WO2021261809A1 - Appareil lidar - Google Patents

Appareil lidar Download PDF

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Publication number
WO2021261809A1
WO2021261809A1 PCT/KR2021/007150 KR2021007150W WO2021261809A1 WO 2021261809 A1 WO2021261809 A1 WO 2021261809A1 KR 2021007150 W KR2021007150 W KR 2021007150W WO 2021261809 A1 WO2021261809 A1 WO 2021261809A1
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WIPO (PCT)
Prior art keywords
mirror
laser
motor
lidar device
laser beam
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Application number
PCT/KR2021/007150
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English (en)
Korean (ko)
Inventor
문명일
Original Assignee
문명일
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Application filed by 문명일 filed Critical 문명일
Publication of WO2021261809A1 publication Critical patent/WO2021261809A1/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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/08—Mirrors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices

Definitions

  • the present invention relates to a lidar device, and more particularly, to a lidar device capable of three-dimensionally grasping the distance and shape of an object by emitting laser light and receiving reflected light reflected from a reflector or scatterer will be.
  • lidar LIght Detection And Ranging
  • Such a lidar device emits pulsed laser light and uses the reflected light reflected from the reflector or scatterer to determine the distance to the object and the shape of the object. It has a resolution of 5 m at 30 MHz and 1 m at 150 MHz.
  • the lidar device irradiates laser light into the surrounding area and uses the time and intensity of the reflected light reflected off the surrounding object or terrain to measure the distance, speed, and shape of the measurement object, or to measure the surrounding object or terrain. Scan accurately.
  • lidar devices are 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, 3D ground surveys, and underwater scanning.
  • lidar devices having a omnidirectional scanning function are configured to rotate the entire device including the transmission optical system and the reception optical system.
  • the size of the system becomes larger, which is not only not good in terms of aesthetics, but also aggravates the problems of price and power consumption increase.
  • Korean Patent Application Laid-Open No. 10-2017-0078031 (2017.07.07.) that relates to a scanning lidar in which the scanning vertical area is variable.
  • the background art relates to a scanning lidar in which the scanning vertical area is variable, and at the same time controlling the 360-degree rotation of a reflection mirror that reflects a pulse laser traveling to a measurement target through a motor, a single or a small number of lasers, a receiver and
  • An object of the present invention is to provide a scanning lidar in which the scanning vertical area is variable based on obtaining 3D spatial information by performing a scan on a wide area in which the vertical area is extended through a structure in which the mirror rotates in the vertical direction.
  • the present invention has been derived to solve the problems of the prior art described above, and an object of the present invention is to integrate a mirror frame for coupling a mirror with the case of the motor and extend to the outside downward of the motor so that the size of the motor is not limited.
  • an object of the present invention is to integrate a mirror frame for coupling a mirror with the case of the motor and extend to the outside downward of the motor so that the size of the motor is not limited.
  • a lidar device capable of reducing the width of a mirror interval corresponding to each other facing each other on the mirror frame, and configuring the mirror unit on the lower side of the motor where the rotational force is generated, thereby rotating the mirror unit
  • An object of the present invention is to provide a lidar device that allows the mass to be generated in the direction of gravity to minimize shaking due to non-uniformity of the rotational balance.
  • the present invention stacks one or more laser diodes (LD) at different heights to be spaced apart from each other by a certain distance with a difference in up-and-down positions.
  • An object of the present invention is to provide a lidar device that allows optical channels to be formed according to different laser beams.
  • the present invention is to provide a lidar device capable of extending a laser beam divergence range by making two sides of a mirror that reflect a laser beam on the front surface of the laser transmitter and irradiate it to an external target have different inclination angles. .
  • an object of the present invention is to provide a lidar device for expanding a scanning area by having a MEMS mirror that can control so that the divergence angle is divided vertically according to the rotational motion at the front end of the laser transmitter.
  • a lidar device for solving the above technical problem is a housing having an upper case and a lower case, a laser transmitter and a laser that emit a laser beam while being supported on the bottom surface of the lower case inside the housing.
  • a laser module assembly in which a laser receiving unit for receiving a beam is coupled to the top and bottom, respectively, and a mirror that reflects the laser beam while rotating by a motor that is spaced apart from the laser module assembly and supported on the ceiling surface of the upper case is combined. It has a feature that includes a mirror rotating part.
  • the laser transmitter of the present invention stacks one or more laser diodes (LD) at different heights spaced apart from each other by a predetermined distance with a difference in vertical position, and a divergent angle, irradiation period, or By adjusting the timing differently to form optical channels according to different laser beams, the scan area can be expanded and the scan of a specific area can be overlapped.
  • LD laser diodes
  • a second laser transmitter for emitting a laser beam and a second laser receiver for receiving a laser beam while being supported on the bottom surface of the lower case It is characterized by further comprising a second laser module assembly coupled to the top and bottom, respectively.
  • the mirror rotating part of the present invention has a circular upper plate coupled to the ceiling surface of the upper case, a motor fixedly coupled to the upper plate by a fastening means, and a support shaft formed vertically while vertically penetrating the center of the motor. , a mirror frame formed by being coupled to an outer circumferential surface of the rotating outer rotor of the motor, and one or more mirrors coupled to the mirror frame.
  • the motor of the present invention has an outer rotor (Outer Rotor) type brushless DC (Brushless Direct Current, BLDC) motor in which the outer circumferential surface rotates.
  • Outer Rotor Outer Rotor
  • BLDC Batteryless Direct Current
  • the support shaft of the present invention is characterized in that the rotation bearing is provided at one end of the upper side and one end of the lower side.
  • the mirror frame of the present invention has a rectangular-shaped pillar structure coupled on the outer circumferential surface of the motor, and is characterized in that it extends while narrowing again from the lower side of the motor.
  • the mirror frame of the present invention is characterized in that the upper mirror that reflects the emitted laser beam to be irradiated to the external target and the lower mirror that reflects the laser beam that is reflected back to the target are divided and combined.
  • the upper mirror of the present invention is characterized in that one side and the other side parallel to one side are formed as a reflective surface inclined at a predetermined angle with respect to the vertical axis in the same direction to extend the scanning angle.
  • the mirror frame of the present invention is characterized in that an arch-shaped dividing rib protruding to a predetermined length at the point where the upper mirror and the lower mirror are divided is formed.
  • the laser module assembly of the present invention is characterized in that it includes a MEMS mirror that adjusts the divergence angle of the laser beam incident up and down according to the rotational motion of a predetermined inclination angle about the horizontal axis at the front end of the laser transmitter.
  • the present invention by the above-described LiDAR device is by positioning the rotating mirror unit in the mirror frame portion extending in the form of a narrower in the lower side of the motor, the size of the motor is not limited, facing each other on the mirror frame Since the width of the mirror gap can be reduced, there is an effect that the product size can be made smaller.
  • the present invention supports the motor generating the rotational force on the ceiling surface of the upper case and configures the rotating mirror unit on the lower side of the motor, so that the mass of the rotating mirror unit is generated in the direction of gravity, that is, perpendicular to the rotation balance It has the effect of minimizing the shaking caused by the non-uniformity of the
  • the present invention provides various structural designs for varying the emission angle of the laser beam when the laser transmitter transmits the laser beam, and the scanning angle of It is effective to provide a lidar device capable of maximizing spatial scan performance due to expansion and adjustment of the scan area.
  • FIG. 1 is a perspective view showing the appearance of a lidar device according to an embodiment of the present invention.
  • Figure 2 is a perspective view showing a state in which the upper case of the lidar device according to an embodiment of the present invention is removed.
  • Figure 3 is a front view showing a cross section of the mirror rotating portion of the lidar device according to an embodiment of the present invention.
  • FIG. 4 is a perspective view of a lidar device having one or more laser beam transmitters in a laser transmitter according to another embodiment of the present invention.
  • FIG. 5 is a cross-sectional view of the laser module assembly according to FIG.
  • FIG. 6 is an exemplary view showing another embodiment of the mirror rotating unit of FIG. 3;
  • FIG. 7 is an exemplary view showing another embodiment of the mirror rotating unit of FIG. 3;
  • FIG 8 is a perspective view of a lidar device in which a MEMS mirror is provided at a front end of a laser transmitter as another embodiment of the present invention.
  • FIG. 9 is an exemplary view in which the MEMS mirror of FIG. 8 rotates with a vertical rotation angle.
  • FIG. 10 is an exemplary view of a lidar device made by applying one or more laser beam transmitters and a mirror rotating part reflected at different scan angles according to another embodiment of the present invention.
  • FIG. 11 is a perspective view of a lidar device including a plurality of laser module assemblies according to another embodiment of the present invention.
  • FIG. 1 is a perspective view showing the appearance of a lidar device according to an embodiment of the present invention
  • FIG. 2 is a perspective view showing a state in which the upper case of the lidar device according to an embodiment of the present invention is removed
  • FIG. 3 is this view It is a front view viewed from the AB side of the mirror rotating part of the lidar device according to an embodiment of the present invention.
  • the lidar device 10 includes a housing including an upper case 11 and a lower case 12 .
  • the upper case 11 and the lower case 12 may have a structure in which they are alternately fastened with an oblique line. That is, the lower case 12 has a structure that forms a lower surface and a rear surface, and the upper case 11 forms an upper surface. It has a structure including a window 13 made of a light-transmitting member so that the laser beam penetrates therein.
  • the lidar device 10 is supported on the bottom surface of the lower case 13 to emit and receive laser light to the laser module assembly (Assembly) 100 and the motor supported on the ceiling surface of the upper case 11. It is made to include a mirror rotating unit 200 is configured by combining the rotating mirrors.
  • the laser module assembly 100 includes at least one laser diode LD for emitting a pulse laser beam of a specific frequency band toward a mirror configured in the mirror rotating unit 200 and at least one photodiode for receiving the laser beam.
  • PD can be called a laser transmission and reception unit (Unit) is formed by combining.
  • the laser diode LD corresponds to the laser transmitter Send 110
  • the photodiode PD corresponds to the laser receiver 120 .
  • the laser receiver 120 is a high-sensitivity avalanche photodiode (APD) that converts a photoelectric effect into a current by receiving the laser light that is finally irradiated to the target and then reflected back, or a photocell, a charge-coupled device
  • APD avalanche photodiode
  • a light detection unit including an imaging sensor such as a (CCD) and a similar photodiode device a detection method that is commonly used may be used, and thus a detailed description thereof will be omitted.
  • the laser transmitter 110 is formed as an upper end of the laser module assembly 100
  • the laser receiver 120 is formed as a lower end of the laser module assembly 100 . That is, the laser beam emitted from the upper end of the laser module assembly 100 is reflected and received at the lower end.
  • FIG. 4 is a perspective view of a lidar device having one or more laser beam transmitters in a laser transmitter according to another embodiment of the present invention
  • FIG. 5 is a cross-sectional view of the laser module assembly according to FIG.
  • the laser transmitter 110 may be formed by stacking one or more laser diodes LD at different heights to be spaced apart from each other by a predetermined distance having a difference in upper and lower positions.
  • the laser transmitter 110 may be composed of one or more laser beam transmitters 111 , which may be divided into laser beam A, B, C, or more.
  • the divergence angle, irradiation period, or timing of any one or more of the laser beam A, B, and C of the one or more laser beam transmitters 111 are differently controlled, light according to different laser beams A channel may be formed.
  • the optical channels of the laser beams emitted at different points are irradiated toward the upper mirror 241 of the mirror frame 240, and then the front area that is reflected by the target is three-dimensional. can be scanned with
  • the mirror rotating unit 200 of the present invention includes a circular upper plate 210 coupled to the ceiling surface of the upper case 11 , a motor 220 fixedly coupled to the upper plate 210 , and a central portion of the motor 10 . It includes a support shaft 230 vertically penetrating vertically, a mirror frame 240 formed by being coupled to an outer circumferential surface of an outer rotor rotating of the motor, and one or more mirrors coupled to the mirror frame. .
  • the motor 220 includes a motor rotating unit operating as a rotor and a motor fixing unit operating as a stator.
  • the motor 220 may be an outer rotor type brushless direct current (BLDC) motor in which an outer circumferential surface rotates. That is, by applying an outer rotor type structure to the rotating motor rotating part, it is possible to implement a rotating actuator rotating on the outer peripheral surface of the motor.
  • BLDC brushless direct current
  • the motor 220 is coupled to the upper plate 210 by fastening means 211 such as bolts and nuts to the upper side. That is, the support substrate formed while extending the motor fixing part operating as a stator of the motor was extended from the upper part to have a structure coupled to the upper plate 210 .
  • the upper plate 210 is a structure coupled to the ceiling surface of the upper case 11 , it can be seen that the motor 220 has a position in the form of rotation while being supported on the upper side of the mirror rotating unit 200 .
  • the mirror frame 240 is combined with a motor case formed on the outer circumferential surface of the motor 220 or is formed integrally with a motor case (yoke), and has a rectangular columnar structure forming four sides.
  • the motor 220 may have a circular outer circumferential surface, but by combining a rectangular motor case formed by extending the circular outer circumferential surface, the mirror frame 240 integrally formed with the motor case is a quadrangular pole. It can be made into shape.
  • the mirror frame 240 of the present invention is made of a rectangular columnar structure, but is made in a form in which the width is narrowed again at the lower side of the motor.
  • the motor In order to rotate the mirror, when the mirror frame 240 is assembled with the motor case (yoke), the motor is directly inserted into the mirror frame 240. This is because the size of the motor is limited, so there may be a limit in realizing the motor performance, and there may be a limit in reducing the distance between the mirrors facing each other on the mirror frame.
  • the present invention does not position the motor directly inside the mirror frame 240, but when the motor 220 is coupled to the mirror frame 240, it is configured to be located outside the mirrors. will be.
  • the size of the motor is not limited, and the width of the corresponding mirror intervals facing each other on the mirror frame By being able to reduce the size, it is possible to make the product size small.
  • a rotating bearing provided on the support shaft 230 vertically elongated while vertically penetrating the central portion of the motor 10 . (231, 232) enables stable rotational motion without substantial fluctuation.
  • the bearing is a first bearing 231 provided on the support shaft 230 at a predetermined distance below the motor 220 and in contact with one end of the mirror frame 240 and a second bearing 232 provided on the lower end of the support shaft. ) is made of
  • the mass of the rotating mirror unit is Although there may be a problem in that the rotational balance is non-uniform and shake occurs, the present invention couples the motor 220 to the upper plate to position it to rotate while being supported on the upper side of the mirror rotating unit 200, and the rotating mirror unit By configuring it on the lower side of the motor, the mass of the rotating mirror unit is generated in the direction of gravity, that is, vertically, so that it is possible to minimize shaking due to non-uniformity of the rotational balance.
  • FIG. 6 is an exemplary view showing another embodiment of the mirror rotating part of FIG. 3, and when the mirror frame 240 is formed in a form in which the width is narrowed at the lower side of the motor, the mirror mounted on the mirror frame 240 is positioned between the inner side surfaces to which the rotary bearings 231 and 232 are assembled, so that the width of the mirror spacing corresponding to each other can be further minimized, and the product size can be made smaller by this structure.
  • the mirror frame 240 includes an upper mirror 241 that reflects a laser beam on the front surface of the laser transmitter 110 to irradiate it to an external target, and a lower part that reflects the laser beam that is reflected back to the target to the laser receiver 120 .
  • the mirror 242 is formed to be separated and combined.
  • the upper mirror 241 and the lower mirror 242 are reflective mirrors, and have a rectangular flat plate shape, but are not limited thereto, and may be attached to the surface of the mirror frame 240 or disposed in a structure coated on the surface. .
  • the mirror frame 240 is formed in the shape of a quadrangular pole extending downward of the motor 220, the upper mirror 241 faces each other at the upper end of the two sides facing each other in the mirror frame 240, and the lower end
  • the lower mirror 242 may be formed to face each other and have a corresponding structure, but the present invention is not limited thereto.
  • FIG. 7 is an exemplary view showing another embodiment of the mirror rotating unit of FIG. 3 .
  • the mirror frame 240 may be formed by changing the reflection angle so that only the upper mirror 241 is independently reflected at different scan angles, and the upper mirror 241 and the lower mirror 242 are obliquely different from each other at different angles. It is designed to be made of and can be implemented to scatter or receive a laser beam.
  • the upper mirror 241 for scattering the laser beam is formed as a reflective surface in which one side and the other side parallel to one side are inclined at a certain angle with respect to the vertical axis in the same direction, and the upper mirror 241 ), it can be seen that the lower mirror 242 also has a reflective surface inclined at a certain angle in the extending direction.
  • one side of the mirror of the mirror frame 240 forms an acute angle A1 inward with respect to the vertical axis, and the other side corresponding to this forms an obtuse angle A2 inwardly with respect to the vertical axis, so that one side and the other side It is implemented in the form of a quadrangular prism having a reflective surface parallel to and obliquely inclined, and the sum of the acute angle A1 and the obtuse angle A2 is 180°.
  • the mirror A1 on one side may be formed as a reflective surface inclined at an acute angle of 89°
  • the mirror A2 on the other side of the opposite side may be formed as a reflective surface inclined at an obtuse angle of 91°.
  • the laser beam is reflected by the rotating mirror frame 240, the laser beam is emitted at different angles, so that the scan area is ranged by different angles. may provide an effect of expanding and widening.
  • the mirror frame 240 is a structure that is installed at a right angle to the cross section at the point where the upper mirror 241 and the lower mirror 242 are separated, and has a predetermined length between the upper mirror 241 and the lower mirror 242. It may be provided with a division rib (Separation Rib) 243 in the shape of a protruding arch (Arch).
  • the light source of the laser beam transmitted from the laser transmitter 110 and reflected by the upper mirror 241 by the split rib 243 is effectively separated from the light source of the laser beam incident to and received by the lower mirror 242, so that the light source It can provide the effect of removing unnecessary light leakage of
  • FIG. 8 is a perspective view of a lidar device in which a MEMS mirror is provided at the front end of a laser transmitter as another embodiment of the present invention
  • FIG. 9 is a vertical rotation angle of the MEMS mirror of FIG. This is an example of how it works.
  • the lidar device 10 may further include a MEMS MIRROR 130 at the front end of the laser transmitter 110 provided in the laser module assembly 100 . have.
  • a MEMS (Micro Electro Mechanical System) mirror can be referred to as a mirror that provides a scanning function so that an incident laser beam can be precisely deflected vertically or horizontally by a scanning mirror when it reaches a target point.
  • the MEMS mirror 130 includes a plate-shaped support body, and a scanning mirror that rotates about a horizontal rotation axis in a central opening of the support body.
  • the laser beam emitted from the laser transmitter 110 is not directly directed to the upper mirror 241, but is reflected once by the MEMS mirror 130, and the reflected laser beam is again directed to the upper mirror 2410. to allow a path to be formed.
  • the MEMS mirror 130 located at the tip of the laser transmitter 110 rotates at a predetermined inclination angle about the horizontal axis, it can be controlled so that the vertical and vertical divergence angles of the laser beam are divided. It is implemented to be transmitted toward the upper mirror (241).
  • the optical channel formed by the laser beam emitted from one laser diode is divided into vertical and vertical divergence angles according to the rotational movement of the MEMS mirror 130.
  • FIG. 10 is an exemplary diagram of a lidar device made by applying one or more laser beam transmitters and a mirror rotating part that is reflected at different scan angles according to another embodiment of the present invention.
  • the present invention is capable of maximizing the spatial scan performance due to the extension of the scanning angle by combining various structural designs according to the above-described embodiments of the present invention or applying a complex arrangement when the laser transmitter emits a laser beam. It becomes possible to provide a variety of lidar devices.
  • the laser transmitter 110 of the laser module assembly 100 is configured to include one or more laser beam transmitter 111, the mirror of the mirror rotating unit 200
  • the frame 240 is formed as a pair of mirrors having different inclination angles, so that it is possible to provide an effect of maximizing the spatial scanning performance due to the extension of the scanning angle.
  • FIG. 10 illustrates the application of one or more laser beam transmitters 111 and the mirror frame 240 that is reflected at different scan angles, but in a structure including the MEMS mirror 130 at the front end of the laser transmitter 110 It is self-evident that the mirror frame 240 reflected at different scan angles can be applied, thereby providing a three-dimensional lidar device that improves the scan area and scan performance.
  • a control unit may be further provided on one side of the laser module assembly 100 .
  • the control unit is configured to cooperate with the mirror rotating unit 200, and may perform a function of differently controlling the divergence angle, irradiation period, or timing for the laser beam transmission provided in the laser transmission unit 110, and the laser beam transmission It is possible to control the rotation and speed of the motor according to the timing.
  • it controls the rotation divergence angle of the MEMS mirror 130 or performs a function of synchronizing the timing of the transmission and reception operations of the laser transceiver module.
  • the controller may be implemented to transmit a signal received by the laser receiver 120 to an external device.
  • the above-described control unit may be implemented as at least one device selected from a logic circuit, a programming logic controller, a microcomputer, a microprocessor, etc., and may include a communication module or be coupled to the 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 detected through laser scanning or a distance to the target to the external device.
  • the lidar device 10 may be provided with a wiring or an adapter or a power supply means for power supply, and the power supply means may be made of an internal power source or a rechargeable power supply device.
  • LiDAR device of the present invention it is possible to effectively reflect and emit the laser light emitted from the laser module in a desired target range, and effectively receive the laser light reflected from the outside to detect the target by the laser light or Target measurement can be effectively performed.
  • the angle of divergence of the laser beam emitted through the window through the MEMS mirror it is possible to effectively perform the laser scanning operation.
  • FIG. 11 is a perspective view of a lidar device including a plurality of laser module assemblies according to another embodiment of the present invention.
  • 11 it may be configured to include a plurality of laser module assemblies 100 and 105 .
  • the first laser module assembly 100 is spaced apart from each other by a predetermined interval around the mirror rotating part 200
  • the second laser module assembly 105 is the laser module assembly 100 centering on the mirror rotating part 200 .
  • the first laser module assembly 100 is supported on the bottom surface of the lower case, and the laser transmitter 110 for emitting a laser beam and the laser receiver 120 for receiving the laser beam are coupled to the top and bottom, respectively.
  • the second laser module assembly 105 has a second laser transmitter 115 for emitting a laser beam and a second laser receiver 125 for receiving a laser beam while being supported on the bottom surface of the lower case, respectively, at the upper end. and may be configured to be coupled to the bottom.
  • the first and second laser transmitters 110 and 115 may be configured as laser diodes LD, and the first and second laser receivers 120 and 125 may be configured as photodiodes PD.
  • the lidar device when configured to include two laser module assemblies 100 and 105, if the divergence angle, irradiation period, or timing of the laser beam is controlled differently, the area reflected by the target can be three-dimensionally scanned. Also, by adjusting the divergent angles of specific optical channels differently or overlapping each other at an angle oriented to a specific area, the scanning area may be extended or the scanning performance of the specific area may be further improved.
  • the lidar device may be configured to include two or more laser module assemblies.
  • a wider area can be three-dimensionally scanned, and the scanning performance of a specific area can be maximized by further expanding the scanning area by making the diverging angle of a specific optical channel wider or overlapping.

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

Abstract

La présente invention concerne un appareil lidar tridimensionnel servant à balayer des objets ou une topographie proches par émission et réception d'un faisceau laser, caractérisé en ce qu'il comprend, à l'intérieur d'un boîtier comprenant un boîtier supérieur et un boîtier inférieur : un ensemble module laser qui est supporté sur la surface inférieure du boîtier inférieur, et dans lequel une partie de transmission laser servant à envoyer un faisceau laser et une partie de réception laser servant à recevoir un faisceau laser sont couplées à l'extrémité supérieure et à l'extrémité inférieure de l'ensemble, respectivement ; et une unité de rotation de miroir qui est espacée d'une certaine distance de l'ensemble module laser, et à laquelle un miroir est couplé, le miroir servant à réfléchir un faisceau laser pendant qu'il tourne sous l'action d'un moteur supporté sur la surface supérieure du boîtier supérieur.
PCT/KR2021/007150 2020-06-23 2021-06-08 Appareil lidar WO2021261809A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2020-0076229 2020-06-23
KR1020200076229A KR102656294B1 (ko) 2020-06-23 2020-06-23 라이다 장치

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