WO2021060919A1 - Dispositif optique à lidar et procédé de balayage associé - Google Patents

Dispositif optique à lidar et procédé de balayage associé Download PDF

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Publication number
WO2021060919A1
WO2021060919A1 PCT/KR2020/013080 KR2020013080W WO2021060919A1 WO 2021060919 A1 WO2021060919 A1 WO 2021060919A1 KR 2020013080 W KR2020013080 W KR 2020013080W WO 2021060919 A1 WO2021060919 A1 WO 2021060919A1
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WO
WIPO (PCT)
Prior art keywords
laser
receiving
receiving unit
rotating
fixed
Prior art date
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PCT/KR2020/013080
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English (en)
Korean (ko)
Inventor
문명일
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문명일
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Filing date
Publication date
Priority claimed from KR1020200034597A external-priority patent/KR102482931B1/ko
Application filed by 문명일 filed Critical 문명일
Publication of WO2021060919A1 publication Critical patent/WO2021060919A1/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
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K17/00—Asynchronous induction motors; Asynchronous induction generators
    • H02K17/02—Asynchronous induction motors

Definitions

  • 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.
  • LIDAR Light Detection And Ranging
  • 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 MHz and 1m at 150 MHz.
  • 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.
  • 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.
  • 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.
  • 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.
  • the size of the device increases, which is not good in terms of aesthetics, and further increases the problem of price and power consumption.
  • 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.
  • 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 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
  • 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.
  • 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).
  • PIN Positive-Intrinsic-Negative
  • APD avalanche photodiode
  • SiPM silicon photomultiplier
  • 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.
  • 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.
  • 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
  • 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.
  • IrDA Infrared Data Association
  • 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.
  • RF radio wave
  • a scanning method using a lidar optical device 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.
  • the first receiving area and the second receiving area are partially overlapped with each other or include one of the other.
  • the laser receiving unit further includes at least one third receiving unit.
  • 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.
  • the LiDAR optical device 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.
  • 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.
  • 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.
  • 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.
  • FIG. 1 is a perspective view showing an external shape of a lidar optical device according to the present invention
  • FIG. 2 is a perspective view showing the internal configuration of the lidar optical device according to the present invention.
  • FIG 3 is a cross-sectional view of a lidar optical device according to the present invention.
  • FIG. 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.
  • FIG. 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.
  • FIG. 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 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.
  • FIG. 2 is a perspective view showing an internal configuration of a lidar optical device according to the present invention
  • FIG. 3 is a cross-sectional view of a lidar optical device according to the present invention.
  • 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.
  • the rotating body 300 refers to a part that is rotated by a rotation driving unit such as a motor
  • the fixed body 200 refers to a part that faces and is spaced apart from the rotating body 300.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • PCB circuit board
  • 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.
  • 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.
  • 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.
  • infrared rays Infrared Rays (IR) transmission/reception sensor
  • IrDA Infrared Data Association
  • 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.
  • RF radio wave
  • 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.
  • Laser Diode Laser Diode
  • 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.
  • 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.
  • 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).
  • 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.
  • SPAD single-photon avalanche diode
  • 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.
  • FIG. 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
  • FIGS. 5A and 4B It is an exemplary view showing a laser receiving area according to the lens receiving angle consisting of.
  • 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.
  • the lens of the Guy first receiving unit 420a may adjust the laser beam condensing reception angle to 24 degrees.
  • 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.
  • 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.
  • the resolution of the target can be further refined.
  • 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.
  • FIG. 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.
  • 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.
  • the light-receiving area A1 of the first receiving unit 420a is formed at an angle inclined to 24 degrees upward
  • 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.
  • 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.
  • the target is scanned twice, so that the resolution of the target can be formed more precisely.
  • 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.
  • 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.
  • 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.
  • a lidar optical device that increases the detection resolution by increasing the resolution in a specific region of the laser light.
  • 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.
  • the overlapping area can be formed as an overlapping area having a multi-level resolution in which the number of receiving units increases stepwise.
  • 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.
  • a 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • rotating substrate 320 motor rotor

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

Abstract

L'invention concerne un dispositif optique à LIDAR et un procédé de balayage associé. Un dispositif optique à LIDAR comprend un corps fixe qui fonctionne tout en étant fixé à l'intérieur d'un boîtier de corps principal, et un corps rotatif qui fonctionne tout en tournant, le corps fixe comprenant un substrat fixe fixé au côté inférieur interne du boîtier de corps principal afin de traiter de l'énergie et des données, et un stator de moteur formé le long de la circonférence supérieure du substrat fixe de façon à générer un champ magnétique rotatif, et le corps rotatif comprend un rotor de moteur qui tourne au moyen du champ magnétique rotatif du stator de moteur, un substrat rotatif qui tourne au moyen d'un couplage au rotor de moteur, et qui est relié au substrat fixe, et un module laser, ménagé sur le côté supérieur du substrat rotatif, pour émettre/recevoir une lumière laser, et possède une structure dans laquelle de l'énergie est transmise d'une manière sans contact entre le corps rotatif qui tourne et le corps fixe, des données sont transmises par le biais d'une émission/réception de communication optique, et une unité de réception laser double un canal de réception et applique différents angles de réception à une lentille ou à une unité de réception, de façon à augmenter la résolution de détection par l'augmentation de la résolution dans une zone spécifique.
PCT/KR2020/013080 2019-09-25 2020-09-25 Dispositif optique à lidar et procédé de balayage associé WO2021060919A1 (fr)

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Application Number Priority Date Filing Date Title
KR10-2019-0118406 2019-09-25
KR20190118406 2019-09-25
KR1020200034597A KR102482931B1 (ko) 2019-09-25 2020-03-20 라이다 광학 장치 및 이의 스캐닝 방법
KR10-2020-0034597 2020-03-20

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113109826A (zh) * 2021-03-26 2021-07-13 北京工业大学 一种多自由度全方位激光雷达
CN115166695A (zh) * 2022-09-06 2022-10-11 深圳力策科技有限公司 高安全性激光雷达扫描装置

Citations (5)

* Cited by examiner, † Cited by third party
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