[go: up one dir, main page]

WO2020085562A1 - Système lidar à balayage non rotatif à haut rendement ayant une structure d'angle de vision large - Google Patents

Système lidar à balayage non rotatif à haut rendement ayant une structure d'angle de vision large Download PDF

Info

Publication number
WO2020085562A1
WO2020085562A1 PCT/KR2018/013615 KR2018013615W WO2020085562A1 WO 2020085562 A1 WO2020085562 A1 WO 2020085562A1 KR 2018013615 W KR2018013615 W KR 2018013615W WO 2020085562 A1 WO2020085562 A1 WO 2020085562A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
reflector
laser light
light emitting
reflecting
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/KR2018/013615
Other languages
English (en)
Korean (ko)
Inventor
심영보
문연국
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.)
Korea Electronics Technology Institute
Original Assignee
Korea Electronics Technology Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Korea Electronics Technology Institute filed Critical Korea Electronics Technology Institute
Publication of WO2020085562A1 publication Critical patent/WO2020085562A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning

Definitions

  • the present invention relates to a lidar system.
  • the present invention uses a plurality of light emitting elements and a first reflecting part, a second reflecting part and a plurality of light sensing parts, wherein laser light emitted from the plurality of light emitting devices is respectively the second reflecting part
  • each of the first reflecting unit and the second reflecting unit continuously changing the reflecting directions of the respective laser lights so as to be vertically incident on the plurality of light detectors is controlled in a synchronous manner to control the plurality of It has a wide viewing angle structure that significantly reduces the amount of noise incident to the light sensor, greatly improving light-receiving efficiency (signal-to-noise ratio (SNR)), and greatly extending the scanning angle of a specific single / multiple point or area of a subject. It relates to a high-efficiency non-rotating lidar system.
  • Lidar Light Detection and Ranging
  • a laser After irradiating the subject with light, for example, a laser, analyzes the light reflected from the subject and analyzes the properties of the subject, such as distance, direction, speed, temperature, material distribution and concentration It is one of the remote detection devices that can measure characteristics.
  • the rider can measure the physical properties of the subject more precisely by utilizing the advantage of a laser capable of generating a pulse signal having a high energy density and a short period.
  • riders are used in various fields such as acquiring 3D images, weather observation, measuring the speed or distance of a subject, autonomous driving, etc. by using a laser light source of a specific wavelength or a laser light source having a variable wavelength as a light source.
  • riders are mounted on aircraft, satellites, etc., and are used for precise atmospheric analysis and observation of the global environment. They are mounted on spacecraft and exploration robots, and are used as a means to supplement camera functions, such as measuring the distance to a subject.
  • lidar sensor technologies for long-distance measurement, car speed violation enforcement, and the like are being commercialized. Recently, it has been used as a laser scanner or 3D imaging camera, and is used in 3D reverse engineering and driverless cars.
  • the lidar device according to the mechanical rotation of the motor has a limitation in that there are mechanical defects such as wear and play, and it is difficult to apply to autonomous driving which is directly related to human life.
  • the lidar device disclosed in the above-mentioned 296 and 198 applications is 1) the reflector, which can be implemented as a MEMS mirror, is capable of detecting a wide laser scanning range in a non-rotating state, 2) the light-receiving efficiency is improved, 3) small,
  • the advantage of being lightweight and having improved durability is achieved, but still has the problem that the use of complex optical systems or optics is required.
  • the embodiment disclosed in the present invention is to solve the above-described problems of the prior art, using a plurality of light emitting elements and a first reflecting portion and a second reflecting portion and a plurality of light sensing portions, wherein the plurality of light emitting elements
  • the first reflector and the second reflector continuously change the reflection direction of the respective laser light such that the emitted laser light is reflected by the second reflector and then vertically enters the plurality of light detectors, respectively.
  • the present invention is to provide a high-efficiency non-rotating lidar system having a wide viewing angle structure and a largely expandable angle.
  • the lidar system according to the first aspect of the present invention is arranged spaced apart from each other, each of a plurality of light emitting elements that emit laser light, a plurality of driving devices for controlling the respective operations of the plurality of light emitting elements, the plurality of A plurality of collimating lenses, each collimating the laser light emitted from the light emitting element, and successively changing a plurality of predetermined areas spaced apart from each other by continuously changing a reflection direction of each collimated laser light within a predetermined angle range.
  • a light emitting unit including a first reflecting unit for scanning; A second reflecting unit for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject within the predetermined angle range, and receiving the respective laser light reflected by the second reflecting unit
  • a plurality of light-receiving lenses spaced apart from each other, a plurality of light detectors for sensing each of the laser lights passing through the plurality of light-receiving lenses, respectively, and reading the respective laser light detected by the plurality of light sensors
  • a light receiving unit including a plurality of reading members; And a control device for controlling the operation of each of the light emitting part and the light receiving part, wherein the control device is configured such that the respective laser lights reflected by the second reflecting part are incident perpendicularly to the plurality of light sensors.
  • the lidar system according to the second aspect of the present invention is arranged to be spaced apart from each other, each of a plurality of light-emitting elements that emit laser light, the first optical switch and the first optical switch respectively connected to the plurality of light-emitting elements and A driving device that is connected and controls each operation of the plurality of light emitting elements through a switching operation of the first optical switch, a plurality of collimating lenses that respectively collimate the laser light emitted from the plurality of light emitting elements,
  • a light emitting unit including a first reflecting unit configured to continuously scan a plurality of predetermined areas spaced apart from each other by continuously changing a reflection direction of each collimated laser light within a predetermined angle range; A second reflecting unit for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject within the predetermined angle range, and receiving the respective laser light reflected by the second reflecting unit
  • the plurality of light emitting elements Control the respective operations of the first reflector and the second reflector to continuously change the reflection direction of each laser light in a synchronous manner, the plurality of light emitting elements, the plurality of collimating lenses, and the plurality of light receiving lenses , And the plurality of light detectors are characterized in that each of two or three are used.
  • the lidar system is a light emitting device that emits laser light
  • a driving device that controls the operation of the light emitting device, is connected to the light emitting device through a first optical switch, and the first optical switch
  • a plurality of optical fiber collimators that collimate and emit the laser light transmitted from the light emitting element through a switching operation, and the reflection direction of each laser light collimated and emitted from the plurality of optical fiber collimators are continuously changed within a predetermined angle range to subject
  • a light emitting unit including a first reflecting unit that sequentially scans a plurality of predetermined areas spaced apart from each other;
  • a second reflecting unit for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject within the predetermined angle range, and receiving the respective laser light reflected by the second reflecting unit
  • the lidar system includes a light emitting device that emits laser light, a driving device that controls the operation of the light emitting device, a collimating lens collimating the laser light emitted from the light emitting device, and the light emitting device.
  • a light emitting unit including a portion A second reflecting unit for continuously changing and reflecting the respective laser light reflected from a plurality of predetermined areas of the subject within the predetermined angle range, and receiving the respective laser light reflected by the second reflecting unit
  • a control device for controlling the operation of each of the light emitting part and the light receiving part, wherein the control device is configured such that the respective laser lights reflected by the second reflecting part are incident perpendicularly to the plurality of
  • Applicable to autonomous vehicles and a number of applications (specifically, golf courses, autonomous flying drones, automated robots in warehouses and distribution centers, robot cleaners, etc. that require distance measurement and detection of a specific single point or area of the subject) It can be implemented in the form.
  • FIG. 1 is a view showing a lidar device according to an embodiment of the present invention.
  • FIG. 2 is a block diagram of a lidar device according to a first embodiment of the present invention shown in FIG. 1.
  • FIG. 3 is a view showing a light emitting unit of a lidar device according to a first embodiment of the present invention shown in FIG. 1.
  • FIG. 4 is a view showing a light receiving unit of a lidar device according to a first embodiment of the present invention shown in FIG.
  • FIG. 5 is a view showing in detail the operation of the light receiving unit of the lidar device according to the first embodiment of the present invention shown in FIG.
  • FIG. 6A is a view showing that a wavelength filter is additionally used in a light receiving unit of a lidar device according to a first embodiment of the present invention shown in FIG. 1.
  • FIG. 6B is a view for explaining a filtering state when laser light reflected from a subject does not vertically enter a wavelength filter in a light-receiving unit according to a first embodiment of the present invention illustrated in FIG. 1.
  • FIG. 7 is a view showing a light receiving unit of a lidar device according to a second embodiment of the present invention.
  • FIG. 8A is a view showing a lidar device according to a third embodiment of the present invention.
  • 8B is a view showing a modified embodiment of the light-receiving unit used in the lidar device according to the third embodiment of the present invention shown in 8A.
  • FIG. 8C is a view showing a light receiving unit used in a lidar device according to a fourth embodiment of the present invention.
  • FIG. 9 is a view showing a lidar system according to a first embodiment of the present invention.
  • FIG. 10 is a view showing a modified embodiment of the lidar system according to the first embodiment of the present invention shown in FIG.
  • FIG. 11 is a view showing a lidar system according to a second embodiment of the present invention.
  • FIG. 12 is a view showing an embodiment of a light emitting unit used in a lidar system according to a third embodiment of the present invention.
  • FIG. 13 is a view showing a light emitting unit of a lidar system according to a fourth embodiment of the present invention.
  • FIGS. 14A is a view showing a first modified embodiment of the light emitting part and the light receiving part used in the lidar system according to the first embodiment and the modified embodiment of the present invention shown in FIGS. 9 and 10.
  • FIGS. 14B is a view showing a second modified embodiment of the light emitting part and the light receiving part used in the lidar system according to the first embodiment and the modified embodiment of the present invention shown in FIGS. 9 and 10.
  • FIG. 1 is a view showing a lidar device according to a first embodiment of the present invention
  • Figure 2 is a block diagram of a lidar device according to a first embodiment of the present invention shown in Figure 1
  • Figure 3 Figure 1
  • FIG. 4 is a view showing a light emitting part of a lidar device according to a first embodiment of the present invention
  • FIG. 4 is a view showing a light receiving part of a lidar device according to a first embodiment of the present invention shown in FIG. 1. .
  • the lidar device 100 includes a light emitting device 112 that emits laser light, and a driver that controls the operation of the light emitting device 112. : 116), a collimating lens 114 collimating the laser light emitted from the light emitting element 112, and a predetermined area of an object by continuously changing the reflection direction of the collimated laser light within a predetermined angle range
  • a light emitting unit 110 including a first reflecting unit 118 that continuously scans (FOV);
  • a second reflecting unit 128 for continuously changing and reflecting the laser light reflected in a predetermined area of the subject within the predetermined angle range, and receiving the laser light reflected by the second reflecting unit 128 It includes a light receiving lens 124, a light sensor 122 for sensing the laser light passing through the light receiving lens 124, and a reading member 126 for reading the laser light detected by the light sensor 122
  • a light receiving unit 120 And a control device 130 controlling each operation of the light emitting part 110 and the light receiving part 120, wherein
  • the lidar device 100 includes a light emitting unit 110; Light receiving unit 120; And a control device 130 controlling respective operations of the light emitting part 110 and the light receiving part 120.
  • the light emitting unit 110 of the lidar device 100 includes a light emitting element 112 that emits laser light.
  • the light emitting device 112 may be implemented as a single laser diode (LD) or a single pulsed laser diode (PLD), and may be specifically implemented as a PLD emitting 905 nm wavelength.
  • the control device 300 may include a pulse generator 134 (see FIG. 2), and pulses generated by the pulse generator 134 (eg, 905 nm wavelength pulse) are implemented as PLDs. It can be transmitted to the light emitting device 112, the light emitting device 112, for example, may emit a laser light having a wavelength of 905nm.
  • the operation of the light emitting element 112 is controlled by the driving device 116.
  • the driving device 116 may be implemented as a current driver for controlling the output timing and output characteristics of the light emitting element 112 and also keeping the pulse width short.
  • the thermoelectric cooler thermo-
  • the thermoelectric cooler is used to control the temperature to be fixed at a certain value during operation so as to suppress the decrease in output due to the thermal characteristics of the semiconductor and the change in the center wavelength of the laser resonator.
  • electric cooler 113 a cooling fan 115, and a temperature sensor (not shown).
  • the light emitting element 112 may be provided with a collimating lens 114 that collimates the emitted laser light.
  • the laser light collimated by the collimating lens 114 proceeds to the first reflector 118 and is reflected.
  • the first reflector 118 continuously changes the reflection direction of the collimated laser light within a predetermined angular range by the synchronous driving unit 136 included in the control device 130 to a predetermined area of the object. Scan continuously.
  • each of the first reflector 118 and the second reflector 118 and 128, which will be described later, may be embodied as, for example, a known MEMS mirror, in which case the size of the mirror is approximately 1 to 5 mm in diameter. It should be noted that it is desirable to have a range, but is not limited thereto.
  • the predetermined angle range for continuously changing the reflection direction of the laser light collimated by the reflection unit 118 by the synchronous driving unit 136 is approximately maximum ⁇ 20 degrees (ie, 40 degrees), and on average ⁇ 15 degrees (ie, 30 degrees). 3 and 4, this predetermined angle range is exemplarily illustrated as being ⁇ 15 degrees (ie, 30 degrees). That is, the synchronous driving unit 136 rotates the reflection unit 118 continuously within a range of ⁇ 15 degrees (ie, 30 degrees), thereby changing the reflection direction of one collimated laser light incident on the reflection unit 118 by 30 degrees. Can be changed within range.
  • a predetermined area (FOV) of an object is scanned (specifically, as narrow as possible) of a specific single point (area) of the object, unlike the prior art. It should be noted that it is intended to be applied to scanning of a specific single point (area) having a field of view (FOV) of.
  • the light receiving part 120 of the lidar device 100 includes a second reflecting part 128.
  • the second reflector 128 reflects the laser light reflected in a predetermined area of the subject by continuously changing within the predetermined angle range.
  • the second reflecting unit 128 is reflected by a synchronous driving unit 136 of the control device 130 in a predetermined area of the subject to continuously change the reflection direction of laser light directed to the second reflecting unit 128, For example, by continuously rotating within a range of ⁇ 15 degrees, it is possible to change the reflection direction of a plurality of laser lights incident on the second reflector 128 within a range of 30 degrees.
  • the synchronous driving unit 136 controls the rotation angles of the first reflecting unit 118 and the second reflecting unit 128 in a synchronous manner.
  • the synchronous driving unit 136 may be implemented to have a parallel voltage control structure to simultaneously and simultaneously control rotational motions of the first reflector 118 and the second reflector 128 without time error (ie, at a speed of light). You can.
  • one collimated laser light emitted from the light emitting element 112 is reflected by the first reflecting unit 118 that rotates continuously and proceeds toward a predetermined area (FOV) of the subject.
  • a plurality of laser lights reflected from a predetermined area (FOV) of the subject are reflected by the second reflecting unit 128 continuously rotating in a synchronous manner with the first reflecting unit 118, and are shown in FIGS. 1 and 4.
  • the light receiving lens 124 is preferably implemented as a collimating lens for collimating a plurality of laser lights reflected from the second reflector 128, for example, but the plurality of lasers passing through the light receiving lens 124 It should be noted that the light may also be embodied as a condensing lens that allows a light receiving focus to be formed on the surface of the light sensor 122.
  • the laser light received by the optical sensor 122 is converted into a digital optical signal by the reading member 126 as an analog optical signal, and then read and stored.
  • the reading member 126 may be embodied as, for example, readout integrated circuits (ROIC), and may be embodied integrally with the optical sensor 122.
  • the photo sensor 122 may be implemented with, for example, a single Avalanche Photodiode (APD).
  • the reading member 126 integrally including the photo detector 122 may be referred to as a single photon detector (SPD) module or a silicon photomultiplier (SiPM) module, for example.
  • the photo detector 122 which can be implemented as a single APD, has a sensitivity of a single photon level, and thus passes through the light receiving lens 124 to be implemented as a read integrated circuit (ROIC). It is possible to receive and detect noise reaching the substrate surface of the reading member 126 or noise scattered inside the reading member 126. Therefore, it is desirable to coat the light absorber 127 on the substrate surface of the reading member 126 except for the surface of the light sensor 122 provided integrally with the reading member 126 to prevent the reception of such noise. .
  • ROIC read integrated circuit
  • the light absorbing agent is, for example, a known silicon-based light-absorbing material (for example, a crystalline light-absorbing material made of a monocrystalline Si or polycrystalline Si material, or a thin film of a-Si thin film or ⁇ c-Si / a-Si laminated structure) Absorption material), compound-based light-absorption material (e.g., CIS / CdTe compound or CIGS / CdTe compound material thin-film light-absorption material), organic light-absorption material (e.g., metal complex dye-based dye-sensitization type) Light absorbing material) may be used, but is not limited thereto.
  • a known silicon-based light-absorbing material for example, a crystalline light-absorbing material made of a monocrystalline Si or polycrystalline Si material, or a thin film of a-Si thin film or ⁇ c-Si / a-Si laminated structure
  • Absorption material e.g., CIS / Cd
  • the digital optical signal read from the above-described reading member 126 is input to the Time to Digital converter (TDC) circuit 138 of the control device 300, and the flying time of the laser light flying between the lidar device 100 and the subject. This is measured (calculated). Thereafter, the measured flight time information is transmitted to the control and signal processing device 132 of the control device 300 to calculate the distance between the lidar device 100 and the subject and process the error correction signal.
  • the power supply 140 shown in FIG. 2 includes a control and signal processing device 132, a pulse generator 134, a synchronous driver 136, and a TDC circuit 138, which are components of the control device 300. It supplies power for each operation.
  • FIG. 5 is a view showing in detail the operation of the light receiving unit of the lidar device according to the first embodiment of the present invention shown in FIG.
  • a plurality of laser lights reflected from the subject pass through the second reflector 128 and are shown to be received by the light detector 122 through the light receiving lens 124 constituting the light receiving unit 120, but this is It should be noted that, for convenience of description, it is actually reflected by the second reflecting unit 128 and received by the light sensor 122 through the light receiving lens 124 constituting the light receiving unit 120. This also applies to the case of FIGS. 6B and 7 showing the operation of the light-receiving unit of the same or similar lidar device as in FIG. 5.
  • the second reflecting portion 128 of the light receiving portion 110 of the lidar device 100 has a diameter of approximately 1 to 5 mm. It can be implemented as a MEMS mirror (hereinafter referred to as "miniature MEMS mirror 128”), and accordingly within a predetermined angular range (for example, ⁇ 15 degrees (ie, 30 degrees)) in a predetermined area (FOV) of the subject.
  • miniature MEMS mirror 128 MEMS mirror
  • the plurality of laser light reflected from the light is reflected by the micro MEMS mirror 128 that rotates continuously and is received on the surface of the light sensor 122 through the light receiving lens 124.
  • ambient light (129) caused by sunlight or other light sources that generate background noise due to sunlight or natural light reflected from an area other than a predetermined area (FOV) of the subject is a very small MEMS. Since it is reflected off the mirror 128 and proceeds beyond the light receiving lens 129, it does not reach on the surface of the reading member 126, which integrally includes the light sensor 122. Accordingly, noise generation due to ambient light is eliminated or minimized outside and inside the light sensor 122.
  • the lidar device 100 uses a first and second reflector 128 implemented as an ultra-small MEMS mirror, and a specific single point having a narrow viewing angle (FOV) By scanning (area), and thereby removing or minimizing noise caused by ambient light reflected from an area other than a specific single point (area), the signal-to-noise ratio (SNR) of the laser light received by the photodetector 122 is greatly improved.
  • SNR signal-to-noise ratio
  • a prior art lidar device when a mirror is not used, a plurality of laser lights reflected from an object incident at a wide angle are received at a light receiving unit having a large opening with a large size such as a camera , As a result, the ambient light noise also increases.
  • a relatively large size mirror for example, approximately 3 to 5 cm in diameter
  • a predetermined area of the subject (FOV) Since the plurality of laser lights reflected by the mirror is reflected by a large size mirror, the amount of laser light passing through the light receiving lens (for example, the light receiving lens 128 of FIG. 5) is relatively large.
  • the lidar device 100 according to the first embodiment of the present invention can solve the problems of the conventional lidar device.
  • FIG. 6A is a diagram showing that a wavelength filter is additionally used in the light receiving unit of the LID device according to the first embodiment of the present invention shown in FIG. 1, and FIG. 6B is a first embodiment of the present invention shown in FIG. 1 It is a view for explaining a filtering state when the laser light reflected from the subject in the light receiving unit of the lidar device according to the example does not vertically enter the wavelength filter.
  • the light receiving unit 120 of the lidar device 100 is provided with a wavelength filter 127 provided between the second reflecting unit 128 and the light receiving mirror 124.
  • a wavelength filter 127 provided between the second reflecting unit 128 and the light receiving mirror 124.
  • the wavelength filter 127 is, for example, an optical sensor ( 122) It will be fully understood that it can be provided coated on a surface.
  • the wavelength filter 127 includes, for example, a first wavelength filter that filters a wavelength in a range of ⁇ 25 nm based on a wavelength of 905 nm, and two wavelength filters that filter a wavelength in a range of ⁇ 10 nm based on a wavelength of 905 nm ( The second and third filters) may be provided in a stacked form.
  • the wavelength of 905nm is the wavelength with the lowest noise among the wavelength spectrum of sunlight.
  • noise caused by ambient light is additionally removed, and as can be seen in the graph of FIG. 6A, laser light in a wavelength range of approximately 900 to 910 nm substantially free of noise.
  • the light can be received by the light detector 122. It should be noted that the use of the above-described wavelength filter 127 is not necessarily used as an option.
  • wavelength filter 127 laser light reflected from the second reflector 128 in the light receiving unit 120 of the lidar device 100 according to the first embodiment of the present invention is vertically incident on the wavelength filter 127 If not, the transmission area of the wavelength filter 127 becomes wider and at the same time another area (i.e., the filtering area is approximately 899 to 910 nm as shown in FIG. 6B in the area of approximately 899 to 910 nm as shown in FIG. 6A) Range). Accordingly, not only the same noise as the ambient light may be generated, but also the amount of light received by the light sensor 122 is significantly reduced.
  • the wavelength filter 127 In order to solve the problem that the transmission region of the wavelength filter 127, which occurs when the laser light is not perpendicularly incident on the wavelength filter 127, is widened and simultaneously moves to another region, the wavelength filter 127 It is not desirable because the design of) has to be changed and the cost increases. Accordingly, as illustrated in FIG. 6A, in the lidar device 100 according to the first embodiment of the present invention, the laser light reflected from the second reflecting unit 128 constituting the light receiving unit 120 is a wavelength filter 127 ) And / or by implementing perpendicular incidence to the photo sensor 122, the light receiving efficiency and SNR of the photo sensor 122 can be significantly improved.
  • FIG. 7 is a view showing a light receiving unit of a lidar device according to a second embodiment of the present invention.
  • the lidar device 100 includes a light emitting device 112 that emits laser light, and the light emitting device 112. ), The driving device 116 for controlling the operation, the collimating lens 114 collimating the laser light emitted from the light emitting element 112, and continuously changing the reflection direction of the collimated laser light within a predetermined angle range
  • a light emitting unit 110 including a first reflecting unit 118 that continuously scans a predetermined area (FOV) of an object;
  • a second reflecting unit 128 for continuously changing and reflecting the laser light reflected from a predetermined area of the subject within the predetermined angle range, and detecting the laser light reflected by the second reflecting unit 128
  • a light receiving unit 120 including a light sensor 122 and a reading member 126 for reading the laser light sensed by the light sensor 122;
  • a control device 130 controlling respective operations of the light emitting part 110 and the light receiving part 120, wherein the control device 130 is the laser reflected
  • the surface size of the light sensor 122 may be implemented as a micro MEMS mirror having a diameter of 1 to 5 mm. It may be implemented to have a size substantially equal to the size of the reflector 128 (a surface of a circular or square type having a diameter or one side of approximately 1 to 5 mm). Accordingly, after the plurality of laser lights reflected from the predetermined area (FOV) of the subject is reflected from the second reflector 128, the light is received on the light sensor 122 without using the light receiving lens 124 shown in FIG. Can be. It should be noted that even in the embodiment of FIG. 7, the use of the wavelength filter 127 is optional.
  • FIG. 8A is a view showing a lidar device according to a third embodiment of the present invention
  • 8B is a modified embodiment of a light receiving unit used in a lidar device according to a third embodiment of the present invention shown in 8A. It is one drawing. It should be noted that, in the embodiments of FIGS. 8A and 8B, the illustration of the control device 130 of the lidar device 100 according to the first embodiment of the present invention is omitted in FIG. 1.
  • the light receiving unit 120 has a plurality of light receiving units identical to the light receiving unit 120 shown in FIG. 1. It is substantially the same as the lidar device 100 according to the first embodiment of the present invention shown in FIG. 1 except that (120a, 120b) is used.
  • the plurality of light receiving units 120a and 120b is exemplarily illustrated as two, but those skilled in the art may sufficiently provide that the plurality of light receiving units 120a and 120b may be provided in three or more. You will understand.
  • the lidar device 100 includes a light emitting device 112 emitting a laser light, a driving device 116 controlling the operation of the light emitting device 112, the A collimating lens 114 collimating the laser light emitted from the light emitting element 112, and continuously changing a reflection direction of the collimated laser light within a predetermined angle range to continuously change a predetermined area (FOV) of an object
  • a light emitting unit 110 including a first reflecting unit 118 for scanning;
  • a light receiving unit 120 composed of a plurality of light receiving units 120a and 120b including a plurality of reading members 126a and 126b for reading the laser light sensed by the plurality of light detectors 122a and 122b, respectively.
  • control device 130 controlling respective operations of the light emitting part 110 and the plurality of light receiving parts 120a and 120b, wherein the control device 130 includes the plurality of second reflecting parts 128a,
  • the first reflecting unit 118 and the plurality of second reflecting units 128a and 128b are respectively formed such that the laser light reflected by each of the 128b) is vertically incident on the plurality of light detectors 122a and 122b, respectively. It is characterized in that the operation of continuously changing the reflection direction of the laser light is controlled synchronously.
  • the configuration and operation of each of the plurality of light receiving units 120a and 120b constituting the light receiving unit 120 is the same as the configuration and operation of the light receiving unit 120 shown in FIG. 1 as described above, and detailed description thereof will be omitted. I will do it.
  • 8B is a diagram showing a modified embodiment of the light receiving unit used in the lidar device according to the third embodiment of the present invention shown in 8A.
  • a plurality of light receiving units 120a and 120b 2 further includes a plurality of reflection mirrors 127a and 127b provided between the reflection units 128a and 128b and the plurality of light receiving lenses 124a and 124b. Since the paths of the plurality of laser lights reflected from the plurality of second reflecting units 128a and 128b can be changed by the plurality of reflecting mirrors 127a and 127b, constituting the plurality of light receiving units 120a and 120b The advantage that the degree of freedom in placement of a plurality of light detectors (not shown in the drawing) can be increased can be achieved.
  • FIG. 8C is a view showing a light receiving unit used in a lidar device according to a fourth embodiment of the present invention. It should be noted that, even in the embodiment of FIG. 8C, the illustration of the control device 130 of the lidar device 100 according to the first embodiment of the present invention is omitted in FIG. 1.
  • the light receiving unit 120 has one second reflector 128 shown in FIG. 1. Instead, the same reflector array 128a in which the same plurality of second reflectors 128 are arranged is used, and a plurality of laser lights reflected from the plurality of reflectors 128 pass through one light receiving lens 124 to make one. It is substantially the same as the lidar device 100 according to the first embodiment of the present invention shown in FIG. 1, except that it is received by the optical receiver 122 of FIG.
  • the lidar device 100 includes a light emitting device 112 emitting laser light and a driving device controlling the operation of the light emitting device 112. (116), a collimating lens 114 collimating the laser light emitted from the light emitting element 112, a predetermined area of an object by continuously changing the reflection direction of the collimated laser light within a predetermined angle range
  • a light emitting unit 110 including a first reflecting unit 118 that continuously scans (FOV);
  • the first reflector 118 and the plurality of reflectors continuously changing the reflection direction of the respective laser light such that the laser light reflected by the reflector 128 is incident to the light sensor 122 vertically.
  • each configuration and operation of the plurality of second reflecting units 128 arranged in the reflecting unit array 128a constituting the light receiving unit 120 is the second of the light receiving unit 120 shown in FIG. 1 as described above. Since the configuration and operation of the reflector 128 are the same, a detailed description thereof will be omitted.
  • the light receiving unit 120 is implemented as a plurality of light receiving units 122a and 122b, or a plurality of agents Since the reflector array 128a in which the two reflectors 128 are arranged is used, the advantage that the light receiving efficiency is greatly increased is achieved.
  • FIG. 9 is a view showing a lidar system according to a first embodiment of the present invention.
  • the lidar systems 101 are spaced apart from each other, and each of a plurality of light emitting elements 112a and 112b emitting laser light , 112c), a plurality of driving devices (116a, 116b, 116c) for controlling the respective operations of the plurality of light-emitting elements (112a, 112b, 112c), respectively emitted from the plurality of light-emitting elements (112a, 112b, 112c)
  • a plurality of collimating lenses 114a, 114b, and 114c that collimate the laser light, respectively, and a plurality of spaced apart objects from each other by successively changing a reflection direction of each collimated laser light within a predetermined angular range
  • a light emitting unit 110 including a first reflecting unit 118 that continuously scans a predetermined area FOV1, FOV2, FOV3, respectively; A second reflecting unit 128 and the second reflecting unit 128 for continuously
  • the first reflecting unit 118 and the second reflecting unit 128 continuously changing the reflection direction of the respective laser light so that the laser light of the light enters the plurality of light detectors 122a, 122b, and 122c vertically. It is characterized in that each operation of the synchronously (synchronously) control.
  • the plurality of predetermined regions FOV1, FOV2, and FOV3 may respectively correspond to a specific single point (region) spaced apart from each other.
  • the reflection direction of the laser light emitted from each of the plurality of light emitting elements 112a, 112b, and 112c using one first reflector 118 is used. Is continuously changed within a predetermined angular range (e.g., a range of ⁇ 15 degrees for each laser light (i.e., 30 degrees)) to a plurality of predetermined areas (FOV1, FOV2, FOV3) spaced apart from each other ) Are successively scanned.
  • a predetermined angular range e.g., a range of ⁇ 15 degrees for each laser light (i.e., 30 degrees)
  • predetermined areas FOV1, FOV2, FOV3
  • each laser light reflected from a plurality of predetermined areas FOV1, FOV2, FOV3 of the subject using one second reflector 128 is set to a predetermined angle range (for example, each laser
  • the light is continuously changed and reflected within a range of ⁇ 15 degrees (i.e., 30 degrees), and each reflected laser light passes through a plurality of light receiving lenses 124a, 124b, 124c, and is spaced apart from each other It is received and sensed by a plurality of light detectors (122a, 122b, 122c).
  • the plurality of light emitting elements 112a, 112b, and 112c are arranged such that the predetermined angle ranges in which the emitted plurality of laser lights are continuously changed by the first reflector 118 do not overlap each other.
  • the maximum scanning range of each of the plurality of light emitting elements 112a, 112b, and 112c is 30 degrees, the total maximum scanning range when three light emitting elements 112a, 112b, 112c are used is 90 degrees.
  • the configuration and operation of each of the (124a, 124b, 124c), the plurality of light detectors (122a, 122b, 122c), the plurality of reading members (126a, 126b, 126c), and the control device 130 are shown in FIGS.
  • FIG. 10 is a view showing a modified embodiment of the lidar system according to the first embodiment of the present invention shown in FIG.
  • the lidar system 101 includes a plurality of laser lights emitted from the plurality of light emitting elements 112a, 112b, and 112c, respectively.
  • a predetermined angular range continuously changed by the first reflector 118 is disposed to partially overlap each other, except that the total maximum scanning range by the plurality of light emitting elements 112a, 112b, and 112c is less than 90 degrees.
  • 9 has the same configuration and operation as the rider system 101 shown in FIG. 9.
  • the reading members 126a, 126b, and 126c are exemplarily described as being used in three, respectively, those skilled in the art, for example, two light emitting elements, two driving devices, two collimating lenses), and two light receiving lenses , It will be fully understood that only two light sensors and two reading elements can be used.
  • FIG. 11 is a view showing a lidar system according to a second embodiment of the present invention.
  • the lidar system 101 is disposed spaced apart from each other, and each of a plurality of light emitting elements emitting laser light ( 112a, 112b, 112c), a first optical switch 113 connected to the plurality of light emitting elements 112a, 112b, and 112c, respectively, connected to the first optical switch 113, and the first optical switch 113 )
  • the driving device 116 for controlling the operation of each of the plurality of light emitting elements (112a, 112b, 112c
  • Collimating lenses 114a, 114b, 114c
  • a plurality of light receiving lenses for receiving the respective laser light reflected by each other, are disposed spaced apart from each other, each passing through the plurality of light receiving lenses (124a, 124b, 124c), respectively
  • a plurality of optical detectors (122a, 122b, 122c) for sensing the laser light, respectively, a second optical switch 123 connected to the plurality of optical detectors (122a, 122b, 122c), the second optical switch (123) ),
  • a light receiving unit including a reading member 126 for reading the respective laser light detected by the plurality of light detectors 122a, 122b, and 122c through a switching operation of the second light switch 123 (120);
  • And to control the operation of each of the light emitting unit 110 and the light receiving unit 120 Is a control device 130, wherein the control device 130 is the respective laser light reflected by the second reflector 128 is perpendicular to the plurality of light detectors (122a, 122b, 122
  • a plurality of driving devices used in the lidar system 101 according to the first embodiment of the present invention shown in FIG. The first optical switch 113 and one driving device 116 are used instead of (116a, 116b, 116c), and the second optical switch 123 and one instead of the plurality of reading members 126a, 126b, 126c Laser light emission operation of the plurality of light emitting elements 112a, 112b, 112c and a plurality of light detectors 122a, 122b through respective switching operations of the first and second optical switches 113, 123 using the reading device 126 , 122c), substantially controls the operation of the lidar system 101 according to the first embodiment of the present invention shown in FIG. 9 shown in FIG. 9 except that it controls the read operation of each laser light detected. You will fully understand that they are the same.
  • FIG. 12 is a view showing an embodiment of a light emitting unit used in a lidar system according to a third embodiment of the present invention.
  • the light emitting unit 110 of the lidar system 101 includes a light emitting device 112 emitting the laser light, and the light emitting device ( The driving device 116 for controlling the operation of 112, the light emitting element 112 and the first optical switch 113 is connected through, the first optical switch 113 through the switching operation of the light emitting element 112 )
  • a plurality of optical fiber collimators (115a, 115b, 115c) collimating and emitting the laser light transmitted from the collimator, each of which is collimated and emitted from the plurality of optical fiber collimators (115a, 115b, 115c)
  • a first reflector 118 (FIGS.
  • the light receiving unit and the control device of the lidar system 101 according to the third embodiment of the present invention are respectively the first embodiment of the present invention shown in FIGS. It should be noted that, and the light receiving unit 110 and the control device 130 used in the lidar system 101 according to the second embodiment have substantially the same configuration.
  • FIG. 13 is a view showing a light emitting unit of a lidar system according to a fourth embodiment of the present invention.
  • the light emitting unit 110 of the lidar system 101 includes a light emitting device 112 that emits laser light, and the light emitting device (
  • the driving device 116 that controls the operation of the 112, the collimating lens 114 collimating the laser light emitted from the light emitting device 112, and the driving device integrally formed with the light emitting device 112 ( 116) is a rotating stage 121 mounted to be rotatable within a predetermined angular range, continuously changing a reflection direction of the collimated laser light within a predetermined angular range to continuously scan a predetermined area (FOV) of an object It includes a first reflecting portion 118 (see FIGS. 9 to 11).
  • the light receiving unit and the control device of the lidar system 101 according to the fourth embodiment of the present invention are respectively the first embodiment of the present invention shown in FIGS. It should be noted that, and the light receiving unit 110 and the control device 130 used in the lidar system 101 according to the second embodiment have substantially the same configuration.
  • the rotation stage 121 drives the drive unit 116, for example, the plurality of drive units shown in FIG. 9 ( It can be rotated to the position of 116a, 116b, 116c).
  • the light emitting elements 112 of the lidar system 101 according to the fourth embodiment of the present invention respectively collimated laser light at the positions of the plurality of driving devices 116a, 116b, and 116c shown in FIG. 9. It can emit, and accordingly, as shown in FIG. 9, the direction of reflection of each laser light collimated by the first reflector 118 is continuously changed within a predetermined angular range to separate a plurality of objects from each other.
  • Each of the predetermined regions FOV1, FOV2, and FOV3 can be continuously scanned.
  • FIG. 14A is a view showing a first modified embodiment of the light emitting part and the light receiving part used in the lidar system according to the first embodiment of the present invention shown in FIGS. 9 and 10 and its modified embodiment
  • FIG. 14B 9 and 10 are views showing a second modified embodiment of the light emitting unit and the light receiving unit used in the lidar system according to the first embodiment of the present invention and its modified embodiment.
  • the light emitting unit 110 includes a plurality of light emitting units 110a and 110b provided spaced apart from each other, and the light receiving unit 120 is mutually It includes a plurality of light-receiving portions (120a, 120b) provided spaced apart.
  • the plurality of light emitting units 110a and 110b and the plurality of light receiving units 120a and 120b are substantially the same as the configuration and operation of the light emitting unit 110 and the light receiving unit 120 illustrated in FIG. 1, respectively.
  • the light emitting unit 110 includes a plurality of light emitting units 110a and 110b provided spaced apart from each other, and the light receiving unit 120 is mutually It includes a plurality of light-receiving portions (120a, 120b) provided spaced apart.
  • the plurality of light emitting units 110a and 110b includes a plurality of first reflecting mirrors 117a and 117b provided between the plurality of light emitting elements 112a and 112b and the plurality of first reflecting units 118a and 118b.
  • the plurality of light receiving units 120a and 120b may include a plurality of second reflecting mirrors 127a and 127b provided between the plurality of second reflecting units 128a and 128b and the plurality of light receiving lenses 124a and 124b. It includes additional.
  • the advantage that the degree of freedom of arrangement of a plurality of light sensors (not shown) constituting) can be increased can be achieved.
  • the plurality of light emitting units 110a and 110b and the plurality of light receiving units 120a and 120b are exemplarily illustrated as two respectively, but those skilled in the art may include a plurality of light emitting units 110a. , 110b) and a plurality of light receiving units 120a and 120b may be sufficiently understood as being provided in three or more, respectively.
  • the range of the scannable viewing angle (FOV) of the subject can be extended by using the lidar system 101 according to the embodiments of the present invention illustrated in FIGS. 9 to 14B described above.

Landscapes

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

Abstract

L'invention concerne un système lidar caractérisé en ce qu'il comprend une unité d'émission de lumière, une unité de réception de lumière et un dispositif de commande pour commander le fonctionnement de chacune de l'unité d'émission de lumière et de l'unité de réception de lumière. L'unité d'émission de lumière comprend : une pluralité d'éléments d'émission de lumière qui sont disposés espacés les uns des autres et qui déchargent individuellement un faisceau laser ; une pluralité de dispositifs d'entraînement commandant les fonctionnements de la pluralité d'éléments d'émission de lumière, respectivement ; une pluralité de lentilles de collimation collimatant respectivement les faisceaux laser déchargés respectivement de la pluralité d'éléments d'émission de lumière ; et une première partie réfléchissante pour modifier en continu la direction réfléchie de chacun des faisceaux laser collimatés dans une plage angulaire prédéfinie et balayer en continu chacune d'une pluralité de régions prédéfinies d'un sujet espacées l'une de l'autre. L'unité de réception de lumière comprend : une deuxième partie réfléchissante pour modifier en continu chacun des faisceaux laser, réfléchis à partir de la pluralité de régions prédéfinies du sujet, à l'intérieur de la plage angulaire prédéfinie et réfléchir celui-ci ; une pluralité de lentilles de réception de lumière pour recevoir chacun des faisceaux laser réfléchis par la deuxième partie réfléchissante ; une pluralité de détecteurs de lumière disposés espacés les uns des autres et détectant respectivement les faisceaux de lumière qui ont traversé la pluralité de lentilles de réception de lumière respectives ; et une pluralité d'éléments de lecture lisant les faisceaux laser respectifs détectés par la pluralité de détecteurs de lumière. Le dispositif de commande commande, de manière synchronisée, le fonctionnement de chacune de la première partie réfléchissante et de la deuxième partie réfléchissante, qui modifient en continu la direction réfléchie des faisceaux laser respectifs, de sorte que les faisceaux laser réfléchis par la deuxième partie réfléchissante soient verticalement incidents sur la pluralité de détecteurs de lumière, respectivement. Deux ou trois de chacun de la pluralité d'éléments d'émission de lumière, de la pluralité de dispositifs d'entraînement, de la pluralité de lentilles de collimation, de la pluralité de lentilles de réception de lumière, de la pluralité de détecteurs de lumière et de la pluralité d'éléments de lecture sont utilisés.
PCT/KR2018/013615 2018-10-22 2018-11-09 Système lidar à balayage non rotatif à haut rendement ayant une structure d'angle de vision large Ceased WO2020085562A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2018-0126297 2018-10-22
KR1020180126297A KR102057199B1 (ko) 2018-10-22 2018-10-22 넓은 시야각 구조를 갖는 고효율 무회전 스캐닝 라이다 시스템

Publications (1)

Publication Number Publication Date
WO2020085562A1 true WO2020085562A1 (fr) 2020-04-30

Family

ID=69052174

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2018/013615 Ceased WO2020085562A1 (fr) 2018-10-22 2018-11-09 Système lidar à balayage non rotatif à haut rendement ayant une structure d'angle de vision large

Country Status (2)

Country Link
KR (1) KR102057199B1 (fr)
WO (1) WO2020085562A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12379605B2 (en) 2020-01-31 2025-08-05 Lg Electronics Inc. Optical device
KR102476949B1 (ko) * 2020-03-30 2022-12-14 주식회사 나무가 운전자 모니터링을 위한 거리측정장치 및 운전자 모니터링 시스템
WO2022147652A1 (fr) * 2021-01-05 2022-07-14 深圳市速腾聚创科技有限公司 Radar laser et dispositif doté d'un radar laser
US12326520B2 (en) * 2021-03-04 2025-06-10 Beijing Voyager Technology Co., Ltd. Scanning fiber transmitter for distance detection
KR102751070B1 (ko) * 2021-12-14 2025-01-09 우석대학교산학협력단 측면 미러의 반사형 센서 및 이의 제조방법

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20160135936A (ko) * 2015-05-19 2016-11-29 주식회사 솔탑 라이다식 운고계 장치 및 라이다식 운고계 장치 구현 방법
KR20170015366A (ko) * 2014-07-31 2017-02-08 레이던 컴퍼니 선형 모드 계산 감지 레이저 레이더
KR20170071395A (ko) * 2015-12-15 2017-06-23 (주)다울아토닉스 무회전 라이다 광원 검출 장치
US20180231640A1 (en) * 2017-02-14 2018-08-16 Baidu Usa Llc Lidar system with synchronized mems mirrors

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6852085B2 (ja) 2015-11-30 2021-03-31 ルミナー テクノロジーズ インコーポレイテッド 分布型レーザー及び複数のセンサー・ヘッドを備える光検出及び測距システム、並びに、光検出及び測距システムのパルス・レーザー
KR102547651B1 (ko) * 2016-09-20 2023-06-26 이노비즈 테크놀로지스 엘티디 Lidar 시스템 및 방법
US9869754B1 (en) * 2017-03-22 2018-01-16 Luminar Technologies, Inc. Scan patterns for lidar systems

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170015366A (ko) * 2014-07-31 2017-02-08 레이던 컴퍼니 선형 모드 계산 감지 레이저 레이더
KR20160135936A (ko) * 2015-05-19 2016-11-29 주식회사 솔탑 라이다식 운고계 장치 및 라이다식 운고계 장치 구현 방법
KR20170071395A (ko) * 2015-12-15 2017-06-23 (주)다울아토닉스 무회전 라이다 광원 검출 장치
US20180231640A1 (en) * 2017-02-14 2018-08-16 Baidu Usa Llc Lidar system with synchronized mems mirrors

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
DRUMI, NORBERT ET AL.: "1D-MEMS Micro-Scanning LiDAr", CONFERENCE PAPER, 13 September 2018 (2018-09-13), XP55709189, Retrieved from the Internet <URL:https://www.researchgate.net/profile/Norbert_Druml/publication/326632441_ID_MEMS_Micro-Scanning_LiDAR/links/5b9a4380299bf14ad4d7614b/1D-MEMS-Micro-Scanning-LiDAR.pdf> *

Also Published As

Publication number Publication date
KR102057199B1 (ko) 2019-12-18

Similar Documents

Publication Publication Date Title
WO2020085562A1 (fr) Système lidar à balayage non rotatif à haut rendement ayant une structure d&#39;angle de vision large
US12320926B2 (en) Rotating compact light ranging system
US6723975B2 (en) Scanner for airborne laser system
US12164026B2 (en) Waveguide diffusers for LIDARs
WO2016153233A1 (fr) Dispositif lidar
CN112204427B (zh) 一种测距装置及移动平台
JP2024056743A (ja) リアルタイムｌｉｄａｒ距離校正のためのシステムおよび方法
WO2017018843A1 (fr) Dispositif de détection de lumière et de télémétrie
CN115004057A (zh) 用于遮挡检测的系统和方法
WO2021096095A1 (fr) Système lidar
WO2019022549A1 (fr) Dispositif lidar
CN111308498A (zh) 一种三维成像激光雷达装置
ITBO20100361A1 (it) Sistema opto-elettronico per misure radiometriche.
WO2020085561A1 (fr) Dispositif lidar à balayage non rotatif à haut rendement
WO2017204459A1 (fr) Appareil optique lidar ayant une structure améliorée
CN215402424U (zh) ToF电梯光幕装置和电梯
CN118259298A (zh) 激光雷达及其测距方法
KR20230158032A (ko) 다수의 광학 구성요소 어레이들을 결합하기 위한 시스템들, 방법들, 및 디바이스들
KR20210104345A (ko) 레이저 스캐닝 시스템용 광학계
WO2017074092A1 (fr) Module de sortie optique, véhicule le comprenant, et son procédé de commande

Legal Events

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

Ref document number: 18938212

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18938212

Country of ref document: EP

Kind code of ref document: A1