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WO2024143849A1 - Dispositif lidar à performance de mesure de courte portée améliorée - Google Patents

Dispositif lidar à performance de mesure de courte portée améliorée Download PDF

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Publication number
WO2024143849A1
WO2024143849A1 PCT/KR2023/017285 KR2023017285W WO2024143849A1 WO 2024143849 A1 WO2024143849 A1 WO 2024143849A1 KR 2023017285 W KR2023017285 W KR 2023017285W WO 2024143849 A1 WO2024143849 A1 WO 2024143849A1
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WO
WIPO (PCT)
Prior art keywords
laser
array
laser output
detecting
lidar device
Prior art date
Application number
PCT/KR2023/017285
Other languages
English (en)
Korean (ko)
Inventor
임찬묵
정훈일
김동규
조준현
장동주
Original Assignee
주식회사 에스오에스랩
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Publication of WO2024143849A1 publication Critical patent/WO2024143849A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G01J2001/4446—Type of detector
    • G01J2001/446—Photodiode

Definitions

  • LiDAR Light Detection and Ranging
  • Lidar is a device that uses a laser to obtain information on the surrounding distance. Thanks to its excellent precision and resolution and the ability to view objects in three dimensions, it is being applied to various fields such as drones and aircraft as well as automobiles.
  • a LiDAR device Light Detection And Ranging Device
  • a laser output array including a plurality of laser output units, a transmission module including transmission optics, and a plurality of laser detecting units.
  • a receiving module including a laser detecting array and receiving optics, wherein the transmitting module and the receiving module are arranged along a first direction, and the length of the laser output array in the first direction is the first length.
  • the length of the laser output array in the second direction which is a direction perpendicular to the first direction, is the second length
  • the length of the laser detecting array in the first direction is the third length
  • the laser detector When the length of the tacting array in the second direction is the fourth length, the size of the first length relative to the second length (first length / second length) is the size of the third length relative to the fourth length (third length)
  • a lidar device larger than length/fourth length may be provided.
  • Figure 6 is a diagram for explaining information included in attribute data according to an embodiment.
  • Figures 22 and 23 are diagrams for explaining a lidar device with improved short-range measurement performance according to an embodiment.
  • the second length and the fourth length may be equal to each other.
  • the object may mean at least one object, but is not limited thereto, and may mean a part of an object for reflecting at least a portion of the laser output from the LiDAR device.
  • the LIDAR device may use triangulation method, interferometry method, phase shift measurement, etc. in addition to flight time to measure the distance of the object. It is not limited.
  • the laser output unit 100 includes a laser diode (LD), solid-state laser, high power laser, light entitling diode (LED), Vertical Cavity Surface Emitting Laser (VCSEL), and external cavity. It may include a laser output device such as a diode laser (ECDL), but is not limited thereto.
  • LD laser diode
  • LED light entitling diode
  • VCSEL Vertical Cavity Surface Emitting Laser
  • ECDL diode laser
  • the wavelength of the laser output from the laser output unit 100 may be located in the 905nm band, may be located in the 940nm band, and may be located in the 1550nm band, but is not limited thereto. .
  • the wavelength band may mean a band within a certain range based on the center wavelength.
  • the wavelength of the laser output from the laser output unit 100 may be located in various wavelength ranges.
  • the wavelength of the first laser output from the first laser output element included in the laser output unit 100 is located in the 905 nm band, but The wavelength of the second laser output from the included second laser output element may be located in the 1550 nm band, but is not limited thereto.
  • the wavelength of the laser output from the laser output unit 100 may be located within a specific wavelength range but may be different wavelengths.
  • the wavelength of the first laser output from the first laser output element included in the laser output unit 100 is located in the 940 nm band and may be a 939 nm wavelength
  • the laser output according to one embodiment
  • the wavelength of the second laser output from the second laser output device included in the unit 100 is located in the 940 nm band and may be a 943 nm wavelength, but is not limited thereto.
  • the optical unit 200 may function to change the flight path of the laser.
  • the optic unit 200 may function to change the flight path of the laser output from the laser output unit 100, and the laser output from the laser output unit 100 may be reflected from the object. In this case, it may function to change the flight path of the laser reflected from the object, but is not limited to this.
  • optical unit 200 may function to change the flight path of the laser by reflecting the laser.
  • the optic unit 200 may function to change the flight path by reflecting the laser output from the laser output unit 100, and the laser output from the laser output unit 100 may function to change the flight path.
  • the laser output from the laser output unit 100 may function to change the flight path.
  • it may function to change the flight path by reflecting the laser reflected from the object, but is not limited to this.
  • the optical unit 200 may include at least one optical means among various optical means for reflecting a laser.
  • the optical unit 200 includes a mirror, a resonance scanner, a MEMS mirror, a voice coil motor (VCM), a polygonal mirror, and a rotating mirror. It may include at least one optical means such as a rotating mirror or a galvano mirror, but is not limited thereto.
  • the optical unit 200 can change the flight path of the laser by refracting the laser.
  • the optic unit 200 may function to change the flight path by refracting the laser output from the laser output unit 100, and the laser output from the laser output unit 100 may be used to change the flight path of the laser output unit 100.
  • the optic unit 200 may function to change the flight path by refracting the laser reflected from the object, but is not limited to this.
  • the optical unit 200 may include at least one optical means among various optical means for refracting a laser.
  • the optical unit 200 may include at least one of optical means such as a lens, a prism, a micro lens, a microfluidie lens, or a metasurface. It may include, but is not limited to, one optical means.
  • optical means such as a lens, a prism, a micro lens, a microfluidie lens, or a metasurface. It may include, but is not limited to, one optical means.
  • optical unit 200 can change the flight path of the laser by changing the phase of the laser.
  • the optic unit 200 may function to change the flight path by changing the phase of the laser output from the laser output unit 100, and the laser output from the laser output unit 100 When reflected from an object, it may function to change the flight path by changing the phase of the laser reflected from the object, but is not limited to this.
  • the optical unit 200 may include at least one optical means among various optical means for changing the phase of the laser.
  • the optical unit 200 may include at least one optical means such as an optical phased array (OPA), a meta lens, or a metasurface. It is not limited to this.
  • OPA optical phased array
  • meta lens a meta lens
  • metasurface a metasurface
  • optical unit 200 may include two or more optical units.
  • the optic unit 200 includes a first optical unit for changing the flight path of the laser output from the laser output unit 100 according to an embodiment to the direction of the first group, and It may include a second optical unit for changing the flight path of the laser output from the laser output unit 100 according to an embodiment to the direction of the second group, but is not limited to this.
  • the detector unit may be expressed in various ways as a light receiving unit, a receiving unit, a sensor unit, etc., but is not limited thereto.
  • the detector unit 300 may function to detect a laser.
  • the detector unit 300 may be arranged to receive a laser reflected from an object located within the scan area of the LiDAR device 100 according to an embodiment, and generate an electrical signal based on this. can be created.
  • the detector unit 300 may be arranged to receive the laser reflected from an object located within the scan area of the LiDAR device 100 according to an embodiment through at least one optical means, , the at least one optical means may be included in the above-described optical unit and may include an optical filter, etc., but is not limited thereto.
  • the detector unit 300 may generate laser detection information based on the generated electrical signal.
  • the detector unit 300 may generate laser detection information by comparing a predetermined threshold value with the rising edge, falling edge, or median value of the rising edge and falling edge of the generated electrical signal. , but is not limited to this.
  • the detector unit 300 may determine the laser detection point based on the generated laser detection information.
  • the histogram data may be generated based on an electrical signal generated from the detector unit 300 according to an embodiment during at least one scan cycle.
  • the detector unit 300 may include at least one detector element among various detector elements.
  • the detector unit 300 may be configured as an array of a plurality of detector elements arranged in an array, but is not limited to this.
  • the detector unit 300 may be implemented as a SPAD array in which a plurality of SPADs (Single Photon Avalanche Diodes) are arranged in an array, but is not limited to this.
  • SPADs Single Photon Avalanche Diodes
  • the LIDAR device 1000 may include a control unit 400.
  • control unit may be expressed in various ways as a controller, etc. to explain the present invention, but is not limited thereto.
  • control unit 400 may control the output timing of the laser output from the laser output unit 100. Additionally, the control unit 400 can control the power of the laser output from the laser output unit 100. Additionally, the control unit 400 can control the pulse width of the laser output from the laser output unit 100. Additionally, the control unit 400 can control the cycle of the laser output from the laser output unit 100. Additionally, when the laser output unit 100 includes a plurality of laser output elements, the control unit 400 may control the laser output unit 100 to operate some of the plurality of laser output elements.
  • control unit 400 may generate laser detection information based on the electrical signal generated from the detector unit 300.
  • control unit 400 compares a predetermined threshold value with the rising edge, falling edge, or the median value of the rising edge and falling edge of the electrical signal generated from the detector unit 300 to provide laser detection information. can be created, but is not limited to this.
  • control unit 400 may determine the detection point of the laser based on the laser detection information generated based on the rising edge of the electrical signal generated by the detector unit 300, and the generated The detection point of the laser can be determined based on the detection information of the laser generated based on the falling edge of the electrical signal, and the detection information of the laser generated based on the rising edge of the generated electrical signal and the detection information generated based on the falling edge can be determined.
  • the detection point of the laser may be determined based on the laser detection information, but is not limited to this.
  • control unit 400 may determine the detection point of the laser based on histogram data generated based on the electrical signal generated from the detector unit 300. It is not limited.
  • control unit 400 may control the laser operation based on the peak of the histogram data generated by the detector unit 300, the determination of the rising edge and falling edge based on a predetermined value, etc.
  • the detection point can be determined, but is not limited to this.
  • control unit 400 may acquire distance information to the object based on the determined laser output time and the determined laser detection time, but is not limited to this.
  • the definition of the horizontal angular resolution and vertical angular resolution of the LIDAR device 1000 is not limited to the above-described example, and may be defined by various methods for expressing the angular resolution capable of distinguishing detection target objects. You can.
  • the angular resolution may include horizontal angular resolution for resolution in the horizontal direction and vertical angular resolution for resolution in the vertical direction.
  • the horizontal angle resolution of the LIDAR device 1000 may be defined by fifth point data 1250 and sixth point data 1260, and more specifically, the fifth point data 1250 ) may be defined by the laser irradiation angle corresponding to the laser irradiation angle and the laser irradiation angle corresponding to the sixth point data 1260, but is not limited thereto.
  • the definition of the horizontal angular resolution and vertical angular resolution of the LIDAR device 1000 is not limited to the above-described example, and may be defined by various methods for expressing the angular resolution capable of distinguishing detection target objects. You can.
  • the optical origin 1300 may mean the origin of a coordinate system for expressing the above-described LIDAR data.
  • optical origin 1300 may mean an origin defined when assuming that the laser irradiated from the LiDAR device 1000 is output from one point.
  • LiDAR data may be expressed in various formats such as point cloud, depth map, and intensity map.
  • the point cloud data 2000 may include a plurality of point data.
  • the position coordinate value included in each of the plurality of point data may be obtained based on the distance value.
  • the position coordinate value included in each of the plurality of point data may be obtained based on the angle (or coordinate) value at which the laser is output and the distance value obtained based on the output laser, but is not limited to this. .
  • the intensity value included in each of the plurality of point data may be obtained based on an electrical signal obtained from a detector unit.
  • the intensity value included in each of the plurality of point data may be obtained based on characteristics such as size and width of the electrical signal obtained from the detector, but is not limited to this, and the intensity value included in each of the plurality of point data may be obtained based on the electrical signal obtained from the detector. It can be obtained by various algorithms.
  • the intensity value included in each of the plurality of point data may be obtained based on histogram data generated based on an electrical signal obtained from a detector unit, but is not limited to this.
  • Figure 5 is a diagram for explaining lidar data according to an embodiment.
  • the at least one sub point data set 2110 may refer to a set of point data grouped by human input, but is not limited thereto.
  • the at least one sub point data set 2110 may refer to a set of point data grouped by a segment algorithm for the same object, but is not limited thereto.
  • the at least one sub point data set 2110 may refer to a set of point data grouped by a learned machine learning model, but is not limited thereto.
  • the at least one sub-point data set 2110 may refer to a set of point data grouped by a learned deep learning model, but is not limited thereto.
  • the LIDAR data processing unit may acquire attribute data for at least one sub point data set 2110 described above.
  • the LIDAR data processing unit may acquire at least one attribute data for the at least one sub point data set 2110 using a specific algorithm, but is not limited thereto.
  • the LIDAR data processing unit may acquire at least one attribute data for the at least one sub point data set 2110 using a learned deep learning model, but is limited to this. It doesn't work.
  • the above-described machine learning model or deep learning model may include at least one artificial neural network (ANN) layer.
  • ANN artificial neural network
  • the above-mentioned machine learning model or deep learning model may be a feedforward neural network, a radial basis function network, a kohonen self-organizing network, or a deep neural network.
  • At least one of various artificial neural network layers such as DNN, Convolutional neural network (CNN), Recurrent neural network (RNN), Long Short Term Memory Network (LSTM), or Gated Recurrent Units (GRUs) It may include, but is not limited to, an artificial neural network layer.
  • the at least one artificial neural network layer included in the above-described machine learning model or deep learning model may be designed to use the same or different activation function.
  • machine learning model or deep learning model may be learned using at least one loss function.
  • machine learning model or deep learning model can be learned using at least one optimizer.
  • the optimizer can be used to update the relationship parameters between input values and result values.
  • the at least one optimizer may include Gradient descent, Batch Gradient Descent, Stochastic Gradient Descent, Mini-batch Gradient Descent, Momentum, AdaGrad, RMSProp, AdaDelta, Adam, NAG, NAdam, RAdam, AdamW, etc. It is not limited to this.
  • Figure 6 is a diagram for explaining information included in attribute data according to an embodiment.
  • LiDAR data acquired in point cloud format through FIGS. 4 to 6, but as described above, in addition to the point cloud format, LiDAR data obtained in formats such as depth map and intensity map are also described. The contents described can be applied.
  • Figure 7 is a diagram for explaining a LiDAR device according to an embodiment.
  • the first lens assembly 3012 may include at least two lens layers.
  • the first lens assembly 3012 may include at least four lens layers, but is not limited thereto.
  • the receiving module 3020 may include a laser detecting array 3021 and a second lens assembly 3022, but is not limited thereto.
  • the second lens assembly 3022 may be expressed as a receiving lens assembly, receiving optic, receiving optic unit, receiving optic module, receiving optic, receiving optic unit, receiving optic module, etc. according to convenience. However, it is not limited to this.
  • the second lens assembly 3022 may transmit the laser irradiated from the transmission module 3010 to the laser detecting array 3021.
  • the second lens assembly 3022 detects the first laser. It can be transmitted to the array 3021, and when the second laser irradiated in the second direction is reflected from the object located in the second direction, the second laser can be transmitted to the laser detecting array 3021, but is limited to this. It doesn't work.
  • the LiDAR device 3100 may include a laser output array 3110 and a laser detecting array 3120.
  • the laser output array 3110 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, but is not limited to this.
  • each of the plurality of laser output units may include at least one laser output element.
  • the laser detecting array 3120 may include a plurality of detecting units.
  • the laser detecting array 3120 may include a first detecting unit 3121 and a second detecting unit 3122.
  • the first detecting unit 3121 included in the plurality of detecting units may be composed of one laser detecting element
  • the second detecting unit 3122 may be composed of one laser detecting element. It may be composed of elements, but is not limited thereto.
  • the first detecting unit 3121 included in the plurality of detecting units may be composed of two or more laser detecting elements
  • the second detecting unit 3122 may be composed of two or more laser detecting elements. It may consist of a detecting element, but is not limited to this.
  • each of the plurality of detecting units can detect lasers irradiated in different directions.
  • the first detecting unit 3121 included in the plurality of laser output units can detect the first laser irradiated in the first direction
  • the second detecting unit 3122 can detect the second laser.
  • the second laser irradiated in this direction may be detected, but is not limited to this.
  • each of the plurality of detecting units can detect laser output from a correspondingly arranged laser output unit.
  • At least one detecting value may be generated based on signals obtained from each of the plurality of detecting units.
  • the second detecting unit 3122 included in the plurality of detecting units may be disposed at the position (2,1) in the laser detecting array, and the second detecting unit
  • the coordinates of the second detecting value generated based on the signal obtained from 3122 may be determined as (2,1), but are not limited to this.
  • the detecting optic holder 4023 may be located between the laser detecting module 4021 and the detecting optic module 4022.
  • the detecting optic holder 4023 holds the laser detecting module 4021 and the detecting optic module 4022 in order to fix the relative positional relationship between the laser detecting module 4021 and the detecting optic module 4022. It may be located between the tacting optics module 4022, but is not limited to this.
  • FIG. 10 is a diagram for explaining an embodiment of the LiDAR device of FIG. 9, and the content described in FIG. 9 and the present invention is not limited by the shape shown in FIG. 10.
  • FIG. 12 is a diagram for explaining an embodiment of the LiDAR device of FIG. 11, and the content described in FIG. 11 and the present invention is not limited by the shape shown in FIG. 12.
  • FIG. 13 and 14 are diagrams for explaining an emitting lens module and a detecting lens module according to an embodiment.
  • the LIDAR device 4200 may include an emitting lens module 4210 and a detecting lens module 4220.
  • the emitting lens assembly 4211 may be disposed within the emitting lens mounting tube 4212.
  • the emitting lens mounting tube 4212 may refer to a barrel surrounding the emitting lens assembly 4211, but is not limited thereto.
  • the detecting lens module 4220 may include a detecting lens assembly 4221 and a detecting lens mounting tube 4222.
  • the detecting lens mounting tube 4222 may refer to a barrel surrounding the detecting lens assembly 4221, but is not limited thereto.
  • the emitting optics module 4210 may be arranged to be aligned with the laser emitting module described above.
  • the fact that the emitting optic module 4210 is arranged to be aligned with the above-described laser emitting module means that it is physically arranged to have a preset relative positional relationship and can irradiate the laser at an optically target angle. It may include, but is not limited to, the meaning of being aligned so as to be able to do so.
  • the detecting optic module 4220 may be arranged to be aligned with the laser detecting module described above.
  • a LiDAR device 5000 may include a transmission module 5010 and a reception module 5020.
  • the transmission module 5010 may include transmission optics and a laser output array
  • the reception module 5020 may include reception optics and a laser detecting array, to which the above-described contents may be applied. Therefore, overlapping descriptions will be omitted.
  • FIG. 15 may be a diagram of the LiDAR device 5000 in which the transmitting module 5010 and the receiving module 5020 are arranged in the vertical direction.
  • FIG. 15 shows a laser irradiation range 5011 where a plurality of lasers output from the transmission module 5010 included in the LiDAR device 5000 according to an embodiment are irradiated.
  • the laser irradiation range 5011 may refer to a range in which the irradiation ranges of a plurality of lasers irradiated in different directions are grouped for convenience of explanation.
  • the irradiation ranges of each of the plurality of lasers included in the laser irradiation range 5011 may not overlap at least partially with each other, but in FIG. 15, for convenience of explanation, the irradiation ranges of the plurality of lasers are irradiated.
  • the laser irradiation range within the angular range is briefly and comprehensively indicated.
  • each of the plurality of laser detecting units included in the receiving module 5020 can detect the laser received through the receiving optics.
  • the first laser detecting unit included in the receiving module 5020 may receive and detect the first laser output from the first laser output unit and reflected from the object through the receiving optics.
  • the second laser detecting unit can receive and detect the second laser output from the second laser output unit and reflected from the object through the receiving optics
  • the third laser detecting unit can detect the second laser output from the third laser output unit.
  • the third laser output and reflected from the object can be transmitted and detected through the receiving optics, but the method is not limited to this.
  • the laser received by each of the plurality of laser detecting units included in the receiving module 5020 according to an embodiment through the receiving optics may be the laser reflected within a specific area.
  • the laser reflected from the third object passes through the receiving optics. It can be detected by a third laser detecting unit, but is not limited to this.
  • the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5000.
  • the distance at which the laser irradiation range 5011 of the LiDAR device 5000 and the first laser detection range 5021 begin to overlap may be the first distance 5031, and the first distance 5031 may be The laser detecting unit may detect a laser reflected from a first object located at a distance greater than the first distance 5031.
  • the third object is located at the third distance 5033, the third object is located outside the laser irradiation range 5011 of the LiDAR device 5000, so even though the third object is located at the third distance 5033 Even if it is located within the laser detection range 5023, the third object may not be detected by the LiDAR device 5000 because there is no laser reflected from the third object.
  • the minimum measurement distance for the first laser detecting unit may be the first distance 5031
  • the minimum measurement distance for the second laser detecting unit may be the second distance 5032
  • the third distance 5032 may be, but is not limited to, the fourth distance.
  • the first to third distances 5031 to 5033 may mean the distance from the optical origin of the LiDAR device, and may physically mean the distance from the receiving module, etc.
  • Various definitions can be applied, which can be understood as the distance from the device to the object.
  • the optical axis of the transmission optic included in the LIDAR device 5100 may be arranged to pass through the center of the main array 5111 included in the laser output array 5110, and the auxiliary array It may be arranged so as not to pass through (5112), but is not limited to this.
  • the main array 5111 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.
  • auxiliary array 5112 may be designed to have a fifth length in the Y direction and a sixth length in the X direction.
  • the center of the auxiliary array 5112 may be disposed to be spaced apart from the center of the main array 5111 in the column direction (Y direction) of the laser output unit, but is not limited to this.
  • Each of the plurality of laser detecting units included in the laser detecting array 5120 may include at least one laser detecting element.
  • the laser detecting array 5120 may be an array in which a plurality of laser detecting units are arranged in a two-dimensional matrix having K rows and L columns, but is not limited to this.
  • the number of rows of laser output units included in the laser output array 5110 is 59
  • the number of rows of laser detecting units included in the laser detecting array 5120 is 59.
  • the number may be 56, but is not limited to this.
  • the number of rows of laser output units included in the laser output array 5110 may be the same as the number of rows of laser detecting units included in the laser detecting array 5120.
  • N which is the number of rows of laser output units included in the laser output array 5110
  • L which is the number of rows of laser detecting units included in the laser detecting array 5120.
  • the number of columns compared to the number of rows of the laser output units included in the laser output array 5110 is greater than the number of columns compared to the number of rows of the laser detecting units included in the laser detecting array 5120. It can be small.
  • D/C which is the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5112, is the number of rows of the laser detecting unit included in the laser detecting array 5120. It may be larger than L/K, which is the number of columns compared to the number.
  • the length of the laser output array 5110 in the X direction may be equal to the length of the laser detecting array 5120 in the X direction.
  • the lasers output from the auxiliary array 5212 included in the laser output array 5210 are It may be reflected from an object located at a first distance and acquired into the first auxiliary laser acquisition area 5262, and therefore, the auxiliary array 5212 may be included in the first auxiliary laser acquisition area 5262 among the laser detecting arrays 5220. ) may be optically coupled to a portion located within, but is not limited to this.
  • the laser output from the laser output array 5210 when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a first distance, the laser output from the first laser output unit group 5213 included in the main array 5211 is output.
  • the lasers may be reflected from objects located at a first distance and acquired into an area in the first main laser acquisition area 5261 where the laser detecting units are not arranged, and thus included in the main array 5211.
  • the first laser output unit group 5213 may be optically decoupled from the laser detecting array 5220, but is not limited to this.
  • the lasers output from the auxiliary array 5212 are reflected from the object located at a second distance. may be acquired into the second auxiliary laser acquisition area 5272, and therefore, at least a portion of the auxiliary array 5212 may be optically decoupled from the laser detecting array 5220, but is not limited thereto. .
  • the laser detecting unit when the laser output from the fourth laser output unit 5241 included in the auxiliary array 5212 according to an embodiment is reflected from an object located at a second distance, the laser detecting unit is not located. may be acquired within the second auxiliary laser acquisition area 5272, and accordingly, the fourth laser output unit 5241 included in the auxiliary array 5212 according to one embodiment is optically connected to the laser detecting array 5220. It can be decoupled, but is not limited to this.
  • the lasers output from the main array 5211 included in the laser output array 5210 are It can be reflected from an object located at a first distance and acquired into the second main laser acquisition area 5271, and therefore, the main array 5211 is included in the second main laser acquisition area 5271 among the laser detecting arrays 5220. ) may be optically coupled to a portion located within, but is not limited to this.
  • the laser output from the laser output array 5210 when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at the second distance, the laser output from the first laser output unit 5231 is reflected at the second distance. It may be reflected from a positioned object and detected by the first laser detecting unit 5221, and accordingly, the first laser output unit 5231 included in the main array 5211 according to one embodiment may detect the first laser. It may be optically coupled to the unit 5221, but is not limited to this.
  • the laser output from the laser output array 5210 when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at the second distance, the laser output from the second laser output unit 5232 is reflected at the second distance. It may be reflected from a positioned object and detected by the second laser detecting unit 5222, and accordingly, the second laser output unit 5232 included in the main array 5211 according to one embodiment may detect the second laser. It may be optically coupled to the unit 5222, but is not limited thereto.
  • the auxiliary array 5212 when at least a part of the main array 5211 is optically decoupled from the laser detecting array 5220, at least a part of the auxiliary array 5212 is connected to the laser detecting array 5220. It may be optically coupled with at least a portion of the array 5220 to provide additional detection of areas that cannot be detected by the main array 5211 alone, thereby improving the short-range performance of the lidar device 5200. You can.
  • the transmission module 5310 may include transmission optics and a laser output array
  • the reception module 5320 may include reception optics and a laser detecting array, to which the above-described contents may be applied. Therefore, overlapping descriptions will be omitted.
  • a plurality of lasers output from the transmission module 5310 included in the LiDAR device 5300 may be irradiated in different directions.
  • Figure 19 shows the laser irradiation range where a plurality of lasers output from the transmission module 5310 included in the lidar device 5300 according to an embodiment are irradiated, and more specifically, the laser irradiation range output from the main array is shown.
  • a main laser irradiation range 5311 in which a plurality of lasers are irradiated and an auxiliary laser irradiation range 5312 in which a plurality of lasers output from an auxiliary array are irradiated are shown.
  • the first laser detecting unit included in the receiving module 5320 may receive and detect the first laser output from the first laser output unit and reflected from the object through the receiving optics.
  • the second laser detecting unit can receive and detect the second laser output from the second laser output unit and reflected from the object through the receiving optics
  • the third laser detecting unit can detect the second laser output from the third laser output unit.
  • the third laser output and reflected from the object can be transmitted and detected through the receiving optics, but the method is not limited to this.
  • the laser received by each of the plurality of laser detecting units included in the receiving module 5320 according to an embodiment through the receiving optics may be the laser reflected within a specific area.
  • the laser received by the first laser detecting unit included in the receiving module 5320 according to an embodiment through the receiving optic may be a laser reflected within the first laser detection range 5321, and the 2
  • the laser received by the laser detecting unit through the receiving optics may be a reflected laser within the second laser detection range 5322, and the laser received by the third laser detecting unit through the receiving optics may be the third laser detected. It may be a reflected laser within range 5323.
  • the LIDAR device 5300 when an object is located in an area where the above-described main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the laser detection range overlap, the LIDAR device 5300 according to an embodiment is configured to emit light reflected from the object. Lasers can be detected.
  • the first object when the first object is located in an area where the main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the first laser detection range 5321 overlap according to an embodiment, from the first object
  • the reflected laser may be detected by the first laser detecting unit through receiving optics, but is not limited to this.
  • the second object when the second object is located in an area where the main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the second laser detection range 5322 overlap according to an embodiment, the second object The laser reflected from the object may be detected by the second laser detecting unit through receiving optics, but is not limited to this.
  • the third object when a third object is located in an area where the main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the third laser detection range 5323 overlap according to an embodiment, the third object The laser reflected from the object may be detected by the third laser detecting unit through receiving optics, but is not limited to this.
  • the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5300.
  • the distance at which the auxiliary laser irradiation range 5312 of the LiDAR device 5300 and the first laser detection range 5321 begin to overlap may be the first distance 5331, and 1
  • the laser detecting unit can detect a laser reflected from a first object located at a distance greater than the first distance 5331.
  • the distance at which the auxiliary laser irradiation range 5312 of the LiDAR device 5300 and the second laser detection range 5322 begin to overlap may be the second distance 5332, , the second laser detecting unit can detect the laser reflected from the second object located at a distance greater than the second distance 5332.
  • the second object is located closer than the second distance 5332, the second object is located outside the main laser irradiation range 5311 and the auxiliary laser irradiation range 5312 of the LiDAR device 5300. Therefore, even if the second object is located within the second laser detection range 5322, the second object may not be detected by the LIDAR device 5300 because there is no laser reflected from the second object.
  • the distance at which the auxiliary laser irradiation range 5312 of the LiDAR device 5300 and the third laser detection range 5323 begin to overlap may be the third distance 5333
  • the third laser detecting unit may detect the laser reflected from a third object located at a distance greater than the third distance 5333.
  • the third object is located closer than the third distance 5333, the third object is located outside the main laser irradiation range 5311 and the auxiliary laser irradiation range 5312 of the LiDAR device 5300. Therefore, even if the third object is located within the third laser detection range 5323, the third object may not be detected by the LIDAR device 5300 because there is no laser reflected from the third object.
  • the minimum measurement distance for the first laser detecting unit may be the first distance 5331
  • the minimum measurement distance for the second laser detecting unit may be the second distance 5332
  • the third distance 5332 may be the third distance 5333, but is not limited thereto.
  • the first to third distances 5331 to 5333 may mean the distance from the optical origin of the LiDAR device, and may physically mean the distance from the receiving module, etc.
  • Various definitions can be applied, which can be understood as the distance from the device to the object.
  • the first to third distances 5331 to 5333 described in FIG. 19 may be smaller than the first to third distances 5031 to 5033 described in FIG. 15, and the LIDAR device described in FIG. 19 It can be seen that the short-range measurement performance of the 5300 is improved compared to the LIDAR device 5000 described in FIG. 15.
  • Figure 20 is a diagram for explaining the minimum measurement distance of a lidar device according to an embodiment.
  • the transmission module 5410 may include transmission optics and a laser output array
  • the reception module 5420 may include reception optics and a laser detecting array, to which the above-described contents may be applied. Therefore, overlapping descriptions will be omitted.
  • FIG. 20 may be a diagram of the LiDAR device 5400 in which the transmitting module 5410 and the receiving module 5420 are arranged in the left and right directions.
  • a plurality of lasers output from the transmission module 5410 included in the LiDAR device 5400 may be irradiated in different directions.
  • the first laser output from the first laser output unit included in the transmission module 5410 included in the LiDAR device 5400 may be irradiated in the first direction
  • the second laser The second laser output from the output unit may be irradiated in the second direction, but is not limited to this.
  • FIG. 20 shows a laser irradiation range 5411 where a plurality of lasers output from the transmission module 5410 included in the LiDAR device 5400 according to an embodiment are irradiated.
  • the laser irradiation range 5411 may refer to a range in which the irradiation ranges of a plurality of lasers irradiated in different directions are grouped together for convenience of explanation.
  • the irradiation ranges of each of the plurality of lasers included in the laser irradiation range 5411 may not overlap at least partially with each other, but in FIG. 20, for convenience of explanation, the irradiation ranges of the plurality of lasers are irradiated.
  • the laser irradiation range within the angular range is briefly and comprehensively indicated.
  • the receiving module 5420 included in the LiDAR device 5400 can detect the laser reflected from the object.
  • each of the plurality of laser detecting units included in the receiving module 5420 can detect the laser received through the receiving optics.
  • the first laser detecting unit included in the receiving module 5420 may receive and detect the first laser output from the first laser output unit and reflected from the object through the receiving optics.
  • the second laser detecting unit can receive and detect the second laser output from the second laser output unit and reflected from the object through the receiving optics
  • the third laser detecting unit can detect the second laser output from the third laser output unit.
  • the third laser output and reflected from the object can be transmitted and detected through the receiving optics, but the method is not limited to this.
  • the laser received by each of the plurality of laser detecting units included in the receiving module 5420 according to an embodiment through the receiving optics may be the laser reflected within a specific area.
  • the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5400.
  • the distance at which the laser irradiation range 5411 of the LiDAR device 5400 and the first laser detection range 5421 begin to overlap may be the first distance 5431, and the first distance 5431 may be The laser detecting unit may detect a laser reflected from a first object located at a distance greater than the first distance 5431.
  • the second object is located closer than the second distance 5432, the second object is located outside the laser irradiation range 5411 of the LiDAR device 5400, so even though the second object is 2 Even if it is located within the laser detection range 5422, the second object may not be detected by the LIDAR device 5400 because there is no laser reflected from the second object.
  • Figure 21 is a diagram for explaining a lidar device with improved short-range measurement performance according to an embodiment.
  • the first laser output unit included in the plurality of laser output units may be composed of a plurality of laser output elements
  • the second laser output unit may be composed of a plurality of laser output elements.
  • the optical axis of the transmission optic included in the LIDAR device 5500 is arranged so as to pass through the main array 5511 included in the laser output array 5510, but not through the auxiliary array 5512. It can be.
  • the optical axis of the transmission optic included in the LIDAR device 5500 may be arranged to pass through the center of the main array 5511 included in the laser output array 5510, and the auxiliary array It may be arranged so as not to pass through (5512), but is not limited to this.
  • the laser output array 5510 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.
  • the laser output array 5510 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, but is not limited to this.
  • the number of rows of laser output units included in the laser output array 5510 may be 56, and the number of columns may be 195, but are not limited thereto.
  • the main array 5511 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.
  • auxiliary array 5512 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.
  • the auxiliary array 5512 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having C rows and D columns, but is not limited to this.
  • A the number of rows of laser output units included in the main array 5511, may be equal to C, the number of rows of laser output units included in the auxiliary array 5512. there is.
  • the number of rows of laser output units included in the main array 5511 is 56, and the number of rows of laser output units included in the auxiliary array 5512 is 56.
  • the number of rows of laser output units included in the auxiliary array 5512 is 56.
  • the number of rows of laser output units included in the main array 5511 may be greater than the number of rows of laser output units included in the auxiliary array 5512.
  • B which is the number of rows of laser output units included in the main array 5511
  • D which is the number of rows of laser output units included in the auxiliary array 5512.
  • the number of rows of laser output units included in the main array 5511 may be 192, and the number of rows of laser output units included in the auxiliary array 5512 may be 3. , but is not limited to this.
  • the rows of laser output units included in the main array 5511 or the auxiliary array 5512 are aligned in a direction perpendicular to the direction in which the laser output array 5510 and the laser detecting array 5520 are arranged. It may mean a line arranged along, and a row of laser output units may mean a line arranged along the direction in which the laser output array 5510 and the laser detecting array 5520 are arranged, but is not limited to this. .
  • the laser output array 5510 may be designed to have a first length 5531 in the Y direction and a second length 5532 in the X direction.
  • the first length 5531 may be a length measured based on the outermost laser output units among the laser output units arranged in the Y direction, but is not limited to this.
  • the second length 5532 may be a length measured based on the outermost laser output units among the laser output units arranged in the X direction, but is not limited to this.
  • the main array 5511 may be designed to have a third length in the Y direction and a fourth length in the X direction.
  • auxiliary array 5512 may be designed to have a fifth length in the Y direction and a sixth length in the X direction.
  • the first length 5531 which is the length in the Y direction of the laser output array 5510, is the third length that is the length in the Y direction of the main array 5511 and the auxiliary array 5512. It may be the same as the fifth length, which is the length in the Y direction.
  • the second length 5532 which is the length in the X direction of the laser output array 5510, is the fourth length that is the length in the It may be equal to the sum of the sixth length, which is the length in the X direction.
  • auxiliary array 5512 may be arranged to be spaced apart from the main array 5511 in the row direction (X direction) of the laser output unit.
  • the center of the auxiliary array 5512 may be arranged to be spaced apart from the center of the main array 5511 in the row direction (X direction) of the laser output unit, but the present invention is not limited to this.
  • the distance between the center of the auxiliary array 5512 and the center of the laser detecting array 5520 is the center of the main array 5511 and the center of the laser detecting array 5520. ) may be placed farther than the distance between the centers, but is not limited to this.
  • Each of the plurality of laser detecting units included in the laser detecting array 5520 may include at least one laser detecting element.
  • a first laser detecting unit included in a plurality of laser detecting units may be comprised of one laser detecting element, and the second laser detecting unit may be comprised of one laser detecting element. It may consist of, but is not limited to this.
  • the first laser detecting unit included in the plurality of laser detecting units may be composed of a plurality of laser detecting elements
  • the second laser detecting unit may be composed of a plurality of laser detecting elements. It may be composed of a tactile element, but is not limited thereto.
  • the laser detecting array 5520 may be an array in which a plurality of laser detecting units are arranged in a two-dimensional matrix form.
  • the laser detecting array 5520 may be an array in which a plurality of laser detecting units are arranged in a two-dimensional matrix having K rows and L columns, but is not limited to this.
  • the number of rows of the laser detecting units included in the laser detecting array 5520 may be 56, and the number of columns may be 192, but are not limited thereto.
  • the number of rows of laser output units included in the laser output array 5510 may be the same as the number of rows of laser detecting units included in the laser detecting array 5520.
  • the number of rows of laser output units included in the laser output array 5510 is 56
  • the number of rows of laser detecting units included in the laser detecting array 5520 is 56.
  • the number may be 56, but is not limited to this.
  • B the number of rows of laser output units included in the main array 5511, may be equal to L, the number of rows of laser detecting units included in the laser detecting array 5520. You can.
  • the number of rows of laser output units included in the main array 5511 is 192
  • the number of rows of laser detecting units included in the laser detecting array 5520 is 192. It may be a dog, but is not limited thereto.
  • the number of columns compared to the number of rows of the laser output unit included in the main array 5511 is equal to the number of columns compared to the number of rows of the laser detecting unit included in the laser detecting array 5520. can do.
  • B/A which is the number of columns compared to the number of rows of the laser output unit included in the main array 5511, is the number of rows of the laser detecting unit included in the laser detecting array 5520. It may be the same as L/K, which is the number of columns compared to the number.
  • D which is the number of rows of laser output units included in the auxiliary array 5512
  • L which is the number of rows of laser detecting units included in the laser detecting array 5520. You can.
  • the number of rows of laser output units included in the auxiliary array 5512 is 3, and the number of rows of laser detecting units included in the laser detecting array 5520 is 192. It may be a dog, but is not limited thereto.
  • the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5512 may be smaller than the number of columns compared to the number of rows of the laser detecting unit included in the laser detecting array 5520. You can.
  • D/C which is the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5512, is the number of rows of the laser detecting unit included in the laser detecting array 5520. It may be smaller than L/K, which is the number of columns compared to the number.
  • the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5512 is 3/56, and the laser detecting unit included in the laser detecting array 5520
  • the number of columns compared to the number of rows may be 192/56, but is not limited to this.
  • the third length which is the length of the main array 5511 in the Y direction, may be equal to the seventh length 5541, which is the length of the laser detecting array 5520 in the Y direction. there is.
  • the length of the auxiliary array 5512 in the X-direction compared to the length in the Y-direction may be smaller than the length of the laser detecting array 5520 in the
  • the laser output from the fourth laser output unit 5641 included in the auxiliary array 5612 according to an embodiment is reflected from an object located at a first distance to the first laser detecting unit 5621. It can be detected, and accordingly, the fourth laser output unit 5641 included in the auxiliary array 5612 according to one embodiment may be optically coupled with the first laser detecting unit 5621. , but is not limited to this.
  • the laser output from the laser output array 5610 when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at the second distance, the laser output from the first laser output unit 5631 is reflected at the second distance. It may be reflected from a positioned object and detected by the first laser detecting unit 5621, and accordingly, the first laser output unit 5631 included in the main array 5611 according to one embodiment may detect the first laser. It may be optically coupled to the unit 5621, but is not limited to this.
  • the laser output from the laser output array 5610 when the laser output from the laser output array 5610 according to one embodiment is reflected from an object located at the second distance, the laser output from the third laser output unit 5633 is reflected at the second distance. It may be reflected from a positioned object and detected by the third laser detecting unit 5623, and accordingly, the third laser output unit 5633 included in the main array 5611 according to one embodiment may detect the third laser. It may be optically coupled to the unit 5623, but is not limited to this.
  • the second object is located in an area where the main laser irradiation range 5711 or the auxiliary laser irradiation range 5712 and the second laser detection range 5722 overlap according to an embodiment, the second object The laser reflected from the object may be detected by the second laser detecting unit through receiving optics, but is not limited to this.
  • the third object when a third object is located in an area where the main laser irradiation range 5711 or the auxiliary laser irradiation range 5712 and the third laser detection range 5723 overlap according to an embodiment, the third object The laser reflected from the object may be detected by the third laser detecting unit through receiving optics, but is not limited to this.
  • the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5700.
  • the first object if the first object is located closer than the first distance 5731, the first object deviates from the main laser irradiation range 5711 and the auxiliary laser irradiation range 5712 of the LiDAR device 5700. Therefore, even if the first object is located within the first laser detection range 5721, the first object may not be detected by the LIDAR device 5700 because there is no laser reflected from the first object.
  • the second object is located closer than the second distance 5732, the second object is located outside the main laser irradiation range 5711 and the auxiliary laser irradiation range 5712 of the LiDAR device 5700. Therefore, even if the second object is located within the second laser detection range 5722, the second object may not be detected by the LIDAR device 5700 because there is no laser reflected from the second object.
  • the distance at which the auxiliary laser irradiation range 5712 of the LiDAR device 5700 and the third laser detection range 5723 begin to overlap may be the third distance 5733
  • the third laser detecting unit may detect the laser reflected from a third object located at a distance greater than the third distance 5733.
  • the first to third distances 5731 to 5733 described in FIG. 24 may be smaller than the first to third distances 5431 to 5433 described in FIG. 20, and the LIDAR device described in FIG. 24 It can be seen that the short-range measurement performance of the 5700 is improved compared to the LIDAR device 5400 described in FIG. 20.
  • the method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium.
  • the computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination.
  • Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software.
  • Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks.
  • program instructions include machine language code, such as that produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.
  • the hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

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Abstract

Un dispositif LiDAR selon la présente invention comprend : un module d'émission comprenant une optique d'émission et un réseau de sortie laser qui comprend une pluralité d'unités de sortie laser, le réseau de sortie laser comprenant un réseau principal et un réseau auxiliaire ; et un module de réception comprenant une optique de réception et un réseau de détection de laser comprenant une pluralité d'unités de détection de laser, le réseau principal et le réseau auxiliaire étant agencés de telle sorte que la distance entre l'axe optique de l'optique d'émission et le réseau principal est plus courte que la distance entre l'axe optique de l'optique d'émission et le réseau auxiliaire et, lorsqu'un laser émis par le réseau de sortie laser est réfléchi par un objet positionné à une première distance, au moins une partie du réseau auxiliaire se couple optiquement au réseau de détection de laser, tandis qu'au moins une partie du réseau principal se découple optiquement du réseau de détection de laser.
PCT/KR2023/017285 2022-12-28 2023-11-01 Dispositif lidar à performance de mesure de courte portée améliorée WO2024143849A1 (fr)

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US20180106890A1 (en) * 2016-08-29 2018-04-19 James Thomas O'Keeffe Laser range finder with an adaptive high-intensity zone
KR20210027005A (ko) * 2019-08-28 2021-03-10 주식회사 에스오에스랩 거리 측정 장치
KR20210059645A (ko) * 2019-11-13 2021-05-25 주식회사 에스오에스랩 레이저 출력 어레이 및 이를 이용한 라이다 장치
KR20220108428A (ko) * 2021-01-27 2022-08-03 문명일 플래시 방식의 3차원 라이다 장치

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