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WO2016047847A1 - Système lidar - Google Patents

Système lidar Download PDF

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Publication number
WO2016047847A1
WO2016047847A1 PCT/KR2014/010108 KR2014010108W WO2016047847A1 WO 2016047847 A1 WO2016047847 A1 WO 2016047847A1 KR 2014010108 W KR2014010108 W KR 2014010108W WO 2016047847 A1 WO2016047847 A1 WO 2016047847A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
rotating
light
support
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2014/010108
Other languages
English (en)
Korean (ko)
Inventor
정영대
이종원
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hanwha Vision Co Ltd
Original Assignee
Hanwha Techwin Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hanwha Techwin Co Ltd filed Critical Hanwha Techwin Co Ltd
Publication of WO2016047847A1 publication Critical patent/WO2016047847A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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

Definitions

  • Embodiments relate to a lidar system, and more particularly, to a lidar system having a compact design by reducing the size and weight of a rotating part for emitting light.
  • the LIDAR system Light Detection And Ranging System
  • the LIDAR system is a system that can irradiate a laser toward a target and detect the distance, direction, speed, temperature, material distribution and concentration characteristics to an object.
  • Lidar system has been utilized for the purpose of weather observation and distance measurement, etc. Recently, it has been studied for techniques for weather observation using satellite, driverless robot sensor, driverless driving vehicle, and 3D image modeling.
  • a light source for generating a laser and a module for controlling and supplying a light source should be disposed on a rotating body that performs a rotary motion.
  • an accessory for electrical connection between the body supporting the rotor and the rotor should be used.
  • the object of the embodiments is to provide a lidar system which is compact and has improved safety.
  • Another object of the embodiments is to provide a lidar system in which the size and weight of the rotating part for emitting light to the outside is minimized.
  • Yet another object of the embodiments is to provide a lidar system of compact design by installing a light generating portion for generating light on a base supporting a rotating portion.
  • Yet another object of the embodiments is to provide a lidar system in which safety is improved by protecting the rotating part.
  • a lidar system includes a base, a rotating part rotatably connected to one side of the base, a support part extending from the base to the other side of the rotating part and rotatably supporting the other side of the rotating part, and installed on the base and directed toward the rotating part.
  • a signal transmission unit installed between the other side of the support unit and the support unit to rotatably support the rotating unit and transmitting a signal to the receiver unit, a wiring unit installed in the support unit electrically connecting the base and the signal transmission unit, and installed in the base unit
  • a control unit for controlling the driving unit and the receiving unit and the biological father.
  • the rotating part may have a hollow rotating shaft on one side
  • the base may include a supporting shaft for rotatably supporting the rotating shaft
  • the lidar system may further include a first bearing installed between the supporting shaft and the rotating shaft.
  • the driving unit may generate a driving force for rotating the rotating shaft with respect to the supporting shaft.
  • the light generating unit may emit light toward the rotating unit through the rotation axis.
  • the support portion may have an upper support portion having a through hole for rotatably supporting the other side of the rotating portion, and the rotating portion may have an upper shaft rotatably inserted into the through hole of the upper support portion on the other side, and the lidar system includes an upper support portion.
  • a second bearing disposed between the upper shaft of the rotating part may be further provided, and the signal transmission part may be inserted into a through hole passing through the center of the upper shaft and fixed to the upper support part.
  • the optical unit may emit light in a first direction and a second direction
  • the rotating unit may include a plurality of light exit holes through which light in the first direction and the second direction passes outside the rotating unit.
  • the optical unit may include a prism, a first mirror disposed on one surface of the prism to reflect light in the first direction, and a second mirror disposed on the other surface of the prism to reflect light in the second direction.
  • the receiver may include a first receiver and a second receiver that receive reflected light incident from different directions, and the rotating unit may include a light inlet at respective positions corresponding to the first receiver and the second receiver.
  • a plurality of support parts may be disposed outside the rotating part to be spaced apart along the rotation direction of the rotating part, and the wiring part may be disposed on at least one of the plurality of support parts.
  • a lidar system includes a base, a rotating part having a hollow rotating shaft on one side and rotatably coupled to the base by the rotating shaft, and disposed on the base to generate light and passing the light through the rotating shaft to the rotating part.
  • a light generating unit for transmitting, a support unit extending from the base to the other side of the rotating unit and rotatably supporting the other side of the rotating unit, an optical unit disposed in the rotating unit and radiating the light transmitted from the light generating unit to the outside of the rotating unit, and the rotating unit It is disposed in the receiving unit for receiving the reflected light from the outside to generate an electrical signal, and is provided between the other side of the rotating portion and the support portion and a signal transmission unit for transmitting a signal to the receiving unit.
  • the base may have a support shaft rotatably supporting the rotary shaft, the lidar system having a first bearing installed between the support shaft and the rotary shaft, and the support shaft mounted on the base.
  • a driving unit for generating a driving force for rotating the rotary shaft with respect to may be further provided.
  • the lidar system may further include a controller installed at the base and electrically connected to the light generator, the driver, and the wiring unit to control the light generator, the driver, and the receiver.
  • the light generating unit for generating light may be disposed on the base, thereby greatly reducing the number and volume of components included in the rotating unit.
  • the weight of the rotating unit can be reduced, thereby reducing the size and power consumption of the driving unit necessary for driving the rotating unit.
  • the support part which transmits an electric signal to the rotating part while rotatably supporting the rotating part surrounds the rotating part and protects the rotating part, safety can be improved.
  • FIG. 1 is a perspective view of a lidar system according to one embodiment.
  • FIG. 2 is a perspective view of a cut away portion of the lidar system of FIG. 1.
  • FIG. 3 is a cross-sectional view of the lidar system of FIG. 1.
  • FIG. 4 is a perspective view of some components of the lidar system of FIG. 1.
  • FIG. 5 is a conceptual diagram schematically illustrating an operation of an optical unit of the lidar system of FIG. 1.
  • FIG. 6 is a block diagram schematically illustrating a relationship between components of the lidar system of FIG. 1.
  • FIG. 1 is a perspective view of a lidar system according to one embodiment
  • FIG. 2 is a perspective view showing a portion of the lidar system of FIG. 1 cut away
  • FIG. 3 is a cross-sectional view of the lidar system of FIG.
  • the lidar system according to the embodiment illustrated in FIGS. 1 to 3 includes a rotating part 20 to which one side 20a is rotatably connected to the base 10 and the base 10, and the rotating part 20 on the base 10. And a support part 30 which rotatably supports the other side 20b of the rotating part 20 and extends to the other side 20b of the rotating part 20, and is installed in the base 10 to emit light toward the rotating part 20.
  • the light generating unit 40 and the optical unit 50 installed in the rotating unit 20 to guide the light from the light generating unit 40 to the outside of the rotating unit 20 and the rotating unit 20 are disposed outside
  • the support unit 30 may be provided with a wiring unit 80 that electrically connects the base 10 and the signal transmission unit 70.
  • a wiring unit 80 a copper wire or an optical fiber for transmitting an optical signal may be used.
  • the base 10 may be provided with a driving unit 90 for generating a driving force for rotating the rotating unit 20.
  • the control unit 100 may be installed in the base 10.
  • the controller 100 is electrically connected to the light generator 40, the driver 90, and the wiring unit 80 to control each of the light generator 40, the driver 90, and the receiver 60. Can be.
  • the rotating unit 20 includes a hollow rotating shaft 21 on one side 20a.
  • the rotating shaft 21 has a center hole 21a through which light generated by the light generating portion 40 passes.
  • the base 10 includes a support shaft 11 surrounding the rotation shaft 21 to rotatably support the rotation shaft 21. Since the first bearing 17 is installed between the support shaft 11 and the rotation shaft 21, the rotation shaft 21 may rotate with respect to the support shaft 11.
  • the driving unit 90 may include a stator 91 fixed to the support shaft 11 and a rotor 92 fixed to the rotation shaft 21.
  • the driving unit 90 may be, for example, a brushless direct current motor (BLDC motor), and the embodiment is not limited by the type of motor used in the driving unit 90, and thus various types of motors. Using the driving unit 90 can be implemented.
  • the driving unit 90 may rotate the rotary shaft 21 with respect to the support shaft 11 by operating by a control signal transmitted from the controller 100.
  • the light generating unit 40 passes through the rotating shaft 21 to emit light toward the rotating unit 20.
  • the light generator 40 may generate a pulsed laser by operating by a control signal transmitted from the controller 100.
  • the support part 30 may be manufactured in a tubular shape having a circular cross section or a polygonal cross section.
  • One end 30a of the support 30 is connected to the base 10, and an upper support 30b for rotatably supporting the other side 20b of the rotating unit 20 is installed at the other end of the support 30. do.
  • the support part 30 may include a plurality of support parts 31, 32, and 33 spaced apart from each other along the rotation direction of the rotation part 20.
  • the number of supports 31, 32, 33 is not limited to three as shown in FIG. 1, and a larger number may be installed, or two or only one may be installed.
  • the support unit 30 may perform a function of mechanically and electrically connecting the base 10 and the rotating unit 20, and may also perform a function of rotatably connecting the rotating unit 20.
  • the support unit 30 may function as a skeleton to surround the rotating unit 20 to protect the rotating unit 20 from external impact.
  • the support part 30 may block the path of the light or the reflected light, but in this case, since the measurement may be performed by the proximity signal due to the divergent irradiation angle of the laser, the area of the sound region may be generated. I never do that.
  • the wiring unit 80 is disposed only on one support unit 31 of the three support units 31, 32, and 33, and the embodiment is not limited to the arrangement of the wiring unit 80 and is required. Accordingly, the wiring unit 80 may be disposed on or partially disposed on all of the support units 31, 32, and 33.
  • the upper support part 30b includes a through hole 38 rotatably supporting the other side 20b of the rotating part 20.
  • the rotating part 20 has an upper shaft 28 which is rotatably inserted into the through hole 38 of the upper support part 30b. Since the second bearing 37 is installed between the upper shaft 28 and the through hole 38 of the rotating part 20, the upper support part 30b may rotatably support the rotating part 20.
  • a sealing ring 39 may be installed between the outer edge of the upper support part 30b and the rotating part 20.
  • the sealing ring 39 maintains the sealing state of the connection portion between the upper support part 30b and the rotating part 20 while the rotating part 20 is rotated, so that foreign matters from the inside of the rotating part 20 and the upper support part 30b are retained. It performs a function to prevent intrusion into the inside.
  • the upper shaft 28 of the other side 20b of the rotating unit 20 and the rotating shaft 21 of one side 20a of the rotating unit 20 may be installed to be aligned along the rotation center axis C of the rotating unit 20. .
  • the signal transmission unit 70 is rotatably inserted into the through hole 28a of the upper shaft 28 and fixed to the upper support unit 30b.
  • the signal transmission unit 70 rotatably supports the upper shaft 28, and at the same time, an electrical signal is transmitted between the upper shaft 28 and the signal transmission unit 70 while the rotation unit 20 rotates. Can be.
  • a slip ring for rotatably connecting mechanical elements and transmitting an electrical signal may be used.
  • An end portion of the wiring unit 80 disposed on the support unit 30 is electrically connected to the signal transfer unit 70.
  • FIG. 4 is a perspective view illustrating some components of the lidar system of FIG. 1
  • FIG. 5 is a conceptual diagram schematically illustrating operation of an optical unit of the lidar system of FIG. 1.
  • the optical unit 50 is disposed inside the rotating unit 20.
  • the optical unit 50 serves to guide the light transmitted from the light generating unit 40 of the base 10 to the outside of the rotating unit 20.
  • the optical unit 50 includes a prism 51, a first mirror 52 disposed on one surface of the prism 51 (corresponding to a right side surface of the prism of FIG. 5), and the other surface of the prism 51 (of the prism of FIG. 5).
  • the second mirror 52 disposed on the left side).
  • the prism 51, the first mirror 52, and the second mirror 52 are supported by the optical frame 53 and are positioned at positions corresponding to the center hole 21a of the rotation shaft 21 of the rotating unit 20. Is placed.
  • the prism 51 of the optical unit 50 and the first mirror 52 on the right side reflect the light transmitted from the light generating unit 40 in the left direction (first direction) to rotate the rotating unit 20. Emits light L1 to the outside.
  • the prism 51 and the second mirror 52 on the left side reflect the light transmitted from the light generator 40 in the right direction (the second direction) to emit light L2 to the outside of the rotating unit 20. Radiate.
  • the rotating unit 20 includes a light outlet 35 for passing the light in the first direction and the second direction to the outside of the rotating unit 20.
  • FIG. 6 is a block diagram schematically illustrating a relationship between components of the lidar system of FIG. 1.
  • the receiver 60 receives the reflected light flowing into the rotating unit 20 from the outside, and the converter unit converts the light of the lens unit 61 into electrical signals.
  • the converting unit 62 converts the image light into an electrical signal.
  • the conversion unit 62 generates an electrical signal representing an image of a space by using a charge coupled device (CCD) or an electrical signal representing a distance.
  • CCD charge coupled device
  • a signal may be generated, or an electrical signal representing a speed of wind or the like may be generated.
  • the rotating unit 20 includes a light inlet 36 at a position corresponding to the receiving unit 60 so as to pass light reflected from the outside and introduced into the rotating unit 20.
  • a plurality of receivers 60 may be disposed in the rotating unit 20.
  • Each of the first receiver 60a and the second receiver 60b includes lens sections 61a and 61b and converters 62a and 62b.
  • the first receiver 60a and the second receiver 60b perform a function of receiving the reflected light incident on the rotating unit 20 in different directions and converting the reflected light into an electrical signal.
  • the rotating unit 20 may include the light inlets 36 at positions corresponding to each of the first receiving unit 60a and the second receiving unit 60b.
  • the controller 100 is electrically connected to each of the driver 90, the light generator 40, and the receiver 60, and the driver 90, the light generator 40, The operation of the receiver 60 may be controlled.
  • the controller 100 receives signals from the drive controller 101 for controlling the driver 90, the light emission controller 102 for controlling the light generator 40, and the converter 62 of the receiver 60.
  • a signal processing unit 104 for receiving and processing, and an analysis unit 103 for analyzing the electrical signal transmitted from the receiving unit 60 may be provided.
  • the controller 100 may be implemented in various forms such as, for example, a circuit board including a semiconductor chip and a circuit, a circuit or software embedded in a semiconductor chip, or software that can be executed in a computer.
  • the support portion rotatably supports the rotating portion and transmits an electrical signal to the rotating portion. Therefore, since the light generating unit generating light can be disposed on the base, the number and volume of components included in the rotating unit can be greatly reduced.
  • Embodiments relate to a LIDAR system (Light Detection And Ranging System) capable of irradiating a laser toward a target and detecting distance, direction, speed, temperature, mass distribution and concentration characteristics to an object. It can be applied to weather observation using, unmanned robot sensor, driverless car, and 3D image modeling.
  • LIDAR system Light Detection And Ranging System

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

Abstract

L'invention concerne un système lidar comprenant : une base ; une partie de rotation reliée de manière rotative à la base sur un côté de celle-ci ; une partie de support destinée à supporter en rotation l'autre côté de la partie de rotation à partir de la base ; une partie de génération de lumière destinée à rayonner de la lumière à partir de la base vers la partie de rotation ; une partie optique destinée à guider la lumière vers l'extérieur depuis la partie de génération de lumière, la partie optique étant installée dans la partie de rotation ; une partie de réception destinée à recevoir la lumière réfléchie entrant dans la partie de rotation et à convertir la lumière réfléchie en un signal électrique ; une partie de transmission de signal destinée à transmettre un signal à la partie de réception, la partie de transmission de signal étant installée entre l'autre côté de la partie de rotation et la partie de support de manière à supporter en rotation la partie de rotation ; une partie de câblage destinée à connecter électriquement la base et la partie de transmission de signal l'une à l'autre, la partie de câblage étant installée dans la partie de support ; une partie d'entraînement destinée à faire tourner la partie de rotation ; et une unité de commande destinée à commander la partie de génération de lumière, la partie d'entraînement, et la partie de réception, l'unité de commande étant installée dans la base et connectée électriquement à la partie de génération de lumière, la partie d'entraînement, et la partie de câblage.
PCT/KR2014/010108 2014-09-22 2014-10-27 Système lidar Ceased WO2016047847A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2014-0126055 2014-09-22
KR1020140126055A KR20160034719A (ko) 2014-09-22 2014-09-22 라이다 시스템

Publications (1)

Publication Number Publication Date
WO2016047847A1 true WO2016047847A1 (fr) 2016-03-31

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PCT/KR2014/010108 Ceased WO2016047847A1 (fr) 2014-09-22 2014-10-27 Système lidar

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WO (1) WO2016047847A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10447973B2 (en) 2017-08-08 2019-10-15 Waymo Llc Rotating LIDAR with co-aligned imager
US10523880B2 (en) 2017-09-28 2019-12-31 Waymo Llc Synchronized spinning LIDAR and rolling shutter camera system
EP3437536B1 (fr) 2016-05-02 2020-05-13 Samsung Electronics Co., Ltd. Robot de nettoyage et son procédé de commande

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KR101678124B1 (ko) 2016-06-17 2016-11-21 윤봉수 전방향 라이다 장치를 이용한 라이다 데이터 모델링 방법
CN108072869A (zh) * 2016-11-11 2018-05-25 燕成祥 旋转式距离感测装置
US11500068B2 (en) 2018-01-09 2022-11-15 Lg Electronics Inc. Lidar apparatus for vehicle
KR20200009757A (ko) 2018-07-20 2020-01-30 현대모비스 주식회사 라이다 시스템 및 그의 동작 방법
KR102046258B1 (ko) * 2018-09-05 2019-11-19 (주)카네비컴 발광 빔 각도 조절이 가능한 광학계, 라이다 센서 및 이의 발광 각도 조절 방법
US10612587B1 (en) * 2018-11-01 2020-04-07 Waymo Llc Preload mechanism for rotating mirror bearing
KR102222408B1 (ko) 2019-04-01 2021-03-02 구영욱 모터리스 전방위 장애물 인지 센서
KR20200116284A (ko) 2019-04-01 2020-10-12 구영욱 무회전 전방위 장애물 인지 센서
KR20220078050A (ko) 2020-12-03 2022-06-10 (주)휴엔텍 반사체를 이용한 전방위 장애물 인지 센서
KR102382219B1 (ko) 2021-05-10 2022-04-05 넥스터 주식회사 인공지능 자율주행을 위한 도로상의 이상객체 데이터를 표출하는 방법 및 이상객체 각각에 대한 위험도에 따른 정보 가치를 추론하여 정보 이용료를 과금 정산 하는 방법 및 시스템
US12140701B2 (en) * 2022-08-23 2024-11-12 Lg Innotek Co., Ltd. Sensor head assembly having opposing sensor configuration with mount
KR102685735B1 (ko) 2023-05-11 2024-07-19 오토엘 주식회사 편향된 수직 시야각을 갖는 라이다 시스템
KR20250152284A (ko) 2024-04-16 2025-10-23 오토엘 주식회사 2d 스캐닝 라이다장치

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3437536B1 (fr) 2016-05-02 2020-05-13 Samsung Electronics Co., Ltd. Robot de nettoyage et son procédé de commande
US11067998B2 (en) 2016-05-02 2021-07-20 Samsung Electronics Co., Ltd. Cleaning robot and control method therefor
US11803190B2 (en) 2016-05-02 2023-10-31 Samsung Electronics Co., Ltd. Cleaning robot and control method therefor
US10447973B2 (en) 2017-08-08 2019-10-15 Waymo Llc Rotating LIDAR with co-aligned imager
US10951864B2 (en) 2017-08-08 2021-03-16 Waymo Llc Rotating LIDAR with co-aligned imager
US11470284B2 (en) 2017-08-08 2022-10-11 Waymo Llc Rotating LIDAR with co-aligned imager
US11838689B2 (en) 2017-08-08 2023-12-05 Waymo Llc Rotating LIDAR with co-aligned imager
US12149868B2 (en) 2017-08-08 2024-11-19 Waymo Llc Rotating LIDAR with co-aligned imager
US10523880B2 (en) 2017-09-28 2019-12-31 Waymo Llc Synchronized spinning LIDAR and rolling shutter camera system
US10939057B2 (en) 2017-09-28 2021-03-02 Waymo Llc Synchronized spinning LIDAR and rolling shutter camera system
US11558566B2 (en) 2017-09-28 2023-01-17 Waymo Llc Synchronized spinning LIDAR and rolling shutter camera system
US12133005B2 (en) 2017-09-28 2024-10-29 Waymo Llc Synchronized spinning LIDAR and rolling shutter camera system

Also Published As

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