illustrating a lens reception angle of a first receiver according to an embodiment of the present invention,

4B is an exemplary view illustrating a lens reception angle of a second receiver according to an embodiment of the present invention.

5 is an exemplary view showing a laser receiving area according to a lens receiving angle of FIGS. 4A and 4B according to an embodiment of the present invention.

6 is an exemplary view showing a laser receiving area according to different inclinations of a laser receiving unit according to another embodiment of the present invention.

The terms or words used in the specification and claims should not be construed as being limited to their usual or dictionary meanings, and the inventor may appropriately define the concept of terms in order to describe his own invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention based on the principle that there is.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all the technical spirit of the present invention, and various equivalents that can replace them at the time of application It should be understood that there may be water and variations.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings.

1 is a perspective view showing an external shape of a lidar optical device according to the present invention. As shown in the figure, the lidar optical device of the present invention includes a main body housing 100 having a circular column shape having a certain height and a window 110 formed 360° along a side surface of the main body housing 100 in a certain area. .

The window 110 may be formed of a light-transmitting member for facilitating laser light transmission into and out of the lidar optical device and protecting the main body housing 100.

2 is a perspective view showing an internal configuration of a lidar optical device according to the present invention, and FIG. 3 is a cross-sectional view of a lidar optical device according to the present invention.

Accordingly, the lidar optical device of the present invention includes a fixture 200 fixed and operated inside the main housing 100 and a rotating body 300 operated while rotating.

Mechanically, the rotating body 300 refers to a part that is rotated by a rotation driving unit such as a motor, and the fixed body 200 refers to a part that faces and is spaced apart from the rotating body 300.

Accordingly, the fixing body 200 is a component device that is coupled and fixed together with the main housing 100, and includes a main PCB 210 and a motor stator 220.

The fixed substrate 210 is fixed to the inner lower side of the main housing 100, interlocks with the rotating body 300, receives external power, and transmits it to the rotating body 300, from the rotating body 300 It performs the function of receiving and processing the laser scanning data.

In this case, the fixed substrate 210 may perform a function of transmitting to the rotating substrate 310 a control signal synchronizing the laser light transmission timing and the set timing of the laser module 400.

In this case, the fixed substrate 210 may include a control unit that controls the functions of the fixed body 200 and the rotating body 300. Accordingly, the control unit may be implemented to control an on-off operation and a rotation speed for rotation of the rotating body 300 or to transmit received laser scanning data to an external device.

Such a control unit may be implemented as at least one device selected from a logic circuit, a programming logic controller, a microcomputer, a microprocessor, and the like, and may have a communication module or be coupled to a communication module. The communication module communicates with an external device through an intranet, the Internet, a vehicle network, etc., and may transmit a signal or data related to a target or spatial distance detected through laser scanning to the external device.

The motor stator 220 is a fixed module that generates a rotating magnetic field in the motor rotor 320 from the upper side of the fixed substrate, and includes a stator frame, a fixed ferrite core, and a stator winding. Thus, it may be formed along the circumference of the fixed substrate 210.

And the rotating body 300 is rotated by coupling with the motor rotor 320 and the motor rotor 320 rotated by the rotating magnetic field of the motor stator 220 and interlocked with the fixed substrate 210 It comprises a rotating substrate 310 and a laser module 400 for transmitting and receiving laser light on the upper side of the rotating substrate 310.

The motor rotor 320 is formed inside the motor stator 220, and includes a rotor ferrite core and a rotor winding according to the principle of rotation of the motor according to the generation of a rotating magnetic field of the motor stator 220. It is a rotating module.

Accordingly, a ferrite core including a winding frame inserted into the inner ring space of the motor stator 220 and a coil wound outside the winding frame may be used for the motor rotor 320. That is, the motor rotor 320 has a rotor ferrite core having an inner through-hole formed therein, and a winding frame provided in a ring space inside the ferrite core so that a coil can be wound.

The ferrite core is a magnetic iron core made of ferrite, and is a ferromagnetic element used as a core of a transformer or an inductor by using characteristics of high permeability and low conductivity. In this embodiment, a ferrite core formed in a ring structure in which a space such as a hollow hole or a through hole is formed inside, and a coil is wound therein to be inserted into the inner ring space is used.

In the present invention, for convenience of explanation, the ferrite core may be divided into a rotating ferrite core and a fixed ferrite core, and the rotating ferrite core and the fixed ferrite core have a structure symmetrical to each other. Accordingly, the performance of the electromagnetic induction may be influenced by the amount of coil winding and the separation distance between the rotating ferrite core and the fixed ferrite core. For example, as the amount of winding wound around the coil increases and the separation distance increases, the yield due to electromagnetic induction may increase.

The motor rotor 320 is provided with a support structure and a bearing structure or similar mechanism means that support the load of the rotor 300 and enable the rotation of the rotor 300, so that the rotor 300 rotates smoothly. It is made possible.

That is, the motor stator 220 and the motor rotor 320 of the present invention have a motor structure of a stator and a rotor, and are rotated together with the laser module 400 by electromagnetic induction of the motor. It can be seen that it is formed to implement the whole.

The rotating substrate 310 is coupled to the motor rotor 320, a laser module 400 for transmitting and receiving laser light is disposed on the upper side, and a laser transmission unit for transmitting laser light provided in the laser module 400 ( It is a circuit board (PCB) including 410 and a driving circuit of the laser receiving unit 420 that receives the laser light.

At this time, the rotating substrate 310 is supplied with current by the induced current of the fixed substrate 210, and the operation is controlled according to a control signal for transmitting and receiving laser light by a control unit in connection with the fixed substrate 210. , It comprises a means for transmitting the reception signal of the laser light received by the laser receiving unit 420 to the fixed substrate 210.

Accordingly, in the present invention, a non-contact power supply is used to transmit power between the fixed body 200 and the rotating body 300.

This power transmission method is an induced current by an outer coil fixed to the fixed substrate 210 of the fixed body and an inner coil rotating on the rotary substrate 310 of the rotating body 300. Due to the occurrence of, a method of supplying power from the fixed body 200 to the rotating body 300 may be applied. The power supplied by the contactless power transmission method is configured to be used as power of the laser module 400. Accordingly, the fixture 200 may include a device receiving external power.

In addition, in order to transmit and receive data for linkage between the fixed body 200 and the rotating body 300 in the present invention, optical communication between the fixed substrate 210 of the fixed body and the rotating board 310 of the rotating body Any one of a transmission/reception means or a low-power wireless communication means may be provided.

The optical communication transmitting/receiving means is a data transmission means using light, and a hollow portion is provided in the central portion of the rotating substrate 310 that coincides with the central portion of the fixed substrate 210, and thus infrared rays ( Infrared Rays (IR) transmission/reception sensor is installed, and wireless communication IrDA (Infrared Data Association) data transmission/reception can be performed.

In addition, the low-power wireless communication means is a transmission means using a radio wave (RF) method, in which the fixed substrate 210 of the fixed body and the rotating substrate 310 of the rotating body are located at a specific position between the Bluetooth method or the Zigbee method. A transmission/reception module using any one of can be formed.

The laser module 400 of the present invention is composed of a laser transmission unit 410 for transmitting laser light and a laser receiving unit 420 for receiving laser light, as shown in FIG. 3, wherein the laser transmission unit 410 is the rotating substrate Arranged on one side of 310, the laser receiving unit 420 has the laser transmitting unit 410 in the center, and the first receiving unit 420a and the second receiving unit 420b are disposed to be spaced apart from each other on both sides. It is characterized by forming a pair.

The laser transmission unit 410 is a configuration including a means for transmitting laser light, at least one laser diode (Laser Diode) for outputting laser light having a uniform spatial spread and regular phase of the wave, and It is modularized and provided, including an optical lens for transmitting and diverging laser light from a tip of the laser diode at a predetermined distance, and a lens case for supporting the optical lens and preventing the laser light from leaking to the outside.

In addition, the first receiving unit 420a and the second receiving unit 420b of the laser receiving unit 420 have a predetermined distance between the photodiode and the photodiode applied in various embodiments in order to increase the reception efficiency of laser light and to diversify the receiving channel. It is modularized and provided, including an optical lens for transmitting and condensing laser light from a tip and a lens case for supporting the optical lens and preventing leakage of the laser light to the outside.

At this time, the lens case serves as a barrel to store the lens and to fix and support the lens so that the laser light received and transmitted from the laser transmission unit 410 and the laser receiving unit 420 does not leak to the outside and prevents external noise. .

The laser receiving unit 420 may be implemented in an embodiment using one of a cell type photodiode or a light-receiving sensor composed of a plurality of array cells.

The light-receiving sensor of the laser receiver 420 is a structure in which laser light is received by one photo cell made of a TO (Transistor Outline) cap type CAN package having a predetermined diameter, or a substrate-mounted (SMD) type. A structure in which laser light is received by a plurality of photo cells, or a structure in which laser light is received by configuring a plurality of photodiodes in the form of a micro cell array It can be configured as a package that applies one type.

The light-receiving sensor of the laser receiver 420 can be implemented using any one of a PIN (Positive-Intrinsic-Negative) photodiode and a high-sensitivity avalanche photodiode (APD). As a photomultiplier, a structure formed as an array may be implemented using a solid single photon detection sensor based on a single-photon avalanche diode (SPAD) implemented as an avalanche photodiode on a silicon substrate.

Accordingly, in an embodiment according to the present invention, in order to increase the detection resolution of the receiving channel of the laser receiving unit 420, the receiving channels of the first receiving unit 420a and the second receiving unit 420b are duplicated and the receiving angle of the lens or receiving unit is By applying differently, it is intended to improve the resolution of a specific part.

4A is an exemplary view illustrating a lens reception angle of a first receiver according to an embodiment of the present invention, FIG. 4B is an exemplary view illustrating a lens reception angle of a second receiver, and FIGS. 5A and 4B It is an exemplary view showing a laser receiving area according to the lens receiving angle consisting of.

In the drawing, the light-receiving sensor of each receiving unit includes a high-sensitivity avalanche photodiode composed of 16 arrays, but this is only an example and is not limited thereto.

As illustrated in FIG. 4A, the lens of the Guy first receiving unit 420a may adjust the laser beam condensing reception angle to 24 degrees. In addition, as shown in FIG. 4B, the laser light condensing reception angle by the lens of the second receiving unit 420b is adjusted to 8 degrees, and it may be configured by combining it with the laser module 400.

Through this, as shown in FIG. 5, an overlap portion of the laser receiving area in which the lens wide angle of the first receiving unit 420a and the lens wide angle of the second receiving unit 420b overlap each other may be formed. In the overlapping area, the resolution of the target can be further refined. Here, the overlapping area may correspond to the receiving area A2 of the second receiving unit completely included in the receiving area A1 of the first receiving unit.

6 is an exemplary view showing a laser receiving area of a first receiving unit and a second receiving unit according to another embodiment of the present invention.

Referring to FIG. 6, in the present embodiment, the receiving angles of the lenses are formed differently based on a straight line perpendicular to the center of the planar array type lens array coupled to the first receiving unit 420a and the second receiving unit 420b. That is, the first receiving unit 420a and the second receiving unit 420b are arranged at different inclination angles, and an overlap portion is formed in the laser receiving area through this.

For example, the light-receiving area A1 of the first receiving unit 420a is formed at an angle inclined to 24 degrees upward, and the light-receiving area A2 of the second receiving unit 420b is formed at an inclined angle of 24 degrees downward. A straight line perpendicular to the center of the first receiving unit 420a and the second receiving unit 420b may be configured to cross each other with an inclination angle A0 of 10 degrees. In this case, it can be seen that the entire reception area A4 is formed to have a light-receiving angle of 34 degrees, and an overlap portion (A3) of 14 degrees above and below is formed in the middle portion of the laser reception area.

In the overlapped area of the receiver, the target is scanned twice, so that the resolution of the target can be formed more precisely.

In addition, the entire receiving area A4 is arranged to surround the overlapping area A3 in a sandwich shape in the vertical direction of the overlapping area A3, but the present invention is not limited to such a shape, and is not included in the overlapping area A3. The remaining areas A4a and A4b of the entire reception area may include a shape remaining only on one side of the overlapping area A3 in the vertical direction.

On the other hand, in another embodiment of the present invention, the laser module 400 is separately disposed on one side of the rotating substrate, and a laser module 400 of the same configuration is additionally disposed on the other side opposite to the multi-channel configuration of the laser light. Can be made possible.

In that case, a multi-channel configuration of laser light can be smoothly implemented by arranging the dual-structured laser module 400 on the rotating substrate and adjusting the reception angle of the lens in the above-described laser receiving unit, or arranging or adjusting the light-receiving sensor at different inclination angles. As a result, it is possible to implement a lidar optical device that increases the detection resolution by increasing the resolution in a specific region of the laser light.

According to the above-described embodiments, in a lidar optical device including a laser transmitter and a laser receiver installed on a rotating substrate that is coupled to a body housing and rotates 360 degrees, the first receiving area of the first receiver included in the laser receiver The first inclination in the vertical direction and the second inclination in the vertical direction of the second receiving area of the second receiving unit included in the laser receiving unit are formed to be different from each other, whereby the overlapping area of the first receiving area and the second receiving area is the remaining area. It can be made to have a higher resolution.

In addition, according to the present invention, by further forming at least one third receiving unit in the laser receiving unit, the overlapping area can be formed as an overlapping area having a multi-level resolution in which the number of receiving units increases stepwise. For example, in the case of a lidar that has a cylindrical body housing and rotates 360 degrees and scans the surrounding environment or target, the resolution is stepwise from the center of the ring to the vertical direction on the ring-shaped band-shaped window formed on the cylindrical side. It is possible to provide a lidar optical device having a resolution of three or more steps that is lowered.

In addition, according to the present invention, by further forming at least one third receiving unit in the laser receiving unit, it is possible to form a plurality of overlapping areas to form receiving areas (overlapping areas) having a relatively higher resolution than the other receiving areas. Do. For example, a first receiving unit has a first receiving area upward in an up-down direction, a second receiving unit has a second receiving area downward in an upward direction and does not have an area overlapping the first receiving area, and the third When the receiving unit has an overlapping area for each of the first receiving area and the second receiving area, the two overlapping areas may have a higher resolution than the other areas.

The plurality of third receiving units may be disposed radially at 360 degrees with respect to the laser transmitting unit on the rotating substrate.

In this way, an overlapping area in which all of the reception areas of all the receiving units overlap may have the highest resolution, and in the case of having a plurality of overlapping areas, the resolution of each of the plurality of overlapping areas is of a single receiving area that does not overlap with other receiving areas. It becomes higher than the resolution. According to this configuration, depending on whether the scanning range to be scanned through the lidar is one or two, a intensive overlapping area can be formed, or a parallel overlapping area can be formed. It is possible to effectively provide a lidar optical device having a relatively high partial resolution at a predetermined scanning angle or scanning range in a height or a specific shape.

It is natural that the present invention as described above can be variously modified in addition to the above-described embodiments. The lidar device of the present invention may be generally applied to a vehicle, but the present invention is not limited thereto. That is, the lidar optical device according to the present invention can be applied not only to vehicles, but also to mobile devices that can move such as robots, ships, helicopters, drones, etc. I can.

Although the above has been described with reference to the preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention described in the claims. You can understand.

[Explanation of code]

100: main housing 110: window

200: fixed body 210: fixed substrate

220: motor stator 300: rotating body

310: rotating substrate 320: motor rotor

400: laser module 410: laser transmitter

420: laser receiving unit 420a: first receiving unit

420b: second receiver

Claims

In the lidar optical device for transmitting and receiving laser light,

A body housing having a circular column shape with a certain height,

A window made of a light-transmitting member for facilitating laser light transmission and protecting the main body housing by being formed 360° along a side surface of the main body housing,

Consisting of a fixed body fixed and operating inside the main housing and a rotating body that rotates and operates,

The fixture is

And a motor stator provided with a fixed substrate for power and data processing and a fixed ferrite core formed along an upper circumference of the fixed substrate to generate a rotating magnetic field, fixed to the lower inner side of the main housing,

The rotating body

A motor rotor having a rotor ferrite core that generates rotational power by a rotating magnetic field of the motor stator, a rotating substrate that rotates by coupling with the motor rotor and interlocks with the fixed substrate, and from the upper side of the rotating substrate. A lidar optical device comprising a laser module for transmitting and receiving laser light.
The method according to claim 1,

The laser module includes a laser transmitter including a laser diode (LD) for transmitting laser light and a laser receiving unit including a photo diode for receiving laser light,

The laser transmitting unit is disposed on one side of the rotating substrate, the laser receiving unit is configured to be spaced apart from each other with the first receiving unit and the second receiving unit at both sides with the one laser transmitting unit at the center. .
The method according to claim 2,

The laser receiver

A lidar optical device, characterized in that the detection resolution is increased by increasing the resolution of the reception channel by applying different reception angles of the lenses coupled to the first reception unit and the second reception unit.
The method of claim 3,

The lens receiving angle of the second receiving unit is set narrower than the lens receiving angle of the first receiving unit, and an overlapping region of the laser receiving area is formed at the lens receiving angle of the second receiving unit. Lidar optical device.
The method according to claim 2,

The laser receiver

The first receiving unit and the second receiving unit are configured to have the same receiving angles, respectively, and the first receiving unit and the second receiving unit are angled at different angles. portion) is formed.
The method of claim 5,

The first receiver is inclined at 24 degrees upward, and the second receiver is inclined at 24 degrees downward, so that an overlap portion of the laser receiving area is formed in an intermediate portion.
The method according to claim 2,

The light-receiving sensor of the laser receiver is a LiDAR optical device, characterized in that one of a PIN photodiode, an avalanche photodiode (APD), or a silicon photomultiplier (SiPM).
The method of claim 7,

The light-receiving sensor is a lidar optical device, characterized in that configured in any one of a TO (Transistor Outline) CAN package, an SMD package, or a micro cell array (Array) type.
The method according to claim 1,

The laser module is a lidar optical device, characterized in that the same laser module is disposed on the other side opposite to the other side of the rotating substrate to rotate.
The method according to claim 1,

Induction current is generated by an outer coil fixed to the fixed substrate of the fixed body and an inner coil rotating on the rotating substrate of the rotating body, thereby supplying power from the fixed body to the rotating body in a contactless manner. Which is a lidar optical device.
The method according to claim 1,

In order to transmit and receive data for interlocking with the fixed substrate of the fixed body and the rotating substrate of the rotating body, any one of optical communication transmitting and receiving means or low power wireless communication means between the fixed substrate of the fixed body and the rotating substrate of the rotating body Lidar optical device, characterized in that provided.
The method of claim 11,

The optical communication transmission/reception unit is characterized in that it is made in a wireless communication IrDA (Infrared Data Association) method by mounting an infrared ray (IR) transmission/reception sensor arranged to face each other at a central portion of the rotating substrate coincident with the central portion of the fixed substrate. Which is a lidar optical device.
The method of claim 11,

The low-power wireless communication means uses a radio wave (RF) method using any one of a Bluetooth transmission/reception module and a Zigbee transmission/reception module provided at a specific position of the fixed substrate of the fixed body and the rotating substrate of the rotating body. Is an optical device.
As a scanning method of a lidar optical device having a laser transmitter and a laser receiver installed on a rotating substrate that is coupled to a main body housing and rotates 360 degrees,

Scanning in a first receiving area in the vertical direction of the main body housing through a first receiving unit included in the laser receiving unit, scanning in a second receiving area in the vertical direction through a second receiving unit included in the laser receiving unit, and the In an overlapping area of the first receiving area and the second receiving area, an image having a relatively high resolution is generated compared to other areas,

The first receiving area and the second receiving area are partially overlapped with each other or include one of the other.
The method of claim 14,

The laser receiving unit further includes at least one third receiving unit,

The overlapping area formed by the reception areas of the first receiving unit, the second receiving unit, and the third receiving unit includes an overlapping area of the highest resolution in which all of the receiving areas overlap, or includes a plurality of overlapping areas, wherein The resolution of each of the plurality of overlapping regions is higher than that of a single reception region not overlapping with another reception region.