[go: up one dir, main page]

WO2017204459A1 - Lidar optical apparatus having improved structure - Google Patents

Lidar optical apparatus having improved structure Download PDF

Info

Publication number
WO2017204459A1
WO2017204459A1 PCT/KR2017/003885 KR2017003885W WO2017204459A1 WO 2017204459 A1 WO2017204459 A1 WO 2017204459A1 KR 2017003885 W KR2017003885 W KR 2017003885W WO 2017204459 A1 WO2017204459 A1 WO 2017204459A1
Authority
WO
WIPO (PCT)
Prior art keywords
optical
light
laser
unit
lidar
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/KR2017/003885
Other languages
French (fr)
Korean (ko)
Inventor
조성주
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.)
Jung Sang Lider Co Ltd
Original Assignee
Jung Sang Lider 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
Priority claimed from KR1020160088748A external-priority patent/KR20170134945A/en
Application filed by Jung Sang Lider Co Ltd filed Critical Jung Sang Lider Co Ltd
Publication of WO2017204459A1 publication Critical patent/WO2017204459A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • 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
    • G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the present invention relates to lidar optics, and more particularly to an improved structure of lidar optics.
  • LIDAR Light Detection and Ranging
  • the rider which has been continuously developed for earth science and space exploration, is now used on aircraft and satellites as the primary means for precise earth topography and environmental observations. Lidar is also used in space stations, spacecraft docking systems, and space exploration robots.
  • LIDAR is a key technology for lasers for 3D image reconstruction and 3D image sensors for future driverless vehicles, including a simple type of lidar for remote distance measurement on the ground and cracking down on automobile speed violations. As they are utilized, their utility and importance are increasing.
  • the lidar optical device is composed of a separate type consisting of a separate system in which the transmitting and receiving optical devices are separated.
  • Separate lidar system is composed of separate system of transmitting optical device and receiving optical device, so there is a lack of stability and blind spots, and the receiving optical device becomes excessively large when the output of transmission beam is lowered. There was this.
  • the present invention has been made in response to the foregoing background, and relates to an improved structure of a transceiver integrated lidar optics.
  • a first aspect of the embodiments of the present invention for solving the above problems is, the light transmitting unit for generating a laser, irradiating the generated laser; An optical receiver focusing an optical signal scattered from the target; An optical sensing unit sensing an optical signal focused by the optical receiving unit; And a light reflecting unit for reflecting the laser irradiated by the light transmitting unit to correspond to the optical axis of the light receiving unit and the transmission optical axis of the laser. It can provide a lidar optical device, including.
  • the present invention is devised in response to the above-described background, and provides an improved structure of a transceiver integrated lidar optic.
  • FIG. 1 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • FIG. 2 illustratively illustrates components of a lidar optics associated with an embodiment of the present invention.
  • FIG. 3 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • FIG. 4 exemplarily shows a lidar optic according to another embodiment of the present invention.
  • FIG. 5 exemplarily shows a lidar optic according to another embodiment of the present invention.
  • FIG. 6 is a view for explaining a reception range of the light receiving unit according to an embodiment of the present invention.
  • FIG. 7 exemplarily illustrates a lidar optical device in which the light reflection unit 200 is omitted, according to an embodiment of the present invention.
  • optical axis refers to the axis of rotation symmetry of the optical device.
  • the optical axis of the laser may mean the central axis of the laser
  • the transmission optical axis of the laser may mean the central axis of the laser transmitted by the lidar optical device 1000
  • the optical axis of the light receiving unit 400 may be the optical number.
  • the bride 400 may refer to a central axis of an area in which the bride 400 may receive an optical signal.
  • FIG. 1 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • the lidar optical apparatus 1000 may detect at least one of a distance, a direction, a speed, a temperature, a material distribution, and a concentration characteristic to an object by shining a laser on a target.
  • the lidar optics 1000 emits a pulse signal and measures the time at which reflected pulse signals from objects within the measurement range are detected, thereby measuring the object and the lidar optics 1000. You can measure the distance between
  • the lidar optical apparatus 1000 may be a transmission / reception integrated optical apparatus.
  • the lidar optics 1000 may irradiate light and sense light scattered from the object.
  • the lidar optical apparatus 1000 may include an optical transmitter 100 and an optical detector 300.
  • Light for example, a laser, etc.
  • irradiated from the optical transmitter 100 may be scattered from an object to generate an optical signal.
  • the optical signal may be focused by the light receiver 400, and the focused optical signal may be detected by the light detector 300.
  • the lidar optical apparatus 1000 may combine the signals detected by the light sensing unit 300 to create a 3D image.
  • the lidar optical apparatus 1000 may repeat a step of irradiating light, detecting an optical signal scattered from an object a plurality of times, and generating a 3D image using the optical signals collected for a plurality of times.
  • the lidar optics 1000 collects distance information of an object in a surrounding space by rotating or mirror-scanning using a single or multiple laser beams. And a 3D image.
  • the lidar optics 1000 may expand and irradiate a single laser beam simultaneously in the observation target space and receive the reflected laser light through a multi-array receiving element, thereby obtaining segmented pixel-specific distance information. By using the three-dimensional image can be obtained in real time.
  • lidar optical device does not correspond to the optical axis of the transmission optical axis of the laser and the optical receiving unit 300, a number of problems occurred. For example, since the optical axis of the laser irradiated from the optical transmitter 100 and the optical axis of the optical detector 300 do not correspond, the optical receiver 400 has a wide field of view to detect a scattered signal. Should have had).
  • the transmission optical axis of the laser irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may correspond.
  • the wide viewing angle of the optical receiver 400 may be reduced.
  • the signal-to-noise ratio (SNR) of the lidar optics 1000 can be increased, and the maximum viewing distance can be increased even when using lasers of the same output.
  • the viewing angle of the lidar optical device can be widened, so that the number of installation of the lidar optical device can be reduced.
  • the transmission optical axis of the irradiated laser and the optical axis of the light receiving unit 400 correspond to each other, it is possible to use the light receiving unit 400 having a smaller area than the conventional lidar optical device, thereby miniaturizing the lidar optical device. It is possible to reduce the cost of the lidar optics, and to increase the reaction speed of the light sensing unit 300. In addition, the possibility of disturbance by laser irradiation in other lidar optics can be reduced.
  • FIG. 2 illustratively illustrates components of a lidar optics associated with an embodiment of the present invention.
  • the lidar optical apparatus 1000 includes an optical transmitter 100, an optical reflector 200, an optical detector 300, an optical receiver 400, a polarization change unit 500, and It may include a control unit 600.
  • the controller 600 may include an image generator 610, but is not limited thereto.
  • the optical transmitter 100 may irradiate light having various characteristics.
  • the optical transmitter 100 may emit light having various phases, outputs, wavelengths, spectral characteristics, pulse widths, and pulse shapes, but is not limited thereto.
  • the optical transmitter 100 may be configured by various modules.
  • the light transmitter 100 may be configured by a laser light source for irradiating light of a specific wavelength, a laser light source of variable wavelength, and a semiconductor laser diode capable of low power, but is not limited thereto.
  • the light reflection unit 200 may reflect the irradiated light.
  • the light reflection unit 200 may be configured with various lenses, and may be configured with various mirrors, but is not limited thereto.
  • the light reflection unit 200 may be configured as a mirror mirror, a prism mirror, or a polarizing beam splitter.
  • the light reflection unit 200 may be configured as one mirror, may be configured by combining a plurality of mirrors, and may be configured by a combination of a mirror and a lens, but is not limited thereto.
  • the light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.
  • the light reflection unit 200 may reflect the irradiated light, thereby matching the direction of the optical axis of the light receiving unit 400 with the direction of the transmission optical axis of the irradiated light.
  • the light reflection unit 200 may reflect the irradiated light, thereby matching the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light, but is not limited thereto.
  • the light reflection unit 200 may be disposed at various positions.
  • the light reflecting unit 200 may be disposed between the light detecting unit 300 and the light receiving unit 400.
  • the light reflection unit 200 may be disposed between the light detection unit 300 and the target object. In this case, the light reflection unit 200 may be disposed in contact with the light receiving unit 400.
  • the light reflection unit 200 may reflect a laser having a specific polarization form, and transmit a laser having another specific polarization form.
  • the light reflection unit 200 may reflect the laser having the first polarization form.
  • the light reflection unit 200 may transmit a laser having a second polarization form, but is not limited thereto.
  • the light reflection unit 200 may reflect an optical signal having a specific polarization form, and may transmit an optical signal having another specific polarization form.
  • the light reflection unit 200 may reflect the optical signal having the first polarization form.
  • the light reflection unit 200 may transmit an optical signal having a second polarization form, but is not limited thereto.
  • the light receiver 400 may focus the scattered laser beam so that the light detector 300 may detect the light signal scattered from the object.
  • the light receiver 400 may be configured of various lenses.
  • the light receiver 400 may be configured by a convex lens or a concave lens, but is not limited thereto.
  • the optical signal scattered from the object may be focused by the light receiver 400, and the focused optical signal may be detected by the light detector 300.
  • the light detector 300 may detect an optical signal.
  • the light detector 300 may detect an optical signal focused by the light receiver 400.
  • the light detector 300 may transmit information on the detected light signal to the controller 600.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the wide viewing angle (FOV) of the light receiver 400 may be adjusted.
  • the light receiving unit 400 may receive an optical signal introduced into a wide area.
  • the optical receiver 400 may receive an optical signal that is introduced into a wide area, while the signal-to-noise ratio may be lowered.
  • the light receiving unit 400 may detect an optical signal introduced into a narrow area. In this case, the light receiver 400 detects an optical signal entering a narrow area, while the signal-to-noise ratio may be high.
  • the polarization changing unit 500 may change the polarization of the transmitted light.
  • the polarization changing unit 500 may change the polarization of the laser reflected by the light reflection unit 200.
  • the polarization changing unit 500 may change the laser polarization in a specific direction into a circle.
  • the polarization changing unit 500 may change the polarization of the optical signal focused by the light receiving unit 400.
  • the polarization changing unit 500 may change the polarization of the optical signal to linear polarization in a specific direction.
  • the polarization changing unit 500 may change the polarization of the optical signal to polarization that may pass through the light reflection unit 200.
  • the optical signal whose polarization is changed may be introduced into the light sensing unit 300 through the light reflecting unit 200, and the light sensing unit 300 may sense the incoming optical signal.
  • the controller 600 may be configured by various modules.
  • the controller 600 may be configured of at least one processor that is driven according to preset software, but is not limited thereto.
  • the controller 600 may control the optical transmitter 100, the optical detector 300, the optical receiver 400, the polarization change unit 500, and the optical reflector 200. have.
  • the controller 600 controls at least one of the optical transmitter 100, the optical detector 300, and the optical reflector 200, so that the transmission optical axis of the irradiated laser and the optical axis of the optical receiver 400 are adjusted. Can be allowed to match.
  • the controller 600 may move the position of the optical transmitter 100 and adjust the direction in which the optical transmitter 100 irradiates light.
  • the controller 600 may change the direction of the light reflection unit 200, and may change the distance between the light transmitter 100 and the light reflection unit 200.
  • the controller 600 may change the position, the direction, or a combination thereof of the light reflection unit 200 to correspond to the transmission optical axis of the irradiated light and the optical axis of the optical receiver 400.
  • control unit 600 may change the optical axis of the light receiving unit 400 to correspond to the transmission optical axis of the irradiated light and the optical axis of the light receiving unit 400. In addition, the controller 600 may adjust the reception range of the light receiver 400.
  • the controller 600 may control the modules included in the lidar optical apparatus 1000 to perform various operations.
  • an object detecting sensor (not shown) equipped with the above-described lidar optical apparatus 1000 may be provided.
  • the object detecting sensor (not shown) may include a lidar optical device 1000 and a controller (not shown).
  • the object detecting sensor may acquire various characteristics of the object by using the LiDAR optical apparatus 1000.
  • an object detecting sensor may illuminate a laser beam on a target, and detect a scattered light signal from the object to detect the distance to the object, the direction of the object, the speed of the object, the temperature of the object, the material distribution of the object, and the object.
  • At least one of the 3D image and the concentration characteristics of the object can be obtained, but is not limited thereto.
  • the controller of the object detecting sensor may control the provided LiDAR optical apparatus 1000.
  • the controller of the object detecting sensor may control the provided LiDAR optical apparatus 1000 to allow the LiDAR optical apparatus 1000 to perform the above-described operation, thereby obtaining a 3D image of the object.
  • a vehicle equipped with the above-described lidar optics 1000 may be provided.
  • a vehicle may include any device that can move, such as a car, a drone, a spaceship, a motorcycle, a helicopter, and the like, but is not limited thereto.
  • the moving body may include a controller for controlling the lidar optical device and the lidar optical device 1000.
  • the controller of the moving object may acquire the 3D image of the object by controlling the lidar optical apparatus 1000 to perform the above-described operation.
  • the movable body may perform autonomous driving by using the LiDAR optical apparatus 1000 provided.
  • the moving object obtains distance information with respect to the object and direction information of the object using the provided LiDAR optical apparatus 1000 and adjusts the speed and direction based on the obtained information to perform autonomous driving. can do.
  • the moving object may transmit the object information of the surrounding to the user using the provided LiDAR optical apparatus 1000.
  • the moving object may generate a 3D image of the surrounding object by using the provided LiDAR optical apparatus 1000 and show the generated 3D image to the user.
  • FIG. 3 exemplarily shows a lidar optic according to an embodiment of the present invention.
  • the optical transmitter 100 may irradiate light.
  • the optical transmitter 100 may irradiate a laser.
  • the direction of the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may be different.
  • the angle between the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may be 90 degrees, or may be a preset angle, but is not limited thereto.
  • the light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.
  • the transmission optical axis of the laser reflected by the light reflecting unit 200 and the direction of the optical axis of the light receiving unit 400 may coincide.
  • the optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.
  • the light reflection unit 200 may be disposed at various positions.
  • the light reflecting unit 200 may be disposed adjacent to the light receiving unit 400.
  • the light reflecting unit 200 may be located between the light receiving unit 400 and the object. In this case, the light reflection unit 200 may be disposed adjacent to the light receiving unit 400.
  • the light reflection unit 200 may be configured with various lenses, and may be configured with various mirrors, but is not limited thereto.
  • the light reflecting unit 200 may be configured as a mirror mirror
  • the light reflecting unit 200 may be configured as a prism mirror. It doesn't work.
  • the transmission optical axis of the laser and the optical axis of the optical receiver 400 may correspond to each other.
  • the reflected laser may be scattered by the object to generate an optical signal.
  • the optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused in the direction of the optical detector 300.
  • the light detector 300 may detect the focused optical signal and transmit information about the detected optical signal to the controller 600.
  • the wide viewing angle of the light receiver 400 may be adjusted. Due to the adjustment of the wide viewing angle, the reception range of the light receiver 400 may be adjusted. As the reception range of the light receiver 400 is reduced, the production cost of the light receiver 400 is lowered, and the sensing distance of the light receiver 400 can be increased.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the transmission optical axis of the light irradiated by the optical transmitter 100 may be changed by the optical reflector 200 to correspond to the optical axis of the optical receiver 400.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the controller 600 may generate information on the object by using the information on the optical signal.
  • the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.
  • FIG. 4 exemplarily shows a lidar optic according to another embodiment of the present invention.
  • the optical transmitter 100 may irradiate light.
  • the optical transmitter 100 may irradiate a laser.
  • the direction of the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may be different.
  • the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may be perpendicular, but are not limited thereto.
  • the light reflection unit 200 reflects the irradiated light, so that the optical axis of the light sensing unit 300 may correspond to the transmission optical axis of the irradiated light.
  • the transmission optical axis of the laser reflected by the light reflection unit 200 and the direction of the optical axis of the light sensing unit 300 may coincide.
  • optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.
  • the light reflection unit 200 may be disposed at various positions.
  • the light reflecting unit 200 may be disposed adjacent to the light receiving unit 400.
  • the light reflecting unit 200 may be positioned between the light receiving unit 400 and the light detecting unit 300, and in this case, may be disposed adjacent to the light receiving unit 400.
  • the transmission optical axis of the laser and the optical axis of the optical receiver 400 may correspond to each other.
  • the reflected laser can be scattered by the subject.
  • the laser may be scattered by the object to generate an optical signal.
  • the optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused toward the optical detector 300.
  • the light detector 300 may detect the transmitted light signal and transmit information about the detected light signal to the controller 600.
  • the wide viewing angle of the light receiver 400 may be adjusted. Due to the adjustment of the wide viewing angle, the reception range of the light receiver 400 may be adjusted. For example, the wide viewing angle of the light receiver 400 may be reduced, and thus, the size of the light receiver 400 may be reduced. As the size of the light receiver 400 is reduced, the production cost of the light receiver 400 is lowered, and the sensing distance of the light receiver 400 can be increased.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the transmission optical axis of the light irradiated by the optical transmitter 100 may be changed by the optical reflector 200 to correspond to the optical axis of the optical receiver 400.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the controller 600 may generate information on the object by using the information on the optical signal.
  • the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.
  • FIG. 5 exemplarily illustrates a lidar optic according to another embodiment of the present invention.
  • Lidar optical device 1000 includes a light transmitting unit 100, a light reflecting unit 200, a polarization changing unit 500, a light receiving unit 400 and the light detecting unit 300. can do.
  • the optical transmitter 100 may emit various lights.
  • the optical transmitter 100 may irradiate a laser having a specific phase, but is not limited thereto.
  • the light reflection unit 200 may reflect the irradiated light, and may be formed of various members capable of reflecting light.
  • the light reflection unit 200 may be configured as a polarizing beam splitter.
  • the light reflection unit 200 may reflect light in a specific polarization direction and transmit light in another specific polarization direction.
  • the laser irradiated by the light transmitting unit 100 may have a first polarization direction, and the light reflection unit 200 may reflect the laser having the first polarization direction.
  • the optical signal scattered from the object may have a second polarization direction, and the light reflection unit 200 may transmit the optical signal having the second polarization direction.
  • the light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.
  • the transmission optical axis of the laser reflected by the light reflecting unit 200 and the direction of the optical axis of the light receiving unit 400 may correspond.
  • the transmission optical axis of the laser reflected by the light reflection unit 200 and the direction of the optical axis of the light receiving unit 400 may coincide.
  • optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.
  • the laser reflected by the light reflection unit 200 may pass through the polarization changing unit 500.
  • the polarization form of the laser may be changed.
  • the polarization changing unit 500 may be introduced from the light reflection unit 200 and change linearly polarized light of a laser having polarization in a specific direction into circularly polarized light.
  • the laser of circular polarization may be irradiated to the object.
  • the irradiated laser can be scattered by the subject.
  • the laser scattered from the object may generate an optical signal.
  • the optical signal may pass through the optical receiver 400.
  • the optical signal passing through the light receiving unit 400 may be focused in the direction of the light sensing unit 300 by the light receiving unit 400.
  • the optical signal scattered from the object may pass through the polarization changing unit 500.
  • the polarization changing unit 500 may change the polarization of the optical signal introduced through the light receiving unit 400 to linear polarization.
  • the polarization changing unit 500 may change the polarization of the optical signal to linear polarization in a predetermined direction.
  • the polarization changing unit 500 may change the polarization of the optical signal scattered from the object into linear polarization in a direction that can pass through the light reflection unit 200.
  • the optical signal transmitted through the light reflection unit 200 may be detected by the light detection unit 300.
  • the light detector 300 may detect an optical signal and transmit information about the detected optical signal to the image generator 610 of the controller 600.
  • the image generator 610 of the controller 600 may generate a 3D image of an object around the lidar optical apparatus by using the received information about the optical signal.
  • FIG. 6 is a view for explaining a reception range of the light receiving unit according to an embodiment of the present invention.
  • the reception range of the light receiving unit 400 may be adjusted.
  • the reception range of the light receiver 400 may be adjusted according to the adjustment of the wide viewing angle.
  • the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 300.
  • the optical axis of the laser irradiated by the optical transmitter 100 corresponds to the optical axis of the optical receiver 400
  • the optical axis of the optical receiver 400 transmits the laser irradiated by the optical transmitter 100. Can be determined based on the optical axis.
  • the detection range of the light receiving unit 400 can be reduced in various ways. For example, as the wide field of view (FOV) of the light receiving unit 400 is reduced, the sensing range of the light receiving unit 400 may be reduced. In this case, as the size of the lens included in the light receiving unit 400 is reduced, the wide viewing angle (FOV) may be reduced, and the wide viewing angle of the light receiving unit 300 may be reduced in various ways.
  • FOV wide field of view
  • the reception range 620 of the light receiving unit 400 of the conventional Lidar optical apparatus has always been a large area irrespective of the transmission optical axis 660 of the irradiated laser.
  • the reception range 640 of the LiDAR optical apparatus 1000 according to the exemplary embodiment may be formed around the transmission optical axis 630 of the irradiated laser.
  • the signal-to-noise ratio of the lidar optical apparatus 1000 may increase. Also, due to the increase in the signal-to-noise ratio, the maximum observation distance of the lidar optics 1000 can be increased.
  • the amount of noise detected by the light receiving unit 400 may be reduced, and the light sensing unit 300 may be quickly operated due to the reduction of the amount of noise.
  • FIG. 7 exemplarily illustrates a lidar optical device in which the light reflection unit 200 is omitted, according to an embodiment of the present invention.
  • the optical transmitter 100 may irradiate light.
  • the optical transmitter 100 may irradiate a laser.
  • the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may correspond to each other.
  • the direction of the optical axis of the light irradiated by the optical transmitter 100 may coincide with the direction of the optical axis of the optical receiver 400, and the optical axis of the light irradiated by the optical transmitter 100 coincides with the optical axis of the optical receiver 400. It may be, but is not limited to such.
  • the optical transmitter 100 may be located at the center of the optical receiver 400. Since the optical transmitter 100 is located at the center of the optical receiver 400, the optical axis of the optical transmitter 100 and the optical axis of the optical receiver 400 may correspond to each other.
  • the laser irradiated by the light transmitter 100 may be scattered by the object.
  • the laser may be scattered by the object to generate an optical signal.
  • the optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused toward the optical detector 300.
  • the light detector 300 may detect the transmitted light signal and transmit information about the detected light signal to the controller 600.
  • the image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.
  • the controller 600 may generate information on the object by using the information on the optical signal.
  • the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.
  • One embodiment of the present invention can also be implemented in the form of a recording medium containing instructions executable by a computer, such as a program module executed by the computer.
  • Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media.
  • the computer-readable recording medium may include a temporary recording medium and a non-transitory recording medium.
  • Computer readable media may include both computer storage media and communication media.
  • Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data.
  • Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transmission mechanism, and includes any information delivery media.
  • the present invention can be used in a variety of industries using lidar optical technology.

Landscapes

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

Abstract

Provided is a LIDAR optical apparatus having an improved structure. The LIDAR optical apparatus comprises: a light transmission unit for generating a laser and irradiating the generated laser; a light reception unit for focusing the laser reflected off a target; a light reception unit for detecting an optical signal focused by means of the light reception unit; and a light reflection unit for matching the optical axis of the light reception unit and the transmission optical axis of the laser by means of reflecting the laser irradiated by means of the light transmission unit.

Description

개선된 구조를 갖는 라이다 광학장치Lidar optics with improved construction

본 발명은 라이다 광학장치에 대한 것으로, 특히 라이다 광학장치의 개선된 구조에 대한 것이다. FIELD OF THE INVENTION The present invention relates to lidar optics, and more particularly to an improved structure of lidar optics.

라이다(Light Detection and Ranging:LIDAR)란, 레이저 레이더라고도 불리는 것으로서, 대기속의 먼지입자의 분포 또는 대기 오염도를 측정하는데 이용되어 왔다. 이는 레이저를 조사한 후 대기중에서 후방 산란되어 귀환되는 레이저를 분석하여 대기의 오염도를 측정하는 것을 의미한다.Light Detection and Ranging (LIDAR), also called laser radar, has been used to measure the distribution of airborne dust particles or air pollution. This means that the pollution of the atmosphere is measured by analyzing the laser that is backscattered and returned back to the atmosphere after irradiating the laser.

지구과학 및 우주 탐사를 목적으로 지속적으로 발전해 온 라이다는 현재 항공기 및 위성에 탑재되어 정밀한 지구 지형 및 환경 관측을 위한 주요 수단으로 사용되고 있다. 또한, 라이다는 우주 정거장과 우주선의 도킹 시스템, 우주 탐사 로봇에 활용되고 있다.The rider, which has been continuously developed for earth science and space exploration, is now used on aircraft and satellites as the primary means for precise earth topography and environmental observations. Lidar is also used in space stations, spacecraft docking systems, and space exploration robots.

또한, 라이다는 지상에서 원거리 거리 측정, 자동차 속도 위반 단속 등을 위한 간단한 형태의 라이다를 비롯하여, 최근에는 3차원 영상 복원을 위한 레이저 스캐너, 미래 무인자동차를 위한 3차원 영상 센서의 핵심 기술로 활용되면서, 그 활용성과 중요성이 점차 증가되고 있다.In addition, LIDAR is a key technology for lasers for 3D image reconstruction and 3D image sensors for future driverless vehicles, including a simple type of lidar for remote distance measurement on the ground and cracking down on automobile speed violations. As they are utilized, their utility and importance are increasing.

일반적으로 라이다 광학장치는 송신 광학장치와 수신 광학장치가 분리되어 별도의 시스템으로 구성된 분리형으로 구성된다. 분리형 라이다 시스템은 송신 광학장치와 수신 광학장치가 분리되어 별도의 시스템으로 구성되어 있어서, 기계적으로 안정성이 부족하고 사각지대가 발생하며, 송신 빔의 출력을 낮추는 경우 수신 광학장치가 과도하게 커지는 문제점이 있었다.In general, the lidar optical device is composed of a separate type consisting of a separate system in which the transmitting and receiving optical devices are separated. Separate lidar system is composed of separate system of transmitting optical device and receiving optical device, so there is a lack of stability and blind spots, and the receiving optical device becomes excessively large when the output of transmission beam is lowered. There was this.

본 발명은 전술한 배경기술에 대응하여 안출된 것으로, 송수신 일체형 라이다 광학장치의 개선된 구조에 대한 것이다.SUMMARY OF THE INVENTION The present invention has been made in response to the foregoing background, and relates to an improved structure of a transceiver integrated lidar optics.

전술한 과제를 해결하기 위한 본 발명의 실시예들 중 제 1 측면은, 레이저를 생성하고, 생성된 레이저를 조사하는 광송신부; 타겟으로부터 산란된 광신호를 집속시키는(focusing) 광수신부; 상기 광수신부에 의해 집속된 광신호를 감지하는 광감지부; 및 상기 광송신부에 의해 조사된 레이저를 반사함으로써, 상기 광수신부의 광축과 상기 레이저의 송신 광축을 대응시키는 광반사부; 를 포함하는, 라이다 광학장치를 제공할 수 있다.A first aspect of the embodiments of the present invention for solving the above problems is, the light transmitting unit for generating a laser, irradiating the generated laser; An optical receiver focusing an optical signal scattered from the target; An optical sensing unit sensing an optical signal focused by the optical receiving unit; And a light reflecting unit for reflecting the laser irradiated by the light transmitting unit to correspond to the optical axis of the light receiving unit and the transmission optical axis of the laser. It can provide a lidar optical device, including.

본 발명은 전술한 배경기술에 대응하여 안출된 것으로, 송수신 일체형 라이다 광학장치의 개선된 구조를 제공한다.SUMMARY OF THE INVENTION The present invention is devised in response to the above-described background, and provides an improved structure of a transceiver integrated lidar optic.

다양한 양상들이 이제 도면들을 참조로 기재되며, 여기서 유사한 참조 번호들은 총괄적으로 유사한 구성요소들을 지칭하는데 이용된다. 이하의 실시예에서, 설명 목적을 위해, 다수의 특정 세부사항들이 하나 이상의 양상들의 총체적 이해를 제공하기 위해 제시된다. 그러나, 그러한 양상(들)이 이러한 구체적인 세부사항들 없이 실시될 수 있음은 명백할 것이다. 다른 예시들에서, 공지의 구조들 및 장치들이 하나 이상의 양상들의 기재를 용이하게 하기 위해 블록도 형태로 도시된다.Various aspects are now described with reference to the drawings, wherein like reference numerals are used to refer to like components throughout. In the following examples, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. However, it will be apparent that such aspect (s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more aspects.

도 1 은 본 발명의 일 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.1 exemplarily shows a lidar optic according to an embodiment of the present invention.

도 2 는 본 발명의 일 실시예와 관련된 라이다 광학장치의 컴포넌트들을 예시적으로 도시한다.2 illustratively illustrates components of a lidar optics associated with an embodiment of the present invention.

도 3 은 본 발명의 일 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.3 exemplarily shows a lidar optic according to an embodiment of the present invention.

도 4 는 본 발명의 다른 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.4 exemplarily shows a lidar optic according to another embodiment of the present invention.

도 5 는 본 발명의 또 다른 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.5 exemplarily shows a lidar optic according to another embodiment of the present invention.

도 6 은 본 발명의 일 실시예와 관련된 광수신부의 수신 범위에 대해 설명하기 위한 도면이다.6 is a view for explaining a reception range of the light receiving unit according to an embodiment of the present invention.

도 7 은 본 발명의 일 실시예에 따라, 광반사부(200)가 생략된 라이다 광학장치를 예시적으로 도시한다.7 exemplarily illustrates a lidar optical device in which the light reflection unit 200 is omitted, according to an embodiment of the present invention.

다양한 실시예들이 이제 도면을 참조하여 설명되며, 전체 도면에서 걸쳐 유사한 도면번호는 유사한 구성요소를 나타내기 위해서 사용된다. 본 명세서에서, 다양한 설명들이 본 발명의 이해를 제공하기 위해서 제시된다. 그러나 이러한 실시예들은 이러한 구체적인 설명 없이도 실행될 수 있음이 명백하다. 다른 예들에서, 공지된 구조 및 장치들은 실시예들의 설명을 용이하게 하기 위해서 블록 다이어그램 형태로 제공된다.Various embodiments are now described with reference to the drawings, wherein like reference numerals are used to refer to like elements throughout. In this specification, various descriptions are presented to provide an understanding of the present invention. It is evident, however, that such embodiments may be practiced without these specific details. In other instances, well-known structures and devices are provided in block diagram form in order to facilitate describing the embodiments.

본 명세서에서 사용되는 용어 “광축”은 광학장치의 회전 대칭축을 의미한다. 예를 들어, 레이저의 광축은 레이저의 중심축을 의미할 수 있고, 레이저의 송신 광축은 라이다 광학장치(1000)가 송신하는 레이저의 중심축을 의미할 수 있고, 광수신부(400)의 광축은 광수신부(400)가 광신호를 수신할 수 있는 영역의 중심축을 의미할 수 있다. As used herein, the term “optical axis” refers to the axis of rotation symmetry of the optical device. For example, the optical axis of the laser may mean the central axis of the laser, and the transmission optical axis of the laser may mean the central axis of the laser transmitted by the lidar optical device 1000, and the optical axis of the light receiving unit 400 may be the optical number. The bride 400 may refer to a central axis of an area in which the bride 400 may receive an optical signal.

제시된 실시예들에 대한 설명은 본 발명의 기술 분야에서 통상의 지식을 가진 자가 본 발명을 이용하거나 또는 실시할 수 있도록 제공된다. 이러한 실시예들에 대한 다양한 변형들은 본 발명의 기술 분야에서 통상의 지식을 가진 자에게 명백할 것이며, 여기에 정의된 일반적인 원리들은 본 발명의 범위를 벗어남이 없이 다른 실시예들에 적용될 수 있다. 그리하여, 본 발명은 여기에 제시된 실시예들로 한정되는 것이 아니라, 여기에 제시된 원리들 및 신규한 특징들과 일관되는 최광의의 범위에서 해석되어야 할 것이다. The description of the presented embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention should not be limited to the embodiments set forth herein but should be construed in the broadest scope consistent with the principles and novel features set forth herein.

이하에서는, 첨부된 도면을 참조하여 본 발명에 따른 실시예들을 상세히 설명하도록 한다.Hereinafter, with reference to the accompanying drawings will be described embodiments of the present invention;

도 1 은 본 발명의 일 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.1 exemplarily shows a lidar optic according to an embodiment of the present invention.

본 발명의 일 실시예에 따르면, 라이다 광학장치(1000)는 레이저를 목표물에 비춤으로써 사물까지의 거리, 방향, 속도, 온도, 물질 분포 및 농도 특성 중 적어도 하나를 감지할 수 있다.According to an embodiment of the present invention, the lidar optical apparatus 1000 may detect at least one of a distance, a direction, a speed, a temperature, a material distribution, and a concentration characteristic to an object by shining a laser on a target.

본 발명의 일 실시예에 따르면, 라이다 광학장치(1000)는 펄스 신호를 방출하고, 측정 범위 내에 있는 물체들로부터의 반사 펄스 신호들이 감지되는 시간을 측정함으로써, 물체와 라이다 광학장치(1000)사이의 거리를 측정할 수 있다.According to one embodiment of the present invention, the lidar optics 1000 emits a pulse signal and measures the time at which reflected pulse signals from objects within the measurement range are detected, thereby measuring the object and the lidar optics 1000. You can measure the distance between

본 발명의 일 실시예에 따르면, 라이다 광학장치(1000)는 송수신 일체형 광학장치일 수 있다. 이 경우, 라이다 광학장치(1000)는 광을 조사할 수 있고, 대상체로부터 산란된 광을 감지할 수 있다.According to an embodiment of the present invention, the lidar optical apparatus 1000 may be a transmission / reception integrated optical apparatus. In this case, the lidar optics 1000 may irradiate light and sense light scattered from the object.

라이다 광학장치(1000)는 광송신부(100)와 광감지부(300)를 포함할 수 있다. 광송신부(100)에서 조사된 광(예를 들어, 레이저 등)은 물체로부터 산란됨으로써, 광신호를 발생시킬 수 있다. 광신호는 광수신부(400)에 의해 집속(focusing)될 수 있고, 집속된 광신호는 광감지부(300)에서 감지될 수 있다.The lidar optical apparatus 1000 may include an optical transmitter 100 and an optical detector 300. Light (for example, a laser, etc.) irradiated from the optical transmitter 100 may be scattered from an object to generate an optical signal. The optical signal may be focused by the light receiver 400, and the focused optical signal may be detected by the light detector 300.

라이다 광학장치(1000)는 광감지부(300)에서 감지된 신호들을 조합하여 3D 이미지 영상을 만들 수 있다. The lidar optical apparatus 1000 may combine the signals detected by the light sensing unit 300 to create a 3D image.

예를 들어, 라이다 광학장치(1000)는 광을 조사하고, 물체로부터 산란되는 광신호를 감지하는 단계를 복수회 반복하며, 복수회 동안 수집된 광신호들을 이용하여 3D 이미지를 생성할 수 있다.For example, the lidar optical apparatus 1000 may repeat a step of irradiating light, detecting an optical signal scattered from an object a plurality of times, and generating a 3D image using the optical signals collected for a plurality of times. .

또한, 예를 들어, 라이다 광학장치(1000)는 단일 또는 여러 개의 레이저 빔을 이용하여 회전 또는 미러 주사(mirror-scanning)의 방식으로 주변 공간에 있는 사물의 거리 정보등을 수집함으로써, 2차원 및 3차원 영상을 획득할 수 있다. 또한, 라이다 광학장치(1000)는 단일 레이저 빔을 관측 대상 공간에 동시에 확대 조사하고, 반사된 레이저 광을 다중 배열 수신소자를 통하여 수신함으로써, 세분화된 화소별 거리 정보를 획득할 수 있고, 이를 이용하여 실시간으로 3차원 영상을 획득할 수 있다.Also, for example, the lidar optics 1000 collects distance information of an object in a surrounding space by rotating or mirror-scanning using a single or multiple laser beams. And a 3D image. In addition, the lidar optics 1000 may expand and irradiate a single laser beam simultaneously in the observation target space and receive the reflected laser light through a multi-array receiving element, thereby obtaining segmented pixel-specific distance information. By using the three-dimensional image can be obtained in real time.

기존의 라이다 광학장치는 레이저의 송신 광축과 광수신부(300)의 광축이 대응되지 않아, 많은 문제가 발생하였다. 예를 들어, 광송신부(100)에서 조사된 레이저의 송신 광축과 광감지부(300)의 광축이 대응되지 않아, 광수신부(400)는 산란되는 신호를 감지하기 위하여 넓은 광시야각(Field of View)을 가졌어야 했다.Conventional lidar optical device does not correspond to the optical axis of the transmission optical axis of the laser and the optical receiving unit 300, a number of problems occurred. For example, since the optical axis of the laser irradiated from the optical transmitter 100 and the optical axis of the optical detector 300 do not correspond, the optical receiver 400 has a wide field of view to detect a scattered signal. Should have had).

반면, 본 발명의 일 실시예에 따르면, 광송신부(100)에 의해 조사된 레이저의 송신 광축과, 광감지부(300)의 광축이 대응될 수 있다. 레이저의 송신 광축과 광수신부(400)의 광축이 대응되는 경우, 광수신부(400)의 광시야각은 축소 가능하다. 그 결과, 라이다 광학장치(1000)의 신호대 잡음비(SNR)는 증가될 수 있고, 동일한 출력의 레이저를 사용하더라도 최대 관측 거리를 증가시킬 수 있다. On the other hand, according to one embodiment of the present invention, the transmission optical axis of the laser irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may correspond. When the optical axis of the laser and the optical axis of the optical receiver 400 correspond to each other, the wide viewing angle of the optical receiver 400 may be reduced. As a result, the signal-to-noise ratio (SNR) of the lidar optics 1000 can be increased, and the maximum viewing distance can be increased even when using lasers of the same output.

또한, 조사된 레이저의 송신 광축과 광수신부(300)의 광축이 대응됨으로써, 라이다 광학장치의 관측 화각이 넓어질 수 있어, 라이다 광학장치의 설치 개수는 감소될 수 있다. In addition, since the transmission optical axis of the irradiated laser and the optical axis of the light receiving unit 300 correspond to each other, the viewing angle of the lidar optical device can be widened, so that the number of installation of the lidar optical device can be reduced.

또한, 조사된 레이저의 송신 광축과 광수신부(400)의 광축이 대응됨으로써, 기존의 라이다 광학장치에 비해 좁은 면적의 광수신부(400)의 사용이 가능하고, 이에 따라 라이다 광학장치의 소형화가 가능하며, 라이다 광학장치의 비용을 감소시킬 수 있고, 광감지부(300)의 반응 속도를 증가시킬 수 있다. 또한, 다른 라이다 광학장치에서 조사된 레이저에 의한 교란 가능성은 감소될 수 있다.In addition, since the transmission optical axis of the irradiated laser and the optical axis of the light receiving unit 400 correspond to each other, it is possible to use the light receiving unit 400 having a smaller area than the conventional lidar optical device, thereby miniaturizing the lidar optical device. It is possible to reduce the cost of the lidar optics, and to increase the reaction speed of the light sensing unit 300. In addition, the possibility of disturbance by laser irradiation in other lidar optics can be reduced.

도 2 는 본 발명의 일 실시예와 관련된 라이다 광학장치의 컴포넌트들을 예시적으로 도시한다.2 illustratively illustrates components of a lidar optics associated with an embodiment of the present invention.

본 발명의 일 실시예에 따르면, 라이다 광학장치(1000)는 광송신부(100), 광반사부(200), 광감지부(300), 광수신부(400), 편광변경부(500) 및 제어부(600)를 포함할 수 있다. 또한, 제어부(600)는 이미지 생성부(610)를 포함할 수 있으며, 이에 한정되지 않는다.According to an embodiment of the present invention, the lidar optical apparatus 1000 includes an optical transmitter 100, an optical reflector 200, an optical detector 300, an optical receiver 400, a polarization change unit 500, and It may include a control unit 600. In addition, the controller 600 may include an image generator 610, but is not limited thereto.

광송신부(100)는 다양한 특성을 갖는 광을 조사할 수 있다. 예를 들어, 광송신부(100)는 위상, 출력, 파장, 스펙트럼 특성, 펄스 폭 및 펄스 모양 등이 다양한 광을 조사할 수 있으며, 이에 한정되지 않는다. The optical transmitter 100 may irradiate light having various characteristics. For example, the optical transmitter 100 may emit light having various phases, outputs, wavelengths, spectral characteristics, pulse widths, and pulse shapes, but is not limited thereto.

광송신부(100)는 다양한 모듈에 의해 구성될 수 있다. 광송신부(100)는 특정 파장의 광을 조사하는 레이저 광원, 파장의 가변이 가능한 레이저 광원, 저전력이 가능한 반도체 레이저 다이오드에 의해 구성될 수 있으며, 이에 한정되지 않는다.The optical transmitter 100 may be configured by various modules. The light transmitter 100 may be configured by a laser light source for irradiating light of a specific wavelength, a laser light source of variable wavelength, and a semiconductor laser diode capable of low power, but is not limited thereto.

광반사부(200)는 조사된 광을 반사할 수 있다. 광반사부(200)는 다양한 렌즈로 구성될 수 있고, 다양한 미러로 구성될 수 있으며, 이에 한정되지 않는다. 예를 들어, 광반사부(200)는 사경 미러(mirror), 프리즘 미러, 또는 편광 광선 분리기(polarizing beam splitter)로 구성될 수 있다. 광반사부(200)는 하나의 미러로 구성될 수 있고, 복수개의 미러의 결합으로 구성될 수 있고, 미러와 렌즈의 조합으로 구성될 수 있으며, 이에 한정되지 않는다.The light reflection unit 200 may reflect the irradiated light. The light reflection unit 200 may be configured with various lenses, and may be configured with various mirrors, but is not limited thereto. For example, the light reflection unit 200 may be configured as a mirror mirror, a prism mirror, or a polarizing beam splitter. The light reflection unit 200 may be configured as one mirror, may be configured by combining a plurality of mirrors, and may be configured by a combination of a mirror and a lens, but is not limited thereto.

광반사부(200)는 조사된 광을 반사함으로써, 광수신부(400)의 광축과 조사된 광의 송신 광축을 대응시킬 수 있다.The light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.

예를 들어, 광반사부(200)는 조사된 광을 반사함으로써, 광수신부(400)의 광축의 방향과 조사된 광의 송신 광축의 방향을 일치시킬 수 있다.For example, the light reflection unit 200 may reflect the irradiated light, thereby matching the direction of the optical axis of the light receiving unit 400 with the direction of the transmission optical axis of the irradiated light.

또한, 광반사부(200)는 조사된 광을 반사함으로써, 광수신부(400)의 광축과 조사된 광의 송신 광축을 일치시킬 수 있으며, 이에 한정되지 않는다.In addition, the light reflection unit 200 may reflect the irradiated light, thereby matching the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light, but is not limited thereto.

광반사부(200)는 다양한 위치에 배치될 수 있다. 예를 들어, 광반사부(200)는 광감지부(300)와 광수신부(400)사이에 배치될 수 있다. 또한, 광반사부(200)는 광감지부(300)와 대상 물체 사이에 배치될 수 있다. 이 경우, 광반사부(200)는 광수신부(400)와 접하게 배치될 수 있다.The light reflection unit 200 may be disposed at various positions. For example, the light reflecting unit 200 may be disposed between the light detecting unit 300 and the light receiving unit 400. In addition, the light reflection unit 200 may be disposed between the light detection unit 300 and the target object. In this case, the light reflection unit 200 may be disposed in contact with the light receiving unit 400.

본 발명의 다른 실시예에 따르면, 광반사부(200)는 특정 편광의 형태를 갖는 레이저를 반사시킬 수 있으며, 다른 특정 편광의 형태를 갖는 레이저는 투과시킬 수 있다. 예를 들어, 광반사부(200)는 제 1 편광 형태를 갖는 레이저를 반사시킬 수 있다. 또한, 광반사부(200)는 제 2 편광 형태를 갖는 레이저를 투과시킬 수 있으며, 이에 한정되지 않는다.According to another embodiment of the present invention, the light reflection unit 200 may reflect a laser having a specific polarization form, and transmit a laser having another specific polarization form. For example, the light reflection unit 200 may reflect the laser having the first polarization form. In addition, the light reflection unit 200 may transmit a laser having a second polarization form, but is not limited thereto.

또한, 광반사부(200)는 특정 편광의 형태를 갖는 광신호를 반사시킬 수 있으며, 다른 특정 편광의 형태를 갖는 광신호는 투과시킬 수 있다. 예를 들어, 광반사부(200)는 제 1 편광 형태를 갖는 광신호를 반사시킬 수 있다. 또한, 광반사부(200)는 제 2 편광 형태를 갖는 광신호를 투과시킬 수 있으며, 이에 한정되지 않는다.In addition, the light reflection unit 200 may reflect an optical signal having a specific polarization form, and may transmit an optical signal having another specific polarization form. For example, the light reflection unit 200 may reflect the optical signal having the first polarization form. In addition, the light reflection unit 200 may transmit an optical signal having a second polarization form, but is not limited thereto.

광수신부(400)는 대상체로부터 산란된 광신호를 광감지부(300)가 감지할 수 있도록, 산란된 레이저를 집속(focusing)시킬 수 있다. The light receiver 400 may focus the scattered laser beam so that the light detector 300 may detect the light signal scattered from the object.

광수신부(400)는 다양한 렌즈로 구성될 수 있다. 예를 들어, 광수신부(400)는 볼록렌즈 또는 오목렌즈에 의해 구성될 수 있으며, 이에 한정되지 않는다.The light receiver 400 may be configured of various lenses. For example, the light receiver 400 may be configured by a convex lens or a concave lens, but is not limited thereto.

대상체로부터 산란된 광신호는 광수신부(400)에 의해 집속될 수 있고, 집속된 광신호는 광감지부(300)에 의해 감지될 수 있다.The optical signal scattered from the object may be focused by the light receiver 400, and the focused optical signal may be detected by the light detector 300.

광감지부(300)는 광신호를 감지할 수 있다. 예를 들어, 광감지부(300)는 광수신부(400)에 의해 집속된 광신호를 감지할 수 있다. 광감지부(300)는 감지된 광신호에 대한 정보를 제어부(600)에 전송할 수 있다. 제어부(600)의 이미지 생성부(610)는 광신호에 대한 정보를 이용하여, 대상체에 대한 3D이미지를 생성할 수 있다.The light detector 300 may detect an optical signal. For example, the light detector 300 may detect an optical signal focused by the light receiver 400. The light detector 300 may transmit information on the detected light signal to the controller 600. The image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.

광수신부(400)의 광시야각(FOV)은 조절될 수 있다. 광수신부(400)의 광시야각이 큰 경우에, 광수신부(400)는 넓은 영역에 인입되는 광신호를 수신할 수 있다. 이 경우, 광수신부(400)는 넓은 영역에 인입되는 광신호를 수신할 수 있는 반면, 신호대 잡음비는 낮아질 수 있다. 또한, 광수신부(400)의 광시야각이 좁은 경우에, 광수신부(400)는 좁은 영역에 인입되는 광신호를 감지할 수 있다. 이 경우, 광수신부(400)는 좁은 영역에 인입되는 광신호를 감지하는 반면, 신호대 잡음비는 높아질 수 있다.The wide viewing angle (FOV) of the light receiver 400 may be adjusted. When the light viewing angle of the light receiving unit 400 is large, the light receiving unit 400 may receive an optical signal introduced into a wide area. In this case, the optical receiver 400 may receive an optical signal that is introduced into a wide area, while the signal-to-noise ratio may be lowered. In addition, when the light viewing angle of the light receiving unit 400 is narrow, the light receiving unit 400 may detect an optical signal introduced into a narrow area. In this case, the light receiver 400 detects an optical signal entering a narrow area, while the signal-to-noise ratio may be high.

편광변경부(500)는 투과되는 광의 편광을 변경시킬 수 있다. The polarization changing unit 500 may change the polarization of the transmitted light.

예를 들어, 편광변경부(500)는 광반사부(200)에 의해 반사된 레이저의 편광을 변경시킬 수 있다. 자세히 예를 들어, 편광변경부(500)는 특정 방향의 레이저 편광을 원형으로 변경시킬 수 있다. For example, the polarization changing unit 500 may change the polarization of the laser reflected by the light reflection unit 200. In detail, for example, the polarization changing unit 500 may change the laser polarization in a specific direction into a circle.

또한, 편광변경부(500)는 광수신부(400)에 의해 집속된 광신호의 편광을 변경시킬 수 있다. 예를 들어, 편광변경부(500)는 광신호의 편광을 특정 방향의 선형 편광으로 변경시킬 수 있다. 이 경우, 편광변경부(500)는 광반사부(200)를 투과할 수 있는 편광으로 광신호의 편광을 변경시킬 수 있다. 그 결과, 편광이 변경된 광신호는 광반사부(200)를 투과하여 광감지부(300)로 인입될 수 있고, 광감지부(300)는 인입된 광신호를 감지할 수 있다.In addition, the polarization changing unit 500 may change the polarization of the optical signal focused by the light receiving unit 400. For example, the polarization changing unit 500 may change the polarization of the optical signal to linear polarization in a specific direction. In this case, the polarization changing unit 500 may change the polarization of the optical signal to polarization that may pass through the light reflection unit 200. As a result, the optical signal whose polarization is changed may be introduced into the light sensing unit 300 through the light reflecting unit 200, and the light sensing unit 300 may sense the incoming optical signal.

제어부(600)는 다양한 모듈에 의해 구성될 수 있다. 예를 들어, 제어부(600)는 미리 설정된 소프트웨어에 따라 구동하는 적어도 하나의 프로세서로 구성될 수 있으며, 이에 한정되지 않는다.The controller 600 may be configured by various modules. For example, the controller 600 may be configured of at least one processor that is driven according to preset software, but is not limited thereto.

본 발명의 다른 실시예에 따르면, 제어부(600)는 광송신부(100), 광감지부(300), 광수신부(400), 편광변경부(500) 및 광반사부(200)를 제어할 수 있다. 예를 들어, 제어부(600)는 광송신부(100), 광감지부(300) 및 광반사부(200) 중 적어도 하나를 제어하여, 조사된 레이저의 송신 광축과 광수신부(400)의 광축이 대응되도록 허용할 수 있다.According to another exemplary embodiment of the present disclosure, the controller 600 may control the optical transmitter 100, the optical detector 300, the optical receiver 400, the polarization change unit 500, and the optical reflector 200. have. For example, the controller 600 controls at least one of the optical transmitter 100, the optical detector 300, and the optical reflector 200, so that the transmission optical axis of the irradiated laser and the optical axis of the optical receiver 400 are adjusted. Can be allowed to match.

제어부(600)는 광송신부(100)의 위치를 이동시킬 수 있고, 광송신부(100)가 광을 조사하는 방향을 조절할 수 있다.The controller 600 may move the position of the optical transmitter 100 and adjust the direction in which the optical transmitter 100 irradiates light.

또한, 제어부(600)는 광반사부(200)의 방향을 변경시킬 수 있으며, 광송신부(100)와 광반사부(200)사이의 거리를 변경시킬 수 있다. 제어부(600)는 광반사부(200)의 위치, 방향, 또는 이들의 조합을 변경시켜, 조사된 광의 송신 광축과 광수신부(400)의 광축을 대응시킬 수 있다.In addition, the controller 600 may change the direction of the light reflection unit 200, and may change the distance between the light transmitter 100 and the light reflection unit 200. The controller 600 may change the position, the direction, or a combination thereof of the light reflection unit 200 to correspond to the transmission optical axis of the irradiated light and the optical axis of the optical receiver 400.

또한, 제어부(600)는 광수신부(400)의 광축을 변경시킴으로써, 조사된 광의 송신 광축과 광수신부(400)의 광축을 대응시킬 수 있다. 또한, 제어부(600)는 광수신부(400)의 수신 범위를 조정할 수 있다.In addition, the control unit 600 may change the optical axis of the light receiving unit 400 to correspond to the transmission optical axis of the irradiated light and the optical axis of the light receiving unit 400. In addition, the controller 600 may adjust the reception range of the light receiver 400.

전술한 예에 한정되지 않고, 제어부(600)는 라이다 광학장치(1000)에 포함된 모듈들이 다양한 동작을 수행하도록 제어할 수 있다.The controller 600 may control the modules included in the lidar optical apparatus 1000 to perform various operations.

본 발명의 다른 실시예에 따르면, 전술한 라이다 광학장치(1000)가 구비된 대상체 감지 센서(미도시)가 제공될 수 있다. 대상체 감지 센서(미도시)는 라이다 광학장치(1000)와 제어부(미도시)를 포함할 수 있다.According to another embodiment of the present invention, an object detecting sensor (not shown) equipped with the above-described lidar optical apparatus 1000 may be provided. The object detecting sensor (not shown) may include a lidar optical device 1000 and a controller (not shown).

대상체 감지 센서(미도시)는 라이다 광학장치(1000)를 이용하여 대상체의 다양한 특성을 획득할 수 있다. 예를 들어, 대상체 감지 센서(미도시)는 레이저를 목표물에 비추고, 대상체로부터 산란된 광신호를 감지함으로써 대상체까지의 거리, 대상체의 방향, 대상체의 속도, 대상체의 온도, 대상체의 물질 분포, 대상체의 3D 이미지 및 대상체의 농도 특성 중 적어도 하나를 획득할 수 있으며, 이에 한정되지 않는다.The object detecting sensor (not shown) may acquire various characteristics of the object by using the LiDAR optical apparatus 1000. For example, an object detecting sensor (not shown) may illuminate a laser beam on a target, and detect a scattered light signal from the object to detect the distance to the object, the direction of the object, the speed of the object, the temperature of the object, the material distribution of the object, and the object. At least one of the 3D image and the concentration characteristics of the object can be obtained, but is not limited thereto.

대상체 감지 센서의 제어부는 구비된 라이다 광학장치(1000)를 제어할 수 있다. 예를 들어, 대상체 감지 센서의 제어부는 구비된 라이다 광학장치(1000)를 제어하여, 라이다 광학장치(1000)가 전술한 동작을 수행하도록 허용함으로서, 대상체의 3D 이미지를 획득할 수 있다. The controller of the object detecting sensor may control the provided LiDAR optical apparatus 1000. For example, the controller of the object detecting sensor may control the provided LiDAR optical apparatus 1000 to allow the LiDAR optical apparatus 1000 to perform the above-described operation, thereby obtaining a 3D image of the object.

본 발명의 다른 실시예에 따르면, 전술한 라이다 광학장치(1000)가 구비된 이동체(vehicle)가 제공될 수 있다. According to another embodiment of the present invention, a vehicle equipped with the above-described lidar optics 1000 may be provided.

이동체(vehicle)는 자동차, 드론(drone), 우주선, 오토바이, 헬리콥터 등 이동할 수 있는 모든 디바이스를 포함할 수 있으며, 이에 한정되지 않는다.A vehicle may include any device that can move, such as a car, a drone, a spaceship, a motorcycle, a helicopter, and the like, but is not limited thereto.

이동체는 라이다 광학장치를 제어하는 제어부와 라이다 광학장치(1000)를 구비할 수 있다. The moving body may include a controller for controlling the lidar optical device and the lidar optical device 1000.

이동체의 제어부는 라이다 광학장치(1000)가 전술한 동작을 수행하도록 제어함으로써, 대상체의 3D 이미지를 획득할 수 있다.The controller of the moving object may acquire the 3D image of the object by controlling the lidar optical apparatus 1000 to perform the above-described operation.

이동체는 구비된 라이다 광학장치(1000)를 이용하여 자율 주행을 수행할 수 있다. 예를 들어, 이동체는 구비된 라이다 광학장치(1000)를 이용하여 대상체와의 거리 정보 및 대상체의 방향 정보를 획득하고, 획득한 정보들에 기초하여 속도 및 방향을 조절함으로써, 자율 주행을 수행할 수 있다.The movable body may perform autonomous driving by using the LiDAR optical apparatus 1000 provided. For example, the moving object obtains distance information with respect to the object and direction information of the object using the provided LiDAR optical apparatus 1000 and adjusts the speed and direction based on the obtained information to perform autonomous driving. can do.

또한, 이동체는 구비된 라이다 광학장치(1000)를 이용하여 주변의 대상체 정보를 사용자에게 전달할 수 있다. 예를 들어, 이동체는 구비된 라이다 광학장치(1000)를 이용하여 주변의 대상체에 대한 3D 이미지를 생성하고, 생성된 3D 이미지를 사용자게 보여줄 수 있다.In addition, the moving object may transmit the object information of the surrounding to the user using the provided LiDAR optical apparatus 1000. For example, the moving object may generate a 3D image of the surrounding object by using the provided LiDAR optical apparatus 1000 and show the generated 3D image to the user.

도 3 은 본 발명의 일 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.3 exemplarily shows a lidar optic according to an embodiment of the present invention.

본 발명의 일 실시예에 따르면, 광송신부(100)는 광을 조사할 수 있다. 예를 들어, 광송신부(100)는 레이저를 조사할 수 있다.According to an embodiment of the present invention, the optical transmitter 100 may irradiate light. For example, the optical transmitter 100 may irradiate a laser.

광송신부(100)가 조사한 광의 광축과 광수신부(400)의 광축의 방향은 상이할 수 있다. 예를 들어, 광송신부(100)가 조사한 광의 광축과 광수신부(400)의 광축사이의 각도는 90도일 수 있고, 미리 설정된 각도일수 있으며, 이에 한정되지 않는다.The direction of the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may be different. For example, the angle between the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may be 90 degrees, or may be a preset angle, but is not limited thereto.

광반사부(200)는 조사된 광을 반사함으로써, 광수신부(400)의 광축과 조사된 광의 송신 광축을 대응시킬 수 있다. 예를 들어, 광반사부(200)에 의해 반사된 레이저의 송신 광축과 광수신부(400)의 광축의 방향은 일치할 수 있다. 또한, 광반사부(200)에 의해 반사된 레이저의 송신 광축과 광수신부(400)의 광축은 일치할 수 있으며, 이에 한정되지 않는다.The light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light. For example, the transmission optical axis of the laser reflected by the light reflecting unit 200 and the direction of the optical axis of the light receiving unit 400 may coincide. In addition, the optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.

광반사부(200)는 다양한 위치에 배치될 수 있다. 예를 들어, 광반사부(200)는 광수신부(400)에 인접하게 배치될 수 있다. 도 3을 참조할 때, 광반사부(200)는 광수신부(400)와 대상체 사이에 위치할 수 있다. 이 경우 광반사부(200)는 광수신부(400)에 인접하게 배치될 수 있다.The light reflection unit 200 may be disposed at various positions. For example, the light reflecting unit 200 may be disposed adjacent to the light receiving unit 400. Referring to FIG. 3, the light reflecting unit 200 may be located between the light receiving unit 400 and the object. In this case, the light reflection unit 200 may be disposed adjacent to the light receiving unit 400.

광반사부(200)는 다양한 렌즈로 구성될 수 있고, 다양한 미러로 구성될 수 있으며, 이에 한정되지 않는다. 예를 들어, 도 3a를 참조할 때, 광반사부(200)는 사경 미러로 구성될 수 있고, 도 3b를 참조할 때, 광반사부(200)는 프리즘 미러로 구성될 수 있으며, 이에 한정되지 않는다.The light reflection unit 200 may be configured with various lenses, and may be configured with various mirrors, but is not limited thereto. For example, referring to FIG. 3A, the light reflecting unit 200 may be configured as a mirror mirror, and referring to FIG. 3B, the light reflecting unit 200 may be configured as a prism mirror. It doesn't work.

광송신부(100)에 의해 조사된 레이저는 광반사부(200)에 의해 반사됨으로써, 레이저의 송신 광축과 광수신부(400)의 광축은 대응될 수 있다. 또한, 반사된 레이저는 대상체에 의해 산란됨으로써, 광신호를 발생시킬 수 있다. 광신호는 광수신부(400)를 투과할 수 있고, 광신호가 광수신부(400)를 투과하는 때, 광신호는 광감지부(300) 방향으로 집속(focusing)될 수 있다.Since the laser irradiated by the optical transmitter 100 is reflected by the light reflection unit 200, the transmission optical axis of the laser and the optical axis of the optical receiver 400 may correspond to each other. In addition, the reflected laser may be scattered by the object to generate an optical signal. The optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused in the direction of the optical detector 300.

광감지부(300)는 집속된 광신호를 감지할 수 있고, 감지된 광신호에 대한 정보를 제어부(600)에 전송할 수 있다.The light detector 300 may detect the focused optical signal and transmit information about the detected optical signal to the controller 600.

광수신부(400)의 광시야각은 조절될 수 있다. 광시야각의 조절으로 인해, 광수신부(400)의 수신 범위는 조절될 수 있다. 광수신부(400)의 수신 범위가 축소됨으로써, 광수신부(400)의 생산 비용이 낮아지며, 광수신부(400)의 감지 거리가 증가될 수 있다.The wide viewing angle of the light receiver 400 may be adjusted. Due to the adjustment of the wide viewing angle, the reception range of the light receiver 400 may be adjusted. As the reception range of the light receiver 400 is reduced, the production cost of the light receiver 400 is lowered, and the sensing distance of the light receiver 400 can be increased.

이 경우, 광수신부(400)의 수신 범위는 광수신부(400)의 광축과 대응되는 송신 광축을 중심으로 결정될 수 있다. In this case, the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.

예를 들어, 광송신부(100)에 의해 조사된 광의 송신 광축은 광반사부(200)에 의해 변경됨으로써 광수신부(400)의 광축과 대응될 수 있다. 이 경우, 광수신부(400)의 수신 범위는 광수신부(400)의 광축과 대응되는 송신 광축을 중심으로 결정될 수 있다. For example, the transmission optical axis of the light irradiated by the optical transmitter 100 may be changed by the optical reflector 200 to correspond to the optical axis of the optical receiver 400. In this case, the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.

제어부(600)의 이미지 생성부(610)는 광신호에 대한 정보를 이용하여, 대상체에 대한 3D 이미지를 생성할 수 있다.The image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.

또한, 제어부(600)는 광신호에 대한 정보를 이용하여, 대상체에 대한 정보를 생성할 수 있다. 예를 들어, 제어부(600)는 라이다 광학장치와 대상체 사이의 거리, 대상체의 속도, 대상체의 온도, 대상체의 물질 분포 및 농도 특성 등에 대한 정보를 생성할 수 있으며, 이에 한정되지 않는다.In addition, the controller 600 may generate information on the object by using the information on the optical signal. For example, the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.

도 4 는 본 발명의 다른 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.4 exemplarily shows a lidar optic according to another embodiment of the present invention.

본 발명의 일 실시예에 따르면, 광송신부(100)는 광을 조사할 수 있다. 예를 들어, 광송신부(100)는 레이저를 조사할 수 있다.According to an embodiment of the present invention, the optical transmitter 100 may irradiate light. For example, the optical transmitter 100 may irradiate a laser.

광송신부(100)가 조사한 광의 광축과 광감지부(300)의 광축의 방향은 상이할 수 있다. 예를 들어, 광송신부(100)가 조사한 광의 광축과 광감지부(300)의 광축은 직각일 수 있으며, 이에 한정되지 않는다.The direction of the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may be different. For example, the optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical sensor 300 may be perpendicular, but are not limited thereto.

광반사부(200)는 조사된 광을 반사함으로써, 광감지부(300)의 광축과 조사된 광의 송신 광축을 대응시킬 수 있다. The light reflection unit 200 reflects the irradiated light, so that the optical axis of the light sensing unit 300 may correspond to the transmission optical axis of the irradiated light.

예를 들어, 광반사부(200)에 의해 반사된 레이저의 송신 광축과 광감지부(300)의 광축의 방향은 일치할 수 있다. For example, the transmission optical axis of the laser reflected by the light reflection unit 200 and the direction of the optical axis of the light sensing unit 300 may coincide.

또한, 광반사부(200)에 의해 반사된 레이저의 송신 광축과 광수신부(400)의 광축은 일치할 수 있으며, 이에 한정되지 않는다.In addition, the optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.

광반사부(200)는 다양한 위치에 배치될 수 있다. 예를 들어, 광반사부(200)는 광수신부(400)에 인접하게 배치될 수 있다. 도 4를 참조할 때, 광반사부(200)는 광수신부(400)와 광감지부(300)사이에 위치할 수 있으며, 이 경우 광수신부(400)에 인접하게 배치될 수 있다.The light reflection unit 200 may be disposed at various positions. For example, the light reflecting unit 200 may be disposed adjacent to the light receiving unit 400. Referring to FIG. 4, the light reflecting unit 200 may be positioned between the light receiving unit 400 and the light detecting unit 300, and in this case, may be disposed adjacent to the light receiving unit 400.

광송신부(100)에 의해 조사된 레이저는 광반사부(200)에 의해 반사됨으로써, 레이저의 송신 광축과 광수신부(400)의 광축은 대응될 수 있다. 또한, 반사된 레이저는 대상체에 의해 산란될 수 있다. 레이저는 대상체에 의해 산란됨으로써, 광신호를 발생시킬 수 있다. 광신호는 광수신부(400)를 투과할 수 있고, 광신호가 광수신부(400)를 투과하는 때, 광신호는 광감지부(300) 방향으로 집속될 수 있다.Since the laser irradiated by the optical transmitter 100 is reflected by the light reflection unit 200, the transmission optical axis of the laser and the optical axis of the optical receiver 400 may correspond to each other. Also, the reflected laser can be scattered by the subject. The laser may be scattered by the object to generate an optical signal. The optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused toward the optical detector 300.

광감지부(300)는 투과된 광신호를 감지할 수 있고, 감지된 광신호에 대한 정보를 제어부(600)에 전송할 수 있다.The light detector 300 may detect the transmitted light signal and transmit information about the detected light signal to the controller 600.

광수신부(400)의 광시야각은 조절될 수 있다. 광시야각의 조절으로 인해, 광수신부(400)의 수신 범위는 조절될 수 있다. 예를 들어, 광수신부(400)의 광시야각은 감소될 수 있고, 이로 인해 광수신부(400)의 크기는 축소될 수 있다. 광수신부(400)의 크기가 축소됨으로써, 광수신부(400)의 생산 비용이 낮아지며, 광수신부(400)의 감지 거리가 증가될 수 있다.The wide viewing angle of the light receiver 400 may be adjusted. Due to the adjustment of the wide viewing angle, the reception range of the light receiver 400 may be adjusted. For example, the wide viewing angle of the light receiver 400 may be reduced, and thus, the size of the light receiver 400 may be reduced. As the size of the light receiver 400 is reduced, the production cost of the light receiver 400 is lowered, and the sensing distance of the light receiver 400 can be increased.

이 경우, 광수신부(400)의 수신 범위는 광수신부(400)의 광축과 대응되는 송신 광축을 중심으로 결정될 수 있다. In this case, the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.

예를 들어, 광송신부(100)에 의해 조사된 광의 송신 광축은 광반사부(200)에 의해 변경됨으로써 광수신부(400)의 광축과 대응될 수 있다. 이 경우, 광수신부(400)의 수신 범위는 광수신부(400)의 광축과 대응되는 송신 광축을 중심으로 결정될 수 있다. For example, the transmission optical axis of the light irradiated by the optical transmitter 100 may be changed by the optical reflector 200 to correspond to the optical axis of the optical receiver 400. In this case, the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 400.

제어부(600)의 이미지 생성부(610)는 광신호에 대한 정보를 이용하여, 대상체에 대한 3D 이미지를 생성할 수 있다.The image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.

또한, 제어부(600)는 광신호에 대한 정보를 이용하여, 대상체에 대한 정보를 생성할 수 있다. 예를 들어, 제어부(600)는 라이다 광학장치와 대상체 사이의 거리, 대상체의 속도, 대상체의 온도, 대상체의 물질 분포 및 농도 특성 등에 대한 정보를 생성할 수 있으며, 이에 한정되지 않는다.In addition, the controller 600 may generate information on the object by using the information on the optical signal. For example, the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.

도 5 는 본 발명의 다른 실시예와 관련된 라이다 광학장치를 예시적으로 도시한다.5 exemplarily illustrates a lidar optic according to another embodiment of the present invention.

본 발명의 일실시예에 따른 라이다 광학장치(1000)는 광송신부(100), 광반사부(200), 편광변경부(500), 광수신부(400) 및 광감지부(300)를 포함할 수 있다.Lidar optical device 1000 according to an embodiment of the present invention includes a light transmitting unit 100, a light reflecting unit 200, a polarization changing unit 500, a light receiving unit 400 and the light detecting unit 300. can do.

광송신부(100)는 다양한 광을 조사할 수 있다. 예를 들어, 광송신부(100)는 특정 위상을 갖는 레이저를 조사할 수 있으며, 이에 한정되지 않는다.The optical transmitter 100 may emit various lights. For example, the optical transmitter 100 may irradiate a laser having a specific phase, but is not limited thereto.

광반사부(200)는 조사된 광을 반사할 수 있고, 광을 반사할 수 있는 다양한 부재로 구성될 수 있다. 예를 들어, 광반사부(200)는 편광 광선 분리기(polarizing beam splitter)로 구성될 수 있다. The light reflection unit 200 may reflect the irradiated light, and may be formed of various members capable of reflecting light. For example, the light reflection unit 200 may be configured as a polarizing beam splitter.

이 경우, 광반사부(200)는 특정 편광 방향의 광을 반사시킬 수 있고, 다른 특정 편광 방향의 광은 투과시킬 수 있다.In this case, the light reflection unit 200 may reflect light in a specific polarization direction and transmit light in another specific polarization direction.

예를 들어, 광송신부(100)에 의해 조사된 레이저는 제 1 편광 방향을 갖고, 광반사부(200)는 제 1 편광 방향을 갖는 레이저를 반사시킬 수 있다. 또한, 대상체로부터 산란된 광신호는 제 2 편광 방향을 갖고, 광반사부(200)는 제 2 편광 방향을 갖는 광신호를 투과시킬 수 있다.For example, the laser irradiated by the light transmitting unit 100 may have a first polarization direction, and the light reflection unit 200 may reflect the laser having the first polarization direction. In addition, the optical signal scattered from the object may have a second polarization direction, and the light reflection unit 200 may transmit the optical signal having the second polarization direction.

광반사부(200)는 조사된 광을 반사함으로써, 광수신부(400)의 광축과 조사된 광의 송신 광축을 대응시킬 수 있다. The light reflection unit 200 may correspond to the optical axis of the light receiving unit 400 and the transmission optical axis of the irradiated light by reflecting the irradiated light.

예를 들어, 광반사부(200)에 의해 반사된 레이저의 송신 광축과 광수신부(400)의 광축의 방향은 대응될 수 있다. For example, the transmission optical axis of the laser reflected by the light reflecting unit 200 and the direction of the optical axis of the light receiving unit 400 may correspond.

또한, 광반사부(200)에 의해 반사된 레이저의 송신 광축과 광수신부(400)의 광축의 방향은 일치할 수 있다. In addition, the transmission optical axis of the laser reflected by the light reflection unit 200 and the direction of the optical axis of the light receiving unit 400 may coincide.

또한, 광반사부(200)에 의해 반사된 레이저의 송신 광축과 광수신부(400)의 광축은 일치할 수 있으며, 이에 한정되지 않는다.In addition, the optical axis of the laser beam reflected by the light reflecting unit 200 and the optical axis of the light receiving unit 400 may coincide, but are not limited thereto.

광반사부(200)에 의해 반사된 레이저는 편광변경부(500)를 투과할 수 있다. 레이저가 편광변경부(500)를 투과하는 경우, 레이저의 편광 형태는 변경될 수 있다. 예를 들어, 편광변경부(500)는 광반사부(200)로부터 인입되고, 특정 방향의 편광을 갖는 레이저의 선형편광을 원형편광으로 변경시킬 수 있다. The laser reflected by the light reflection unit 200 may pass through the polarization changing unit 500. When the laser penetrates the polarization changing unit 500, the polarization form of the laser may be changed. For example, the polarization changing unit 500 may be introduced from the light reflection unit 200 and change linearly polarized light of a laser having polarization in a specific direction into circularly polarized light.

원형편광의 레이저는 대상체로 조사될 수 있다. The laser of circular polarization may be irradiated to the object.

조사된 레이저는 대상체에 의해 산란될 수 있다. 대상체로부터 산란된 레이저는 광신호를 발생시킬 수 있다. 광신호는 광수신부(400)를 투과할 수 있다. 이 경우, 광수신부(400)를 투과하는 광신호는 광수신부(400)에 의해 광감지부(300)방향으로 집속될 수 있다.The irradiated laser can be scattered by the subject. The laser scattered from the object may generate an optical signal. The optical signal may pass through the optical receiver 400. In this case, the optical signal passing through the light receiving unit 400 may be focused in the direction of the light sensing unit 300 by the light receiving unit 400.

대상체로부터 산란된 광신호는 편광변경부(500)를 투과할 수 있다. The optical signal scattered from the object may pass through the polarization changing unit 500.

편광변경부(500)는 광수신부(400)를 통해 인입된 광신호의 편광을 선형편광으로 변경시킬 수 있다. 이 경우, 편광변경부(500)는 광신호의 편광을 미리 결정된 방향의 선형편광으로 변경시킬 수 있다. 예를 들어, 편광변경부(500)는 대상체로부터 산란된 광신호의 편광을 광반사부(200)를 투과할 수 있는 방향의 선형편광으로 변경시킬 수 있다.The polarization changing unit 500 may change the polarization of the optical signal introduced through the light receiving unit 400 to linear polarization. In this case, the polarization changing unit 500 may change the polarization of the optical signal to linear polarization in a predetermined direction. For example, the polarization changing unit 500 may change the polarization of the optical signal scattered from the object into linear polarization in a direction that can pass through the light reflection unit 200.

광반사부(200)를 투과한 광신호는 광감지부(300)에 의해 감지될 수 있다. 광감지부(300)는 광신호를 감지하고, 감지된 광신호에 대한 정보를 제어부(600)의 이미지 생성부(610)에 전송할 수 있다. 제어부(600)의 이미지 생성부(610)는 수신한 광신호에 대한 정보를 이용하여, 라이다 광학장치 주변의 대상체에 대한 3D이미지를 생성할 수 있다.The optical signal transmitted through the light reflection unit 200 may be detected by the light detection unit 300. The light detector 300 may detect an optical signal and transmit information about the detected optical signal to the image generator 610 of the controller 600. The image generator 610 of the controller 600 may generate a 3D image of an object around the lidar optical apparatus by using the received information about the optical signal.

도 6 은 본 발명의 일 실시예와 관련된 광수신부의 수신 범위에 대해 설명하기 위한 도면이다.6 is a view for explaining a reception range of the light receiving unit according to an embodiment of the present invention.

본 발명의 일 실시예에 따르면, 광수신부(400)의 수신 범위는 조절될 수 있다. 예를 들어, 광수신부(400)의 수신 범위는 광시야각의 조절에 따라 조절될 수 있다.According to one embodiment of the invention, the reception range of the light receiving unit 400 may be adjusted. For example, the reception range of the light receiver 400 may be adjusted according to the adjustment of the wide viewing angle.

본 발명의 일 실시예에 따르면, 광수신부(400)의 수신 범위는 광수신부(300)의 광축과 대응되는 송신 광축에 기초하여 결정될 수 있다.According to an embodiment of the present invention, the reception range of the optical receiver 400 may be determined based on a transmission optical axis corresponding to the optical axis of the optical receiver 300.

예를 들어, 광송신부(100)에 의해 조사된 레이저의 송신 광축과 광수신부(400)의 광축이 대응되는 경우, 광수신부(400)의 광축은 광송신부(100)에 의해 조사된 레이저의 송신 광축에 기초하여 결정될 수 있다.For example, when the optical axis of the laser irradiated by the optical transmitter 100 corresponds to the optical axis of the optical receiver 400, the optical axis of the optical receiver 400 transmits the laser irradiated by the optical transmitter 100. Can be determined based on the optical axis.

본 발명의 일 실시예에 따르면, 광수신부(400)의 감지 범위는 다양한 방법으로 축소될 수 있다. 예를 들어, 광수신부(400)의 광시야각(FOV)이 감소됨으로써, 광수신부(400)의 감지범위는 감소될 수 있다. 이 경우, 광수신부(400)에 포함된 렌즈의 크기가 감소됨으로써, 광시야각(FOV)이 감소될 수 있으며, 이에 한정되지 않고 다양한 방법으로 광수신부(300)의 광시야각이 감소될 수 있다.According to one embodiment of the invention, the detection range of the light receiving unit 400 can be reduced in various ways. For example, as the wide field of view (FOV) of the light receiving unit 400 is reduced, the sensing range of the light receiving unit 400 may be reduced. In this case, as the size of the lens included in the light receiving unit 400 is reduced, the wide viewing angle (FOV) may be reduced, and the wide viewing angle of the light receiving unit 300 may be reduced in various ways.

도 6(a)를 참조할 때, 기존의 라이다 광학장치의 광수신부(400)의 수신 범위(620)는 조사된 레이저의 송신 광축(660)과 관련없이 항상 넓은 영역이었다. 이에 반해, 본 발명의 일 실시예에 따른 라이다 광학장치(1000)의 수신 범위(640)는 조사된 레이저의 송신 광축(630)을 중심으로 형성될 수 있다. Referring to FIG. 6 (a), the reception range 620 of the light receiving unit 400 of the conventional Lidar optical apparatus has always been a large area irrespective of the transmission optical axis 660 of the irradiated laser. On the contrary, the reception range 640 of the LiDAR optical apparatus 1000 according to the exemplary embodiment may be formed around the transmission optical axis 630 of the irradiated laser.

광수신부(400)의 수신 범위(640)가 조사된 레이저의 송신 광축(630)을 중심으로 형성됨으로써, 라이다 광학장치(1000)의 신호대 잡음비는 증가할 수 있다. 또한, 신호대 잡음비의 증가로 인해, 라이다 광학장치(1000)의 최대관측거리는 증가될 수 있다.Since the reception range 640 of the optical receiver 400 is formed around the transmission optical axis 630 of the irradiated laser, the signal-to-noise ratio of the lidar optical apparatus 1000 may increase. Also, due to the increase in the signal-to-noise ratio, the maximum observation distance of the lidar optics 1000 can be increased.

또한, 광수신부(400)의 크기가 축소 됨으로서, 광수신부(400)가 감지하는 노이즈의 양은 감소될 수 있고, 노이즈의 양의 감소로 인해 광감지부(300)의 빠른 동작이 가능할 수 있다.In addition, as the size of the light receiving unit 400 is reduced, the amount of noise detected by the light receiving unit 400 may be reduced, and the light sensing unit 300 may be quickly operated due to the reduction of the amount of noise.

도 7 은 본 발명의 일 실시예에 따라, 광반사부(200)가 생략된 라이다 광학장치를 예시적으로 도시한다.7 exemplarily illustrates a lidar optical device in which the light reflection unit 200 is omitted, according to an embodiment of the present invention.

본 발명의 일 실시예에 따르면, 광송신부(100)는 광을 조사할 수 있다. 예를 들어, 광송신부(100)는 레이저를 조사할 수 있다.According to an embodiment of the present invention, the optical transmitter 100 may irradiate light. For example, the optical transmitter 100 may irradiate a laser.

광송신부(100)가 조사한 광의 광축과 광수신부(400)의 광축은 대응될 수 있다.The optical axis of the light irradiated by the optical transmitter 100 and the optical axis of the optical receiver 400 may correspond to each other.

예를 들어, 광송신부(100)가 조사한 광의 광축의 방향과 광수신부(400)의 광축의 방향은 일치할 수 있고, 광송신부(100)가 조사한 광의 광축과 광수신부(400)의 광축은 일치할 수 있으며, 이에 한정되지 않는다.For example, the direction of the optical axis of the light irradiated by the optical transmitter 100 may coincide with the direction of the optical axis of the optical receiver 400, and the optical axis of the light irradiated by the optical transmitter 100 coincides with the optical axis of the optical receiver 400. It may be, but is not limited to such.

도 7(a)(b)를 참조할때, 광송신부(100)는 광수신부(400)의 중심부에 위치할 수 있다. 광송신부(100)가 광수신부(400)의 중심부에 위치함으로써, 광송신부(100)의 광축과 광수신부(400)의 광축은 대응될 수 있다.Referring to FIGS. 7A and 7B, the optical transmitter 100 may be located at the center of the optical receiver 400. Since the optical transmitter 100 is located at the center of the optical receiver 400, the optical axis of the optical transmitter 100 and the optical axis of the optical receiver 400 may correspond to each other.

광송신부(100)에 의해 조사된 레이저는 대상체에 의해 산란될 수 있다. 레이저는 대상체에 의해 산란됨으로써, 광신호를 발생시킬 수 있다. 광신호는 광수신부(400)를 투과할 수 있고, 광신호가 광수신부(400)를 투과하는 때, 광신호는 광감지부(300) 방향으로 집속될 수 있다.The laser irradiated by the light transmitter 100 may be scattered by the object. The laser may be scattered by the object to generate an optical signal. The optical signal may pass through the optical receiver 400, and when the optical signal passes through the optical receiver 400, the optical signal may be focused toward the optical detector 300.

광감지부(300)는 투과된 광신호를 감지할 수 있고, 감지된 광신호에 대한 정보를 제어부(600)에 전송할 수 있다.The light detector 300 may detect the transmitted light signal and transmit information about the detected light signal to the controller 600.

제어부(600)의 이미지 생성부(610)는 광신호에 대한 정보를 이용하여, 대상체에 대한 3D 이미지를 생성할 수 있다.The image generator 610 of the controller 600 may generate a 3D image of the object by using information about the optical signal.

또한, 제어부(600)는 광신호에 대한 정보를 이용하여, 대상체에 대한 정보를 생성할 수 있다. 예를 들어, 제어부(600)는 라이다 광학장치와 대상체 사이의 거리, 대상체의 속도, 대상체의 온도, 대상체의 물질 분포 및 농도 특성 등에 대한 정보를 생성할 수 있으며, 이에 한정되지 않는다.In addition, the controller 600 may generate information on the object by using the information on the optical signal. For example, the controller 600 may generate information about a distance between the LiDAR apparatus and the object, the speed of the object, the temperature of the object, the material distribution and the concentration characteristic of the object, and the like.

본 발명의 일 실시예는 컴퓨터에 의해 실행되는 프로그램 모듈과 같은 컴퓨터에 의해 실행가능한 명령어를 포함하는 기록 매체의 형태로도 구현될 수 있다. 컴퓨터 판독 가능 매체는 컴퓨터에 의해 액세스될 수 있는 임의의 가용 매체일 수 있고, 휘발성 및 비휘발성 매체, 분리형 및 비분리형 매체를 모두 포함한다. 또한, 컴퓨터 판독 가능 기록매체는 일시적 기록매체 및 비-일시적 기록매체를 포함할 수 있다.One embodiment of the present invention can also be implemented in the form of a recording medium containing instructions executable by a computer, such as a program module executed by the computer. Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. In addition, the computer-readable recording medium may include a temporary recording medium and a non-transitory recording medium.

또한, 컴퓨터 판독가능 매체는 컴퓨터 저장 매체 및 통신 매체를 모두 포함할 수 있다. 컴퓨터 저장 매체는 컴퓨터 판독가능 명령어, 데이터 구조, 프로그램 모듈 또는 기타 데이터와 같은 정보의 저장을 위한 임의의 방법 또는 기술로 구현된 휘발성 및 비휘발성, 분리형 및 비분리형 매체를 모두 포함한다. 통신 매체는 전형적으로 컴퓨터 판독가능 명령어, 데이터 구조, 프로그램 모듈, 또는 반송파와 같은 변조된 데이터 신호의 기타 데이터, 또는 기타 전송 메커니즘을 포함하며, 임의의 정보 전달 매체를 포함한다. In addition, computer readable media may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transmission mechanism, and includes any information delivery media.

전술한 본 발명의 설명은 예시를 위한 것이며, 본 발명이 속하는 기술분야의 통상의 지식을 가진 자는 본 발명의 기술적 사상이나 필수적인 특징을 변경하지 않고서 다른 구체적인 형태로 쉽게 변형이 가능하다는 것을 이해할 수 있을 것이다. 그러므로 이상에서 기술한 실시예들은 모든 면에서 예시적인 것이며 한정적이 아닌 것으로 이해해야만 한다. 예를 들어, 단일형으로 설명되어 있는 각 구성 요소는 분산되어 실시될 수도 있으며, 마찬가지로 분산된 것으로 설명되어 있는 구성 요소들도 결합된 형태로 실시될 수 있다.The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

본 발명의 범위는 상기 상세한 설명보다는 후술하는 특허청구범위에 의하여 나타내어지며, 특허청구범위의 의미 및 범위 그리고 그 균등 개념으로부터 도출되는 모든 변경 또는 변형된 형태가 본 발명의 범위에 포함되는 것으로 해석되어야 한다.The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

상기와 같이 발명의 실시를 위한 최선의 형태에서 관련 내용을 기술하였다.As described above, related contents have been described in the best mode for carrying out the invention.

본 발명은 라이다 광학 기술을 이용한 다양한 산업분야에서 사용될 수 있다.The present invention can be used in a variety of industries using lidar optical technology.

Claims (10)

레이저를 생성하고, 생성된 레이저를 조사하는 광송신부;An optical transmitter for generating a laser and irradiating the generated laser; 타겟으로부터 산란된 광신호를 집속시키는(focusing) 광수신부;An optical receiver focusing an optical signal scattered from the target; 상기 광수신부에 의해 집속된 광신호를 감지하는 광감지부; 및An optical sensing unit sensing an optical signal focused by the optical receiving unit; And 상기 광송신부에 의해 조사된 레이저를 반사함으로써, 상기 광수신부의 광축과 상기 레이저의 송신 광축을 대응시키는 광반사부;A light reflecting unit for reflecting the laser irradiated by the light transmitting unit to correspond to the optical axis of the light receiving unit and the transmission optical axis of the laser; 를 포함하는,Including, 라이다 광학장치.Lidar optics. 제 1 항에 있어서, The method of claim 1, 상기 광반사부는 상기 광수신부의 광축과 상기 레이저의 송신 광축을 일치시키는,Wherein the light reflecting portion matches the optical axis of the light receiving portion and the transmission optical axis of the laser, 라이다 광학장치.Lidar optics. 제 1 항에 있어서,The method of claim 1, 상기 광반사부는 사경 미러 또는 프리즘 미러에 의해 구성되는,The light reflecting portion is constituted by a mirror mirror or a prism mirror, 라이다 광학장치.Lidar optics. 제 1 항에 있어서, The method of claim 1, 상기 광반사부는 상기 광수신부와 상기 타겟 사이에 위치하는, The light reflection portion is located between the light receiving portion and the target, 라이다 광학장치.Lidar optics. 제 1 항에 있어서, The method of claim 1, 상기 광반사부는 상기 광수신부와 상기 광감지부 사이에 위치하는, The light reflecting portion is located between the light receiving portion and the light sensing portion, 라이다 광학장치.Lidar optics. 제 1 항에 있어서,The method of claim 1, 상기 라이다 광학장치는 레이저 및 광신호의 편광 형태를 변경시키는 편광 변경부;The lidar optical device includes a polarization changing unit for changing a polarization form of a laser and an optical signal; 를 더 포함하고,More, 상기 편광 변경부는 상기 광수신부와 상기 광반사부 사이에 위치하고,The polarization changing part is located between the light receiving part and the light reflecting part, 상기 광반사부는 상기 레이저의 편광 방향에 따라 상기 레이저를 반사 또는 투과시키고,The light reflection unit reflects or transmits the laser according to the polarization direction of the laser, 상기 광반사부는 상기 광신호의 편광 방향에 따라 상기 광신호를 반사 또는 투과시키는,The light reflection unit reflects or transmits the optical signal according to the polarization direction of the optical signal, 라이다 광학장치.Lidar optics. 제 6 항에 있어서,The method of claim 6, 상기 광송신부에 의해 조사된 레이저는 상기 광반사부에 의해 반사되는 편광을 갖고 있어서 상기 광반사부에 의해 반사되고,The laser irradiated by the light transmitting unit has polarized light reflected by the light reflecting unit and is reflected by the light reflecting unit, 상기 반사된 레이저는 상기 편광변경부에 의해 편광의 형태가 변경된 이후에 상기 타겟에 조사되고,The reflected laser is irradiated to the target after the form of polarization is changed by the polarization changing unit, 상기 타겟으로부터 산란된 광신호는 상기 편광 변경부에 의해 편광 형태가 변경되어 상기 광반사부를 투과하는,The optical signal scattered from the target is changed in polarization form by the polarization changing unit to transmit the light reflection unit, 라이다 광학장치.Lidar optics. 제 1 항에 있어서, 상기 라이다 광학장치는 이미지 생성부를 더 포함하고,The optical device of claim 1, further comprising an image generator. 상기 이미지 생성부는 상기 광감지부에 의해 감지된 광신호에 기초하여 상기 타겟에 대한 3D이미지를 생성하는,The image generating unit generates a 3D image of the target based on the optical signal detected by the light sensing unit, 라이다 광학장치.Lidar optics. 레이저를 이용하여 대상체를 감지하는 대상체 감지 센서에 있어서In the object detection sensor for detecting the object using a laser 라이다 광학장치; 및Lidar optics; And 상기 라이다 광학장치를 제어하는 제어부;A controller for controlling the lidar optics; 를 포함하고,Including, 상기 라이다 광학장치는:The lidar optics are: 레이저를 생성하고, 생성된 레이저를 조사하는 광송신부;An optical transmitter for generating a laser and irradiating the generated laser; 타겟으로부터 산란된 광신호를 집속시키는 광수신부;An optical receiver converging an optical signal scattered from the target; 상기 광수신부에 의해 집속된 광신호를 감지하는 광감지부; 및An optical sensing unit sensing an optical signal focused by the optical receiving unit; And 상기 광송신부에 의해 조사된 레이저를 반사함으로써, 상기 광수신부의 광축과 상기 레이저의 송신 광축을 대응시키는 광반사부;A light reflecting unit for reflecting the laser irradiated by the light transmitting unit to correspond to the optical axis of the light receiving unit and the transmission optical axis of the laser; 를 포함하는,Including, 대상체 감지 센서.Object detection sensor. 이동체(vehicle)에 있어서,In a vehicle, 레이저를 이용하여 대상체를 감지하는 라이다 광학장치; 및A lidar optic for detecting an object using a laser; And 상기 라이다 광학장치를 제어하는 제어부;A controller for controlling the lidar optics; 를 포함하고,Including, 상기 라이다 광학장치는:The lidar optics are: 레이저를 생성하고, 생성된 레이저를 조사하는 광송신부;An optical transmitter for generating a laser and irradiating the generated laser; 타겟으로부터 산란된 광신호를 집속시키는 광수신부;An optical receiver converging an optical signal scattered from the target; 상기 광수신부에 의해 집속된 광신호를 감지하는 광감지부; 및An optical sensing unit sensing an optical signal focused by the optical receiving unit; And 상기 광송신부에 의해 조사된 레이저를 반사함으로써, 상기 광수신부의 광축과 상기 레이저의 송신 광축을 대응시키는 광반사부;A light reflecting unit for reflecting the laser irradiated by the light transmitting unit to correspond to the optical axis of the light receiving unit and the transmission optical axis of the laser; 를 포함하는,Including, 이동체(vehicle).Vehicle.
PCT/KR2017/003885 2016-05-26 2017-04-11 Lidar optical apparatus having improved structure Ceased WO2017204459A1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2016-0064755 2016-05-26
KR20160064755 2016-05-26
KR1020160088748A KR20170134945A (en) 2016-05-26 2016-07-13 Lidar optical apparatus including improved structure
KR10-2016-0088748 2016-07-13

Publications (1)

Publication Number Publication Date
WO2017204459A1 true WO2017204459A1 (en) 2017-11-30

Family

ID=60411857

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/003885 Ceased WO2017204459A1 (en) 2016-05-26 2017-04-11 Lidar optical apparatus having improved structure

Country Status (1)

Country Link
WO (1) WO2017204459A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180335507A1 (en) * 2017-05-19 2018-11-22 Korea Electronics Technology Institute Lidar device and lidar system including the same
CN110954890A (en) * 2019-12-16 2020-04-03 西南交通大学 Device for acquiring coordinate of registration point of foundation laser radar
WO2023040377A1 (en) * 2021-09-15 2023-03-23 上海禾赛科技有限公司 Laser radar

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130114920A (en) * 2012-04-10 2013-10-21 한밭대학교 산학협력단 Doppler lidar apparatus and method for operating doppler lidar apparatus
KR101424665B1 (en) * 2013-07-02 2014-08-01 한국표준과학연구원 Range Measuring Apparatus
KR20150004743A (en) * 2013-07-02 2015-01-13 한국전자통신연구원 Laser lader system
KR20150027543A (en) * 2013-09-04 2015-03-12 현대모비스 주식회사 LIDAR Sensor System
KR20150052469A (en) * 2013-11-06 2015-05-14 현대모비스 주식회사 Vehicle Controlling Method and Apparatus therefor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130114920A (en) * 2012-04-10 2013-10-21 한밭대학교 산학협력단 Doppler lidar apparatus and method for operating doppler lidar apparatus
KR101424665B1 (en) * 2013-07-02 2014-08-01 한국표준과학연구원 Range Measuring Apparatus
KR20150004743A (en) * 2013-07-02 2015-01-13 한국전자통신연구원 Laser lader system
KR20150027543A (en) * 2013-09-04 2015-03-12 현대모비스 주식회사 LIDAR Sensor System
KR20150052469A (en) * 2013-11-06 2015-05-14 현대모비스 주식회사 Vehicle Controlling Method and Apparatus therefor

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180335507A1 (en) * 2017-05-19 2018-11-22 Korea Electronics Technology Institute Lidar device and lidar system including the same
US10788574B2 (en) * 2017-05-19 2020-09-29 Korea Electronics Technology Institute LIDAR device and LIDAR system including the same
CN110954890A (en) * 2019-12-16 2020-04-03 西南交通大学 Device for acquiring coordinate of registration point of foundation laser radar
WO2023040377A1 (en) * 2021-09-15 2023-03-23 上海禾赛科技有限公司 Laser radar

Similar Documents

Publication Publication Date Title
US10564266B2 (en) Distributed LIDAR with fiber optics and a field of view combiner
US10408940B2 (en) Remote lidar with coherent fiber optic image bundle
WO2016153233A1 (en) Lidar device
US7297934B2 (en) Optical system
US11561287B2 (en) LIDAR sensors and methods for the same
WO2021002684A1 (en) Lidar apparatus and control method thereof
WO2014175502A2 (en) Method and apparatus for measuring distance using optical signal
WO2017073982A1 (en) Three-dimensional scanning system
WO2017023106A1 (en) Light detection and ranging device
WO2018212395A1 (en) Lidar device and lidar system including the same
KR20170134945A (en) Lidar optical apparatus including improved structure
US20190212448A1 (en) Laser processing device and laser processing system
WO2018056516A1 (en) Optical-system module and scanning lidar including same
WO2021096095A1 (en) Lidar system
WO2017204459A1 (en) Lidar optical apparatus having improved structure
CN111735769B (en) Device and method for rapid measurement of retroreflection coefficient of traffic signs
IL266978B2 (en) Method and device for detecting an object by means of a broadband laser pulse
WO2019112164A1 (en) Three-dimensional lidar device and distance measuring method
WO2021095904A1 (en) Lidar device using dual wavelengths
CN114063111A (en) Radar detection system and method of image fusion laser
WO2017171140A1 (en) Scanning lidar device having concave reflecting mirror
US8081302B2 (en) Multimode optical sensor
WO2021096328A2 (en) Laser tracking device having function for sensing initial position of target, and tracking method
WO2020085562A1 (en) High-efficiency, non-rotating scanning lidar system having wide viewing angle structure
WO2015115770A1 (en) Calibration device and camera system

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17802978

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 03.04.2019)

122 Ep: pct application non-entry in european phase

Ref document number: 17802978

Country of ref document: EP

Kind code of ref document: A1