KR102636500B1 - Lidar system with biased 360-degree field of view - Google Patents

Abstract

The present invention relates to a LiDAR system with an omnidirectional viewing angle, and is provided with a scanning mirror to scan a scan angle area corresponding to a preset omnidirectional position. After transmitting a laser beam toward the scanning mirror, a target (person or object) is provided. By including a light transmitting and receiving module that receives the reflected light, not only can it provide an omnidirectional horizontal viewing angle of 360 degrees, corresponding to all directions, with only a minimum number of light transmitting and receiving modules, but it can also effectively detect objects at close and long distances.

Description

Lidar system with omnidirectional viewing angle {LIDAR SYSTEM WITH BIASED 360-DEGREE FIELD OF VIEW}

The present invention includes a scanning mirror to scan a scan angle area corresponding to a preset omnidirectional direction, and a light transmitting/receiving module that transmits laser light toward the scanning mirror and then receives the reflected light reflected from the target (person or object). By including it, it relates to a LIDAR system that can not only provide an omnidirectional horizontal viewing angle of 360 degrees corresponding to all directions with only a minimum number of light transmitting and receiving modules, but also has an omnidirectional viewing angle that can effectively detect objects both near and far.

As is well known, LiDAR (Light Detection and Ranging, LiDAR) irradiates light to surrounding objects or objects, detects the reflected light, measures distance, etc., and recognizes and detects objects based on this. It's a sensor.

LiDAR is being widely applied to various fields such as autonomous driving, unmanned robots, and terrain/object detection.

Meanwhile, when applying LiDAR to each field, the typical requirements required are a wide viewing angle, high resolution, distance accuracy, and detection speed, and the shape, size, and weight are reviewed depending on the mounting and installation location. is also required.

Figures 1 to 3 are diagrams to explain the horizontal viewing angle of a conventional LiDAR system. Although the specifications of the LiDAR system vary depending on the field in which it is used and the location of installation, the horizontal and vertical viewing angles of the LiDAR system are different from those of the LiDAR system. As a representative indicator of detection performance, many areas must be visible, and in some cases, it is necessary to effectively configure the viewing angle for the area requiring detection.

Recently, in fields such as autonomous driving and security, the demand for LIDAR with a wide 360-degree viewing angle has been increasing for the purpose of collision prevention from the front, rear, and sides, and unmanned surveillance. As shown in Figure 1, the existing In the case of general mechanical scanning LIDAR, most detect a horizontal viewing angle of 100 degrees or more forward. In this case, in order to configure a horizontal viewing angle of 180 degrees to 360 degrees, the LIDAR is used using several light transmitters and receivers as shown in FIG. 2. It must be configured.

Here, the number of light transmitters and receivers should be minimized in order to be constructed as small and cheaply as possible considering various viewpoints. The number of light transmitters and receivers should be used as the number divided by the horizontal viewing angle of each light transmitter and receiver with respect to the omnidirectional horizontal viewing angle of 360 degrees. At this time, since there should be no undetectable area between the detection areas of the light transmitter and receiver, some horizontal viewing angles must be overlapped as shown in Figure 2. In this case, the size of the overlapping area determines the target viewing angle to be detected. The number of light transmitting and receiving parts is determined.

Meanwhile, most LiDARs have only a forward viewing angle depending on the purpose, but some LiDARs may have a 360-degree azimuth viewing angle as shown in Figure 3. 360 degrees In the case of LiDAR that can view azimuth, most light transmitters and receivers rotate 360 degrees at the center of the LiDAR to recognize and detect objects.

In order for the light transmitter and receiver to rotate at the center of the LiDAR, specific parts are required. However, these parts have problems with very low durability reliability, such as incompatibility with environmental temperature, vibration, and shock, and use a motor. Therefore, in the case of the mechanical LiDAR method that scans the area for the viewing angle, there is a problem that the viewing angle cannot be an azimuth of 360 degrees because the light transmitting and receiving unit is located at the same height as the scanning mirror (multi-faceted mirror on two or more sides).

As mentioned above, it provides 360-degree azimuth viewing so that it can be used in many lidar application fields such as unmanned surveillance, infrastructure, autonomous driving, and omnidirectional deconfliction system. The development of a capable LiDAR system is required.

1. Korean Patent Publication No. 10-2016-0034719 (published on March 30, 2016)

The present invention includes a first scanning mirror that scans a preset scan angle area, and is positioned on a first axis toward the first scanning mirror to transmit the first laser light and then receive the first reflected light. It includes a light receiving module, and is disposed on a second axis perpendicular to the first axis toward the first scanning mirror to have a different height from the first light transmitting and receiving module to transmit the second laser light, and then transmit the second reflected light. By including a second light transmitting and receiving module, the aim is to provide a LIDAR system that not only provides an omnidirectional horizontal viewing angle of 360 degrees with only a minimum number of light transmitting and receiving units, but also has an omnidirectional viewing angle that can effectively detect objects at close and long distances. do.

In addition, the present invention includes a second scanning mirror that scans a preset scan angle area, and is positioned on the first axis toward the second scanning mirror to direct the 1-1 laser light toward the first surface of the second scanning mirror. After transmitting light, it includes a 1-1 light transmitting/receiving module that receives the 1-1 reflected light, and is disposed on the first axis toward the second scanning mirror to have the same height as the 1-1 light transmitting/receiving module. -2 After transmitting the laser light toward the first other surface adjacent to the first one surface, it includes a 1-2 light transmitting and receiving module for receiving the 1-2 reflected light, and a second light transmitting and receiving module perpendicular to the first axis. The 2-1 laser beam is arranged on the axis to have a corresponding height toward the third scanning mirror, transmits the 2-1 laser beam toward the second surface of the third scanning mirror, and then receives the 2-1 reflected light. It includes a light receiving module, and is arranged on the second axis toward the third scanning mirror to have the same height as the 2-1 light transmitting and receiving module to transmit the 2-2 laser light toward the second other side adjacent to the second one side. Later, by including a 2-2 light transmitting and receiving module for receiving the 2-2 reflected light, not only can an omnidirectional horizontal viewing angle of 360 degrees be provided with only a minimum number of light transmitting and receiving units, but also can effectively detect objects at close and long distances. The goal is to provide a LiDAR system with an omnidirectional viewing angle.

The purposes of the embodiments of the present invention are not limited to the purposes mentioned above, and other purposes not mentioned will be clearly understood by those skilled in the art from the description below. .

According to one aspect of the present invention, a first scanning mirror that scans a preset scan angle area, reflects and transmits light, and then receives, reflects, and transmits the light; It is positioned toward the first scanning mirror on the first axis, and after transmitting the first laser light toward the first scanning mirror, a first reflected light corresponding to the first laser light is received through the first scanning mirror. A first light transmitting and receiving module; and positioned toward the first scanning mirror on a second axis perpendicular to the first axis, arranged to have a different height from the first light transmitting/receiving module, and directing the second laser light toward the first scanning mirror. After transmitting the light, a second light transmitting and receiving module that receives the second reflected light corresponding to the second laser light through the first scanning mirror. A LIDAR system having an omnidirectional viewing angle including a can be provided.

In addition, according to one aspect of the present invention, the first scanning mirror may be a multi-faceted mirror having at least two reflective surfaces, and a LIDAR system having an omnidirectional viewing angle may be provided.

In addition, according to one aspect of the present invention, the first light transmitting and receiving modules have an omnidirectional viewing angle arranged on vertical axes so as to have a 360-degree horizontal viewing angle including an area where scanning areas overlap. A system may be provided.

In addition, according to one aspect of the present invention, a LIDAR system having an omnidirectional viewing angle in which the first light transmitting and receiving modules and the second light transmitting and receiving modules are spaced apart from each other by a preset vertical interval so that the respective lights do not interfere with each other may be provided. You can.

According to another aspect of the present invention, a second scanning mirror scans a preset first scan angle area, reflects and transmits light, and then receives, reflects, and transmits the light; It is positioned toward the second scanning mirror on the first axis, and after sending the 1-1 laser light toward the first surface of the second scanning mirror, the 1-1 laser light corresponding to the 1-1 laser light is transmitted. A 1-1 light transmitting and receiving module that receives reflected light through the first surface; It is located on the first axis toward the second scanning mirror and is arranged to have the same height as the 1-1 light transmitting/receiving module, and directs the 1-2 laser light toward the first other surface adjacent to the first one surface. a 1-2 light transmitting and receiving module that receives the 1-2 reflected light corresponding to the 1-2 laser light through the first surface after transmitting the light; a third scanning mirror that scans a preset second scan angle area, is arranged to have a different height from the second scanning mirror, and receives and transmits light after reflecting and transmitting light; It is located toward the third scanning mirror on a second axis perpendicular to the first axis, and is arranged to have a height corresponding to the third scanning mirror, and directs the 2-1 laser light to the third scanning mirror. a 2-1 light transmitting/receiving module that transmits light toward a second surface and then receives a 2-1 reflected light corresponding to the 2-1 laser light through the second surface; and is positioned on the second axis toward the third scanning mirror and arranged to have a height corresponding to the third scanning mirror, and transmits the 2-2 laser light toward a second other surface adjacent to the second one surface. After doing so, a 2-2 light transmitting and receiving module that receives the 2-2 reflected light corresponding to the 2-2 laser light through the second surface can be provided. .

The second scanning mirror and the third scanning mirror may each be a multi-faceted mirror having at least two reflective surfaces, thereby providing a LIDAR system with an omnidirectional viewing angle.

In addition, according to another aspect of the present invention, the 1-1 transmission and reception module and the 1-2 transmission and reception module, and the 2-1 transmission and reception module and the 2-2 transmission and reception module include an area where the scanning area overlaps. A LIDAR system having an omnidirectional viewing angle that is arranged on vertical axes to each other to have a 360-degree horizontal viewing angle may be provided.

In addition, according to another aspect of the present invention, the 1-1 transmission and reception module and the 1-2 transmission and reception module, and the 2-1 transmission and reception module and the 2-2 transmission and reception module are configured to prevent the respective lights from interfering with each other. A LIDAR system having an omnidirectional viewing angle spaced apart from each other by a set vertical interval may be provided.

The present invention includes a first scanning mirror that scans a preset scan angle area, and is positioned on a first axis toward the first scanning mirror to transmit the first laser light and then receive the first reflected light. It includes a light receiving module, and is disposed on a second axis perpendicular to the first axis toward the first scanning mirror to have a different height from the first light transmitting and receiving module to transmit the second laser light, and then transmit the second reflected light. By including a second light transmitting and receiving module for receiving light, not only can an omnidirectional horizontal viewing angle of 360 degrees be provided with only a minimum number of light transmitting and receiving units, but also objects can be effectively detected at close and long distances.

In addition, the present invention includes a second scanning mirror that scans a preset scan angle area, and is positioned on the first axis toward the second scanning mirror to direct the 1-1 laser light toward the first surface of the second scanning mirror. After transmitting light, it includes a 1-1 light transmitting/receiving module that receives the 1-1 reflected light, and is disposed on the first axis toward the second scanning mirror to have the same height as the 1-1 light transmitting/receiving module. -2 After transmitting the laser light toward the first other surface adjacent to the first one surface, it includes a 1-2 light transmitting and receiving module for receiving the 1-2 reflected light, and a second light transmitting and receiving module perpendicular to the first axis. The 2-1 laser beam is arranged on the axis to have a corresponding height toward the third scanning mirror, transmits the 2-1 laser beam toward the second surface of the third scanning mirror, and then receives the 2-1 reflected light. It includes a light receiving module, and is arranged on the second axis toward the third scanning mirror to have the same height as the 2-1 light transmitting and receiving module to transmit the 2-2 laser light toward the second other side adjacent to the second one side. Later, by including a 2-2 light transmitting and receiving module for receiving the 2-2 reflected light, not only can an omnidirectional horizontal viewing angle of 360 degrees be provided with only a minimum number of light transmitting and receiving units, but also can effectively detect objects at close and long distances. there is.

1 to 3 are diagrams for explaining the horizontal viewing angle of a conventional LiDAR system,
Figure 4 is a block diagram of a LiDAR system with an omnidirectional viewing angle according to an embodiment of the present invention;
5 to 8 are diagrams for explaining the detailed configuration of a LiDAR system with an omnidirectional viewing angle according to an embodiment of the present invention;
Figure 9 is a block diagram of a LiDAR system with an omnidirectional viewing angle according to another embodiment of the present invention;
10 to 13 are diagrams for explaining the detailed configuration of a LiDAR system with an omnidirectional viewing angle according to an embodiment of the present invention.

Advantages and features of the embodiments of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to be understood by those skilled in the art. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

In describing embodiments of the present invention, if a detailed description of a known function or configuration is judged to unnecessarily obscure the gist of the present invention, the detailed description will be omitted. The terms described below are terms defined in consideration of functions in the embodiments of the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification.

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

Figure 4 is a block diagram of a LiDAR system with an omnidirectional viewing angle according to an embodiment of the present invention, and Figures 5 to 8 illustrate the detailed configuration of a LiDAR system with an omnidirectional viewing angle according to an embodiment of the present invention. This is a drawing for this purpose.

Referring to FIGS. 4 to 8, the LIDAR system 100 with an omnidirectional viewing angle according to an embodiment of the present invention includes a first scanning mirror 110, a first light transmitting and receiving module 120, and a second light transmitting and receiving module. (130), etc. may be included. Here, components such as the first scanning mirror 110, the first light transmitting and receiving module 120, and the second light transmitting and receiving module 130 may be provided inside the housing of the LiDAR system using separate devices. Since these devices have been presented in various ways in the past and can be configured to have various structures based on them, detailed descriptions thereof will be omitted.

The first scanning mirror 110 scans a preset scan angle area, reflects and transmits light, and then receives and reflects the light to transmit it. For example, it can be provided as a multi-faceted mirror with at least two sides. .

This first scanning mirror 110 can scan a preset scan angle area (scanning area) by reflecting the incident laser light at a preset angle horizontally or vertically, and reflects the reflected light received through scanning at a preset angle. It can be reflected at an angle, and operates in an electronic manner, but may be provided, for example, as a reflective mirror type, rotation type, etc.

Here, in the case of the rotation type, the laser light can be emitted (transmitted) to the surroundings while rotating at high speed, and then the reflected light can be collected (received).

Additionally, since the first scanning mirror 110 has at least two surfaces (reflecting surfaces), it can reflect at an angle (direction) corresponding to at least two surfaces, thereby improving its scanning efficiency.

The first light transmitting and receiving module 120 is located on the first axis toward the first scanning mirror 110, and after transmitting the first laser light toward the first scanning mirror 110, a light corresponding to the first laser light is transmitted. The first reflected light may be received through the first scanning mirror 110.

The second light transmitting/receiving module 130 is located toward the first scanning mirror 110 on a second axis perpendicular to the first axis, and is arranged to have a different height from the first light transmitting/receiving module 120. After the second laser light is transmitted toward the first scanning mirror 110, the second reflected light corresponding to the second laser light can be received through the first scanning mirror 110.

The first light transmitting/receiving module 120 and the second light transmitting/receiving module 130 as described above may be arranged on each other's vertical axes to have a 360-degree viewing angle (omnidirectional horizontal viewing angle) including an area where the scanning areas overlap. , each light can be spaced apart from each other by a preset vertical distance so as not to interfere with each other.

For example, the LIDAR system 100 with an omnidirectional viewing angle according to an embodiment of the present invention may share the first scanning mirror 110, which is a multi-faceted mirror with two or more sides, and use the first scanning mirror 110 An azimuth of 360 degrees can be provided as a viewing angle (horizontal viewing angle) through the two first and second light transmitting and receiving modules 120 and 130, which have different heights at the center and are located on axes perpendicular to each other.

Here, the first scanning mirror 110 can reflect all the light corresponding to the vertical viewing angle regardless of the size and deflection of the vertical viewing angles of the first light transmitting and receiving modules 120 and the second light transmitting and receiving modules 130. It can be designed so that, when the first light transmitting and receiving modules 120 and the second light transmitting and receiving modules 130 each have a biased vertical viewing angle, the biased vertical viewing angle of the first light transmitting and receiving module 120 located at the top is It can be designed so as not to interfere with the second light transmitting/receiving module 130.

For example, in Figure 5, the first light transmitting/receiving module (120, ^1st light transmitting/receiving unit) and the second light transmitting/receiving module (130, ^2nd light transmitting/receiving unit) having a biased vertical viewing angle are connected to the first scanning mirror (110) with two or more multi-faceted surfaces. It shows that the heights are different around the mirror and are located on mutually perpendicular axes, and in Figure 6, the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit) and the second light transmitting and receiving module (130, 2 ^nd light transmitting and receiving unit) It shows the scanning area.

Here, the first light transmitting/receiving module (120, 1 ^st light transmitting/receiving unit) and the second light transmitting/receiving module (130, 2 ^nd light transmitting/receiving unit) are located at different heights, and the first scanning mirror (110) is a multi-faceted mirror with two or more sides. ), the area (blue area in FIG. 6) that cannot be detected through the first light transmitting/receiving module (120, ^1st light transmitting/receiving unit) is positioned on mutually perpendicular axes centered on the second light transmitting/receiving module (130, 2). The area (light green area in ^FIG . 6) that can be detected through the nd light transmitting and receiving unit) and cannot be detected through the second light transmitting and receiving module (130, 2 ^nd light transmitting and receiving units) is detected by the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit). Detection can be done through the light receiving part.

As described above, the areas that cannot be detected by the first light transmitting/receiving module (120, 1 ^st light transmitting/receiving unit) and the second light transmitting/receiving module (130, 2 ^nd light transmitting/receiving unit) are complemented with each other to provide overlapping areas in 360 degrees. By configuring the first light transmitting/receiving module (120, 1 ^st light transmitting/receiving unit) and the second light transmitting/receiving module (130, 2 ^nd light transmitting/receiving unit) to enable detection, the horizontal viewing angle can be mutually complemented, and in conclusion, 360-degree omnidirectional horizontal It can provide a viewing angle.

At this time, the position of the second light transmitting/receiving module (130, 2 ^nd light transmitting/receiving unit) is 360 degrees horizontal in all directions as long as it is in a position where it can detect an area that cannot be detected by the first light transmitting/receiving module (120, 1 ^st light transmitting/receiving unit). You can have a viewing angle.

Meanwhile, in order to expand the horizontal viewing angle of the LiDAR system 100 with an omnidirectional viewing angle according to an embodiment of the present invention, one first scanning mirror (110, a multi-faceted mirror with two or more sides) is shared, and the first transmitting and receiving light When using the module (120, 1 ^st light transmitting/receiving unit) and the second light transmitting/receiving module (130, ^2nd light transmitting/receiving unit), the first light transmitting/receiving module (120, 1 ^st light transmitting/receiving unit) and the second light transmitting/receiving module (130, The horizontal viewing angle can be increased by placing the 2 ^nd light transmitter and receiver) on the same height axis and axis in different directions.

However, in this case, the size of the LIDAR system may be reduced because the size of the first scanning mirror (110, a multi-faceted mirror with two or more sides) is reduced as shown in (a) of FIG. 7, but (b) of FIG. 7 As shown in , regardless of the size of the vertical viewing angle and whether the vertical viewing angle is biased, an omnidirectional horizontal viewing angle of 360 degrees cannot be configured, and the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit) and the second light transmitting and receiving module (130) , ^2nd light transmitter/receiver), scanning can be performed up to a range of about 270-300 degrees depending on the axial position of the direction.

The reason is that the beams (laser light) emitted from the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving part) and the second light transmitting and receiving module (130, 2 ^nd light transmitting and receiving part) are shielded from light due to each other's positions. Because.

Therefore, as presented in one embodiment of the present invention, one first scanning mirror (110, multi-faceted mirror with two or more sides) is shared, and the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit) and the second light transmitting and receiving mirror In order to construct a LiDAR system with an omnidirectional horizontal viewing angle of 360 degrees without light shielding using the module (130, 2 ^nd light transmitter/receiver), a first light transmitter/receiver module (120, 1 ^st light transmitter/receiver) and a second light transmitter/receiver module ( 130, 2 ^nd light transmitter and receiver) must be placed on different axes with different heights.

In addition, as shown in FIG. 8, in order to avoid shielding of light depending on the size of the vertical viewing angle and whether the vertical viewing angle is deflected, the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit) and the second light transmitting and receiving modules (130, 2) ^nd light transmitter/receiver) must be considered in terms of location and height difference. They share one first scanning mirror (110, a multi-faceted mirror with two or more sides), and the height is centered around the first scanning mirror (110, a multi-faceted mirror with two or more sides). The first light transmitting/receiving module (120, ^1st light transmitting/receiving unit) and the second light transmitting/receiving module (130, ^2nd light transmitting/receiving unit) can be positioned on axes that are different from each other and are perpendicular to each other.

As described above, the LIDAR system 100 according to an embodiment of the present invention includes a first scanning mirror (110, a multi-faceted mirror with two or more sides), a first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit) and a second transmitting and receiving mirror. Since the light receiving modules (130, 2 ^nd light transmitting and receiving units) are used in common, the number of component parts is reduced, and the first light receiving module (120, 1 ^st light transmitting and receiving unit) and the second light transmitting and receiving module (130, 2 ^nd light transmitting and receiving units) ) There is an advantage in constructing an omnidirectional LiDAR system because control and compensation are easy in the signal processing and error correction process of the acquired signal to obtain information by scanning omnidirectionally with the laser light from ).

Meanwhile, when the first light transmitting/receiving module 120 and the second light transmitting/receiving module 130 each have a biased vertical viewing angle as described above, they each include a light source unit, a first lens unit, a second lens unit, an optical block unit, etc. It can be configured to do so.

Here, the light source unit irradiates laser light. For example, it can output laser pulse light including an LD (laser diode), and can transmit light with various wavelengths smaller than RW (Radio Waves). And since high light energy is emitted, the light receiving device 200 can receive reflected light with high energy.

The first lens unit has a lens that diffuses the laser light irradiated from the light source unit, and can refract and diffuse the laser light irradiated from the light source unit. For example, it may include an Ftheta lens, The laser light emitted from the light source can be refracted and spread radially.

The second lens unit is provided with a lens that converts the laser light diffused through the first lens unit into parallel light, and may include, for example, a collimator lens, a telecentric lens, etc. , the laser light passing through the first lens unit can be converted into parallel light.

The optical block unit is provided with a block that converts the laser light converted into parallel light through a trapezoidal optical prism so that the vertical viewing angle is downward or upward biased, and the laser light converted into parallel light through the second lens unit is converted into a trapezoidal optical prism. Depending on the slope and angle of inclination, light can be transmitted in a downward or upward deflection manner.

Here, the trapezoidal optical prism is provided as a block in the shape of a trapezoid, and may be manufactured from materials such as high refractive index glass, low refractive glass, and transparent plastic, and may be provided with one or two inclined surfaces (i.e., inclined surfaces). By adjusting the inclination angle of the inclined plane (i.e., the angle of the inclined plane), the degree of deflection of the vertical viewing angle can be adjusted.

This optical block can adjust the degree of deflection of the vertical viewing angle depending on the number and inclination angle of the inclined surfaces provided in the trapezoidal optical prism. When considering the manufacturing and processing feasibility of the trapezoidal optical prism, processing precision, and fixture fixation, glass is used. However, it is advantageous to use only one inclined surface.

In addition, it is possible to have variously biased vertical viewing angles by adjusting the inclination angle of the inclined surface formed in the trapezoidal optical prism. In a trapezoid shape with the lower surface having a length greater than the upper surface, the inclination angle of the inclined surface (sloping surface) formed in front is approximately 72.65°. In this case, the deflection angle may appear as approximately 9.4° based on the horizon, and if the inclination angle of the slope (sloping surface) is approximately 66.37°, the deflection angle may appear as approximately 13.6° based on the horizon.

In other words, the larger the inclination angle of the inclined surface formed in the trapezoidal optical prism, the smaller the deflection angle and the degree of deflection of the transmitted light beam, and the smaller the inclination angle, the greater the control of the deflection angle and the degree of deflection of the transmitted light beam, which is evident from the trapezoidal optical prism. In deflecting the optical path using , the smaller the inclination angle, the longer the volumetric length of the optical block through which the laser light must pass, and due to the optical block having a refractive index, the longer the volumetric length, the more refraction occurs, thereby reducing the optical path. may be more biased.

In addition, when the optical block constitutes a trapezoidal optical prism whose lower surface has a length greater than the upper surface, the vertical viewing angle may be biased downward, and when the upper surface has a trapezoidal shape with a length greater than the lower surface, the vertical viewing angle may be upward biased. .

As described above, reflected light can be received through a component provided with a biased vertical viewing angle and transmitted for signal processing. In the light receiving stage, the reflected light passes sequentially through the optical block unit, the second lens unit, and the first lens unit. Of course, reflected light can be received.

In addition, when each reflected light is received through the first light transmitting and receiving module 120 and the second light transmitting and receiving module 130 as described above, optical information such as time and intensity of the reflected light is collected through signal processing. Later, detection information such as distance, location, and shape can be calculated using the collected optical information, and various functions such as object detection, 3D map creation, and moving object tracking can be provided using the calculated detection information. , can be applied to various fields such as autonomous driving, unmanned robot, and terrain/object detection.

Therefore, according to one embodiment of the present invention, a first scanning mirror is provided to scan a preset scan angle area, and after being positioned toward the first scanning mirror on the first axis to transmit the first laser light, the first laser light is transmitted. 1. It includes a first light transmitting and receiving module that receives reflected light, and is disposed on a second axis perpendicular to the first axis toward the first scanning mirror to have a different height from the first light transmitting and receiving module to transmit the second laser light. By including a second light transmitting and receiving module that receives the second reflected light, not only can an omnidirectional horizontal viewing angle of 360 degrees be provided with only a minimum number of light transmitting and receiving units, but objects can also be effectively detected at close and long distances.

Figure 9 is a block diagram of a LiDAR system with an omni-directional viewing angle according to another embodiment of the present invention, and Figures 10 to 13 illustrate the detailed configuration of a LiDAR system with an omni-directional viewing angle according to an embodiment of the present invention. This is a drawing for this purpose.

Referring to FIGS. 11 to 13, the LIDAR system 200 having an omnidirectional viewing angle according to another embodiment of the present invention includes a second scanning mirror 210, a 1-1 light transmitting/receiving module 220, and a 1-1 light transmitting/receiving module 220. It may include a 2 light transmitting/receiving module 230, a third scanning mirror 240, a 2-1 light transmitting/receiving module 250, a 2-2 light transmitting/receiving module 260, etc. Here, the second scanning mirror 210, the 1-1 light transmitting and receiving module 220, the 1-2 light transmitting and receiving module 230, the third scanning mirror 240, and the 2-1 light transmitting and receiving module 250. ), the 2-2 light transmitting/receiving module 260, etc. may be provided inside the housing of the LiDAR system using separate devices. These devices are not only presented in various ways in the past, but are also based on this. Since it can be configured to have various structures, detailed description will be omitted.

The second scanning mirror 210 scans a preset scan angle area, reflects and transmits light, and then receives and reflects the light. For example, it can be provided as a multi-faceted mirror with at least two reflecting surfaces. there is.

This second scanning mirror 210 can scan a preset scan angle area (scanning area) by reflecting the incident laser light at a preset angle horizontally or vertically, and reflects the reflected light received through scanning at a preset angle. It can be reflected at an angle, and operates in an electronic manner, but may be provided, for example, as a reflective mirror type, rotation type, etc.

Here, in the case of the rotation type, the laser light can be emitted (transmitted) to the surroundings while rotating at high speed, and then the reflected light can be collected (received).

Additionally, since the second scanning mirror 210 has at least two surfaces (reflecting surfaces), it can reflect at an angle (direction) corresponding to at least two surfaces, thereby improving its scanning efficiency.

The 1-1 light transmitting/receiving module 220 is located on the first axis toward the second scanning mirror 210, and transmits the 1-1 laser light toward the first surface of the second scanning mirror 210. , the 1-1 reflected light corresponding to the 1-1 laser light can be received through the first surface of the second scanning mirror 210.

The 1-2 light transmitting and receiving module 230 is located on the first axis toward the second scanning mirror 210 and is arranged to have the same height as the 1-1 light transmitting and receiving module 220, and the 1-2 laser After the light is transmitted toward the first other surface adjacent to the first one surface of the second scanning mirror 210, the 1-2 reflected light corresponding to the 1-2 laser light is transmitted to the first surface of the second scanning mirror 210. Light can be received through the other side.

Here, the first one surface and the first other surface of the second scanning mirror 210 are adjacent to each other and have an angle of 90 degrees, so that the 1-1 laser light and the 1-2 laser light are reflected to opposite sides and transmitted. Correspondingly, the 1-1 reflected light and the 1-2 reflected light reflected through the second scanning mirror 210 in opposite directions may be received.

The third scanning mirror 240 scans a preset second scan angle area and is arranged to have a different height from the second scanning mirror 210. After reflecting and transmitting light, the third scanning mirror 240 receives, reflects and transmits light, For example, it may be provided as a multi-faceted mirror having at least two or more reflective surfaces.

This third scanning mirror 240 can scan a preset scan angle area (scanning area) by reflecting the incident laser light at a preset angle horizontally or vertically, and reflects the reflected light received through scanning at a preset angle. It can be reflected at an angle, and operates in an electronic manner, but may be provided, for example, as a reflective mirror type, rotation type, etc.

Here, in the case of the rotation type, the laser light can be emitted (transmitted) to the surroundings while rotating at high speed, and then the reflected light can be collected (received).

Additionally, because the third scanning mirror 240 has at least two surfaces (reflecting surfaces), it can reflect at an angle (direction) corresponding to at least two surfaces, thereby improving its scanning efficiency.

The 2-1 light transmitting/receiving module 250 is located toward the third scanning mirror 240 on a second axis perpendicular to the first axis, and is arranged to have a height corresponding to the third scanning mirror 240. , After sending the 2-1 laser light toward the second surface of the third scanning mirror 240, the 2-1 reflected light corresponding to the 2-1 laser light is transmitted to the second surface of the second scanning mirror 210. Light can be received through one side.

The 2-2 light transmitting/receiving module 260 is located on the second axis toward the third scanning mirror 240, and is arranged to have the same height as the 2-1 light transmitting/receiving module 250. The 2-2 laser After the light is transmitted toward the second surface adjacent to the second surface of the third scanning mirror 240, the 2-2 reflected light corresponding to the 2-2 laser light is transmitted to the second surface of the second scanning mirror 210. Light can be received through the other side.

Here, the second one surface and the second other surface of the third scanning mirror 240 are adjacent to each other and have an angle of 90 degrees, so that the 2-1 laser light and the 2-2 laser light are reflected to opposite sides and transmitted. Correspondingly, the 2-1 reflected light and the 2-2 reflected light reflected through the third scanning mirror 240 in opposite directions can be received.

As described above, the 1-1 light transmitting/receiving module 220, the 1-2 light transmitting/receiving module 230, the 2-1 light transmitting/receiving module 250, and the 2-2 light transmitting/receiving module 260 are used for scanning. Areas may be arranged on a vertical axis to have a 360-degree viewing angle, including overlapping areas, and may be spaced apart from each other by a preset vertical distance so that individual lights do not interfere with each other.

For example, as in one embodiment of the present invention as described above, the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit) and the second light transmitting and receiving module (130, 2 ^nd light transmitting and receiving unit) perform one first scanning function. In the case of a structure that shares a mirror (110, a multi-faceted mirror with two or more sides) and has an azimuth of 360 degrees as a viewing angle, the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving part) and the second light transmitting and receiving module (130, 2 ^nd light transmitting and receiving part) ) The size of the first scanning mirror 110 must be increased depending on the vertical viewing angle and whether there is deflection.

The reason is that the vertical viewing angle from the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving part) and the second light transmitting and receiving module (130, 2 ^nd light transmitting and receiving part) must be reflected without loss of laser light, and the first light transmitting and receiving module (120) , ^1st light transmitter and receiver) and the second light transmitter and receiver module (130, ^2nd light transmitter and receiver) must be configured so that the light corresponding to the vertical viewing angle is not shielded.

Accordingly, the LIDAR system 200 with an omnidirectional viewing angle according to another embodiment of the present invention uses one second scanning mirror 210, which is a multi-faceted mirror with two or more surfaces, to the 1-1 light transmitting and receiving module 220, 1 ^st . The structure shared by the light transmitting/receiving unit) and the 1-2 light transmitting/receiving module (230, ^2nd light transmitting/receiving unit) is set as one light transmitting/receiving unit set, and the third scanning is performed so that the heights are different for one light transmitting/receiving unit set and are perpendicular to each other. By configuring the mirror 240, the 2-1 light transmitting/receiving module (250, 3 ^rd light transmitting/receiving unit), and the 2-2 light transmitting/receiving module (260, 4 ^th light transmitting/receiving unit) as another set of light transmitting/receiving units, the viewing angle is 360 degrees azimuth. A system having a (horizontal viewing angle) can be provided.

FIG. 10 shows an omnidirectional LiDAR system configured to have a viewing angle of 360 degrees, and FIG. 11 shows the scanning area of each light transmitting and receiving unit. As shown in FIG. 12, the 1-1 light transmitting and receiving module 220, 1 ^st light transmitter and receiver) and the 1-2 light transmitter and receiver module (230, 2 ^nd light transmitter and receiver) respectively scan the (1) and (3) areas, and the 2-1 light transmitter and receiver module (250, 3 ^rd light transmitter and receiver) ) and the 2-2 light transmitting/receiving module (260, 4 ^th light transmitting/receiving unit) scans the (4) area and (2) area, respectively, and through this, the horizontal viewing angle can be omnidirectional, which is an azimuth of 360 degrees.

In particular, the 1-1 light transmitting/receiving module (220, 1 ^st light transmitting/receiving unit) and the 1-2 light transmitting/receiving module (230, 2 ^nd light transmitting/receiving unit) and the 2-1 light transmitting/receiving module (250, 3 ^rd light transmitting/receiving unit). To prevent an undetectable area from occurring in the horizontal viewing angle of the 2-2 light transmitting/receiving module (260, ^4th light transmitting/receiving unit), there is an overlapping area in the horizontal viewing angle such as area (5), and through this, there is an overlapping area in the horizontal viewing angle. There is a very advantageous advantage in signal detection because selective signal processing can be performed on the detected signal depending on the case.

Here, one second scanning mirror (210, multi-faceted mirror with two or more sides), a 1-1 light transmitting/receiving module (220, 1 ^st light transmitting/receiving unit), and a 1-2 light transmitting/receiving module (230, 2 ^nd light transmitting/receiving unit) is configured as one set, and the 3rd scanning mirror 240, the 2-1 light transmitting/receiving module (250, 3 ^rd light transmitting/receiving unit) and the 2-2 light transmitting/receiving module (260, 4 ^th light transmitting/receiving unit) are configured as another set. By configuring it, it is possible to configure an omnidirectional LiDAR system with a viewing angle of 360 degrees azimuth through two sets of light transmitters and receivers.

In this case, many internal components are required, but each reflective surface of the second scanning mirror (210, a multi-faceted mirror with two or more sides) and the third scanning mirror (240) can be used efficiently, and the position of each set of light transmitters and receivers can be adjusted. Through adjustments, the product size of the LiDAR system can be reduced.

Meanwhile, when configured as shown in FIG. 12, in order to avoid shielding of light depending on the size and deflection of the vertical viewing angle, the first light transmitting and receiving module (120, 1 ^st light transmitting and receiving unit) and In determining the position (interval between height axes) of the second light transmitting and receiving module (130, ^2nd light transmitting and receiving unit), an unused area is generated in the first scanning mirror (110, a multi-faceted mirror with two or more sides), and all horizontal viewing angles In order to have the same distance value, the first scanning mirror (110, a multi-faceted mirror with two or more sides) must be located at the center of the LiDAR system, which increases the diameter of the LiDAR system.

However, when configured according to another embodiment of the present invention as shown in FIG. 13, unused areas of the second scanning mirror 210 (multi-sided mirror with two or more sides) and the third scanning mirror 240 are not generated. Therefore, the height of the product can be reduced, and the diameter of the LiDAR system can also be reduced by matching the centers of each set of light transmitters and receivers.

This can be a huge advantage depending on the field and application location where an omnidirectional LiDAR system with a viewing angle of 360 degrees is required.

That is, in another embodiment of the present invention, the 1-1 light transmitting/receiving module (220, 1 ^st light transmitting/receiving unit) and the 1-2 light transmitting/receiving module sharing one second scanning mirror (210, a multi-faceted mirror with two or more sides) (230, 2 ^nd light transmitter and receiver) as one set, and the 2-1 light transmitter and receiver module (250, 3 ^rd light transmitter and receiver) that shares another 3rd scanning mirror (240, multi-faceted mirror on two or more sides) and the 2-2 The transmitting and receiving modules (260, ^4th transmitting and receiving modules) are composed of different sets, but the two sets of transmitting and receiving modules have different heights and are configured to be perpendicular to each other, so that the omnidirectional LiDAR system with a viewing angle of 360 degrees is an angle of view. Not only can component parts be used efficiently, but the product size can also be minimized. Additionally, 360-degree azimuth angles can be efficiently scanned by each light transmitter and receiver, and selective signal processing is possible in overlapping areas. There are advantages in constructing an omnidirectional LiDAR system.

Meanwhile, the 1-1 optical transmitting and receiving module 220, the 1-2 optical transmitting and receiving module 230, the 2-1 optical transmitting and receiving module 250, and the 2-2 optical transmitting and receiving module 260 as described above. When each has a biased vertical viewing angle, it may be configured to include a light source unit, a first lens unit, a second lens unit, an optical block unit, etc.

A detailed description of these components has been described in detail in an embodiment of the present invention, so it will be omitted here.

In addition, the 1-1 light transmitting and receiving module 220, the 1-2 light transmitting and receiving module 230, the 2-1 light transmitting and receiving module 250, and the 2-2 light transmitting and receiving module 260 as described above. When each reflected light is received, light information such as time and intensity of this reflected light is collected through signal processing, and then detection information such as distance, position, and shape can be calculated using the collected light information. By providing various functions such as object detection, 3D map creation, and moving object tracking using the calculated detection information, it can be applied to various fields such as autonomous driving, unmanned robot, and terrain/feature detection. You can.

Therefore, according to another embodiment of the present invention, it is provided with a second scanning mirror that scans a preset scan angle area, and is positioned on the first axis toward the second scanning mirror to direct the 1-1 laser light to the second scanning mirror. and a 1-1 light transmitting/receiving module that receives the 1-1 reflected light after transmitting the light toward the first side of, and on the first axis toward the second scanning mirror at the same height as the 1-1 light transmitting/receiving module. It includes a 1-2 light transmitting/receiving module arranged to have a 1-2 laser light to transmit the 1-2 laser light toward the first other surface adjacent to the first surface, and then receive the 1-2 reflected light, on the first axis. It is disposed on a correspondingly vertical second axis to have a corresponding height toward the third scanning mirror, transmits the 2-1 laser light toward the second surface of the third scanning mirror, and then receives the 2-1 reflected light. It includes a 2-1 light transmitting/receiving module, and is disposed on a second axis toward a third scanning mirror to have the same height as the 2-1 light transmitting/receiving module, and transmits the 2-2 laser light to a second light transmitting/receiving module adjacent to the second surface. 2 By including a 2-2 light transmitting and receiving module that receives the 2-2 reflected light after transmitting the light toward the other surface, not only can an omnidirectional horizontal viewing angle of 360 degrees be provided with only a minimum number of light transmitting and receiving units, but it can also provide a 360-degree horizontal viewing angle at close and long distances. Objects can be detected effectively.

In the above description, various embodiments of the present invention have been presented and explained, but the present invention is not necessarily limited thereto, and those skilled in the art will understand various embodiments without departing from the technical spirit of the present invention. It will be easy to see that branch substitutions, transformations, and changes are possible.

100, 200: Lidar system with omnidirectional viewing angle
110: first scanning mirror
120: 1st light transmitting and receiving module
130: 2nd light transmitting and receiving module
210: 2nd scanning mirror
220: 1-1 light transmitting and receiving module
230: 1-2 light transmitting and receiving module
240: Third scanning mirror
250: 2-1 light transmitting and receiving module
260: 2-2 light transmitting and receiving module

Claims (8)

A first scanning mirror that scans a preset scan angle area, reflects and transmits light, and then receives, reflects, and transmits the light;
It is positioned toward the first scanning mirror on the first axis, and after transmitting the first laser light toward the first scanning mirror, a first reflected light corresponding to the first laser light is received through the first scanning mirror. A first light transmitting and receiving module; and
It is located toward the first scanning mirror on a second axis perpendicular to the first axis, and is arranged to have a different height from the first light transmitting/receiving module, and transmits the second laser light toward the first scanning mirror. After receiving the second laser light, a second light transmitting and receiving module receives the second reflected light corresponding to the second laser light through the first scanning mirror,
The first optical transmitting and receiving module and the second optical transmitting and receiving module,
In order to avoid shielding of light according to the vertical viewing angle, individual lights are spaced apart from each other by a preset vertical distance so that they do not interfere with each other.
Lidar system with omnidirectional viewing angle.
In claim 1,
The first scanning mirror is,
Provided as a multi-faceted mirror with at least two reflecting surfaces
Lidar system with omnidirectional viewing angle.
In claim 2,
The first optical transmitting and receiving module and the second optical transmitting and receiving module,
Scanning areas are arranged on vertical axes to have a 360-degree horizontal viewing angle, including overlapping areas.
Lidar system with omnidirectional viewing angle.
delete a second scanning mirror that scans a preset first scan angle area, reflects and transmits light, and then receives, reflects, and transmits the light;
It is positioned toward the second scanning mirror on the first axis, and after sending the 1-1 laser light toward the first surface of the second scanning mirror, the 1-1 laser light corresponding to the 1-1 laser light is transmitted. A 1-1 light transmitting and receiving module that receives reflected light through the first surface;
It is located on the first axis toward the second scanning mirror and is arranged to have the same height as the 1-1 light transmitting/receiving module, and directs the 1-2 laser light toward the first other surface adjacent to the first one surface. a 1-2 light transmitting and receiving module that receives the 1-2 reflected light corresponding to the 1-2 laser light through the first surface after transmitting the light;
a third scanning mirror that scans a preset second scan angle area, is arranged to have a different height from the second scanning mirror, and receives and transmits light after reflecting and transmitting light;
It is located toward the third scanning mirror on a second axis perpendicular to the first axis, and is arranged to have a height corresponding to the third scanning mirror, and directs the 2-1 laser light to the third scanning mirror. a 2-1 light transmitting/receiving module that transmits light toward a second surface and then receives a 2-1 reflected light corresponding to the 2-1 laser light through the second surface; and
It is located on the second axis toward the third scanning mirror and is arranged to have a height corresponding to the third scanning mirror, and transmits the 2-2 laser light toward the second other surface adjacent to the second one surface. Later, a 2-2 light transmitting and receiving module configured to receive the 2-2 reflected light corresponding to the 2-2 laser light through the second surface,
The 1-1 transmission and reception module and the 1-2 transmission and reception module, and the 2-1 transmission and reception module and the 2-2 transmission and reception module,
In order to avoid shielding of light according to the vertical viewing angle, individual lights are spaced apart from each other by a preset vertical distance so that they do not interfere with each other.
Lidar system with omnidirectional viewing angle.
In claim 5,
The second scanning mirror and the third scanning mirror,
Provided as multi-faceted mirrors, each with at least two reflecting surfaces.
Lidar system with omnidirectional viewing angle.
In claim 6,
The 1-1 transmission and reception module and the 1-2 transmission and reception module, and the 2-1 transmission and reception module and the 2-2 transmission and reception module,
Scanning areas are arranged on vertical axes to have a 360-degree horizontal viewing angle, including overlapping areas.
Lidar system with omnidirectional viewing angle.
delete